2025-10-29T00:07:47.407Z,1761696467.407 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Initialize. 2025-10-29T00:07:47.407Z,1761696467.407 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-29T00:07:47.407Z,1761696467.407 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Initialize. 2025-10-29T00:07:47.412Z,1761696467.412 [lineCaptureHoming:InitialDive:C.Pitch] Running Loop=1 2025-10-29T00:07:47.412Z,1761696467.412 [lineCaptureHoming:InitialDive:C.Pitch](DEBUG): Initialize. 2025-10-29T00:07:47.475Z,1761696467.475 [CommandExec](IMPORTANT): got command restart logs 2025-10-29T00:07:47.696Z,1761696467.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.344391,0.937335,0.052892],[-0.933931,0.336305,0.121123],[0.095745,-0.091111,0.991227]] 2025-10-29T00:07:47.781Z,1761696467.781 [lineCaptureHoming:InitialDive:B.Mass] Running Loop=1 2025-10-29T00:07:47.782Z,1761696467.782 [lineCaptureHoming:InitialDive:A.SetSpeed] Running Loop=1 2025-10-29T00:07:48.100Z,1761696468.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.369543,0.923582,0.102147],[-0.925056,0.355272,0.134364],[0.087806,-0.144145,0.985653]] 2025-10-29T00:07:48.508Z,1761696468.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.343316,0.933240,0.105813],[-0.931378,0.323755,0.166484],[0.121112,-0.155709,0.980350]] 2025-10-29T00:07:48.905Z,1761696468.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.321652,0.932164,0.166165],[-0.945232,0.305834,0.114028],[0.055474,-0.193742,0.979483]] 2025-10-29T00:07:49.711Z,1761696469.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337838,0.926227,0.167240],[-0.941066,0.335460,0.043146],[-0.016140,-0.171960,0.984972]] 2025-10-29T00:07:50.115Z,1761696470.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337150,0.936883,0.092625],[-0.941450,0.335631,0.031984],[-0.001123,-0.097985,0.995187]] 2025-10-29T00:07:50.923Z,1761696470.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345871,0.937958,-0.024652],[-0.938279,0.345685,-0.011568],[-0.002329,0.027132,0.999629]] 2025-10-29T00:07:52.135Z,1761696472.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.367195,0.924005,0.106685],[-0.926220,0.352709,0.133089],[0.085346,-0.147684,0.985345]] 2025-10-29T00:07:52.542Z,1761696472.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.359359,0.911920,0.198149],[-0.927896,0.326564,0.179904],[0.099350,-0.248512,0.963520]] 2025-10-29T00:07:52.945Z,1761696472.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390034,0.879782,0.271766],[-0.920138,0.361201,0.151258],[0.034912,-0.309058,0.950402]] 2025-10-29T00:07:53.755Z,1761696473.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372226,0.905927,0.201850],[-0.927359,0.371941,0.040798],[-0.038116,-0.202373,0.978566]] 2025-10-29T00:07:54.155Z,1761696474.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.381532,0.917113,0.115482],[-0.924077,0.381493,0.023318],[-0.022670,-0.115611,0.993036]] 2025-10-29T00:07:54.563Z,1761696474.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373377,0.926498,0.046807],[-0.927631,0.373399,0.008598],[-0.009512,-0.046630,0.998867]] 2025-10-29T00:07:54.625Z,1761696474.625 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:07:54.971Z,1761696474.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.414028,0.909692,0.032266],[-0.909985,0.412762,0.039439],[0.022559,-0.045691,0.998701]] 2025-10-29T00:07:55.367Z,1761696475.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426851,0.903395,0.040937],[-0.902134,0.422235,0.088721],[0.062865,-0.074802,0.995215]] 2025-10-29T00:07:55.777Z,1761696475.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.383682,0.918192,0.098550],[-0.922793,0.377141,0.078855],[0.035237,-0.121197,0.992003]] 2025-10-29T00:07:55.815Z,1761696475.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:07:55.865Z,1761696475.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:07:55.866Z,1761696475.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:07:56.117Z,1761696476.117 [DAT](INFO): DAT read: user:354> 2025-10-29T00:07:56.118Z,1761696476.118 [DAT](INFO): DAT read: Tx time:00:07:55.8791 2025-10-29T00:07:56.118Z,1761696476.118 [DAT](INFO): Ping request sent. 2025-10-29T00:07:56.118Z,1761696476.118 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:07:56.118Z,1761696476.118 [DAT](INFO): publishing transmit ping time 2025-10-29T00:07:56.119Z,1761696476.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-29T00:07:56.175Z,1761696476.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365717,0.920509,0.137532],[-0.930390,0.357603,0.080591],[0.025003,-0.157431,0.987213]] 2025-10-29T00:07:56.369Z,1761696476.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898 2025-10-29T00:07:56.583Z,1761696476.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356493,0.924128,0.137477],[-0.933430,0.345946,0.095019],[0.040250,-0.162199,0.985937]] 2025-10-29T00:07:56.621Z,1761696476.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502789 2025-10-29T00:07:56.873Z,1761696476.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754865 2025-10-29T00:07:57.125Z,1761696477.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006885 2025-10-29T00:07:57.377Z,1761696477.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258710 2025-10-29T00:07:57.388Z,1761696477.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409969,0.911984,0.014511],[-0.908309,0.406764,0.097558],[0.083069,-0.053176,0.995124]] 2025-10-29T00:07:57.629Z,1761696477.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511075 2025-10-29T00:07:57.791Z,1761696477.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392014,0.919948,-0.004654],[-0.913407,0.389819,0.117170],[0.109605,-0.041682,0.993101]] 2025-10-29T00:07:57.881Z,1761696477.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762759 2025-10-29T00:07:58.133Z,1761696478.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014708 2025-10-29T00:07:58.252Z,1761696478.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.379922,0.924739,0.022752],[-0.909377,0.368881,0.192250],[0.169388,-0.093730,0.981082]] 2025-10-29T00:07:58.385Z,1761696478.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267316 2025-10-29T00:07:58.637Z,1761696478.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518857 2025-10-29T00:07:58.895Z,1761696478.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776436 2025-10-29T00:07:59.035Z,1761696479.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409032,0.898313,0.160395],[-0.906669,0.380209,0.182738],[0.103172,-0.220171,0.969990]] 2025-10-29T00:07:59.145Z,1761696479.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026735 2025-10-29T00:07:59.397Z,1761696479.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278878 2025-10-29T00:07:59.649Z,1761696479.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530810 2025-10-29T00:07:59.839Z,1761696479.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.376721,0.926260,0.011075],[-0.912001,0.368774,0.179611],[0.162283,-0.077764,0.983675]] 2025-10-29T00:07:59.901Z,1761696479.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782609 2025-10-29T00:08:00.153Z,1761696480.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034909 2025-10-29T00:08:00.247Z,1761696480.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356231,0.934378,0.006188],[-0.918962,0.349139,0.183333],[0.169142,-0.070995,0.983031]] 2025-10-29T00:08:00.405Z,1761696480.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286782 2025-10-29T00:08:00.647Z,1761696480.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.371939,0.927809,0.028831],[-0.909899,0.358261,0.209126],[0.183700,-0.104015,0.977464]] 2025-10-29T00:08:00.657Z,1761696480.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538865 2025-10-29T00:08:00.910Z,1761696480.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791277 2025-10-29T00:08:01.051Z,1761696481.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378204,0.924954,0.037703],[-0.910192,0.364121,0.197398],[0.168856,-0.108973,0.979598]] 2025-10-29T00:08:01.162Z,1761696481.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043475 2025-10-29T00:08:01.413Z,1761696481.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294807 2025-10-29T00:08:01.465Z,1761696481.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351226,0.934284,0.061265],[-0.918462,0.331091,0.216349],[0.181847,-0.132257,0.974392]] 2025-10-29T00:08:01.665Z,1761696481.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546808 2025-10-29T00:08:01.859Z,1761696481.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.346644,0.932407,0.102247],[-0.919315,0.316068,0.234439],[0.186276,-0.175264,0.966739]] 2025-10-29T00:08:01.917Z,1761696481.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798677 2025-10-29T00:08:02.169Z,1761696482.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050753 2025-10-29T00:08:02.263Z,1761696482.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337169,0.933887,0.119051],[-0.933188,0.314818,0.173351],[0.124410,-0.169545,0.977638]] 2025-10-29T00:08:02.421Z,1761696482.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302965 2025-10-29T00:08:02.666Z,1761696482.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339036,0.933848,0.113944],[-0.933109,0.318370,0.167175],[0.119840,-0.163001,0.979321]] 2025-10-29T00:08:02.673Z,1761696482.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554587 2025-10-29T00:08:02.934Z,1761696482.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.815917 2025-10-29T00:08:03.079Z,1761696483.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.365758,0.928370,0.065962],[-0.918989,0.349031,0.183405],[0.147245,-0.127700,0.980822]] 2025-10-29T00:08:03.193Z,1761696483.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.074864 2025-10-29T00:08:03.446Z,1761696483.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.327472 2025-10-29T00:08:03.516Z,1761696483.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.356743,0.933269,0.041745],[-0.928630,0.349388,0.124794],[0.101881,-0.083285,0.991304]] 2025-10-29T00:08:03.697Z,1761696483.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.578734 2025-10-29T00:08:03.950Z,1761696483.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.831750 2025-10-29T00:08:03.966Z,1761696483.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319708,0.945653,0.059384],[-0.939386,0.308149,0.150328],[0.123859,-0.103846,0.986851]] 2025-10-29T00:08:04.202Z,1761696484.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.083076 2025-10-29T00:08:04.335Z,1761696484.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.318492,0.944086,0.085235],[-0.936261,0.299236,0.184046],[0.148250,-0.138419,0.979215]] 2025-10-29T00:08:04.454Z,1761696484.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.335620 2025-10-29T00:08:04.705Z,1761696484.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.586835 2025-10-29T00:08:04.828Z,1761696484.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345855,0.931321,0.114130],[-0.931185,0.325748,0.163656],[0.115239,-0.162877,0.979893]] 2025-10-29T00:08:04.957Z,1761696484.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.838999 2025-10-29T00:08:05.209Z,1761696485.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.090788 2025-10-29T00:08:05.343Z,1761696485.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373297,0.918956,0.127158],[-0.920565,0.349945,0.173488],[0.114929,-0.181819,0.976593]] 2025-10-29T00:08:05.462Z,1761696485.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.343926 2025-10-29T00:08:05.713Z,1761696485.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.594718 2025-10-29T00:08:05.837Z,1761696485.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349673,0.929996,0.113300],[-0.935428,0.339860,0.097314],[0.051996,-0.140012,0.988784]] 2025-10-29T00:08:05.965Z,1761696485.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.846961 2025-10-29T00:08:06.217Z,1761696486.217 [DAT](INFO): Reached modem response timeout 2025-10-29T00:08:06.220Z,1761696486.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.354851,0.933111,0.058178],[-0.931799,0.347898,0.103529],[0.076364,-0.090947,0.992924]] 2025-10-29T00:08:06.623Z,1761696486.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.364153,0.931082,0.021899],[-0.929844,0.362135,0.065177],[0.052755,-0.044098,0.997633]] 2025-10-29T00:08:07.027Z,1761696487.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372715,0.927929,0.005596],[-0.924704,0.370902,0.085758],[0.077502,-0.037138,0.996300]] 2025-10-29T00:08:07.876Z,1761696487.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.293184,0.936622,0.191786],[-0.954407,0.274954,0.116218],[0.056120,-0.217115,0.974531]] 2025-10-29T00:08:08.271Z,1761696488.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340682,0.902412,0.263797],[-0.939903,0.333693,0.072329],[-0.022757,-0.272585,0.961863]] 2025-10-29T00:08:08.486Z,1761696488.486 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:08:08.486Z,1761696488.486 [DAT](INFO): response not received 2025-10-29T00:08:08.486Z,1761696488.486 [DAT](ERROR): No response from remote modem. 2025-10-29T00:08:08.679Z,1761696488.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.350565,0.908647,0.226857],[-0.936137,0.347067,0.056491],[-0.027404,-0.232173,0.972288]] 2025-10-29T00:08:09.079Z,1761696489.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.340993,0.918968,0.198046],[-0.940040,0.334886,0.064620],[-0.006939,-0.208206,0.978060]] 2025-10-29T00:08:09.481Z,1761696489.481 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:09.485Z,1761696489.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348815,0.910443,0.222308],[-0.936829,0.345322,0.055707],[-0.026050,-0.227696,0.973384]] 2025-10-29T00:08:09.887Z,1761696489.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.328675,0.918426,0.220153],[-0.943776,0.310632,0.113117],[0.035503,-0.244953,0.968885]] 2025-10-29T00:08:10.291Z,1761696490.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.378098,0.897688,0.226270],[-0.922933,0.346404,0.167926],[0.072365,-0.272325,0.959480]] 2025-10-29T00:08:10.698Z,1761696490.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.386744,0.895132,0.221738],[-0.919462,0.355816,0.167289],[0.070848,-0.268578,0.960649]] 2025-10-29T00:08:11.125Z,1761696491.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390657,0.892448,0.225662],[-0.916613,0.354514,0.184770],[0.084897,-0.279026,0.956523]] 2025-10-29T00:08:11.511Z,1761696491.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424972,0.871723,0.243922],[-0.905141,0.405975,0.126114],[0.010910,-0.274378,0.961560]] 2025-10-29T00:08:11.914Z,1761696491.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463700,0.872665,0.153098],[-0.885992,0.456663,0.080475],[0.000313,-0.172960,0.984929]] 2025-10-29T00:08:12.323Z,1761696492.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443576,0.895678,0.031636],[-0.895133,0.441003,0.065224],[0.044468,-0.057250,0.997369]] 2025-10-29T00:08:12.723Z,1761696492.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409742,0.912188,-0.004940],[-0.905457,0.407363,0.119175],[0.110722,-0.044358,0.992861]] 2025-10-29T00:08:13.698Z,1761696493.698 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +1947.68, +64.44, 73.17, 0.00 2025-10-29T00:08:13.991Z,1761696493.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445598,0.891118,0.085743],[-0.890972,0.432105,0.139476],[0.087239,-0.138545,0.986506]] 2025-10-29T00:08:14.395Z,1761696494.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462327,0.878678,0.119080],[-0.885940,0.452147,0.103310],[0.036934,-0.153260,0.987495]] 2025-10-29T00:08:14.801Z,1761696494.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447331,0.889857,0.089723],[-0.891860,0.436317,0.119223],[0.066944,-0.133352,0.988805]] 2025-10-29T00:08:15.203Z,1761696495.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458376,0.885352,0.077744],[-0.878766,0.438404,0.188607],[0.132900,-0.154771,0.978971]] 2025-10-29T00:08:16.012Z,1761696496.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431449,0.899299,0.071509],[-0.882817,0.404564,0.238669],[0.185705,-0.166103,0.968464]] 2025-10-29T00:08:16.415Z,1761696496.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424177,0.901488,0.085985],[-0.893157,0.400795,0.204046],[0.149483,-0.163349,0.975178]] 2025-10-29T00:08:16.819Z,1761696496.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455841,0.882137,0.118505],[-0.888444,0.442940,0.120295],[0.053626,-0.160120,0.985640]] 2025-10-29T00:08:17.223Z,1761696497.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453979,0.886769,0.086852],[-0.889399,0.445135,0.104044],[0.053602,-0.124479,0.990773]] 2025-10-29T00:08:18.031Z,1761696498.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462150,0.875515,0.141038],[-0.884362,0.443222,0.146488],[0.065742,-0.192428,0.979106]] 2025-10-29T00:08:18.839Z,1761696498.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440460,0.881077,0.172331],[-0.896444,0.442067,0.031059],[-0.048817,-0.168165,0.984549]] 2025-10-29T00:08:18.842Z,1761696498.842 [NAL9602](INFO): Not Powering down - fast GPS 2025-10-29T00:08:19.247Z,1761696499.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423314,0.896205,0.132748],[-0.904557,0.426304,0.006450],[-0.050811,-0.122809,0.991129]] 2025-10-29T00:08:20.051Z,1761696500.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455719,0.888672,0.050811],[-0.887415,0.449141,0.103762],[0.069389,-0.092376,0.993303]] 2025-10-29T00:08:20.458Z,1761696500.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.440755,0.890737,0.111007],[-0.897127,0.432996,0.087628],[0.029988,-0.138210,0.989949]] 2025-10-29T00:08:20.652Z,1761696500.652 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:20.858Z,1761696500.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445281,0.880079,0.164882],[-0.895137,0.441931,0.058547],[-0.021341,-0.173662,0.984574]] 2025-10-29T00:08:21.672Z,1761696501.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453213,0.885454,0.102802],[-0.890744,0.445425,0.090399],[0.034254,-0.132540,0.990586]] 2025-10-29T00:08:22.071Z,1761696502.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441928,0.887145,0.132943],[-0.896781,0.440547,0.041251],[-0.021972,-0.137451,0.990265]] 2025-10-29T00:08:22.475Z,1761696502.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429551,0.888652,0.160570],[-0.901971,0.430865,0.028360],[-0.043982,-0.157011,0.986617]] 2025-10-29T00:08:22.879Z,1761696502.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450563,0.885774,0.111342],[-0.889156,0.434077,0.144842],[0.079966,-0.164261,0.983170]] 2025-10-29T00:08:23.345Z,1761696503.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443822,0.892117,0.084556],[-0.879191,0.415246,0.233653],[0.173334,-0.178041,0.968636]] 2025-10-29T00:08:24.091Z,1761696504.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.459940,0.879650,0.121125],[-0.883874,0.440493,0.157266],[0.084984,-0.179392,0.980100]] 2025-10-29T00:08:24.900Z,1761696504.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441647,0.881183,0.168712],[-0.896846,0.428407,0.110156],[0.024790,-0.199958,0.979491]] 2025-10-29T00:08:25.343Z,1761696505.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463475,0.875971,0.133663],[-0.886101,0.458836,0.065526],[-0.003930,-0.148808,0.988858]] 2025-10-29T00:08:26.163Z,1761696506.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492344,0.868827,0.052310],[-0.870379,0.491864,0.022580],[-0.006112,-0.056647,0.998376]] 2025-10-29T00:08:26.568Z,1761696506.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492744,0.864846,0.096156],[-0.869026,0.494756,0.003324],[-0.044699,-0.085200,0.995361]] 2025-10-29T00:08:26.970Z,1761696506.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470901,0.872215,0.132261],[-0.882179,0.465000,0.074394],[0.003386,-0.151710,0.988419]] 2025-10-29T00:08:27.379Z,1761696507.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452087,0.874902,0.173676],[-0.890870,0.433202,0.136701],[0.044363,-0.216524,0.975269]] 2025-10-29T00:08:27.782Z,1761696507.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.485349,0.853152,0.191228],[-0.874256,0.470917,0.117954],[0.010580,-0.224431,0.974433]] 2025-10-29T00:08:28.183Z,1761696508.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.514718,0.848242,0.124705],[-0.857228,0.506619,0.092177],[0.015011,-0.154346,0.987903]] 2025-10-29T00:08:28.588Z,1761696508.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537550,0.842184,0.042027],[-0.840675,0.531376,0.104432],[0.065618,-0.091469,0.993644]] 2025-10-29T00:08:28.991Z,1761696508.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.523122,0.851517,0.035529],[-0.850521,0.518944,0.085503],[0.054370,-0.074947,0.995704]] 2025-10-29T00:08:29.399Z,1761696509.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513571,0.852903,0.093816],[-0.856744,0.503694,0.110823],[0.047267,-0.137292,0.989402]] 2025-10-29T00:08:29.799Z,1761696509.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534510,0.833499,0.139924],[-0.843777,0.516796,0.144783],[0.048364,-0.195453,0.979520]] 2025-10-29T00:08:30.205Z,1761696510.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543423,0.830579,0.121780],[-0.838348,0.529500,0.129622],[0.043179,-0.172533,0.984057]] 2025-10-29T00:08:30.237Z,1761696510.237 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:30.606Z,1761696510.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525198,0.847531,0.076544],[-0.847827,0.513396,0.132716],[0.073184,-0.134598,0.988194]] 2025-10-29T00:08:31.011Z,1761696511.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561063,0.826315,0.049111],[-0.820851,0.547734,0.161835],[0.106827,-0.131112,0.985595]] 2025-10-29T00:08:31.439Z,1761696511.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595348,0.803344,-0.014145],[-0.799397,0.594009,0.090101],[0.080784,-0.042334,0.995832]] 2025-10-29T00:08:31.819Z,1761696511.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608706,0.793172,0.018847],[-0.793366,0.608304,0.023176],[0.006918,-0.029060,0.999554]] 2025-10-29T00:08:32.223Z,1761696512.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588739,0.806967,0.046803],[-0.807363,0.584232,0.082697],[0.039390,-0.086474,0.995475]] 2025-10-29T00:08:32.627Z,1761696512.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578078,0.809202,0.104965],[-0.812523,0.559015,0.165253],[0.075046,-0.180816,0.980650]] 2025-10-29T00:08:33.032Z,1761696513.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588937,0.779372,0.213854],[-0.808173,0.566920,0.159556],[0.003115,-0.266800,0.963747]] 2025-10-29T00:08:33.447Z,1761696513.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627420,0.747208,0.219144],[-0.778536,0.607384,0.158008],[-0.015040,-0.269749,0.962813]] 2025-10-29T00:08:33.839Z,1761696513.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615296,0.785190,0.069904],[-0.784624,0.601468,0.150338],[0.075999,-0.147351,0.986160]] 2025-10-29T00:08:34.243Z,1761696514.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609694,0.792349,-0.021372],[-0.783348,0.606446,0.136341],[0.120991,-0.066385,0.990431]] 2025-10-29T00:08:35.051Z,1761696515.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557133,0.830357,-0.010457],[-0.812184,0.547478,0.201556],[0.173089,-0.103801,0.979421]] 2025-10-29T00:08:35.456Z,1761696515.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562533,0.819661,0.108228],[-0.819964,0.536329,0.200028],[0.105909,-0.201265,0.973794]] 2025-10-29T00:08:35.859Z,1761696515.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581422,0.804623,0.120541],[-0.811311,0.562275,0.160066],[0.061016,-0.190862,0.979719]] 2025-10-29T00:08:36.264Z,1761696516.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581533,0.804108,0.123406],[-0.813120,0.569749,0.119255],[0.025584,-0.169695,0.985165]] 2025-10-29T00:08:36.669Z,1761696516.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.578473,0.809519,0.100235],[-0.814948,0.578838,0.028390],[-0.035038,-0.098109,0.994559]] 2025-10-29T00:08:37.071Z,1761696517.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580992,0.811755,0.059178],[-0.812091,0.583017,-0.024478],[-0.054372,-0.033837,0.997947]] 2025-10-29T00:08:37.474Z,1761696517.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583061,0.810731,0.052492],[-0.811663,0.584098,-0.005661],[-0.035250,-0.039305,0.998605]] 2025-10-29T00:08:37.878Z,1761696517.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.587928,0.807285,0.051298],[-0.808755,0.585377,0.056996],[0.015984,-0.074997,0.997056]] 2025-10-29T00:08:38.285Z,1761696518.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586803,0.801236,0.116976],[-0.809676,0.582271,0.073385],[-0.009313,-0.137775,0.990420]] 2025-10-29T00:08:38.686Z,1761696518.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549462,0.821198,0.154029],[-0.835519,0.540093,0.101036],[-0.000220,-0.184209,0.982887]] 2025-10-29T00:08:39.090Z,1761696519.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547829,0.821912,0.156027],[-0.836565,0.536763,0.109745],[0.006451,-0.190648,0.981637]] 2025-10-29T00:08:39.503Z,1761696519.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597377,0.799930,0.057030],[-0.801010,0.591695,0.090997],[0.039047,-0.100041,0.994217]] 2025-10-29T00:08:39.737Z,1761696519.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:39.905Z,1761696519.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588122,0.807873,-0.038124],[-0.806286,0.589356,0.050625],[0.063367,0.000965,0.997990]] 2025-10-29T00:08:40.303Z,1761696520.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.558585,0.827697,-0.053856],[-0.823254,0.561164,0.085718],[0.101171,-0.003544,0.994863]] 2025-10-29T00:08:40.706Z,1761696520.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533825,0.844488,0.043265],[-0.842329,0.526574,0.114895],[0.074245,-0.097777,0.992435]] 2025-10-29T00:08:41.111Z,1761696521.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504960,0.852763,0.133457],[-0.862658,0.493426,0.111138],[0.028923,-0.171248,0.984803]] 2025-10-29T00:08:41.517Z,1761696521.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513030,0.840063,0.176337],[-0.857787,0.494176,0.141386],[0.031632,-0.223795,0.974123]] 2025-10-29T00:08:41.929Z,1761696521.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528783,0.841548,0.110393],[-0.847885,0.517857,0.113646],[0.038470,-0.153695,0.987369]] 2025-10-29T00:08:42.323Z,1761696522.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534221,0.845235,0.013588],[-0.841283,0.530012,0.106446],[0.082770,-0.068297,0.994226]] 2025-10-29T00:08:42.727Z,1761696522.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.487252,0.872342,-0.040065],[-0.868987,0.488890,0.076469],[0.086294,-0.002444,0.996267]] 2025-10-29T00:08:43.536Z,1761696523.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457569,0.889147,0.006991],[-0.888943,0.457615,-0.019188],[-0.020261,0.002565,0.999791]] 2025-10-29T00:08:43.939Z,1761696523.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.444266,0.895885,-0.004124],[-0.895256,0.444119,0.035723],[0.033836,-0.012179,0.999353]] 2025-10-29T00:08:44.343Z,1761696524.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417898,0.907987,0.030354],[-0.905012,0.413142,0.101321],[0.079458,-0.069813,0.994391]] 2025-10-29T00:08:44.752Z,1761696524.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.418158,0.902195,0.105778],[-0.904112,0.402097,0.144567],[0.087895,-0.156087,0.983825]] 2025-10-29T00:08:45.151Z,1761696525.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439808,0.885103,0.152190],[-0.896200,0.421540,0.138311],[0.058265,-0.197223,0.978626]] 2025-10-29T00:08:45.556Z,1761696525.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434442,0.892317,0.122597],[-0.899812,0.423933,0.103050],[0.039981,-0.155084,0.987092]] 2025-10-29T00:08:45.575Z,1761696525.575 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS, -68, +360, 2025-10-29T00:08:45.961Z,1761696525.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412286,0.909223,0.057737],[-0.903596,0.399996,0.153351],[0.116335,-0.115395,0.986484]] 2025-10-29T00:08:46.362Z,1761696526.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393808,0.918572,0.033781],[-0.909507,0.384075,0.159010],[0.133088,-0.093343,0.986699]] 2025-10-29T00:08:46.772Z,1761696526.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398940,0.915736,0.047685],[-0.914372,0.393351,0.095912],[0.069073,-0.081865,0.994247]] 2025-10-29T00:08:47.575Z,1761696527.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399922,0.907451,0.128823],[-0.916443,0.398049,0.041112],[-0.013971,-0.134501,0.990815]] 2025-10-29T00:08:47.979Z,1761696527.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.385178,0.918463,0.089800],[-0.922704,0.384980,0.020214],[-0.016006,-0.090644,0.995755]] 2025-10-29T00:08:48.383Z,1761696528.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.362851,0.930201,0.055363],[-0.931187,0.359718,0.059105],[0.035065,-0.072999,0.996715]] 2025-10-29T00:08:48.790Z,1761696528.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348605,0.936519,0.037511],[-0.929232,0.340109,0.144409],[0.122484,-0.085198,0.988807]] 2025-10-29T00:08:49.112Z,1761696529.112 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:49.191Z,1761696529.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.355091,0.933120,0.056542],[-0.922008,0.339594,0.185950],[0.154312,-0.118162,0.980931]] 2025-10-29T00:08:49.595Z,1761696529.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.339968,0.936659,0.084217],[-0.927758,0.319381,0.193029],[0.153905,-0.143757,0.977572]] 2025-10-29T00:08:49.999Z,1761696529.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.336296,0.935622,0.107318],[-0.934025,0.316791,0.165047],[0.120425,-0.155742,0.980430]] 2025-10-29T00:08:50.414Z,1761696530.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.348593,0.918424,0.187032],[-0.937273,0.341240,0.071237],[0.001603,-0.200133,0.979767]] 2025-10-29T00:08:50.807Z,1761696530.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.342304,0.926155,0.158318],[-0.939586,0.336989,0.060131],[0.002339,-0.169337,0.985556]] 2025-10-29T00:08:51.211Z,1761696531.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.319977,0.942070,0.100597],[-0.946060,0.312010,0.087297],[0.050853,-0.123104,0.991090]] 2025-10-29T00:08:51.617Z,1761696531.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.315863,0.942214,0.111637],[-0.948180,0.309192,0.073182],[0.034435,-0.128968,0.991051]] 2025-10-29T00:08:52.019Z,1761696532.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314744,0.942387,0.113326],[-0.946622,0.302898,0.110271],[0.069592,-0.141984,0.987420]] 2025-10-29T00:08:52.426Z,1761696532.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330660,0.937982,0.104182],[-0.943141,0.324460,0.072187],[0.033907,-0.122127,0.991935]] 2025-10-29T00:08:52.827Z,1761696532.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.313417,0.945833,0.084678],[-0.949185,0.309340,0.057940],[0.028607,-0.098535,0.994722]] 2025-10-29T00:08:53.231Z,1761696533.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.278792,0.952523,0.122374],[-0.959106,0.269672,0.085983],[0.048900,-0.141341,0.988753]] 2025-10-29T00:08:53.635Z,1761696533.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.276558,0.936979,0.213507],[-0.960055,0.259545,0.104552],[0.042548,-0.233893,0.971331]] 2025-10-29T00:08:54.039Z,1761696534.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246029,0.945419,0.213663],[-0.966436,0.222455,0.128510],[0.073965,-0.238109,0.968418]] 2025-10-29T00:08:54.443Z,1761696534.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255746,0.947737,0.190760],[-0.958282,0.222473,0.179448],[0.127630,-0.228695,0.965095]] 2025-10-29T00:08:54.849Z,1761696534.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.272164,0.950400,0.150553],[-0.960411,0.258627,0.103555],[0.059481,-0.172777,0.983163]] 2025-10-29T00:08:55.354Z,1761696535.354 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050503571540,35.0, 0.0,1506.6, 0 2025-10-29T00:08:55.655Z,1761696535.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.273668,0.961532,0.023697],[-0.961164,0.272484,0.043777],[0.035636,-0.034757,0.998760]] 2025-10-29T00:08:56.058Z,1761696536.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.260292,0.965473,0.010500],[-0.961449,0.258178,0.094651],[0.088672,-0.034732,0.995455]] 2025-10-29T00:08:56.090Z,1761696536.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:08:56.129Z,1761696536.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:08:56.129Z,1761696536.129 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:08:56.382Z,1761696536.382 [DAT](INFO): DAT read: user:355> 2025-10-29T00:08:56.383Z,1761696536.383 [DAT](INFO): DAT read: Tx time:00:08:56.1291 2025-10-29T00:08:56.384Z,1761696536.384 [DAT](INFO): Ping request sent. 2025-10-29T00:08:56.384Z,1761696536.384 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:08:56.385Z,1761696536.385 [DAT](INFO): publishing transmit ping time 2025-10-29T00:08:56.386Z,1761696536.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001578 2025-10-29T00:08:56.467Z,1761696536.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.254453,0.965991,0.045989],[-0.957764,0.245128,0.150335],[0.133949,-0.082300,0.987565]] 2025-10-29T00:08:56.633Z,1761696536.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248651 2025-10-29T00:08:56.866Z,1761696536.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244030,0.962780,0.116202],[-0.965044,0.229279,0.126973],[0.095604,-0.143125,0.985076]] 2025-10-29T00:08:56.886Z,1761696536.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501663 2025-10-29T00:08:57.137Z,1761696537.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752621 2025-10-29T00:08:57.312Z,1761696537.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.241709,0.955227,0.170641],[-0.965734,0.219681,0.138194],[0.094521,-0.198197,0.975594]] 2025-10-29T00:08:57.390Z,1761696537.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005603 2025-10-29T00:08:57.641Z,1761696537.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256679 2025-10-29T00:08:57.676Z,1761696537.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.255519,0.949076,0.184293],[-0.958524,0.223791,0.176494],[0.126264,-0.221747,0.966895]] 2025-10-29T00:08:57.894Z,1761696537.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509417 2025-10-29T00:08:58.080Z,1761696538.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.258607,0.948550,0.182689],[-0.965134,0.245791,0.090020],[0.040485,-0.199599,0.979041]] 2025-10-29T00:08:58.145Z,1761696538.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760989 2025-10-29T00:08:58.397Z,1761696538.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013040 2025-10-29T00:08:58.483Z,1761696538.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.238784,0.959793,0.147580],[-0.971073,0.235899,0.037012],[0.000710,-0.152149,0.988357]] 2025-10-29T00:08:58.649Z,1761696538.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264744 2025-10-29T00:08:58.848Z,1761696538.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:08:58.895Z,1761696538.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.256371,0.959245,0.118840],[-0.965923,0.249726,0.068037],[0.035587,-0.132233,0.990580]] 2025-10-29T00:08:58.902Z,1761696538.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517645 2025-10-29T00:08:59.153Z,1761696539.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768642 2025-10-29T00:08:59.326Z,1761696539.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.262496,0.957788,0.117210],[-0.964836,0.258804,0.045954],[0.013680,-0.125151,0.992043]] 2025-10-29T00:08:59.406Z,1761696539.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021556 2025-10-29T00:08:59.657Z,1761696539.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272935 2025-10-29T00:08:59.701Z,1761696539.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.264121,0.954952,0.135300],[-0.962773,0.252678,0.096033],[0.057520,-0.155627,0.986140]] 2025-10-29T00:08:59.909Z,1761696539.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525186 2025-10-29T00:09:00.098Z,1761696540.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.306224,0.944814,0.116423],[-0.948640,0.292660,0.120135],[0.079433,-0.147232,0.985907]] 2025-10-29T00:09:00.161Z,1761696540.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776753 2025-10-29T00:09:00.413Z,1761696540.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028686 2025-10-29T00:09:00.503Z,1761696540.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316281,0.945180,0.081247],[-0.946969,0.309436,0.086590],[0.056703,-0.104325,0.992926]] 2025-10-29T00:09:00.665Z,1761696540.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280658 2025-10-29T00:09:00.917Z,1761696540.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532726 2025-10-29T00:09:00.921Z,1761696540.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.300164,0.949595,0.090396],[-0.947279,0.285608,0.145225],[0.112087,-0.129221,0.985260]] 2025-10-29T00:09:01.169Z,1761696541.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784710 2025-10-29T00:09:01.330Z,1761696541.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.357332,0.919805,0.162091],[-0.930028,0.334477,0.152227],[0.085803,-0.205145,0.974963]] 2025-10-29T00:09:01.425Z,1761696541.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040742 2025-10-29T00:09:01.677Z,1761696541.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.292709 2025-10-29T00:09:01.715Z,1761696541.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337457,0.916919,0.213033],[-0.941080,0.323284,0.099279],[0.022161,-0.233983,0.971988]] 2025-10-29T00:09:01.929Z,1761696541.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544673 2025-10-29T00:09:02.119Z,1761696542.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351704,0.887763,0.296953],[-0.935337,0.346161,0.072918],[-0.038059,-0.303397,0.952104]] 2025-10-29T00:09:02.181Z,1761696542.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.796742 2025-10-29T00:09:02.433Z,1761696542.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.048685 2025-10-29T00:09:02.523Z,1761696542.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.402921,0.878962,0.255109],[-0.912192,0.408377,0.033684],[-0.074574,-0.246281,0.966325]] 2025-10-29T00:09:02.685Z,1761696542.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.300636 2025-10-29T00:09:02.928Z,1761696542.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.380115,0.919052,0.104195],[-0.924387,0.381363,0.008457],[-0.031964,-0.099531,0.994521]] 2025-10-29T00:09:02.937Z,1761696542.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552793 2025-10-29T00:09:03.190Z,1761696543.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805119 2025-10-29T00:09:03.335Z,1761696543.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.375408,0.926717,-0.016275],[-0.925002,0.375709,0.056696],[0.058656,-0.006230,0.998259]] 2025-10-29T00:09:03.441Z,1761696543.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056768 2025-10-29T00:09:03.693Z,1761696543.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.308751 2025-10-29T00:09:03.735Z,1761696543.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411322,0.909014,-0.067138],[-0.904754,0.416112,0.090949],[0.110611,0.023334,0.993590]] 2025-10-29T00:09:03.945Z,1761696543.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.560649 2025-10-29T00:09:04.139Z,1761696544.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382632,0.923900,-0.001021],[-0.923890,0.382632,0.004439],[0.004492,-0.000755,0.999990]] 2025-10-29T00:09:04.197Z,1761696544.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812665 2025-10-29T00:09:04.449Z,1761696544.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064736 2025-10-29T00:09:04.543Z,1761696544.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387268,0.915459,0.109353],[-0.920070,0.391348,-0.017828],[-0.059116,-0.093708,0.993843]] 2025-10-29T00:09:04.701Z,1761696544.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.316734 2025-10-29T00:09:04.947Z,1761696544.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422721,0.900546,0.101609],[-0.904285,0.411744,0.112851],[0.059791,-0.139588,0.988403]] 2025-10-29T00:09:04.953Z,1761696544.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.568606 2025-10-29T00:09:05.205Z,1761696545.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.820753 2025-10-29T00:09:05.354Z,1761696545.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.411573,0.909673,0.055703],[-0.909198,0.405597,0.094081],[0.062990,-0.089366,0.994005]] 2025-10-29T00:09:05.373Z,1761696545.373 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 0.00, 0.00, 0.00 2025-10-29T00:09:05.457Z,1761696545.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.072721 2025-10-29T00:09:05.709Z,1761696545.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324667 2025-10-29T00:09:05.760Z,1761696545.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394127,0.914936,0.086923],[-0.918840,0.390216,0.058862],[0.019937,-0.103067,0.994475]] 2025-10-29T00:09:05.961Z,1761696545.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.576691 2025-10-29T00:09:06.159Z,1761696546.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394418,0.911756,0.114611],[-0.917158,0.382841,0.110694],[0.057048,-0.148776,0.987224]] 2025-10-29T00:09:06.213Z,1761696546.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.828626 2025-10-29T00:09:06.465Z,1761696546.465 [DAT](INFO): Reached modem response timeout 2025-10-29T00:09:06.568Z,1761696546.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.384067,0.911873,0.144845],[-0.922451,0.372214,0.102671],[0.039710,-0.173045,0.984113]] 2025-10-29T00:09:06.970Z,1761696546.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407128,0.900443,0.153132],[-0.913075,0.396967,0.093336],[0.023256,-0.177821,0.983788]] 2025-10-29T00:09:07.377Z,1761696547.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.391551,0.907477,0.152227],[-0.919405,0.392523,0.024886],[-0.037169,-0.149703,0.988032]] 2025-10-29T00:09:07.783Z,1761696547.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.403944,0.905020,0.133295],[-0.911458,0.385767,0.142926],[0.077930,-0.179227,0.980716]] 2025-10-29T00:09:08.187Z,1761696548.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.397934,0.906105,0.143607],[-0.917123,0.388963,0.087140],[0.023101,-0.166381,0.985791]] 2025-10-29T00:09:08.597Z,1761696548.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401081,0.906047,0.134957],[-0.916027,0.397552,0.053353],[-0.005312,-0.145024,0.989414]] 2025-10-29T00:09:08.676Z,1761696548.676 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:09:08.733Z,1761696548.733 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:09:08.733Z,1761696548.733 [DAT](INFO): response not received 2025-10-29T00:09:08.734Z,1761696548.734 [DAT](ERROR): No response from remote modem. 2025-10-29T00:09:08.992Z,1761696548.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.390166,0.913020,0.119016],[-0.920208,0.391080,0.016552],[-0.031433,-0.115978,0.992754]] 2025-10-29T00:09:09.399Z,1761696549.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442949,0.892999,0.079684],[-0.896161,0.443614,0.010131],[-0.026302,-0.075897,0.996769]] 2025-10-29T00:09:09.795Z,1761696549.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.442252,0.896723,-0.017339],[-0.894418,0.442385,0.065665],[0.066554,-0.013533,0.997691]] 2025-10-29T00:09:10.203Z,1761696550.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433049,0.901275,-0.013089],[-0.888807,0.429384,0.160161],[0.149970,-0.057724,0.987004]] 2025-10-29T00:09:10.602Z,1761696550.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.458896,0.880910,0.115811],[-0.886147,0.444322,0.131611],[0.064480,-0.163021,0.984513]] 2025-10-29T00:09:11.006Z,1761696551.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449612,0.878107,0.163636],[-0.892800,0.436146,0.112631],[0.027533,-0.196734,0.980070]] 2025-10-29T00:09:11.411Z,1761696551.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445531,0.883268,0.146083],[-0.893322,0.427855,0.137537],[0.058979,-0.191776,0.979665]] 2025-10-29T00:09:11.817Z,1761696551.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.436010,0.886087,0.157309],[-0.898921,0.420485,0.123022],[0.042862,-0.195047,0.979857]] 2025-10-29T00:09:12.222Z,1761696552.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432098,0.889013,0.151484],[-0.900574,0.416516,0.124425],[0.047520,-0.190187,0.980597]] 2025-10-29T00:09:12.623Z,1761696552.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422738,0.895832,0.137030],[-0.904746,0.408470,0.120773],[0.052220,-0.175033,0.983177]] 2025-10-29T00:09:13.027Z,1761696553.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434683,0.893213,0.114987],[-0.898584,0.421665,0.121430],[0.059977,-0.156109,0.985917]] 2025-10-29T00:09:13.432Z,1761696553.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438197,0.892748,0.104808],[-0.895532,0.423535,0.136529],[0.077496,-0.153686,0.985076]] 2025-10-29T00:09:13.835Z,1761696553.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424904,0.900829,0.089240],[-0.900926,0.411209,0.138703],[0.088251,-0.139334,0.986305]] 2025-10-29T00:09:14.242Z,1761696554.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.422266,0.900990,0.099543],[-0.902055,0.406839,0.144148],[0.089378,-0.150662,0.984537]] 2025-10-29T00:09:14.643Z,1761696554.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433251,0.894395,0.111137],[-0.897178,0.416249,0.147678],[0.085821,-0.163691,0.982772]] 2025-10-29T00:09:15.048Z,1761696555.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.452563,0.885281,0.107067],[-0.888838,0.438167,0.134077],[0.071782,-0.155843,0.985170]] 2025-10-29T00:09:15.450Z,1761696555.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463522,0.883183,0.071658],[-0.883166,0.453922,0.118209],[0.071873,-0.118079,0.990400]] 2025-10-29T00:09:15.524Z,1761696555.524 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, - +2001.77, +42.87, 20.00, 0.00 2025-10-29T00:09:15.855Z,1761696555.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464763,0.884660,0.037047],[-0.881235,0.458083,0.116553],[0.086140,-0.086816,0.992493]] 2025-10-29T00:09:16.261Z,1761696556.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.455174,0.888074,0.064348],[-0.887814,0.447156,0.108804],[0.067852,-0.106654,0.991978]] 2025-10-29T00:09:16.662Z,1761696556.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445525,0.891075,0.086562],[-0.893335,0.436128,0.108371],[0.058814,-0.125611,0.990335]] 2025-10-29T00:09:17.067Z,1761696557.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.446077,0.891370,0.080468],[-0.892012,0.435456,0.121212],[0.073005,-0.125849,0.989360]] 2025-10-29T00:09:17.473Z,1761696557.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462947,0.881451,0.093401],[-0.884829,0.453318,0.107616],[0.052518,-0.132464,0.989796]] 2025-10-29T00:09:17.882Z,1761696557.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.481561,0.870006,0.105780],[-0.876337,0.476409,0.071194],[0.011545,-0.126983,0.991838]] 2025-10-29T00:09:18.279Z,1761696558.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.482147,0.873806,0.063232],[-0.874853,0.476374,0.087754],[0.046558,-0.097629,0.994133]] 2025-10-29T00:09:18.683Z,1761696558.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.472118,0.881471,0.010647],[-0.874020,0.466485,0.135940],[0.114861,-0.073486,0.990660]] 2025-10-29T00:09:19.089Z,1761696559.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.475515,0.879028,0.034577],[-0.869715,0.463843,0.168659],[0.132218,-0.110272,0.985068]] 2025-10-29T00:09:19.491Z,1761696559.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477228,0.876883,0.057707],[-0.870149,0.462340,0.170538],[0.122861,-0.131599,0.983660]] 2025-10-29T00:09:19.898Z,1761696559.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464837,0.883102,0.063706],[-0.878572,0.451142,0.156784],[0.109716,-0.128849,0.985576]] 2025-10-29T00:09:20.326Z,1761696560.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463369,0.883491,0.068793],[-0.879526,0.449025,0.157513],[0.108272,-0.133492,0.985118]] 2025-10-29T00:09:20.704Z,1761696560.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.469735,0.881132,0.054376],[-0.870359,0.451924,0.195550],[0.147732,-0.139183,0.979185]] 2025-10-29T00:09:21.106Z,1761696561.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462506,0.886268,0.024845],[-0.864461,0.444546,0.234702],[0.196964,-0.130028,0.971750]] 2025-10-29T00:09:21.511Z,1761696561.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463610,0.885875,0.017084],[-0.859136,0.444734,0.253174],[0.216682,-0.132052,0.967270]] 2025-10-29T00:09:21.915Z,1761696561.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466353,0.884502,0.013064],[-0.854654,0.446707,0.264611],[0.228214,-0.134567,0.964267]] 2025-10-29T00:09:22.325Z,1761696562.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460932,0.887361,-0.011441],[-0.850214,0.445258,0.280860],[0.254319,-0.119730,0.959680]] 2025-10-29T00:09:22.722Z,1761696562.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449799,0.891304,-0.057079],[-0.840804,0.444135,0.309505],[0.301214,-0.091223,0.949183]] 2025-10-29T00:09:23.127Z,1761696563.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.451875,0.889356,-0.069678],[-0.820977,0.445145,0.357551],[0.349007,-0.104365,0.931291]] 2025-10-29T00:09:23.530Z,1761696563.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.456001,0.885918,-0.084921],[-0.796790,0.448898,0.404495],[0.396470,-0.116786,0.910589]] 2025-10-29T00:09:23.935Z,1761696563.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453296,0.886445,-0.093474],[-0.785322,0.446776,0.428555],[0.421653,-0.120855,0.898667]] 2025-10-29T00:09:24.346Z,1761696564.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450089,0.888588,-0.088500],[-0.784114,0.440692,0.436985],[0.427300,-0.127288,0.895105]] 2025-10-29T00:09:24.744Z,1761696564.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457932,0.885508,-0.078581],[-0.779076,0.442318,0.444292],[0.428182,-0.142235,0.892429]] 2025-10-29T00:09:25.189Z,1761696565.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464227,0.881753,-0.083698],[-0.767816,0.447739,0.458245],[0.441534,-0.148465,0.884876]] 2025-10-29T00:09:25.551Z,1761696565.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.462349,0.880075,-0.108173],[-0.752896,0.454090,0.476393],[0.468382,-0.138817,0.872553]] 2025-10-29T00:09:25.955Z,1761696565.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.460030,0.880678,-0.113044],[-0.741556,0.451101,0.496592],[0.488331,-0.144619,0.860592]] 2025-10-29T00:09:26.365Z,1761696566.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.461133,0.881517,-0.101407],[-0.735699,0.443721,0.511720],[0.496087,-0.161366,0.853146]] 2025-10-29T00:09:26.767Z,1761696566.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.466312,0.879053,-0.099086],[-0.728289,0.445070,0.521065],[0.502144,-0.170815,0.847746]] 2025-10-29T00:09:27.168Z,1761696567.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.464155,0.876194,-0.129783],[-0.714509,0.456973,0.529767],[0.523486,-0.153163,0.838155]] 2025-10-29T00:09:27.572Z,1761696567.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448946,0.876679,-0.172860],[-0.699566,0.465195,0.542403],[0.555927,-0.122583,0.822143]] 2025-10-29T00:09:27.974Z,1761696567.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434924,0.878716,-0.196722],[-0.687316,0.465095,0.557928],[0.581755,-0.107446,0.806236]] 2025-10-29T00:09:28.385Z,1761696568.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426884,0.881441,-0.202068],[-0.679219,0.460044,0.571857],[0.597019,-0.106868,0.795077]] 2025-10-29T00:09:28.785Z,1761696568.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424972,0.886578,-0.182698],[-0.674797,0.444810,0.588891],[0.603364,-0.126979,0.787292]] 2025-10-29T00:09:29.188Z,1761696569.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427553,0.890785,-0.153951],[-0.667642,0.425974,0.610573],[0.609469,-0.158268,0.776852]] 2025-10-29T00:09:29.590Z,1761696569.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429834,0.888790,-0.159046],[-0.648405,0.426433,0.630655],[0.628343,-0.167950,0.759591]] 2025-10-29T00:09:29.995Z,1761696569.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425379,0.884943,-0.189550],[-0.623761,0.438432,0.647070],[0.655725,-0.157017,0.738492]] 2025-10-29T00:09:30.399Z,1761696570.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.424758,0.878635,-0.218133],[-0.607895,0.455362,0.650469],[0.670854,-0.143690,0.727536]] 2025-10-29T00:09:30.804Z,1761696570.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427230,0.873109,-0.234852],[-0.600193,0.468136,0.648550],[0.676198,-0.136124,0.724035]] 2025-10-29T00:09:31.206Z,1761696571.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426474,0.871423,-0.242368],[-0.590607,0.471237,0.655072],[0.685057,-0.136227,0.715639]] 2025-10-29T00:09:31.611Z,1761696571.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425546,0.866902,-0.259599],[-0.572691,0.480103,0.664474],[0.700668,-0.134095,0.700773]] 2025-10-29T00:09:32.015Z,1761696572.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.421939,0.859358,-0.288915],[-0.548663,0.495725,0.673221],[0.721760,-0.125541,0.680663]] 2025-10-29T00:09:32.425Z,1761696572.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415447,0.851490,-0.319951],[-0.526052,0.511863,0.679165],[0.742074,-0.113846,0.660580]] 2025-10-29T00:09:32.823Z,1761696572.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407267,0.844923,-0.346755],[-0.509091,0.525231,0.681878],[0.758261,-0.101176,0.644052]] 2025-10-29T00:09:33.227Z,1761696573.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.399166,0.841092,-0.365007],[-0.497304,0.533060,0.684497],[0.770295,-0.091709,0.631058]] 2025-10-29T00:09:33.631Z,1761696573.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394133,0.841186,-0.370223],[-0.489641,0.533091,0.689975],[0.777760,-0.090665,0.621988]] 2025-10-29T00:09:34.037Z,1761696574.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.393881,0.843013,-0.366315],[-0.485194,0.529176,0.696103],[0.780669,-0.096448,0.617457]] 2025-10-29T00:09:34.439Z,1761696574.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.398158,0.843998,-0.359357],[-0.483045,0.525939,0.700039],[0.779832,-0.105140,0.617096]] 2025-10-29T00:09:34.846Z,1761696574.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.405880,0.842500,-0.354197],[-0.481426,0.526521,0.700717],[0.776846,-0.113887,0.619305]] 2025-10-29T00:09:35.251Z,1761696575.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413818,0.840044,-0.350829],[-0.479255,0.528674,0.700584],[0.773996,-0.121778,0.621370]] 2025-10-29T00:09:35.656Z,1761696575.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419950,0.838745,-0.346625],[-0.476727,0.528870,0.702159],[0.772252,-0.129626,0.621951]] 2025-10-29T00:09:36.054Z,1761696576.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425131,0.837604,-0.343050],[-0.475155,0.529108,0.703045],[0.770384,-0.135885,0.622932]] 2025-10-29T00:09:36.459Z,1761696576.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.430115,0.835182,-0.342743],[-0.474848,0.532191,0.700923],[0.767802,-0.138726,0.625488]] 2025-10-29T00:09:36.870Z,1761696576.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434028,0.831197,-0.347463],[-0.474498,0.538766,0.696119],[0.765814,-0.137265,0.628242]] 2025-10-29T00:09:37.305Z,1761696577.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437033,0.825176,-0.357891],[-0.471572,0.549042,0.690053],[0.765913,-0.132805,0.629079]] 2025-10-29T00:09:37.670Z,1761696577.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439278,0.816654,-0.374314],[-0.464016,0.563044,0.683864],[0.769236,-0.126719,0.626274]] 2025-10-29T00:09:38.075Z,1761696578.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.439820,0.806687,-0.394734],[-0.452043,0.578640,0.678847],[0.776026,-0.120134,0.619154]] 2025-10-29T00:09:38.480Z,1761696578.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.437903,0.796713,-0.416519],[-0.437820,0.593639,0.675209],[0.785210,-0.113316,0.608773]] 2025-10-29T00:09:38.885Z,1761696578.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.433324,0.787650,-0.437994],[-0.424285,0.607054,0.671913],[0.795118,-0.105322,0.597239]] 2025-10-29T00:09:39.323Z,1761696579.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.426360,0.780658,-0.456935],[-0.413253,0.617457,0.669305],[0.804636,-0.096535,0.585868]] 2025-10-29T00:09:39.695Z,1761696579.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.417914,0.778888,-0.467634],[-0.405201,0.620511,0.671400],[0.813117,-0.091102,0.574926]] 2025-10-29T00:09:40.089Z,1761696580.089 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:09:40.098Z,1761696580.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409859,0.782260,-0.469132],[-0.398908,0.616243,0.679056],[0.820298,-0.091177,0.564623]] 2025-10-29T00:09:40.503Z,1761696580.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404266,0.786236,-0.467335],[-0.393723,0.610777,0.686974],[0.825561,-0.093720,0.556476]] 2025-10-29T00:09:40.903Z,1761696580.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404851,0.787368,-0.464916],[-0.388744,0.608420,0.691884],[0.827631,-0.099377,0.552405]] 2025-10-29T00:09:41.327Z,1761696581.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.407988,0.786308,-0.463966],[-0.383874,0.608823,0.694245],[0.828364,-0.105139,0.550236]] 2025-10-29T00:09:41.716Z,1761696581.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.412037,0.782363,-0.467047],[-0.379293,0.613333,0.692791],[0.828470,-0.108308,0.549461]] 2025-10-29T00:09:42.114Z,1761696582.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.415954,0.776638,-0.473091],[-0.375435,0.620485,0.688511],[0.828270,-0.108774,0.549670]] 2025-10-29T00:09:42.520Z,1761696582.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419675,0.770765,-0.479369],[-0.372805,0.627897,0.683200],[0.827581,-0.108011,0.550857]] 2025-10-29T00:09:42.923Z,1761696582.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.423001,0.766676,-0.482989],[-0.371490,0.632900,0.679288],[0.826478,-0.107914,0.552530]] 2025-10-29T00:09:43.340Z,1761696583.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.425949,0.762850,-0.486443],[-0.371357,0.637691,0.674866],[0.825022,-0.106815,0.554914]] 2025-10-29T00:09:43.731Z,1761696583.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.428661,0.758842,-0.490314],[-0.372163,0.642832,0.669523],[0.823253,-0.104521,0.557970]] 2025-10-29T00:09:44.134Z,1761696584.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.431775,0.755954,-0.492041],[-0.373334,0.646370,0.665453],[0.821092,-0.103631,0.561310]] 2025-10-29T00:09:44.542Z,1761696584.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.435095,0.753924,-0.492230],[-0.374562,0.648697,0.662492],[0.818777,-0.103876,0.564637]] 2025-10-29T00:09:44.943Z,1761696584.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.438417,0.752101,-0.492072],[-0.375496,0.650697,0.659996],[0.816574,-0.104582,0.567688]] 2025-10-29T00:09:45.362Z,1761696585.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.441214,0.751102,-0.491097],[-0.375754,0.651586,0.658973],[0.814948,-0.106216,0.569718]] 2025-10-29T00:09:45.755Z,1761696585.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443349,0.749041,-0.492319],[-0.375654,0.653957,0.656677],[0.813834,-0.106195,0.571312]] 2025-10-29T00:09:46.156Z,1761696586.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.445019,0.745080,-0.496803],[-0.375344,0.658872,0.651923],[0.813065,-0.103646,0.572872]] 2025-10-29T00:09:46.563Z,1761696586.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.447194,0.739819,-0.502679],[-0.375212,0.665331,0.645407],[0.811932,-0.100011,0.575121]] 2025-10-29T00:09:46.962Z,1761696586.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449862,0.735172,-0.507095],[-0.375620,0.670880,0.639397],[0.810268,-0.097165,0.577949]] 2025-10-29T00:09:47.370Z,1761696587.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.453221,0.731424,-0.509519],[-0.376691,0.675203,0.634197],[0.807895,-0.095500,0.581537]] 2025-10-29T00:09:47.410Z,1761696587.410 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -188, +734, :BE, -188, +734, +13,A 2025-10-29T00:09:47.782Z,1761696587.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.457647,0.728975,-0.509073],[-0.378904,0.677854,0.630036],[0.804357,-0.095444,0.586429]] 2025-10-29T00:09:48.176Z,1761696588.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.463519,0.727352,-0.506073],[-0.382053,0.679368,0.626494],[0.799491,-0.097045,0.592787]] 2025-10-29T00:09:48.579Z,1761696588.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.470429,0.725950,-0.501691],[-0.385630,0.680491,0.623074],[0.793717,-0.099645,0.600070]] 2025-10-29T00:09:48.982Z,1761696588.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.477755,0.724790,-0.496417],[-0.388725,0.681161,0.620413],[0.787809,-0.103435,0.607172]] 2025-10-29T00:09:49.386Z,1761696589.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.484134,0.724619,-0.490451],[-0.390887,0.680587,0.619685],[0.782830,-0.108299,0.612739]] 2025-10-29T00:09:49.798Z,1761696589.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.489716,0.723460,-0.486604],[-0.391282,0.681111,0.618859],[0.779151,-0.112665,0.616628]] 2025-10-29T00:09:50.194Z,1761696590.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494530,0.720789,-0.485698],[-0.389812,0.683391,0.617270],[0.776844,-0.115928,0.618930]] 2025-10-29T00:09:50.599Z,1761696590.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.498499,0.717596,-0.486369],[-0.386784,0.686222,0.616033],[0.775820,-0.118972,0.619636]] 2025-10-29T00:09:51.002Z,1761696591.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501766,0.712182,-0.490946],[-0.382487,0.691737,0.612539],[0.775844,-0.119571,0.619490]] 2025-10-29T00:09:51.408Z,1761696591.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504872,0.702619,-0.501429],[-0.377752,0.702163,0.603548],[0.776149,-0.115299,0.619919]] 2025-10-29T00:09:51.811Z,1761696591.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507510,0.691164,-0.514515],[-0.373163,0.714533,0.591770],[0.776648,-0.108331,0.620549]] 2025-10-29T00:09:52.215Z,1761696592.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510126,0.678985,-0.527969],[-0.368462,0.727184,0.579172],[0.777179,-0.100914,0.621135]] 2025-10-29T00:09:52.620Z,1761696592.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512565,0.667578,-0.540016],[-0.364176,0.738564,0.567362],[0.777594,-0.094149,0.621678]] 2025-10-29T00:09:53.030Z,1761696593.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.518578,0.648907,-0.556773],[-0.356625,0.755980,0.548919],[0.777107,-0.086098,0.623452]] 2025-10-29T00:09:53.433Z,1761696593.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.522429,0.641071,-0.562223],[-0.353088,0.762817,0.541700],[0.776142,-0.084486,0.624872]] 2025-10-29T00:09:53.840Z,1761696593.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527222,0.634427,-0.565278],[-0.349112,0.768233,0.536599],[0.774699,-0.085561,0.626515]] 2025-10-29T00:09:54.239Z,1761696594.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.532866,0.628372,-0.566747],[-0.344581,0.772843,0.532896],[0.772863,-0.088672,0.628347]] 2025-10-29T00:09:54.643Z,1761696594.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539183,0.622637,-0.567102],[-0.338987,0.776860,0.530638],[0.770954,-0.093870,0.629935]] 2025-10-29T00:09:55.043Z,1761696595.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545518,0.615292,-0.569057],[-0.332659,0.782173,0.526824],[0.769252,-0.098090,0.631372]] 2025-10-29T00:09:55.447Z,1761696595.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551819,0.605998,-0.572941],[-0.325849,0.789069,0.520761],[0.767671,-0.100674,0.632888]] 2025-10-29T00:09:55.856Z,1761696595.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557797,0.595510,-0.578127],[-0.318759,0.796845,0.513255],[0.766326,-0.102009,0.634302]] 2025-10-29T00:09:56.256Z,1761696596.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563428,0.582864,-0.585506],[-0.311438,0.806266,0.502934],[0.765216,-0.101018,0.635799]] 2025-10-29T00:09:56.274Z,1761696596.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:09:56.385Z,1761696596.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:09:56.385Z,1761696596.385 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:09:56.637Z,1761696596.637 [DAT](INFO): DAT read: user:356> 2025-10-29T00:09:56.638Z,1761696596.638 [DAT](INFO): DAT read: Tx time:00:09:56.3790 2025-10-29T00:09:56.638Z,1761696596.638 [DAT](INFO): Ping request sent. 2025-10-29T00:09:56.638Z,1761696596.638 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:09:56.638Z,1761696596.638 [DAT](INFO): publishing transmit ping time 2025-10-29T00:09:56.639Z,1761696596.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000771 2025-10-29T00:09:56.659Z,1761696596.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.568088,0.567126,-0.596359],[-0.304242,0.818034,0.488115],[0.764665,-0.095855,0.637259]] 2025-10-29T00:09:56.889Z,1761696596.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 2025-10-29T00:09:57.063Z,1761696597.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571531,0.548014,-0.610764],[-0.297350,0.832032,0.468300],[0.764811,-0.086038,0.638484]] 2025-10-29T00:09:57.142Z,1761696597.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503798 2025-10-29T00:09:57.393Z,1761696597.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754825 2025-10-29T00:09:57.467Z,1761696597.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574126,0.528703,-0.625182],[-0.290644,0.845439,0.448062],[0.765445,-0.075539,0.639053]] 2025-10-29T00:09:57.645Z,1761696597.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006803 2025-10-29T00:09:57.872Z,1761696597.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.575591,0.513747,-0.636207],[-0.284456,0.855211,0.433242],[0.766668,-0.068397,0.638390]] 2025-10-29T00:09:57.897Z,1761696597.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258925 2025-10-29T00:09:58.149Z,1761696598.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510857 2025-10-29T00:09:58.275Z,1761696598.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576805,0.503449,-0.643300],[-0.278815,0.861550,0.424257],[0.767827,-0.065352,0.637315]] 2025-10-29T00:09:58.401Z,1761696598.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762806 2025-10-29T00:09:58.653Z,1761696598.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014840 2025-10-29T00:09:58.905Z,1761696598.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860 2025-10-29T00:09:59.084Z,1761696599.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.579191,0.491748,-0.650170],[-0.270301,0.868296,0.415933],[0.769074,-0.065163,0.635829]] 2025-10-29T00:09:59.157Z,1761696599.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518833 2025-10-29T00:09:59.409Z,1761696599.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770828 2025-10-29T00:09:59.489Z,1761696599.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.580543,0.489607,-0.650581],[-0.267204,0.869323,0.415787],[0.769137,-0.067544,0.635505]] 2025-10-29T00:09:59.661Z,1761696599.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022807 2025-10-29T00:09:59.891Z,1761696599.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581962,0.489468,-0.649416],[-0.264928,0.869126,0.417653],[0.768852,-0.071010,0.635472]] 2025-10-29T00:09:59.913Z,1761696599.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274929 2025-10-29T00:10:00.165Z,1761696600.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526830 2025-10-29T00:10:00.295Z,1761696600.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583858,0.490604,-0.646852],[-0.263296,0.868118,0.420769],[0.767975,-0.075356,0.636032]] 2025-10-29T00:10:00.417Z,1761696600.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778884 2025-10-29T00:10:00.669Z,1761696600.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030821 2025-10-29T00:10:00.701Z,1761696600.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.585921,0.492385,-0.643626],[-0.262355,0.866721,0.424222],[0.766725,-0.079702,0.637009]] 2025-10-29T00:10:00.921Z,1761696600.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282857 2025-10-29T00:10:01.104Z,1761696601.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588406,0.495636,-0.638845],[-0.261959,0.864336,0.429303],[0.764955,-0.085254,0.638417]] 2025-10-29T00:10:01.173Z,1761696601.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534805 2025-10-29T00:10:01.425Z,1761696601.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786798 2025-10-29T00:10:01.507Z,1761696601.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591066,0.499540,-0.633325],[-0.262093,0.861491,0.434903],[0.762855,-0.091066,0.640124]] 2025-10-29T00:10:01.677Z,1761696601.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038943 2025-10-29T00:10:01.910Z,1761696601.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593823,0.503840,-0.627311],[-0.262591,0.858329,0.440815],[0.760539,-0.097041,0.641999]] 2025-10-29T00:10:01.929Z,1761696601.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291018 2025-10-29T00:10:02.181Z,1761696602.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542840 2025-10-29T00:10:02.320Z,1761696602.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596937,0.507146,-0.621666],[-0.263184,0.855771,0.445411],[0.757892,-0.102270,0.644314]] 2025-10-29T00:10:02.433Z,1761696602.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795195 2025-10-29T00:10:02.685Z,1761696602.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047390 2025-10-29T00:10:02.725Z,1761696602.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600525,0.509129,-0.616569],[-0.263624,0.854042,0.448458],[0.754898,-0.106768,0.647093]] 2025-10-29T00:10:02.937Z,1761696602.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298804 2025-10-29T00:10:03.122Z,1761696603.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604530,0.509816,-0.612071],[-0.263676,0.853124,0.450171],[0.751678,-0.110753,0.650165]] 2025-10-29T00:10:03.190Z,1761696603.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551744 2025-10-29T00:10:03.441Z,1761696603.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802933 2025-10-29T00:10:03.527Z,1761696603.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609082,0.508406,-0.608722],[-0.263305,0.853607,0.449473],[0.748124,-0.113487,0.653782]] 2025-10-29T00:10:03.694Z,1761696603.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055554 2025-10-29T00:10:03.931Z,1761696603.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613752,0.505184,-0.606710],[-0.262473,0.855328,0.446680],[0.744591,-0.114906,0.657556]] 2025-10-29T00:10:03.945Z,1761696603.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306945 2025-10-29T00:10:04.197Z,1761696604.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558901 2025-10-29T00:10:04.341Z,1761696604.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.618350,0.501708,-0.604923],[-0.261494,0.857205,0.443645],[0.741123,-0.116144,0.661247]] 2025-10-29T00:10:04.453Z,1761696604.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815134 2025-10-29T00:10:04.701Z,1761696604.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062815 2025-10-29T00:10:04.739Z,1761696604.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622805,0.498183,-0.603264],[-0.260674,0.859140,0.440372],[0.737674,-0.117011,0.664940]] 2025-10-29T00:10:04.953Z,1761696604.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314884 2025-10-29T00:10:05.143Z,1761696605.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626587,0.493113,-0.603513],[-0.259900,0.862261,0.434692],[0.734738,-0.115519,0.668442]] 2025-10-29T00:10:05.206Z,1761696605.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567589 2025-10-29T00:10:05.457Z,1761696605.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818849 2025-10-29T00:10:05.548Z,1761696605.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629811,0.487783,-0.604488],[-0.259438,0.865639,0.428208],[0.732141,-0.112863,0.671738]] 2025-10-29T00:10:05.709Z,1761696605.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070937 2025-10-29T00:10:05.950Z,1761696605.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632579,0.483090,-0.605366],[-0.259225,0.868608,0.422282],[0.729826,-0.110200,0.674692]] 2025-10-29T00:10:05.961Z,1761696605.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322784 2025-10-29T00:10:06.213Z,1761696606.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574780 2025-10-29T00:10:06.354Z,1761696606.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634676,0.478453,-0.606853],[-0.259128,0.871585,0.416164],[0.728038,-0.106877,0.677154]] 2025-10-29T00:10:06.465Z,1761696606.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826901 2025-10-29T00:10:06.717Z,1761696606.717 [DAT](INFO): Reached modem response timeout 2025-10-29T00:10:06.764Z,1761696606.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636208,0.477056,-0.606348],[-0.259221,0.872401,0.414393],[0.726667,-0.106462,0.678691]] 2025-10-29T00:10:07.168Z,1761696607.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637368,0.478855,-0.603705],[-0.258933,0.871002,0.417503],[0.725751,-0.109784,0.679141]] 2025-10-29T00:10:07.566Z,1761696607.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638171,0.483320,-0.599282],[-0.257995,0.867641,0.425015],[0.725380,-0.116621,0.678398]] 2025-10-29T00:10:07.970Z,1761696607.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638759,0.488049,-0.594807],[-0.256884,0.863989,0.433052],[0.725257,-0.123819,0.677253]] 2025-10-29T00:10:08.209Z,1761696608.209 [DataOverHttps](INFO): setting unavailable, lastComms_.elapsed()=60.535477 2025-10-29T00:10:08.374Z,1761696608.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638991,0.488878,-0.593876],[-0.255653,0.863142,0.435462],[0.725487,-0.126430,0.676523]] 2025-10-29T00:10:08.783Z,1761696608.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639042,0.487832,-0.594681],[-0.254102,0.863631,0.435402],[0.725988,-0.127131,0.675855]] 2025-10-29T00:10:08.985Z,1761696608.985 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:10:08.985Z,1761696608.985 [DAT](INFO): response not received 2025-10-29T00:10:08.985Z,1761696608.985 [DAT](ERROR): No response from remote modem. 2025-10-29T00:10:09.193Z,1761696609.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638923,0.486876,-0.595591],[-0.252822,0.864121,0.435174],[0.726539,-0.127464,0.675200]] 2025-10-29T00:10:09.212Z,1761696609.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:10:09.586Z,1761696609.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639073,0.486280,-0.595917],[-0.252390,0.864461,0.434750],[0.726557,-0.127434,0.675186]] 2025-10-29T00:10:09.990Z,1761696609.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639618,0.483853,-0.597307],[-0.252136,0.866110,0.431603],[0.726166,-0.125458,0.675976]] 2025-10-29T00:10:10.398Z,1761696610.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640313,0.483025,-0.597232],[-0.252925,0.866757,0.429839],[0.725278,-0.124176,0.677165]] 2025-10-29T00:10:10.807Z,1761696610.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641021,0.484201,-0.595518],[-0.254882,0.866156,0.429894],[0.723966,-0.123784,0.678638]] 2025-10-29T00:10:11.206Z,1761696611.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642158,0.487318,-0.591739],[-0.257438,0.864191,0.432319],[0.722052,-0.125282,0.680401]] 2025-10-29T00:10:11.607Z,1761696611.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643309,0.491871,-0.586700],[-0.261003,0.861312,0.435912],[0.719744,-0.127295,0.682469]] 2025-10-29T00:10:12.012Z,1761696612.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644632,0.496927,-0.580958],[-0.264632,0.857990,0.440253],[0.717230,-0.130061,0.684591]] 2025-10-29T00:10:12.415Z,1761696612.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645794,0.503050,-0.574361],[-0.268449,0.853833,0.445987],[0.714762,-0.133829,0.686443]] 2025-10-29T00:10:12.829Z,1761696612.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647117,0.509775,-0.566894],[-0.272474,0.849107,0.452521],[0.712038,-0.138370,0.688372]] 2025-10-29T00:10:13.235Z,1761696613.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648031,0.516748,-0.559489],[-0.276441,0.844101,0.459428],[0.709674,-0.143057,0.689854]] 2025-10-29T00:10:13.627Z,1761696613.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648707,0.523646,-0.552245],[-0.280100,0.838991,0.466517],[0.707618,-0.147949,0.690933]] 2025-10-29T00:10:14.031Z,1761696614.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649316,0.528467,-0.546910],[-0.283359,0.835458,0.470869],[0.705759,-0.150771,0.692222]] 2025-10-29T00:10:14.435Z,1761696614.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649871,0.532161,-0.542653],[-0.285868,0.832691,0.474241],[0.704235,-0.153068,0.693270]] 2025-10-29T00:10:14.850Z,1761696614.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650175,0.536403,-0.538094],[-0.287887,0.829335,0.478878],[0.703131,-0.156444,0.693637]] 2025-10-29T00:10:15.251Z,1761696615.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650881,0.539098,-0.534535],[-0.288951,0.827017,0.482234],[0.702041,-0.159423,0.694063]] 2025-10-29T00:10:15.647Z,1761696615.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651528,0.541055,-0.531761],[-0.289299,0.825187,0.485152],[0.701296,-0.162252,0.694160]] 2025-10-29T00:10:16.053Z,1761696616.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652512,0.540984,-0.530626],[-0.288808,0.824928,0.485884],[0.700584,-0.163796,0.694516]] 2025-10-29T00:10:16.454Z,1761696616.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653405,0.539517,-0.531022],[-0.287998,0.825890,0.484730],[0.700086,-0.163792,0.695020]] 2025-10-29T00:10:16.859Z,1761696616.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654188,0.537139,-0.532465],[-0.286765,0.827598,0.482542],[0.699859,-0.162981,0.695438]] 2025-10-29T00:10:17.325Z,1761696617.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655018,0.533864,-0.534735],[-0.284869,0.829938,0.479639],[0.699858,-0.161843,0.695705]] 2025-10-29T00:10:17.667Z,1761696617.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656016,0.528813,-0.538516],[-0.282685,0.833723,0.474335],[0.699808,-0.158941,0.696424]] 2025-10-29T00:10:18.074Z,1761696618.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657038,0.523570,-0.542379],[-0.280537,0.837614,0.468724],[0.699714,-0.155812,0.697225]] 2025-10-29T00:10:18.474Z,1761696618.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658418,0.517503,-0.546513],[-0.278225,0.842032,0.462140],[0.699340,-0.152228,0.698391]] 2025-10-29T00:10:18.878Z,1761696618.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659467,0.511066,-0.551285],[-0.275707,0.846681,0.455101],[0.699349,-0.148131,0.699263]] 2025-10-29T00:10:19.333Z,1761696619.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660377,0.504167,-0.556523],[-0.273057,0.851595,0.447466],[0.699529,-0.143534,0.700040]] 2025-10-29T00:10:19.686Z,1761696619.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661023,0.497593,-0.561649],[-0.270155,0.856125,0.440530],[0.700047,-0.139468,0.700345]] 2025-10-29T00:10:20.092Z,1761696620.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661639,0.491476,-0.566291],[-0.267026,0.860160,0.434536],[0.700665,-0.136291,0.700352]] 2025-10-29T00:10:20.496Z,1761696620.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661898,0.485455,-0.571161],[-0.263763,0.864066,0.428742],[0.701655,-0.133132,0.699968]] 2025-10-29T00:10:20.898Z,1761696620.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662322,0.479389,-0.575774],[-0.260429,0.867886,0.423026],[0.702501,-0.130231,0.699666]] 2025-10-29T00:10:21.337Z,1761696621.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662876,0.473621,-0.579896],[-0.257187,0.871413,0.417724],[0.703172,-0.127758,0.699448]] 2025-10-29T00:10:21.706Z,1761696621.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663360,0.466802,-0.584850],[-0.254105,0.875651,0.410690],[0.703835,-0.123822,0.699488]] 2025-10-29T00:10:22.112Z,1761696622.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663728,0.461356,-0.588740],[-0.251219,0.878891,0.405511],[0.704524,-0.121246,0.699247]] 2025-10-29T00:10:22.516Z,1761696622.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664671,0.455944,-0.591885],[-0.248382,0.881992,0.400495],[0.704641,-0.119184,0.699483]] 2025-10-29T00:10:22.918Z,1761696622.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665930,0.452099,-0.593416],[-0.246005,0.884036,0.397444],[0.704286,-0.118687,0.699925]] 2025-10-29T00:10:23.333Z,1761696623.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667595,0.448624,-0.594183],[-0.243898,0.885812,0.394779],[0.703442,-0.118632,0.700782]] 2025-10-29T00:10:23.726Z,1761696623.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669484,0.446504,-0.593654],[-0.242298,0.886735,0.393691],[0.702198,-0.119729,0.701842]] 2025-10-29T00:10:24.133Z,1761696624.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671549,0.443928,-0.593253],[-0.240710,0.887934,0.391958],[0.700771,-0.120417,0.703150]] 2025-10-29T00:10:24.332Z,1761696624.332 [Radio_Surface](INFO): Powering down 2025-10-29T00:10:24.534Z,1761696624.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673901,0.441524,-0.592380],[-0.238939,0.888946,0.390746],[0.699118,-0.121782,0.704559]] 2025-10-29T00:10:24.938Z,1761696624.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676538,0.439253,-0.591061],[-0.237114,0.889818,0.389874],[0.697190,-0.123616,0.706149]] 2025-10-29T00:10:25.375Z,1761696625.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679393,0.436229,-0.590025],[-0.235120,0.891118,0.388107],[0.695085,-0.124951,0.707986]] 2025-10-29T00:10:25.754Z,1761696625.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682549,0.432518,-0.589113],[-0.232872,0.892772,0.385654],[0.692746,-0.126040,0.710082]] 2025-10-29T00:10:26.150Z,1761696626.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685779,0.427591,-0.588959],[-0.230408,0.895149,0.381603],[0.690376,-0.125995,0.712394]] 2025-10-29T00:10:26.555Z,1761696626.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689255,0.421155,-0.589539],[-0.227372,0.898326,0.375915],[0.687916,-0.125057,0.714935]] 2025-10-29T00:10:26.959Z,1761696626.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692455,0.414602,-0.590433],[-0.224196,0.901526,0.370117],[0.685743,-0.123917,0.717218]] 2025-10-29T00:10:27.370Z,1761696627.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695584,0.407797,-0.591493],[-0.220888,0.904808,0.364048],[0.683646,-0.122573,0.719447]] 2025-10-29T00:10:27.775Z,1761696627.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698351,0.400818,-0.593001],[-0.217588,0.908172,0.357602],[0.681880,-0.120702,0.721436]] 2025-10-29T00:10:28.170Z,1761696628.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700219,0.393109,-0.595952],[-0.214594,0.912041,0.349472],[0.680913,-0.116819,0.722987]] 2025-10-29T00:10:28.575Z,1761696628.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701201,0.385898,-0.599499],[-0.212020,0.915680,0.341434],[0.680708,-0.112308,0.723894]] 2025-10-29T00:10:28.980Z,1761696628.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701383,0.380388,-0.602800],[-0.210049,0.918445,0.335170],[0.681133,-0.108466,0.724081]] 2025-10-29T00:10:29.382Z,1761696629.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700969,0.377457,-0.605118],[-0.208890,0.919916,0.331842],[0.681914,-0.106208,0.723680]] 2025-10-29T00:10:29.792Z,1761696629.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700316,0.376470,-0.606488],[-0.208206,0.920405,0.330914],[0.682794,-0.105470,0.722958]] 2025-10-29T00:10:30.191Z,1761696630.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699852,0.377163,-0.606593],[-0.208064,0.920044,0.332006],[0.683313,-0.106145,0.722369]] 2025-10-29T00:10:30.596Z,1761696630.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699254,0.379513,-0.605817],[-0.208491,0.918870,0.334977],[0.683795,-0.107926,0.721648]] 2025-10-29T00:10:30.999Z,1761696630.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699092,0.384856,-0.602624],[-0.209786,0.916101,0.341684],[0.683564,-0.112446,0.721177]] 2025-10-29T00:10:31.403Z,1761696631.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699231,0.392213,-0.597700],[-0.211823,0.912188,0.350775],[0.682793,-0.118666,0.720910]] 2025-10-29T00:10:31.807Z,1761696631.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700002,0.401596,-0.590524],[-0.214398,0.906935,0.362632],[0.681198,-0.127236,0.720957]] 2025-10-29T00:10:32.213Z,1761696632.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701222,0.410359,-0.583003],[-0.217592,0.901909,0.373113],[0.678926,-0.134778,0.721730]] 2025-10-29T00:10:32.615Z,1761696632.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702785,0.418456,-0.575315],[-0.221107,0.897136,0.382437],[0.676169,-0.141565,0.723018]] 2025-10-29T00:10:33.018Z,1761696633.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704703,0.425507,-0.567748],[-0.224977,0.892923,0.389967],[0.672889,-0.147081,0.724975]] 2025-10-29T00:10:33.426Z,1761696633.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706981,0.431416,-0.560408],[-0.228724,0.889287,0.396049],[0.669226,-0.151821,0.727384]] 2025-10-29T00:10:33.828Z,1761696633.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709514,0.437711,-0.552267],[-0.232711,0.885270,0.402669],[0.665158,-0.157181,0.729972]] 2025-10-29T00:10:34.230Z,1761696634.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712338,0.442425,-0.544826],[-0.236769,0.882265,0.406877],[0.660693,-0.160836,0.733223]] 2025-10-29T00:10:34.635Z,1761696634.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715219,0.446570,-0.537621],[-0.241078,0.879663,0.409968],[0.656006,-0.163608,0.736810]] 2025-10-29T00:10:35.040Z,1761696635.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.718276,0.449931,-0.530699],[-0.245357,0.877563,0.411926],[0.651060,-0.165665,0.740726]] 2025-10-29T00:10:35.442Z,1761696635.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721634,0.453061,-0.523431],[-0.249500,0.875501,0.413821],[0.645751,-0.168031,0.744830]] 2025-10-29T00:10:35.846Z,1761696635.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725221,0.455384,-0.516411],[-0.253466,0.873941,0.414707],[0.640164,-0.169862,0.749224]] 2025-10-29T00:10:36.258Z,1761696636.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728962,0.455860,-0.510691],[-0.257251,0.873762,0.412749],[0.634379,-0.169503,0.754210]] 2025-10-29T00:10:37.058Z,1761696637.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737389,0.456107,-0.498221],[-0.264110,0.873560,0.408825],[0.621694,-0.169879,0.764616]] 2025-10-29T00:10:37.463Z,1761696637.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741760,0.455130,-0.492594],[-0.267291,0.874251,0.405267],[0.615099,-0.168945,0.770137]] 2025-10-29T00:10:37.867Z,1761696637.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746471,0.453050,-0.487367],[-0.270194,0.875694,0.400194],[0.608092,-0.167049,0.776092]] 2025-10-29T00:10:38.282Z,1761696638.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755321,0.447463,-0.478818],[-0.276161,0.879907,0.386651],[0.594328,-0.159815,0.788184]] 2025-10-29T00:10:38.679Z,1761696638.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.759234,0.444574,-0.475309],[-0.279148,0.882185,0.379243],[0.587912,-0.155253,0.793887]] 2025-10-29T00:10:39.084Z,1761696639.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.763007,0.442213,-0.471453],[-0.281881,0.883991,0.372965],[0.581690,-0.151681,0.799143]] 2025-10-29T00:10:39.332Z,1761696639.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:10:39.488Z,1761696639.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766322,0.439513,-0.468593],[-0.284520,0.886122,0.365837],[0.576020,-0.147025,0.804105]] 2025-10-29T00:10:39.891Z,1761696639.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769168,0.438275,-0.465076],[-0.286893,0.887126,0.361525],[0.571028,-0.144646,0.808087]] 2025-10-29T00:10:40.293Z,1761696640.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.771560,0.435753,-0.463481],[-0.289009,0.889139,0.354830],[0.566718,-0.139822,0.811961]] 2025-10-29T00:10:40.336Z,1761696640.336 [DataOverHttps](INFO): Radio surface powered OFF, will not connect. 2025-10-29T00:10:40.336Z,1761696640.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:10:40.694Z,1761696640.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.773713,0.434034,-0.461501],[-0.290751,0.890474,0.350029],[0.562879,-0.136640,0.815167]] 2025-10-29T00:10:41.098Z,1761696641.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.775632,0.434091,-0.458214],[-0.292560,0.890516,0.348411],[0.559289,-0.136184,0.817710]] 2025-10-29T00:10:41.502Z,1761696641.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.777375,0.434850,-0.454525],[-0.294402,0.890062,0.348017],[0.555891,-0.136727,0.819933]] 2025-10-29T00:10:41.908Z,1761696641.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.778810,0.436401,-0.450566],[-0.296533,0.889123,0.348608],[0.552742,-0.137892,0.821865]] 2025-10-29T00:10:42.310Z,1761696642.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.780275,0.438500,-0.445970],[-0.299013,0.887825,0.349797],[0.549329,-0.139587,0.823865]] 2025-10-29T00:10:42.714Z,1761696642.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.781417,0.440882,-0.441599],[-0.301582,0.886370,0.351278],[0.546292,-0.141316,0.825587]] 2025-10-29T00:10:43.119Z,1761696643.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.782438,0.443143,-0.437511],[-0.304016,0.884982,0.352677],[0.543476,-0.142938,0.827166]] 2025-10-29T00:10:43.530Z,1761696643.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783561,0.445463,-0.433121],[-0.306104,0.883409,0.354808],[0.540677,-0.145434,0.828563]] 2025-10-29T00:10:43.926Z,1761696643.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.784752,0.447377,-0.428973],[-0.307793,0.882021,0.356794],[0.537985,-0.147960,0.829867]] 2025-10-29T00:10:44.330Z,1761696644.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.785996,0.449766,-0.424172],[-0.309013,0.880062,0.360559],[0.535464,-0.152323,0.830708]] 2025-10-29T00:10:44.741Z,1761696644.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787358,0.451164,-0.420140],[-0.309728,0.878732,0.363178],[0.533043,-0.155822,0.831615]] 2025-10-29T00:10:45.139Z,1761696645.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.788846,0.451903,-0.416540],[-0.309849,0.877741,0.365464],[0.530769,-0.159230,0.832424]] 2025-10-29T00:10:45.550Z,1761696645.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790532,0.451295,-0.413994],[-0.309554,0.877738,0.365721],[0.528427,-0.160961,0.833581]] 2025-10-29T00:10:45.947Z,1761696645.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792252,0.449350,-0.412821],[-0.308972,0.878814,0.363623],[0.526188,-0.160531,0.835079]] 2025-10-29T00:10:46.351Z,1761696646.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.793816,0.446424,-0.412993],[-0.308355,0.880774,0.359379],[0.524189,-0.157932,0.836829]] 2025-10-29T00:10:46.765Z,1761696646.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.795445,0.443180,-0.413350],[-0.307752,0.882975,0.354463],[0.522069,-0.154747,0.838748]] 2025-10-29T00:10:47.186Z,1761696647.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.796979,0.439936,-0.413859],[-0.307331,0.885228,0.349170],[0.519973,-0.151090,0.840714]] 2025-10-29T00:10:47.572Z,1761696647.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.798387,0.436491,-0.414795],[-0.306610,0.887564,0.343833],[0.518237,-0.147332,0.842451]] 2025-10-29T00:10:47.978Z,1761696647.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.799582,0.434942,-0.414119],[-0.306265,0.888466,0.341802],[0.516595,-0.146469,0.843609]] 2025-10-29T00:10:48.379Z,1761696648.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.800478,0.433677,-0.413714],[-0.306133,0.889262,0.339847],[0.515284,-0.145389,0.844597]] 2025-10-29T00:10:48.786Z,1761696648.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801241,0.432633,-0.413330],[-0.305924,0.889883,0.338407],[0.514221,-0.144698,0.845363]] 2025-10-29T00:10:49.216Z,1761696649.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801885,0.432069,-0.412669],[-0.305934,0.890198,0.337568],[0.513210,-0.144441,0.846021]] 2025-10-29T00:10:49.591Z,1761696649.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802256,0.431610,-0.412429],[-0.305531,0.890375,0.337465],[0.512870,-0.144724,0.846179]] 2025-10-29T00:10:49.000Z,1761696650.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802439,0.431861,-0.411810],[-0.305512,0.890121,0.338151],[0.512595,-0.145533,0.846207]] 2025-10-29T00:10:50.408Z,1761696650.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802615,0.432231,-0.411079],[-0.305578,0.889795,0.338951],[0.512281,-0.146431,0.846243]] 2025-10-29T00:10:50.803Z,1761696650.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802603,0.433173,-0.410109],[-0.305961,0.889128,0.340352],[0.512071,-0.147690,0.846151]] 2025-10-29T00:10:51.245Z,1761696651.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802818,0.432689,-0.410199],[-0.305684,0.889398,0.339894],[0.511899,-0.147482,0.846291]] 2025-10-29T00:10:51.611Z,1761696651.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802851,0.431984,-0.410876],[-0.305244,0.889847,0.339115],[0.512109,-0.146841,0.846275]] 2025-10-29T00:10:52.019Z,1761696652.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802753,0.431674,-0.411394],[-0.305178,0.890107,0.338491],[0.512303,-0.146176,0.846273]] 2025-10-29T00:10:52.418Z,1761696652.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802719,0.431067,-0.412096],[-0.305086,0.890586,0.337311],[0.512410,-0.145041,0.846403]] 2025-10-29T00:10:52.822Z,1761696652.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802653,0.429860,-0.413483],[-0.304780,0.891499,0.335169],[0.512695,-0.143003,0.846578]] 2025-10-29T00:10:53.273Z,1761696653.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802679,0.428638,-0.414701],[-0.304450,0.892388,0.333097],[0.512852,-0.141114,0.846800]] 2025-10-29T00:10:53.631Z,1761696653.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802562,0.427933,-0.415652],[-0.304406,0.892965,0.331587],[0.513060,-0.139592,0.846926]] 2025-10-29T00:10:54.035Z,1761696654.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802630,0.426856,-0.416629],[-0.304131,0.893733,0.329766],[0.513118,-0.137970,0.847157]] 2025-10-29T00:10:54.844Z,1761696654.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803439,0.423889,-0.418095],[-0.303041,0.895603,0.325670],[0.512496,-0.134956,0.848018]] 2025-10-29T00:10:55.286Z,1761696655.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.803728,0.422664,-0.418779],[-0.302505,0.896355,0.324097],[0.512359,-0.133803,0.848284]] 2025-10-29T00:10:56.086Z,1761696656.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.805219,0.419681,-0.418914],[-0.300620,0.897863,0.321668],[0.511126,-0.133080,0.849141]] 2025-10-29T00:10:56.487Z,1761696656.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.806604,0.418704,-0.417225],[-0.299764,0.898111,0.321773],[0.509442,-0.134475,0.849932]] 2025-10-29T00:10:56.530Z,1761696656.530 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:10:56.653Z,1761696656.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:10:56.653Z,1761696656.653 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:10:56.890Z,1761696656.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.808481,0.417693,-0.414596],[-0.299107,0.898331,0.321771],[0.506846,-0.136137,0.851219]] 2025-10-29T00:10:56.905Z,1761696656.905 [DAT](INFO): DAT read: user:357> 2025-10-29T00:10:56.906Z,1761696656.906 [DAT](INFO): DAT read: Tx time:00:10:56.6289 2025-10-29T00:10:56.906Z,1761696656.906 [DAT](INFO): Ping request sent. 2025-10-29T00:10:56.906Z,1761696656.906 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:10:56.906Z,1761696656.906 [DAT](INFO): publishing transmit ping time 2025-10-29T00:10:56.907Z,1761696656.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-29T00:10:57.157Z,1761696657.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250980 2025-10-29T00:10:57.332Z,1761696657.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.810852,0.416268,-0.411389],[-0.298434,0.898758,0.321201],[0.503445,-0.137674,0.852988]] 2025-10-29T00:10:57.409Z,1761696657.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502668 2025-10-29T00:10:57.661Z,1761696657.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754781 2025-10-29T00:10:57.698Z,1761696657.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813552,0.414131,-0.408201],[-0.297752,0.899660,0.319303],[0.499476,-0.138227,0.855229]] 2025-10-29T00:10:57.914Z,1761696657.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007496 2025-10-29T00:10:58.106Z,1761696658.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816414,0.411213,-0.405427],[-0.296999,0.901110,0.315900],[0.495237,-0.137494,0.857809]] 2025-10-29T00:10:58.165Z,1761696658.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258888 2025-10-29T00:10:58.417Z,1761696658.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510812 2025-10-29T00:10:58.506Z,1761696658.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819114,0.408587,-0.402628],[-0.296687,0.902482,0.312254],[0.490948,-0.136317,0.860458]] 2025-10-29T00:10:58.669Z,1761696658.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762853 2025-10-29T00:10:58.912Z,1761696658.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821930,0.406322,-0.399166],[-0.296478,0.903572,0.309287],[0.486345,-0.135869,0.863139]] 2025-10-29T00:10:58.921Z,1761696658.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014675 2025-10-29T00:10:59.173Z,1761696659.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266786 2025-10-29T00:10:59.355Z,1761696659.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824751,0.404402,-0.395278],[-0.296502,0.904453,0.306676],[0.481532,-0.135731,0.865855]] 2025-10-29T00:10:59.433Z,1761696659.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527101 2025-10-29T00:10:59.685Z,1761696659.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778880 2025-10-29T00:10:59.727Z,1761696659.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827523,0.402457,-0.391451],[-0.296815,0.905443,0.303436],[0.476556,-0.134912,0.868731]] 2025-10-29T00:10:59.937Z,1761696659.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030837 2025-10-29T00:11:00.127Z,1761696660.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830350,0.401468,-0.386448],[-0.297594,0.905807,0.301580],[0.471122,-0.135413,0.871612]] 2025-10-29T00:11:00.189Z,1761696660.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283340 2025-10-29T00:11:00.441Z,1761696660.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534758 2025-10-29T00:11:00.529Z,1761696660.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833084,0.400147,-0.381907],[-0.298743,0.906555,0.298180],[0.465535,-0.134318,0.874777]] 2025-10-29T00:11:00.693Z,1761696660.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787229 2025-10-29T00:11:00.931Z,1761696660.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835841,0.399331,-0.376703],[-0.300167,0.906980,0.295443],[0.459642,-0.133869,0.877957]] 2025-10-29T00:11:00.945Z,1761696660.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038930 2025-10-29T00:11:01.198Z,1761696661.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291678 2025-10-29T00:11:01.369Z,1761696661.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838630,0.398068,-0.371809],[-0.301522,0.907729,0.291740],[0.453635,-0.132553,0.881275]] 2025-10-29T00:11:01.449Z,1761696661.449 [DAT](INFO): DAT read: Rx Time:00:11:00.6754 2025-10-29T00:11:01.449Z,1761696661.449 [DAT](INFO): Rx dataTimestamp_ set to:1761696661.449125 2025-10-29T00:11:01.450Z,1761696661.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543855 2025-10-29T00:11:01.702Z,1761696661.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.795989 2025-10-29T00:11:01.782Z,1761696661.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841502,0.396115,-0.367379],[-0.302597,0.908915,0.286895],[0.447559,-0.130255,0.884717]] 2025-10-29T00:11:01.962Z,1761696661.962 [DAT](INFO): DAT read: 00:11:00.6754 LVL= 14480, 26609, 19954, 23779, AGC= 73, IDX= 162,-0.07, 2.915, 1.126, 1.666, 1.789, PHS= 1.228,-0.618,-0.167, RAW= 103.6, -5.4, CAL= 103.6, -6.4, ROT= 46.4, 6.4 2025-10-29T00:11:01.963Z,1761696661.963 [DAT](INFO): got valid direction response: 00:11:00.6754 LVL= 14480, 26609, 19954, 23779, AGC= 73, IDX= 162,-0.07, 2.915, 1.126, 1.666, 1.789, PHS= 1.228,-0.618,-0.167, RAW= 103.6, -5.4, CAL= 103.6, -6.4, ROT= 46.4, 6.4 2025-10-29T00:11:01.965Z,1761696661.965 [DAT](INFO): DAT read: Bearing 148.9, 74.0 (Local) 2025-10-29T00:11:01.965Z,1761696661.965 [DAT](INFO): Local bearing/azimuth received: Bearing 148.9, 74.0 (Local) 2025-10-29T00:11:01.967Z,1761696661.967 [DAT](INFO): DAT read: Range 11 to 50 : 1231.8 m (Round-trip 1642.4 ms) speed 0.4 m/s 2025-10-29T00:11:01.967Z,1761696661.967 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:11:01.973Z,1761696661.973 [DAT](INFO): direction in FSK: [0.685322,0.719659,-0.111469] 2025-10-29T00:11:01.973Z,1761696661.973 [DAT](INFO): publishing direction and range info 2025-10-29T00:11:02.175Z,1761696662.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844270,0.394983,-0.362210],[-0.303654,0.909477,0.283983],[0.441590,-0.129771,0.887782]] 2025-10-29T00:11:02.579Z,1761696662.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846741,0.395278,-0.356069],[-0.305028,0.909070,0.283812],[0.435877,-0.131704,0.890318]] 2025-10-29T00:11:02.710Z,1761696662.710 [DAT](INFO): DAT read: user:358>Rx Time:00:11:01.9494 2025-10-29T00:11:02.711Z,1761696662.711 [DAT](INFO): Rx dataTimestamp_ set to:1761696662.710409 2025-10-29T00:11:02.984Z,1761696662.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849176,0.395157,-0.350358],[-0.306223,0.908936,0.282955],[0.430264,-0.132991,0.892853]] 2025-10-29T00:11:03.221Z,1761696663.221 [DAT](INFO): DAT read: 00:11:01.9494 LVL= 14912, 30401, 24898, 30195, AGC= 75, IDX= 212, 0.13, 2.815, 1.114, 1.580, 1.758, PHS= 1.159,-0.599,-0.222, RAW= 101.8, -4.3, CAL= 101.8, -5.5, ROT= 48.2, 5.5 2025-10-29T00:11:03.223Z,1761696663.223 [DAT](INFO): got valid direction response: 00:11:01.9494 LVL= 14912, 30401, 24898, 30195, AGC= 75, IDX= 212, 0.13, 2.815, 1.114, 1.580, 1.758, PHS= 1.159,-0.599,-0.222, RAW= 101.8, -4.3, CAL= 101.8, -5.5, ROT= 48.2, 5.5 2025-10-29T00:11:03.225Z,1761696663.225 [DAT](INFO): DAT read: bearing request 2025-10-29T00:11:03.225Z,1761696663.225 [DAT](INFO): received a bearing request message 2025-10-29T00:11:03.226Z,1761696663.226 [DAT](INFO): DAT read: Tx time:00:11:03.5522 2025-10-29T00:11:03.226Z,1761696663.226 [DAT](INFO): Ping request sent. 2025-10-29T00:11:03.226Z,1761696663.226 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:11:03.226Z,1761696663.226 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-29T00:11:03.227Z,1761696663.227 [DAT](INFO): direction in FSK: [0.663464,0.742044,-0.095846] 2025-10-29T00:11:03.228Z,1761696663.228 [DAT](INFO): publishing transmit ping time 2025-10-29T00:11:03.228Z,1761696663.228 [DAT](INFO): publishing range request flag 2025-10-29T00:11:03.231Z,1761696663.231 [DAT](INFO): publishing transmit ping time 2025-10-29T00:11:03.231Z,1761696663.231 [DAT](INFO): publishing range request flag 2025-10-29T00:11:03.844Z,1761696663.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853793,0.393296,-0.341110],[-0.307785,0.909763,0.278566],[0.419888,-0.132850,0.897800]] 2025-10-29T00:11:04.267Z,1761696664.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856296,0.390891,-0.337582],[-0.307817,0.911088,0.274164],[0.414735,-0.130852,0.900484]] 2025-10-29T00:11:04.661Z,1761696664.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858678,0.388890,-0.333823],[-0.307449,0.911985,0.271587],[0.410058,-0.130572,0.902664]] 2025-10-29T00:11:05.054Z,1761696665.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860970,0.387126,-0.329945],[-0.306911,0.912650,0.269953],[0.405631,-0.131157,0.904578]] 2025-10-29T00:11:05.479Z,1761696665.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863343,0.384816,-0.326427],[-0.305915,0.913587,0.267910],[0.401315,-0.131439,0.906460]] 2025-10-29T00:11:05.866Z,1761696665.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865780,0.382379,-0.322817],[-0.304799,0.914562,0.265847],[0.396890,-0.131771,0.908358]] 2025-10-29T00:11:06.270Z,1761696666.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868319,0.378941,-0.320042],[-0.303412,0.916232,0.261650],[0.392382,-0.130091,0.910556]] 2025-10-29T00:11:06.678Z,1761696666.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871234,0.374854,-0.316916],[-0.302093,0.918334,0.255738],[0.386899,-0.127070,0.913325]] 2025-10-29T00:11:07.084Z,1761696667.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874409,0.370634,-0.313111],[-0.300823,0.920470,0.249482],[0.380676,-0.123958,0.916363]] 2025-10-29T00:11:07.493Z,1761696667.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877629,0.366898,-0.308470],[-0.299885,0.922299,0.243789],[0.373947,-0.121451,0.919464]] 2025-10-29T00:11:07.887Z,1761696667.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880934,0.363639,-0.302855],[-0.298946,0.923715,0.239544],[0.366860,-0.120485,0.922441]] 2025-10-29T00:11:08.313Z,1761696668.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887560,0.357733,-0.290285],[-0.296871,0.925954,0.233403],[0.352286,-0.120982,0.928040]] 2025-10-29T00:11:08.723Z,1761696668.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890966,0.354194,-0.284125],[-0.295558,0.927400,0.229290],[0.344711,-0.120314,0.930967]] 2025-10-29T00:11:09.126Z,1761696669.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894344,0.351375,-0.276919],[-0.294607,0.928382,0.226527],[0.336682,-0.121011,0.933810]] 2025-10-29T00:11:09.528Z,1761696669.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897698,0.348520,-0.269578],[-0.293546,0.929338,0.223967],[0.328586,-0.121921,0.936571]] 2025-10-29T00:11:09.927Z,1761696669.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900978,0.345862,-0.261950],[-0.292669,0.930197,0.221539],[0.320287,-0.122937,0.939310]] 2025-10-29T00:11:10.331Z,1761696670.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904203,0.343457,-0.253878],[-0.292016,0.930919,0.219354],[0.311678,-0.124204,0.942035]] 2025-10-29T00:11:10.464Z,1761696670.464 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:11:10.737Z,1761696670.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907291,0.340870,-0.246231],[-0.291405,0.931837,0.216246],[0.303159,-0.124446,0.944779]] 2025-10-29T00:11:11.141Z,1761696671.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910306,0.338163,-0.238724],[-0.290700,0.932829,0.212891],[0.294681,-0.124399,0.947464]] 2025-10-29T00:11:11.468Z,1761696671.468 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:11:11.553Z,1761696671.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913216,0.335679,-0.230991],[-0.290102,0.933686,0.209933],[0.286143,-0.124703,0.950038]] 2025-10-29T00:11:11.947Z,1761696671.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916214,0.332710,-0.223284],[-0.289112,0.934753,0.206522],[0.277428,-0.124664,0.952624]] 2025-10-29T00:11:12.351Z,1761696672.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919004,0.330006,-0.215704],[-0.288308,0.935722,0.203231],[0.268906,-0.124581,0.955075]] 2025-10-29T00:11:12.768Z,1761696672.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921589,0.328034,-0.207525],[-0.287946,0.936267,0.201224],[0.260307,-0.125689,0.957310]] 2025-10-29T00:11:13.159Z,1761696673.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924215,0.325493,-0.199703],[-0.287331,0.937193,0.197763],[0.251531,-0.125395,0.959692]] 2025-10-29T00:11:13.579Z,1761696673.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926656,0.323524,-0.191416],[-0.287152,0.937833,0.194969],[0.242593,-0.125703,0.961950]] 2025-10-29T00:11:13.967Z,1761696673.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928759,0.322348,-0.183029],[-0.287485,0.938074,0.193314],[0.234009,-0.126924,0.963914]] 2025-10-29T00:11:14.373Z,1761696674.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930830,0.320942,-0.174788],[-0.287766,0.938507,0.190775],[0.225268,-0.127281,0.965947]] 2025-10-29T00:11:14.779Z,1761696674.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932821,0.319661,-0.166318],[-0.288203,0.938907,0.188130],[0.216295,-0.127559,0.967959]] 2025-10-29T00:11:15.185Z,1761696675.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934341,0.319660,-0.157557],[-0.289781,0.938800,0.186231],[0.207445,-0.128346,0.969791]] 2025-10-29T00:11:15.604Z,1761696675.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935762,0.319495,-0.149239],[-0.291346,0.938905,0.183232],[0.198663,-0.127981,0.971676]] 2025-10-29T00:11:15.988Z,1761696675.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936991,0.319806,-0.140615],[-0.293280,0.938772,0.180812],[0.189830,-0.128180,0.973414]] 2025-10-29T00:11:16.390Z,1761696676.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938034,0.320324,-0.132231],[-0.295522,0.938693,0.177543],[0.180996,-0.127464,0.975189]] 2025-10-29T00:11:16.795Z,1761696676.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938779,0.321310,-0.124311],[-0.297997,0.938382,0.175034],[0.172891,-0.127274,0.976683]] 2025-10-29T00:11:16.879Z,1761696676.879 [lineCaptureHoming:InitialDive:C.Pitch] Stopped 2025-10-29T00:11:16.880Z,1761696676.880 [lineCaptureHoming:InitialDive](INFO): Completed lineCaptureHoming:InitialDive 2025-10-29T00:11:16.880Z,1761696676.880 [lineCaptureHoming:InitialDive] Stopped 2025-10-29T00:11:16.880Z,1761696676.880 [lineCaptureHoming:InitialDive](DEBUG): Aggregate::uninitialize lineCaptureHoming:InitialDive 2025-10-29T00:11:16.880Z,1761696676.880 [lineCaptureHoming:InitialDive:A.SetSpeed] Stopped 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:InitialDive:A.SetSpeed](DEBUG): Uninitialize. 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:InitialDive:B.Mass] Stopped 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:InitialDive:B.Mass](DEBUG): Uninitialize. 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:RepeatHack] Running Loop=1 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::initialize lineCaptureHoming:RepeatHack 2025-10-29T00:11:16.881Z,1761696676.881 [lineCaptureHoming:RepeatHack:A] Running Loop=1 2025-10-29T00:11:17.205Z,1761696677.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939384,0.322680,-0.115909],[-0.300827,0.937874,0.172902],[0.164500,-0.127553,0.978095]] 2025-10-29T00:11:17.221Z,1761696677.221 [lineCaptureHoming:RepeatHack] Stopped 2025-10-29T00:11:17.221Z,1761696677.221 [lineCaptureHoming:RepeatHack](DEBUG): Aggregate::uninitialize lineCaptureHoming:RepeatHack 2025-10-29T00:11:17.221Z,1761696677.221 [lineCaptureHoming:RepeatHack:A] Stopped 2025-10-29T00:11:17.221Z,1761696677.221 [lineCaptureHoming:Lap] Running Loop=1 2025-10-29T00:11:17.221Z,1761696677.221 [lineCaptureHoming:Lap](DEBUG): Aggregate::initialize lineCaptureHoming:Lap 2025-10-29T00:11:17.222Z,1761696677.222 [lineCaptureHoming:Lap:A] Running Loop=1 2025-10-29T00:11:17.633Z,1761696677.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939727,0.324467,-0.107865],[-0.304000,0.937233,0.170816],[0.156518,-0.127730,0.979381]] 2025-10-29T00:11:17.709Z,1761696677.709 [lineCaptureHoming:Lap:A] Stopped 2025-10-29T00:11:17.709Z,1761696677.709 [lineCaptureHoming:Lap:B] Running Loop=1 2025-10-29T00:11:17.709Z,1761696677.709 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:B 2025-10-29T00:11:18.008Z,1761696678.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939908,0.326242,-0.100693],[-0.307181,0.936757,0.167710],[0.149039,-0.126701,0.980681]] 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture] Running Loop=1 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-29T00:11:18.025Z,1761696678.025 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldMass 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Initialize. 2025-10-29T00:11:18.026Z,1761696678.026 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:A] Running Loop=1 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-29T00:11:18.027Z,1761696678.027 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-29T00:11:18.028Z,1761696678.028 [lineCaptureHoming:LineCapture:HoldMass] Running Loop=1 2025-10-29T00:11:18.028Z,1761696678.028 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Running Loop=1 2025-10-29T00:11:18.028Z,1761696678.028 [lineCaptureHoming:LineCapture:HoldMass:A] Running Loop=1 2025-10-29T00:11:18.028Z,1761696678.028 [lineCaptureHoming:LineCapture:H] Running Loop=1 2025-10-29T00:11:18.029Z,1761696678.029 [lineCaptureHoming:LineCapture:G] Running Loop=1 2025-10-29T00:11:18.029Z,1761696678.029 [lineCaptureHoming:LineCapture:StandardEnvelopes] Running Loop=1 2025-10-29T00:11:18.029Z,1761696678.029 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-29T00:11:18.029Z,1761696678.029 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-29T00:11:18.030Z,1761696678.030 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-29T00:11:18.030Z,1761696678.030 [lineCaptureHoming:LineCapture:A] Stopped 2025-10-29T00:11:18.030Z,1761696678.030 [lineCaptureHoming:LineCapture:B] Running Loop=1 2025-10-29T00:11:18.411Z,1761696678.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939706,0.328100,-0.096452],[-0.310929,0.937124,0.158500],[0.142391,-0.118953,0.982637]] 2025-10-29T00:11:18.445Z,1761696678.445 [lineCaptureHoming:LineCapture:B] Stopped 2025-10-29T00:11:18.446Z,1761696678.446 [lineCaptureHoming:LineCapture:D] Running Loop=1 2025-10-29T00:11:18.815Z,1761696678.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940051,0.328469,-0.091719],[-0.313248,0.937977,0.148573],[0.134832,-0.110935,0.984639]] 2025-10-29T00:11:18.867Z,1761696678.867 [lineCaptureHoming:LineCapture:D] Stopped 2025-10-29T00:11:18.867Z,1761696678.867 [lineCaptureHoming:LineCapture:E] Running Loop=1 2025-10-29T00:11:19.220Z,1761696679.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940385,0.329008,-0.086200],[-0.315626,0.938613,0.139233],[0.126718,-0.103726,0.986501]] 2025-10-29T00:11:19.238Z,1761696679.238 [lineCaptureHoming:LineCapture:E] Stopped 2025-10-29T00:11:19.238Z,1761696679.238 [lineCaptureHoming:LineCapture:F] Running Loop=1 2025-10-29T00:11:19.658Z,1761696679.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940883,0.329118,-0.080125],[-0.317426,0.939250,0.130579],[0.118233,-0.097426,0.988195]] 2025-10-29T00:11:19.763Z,1761696679.763 [lineCaptureHoming:LineCapture:F] Stopped 2025-10-29T00:11:19.763Z,1761696679.763 [lineCaptureHoming:LineCapture:HomingSequence] Running Loop=1 2025-10-29T00:11:19.763Z,1761696679.763 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-29T00:11:19.763Z,1761696679.763 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-29T00:11:19.763Z,1761696679.763 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-29T00:11:19.764Z,1761696679.764 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Running Loop=1 2025-10-29T00:11:19.768Z,1761696679.768 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-29T00:11:19.768Z,1761696679.768 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Running Loop=1 2025-10-29T00:11:19.768Z,1761696679.768 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-29T00:11:19.768Z,1761696679.768 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-29T00:11:19.769Z,1761696679.769 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-29T00:11:19.769Z,1761696679.769 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T00:11:19.769Z,1761696679.769 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-29T00:11:19.769Z,1761696679.769 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T00:11:19.769Z,1761696679.769 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T00:11:19.770Z,1761696679.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-29T00:11:19.771Z,1761696679.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T00:11:19.772Z,1761696679.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-29T00:11:19.796Z,1761696679.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-29T00:11:19.796Z,1761696679.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-29T00:11:19.796Z,1761696679.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-29T00:11:19.796Z,1761696679.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-29T00:11:20.027Z,1761696680.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941681,0.328408,-0.073388],[-0.318365,0.940107,0.121830],[0.109003,-0.091361,0.989834]] 2025-10-29T00:11:20.054Z,1761696680.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-29T00:11:20.055Z,1761696680.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-29T00:11:20.056Z,1761696680.056 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-29T00:11:20.057Z,1761696680.057 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Running Loop=1 2025-10-29T00:11:20.057Z,1761696680.057 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initialize. 2025-10-29T00:11:20.057Z,1761696680.057 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](DEBUG): Initializing internal variables to default values. 2025-10-29T00:11:20.058Z,1761696680.058 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached from dock at depth 50.458050 m. 2025-10-29T00:11:20.430Z,1761696680.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942315,0.328113,-0.066210],[-0.319588,0.940735,0.113500],[0.099526,-0.085793,0.991329]] 2025-10-29T00:11:20.836Z,1761696680.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942955,0.327781,-0.058273],[-0.320531,0.941154,0.107188],[0.089978,-0.082395,0.992530]] 2025-10-29T00:11:20.945Z,1761696680.945 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-29T00:11:21.066Z,1761696681.066 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-29T00:11:21.240Z,1761696681.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943567,0.327349,-0.050231],[-0.321278,0.941576,0.101066],[0.080380,-0.079225,0.993611]] 2025-10-29T00:11:21.690Z,1761696681.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944062,0.327136,-0.041578],[-0.322138,0.941825,0.095881],[0.070525,-0.077124,0.994524]] 2025-10-29T00:11:22.051Z,1761696682.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944496,0.326869,-0.032935],[-0.322870,0.942084,0.090732],[0.060685,-0.075062,0.995331]] 2025-10-29T00:11:22.451Z,1761696682.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944824,0.326708,-0.023844],[-0.323656,0.942268,0.085897],[0.050531,-0.073440,0.996019]] 2025-10-29T00:11:22.874Z,1761696682.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945073,0.326529,-0.014710],[-0.324363,0.942453,0.081058],[0.040331,-0.071834,0.996601]] 2025-10-29T00:11:23.259Z,1761696683.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945476,0.325647,-0.005297],[-0.324332,0.942891,0.075926],[0.029719,-0.070069,0.997099]] 2025-10-29T00:11:23.703Z,1761696683.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945748,0.324871,0.004497],[-0.324356,0.943265,0.071018],[0.018830,-0.068623,0.997465]] 2025-10-29T00:11:24.066Z,1761696684.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946034,0.323763,0.014029],[-0.323968,0.943797,0.065506],[0.007967,-0.066516,0.997754]] 2025-10-29T00:11:24.472Z,1761696684.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946331,0.322341,0.023553],[-0.323187,0.944437,0.059915],[-0.002931,-0.064311,0.997926]] 2025-10-29T00:11:24.874Z,1761696684.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946480,0.321027,0.033433],[-0.322467,0.944961,0.055350],[-0.013824,-0.063169,0.997907]] 2025-10-29T00:11:24.981Z,1761696684.981 [DockingStepper](INFO): Changing to mode: 3 2025-10-29T00:11:25.278Z,1761696685.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946492,0.319815,0.043265],[-0.321799,0.945414,0.051367],[-0.024475,-0.062541,0.997742]] 2025-10-29T00:11:25.708Z,1761696685.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946934,0.317083,0.052670],[-0.319523,0.946411,0.047026],[-0.034936,-0.061359,0.997504]] 2025-10-29T00:11:26.088Z,1761696686.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947287,0.314333,0.061978],[-0.317128,0.947459,0.041856],[-0.045565,-0.059305,0.997199]] 2025-10-29T00:11:26.492Z,1761696686.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947422,0.311917,0.071406],[-0.315016,0.948364,0.037012],[-0.056175,-0.057560,0.996760]] 2025-10-29T00:11:26.895Z,1761696686.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947284,0.310113,0.080519],[-0.313439,0.949060,0.032284],[-0.066406,-0.055820,0.996230]] 2025-10-29T00:11:27.298Z,1761696687.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947094,0.308292,0.089272],[-0.311682,0.949815,0.026559],[-0.076604,-0.052978,0.995653]] 2025-10-29T00:11:27.707Z,1761696687.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946516,0.307133,0.098881],[-0.310756,0.950206,0.023225],[-0.086824,-0.052711,0.994828]] 2025-10-29T00:11:28.108Z,1761696688.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946120,0.305393,0.107666],[-0.309000,0.950888,0.018178],[-0.096827,-0.050467,0.994021]] 2025-10-29T00:11:28.511Z,1761696688.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945381,0.304555,0.116195],[-0.308127,0.951247,0.013683],[-0.106363,-0.048739,0.993132]] 2025-10-29T00:11:28.914Z,1761696688.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944738,0.303106,0.124888],[-0.306563,0.951808,0.008988],[-0.116145,-0.046777,0.992130]] 2025-10-29T00:11:29.318Z,1761696689.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943897,0.302184,0.133202],[-0.305409,0.952213,0.003988],[-0.125631,-0.044446,0.991081]] 2025-10-29T00:11:29.724Z,1761696689.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943277,0.300400,0.141379],[-0.303391,0.952866,-0.000417],[-0.134840,-0.042500,0.989955]] 2025-10-29T00:11:30.127Z,1761696690.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942455,0.298918,0.149755],[-0.301794,0.953366,-0.003677],[-0.143871,-0.041730,0.988716]] 2025-10-29T00:11:30.530Z,1761696690.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941878,0.296581,0.157813],[-0.299215,0.954157,-0.007353],[-0.152759,-0.040294,0.987442]] 2025-10-29T00:11:30.937Z,1761696690.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941141,0.294775,0.165413],[-0.296961,0.954815,-0.011932],[-0.161456,-0.037892,0.986152]] 2025-10-29T00:11:30.993Z,1761696690.993 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detected possible detachment. Starting timer. 2025-10-29T00:11:31.340Z,1761696691.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940141,0.293684,0.172873],[-0.295450,0.955224,-0.016022],[-0.169838,-0.036012,0.984814]] 2025-10-29T00:11:31.745Z,1761696691.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939274,0.291888,0.180462],[-0.293419,0.955800,-0.018762],[-0.177962,-0.035329,0.983403]] 2025-10-29T00:11:32.158Z,1761696692.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938807,0.288809,0.187701],[-0.290115,0.956759,-0.021092],[-0.185676,-0.034654,0.982000]] 2025-10-29T00:11:32.550Z,1761696692.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938478,0.285068,0.194923],[-0.286221,0.957891,-0.022838],[-0.193225,-0.034358,0.980553]] 2025-10-29T00:11:32.959Z,1761696692.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938118,0.281517,0.201702],[-0.282580,0.958940,-0.024116],[-0.200209,-0.034374,0.979150]] 2025-10-29T00:11:33.359Z,1761696693.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937845,0.277714,0.208139],[-0.278585,0.960067,-0.025725],[-0.206972,-0.033859,0.977761]] 2025-10-29T00:11:33.769Z,1761696693.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937527,0.274056,0.214328],[-0.274931,0.961104,-0.026320],[-0.213205,-0.034250,0.976407]] 2025-10-29T00:11:34.179Z,1761696694.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937177,0.270303,0.220534],[-0.271418,0.962115,-0.025826],[-0.219160,-0.035653,0.975037]] 2025-10-29T00:11:34.575Z,1761696694.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936786,0.266800,0.226384],[-0.268059,0.963058,-0.025751],[-0.224892,-0.036561,0.973698]] 2025-10-29T00:11:34.979Z,1761696694.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936446,0.263607,0.231474],[-0.264730,0.963951,-0.026779],[-0.230189,-0.036201,0.972472]] 2025-10-29T00:11:35.383Z,1761696695.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936020,0.260789,0.236337],[-0.261743,0.964734,-0.027905],[-0.235280,-0.035741,0.971270]] 2025-10-29T00:11:35.788Z,1761696695.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935575,0.257927,0.241189],[-0.258896,0.965492,-0.028236],[-0.240149,-0.036026,0.970067]] 2025-10-29T00:11:36.194Z,1761696696.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935034,0.254899,0.246453],[-0.256376,0.966210,-0.026642],[-0.244916,-0.038274,0.968789]] 2025-10-29T00:11:36.595Z,1761696696.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934486,0.252135,0.251325],[-0.253927,0.966878,-0.025835],[-0.249515,-0.039676,0.967558]] 2025-10-29T00:11:37.000Z,1761696697.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933954,0.249846,0.255553],[-0.251648,0.967465,-0.026177],[-0.253779,-0.039861,0.966441]] 2025-10-29T00:11:37.403Z,1761696697.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933482,0.248152,0.258907],[-0.249495,0.967965,-0.028209],[-0.257613,-0.038264,0.965490]] 2025-10-29T00:11:37.808Z,1761696697.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933089,0.246390,0.261988],[-0.247023,0.968512,-0.031058],[-0.261391,-0.035737,0.964571]] 2025-10-29T00:11:38.211Z,1761696698.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932724,0.244440,0.265093],[-0.244700,0.969051,-0.032582],[-0.264853,-0.034478,0.963672]] 2025-10-29T00:11:38.615Z,1761696698.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932493,0.241322,0.268739],[-0.241938,0.969785,-0.031352],[-0.268185,-0.035783,0.962703]] 2025-10-29T00:11:39.025Z,1761696699.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932312,0.238140,0.272181],[-0.239145,0.970521,-0.029988],[-0.271299,-0.037132,0.961779]] 2025-10-29T00:11:39.425Z,1761696699.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932271,0.235501,0.274610],[-0.236394,0.971184,-0.030337],[-0.273841,-0.036634,0.961077]] 2025-10-29T00:11:39.827Z,1761696699.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932354,0.232848,0.276583],[-0.233412,0.971872,-0.031366],[-0.276107,-0.035314,0.960478]] 2025-10-29T00:11:40.642Z,1761696700.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933003,0.225701,0.280293],[-0.226337,0.973570,-0.030549],[-0.279780,-0.034939,0.959428]] 2025-10-29T00:11:41.045Z,1761696701.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933526,0.221894,0.281590],[-0.222594,0.974452,-0.029927],[-0.281036,-0.034742,0.959068]] 2025-10-29T00:11:41.608Z,1761696701.608 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:11:41.846Z,1761696701.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934846,0.214809,0.282701],[-0.214968,0.976134,-0.030846],[-0.282580,-0.031935,0.958712]] 2025-10-29T00:11:42.608Z,1761696702.608 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:11:42.664Z,1761696702.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936459,0.206047,0.283881],[-0.207246,0.977939,-0.026149],[-0.283007,-0.034346,0.958503]] 2025-10-29T00:11:43.059Z,1761696703.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937357,0.202177,0.283700],[-0.203734,0.978724,-0.024333],[-0.282584,-0.034991,0.958604]] 2025-10-29T00:11:43.463Z,1761696703.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938318,0.198257,0.283289],[-0.200068,0.979516,-0.022833],[-0.282013,-0.035253,0.958763]] 2025-10-29T00:11:43.867Z,1761696703.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939303,0.194746,0.282459],[-0.196905,0.980197,-0.021017],[-0.280959,-0.035876,0.959049]] 2025-10-29T00:11:44.272Z,1761696704.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940296,0.191491,0.281379],[-0.193905,0.980826,-0.019514],[-0.279721,-0.036212,0.959398]] 2025-10-29T00:11:44.675Z,1761696704.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941291,0.188596,0.280006],[-0.191000,0.981407,-0.018941],[-0.278372,-0.035652,0.959811]] 2025-10-29T00:11:45.079Z,1761696705.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942358,0.185716,0.278336],[-0.188253,0.981959,-0.017834],[-0.276626,-0.035592,0.960318]] 2025-10-29T00:11:45.889Z,1761696705.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944277,0.181849,0.274358],[-0.184527,0.982693,-0.016246],[-0.272564,-0.035286,0.961490]] 2025-10-29T00:11:46.290Z,1761696706.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945161,0.180624,0.272114],[-0.183212,0.982942,-0.016090],[-0.270379,-0.034647,0.962130]] 2025-10-29T00:11:46.694Z,1761696706.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946109,0.179828,0.269331],[-0.182123,0.983135,-0.016660],[-0.267784,-0.033289,0.962904]] 2025-10-29T00:11:47.101Z,1761696707.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947043,0.178790,0.266728],[-0.181073,0.983336,-0.016223],[-0.265184,-0.032934,0.963635]] 2025-10-29T00:11:47.505Z,1761696707.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947966,0.177058,0.264596],[-0.180173,0.983554,-0.012657],[-0.262485,-0.035675,0.964276]] 2025-10-29T00:11:47.906Z,1761696707.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948865,0.175591,0.262341],[-0.179582,0.983703,-0.008881],[-0.259625,-0.038685,0.964935]] 2025-10-29T00:11:48.310Z,1761696708.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949785,0.174648,0.259628],[-0.178760,0.983861,-0.007880],[-0.256815,-0.038927,0.965676]] 2025-10-29T00:11:49.131Z,1761696709.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951775,0.173706,0.252886],[-0.176650,0.984210,-0.011201],[-0.250839,-0.034012,0.967431]] 2025-10-29T00:11:49.522Z,1761696709.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952876,0.172300,0.249681],[-0.174659,0.984545,-0.012849],[-0.248036,-0.031366,0.968243]] 2025-10-29T00:11:49.926Z,1761696709.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954058,0.170010,0.246716],[-0.172555,0.984933,-0.011434],[-0.244943,-0.031663,0.969020]] 2025-10-29T00:11:50.331Z,1761696710.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955178,0.166786,0.244577],[-0.170357,0.985360,-0.006634],[-0.242103,-0.035329,0.969607]] 2025-10-29T00:11:50.736Z,1761696710.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956316,0.163686,0.242211],[-0.168100,0.985767,-0.002477],[-0.239169,-0.038347,0.970220]] 2025-10-29T00:11:51.159Z,1761696711.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958751,0.157741,0.236463],[-0.162150,0.986766,-0.000814],[-0.233462,-0.037562,0.971640]] 2025-10-29T00:11:51.227Z,1761696711.227 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Detached at range: 1231.80 m. Transitioning docking module to standby. 2025-10-29T00:11:51.639Z,1761696711.639 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T00:11:51.946Z,1761696711.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959985,0.154710,0.233437],[-0.158743,0.987319,-0.001529],[-0.230713,-0.035589,0.972371]] 2025-10-29T00:11:52.356Z,1761696712.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961322,0.150800,0.230475],[-0.154751,0.987953,-0.000941],[-0.227841,-0.034761,0.973078]] 2025-10-29T00:11:52.770Z,1761696712.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964139,0.139188,0.225969],[-0.144632,0.989456,0.007630],[-0.222525,-0.040039,0.974105]] 2025-10-29T00:11:53.180Z,1761696713.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965381,0.134602,0.223431],[-0.140472,0.990029,0.010513],[-0.219788,-0.041535,0.974663]] 2025-10-29T00:11:53.568Z,1761696713.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966507,0.130870,0.220765],[-0.136555,0.990576,0.010621],[-0.217295,-0.040412,0.975269]] 2025-10-29T00:11:53.973Z,1761696713.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967551,0.128160,0.217761],[-0.133414,0.991015,0.009532],[-0.214582,-0.038275,0.975956]] 2025-10-29T00:11:54.779Z,1761696714.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969439,0.123159,0.212178],[-0.127923,0.991745,0.008820],[-0.209340,-0.035693,0.977191]] 2025-10-29T00:11:55.203Z,1761696715.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970269,0.120762,0.209750],[-0.125782,0.992000,0.010709],[-0.206779,-0.036773,0.977696]] 2025-10-29T00:11:55.584Z,1761696715.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970990,0.118754,0.207547],[-0.124176,0.992172,0.013249],[-0.204349,-0.038637,0.978135]] 2025-10-29T00:11:55.987Z,1761696715.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971675,0.116901,0.205383],[-0.122631,0.992334,0.015350],[-0.202014,-0.040102,0.978561]] 2025-10-29T00:11:56.390Z,1761696716.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972322,0.115510,0.203096],[-0.121307,0.992481,0.016287],[-0.199688,-0.040473,0.979023]] 2025-10-29T00:11:56.795Z,1761696716.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972963,0.114050,0.200837],[-0.119663,0.992686,0.015996],[-0.197543,-0.039596,0.979494]] 2025-10-29T00:11:56.812Z,1761696716.812 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:11:56.901Z,1761696716.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:11:56.901Z,1761696716.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:11:57.153Z,1761696717.153 [DAT](INFO): DAT read: 2025-10-29T00:11:57.154Z,1761696717.154 [DAT](INFO): DAT read: Tx time:00:11:56.8788 2025-10-29T00:11:57.154Z,1761696717.154 [DAT](INFO): Ping request sent. 2025-10-29T00:11:57.154Z,1761696717.154 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:11:57.155Z,1761696717.155 [DAT](INFO): publishing transmit ping time 2025-10-29T00:11:57.155Z,1761696717.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-29T00:11:57.248Z,1761696717.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973610,0.112619,0.198498],[-0.117921,0.992909,0.015057],[-0.195395,-0.038067,0.979986]] 2025-10-29T00:11:57.405Z,1761696717.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251065 2025-10-29T00:11:57.605Z,1761696717.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973889,0.113552,0.196585],[-0.118560,0.992850,0.013857],[-0.193606,-0.036802,0.980389]] 2025-10-29T00:11:57.654Z,1761696717.654 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](INFO): Docking module at standby. 2025-10-29T00:11:57.657Z,1761696717.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502638 2025-10-29T00:11:57.909Z,1761696717.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754550 2025-10-29T00:11:58.007Z,1761696718.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974283,0.113890,0.194428],[-0.118712,0.992840,0.013294],[-0.191522,-0.036033,0.980827]] 2025-10-29T00:11:58.031Z,1761696718.031 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock](IMPORTANT): Undocking sequence complete. 2025-10-29T00:11:58.031Z,1761696718.031 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:A.Undock] Stopped 2025-10-29T00:11:58.031Z,1761696718.031 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Running Loop=1 2025-10-29T00:11:58.161Z,1761696718.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006524 2025-10-29T00:11:58.413Z,1761696718.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258644 2025-10-29T00:11:58.414Z,1761696718.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974636,0.113554,0.192845],[-0.118574,0.992837,0.014653],[-0.189800,-0.037148,0.981120]] 2025-10-29T00:11:58.481Z,1761696718.481 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B](INFO): Transitioning to midcourse guidance. 2025-10-29T00:11:58.482Z,1761696718.482 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:B] Stopped 2025-10-29T00:11:58.482Z,1761696718.482 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Running Loop=1 2025-10-29T00:11:58.669Z,1761696718.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514638 2025-10-29T00:11:58.814Z,1761696718.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975015,0.112619,0.191478],[-0.118119,0.992845,0.017522],[-0.188134,-0.039701,0.981341]] 2025-10-29T00:11:58.848Z,1761696718.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide:C] Stopped 2025-10-29T00:11:58.848Z,1761696718.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-29T00:11:58.848Z,1761696718.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide] Stopped 2025-10-29T00:11:58.848Z,1761696718.848 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock:guide 2025-10-29T00:11:58.849Z,1761696718.849 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-29T00:11:58.921Z,1761696718.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766617 2025-10-29T00:11:59.173Z,1761696719.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018542 2025-10-29T00:11:59.259Z,1761696719.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975396,0.111456,0.190213],[-0.117466,0.992863,0.020586],[-0.186561,-0.042423,0.981527]] 2025-10-29T00:11:59.360Z,1761696719.360 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-29T00:11:59.360Z,1761696719.360 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-29T00:11:59.361Z,1761696719.361 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-29T00:11:59.362Z,1761696719.362 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-29T00:11:59.362Z,1761696719.362 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-29T00:11:59.363Z,1761696719.363 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-29T00:11:59.363Z,1761696719.363 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-29T00:11:59.363Z,1761696719.363 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-29T00:11:59.363Z,1761696719.363 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-29T00:11:59.373Z,1761696719.373 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-29T00:11:59.425Z,1761696719.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270911 2025-10-29T00:11:59.637Z,1761696719.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975749,0.110781,0.188790],[-0.117038,0.992877,0.022290],[-0.184976,-0.043845,0.981764]] 2025-10-29T00:11:59.671Z,1761696719.671 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](INFO): Navigating to waypoint: 36.779130,-121.859630 2025-10-29T00:11:59.677Z,1761696719.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522547 2025-10-29T00:11:59.929Z,1761696719.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774742 2025-10-29T00:12:00.027Z,1761696720.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976113,0.110277,0.187194],[-0.116309,0.992980,0.021517],[-0.183507,-0.042775,0.982087]] 2025-10-29T00:12:00.182Z,1761696720.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027817 2025-10-29T00:12:00.442Z,1761696720.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285223 2025-10-29T00:12:00.464Z,1761696720.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976458,0.110148,0.185465],[-0.115637,0.993110,0.019011],[-0.182093,-0.040010,0.982467]] 2025-10-29T00:12:00.685Z,1761696720.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530488 2025-10-29T00:12:00.835Z,1761696720.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976790,0.109950,0.183828],[-0.114922,0.993236,0.016580],[-0.180762,-0.037321,0.982819]] 2025-10-29T00:12:00.937Z,1761696720.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782680 2025-10-29T00:12:01.189Z,1761696721.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034692 2025-10-29T00:12:01.298Z,1761696721.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977108,0.109381,0.182470],[-0.114232,0.993321,0.016256],[-0.179474,-0.036727,0.983077]] 2025-10-29T00:12:01.441Z,1761696721.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286632 2025-10-29T00:12:01.644Z,1761696721.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977381,0.108447,0.181565],[-0.113614,0.993357,0.018271],[-0.178377,-0.038486,0.983209]] 2025-10-29T00:12:01.693Z,1761696721.693 [DAT](INFO): DAT read: Rx Time:00:12:00.9052 2025-10-29T00:12:01.694Z,1761696721.694 [DAT](INFO): Rx dataTimestamp_ set to:1761696721.693282 2025-10-29T00:12:01.694Z,1761696721.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539760 2025-10-29T00:12:01.945Z,1761696721.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790491 2025-10-29T00:12:02.085Z,1761696722.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977651,0.107500,0.180673],[-0.113214,0.993336,0.021586],[-0.177148,-0.041559,0.983306]] 2025-10-29T00:12:02.202Z,1761696722.202 [DAT](INFO): DAT read: 00:12:00.9052 LVL= 26752, 32753, 32754, 32755, AGC= 78, IDX= 463, 0.17,-0.308,-2.349,-1.150,-0.825, PHS= 0.619,-1.479,-0.369, RAW= 121.9, 13.4, CAL= 122.3, 14.7, ROT= 27.7, -14.7 2025-10-29T00:12:02.203Z,1761696722.203 [DAT](INFO): got valid direction response: 00:12:00.9052 LVL= 26752, 32753, 32754, 32755, AGC= 78, IDX= 463, 0.17,-0.308,-2.349,-1.150,-0.825, PHS= 0.619,-1.479,-0.369, RAW= 121.9, 13.4, CAL= 122.3, 14.7, ROT= 27.7, -14.7 2025-10-29T00:12:02.210Z,1761696722.210 [DAT](INFO): DAT read: Bearing 177.1, 15.9 (Local) 2025-10-29T00:12:02.211Z,1761696722.211 [DAT](INFO): Local bearing/azimuth received: Bearing 177.1, 15.9 (Local) 2025-10-29T00:12:02.246Z,1761696722.246 [DAT](INFO): DAT read: Range 11 to 50 : 1216.7 m (Round-trip 1622.3 ms) speed 0.1 m/s 2025-10-29T00:12:02.269Z,1761696722.269 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:12:02.277Z,1761696722.277 [DAT](INFO): direction in FSK: [0.856413,0.449627,0.253758] 2025-10-29T00:12:02.278Z,1761696722.278 [DAT](INFO): publishing direction and range info 2025-10-29T00:12:02.451Z,1761696722.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977925,0.106564,0.179740],[-0.112606,0.993356,0.023725],[-0.176018,-0.043441,0.983428]] 2025-10-29T00:12:02.854Z,1761696722.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978254,0.105806,0.178392],[-0.111735,0.993460,0.023497],[-0.174739,-0.042919,0.983679]] 2025-10-29T00:12:03.279Z,1761696723.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978592,0.104922,0.177056],[-0.110416,0.993654,0.021442],[-0.173683,-0.040533,0.983967]] 2025-10-29T00:12:03.669Z,1761696723.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979026,0.103011,0.175777],[-0.108185,0.993928,0.020081],[-0.172641,-0.038677,0.984225]] 2025-10-29T00:12:04.066Z,1761696724.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979401,0.098263,0.176404],[-0.104285,0.994229,0.025171],[-0.172913,-0.043049,0.983996]] 2025-10-29T00:12:04.472Z,1761696724.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979719,0.092868,0.177558],[-0.101479,0.994032,0.040028],[-0.172781,-0.057235,0.983296]] 2025-10-29T00:12:04.875Z,1761696724.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980099,0.087950,0.177961],[-0.098841,0.993676,0.053273],[-0.172150,-0.069803,0.982594]] 2025-10-29T00:12:05.289Z,1761696725.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980618,0.084352,0.176844],[-0.095864,0.993727,0.057583],[-0.170877,-0.073420,0.982553]] 2025-10-29T00:12:05.687Z,1761696725.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981334,0.081037,0.174402],[-0.091670,0.994336,0.053791],[-0.169055,-0.068775,0.983204]] 2025-10-29T00:12:06.087Z,1761696726.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982117,0.077387,0.171630],[-0.086624,0.995132,0.046989],[-0.167158,-0.061016,0.984040]] 2025-10-29T00:12:06.493Z,1761696726.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982922,0.072636,0.169082],[-0.080652,0.995898,0.041022],[-0.165408,-0.053959,0.984748]] 2025-10-29T00:12:06.896Z,1761696726.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983709,0.067406,0.166654],[-0.074534,0.996536,0.036884],[-0.163591,-0.048704,0.985325]] 2025-10-29T00:12:07.306Z,1761696727.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984469,0.061275,0.164516],[-0.067941,0.997068,0.035196],[-0.161877,-0.045827,0.985746]] 2025-10-29T00:12:08.118Z,1761696728.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986005,0.048325,0.159556],[-0.055032,0.997765,0.037889],[-0.157369,-0.046139,0.986461]] 2025-10-29T00:12:08.513Z,1761696728.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986723,0.042289,0.156810],[-0.048519,0.998169,0.036116],[-0.154996,-0.043245,0.986968]] 2025-10-29T00:12:08.914Z,1761696728.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987446,0.035929,0.153817],[-0.041559,0.998573,0.033541],[-0.152393,-0.039512,0.987530]] 2025-10-29T00:12:09.323Z,1761696729.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988172,0.028641,0.150650],[-0.033619,0.998966,0.030599],[-0.149618,-0.035302,0.988113]] 2025-10-29T00:12:09.829Z,1761696729.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988915,0.021558,0.146911],[-0.025976,0.999264,0.028226],[-0.146194,-0.031729,0.988747]] 2025-10-29T00:12:10.237Z,1761696730.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989634,0.014336,0.142894],[-0.018350,0.999472,0.026812],[-0.142434,-0.029156,0.989375]] 2025-10-29T00:12:10.632Z,1761696730.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990349,0.006869,0.138425],[-0.010611,0.999597,0.026319],[-0.138189,-0.027534,0.990023]] 2025-10-29T00:12:11.035Z,1761696731.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991006,-0.000877,0.133816],[-0.002654,0.999653,0.026204],[-0.133793,-0.026323,0.990660]] 2025-10-29T00:12:11.453Z,1761696731.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991595,-0.009310,0.129048],[0.006054,0.999654,0.025605],[-0.129241,-0.024608,0.991308]] 2025-10-29T00:12:11.842Z,1761696731.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992110,-0.017653,0.124122],[0.014488,0.999548,0.026353],[-0.124531,-0.024347,0.991917]] 2025-10-29T00:12:12.249Z,1761696732.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992540,-0.026830,0.118929],[0.023667,0.999330,0.027929],[-0.119598,-0.024906,0.992510]] 2025-10-29T00:12:12.728Z,1761696732.728 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:12:13.059Z,1761696733.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993000,-0.045889,0.108834],[0.042981,0.998657,0.028914],[-0.110014,-0.024034,0.993639]] 2025-10-29T00:12:13.487Z,1761696733.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992990,-0.056719,0.103700],[0.053954,0.998114,0.029278],[-0.105165,-0.023477,0.994178]] 2025-10-29T00:12:13.733Z,1761696733.733 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:12:13.870Z,1761696733.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992883,-0.067049,0.098428],[0.064294,0.997452,0.030910],[-0.100250,-0.024361,0.994664]] 2025-10-29T00:12:14.278Z,1761696734.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992635,-0.077524,0.093087],[0.074863,0.996688,0.031744],[-0.095240,-0.024541,0.995152]] 2025-10-29T00:12:14.677Z,1761696734.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992260,-0.087768,0.087847],[0.085245,0.995843,0.032085],[-0.090298,-0.024348,0.995617]] 2025-10-29T00:12:15.093Z,1761696735.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991690,-0.098533,0.082716],[0.096124,0.994834,0.032636],[-0.085504,-0.024414,0.996039]] 2025-10-29T00:12:15.517Z,1761696735.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990965,-0.109485,0.077464],[0.107183,0.993682,0.033292],[-0.080619,-0.024688,0.996439]] 2025-10-29T00:12:15.942Z,1761696735.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990157,-0.119813,0.072352],[0.117560,0.992461,0.034655],[-0.075958,-0.025809,0.996777]] 2025-10-29T00:12:16.352Z,1761696736.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989311,-0.129442,0.067143],[0.127310,0.991240,0.035137],[-0.071103,-0.026214,0.997124]] 2025-10-29T00:12:16.797Z,1761696736.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987004,-0.150095,0.057393],[0.148268,0.988332,0.034887],[-0.061960,-0.025924,0.997742]] 2025-10-29T00:12:17.235Z,1761696737.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985631,-0.160466,0.052747],[0.158775,0.986700,0.034847],[-0.057637,-0.025971,0.998000]] 2025-10-29T00:12:17.634Z,1761696737.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984301,-0.169879,0.047882],[0.168283,0.985095,0.035611],[-0.053218,-0.026994,0.998218]] 2025-10-29T00:12:18.038Z,1761696738.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982853,-0.179205,0.043425],[0.177763,0.983448,0.035075],[-0.048992,-0.026754,0.998441]] 2025-10-29T00:12:18.442Z,1761696738.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981189,-0.189045,0.039124],[0.187710,0.981587,0.035395],[-0.045095,-0.027385,0.998607]] 2025-10-29T00:12:18.851Z,1761696738.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979486,-0.198483,0.034823],[0.197248,0.979695,0.035929],[-0.041247,-0.028323,0.998747]] 2025-10-29T00:12:19.250Z,1761696739.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977650,-0.207970,0.030798],[0.206887,0.977740,0.034970],[-0.037386,-0.027817,0.998914]] 2025-10-29T00:12:19.688Z,1761696739.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975918,-0.216477,0.026879],[0.215554,0.975917,0.033487],[-0.033480,-0.026887,0.999078]] 2025-10-29T00:12:20.105Z,1761696740.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974162,-0.224665,0.023133],[0.223843,0.974049,0.033498],[-0.030059,-0.027454,0.999171]] 2025-10-29T00:12:20.563Z,1761696740.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972227,-0.233256,0.019161],[0.232526,0.971990,0.034180],[-0.026596,-0.028775,0.999232]] 2025-10-29T00:12:20.915Z,1761696740.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970277,-0.241509,0.015329],[0.240853,0.969906,0.035678],[-0.023484,-0.030926,0.999246]] 2025-10-29T00:12:21.322Z,1761696741.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968430,-0.249007,0.011789],[0.248409,0.967907,0.038078],[-0.020892,-0.033947,0.999205]] 2025-10-29T00:12:21.723Z,1761696741.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966380,-0.256979,0.008511],[0.256474,0.965768,0.038901],[-0.018216,-0.035410,0.999207]] 2025-10-29T00:12:22.128Z,1761696742.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964133,-0.265355,0.005794],[0.264942,0.963480,0.038878],[-0.015899,-0.035949,0.999227]] 2025-10-29T00:12:22.559Z,1761696742.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961918,-0.273325,0.002650],[0.273009,0.961193,0.039669],[-0.013390,-0.037435,0.999209]] 2025-10-29T00:12:22.934Z,1761696742.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959495,-0.281726,-0.000442],[0.281516,0.958717,0.040137],[-0.010884,-0.038635,0.999194]] 2025-10-29T00:12:23.343Z,1761696743.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956907,-0.290375,-0.003202],[0.290268,0.956114,0.039869],[-0.008516,-0.039081,0.999200]] 2025-10-29T00:12:24.146Z,1761696744.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951930,-0.306160,-0.009743],[0.306290,0.950963,0.043070],[-0.003921,-0.043984,0.999025]] 2025-10-29T00:12:24.563Z,1761696744.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949550,-0.313327,-0.013457],[0.313610,0.948408,0.046597],[-0.001837,-0.048466,0.998823]] 2025-10-29T00:12:24.955Z,1761696744.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947480,-0.319369,-0.016864],[0.319814,0.946166,0.049897],[0.000020,-0.052670,0.998612]] 2025-10-29T00:12:25.368Z,1761696745.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945261,-0.325710,-0.019850],[0.326311,0.943767,0.053146],[0.001424,-0.056714,0.998389]] 2025-10-29T00:12:25.769Z,1761696745.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943110,-0.331726,-0.022408],[0.332471,0.941469,0.055670],[0.002630,-0.059953,0.998198]] 2025-10-29T00:12:26.166Z,1761696746.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940916,-0.337751,-0.024523],[0.338621,0.939161,0.057551],[0.003593,-0.062455,0.998041]] 2025-10-29T00:12:26.590Z,1761696746.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938485,-0.344321,-0.026245],[0.345290,0.936693,0.058156],[0.004559,-0.063641,0.997962]] 2025-10-29T00:12:26.974Z,1761696746.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936079,-0.350646,-0.028353],[0.351744,0.934222,0.059208],[0.005727,-0.065396,0.997843]] 2025-10-29T00:12:27.459Z,1761696747.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934042,-0.355844,-0.030672],[0.357104,0.931998,0.062101],[0.006488,-0.068958,0.997598]] 2025-10-29T00:12:27.859Z,1761696747.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932454,-0.359758,-0.033231],[0.361214,0.930194,0.065300],[0.007419,-0.072893,0.997312]] 2025-10-29T00:12:28.263Z,1761696748.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930906,-0.363488,-0.035934],[0.365161,0.928427,0.068411],[0.008495,-0.076806,0.997010]] 2025-10-29T00:12:28.687Z,1761696748.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929560,-0.366576,-0.039251],[0.368545,0.926746,0.072917],[0.009646,-0.082246,0.996565]] 2025-10-29T00:12:29.083Z,1761696749.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928369,-0.369232,-0.042410],[0.371508,0.925192,0.077472],[0.010632,-0.087679,0.996092]] 2025-10-29T00:12:29.474Z,1761696749.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927317,-0.371493,-0.045562],[0.374091,0.923797,0.081585],[0.011782,-0.092699,0.995624]] 2025-10-29T00:12:29.878Z,1761696749.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926302,-0.373685,-0.048207],[0.376561,0.922532,0.084476],[0.012905,-0.096403,0.995259]] 2025-10-29T00:12:30.282Z,1761696750.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925184,-0.376095,-0.050865],[0.379262,0.921152,0.087406],[0.013981,-0.100158,0.994873]] 2025-10-29T00:12:30.715Z,1761696750.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924174,-0.378264,-0.053090],[0.381675,0.919966,0.089366],[0.015037,-0.102853,0.994583]] 2025-10-29T00:12:31.095Z,1761696751.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923017,-0.380845,-0.054732],[0.384419,0.918795,0.089651],[0.016144,-0.103789,0.994468]] 2025-10-29T00:12:31.536Z,1761696751.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921700,-0.383916,-0.055484],[0.387545,0.917530,0.089148],[0.016683,-0.103670,0.994472]] 2025-10-29T00:12:31.946Z,1761696751.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920457,-0.386653,-0.057078],[0.390447,0.916240,0.089749],[0.017595,-0.104896,0.994328]] 2025-10-29T00:12:32.342Z,1761696752.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919012,-0.389874,-0.058442],[0.393809,0.914737,0.090395],[0.018217,-0.106089,0.994190]] 2025-10-29T00:12:32.757Z,1761696752.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917850,-0.392404,-0.059747],[0.396491,0.913448,0.091697],[0.018593,-0.107853,0.993993]] 2025-10-29T00:12:33.158Z,1761696753.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916448,-0.395507,-0.060805],[0.399714,0.911932,0.092780],[0.018754,-0.109333,0.993828]] 2025-10-29T00:12:33.563Z,1761696753.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915027,-0.398713,-0.061270],[0.402964,0.910451,0.093269],[0.018595,-0.110033,0.993754]] 2025-10-29T00:12:33.959Z,1761696753.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913508,-0.402094,-0.061835],[0.406400,0.908870,0.093779],[0.018492,-0.110798,0.993671]] 2025-10-29T00:12:34.362Z,1761696754.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911818,-0.405803,-0.062542],[0.410179,0.907117,0.094295],[0.018468,-0.111633,0.993578]] 2025-10-29T00:12:34.782Z,1761696754.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910301,-0.409037,-0.063560],[0.413534,0.905459,0.095571],[0.018459,-0.113282,0.993391]] 2025-10-29T00:12:35.172Z,1761696755.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908969,-0.411834,-0.064565],[0.416454,0.903988,0.096812],[0.018496,-0.114888,0.993206]] 2025-10-29T00:12:35.581Z,1761696755.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907919,-0.413957,-0.065755],[0.418736,0.902739,0.098605],[0.018542,-0.117059,0.992952]] 2025-10-29T00:12:35.980Z,1761696755.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907059,-0.415599,-0.067238],[0.420586,0.901631,0.100839],[0.018715,-0.119747,0.992628]] 2025-10-29T00:12:36.383Z,1761696756.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906474,-0.416605,-0.068889],[0.421838,0.900742,0.103522],[0.018923,-0.122899,0.992239]] 2025-10-29T00:12:36.813Z,1761696756.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906049,-0.417321,-0.070134],[0.422746,0.900058,0.105740],[0.018998,-0.125454,0.991917]] 2025-10-29T00:12:37.594Z,1761696757.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906156,-0.417023,-0.070517],[0.422510,0.900098,0.106338],[0.019127,-0.126153,0.991826]] 2025-10-29T00:12:38.007Z,1761696758.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906164,-0.416901,-0.071139],[0.422480,0.900041,0.106946],[0.019442,-0.126965,0.991717]] 2025-10-29T00:12:38.410Z,1761696758.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906928,-0.414870,-0.073247],[0.420823,0.900283,0.111344],[0.019750,-0.131805,0.991079]] 2025-10-29T00:12:38.835Z,1761696758.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907668,-0.413074,-0.074221],[0.419223,0.900702,0.113966],[0.019774,-0.134558,0.990708]] 2025-10-29T00:12:39.215Z,1761696759.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908540,-0.410966,-0.075245],[0.417327,0.901221,0.116786],[0.019817,-0.137507,0.990303]] 2025-10-29T00:12:39.619Z,1761696759.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909315,-0.409105,-0.076020],[0.415633,0.901715,0.118994],[0.019868,-0.139800,0.989980]] 2025-10-29T00:12:40.030Z,1761696760.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910131,-0.407091,-0.077054],[0.413841,0.902160,0.121835],[0.019917,-0.142774,0.989555]] 2025-10-29T00:12:40.437Z,1761696760.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910961,-0.405085,-0.077823],[0.412005,0.902714,0.123934],[0.020049,-0.144962,0.989234]] 2025-10-29T00:12:40.863Z,1761696760.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911770,-0.403111,-0.078601],[0.410199,0.903292,0.125698],[0.020329,-0.146849,0.988950]] 2025-10-29T00:12:41.239Z,1761696761.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912492,-0.401353,-0.079214],[0.408579,0.903820,0.127176],[0.020553,-0.148412,0.988712]] 2025-10-29T00:12:41.643Z,1761696761.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913367,-0.399341,-0.079293],[0.406607,0.904650,0.127589],[0.020781,-0.148777,0.988652]] 2025-10-29T00:12:42.113Z,1761696762.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913956,-0.398015,-0.079179],[0.405266,0.905318,0.127121],[0.021086,-0.148272,0.988722]] 2025-10-29T00:12:42.523Z,1761696762.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914373,-0.397152,-0.078694],[0.404323,0.905848,0.126344],[0.021107,-0.147343,0.988860]] 2025-10-29T00:12:42.918Z,1761696762.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914872,-0.396134,-0.078024],[0.403210,0.906380,0.126086],[0.020772,-0.146813,0.988946]] 2025-10-29T00:12:43.322Z,1761696763.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915211,-0.395418,-0.077670],[0.402458,0.906651,0.126539],[0.020384,-0.147068,0.988916]] 2025-10-29T00:12:43.726Z,1761696763.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915555,-0.394986,-0.075800],[0.401746,0.907033,0.126058],[0.018962,-0.145865,0.989123]] 2025-10-29T00:12:43.858Z,1761696763.858 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:12:44.132Z,1761696764.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915753,-0.394726,-0.074753],[0.401349,0.907116,0.126728],[0.017787,-0.146053,0.989117]] 2025-10-29T00:12:44.539Z,1761696764.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916187,-0.394025,-0.073110],[0.400418,0.907493,0.126974],[0.016316,-0.145606,0.989208]] 2025-10-29T00:12:44.862Z,1761696764.862 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:12:44.939Z,1761696764.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916304,-0.393925,-0.072181],[0.400191,0.907525,0.127458],[0.015297,-0.145677,0.989214]] 2025-10-29T00:12:45.343Z,1761696765.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916521,-0.393712,-0.070569],[0.399760,0.907575,0.128448],[0.013475,-0.145936,0.989202]] 2025-10-29T00:12:45.754Z,1761696765.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916892,-0.393063,-0.069364],[0.398964,0.907659,0.130317],[0.011737,-0.147160,0.989043]] 2025-10-29T00:12:46.150Z,1761696766.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917145,-0.392653,-0.068333],[0.398420,0.907716,0.131577],[0.010363,-0.147900,0.988948]] 2025-10-29T00:12:46.567Z,1761696766.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917341,-0.392279,-0.067843],[0.397986,0.907778,0.132461],[0.009625,-0.148513,0.988864]] 2025-10-29T00:12:46.963Z,1761696766.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917513,-0.392041,-0.066883],[0.397613,0.907846,0.133111],[0.008534,-0.148724,0.988842]] 2025-10-29T00:12:47.362Z,1761696767.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917832,-0.391498,-0.065673],[0.396903,0.908039,0.133914],[0.007206,-0.148976,0.988815]] 2025-10-29T00:12:47.772Z,1761696767.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918121,-0.391062,-0.064220],[0.396256,0.908309,0.133998],[0.005930,-0.148474,0.988899]] 2025-10-29T00:12:48.172Z,1761696768.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918378,-0.390606,-0.063316],[0.395673,0.908481,0.134555],[0.004964,-0.148625,0.988881]] 2025-10-29T00:12:48.577Z,1761696768.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918877,-0.389529,-0.062703],[0.394524,0.908742,0.136156],[0.003944,-0.149849,0.988701]] 2025-10-29T00:12:48.989Z,1761696768.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919451,-0.388267,-0.062115],[0.393192,0.909089,0.137682],[0.003011,-0.151015,0.988527]] 2025-10-29T00:12:49.382Z,1761696769.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920309,-0.386180,-0.062416],[0.391185,0.909421,0.141168],[0.002246,-0.154334,0.988016]] 2025-10-29T00:12:49.789Z,1761696769.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921175,-0.384178,-0.062000],[0.389146,0.909964,0.143288],[0.001370,-0.156120,0.987737]] 2025-10-29T00:12:50.190Z,1761696770.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922007,-0.382186,-0.061937],[0.387171,0.910436,0.145618],[0.000736,-0.158241,0.987400]] 2025-10-29T00:12:50.594Z,1761696770.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922688,-0.380625,-0.061417],[0.385548,0.911006,0.146359],[0.000243,-0.158723,0.987323]] 2025-10-29T00:12:51.015Z,1761696771.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923359,-0.379093,-0.060797],[0.383937,0.911591,0.146947],[-0.000285,-0.159028,0.987274]] 2025-10-29T00:12:51.405Z,1761696771.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924175,-0.377178,-0.060308],[0.381968,0.912339,0.147440],[-0.000590,-0.159296,0.987231]] 2025-10-29T00:12:51.806Z,1761696771.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924935,-0.375393,-0.059797],[0.380124,0.912928,0.148556],[-0.001177,-0.160135,0.987094]] 2025-10-29T00:12:52.616Z,1761696772.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926507,-0.371614,-0.059064],[0.376275,0.914412,0.149223],[-0.001445,-0.160480,0.987038]] 2025-10-29T00:12:53.048Z,1761696773.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927205,-0.369937,-0.058621],[0.374548,0.914955,0.150237],[-0.001942,-0.161257,0.986911]] 2025-10-29T00:12:53.424Z,1761696773.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927907,-0.368235,-0.058231],[0.372805,0.915578,0.150776],[-0.002206,-0.161615,0.986851]] 2025-10-29T00:12:53.826Z,1761696773.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928633,-0.366368,-0.058442],[0.370993,0.916085,0.152157],[-0.002207,-0.162979,0.986627]] 2025-10-29T00:12:54.640Z,1761696774.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929993,-0.363007,-0.057789],[0.367572,0.917471,0.152110],[-0.002197,-0.162703,0.986673]] 2025-10-29T00:12:55.073Z,1761696775.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930628,-0.361435,-0.057421],[0.365960,0.918101,0.152194],[-0.002290,-0.162649,0.986681]] 2025-10-29T00:12:55.443Z,1761696775.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931454,-0.359341,-0.057161],[0.363852,0.918898,0.152439],[-0.002252,-0.162788,0.986659]] 2025-10-29T00:12:55.847Z,1761696775.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932040,-0.357877,-0.056798],[0.362347,0.919387,0.153079],[-0.002564,-0.163256,0.986580]] 2025-10-29T00:12:56.251Z,1761696776.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932868,-0.355776,-0.056404],[0.360208,0.920076,0.153980],[-0.002886,-0.163960,0.986463]] 2025-10-29T00:12:56.663Z,1761696776.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933628,-0.353799,-0.056262],[0.358233,0.920745,0.154592],[-0.002891,-0.164486,0.986375]] 2025-10-29T00:12:57.099Z,1761696777.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934272,-0.352179,-0.055719],[0.356547,0.921426,0.154427],[-0.003045,-0.164143,0.986432]] 2025-10-29T00:12:57.149Z,1761696777.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:12:57.401Z,1761696777.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:12:57.401Z,1761696777.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:12:57.463Z,1761696777.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935074,-0.350151,-0.055050],[0.354435,0.922178,0.154800],[-0.003438,-0.164261,0.986411]] 2025-10-29T00:12:57.653Z,1761696777.653 [DAT](INFO): DAT read: user:359> 2025-10-29T00:12:57.654Z,1761696777.654 [DAT](INFO): DAT read: Tx time:00:12:57.3787 2025-10-29T00:12:57.654Z,1761696777.654 [DAT](INFO): Ping request sent. 2025-10-29T00:12:57.654Z,1761696777.654 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:12:57.654Z,1761696777.654 [DAT](INFO): publishing transmit ping time 2025-10-29T00:12:57.655Z,1761696777.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-29T00:12:57.866Z,1761696777.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935791,-0.348316,-0.054515],[0.352541,0.923029,0.154056],[-0.003341,-0.163383,0.986557]] 2025-10-29T00:12:57.905Z,1761696777.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250888 2025-10-29T00:12:58.161Z,1761696778.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506997 2025-10-29T00:12:58.273Z,1761696778.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936516,-0.346383,-0.054381],[0.350610,0.923662,0.154668],[-0.003345,-0.163916,0.986469]] 2025-10-29T00:12:58.409Z,1761696778.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754943 2025-10-29T00:12:58.661Z,1761696778.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006880 2025-10-29T00:12:58.676Z,1761696778.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937267,-0.344479,-0.053525],[0.348591,0.924374,0.154977],[-0.003909,-0.163914,0.986467]] 2025-10-29T00:12:58.913Z,1761696778.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258812 2025-10-29T00:12:59.117Z,1761696779.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937890,-0.342840,-0.053136],[0.346908,0.924921,0.155484],[-0.004160,-0.164260,0.986408]] 2025-10-29T00:12:59.165Z,1761696779.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510960 2025-10-29T00:12:59.417Z,1761696779.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762871 2025-10-29T00:12:59.483Z,1761696779.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938365,-0.341630,-0.052535],[0.345616,0.925375,0.155660],[-0.004563,-0.164223,0.986413]] 2025-10-29T00:12:59.669Z,1761696779.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014851 2025-10-29T00:12:59.886Z,1761696779.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938786,-0.340569,-0.051910],[0.344467,0.925834,0.155478],[-0.004891,-0.163842,0.986474]] 2025-10-29T00:12:59.921Z,1761696779.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266973 2025-10-29T00:13:00.173Z,1761696780.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518917 2025-10-29T00:13:00.290Z,1761696780.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939308,-0.339187,-0.051505],[0.343038,0.926347,0.155582],[-0.005060,-0.163807,0.986479]] 2025-10-29T00:13:00.425Z,1761696780.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770893 2025-10-29T00:13:00.677Z,1761696780.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022858 2025-10-29T00:13:00.695Z,1761696780.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939733,-0.338111,-0.050821],[0.341866,0.926831,0.155282],[-0.005400,-0.163298,0.986562]] 2025-10-29T00:13:00.929Z,1761696780.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274890 2025-10-29T00:13:01.121Z,1761696781.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940168,-0.336944,-0.050538],[0.340667,0.927211,0.155649],[-0.005586,-0.163553,0.986519]] 2025-10-29T00:13:01.181Z,1761696781.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526954 2025-10-29T00:13:01.433Z,1761696781.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778866 2025-10-29T00:13:01.506Z,1761696781.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940432,-0.336293,-0.049952],[0.339931,0.927507,0.155492],[-0.005960,-0.163210,0.986573]] 2025-10-29T00:13:01.685Z,1761696781.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030960 2025-10-29T00:13:01.906Z,1761696781.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940889,-0.335091,-0.049406],[0.338655,0.927944,0.155667],[-0.006316,-0.163197,0.986573]] 2025-10-29T00:13:01.937Z,1761696781.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282966 2025-10-29T00:13:02.189Z,1761696782.189 [DAT](INFO): DAT read: Rx Time:00:13:01.3672 2025-10-29T00:13:02.190Z,1761696782.190 [DAT](INFO): Rx dataTimestamp_ set to:1761696782.189520 2025-10-29T00:13:02.190Z,1761696782.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536358 2025-10-29T00:13:02.310Z,1761696782.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941214,-0.334302,-0.048559],[0.337746,0.928461,0.154557],[-0.006583,-0.161872,0.986790]] 2025-10-29T00:13:02.446Z,1761696782.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.792205 2025-10-29T00:13:02.706Z,1761696782.706 [DAT](INFO): DAT read: 00:13:01.3672 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 60, 0.44,-2.845, 1.676,-2.799,-3.061, PHS= 0.318,-1.501, 0.218, RAW= 147.2, 10.9, CAL= 146.9, 11.9, ROT= 3.1, -11.9 2025-10-29T00:13:02.707Z,1761696782.707 [DAT](INFO): got valid direction response: 00:13:01.3672 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 60, 0.44,-2.845, 1.676,-2.799,-3.061, PHS= 0.318,-1.501, 0.218, RAW= 147.2, 10.9, CAL= 146.9, 11.9, ROT= 3.1, -11.9 2025-10-29T00:13:02.713Z,1761696782.713 [DAT](INFO): DAT read: Bearing 189.0, 0.6 (Local) 2025-10-29T00:13:02.713Z,1761696782.713 [DAT](INFO): Local bearing/azimuth received: Bearing 189.0, 0.6 (Local) 2025-10-29T00:13:02.714Z,1761696782.714 [DAT](INFO): DAT read: Range 11 to 50 : 1188.3 m (Round-trip 1584.4 ms) speed 0.5 m/s 2025-10-29T00:13:02.715Z,1761696782.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:13:02.720Z,1761696782.720 [DAT](INFO): direction in FSK: [0.977077,0.052917,0.206204] 2025-10-29T00:13:02.720Z,1761696782.720 [DAT](INFO): publishing direction and range info 2025-10-29T00:13:02.730Z,1761696782.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941574,-0.333338,-0.048204],[0.336736,0.928785,0.154814],[-0.006835,-0.162000,0.986767]] 2025-10-29T00:13:03.129Z,1761696783.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942000,-0.332169,-0.047956],[0.335541,0.929176,0.155063],[-0.006948,-0.162161,0.986740]] 2025-10-29T00:13:03.536Z,1761696783.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942395,-0.331113,-0.047498],[0.334424,0.929554,0.155211],[-0.007241,-0.162154,0.986739]] 2025-10-29T00:13:03.926Z,1761696783.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942884,-0.329752,-0.047268],[0.333042,0.930007,0.155465],[-0.007306,-0.162327,0.986710]] 2025-10-29T00:13:04.331Z,1761696784.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943360,-0.328430,-0.046969],[0.331688,0.930456,0.155674],[-0.007426,-0.162436,0.986691]] 2025-10-29T00:13:04.735Z,1761696784.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943795,-0.327160,-0.047094],[0.330447,0.930674,0.157005],[-0.007536,-0.163743,0.986474]] 2025-10-29T00:13:05.143Z,1761696785.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944288,-0.325762,-0.046899],[0.329036,0.931176,0.156989],[-0.007470,-0.163674,0.986486]] 2025-10-29T00:13:05.555Z,1761696785.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944893,-0.324029,-0.046711],[0.327292,0.931687,0.157605],[-0.007549,-0.164208,0.986397]] 2025-10-29T00:13:05.947Z,1761696785.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945402,-0.322532,-0.046780],[0.325822,0.932110,0.158151],[-0.007405,-0.164758,0.986306]] 2025-10-29T00:13:06.350Z,1761696786.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945964,-0.320924,-0.046470],[0.324184,0.932626,0.158474],[-0.007519,-0.164976,0.986269]] 2025-10-29T00:13:06.764Z,1761696786.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946606,-0.319030,-0.046455],[0.322309,0.933164,0.159127],[-0.007416,-0.165604,0.986165]] 2025-10-29T00:13:07.161Z,1761696787.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947090,-0.317647,-0.046053],[0.320882,0.933722,0.158737],[-0.007421,-0.165116,0.986246]] 2025-10-29T00:13:07.563Z,1761696787.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947498,-0.316473,-0.045740],[0.319676,0.934184,0.158457],[-0.007418,-0.164759,0.986306]] 2025-10-29T00:13:07.967Z,1761696787.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947875,-0.315415,-0.045232],[0.318550,0.934599,0.158276],[-0.007648,-0.164435,0.986358]] 2025-10-29T00:13:08.370Z,1761696788.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948369,-0.313972,-0.044912],[0.317076,0.935145,0.158008],[-0.007611,-0.164090,0.986416]] 2025-10-29T00:13:08.778Z,1761696788.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948894,-0.312430,-0.044587],[0.315502,0.935649,0.158175],[-0.007701,-0.164159,0.986404]] 2025-10-29T00:13:09.178Z,1761696789.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949256,-0.311365,-0.044336],[0.314412,0.936058,0.157925],[-0.007671,-0.163851,0.986455]] 2025-10-29T00:13:09.588Z,1761696789.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949681,-0.310093,-0.044130],[0.313126,0.936529,0.157685],[-0.007568,-0.163569,0.986503]] 2025-10-29T00:13:09.986Z,1761696789.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949997,-0.309187,-0.043684],[0.312162,0.936905,0.157366],[-0.007728,-0.163134,0.986574]] 2025-10-29T00:13:10.390Z,1761696790.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950522,-0.307603,-0.043446],[0.310560,0.937410,0.157527],[-0.007729,-0.163225,0.986559]] 2025-10-29T00:13:10.796Z,1761696790.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951033,-0.306118,-0.042748],[0.308986,0.938026,0.156958],[-0.007949,-0.162481,0.986680]] 2025-10-29T00:13:11.198Z,1761696791.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951645,-0.304253,-0.042455],[0.307098,0.938625,0.157082],[-0.007943,-0.162524,0.986673]] 2025-10-29T00:13:11.602Z,1761696791.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952177,-0.302589,-0.042404],[0.305448,0.939142,0.157208],[-0.007746,-0.162642,0.986655]] 2025-10-29T00:13:12.017Z,1761696792.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952803,-0.300661,-0.042058],[0.303486,0.939695,0.157700],[-0.007892,-0.163021,0.986591]] 2025-10-29T00:13:12.411Z,1761696792.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953520,-0.298387,-0.042017],[0.301232,0.940331,0.158230],[-0.007704,-0.163533,0.986508]] 2025-10-29T00:13:12.815Z,1761696792.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954249,-0.296120,-0.041501],[0.298910,0.941015,0.158565],[-0.007902,-0.163715,0.986476]] 2025-10-29T00:13:13.219Z,1761696793.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954957,-0.293850,-0.041354],[0.296644,0.941675,0.158903],[-0.007752,-0.164013,0.986428]] 2025-10-29T00:13:13.629Z,1761696793.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955806,-0.291121,-0.041041],[0.293894,0.942360,0.159951],[-0.007889,-0.164943,0.986272]] 2025-10-29T00:13:14.028Z,1761696794.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956459,-0.289009,-0.040743],[0.291760,0.942973,0.160240],[-0.007892,-0.165150,0.986237]] 2025-10-29T00:13:14.430Z,1761696794.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957055,-0.287113,-0.040146],[0.289798,0.943711,0.159458],[-0.007896,-0.164244,0.986388]] 2025-10-29T00:13:14.834Z,1761696794.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957502,-0.285640,-0.040003],[0.288322,0.944130,0.159651],[-0.007835,-0.164400,0.986363]] 2025-10-29T00:13:14.985Z,1761696794.985 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:13:15.241Z,1761696795.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958114,-0.283573,-0.040045],[0.286280,0.944549,0.160845],[-0.007787,-0.165572,0.986167]] 2025-10-29T00:13:15.643Z,1761696795.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958561,-0.282153,-0.039381],[0.284783,0.945251,0.159372],[-0.007742,-0.163982,0.986433]] 2025-10-29T00:13:15.989Z,1761696795.989 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:13:16.054Z,1761696796.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959079,-0.280411,-0.039209],[0.283032,0.945657,0.160079],[-0.007809,-0.164626,0.986325]] 2025-10-29T00:13:16.455Z,1761696796.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959394,-0.279355,-0.039051],[0.281964,0.945990,0.160000],[-0.007755,-0.164513,0.986344]] 2025-10-29T00:13:16.861Z,1761696796.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959624,-0.278606,-0.038738],[0.281178,0.946306,0.159513],[-0.007783,-0.163964,0.986436]] 2025-10-29T00:13:17.267Z,1761696797.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959801,-0.278029,-0.038507],[0.280574,0.946541,0.159180],[-0.007808,-0.163585,0.986498]] 2025-10-29T00:13:17.665Z,1761696797.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959906,-0.277764,-0.037776],[0.280198,0.946752,0.158588],[-0.008285,-0.162814,0.986622]] 2025-10-29T00:13:18.069Z,1761696798.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960122,-0.277129,-0.036959],[0.279440,0.946983,0.158545],[-0.008938,-0.162550,0.986660]] 2025-10-29T00:13:18.470Z,1761696798.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960287,-0.276734,-0.035603],[0.278835,0.947238,0.158084],[-0.010023,-0.161733,0.986784]] 2025-10-29T00:13:18.874Z,1761696798.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960601,-0.275802,-0.034322],[0.277703,0.947488,0.158580],[-0.011217,-0.161864,0.986749]] 2025-10-29T00:13:19.279Z,1761696799.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960869,-0.275051,-0.032838],[0.276726,0.947827,0.158264],[-0.012406,-0.161158,0.986851]] 2025-10-29T00:13:19.684Z,1761696799.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961394,-0.273477,-0.030518],[0.274809,0.948485,0.157656],[-0.014170,-0.159956,0.987022]] 2025-10-29T00:13:20.087Z,1761696800.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961830,-0.272102,-0.029041],[0.273211,0.948876,0.158084],[-0.015459,-0.159985,0.986998]] 2025-10-29T00:13:20.524Z,1761696800.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962501,-0.269884,-0.027466],[0.270753,0.949406,0.159124],[-0.016869,-0.160593,0.986877]] 2025-10-29T00:13:20.894Z,1761696800.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963156,-0.267693,-0.025916],[0.268332,0.949985,0.159772],[-0.018150,-0.160839,0.986814]] 2025-10-29T00:13:21.300Z,1761696801.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963838,-0.265362,-0.024497],[0.265783,0.950520,0.160846],[-0.019397,-0.161540,0.986675]] 2025-10-29T00:13:21.703Z,1761696801.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964522,-0.263025,-0.022682],[0.263164,0.951072,0.161885],[-0.021008,-0.162111,0.986549]] 2025-10-29T00:13:22.107Z,1761696802.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965220,-0.260620,-0.020679],[0.260460,0.951757,0.162233],[-0.022600,-0.161977,0.986536]] 2025-10-29T00:13:22.513Z,1761696802.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965869,-0.258364,-0.018578],[0.257903,0.952503,0.161940],[-0.024144,-0.161204,0.986626]] 2025-10-29T00:13:22.915Z,1761696802.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966464,-0.256255,-0.016774],[0.255533,0.953142,0.161934],[-0.025509,-0.160790,0.986659]] 2025-10-29T00:13:23.320Z,1761696803.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966950,-0.254523,-0.014994],[0.253527,0.953597,0.162408],[-0.027038,-0.160842,0.986610]] 2025-10-29T00:13:23.723Z,1761696803.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967356,-0.253085,-0.013030],[0.251788,0.954027,0.162589],[-0.028718,-0.160562,0.986608]] 2025-10-29T00:13:24.127Z,1761696804.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967667,-0.251985,-0.011148],[0.250399,0.954379,0.162669],[-0.030351,-0.160201,0.986618]] 2025-10-29T00:13:24.533Z,1761696804.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967910,-0.251129,-0.009185],[0.249246,0.954710,0.162499],[-0.032039,-0.159573,0.986666]] 2025-10-29T00:13:24.934Z,1761696804.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968079,-0.250540,-0.007206],[0.248370,0.955034,0.161937],[-0.033689,-0.158557,0.986775]] 2025-10-29T00:13:25.339Z,1761696805.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968091,-0.250549,-0.005065],[0.248101,0.955395,0.160205],[-0.035300,-0.156350,0.987071]] 2025-10-29T00:13:25.748Z,1761696805.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968129,-0.250434,-0.003166],[0.247710,0.955578,0.159723],[-0.036974,-0.155416,0.987157]] 2025-10-29T00:13:26.154Z,1761696806.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968213,-0.250124,-0.001349],[0.247130,0.955760,0.159528],[-0.038613,-0.154790,0.987192]] 2025-10-29T00:13:26.559Z,1761696806.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968324,-0.249696,0.000429],[0.246427,0.955921,0.159651],[-0.040274,-0.154488,0.987173]] 2025-10-29T00:13:26.955Z,1761696806.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968482,-0.249072,0.002184],[0.245537,0.956138,0.159722],[-0.041870,-0.154152,0.987160]] 2025-10-29T00:13:27.367Z,1761696807.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968718,-0.248142,0.003183],[0.244388,0.956133,0.161507],[-0.043121,-0.155677,0.986866]] 2025-10-29T00:13:27.768Z,1761696807.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969002,-0.247014,0.004448],[0.243065,0.956426,0.161770],[-0.044213,-0.155674,0.986818]] 2025-10-29T00:13:28.167Z,1761696808.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969238,-0.246060,0.005626],[0.241918,0.956634,0.162255],[-0.045307,-0.155903,0.986733]] 2025-10-29T00:13:28.587Z,1761696808.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969553,-0.244791,0.006654],[0.240452,0.956809,0.163400],[-0.046366,-0.156825,0.986538]] 2025-10-29T00:13:28.986Z,1761696808.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969907,-0.243353,0.007717],[0.238870,0.957219,0.163317],[-0.047130,-0.156559,0.986543]] 2025-10-29T00:13:29.382Z,1761696809.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970159,-0.242308,0.008887],[0.237752,0.957836,0.161320],[-0.047601,-0.154394,0.986862]] 2025-10-29T00:13:29.785Z,1761696809.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970408,-0.241274,0.009738],[0.236661,0.958315,0.160073],[-0.047954,-0.153031,0.987057]] 2025-10-29T00:13:30.190Z,1761696810.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970645,-0.240282,0.010661],[0.235644,0.958916,0.157965],[-0.048179,-0.150815,0.987387]] 2025-10-29T00:13:30.615Z,1761696810.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970894,-0.239230,0.011572],[0.234583,0.959564,0.155588],[-0.048325,-0.148345,0.987754]] 2025-10-29T00:13:30.998Z,1761696810.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971102,-0.238358,0.012128],[0.233691,0.959950,0.154548],[-0.048480,-0.147248,0.987911]] 2025-10-29T00:13:31.402Z,1761696811.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971242,-0.237743,0.012924],[0.233056,0.960398,0.152714],[-0.048719,-0.145310,0.988186]] 2025-10-29T00:13:31.804Z,1761696811.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971366,-0.237173,0.014038],[0.232493,0.961047,0.149453],[-0.048938,-0.141910,0.988669]] 2025-10-29T00:13:32.215Z,1761696812.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971322,-0.237308,0.014774],[0.232599,0.961259,0.147912],[-0.049302,-0.140234,0.988890]] 2025-10-29T00:13:32.642Z,1761696812.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971407,-0.236940,0.015124],[0.232118,0.961165,0.149275],[-0.049906,-0.141496,0.988680]] 2025-10-29T00:13:33.014Z,1761696813.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971344,-0.237174,0.015488],[0.232296,0.961118,0.149300],[-0.050295,-0.141424,0.988671]] 2025-10-29T00:13:33.427Z,1761696813.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971434,-0.236735,0.016526],[0.231738,0.961322,0.148856],[-0.051126,-0.140774,0.988721]] 2025-10-29T00:13:33.823Z,1761696813.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971386,-0.236874,0.017310],[0.231776,0.961344,0.148656],[-0.051854,-0.140390,0.988737]] 2025-10-29T00:13:34.227Z,1761696814.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971371,-0.236941,0.017253],[0.231801,0.961192,0.149592],[-0.052028,-0.141310,0.988597]] 2025-10-29T00:13:34.677Z,1761696814.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971420,-0.236694,0.017878],[0.231469,0.961274,0.149579],[-0.052590,-0.141165,0.988588]] 2025-10-29T00:13:35.038Z,1761696815.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971362,-0.236924,0.017972],[0.231672,0.961192,0.149791],[-0.052764,-0.141338,0.988554]] 2025-10-29T00:13:35.441Z,1761696815.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971443,-0.236615,0.017640],[0.231292,0.960925,0.152076],[-0.052935,-0.143653,0.988211]] 2025-10-29T00:13:35.842Z,1761696815.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971502,-0.236406,0.017199],[0.231058,0.960710,0.153780],[-0.052878,-0.145424,0.987955]] 2025-10-29T00:13:36.248Z,1761696816.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971687,-0.235649,0.017118],[0.230260,0.960718,0.154923],[-0.052953,-0.146595,0.987778]] 2025-10-29T00:13:36.704Z,1761696816.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971832,-0.235040,0.017303],[0.229626,0.960858,0.154998],[-0.053057,-0.146659,0.987763]] 2025-10-29T00:13:37.054Z,1761696817.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972012,-0.234332,0.016805],[0.228961,0.960902,0.155704],[-0.052634,-0.147498,0.987661]] 2025-10-29T00:13:37.466Z,1761696817.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972242,-0.233464,0.015514],[0.228219,0.960843,0.157153],[-0.051596,-0.149251,0.987452]] 2025-10-29T00:13:37.862Z,1761696817.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972502,-0.232409,0.015055],[0.227256,0.961104,0.156953],[-0.050946,-0.149216,0.987491]] 2025-10-29T00:13:38.267Z,1761696818.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972703,-0.231603,0.014475],[0.226534,0.961236,0.157184],[-0.050319,-0.149615,0.987463]] 2025-10-29T00:13:39.075Z,1761696819.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973317,-0.229051,0.013776],[0.224131,0.961845,0.156906],[-0.049190,-0.149632,0.987517]] 2025-10-29T00:13:39.487Z,1761696819.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973600,-0.227891,0.013016],[0.223156,0.962265,0.155719],[-0.048012,-0.148704,0.987716]] 2025-10-29T00:13:39.882Z,1761696819.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973931,-0.226497,0.012553],[0.221850,0.962576,0.155662],[-0.047340,-0.148819,0.987731]] 2025-10-29T00:13:40.287Z,1761696820.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974218,-0.225303,0.011766],[0.220832,0.962962,0.154717],[-0.046189,-0.148130,0.987889]] 2025-10-29T00:13:40.720Z,1761696820.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974431,-0.224409,0.011183],[0.220107,0.963383,0.153122],[-0.045135,-0.146745,0.988144]] 2025-10-29T00:13:41.105Z,1761696821.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974637,-0.223541,0.010645],[0.219347,0.963623,0.152699],[-0.044392,-0.146491,0.988216]] 2025-10-29T00:13:41.507Z,1761696821.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974861,-0.222581,0.010144],[0.218488,0.963877,0.152329],[-0.043683,-0.146284,0.988278]] 2025-10-29T00:13:41.910Z,1761696821.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975032,-0.221876,0.009156],[0.217966,0.964107,0.151618],[-0.042468,-0.145837,0.988397]] 2025-10-29T00:13:42.314Z,1761696822.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975142,-0.221433,0.008125],[0.217792,0.964570,0.148898],[-0.040808,-0.143427,0.988819]] 2025-10-29T00:13:42.749Z,1761696822.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975119,-0.221590,0.006436],[0.218270,0.964775,0.146858],[-0.038752,-0.141799,0.989137]] 2025-10-29T00:13:43.124Z,1761696823.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975147,-0.221512,0.004510],[0.218481,0.964787,0.146464],[-0.036795,-0.141838,0.989206]] 2025-10-29T00:13:43.526Z,1761696823.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975143,-0.221558,0.002867],[0.218787,0.964833,0.145707],[-0.035049,-0.141457,0.989324]] 2025-10-29T00:13:43.930Z,1761696823.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975094,-0.221790,0.000785],[0.219299,0.964659,0.146085],[-0.033158,-0.142274,0.989272]] 2025-10-29T00:13:44.334Z,1761696824.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974998,-0.222209,-0.001080],[0.220002,0.964609,0.145356],[-0.031257,-0.141959,0.989379]] 2025-10-29T00:13:44.754Z,1761696824.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974784,-0.223138,-0.002416],[0.221206,0.964804,0.142198],[-0.029399,-0.139147,0.989835]] 2025-10-29T00:13:45.143Z,1761696825.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974418,-0.224711,-0.003946],[0.223050,0.964765,0.139562],[-0.027554,-0.136872,0.990205]] 2025-10-29T00:13:45.546Z,1761696825.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973978,-0.226573,-0.005575],[0.225200,0.964722,0.136368],[-0.025519,-0.134075,0.990642]] 2025-10-29T00:13:45.959Z,1761696825.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973439,-0.228832,-0.007286],[0.227732,0.964504,0.133681],[-0.023563,-0.131789,0.990998]] 2025-10-29T00:13:46.112Z,1761696826.112 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:13:46.355Z,1761696826.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972879,-0.231137,-0.009109],[0.230293,0.964124,0.132024],[-0.021734,-0.130541,0.991205]] 2025-10-29T00:13:46.765Z,1761696826.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972310,-0.233445,-0.010831],[0.232841,0.963753,0.130251],[-0.019968,-0.129166,0.991422]] 2025-10-29T00:13:47.116Z,1761696827.116 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:13:47.163Z,1761696827.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971678,-0.235972,-0.012590],[0.235606,0.963315,0.128511],[-0.018197,-0.127837,0.991628]] 2025-10-29T00:13:47.566Z,1761696827.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971048,-0.238458,-0.014239],[0.238307,0.962850,0.127004],[-0.016575,-0.126720,0.991800]] 2025-10-29T00:13:47.973Z,1761696827.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970523,-0.240456,-0.016283],[0.240536,0.962189,0.127806],[-0.015064,-0.127955,0.991666]] 2025-10-29T00:13:48.376Z,1761696828.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969967,-0.242540,-0.018366],[0.242858,0.961500,0.128595],[-0.013530,-0.129194,0.991527]] 2025-10-29T00:13:48.781Z,1761696828.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969299,-0.245049,-0.020266],[0.245585,0.960746,0.129051],[-0.012153,-0.130066,0.991431]] 2025-10-29T00:13:49.183Z,1761696829.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968738,-0.247115,-0.021926],[0.247850,0.960177,0.128958],[-0.010815,-0.130361,0.991408]] 2025-10-29T00:13:49.589Z,1761696829.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968221,-0.248960,-0.023794],[0.249918,0.959584,0.129379],[-0.009378,-0.131214,0.991310]] 2025-10-29T00:13:49.993Z,1761696829.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967723,-0.250678,-0.025955],[0.251894,0.958868,0.130847],[-0.007913,-0.133161,0.991063]] 2025-10-29T00:13:50.394Z,1761696830.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967326,-0.252000,-0.027872],[0.253450,0.958277,0.132168],[-0.006598,-0.134914,0.990835]] 2025-10-29T00:13:50.798Z,1761696830.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966973,-0.253139,-0.029744],[0.254825,0.957725,0.133516],[-0.005312,-0.136686,0.990600]] 2025-10-29T00:13:51.202Z,1761696831.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966718,-0.253829,-0.032053],[0.255815,0.957083,0.136198],[-0.003893,-0.139865,0.990163]] 2025-10-29T00:13:51.614Z,1761696831.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966428,-0.254728,-0.033639],[0.256925,0.956698,0.136815],[-0.002668,-0.140864,0.990025]] 2025-10-29T00:13:51.622Z,1761696831.622 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T00:13:52.011Z,1761696832.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966092,-0.255764,-0.035379],[0.258196,0.956281,0.137334],[-0.001293,-0.141812,0.989893]] 2025-10-29T00:13:52.414Z,1761696832.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965894,-0.256238,-0.037304],[0.258939,0.955790,0.139339],[-0.000049,-0.144246,0.989542]] 2025-10-29T00:13:52.819Z,1761696832.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965817,-0.256289,-0.038896],[0.259221,0.955582,0.140238],[0.001227,-0.145527,0.989354]] 2025-10-29T00:13:53.223Z,1761696833.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965661,-0.256667,-0.040268],[0.259795,0.955394,0.140457],[0.002421,-0.146095,0.989268]] 2025-10-29T00:13:53.626Z,1761696833.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965532,-0.256893,-0.041873],[0.260256,0.955191,0.140985],[0.003779,-0.147023,0.989126]] 2025-10-29T00:13:54.030Z,1761696834.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965415,-0.257088,-0.043356],[0.260669,0.955025,0.141347],[0.005067,-0.147760,0.989010]] 2025-10-29T00:13:54.442Z,1761696834.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965281,-0.257443,-0.044234],[0.261137,0.955189,0.139360],[0.006374,-0.146072,0.989253]] 2025-10-29T00:13:54.840Z,1761696834.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965054,-0.258098,-0.045349],[0.261950,0.954959,0.139412],[0.007325,-0.146420,0.989195]] 2025-10-29T00:13:55.242Z,1761696835.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964902,-0.258476,-0.046418],[0.262482,0.954794,0.139544],[0.008251,-0.146830,0.989127]] 2025-10-29T00:13:55.646Z,1761696835.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964636,-0.259368,-0.046958],[0.263432,0.954726,0.138212],[0.008985,-0.145694,0.989289]] 2025-10-29T00:13:56.052Z,1761696836.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964249,-0.260654,-0.047784],[0.264816,0.954464,0.137370],[0.009802,-0.145112,0.989367]] 2025-10-29T00:13:56.457Z,1761696836.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963884,-0.261922,-0.048209],[0.266112,0.954395,0.135329],[0.010564,-0.143270,0.989627]] 2025-10-29T00:13:56.858Z,1761696836.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963413,-0.263507,-0.048995],[0.267779,0.954119,0.133983],[0.011442,-0.142201,0.989772]] 2025-10-29T00:13:57.262Z,1761696837.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962696,-0.266015,-0.049522],[0.270326,0.953547,0.132939],[0.011858,-0.141367,0.989886]] 2025-10-29T00:13:57.308Z,1761696837.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:13:57.417Z,1761696837.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:13:57.418Z,1761696837.418 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:13:57.666Z,1761696837.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962030,-0.268309,-0.050085],[0.272662,0.953056,0.131680],[0.012403,-0.140337,0.990026]] 2025-10-29T00:13:57.669Z,1761696837.669 [DAT](INFO): DAT read: user:360> 2025-10-29T00:13:57.670Z,1761696837.670 [DAT](INFO): DAT read: Tx time:00:13:57.4302 2025-10-29T00:13:57.670Z,1761696837.670 [DAT](INFO): Ping request sent. 2025-10-29T00:13:57.670Z,1761696837.670 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:13:57.670Z,1761696837.670 [DAT](INFO): publishing transmit ping time 2025-10-29T00:13:57.671Z,1761696837.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-29T00:13:57.922Z,1761696837.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251754 2025-10-29T00:13:58.070Z,1761696838.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961259,-0.270983,-0.050485],[0.275349,0.952479,0.130256],[0.012789,-0.139110,0.990194]] 2025-10-29T00:13:58.173Z,1761696838.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502873 2025-10-29T00:13:58.425Z,1761696838.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755105 2025-10-29T00:13:58.480Z,1761696838.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960482,-0.273553,-0.051412],[0.278009,0.951863,0.129102],[0.013621,-0.138293,0.990298]] 2025-10-29T00:13:58.677Z,1761696838.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006917 2025-10-29T00:13:58.878Z,1761696838.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959667,-0.276214,-0.052402],[0.280772,0.951156,0.128331],[0.014395,-0.137868,0.990346]] 2025-10-29T00:13:58.930Z,1761696838.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259869 2025-10-29T00:13:59.181Z,1761696839.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745 2025-10-29T00:13:59.282Z,1761696839.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958779,-0.279054,-0.053594],[0.283744,0.950336,0.127869],[0.015250,-0.137805,0.990342]] 2025-10-29T00:13:59.434Z,1761696839.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763471 2025-10-29T00:13:59.685Z,1761696839.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014785 2025-10-29T00:13:59.689Z,1761696839.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957987,-0.281503,-0.054933],[0.286351,0.949608,0.127464],[0.016283,-0.137839,0.990321]] 2025-10-29T00:13:59.938Z,1761696839.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267889 2025-10-29T00:14:00.090Z,1761696840.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957164,-0.283946,-0.056677],[0.289029,0.948673,0.128377],[0.017315,-0.139259,0.990105]] 2025-10-29T00:14:00.189Z,1761696840.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518975 2025-10-29T00:14:00.441Z,1761696840.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852 2025-10-29T00:14:00.507Z,1761696840.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955850,-0.287691,-0.059878],[0.293223,0.947147,0.130127],[0.019277,-0.141940,0.989688]] 2025-10-29T00:14:00.693Z,1761696840.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022817 2025-10-29T00:14:00.906Z,1761696840.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955113,-0.289817,-0.061360],[0.295543,0.946413,0.130218],[0.020332,-0.142508,0.989585]] 2025-10-29T00:14:00.945Z,1761696840.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274939 2025-10-29T00:14:01.197Z,1761696841.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526790 2025-10-29T00:14:01.307Z,1761696841.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954612,-0.291057,-0.063251],[0.297069,0.945770,0.131414],[0.021572,-0.144239,0.989308]] 2025-10-29T00:14:01.449Z,1761696841.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778842 2025-10-29T00:14:01.701Z,1761696841.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030880 2025-10-29T00:14:01.713Z,1761696841.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954243,-0.292002,-0.064461],[0.298201,0.945285,0.132333],[0.022292,-0.145500,0.989107]] 2025-10-29T00:14:01.953Z,1761696841.953 [DAT](INFO): DAT read: Rx Time:00:14:01.3710 2025-10-29T00:14:01.953Z,1761696841.953 [DAT](INFO): Rx dataTimestamp_ set to:1761696841.953183 2025-10-29T00:14:01.954Z,1761696841.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283954 2025-10-29T00:14:02.114Z,1761696842.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954187,-0.291992,-0.065328],[0.298321,0.945228,0.132473],[0.023068,-0.145893,0.989031]] 2025-10-29T00:14:02.205Z,1761696842.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534891 2025-10-29T00:14:02.457Z,1761696842.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786854 2025-10-29T00:14:02.546Z,1761696842.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954192,-0.291732,-0.066401],[0.298239,0.945143,0.133261],[0.023882,-0.146960,0.988854]] 2025-10-29T00:14:02.714Z,1761696842.714 [DAT](INFO): DAT read: 00:14:01.3710 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 468, 0.35, 2.233, 0.619, 2.197, 1.944, PHS= 0.390,-1.280, 0.209, RAW= 144.3, 8.6, CAL= 143.9, 9.4, ROT= 6.1, -9.4 2025-10-29T00:14:02.715Z,1761696842.715 [DAT](INFO): got valid direction response: 00:14:01.3710 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 468, 0.35, 2.233, 0.619, 2.197, 1.944, PHS= 0.390,-1.280, 0.209, RAW= 144.3, 8.6, CAL= 143.9, 9.4, ROT= 6.1, -9.4 2025-10-29T00:14:02.716Z,1761696842.716 [DAT](INFO): DAT read: Bearing 180.8, 5.3 (Local) 2025-10-29T00:14:02.717Z,1761696842.717 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, 5.3 (Local) 2025-10-29T00:14:02.718Z,1761696842.718 [DAT](INFO): DAT read: Range 11 to 50 : 1152.5 m (Round-trip 1536.7 ms) speed 0.5 m/s 2025-10-29T00:14:02.719Z,1761696842.719 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:14:02.721Z,1761696842.721 [DAT](INFO): direction in FSK: [0.980986,0.104837,0.163326] 2025-10-29T00:14:02.723Z,1761696842.723 [DAT](INFO): publishing direction and range info 2025-10-29T00:14:02.926Z,1761696842.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954334,-0.290938,-0.067832],[0.297728,0.944938,0.135831],[0.024578,-0.149824,0.988407]] 2025-10-29T00:14:03.323Z,1761696843.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954629,-0.289728,-0.068850],[0.296734,0.944964,0.137814],[0.025132,-0.151992,0.988062]] 2025-10-29T00:14:03.729Z,1761696843.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955079,-0.288071,-0.069566],[0.295235,0.945251,0.139058],[0.025699,-0.153350,0.987838]] 2025-10-29T00:14:04.131Z,1761696844.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955457,-0.286774,-0.069734],[0.293962,0.945733,0.138478],[0.026238,-0.152809,0.987907]] 2025-10-29T00:14:04.535Z,1761696844.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955828,-0.285345,-0.070499],[0.292695,0.945966,0.139565],[0.026866,-0.154034,0.987700]] 2025-10-29T00:14:04.941Z,1761696844.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956274,-0.283652,-0.071292],[0.291157,0.946359,0.140119],[0.027723,-0.154749,0.987565]] 2025-10-29T00:14:05.344Z,1761696845.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956551,-0.282460,-0.072296],[0.290103,0.946835,0.139083],[0.029167,-0.154013,0.987638]] 2025-10-29T00:14:05.750Z,1761696845.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956831,-0.281234,-0.073366],[0.289074,0.947059,0.139696],[0.030195,-0.154873,0.987473]] 2025-10-29T00:14:06.150Z,1761696846.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957001,-0.280275,-0.074795],[0.288334,0.947344,0.139296],[0.031815,-0.154873,0.987422]] 2025-10-29T00:14:06.555Z,1761696846.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957169,-0.279260,-0.076429],[0.287562,0.947668,0.138685],[0.033700,-0.154723,0.987383]] 2025-10-29T00:14:06.959Z,1761696846.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957009,-0.279336,-0.078133],[0.287843,0.947822,0.137041],[0.035775,-0.153639,0.987479]] 2025-10-29T00:14:07.363Z,1761696847.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956850,-0.279394,-0.079855],[0.288156,0.947765,0.136777],[0.037469,-0.153886,0.987378]] 2025-10-29T00:14:07.772Z,1761696847.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956609,-0.279618,-0.081938],[0.288683,0.947664,0.136360],[0.039521,-0.154097,0.987265]] 2025-10-29T00:14:08.171Z,1761696848.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956460,-0.279713,-0.083330],[0.288962,0.947690,0.135589],[0.041045,-0.153764,0.987255]] 2025-10-29T00:14:08.577Z,1761696848.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955984,-0.280903,-0.084784],[0.290314,0.947449,0.134382],[0.042580,-0.153081,0.987296]] 2025-10-29T00:14:08.979Z,1761696848.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955590,-0.281574,-0.086968],[0.291328,0.947095,0.134683],[0.044443,-0.154038,0.987065]] 2025-10-29T00:14:09.382Z,1761696849.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955000,-0.283112,-0.088442],[0.293039,0.946695,0.133782],[0.045852,-0.153678,0.987056]] 2025-10-29T00:14:09.788Z,1761696849.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954462,-0.284351,-0.090259],[0.294518,0.946325,0.133148],[0.047553,-0.153668,0.986978]] 2025-10-29T00:14:10.191Z,1761696850.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953893,-0.285529,-0.092523],[0.296041,0.945837,0.133235],[0.049469,-0.154483,0.986756]] 2025-10-29T00:14:10.594Z,1761696850.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953448,-0.286382,-0.094460],[0.297169,0.945535,0.132870],[0.051264,-0.154755,0.986622]] 2025-10-29T00:14:10.998Z,1761696850.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952968,-0.287347,-0.096352],[0.298393,0.945221,0.132355],[0.053042,-0.154881,0.986508]] 2025-10-29T00:14:11.413Z,1761696851.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952562,-0.288026,-0.098317],[0.299357,0.944957,0.132068],[0.054867,-0.155235,0.986353]] 2025-10-29T00:14:11.806Z,1761696851.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952165,-0.288603,-0.100448],[0.300254,0.944695,0.131907],[0.056824,-0.155757,0.986160]] 2025-10-29T00:14:12.219Z,1761696852.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951956,-0.288484,-0.102742],[0.300538,0.944508,0.132598],[0.058788,-0.157105,0.985831]] 2025-10-29T00:14:12.615Z,1761696852.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951797,-0.288256,-0.104836],[0.300675,0.944391,0.133119],[0.060634,-0.158224,0.985540]] 2025-10-29T00:14:13.020Z,1761696853.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951655,-0.288054,-0.106664],[0.300750,0.944405,0.132848],[0.062466,-0.158505,0.985380]] 2025-10-29T00:14:13.426Z,1761696853.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951558,-0.287750,-0.108337],[0.300664,0.944543,0.132059],[0.064329,-0.158235,0.985304]] 2025-10-29T00:14:13.826Z,1761696853.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951502,-0.287323,-0.109955],[0.300464,0.944678,0.131550],[0.066075,-0.158207,0.985193]] 2025-10-29T00:14:14.250Z,1761696854.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951462,-0.286903,-0.111387],[0.300212,0.944888,0.130613],[0.067775,-0.157713,0.985156]] 2025-10-29T00:14:14.636Z,1761696854.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951515,-0.286033,-0.113159],[0.299680,0.944959,0.131320],[0.069369,-0.158865,0.984860]] 2025-10-29T00:14:15.038Z,1761696855.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951679,-0.284965,-0.114462],[0.298797,0.945296,0.130903],[0.070897,-0.158779,0.984765]] 2025-10-29T00:14:15.442Z,1761696855.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951673,-0.284471,-0.115734],[0.298449,0.945523,0.130058],[0.072431,-0.158314,0.984729]] 2025-10-29T00:14:15.853Z,1761696855.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951631,-0.283936,-0.117382],[0.298212,0.945542,0.130464],[0.073946,-0.159158,0.984480]] 2025-10-29T00:14:16.277Z,1761696856.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951494,-0.283744,-0.118950],[0.298277,0.945513,0.130519],[0.075435,-0.159668,0.984284]] 2025-10-29T00:14:16.655Z,1761696856.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951224,-0.284065,-0.120332],[0.298783,0.945418,0.130054],[0.076820,-0.159664,0.984178]] 2025-10-29T00:14:17.059Z,1761696857.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951028,-0.284094,-0.121807],[0.299045,0.945345,0.129981],[0.078223,-0.160041,0.984006]] 2025-10-29T00:14:17.256Z,1761696857.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:14:17.463Z,1761696857.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950836,-0.284108,-0.123263],[0.299316,0.945222,0.130252],[0.079505,-0.160743,0.983789]] 2025-10-29T00:14:17.877Z,1761696857.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950664,-0.284244,-0.124272],[0.299610,0.945137,0.130190],[0.080449,-0.161000,0.983670]] 2025-10-29T00:14:18.257Z,1761696858.257 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:14:18.315Z,1761696858.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950348,-0.284772,-0.125476],[0.300290,0.944991,0.129688],[0.081642,-0.160928,0.983584]] 2025-10-29T00:14:18.723Z,1761696858.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950099,-0.285098,-0.126610],[0.300772,0.944881,0.129369],[0.082748,-0.160994,0.983480]] 2025-10-29T00:14:19.127Z,1761696859.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949880,-0.285393,-0.127592],[0.301198,0.944789,0.129046],[0.083719,-0.161008,0.983396]] 2025-10-29T00:14:19.548Z,1761696859.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949623,-0.285773,-0.128648],[0.301711,0.944684,0.128616],[0.084777,-0.160951,0.983315]] 2025-10-29T00:14:19.989Z,1761696859.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949541,-0.285590,-0.129657],[0.301724,0.944631,0.128979],[0.085643,-0.161592,0.983135]] 2025-10-29T00:14:20.398Z,1761696860.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949439,-0.285508,-0.130579],[0.301787,0.944622,0.128897],[0.086546,-0.161787,0.983023]] 2025-10-29T00:14:20.799Z,1761696860.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949449,-0.285265,-0.131038],[0.301649,0.944621,0.129225],[0.086918,-0.162220,0.982919]] 2025-10-29T00:14:21.198Z,1761696861.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949589,-0.284558,-0.131557],[0.301035,0.944812,0.129263],[0.087513,-0.162350,0.982845]] 2025-10-29T00:14:21.602Z,1761696861.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949655,-0.283973,-0.132341],[0.300582,0.944956,0.129261],[0.088350,-0.162532,0.982740]] 2025-10-29T00:14:21.623Z,1761696861.623 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- 2025-10-29T00:14:22.006Z,1761696862.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949785,-0.283259,-0.132938],[0.299982,0.945127,0.129403],[0.088989,-0.162784,0.982641]] 2025-10-29T00:14:22.414Z,1761696862.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950155,-0.281856,-0.133279],[0.298646,0.945544,0.129448],[0.089535,-0.162799,0.982588]] 2025-10-29T00:14:22.817Z,1761696862.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950567,-0.280743,-0.132687],[0.297298,0.946184,0.127865],[0.089649,-0.160992,0.982876]] 2025-10-29T00:14:23.219Z,1761696863.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950944,-0.279343,-0.132938],[0.295912,0.946667,0.127506],[0.090231,-0.160589,0.982888]] 2025-10-29T00:14:23.622Z,1761696863.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951302,-0.277890,-0.133423],[0.294563,0.947060,0.127710],[0.090870,-0.160793,0.982796]] 2025-10-29T00:14:24.029Z,1761696864.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951752,-0.276103,-0.133923],[0.292931,0.947471,0.128412],[0.091433,-0.161447,0.982637]] 2025-10-29T00:14:24.430Z,1761696864.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952127,-0.274806,-0.133923],[0.291566,0.947999,0.127623],[0.091888,-0.160561,0.982739]] 2025-10-29T00:14:24.837Z,1761696864.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952500,-0.273596,-0.133749],[0.290269,0.948488,0.126942],[0.092128,-0.159735,0.982852]] 2025-10-29T00:14:25.238Z,1761696865.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952846,-0.272317,-0.133898],[0.288990,0.948920,0.126633],[0.092574,-0.159357,0.982871]] 2025-10-29T00:14:25.644Z,1761696865.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953010,-0.271587,-0.134212],[0.288286,0.949173,0.126342],[0.093077,-0.159097,0.982866]] 2025-10-29T00:14:26.046Z,1761696866.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953140,-0.271007,-0.134460],[0.287714,0.949395,0.125975],[0.093516,-0.158758,0.982879]] 2025-10-29T00:14:26.451Z,1761696866.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953233,-0.270617,-0.134589],[0.287296,0.949592,0.125446],[0.093857,-0.158246,0.982929]] 2025-10-29T00:14:26.858Z,1761696866.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953380,-0.270035,-0.134714],[0.286700,0.949821,0.125072],[0.094180,-0.157864,0.982959]] 2025-10-29T00:14:27.311Z,1761696867.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953499,-0.269379,-0.135183],[0.286150,0.949948,0.125370],[0.094644,-0.158223,0.982857]] 2025-10-29T00:14:27.710Z,1761696867.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953677,-0.268584,-0.135508],[0.285443,0.950116,0.125703],[0.094986,-0.158560,0.982770]] 2025-10-29T00:14:28.161Z,1761696868.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953912,-0.267662,-0.135679],[0.284498,0.950473,0.125148],[0.095461,-0.157981,0.982817]] 2025-10-29T00:14:28.565Z,1761696868.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954202,-0.266848,-0.135243],[0.283752,0.950510,0.126551],[0.094780,-0.159130,0.982697]] 2025-10-29T00:14:28.966Z,1761696868.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954604,-0.265555,-0.134951],[0.282586,0.950622,0.128311],[0.094214,-0.160621,0.982509]] 2025-10-29T00:14:29.382Z,1761696869.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954775,-0.264942,-0.134947],[0.281969,0.950814,0.128242],[0.094333,-0.160493,0.982519]] 2025-10-29T00:14:29.780Z,1761696869.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955019,-0.264341,-0.134395],[0.281358,0.950884,0.129060],[0.093679,-0.161068,0.982487]] 2025-10-29T00:14:30.180Z,1761696870.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955357,-0.263404,-0.133829],[0.280412,0.951051,0.129888],[0.093066,-0.161617,0.982455]] 2025-10-29T00:14:30.589Z,1761696870.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955696,-0.262485,-0.133217],[0.279558,0.951067,0.131599],[0.092156,-0.163011,0.982311]] 2025-10-29T00:14:30.986Z,1761696870.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956000,-0.261615,-0.132744],[0.278641,0.951296,0.131891],[0.091774,-0.163075,0.982336]] 2025-10-29T00:14:31.399Z,1761696871.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956297,-0.260956,-0.131900],[0.277856,0.951511,0.131998],[0.091059,-0.162878,0.982435]] 2025-10-29T00:14:31.797Z,1761696871.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956658,-0.259861,-0.131443],[0.276742,0.951759,0.132545],[0.090659,-0.163176,0.982423]] 2025-10-29T00:14:32.199Z,1761696872.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956928,-0.259189,-0.130804],[0.275987,0.951948,0.132763],[0.090108,-0.163144,0.982479]] 2025-10-29T00:14:32.602Z,1761696872.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957425,-0.257781,-0.129944],[0.274516,0.952263,0.133548],[0.089315,-0.163534,0.982486]] 2025-10-29T00:14:33.007Z,1761696873.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957859,-0.256793,-0.128701],[0.273381,0.952508,0.134132],[0.088145,-0.163663,0.982570]] 2025-10-29T00:14:33.419Z,1761696873.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958288,-0.255814,-0.127449],[0.272220,0.952810,0.134349],[0.087067,-0.163439,0.982704]] 2025-10-29T00:14:33.816Z,1761696873.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958712,-0.254911,-0.126066],[0.271094,0.953129,0.134360],[0.085907,-0.162988,0.982881]] 2025-10-29T00:14:34.218Z,1761696874.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959153,-0.253898,-0.124745],[0.269884,0.953450,0.134520],[0.084784,-0.162692,0.983028]] 2025-10-29T00:14:34.622Z,1761696874.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959529,-0.252994,-0.123689],[0.268838,0.953703,0.134824],[0.083853,-0.162619,0.983119]] 2025-10-29T00:14:35.027Z,1761696875.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959838,-0.252420,-0.122451],[0.268061,0.953926,0.134790],[0.082785,-0.162201,0.983279]] 2025-10-29T00:14:35.438Z,1761696875.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960238,-0.251385,-0.121443],[0.266887,0.954223,0.135020],[0.081942,-0.162063,0.983372]] 2025-10-29T00:14:35.834Z,1761696875.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960546,-0.251000,-0.119794],[0.266135,0.954603,0.133807],[0.080771,-0.160409,0.983740]] 2025-10-29T00:14:35.870Z,1761696875.870 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +2117.56, +61.75, 25.24, 0.00 2025-10-29T00:14:36.239Z,1761696876.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960791,-0.250778,-0.118282],[0.265574,0.954925,0.132621],[0.079692,-0.158834,0.984084]] 2025-10-29T00:14:37.052Z,1761696877.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961435,-0.249447,-0.115840],[0.263833,0.955457,0.132267],[0.077686,-0.157728,0.984422]] 2025-10-29T00:14:37.450Z,1761696877.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961652,-0.249152,-0.114666],[0.263339,0.955617,0.132092],[0.076665,-0.157223,0.984583]] 2025-10-29T00:14:37.862Z,1761696877.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961946,-0.248542,-0.113516],[0.262653,0.955620,0.133432],[0.075315,-0.158169,0.984535]] 2025-10-29T00:14:38.258Z,1761696878.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962383,-0.247523,-0.112030],[0.261464,0.955835,0.134227],[0.073858,-0.158470,0.984598]] 2025-10-29T00:14:38.664Z,1761696878.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962730,-0.247043,-0.110094],[0.260688,0.956027,0.134363],[0.072059,-0.158055,0.984797]] 2025-10-29T00:14:39.066Z,1761696879.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963120,-0.246364,-0.108184],[0.259774,0.956150,0.135258],[0.070117,-0.158373,0.984887]] 2025-10-29T00:14:39.474Z,1761696879.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963478,-0.245721,-0.106451],[0.258892,0.956323,0.135724],[0.068451,-0.158327,0.985011]] 2025-10-29T00:14:39.879Z,1761696879.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963860,-0.245094,-0.104412],[0.258008,0.956431,0.136647],[0.066371,-0.158648,0.985102]] 2025-10-29T00:14:40.279Z,1761696880.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964116,-0.244928,-0.102420],[0.257532,0.956541,0.136769],[0.064470,-0.158237,0.985294]] 2025-10-29T00:14:40.682Z,1761696880.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964415,-0.244569,-0.100449],[0.256876,0.956689,0.136973],[0.062599,-0.157902,0.985469]] 2025-10-29T00:14:40.700Z,1761696880.700 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504030085,3.7, 0.0,1495.9, 0 2025-10-29T00:14:41.086Z,1761696881.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964879,-0.243592,-0.098345],[0.255664,0.956803,0.138437],[0.060375,-0.158718,0.985476]] 2025-10-29T00:14:41.494Z,1761696881.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965284,-0.242762,-0.096402],[0.254589,0.956946,0.139425],[0.058404,-0.159128,0.985529]] 2025-10-29T00:14:41.896Z,1761696881.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965674,-0.241893,-0.094661],[0.253485,0.957150,0.140035],[0.056731,-0.159224,0.985611]] 2025-10-29T00:14:42.299Z,1761696882.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965952,-0.241444,-0.092956],[0.252797,0.957254,0.140562],[0.055045,-0.159275,0.985699]] 2025-10-29T00:14:42.703Z,1761696882.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966403,-0.240341,-0.091118],[0.251457,0.957478,0.141441],[0.053249,-0.159602,0.985744]] 2025-10-29T00:14:43.108Z,1761696883.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966875,-0.239133,-0.089266],[0.249993,0.957780,0.141991],[0.051542,-0.159604,0.985835]] 2025-10-29T00:14:43.515Z,1761696883.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967172,-0.238510,-0.087696],[0.249128,0.957994,0.142068],[0.050128,-0.159252,0.985965]] 2025-10-29T00:14:43.914Z,1761696883.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967612,-0.237298,-0.086116],[0.247718,0.958230,0.142933],[0.048601,-0.159636,0.985979]] 2025-10-29T00:14:44.319Z,1761696884.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967956,-0.236462,-0.084543],[0.246632,0.958531,0.142797],[0.047271,-0.159073,0.986135]] 2025-10-29T00:14:44.723Z,1761696884.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968360,-0.235321,-0.083078],[0.245293,0.958796,0.143323],[0.045927,-0.159167,0.986183]] 2025-10-29T00:14:45.129Z,1761696885.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968692,-0.234492,-0.081543],[0.244226,0.959072,0.143299],[0.044603,-0.158727,0.986314]] 2025-10-29T00:14:45.531Z,1761696885.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969015,-0.233737,-0.079853],[0.243191,0.959399,0.142868],[0.043217,-0.157861,0.986515]] 2025-10-29T00:14:45.935Z,1761696885.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969428,-0.232579,-0.078208],[0.241795,0.959714,0.143125],[0.041769,-0.157660,0.986610]] 2025-10-29T00:14:46.348Z,1761696886.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969671,-0.232102,-0.076591],[0.241063,0.959915,0.143009],[0.040328,-0.157135,0.986753]] 2025-10-29T00:14:46.747Z,1761696886.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970030,-0.231168,-0.074850],[0.239873,0.960180,0.143235],[0.038758,-0.156897,0.986854]] 2025-10-29T00:14:47.147Z,1761696887.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970358,-0.230256,-0.073401],[0.238751,0.960424,0.143467],[0.037461,-0.156739,0.986929]] 2025-10-29T00:14:47.550Z,1761696887.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970603,-0.229751,-0.071723],[0.237985,0.960623,0.143407],[0.035951,-0.156260,0.987061]] 2025-10-29T00:14:47.954Z,1761696887.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970670,-0.229993,-0.070025],[0.237876,0.961003,0.141028],[0.034859,-0.153549,0.987526]] 2025-10-29T00:14:48.367Z,1761696888.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970815,-0.229929,-0.068199],[0.237505,0.961215,0.140206],[0.033316,-0.152312,0.987771]] 2025-10-29T00:14:48.376Z,1761696888.376 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:14:48.767Z,1761696888.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970931,-0.229881,-0.066687],[0.237212,0.961352,0.139756],[0.031982,-0.151513,0.987938]] 2025-10-29T00:14:49.166Z,1761696889.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970927,-0.230233,-0.065518],[0.237381,0.961323,0.139675],[0.030826,-0.151167,0.988027]] 2025-10-29T00:14:49.380Z,1761696889.380 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:14:49.571Z,1761696889.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970876,-0.230754,-0.064440],[0.237706,0.961373,0.138772],[0.029928,-0.150049,0.988226]] 2025-10-29T00:14:49.976Z,1761696889.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971016,-0.230489,-0.063272],[0.237275,0.961447,0.138998],[0.028795,-0.149982,0.988269]] 2025-10-29T00:14:50.379Z,1761696890.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971093,-0.230413,-0.062359],[0.237060,0.961515,0.138892],[0.027957,-0.149660,0.988342]] 2025-10-29T00:14:50.790Z,1761696890.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971215,-0.230134,-0.061472],[0.236647,0.961636,0.138760],[0.027180,-0.149313,0.988416]] 2025-10-29T00:14:51.186Z,1761696891.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971307,-0.229937,-0.060760],[0.236365,0.961596,0.139515],[0.026347,-0.149874,0.988354]] 2025-10-29T00:14:51.594Z,1761696891.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971417,-0.229689,-0.059932],[0.236001,0.961656,0.139716],[0.025543,-0.149866,0.988376]] 2025-10-29T00:14:51.994Z,1761696891.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971609,-0.229098,-0.059075],[0.235300,0.961756,0.140209],[0.024694,-0.150129,0.988358]] 2025-10-29T00:14:52.401Z,1761696892.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971886,-0.228222,-0.057905],[0.234278,0.961878,0.141084],[0.023499,-0.150683,0.988303]] 2025-10-29T00:14:52.816Z,1761696892.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972082,-0.227673,-0.056755],[0.233564,0.962028,0.141242],[0.022443,-0.150555,0.988347]] 2025-10-29T00:14:53.207Z,1761696893.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972232,-0.227244,-0.055902],[0.233026,0.962067,0.141867],[0.021543,-0.150955,0.988306]] 2025-10-29T00:14:54.014Z,1761696894.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972592,-0.226116,-0.054186],[0.231673,0.962223,0.143022],[0.019799,-0.151655,0.988235]] 2025-10-29T00:14:54.420Z,1761696894.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972733,-0.225793,-0.052993],[0.231171,0.962357,0.142927],[0.018726,-0.151280,0.988313]] 2025-10-29T00:14:54.849Z,1761696894.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972735,-0.226129,-0.051496],[0.231247,0.962597,0.141182],[0.017645,-0.149241,0.988643]] 2025-10-29T00:14:55.226Z,1761696895.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972629,-0.226888,-0.050148],[0.231764,0.962753,0.139258],[0.016684,-0.147069,0.988986]] 2025-10-29T00:14:55.630Z,1761696895.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972569,-0.227355,-0.049186],[0.232074,0.962779,0.138556],[0.015854,-0.146171,0.989132]] 2025-10-29T00:14:56.040Z,1761696896.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972410,-0.228304,-0.047915],[0.232802,0.962851,0.136826],[0.014897,-0.144205,0.989436]] 2025-10-29T00:14:56.441Z,1761696896.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972149,-0.229646,-0.046778],[0.233932,0.962924,0.134361],[0.014188,-0.141562,0.989828]] 2025-10-29T00:14:56.871Z,1761696896.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971978,-0.230553,-0.045878],[0.234678,0.962997,0.132529],[0.013626,-0.139582,0.990117]] 2025-10-29T00:14:57.247Z,1761696897.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971829,-0.231365,-0.044923],[0.235347,0.962854,0.132380],[0.012626,-0.139223,0.990181]] 2025-10-29T00:14:57.653Z,1761696897.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971759,-0.231827,-0.044053],[0.235687,0.962736,0.132632],[0.011664,-0.139269,0.990186]] 2025-10-29T00:14:57.669Z,1761696897.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:14:57.693Z,1761696897.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:14:57.693Z,1761696897.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:14:57.945Z,1761696897.945 [DAT](INFO): DAT read: user:361> 2025-10-29T00:14:57.946Z,1761696897.946 [DAT](INFO): DAT read: Tx time:00:14:57.6786 2025-10-29T00:14:57.946Z,1761696897.946 [DAT](INFO): Ping request sent. 2025-10-29T00:14:57.946Z,1761696897.946 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:14:57.946Z,1761696897.946 [DAT](INFO): publishing transmit ping time 2025-10-29T00:14:57.947Z,1761696897.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-29T00:14:58.059Z,1761696898.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971592,-0.232699,-0.043136],[0.236419,0.962616,0.132203],[0.010760,-0.138645,0.990284]] 2025-10-29T00:14:58.197Z,1761696898.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251196 2025-10-29T00:14:58.450Z,1761696898.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503885 2025-10-29T00:14:58.461Z,1761696898.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971516,-0.233163,-0.042328],[0.236764,0.962574,0.131887],[0.009993,-0.138152,0.990361]] 2025-10-29T00:14:58.701Z,1761696898.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 2025-10-29T00:14:58.899Z,1761696898.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971411,-0.233698,-0.041783],[0.237215,0.962499,0.131619],[0.009457,-0.137768,0.990419]] 2025-10-29T00:14:58.953Z,1761696898.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282 2025-10-29T00:14:59.205Z,1761696899.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259006 2025-10-29T00:14:59.268Z,1761696899.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971332,-0.234107,-0.041340],[0.237565,0.962332,0.132211],[0.008832,-0.138241,0.990359]] 2025-10-29T00:14:59.457Z,1761696899.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510863 2025-10-29T00:14:59.675Z,1761696899.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971303,-0.234309,-0.040855],[0.237699,0.962289,0.132281],[0.008319,-0.138196,0.990370]] 2025-10-29T00:14:59.709Z,1761696899.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763011 2025-10-29T00:14:59.961Z,1761696899.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014981 2025-10-29T00:15:00.075Z,1761696900.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971355,-0.234173,-0.040414],[0.237510,0.962222,0.133110],[0.007716,-0.138896,0.990277]] 2025-10-29T00:15:00.213Z,1761696900.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267289 2025-10-29T00:15:00.465Z,1761696900.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895 2025-10-29T00:15:00.481Z,1761696900.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971410,-0.234015,-0.039991],[0.237299,0.962183,0.133766],[0.007175,-0.139432,0.990206]] 2025-10-29T00:15:00.718Z,1761696900.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771816 2025-10-29T00:15:00.927Z,1761696900.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971214,-0.234876,-0.039707],[0.238107,0.962088,0.133009],[0.006961,-0.138635,0.990319]] 2025-10-29T00:15:00.969Z,1761696900.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023046 2025-10-29T00:15:01.221Z,1761696901.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275017 2025-10-29T00:15:01.288Z,1761696901.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971243,-0.234821,-0.039324],[0.238003,0.962053,0.133452],[0.006494,-0.138974,0.990275]] 2025-10-29T00:15:01.473Z,1761696901.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527037 2025-10-29T00:15:01.690Z,1761696901.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971127,-0.235426,-0.038559],[0.238484,0.962201,0.131508],[0.006141,-0.136906,0.990565]] 2025-10-29T00:15:01.725Z,1761696901.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779035 2025-10-29T00:15:01.977Z,1761696901.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030953 2025-10-29T00:15:02.109Z,1761696902.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971010,-0.236030,-0.037811],[0.238980,0.962084,0.131466],[0.005348,-0.136690,0.990599]] 2025-10-29T00:15:02.229Z,1761696902.229 [DAT](INFO): DAT read: Rx Time:00:15:01.5715 2025-10-29T00:15:02.229Z,1761696902.229 [DAT](INFO): Rx dataTimestamp_ set to:1761696902.229188 2025-10-29T00:15:02.230Z,1761696902.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284088 2025-10-29T00:15:02.481Z,1761696902.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535432 2025-10-29T00:15:02.499Z,1761696902.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970941,-0.236478,-0.036778],[0.239283,0.961991,0.131590],[0.004262,-0.136566,0.990622]] 2025-10-29T00:15:02.752Z,1761696902.752 [DAT](INFO): DAT read: 00:15:01.5715 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 458, 0.43, 0.303,-1.467, 0.160, 0.075, PHS= 0.329,-1.497, 0.041, RAW= 141.6, 13.2, CAL= 140.9, 14.2, ROT= 9.1, -14.2 2025-10-29T00:15:02.754Z,1761696902.754 [DAT](INFO): got valid direction response: 00:15:01.5715 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 458, 0.43, 0.303,-1.467, 0.160, 0.075, PHS= 0.329,-1.497, 0.041, RAW= 141.6, 13.2, CAL= 140.9, 14.2, ROT= 9.1, -14.2 2025-10-29T00:15:02.755Z,1761696902.755 [DAT](INFO): DAT read: Bearing 182.5, 6.8 (Local) 2025-10-29T00:15:02.755Z,1761696902.755 [DAT](INFO): Local bearing/azimuth received: Bearing 182.5, 6.8 (Local) 2025-10-29T00:15:02.757Z,1761696902.757 [DAT](INFO): DAT read: Range 11 to 50 : 1116.6 m (Round-trip 1488.8 ms) speed 0.4 m/s 2025-10-29T00:15:02.758Z,1761696902.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:15:02.760Z,1761696902.760 [DAT](INFO): direction in FSK: [0.957244,0.153326,0.245307] 2025-10-29T00:15:02.760Z,1761696902.760 [DAT](INFO): publishing direction and range info 2025-10-29T00:15:02.938Z,1761696902.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970916,-0.236820,-0.035202],[0.239407,0.961952,0.131654],[0.002684,-0.136252,0.990671]] 2025-10-29T00:15:03.311Z,1761696903.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970794,-0.237531,-0.033743],[0.239913,0.961843,0.131530],[0.001213,-0.135784,0.990738]] 2025-10-29T00:15:03.710Z,1761696903.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970634,-0.238405,-0.032150],[0.240562,0.961705,0.131353],[-0.000396,-0.135230,0.990814]] 2025-10-29T00:15:04.116Z,1761696904.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970483,-0.239322,-0.029803],[0.241157,0.961695,0.130330],[-0.002529,-0.133670,0.991023]] 2025-10-29T00:15:04.520Z,1761696904.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970228,-0.240529,-0.028330],[0.242159,0.961501,0.129905],[-0.004006,-0.132898,0.991122]] 2025-10-29T00:15:04.947Z,1761696904.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970007,-0.241601,-0.026734],[0.243006,0.961227,0.130350],[-0.005795,-0.132937,0.991108]] 2025-10-29T00:15:05.333Z,1761696905.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969924,-0.242103,-0.025184],[0.243283,0.960877,0.132395],[-0.007855,-0.134540,0.990877]] 2025-10-29T00:15:05.733Z,1761696905.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969713,-0.243102,-0.023631],[0.244066,0.960716,0.132122],[-0.009416,-0.133888,0.990952]] 2025-10-29T00:15:06.136Z,1761696906.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969543,-0.243928,-0.022013],[0.244658,0.960441,0.133024],[-0.011306,-0.134358,0.990868]] 2025-10-29T00:15:06.538Z,1761696906.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969345,-0.244839,-0.020594],[0.245368,0.960240,0.133171],[-0.012830,-0.134141,0.990879]] 2025-10-29T00:15:06.947Z,1761696906.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969236,-0.245397,-0.019046],[0.245701,0.960032,0.134050],[-0.014611,-0.134606,0.990791]] 2025-10-29T00:15:07.347Z,1761696907.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969188,-0.245687,-0.017674],[0.245789,0.959884,0.134948],[-0.016190,-0.135134,0.990695]] 2025-10-29T00:15:07.757Z,1761696907.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969247,-0.245550,-0.016277],[0.245444,0.959808,0.136109],[-0.017799,-0.135918,0.990560]] 2025-10-29T00:15:08.154Z,1761696908.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969191,-0.245865,-0.014796],[0.245549,0.959736,0.136427],[-0.019342,-0.135858,0.990540]] 2025-10-29T00:15:08.558Z,1761696908.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969153,-0.246102,-0.013248],[0.245575,0.959738,0.136368],[-0.020846,-0.135415,0.990570]] 2025-10-29T00:15:08.964Z,1761696908.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969142,-0.246237,-0.011420],[0.245453,0.959713,0.136761],[-0.022716,-0.135344,0.990538]] 2025-10-29T00:15:09.366Z,1761696909.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969192,-0.246126,-0.009443],[0.245072,0.959787,0.136924],[-0.024638,-0.135020,0.990537]] 2025-10-29T00:15:09.781Z,1761696909.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969207,-0.246187,-0.005486],[0.244627,0.960036,0.135970],[-0.028208,-0.133125,0.990698]] 2025-10-29T00:15:10.179Z,1761696910.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969209,-0.246212,-0.003628],[0.244401,0.960074,0.136111],[-0.030029,-0.132807,0.990687]] 2025-10-29T00:15:10.608Z,1761696910.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969103,-0.246654,-0.001279],[0.244562,0.960184,0.135043],[-0.032081,-0.131183,0.990839]] 2025-10-29T00:15:10.987Z,1761696910.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969006,-0.247038,0.000666],[0.244696,0.960185,0.134788],[-0.033937,-0.130448,0.990874]] 2025-10-29T00:15:11.389Z,1761696911.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968705,-0.248198,0.002830],[0.245615,0.960147,0.133381],[-0.035822,-0.128511,0.991061]] 2025-10-29T00:15:11.795Z,1761696911.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968455,-0.249144,0.004768],[0.246313,0.959999,0.133160],[-0.037753,-0.127785,0.991083]] 2025-10-29T00:15:12.197Z,1761696912.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968166,-0.250219,0.006691],[0.247138,0.959803,0.133046],[-0.039713,-0.127157,0.991087]] 2025-10-29T00:15:12.598Z,1761696912.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967785,-0.251635,0.008445],[0.248310,0.959471,0.133255],[-0.041635,-0.126866,0.991046]] 2025-10-29T00:15:13.002Z,1761696913.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967329,-0.253314,0.010289],[0.249787,0.959230,0.132229],[-0.043365,-0.125339,0.991166]] 2025-10-29T00:15:13.409Z,1761696913.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966835,-0.255121,0.012014],[0.251367,0.958830,0.132132],[-0.045229,-0.124730,0.991159]] 2025-10-29T00:15:13.819Z,1761696913.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966387,-0.256733,0.013555],[0.252741,0.958373,0.132830],[-0.047093,-0.124940,0.991046]] 2025-10-29T00:15:14.214Z,1761696914.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965833,-0.258725,0.015105],[0.254539,0.957942,0.132501],[-0.048751,-0.124129,0.991068]] 2025-10-29T00:15:14.618Z,1761696914.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965377,-0.260391,0.015609],[0.256029,0.957267,0.134498],[-0.049964,-0.125845,0.990791]] 2025-10-29T00:15:15.022Z,1761696915.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964987,-0.261781,0.016467],[0.257273,0.956862,0.135001],[-0.051097,-0.126038,0.990709]] 2025-10-29T00:15:15.427Z,1761696915.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964607,-0.263153,0.016836],[0.258532,0.956372,0.136063],[-0.051907,-0.126894,0.990557]] 2025-10-29T00:15:15.831Z,1761696915.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964227,-0.264556,0.016635],[0.259832,0.955705,0.138260],[-0.052476,-0.128992,0.990256]] 2025-10-29T00:15:16.235Z,1761696916.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963968,-0.265463,0.017203],[0.260620,0.955387,0.138970],[-0.053326,-0.129479,0.990147]] 2025-10-29T00:15:16.638Z,1761696916.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963713,-0.266335,0.017957],[0.261353,0.955097,0.139583],[-0.054327,-0.129825,0.990047]] 2025-10-29T00:15:17.043Z,1761696917.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963465,-0.267208,0.018302],[0.262127,0.954763,0.140417],[-0.054994,-0.130489,0.989923]] 2025-10-29T00:15:17.446Z,1761696917.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963300,-0.267797,0.018407],[0.262642,0.954477,0.141393],[-0.055433,-0.131370,0.989782]] 2025-10-29T00:15:17.852Z,1761696917.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963221,-0.268056,0.018721],[0.262822,0.954332,0.142036],[-0.055939,-0.131892,0.989684]] 2025-10-29T00:15:18.254Z,1761696918.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963103,-0.268461,0.018990],[0.263142,0.954125,0.142834],[-0.056465,-0.132567,0.989564]] 2025-10-29T00:15:18.658Z,1761696918.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962915,-0.269089,0.019638],[0.263726,0.954087,0.142011],[-0.056950,-0.131565,0.989670]] 2025-10-29T00:15:19.063Z,1761696919.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962582,-0.270244,0.020116],[0.264794,0.953756,0.142247],[-0.057627,-0.131598,0.989627]] 2025-10-29T00:15:19.467Z,1761696919.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962359,-0.271003,0.020557],[0.265488,0.953565,0.142231],[-0.058147,-0.131420,0.989620]] 2025-10-29T00:15:19.500Z,1761696919.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:15:19.870Z,1761696919.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962045,-0.272082,0.021023],[0.266495,0.953281,0.142253],[-0.058745,-0.131251,0.989607]] 2025-10-29T00:15:20.277Z,1761696920.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961928,-0.272470,0.021323],[0.266809,0.953116,0.142770],[-0.059223,-0.131646,0.989526]] 2025-10-29T00:15:20.504Z,1761696920.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:15:20.682Z,1761696920.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961684,-0.273273,0.022018],[0.267514,0.952919,0.142765],[-0.059995,-0.131405,0.989512]] 2025-10-29T00:15:21.082Z,1761696921.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961291,-0.274604,0.022617],[0.268761,0.952585,0.142653],[-0.060717,-0.131052,0.989514]] 2025-10-29T00:15:21.487Z,1761696921.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961039,-0.275460,0.022914],[0.269572,0.952361,0.142617],[-0.061107,-0.130884,0.989513]] 2025-10-29T00:15:21.892Z,1761696921.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960739,-0.276473,0.023318],[0.270538,0.952122,0.142381],[-0.061566,-0.130482,0.989537]] 2025-10-29T00:15:22.305Z,1761696922.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960427,-0.277597,0.022797],[0.271736,0.951822,0.142105],[-0.061146,-0.130287,0.989589]] 2025-10-29T00:15:22.698Z,1761696922.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960136,-0.278713,0.021416],[0.273010,0.951425,0.142320],[-0.060042,-0.130800,0.989589]] 2025-10-29T00:15:23.102Z,1761696923.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959977,-0.279315,0.020683],[0.273675,0.951166,0.142777],[-0.059553,-0.131402,0.989539]] 2025-10-29T00:15:23.506Z,1761696923.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959794,-0.279967,0.020369],[0.274481,0.951229,0.140796],[-0.058794,-0.129544,0.989829]] 2025-10-29T00:15:23.913Z,1761696923.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959658,-0.280441,0.020247],[0.274949,0.951050,0.141094],[-0.058824,-0.129835,0.989789]] 2025-10-29T00:15:24.315Z,1761696924.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959380,-0.281412,0.019930],[0.275964,0.950786,0.140888],[-0.058597,-0.129665,0.989825]] 2025-10-29T00:15:24.718Z,1761696924.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959194,-0.282082,0.019396],[0.276702,0.950583,0.140810],[-0.058158,-0.129697,0.989847]] 2025-10-29T00:15:25.123Z,1761696925.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958798,-0.283470,0.018745],[0.278219,0.950283,0.139848],[-0.057456,-0.128870,0.989996]] 2025-10-29T00:15:25.530Z,1761696925.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958429,-0.284762,0.018019],[0.279635,0.949975,0.139109],[-0.056731,-0.128287,0.990113]] 2025-10-29T00:15:25.931Z,1761696925.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958150,-0.285742,0.017338],[0.280716,0.949714,0.138716],[-0.056103,-0.128043,0.990180]] 2025-10-29T00:15:26.338Z,1761696926.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957798,-0.286967,0.016518],[0.282087,0.949443,0.137786],[-0.055222,-0.127311,0.990324]] 2025-10-29T00:15:26.739Z,1761696926.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957526,-0.287920,0.015709],[0.283163,0.949197,0.137274],[-0.054435,-0.126995,0.990409]] 2025-10-29T00:15:27.145Z,1761696927.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957257,-0.288891,0.014162],[0.284292,0.948777,0.137840],[-0.053258,-0.127922,0.990353]] 2025-10-29T00:15:27.547Z,1761696927.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956886,-0.290175,0.012964],[0.285711,0.948330,0.137982],[-0.052333,-0.128329,0.990350]] 2025-10-29T00:15:27.951Z,1761696927.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956510,-0.291445,0.012197],[0.287086,0.947963,0.137648],[-0.051679,-0.128160,0.990406]] 2025-10-29T00:15:28.363Z,1761696928.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955950,-0.293305,0.011479],[0.289065,0.947483,0.136811],[-0.051003,-0.127467,0.990531]] 2025-10-29T00:15:28.769Z,1761696928.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955391,-0.295161,0.010360],[0.291036,0.946848,0.137029],[-0.050255,-0.127901,0.990513]] 2025-10-29T00:15:29.166Z,1761696929.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954967,-0.296567,0.009311],[0.292566,0.946384,0.136978],[-0.049435,-0.128085,0.990530]] 2025-10-29T00:15:29.566Z,1761696929.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954494,-0.298120,0.008143],[0.294281,0.945931,0.136433],[-0.048376,-0.127829,0.990616]] 2025-10-29T00:15:29.971Z,1761696929.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954065,-0.299514,0.007140],[0.295819,0.945536,0.135843],[-0.047438,-0.127491,0.990705]] 2025-10-29T00:15:30.398Z,1761696930.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953638,-0.300896,0.006004],[0.297346,0.945094,0.135583],[-0.046471,-0.127512,0.990748]] 2025-10-29T00:15:30.788Z,1761696930.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953376,-0.301740,0.005133],[0.298304,0.944822,0.135375],[-0.045698,-0.127533,0.990781]] 2025-10-29T00:15:31.187Z,1761696931.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953048,-0.302788,0.004423],[0.299450,0.944513,0.135000],[-0.045054,-0.127337,0.990836]] 2025-10-29T00:15:31.607Z,1761696931.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952878,-0.303334,0.003532],[0.300105,0.944306,0.134995],[-0.044284,-0.127574,0.990840]] 2025-10-29T00:15:32.011Z,1761696932.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952860,-0.303402,0.002385],[0.300311,0.944217,0.135157],[-0.043259,-0.128069,0.990821]] 2025-10-29T00:15:32.427Z,1761696932.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952764,-0.303707,0.001748],[0.300705,0.944123,0.134936],[-0.042631,-0.128036,0.990853]] 2025-10-29T00:15:32.819Z,1761696932.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952941,-0.303156,0.000579],[0.300289,0.944185,0.135430],[-0.041603,-0.128883,0.990787]] 2025-10-29T00:15:33.222Z,1761696933.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953105,-0.302639,-0.001174],[0.299962,0.944145,0.136432],[-0.040181,-0.130386,0.990649]] 2025-10-29T00:15:33.627Z,1761696933.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953421,-0.301630,-0.002851],[0.299148,0.944276,0.137309],[-0.038724,-0.131766,0.990524]] 2025-10-29T00:15:34.031Z,1761696934.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953670,-0.300822,-0.004470],[0.298548,0.944415,0.137657],[-0.037189,-0.132614,0.990470]] 2025-10-29T00:15:34.457Z,1761696934.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953927,-0.299976,-0.006183],[0.297924,0.944559,0.138018],[-0.035562,-0.133501,0.990410]] 2025-10-29T00:15:34.838Z,1761696934.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953963,-0.299816,-0.008015],[0.298043,0.944657,0.137085],[-0.033530,-0.133163,0.990527]] 2025-10-29T00:15:35.246Z,1761696935.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953970,-0.299753,-0.009430],[0.298168,0.944609,0.137145],[-0.032203,-0.133644,0.990506]] 2025-10-29T00:15:35.651Z,1761696935.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953953,-0.299750,-0.011105],[0.298393,0.944555,0.137033],[-0.030586,-0.134037,0.990504]] 2025-10-29T00:15:36.051Z,1761696936.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953753,-0.300316,-0.012842],[0.299204,0.944386,0.136430],[-0.028845,-0.133963,0.990566]] 2025-10-29T00:15:36.479Z,1761696936.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953653,-0.300552,-0.014673],[0.299694,0.944290,0.136014],[-0.027024,-0.134108,0.990598]] 2025-10-29T00:15:36.858Z,1761696936.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953513,-0.300894,-0.016598],[0.300300,0.944145,0.135684],[-0.025155,-0.134361,0.990613]] 2025-10-29T00:15:37.272Z,1761696937.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953207,-0.301739,-0.018736],[0.301439,0.943874,0.135046],[-0.023065,-0.134374,0.990662]] 2025-10-29T00:15:37.666Z,1761696937.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952782,-0.302947,-0.020739],[0.302923,0.943521,0.134189],[-0.021084,-0.134135,0.990739]] 2025-10-29T00:15:38.070Z,1761696938.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952191,-0.304654,-0.022750],[0.304909,0.943066,0.132882],[-0.019029,-0.133466,0.990871]] 2025-10-29T00:15:38.510Z,1761696938.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951583,-0.306362,-0.025125],[0.306925,0.942465,0.132505],[-0.016915,-0.133802,0.990864]] 2025-10-29T00:15:38.880Z,1761696938.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950901,-0.308309,-0.027063],[0.309133,0.941927,0.131186],[-0.014954,-0.133111,0.990988]] 2025-10-29T00:15:39.286Z,1761696939.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950273,-0.310067,-0.028988],[0.311147,0.941432,0.129971],[-0.013010,-0.132528,0.991094]] 2025-10-29T00:15:39.687Z,1761696939.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949735,-0.311528,-0.030889],[0.312858,0.940999,0.128998],[-0.011120,-0.132178,0.991164]] 2025-10-29T00:15:40.091Z,1761696940.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949190,-0.312988,-0.032810],[0.314567,0.940542,0.128172],[-0.009257,-0.131980,0.991209]] 2025-10-29T00:15:40.539Z,1761696940.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948736,-0.314145,-0.034825],[0.315984,0.940150,0.127561],[-0.007332,-0.132026,0.991219]] 2025-10-29T00:15:41.302Z,1761696941.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948153,-0.315399,-0.039098],[0.317791,0.939423,0.128430],[-0.003777,-0.134196,0.990948]] 2025-10-29T00:15:41.707Z,1761696941.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947830,-0.316137,-0.040930],[0.318769,0.939161,0.127919],[-0.002000,-0.134293,0.990940]] 2025-10-29T00:15:42.112Z,1761696942.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947680,-0.316350,-0.042725],[0.319222,0.939085,0.127346],[-0.000164,-0.134322,0.990938]] 2025-10-29T00:15:42.555Z,1761696942.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947472,-0.316742,-0.044396],[0.319835,0.938922,0.127009],[0.001455,-0.134537,0.990907]] 2025-10-29T00:15:42.918Z,1761696942.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947533,-0.316315,-0.046113],[0.319644,0.938941,0.127346],[0.003016,-0.135405,0.990786]] 2025-10-29T00:15:43.323Z,1761696943.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947680,-0.315596,-0.047971],[0.319187,0.939032,0.127825],[0.004705,-0.136449,0.990636]] 2025-10-29T00:15:43.726Z,1761696943.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947704,-0.315248,-0.049759],[0.319087,0.939039,0.128018],[0.006368,-0.137201,0.990523]] 2025-10-29T00:15:44.130Z,1761696944.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947906,-0.314380,-0.051384],[0.318463,0.939038,0.129575],[0.007516,-0.139189,0.990237]] 2025-10-29T00:15:44.587Z,1761696944.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948037,-0.313768,-0.052688],[0.318040,0.939165,0.129693],[0.008790,-0.139710,0.990153]] 2025-10-29T00:15:44.940Z,1761696944.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948201,-0.313135,-0.053499],[0.317520,0.939428,0.129061],[0.009845,-0.139363,0.990192]] 2025-10-29T00:15:45.343Z,1761696945.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948154,-0.313069,-0.054694],[0.317617,0.939448,0.128675],[0.011098,-0.139376,0.990177]] 2025-10-29T00:15:45.755Z,1761696945.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948169,-0.312914,-0.055319],[0.317541,0.939582,0.127880],[0.011961,-0.138818,0.990246]] 2025-10-29T00:15:46.206Z,1761696946.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948136,-0.312851,-0.056229],[0.317601,0.939606,0.127555],[0.012927,-0.138797,0.990236]] 2025-10-29T00:15:46.575Z,1761696946.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948006,-0.313152,-0.056756],[0.317958,0.939625,0.126522],[0.013709,-0.137990,0.990339]] 2025-10-29T00:15:46.958Z,1761696946.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947861,-0.313419,-0.057691],[0.318349,0.939523,0.126296],[0.014618,-0.138077,0.990314]] 2025-10-29T00:15:47.362Z,1761696947.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947580,-0.314070,-0.058752],[0.319132,0.939338,0.125694],[0.015711,-0.137855,0.990328]] 2025-10-29T00:15:47.776Z,1761696947.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947250,-0.314899,-0.059640],[0.320066,0.939101,0.125089],[0.016617,-0.137579,0.990351]] 2025-10-29T00:15:48.170Z,1761696948.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947032,-0.315387,-0.060510],[0.320661,0.938962,0.124609],[0.017517,-0.137412,0.990359]] 2025-10-29T00:15:48.606Z,1761696948.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946788,-0.315818,-0.062060],[0.321327,0.938557,0.125939],[0.018473,-0.139179,0.990095]] 2025-10-29T00:15:48.980Z,1761696948.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946529,-0.316362,-0.063225],[0.322028,0.938324,0.125879],[0.019502,-0.139509,0.990029]] 2025-10-29T00:15:49.383Z,1761696949.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946125,-0.317359,-0.064272],[0.323148,0.938040,0.125127],[0.020580,-0.139155,0.990057]] 2025-10-29T00:15:49.787Z,1761696949.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945806,-0.318183,-0.064889],[0.324053,0.937716,0.125218],[0.021006,-0.139459,0.990005]] 2025-10-29T00:15:50.190Z,1761696950.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945400,-0.319162,-0.065982],[0.325171,0.937357,0.125001],[0.021953,-0.139631,0.989960]] 2025-10-29T00:15:50.600Z,1761696950.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945261,-0.319364,-0.066994],[0.325524,0.937167,0.125506],[0.022702,-0.140444,0.989828]] 2025-10-29T00:15:50.626Z,1761696950.626 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:15:51.023Z,1761696951.023 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504041090,35.0,9 2025-10-29T00:15:51.404Z,1761696951.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944748,-0.320501,-0.068778],[0.326904,0.936683,0.125532],[0.024190,-0.141080,0.989703]] 2025-10-29T00:15:51.629Z,1761696951.629 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:15:51.807Z,1761696951.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944521,-0.321000,-0.069559],[0.327503,0.936505,0.125298],[0.024922,-0.141127,0.989678]] 2025-10-29T00:15:52.213Z,1761696952.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944375,-0.321226,-0.070492],[0.327854,0.936409,0.125101],[0.025823,-0.141254,0.989637]] 2025-10-29T00:15:52.623Z,1761696952.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944191,-0.321545,-0.071495],[0.328338,0.936110,0.126067],[0.026391,-0.142506,0.989442]] 2025-10-29T00:15:53.026Z,1761696953.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944277,-0.320925,-0.073134],[0.327961,0.936229,0.126162],[0.027982,-0.143117,0.989310]] 2025-10-29T00:15:53.429Z,1761696953.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944490,-0.320118,-0.073915],[0.327281,0.936431,0.126433],[0.028743,-0.143606,0.989217]] 2025-10-29T00:15:53.833Z,1761696953.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944570,-0.319678,-0.074791],[0.326976,0.936514,0.126605],[0.029570,-0.144042,0.989130]] 2025-10-29T00:15:54.245Z,1761696954.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944982,-0.318246,-0.075685],[0.325729,0.936755,0.128024],[0.030156,-0.145633,0.988879]] 2025-10-29T00:15:54.637Z,1761696954.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945281,-0.317171,-0.076463],[0.324797,0.936991,0.128663],[0.030837,-0.146457,0.988736]] 2025-10-29T00:15:55.038Z,1761696955.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945709,-0.315698,-0.077267],[0.323483,0.937325,0.129540],[0.031529,-0.147501,0.988559]] 2025-10-29T00:15:55.445Z,1761696955.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946092,-0.314456,-0.077643],[0.322305,0.937743,0.129455],[0.032101,-0.147501,0.988541]] 2025-10-29T00:15:55.846Z,1761696955.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946411,-0.313356,-0.078187],[0.321318,0.937986,0.130143],[0.032557,-0.148291,0.988408]] 2025-10-29T00:15:56.254Z,1761696956.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946875,-0.311798,-0.078807],[0.319895,0.938354,0.130994],[0.033106,-0.149245,0.988246]] 2025-10-29T00:15:56.656Z,1761696956.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947207,-0.310677,-0.079235],[0.318858,0.938663,0.131308],[0.033580,-0.149640,0.988170]] 2025-10-29T00:15:57.058Z,1761696957.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947444,-0.309906,-0.079430],[0.318120,0.938928,0.131199],[0.033920,-0.149572,0.988169]] 2025-10-29T00:15:57.463Z,1761696957.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947558,-0.309453,-0.079824],[0.317725,0.939083,0.131051],[0.034407,-0.149541,0.988157]] 2025-10-29T00:15:57.866Z,1761696957.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947688,-0.309115,-0.079598],[0.317319,0.939366,0.130001],[0.034586,-0.148458,0.988314]] 2025-10-29T00:15:57.935Z,1761696957.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:15:57.953Z,1761696957.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:15:57.953Z,1761696957.953 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:15:58.205Z,1761696958.205 [DAT](INFO): DAT read: user:362> 2025-10-29T00:15:58.206Z,1761696958.206 [DAT](INFO): DAT read: Tx time:00:15:57.9285 2025-10-29T00:15:58.206Z,1761696958.206 [DAT](INFO): Ping request sent. 2025-10-29T00:15:58.206Z,1761696958.206 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:15:58.206Z,1761696958.206 [DAT](INFO): publishing transmit ping time 2025-10-29T00:15:58.207Z,1761696958.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:15:58.271Z,1761696958.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947966,-0.308156,-0.080004],[0.316442,0.939612,0.130360],[0.035002,-0.148894,0.988234]] 2025-10-29T00:15:58.457Z,1761696958.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772 2025-10-29T00:15:58.675Z,1761696958.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948299,-0.307050,-0.080302],[0.315415,0.939861,0.131051],[0.035233,-0.149604,0.988118]] 2025-10-29T00:15:58.710Z,1761696958.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503378 2025-10-29T00:15:58.961Z,1761696958.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754823 2025-10-29T00:15:59.078Z,1761696959.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948392,-0.306859,-0.079936],[0.315105,0.940222,0.129196],[0.035512,-0.147717,0.988392]] 2025-10-29T00:15:59.214Z,1761696959.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007510 2025-10-29T00:15:59.465Z,1761696959.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258761 2025-10-29T00:15:59.484Z,1761696959.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948479,-0.306536,-0.080150],[0.314806,0.940360,0.128921],[0.035851,-0.147511,0.988410]] 2025-10-29T00:15:59.719Z,1761696959.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513139 2025-10-29T00:15:59.886Z,1761696959.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948520,-0.306346,-0.080384],[0.314640,0.940463,0.128573],[0.036210,-0.147246,0.988437]] 2025-10-29T00:15:59.969Z,1761696959.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738 2025-10-29T00:16:00.222Z,1761696960.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015776 2025-10-29T00:16:00.291Z,1761696960.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948587,-0.306168,-0.080280],[0.314436,0.940575,0.128253],[0.036243,-0.146902,0.988487]] 2025-10-29T00:16:00.473Z,1761696960.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266853 2025-10-29T00:16:00.725Z,1761696960.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519320 2025-10-29T00:16:00.977Z,1761696960.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807 2025-10-29T00:16:01.098Z,1761696961.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948762,-0.305708,-0.079962],[0.313902,0.940869,0.127397],[0.036288,-0.145970,0.988623]] 2025-10-29T00:16:01.230Z,1761696961.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024127 2025-10-29T00:16:01.481Z,1761696961.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275296 2025-10-29T00:16:01.502Z,1761696961.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948890,-0.305285,-0.080050],[0.313500,0.940986,0.127526],[0.036394,-0.146103,0.988600]] 2025-10-29T00:16:01.734Z,1761696961.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527520 2025-10-29T00:16:01.907Z,1761696961.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949153,-0.304493,-0.079949],[0.312732,0.941125,0.128383],[0.036150,-0.146857,0.988497]] 2025-10-29T00:16:01.985Z,1761696961.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778942 2025-10-29T00:16:02.237Z,1761696962.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030800 2025-10-29T00:16:02.310Z,1761696962.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949236,-0.304291,-0.079732],[0.312498,0.941209,0.128342],[0.035991,-0.146743,0.988520]] 2025-10-29T00:16:02.489Z,1761696962.489 [DAT](INFO): DAT read: Rx Time:00:16:01.7756 2025-10-29T00:16:02.490Z,1761696962.490 [DAT](INFO): Rx dataTimestamp_ set to:1761696962.489579 2025-10-29T00:16:02.490Z,1761696962.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284332 2025-10-29T00:16:02.722Z,1761696962.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949410,-0.303680,-0.079990],[0.311969,0.941237,0.129419],[0.035988,-0.147826,0.988358]] 2025-10-29T00:16:02.741Z,1761696962.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535116 2025-10-29T00:16:02.998Z,1761696962.998 [DAT](INFO): DAT read: 00:16:01.7756 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485,-0.21, 3.031, 1.407, 3.075, 2.948, PHS= 0.185,-1.496, 0.083, RAW= 146.9, 14.9, CAL= 146.8, 16.4, ROT= 3.2, -16.4 2025-10-29T00:16:02.999Z,1761696962.999 [DAT](INFO): got valid direction response: 00:16:01.7756 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 485,-0.21, 3.031, 1.407, 3.075, 2.948, PHS= 0.185,-1.496, 0.083, RAW= 146.9, 14.9, CAL= 146.8, 16.4, ROT= 3.2, -16.4 2025-10-29T00:16:03.000Z,1761696963.000 [DAT](INFO): DAT read: Bearing 186.7, 2.4 (Local) 2025-10-29T00:16:03.001Z,1761696963.001 [DAT](INFO): Local bearing/azimuth received: Bearing 186.7, 2.4 (Local) 2025-10-29T00:16:03.002Z,1761696963.002 [DAT](INFO): DAT read: Range 11 to 50 : 1082.2 m (Round-trip 1443.0 ms) speed 0.4 m/s 2025-10-29T00:16:03.003Z,1761696963.003 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:16:03.004Z,1761696963.004 [DAT](INFO): direction in FSK: [0.957818,0.053550,0.282341] 2025-10-29T00:16:03.004Z,1761696963.004 [DAT](INFO): publishing direction and range info 2025-10-29T00:16:03.120Z,1761696963.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949539,-0.303203,-0.080275],[0.311550,0.941336,0.129707],[0.036238,-0.148171,0.988298]] 2025-10-29T00:16:03.522Z,1761696963.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949597,-0.302989,-0.080396],[0.311355,0.941401,0.129702],[0.036387,-0.148197,0.988288]] 2025-10-29T00:16:03.926Z,1761696963.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949557,-0.302976,-0.080918],[0.311466,0.941191,0.130950],[0.036484,-0.149548,0.988081]] 2025-10-29T00:16:04.335Z,1761696964.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949642,-0.302588,-0.081363],[0.311169,0.941210,0.131521],[0.036783,-0.150216,0.987969]] 2025-10-29T00:16:04.740Z,1761696964.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949693,-0.302310,-0.081806],[0.310959,0.941286,0.131476],[0.037256,-0.150300,0.987938]] 2025-10-29T00:16:05.138Z,1761696965.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949767,-0.301990,-0.082131],[0.310698,0.941347,0.131654],[0.037556,-0.150558,0.987888]] 2025-10-29T00:16:05.542Z,1761696965.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949928,-0.301372,-0.082530],[0.310163,0.941460,0.132107],[0.037885,-0.151090,0.987794]] 2025-10-29T00:16:05.947Z,1761696965.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949963,-0.301171,-0.082865],[0.310017,0.941498,0.132179],[0.038209,-0.151255,0.987756]] 2025-10-29T00:16:06.364Z,1761696966.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950180,-0.300424,-0.083092],[0.309325,0.941677,0.132527],[0.038431,-0.151626,0.987691]] 2025-10-29T00:16:06.759Z,1761696966.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950218,-0.300229,-0.083351],[0.309165,0.941752,0.132362],[0.038757,-0.151542,0.987691]] 2025-10-29T00:16:07.162Z,1761696967.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950340,-0.299856,-0.083307],[0.308788,0.941876,0.132359],[0.038776,-0.151510,0.987695]] 2025-10-29T00:16:07.563Z,1761696967.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950544,-0.299222,-0.083262],[0.308136,0.942149,0.131935],[0.038968,-0.151066,0.987755]] 2025-10-29T00:16:07.968Z,1761696967.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950820,-0.298315,-0.083367],[0.307248,0.942457,0.131808],[0.039249,-0.150940,0.987763]] 2025-10-29T00:16:08.371Z,1761696968.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951249,-0.296908,-0.083493],[0.305887,0.942851,0.132158],[0.039483,-0.151255,0.987706]] 2025-10-29T00:16:08.778Z,1761696968.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951690,-0.295604,-0.083093],[0.304477,0.943501,0.130765],[0.039743,-0.149748,0.987925]] 2025-10-29T00:16:09.182Z,1761696969.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952250,-0.293756,-0.083226],[0.302694,0.943977,0.131466],[0.039945,-0.150381,0.987821]] 2025-10-29T00:16:09.585Z,1761696969.585 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952742,-0.292164,-0.083202],[0.301102,0.944521,0.131217],[0.040249,-0.150068,0.987856]] 2025-10-29T00:16:09.986Z,1761696969.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953395,-0.290017,-0.083231],[0.299013,0.945064,0.132080],[0.040353,-0.150812,0.987739]] 2025-10-29T00:16:10.390Z,1761696970.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953903,-0.288477,-0.082770],[0.297397,0.945641,0.131597],[0.040308,-0.150146,0.987842]] 2025-10-29T00:16:11.210Z,1761696971.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954640,-0.286000,-0.082859],[0.294964,0.946373,0.131808],[0.040719,-0.150270,0.987806]] 2025-10-29T00:16:11.603Z,1761696971.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954886,-0.285184,-0.082845],[0.294150,0.946637,0.131734],[0.040855,-0.150159,0.987817]] 2025-10-29T00:16:12.007Z,1761696972.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955072,-0.284628,-0.082608],[0.293559,0.946835,0.131633],[0.040750,-0.149969,0.987851]] 2025-10-29T00:16:12.415Z,1761696972.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955160,-0.284373,-0.082473],[0.293265,0.946993,0.131151],[0.040805,-0.149456,0.987926]] 2025-10-29T00:16:12.816Z,1761696972.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955270,-0.283995,-0.082498],[0.292880,0.947159,0.130809],[0.040990,-0.149120,0.987969]] 2025-10-29T00:16:13.226Z,1761696973.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955177,-0.284341,-0.082385],[0.293175,0.947172,0.130049],[0.041055,-0.148373,0.988079]] 2025-10-29T00:16:13.622Z,1761696973.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955040,-0.284706,-0.082709],[0.293550,0.947172,0.129207],[0.041554,-0.147677,0.988162]] 2025-10-29T00:16:14.027Z,1761696974.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954830,-0.285415,-0.082694],[0.294213,0.947089,0.128299],[0.041700,-0.146833,0.988282]] 2025-10-29T00:16:14.432Z,1761696974.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954451,-0.286695,-0.082644],[0.295420,0.946886,0.127016],[0.041840,-0.145645,0.988452]] 2025-10-29T00:16:14.834Z,1761696974.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954043,-0.287879,-0.083233],[0.296704,0.946412,0.127555],[0.042053,-0.146388,0.988333]] 2025-10-29T00:16:15.239Z,1761696975.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953762,-0.288703,-0.083602],[0.297579,0.946128,0.127627],[0.042252,-0.146603,0.988293]] 2025-10-29T00:16:15.666Z,1761696975.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953488,-0.289601,-0.083617],[0.298429,0.945995,0.126621],[0.042431,-0.145686,0.988421]] 2025-10-29T00:16:16.051Z,1761696976.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953217,-0.290353,-0.084097],[0.299259,0.945693,0.126922],[0.042678,-0.146151,0.988341]] 2025-10-29T00:16:16.451Z,1761696976.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953157,-0.290394,-0.084629],[0.299382,0.945641,0.127016],[0.043144,-0.146402,0.988284]] 2025-10-29T00:16:16.854Z,1761696976.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953150,-0.290305,-0.085016],[0.299391,0.945513,0.127947],[0.043240,-0.147405,0.988131]] 2025-10-29T00:16:17.259Z,1761696977.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953283,-0.289814,-0.085203],[0.298939,0.945635,0.128101],[0.043446,-0.147587,0.988094]] 2025-10-29T00:16:17.664Z,1761696977.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953559,-0.288811,-0.085522],[0.298027,0.945813,0.128912],[0.043657,-0.148413,0.987961]] 2025-10-29T00:16:18.078Z,1761696978.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953836,-0.287805,-0.085825],[0.297095,0.946043,0.129374],[0.043960,-0.148900,0.987875]] 2025-10-29T00:16:18.470Z,1761696978.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954205,-0.286542,-0.085949],[0.295887,0.946339,0.129972],[0.044094,-0.149451,0.987785]] 2025-10-29T00:16:18.876Z,1761696978.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954623,-0.285132,-0.085995],[0.294522,0.946685,0.130553],[0.044186,-0.149957,0.987705]] 2025-10-29T00:16:19.691Z,1761696979.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955403,-0.282614,-0.085644],[0.291991,0.947411,0.130976],[0.044124,-0.150142,0.987679]] 2025-10-29T00:16:20.105Z,1761696980.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955817,-0.281289,-0.085388],[0.290644,0.947808,0.131094],[0.044056,-0.150119,0.987686]] 2025-10-29T00:16:20.491Z,1761696980.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956254,-0.279941,-0.084921],[0.289258,0.948165,0.131580],[0.043685,-0.150388,0.987661]] 2025-10-29T00:16:21.305Z,1761696981.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957184,-0.276998,-0.084087],[0.286277,0.948867,0.133027],[0.042939,-0.151404,0.987539]] 2025-10-29T00:16:21.708Z,1761696981.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957488,-0.276262,-0.083050],[0.285330,0.949346,0.131636],[0.042477,-0.149736,0.987813]] 2025-10-29T00:16:21.761Z,1761696981.761 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:16:22.132Z,1761696982.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957790,-0.275379,-0.082486],[0.284357,0.949683,0.131316],[0.042174,-0.149229,0.987903]] 2025-10-29T00:16:22.511Z,1761696982.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958004,-0.274788,-0.081969],[0.283687,0.949906,0.131149],[0.041825,-0.148895,0.987968]] 2025-10-29T00:16:22.765Z,1761696982.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:16:22.917Z,1761696982.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958071,-0.274711,-0.081446],[0.283488,0.950109,0.130107],[0.041640,-0.147741,0.988149]] 2025-10-29T00:16:23.318Z,1761696983.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958111,-0.274658,-0.081151],[0.283362,0.950242,0.129405],[0.041571,-0.146979,0.988266]] 2025-10-29T00:16:23.722Z,1761696983.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958219,-0.274340,-0.080953],[0.283015,0.950355,0.129335],[0.041452,-0.146842,0.988291]] 2025-10-29T00:16:24.158Z,1761696984.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958352,-0.273966,-0.080649],[0.282590,0.950510,0.129127],[0.041281,-0.146540,0.988343]] 2025-10-29T00:16:24.532Z,1761696984.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958418,-0.273810,-0.080391],[0.282403,0.950546,0.129268],[0.041021,-0.146596,0.988346]] 2025-10-29T00:16:24.935Z,1761696984.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958461,-0.273600,-0.080601],[0.282275,0.950424,0.130439],[0.040917,-0.147772,0.988175]] 2025-10-29T00:16:25.338Z,1761696985.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958541,-0.273389,-0.080365],[0.282016,0.950550,0.130084],[0.040827,-0.147355,0.988241]] 2025-10-29T00:16:25.745Z,1761696985.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958509,-0.273546,-0.080204],[0.282120,0.950612,0.129402],[0.040845,-0.146660,0.988343]] 2025-10-29T00:16:26.187Z,1761696986.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958450,-0.273854,-0.079862],[0.282344,0.950647,0.128654],[0.040688,-0.145857,0.988469]] 2025-10-29T00:16:26.550Z,1761696986.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958408,-0.274127,-0.079431],[0.282532,0.950660,0.128149],[0.040383,-0.145261,0.988569]] 2025-10-29T00:16:26.954Z,1761696986.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958451,-0.273927,-0.079600],[0.282388,0.950604,0.128875],[0.040366,-0.145998,0.988461]] 2025-10-29T00:16:27.364Z,1761696987.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958512,-0.273702,-0.079641],[0.282176,0.950648,0.129019],[0.040398,-0.146138,0.988439]] 2025-10-29T00:16:27.774Z,1761696987.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958468,-0.273863,-0.079615],[0.282335,0.950591,0.129088],[0.040328,-0.146204,0.988432]] 2025-10-29T00:16:28.215Z,1761696988.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958570,-0.273474,-0.079727],[0.281962,0.950712,0.129012],[0.040516,-0.146147,0.988433]] 2025-10-29T00:16:28.575Z,1761696988.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958654,-0.273218,-0.079596],[0.281690,0.950791,0.129026],[0.040427,-0.146112,0.988442]] 2025-10-29T00:16:28.981Z,1761696988.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958823,-0.272602,-0.079669],[0.281101,0.950928,0.129295],[0.040514,-0.146366,0.988401]] 2025-10-29T00:16:29.390Z,1761696989.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958945,-0.272162,-0.079696],[0.280659,0.951091,0.129058],[0.040674,-0.146127,0.988429]] 2025-10-29T00:16:29.787Z,1761696989.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959110,-0.271603,-0.079620],[0.280135,0.951106,0.130083],[0.040396,-0.147069,0.988301]] 2025-10-29T00:16:30.229Z,1761696990.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959373,-0.270757,-0.079338],[0.279241,0.951415,0.129743],[0.040355,-0.146626,0.988369]] 2025-10-29T00:16:30.594Z,1761696990.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959597,-0.269982,-0.079268],[0.278469,0.951619,0.129911],[0.040360,-0.146736,0.988352]] 2025-10-29T00:16:31.402Z,1761696991.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960045,-0.268415,-0.079160],[0.276921,0.951997,0.130450],[0.040346,-0.147159,0.988290]] 2025-10-29T00:16:31.807Z,1761696991.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960396,-0.267205,-0.079000],[0.275724,0.952258,0.131078],[0.040204,-0.147670,0.988219]] 2025-10-29T00:16:32.224Z,1761696992.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960801,-0.265776,-0.078900],[0.274322,0.952561,0.131818],[0.040123,-0.148295,0.988129]] 2025-10-29T00:16:32.615Z,1761696992.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961157,-0.264520,-0.078778],[0.273093,0.952795,0.132670],[0.039965,-0.149031,0.988025]] 2025-10-29T00:16:33.019Z,1761696993.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961456,-0.263553,-0.078368],[0.272048,0.953177,0.132074],[0.039890,-0.148303,0.988137]] 2025-10-29T00:16:33.423Z,1761696993.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961692,-0.262705,-0.078323],[0.271211,0.953382,0.132312],[0.039913,-0.148485,0.988109]] 2025-10-29T00:16:33.827Z,1761696993.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961827,-0.262241,-0.078220],[0.270734,0.953524,0.132271],[0.039898,-0.148399,0.988122]] 2025-10-29T00:16:34.235Z,1761696994.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962141,-0.261185,-0.077886],[0.269649,0.953793,0.132545],[0.039669,-0.148529,0.988112]] 2025-10-29T00:16:35.039Z,1761696995.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962635,-0.259542,-0.077282],[0.267915,0.954331,0.132189],[0.039444,-0.147955,0.988207]] 2025-10-29T00:16:35.442Z,1761696995.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962632,-0.259929,-0.076009],[0.268009,0.954662,0.129583],[0.038881,-0.145112,0.988651]] 2025-10-29T00:16:35.846Z,1761696995.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962581,-0.260565,-0.074459],[0.268295,0.955003,0.126441],[0.038162,-0.141687,0.989176]] 2025-10-29T00:16:36.251Z,1761696996.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962486,-0.261208,-0.073426],[0.268764,0.954948,0.125862],[0.037242,-0.140874,0.989327]] 2025-10-29T00:16:36.669Z,1761696996.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962420,-0.261896,-0.071821],[0.269164,0.955040,0.124298],[0.036038,-0.138959,0.989642]] 2025-10-29T00:16:37.058Z,1761696997.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962327,-0.262632,-0.070372],[0.269657,0.955032,0.123284],[0.034829,-0.137616,0.989873]] 2025-10-29T00:16:37.473Z,1761696997.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962360,-0.262874,-0.069000],[0.269681,0.955124,0.122513],[0.033698,-0.136509,0.990066]] 2025-10-29T00:16:37.874Z,1761696997.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962061,-0.264692,-0.066164],[0.271019,0.955067,0.119981],[0.031433,-0.133360,0.990569]] 2025-10-29T00:16:38.275Z,1761696998.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961941,-0.265417,-0.064991],[0.271597,0.954843,0.120455],[0.030085,-0.133522,0.990589]] 2025-10-29T00:16:38.683Z,1761696998.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961975,-0.265515,-0.064085],[0.271580,0.954816,0.120706],[0.029140,-0.133520,0.990618]] 2025-10-29T00:16:39.084Z,1761696999.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961891,-0.265940,-0.063576],[0.271926,0.954753,0.120429],[0.028673,-0.133128,0.990684]] 2025-10-29T00:16:39.494Z,1761696999.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961882,-0.266185,-0.062680],[0.272054,0.954699,0.120569],[0.027747,-0.133025,0.990724]] 2025-10-29T00:16:39.887Z,1761696999.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961785,-0.266817,-0.061461],[0.272533,0.954496,0.121094],[0.026355,-0.133217,0.990736]] 2025-10-29T00:16:40.291Z,1761697000.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961737,-0.267213,-0.060501],[0.272819,0.954305,0.121950],[0.025149,-0.133789,0.990691]] 2025-10-29T00:16:40.696Z,1761697000.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961617,-0.267903,-0.059339],[0.273354,0.954123,0.122172],[0.023887,-0.133703,0.990733]] 2025-10-29T00:16:41.100Z,1761697001.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961463,-0.268655,-0.058427],[0.273978,0.953947,0.122156],[0.022918,-0.133457,0.990790]] 2025-10-29T00:16:41.502Z,1761697001.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961216,-0.269846,-0.056984],[0.274949,0.953773,0.121324],[0.021611,-0.132287,0.990976]] 2025-10-29T00:16:41.906Z,1761697001.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960967,-0.270951,-0.055931],[0.275915,0.953443,0.121724],[0.020346,-0.132405,0.990987]] 2025-10-29T00:16:42.313Z,1761697002.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960805,-0.271745,-0.054855],[0.276560,0.953248,0.121791],[0.019194,-0.132188,0.991039]] 2025-10-29T00:16:42.716Z,1761697002.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960577,-0.272749,-0.053843],[0.277421,0.953018,0.121634],[0.018138,-0.131776,0.991114]] 2025-10-29T00:16:43.118Z,1761697003.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960390,-0.273598,-0.052865],[0.278130,0.952835,0.121442],[0.017145,-0.131335,0.991190]] 2025-10-29T00:16:43.522Z,1761697003.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960218,-0.274428,-0.051686],[0.278797,0.952663,0.121266],[0.015961,-0.130852,0.991273]] 2025-10-29T00:16:43.927Z,1761697003.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960102,-0.275012,-0.050727],[0.279258,0.952458,0.121811],[0.014816,-0.131117,0.991256]] 2025-10-29T00:16:44.332Z,1761697004.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959994,-0.275582,-0.049669],[0.279687,0.952312,0.121970],[0.013688,-0.130982,0.991290]] 2025-10-29T00:16:44.734Z,1761697004.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959864,-0.276220,-0.048614],[0.280187,0.952113,0.122374],[0.012484,-0.131083,0.991293]] 2025-10-29T00:16:45.143Z,1761697005.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959923,-0.276171,-0.047727],[0.280023,0.952148,0.122478],[0.011619,-0.130934,0.991323]] 2025-10-29T00:16:45.548Z,1761697005.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959864,-0.276520,-0.046873],[0.280255,0.952119,0.122173],[0.010846,-0.130406,0.991401]] 2025-10-29T00:16:45.947Z,1761697005.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959851,-0.276745,-0.045808],[0.280340,0.952083,0.122261],[0.009778,-0.130194,0.991440]] 2025-10-29T00:16:46.351Z,1761697006.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959898,-0.276711,-0.045026],[0.280215,0.951978,0.123357],[0.008730,-0.131027,0.991340]] 2025-10-29T00:16:46.762Z,1761697006.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959886,-0.276943,-0.043833],[0.280291,0.951908,0.123726],[0.007460,-0.131049,0.991348]] 2025-10-29T00:16:47.167Z,1761697007.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960012,-0.276703,-0.042564],[0.279891,0.951958,0.124243],[0.006140,-0.131188,0.991339]] 2025-10-29T00:16:47.563Z,1761697007.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960122,-0.276487,-0.041472],[0.279534,0.952026,0.124529],[0.005052,-0.131156,0.991349]] 2025-10-29T00:16:47.967Z,1761697007.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960272,-0.276094,-0.040610],[0.279035,0.952044,0.125501],[0.004012,-0.131847,0.991262]] 2025-10-29T00:16:48.371Z,1761697008.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960383,-0.275865,-0.039523],[0.278667,0.952085,0.126014],[0.002866,-0.132036,0.991241]] 2025-10-29T00:16:48.778Z,1761697008.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960368,-0.276092,-0.038292],[0.278729,0.952102,0.125744],[0.001741,-0.131434,0.991323]] 2025-10-29T00:16:49.180Z,1761697009.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960438,-0.275959,-0.037495],[0.278493,0.952088,0.126371],[0.000825,-0.131814,0.991274]] 2025-10-29T00:16:49.584Z,1761697009.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960527,-0.275754,-0.036715],[0.278188,0.952128,0.126742],[0.000007,-0.131953,0.991256]] 2025-10-29T00:16:49.986Z,1761697009.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960493,-0.275998,-0.035759],[0.278303,0.952093,0.126751],[-0.000937,-0.131695,0.991290]] 2025-10-29T00:16:50.390Z,1761697010.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960288,-0.276809,-0.034977],[0.279004,0.951852,0.127019],[-0.001867,-0.131734,0.991283]] 2025-10-29T00:16:51.201Z,1761697011.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960220,-0.277214,-0.033614],[0.279224,0.951711,0.127591],[-0.003379,-0.131901,0.991257]] 2025-10-29T00:16:51.602Z,1761697011.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960113,-0.277658,-0.033006],[0.279584,0.951603,0.127611],[-0.004023,-0.131749,0.991275]] 2025-10-29T00:16:52.006Z,1761697012.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959977,-0.278214,-0.032257],[0.280037,0.951490,0.127463],[-0.004770,-0.131395,0.991319]] 2025-10-29T00:16:52.411Z,1761697012.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959772,-0.278947,-0.032027],[0.280733,0.951266,0.127603],[-0.005128,-0.131460,0.991308]] 2025-10-29T00:16:52.816Z,1761697012.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959530,-0.279876,-0.031161],[0.281544,0.951111,0.126970],[-0.005899,-0.130605,0.991417]] 2025-10-29T00:16:52.892Z,1761697012.892 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:16:53.219Z,1761697013.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959387,-0.280424,-0.030628],[0.282017,0.950968,0.126989],[-0.006484,-0.130469,0.991431]] 2025-10-29T00:16:53.626Z,1761697013.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959184,-0.281192,-0.029964],[0.282694,0.950801,0.126731],[-0.007146,-0.130028,0.991485]] 2025-10-29T00:16:53.896Z,1761697013.896 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:16:54.027Z,1761697014.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958935,-0.282135,-0.029049],[0.283513,0.950610,0.126338],[-0.008030,-0.129385,0.991562]] 2025-10-29T00:16:54.432Z,1761697014.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958727,-0.282903,-0.028443],[0.284201,0.950478,0.125786],[-0.008551,-0.128678,0.991650]] 2025-10-29T00:16:54.834Z,1761697014.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958399,-0.284090,-0.027650],[0.285287,0.950316,0.124540],[-0.009104,-0.127247,0.991829]] 2025-10-29T00:16:55.239Z,1761697015.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958128,-0.285066,-0.026983],[0.286177,0.950132,0.123901],[-0.009683,-0.126435,0.991928]] 2025-10-29T00:16:55.653Z,1761697015.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957911,-0.285846,-0.026424],[0.286884,0.949979,0.123437],[-0.010182,-0.125822,0.992001]] 2025-10-29T00:16:56.049Z,1761697016.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957651,-0.286794,-0.025559],[0.287722,0.949794,0.122917],[-0.010976,-0.125066,0.992088]] 2025-10-29T00:16:56.450Z,1761697016.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957443,-0.287541,-0.024945],[0.288387,0.949610,0.122771],[-0.011614,-0.124741,0.992121]] 2025-10-29T00:16:56.854Z,1761697016.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957213,-0.288327,-0.024727],[0.289143,0.949413,0.122523],[-0.011851,-0.124430,0.992158]] 2025-10-29T00:16:57.258Z,1761697017.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956917,-0.289335,-0.024375],[0.290097,0.949098,0.122708],[-0.012369,-0.124493,0.992143]] 2025-10-29T00:16:57.676Z,1761697017.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956649,-0.290247,-0.024082],[0.290967,0.948858,0.122499],[-0.012704,-0.124195,0.992176]] 2025-10-29T00:16:58.067Z,1761697018.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956272,-0.291488,-0.024068],[0.292186,0.948388,0.123233],[-0.013095,-0.124876,0.992086]] 2025-10-29T00:16:58.103Z,1761697018.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:16:58.249Z,1761697018.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:16:58.249Z,1761697018.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:16:58.471Z,1761697018.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955936,-0.292583,-0.024103],[0.293261,0.947900,0.124433],[-0.013559,-0.126018,0.991935]] 2025-10-29T00:16:58.501Z,1761697018.501 [DAT](INFO): DAT read: user:363> 2025-10-29T00:16:58.502Z,1761697018.502 [DAT](INFO): DAT read: Tx time:00:16:58.2284 2025-10-29T00:16:58.502Z,1761697018.502 [DAT](INFO): Ping request sent. 2025-10-29T00:16:58.502Z,1761697018.502 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:16:58.502Z,1761697018.502 [DAT](INFO): publishing transmit ping time 2025-10-29T00:16:58.503Z,1761697018.503 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000766 2025-10-29T00:16:58.753Z,1761697018.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251166 2025-10-29T00:16:58.875Z,1761697018.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955629,-0.293610,-0.023799],[0.294241,0.947595,0.124442],[-0.013986,-0.125923,0.991941]] 2025-10-29T00:16:59.005Z,1761697019.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502780 2025-10-29T00:16:59.257Z,1761697019.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754755 2025-10-29T00:16:59.509Z,1761697019.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006804 2025-10-29T00:16:59.703Z,1761697019.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954850,-0.296160,-0.023480],[0.296730,0.946825,0.124396],[-0.014609,-0.125747,0.991955]] 2025-10-29T00:16:59.762Z,1761697019.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259374 2025-10-29T00:17:00.013Z,1761697020.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736 2025-10-29T00:17:00.087Z,1761697020.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954579,-0.297049,-0.023234],[0.297583,0.946575,0.124259],[-0.014918,-0.125529,0.991978]] 2025-10-29T00:17:00.265Z,1761697020.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762755 2025-10-29T00:17:00.492Z,1761697020.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954319,-0.297898,-0.023047],[0.298397,0.946279,0.124562],[-0.015298,-0.125749,0.991944]] 2025-10-29T00:17:00.517Z,1761697020.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014803 2025-10-29T00:17:00.769Z,1761697020.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267067 2025-10-29T00:17:01.021Z,1761697021.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518800 2025-10-29T00:17:01.273Z,1761697021.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770701 2025-10-29T00:17:01.299Z,1761697021.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953927,-0.299193,-0.022533],[0.299617,0.945899,0.124516],[-0.015941,-0.125530,0.991962]] 2025-10-29T00:17:01.525Z,1761697021.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022758 2025-10-29T00:17:01.734Z,1761697021.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953788,-0.299640,-0.022456],[0.300047,0.945745,0.124655],[-0.016114,-0.125632,0.991946]] 2025-10-29T00:17:01.785Z,1761697021.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282879 2025-10-29T00:17:02.037Z,1761697022.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534895 2025-10-29T00:17:02.111Z,1761697022.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953584,-0.300312,-0.022122],[0.300668,0.945509,0.124943],[-0.016606,-0.125795,0.991917]] 2025-10-29T00:17:02.289Z,1761697022.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787097 2025-10-29T00:17:02.511Z,1761697022.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953697,-0.299962,-0.022004],[0.300289,0.945496,0.125951],[-0.016976,-0.126727,0.991792]] 2025-10-29T00:17:02.541Z,1761697022.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038903 2025-10-29T00:17:02.793Z,1761697022.793 [DAT](INFO): DAT read: Rx Time:00:17:02.0271 2025-10-29T00:17:02.793Z,1761697022.793 [DAT](INFO): Rx dataTimestamp_ set to:1761697022.793106 2025-10-29T00:17:02.794Z,1761697022.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.291806 2025-10-29T00:17:02.914Z,1761697022.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953664,-0.300079,-0.021862],[0.300381,0.945423,0.126281],[-0.017225,-0.126997,0.991754]] 2025-10-29T00:17:03.045Z,1761697023.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.543081 2025-10-29T00:17:03.302Z,1761697023.302 [DAT](INFO): DAT read: 00:17:02.0271 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 453,-0.17, 1.958, 0.240, 2.006, 1.880, PHS= 0.180,-1.594, 0.082, RAW= 147.2, 15.2, CAL= 147.1, 16.8, ROT= 2.9, -16.8 2025-10-29T00:17:03.303Z,1761697023.303 [DAT](INFO): got valid direction response: 00:17:02.0271 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 453,-0.17, 1.958, 0.240, 2.006, 1.880, PHS= 0.180,-1.594, 0.082, RAW= 147.2, 15.2, CAL= 147.1, 16.8, ROT= 2.9, -16.8 2025-10-29T00:17:03.313Z,1761697023.313 [DAT](INFO): DAT read: Bearing 187.3, -0.7 (Local) 2025-10-29T00:17:03.313Z,1761697023.313 [DAT](INFO): Local bearing/azimuth received: Bearing 187.3, -0.7 (Local) 2025-10-29T00:17:03.314Z,1761697023.314 [DAT](INFO): DAT read: Range 11 to 50 : 1045.9 m (Round-trip 1394.6 ms) speed 0.6 m/s 2025-10-29T00:17:03.315Z,1761697023.315 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:17:03.322Z,1761697023.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953478,-0.300683,-0.021653],[0.300955,0.945252,0.126193],[-0.017477,-0.126839,0.991769]] 2025-10-29T00:17:03.324Z,1761697023.324 [DAT](INFO): direction in FSK: [0.956094,0.048434,0.289032] 2025-10-29T00:17:03.324Z,1761697023.324 [DAT](INFO): publishing direction and range info 2025-10-29T00:17:03.757Z,1761697023.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953280,-0.301334,-0.021355],[0.301565,0.945083,0.125999],[-0.017786,-0.126552,0.991800]] 2025-10-29T00:17:04.141Z,1761697024.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953045,-0.302094,-0.021052],[0.302288,0.944900,0.125645],[-0.018065,-0.126110,0.991852]] 2025-10-29T00:17:04.531Z,1761697024.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952775,-0.302973,-0.020677],[0.303119,0.944685,0.125258],[-0.018417,-0.125611,0.991909]] 2025-10-29T00:17:04.934Z,1761697024.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952582,-0.303599,-0.020377],[0.303704,0.944515,0.125119],[-0.018739,-0.125375,0.991932]] 2025-10-29T00:17:05.339Z,1761697025.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952395,-0.304201,-0.020143],[0.304274,0.944345,0.125021],[-0.019009,-0.125199,0.991950]] 2025-10-29T00:17:05.788Z,1761697025.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952259,-0.304648,-0.019796],[0.304669,0.944187,0.125250],[-0.019466,-0.125302,0.991928]] 2025-10-29T00:17:06.150Z,1761697026.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951988,-0.305510,-0.019579],[0.305497,0.943922,0.125232],[-0.019778,-0.125201,0.991934]] 2025-10-29T00:17:06.550Z,1761697026.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951771,-0.306213,-0.019099],[0.306141,0.943758,0.124896],[-0.020220,-0.124719,0.991986]] 2025-10-29T00:17:06.956Z,1761697026.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951465,-0.307204,-0.018434],[0.307043,0.943474,0.124825],[-0.020955,-0.124427,0.992008]] 2025-10-29T00:17:07.360Z,1761697027.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951274,-0.307817,-0.018073],[0.307603,0.943277,0.124934],[-0.021409,-0.124406,0.992000]] 2025-10-29T00:17:07.806Z,1761697027.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950947,-0.308837,-0.017889],[0.308598,0.942989,0.124653],[-0.021628,-0.124059,0.992039]] 2025-10-29T00:17:08.170Z,1761697028.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950612,-0.309879,-0.017635],[0.309606,0.942699,0.124351],[-0.021909,-0.123669,0.992082]] 2025-10-29T00:17:08.570Z,1761697028.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950467,-0.310342,-0.017347],[0.310021,0.942507,0.124773],[-0.022373,-0.123970,0.992034]] 2025-10-29T00:17:08.976Z,1761697028.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950384,-0.310603,-0.017193],[0.310248,0.942366,0.125267],[-0.022706,-0.124386,0.991974]] 2025-10-29T00:17:09.378Z,1761697029.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949977,-0.311844,-0.017235],[0.311484,0.941954,0.125298],[-0.022839,-0.124399,0.991969]] 2025-10-29T00:17:09.801Z,1761697029.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949691,-0.312733,-0.016871],[0.312319,0.941672,0.125344],[-0.023312,-0.124307,0.991970]] 2025-10-29T00:17:10.233Z,1761697030.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949414,-0.313577,-0.016782],[0.313135,0.941345,0.125764],[-0.023639,-0.124657,0.991918]] 2025-10-29T00:17:10.591Z,1761697030.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948978,-0.314909,-0.016535],[0.314433,0.940954,0.125447],[-0.023945,-0.124246,0.991962]] 2025-10-29T00:17:10.995Z,1761697030.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948664,-0.315863,-0.016343],[0.315349,0.940620,0.125652],[-0.024317,-0.124355,0.991940]] 2025-10-29T00:17:11.399Z,1761697031.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948233,-0.317154,-0.016365],[0.316635,0.940203,0.125540],[-0.024429,-0.124223,0.991954]] 2025-10-29T00:17:11.807Z,1761697031.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947753,-0.318590,-0.016239],[0.318043,0.939723,0.125574],[-0.024747,-0.124178,0.991951]] 2025-10-29T00:17:12.213Z,1761697032.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947121,-0.320487,-0.015827],[0.319896,0.939216,0.124659],[-0.025086,-0.123130,0.992073]] 2025-10-29T00:17:12.629Z,1761697032.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946758,-0.321563,-0.015680],[0.320937,0.938825,0.124928],[-0.025451,-0.123308,0.992042]] 2025-10-29T00:17:13.015Z,1761697033.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946295,-0.322931,-0.015548],[0.322278,0.938368,0.124908],[-0.025747,-0.123211,0.992046]] 2025-10-29T00:17:13.419Z,1761697033.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945781,-0.324434,-0.015497],[0.323754,0.937819,0.125216],[-0.026091,-0.123444,0.992009]] 2025-10-29T00:17:13.829Z,1761697033.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945444,-0.325399,-0.015874],[0.324713,0.937260,0.126903],[-0.026416,-0.125134,0.991788]] 2025-10-29T00:17:14.226Z,1761697034.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945218,-0.326060,-0.015764],[0.325361,0.937064,0.126692],[-0.026537,-0.124881,0.991817]] 2025-10-29T00:17:14.635Z,1761697034.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944843,-0.327151,-0.015637],[0.326428,0.936700,0.126643],[-0.026785,-0.124762,0.991825]] 2025-10-29T00:17:15.039Z,1761697035.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944678,-0.327624,-0.015699],[0.326897,0.936501,0.126905],[-0.026875,-0.125017,0.991791]] 2025-10-29T00:17:15.443Z,1761697035.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944697,-0.327573,-0.015600],[0.326814,0.936430,0.127635],[-0.027201,-0.125675,0.991699]] 2025-10-29T00:17:15.847Z,1761697035.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944835,-0.327169,-0.015698],[0.326417,0.936524,0.127966],[-0.027165,-0.126031,0.991654]] 2025-10-29T00:17:16.250Z,1761697036.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944734,-0.327469,-0.015553],[0.326694,0.936416,0.128045],[-0.027367,-0.126050,0.991646]] 2025-10-29T00:17:16.656Z,1761697036.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944901,-0.326992,-0.015437],[0.326185,0.936489,0.128810],[-0.027663,-0.126748,0.991549]] 2025-10-29T00:17:17.060Z,1761697037.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944956,-0.326830,-0.015517],[0.326020,0.936473,0.129342],[-0.027742,-0.127281,0.991479]] 2025-10-29T00:17:17.464Z,1761697037.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945112,-0.326380,-0.015485],[0.325548,0.936531,0.130108],[-0.027962,-0.128008,0.991379]] 2025-10-29T00:17:17.866Z,1761697037.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945141,-0.326303,-0.015313],[0.325434,0.936490,0.130690],[-0.028304,-0.128503,0.991305]] 2025-10-29T00:17:18.271Z,1761697038.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944905,-0.326987,-0.015308],[0.326113,0.936266,0.130603],[-0.028373,-0.128399,0.991317]] 2025-10-29T00:17:18.677Z,1761697038.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944842,-0.327182,-0.015009],[0.326261,0.936179,0.130852],[-0.028761,-0.128531,0.991288]] 2025-10-29T00:17:19.083Z,1761697039.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944462,-0.328295,-0.014627],[0.327328,0.935870,0.130399],[-0.029120,-0.127945,0.991354]] 2025-10-29T00:17:19.483Z,1761697039.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943990,-0.329657,-0.014449],[0.328676,0.935498,0.129675],[-0.029232,-0.127161,0.991451]] 2025-10-29T00:17:19.886Z,1761697039.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943432,-0.331263,-0.014177],[0.330258,0.935058,0.128827],[-0.029419,-0.126222,0.991566]] 2025-10-29T00:17:20.292Z,1761697040.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942854,-0.332903,-0.014211],[0.331908,0.934564,0.128165],[-0.029386,-0.125558,0.991651]] 2025-10-29T00:17:20.732Z,1761697040.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941443,-0.336868,-0.014299],[0.335889,0.933323,0.126830],[-0.029379,-0.124207,0.991821]] 2025-10-29T00:17:21.503Z,1761697041.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940722,-0.338858,-0.014764],[0.337907,0.932537,0.127257],[-0.029354,-0.124702,0.991760]] 2025-10-29T00:17:21.645Z,1761697041.645 [CTD_Seabird](ERROR): Failed to parse device response: .52 2025-10-29T00:17:21.906Z,1761697041.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939929,-0.341036,-0.015066],[0.340119,0.931804,0.126730],[-0.029181,-0.124241,0.991823]] 2025-10-29T00:17:22.321Z,1761697042.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938804,-0.344100,-0.015585],[0.343222,0.930672,0.126682],[-0.029086,-0.124278,0.991821]] 2025-10-29T00:17:23.125Z,1761697043.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937901,-0.346519,-0.016340],[0.345677,0.929590,0.127947],[-0.029146,-0.125650,0.991646]] 2025-10-29T00:17:23.527Z,1761697043.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937721,-0.346986,-0.016737],[0.346170,0.929312,0.128629],[-0.029079,-0.126412,0.991551]] 2025-10-29T00:17:23.933Z,1761697043.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937627,-0.347219,-0.017152],[0.346426,0.929085,0.129577],[-0.029056,-0.127437,0.991421]] 2025-10-29T00:17:24.018Z,1761697044.018 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:17:24.334Z,1761697044.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937656,-0.347120,-0.017554],[0.346348,0.928961,0.130673],[-0.029052,-0.128607,0.991270]] 2025-10-29T00:17:24.736Z,1761697044.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937945,-0.346294,-0.018433],[0.345579,0.928937,0.132860],[-0.028886,-0.130986,0.990963]] 2025-10-29T00:17:25.022Z,1761697045.022 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:17:25.139Z,1761697045.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938421,-0.344992,-0.018605],[0.344277,0.929247,0.134061],[-0.028961,-0.132211,0.990799]] 2025-10-29T00:17:25.544Z,1761697045.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938832,-0.343855,-0.018940],[0.343150,0.929438,0.135621],[-0.029031,-0.133825,0.990580]] 2025-10-29T00:17:25.947Z,1761697045.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939317,-0.342508,-0.019276],[0.341813,0.929681,0.137323],[-0.029114,-0.135579,0.990339]] 2025-10-29T00:17:26.351Z,1761697046.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939930,-0.340819,-0.019346],[0.340111,0.930107,0.138654],[-0.029262,-0.136905,0.990152]] 2025-10-29T00:17:26.761Z,1761697046.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940435,-0.339408,-0.019623],[0.338709,0.930395,0.140149],[-0.029311,-0.138448,0.989936]] 2025-10-29T00:17:27.161Z,1761697047.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940978,-0.337878,-0.019965],[0.337202,0.930731,0.141541],[-0.029242,-0.139920,0.989731]] 2025-10-29T00:17:27.563Z,1761697047.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941262,-0.337090,-0.019917],[0.336434,0.931107,0.140898],[-0.028951,-0.139323,0.989824]] 2025-10-29T00:17:27.967Z,1761697047.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941401,-0.336692,-0.020082],[0.336070,0.931273,0.140668],[-0.028660,-0.139174,0.989853]] 2025-10-29T00:17:28.370Z,1761697048.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941315,-0.336913,-0.020363],[0.336345,0.931263,0.140075],[-0.028230,-0.138704,0.989931]] 2025-10-29T00:17:28.779Z,1761697048.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941176,-0.337272,-0.020852],[0.336768,0.931108,0.140090],[-0.027832,-0.138871,0.989919]] 2025-10-29T00:17:29.180Z,1761697049.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940854,-0.338146,-0.021235],[0.337695,0.930825,0.139739],[-0.027486,-0.138645,0.989961]] 2025-10-29T00:17:29.589Z,1761697049.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940573,-0.338889,-0.021844],[0.338521,0.930556,0.139534],[-0.026959,-0.138636,0.989976]] 2025-10-29T00:17:29.986Z,1761697049.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940274,-0.339659,-0.022730],[0.339401,0.930212,0.139686],[-0.026301,-0.139058,0.989935]] 2025-10-29T00:17:30.392Z,1761697050.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939844,-0.340802,-0.023389],[0.340626,0.929782,0.139570],[-0.025819,-0.139141,0.989936]] 2025-10-29T00:17:31.199Z,1761697051.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938824,-0.343469,-0.025258],[0.343530,0.928743,0.139370],[-0.024411,-0.139520,0.989918]] 2025-10-29T00:17:31.603Z,1761697051.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938316,-0.344753,-0.026622],[0.344982,0.928145,0.139765],[-0.023475,-0.140328,0.989827]] 2025-10-29T00:17:32.007Z,1761697052.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937705,-0.346324,-0.027720],[0.346696,0.927550,0.139472],[-0.022591,-0.140394,0.989838]] 2025-10-29T00:17:32.416Z,1761697052.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937204,-0.347603,-0.028663],[0.348098,0.927052,0.139295],[-0.021848,-0.140526,0.989836]] 2025-10-29T00:17:32.814Z,1761697052.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936895,-0.348348,-0.029679],[0.348975,0.926705,0.139408],[-0.021059,-0.140967,0.989790]] 2025-10-29T00:17:33.218Z,1761697053.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936700,-0.348755,-0.031037],[0.349544,0.926298,0.140684],[-0.020315,-0.142627,0.989568]] 2025-10-29T00:17:33.622Z,1761697053.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936484,-0.349230,-0.032175],[0.350172,0.926033,0.140860],[-0.019398,-0.143180,0.989507]] 2025-10-29T00:17:34.027Z,1761697054.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936325,-0.349596,-0.032845],[0.350643,0.925961,0.140165],[-0.018587,-0.142757,0.989583]] 2025-10-29T00:17:34.433Z,1761697054.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936248,-0.349748,-0.033404],[0.350880,0.925928,0.139791],[-0.017962,-0.142599,0.989617]] 2025-10-29T00:17:34.834Z,1761697054.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936253,-0.349679,-0.033978],[0.350901,0.925984,0.139363],[-0.017269,-0.142403,0.989658]] 2025-10-29T00:17:35.238Z,1761697055.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936272,-0.349559,-0.034694],[0.350890,0.926037,0.139041],[-0.016475,-0.142354,0.989679]] 2025-10-29T00:17:35.644Z,1761697055.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936549,-0.348720,-0.035651],[0.350187,0.926210,0.139658],[-0.015681,-0.143281,0.989558]] 2025-10-29T00:17:36.046Z,1761697056.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936923,-0.347620,-0.036551],[0.349214,0.926446,0.140522],[-0.014986,-0.144422,0.989403]] 2025-10-29T00:17:36.450Z,1761697056.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937307,-0.346486,-0.037465],[0.348211,0.926663,0.141582],[-0.014339,-0.145751,0.989217]] 2025-10-29T00:17:36.854Z,1761697056.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937860,-0.344925,-0.038027],[0.346739,0.927097,0.142349],[-0.013845,-0.146688,0.989086]] 2025-10-29T00:17:37.259Z,1761697057.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938305,-0.343611,-0.038924],[0.345558,0.927378,0.143390],[-0.013173,-0.147994,0.988900]] 2025-10-29T00:17:37.664Z,1761697057.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938540,-0.342879,-0.039716],[0.344953,0.927619,0.143285],[-0.012288,-0.148179,0.988884]] 2025-10-29T00:17:38.074Z,1761697058.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938717,-0.342325,-0.040293],[0.344494,0.927840,0.142954],[-0.011551,-0.148074,0.988909]] 2025-10-29T00:17:38.471Z,1761697058.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938574,-0.342642,-0.040935],[0.344909,0.927769,0.142416],[-0.010819,-0.147787,0.988960]] 2025-10-29T00:17:38.875Z,1761697058.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938865,-0.341752,-0.041698],[0.344137,0.927977,0.142931],[-0.010152,-0.148543,0.988854]] 2025-10-29T00:17:39.282Z,1761697059.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938767,-0.342044,-0.041489],[0.344417,0.928206,0.140749],[-0.009632,-0.146420,0.989176]] 2025-10-29T00:17:39.682Z,1761697059.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938806,-0.341865,-0.042095],[0.344325,0.928184,0.141117],[-0.009171,-0.146975,0.989098]] 2025-10-29T00:17:40.088Z,1761697060.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938673,-0.342143,-0.042781],[0.344706,0.928127,0.140563],[-0.008387,-0.146690,0.989147]] 2025-10-29T00:17:40.492Z,1761697060.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938391,-0.342850,-0.043305],[0.345488,0.927965,0.139713],[-0.007715,-0.146066,0.989245]] 2025-10-29T00:17:40.896Z,1761697060.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938192,-0.343318,-0.043922],[0.346043,0.927794,0.139475],[-0.007134,-0.146053,0.989251]] 2025-10-29T00:17:41.308Z,1761697061.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937923,-0.343951,-0.044697],[0.346786,0.927611,0.138843],[-0.006294,-0.145724,0.989305]] 2025-10-29T00:17:41.702Z,1761697061.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937798,-0.344212,-0.045307],[0.347135,0.927531,0.138506],[-0.005652,-0.145619,0.989325]] 2025-10-29T00:17:42.107Z,1761697062.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937694,-0.344390,-0.046112],[0.347429,0.927460,0.138243],[-0.004843,-0.145650,0.989324]] 2025-10-29T00:17:42.512Z,1761697062.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937451,-0.344974,-0.046674],[0.348094,0.927405,0.136931],[-0.003952,-0.144613,0.989480]] 2025-10-29T00:17:42.914Z,1761697062.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937324,-0.345208,-0.047485],[0.348445,0.927311,0.136679],[-0.003150,-0.144658,0.989477]] 2025-10-29T00:17:43.336Z,1761697063.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937187,-0.345485,-0.048170],[0.348819,0.927209,0.136416],[-0.002466,-0.144650,0.989480]] 2025-10-29T00:17:43.723Z,1761697063.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937056,-0.345778,-0.048617],[0.349173,0.927151,0.135900],[-0.001916,-0.144322,0.989529]] 2025-10-29T00:17:44.130Z,1761697064.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937134,-0.345432,-0.049563],[0.348968,0.927154,0.136405],[-0.001166,-0.145126,0.989412]] 2025-10-29T00:17:44.533Z,1761697064.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937227,-0.345080,-0.050244],[0.348719,0.927272,0.136243],[-0.000425,-0.145212,0.989401]] 2025-10-29T00:17:44.934Z,1761697064.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937402,-0.344458,-0.051255],[0.348250,0.927301,0.137241],[0.000255,-0.146499,0.989211]] 2025-10-29T00:17:45.363Z,1761697065.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937683,-0.343584,-0.051976],[0.347492,0.927523,0.137663],[0.000910,-0.147145,0.989114]] 2025-10-29T00:17:45.750Z,1761697065.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938095,-0.342351,-0.052666],[0.346375,0.927823,0.138448],[0.001467,-0.148119,0.988968]] 2025-10-29T00:17:46.150Z,1761697066.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938445,-0.341269,-0.053446],[0.345422,0.928072,0.139161],[0.002110,-0.149056,0.988827]] 2025-10-29T00:17:46.563Z,1761697066.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938880,-0.339903,-0.054495],[0.344233,0.928281,0.140707],[0.002760,-0.150866,0.988550]] 2025-10-29T00:17:46.954Z,1761697066.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939095,-0.339196,-0.055194],[0.343640,0.928469,0.140917],[0.003448,-0.151301,0.988482]] 2025-10-29T00:17:47.388Z,1761697067.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939240,-0.338769,-0.055354],[0.343242,0.928618,0.140900],[0.003670,-0.151339,0.988475]] 2025-10-29T00:17:47.771Z,1761697067.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939531,-0.337966,-0.055325],[0.342442,0.928986,0.140426],[0.003937,-0.150881,0.988544]] 2025-10-29T00:17:48.167Z,1761697068.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939711,-0.337454,-0.055396],[0.341940,0.929398,0.138909],[0.004610,-0.149476,0.988755]] 2025-10-29T00:17:48.572Z,1761697068.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939802,-0.337122,-0.055857],[0.341678,0.929564,0.138446],[0.005250,-0.149197,0.988794]] 2025-10-29T00:17:48.976Z,1761697068.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940013,-0.336461,-0.056299],[0.341090,0.929782,0.138430],[0.005770,-0.149329,0.988771]] 2025-10-29T00:17:49.417Z,1761697069.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940115,-0.336099,-0.056758],[0.340800,0.929911,0.138275],[0.006306,-0.149338,0.988766]] 2025-10-29T00:17:49.788Z,1761697069.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940193,-0.335759,-0.057478],[0.340568,0.930040,0.137981],[0.007129,-0.149304,0.988766]] 2025-10-29T00:17:50.187Z,1761697070.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940335,-0.335336,-0.057613],[0.340161,0.930377,0.136706],[0.007759,-0.148148,0.988935]] 2025-10-29T00:17:50.591Z,1761697070.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940198,-0.335678,-0.057867],[0.340528,0.930393,0.135685],[0.008293,-0.147276,0.989061]] 2025-10-29T00:17:50.995Z,1761697070.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940321,-0.335258,-0.058294],[0.340176,0.930515,0.135725],[0.008741,-0.147455,0.989030]] 2025-10-29T00:17:51.443Z,1761697071.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940336,-0.335190,-0.058450],[0.340117,0.930776,0.134076],[0.009463,-0.145956,0.989246]] 2025-10-29T00:17:51.802Z,1761697071.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940177,-0.335506,-0.059191],[0.340537,0.930631,0.134019],[0.010121,-0.146158,0.989209]] 2025-10-29T00:17:52.206Z,1761697072.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940241,-0.335223,-0.059776],[0.340343,0.930687,0.134118],[0.010673,-0.146447,0.989161]] 2025-10-29T00:17:52.616Z,1761697072.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940347,-0.334842,-0.060234],[0.340035,0.930778,0.134269],[0.011105,-0.146741,0.989113]] 2025-10-29T00:17:53.015Z,1761697073.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940528,-0.334246,-0.060718],[0.339515,0.930980,0.134186],[0.011676,-0.146821,0.989094]] 2025-10-29T00:17:53.453Z,1761697073.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940562,-0.334082,-0.061096],[0.339409,0.931022,0.134165],[0.012060,-0.146927,0.989074]] 2025-10-29T00:17:53.823Z,1761697073.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940697,-0.333629,-0.061486],[0.339022,0.931117,0.134485],[0.012382,-0.147354,0.989006]] 2025-10-29T00:17:54.230Z,1761697074.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940781,-0.333321,-0.061882],[0.338774,0.931208,0.134478],[0.012800,-0.147479,0.988982]] 2025-10-29T00:17:54.631Z,1761697074.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940755,-0.333351,-0.062112],[0.338835,0.931229,0.134179],[0.013112,-0.147275,0.989009]] 2025-10-29T00:17:55.042Z,1761697075.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941002,-0.332590,-0.062448],[0.338133,0.931465,0.134309],[0.013498,-0.147501,0.988970]] 2025-10-29T00:17:55.173Z,1761697075.173 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:17:55.451Z,1761697075.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941270,-0.331740,-0.062928],[0.337364,0.931718,0.134485],[0.014017,-0.147816,0.988916]] 2025-10-29T00:17:55.847Z,1761697075.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941333,-0.331441,-0.063550],[0.337171,0.931684,0.135203],[0.014397,-0.148698,0.988778]] 2025-10-29T00:17:56.176Z,1761697076.176 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:17:56.246Z,1761697076.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941543,-0.330744,-0.064065],[0.336565,0.931837,0.135659],[0.014830,-0.149291,0.988682]] 2025-10-29T00:17:56.650Z,1761697076.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941428,-0.330978,-0.064552],[0.336861,0.931808,0.135124],[0.015427,-0.148955,0.988724]] 2025-10-29T00:17:57.057Z,1761697077.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941106,-0.331864,-0.064691],[0.337743,0.931638,0.134090],[0.015769,-0.148042,0.988855]] 2025-10-29T00:17:57.465Z,1761697077.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940915,-0.332329,-0.065081],[0.338251,0.931537,0.133510],[0.016256,-0.147635,0.988908]] 2025-10-29T00:17:57.862Z,1761697077.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940609,-0.333251,-0.064797],[0.339101,0.931412,0.132219],[0.016291,-0.146339,0.989100]] 2025-10-29T00:17:58.266Z,1761697078.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940237,-0.334241,-0.065089],[0.340111,0.931153,0.131447],[0.016673,-0.145729,0.989184]] 2025-10-29T00:17:58.303Z,1761697078.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:17:58.497Z,1761697078.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:17:58.498Z,1761697078.498 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:17:58.670Z,1761697078.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939942,-0.335014,-0.065379],[0.340907,0.930965,0.130716],[0.017074,-0.145154,0.989262]] 2025-10-29T00:17:58.746Z,1761697078.746 [DAT](INFO): DAT read: user:364> 2025-10-29T00:17:58.747Z,1761697078.747 [DAT](INFO): DAT read: Tx time:00:17:58.4783 2025-10-29T00:17:58.747Z,1761697078.747 [DAT](INFO): Ping request sent. 2025-10-29T00:17:58.747Z,1761697078.747 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:17:58.748Z,1761697078.748 [DAT](INFO): publishing transmit ping time 2025-10-29T00:17:58.749Z,1761697078.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141 2025-10-29T00:17:58.997Z,1761697078.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249561 2025-10-29T00:17:59.075Z,1761697079.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939716,-0.335611,-0.065574],[0.341516,0.930824,0.130128],[0.017365,-0.144678,0.989326]] 2025-10-29T00:17:59.249Z,1761697079.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501578 2025-10-29T00:17:59.478Z,1761697079.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939359,-0.336580,-0.065719],[0.342483,0.930581,0.129322],[0.017629,-0.143987,0.989423]] 2025-10-29T00:17:59.504Z,1761697079.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756184 2025-10-29T00:17:59.753Z,1761697079.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006033 2025-10-29T00:17:59.886Z,1761697079.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939318,-0.336647,-0.065961],[0.342589,0.930505,0.129586],[0.017753,-0.144320,0.989372]] 2025-10-29T00:18:00.005Z,1761697080.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257635 2025-10-29T00:18:00.257Z,1761697080.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509598 2025-10-29T00:18:00.286Z,1761697080.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939391,-0.336344,-0.066464],[0.342364,0.930567,0.129736],[0.018213,-0.144628,0.989318]] 2025-10-29T00:18:00.510Z,1761697080.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762495 2025-10-29T00:18:00.691Z,1761697080.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939798,-0.335030,-0.067343],[0.341229,0.930697,0.131779],[0.018526,-0.146824,0.988989]] 2025-10-29T00:18:00.762Z,1761697080.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014376 2025-10-29T00:18:01.014Z,1761697081.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266517 2025-10-29T00:18:01.098Z,1761697081.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940032,-0.334261,-0.067895],[0.340562,0.930843,0.132474],[0.018919,-0.147652,0.988858]] 2025-10-29T00:18:01.265Z,1761697081.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517524 2025-10-29T00:18:01.500Z,1761697081.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940461,-0.332931,-0.068490],[0.339359,0.931086,0.133842],[0.019210,-0.149116,0.988633]] 2025-10-29T00:18:01.519Z,1761697081.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771269 2025-10-29T00:18:01.770Z,1761697081.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021986 2025-10-29T00:18:01.902Z,1761697081.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941091,-0.331009,-0.069146],[0.337593,0.931455,0.135727],[0.019479,-0.151075,0.988330]] 2025-10-29T00:18:02.022Z,1761697082.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274590 2025-10-29T00:18:02.273Z,1761697082.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525560 2025-10-29T00:18:02.306Z,1761697082.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941740,-0.329050,-0.069648],[0.335756,0.931929,0.137024],[0.019819,-0.152426,0.988116]] 2025-10-29T00:18:02.525Z,1761697082.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777831 2025-10-29T00:18:02.711Z,1761697082.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942467,-0.326873,-0.070074],[0.333697,0.932447,0.138525],[0.020060,-0.153938,0.987877]] 2025-10-29T00:18:02.777Z,1761697082.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029615 2025-10-29T00:18:03.030Z,1761697083.030 [DAT](INFO): DAT read: Rx Time:00:18:02.2308 2025-10-29T00:18:03.030Z,1761697083.030 [DAT](INFO): Rx dataTimestamp_ set to:1761697083.030172 2025-10-29T00:18:03.032Z,1761697083.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283989 2025-10-29T00:18:03.126Z,1761697083.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943126,-0.324857,-0.070575],[0.331800,0.932979,0.139496],[0.020528,-0.154979,0.987704]] 2025-10-29T00:18:03.281Z,1761697083.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533612 2025-10-29T00:18:03.527Z,1761697083.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943766,-0.322925,-0.070886],[0.329963,0.933449,0.140705],[0.020732,-0.156183,0.987511]] 2025-10-29T00:18:03.540Z,1761697083.540 [DAT](INFO): DAT read: 00:18:02.2308 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 476,-0.42, 2.782, 1.179, 2.805, 2.531, PHS= 0.353,-1.307, 0.230, RAW= 146.2, 9.1, CAL= 145.8, 9.9, ROT= 4.2, -9.9 2025-10-29T00:18:03.541Z,1761697083.541 [DAT](INFO): got valid direction response: 00:18:02.2308 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 476,-0.42, 2.782, 1.179, 2.805, 2.531, PHS= 0.353,-1.307, 0.230, RAW= 146.2, 9.1, CAL= 145.8, 9.9, ROT= 4.2, -9.9 2025-10-29T00:18:03.542Z,1761697083.542 [DAT](INFO): DAT read: Bearing 181.0, 3.7 (Local) 2025-10-29T00:18:03.543Z,1761697083.543 [DAT](INFO): Local bearing/azimuth received: Bearing 181.0, 3.7 (Local) 2025-10-29T00:18:03.572Z,1761697083.572 [DAT](INFO): DAT read: Range 11 to 50 : 1011.3 m (Round-trip 1348.4 ms) speed 0.7 m/s 2025-10-29T00:18:03.575Z,1761697083.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:18:03.582Z,1761697083.582 [DAT](INFO): direction in FSK: [0.982464,0.072148,0.171929] 2025-10-29T00:18:03.583Z,1761697083.583 [DAT](INFO): publishing direction and range info 2025-10-29T00:18:03.926Z,1761697083.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944305,-0.321372,-0.070761],[0.328373,0.934250,0.139098],[0.021406,-0.154587,0.987747]] 2025-10-29T00:18:04.327Z,1761697084.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944714,-0.320127,-0.070955],[0.327170,0.934678,0.139059],[0.021804,-0.154585,0.987739]] 2025-10-29T00:18:04.730Z,1761697084.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945187,-0.318735,-0.070920],[0.325791,0.935135,0.139222],[0.021945,-0.154696,0.987718]] 2025-10-29T00:18:05.138Z,1761697085.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945384,-0.318139,-0.070976],[0.325211,0.935334,0.139242],[0.022087,-0.154720,0.987711]] 2025-10-29T00:18:05.543Z,1761697085.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945647,-0.317342,-0.071030],[0.324437,0.935559,0.139534],[0.022173,-0.154995,0.987666]] 2025-10-29T00:18:05.942Z,1761697085.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945654,-0.317322,-0.071029],[0.324410,0.935615,0.139222],[0.022277,-0.154699,0.987710]] 2025-10-29T00:18:06.346Z,1761697086.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945589,-0.317387,-0.071596],[0.324563,0.935561,0.139229],[0.022793,-0.154891,0.987669]] 2025-10-29T00:18:06.757Z,1761697086.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945379,-0.317903,-0.072079],[0.325130,0.935482,0.138433],[0.023421,-0.154307,0.987745]] 2025-10-29T00:18:07.159Z,1761697087.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945203,-0.318336,-0.072483],[0.325613,0.935363,0.138103],[0.023835,-0.154137,0.987762]] 2025-10-29T00:18:07.559Z,1761697087.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944969,-0.318844,-0.073292],[0.326238,0.935160,0.138004],[0.024538,-0.154321,0.987716]] 2025-10-29T00:18:07.968Z,1761697087.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944667,-0.319547,-0.074121],[0.327055,0.934916,0.137725],[0.025287,-0.154346,0.987693]] 2025-10-29T00:18:08.374Z,1761697088.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944273,-0.320292,-0.075908],[0.328063,0.934590,0.137533],[0.026892,-0.154771,0.987584]] 2025-10-29T00:18:08.778Z,1761697088.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944112,-0.320504,-0.077003],[0.328443,0.934457,0.137534],[0.027876,-0.155139,0.987499]] 2025-10-29T00:18:09.187Z,1761697089.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944147,-0.320007,-0.078627],[0.328250,0.934294,0.139089],[0.028951,-0.157130,0.987153]] 2025-10-29T00:18:09.587Z,1761697089.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944151,-0.319768,-0.079540],[0.328155,0.934343,0.138988],[0.029873,-0.157327,0.987095]] 2025-10-29T00:18:09.984Z,1761697089.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944366,-0.318901,-0.080461],[0.327453,0.934542,0.139307],[0.030769,-0.157904,0.986975]] 2025-10-29T00:18:10.387Z,1761697090.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944608,-0.317940,-0.081428],[0.326670,0.934743,0.139796],[0.031667,-0.158652,0.986827]] 2025-10-29T00:18:10.793Z,1761697090.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944928,-0.316883,-0.081824],[0.325676,0.935142,0.139444],[0.032330,-0.158412,0.986844]] 2025-10-29T00:18:11.195Z,1761697091.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945307,-0.315625,-0.082314],[0.324498,0.935596,0.139144],[0.033095,-0.158245,0.986845]] 2025-10-29T00:18:11.599Z,1761697091.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945785,-0.314042,-0.082874],[0.323043,0.936004,0.139783],[0.033673,-0.158976,0.986708]] 2025-10-29T00:18:12.010Z,1761697092.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946304,-0.312324,-0.083438],[0.321444,0.936509,0.140089],[0.034387,-0.159387,0.986617]] 2025-10-29T00:18:12.407Z,1761697092.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946695,-0.311114,-0.083528],[0.320220,0.937096,0.138960],[0.035041,-0.158300,0.986769]] 2025-10-29T00:18:12.812Z,1761697092.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947300,-0.309242,-0.083620],[0.318393,0.937672,0.139276],[0.035338,-0.158561,0.986717]] 2025-10-29T00:18:13.214Z,1761697093.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947853,-0.307438,-0.083999],[0.316693,0.938145,0.139962],[0.035773,-0.159265,0.986587]] 2025-10-29T00:18:13.619Z,1761697093.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948245,-0.306250,-0.083915],[0.315480,0.938648,0.139326],[0.036098,-0.158589,0.986685]] 2025-10-29T00:18:14.029Z,1761697094.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948587,-0.305266,-0.083643],[0.314412,0.939211,0.137942],[0.036449,-0.157148,0.986902]] 2025-10-29T00:18:14.426Z,1761697094.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948959,-0.304089,-0.083708],[0.313238,0.939678,0.137433],[0.036866,-0.156638,0.986968]] 2025-10-29T00:18:14.830Z,1761697094.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949389,-0.302744,-0.083701],[0.311907,0.940113,0.137486],[0.037066,-0.156635,0.986961]] 2025-10-29T00:18:15.243Z,1761697095.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949579,-0.302193,-0.083544],[0.311293,0.940487,0.136312],[0.037379,-0.155445,0.987137]] 2025-10-29T00:18:15.641Z,1761697095.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949789,-0.301526,-0.083564],[0.310626,0.940739,0.136094],[0.037576,-0.155217,0.987165]] 2025-10-29T00:18:16.042Z,1761697096.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949865,-0.301352,-0.083325],[0.310374,0.940985,0.134961],[0.037737,-0.154056,0.987341]] 2025-10-29T00:18:16.447Z,1761697096.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950030,-0.300780,-0.083510],[0.309831,0.941182,0.134837],[0.038042,-0.153973,0.987342]] 2025-10-29T00:18:16.852Z,1761697096.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950221,-0.300015,-0.084093],[0.309196,0.941271,0.135674],[0.038450,-0.154921,0.987178]] 2025-10-29T00:18:17.254Z,1761697097.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950166,-0.300085,-0.084463],[0.309299,0.941322,0.135079],[0.038972,-0.154472,0.987228]] 2025-10-29T00:18:17.659Z,1761697097.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950107,-0.300141,-0.084922],[0.309414,0.941329,0.134773],[0.039488,-0.154325,0.987231]] 2025-10-29T00:18:18.064Z,1761697098.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950143,-0.299732,-0.085961],[0.309234,0.941160,0.136350],[0.040035,-0.156134,0.986924]] 2025-10-29T00:18:18.467Z,1761697098.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950029,-0.299933,-0.086518],[0.309507,0.941119,0.136014],[0.040629,-0.155995,0.986922]] 2025-10-29T00:18:18.881Z,1761697098.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949998,-0.299932,-0.086857],[0.309542,0.941167,0.135604],[0.041074,-0.155709,0.986949]] 2025-10-29T00:18:19.275Z,1761697099.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950000,-0.299656,-0.087790],[0.309438,0.941121,0.136161],[0.041819,-0.156518,0.986789]] 2025-10-29T00:18:19.681Z,1761697099.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949893,-0.299734,-0.088668],[0.309682,0.940944,0.136824],[0.042421,-0.157427,0.986619]] 2025-10-29T00:18:20.082Z,1761697100.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949932,-0.299426,-0.089298],[0.309501,0.940923,0.137380],[0.042887,-0.158139,0.986485]] 2025-10-29T00:18:20.494Z,1761697100.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950058,-0.298856,-0.089856],[0.309056,0.940965,0.138089],[0.043283,-0.158963,0.986335]] 2025-10-29T00:18:20.913Z,1761697100.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950111,-0.298531,-0.090380],[0.308808,0.941079,0.137870],[0.043896,-0.158901,0.986318]] 2025-10-29T00:18:21.295Z,1761697101.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950108,-0.298457,-0.090650],[0.308766,0.941130,0.137618],[0.044241,-0.158741,0.986328]] 2025-10-29T00:18:21.699Z,1761697101.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950272,-0.297832,-0.090987],[0.308207,0.941295,0.137737],[0.044623,-0.158931,0.986281]] 2025-10-29T00:18:22.105Z,1761697102.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950423,-0.297223,-0.091403],[0.307672,0.941461,0.137800],[0.045095,-0.159091,0.986234]] 2025-10-29T00:18:22.514Z,1761697102.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950627,-0.296556,-0.091447],[0.307027,0.941647,0.137970],[0.045195,-0.159235,0.986206]] 2025-10-29T00:18:22.943Z,1761697102.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951004,-0.295328,-0.091501],[0.305839,0.941970,0.138402],[0.045317,-0.159605,0.986140]] 2025-10-29T00:18:23.315Z,1761697103.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951266,-0.294617,-0.091071],[0.304987,0.942497,0.136682],[0.045566,-0.157797,0.986420]] 2025-10-29T00:18:23.719Z,1761697103.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951610,-0.293648,-0.090609],[0.303906,0.942994,0.135657],[0.045608,-0.156629,0.986604]] 2025-10-29T00:18:24.124Z,1761697104.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952056,-0.292138,-0.090797],[0.302463,0.943384,0.136168],[0.045876,-0.157103,0.986516]] 2025-10-29T00:18:24.527Z,1761697104.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952496,-0.290740,-0.090677],[0.301103,0.943681,0.137124],[0.045702,-0.157913,0.986395]] 2025-10-29T00:18:24.965Z,1761697104.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952986,-0.289403,-0.089796],[0.299608,0.944256,0.136439],[0.045305,-0.156929,0.986570]] 2025-10-29T00:18:25.338Z,1761697105.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953467,-0.287945,-0.089382],[0.298098,0.944735,0.136430],[0.045158,-0.156726,0.986609]] 2025-10-29T00:18:25.771Z,1761697105.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953939,-0.286473,-0.089066],[0.296599,0.945176,0.136643],[0.045039,-0.156766,0.986608]] 2025-10-29T00:18:26.142Z,1761697106.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954268,-0.285530,-0.088571],[0.295567,0.945563,0.136199],[0.044861,-0.156149,0.986714]] 2025-10-29T00:18:26.308Z,1761697106.308 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:18:26.546Z,1761697106.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954593,-0.284556,-0.088208],[0.294545,0.945884,0.136186],[0.044682,-0.155983,0.986749]] 2025-10-29T00:18:26.994Z,1761697106.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954921,-0.283579,-0.087801],[0.293517,0.946190,0.136278],[0.044431,-0.155906,0.986772]] 2025-10-29T00:18:27.308Z,1761697107.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:18:27.362Z,1761697107.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955110,-0.283044,-0.087469],[0.292918,0.946430,0.135902],[0.044317,-0.155423,0.986853]] 2025-10-29T00:18:27.763Z,1761697107.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955221,-0.282853,-0.086870],[0.292615,0.946586,0.135467],[0.043913,-0.154821,0.986966]] 2025-10-29T00:18:28.162Z,1761697108.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955333,-0.282610,-0.086438],[0.292314,0.946659,0.135607],[0.043503,-0.154816,0.986985]] 2025-10-29T00:18:28.568Z,1761697108.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955427,-0.282459,-0.085887],[0.292051,0.946828,0.134988],[0.043192,-0.154055,0.987118]] 2025-10-29T00:18:29.015Z,1761697109.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955387,-0.282766,-0.085315],[0.292244,0.946845,0.134455],[0.042761,-0.153390,0.987240]] 2025-10-29T00:18:29.374Z,1761697109.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955407,-0.282687,-0.085353],[0.292214,0.946718,0.135409],[0.042527,-0.154312,0.987107]] 2025-10-29T00:18:29.782Z,1761697109.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955329,-0.282959,-0.085330],[0.292496,0.946575,0.135803],[0.042344,-0.154695,0.987054]] 2025-10-29T00:18:30.589Z,1761697110.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955514,-0.282294,-0.085454],[0.291890,0.946651,0.136575],[0.042341,-0.155443,0.986937]] 2025-10-29T00:18:31.034Z,1761697111.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955816,-0.281333,-0.085253],[0.290917,0.946912,0.136837],[0.042230,-0.155593,0.986918]] 2025-10-29T00:18:31.394Z,1761697111.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956138,-0.280264,-0.085166],[0.289856,0.947200,0.137096],[0.042247,-0.155769,0.986890]] 2025-10-29T00:18:31.799Z,1761697111.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956617,-0.278633,-0.085136],[0.288265,0.947584,0.137799],[0.042278,-0.156362,0.986795]] 2025-10-29T00:18:32.205Z,1761697112.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957060,-0.277112,-0.085120],[0.286783,0.947944,0.138409],[0.042335,-0.156877,0.986710]] 2025-10-29T00:18:32.606Z,1761697112.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957553,-0.275523,-0.084733],[0.285176,0.948331,0.139077],[0.042036,-0.157337,0.986650]] 2025-10-29T00:18:33.025Z,1761697113.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958063,-0.273836,-0.084432],[0.283484,0.948750,0.139677],[0.041856,-0.157755,0.986591]] 2025-10-29T00:18:33.414Z,1761697113.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958520,-0.272347,-0.084063],[0.281929,0.949288,0.139172],[0.041897,-0.157099,0.986694]] 2025-10-29T00:18:33.820Z,1761697113.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958852,-0.271341,-0.083531],[0.280848,0.949613,0.139137],[0.041568,-0.156871,0.986744]] 2025-10-29T00:18:34.222Z,1761697114.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959302,-0.269870,-0.083128],[0.279332,0.950043,0.139257],[0.041393,-0.156810,0.986761]] 2025-10-29T00:18:34.626Z,1761697114.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959691,-0.268611,-0.082709],[0.278021,0.950423,0.139287],[0.041195,-0.156668,0.986792]] 2025-10-29T00:18:35.035Z,1761697115.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960102,-0.267278,-0.082260],[0.276659,0.950717,0.139990],[0.040789,-0.157162,0.986730]] 2025-10-29T00:18:35.436Z,1761697115.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960377,-0.266482,-0.081630],[0.275771,0.950979,0.139961],[0.040331,-0.156926,0.986786]] 2025-10-29T00:18:35.840Z,1761697115.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960460,-0.266285,-0.081293],[0.275505,0.951121,0.139520],[0.040168,-0.156400,0.986877]] 2025-10-29T00:18:36.242Z,1761697116.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960415,-0.266560,-0.080922],[0.275688,0.951177,0.138771],[0.039981,-0.155587,0.987013]] 2025-10-29T00:18:36.646Z,1761697116.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960426,-0.266672,-0.080422],[0.275697,0.951266,0.138149],[0.039663,-0.154854,0.987141]] 2025-10-29T00:18:37.051Z,1761697117.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960189,-0.267619,-0.080109],[0.276552,0.951139,0.137306],[0.039449,-0.153994,0.987284]] 2025-10-29T00:18:37.464Z,1761697117.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960132,-0.267917,-0.079789],[0.276777,0.951148,0.136793],[0.039243,-0.153423,0.987381]] 2025-10-29T00:18:37.859Z,1761697117.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960094,-0.268054,-0.079788],[0.276934,0.951024,0.137332],[0.039067,-0.153948,0.987306]] 2025-10-29T00:18:38.263Z,1761697118.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960093,-0.267977,-0.080064],[0.276928,0.950926,0.138023],[0.039148,-0.154687,0.987188]] 2025-10-29T00:18:38.667Z,1761697118.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960137,-0.267693,-0.080479],[0.276762,0.950790,0.139287],[0.039232,-0.156008,0.986976]] 2025-10-29T00:18:39.071Z,1761697119.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960324,-0.267011,-0.080519],[0.276096,0.950970,0.139381],[0.039355,-0.156082,0.986960]] 2025-10-29T00:18:39.482Z,1761697119.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960484,-0.266529,-0.080205],[0.275590,0.951042,0.139888],[0.038994,-0.156464,0.986914]] 2025-10-29T00:18:39.878Z,1761697119.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960704,-0.265878,-0.079727],[0.274883,0.951199,0.140213],[0.038556,-0.156619,0.986906]] 2025-10-29T00:18:40.282Z,1761697120.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961058,-0.264892,-0.078733],[0.273748,0.951539,0.140129],[0.037798,-0.156225,0.986998]] 2025-10-29T00:18:40.688Z,1761697120.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961341,-0.264164,-0.077725],[0.272863,0.951818,0.139958],[0.037008,-0.155756,0.987102]] 2025-10-29T00:18:41.091Z,1761697121.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961694,-0.263146,-0.076805],[0.271773,0.951882,0.141635],[0.035839,-0.157083,0.986935]] 2025-10-29T00:18:41.495Z,1761697121.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962193,-0.261671,-0.075590],[0.270119,0.952362,0.141572],[0.034944,-0.156638,0.987038]] 2025-10-29T00:18:41.900Z,1761697121.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962537,-0.260836,-0.074082],[0.269031,0.952778,0.140843],[0.033846,-0.155497,0.987256]] 2025-10-29T00:18:42.302Z,1761697122.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963012,-0.259380,-0.073007],[0.267434,0.953180,0.141162],[0.032974,-0.155465,0.987291]] 2025-10-29T00:18:42.707Z,1761697122.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963396,-0.258321,-0.071685],[0.266165,0.953607,0.140679],[0.032019,-0.154610,0.987457]] 2025-10-29T00:18:43.514Z,1761697123.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964181,-0.255948,-0.069606],[0.263513,0.954251,0.141302],[0.030256,-0.154583,0.987516]] 2025-10-29T00:18:43.918Z,1761697123.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964657,-0.254498,-0.068318],[0.261892,0.954628,0.141767],[0.029139,-0.154649,0.987540]] 2025-10-29T00:18:44.323Z,1761697124.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965104,-0.253120,-0.067118],[0.260351,0.955010,0.142034],[0.028146,-0.154552,0.987584]] 2025-10-29T00:18:44.728Z,1761697124.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965643,-0.251330,-0.066084],[0.258438,0.955427,0.142718],[0.027269,-0.154893,0.987555]] 2025-10-29T00:18:45.131Z,1761697125.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965919,-0.250565,-0.064939],[0.257502,0.955686,0.142679],[0.026311,-0.154538,0.987636]] 2025-10-29T00:18:45.535Z,1761697125.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966200,-0.249851,-0.063492],[0.256570,0.955955,0.142558],[0.025077,-0.154030,0.987748]] 2025-10-29T00:18:45.943Z,1761697125.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966363,-0.249578,-0.062076],[0.256071,0.956151,0.142137],[0.023879,-0.153252,0.987899]] 2025-10-29T00:18:46.343Z,1761697126.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966410,-0.249753,-0.060615],[0.255991,0.956367,0.140820],[0.022800,-0.151607,0.988178]] 2025-10-29T00:18:46.752Z,1761697126.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966344,-0.250280,-0.059500],[0.256318,0.956442,0.139714],[0.021941,-0.150263,0.988403]] 2025-10-29T00:18:47.151Z,1761697127.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966269,-0.250829,-0.058385],[0.256678,0.956456,0.138958],[0.020988,-0.149257,0.988576]] 2025-10-29T00:18:47.555Z,1761697127.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966188,-0.251447,-0.057060],[0.257083,0.956412,0.138507],[0.019745,-0.148492,0.988716]] 2025-10-29T00:18:47.967Z,1761697127.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966122,-0.251992,-0.055755],[0.257421,0.956382,0.138089],[0.018526,-0.147764,0.988849]] 2025-10-29T00:18:48.363Z,1761697128.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966098,-0.252326,-0.054645],[0.257584,0.956364,0.137904],[0.017464,-0.147305,0.988937]] 2025-10-29T00:18:48.771Z,1761697128.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965854,-0.253367,-0.054139],[0.258541,0.956093,0.137992],[0.016800,-0.147277,0.988953]] 2025-10-29T00:18:49.171Z,1761697129.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965650,-0.254300,-0.053399],[0.259349,0.955931,0.137601],[0.016054,-0.146724,0.989047]] 2025-10-29T00:18:49.576Z,1761697129.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965605,-0.254612,-0.052716],[0.259560,0.955863,0.137678],[0.015335,-0.146626,0.989073]] 2025-10-29T00:18:49.979Z,1761697129.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965443,-0.255399,-0.051877],[0.260206,0.955785,0.136995],[0.014595,-0.145759,0.989212]] 2025-10-29T00:18:50.383Z,1761697130.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965427,-0.255633,-0.051013],[0.260315,0.955710,0.137310],[0.013653,-0.145842,0.989214]] 2025-10-29T00:18:50.800Z,1761697130.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965424,-0.255801,-0.050218],[0.260369,0.955661,0.137554],[0.012805,-0.145873,0.989220]] 2025-10-29T00:18:51.192Z,1761697131.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965537,-0.255499,-0.049589],[0.259987,0.955659,0.138281],[0.012059,-0.146408,0.989151]] 2025-10-29T00:18:51.596Z,1761697131.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965668,-0.255113,-0.049010],[0.259531,0.955655,0.139168],[0.011333,-0.147109,0.989055]] 2025-10-29T00:18:51.998Z,1761697131.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965936,-0.254090,-0.049056],[0.258560,0.955465,0.142242],[0.010729,-0.150080,0.988616]] 2025-10-29T00:18:52.403Z,1761697132.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966253,-0.253064,-0.048096],[0.257405,0.955712,0.142681],[0.009858,-0.150246,0.988599]] 2025-10-29T00:18:52.808Z,1761697132.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966605,-0.251868,-0.047292],[0.256107,0.955971,0.143279],[0.009122,-0.150606,0.988552]] 2025-10-29T00:18:53.214Z,1761697133.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966988,-0.250537,-0.046529],[0.254677,0.956337,0.143382],[0.008575,-0.150499,0.988573]] 2025-10-29T00:18:53.620Z,1761697133.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967696,-0.248133,-0.044664],[0.252026,0.956901,0.144306],[0.006932,-0.150901,0.988525]] 2025-10-29T00:18:54.031Z,1761697134.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968056,-0.246931,-0.043496],[0.250664,0.957194,0.144730],[0.005896,-0.151009,0.988515]] 2025-10-29T00:18:54.438Z,1761697134.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968313,-0.246089,-0.042540],[0.249686,0.957465,0.144628],[0.005140,-0.150667,0.988571]] 2025-10-29T00:18:54.831Z,1761697134.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968573,-0.245229,-0.041579],[0.248692,0.957702,0.144771],[0.004318,-0.150562,0.988591]] 2025-10-29T00:18:55.234Z,1761697135.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968758,-0.244620,-0.040839],[0.247977,0.957950,0.144357],[0.003810,-0.149974,0.988683]] 2025-10-29T00:18:55.635Z,1761697135.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968868,-0.244303,-0.040131],[0.247555,0.958125,0.143923],[0.003289,-0.149377,0.988775]] 2025-10-29T00:18:56.046Z,1761697136.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968712,-0.245101,-0.039031],[0.248176,0.958200,0.142345],[0.002510,-0.147578,0.989047]] 2025-10-29T00:18:56.449Z,1761697136.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968634,-0.245573,-0.037982],[0.248486,0.958308,0.141072],[0.001755,-0.146085,0.989270]] 2025-10-29T00:18:56.846Z,1761697136.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968255,-0.247237,-0.036827],[0.249963,0.958290,0.138563],[0.001033,-0.143370,0.989669]] 2025-10-29T00:18:57.253Z,1761697137.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967922,-0.248650,-0.036047],[0.251249,0.958185,0.136947],[0.000487,-0.141611,0.989922]] 2025-10-29T00:18:57.430Z,1761697137.430 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:18:57.654Z,1761697137.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967523,-0.250314,-0.035259],[0.252785,0.958056,0.135012],[-0.000016,-0.139540,0.990216]] 2025-10-29T00:18:58.067Z,1761697138.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967161,-0.251841,-0.034291],[0.254163,0.957861,0.133806],[-0.000852,-0.138127,0.990414]] 2025-10-29T00:18:58.434Z,1761697138.434 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:18:58.466Z,1761697138.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966765,-0.253454,-0.033554],[0.255662,0.957640,0.132527],[-0.001457,-0.136701,0.990611]] 2025-10-29T00:18:58.525Z,1761697138.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:18:58.753Z,1761697138.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:18:58.753Z,1761697138.753 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:18:58.872Z,1761697138.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966146,-0.255799,-0.033606],[0.257992,0.957040,0.132339],[-0.001690,-0.136529,0.990635]] 2025-10-29T00:18:59.005Z,1761697139.005 [DAT](INFO): DAT read: user:365> 2025-10-29T00:18:59.006Z,1761697139.006 [DAT](INFO): DAT read: Tx time:00:18:58.7282 2025-10-29T00:18:59.006Z,1761697139.006 [DAT](INFO): Ping request sent. 2025-10-29T00:18:59.006Z,1761697139.006 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:18:59.006Z,1761697139.006 [DAT](INFO): publishing transmit ping time 2025-10-29T00:18:59.007Z,1761697139.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-29T00:18:59.257Z,1761697139.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250944 2025-10-29T00:18:59.275Z,1761697139.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965813,-0.257092,-0.033298],[0.259231,0.956720,0.132238],[-0.002141,-0.136349,0.990659]] 2025-10-29T00:18:59.509Z,1761697139.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502896 2025-10-29T00:18:59.679Z,1761697139.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965385,-0.258778,-0.032651],[0.260816,0.956450,0.131069],[-0.002689,-0.135048,0.990835]] 2025-10-29T00:18:59.761Z,1761697139.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755438 2025-10-29T00:19:00.013Z,1761697140.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916 2025-10-29T00:19:00.088Z,1761697140.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964945,-0.260406,-0.032694],[0.262436,0.956051,0.130744],[-0.002789,-0.134741,0.990877]] 2025-10-29T00:19:00.265Z,1761697140.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875 2025-10-29T00:19:00.489Z,1761697140.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964678,-0.261399,-0.032677],[0.263416,0.955739,0.131053],[-0.003026,-0.135031,0.990837]] 2025-10-29T00:19:00.517Z,1761697140.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511023 2025-10-29T00:19:00.770Z,1761697140.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268 2025-10-29T00:19:00.890Z,1761697140.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964434,-0.262276,-0.032835],[0.264305,0.955401,0.131728],[-0.003178,-0.135721,0.990742]] 2025-10-29T00:19:01.021Z,1761697141.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972 2025-10-29T00:19:01.273Z,1761697141.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266904 2025-10-29T00:19:01.294Z,1761697141.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964233,-0.263045,-0.032597],[0.265035,0.955249,0.131357],[-0.003414,-0.135298,0.990799]] 2025-10-29T00:19:01.525Z,1761697141.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518967 2025-10-29T00:19:01.698Z,1761697141.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964184,-0.263220,-0.032629],[0.265212,0.955153,0.131701],[-0.003501,-0.135637,0.990752]] 2025-10-29T00:19:01.777Z,1761697141.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771066 2025-10-29T00:19:02.029Z,1761697142.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022973 2025-10-29T00:19:02.117Z,1761697142.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964056,-0.263738,-0.032222],[0.265671,0.955088,0.131248],[-0.003841,-0.135091,0.990826]] 2025-10-29T00:19:02.281Z,1761697142.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274932 2025-10-29T00:19:02.509Z,1761697142.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963826,-0.264520,-0.032678],[0.266504,0.954717,0.132254],[-0.003786,-0.136178,0.990677]] 2025-10-29T00:19:02.533Z,1761697142.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526944 2025-10-29T00:19:02.785Z,1761697142.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778940 2025-10-29T00:19:02.916Z,1761697142.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963823,-0.264568,-0.032398],[0.266514,0.954709,0.132293],[-0.004069,-0.136142,0.990681]] 2025-10-29T00:19:03.037Z,1761697143.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030971 2025-10-29T00:19:03.289Z,1761697143.289 [DAT](INFO): DAT read: Rx Time:00:19:02.4310 2025-10-29T00:19:03.289Z,1761697143.289 [DAT](INFO): Rx dataTimestamp_ set to:1761697143.289101 2025-10-29T00:19:03.290Z,1761697143.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283959 2025-10-29T00:19:03.315Z,1761697143.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963803,-0.264676,-0.032084],[0.266577,0.954674,0.132419],[-0.004418,-0.136179,0.990674]] 2025-10-29T00:19:03.541Z,1761697143.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534915 2025-10-29T00:19:03.719Z,1761697143.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963785,-0.264768,-0.031888],[0.266640,0.954621,0.132670],[-0.004686,-0.136368,0.990647]] 2025-10-29T00:19:03.798Z,1761697143.798 [DAT](INFO): DAT read: 00:19:02.4310 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 448,-0.14,-1.859, 2.577,-1.969,-2.044, PHS= 0.286,-1.618, 0.031, RAW= 142.9, 14.4, CAL= 142.3, 15.6, ROT= 7.7, -15.6 2025-10-29T00:19:03.799Z,1761697143.799 [DAT](INFO): got valid direction response: 00:19:02.4310 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 448,-0.14,-1.859, 2.577,-1.969,-2.044, PHS= 0.286,-1.618, 0.031, RAW= 142.9, 14.4, CAL= 142.3, 15.6, ROT= 7.7, -15.6 2025-10-29T00:19:03.800Z,1761697143.800 [DAT](INFO): DAT read: Bearing 184.8, 5.0 (Local) 2025-10-29T00:19:03.801Z,1761697143.801 [DAT](INFO): Local bearing/azimuth received: Bearing 184.8, 5.0 (Local) 2025-10-29T00:19:03.802Z,1761697143.802 [DAT](INFO): DAT read: Range 11 to 50 : 974.1 m (Round-trip 1298.8 ms) speed 0.7 m/s 2025-10-29T00:19:03.803Z,1761697143.803 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:19:03.804Z,1761697143.804 [DAT](INFO): direction in FSK: [0.954478,0.129050,0.268920] 2025-10-29T00:19:03.804Z,1761697143.804 [DAT](INFO): publishing direction and range info 2025-10-29T00:19:04.122Z,1761697144.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963706,-0.265035,-0.032032],[0.266917,0.954336,0.134154],[-0.004986,-0.137835,0.990443]] 2025-10-29T00:19:04.553Z,1761697144.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963606,-0.265469,-0.031471],[0.267280,0.954514,0.132151],[-0.005042,-0.135753,0.990730]] 2025-10-29T00:19:04.936Z,1761697144.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963375,-0.266343,-0.031142],[0.268105,0.954375,0.131486],[-0.005299,-0.135020,0.990829]] 2025-10-29T00:19:05.334Z,1761697145.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963160,-0.267181,-0.030607],[0.268865,0.954204,0.131174],[-0.005842,-0.134571,0.990887]] 2025-10-29T00:19:05.739Z,1761697145.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962983,-0.267831,-0.030497],[0.269495,0.954028,0.131164],[-0.006035,-0.134528,0.990891]] 2025-10-29T00:19:06.150Z,1761697146.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962873,-0.268258,-0.030228],[0.269880,0.953903,0.131274],[-0.006381,-0.134558,0.990885]] 2025-10-29T00:19:06.563Z,1761697146.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962739,-0.268732,-0.030286],[0.270354,0.953687,0.131870],[-0.006555,-0.135144,0.990804]] 2025-10-29T00:19:06.951Z,1761697146.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962604,-0.269231,-0.030135],[0.270826,0.953517,0.132133],[-0.006840,-0.135353,0.990774]] 2025-10-29T00:19:07.354Z,1761697147.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962507,-0.269630,-0.029654],[0.271158,0.953465,0.131826],[-0.007271,-0.134924,0.990829]] 2025-10-29T00:19:07.765Z,1761697147.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962225,-0.270625,-0.029764],[0.272160,0.953216,0.131562],[-0.007232,-0.134693,0.990861]] 2025-10-29T00:19:08.162Z,1761697148.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962191,-0.270735,-0.029863],[0.272279,0.953111,0.132076],[-0.007295,-0.135213,0.990790]] 2025-10-29T00:19:08.591Z,1761697148.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962117,-0.270994,-0.029881],[0.272535,0.952981,0.132485],[-0.007427,-0.135609,0.990735]] 2025-10-29T00:19:08.970Z,1761697148.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961955,-0.271589,-0.029685],[0.273097,0.952798,0.132641],[-0.007740,-0.135701,0.990720]] 2025-10-29T00:19:09.376Z,1761697149.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961784,-0.272176,-0.029876],[0.273700,0.952556,0.133137],[-0.007778,-0.136226,0.990647]] 2025-10-29T00:19:09.781Z,1761697149.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961615,-0.272779,-0.029799],[0.274286,0.952355,0.133373],[-0.008002,-0.136427,0.990618]] 2025-10-29T00:19:10.183Z,1761697150.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961539,-0.273068,-0.029606],[0.274540,0.952193,0.134004],[-0.008401,-0.136978,0.990538]] 2025-10-29T00:19:10.617Z,1761697150.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961456,-0.273377,-0.029450],[0.274820,0.952036,0.134540],[-0.008743,-0.137448,0.990470]] 2025-10-29T00:19:10.992Z,1761697150.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961300,-0.273942,-0.029276],[0.275353,0.951842,0.134821],[-0.009067,-0.137665,0.990437]] 2025-10-29T00:19:11.399Z,1761697151.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961102,-0.274661,-0.029047],[0.276040,0.951743,0.134119],[-0.009192,-0.136920,0.990539]] 2025-10-29T00:19:11.798Z,1761697151.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960909,-0.275355,-0.028869],[0.276700,0.951520,0.134339],[-0.009522,-0.137076,0.990515]] 2025-10-29T00:19:12.205Z,1761697152.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960633,-0.276333,-0.028705],[0.277647,0.951246,0.134329],[-0.009814,-0.137011,0.990521]] 2025-10-29T00:19:12.646Z,1761697152.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960247,-0.277703,-0.028418],[0.278967,0.950895,0.134072],[-0.010210,-0.136670,0.990564]] 2025-10-29T00:19:13.010Z,1761697153.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959724,-0.279501,-0.028433],[0.280744,0.950306,0.134544],[-0.010585,-0.137108,0.990500]] 2025-10-29T00:19:13.421Z,1761697153.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959266,-0.281081,-0.028339],[0.282294,0.949831,0.134654],[-0.010931,-0.137169,0.990487]] 2025-10-29T00:19:13.818Z,1761697153.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958639,-0.283202,-0.028444],[0.284405,0.949162,0.134928],[-0.011214,-0.137437,0.990447]] 2025-10-29T00:19:14.230Z,1761697154.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958195,-0.284684,-0.028603],[0.285880,0.948524,0.136291],[-0.011669,-0.138770,0.990256]] 2025-10-29T00:19:14.671Z,1761697154.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957633,-0.286570,-0.028590],[0.287749,0.948010,0.135932],[-0.011851,-0.138399,0.990306]] 2025-10-29T00:19:15.030Z,1761697155.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957100,-0.288349,-0.028525],[0.289505,0.947514,0.135660],[-0.012089,-0.138098,0.990345]] 2025-10-29T00:19:15.435Z,1761697155.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956701,-0.289647,-0.028782],[0.290815,0.947005,0.136408],[-0.012254,-0.138872,0.990234]] 2025-10-29T00:19:15.842Z,1761697155.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956185,-0.291319,-0.029034],[0.292502,0.946439,0.136736],[-0.012355,-0.139238,0.990182]] 2025-10-29T00:19:16.250Z,1761697156.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955908,-0.292224,-0.029060],[0.293393,0.946063,0.137424],[-0.012667,-0.139891,0.990086]] 2025-10-29T00:19:16.684Z,1761697156.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955533,-0.293428,-0.029270],[0.294609,0.945634,0.137775],[-0.012748,-0.140271,0.990031]] 2025-10-29T00:19:17.056Z,1761697157.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955296,-0.294168,-0.029570],[0.295376,0.945312,0.138339],[-0.012742,-0.140890,0.989943]] 2025-10-29T00:19:17.455Z,1761697157.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955011,-0.295092,-0.029569],[0.296298,0.945114,0.137719],[-0.012694,-0.140284,0.990030]] 2025-10-29T00:19:17.860Z,1761697157.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954851,-0.295582,-0.029839],[0.296815,0.944881,0.138204],[-0.012656,-0.140820,0.989954]] 2025-10-29T00:19:18.262Z,1761697158.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954727,-0.295979,-0.029886],[0.297211,0.944719,0.138462],[-0.012748,-0.141076,0.989917]] 2025-10-29T00:19:18.682Z,1761697158.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954848,-0.295571,-0.030055],[0.296833,0.944860,0.138310],[-0.012483,-0.140987,0.989933]] 2025-10-29T00:19:19.071Z,1761697159.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954867,-0.295521,-0.029948],[0.296769,0.944894,0.138211],[-0.012546,-0.140860,0.989950]] 2025-10-29T00:19:19.477Z,1761697159.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954987,-0.295136,-0.029919],[0.296381,0.944971,0.138520],[-0.012610,-0.141152,0.989908]] 2025-10-29T00:19:19.887Z,1761697159.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955163,-0.294617,-0.029388],[0.295803,0.945271,0.137710],[-0.012792,-0.140228,0.990037]] 2025-10-29T00:19:20.283Z,1761697160.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955237,-0.294394,-0.029228],[0.295558,0.945327,0.137849],[-0.012952,-0.140317,0.990022]] 2025-10-29T00:19:20.692Z,1761697160.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955317,-0.294136,-0.029204],[0.295290,0.945316,0.138495],[-0.013129,-0.140930,0.989932]] 2025-10-29T00:19:21.091Z,1761697161.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955353,-0.294074,-0.028670],[0.295166,0.945482,0.137622],[-0.013364,-0.139940,0.990070]] 2025-10-29T00:19:21.496Z,1761697161.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955241,-0.294462,-0.028421],[0.295527,0.945499,0.136735],[-0.013391,-0.139014,0.990200]] 2025-10-29T00:19:21.905Z,1761697161.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955064,-0.295060,-0.028156],[0.296080,0.945302,0.136894],[-0.013776,-0.139078,0.990185]] 2025-10-29T00:19:22.303Z,1761697162.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954815,-0.295895,-0.027840],[0.296863,0.945056,0.136899],[-0.014198,-0.138978,0.990194]] 2025-10-29T00:19:22.709Z,1761697162.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954645,-0.296470,-0.027529],[0.297382,0.944826,0.137364],[-0.014714,-0.139320,0.990138]] 2025-10-29T00:19:23.111Z,1761697163.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954414,-0.297216,-0.027515],[0.298115,0.944570,0.137531],[-0.014887,-0.139464,0.990115]] 2025-10-29T00:19:23.515Z,1761697163.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954025,-0.298452,-0.027625],[0.299351,0.944156,0.137693],[-0.015013,-0.139632,0.990090]] 2025-10-29T00:19:23.919Z,1761697163.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953607,-0.299774,-0.027717],[0.300668,0.943693,0.137990],[-0.015210,-0.139922,0.990046]] 2025-10-29T00:19:24.326Z,1761697164.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953276,-0.300846,-0.027524],[0.301693,0.943283,0.138561],[-0.015722,-0.140390,0.989971]] 2025-10-29T00:19:24.728Z,1761697164.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952591,-0.302999,-0.027610],[0.303847,0.942696,0.137841],[-0.015738,-0.139696,0.990069]] 2025-10-29T00:19:25.131Z,1761697165.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951976,-0.304916,-0.027709],[0.305763,0.942122,0.137533],[-0.015831,-0.139401,0.990110]] 2025-10-29T00:19:25.534Z,1761697165.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951386,-0.306685,-0.028426],[0.307593,0.941332,0.138854],[-0.015826,-0.140848,0.989905]] 2025-10-29T00:19:25.939Z,1761697165.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950774,-0.308577,-0.028438],[0.309471,0.940761,0.138549],[-0.016000,-0.140530,0.989947]] 2025-10-29T00:19:26.017Z,1761697166.017 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 272.58, 230.39, 252.34 2025-10-29T00:19:26.342Z,1761697166.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950015,-0.310885,-0.028663],[0.311797,0.940084,0.137928],[-0.015934,-0.139971,0.990027]] 2025-10-29T00:19:26.749Z,1761697166.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949376,-0.312803,-0.028980],[0.313736,0.939416,0.138084],[-0.015969,-0.140186,0.989996]] 2025-10-29T00:19:27.151Z,1761697167.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948852,-0.314357,-0.029311],[0.315312,0.938812,0.138601],[-0.016053,-0.140754,0.989915]] 2025-10-29T00:19:27.556Z,1761697167.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948692,-0.314815,-0.029576],[0.315785,0.938492,0.139683],[-0.016217,-0.141856,0.989754]] 2025-10-29T00:19:27.958Z,1761697167.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948413,-0.315630,-0.029850],[0.316622,0.938130,0.140222],[-0.016255,-0.142439,0.989670]] 2025-10-29T00:19:28.366Z,1761697168.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948201,-0.316245,-0.030056],[0.317252,0.937858,0.140617],[-0.016281,-0.142868,0.989608]] 2025-10-29T00:19:28.570Z,1761697168.570 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:19:28.772Z,1761697168.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947948,-0.316988,-0.030219],[0.318006,0.937557,0.140920],[-0.016338,-0.143195,0.989560]] 2025-10-29T00:19:29.176Z,1761697169.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947938,-0.316998,-0.030425],[0.318029,0.937403,0.141894],[-0.016460,-0.144183,0.989414]] 2025-10-29T00:19:29.572Z,1761697169.572 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:19:29.580Z,1761697169.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947825,-0.317379,-0.029988],[0.318358,0.937431,0.140965],[-0.016627,-0.143158,0.989560]] 2025-10-29T00:19:29.978Z,1761697169.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947923,-0.317075,-0.030098],[0.318059,0.937398,0.141859],[-0.016766,-0.144044,0.989429]] 2025-10-29T00:19:30.394Z,1761697170.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947947,-0.317032,-0.029799],[0.317958,0.937298,0.142741],[-0.017323,-0.144786,0.989311]] 2025-10-29T00:19:30.798Z,1761697170.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948276,-0.316047,-0.029785],[0.316947,0.937344,0.144673],[-0.017805,-0.146631,0.989031]] 2025-10-29T00:19:31.195Z,1761697171.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948650,-0.314951,-0.029468],[0.315798,0.937560,0.145782],[-0.018286,-0.147602,0.988878]] 2025-10-29T00:19:31.596Z,1761697171.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949128,-0.313540,-0.029124],[0.314325,0.937827,0.147240],[-0.018853,-0.148904,0.988672]] 2025-10-29T00:19:31.998Z,1761697171.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949426,-0.312663,-0.028848],[0.313402,0.938009,0.148050],[-0.019230,-0.149604,0.988559]] 2025-10-29T00:19:32.403Z,1761697172.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949883,-0.311315,-0.028385],[0.311996,0.938443,0.148269],[-0.019521,-0.149694,0.988540]] 2025-10-29T00:19:32.806Z,1761697172.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950179,-0.310449,-0.027962],[0.311064,0.938646,0.148943],[-0.019993,-0.150220,0.988450]] 2025-10-29T00:19:33.210Z,1761697173.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950383,-0.309841,-0.027758],[0.310422,0.938775,0.149467],[-0.020252,-0.150668,0.988377]] 2025-10-29T00:19:33.615Z,1761697173.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950608,-0.309213,-0.027054],[0.309702,0.939059,0.149177],[-0.020722,-0.150187,0.988440]] 2025-10-29T00:19:34.018Z,1761697174.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950736,-0.308846,-0.026737],[0.309282,0.939126,0.149622],[-0.021101,-0.150521,0.988382]] 2025-10-29T00:19:34.423Z,1761697174.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950737,-0.308859,-0.026560],[0.309264,0.939103,0.149806],[-0.021326,-0.150640,0.988359]] 2025-10-29T00:19:34.829Z,1761697174.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950633,-0.309209,-0.026193],[0.309555,0.939003,0.149832],[-0.021734,-0.150543,0.988364]] 2025-10-29T00:19:35.230Z,1761697175.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950333,-0.310172,-0.025683],[0.310441,0.938794,0.149303],[-0.022198,-0.149861,0.988458]] 2025-10-29T00:19:35.634Z,1761697175.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950206,-0.310571,-0.025589],[0.310789,0.938453,0.150721],[-0.022796,-0.151169,0.988245]] 2025-10-29T00:19:36.038Z,1761697176.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949859,-0.311666,-0.025128],[0.311816,0.938219,0.150053],[-0.023191,-0.150365,0.988359]] 2025-10-29T00:19:36.449Z,1761697176.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949670,-0.312244,-0.025107],[0.312375,0.937968,0.150458],[-0.023430,-0.150728,0.988298]] 2025-10-29T00:19:36.847Z,1761697176.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949532,-0.312676,-0.024971],[0.312775,0.937798,0.150690],[-0.023699,-0.150895,0.988266]] 2025-10-29T00:19:37.250Z,1761697177.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949312,-0.313347,-0.024896],[0.313414,0.937503,0.151196],[-0.024036,-0.151335,0.988190]] 2025-10-29T00:19:37.654Z,1761697177.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949058,-0.314148,-0.024497],[0.314174,0.937438,0.150017],[-0.024163,-0.150071,0.988380]] 2025-10-29T00:19:38.067Z,1761697178.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948806,-0.314938,-0.024112],[0.314905,0.937249,0.149662],[-0.024535,-0.149594,0.988443]] 2025-10-29T00:19:38.473Z,1761697178.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948567,-0.315661,-0.024075],[0.315580,0.936805,0.151018],[-0.025117,-0.150849,0.988238]] 2025-10-29T00:19:38.878Z,1761697178.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948628,-0.315483,-0.023994],[0.315378,0.936783,0.151575],[-0.025342,-0.151355,0.988155]] 2025-10-29T00:19:39.277Z,1761697179.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948654,-0.315405,-0.023996],[0.315291,0.936749,0.151965],[-0.025452,-0.151728,0.988095]] 2025-10-29T00:19:39.681Z,1761697179.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948640,-0.315462,-0.023810],[0.315304,0.936652,0.152533],[-0.025817,-0.152206,0.988011]] 2025-10-29T00:19:40.081Z,1761697180.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948704,-0.315296,-0.023446],[0.315081,0.936703,0.152684],[-0.026179,-0.152239,0.987997]] 2025-10-29T00:19:40.483Z,1761697180.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948719,-0.315288,-0.022922],[0.315010,0.936829,0.152055],[-0.026467,-0.151479,0.988106]] 2025-10-29T00:19:40.888Z,1761697180.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948758,-0.315189,-0.022658],[0.314861,0.936810,0.152476],[-0.026832,-0.151797,0.988047]] 2025-10-29T00:19:41.293Z,1761697181.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948674,-0.315460,-0.022415],[0.315086,0.936701,0.152681],[-0.027168,-0.151907,0.988021]] 2025-10-29T00:19:41.695Z,1761697181.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948802,-0.315079,-0.022345],[0.314687,0.936766,0.153105],[-0.027308,-0.152298,0.987957]] 2025-10-29T00:19:42.107Z,1761697182.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948839,-0.314983,-0.022152],[0.314562,0.936800,0.153156],[-0.027489,-0.152289,0.987954]] 2025-10-29T00:19:42.502Z,1761697182.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948927,-0.314743,-0.021785],[0.314273,0.936920,0.153015],[-0.027749,-0.152047,0.987984]] 2025-10-29T00:19:42.908Z,1761697182.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949122,-0.314159,-0.021707],[0.313663,0.936995,0.153805],[-0.027980,-0.152788,0.987863]] 2025-10-29T00:19:43.310Z,1761697183.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949386,-0.313373,-0.021541],[0.312853,0.937216,0.154108],[-0.028105,-0.153047,0.987819]] 2025-10-29T00:19:43.714Z,1761697183.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949678,-0.312478,-0.021657],[0.311975,0.937441,0.154519],[-0.027981,-0.153499,0.987752]] 2025-10-29T00:19:44.134Z,1761697184.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949907,-0.311756,-0.022002],[0.311310,0.937626,0.154740],[-0.027612,-0.153838,0.987710]] 2025-10-29T00:19:44.523Z,1761697184.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950387,-0.310254,-0.022496],[0.309869,0.937897,0.155983],[-0.027295,-0.155215,0.987504]] 2025-10-29T00:19:44.928Z,1761697184.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950771,-0.309066,-0.022666],[0.308738,0.938368,0.155390],[-0.026757,-0.154738,0.987593]] 2025-10-29T00:19:45.330Z,1761697185.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950998,-0.308347,-0.022914],[0.308077,0.938645,0.155030],[-0.026295,-0.154493,0.987644]] 2025-10-29T00:19:45.734Z,1761697185.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951220,-0.307647,-0.023105],[0.307411,0.938833,0.155214],[-0.026059,-0.154745,0.987611]] 2025-10-29T00:19:46.162Z,1761697186.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951530,-0.306655,-0.023540],[0.306488,0.939062,0.155651],[-0.025626,-0.155321,0.987532]] 2025-10-29T00:19:46.542Z,1761697186.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951762,-0.305904,-0.023903],[0.305798,0.939255,0.155842],[-0.025221,-0.155634,0.987493]] 2025-10-29T00:19:46.946Z,1761697186.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951943,-0.305332,-0.024007],[0.305275,0.939593,0.154826],[-0.024717,-0.154715,0.987650]] 2025-10-29T00:19:47.360Z,1761697187.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952059,-0.304947,-0.024324],[0.304940,0.939676,0.154987],[-0.024406,-0.154974,0.987617]] 2025-10-29T00:19:47.764Z,1761697187.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952335,-0.304051,-0.024734],[0.304108,0.939871,0.155434],[-0.024013,-0.155547,0.987537]] 2025-10-29T00:19:48.190Z,1761697188.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952447,-0.303687,-0.024860],[0.303780,0.940053,0.154977],[-0.023695,-0.155160,0.987605]] 2025-10-29T00:19:48.562Z,1761697188.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952494,-0.303497,-0.025371],[0.303671,0.940082,0.155014],[-0.023196,-0.155354,0.987586]] 2025-10-29T00:19:48.970Z,1761697188.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952340,-0.303954,-0.025719],[0.304187,0.939994,0.154539],[-0.022797,-0.154997,0.987652]] 2025-10-29T00:19:49.371Z,1761697189.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952158,-0.304478,-0.026224],[0.304794,0.939879,0.154037],[-0.022253,-0.154661,0.987717]] 2025-10-29T00:19:49.778Z,1761697189.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951991,-0.304966,-0.026624],[0.305347,0.939766,0.153635],[-0.021833,-0.154389,0.987769]] 2025-10-29T00:19:50.216Z,1761697190.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951775,-0.305606,-0.026999],[0.306045,0.939603,0.153240],[-0.021462,-0.154113,0.987820]] 2025-10-29T00:19:50.584Z,1761697190.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951444,-0.306595,-0.027442],[0.307102,0.939358,0.152627],[-0.021017,-0.153643,0.987903]] 2025-10-29T00:19:50.997Z,1761697190.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951188,-0.307361,-0.027767],[0.307916,0.939146,0.152291],[-0.020731,-0.153407,0.987946]] 2025-10-29T00:19:51.390Z,1761697191.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950852,-0.308332,-0.028484],[0.309009,0.938983,0.151077],[-0.019836,-0.152454,0.988112]] 2025-10-29T00:19:51.794Z,1761697191.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950668,-0.308840,-0.029121],[0.309613,0.938826,0.150818],[-0.019240,-0.152394,0.988132]] 2025-10-29T00:19:52.244Z,1761697192.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950521,-0.309213,-0.029958],[0.310101,0.938598,0.151230],[-0.018643,-0.153037,0.988045]] 2025-10-29T00:19:52.602Z,1761697192.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950380,-0.309582,-0.030624],[0.310571,0.938483,0.150981],[-0.018001,-0.153000,0.988062]] 2025-10-29T00:19:53.009Z,1761697193.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950208,-0.310008,-0.031609],[0.311141,0.938279,0.151076],[-0.017177,-0.153388,0.988017]] 2025-10-29T00:19:53.410Z,1761697193.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950262,-0.309728,-0.032732],[0.311030,0.938239,0.151554],[-0.016230,-0.154197,0.987907]] 2025-10-29T00:19:53.816Z,1761697193.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950493,-0.308908,-0.033749],[0.310365,0.938343,0.152268],[-0.015369,-0.155204,0.987763]] 2025-10-29T00:19:54.261Z,1761697194.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950794,-0.307929,-0.034205],[0.309466,0.938599,0.152518],[-0.014860,-0.155599,0.987709]] 2025-10-29T00:19:54.623Z,1761697194.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951069,-0.307055,-0.034429],[0.308640,0.938897,0.152362],[-0.014458,-0.155533,0.987725]] 2025-10-29T00:19:55.029Z,1761697195.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951581,-0.305369,-0.035258],[0.307093,0.939255,0.153274],[-0.013689,-0.156681,0.987554]] 2025-10-29T00:19:55.432Z,1761697195.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951984,-0.304001,-0.036204],[0.305887,0.939607,0.153533],[-0.012657,-0.157236,0.987480]] 2025-10-29T00:19:55.859Z,1761697195.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952279,-0.302967,-0.037092],[0.305007,0.939897,0.153509],[-0.011646,-0.157497,0.987451]] 2025-10-29T00:19:56.254Z,1761697196.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952641,-0.301712,-0.038015],[0.303914,0.940264,0.153425],[-0.010545,-0.157712,0.987429]] 2025-10-29T00:19:56.642Z,1761697196.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953016,-0.300411,-0.038896],[0.302772,0.940671,0.153189],[-0.009431,-0.157769,0.987431]] 2025-10-29T00:19:57.058Z,1761697197.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952996,-0.300370,-0.039715],[0.302871,0.940855,0.151860],[-0.008248,-0.156751,0.987604]] 2025-10-29T00:19:57.451Z,1761697197.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953089,-0.299942,-0.040699],[0.302609,0.941050,0.151172],[-0.007043,-0.156396,0.987669]] 2025-10-29T00:19:57.857Z,1761697197.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952856,-0.300565,-0.041536],[0.303365,0.941077,0.149478],[-0.005840,-0.155032,0.987892]] 2025-10-29T00:19:58.263Z,1761697198.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952601,-0.301233,-0.042557],[0.304189,0.940999,0.148291],[-0.004624,-0.154207,0.988028]] 2025-10-29T00:19:58.664Z,1761697198.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952467,-0.301478,-0.043799],[0.304626,0.940994,0.147425],[-0.003231,-0.153760,0.988103]] 2025-10-29T00:19:58.699Z,1761697198.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:19:58.745Z,1761697198.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:19:58.745Z,1761697198.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:19:58.997Z,1761697198.997 [DAT](INFO): DAT read: user:366> 2025-10-29T00:19:58.998Z,1761697198.998 [DAT](INFO): DAT read: Tx time:00:19:58.7280 2025-10-29T00:19:58.998Z,1761697198.998 [DAT](INFO): Ping request sent. 2025-10-29T00:19:58.998Z,1761697198.998 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:19:58.998Z,1761697198.998 [DAT](INFO): publishing transmit ping time 2025-10-29T00:19:58.999Z,1761697198.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-29T00:19:59.076Z,1761697199.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952241,-0.301999,-0.045100],[0.305342,0.940905,0.146503],[-0.001809,-0.153277,0.988182]] 2025-10-29T00:19:59.249Z,1761697199.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250907 2025-10-29T00:19:59.470Z,1761697199.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952101,-0.302193,-0.046723],[0.305783,0.940796,0.146285],[-0.000250,-0.153565,0.988138]] 2025-10-29T00:19:59.501Z,1761697199.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915 2025-10-29T00:19:59.704Z,1761697199.704 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:19:59.753Z,1761697199.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755392 2025-10-29T00:19:59.874Z,1761697199.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951809,-0.302895,-0.048118],[0.306690,0.940650,0.145320],[0.001245,-0.153074,0.988214]] 2025-10-29T00:20:00.005Z,1761697200.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006886 2025-10-29T00:20:00.257Z,1761697200.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258839 2025-10-29T00:20:00.288Z,1761697200.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951572,-0.303368,-0.049782],[0.307413,0.940420,0.145282],[0.002742,-0.153550,0.988137]] 2025-10-29T00:20:00.509Z,1761697200.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510926 2025-10-29T00:20:00.684Z,1761697200.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951291,-0.304030,-0.051095],[0.308264,0.940333,0.144039],[0.004254,-0.152774,0.988252]] 2025-10-29T00:20:00.709Z,1761697200.709 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:20:00.762Z,1761697200.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763531 2025-10-29T00:20:01.013Z,1761697201.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014830 2025-10-29T00:20:01.087Z,1761697201.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951113,-0.304345,-0.052521],[0.308790,0.940283,0.143239],[0.005790,-0.152455,0.988294]] 2025-10-29T00:20:01.265Z,1761697201.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266865 2025-10-29T00:20:01.491Z,1761697201.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950970,-0.304492,-0.054222],[0.309194,0.940143,0.143286],[0.007347,-0.153026,0.988195]] 2025-10-29T00:20:01.517Z,1761697201.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519051 2025-10-29T00:20:01.769Z,1761697201.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771158 2025-10-29T00:20:01.895Z,1761697201.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950976,-0.304174,-0.055883],[0.309140,0.940077,0.143833],[0.008784,-0.154058,0.988023]] 2025-10-29T00:20:02.021Z,1761697202.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022875 2025-10-29T00:20:02.273Z,1761697202.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274896 2025-10-29T00:20:02.303Z,1761697202.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950987,-0.303885,-0.057258],[0.309065,0.940123,0.143693],[0.010164,-0.154347,0.987964]] 2025-10-29T00:20:02.525Z,1761697202.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526850 2025-10-29T00:20:02.702Z,1761697202.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951122,-0.303193,-0.058666],[0.308600,0.940252,0.143845],[0.011548,-0.154919,0.987860]] 2025-10-29T00:20:02.777Z,1761697202.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779108 2025-10-29T00:20:03.029Z,1761697203.029 [DAT](INFO): DAT read: Rx Time:00:20:02.3856 2025-10-29T00:20:03.029Z,1761697203.029 [DAT](INFO): Rx dataTimestamp_ set to:1761697203.029188 2025-10-29T00:20:03.030Z,1761697203.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032007 2025-10-29T00:20:03.113Z,1761697203.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951223,-0.302575,-0.060188],[0.308228,0.940350,0.144001],[0.013027,-0.155528,0.987745]] 2025-10-29T00:20:03.281Z,1761697203.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282849 2025-10-29T00:20:03.530Z,1761697203.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951353,-0.301945,-0.061289],[0.307770,0.940574,0.143521],[0.014312,-0.155402,0.987748]] 2025-10-29T00:20:03.536Z,1761697203.536 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537489 2025-10-29T00:20:03.794Z,1761697203.794 [DAT](INFO): DAT read: 00:20:02.3856 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 496, 0.07, 2.610, 0.899, 2.613, 2.467, PHS= 0.245,-1.524, 0.102, RAW= 145.8, 13.7, CAL= 145.5, 15.0, ROT= 4.5, -15.0 2025-10-29T00:20:03.796Z,1761697203.796 [DAT](INFO): got valid direction response: 00:20:02.3856 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 496, 0.07, 2.610, 0.899, 2.613, 2.467, PHS= 0.245,-1.524, 0.102, RAW= 145.8, 13.7, CAL= 145.5, 15.0, ROT= 4.5, -15.0 2025-10-29T00:20:03.797Z,1761697203.797 [DAT](INFO): DAT read: Bearing 185.0, 2.7 (Local) 2025-10-29T00:20:03.798Z,1761697203.798 [DAT](INFO): Local bearing/azimuth received: Bearing 185.0, 2.7 (Local) 2025-10-29T00:20:03.799Z,1761697203.799 [DAT](INFO): DAT read: Range 11 to 50 : 940.1 m (Round-trip 1253.5 ms) speed 0.5 m/s 2025-10-29T00:20:03.800Z,1761697203.800 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:20:03.801Z,1761697203.801 [DAT](INFO): direction in FSK: [0.962948,0.075786,0.258819] 2025-10-29T00:20:03.802Z,1761697203.802 [DAT](INFO): publishing direction and range info 2025-10-29T00:20:03.915Z,1761697203.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951367,-0.301660,-0.062458],[0.307668,0.940631,0.143366],[0.015502,-0.155610,0.987697]] 2025-10-29T00:20:04.332Z,1761697204.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951320,-0.301586,-0.063530],[0.307758,0.940635,0.143144],[0.016588,-0.155727,0.987661]] 2025-10-29T00:20:04.723Z,1761697204.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951517,-0.300708,-0.064730],[0.307081,0.940820,0.143381],[0.017783,-0.156307,0.987548]] 2025-10-29T00:20:05.133Z,1761697205.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951706,-0.299887,-0.065748],[0.306428,0.941041,0.143331],[0.018889,-0.156557,0.987488]] 2025-10-29T00:20:05.530Z,1761697205.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951913,-0.299072,-0.066461],[0.305738,0.941237,0.143520],[0.019633,-0.156938,0.987413]] 2025-10-29T00:20:05.934Z,1761697205.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952032,-0.298522,-0.067229],[0.305313,0.941390,0.143419],[0.020475,-0.157065,0.987376]] 2025-10-29T00:20:06.346Z,1761697206.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952142,-0.298029,-0.067857],[0.304923,0.941530,0.143332],[0.021172,-0.157164,0.987346]] 2025-10-29T00:20:06.747Z,1761697206.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952299,-0.297433,-0.068270],[0.304401,0.941679,0.143459],[0.021619,-0.157397,0.987299]] 2025-10-29T00:20:07.147Z,1761697207.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952400,-0.296959,-0.068923],[0.304035,0.941799,0.143450],[0.022313,-0.157577,0.987255]] 2025-10-29T00:20:07.550Z,1761697207.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952477,-0.296536,-0.069676],[0.303752,0.941783,0.144153],[0.022873,-0.158466,0.987099]] 2025-10-29T00:20:07.955Z,1761697207.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952545,-0.296163,-0.070322],[0.303485,0.941869,0.144152],[0.023542,-0.158653,0.987054]] 2025-10-29T00:20:08.365Z,1761697208.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952492,-0.296130,-0.071173],[0.303590,0.941821,0.144242],[0.024318,-0.158997,0.986979]] 2025-10-29T00:20:08.767Z,1761697208.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952545,-0.295816,-0.071769],[0.303377,0.941878,0.144320],[0.024906,-0.159245,0.986925]] 2025-10-29T00:20:09.167Z,1761697209.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952497,-0.295836,-0.072322],[0.303483,0.941853,0.144256],[0.025440,-0.159352,0.986894]] 2025-10-29T00:20:09.571Z,1761697209.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952499,-0.295631,-0.073134],[0.303411,0.941875,0.144265],[0.026234,-0.159602,0.986833]] 2025-10-29T00:20:09.976Z,1761697209.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952530,-0.295331,-0.073937],[0.303247,0.941904,0.144424],[0.026989,-0.159990,0.986750]] 2025-10-29T00:20:10.379Z,1761697210.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952568,-0.295007,-0.074728],[0.303059,0.941935,0.144615],[0.027727,-0.160403,0.986662]] 2025-10-29T00:20:10.785Z,1761697210.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952663,-0.294499,-0.075515],[0.302702,0.941949,0.145269],[0.028350,-0.161251,0.986506]] 2025-10-29T00:20:11.188Z,1761697211.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952707,-0.294174,-0.076236],[0.302489,0.942061,0.144985],[0.029168,-0.161188,0.986493]] 2025-10-29T00:20:11.592Z,1761697211.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952833,-0.293568,-0.076985],[0.302024,0.942144,0.145419],[0.029840,-0.161811,0.986371]] 2025-10-29T00:20:11.995Z,1761697211.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953002,-0.292972,-0.077162],[0.301437,0.942463,0.144568],[0.030368,-0.161033,0.986482]] 2025-10-29T00:20:12.399Z,1761697212.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953116,-0.292395,-0.077945],[0.300996,0.942592,0.144646],[0.031176,-0.161325,0.986409]] 2025-10-29T00:20:12.810Z,1761697212.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953313,-0.291549,-0.078703],[0.300297,0.942737,0.145149],[0.031879,-0.162007,0.986275]] 2025-10-29T00:20:13.212Z,1761697213.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953501,-0.290761,-0.079336],[0.299627,0.942921,0.145339],[0.032549,-0.162352,0.986196]] 2025-10-29T00:20:13.610Z,1761697213.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953666,-0.290288,-0.079087],[0.299058,0.943386,0.143479],[0.032959,-0.160483,0.986488]] 2025-10-29T00:20:14.015Z,1761697214.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953885,-0.289463,-0.079464],[0.298306,0.943607,0.143596],[0.033417,-0.160678,0.986441]] 2025-10-29T00:20:14.418Z,1761697214.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954147,-0.288470,-0.079930],[0.297397,0.943907,0.143510],[0.034048,-0.160700,0.986416]] 2025-10-29T00:20:14.828Z,1761697214.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954265,-0.288184,-0.079552],[0.296960,0.944448,0.140830],[0.034547,-0.158013,0.986832]] 2025-10-29T00:20:15.226Z,1761697215.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954328,-0.287846,-0.080019],[0.296688,0.944578,0.140532],[0.035133,-0.157855,0.986837]] 2025-10-29T00:20:15.630Z,1761697215.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954578,-0.286883,-0.080489],[0.295834,0.944745,0.141205],[0.035532,-0.158603,0.986703]] 2025-10-29T00:20:16.035Z,1761697216.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954595,-0.286770,-0.080697],[0.295713,0.944955,0.140047],[0.036094,-0.157551,0.986851]] 2025-10-29T00:20:16.440Z,1761697216.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954599,-0.286538,-0.081461],[0.295632,0.944873,0.140774],[0.036633,-0.158465,0.986685]] 2025-10-29T00:20:16.843Z,1761697216.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954485,-0.286826,-0.081787],[0.295952,0.944838,0.140336],[0.037023,-0.158153,0.986720]] 2025-10-29T00:20:17.247Z,1761697217.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954359,-0.287154,-0.082109],[0.296312,0.944786,0.139924],[0.037396,-0.157868,0.986752]] 2025-10-29T00:20:17.651Z,1761697217.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954273,-0.287367,-0.082357],[0.296554,0.944743,0.139698],[0.037662,-0.157734,0.986763]] 2025-10-29T00:20:18.056Z,1761697218.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954131,-0.287723,-0.082761],[0.296953,0.944684,0.139255],[0.038116,-0.157444,0.986792]] 2025-10-29T00:20:18.458Z,1761697218.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953841,-0.288552,-0.083221],[0.297809,0.944555,0.138297],[0.038701,-0.156698,0.986888]] 2025-10-29T00:20:18.862Z,1761697218.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953711,-0.288731,-0.084085],[0.298147,0.944358,0.138911],[0.039298,-0.157550,0.986729]] 2025-10-29T00:20:19.272Z,1761697219.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953559,-0.289065,-0.084661],[0.298595,0.944117,0.139585],[0.039581,-0.158382,0.986584]] 2025-10-29T00:20:20.074Z,1761697220.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953324,-0.289450,-0.085972],[0.299239,0.943722,0.140874],[0.040358,-0.160025,0.986288]] 2025-10-29T00:20:20.479Z,1761697220.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953305,-0.289389,-0.086390],[0.299249,0.943704,0.140970],[0.040731,-0.160240,0.986237]] 2025-10-29T00:20:20.886Z,1761697220.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953352,-0.289142,-0.086706],[0.299056,0.943761,0.140995],[0.041063,-0.160348,0.986206]] 2025-10-29T00:20:21.298Z,1761697221.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953449,-0.288662,-0.087226],[0.298676,0.943842,0.141258],[0.041552,-0.160735,0.986123]] 2025-10-29T00:20:21.690Z,1761697221.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953692,-0.287737,-0.087635],[0.297860,0.943982,0.142047],[0.041854,-0.161572,0.985973]] 2025-10-29T00:20:22.095Z,1761697222.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953953,-0.286820,-0.087796],[0.296988,0.944225,0.142259],[0.042097,-0.161783,0.985928]] 2025-10-29T00:20:22.501Z,1761697222.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954266,-0.285797,-0.087734],[0.295937,0.944651,0.141621],[0.042403,-0.161108,0.986025]] 2025-10-29T00:20:22.902Z,1761697222.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954538,-0.284807,-0.087986],[0.295010,0.944901,0.141883],[0.042729,-0.161389,0.985965]] 2025-10-29T00:20:23.315Z,1761697223.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954760,-0.283965,-0.088306],[0.294240,0.945101,0.142154],[0.043091,-0.161706,0.985898]] 2025-10-29T00:20:23.718Z,1761697223.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955409,-0.281847,-0.088073],[0.292064,0.945918,0.141203],[0.043512,-0.160630,0.986055]] 2025-10-29T00:20:24.121Z,1761697224.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955780,-0.280551,-0.088179],[0.290817,0.946239,0.141626],[0.043705,-0.161007,0.985985]] 2025-10-29T00:20:24.526Z,1761697224.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956087,-0.279748,-0.087406],[0.289819,0.946807,0.139864],[0.043630,-0.159055,0.986305]] 2025-10-29T00:20:24.927Z,1761697224.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956420,-0.278674,-0.087184],[0.288715,0.947163,0.139736],[0.043637,-0.158818,0.986343]] 2025-10-29T00:20:25.330Z,1761697225.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956603,-0.278025,-0.087251],[0.288080,0.947366,0.139672],[0.043827,-0.158746,0.986346]] 2025-10-29T00:20:25.740Z,1761697225.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956822,-0.277278,-0.087231],[0.287341,0.947576,0.139769],[0.043903,-0.158799,0.986334]] 2025-10-29T00:20:26.135Z,1761697226.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957039,-0.276538,-0.087196],[0.286609,0.947776,0.139914],[0.043951,-0.158894,0.986317]] 2025-10-29T00:20:26.538Z,1761697226.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957149,-0.276102,-0.087374],[0.286199,0.947921,0.139769],[0.044233,-0.158786,0.986322]] 2025-10-29T00:20:26.942Z,1761697226.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957260,-0.275800,-0.087105],[0.285792,0.948257,0.138318],[0.044450,-0.157300,0.986550]] 2025-10-29T00:20:27.353Z,1761697227.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957278,-0.275759,-0.087038],[0.285731,0.948307,0.138101],[0.044456,-0.157070,0.986586]] 2025-10-29T00:20:27.775Z,1761697227.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957330,-0.275452,-0.087434],[0.285539,0.948207,0.139182],[0.044567,-0.158209,0.986399]] 2025-10-29T00:20:28.154Z,1761697228.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957284,-0.275602,-0.087467],[0.285680,0.948206,0.138896],[0.044656,-0.157951,0.986437]] 2025-10-29T00:20:28.558Z,1761697228.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957327,-0.275402,-0.087625],[0.285504,0.948265,0.138857],[0.044851,-0.157949,0.986428]] 2025-10-29T00:20:28.962Z,1761697228.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957228,-0.275719,-0.087709],[0.285809,0.948247,0.138351],[0.045023,-0.157501,0.986492]] 2025-10-29T00:20:29.368Z,1761697229.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957161,-0.275904,-0.087866],[0.286027,0.948148,0.138576],[0.045076,-0.157772,0.986446]] 2025-10-29T00:20:29.797Z,1761697229.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957223,-0.275592,-0.088165],[0.285789,0.948147,0.139079],[0.045264,-0.158326,0.986349]] 2025-10-29T00:20:30.174Z,1761697230.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957184,-0.275614,-0.088517],[0.285859,0.948148,0.138923],[0.045638,-0.158278,0.986339]] 2025-10-29T00:20:30.578Z,1761697230.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957271,-0.275209,-0.088834],[0.285521,0.948213,0.139179],[0.045931,-0.158596,0.986275]] 2025-10-29T00:20:30.828Z,1761697230.828 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:20:30.984Z,1761697230.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957482,-0.274283,-0.089430],[0.284786,0.948157,0.141050],[0.046106,-0.160521,0.985955]] 2025-10-29T00:20:31.386Z,1761697231.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957612,-0.273831,-0.089423],[0.284335,0.948300,0.141000],[0.046190,-0.160450,0.985963]] 2025-10-29T00:20:31.823Z,1761697231.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957690,-0.273478,-0.089670],[0.284029,0.948380,0.141081],[0.046459,-0.160580,0.985929]] 2025-10-29T00:20:31.832Z,1761697231.832 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:20:32.194Z,1761697232.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957819,-0.273055,-0.089575],[0.283575,0.948580,0.140647],[0.046565,-0.160116,0.985999]] 2025-10-29T00:20:32.600Z,1761697232.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957967,-0.272686,-0.089119],[0.283132,0.948723,0.140576],[0.046216,-0.159900,0.986051]] 2025-10-29T00:20:33.003Z,1761697233.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958049,-0.272423,-0.089035],[0.282850,0.948835,0.140387],[0.046234,-0.159681,0.986085]] 2025-10-29T00:20:33.406Z,1761697233.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958271,-0.271702,-0.088854],[0.282124,0.948996,0.140754],[0.046079,-0.159948,0.986049]] 2025-10-29T00:20:33.853Z,1761697233.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958551,-0.270886,-0.088322],[0.281206,0.949344,0.140244],[0.045858,-0.159267,0.986170]] 2025-10-29T00:20:34.216Z,1761697234.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958665,-0.270542,-0.088138],[0.280839,0.949444,0.140304],[0.045724,-0.159257,0.986178]] 2025-10-29T00:20:34.619Z,1761697234.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958733,-0.270306,-0.088119],[0.280599,0.949527,0.140225],[0.045768,-0.159165,0.986191]] 2025-10-29T00:20:35.022Z,1761697235.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958890,-0.269845,-0.087823],[0.280087,0.949704,0.140047],[0.045615,-0.158888,0.986242]] 2025-10-29T00:20:35.426Z,1761697235.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958791,-0.270217,-0.087764],[0.280396,0.949771,0.138969],[0.045804,-0.157851,0.986400]] 2025-10-29T00:20:35.904Z,1761697235.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958820,-0.270155,-0.087641],[0.280306,0.949828,0.138766],[0.045756,-0.157618,0.986440]] 2025-10-29T00:20:36.235Z,1761697236.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958882,-0.269955,-0.087575],[0.280088,0.949920,0.138575],[0.045780,-0.157406,0.986472]] 2025-10-29T00:20:36.639Z,1761697236.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958846,-0.270108,-0.087497],[0.280226,0.949884,0.138541],[0.045691,-0.157358,0.986484]] 2025-10-29T00:20:37.046Z,1761697237.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958833,-0.270173,-0.087443],[0.280264,0.949927,0.138166],[0.045736,-0.156986,0.986541]] 2025-10-29T00:20:37.447Z,1761697237.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958894,-0.269951,-0.087461],[0.280043,0.950004,0.138085],[0.045812,-0.156901,0.986551]] 2025-10-29T00:20:37.911Z,1761697237.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959066,-0.269304,-0.087567],[0.279447,0.950090,0.138701],[0.045844,-0.157493,0.986455]] 2025-10-29T00:20:38.262Z,1761697238.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959174,-0.268901,-0.087626],[0.279072,0.950158,0.138993],[0.045883,-0.157773,0.986409]] 2025-10-29T00:20:38.660Z,1761697238.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959258,-0.268448,-0.088091],[0.278725,0.950171,0.139600],[0.046226,-0.158465,0.986282]] 2025-10-29T00:20:39.062Z,1761697239.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959482,-0.267592,-0.088254],[0.277932,0.950311,0.140226],[0.046345,-0.159073,0.986178]] 2025-10-29T00:20:39.470Z,1761697239.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959776,-0.266567,-0.088161],[0.276939,0.950486,0.140999],[0.046210,-0.159742,0.986077]] 2025-10-29T00:20:39.900Z,1761697239.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960032,-0.265697,-0.088002],[0.276077,0.950653,0.141560],[0.046047,-0.160198,0.986010]] 2025-10-29T00:20:40.281Z,1761697240.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960449,-0.264227,-0.087868],[0.274648,0.950915,0.142578],[0.045882,-0.161072,0.985875]] 2025-10-29T00:20:40.679Z,1761697240.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960759,-0.263139,-0.087746],[0.273530,0.951305,0.142127],[0.046074,-0.160551,0.985952]] 2025-10-29T00:20:41.082Z,1761697241.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961065,-0.261984,-0.087859],[0.272433,0.951530,0.142730],[0.046207,-0.161108,0.985855]] 2025-10-29T00:20:41.491Z,1761697241.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961422,-0.260732,-0.087669],[0.271171,0.951860,0.142925],[0.046184,-0.161185,0.985843]] 2025-10-29T00:20:42.294Z,1761697242.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962038,-0.258352,-0.087963],[0.268894,0.952407,0.143586],[0.046681,-0.161788,0.985721]] 2025-10-29T00:20:42.698Z,1761697242.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962245,-0.257771,-0.087398],[0.268128,0.952936,0.141495],[0.046811,-0.159586,0.986073]] 2025-10-29T00:20:43.103Z,1761697243.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962395,-0.257309,-0.087109],[0.267563,0.953289,0.140181],[0.046970,-0.158217,0.986287]] 2025-10-29T00:20:43.510Z,1761697243.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962494,-0.256929,-0.087139],[0.267192,0.953389,0.140207],[0.047054,-0.158231,0.986280]] 2025-10-29T00:20:43.911Z,1761697243.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962536,-0.256779,-0.087111],[0.267025,0.953479,0.139914],[0.047131,-0.157933,0.986324]] 2025-10-29T00:20:44.314Z,1761697244.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962627,-0.256500,-0.086933],[0.266659,0.953768,0.138634],[0.047354,-0.156635,0.986521]] 2025-10-29T00:20:44.720Z,1761697244.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962780,-0.255968,-0.086802],[0.266118,0.953901,0.138762],[0.047282,-0.156697,0.986514]] 2025-10-29T00:20:45.122Z,1761697245.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962677,-0.256362,-0.086788],[0.266458,0.953950,0.137764],[0.047474,-0.155747,0.986655]] 2025-10-29T00:20:45.526Z,1761697245.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962636,-0.256442,-0.087004],[0.266570,0.953922,0.137745],[0.047671,-0.155790,0.986639]] 2025-10-29T00:20:45.935Z,1761697245.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962574,-0.256727,-0.086844],[0.266811,0.953904,0.137403],[0.047566,-0.155432,0.986701]] 2025-10-29T00:20:46.336Z,1761697246.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962568,-0.256569,-0.087376],[0.266782,0.953781,0.138311],[0.047851,-0.156444,0.986527]] 2025-10-29T00:20:46.750Z,1761697246.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962593,-0.256282,-0.087941],[0.266634,0.953681,0.139279],[0.048173,-0.157517,0.986341]] 2025-10-29T00:20:47.142Z,1761697247.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962639,-0.255966,-0.088363],[0.266441,0.953573,0.140382],[0.048327,-0.158680,0.986147]] 2025-10-29T00:20:47.546Z,1761697247.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962764,-0.255496,-0.088357],[0.265996,0.953632,0.140826],[0.048280,-0.159085,0.986084]] 2025-10-29T00:20:47.958Z,1761697247.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962836,-0.255182,-0.088482],[0.265695,0.953746,0.140623],[0.048505,-0.158906,0.986102]] 2025-10-29T00:20:48.355Z,1761697248.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962981,-0.254628,-0.088495],[0.265175,0.953814,0.141140],[0.048470,-0.159382,0.986026]] 2025-10-29T00:20:48.766Z,1761697248.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963072,-0.254322,-0.088394],[0.264844,0.953939,0.140916],[0.048485,-0.159122,0.986068]] 2025-10-29T00:20:49.164Z,1761697249.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963187,-0.253929,-0.088266],[0.264432,0.954059,0.140878],[0.048439,-0.159032,0.986084]] 2025-10-29T00:20:49.569Z,1761697249.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963335,-0.253358,-0.088295],[0.263871,0.954215,0.140872],[0.048561,-0.159006,0.986083]] 2025-10-29T00:20:49.974Z,1761697249.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963683,-0.251838,-0.088839],[0.262550,0.954291,0.142819],[0.048811,-0.160956,0.985754]] 2025-10-29T00:20:50.374Z,1761697250.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963961,-0.250778,-0.088820],[0.261514,0.954525,0.143150],[0.048882,-0.161218,0.985707]] 2025-10-29T00:20:50.782Z,1761697250.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964143,-0.250098,-0.088761],[0.260829,0.954715,0.143136],[0.048944,-0.161155,0.985715]] 2025-10-29T00:20:51.185Z,1761697251.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964440,-0.249003,-0.088621],[0.259725,0.955009,0.143183],[0.048981,-0.161109,0.985721]] 2025-10-29T00:20:51.586Z,1761697251.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964758,-0.247782,-0.088583],[0.258517,0.955313,0.143337],[0.049108,-0.161186,0.985702]] 2025-10-29T00:20:51.994Z,1761697251.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964980,-0.246947,-0.088490],[0.257661,0.955588,0.143046],[0.049236,-0.160837,0.985752]] 2025-10-29T00:20:52.396Z,1761697252.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965111,-0.246593,-0.088054],[0.257155,0.955978,0.141339],[0.049325,-0.159051,0.986037]] 2025-10-29T00:20:52.798Z,1761697252.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965412,-0.245423,-0.088024],[0.255999,0.956264,0.141505],[0.049445,-0.159145,0.986016]] 2025-10-29T00:20:53.202Z,1761697253.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965531,-0.245005,-0.087875],[0.255541,0.956445,0.141108],[0.049475,-0.158700,0.986086]] 2025-10-29T00:20:53.606Z,1761697253.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965768,-0.243977,-0.088132],[0.254633,0.956485,0.142472],[0.049537,-0.160036,0.985867]] 2025-10-29T00:20:54.416Z,1761697254.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966068,-0.242903,-0.087807],[0.253426,0.957074,0.140661],[0.049871,-0.158140,0.986156]] 2025-10-29T00:20:54.818Z,1761697254.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966195,-0.242509,-0.087501],[0.252950,0.957305,0.139939],[0.049829,-0.157342,0.986286]] 2025-10-29T00:20:55.226Z,1761697255.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966272,-0.242216,-0.087466],[0.252630,0.957461,0.139451],[0.049968,-0.156844,0.986359]] 2025-10-29T00:20:55.627Z,1761697255.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966426,-0.241684,-0.087227],[0.252054,0.957646,0.139220],[0.049886,-0.156532,0.986412]] 2025-10-29T00:20:56.434Z,1761697256.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966645,-0.240893,-0.087001],[0.251147,0.958134,0.137495],[0.050237,-0.154759,0.986674]] 2025-10-29T00:20:56.838Z,1761697256.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966752,-0.240494,-0.086905],[0.250715,0.958309,0.137064],[0.050318,-0.154296,0.986743]] 2025-10-29T00:20:57.249Z,1761697257.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966846,-0.240244,-0.086553],[0.250392,0.958451,0.136661],[0.050125,-0.153802,0.986830]] 2025-10-29T00:20:57.648Z,1761697257.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966889,-0.240228,-0.086122],[0.250229,0.958718,0.135073],[0.050119,-0.152151,0.987086]] 2025-10-29T00:20:58.050Z,1761697258.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966852,-0.240411,-0.086024],[0.250363,0.958774,0.134426],[0.050160,-0.151507,0.987183]] 2025-10-29T00:20:58.454Z,1761697258.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966943,-0.240058,-0.085987],[0.250049,0.958740,0.135254],[0.049970,-0.152284,0.987073]] 2025-10-29T00:20:58.472Z,1761697258.472 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 270.20, 253.53, 240.44 2025-10-29T00:20:58.859Z,1761697258.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967003,-0.239851,-0.085892],[0.249817,0.958836,0.134997],[0.049977,-0.152000,0.987116]] 2025-10-29T00:20:58.883Z,1761697258.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:20:59.037Z,1761697259.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:20:59.037Z,1761697259.037 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:20:59.264Z,1761697259.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966922,-0.240263,-0.085653],[0.250145,0.958873,0.134130],[0.049904,-0.151119,0.987255]] 2025-10-29T00:20:59.289Z,1761697259.289 [DAT](INFO): DAT read: user:367> 2025-10-29T00:20:59.290Z,1761697259.290 [DAT](INFO): DAT read: Tx time:00:20:59.0279 2025-10-29T00:20:59.290Z,1761697259.290 [DAT](INFO): Ping request sent. 2025-10-29T00:20:59.290Z,1761697259.290 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:20:59.290Z,1761697259.290 [DAT](INFO): publishing transmit ping time 2025-10-29T00:20:59.291Z,1761697259.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T00:20:59.541Z,1761697259.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250860 2025-10-29T00:20:59.666Z,1761697259.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966910,-0.240382,-0.085448],[0.250199,0.958947,0.133496],[0.049850,-0.150457,0.987359]] 2025-10-29T00:20:59.793Z,1761697259.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502879 2025-10-29T00:21:00.045Z,1761697260.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754787 2025-10-29T00:21:00.076Z,1761697260.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966729,-0.241021,-0.085700],[0.250817,0.958937,0.132406],[0.050269,-0.149496,0.987484]] 2025-10-29T00:21:00.297Z,1761697260.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846 2025-10-29T00:21:00.476Z,1761697260.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966550,-0.241713,-0.085771],[0.251517,0.958744,0.132473],[0.050212,-0.149615,0.987469]] 2025-10-29T00:21:00.554Z,1761697260.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262814 2025-10-29T00:21:00.801Z,1761697260.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510813 2025-10-29T00:21:00.900Z,1761697260.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966298,-0.242825,-0.085465],[0.252518,0.958632,0.131374],[0.050028,-0.148528,0.987642]] 2025-10-29T00:21:01.056Z,1761697261.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765708 2025-10-29T00:21:01.282Z,1761697261.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966079,-0.243906,-0.084863],[0.253447,0.958533,0.130300],[0.049563,-0.147389,0.987836]] 2025-10-29T00:21:01.305Z,1761697261.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959 2025-10-29T00:21:01.561Z,1761697261.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270681 2025-10-29T00:21:01.687Z,1761697261.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965702,-0.245499,-0.084556],[0.254871,0.958456,0.128073],[0.049601,-0.145231,0.988154]] 2025-10-29T00:21:01.813Z,1761697261.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522856 2025-10-29T00:21:01.952Z,1761697261.952 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:21:02.065Z,1761697262.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774885 2025-10-29T00:21:02.101Z,1761697262.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965467,-0.246408,-0.084595],[0.255741,0.958325,0.127314],[0.049698,-0.144552,0.988248]] 2025-10-29T00:21:02.317Z,1761697262.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026814 2025-10-29T00:21:02.495Z,1761697262.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965233,-0.247330,-0.084572],[0.256634,0.958136,0.126942],[0.049635,-0.144233,0.988298]] 2025-10-29T00:21:02.569Z,1761697262.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278911 2025-10-29T00:21:02.821Z,1761697262.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530903 2025-10-29T00:21:02.898Z,1761697262.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964993,-0.248312,-0.084442],[0.257552,0.957989,0.126188],[0.049561,-0.143518,0.988406]] 2025-10-29T00:21:02.901Z,1761697262.901 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.902Z,1761697262.902 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T00:21:02.902Z,1761697262.902 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.903Z,1761697262.903 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-29T00:21:02.904Z,1761697262.904 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T00:21:02.904Z,1761697262.904 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.905Z,1761697262.905 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.906Z,1761697262.906 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-29T00:21:02.907Z,1761697262.907 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.907Z,1761697262.907 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T00:21:02.908Z,1761697262.908 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T00:21:02.909Z,1761697262.909 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1. 2025-10-29T00:21:02.931Z,1761697262.931 [BPC1](FAULT): Failed to receive data from 30 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 39, 44, 47, 54, 58, 62. 2025-10-29T00:21:02.957Z,1761697262.957 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:21:03.073Z,1761697263.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782825 2025-10-29T00:21:03.307Z,1761697263.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964649,-0.249730,-0.084186],[0.258935,0.957586,0.126420],[0.049044,-0.143749,0.988398]] 2025-10-29T00:21:03.325Z,1761697263.325 [DAT](INFO): DAT read: Rx Time:00:21:02.6412 2025-10-29T00:21:03.325Z,1761697263.325 [DAT](INFO): Rx dataTimestamp_ set to:1761697263.325192 2025-10-29T00:21:03.326Z,1761697263.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035966 2025-10-29T00:21:03.577Z,1761697263.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286883 2025-10-29T00:21:03.710Z,1761697263.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964560,-0.250162,-0.083927],[0.259321,0.957494,0.126325],[0.048758,-0.143612,0.988432]] 2025-10-29T00:21:03.834Z,1761697263.834 [DAT](INFO): DAT read: 00:21:02.6412 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.06, 0.243,-1.381, 0.165, 0.094, PHS= 0.251,-1.430, 0.027, RAW= 143.0, 14.5, CAL= 142.4, 15.7, ROT= 7.6, -15.7 2025-10-29T00:21:03.835Z,1761697263.835 [DAT](INFO): got valid direction response: 00:21:02.6412 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.06, 0.243,-1.381, 0.165, 0.094, PHS= 0.251,-1.430, 0.027, RAW= 143.0, 14.5, CAL= 142.4, 15.7, ROT= 7.6, -15.7 2025-10-29T00:21:03.837Z,1761697263.837 [DAT](INFO): DAT read: Bearing 183.8, 7.5 (Local) 2025-10-29T00:21:03.837Z,1761697263.837 [DAT](INFO): Local bearing/azimuth received: Bearing 183.8, 7.5 (Local) 2025-10-29T00:21:03.838Z,1761697263.838 [DAT](INFO): DAT read: Range 11 to 50 : 906.8 m (Round-trip 1209.1 ms) speed 0.4 m/s 2025-10-29T00:21:03.839Z,1761697263.839 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:21:03.840Z,1761697263.840 [DAT](INFO): direction in FSK: [0.954235,0.127322,0.270600] 2025-10-29T00:21:03.840Z,1761697263.840 [DAT](INFO): publishing direction and range info 2025-10-29T00:21:04.110Z,1761697264.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964442,-0.250708,-0.083649],[0.259815,0.957382,0.126157],[0.048455,-0.143404,0.988477]] 2025-10-29T00:21:04.514Z,1761697264.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964338,-0.251211,-0.083337],[0.260265,0.957271,0.126070],[0.048106,-0.143264,0.988515]] 2025-10-29T00:21:04.920Z,1761697264.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964277,-0.251662,-0.082677],[0.260584,0.957276,0.125376],[0.047593,-0.142441,0.988658]] 2025-10-29T00:21:05.335Z,1761697265.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964253,-0.251872,-0.082324],[0.260747,0.957218,0.125474],[0.047199,-0.142455,0.988675]] 2025-10-29T00:21:05.733Z,1761697265.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964251,-0.251914,-0.082212],[0.260814,0.957088,0.126330],[0.046860,-0.143256,0.988576]] 2025-10-29T00:21:06.131Z,1761697266.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964291,-0.251914,-0.081741],[0.260759,0.957066,0.126611],[0.046337,-0.143405,0.988579]] 2025-10-29T00:21:06.536Z,1761697266.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964236,-0.252346,-0.081061],[0.261082,0.957000,0.126439],[0.045669,-0.143081,0.988657]] 2025-10-29T00:21:06.938Z,1761697266.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964352,-0.252110,-0.080413],[0.260757,0.957081,0.126499],[0.045070,-0.142958,0.988702]] 2025-10-29T00:21:07.368Z,1761697267.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964370,-0.252551,-0.078791],[0.260939,0.957102,0.125961],[0.043599,-0.142033,0.988901]] 2025-10-29T00:21:08.162Z,1761697268.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964405,-0.252515,-0.078480],[0.260871,0.957084,0.126237],[0.043235,-0.142217,0.988891]] 2025-10-29T00:21:08.555Z,1761697268.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964305,-0.253106,-0.077809],[0.261355,0.956973,0.126082],[0.042549,-0.141917,0.988964]] 2025-10-29T00:21:08.965Z,1761697268.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964169,-0.253768,-0.077327],[0.261934,0.956842,0.125869],[0.042048,-0.141613,0.989029]] 2025-10-29T00:21:09.393Z,1761697269.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963778,-0.255587,-0.076200],[0.263552,0.956486,0.125197],[0.040886,-0.140745,0.989201]] 2025-10-29T00:21:09.777Z,1761697269.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963588,-0.256396,-0.075888],[0.264311,0.956275,0.125213],[0.040466,-0.140712,0.989223]] 2025-10-29T00:21:10.181Z,1761697270.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963414,-0.257119,-0.075653],[0.265025,0.955981,0.125942],[0.039940,-0.141384,0.989149]] 2025-10-29T00:21:10.578Z,1761697270.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963245,-0.257868,-0.075252],[0.265703,0.955820,0.125738],[0.039504,-0.141111,0.989205]] 2025-10-29T00:21:10.979Z,1761697270.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963062,-0.258653,-0.074898],[0.266436,0.955605,0.125824],[0.039028,-0.141132,0.989221]] 2025-10-29T00:21:11.415Z,1761697271.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962968,-0.259070,-0.074669],[0.266828,0.955455,0.126128],[0.038667,-0.141381,0.989200]] 2025-10-29T00:21:11.789Z,1761697271.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962853,-0.259582,-0.074375],[0.267294,0.955330,0.126090],[0.038322,-0.141286,0.989227]] 2025-10-29T00:21:12.193Z,1761697272.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962666,-0.260401,-0.073930],[0.268026,0.955184,0.125638],[0.037900,-0.140762,0.989318]] 2025-10-29T00:21:12.594Z,1761697272.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962553,-0.260845,-0.073830],[0.268493,0.954911,0.126716],[0.037448,-0.141794,0.989188]] 2025-10-29T00:21:12.999Z,1761697272.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962441,-0.261181,-0.074105],[0.268906,0.954656,0.127758],[0.037377,-0.142887,0.989033]] 2025-10-29T00:21:13.444Z,1761697273.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962264,-0.261810,-0.074190],[0.269558,0.954415,0.128184],[0.037249,-0.143345,0.988972]] 2025-10-29T00:21:13.806Z,1761697273.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962078,-0.262582,-0.073863],[0.270267,0.954245,0.127954],[0.036885,-0.143065,0.989026]] 2025-10-29T00:21:14.217Z,1761697274.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961763,-0.263967,-0.073031],[0.271459,0.954135,0.126239],[0.036359,-0.141237,0.989308]] 2025-10-29T00:21:14.615Z,1761697274.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961425,-0.265271,-0.072751],[0.272685,0.953887,0.125470],[0.036113,-0.140468,0.989426]] 2025-10-29T00:21:15.021Z,1761697275.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961195,-0.266104,-0.072756],[0.273542,0.953535,0.126277],[0.035773,-0.141279,0.989323]] 2025-10-29T00:21:15.466Z,1761697275.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960913,-0.267218,-0.072397],[0.274583,0.953282,0.125929],[0.035364,-0.140886,0.989394]] 2025-10-29T00:21:15.826Z,1761697275.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960561,-0.268561,-0.072089],[0.275856,0.952977,0.125455],[0.035007,-0.140393,0.989477]] 2025-10-29T00:21:16.233Z,1761697276.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960376,-0.269294,-0.071822],[0.276564,0.952703,0.125973],[0.034501,-0.140845,0.989430]] 2025-10-29T00:21:16.643Z,1761697276.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960256,-0.269821,-0.071450],[0.277057,0.952469,0.126661],[0.033878,-0.141423,0.989369]] 2025-10-29T00:21:17.048Z,1761697277.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960140,-0.270325,-0.071102],[0.277528,0.952252,0.127259],[0.033306,-0.141920,0.989318]] 2025-10-29T00:21:17.475Z,1761697277.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960050,-0.270739,-0.070736],[0.277903,0.952079,0.127732],[0.032764,-0.142286,0.989283]] 2025-10-29T00:21:17.847Z,1761697277.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959883,-0.271405,-0.070449],[0.278529,0.951869,0.127932],[0.032337,-0.142422,0.989278]] 2025-10-29T00:21:18.254Z,1761697278.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959795,-0.271795,-0.070149],[0.278879,0.951738,0.128145],[0.031934,-0.142556,0.989271]] 2025-10-29T00:21:18.654Z,1761697278.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959770,-0.271991,-0.069729],[0.279023,0.951659,0.128420],[0.031429,-0.142709,0.989266]] 2025-10-29T00:21:19.059Z,1761697279.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959802,-0.272139,-0.068708],[0.279015,0.951693,0.128185],[0.030504,-0.142203,0.989367]] 2025-10-29T00:21:19.475Z,1761697279.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959932,-0.271885,-0.067895],[0.278666,0.951718,0.128757],[0.029610,-0.142517,0.989349]] 2025-10-29T00:21:19.867Z,1761697279.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960117,-0.271492,-0.066834],[0.278132,0.951840,0.129007],[0.028591,-0.142451,0.989389]] 2025-10-29T00:21:20.276Z,1761697280.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960234,-0.271333,-0.065804],[0.277844,0.951845,0.129590],[0.027473,-0.142720,0.989382]] 2025-10-29T00:21:20.677Z,1761697280.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960307,-0.271297,-0.064867],[0.277684,0.951837,0.129989],[0.026478,-0.142842,0.989391]] 2025-10-29T00:21:21.078Z,1761697281.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960493,-0.270896,-0.063790],[0.277167,0.951807,0.131308],[0.025145,-0.143801,0.989287]] 2025-10-29T00:21:21.489Z,1761697281.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960640,-0.270701,-0.062380],[0.276778,0.951883,0.131578],[0.023760,-0.143665,0.989341]] 2025-10-29T00:21:21.888Z,1761697281.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960701,-0.270741,-0.061255],[0.276656,0.951913,0.131617],[0.022675,-0.143391,0.989406]] 2025-10-29T00:21:22.290Z,1761697282.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960634,-0.271222,-0.060174],[0.276977,0.951827,0.131564],[0.021592,-0.143052,0.989480]] 2025-10-29T00:21:22.702Z,1761697282.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960616,-0.271592,-0.058779],[0.277148,0.951747,0.131780],[0.020152,-0.142881,0.989535]] 2025-10-29T00:21:23.098Z,1761697283.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960690,-0.271680,-0.057138],[0.276996,0.951825,0.131540],[0.018649,-0.142196,0.989663]] 2025-10-29T00:21:23.505Z,1761697283.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960584,-0.272379,-0.055564],[0.277445,0.951857,0.130358],[0.017382,-0.140636,0.989909]] 2025-10-29T00:21:23.906Z,1761697283.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960325,-0.273575,-0.054162],[0.278408,0.951783,0.128835],[0.016305,-0.138803,0.990186]] 2025-10-29T00:21:24.310Z,1761697284.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960139,-0.274456,-0.052978],[0.279118,0.951567,0.128892],[0.015037,-0.138541,0.990242]] 2025-10-29T00:21:24.715Z,1761697284.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960138,-0.274617,-0.052166],[0.279170,0.951502,0.129262],[0.014139,-0.138673,0.990237]] 2025-10-29T00:21:25.121Z,1761697285.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959893,-0.275693,-0.050985],[0.280069,0.951276,0.128980],[0.012942,-0.138086,0.990336]] 2025-10-29T00:21:25.523Z,1761697285.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959682,-0.276634,-0.049844],[0.280841,0.951079,0.128753],[0.011788,-0.137560,0.990423]] 2025-10-29T00:21:25.926Z,1761697285.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959357,-0.277909,-0.048995],[0.281982,0.950814,0.128214],[0.010953,-0.136819,0.990536]] 2025-10-29T00:21:26.333Z,1761697286.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959018,-0.279146,-0.048595],[0.283160,0.950383,0.128810],[0.010228,-0.137291,0.990478]] 2025-10-29T00:21:26.736Z,1761697286.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958796,-0.279936,-0.048439],[0.283936,0.949937,0.130381],[0.009515,-0.138762,0.990280]] 2025-10-29T00:21:27.138Z,1761697287.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958577,-0.280805,-0.047734],[0.284703,0.949656,0.130756],[0.008614,-0.138930,0.990265]] 2025-10-29T00:21:27.543Z,1761697287.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958244,-0.282078,-0.046914],[0.285846,0.949378,0.130281],[0.007790,-0.138251,0.990367]] 2025-10-29T00:21:27.948Z,1761697287.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957813,-0.283574,-0.046692],[0.287303,0.948853,0.130904],[0.007183,-0.138796,0.990295]] 2025-10-29T00:21:28.351Z,1761697288.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957610,-0.284341,-0.046181],[0.287991,0.948653,0.130840],[0.006606,-0.138593,0.990327]] 2025-10-29T00:21:28.760Z,1761697288.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957330,-0.285385,-0.045545],[0.288935,0.948416,0.130477],[0.005960,-0.138069,0.990405]] 2025-10-29T00:21:29.159Z,1761697289.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957149,-0.286017,-0.045382],[0.289543,0.948129,0.131210],[0.005499,-0.138727,0.990315]] 2025-10-29T00:21:29.564Z,1761697289.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956960,-0.286737,-0.044834],[0.290181,0.947928,0.131254],[0.004864,-0.138614,0.990335]] 2025-10-29T00:21:29.967Z,1761697289.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956789,-0.287385,-0.044311],[0.290750,0.947748,0.131293],[0.004264,-0.138503,0.990353]] 2025-10-29T00:21:30.371Z,1761697290.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956756,-0.287558,-0.043917],[0.290868,0.947664,0.131639],[0.003765,-0.138721,0.990324]] 2025-10-29T00:21:30.779Z,1761697290.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956683,-0.287863,-0.043510],[0.291114,0.947538,0.132002],[0.003230,-0.138950,0.990294]] 2025-10-29T00:21:31.189Z,1761697291.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956613,-0.288158,-0.043099],[0.291350,0.947453,0.132088],[0.002772,-0.138914,0.990301]] 2025-10-29T00:21:31.582Z,1761697291.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956473,-0.288701,-0.042553],[0.291810,0.947413,0.131361],[0.002391,-0.138060,0.990421]] 2025-10-29T00:21:31.986Z,1761697291.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956370,-0.289116,-0.042060],[0.292153,0.947327,0.131221],[0.001906,-0.137783,0.990461]] 2025-10-29T00:21:32.397Z,1761697292.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956371,-0.289192,-0.041502],[0.292152,0.947325,0.131237],[0.001364,-0.137636,0.990482]] 2025-10-29T00:21:32.796Z,1761697292.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956298,-0.289537,-0.040768],[0.292392,0.947262,0.131152],[0.000644,-0.137341,0.990524]] 2025-10-29T00:21:33.092Z,1761697293.092 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:21:33.199Z,1761697293.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956225,-0.289889,-0.039982],[0.292633,0.947201,0.131056],[-0.000121,-0.137019,0.990568]] 2025-10-29T00:21:33.602Z,1761697293.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956244,-0.289905,-0.039397],[0.292568,0.947156,0.131530],[-0.000816,-0.137301,0.990529]] 2025-10-29T00:21:34.006Z,1761697294.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956259,-0.289953,-0.038688],[0.292519,0.947138,0.131765],[-0.001563,-0.137319,0.990526]] 2025-10-29T00:21:34.097Z,1761697294.097 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:21:34.417Z,1761697294.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956181,-0.290372,-0.037452],[0.292768,0.947264,0.130302],[-0.002359,-0.135557,0.990767]] 2025-10-29T00:21:34.814Z,1761697294.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956056,-0.290873,-0.036729],[0.293167,0.947135,0.130338],[-0.003125,-0.135378,0.990789]] 2025-10-29T00:21:35.218Z,1761697295.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956114,-0.290715,-0.036476],[0.292967,0.946907,0.132430],[-0.003960,-0.137305,0.990521]] 2025-10-29T00:21:35.622Z,1761697295.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956207,-0.290520,-0.035599],[0.292655,0.947042,0.132151],[-0.004678,-0.136782,0.990590]] 2025-10-29T00:21:36.026Z,1761697296.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956228,-0.290554,-0.034725],[0.292572,0.947105,0.131883],[-0.005431,-0.136270,0.990657]] 2025-10-29T00:21:36.430Z,1761697296.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956066,-0.291128,-0.034369],[0.293093,0.946965,0.131737],[-0.005807,-0.136023,0.990689]] 2025-10-29T00:21:36.834Z,1761697296.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956059,-0.291230,-0.033716],[0.293102,0.946914,0.132077],[-0.006538,-0.136156,0.990666]] 2025-10-29T00:21:37.239Z,1761697297.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956058,-0.291294,-0.033181],[0.293091,0.946880,0.132346],[-0.007133,-0.136255,0.990648]] 2025-10-29T00:21:37.644Z,1761697297.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955835,-0.292048,-0.032989],[0.293810,0.946627,0.132562],[-0.007486,-0.136400,0.990626]] 2025-10-29T00:21:38.450Z,1761697298.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955281,-0.293955,-0.032085],[0.295586,0.946254,0.131270],[-0.008227,-0.134884,0.990827]] 2025-10-29T00:21:38.854Z,1761697298.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955113,-0.294496,-0.032108],[0.296118,0.945971,0.132113],[-0.008534,-0.135691,0.990715]] 2025-10-29T00:21:39.260Z,1761697299.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954810,-0.295529,-0.031640],[0.297079,0.945684,0.132005],[-0.009090,-0.135440,0.990744]] 2025-10-29T00:21:39.675Z,1761697299.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954188,-0.297602,-0.030946],[0.299051,0.945240,0.130731],[-0.009654,-0.133996,0.990935]] 2025-10-29T00:21:40.066Z,1761697300.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953810,-0.298864,-0.030436],[0.300235,0.944886,0.130575],[-0.010266,-0.133682,0.990971]] 2025-10-29T00:21:40.475Z,1761697300.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953423,-0.300160,-0.029810],[0.301435,0.944503,0.130578],[-0.011039,-0.133482,0.990990]] 2025-10-29T00:21:40.880Z,1761697300.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953048,-0.301373,-0.029561],[0.302601,0.944108,0.130742],[-0.011494,-0.133549,0.990976]] 2025-10-29T00:21:41.283Z,1761697301.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952542,-0.302964,-0.029598],[0.304177,0.943543,0.131162],[-0.011811,-0.133940,0.990919]] 2025-10-29T00:21:41.687Z,1761697301.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952144,-0.304198,-0.029745],[0.305406,0.942994,0.132252],[-0.012181,-0.135007,0.990770]] 2025-10-29T00:21:42.091Z,1761697302.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951973,-0.304736,-0.029739],[0.305928,0.942716,0.133019],[-0.012500,-0.135728,0.990667]] 2025-10-29T00:21:42.497Z,1761697302.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951703,-0.305580,-0.029692],[0.306753,0.942394,0.133403],[-0.012784,-0.136068,0.990617]] 2025-10-29T00:21:42.898Z,1761697302.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951374,-0.306625,-0.029481],[0.307756,0.942034,0.133632],[-0.013203,-0.136207,0.990592]] 2025-10-29T00:21:43.302Z,1761697303.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950990,-0.307819,-0.029413],[0.308929,0.941651,0.133627],[-0.013436,-0.136164,0.990595]] 2025-10-29T00:21:43.708Z,1761697303.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950795,-0.308433,-0.029299],[0.309522,0.941464,0.133570],[-0.013613,-0.136066,0.990606]] 2025-10-29T00:21:44.112Z,1761697304.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950609,-0.309024,-0.029086],[0.310077,0.941267,0.133673],[-0.013930,-0.136090,0.990599]] 2025-10-29T00:21:44.514Z,1761697304.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950660,-0.308829,-0.029502],[0.309916,0.941072,0.135408],[-0.014055,-0.137870,0.990351]] 2025-10-29T00:21:44.919Z,1761697304.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950614,-0.308997,-0.029209],[0.310048,0.941080,0.135048],[-0.014242,-0.137434,0.990408]] 2025-10-29T00:21:45.322Z,1761697305.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950539,-0.309261,-0.028884],[0.310262,0.940987,0.135210],[-0.014635,-0.137484,0.990396]] 2025-10-29T00:21:45.728Z,1761697305.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950583,-0.309145,-0.028659],[0.310111,0.940979,0.135612],[-0.014957,-0.137798,0.990347]] 2025-10-29T00:21:46.130Z,1761697306.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950726,-0.308731,-0.028374],[0.309658,0.941096,0.135830],[-0.015232,-0.137923,0.990326]] 2025-10-29T00:21:46.534Z,1761697306.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950729,-0.308746,-0.028129],[0.309639,0.941106,0.135807],[-0.015457,-0.137825,0.990336]] 2025-10-29T00:21:46.939Z,1761697306.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950780,-0.308634,-0.027610],[0.309452,0.941127,0.136088],[-0.016017,-0.137933,0.990312]] 2025-10-29T00:21:47.344Z,1761697307.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950907,-0.308270,-0.027304],[0.309040,0.941176,0.136680],[-0.016436,-0.138408,0.990239]] 2025-10-29T00:21:47.755Z,1761697307.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951060,-0.307816,-0.027104],[0.308553,0.941246,0.137300],[-0.016752,-0.138944,0.990159]] 2025-10-29T00:21:48.159Z,1761697308.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950938,-0.308230,-0.026684],[0.308905,0.941140,0.137237],[-0.017187,-0.138747,0.990179]] 2025-10-29T00:21:48.554Z,1761697308.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950591,-0.309350,-0.026062],[0.309937,0.940874,0.136730],[-0.017776,-0.138051,0.990265]] 2025-10-29T00:21:48.966Z,1761697308.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950386,-0.310035,-0.025413],[0.310526,0.940690,0.136663],[-0.018464,-0.137774,0.990292]] 2025-10-29T00:21:49.365Z,1761697309.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950019,-0.311168,-0.025271],[0.311633,0.940364,0.136380],[-0.018673,-0.137438,0.990334]] 2025-10-29T00:21:49.774Z,1761697309.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949617,-0.312382,-0.025402],[0.312847,0.939912,0.136720],[-0.018833,-0.137778,0.990284]] 2025-10-29T00:21:50.172Z,1761697310.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949228,-0.313532,-0.025745],[0.314012,0.939368,0.137784],[-0.019016,-0.138872,0.990128]] 2025-10-29T00:21:50.575Z,1761697310.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948787,-0.314871,-0.025672],[0.315339,0.939012,0.137176],[-0.019087,-0.138246,0.990214]] 2025-10-29T00:21:50.995Z,1761697310.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948228,-0.316564,-0.025526],[0.317009,0.938559,0.136424],[-0.019229,-0.137453,0.990322]] 2025-10-29T00:21:51.382Z,1761697311.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947940,-0.317408,-0.025712],[0.317868,0.938258,0.136497],[-0.019201,-0.137564,0.990307]] 2025-10-29T00:21:51.790Z,1761697311.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947521,-0.318640,-0.025945],[0.319123,0.937856,0.136331],[-0.019107,-0.137456,0.990323]] 2025-10-29T00:21:52.191Z,1761697312.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947227,-0.319523,-0.025825],[0.319997,0.937680,0.135489],[-0.019076,-0.136603,0.990442]] 2025-10-29T00:21:52.596Z,1761697312.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947016,-0.320147,-0.025814],[0.320612,0.937463,0.135543],[-0.019194,-0.136638,0.990435]] 2025-10-29T00:21:53.027Z,1761697313.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946526,-0.321567,-0.026150],[0.322068,0.936995,0.135323],[-0.019012,-0.136509,0.990456]] 2025-10-29T00:21:53.812Z,1761697313.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946580,-0.321356,-0.026790],[0.321922,0.936858,0.136612],[-0.018803,-0.137939,0.990262]] 2025-10-29T00:21:54.218Z,1761697314.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946368,-0.321983,-0.026738],[0.322538,0.936667,0.136471],[-0.018897,-0.137776,0.990283]] 2025-10-29T00:21:54.621Z,1761697314.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946601,-0.321301,-0.026678],[0.321837,0.936772,0.137402],[-0.019156,-0.138651,0.990156]] 2025-10-29T00:21:55.059Z,1761697315.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946703,-0.320998,-0.026698],[0.321538,0.936855,0.137536],[-0.019137,-0.138790,0.990137]] 2025-10-29T00:21:55.426Z,1761697315.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946541,-0.321505,-0.026369],[0.322002,0.936758,0.137107],[-0.019379,-0.138268,0.990205]] 2025-10-29T00:21:55.832Z,1761697315.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946494,-0.321665,-0.026110],[0.322119,0.936679,0.137376],[-0.019733,-0.138436,0.990175]] 2025-10-29T00:21:56.230Z,1761697316.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946621,-0.321275,-0.026296],[0.321745,0.936708,0.138054],[-0.019721,-0.139145,0.990076]] 2025-10-29T00:21:56.642Z,1761697316.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946633,-0.321266,-0.025963],[0.321695,0.936757,0.137837],[-0.019961,-0.138834,0.990115]] 2025-10-29T00:21:57.086Z,1761697317.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946695,-0.321085,-0.025942],[0.321505,0.936768,0.138204],[-0.020074,-0.139177,0.990064]] 2025-10-29T00:21:57.444Z,1761697317.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946538,-0.321580,-0.025535],[0.321940,0.936632,0.138109],[-0.020496,-0.138946,0.990088]] 2025-10-29T00:21:57.846Z,1761697317.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946332,-0.322207,-0.025269],[0.322528,0.936462,0.137892],[-0.020766,-0.138641,0.990125]] 2025-10-29T00:21:58.250Z,1761697318.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946165,-0.322713,-0.025045],[0.322999,0.936307,0.137843],[-0.021034,-0.138511,0.990137]] 2025-10-29T00:21:58.655Z,1761697318.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945838,-0.323701,-0.024671],[0.323930,0.936020,0.137608],[-0.021452,-0.138147,0.990179]] 2025-10-29T00:21:59.118Z,1761697319.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945447,-0.324870,-0.024260],[0.325040,0.935700,0.137167],[-0.021862,-0.137570,0.990251]] 2025-10-29T00:21:59.185Z,1761697319.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:21:59.305Z,1761697319.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:21:59.305Z,1761697319.305 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:21:59.463Z,1761697319.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945224,-0.325515,-0.024329],[0.325663,0.935317,0.138292],[-0.022261,-0.138640,0.990093]] 2025-10-29T00:21:59.558Z,1761697319.558 [DAT](INFO): DAT read: user:368> 2025-10-29T00:21:59.559Z,1761697319.559 [DAT](INFO): DAT read: Tx time:00:21:59.2777 2025-10-29T00:21:59.559Z,1761697319.559 [DAT](INFO): Ping request sent. 2025-10-29T00:21:59.559Z,1761697319.559 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:21:59.559Z,1761697319.559 [DAT](INFO): publishing transmit ping time 2025-10-29T00:21:59.560Z,1761697319.560 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001101 2025-10-29T00:21:59.809Z,1761697319.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249764 2025-10-29T00:21:59.866Z,1761697319.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944944,-0.326319,-0.024410],[0.326465,0.935004,0.138523],[-0.022379,-0.138866,0.990058]] 2025-10-29T00:22:00.061Z,1761697320.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502031 2025-10-29T00:22:00.272Z,1761697320.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944532,-0.327567,-0.023659],[0.327622,0.934764,0.137405],[-0.022894,-0.137535,0.990232]] 2025-10-29T00:22:00.317Z,1761697320.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757841 2025-10-29T00:22:00.569Z,1761697320.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009691 2025-10-29T00:22:00.676Z,1761697320.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944106,-0.328804,-0.023510],[0.328819,0.934306,0.137661],[-0.023298,-0.137698,0.990200]] 2025-10-29T00:22:00.821Z,1761697320.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261770 2025-10-29T00:22:01.087Z,1761697321.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516136 2025-10-29T00:22:01.143Z,1761697321.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943850,-0.329508,-0.023914],[0.329549,0.933907,0.138616],[-0.023342,-0.138714,0.990057]] 2025-10-29T00:22:01.325Z,1761697321.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765739 2025-10-29T00:22:01.483Z,1761697321.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943427,-0.330738,-0.023634],[0.330751,0.933630,0.137620],[-0.023451,-0.137651,0.990203]] 2025-10-29T00:22:01.577Z,1761697321.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017786 2025-10-29T00:22:01.829Z,1761697321.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269770 2025-10-29T00:22:01.886Z,1761697321.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943144,-0.331557,-0.023450],[0.331538,0.933359,0.137563],[-0.023723,-0.137517,0.990215]] 2025-10-29T00:22:02.088Z,1761697322.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524207 2025-10-29T00:22:02.292Z,1761697322.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943071,-0.331765,-0.023452],[0.331734,0.933230,0.137968],[-0.023886,-0.137893,0.990159]] 2025-10-29T00:22:02.333Z,1761697322.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773888 2025-10-29T00:22:02.585Z,1761697322.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025894 2025-10-29T00:22:02.694Z,1761697322.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943011,-0.331901,-0.023904],[0.331882,0.932878,0.139974],[-0.024158,-0.139931,0.989867]] 2025-10-29T00:22:02.837Z,1761697322.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277768 2025-10-29T00:22:03.089Z,1761697323.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529892 2025-10-29T00:22:03.164Z,1761697323.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943060,-0.331766,-0.023857],[0.331727,0.932839,0.140602],[-0.024392,-0.140510,0.989779]] 2025-10-29T00:22:03.344Z,1761697323.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784804 2025-10-29T00:22:03.503Z,1761697323.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942905,-0.332231,-0.023499],[0.332131,0.932661,0.140828],[-0.024871,-0.140592,0.989755]] 2025-10-29T00:22:03.593Z,1761697323.593 [DAT](INFO): DAT read: Rx Time:00:22:02.8440 2025-10-29T00:22:03.593Z,1761697323.593 [DAT](INFO): Rx dataTimestamp_ set to:1761697323.593047 2025-10-29T00:22:03.594Z,1761697323.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034774 2025-10-29T00:22:03.849Z,1761697323.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.289513 2025-10-29T00:22:03.907Z,1761697323.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942982,-0.332012,-0.023516],[0.331898,0.932632,0.141568],[-0.025071,-0.141301,0.989649]] 2025-10-29T00:22:04.106Z,1761697324.106 [DAT](INFO): DAT read: 00:22:02.8440 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 473,-0.20,-0.099,-1.802,-0.099,-0.389, PHS= 0.392,-1.368, 0.247, RAW= 145.7, 8.7, CAL= 145.3, 9.4, ROT= 4.7, -9.4 2025-10-29T00:22:04.109Z,1761697324.109 [DAT](INFO): got valid direction response: 00:22:02.8440 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 473,-0.20,-0.099,-1.802,-0.099,-0.389, PHS= 0.392,-1.368, 0.247, RAW= 145.7, 8.7, CAL= 145.3, 9.4, ROT= 4.7, -9.4 2025-10-29T00:22:04.114Z,1761697324.114 [DAT](INFO): DAT read: Bearing 182.0, 1.6 (Local) 2025-10-29T00:22:04.115Z,1761697324.115 [DAT](INFO): Local bearing/azimuth received: Bearing 182.0, 1.6 (Local) 2025-10-29T00:22:04.117Z,1761697324.117 [DAT](INFO): DAT read: Range 11 to 50 : 871.6 m (Round-trip 1162.2 ms) speed 0.5 m/s 2025-10-29T00:22:04.118Z,1761697324.118 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:22:04.121Z,1761697324.121 [DAT](INFO): direction in FSK: [0.983255,0.080838,0.163326] 2025-10-29T00:22:04.121Z,1761697324.121 [DAT](INFO): publishing direction and range info 2025-10-29T00:22:04.222Z,1761697324.222 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:22:04.307Z,1761697324.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943194,-0.331405,-0.023588],[0.331285,0.932714,0.142460],[-0.025211,-0.142182,0.989519]] 2025-10-29T00:22:04.711Z,1761697324.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943272,-0.331178,-0.023656],[0.331055,0.932700,0.143087],[-0.025323,-0.142802,0.989427]] 2025-10-29T00:22:05.156Z,1761697325.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943231,-0.331257,-0.024146],[0.331196,0.932607,0.143363],[-0.024971,-0.143221,0.989376]] 2025-10-29T00:22:05.224Z,1761697325.224 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:22:05.519Z,1761697325.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943310,-0.331021,-0.024304],[0.331002,0.932779,0.142693],[-0.024564,-0.142648,0.989469]] 2025-10-29T00:22:05.962Z,1761697325.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943140,-0.331503,-0.024339],[0.331488,0.932636,0.142500],[-0.024539,-0.142465,0.989496]] 2025-10-29T00:22:06.326Z,1761697326.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943102,-0.331565,-0.024968],[0.331647,0.932631,0.142159],[-0.023849,-0.142351,0.989529]] 2025-10-29T00:22:06.731Z,1761697326.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942933,-0.332013,-0.025371],[0.332152,0.932479,0.141979],[-0.023481,-0.142303,0.989545]] 2025-10-29T00:22:07.168Z,1761697327.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942599,-0.332913,-0.026011],[0.333144,0.932194,0.141525],[-0.022868,-0.142067,0.989593]] 2025-10-29T00:22:07.539Z,1761697327.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942383,-0.333473,-0.026632],[0.333790,0.931994,0.141321],[-0.022305,-0.142068,0.989606]] 2025-10-29T00:22:07.944Z,1761697327.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942172,-0.334009,-0.027364],[0.334427,0.931780,0.141223],[-0.021673,-0.142208,0.989599]] 2025-10-29T00:22:08.346Z,1761697328.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941995,-0.334465,-0.027891],[0.334949,0.931568,0.141387],[-0.021307,-0.142528,0.989561]] 2025-10-29T00:22:08.754Z,1761697328.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941953,-0.334482,-0.029093],[0.335120,0.931379,0.142222],[-0.020474,-0.143716,0.989407]] 2025-10-29T00:22:08.889Z,1761697328.889 [DAT](INFO): DAT read: user:369>Rx Time:00:22:08.1732 2025-10-29T00:22:08.890Z,1761697328.890 [DAT](INFO): Rx dataTimestamp_ set to:1761697328.889233 2025-10-29T00:22:09.159Z,1761697329.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941548,-0.335568,-0.029676],[0.336285,0.931009,0.141895],[-0.019987,-0.143581,0.989437]] 2025-10-29T00:22:09.397Z,1761697329.397 [DAT](INFO): DAT read: 00:22:08.1732 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 260, 0.31,-2.226, 2.298,-2.166,-2.638, PHS= 0.515,-1.302, 0.428, RAW= 147.6, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 2025-10-29T00:22:09.398Z,1761697329.398 [DAT](INFO): got valid direction response: 00:22:08.1732 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 260, 0.31,-2.226, 2.298,-2.166,-2.638, PHS= 0.515,-1.302, 0.428, RAW= 147.6, 4.1, CAL= 146.9, 4.3, ROT= 3.1, -4.3 2025-10-29T00:22:09.399Z,1761697329.399 [DAT](INFO): DAT read: bearing request 2025-10-29T00:22:09.399Z,1761697329.399 [DAT](INFO): received a bearing request message 2025-10-29T00:22:09.400Z,1761697329.400 [DAT](INFO): DAT read: Tx time:00:22:09.7760 2025-10-29T00:22:09.400Z,1761697329.400 [DAT](INFO): Ping request sent. 2025-10-29T00:22:09.400Z,1761697329.400 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:22:09.401Z,1761697329.401 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-29T00:22:09.401Z,1761697329.401 [DAT](INFO): direction in FSK: [0.995726,0.053927,0.074979] 2025-10-29T00:22:09.402Z,1761697329.402 [DAT](INFO): publishing transmit ping time 2025-10-29T00:22:09.402Z,1761697329.402 [DAT](INFO): publishing range request flag 2025-10-29T00:22:09.405Z,1761697329.405 [DAT](INFO): publishing transmit ping time 2025-10-29T00:22:09.405Z,1761697329.405 [DAT](INFO): publishing range request flag 2025-10-29T00:22:09.559Z,1761697329.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941239,-0.336385,-0.030230],[0.337173,0.930705,0.141783],[-0.019558,-0.143644,0.989436]] 2025-10-29T00:22:09.962Z,1761697329.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940822,-0.337493,-0.030857],[0.338365,0.930320,0.141470],[-0.019038,-0.143539,0.989461]] 2025-10-29T00:22:10.366Z,1761697330.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940617,-0.338013,-0.031414],[0.338963,0.930125,0.141321],[-0.018549,-0.143578,0.989465]] 2025-10-29T00:22:10.777Z,1761697330.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940303,-0.338860,-0.031690],[0.339852,0.929902,0.140653],[-0.018193,-0.143026,0.989552]] 2025-10-29T00:22:11.178Z,1761697331.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940053,-0.339498,-0.032285],[0.340571,0.929667,0.140463],[-0.017673,-0.143038,0.989559]] 2025-10-29T00:22:11.578Z,1761697331.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939722,-0.340385,-0.032568],[0.341498,0.929405,0.139949],[-0.017368,-0.142635,0.989623]] 2025-10-29T00:22:11.982Z,1761697331.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939463,-0.341062,-0.032940],[0.342227,0.929192,0.139578],[-0.016998,-0.142401,0.989663]] 2025-10-29T00:22:12.388Z,1761697332.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939379,-0.341238,-0.033532],[0.342484,0.929080,0.139695],[-0.016515,-0.142711,0.989627]] 2025-10-29T00:22:12.791Z,1761697332.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939221,-0.341602,-0.034242],[0.342928,0.928759,0.140736],[-0.016274,-0.143925,0.989455]] 2025-10-29T00:22:13.198Z,1761697333.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939306,-0.341295,-0.034945],[0.342711,0.928695,0.141688],[-0.015904,-0.145065,0.989294]] 2025-10-29T00:22:13.609Z,1761697333.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939121,-0.341768,-0.035296],[0.343253,0.928729,0.140143],[-0.015116,-0.143727,0.989502]] 2025-10-29T00:22:14.004Z,1761697334.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938871,-0.342391,-0.035919],[0.343960,0.928474,0.140099],[-0.014619,-0.143890,0.989486]] 2025-10-29T00:22:14.406Z,1761697334.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938817,-0.342461,-0.036649],[0.344127,0.928345,0.140542],[-0.014107,-0.144556,0.989396]] 2025-10-29T00:22:14.810Z,1761697334.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938779,-0.342479,-0.037441],[0.344258,0.928274,0.140689],[-0.013428,-0.144965,0.989346]] 2025-10-29T00:22:15.226Z,1761697335.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938716,-0.342537,-0.038477],[0.344452,0.928038,0.141770],[-0.012853,-0.146335,0.989152]] 2025-10-29T00:22:15.624Z,1761697335.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938734,-0.342389,-0.039362],[0.344427,0.927955,0.142368],[-0.012219,-0.147203,0.989031]] 2025-10-29T00:22:16.022Z,1761697336.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938872,-0.341888,-0.040408],[0.344075,0.927926,0.143410],[-0.011534,-0.148547,0.988838]] 2025-10-29T00:22:16.427Z,1761697336.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938735,-0.342144,-0.041397],[0.344469,0.927703,0.143905],[-0.010832,-0.149349,0.988725]] 2025-10-29T00:22:16.832Z,1761697336.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938870,-0.341601,-0.042811],[0.344117,0.927417,0.146563],[-0.010362,-0.152336,0.988275]] 2025-10-29T00:22:17.235Z,1761697337.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938896,-0.341385,-0.043941],[0.344067,0.927277,0.147566],[-0.009631,-0.153668,0.988076]] 2025-10-29T00:22:17.638Z,1761697337.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938751,-0.341698,-0.044595],[0.344479,0.927176,0.147237],[-0.008963,-0.153581,0.988095]] 2025-10-29T00:22:18.042Z,1761697338.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938625,-0.341942,-0.045381],[0.344841,0.927047,0.147204],[-0.008265,-0.153818,0.988065]] 2025-10-29T00:22:18.448Z,1761697338.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938637,-0.341800,-0.046196],[0.344823,0.926982,0.147651],[-0.007645,-0.154520,0.987960]] 2025-10-29T00:22:18.851Z,1761697338.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938660,-0.341647,-0.046855],[0.344772,0.926959,0.147919],[-0.007104,-0.155000,0.987889]] 2025-10-29T00:22:19.255Z,1761697339.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938757,-0.341317,-0.047302],[0.344516,0.927074,0.147794],[-0.006592,-0.155039,0.987886]] 2025-10-29T00:22:19.660Z,1761697339.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938709,-0.341363,-0.047916],[0.344659,0.927087,0.147373],[-0.005886,-0.154855,0.987920]] 2025-10-29T00:22:20.065Z,1761697340.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938691,-0.341434,-0.047776],[0.344720,0.927381,0.145374],[-0.005329,-0.152930,0.988223]] 2025-10-29T00:22:20.466Z,1761697340.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938843,-0.340948,-0.048257],[0.344310,0.927444,0.145940],[-0.005002,-0.153630,0.988116]] 2025-10-29T00:22:20.870Z,1761697340.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938785,-0.341004,-0.048986],[0.344479,0.927437,0.145584],[-0.004213,-0.153547,0.988132]] 2025-10-29T00:22:21.282Z,1761697341.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938818,-0.340824,-0.049599],[0.344396,0.927503,0.145361],[-0.003539,-0.153550,0.988135]] 2025-10-29T00:22:21.678Z,1761697341.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938967,-0.340296,-0.050402],[0.343997,0.927608,0.145633],[-0.002805,-0.154083,0.988054]] 2025-10-29T00:22:22.089Z,1761697342.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938945,-0.340269,-0.050975],[0.344059,0.927643,0.145263],[-0.002142,-0.153933,0.988079]] 2025-10-29T00:22:22.488Z,1761697342.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939063,-0.339860,-0.051531],[0.343741,0.927780,0.145139],[-0.001517,-0.154008,0.988068]] 2025-10-29T00:22:22.899Z,1761697342.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939265,-0.339169,-0.052393],[0.343191,0.927978,0.145178],[-0.000620,-0.154341,0.988017]] 2025-10-29T00:22:23.294Z,1761697343.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939359,-0.338757,-0.053372],[0.342936,0.928089,0.145073],[0.000390,-0.154579,0.987980]] 2025-10-29T00:22:23.698Z,1761697343.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939480,-0.338275,-0.054289],[0.342601,0.928209,0.145098],[0.001308,-0.154916,0.987927]] 2025-10-29T00:22:24.107Z,1761697344.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939555,-0.337894,-0.055348],[0.342389,0.928316,0.144909],[0.002416,-0.155101,0.987896]] 2025-10-29T00:22:24.509Z,1761697344.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939553,-0.337733,-0.056365],[0.342387,0.928363,0.144613],[0.003487,-0.155170,0.987882]] 2025-10-29T00:22:24.914Z,1761697344.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939591,-0.337424,-0.057568],[0.342267,0.928440,0.144404],[0.004723,-0.155385,0.987843]] 2025-10-29T00:22:25.315Z,1761697345.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939510,-0.337489,-0.058504],[0.342474,0.928442,0.143900],[0.005753,-0.155232,0.987861]] 2025-10-29T00:22:25.718Z,1761697345.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939506,-0.337249,-0.059926],[0.342463,0.928350,0.144522],[0.006892,-0.156301,0.987685]] 2025-10-29T00:22:26.125Z,1761697346.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939499,-0.337096,-0.060888],[0.342458,0.928411,0.144138],[0.007941,-0.156269,0.987683]] 2025-10-29T00:22:26.536Z,1761697346.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939259,-0.337609,-0.061744],[0.343091,0.928328,0.143163],[0.008985,-0.155651,0.987771]] 2025-10-29T00:22:26.931Z,1761697346.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939166,-0.337648,-0.062932],[0.343321,0.928156,0.143728],[0.009881,-0.156591,0.987614]] 2025-10-29T00:22:27.338Z,1761697347.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939146,-0.337538,-0.063822],[0.343347,0.928204,0.143352],[0.010853,-0.156541,0.987612]] 2025-10-29T00:22:27.741Z,1761697347.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939104,-0.337588,-0.064175],[0.343427,0.928510,0.141160],[0.011934,-0.154604,0.987904]] 2025-10-29T00:22:28.142Z,1761697348.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939015,-0.337673,-0.065022],[0.343634,0.928521,0.140584],[0.012902,-0.154354,0.987931]] 2025-10-29T00:22:28.562Z,1761697348.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939028,-0.337461,-0.065922],[0.343560,0.928594,0.140283],[0.013875,-0.154378,0.987914]] 2025-10-29T00:22:28.950Z,1761697348.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938942,-0.337544,-0.066728],[0.343762,0.928563,0.139994],[0.014707,-0.154385,0.987901]] 2025-10-29T00:22:29.363Z,1761697349.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938936,-0.337349,-0.067788],[0.343730,0.928607,0.139780],[0.015794,-0.154545,0.987859]] 2025-10-29T00:22:29.767Z,1761697349.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938907,-0.337242,-0.068714],[0.343763,0.928634,0.139522],[0.016757,-0.154619,0.987832]] 2025-10-29T00:22:30.162Z,1761697350.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938839,-0.337234,-0.069676],[0.343898,0.928636,0.139172],[0.017770,-0.154621,0.987814]] 2025-10-29T00:22:30.597Z,1761697350.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938811,-0.337101,-0.070692],[0.343919,0.928661,0.138951],[0.018808,-0.154761,0.987773]] 2025-10-29T00:22:30.978Z,1761697350.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938886,-0.336750,-0.071359],[0.343669,0.928803,0.138625],[0.019597,-0.154677,0.987771]] 2025-10-29T00:22:31.374Z,1761697351.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938702,-0.337113,-0.072066],[0.344136,0.928642,0.138544],[0.020219,-0.154852,0.987731]] 2025-10-29T00:22:31.782Z,1761697351.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938726,-0.336854,-0.072958],[0.344017,0.928697,0.138470],[0.021111,-0.155084,0.987676]] 2025-10-29T00:22:32.182Z,1761697352.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938650,-0.336829,-0.074035],[0.344156,0.928674,0.138279],[0.022178,-0.155275,0.987622]] 2025-10-29T00:22:32.991Z,1761697352.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938437,-0.337024,-0.075833],[0.344627,0.928507,0.138230],[0.023824,-0.155854,0.987493]] 2025-10-29T00:22:33.394Z,1761697353.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938460,-0.336765,-0.076693],[0.344516,0.928486,0.138642],[0.024518,-0.156532,0.987369]] 2025-10-29T00:22:33.798Z,1761697353.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938434,-0.336666,-0.077445],[0.344536,0.928482,0.138620],[0.025237,-0.156769,0.987313]] 2025-10-29T00:22:34.204Z,1761697354.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938251,-0.337013,-0.078153],[0.344977,0.928395,0.138105],[0.026014,-0.156539,0.987329]] 2025-10-29T00:22:34.644Z,1761697354.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938255,-0.336779,-0.079110],[0.344910,0.928339,0.138649],[0.026747,-0.157374,0.987177]] 2025-10-29T00:22:35.352Z,1761697355.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:22:35.422Z,1761697355.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938223,-0.336428,-0.080955],[0.344883,0.928203,0.139624],[0.028169,-0.158918,0.986890]] 2025-10-29T00:22:35.818Z,1761697355.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938162,-0.336386,-0.081829],[0.344976,0.928190,0.139479],[0.029034,-0.159083,0.986838]] 2025-10-29T00:22:36.223Z,1761697356.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938333,-0.335626,-0.082978],[0.344439,0.928237,0.140491],[0.029870,-0.160408,0.986599]] 2025-10-29T00:22:36.356Z,1761697356.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:22:36.674Z,1761697356.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938400,-0.334997,-0.084750],[0.344113,0.928305,0.140839],[0.031493,-0.161327,0.986398]] 2025-10-29T00:22:37.434Z,1761697357.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938507,-0.334479,-0.085609],[0.343749,0.928399,0.141113],[0.032280,-0.161863,0.986285]] 2025-10-29T00:22:37.838Z,1761697357.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938470,-0.334401,-0.086319],[0.343795,0.928345,0.141352],[0.032866,-0.162331,0.986189]] 2025-10-29T00:22:38.242Z,1761697358.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938765,-0.333259,-0.087516],[0.342928,0.928364,0.143321],[0.033483,-0.164557,0.985799]] 2025-10-29T00:22:38.689Z,1761697358.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939083,-0.332189,-0.088166],[0.341918,0.928994,0.141638],[0.034855,-0.163156,0.985984]] 2025-10-29T00:22:39.461Z,1761697359.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939173,-0.331813,-0.088623],[0.341616,0.929126,0.141502],[0.035390,-0.163170,0.985963]] 2025-10-29T00:22:39.866Z,1761697359.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939342,-0.331136,-0.089358],[0.341045,0.929425,0.140915],[0.036390,-0.162842,0.985981]] 2025-10-29T00:22:40.270Z,1761697360.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939603,-0.330469,-0.089091],[0.340327,0.929747,0.140525],[0.036393,-0.162358,0.986061]] 2025-10-29T00:22:40.708Z,1761697360.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939738,-0.330222,-0.088574],[0.339941,0.930126,0.138946],[0.036502,-0.160683,0.986331]] 2025-10-29T00:22:41.079Z,1761697361.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939833,-0.329943,-0.088611],[0.339659,0.930275,0.138639],[0.036690,-0.160395,0.986371]] 2025-10-29T00:22:41.479Z,1761697361.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939913,-0.329663,-0.088805],[0.339400,0.930421,0.138288],[0.037038,-0.160119,0.986403]] 2025-10-29T00:22:41.880Z,1761697361.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940360,-0.328385,-0.088807],[0.338150,0.930818,0.138679],[0.037123,-0.160438,0.986348]] 2025-10-29T00:22:42.282Z,1761697362.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940483,-0.327940,-0.089144],[0.337753,0.931004,0.138401],[0.037606,-0.160272,0.986356]] 2025-10-29T00:22:42.692Z,1761697362.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940751,-0.327138,-0.089269],[0.336982,0.931272,0.138474],[0.037833,-0.160352,0.986335]] 2025-10-29T00:22:43.091Z,1761697363.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941113,-0.326081,-0.089320],[0.335948,0.931630,0.138577],[0.038025,-0.160423,0.986316]] 2025-10-29T00:22:43.496Z,1761697363.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941435,-0.325018,-0.089795],[0.334997,0.931876,0.139225],[0.038427,-0.161153,0.986181]] 2025-10-29T00:22:43.898Z,1761697363.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941652,-0.324295,-0.090135],[0.334315,0.932205,0.138664],[0.039056,-0.160707,0.986229]] 2025-10-29T00:22:44.302Z,1761697364.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941845,-0.323595,-0.090637],[0.333690,0.932475,0.138350],[0.039747,-0.160549,0.986227]] 2025-10-29T00:22:44.707Z,1761697364.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942223,-0.322464,-0.090733],[0.332584,0.932878,0.138299],[0.040046,-0.160485,0.986226]] 2025-10-29T00:22:45.112Z,1761697365.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942436,-0.321685,-0.091289],[0.331893,0.933156,0.138083],[0.040767,-0.160432,0.986205]] 2025-10-29T00:22:45.514Z,1761697365.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942604,-0.321045,-0.091803],[0.331324,0.933424,0.137637],[0.041503,-0.160154,0.986219]] 2025-10-29T00:22:45.918Z,1761697365.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942678,-0.320667,-0.092360],[0.331006,0.933648,0.136881],[0.042339,-0.159607,0.986272]] 2025-10-29T00:22:46.323Z,1761697366.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942882,-0.319912,-0.092894],[0.330320,0.933973,0.136321],[0.043150,-0.159219,0.986300]] 2025-10-29T00:22:46.729Z,1761697366.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943035,-0.319344,-0.093301],[0.329796,0.934244,0.135732],[0.043821,-0.158771,0.986343]] 2025-10-29T00:22:47.130Z,1761697367.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943207,-0.318541,-0.094296],[0.329188,0.934365,0.136372],[0.044667,-0.159668,0.986160]] 2025-10-29T00:22:47.539Z,1761697367.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943456,-0.317631,-0.094870],[0.328379,0.934652,0.136355],[0.045359,-0.159799,0.986107]] 2025-10-29T00:22:47.940Z,1761697367.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943464,-0.317516,-0.095186],[0.328311,0.934687,0.136278],[0.045699,-0.159824,0.986087]] 2025-10-29T00:22:48.342Z,1761697368.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943542,-0.317142,-0.095655],[0.328035,0.934728,0.136663],[0.046070,-0.160325,0.985988]] 2025-10-29T00:22:48.751Z,1761697368.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943672,-0.316812,-0.095460],[0.327622,0.935042,0.135502],[0.046330,-0.159145,0.986168]] 2025-10-29T00:22:49.151Z,1761697369.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943614,-0.316963,-0.095536],[0.327785,0.934978,0.135546],[0.046361,-0.159219,0.986154]] 2025-10-29T00:22:49.562Z,1761697369.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943689,-0.316748,-0.095510],[0.327587,0.934992,0.135932],[0.046245,-0.159565,0.986104]] 2025-10-29T00:22:49.958Z,1761697369.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943442,-0.317496,-0.095468],[0.328276,0.934887,0.134983],[0.046395,-0.158688,0.986238]] 2025-10-29T00:22:50.362Z,1761697370.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943416,-0.317630,-0.095280],[0.328427,0.934685,0.136011],[0.045856,-0.159608,0.986115]] 2025-10-29T00:22:50.772Z,1761697370.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943647,-0.317024,-0.095003],[0.327874,0.934587,0.138008],[0.045036,-0.161380,0.985864]] 2025-10-29T00:22:51.172Z,1761697371.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943644,-0.316982,-0.095175],[0.327869,0.934560,0.138199],[0.045140,-0.161615,0.985821]] 2025-10-29T00:22:51.574Z,1761697371.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943613,-0.317120,-0.095019],[0.327976,0.934538,0.138094],[0.045007,-0.161471,0.985851]] 2025-10-29T00:22:51.978Z,1761697371.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943762,-0.316669,-0.095051],[0.327533,0.934696,0.138079],[0.045118,-0.161446,0.985850]] 2025-10-29T00:22:52.383Z,1761697372.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943995,-0.316022,-0.094883],[0.326857,0.934959,0.137901],[0.045132,-0.161191,0.985891]] 2025-10-29T00:22:52.789Z,1761697372.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944287,-0.315120,-0.094981],[0.325993,0.935221,0.138170],[0.045288,-0.161436,0.985844]] 2025-10-29T00:22:53.190Z,1761697373.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944539,-0.314310,-0.095157],[0.325227,0.935462,0.138341],[0.045534,-0.161616,0.985803]] 2025-10-29T00:22:53.594Z,1761697373.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945062,-0.312655,-0.095420],[0.323669,0.935880,0.139165],[0.045791,-0.162404,0.985661]] 2025-10-29T00:22:53.999Z,1761697373.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945516,-0.311344,-0.095203],[0.322334,0.936342,0.139154],[0.045818,-0.162260,0.985684]] 2025-10-29T00:22:54.404Z,1761697374.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945867,-0.310273,-0.095216],[0.321291,0.936654,0.139468],[0.045911,-0.162510,0.985638]] 2025-10-29T00:22:54.807Z,1761697374.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946319,-0.309040,-0.094735],[0.319992,0.937095,0.139494],[0.045666,-0.162321,0.985681]] 2025-10-29T00:22:55.210Z,1761697375.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946837,-0.307477,-0.094641],[0.318455,0.937534,0.140061],[0.045664,-0.162754,0.985609]] 2025-10-29T00:22:55.621Z,1761697375.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947407,-0.305781,-0.094437],[0.316775,0.937997,0.140764],[0.045539,-0.163276,0.985529]] 2025-10-29T00:22:56.036Z,1761697376.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947903,-0.304287,-0.094288],[0.315285,0.938454,0.141062],[0.045562,-0.163440,0.985501]] 2025-10-29T00:22:56.422Z,1761697376.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948443,-0.302906,-0.093295],[0.313720,0.939095,0.140285],[0.045119,-0.162321,0.985706]] 2025-10-29T00:22:56.826Z,1761697376.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948827,-0.301840,-0.092839],[0.312585,0.939493,0.140158],[0.044916,-0.162006,0.985767]] 2025-10-29T00:22:57.231Z,1761697377.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949170,-0.300963,-0.092184],[0.311596,0.939867,0.139848],[0.044551,-0.161463,0.985873]] 2025-10-29T00:22:57.635Z,1761697377.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949471,-0.300198,-0.091571],[0.310723,0.940207,0.139503],[0.044217,-0.160908,0.985978]] 2025-10-29T00:22:58.062Z,1761697378.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949763,-0.299345,-0.091339],[0.309832,0.940531,0.139307],[0.044206,-0.160608,0.986028]] 2025-10-29T00:22:58.442Z,1761697378.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949912,-0.298976,-0.090997],[0.309389,0.940753,0.138791],[0.044110,-0.159993,0.986132]] 2025-10-29T00:22:58.847Z,1761697378.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950400,-0.297587,-0.090454],[0.307921,0.941250,0.138682],[0.043870,-0.159656,0.986197]] 2025-10-29T00:22:59.250Z,1761697379.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950595,-0.297319,-0.089283],[0.307382,0.941714,0.136716],[0.043431,-0.157406,0.986579]] 2025-10-29T00:22:59.305Z,1761697379.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:22:59.325Z,1761697379.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:22:59.325Z,1761697379.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:22:59.577Z,1761697379.577 [DAT](INFO): DAT read: 2025-10-29T00:22:59.577Z,1761697379.577 [DAT](INFO): DAT read: Tx time:00:22:59.3276 2025-10-29T00:22:59.578Z,1761697379.578 [DAT](INFO): Ping request sent. 2025-10-29T00:22:59.578Z,1761697379.578 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:22:59.578Z,1761697379.578 [DAT](INFO): publishing transmit ping time 2025-10-29T00:22:59.579Z,1761697379.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:22:59.656Z,1761697379.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950828,-0.296591,-0.089217],[0.306688,0.941815,0.137577],[0.043222,-0.158174,0.986465]] 2025-10-29T00:22:59.829Z,1761697379.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251056 2025-10-29T00:23:00.059Z,1761697380.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950930,-0.296344,-0.088949],[0.306376,0.942001,0.136997],[0.043192,-0.157527,0.986570]] 2025-10-29T00:23:00.081Z,1761697380.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503228 2025-10-29T00:23:00.333Z,1761697380.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755055 2025-10-29T00:23:00.463Z,1761697380.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951129,-0.295813,-0.088586],[0.305783,0.942226,0.136776],[0.043008,-0.157180,0.986633]] 2025-10-29T00:23:00.585Z,1761697380.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007042 2025-10-29T00:23:00.837Z,1761697380.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259077 2025-10-29T00:23:00.868Z,1761697380.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951351,-0.295422,-0.087506],[0.305164,0.942630,0.135363],[0.042497,-0.155481,0.986924]] 2025-10-29T00:23:01.089Z,1761697381.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511040 2025-10-29T00:23:01.272Z,1761697381.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951541,-0.295034,-0.086745],[0.304646,0.942847,0.135016],[0.041953,-0.154899,0.987039]] 2025-10-29T00:23:01.284Z,1761697381.284 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 276.15, 229.73, 257.20 2025-10-29T00:23:01.341Z,1761697381.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763167 2025-10-29T00:23:01.593Z,1761697381.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015047 2025-10-29T00:23:01.674Z,1761697381.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951907,-0.293967,-0.086353],[0.303532,0.943195,0.135096],[0.041734,-0.154809,0.987063]] 2025-10-29T00:23:01.845Z,1761697381.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267089 2025-10-29T00:23:02.079Z,1761697382.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952367,-0.292470,-0.086358],[0.302086,0.943537,0.135952],[0.041720,-0.155564,0.986944]] 2025-10-29T00:23:02.097Z,1761697382.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519117 2025-10-29T00:23:02.349Z,1761697382.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771055 2025-10-29T00:23:02.483Z,1761697382.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952793,-0.291128,-0.086191],[0.300748,0.943905,0.136360],[0.041658,-0.155845,0.986903]] 2025-10-29T00:23:02.601Z,1761697382.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023022 2025-10-29T00:23:02.853Z,1761697382.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275081 2025-10-29T00:23:02.886Z,1761697382.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953243,-0.289677,-0.086116],[0.299318,0.944291,0.136834],[0.041681,-0.156212,0.986844]] 2025-10-29T00:23:03.105Z,1761697383.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527089 2025-10-29T00:23:03.290Z,1761697383.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953564,-0.288639,-0.086044],[0.298288,0.944583,0.137065],[0.041713,-0.156366,0.986818]] 2025-10-29T00:23:03.357Z,1761697383.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779142 2025-10-29T00:23:03.609Z,1761697383.609 [DAT](INFO): DAT read: Rx Time:00:23:02.8473 2025-10-29T00:23:03.609Z,1761697383.609 [DAT](INFO): Rx dataTimestamp_ set to:1761697383.609114 2025-10-29T00:23:03.610Z,1761697383.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032111 2025-10-29T00:23:03.696Z,1761697383.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953890,-0.287538,-0.086113],[0.297245,0.944788,0.137916],[0.041703,-0.157154,0.986693]] 2025-10-29T00:23:03.861Z,1761697383.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283088 2025-10-29T00:23:04.110Z,1761697384.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954363,-0.285930,-0.086223],[0.295698,0.945177,0.138575],[0.041873,-0.157747,0.986591]] 2025-10-29T00:23:04.118Z,1761697384.118 [DAT](INFO): DAT read: 00:23:02.8473 LVL= 30544, 32753, 32754, 32755, AGC= 76, IDX= 396, 0.01,-0.350,-2.029,-0.430,-0.786, PHS= 0.538,-1.197, 0.312, RAW= 143.1, 4.3, CAL= 142.7, 4.8, ROT= 7.3, -4.8 2025-10-29T00:23:04.119Z,1761697384.119 [DAT](INFO): got valid direction response: 00:23:02.8473 LVL= 30544, 32753, 32754, 32755, AGC= 76, IDX= 396, 0.01,-0.350,-2.029,-0.430,-0.786, PHS= 0.538,-1.197, 0.312, RAW= 143.1, 4.3, CAL= 142.7, 4.8, ROT= 7.3, -4.8 2025-10-29T00:23:04.121Z,1761697384.121 [DAT](INFO): DAT read: Bearing 173.7, 8.6 (Local) 2025-10-29T00:23:04.121Z,1761697384.121 [DAT](INFO): Local bearing/azimuth received: Bearing 173.7, 8.6 (Local) 2025-10-29T00:23:04.122Z,1761697384.122 [DAT](INFO): DAT read: Range 11 to 50 : 836.7 m (Round-trip 1115.6 ms) speed 0.4 m/s 2025-10-29T00:23:04.123Z,1761697384.123 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:23:04.124Z,1761697384.124 [DAT](INFO): direction in FSK: [0.988416,0.126619,0.083678] 2025-10-29T00:23:04.124Z,1761697384.124 [DAT](INFO): publishing direction and range info 2025-10-29T00:23:04.504Z,1761697384.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954584,-0.285151,-0.086358],[0.294926,0.945491,0.138074],[0.042279,-0.157272,0.986650]] 2025-10-29T00:23:04.907Z,1761697384.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954763,-0.284619,-0.086141],[0.294347,0.945731,0.137668],[0.042283,-0.156795,0.986726]] 2025-10-29T00:23:05.311Z,1761697385.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954989,-0.283897,-0.086015],[0.293607,0.945981,0.137534],[0.042323,-0.156599,0.986755]] 2025-10-29T00:23:05.714Z,1761697385.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954997,-0.283930,-0.085812],[0.293555,0.946176,0.136298],[0.042494,-0.155355,0.986944]] 2025-10-29T00:23:06.122Z,1761697386.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954942,-0.284140,-0.085739],[0.293706,0.946278,0.135256],[0.042701,-0.154344,0.987094]] 2025-10-29T00:23:06.496Z,1761697386.496 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:23:06.537Z,1761697386.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954833,-0.284493,-0.085775],[0.293983,0.946448,0.133455],[0.043215,-0.152644,0.987336]] 2025-10-29T00:23:06.928Z,1761697386.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954685,-0.285007,-0.085719],[0.294392,0.946614,0.131360],[0.043705,-0.150642,0.987622]] 2025-10-29T00:23:07.330Z,1761697387.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954820,-0.284601,-0.085564],[0.293955,0.946783,0.131122],[0.043693,-0.150350,0.987667]] 2025-10-29T00:23:07.502Z,1761697387.502 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:23:07.734Z,1761697387.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954760,-0.284714,-0.085853],[0.294070,0.946873,0.130212],[0.044218,-0.149568,0.987762]] 2025-10-29T00:23:08.151Z,1761697388.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954922,-0.284041,-0.086281],[0.293479,0.947021,0.130469],[0.044651,-0.149909,0.987691]] 2025-10-29T00:23:08.546Z,1761697388.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955200,-0.282930,-0.086856],[0.292505,0.947196,0.131377],[0.045100,-0.150897,0.987520]] 2025-10-29T00:23:08.946Z,1761697388.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955494,-0.281863,-0.087093],[0.291495,0.947471,0.131641],[0.045413,-0.151169,0.987464]] 2025-10-29T00:23:09.350Z,1761697389.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955932,-0.280139,-0.087838],[0.289937,0.947833,0.132473],[0.046144,-0.152103,0.987287]] 2025-10-29T00:23:09.759Z,1761697389.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956457,-0.278057,-0.088737],[0.288089,0.948165,0.134119],[0.046845,-0.153843,0.986984]] 2025-10-29T00:23:10.170Z,1761697390.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957070,-0.275684,-0.089524],[0.285970,0.948479,0.136414],[0.047304,-0.156159,0.986599]] 2025-10-29T00:23:10.563Z,1761697390.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957519,-0.274003,-0.089892],[0.284404,0.948820,0.137315],[0.047666,-0.157047,0.986440]] 2025-10-29T00:23:10.990Z,1761697390.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958089,-0.271884,-0.090252],[0.282424,0.949226,0.138591],[0.047988,-0.158272,0.986229]] 2025-10-29T00:23:11.224Z,1761697391.224 [ThrusterHE](FAULT): Could not get status:serial timeout 2025-10-29T00:23:11.371Z,1761697391.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958629,-0.269944,-0.090336],[0.280562,0.949639,0.139540],[0.048118,-0.159112,0.986087]] 2025-10-29T00:23:11.781Z,1761697391.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959138,-0.268062,-0.090540],[0.278768,0.950054,0.140303],[0.048408,-0.159810,0.985960]] 2025-10-29T00:23:12.207Z,1761697392.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959431,-0.267010,-0.090542],[0.277687,0.950488,0.139512],[0.048808,-0.158994,0.986072]] 2025-10-29T00:23:12.583Z,1761697392.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959670,-0.266282,-0.090156],[0.276810,0.951020,0.137610],[0.049098,-0.157016,0.986375]] 2025-10-29T00:23:12.987Z,1761697392.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959960,-0.265293,-0.089978],[0.275762,0.951440,0.136812],[0.049314,-0.156146,0.986502]] 2025-10-29T00:23:13.392Z,1761697393.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960001,-0.265464,-0.089035],[0.275656,0.951840,0.134219],[0.049117,-0.153393,0.986944]] 2025-10-29T00:23:13.794Z,1761697393.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960044,-0.265391,-0.088785],[0.275491,0.952038,0.133145],[0.049191,-0.152285,0.987112]] 2025-10-29T00:23:14.230Z,1761697394.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960157,-0.265127,-0.088358],[0.275090,0.952361,0.131659],[0.049242,-0.150719,0.987349]] 2025-10-29T00:23:14.605Z,1761697394.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960260,-0.264894,-0.087927],[0.274766,0.952531,0.131102],[0.049025,-0.150051,0.987462]] 2025-10-29T00:23:15.019Z,1761697395.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960344,-0.264589,-0.087930],[0.274445,0.952677,0.130716],[0.049183,-0.149664,0.987513]] 2025-10-29T00:23:15.411Z,1761697395.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960372,-0.264593,-0.087613],[0.274377,0.952765,0.130213],[0.049021,-0.149092,0.987607]] 2025-10-29T00:23:16.258Z,1761697396.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959936,-0.266663,-0.086107],[0.276001,0.952860,0.126018],[0.048443,-0.144735,0.988284]] 2025-10-29T00:23:16.622Z,1761697396.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959524,-0.268375,-0.085373],[0.277491,0.952707,0.123887],[0.048087,-0.142563,0.988617]] 2025-10-29T00:23:17.029Z,1761697397.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959104,-0.270054,-0.084798],[0.278983,0.952520,0.121962],[0.047835,-0.140632,0.988906]] 2025-10-29T00:23:17.431Z,1761697397.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958803,-0.271133,-0.084757],[0.280024,0.952282,0.121432],[0.047789,-0.140163,0.988975]] 2025-10-29T00:23:17.836Z,1761697397.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958659,-0.271710,-0.084533],[0.280549,0.952169,0.121103],[0.047585,-0.139812,0.989034]] 2025-10-29T00:23:18.286Z,1761697398.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958619,-0.271940,-0.084252],[0.280722,0.952160,0.120772],[0.047379,-0.139426,0.989098]] 2025-10-29T00:23:18.654Z,1761697398.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958461,-0.272606,-0.083891],[0.281303,0.952068,0.120142],[0.047118,-0.138751,0.989206]] 2025-10-29T00:23:19.058Z,1761697399.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958324,-0.273208,-0.083505],[0.281874,0.951828,0.120709],[0.046504,-0.139216,0.989169]] 2025-10-29T00:23:19.463Z,1761697399.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958283,-0.273429,-0.083249],[0.282064,0.951754,0.120844],[0.046190,-0.139284,0.989175]] 2025-10-29T00:23:19.868Z,1761697399.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958166,-0.273863,-0.083169],[0.282476,0.951654,0.120675],[0.046100,-0.139120,0.989202]] 2025-10-29T00:23:20.313Z,1761697400.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958033,-0.274473,-0.082684],[0.283056,0.951367,0.121577],[0.045293,-0.139879,0.989132]] 2025-10-29T00:23:21.079Z,1761697401.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958038,-0.274539,-0.082412],[0.283087,0.951346,0.121668],[0.045000,-0.139892,0.989144]] 2025-10-29T00:23:21.490Z,1761697401.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957975,-0.275016,-0.081542],[0.283363,0.951480,0.119965],[0.044593,-0.138030,0.989424]] 2025-10-29T00:23:21.886Z,1761697401.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957919,-0.275260,-0.081379],[0.283570,0.951453,0.119687],[0.044483,-0.137727,0.989471]] 2025-10-29T00:23:22.340Z,1761697402.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958030,-0.275073,-0.080706],[0.283304,0.951497,0.119966],[0.043792,-0.137795,0.989492]] 2025-10-29T00:23:23.098Z,1761697403.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958095,-0.274934,-0.080400],[0.283146,0.951480,0.120472],[0.043377,-0.138189,0.989456]] 2025-10-29T00:23:23.514Z,1761697403.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958223,-0.274868,-0.079099],[0.282861,0.951679,0.119567],[0.042412,-0.136946,0.989670]] 2025-10-29T00:23:23.911Z,1761697403.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958293,-0.274763,-0.078615],[0.282754,0.951522,0.121064],[0.041540,-0.138243,0.989527]] 2025-10-29T00:23:24.366Z,1761697404.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958436,-0.274446,-0.077971],[0.282388,0.951510,0.122003],[0.040707,-0.138951,0.989462]] 2025-10-29T00:23:24.721Z,1761697404.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958413,-0.274682,-0.077421],[0.282542,0.951475,0.121926],[0.040173,-0.138730,0.989515]] 2025-10-29T00:23:25.121Z,1761697405.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958400,-0.274887,-0.076853],[0.282674,0.951413,0.122103],[0.039555,-0.138748,0.989537]] 2025-10-29T00:23:25.523Z,1761697405.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958388,-0.275036,-0.076467],[0.282785,0.951324,0.122538],[0.039042,-0.139063,0.989514]] 2025-10-29T00:23:25.927Z,1761697405.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958391,-0.275149,-0.076025],[0.282851,0.951255,0.122919],[0.038498,-0.139309,0.989500]] 2025-10-29T00:23:26.373Z,1761697406.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958189,-0.275927,-0.075749],[0.283577,0.951066,0.122710],[0.038183,-0.139060,0.989547]] 2025-10-29T00:23:26.735Z,1761697406.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957966,-0.276811,-0.075341],[0.284381,0.950881,0.122285],[0.037791,-0.138570,0.989631]] 2025-10-29T00:23:27.139Z,1761697407.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957641,-0.278028,-0.074998],[0.285517,0.950619,0.121668],[0.037467,-0.137927,0.989734]] 2025-10-29T00:23:27.543Z,1761697407.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957367,-0.279143,-0.074346],[0.286514,0.950389,0.121121],[0.036848,-0.137258,0.989850]] 2025-10-29T00:23:27.948Z,1761697407.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956880,-0.280925,-0.073903],[0.288177,0.950044,0.119876],[0.036535,-0.136004,0.990034]] 2025-10-29T00:23:28.354Z,1761697408.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956436,-0.282579,-0.073346],[0.289713,0.949681,0.119046],[0.036015,-0.135109,0.990176]] 2025-10-29T00:23:28.759Z,1761697408.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955984,-0.284310,-0.072546],[0.291305,0.949258,0.118533],[0.035165,-0.134449,0.990296]] 2025-10-29T00:23:29.158Z,1761697409.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955425,-0.286412,-0.071629],[0.293262,0.948678,0.118354],[0.034055,-0.134085,0.990385]] 2025-10-29T00:23:29.564Z,1761697409.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955055,-0.287833,-0.070862],[0.294565,0.948292,0.118209],[0.033174,-0.133770,0.990457]] 2025-10-29T00:23:29.967Z,1761697409.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954684,-0.289312,-0.069838],[0.295880,0.947944,0.117717],[0.032146,-0.133046,0.990588]] 2025-10-29T00:23:30.375Z,1761697410.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954401,-0.290525,-0.068654],[0.296926,0.947623,0.117669],[0.030873,-0.132688,0.990677]] 2025-10-29T00:23:30.778Z,1761697410.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954106,-0.291774,-0.067449],[0.298008,0.947278,0.117712],[0.029547,-0.132410,0.990755]] 2025-10-29T00:23:31.187Z,1761697411.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953923,-0.292601,-0.066449],[0.298727,0.946913,0.118819],[0.028155,-0.133194,0.990690]] 2025-10-29T00:23:31.582Z,1761697411.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953581,-0.293932,-0.065471],[0.299925,0.946504,0.119059],[0.026974,-0.133169,0.990726]] 2025-10-29T00:23:31.994Z,1761697411.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953385,-0.294752,-0.064649],[0.300657,0.946138,0.120121],[0.025761,-0.133959,0.990652]] 2025-10-29T00:23:32.395Z,1761697412.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953208,-0.295452,-0.064048],[0.301323,0.945661,0.122189],[0.024466,-0.135770,0.990438]] 2025-10-29T00:23:32.797Z,1761697412.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953022,-0.296259,-0.063092],[0.302006,0.945377,0.122695],[0.023297,-0.135985,0.990437]] 2025-10-29T00:23:33.200Z,1761697413.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952792,-0.297173,-0.062254],[0.302807,0.945071,0.123081],[0.022258,-0.136121,0.990442]] 2025-10-29T00:23:33.602Z,1761697413.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952506,-0.298248,-0.061490],[0.303794,0.944602,0.124245],[0.021028,-0.137025,0.990344]] 2025-10-29T00:23:34.008Z,1761697414.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952265,-0.299226,-0.060451],[0.304632,0.944260,0.124788],[0.019741,-0.137247,0.990340]] 2025-10-29T00:23:34.413Z,1761697414.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952084,-0.299942,-0.059759],[0.305268,0.943915,0.125844],[0.018661,-0.138056,0.990249]] 2025-10-29T00:23:34.814Z,1761697414.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951989,-0.300409,-0.058926],[0.305631,0.943680,0.126723],[0.017539,-0.138648,0.990186]] 2025-10-29T00:23:35.218Z,1761697415.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951744,-0.301444,-0.057577],[0.306463,0.943468,0.126289],[0.016253,-0.137840,0.990321]] 2025-10-29T00:23:35.623Z,1761697415.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951286,-0.303170,-0.056058],[0.307947,0.943143,0.125100],[0.014944,-0.136269,0.990559]] 2025-10-29T00:23:36.031Z,1761697416.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951100,-0.303920,-0.055142],[0.308571,0.942889,0.125477],[0.013858,-0.136357,0.990563]] 2025-10-29T00:23:36.431Z,1761697416.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950691,-0.305429,-0.053845],[0.309883,0.942538,0.124881],[0.012608,-0.135409,0.990710]] 2025-10-29T00:23:36.835Z,1761697416.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950462,-0.306335,-0.052731],[0.310635,0.942225,0.125368],[0.011280,-0.135538,0.990708]] 2025-10-29T00:23:37.238Z,1761697417.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950134,-0.307501,-0.051856],[0.311675,0.941847,0.125632],[0.010208,-0.135529,0.990721]] 2025-10-29T00:23:37.620Z,1761697417.620 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:23:38.047Z,1761697418.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949511,-0.309689,-0.050226],[0.313630,0.941103,0.126336],[0.008143,-0.135709,0.990715]] 2025-10-29T00:23:38.450Z,1761697418.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949086,-0.311081,-0.049641],[0.314930,0.940678,0.126271],[0.007416,-0.135475,0.990753]] 2025-10-29T00:23:38.625Z,1761697418.625 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:23:38.854Z,1761697418.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948554,-0.312781,-0.049129],[0.316546,0.940112,0.126442],[0.006638,-0.135488,0.990757]] 2025-10-29T00:23:39.266Z,1761697419.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948167,-0.314069,-0.048368],[0.317721,0.939691,0.126630],[0.005680,-0.135434,0.990770]] 2025-10-29T00:23:39.662Z,1761697419.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947680,-0.315631,-0.047750],[0.319185,0.939192,0.126649],[0.004872,-0.135264,0.990798]] 2025-10-29T00:23:40.067Z,1761697420.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947226,-0.317003,-0.047672],[0.320539,0.938607,0.127562],[0.004308,-0.136111,0.990684]] 2025-10-29T00:23:40.478Z,1761697420.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946644,-0.318830,-0.047029],[0.322262,0.938013,0.127585],[0.003436,-0.135934,0.990712]] 2025-10-29T00:23:40.876Z,1761697420.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946204,-0.320193,-0.046635],[0.323560,0.937503,0.128053],[0.002719,-0.136254,0.990670]] 2025-10-29T00:23:41.278Z,1761697421.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945403,-0.322615,-0.046176],[0.325896,0.936772,0.127478],[0.002130,-0.135567,0.990766]] 2025-10-29T00:23:41.684Z,1761697421.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944730,-0.324536,-0.046501],[0.327845,0.935989,0.128231],[0.001909,-0.136389,0.990654]] 2025-10-29T00:23:42.088Z,1761697422.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944182,-0.326177,-0.046145],[0.329421,0.935498,0.127766],[0.001494,-0.135836,0.990730]] 2025-10-29T00:23:42.494Z,1761697422.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943554,-0.328061,-0.045631],[0.331218,0.934923,0.127336],[0.000887,-0.135262,0.990810]] 2025-10-29T00:23:42.894Z,1761697422.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942750,-0.330392,-0.045427],[0.333499,0.934198,0.126696],[0.000578,-0.134593,0.990901]] 2025-10-29T00:23:43.299Z,1761697423.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942117,-0.332139,-0.045809],[0.335283,0.933396,0.127892],[0.000280,-0.135848,0.990730]] 2025-10-29T00:23:43.705Z,1761697423.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941621,-0.333582,-0.045533],[0.336675,0.932825,0.128405],[-0.000360,-0.136239,0.990676]] 2025-10-29T00:23:44.106Z,1761697424.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941212,-0.334670,-0.046009],[0.337817,0.932158,0.130234],[-0.000697,-0.138120,0.990415]] 2025-10-29T00:23:44.511Z,1761697424.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940740,-0.336003,-0.045933],[0.339126,0.931672,0.130311],[-0.000991,-0.138166,0.990409]] 2025-10-29T00:23:44.915Z,1761697424.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940481,-0.336767,-0.045652],[0.339843,0.931330,0.130884],[-0.001561,-0.138609,0.990346]] 2025-10-29T00:23:45.320Z,1761697425.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940140,-0.337763,-0.045306],[0.340781,0.930937,0.131242],[-0.002152,-0.138826,0.990314]] 2025-10-29T00:23:45.724Z,1761697425.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939872,-0.338537,-0.045095],[0.341517,0.930605,0.131682],[-0.002613,-0.139165,0.990266]] 2025-10-29T00:23:46.126Z,1761697426.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939717,-0.338952,-0.045206],[0.341941,0.930360,0.132311],[-0.002789,-0.139792,0.990177]] 2025-10-29T00:23:46.534Z,1761697426.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939526,-0.339474,-0.045258],[0.342464,0.930090,0.132860],[-0.003009,-0.140325,0.990101]] 2025-10-29T00:23:46.936Z,1761697426.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939207,-0.340377,-0.045096],[0.343336,0.929805,0.132604],[-0.003205,-0.140026,0.990143]] 2025-10-29T00:23:47.338Z,1761697427.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938965,-0.341081,-0.044821],[0.343994,0.929521,0.132887],[-0.003663,-0.140194,0.990117]] 2025-10-29T00:23:47.746Z,1761697427.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938777,-0.341673,-0.044244],[0.344502,0.929417,0.132300],[-0.004082,-0.139443,0.990222]] 2025-10-29T00:23:48.147Z,1761697428.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938401,-0.342790,-0.043577],[0.345518,0.929141,0.131580],[-0.004615,-0.138532,0.990347]] 2025-10-29T00:23:48.553Z,1761697428.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938115,-0.343584,-0.043483],[0.346289,0.928807,0.131911],[-0.004935,-0.138805,0.990307]] 2025-10-29T00:23:48.962Z,1761697428.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937863,-0.344347,-0.042863],[0.346964,0.928676,0.131064],[-0.005326,-0.137791,0.990447]] 2025-10-29T00:23:49.359Z,1761697429.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937393,-0.345680,-0.042424],[0.348227,0.928287,0.130466],[-0.005718,-0.137071,0.990545]] 2025-10-29T00:23:49.773Z,1761697429.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936951,-0.346949,-0.041834],[0.349402,0.927850,0.130431],[-0.006437,-0.136824,0.990574]] 2025-10-29T00:23:50.168Z,1761697430.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936518,-0.348184,-0.041242],[0.350544,0.927406,0.130523],[-0.007198,-0.136694,0.990587]] 2025-10-29T00:23:50.570Z,1761697430.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936184,-0.349185,-0.040364],[0.351416,0.927087,0.130444],[-0.008128,-0.136304,0.990634]] 2025-10-29T00:23:50.979Z,1761697430.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935570,-0.350890,-0.039814],[0.353034,0.926533,0.130016],[-0.008733,-0.135695,0.990712]] 2025-10-29T00:23:51.378Z,1761697431.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934865,-0.352864,-0.038932],[0.354880,0.925985,0.128890],[-0.009430,-0.134311,0.990894]] 2025-10-29T00:23:51.795Z,1761697431.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934468,-0.353934,-0.038728],[0.355903,0.925462,0.129815],[-0.010104,-0.135092,0.990782]] 2025-10-29T00:23:51.819Z,1761697431.819 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T00:23:52.186Z,1761697432.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933798,-0.355727,-0.038454],[0.357647,0.924854,0.129357],[-0.010451,-0.134546,0.990852]] 2025-10-29T00:23:52.590Z,1761697432.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933053,-0.357704,-0.038207],[0.359583,0.924252,0.128292],[-0.010578,-0.133442,0.991000]] 2025-10-29T00:23:52.995Z,1761697432.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932630,-0.358826,-0.038025],[0.360667,0.923790,0.128577],[-0.011010,-0.133629,0.990970]] 2025-10-29T00:23:53.400Z,1761697433.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932412,-0.359372,-0.038210],[0.361213,0.923337,0.130284],[-0.011539,-0.135280,0.990740]] 2025-10-29T00:23:53.821Z,1761697433.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932126,-0.360134,-0.038014],[0.361936,0.922988,0.130750],[-0.012001,-0.135634,0.990686]] 2025-10-29T00:23:54.206Z,1761697434.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932071,-0.360169,-0.039006],[0.362077,0.922586,0.133176],[-0.011980,-0.138253,0.990325]] 2025-10-29T00:23:54.610Z,1761697434.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931867,-0.360722,-0.038781],[0.362587,0.922316,0.133655],[-0.012444,-0.138610,0.990269]] 2025-10-29T00:23:55.016Z,1761697435.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931626,-0.361343,-0.038777],[0.363193,0.921986,0.134283],[-0.012770,-0.139185,0.990184]] 2025-10-29T00:23:55.418Z,1761697435.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931538,-0.361495,-0.039472],[0.363411,0.921554,0.136644],[-0.013020,-0.141633,0.989834]] 2025-10-29T00:23:55.845Z,1761697435.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931705,-0.361079,-0.039341],[0.362973,0.921637,0.137247],[-0.013299,-0.142154,0.989755]] 2025-10-29T00:23:56.632Z,1761697436.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931204,-0.362437,-0.038716],[0.364219,0.921069,0.137755],[-0.014268,-0.142379,0.989709]] 2025-10-29T00:23:57.041Z,1761697437.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930961,-0.363081,-0.038522],[0.364828,0.920815,0.137844],[-0.014576,-0.142381,0.989705]] 2025-10-29T00:23:57.443Z,1761697437.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930592,-0.364077,-0.038040],[0.365754,0.920547,0.137172],[-0.014923,-0.141565,0.989816]] 2025-10-29T00:23:57.872Z,1761697437.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930462,-0.364442,-0.037726],[0.366072,0.920435,0.137077],[-0.015232,-0.141356,0.989842]] 2025-10-29T00:23:58.248Z,1761697438.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930063,-0.365496,-0.037351],[0.367070,0.920108,0.136602],[-0.015560,-0.140759,0.989922]] 2025-10-29T00:23:58.650Z,1761697438.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929776,-0.366232,-0.037291],[0.367793,0.919849,0.136404],[-0.015653,-0.140541,0.989951]] 2025-10-29T00:23:59.055Z,1761697439.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929596,-0.366710,-0.037083],[0.368236,0.919675,0.136379],[-0.015907,-0.140433,0.989962]] 2025-10-29T00:23:59.465Z,1761697439.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929249,-0.367604,-0.036930],[0.369104,0.919368,0.136107],[-0.016082,-0.140108,0.990005]] 2025-10-29T00:23:59.482Z,1761697439.482 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:23:59.589Z,1761697439.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:23:59.589Z,1761697439.589 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:23:59.843Z,1761697439.843 [DAT](INFO): DAT read: user:370> 2025-10-29T00:23:59.846Z,1761697439.846 [DAT](INFO): DAT read: Tx time:00:23:59.5775 2025-10-29T00:23:59.847Z,1761697439.847 [DAT](INFO): Ping request sent. 2025-10-29T00:23:59.847Z,1761697439.847 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:23:59.852Z,1761697439.852 [DAT](INFO): publishing transmit ping time 2025-10-29T00:23:59.854Z,1761697439.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006645 2025-10-29T00:23:59.919Z,1761697439.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929127,-0.367882,-0.037211],[0.369406,0.919125,0.136924],[-0.016170,-0.140966,0.989882]] 2025-10-29T00:24:00.093Z,1761697440.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245999 2025-10-29T00:24:00.266Z,1761697440.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928826,-0.368644,-0.037202],[0.370158,0.918827,0.136894],[-0.016283,-0.140921,0.989887]] 2025-10-29T00:24:00.346Z,1761697440.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498665 2025-10-29T00:24:00.597Z,1761697440.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749922 2025-10-29T00:24:00.670Z,1761697440.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928513,-0.369454,-0.036970],[0.370928,0.918517,0.136890],[-0.016617,-0.140818,0.989896]] 2025-10-29T00:24:00.851Z,1761697440.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004144 2025-10-29T00:24:01.077Z,1761697441.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928152,-0.370379,-0.036785],[0.371799,0.918013,0.137908],[-0.017309,-0.141676,0.989762]] 2025-10-29T00:24:01.101Z,1761697441.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253985 2025-10-29T00:24:01.353Z,1761697441.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506428 2025-10-29T00:24:01.478Z,1761697441.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927967,-0.370851,-0.036701],[0.372248,0.917788,0.138189],[-0.017563,-0.141897,0.989726]] 2025-10-29T00:24:01.605Z,1761697441.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758049 2025-10-29T00:24:01.857Z,1761697441.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009987 2025-10-29T00:24:01.935Z,1761697441.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927691,-0.371618,-0.035911],[0.372909,0.917627,0.137478],[-0.018137,-0.140929,0.989854]] 2025-10-29T00:24:02.109Z,1761697442.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261848 2025-10-29T00:24:02.287Z,1761697442.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927439,-0.372290,-0.035454],[0.373493,0.917269,0.138274],[-0.018957,-0.141482,0.989759]] 2025-10-29T00:24:02.361Z,1761697442.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514018 2025-10-29T00:24:02.613Z,1761697442.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765934 2025-10-29T00:24:02.868Z,1761697442.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020232 2025-10-29T00:24:03.096Z,1761697443.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927103,-0.373113,-0.035599],[0.374290,0.916648,0.140229],[-0.019690,-0.143331,0.989479]] 2025-10-29T00:24:03.117Z,1761697443.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270053 2025-10-29T00:24:03.369Z,1761697443.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521919 2025-10-29T00:24:03.499Z,1761697443.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927183,-0.372896,-0.035791],[0.374067,0.916460,0.142040],[-0.020166,-0.145086,0.989214]] 2025-10-29T00:24:03.621Z,1761697443.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773930 2025-10-29T00:24:03.873Z,1761697443.873 [DAT](INFO): DAT read: Rx Time:00:24:03.0479 2025-10-29T00:24:03.873Z,1761697443.873 [DAT](INFO): Rx dataTimestamp_ set to:1761697443.873099 2025-10-29T00:24:03.874Z,1761697443.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.026994 2025-10-29T00:24:03.963Z,1761697443.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927423,-0.372232,-0.036472],[0.373434,0.916142,0.145711],[-0.020824,-0.148756,0.988655]] 2025-10-29T00:24:04.125Z,1761697444.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.277926 2025-10-29T00:24:04.386Z,1761697444.386 [DAT](INFO): DAT read: 00:24:03.0479 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 451, 0.29,-2.176, 2.528,-1.991,-2.283, PHS= 0.208,-1.427, 0.248, RAW= 151.2, 11.7, CAL= 151.1, 12.9, ROT= 358.9, -12.9 2025-10-29T00:24:04.388Z,1761697444.388 [DAT](INFO): got valid direction response: 00:24:03.0479 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 451, 0.29,-2.176, 2.528,-1.991,-2.283, PHS= 0.208,-1.427, 0.248, RAW= 151.2, 11.7, CAL= 151.1, 12.9, ROT= 358.9, -12.9 2025-10-29T00:24:04.389Z,1761697444.389 [DAT](INFO): DAT read: Bearing 185.9, -4.5 (Local) 2025-10-29T00:24:04.389Z,1761697444.389 [DAT](INFO): Local bearing/azimuth received: Bearing 185.9, -4.5 (Local) 2025-10-29T00:24:04.391Z,1761697444.391 [DAT](INFO): DAT read: Range 11 to 50 : 799.7 m (Round-trip 1066.3 ms) speed 0.5 m/s 2025-10-29T00:24:04.400Z,1761697444.400 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:24:04.401Z,1761697444.401 [DAT](INFO): direction in FSK: [0.974582,-0.018713,0.223250] 2025-10-29T00:24:04.401Z,1761697444.401 [DAT](INFO): publishing direction and range info 2025-10-29T00:24:04.711Z,1761697444.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927559,-0.371897,-0.036437],[0.373086,0.916193,0.146275],[-0.021016,-0.149272,0.988573]] 2025-10-29T00:24:05.114Z,1761697445.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927745,-0.371450,-0.036255],[0.372603,0.916282,0.146952],[-0.021365,-0.149843,0.988479]] 2025-10-29T00:24:05.519Z,1761697445.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927874,-0.371185,-0.035653],[0.372265,0.916520,0.146325],[-0.021637,-0.149043,0.988594]] 2025-10-29T00:24:05.951Z,1761697445.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927884,-0.371163,-0.035630],[0.372238,0.916513,0.146431],[-0.021694,-0.149134,0.988579]] 2025-10-29T00:24:06.331Z,1761697446.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928038,-0.370790,-0.035506],[0.371844,0.916620,0.146768],[-0.021874,-0.149409,0.988533]] 2025-10-29T00:24:06.731Z,1761697446.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928162,-0.370549,-0.034773],[0.371509,0.916854,0.146150],[-0.022274,-0.148569,0.988651]] 2025-10-29T00:24:07.135Z,1761697447.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928262,-0.370309,-0.034664],[0.371256,0.916950,0.146192],[-0.022351,-0.148574,0.988649]] 2025-10-29T00:24:07.541Z,1761697447.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928168,-0.370600,-0.034052],[0.371479,0.917044,0.145031],[-0.022522,-0.147263,0.988841]] 2025-10-29T00:24:07.974Z,1761697447.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928001,-0.371113,-0.033015],[0.371835,0.916915,0.144931],[-0.023514,-0.146773,0.988891]] 2025-10-29T00:24:08.745Z,1761697448.745 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:24:08.762Z,1761697448.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927869,-0.371548,-0.031783],[0.372092,0.916851,0.144678],[-0.024614,-0.146068,0.988968]] 2025-10-29T00:24:09.172Z,1761697449.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927838,-0.371680,-0.031162],[0.372131,0.916831,0.144707],[-0.025215,-0.145861,0.988984]] 2025-10-29T00:24:09.563Z,1761697449.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927677,-0.372151,-0.030320],[0.372473,0.916687,0.144736],[-0.026070,-0.145562,0.989006]] 2025-10-29T00:24:09.749Z,1761697449.749 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:24:09.967Z,1761697449.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927647,-0.372281,-0.029628],[0.372501,0.916674,0.144744],[-0.026726,-0.145308,0.989025]] 2025-10-29T00:24:10.376Z,1761697450.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927625,-0.372380,-0.029059],[0.372521,0.916699,0.144534],[-0.027183,-0.144898,0.989073]] 2025-10-29T00:24:10.775Z,1761697450.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927609,-0.372441,-0.028779],[0.372531,0.916633,0.144928],[-0.027598,-0.145157,0.989024]] 2025-10-29T00:24:11.177Z,1761697451.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927707,-0.372216,-0.028554],[0.372267,0.916693,0.145230],[-0.027881,-0.145361,0.988986]] 2025-10-29T00:24:11.214Z,1761697451.214 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -339.60, +2 +61.98, 24.91, 0.00 2025-10-29T00:24:11.579Z,1761697451.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927886,-0.371782,-0.028376],[0.371801,0.916816,0.145644],[-0.028132,-0.145691,0.988930]] 2025-10-29T00:24:11.985Z,1761697451.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928173,-0.371038,-0.028748],[0.371060,0.916782,0.147731],[-0.028459,-0.147787,0.988610]] 2025-10-29T00:24:12.386Z,1761697452.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928389,-0.370470,-0.029072],[0.370504,0.916761,0.149253],[-0.028642,-0.149336,0.988372]] 2025-10-29T00:24:12.790Z,1761697452.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928481,-0.370250,-0.028947],[0.370256,0.916797,0.149648],[-0.028869,-0.149663,0.988316]] 2025-10-29T00:24:13.205Z,1761697453.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928801,-0.369417,-0.029314],[0.369447,0.916886,0.151093],[-0.028939,-0.151166,0.988085]] 2025-10-29T00:24:13.598Z,1761697453.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929003,-0.368859,-0.029948],[0.368937,0.916777,0.152988],[-0.028975,-0.153175,0.987774]] 2025-10-29T00:24:14.002Z,1761697454.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929320,-0.368015,-0.030470],[0.368147,0.916880,0.154270],[-0.028837,-0.154584,0.987559]] 2025-10-29T00:24:14.407Z,1761697454.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929510,-0.367570,-0.030051],[0.367646,0.917097,0.154174],[-0.029110,-0.154354,0.987587]] 2025-10-29T00:24:14.812Z,1761697454.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929550,-0.367455,-0.030233],[0.367558,0.917115,0.154274],[-0.028961,-0.154518,0.987565]] 2025-10-29T00:24:15.218Z,1761697455.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929813,-0.366781,-0.030330],[0.366902,0.917344,0.154476],[-0.028836,-0.154762,0.987531]] 2025-10-29T00:24:15.619Z,1761697455.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930034,-0.366223,-0.030277],[0.366349,0.917600,0.154270],[-0.028715,-0.154568,0.987565]] 2025-10-29T00:24:16.047Z,1761697456.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930127,-0.366016,-0.029948],[0.366124,0.917865,0.153225],[-0.028595,-0.153484,0.987737]] 2025-10-29T00:24:16.437Z,1761697456.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930484,-0.365130,-0.029663],[0.365209,0.918246,0.153122],[-0.028671,-0.153310,0.987762]] 2025-10-29T00:24:16.830Z,1761697456.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930694,-0.364641,-0.029088],[0.364682,0.918698,0.151661],[-0.028579,-0.151757,0.988005]] 2025-10-29T00:24:17.234Z,1761697457.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930920,-0.364092,-0.028714],[0.364104,0.919046,0.150936],[-0.028565,-0.150964,0.988126]] 2025-10-29T00:24:17.638Z,1761697457.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930999,-0.363907,-0.028514],[0.363893,0.919143,0.150854],[-0.028689,-0.150821,0.988145]] 2025-10-29T00:24:18.044Z,1761697458.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931036,-0.363864,-0.027836],[0.363772,0.919317,0.150086],[-0.029020,-0.149861,0.988281]] 2025-10-29T00:24:18.447Z,1761697458.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930940,-0.364157,-0.027229],[0.363995,0.919370,0.149220],[-0.029306,-0.148826,0.988429]] 2025-10-29T00:24:18.851Z,1761697458.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930921,-0.364216,-0.027071],[0.364032,0.919360,0.149193],[-0.029450,-0.148741,0.988438]] 2025-10-29T00:24:19.261Z,1761697459.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930916,-0.364252,-0.026736],[0.364017,0.919361,0.149222],[-0.029775,-0.148645,0.988442]] 2025-10-29T00:24:19.664Z,1761697459.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930691,-0.364824,-0.026778],[0.364575,0.919075,0.149622],[-0.029974,-0.149015,0.988381]] 2025-10-29T00:24:20.066Z,1761697460.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930496,-0.365340,-0.026538],[0.365039,0.918837,0.149953],[-0.030400,-0.149218,0.988337]] 2025-10-29T00:24:20.470Z,1761697460.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930306,-0.365825,-0.026517],[0.365502,0.918586,0.150361],[-0.030648,-0.149574,0.988275]] 2025-10-29T00:24:20.874Z,1761697460.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929943,-0.366734,-0.026686],[0.366427,0.918228,0.150292],[-0.030613,-0.149541,0.988281]] 2025-10-29T00:24:21.284Z,1761697461.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929594,-0.367629,-0.026521],[0.367297,0.917940,0.149931],[-0.030774,-0.149116,0.988341]] 2025-10-29T00:24:21.682Z,1761697461.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929331,-0.368287,-0.026629],[0.367970,0.917706,0.149711],[-0.030699,-0.148930,0.988371]] 2025-10-29T00:24:22.086Z,1761697462.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929096,-0.368878,-0.026622],[0.368560,0.917508,0.149471],[-0.030711,-0.148685,0.988408]] 2025-10-29T00:24:22.492Z,1761697462.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928753,-0.369723,-0.026875],[0.369448,0.917235,0.148959],[-0.030423,-0.148276,0.988478]] 2025-10-29T00:24:22.898Z,1761697462.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928580,-0.370147,-0.027030],[0.369894,0.917079,0.148807],[-0.030292,-0.148178,0.988497]] 2025-10-29T00:24:23.299Z,1761697463.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928488,-0.370344,-0.027498],[0.370145,0.916910,0.149227],[-0.030053,-0.148733,0.988421]] 2025-10-29T00:24:23.702Z,1761697463.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928707,-0.369681,-0.028961],[0.369656,0.916812,0.151030],[-0.029281,-0.150969,0.988105]] 2025-10-29T00:24:24.107Z,1761697464.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929012,-0.368895,-0.029224],[0.368902,0.917018,0.151623],[-0.029134,-0.151640,0.988006]] 2025-10-29T00:24:24.513Z,1761697464.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929492,-0.367579,-0.030511],[0.367758,0.917242,0.153038],[-0.028267,-0.153468,0.987749]] 2025-10-29T00:24:24.921Z,1761697464.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930096,-0.365973,-0.031389],[0.366270,0.917610,0.154397],[-0.027702,-0.155101,0.987510]] 2025-10-29T00:24:25.319Z,1761697465.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930575,-0.364715,-0.031823],[0.365080,0.917979,0.155023],[-0.027326,-0.155879,0.987398]] 2025-10-29T00:24:25.725Z,1761697465.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931217,-0.362959,-0.033087],[0.363504,0.918345,0.156546],[-0.026434,-0.157806,0.987116]] 2025-10-29T00:24:26.127Z,1761697466.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931950,-0.361014,-0.033740],[0.361684,0.919032,0.156731],[-0.025574,-0.158269,0.987065]] 2025-10-29T00:24:26.530Z,1761697466.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932443,-0.359669,-0.034480],[0.360482,0.919552,0.156453],[-0.024565,-0.158313,0.987083]] 2025-10-29T00:24:26.935Z,1761697466.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932890,-0.358490,-0.034674],[0.359365,0.920095,0.155829],[-0.023959,-0.157832,0.987175]] 2025-10-29T00:24:27.345Z,1761697467.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933379,-0.357165,-0.035169],[0.358141,0.920604,0.155640],[-0.023213,-0.157866,0.987188]] 2025-10-29T00:24:27.749Z,1761697467.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933574,-0.356606,-0.035661],[0.357680,0.920873,0.155105],[-0.022472,-0.157557,0.987254]] 2025-10-29T00:24:28.147Z,1761697468.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933853,-0.355816,-0.036251],[0.356990,0.921120,0.155231],[-0.021842,-0.157904,0.987213]] 2025-10-29T00:24:28.551Z,1761697468.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933786,-0.355943,-0.036718],[0.357201,0.921131,0.154677],[-0.021234,-0.157551,0.987283]] 2025-10-29T00:24:28.955Z,1761697468.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933663,-0.356198,-0.037380],[0.357569,0.921087,0.154086],[-0.020455,-0.157231,0.987350]] 2025-10-29T00:24:29.366Z,1761697469.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933515,-0.356510,-0.038071],[0.357999,0.921030,0.153428],[-0.019634,-0.156857,0.987426]] 2025-10-29T00:24:29.767Z,1761697469.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933231,-0.357200,-0.038563],[0.358774,0.920870,0.152578],[-0.018989,-0.156226,0.987539]] 2025-10-29T00:24:30.166Z,1761697470.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932919,-0.357929,-0.039359],[0.359625,0.920612,0.152130],[-0.018217,-0.156080,0.987576]] 2025-10-29T00:24:30.571Z,1761697470.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932493,-0.358955,-0.040104],[0.360765,0.920262,0.151550],[-0.017494,-0.155787,0.987636]] 2025-10-29T00:24:30.976Z,1761697470.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932167,-0.359707,-0.040942],[0.361637,0.919923,0.151529],[-0.016842,-0.156056,0.987605]] 2025-10-29T00:24:31.378Z,1761697471.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931750,-0.360672,-0.041921],[0.362745,0.919511,0.151377],[-0.016051,-0.156252,0.987587]] 2025-10-29T00:24:31.785Z,1761697471.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931418,-0.361324,-0.043643],[0.363638,0.918937,0.152714],[-0.015074,-0.158111,0.987306]] 2025-10-29T00:24:32.188Z,1761697472.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931149,-0.361912,-0.044503],[0.364359,0.918714,0.152338],[-0.014247,-0.158065,0.987326]] 2025-10-29T00:24:32.590Z,1761697472.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930968,-0.362280,-0.045295],[0.364851,0.918564,0.152062],[-0.013482,-0.158091,0.987332]] 2025-10-29T00:24:32.994Z,1761697472.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930976,-0.362121,-0.046396],[0.364866,0.918522,0.152284],[-0.012529,-0.158701,0.987247]] 2025-10-29T00:24:33.413Z,1761697473.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931023,-0.361872,-0.047386],[0.364773,0.918504,0.152612],[-0.011702,-0.159371,0.987149]] 2025-10-29T00:24:33.804Z,1761697473.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931166,-0.361383,-0.048290],[0.364434,0.918619,0.152730],[-0.010834,-0.159816,0.987087]] 2025-10-29T00:24:34.206Z,1761697474.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931237,-0.361153,-0.048648],[0.364274,0.918832,0.151829],[-0.010134,-0.159110,0.987209]] 2025-10-29T00:24:34.610Z,1761697474.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931436,-0.360519,-0.049525],[0.363788,0.919028,0.151810],[-0.009216,-0.159418,0.987168]] 2025-10-29T00:24:35.015Z,1761697475.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931737,-0.359618,-0.050412],[0.363041,0.919324,0.151804],[-0.008246,-0.159744,0.987124]] 2025-10-29T00:24:35.428Z,1761697475.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931989,-0.358930,-0.050645],[0.362404,0.919695,0.151079],[-0.007649,-0.159158,0.987224]] 2025-10-29T00:24:35.822Z,1761697475.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932367,-0.357947,-0.050646],[0.361447,0.920346,0.149393],[-0.006863,-0.157595,0.987480]] 2025-10-29T00:24:36.226Z,1761697476.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932821,-0.356648,-0.051457],[0.360292,0.920780,0.149511],[-0.005942,-0.158007,0.987420]] 2025-10-29T00:24:36.631Z,1761697476.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933309,-0.355336,-0.051672],[0.359035,0.921390,0.148776],[-0.005255,-0.157406,0.987520]] 2025-10-29T00:24:37.040Z,1761697477.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933807,-0.353987,-0.051935],[0.357746,0.921933,0.148516],[-0.004692,-0.157265,0.987545]] 2025-10-29T00:24:37.459Z,1761697477.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934361,-0.352490,-0.052151],[0.356303,0.922561,0.148086],[-0.004086,-0.156947,0.987599]] 2025-10-29T00:24:37.842Z,1761697477.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934676,-0.351571,-0.052708],[0.355484,0.922922,0.147804],[-0.003318,-0.156885,0.987611]] 2025-10-29T00:24:38.249Z,1761697478.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935021,-0.350620,-0.052934],[0.354584,0.923397,0.146997],[-0.002661,-0.156214,0.987720]] 2025-10-29T00:24:38.650Z,1761697478.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935179,-0.350157,-0.053202],[0.354169,0.923646,0.146431],[-0.002134,-0.155782,0.987789]] 2025-10-29T00:24:39.054Z,1761697479.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935384,-0.349545,-0.053626],[0.353631,0.923901,0.146125],[-0.001532,-0.155647,0.987812]] 2025-10-29T00:24:39.495Z,1761697479.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935400,-0.349456,-0.053920],[0.353590,0.923998,0.145607],[-0.001061,-0.155267,0.987872]] 2025-10-29T00:24:39.864Z,1761697479.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935401,-0.349376,-0.054426],[0.353590,0.924075,0.145116],[-0.000407,-0.154986,0.987917]] 2025-10-29T00:24:39.868Z,1761697479.868 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:24:40.267Z,1761697480.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935253,-0.349719,-0.054766],[0.353981,0.923967,0.144852],[-0.000055,-0.154859,0.987936]] 2025-10-29T00:24:40.670Z,1761697480.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935145,-0.349958,-0.055067],[0.354264,0.923794,0.145264],[0.000034,-0.155351,0.987859]] 2025-10-29T00:24:40.873Z,1761697480.873 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:24:41.080Z,1761697481.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935000,-0.350258,-0.055629],[0.354647,0.923676,0.145081],[0.000568,-0.155379,0.987855]] 2025-10-29T00:24:41.519Z,1761697481.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934591,-0.351241,-0.056297],[0.355723,0.923220,0.145346],[0.000923,-0.155865,0.987778]] 2025-10-29T00:24:41.891Z,1761697481.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934282,-0.351963,-0.056919],[0.356533,0.922909,0.145338],[0.001377,-0.156080,0.987743]] 2025-10-29T00:24:42.286Z,1761697482.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933930,-0.352866,-0.057100],[0.357452,0.922662,0.144644],[0.001644,-0.155498,0.987835]] 2025-10-29T00:24:42.690Z,1761697482.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933735,-0.353346,-0.057327],[0.357961,0.922530,0.144232],[0.001922,-0.155195,0.987882]] 2025-10-29T00:24:43.094Z,1761697483.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933426,-0.354145,-0.057414],[0.358762,0.922399,0.143071],[0.002291,-0.154144,0.988046]] 2025-10-29T00:24:43.543Z,1761697483.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933255,-0.354530,-0.057816],[0.359203,0.922290,0.142671],[0.002742,-0.153917,0.988080]] 2025-10-29T00:24:43.907Z,1761697483.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933221,-0.354566,-0.058159],[0.359290,0.922292,0.142436],[0.003136,-0.153820,0.988094]] 2025-10-29T00:24:44.307Z,1761697484.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933196,-0.354602,-0.058333],[0.359350,0.922385,0.141680],[0.003565,-0.153178,0.988192]] 2025-10-29T00:24:45.116Z,1761697485.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933949,-0.352454,-0.059295],[0.357379,0.923006,0.142619],[0.004463,-0.154390,0.988000]] 2025-10-29T00:24:45.560Z,1761697485.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934683,-0.350351,-0.060184],[0.355447,0.923492,0.144295],[0.005025,-0.156262,0.987703]] 2025-10-29T00:24:45.922Z,1761697485.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935581,-0.347810,-0.060962],[0.353070,0.924097,0.146240],[0.005471,-0.158343,0.987369]] 2025-10-29T00:24:46.326Z,1761697486.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936497,-0.345235,-0.061535],[0.350626,0.924809,0.147613],[0.005946,-0.159815,0.987129]] 2025-10-29T00:24:46.732Z,1761697486.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937429,-0.342610,-0.062009],[0.348117,0.925592,0.148644],[0.006468,-0.160929,0.986945]] 2025-10-29T00:24:47.134Z,1761697487.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938244,-0.340278,-0.062528],[0.345904,0.926283,0.149501],[0.007047,-0.161897,0.986782]] 2025-10-29T00:24:47.578Z,1761697487.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939103,-0.337861,-0.062726],[0.343553,0.927079,0.149987],[0.007477,-0.162403,0.986696]] 2025-10-29T00:24:47.943Z,1761697487.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939953,-0.335478,-0.062798],[0.341216,0.927861,0.150485],[0.007783,-0.162877,0.986616]] 2025-10-29T00:24:48.348Z,1761697488.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940807,-0.333228,-0.061972],[0.338851,0.928934,0.149206],[0.007849,-0.161374,0.986862]] 2025-10-29T00:24:48.754Z,1761697488.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941368,-0.331605,-0.062159],[0.337281,0.929464,0.149457],[0.008214,-0.161659,0.986812]] 2025-10-29T00:24:49.155Z,1761697489.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942020,-0.329880,-0.061454],[0.335454,0.930310,0.148306],[0.008248,-0.160322,0.987030]] 2025-10-29T00:24:49.621Z,1761697489.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942554,-0.328431,-0.061034],[0.333944,0.931071,0.146931],[0.008570,-0.158873,0.987262]] 2025-10-29T00:24:50.374Z,1761697490.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942618,-0.328239,-0.061078],[0.333758,0.931195,0.146566],[0.008767,-0.158541,0.987313]] 2025-10-29T00:24:50.775Z,1761697490.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942588,-0.328328,-0.061065],[0.333840,0.931244,0.146066],[0.008909,-0.158066,0.987388]] 2025-10-29T00:24:51.176Z,1761697491.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942552,-0.328469,-0.060855],[0.333943,0.931257,0.145748],[0.008798,-0.157698,0.987448]] 2025-10-29T00:24:51.590Z,1761697491.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942616,-0.328245,-0.061071],[0.333763,0.931195,0.146557],[0.008763,-0.158531,0.987315]] 2025-10-29T00:24:51.982Z,1761697491.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942658,-0.328052,-0.061464],[0.333638,0.931185,0.146903],[0.009042,-0.158986,0.987239]] 2025-10-29T00:24:52.391Z,1761697492.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942643,-0.327987,-0.062038],[0.333680,0.930928,0.148429],[0.009070,-0.160617,0.986975]] 2025-10-29T00:24:52.791Z,1761697492.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942853,-0.327390,-0.062001],[0.333082,0.931165,0.148283],[0.009187,-0.160460,0.987000]] 2025-10-29T00:24:53.201Z,1761697493.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942879,-0.327234,-0.062430],[0.333005,0.931067,0.149070],[0.009346,-0.161345,0.986854]] 2025-10-29T00:24:53.606Z,1761697493.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943428,-0.325617,-0.062593],[0.331442,0.931494,0.149883],[0.009501,-0.162149,0.986721]] 2025-10-29T00:24:54.007Z,1761697494.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943889,-0.324264,-0.062658],[0.330125,0.931833,0.150680],[0.009526,-0.162910,0.986595]] 2025-10-29T00:24:54.411Z,1761697494.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944483,-0.322485,-0.062896],[0.328420,0.932235,0.151917],[0.009643,-0.164139,0.986390]] 2025-10-29T00:24:54.818Z,1761697494.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945238,-0.320220,-0.063113],[0.326234,0.932783,0.153259],[0.009794,-0.165456,0.986169]] 2025-10-29T00:24:55.217Z,1761697495.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945821,-0.318437,-0.063414],[0.324531,0.933256,0.153989],[0.010146,-0.166226,0.986036]] 2025-10-29T00:24:55.619Z,1761697495.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946437,-0.316637,-0.063228],[0.322728,0.933820,0.154361],[0.010167,-0.166498,0.985989]] 2025-10-29T00:24:56.023Z,1761697496.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946953,-0.315180,-0.062776],[0.321208,0.934466,0.153620],[0.010244,-0.165635,0.986134]] 2025-10-29T00:24:56.428Z,1761697496.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947565,-0.313415,-0.062375],[0.319396,0.935145,0.153267],[0.010294,-0.165153,0.986214]] 2025-10-29T00:24:56.831Z,1761697496.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948130,-0.311728,-0.062246],[0.317704,0.935797,0.152799],[0.010618,-0.164649,0.986295]] 2025-10-29T00:24:57.234Z,1761697497.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948628,-0.310322,-0.061687],[0.316213,0.936484,0.151680],[0.010699,-0.163394,0.986503]] 2025-10-29T00:24:57.639Z,1761697497.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949211,-0.308656,-0.061072],[0.314461,0.937175,0.151053],[0.010612,-0.162586,0.986637]] 2025-10-29T00:24:58.044Z,1761697498.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949665,-0.307385,-0.060426],[0.313087,0.937841,0.149767],[0.010634,-0.161147,0.986873]] 2025-10-29T00:24:58.447Z,1761697498.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950195,-0.305733,-0.060478],[0.311469,0.938313,0.150188],[0.010830,-0.161544,0.986806]] 2025-10-29T00:24:58.858Z,1761697498.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950536,-0.304648,-0.060589],[0.310413,0.938689,0.150020],[0.011171,-0.161407,0.986825]] 2025-10-29T00:24:59.254Z,1761697499.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950881,-0.303505,-0.060903],[0.309336,0.939040,0.150047],[0.011651,-0.161516,0.986801]] 2025-10-29T00:24:59.659Z,1761697499.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951107,-0.302558,-0.062088],[0.308607,0.939101,0.151170],[0.012569,-0.162939,0.986556]] 2025-10-29T00:24:59.683Z,1761697499.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:24:59.853Z,1761697499.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:24:59.854Z,1761697499.854 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:25:00.062Z,1761697500.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951481,-0.301306,-0.062439],[0.307433,0.939433,0.151497],[0.013011,-0.163342,0.986484]] 2025-10-29T00:25:00.105Z,1761697500.105 [DAT](INFO): DAT read: user:371> 2025-10-29T00:25:00.106Z,1761697500.106 [DAT](INFO): DAT read: Tx time:00:24:59.8274 2025-10-29T00:25:00.106Z,1761697500.106 [DAT](INFO): Ping request sent. 2025-10-29T00:25:00.106Z,1761697500.106 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:25:00.106Z,1761697500.106 [DAT](INFO): publishing transmit ping time 2025-10-29T00:25:00.107Z,1761697500.107 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-29T00:25:00.358Z,1761697500.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251097 2025-10-29T00:25:00.466Z,1761697500.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951836,-0.300088,-0.062884],[0.306302,0.939816,0.151410],[0.013663,-0.163379,0.986469]] 2025-10-29T00:25:00.609Z,1761697500.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502751 2025-10-29T00:25:00.862Z,1761697500.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755957 2025-10-29T00:25:00.881Z,1761697500.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951940,-0.299684,-0.063252],[0.305955,0.940008,0.150916],[0.014230,-0.163015,0.986521]] 2025-10-29T00:25:01.114Z,1761697501.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008055 2025-10-29T00:25:01.276Z,1761697501.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952169,-0.298838,-0.063803],[0.305207,0.940288,0.150688],[0.014962,-0.162953,0.986520]] 2025-10-29T00:25:01.365Z,1761697501.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259320 2025-10-29T00:25:01.617Z,1761697501.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510769 2025-10-29T00:25:01.679Z,1761697501.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952334,-0.298123,-0.064667],[0.304635,0.940538,0.150285],[0.016019,-0.162822,0.986525]] 2025-10-29T00:25:01.870Z,1761697501.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763461 2025-10-29T00:25:02.082Z,1761697502.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952505,-0.297362,-0.065650],[0.304058,0.940594,0.151101],[0.016818,-0.163886,0.986336]] 2025-10-29T00:25:02.121Z,1761697502.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014781 2025-10-29T00:25:02.374Z,1761697502.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267727 2025-10-29T00:25:02.487Z,1761697502.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952857,-0.296121,-0.066158],[0.302917,0.940949,0.151184],[0.017482,-0.164097,0.986289]] 2025-10-29T00:25:02.625Z,1761697502.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518643 2025-10-29T00:25:02.877Z,1761697502.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770687 2025-10-29T00:25:02.897Z,1761697502.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953110,-0.295192,-0.066658],[0.302077,0.941257,0.150945],[0.018184,-0.164003,0.986292]] 2025-10-29T00:25:03.129Z,1761697503.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022942 2025-10-29T00:25:03.295Z,1761697503.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953224,-0.294678,-0.067296],[0.301665,0.941472,0.150427],[0.019030,-0.163692,0.986328]] 2025-10-29T00:25:03.381Z,1761697503.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274771 2025-10-29T00:25:03.633Z,1761697503.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527085 2025-10-29T00:25:03.699Z,1761697503.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953540,-0.293527,-0.067850],[0.300621,0.941792,0.150515],[0.019721,-0.163919,0.986277]] 2025-10-29T00:25:03.885Z,1761697503.885 [DAT](INFO): DAT read: Rx Time:00:25:03.2504 2025-10-29T00:25:03.885Z,1761697503.885 [DAT](INFO): Rx dataTimestamp_ set to:1761697503.885200 2025-10-29T00:25:03.886Z,1761697503.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779877 2025-10-29T00:25:04.103Z,1761697504.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953812,-0.292509,-0.068424],[0.299711,0.942076,0.150553],[0.020422,-0.164107,0.986231]] 2025-10-29T00:25:04.137Z,1761697504.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030816 2025-10-29T00:25:04.391Z,1761697504.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284206 2025-10-29T00:25:04.508Z,1761697504.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953865,-0.292166,-0.069147],[0.299493,0.942125,0.150678],[0.021122,-0.164435,0.986162]] 2025-10-29T00:25:04.646Z,1761697504.646 [DAT](INFO): DAT read: 00:25:03.2504 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 462,-0.29,-2.034, 2.599,-2.059,-2.376, PHS= 0.444,-1.263, 0.273, RAW= 144.8, 6.8, CAL= 144.3, 7.4, ROT= 5.7, -7.4 2025-10-29T00:25:04.647Z,1761697504.647 [DAT](INFO): got valid direction response: 00:25:03.2504 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 462,-0.29,-2.034, 2.599,-2.059,-2.376, PHS= 0.444,-1.263, 0.273, RAW= 144.8, 6.8, CAL= 144.3, 7.4, ROT= 5.7, -7.4 2025-10-29T00:25:04.649Z,1761697504.649 [DAT](INFO): DAT read: Bearing 176.9, 5.3 (Local) 2025-10-29T00:25:04.649Z,1761697504.649 [DAT](INFO): Local bearing/azimuth received: Bearing 176.9, 5.3 (Local) 2025-10-29T00:25:04.650Z,1761697504.650 [DAT](INFO): DAT read: Range 11 to 50 : 764.1 m (Round-trip 1018.9 ms) speed 0.4 m/s 2025-10-29T00:25:04.651Z,1761697504.651 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:25:04.652Z,1761697504.652 [DAT](INFO): direction in FSK: [0.986768,0.098493,0.128796] 2025-10-29T00:25:04.652Z,1761697504.652 [DAT](INFO): publishing direction and range info 2025-10-29T00:25:04.911Z,1761697504.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954096,-0.291250,-0.069813],[0.298697,0.942381,0.150659],[0.021911,-0.164596,0.986118]] 2025-10-29T00:25:05.315Z,1761697505.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954290,-0.290447,-0.070505],[0.298016,0.942614,0.150551],[0.022732,-0.164681,0.986085]] 2025-10-29T00:25:05.719Z,1761697505.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954515,-0.289561,-0.071103],[0.297240,0.942857,0.150561],[0.023443,-0.164847,0.986040]] 2025-10-29T00:25:06.122Z,1761697506.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954759,-0.288612,-0.071677],[0.296397,0.943128,0.150530],[0.024155,-0.164965,0.986004]] 2025-10-29T00:25:06.526Z,1761697506.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954948,-0.287834,-0.072289],[0.295727,0.943358,0.150407],[0.024902,-0.165009,0.985978]] 2025-10-29T00:25:06.930Z,1761697506.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955123,-0.287170,-0.072615],[0.295121,0.943566,0.150287],[0.025359,-0.164973,0.985972]] 2025-10-29T00:25:07.337Z,1761697507.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955340,-0.286333,-0.073070],[0.294372,0.943784,0.150388],[0.025902,-0.165181,0.985923]] 2025-10-29T00:25:07.741Z,1761697507.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955562,-0.285443,-0.073647],[0.293594,0.943994,0.150590],[0.026537,-0.165520,0.985849]] 2025-10-29T00:25:08.148Z,1761697508.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955782,-0.284511,-0.074395],[0.292800,0.944224,0.150697],[0.027371,-0.165817,0.985777]] 2025-10-29T00:25:08.547Z,1761697508.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955872,-0.284022,-0.075105],[0.292428,0.944381,0.150434],[0.028201,-0.165758,0.985763]] 2025-10-29T00:25:08.950Z,1761697508.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956108,-0.283072,-0.075683],[0.291565,0.944754,0.149763],[0.029108,-0.165256,0.985821]] 2025-10-29T00:25:09.363Z,1761697509.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956307,-0.282264,-0.076182],[0.290841,0.945019,0.149501],[0.029795,-0.165126,0.985822]] 2025-10-29T00:25:09.763Z,1761697509.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956508,-0.281393,-0.076880],[0.290095,0.945257,0.149449],[0.030618,-0.165251,0.985776]] 2025-10-29T00:25:10.162Z,1761697510.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956623,-0.280842,-0.077464],[0.289623,0.945520,0.148692],[0.031485,-0.164678,0.985845]] 2025-10-29T00:25:10.566Z,1761697510.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956673,-0.280528,-0.077982],[0.289381,0.945679,0.148155],[0.032185,-0.164302,0.985885]] 2025-10-29T00:25:10.972Z,1761697510.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956720,-0.280336,-0.078098],[0.289172,0.945922,0.147006],[0.032664,-0.163227,0.986048]] 2025-10-29T00:25:11.000Z,1761697511.000 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:25:11.376Z,1761697511.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956804,-0.280083,-0.077968],[0.288871,0.946151,0.146119],[0.032844,-0.162330,0.986190]] 2025-10-29T00:25:11.781Z,1761697511.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956924,-0.279650,-0.078054],[0.288442,0.946355,0.145647],[0.033137,-0.161887,0.986253]] 2025-10-29T00:25:12.004Z,1761697512.004 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:25:12.183Z,1761697512.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956865,-0.279869,-0.077997],[0.288570,0.946672,0.143319],[0.033727,-0.159644,0.986598]] 2025-10-29T00:25:12.589Z,1761697512.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956782,-0.280188,-0.077859],[0.288806,0.946855,0.141621],[0.034041,-0.157987,0.986854]] 2025-10-29T00:25:12.993Z,1761697512.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956722,-0.280334,-0.078073],[0.288956,0.946927,0.140831],[0.034450,-0.157295,0.986951]] 2025-10-29T00:25:13.394Z,1761697513.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956714,-0.280358,-0.078088],[0.288966,0.946993,0.140367],[0.034596,-0.156856,0.987015]] 2025-10-29T00:25:13.799Z,1761697513.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956692,-0.280399,-0.078212],[0.289018,0.947014,0.140119],[0.034778,-0.156655,0.987041]] 2025-10-29T00:25:14.202Z,1761697514.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956606,-0.280561,-0.078675],[0.289237,0.947004,0.139734],[0.035301,-0.156427,0.987059]] 2025-10-29T00:25:14.606Z,1761697514.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956608,-0.280423,-0.079145],[0.289200,0.946909,0.140454],[0.035557,-0.157248,0.986919]] 2025-10-29T00:25:15.023Z,1761697515.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956561,-0.280428,-0.079696],[0.289283,0.946921,0.140197],[0.036151,-0.157162,0.986911]] 2025-10-29T00:25:15.416Z,1761697515.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956527,-0.280377,-0.080274],[0.289319,0.946929,0.140069],[0.036742,-0.157205,0.986882]] 2025-10-29T00:25:15.818Z,1761697515.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956500,-0.280347,-0.080708],[0.289360,0.946907,0.140137],[0.037136,-0.157395,0.986837]] 2025-10-29T00:25:16.222Z,1761697516.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956578,-0.279888,-0.081374],[0.289098,0.946645,0.142426],[0.037169,-0.159767,0.986455]] 2025-10-29T00:25:16.631Z,1761697516.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956717,-0.279215,-0.082049],[0.288553,0.946760,0.142771],[0.037816,-0.160267,0.986349]] 2025-10-29T00:25:17.052Z,1761697517.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956768,-0.278949,-0.082353],[0.288341,0.946818,0.142815],[0.038135,-0.160386,0.986317]] 2025-10-29T00:25:17.434Z,1761697517.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956843,-0.278557,-0.082809],[0.288031,0.946894,0.142934],[0.038596,-0.160617,0.986262]] 2025-10-29T00:25:17.846Z,1761697517.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956875,-0.278397,-0.082977],[0.287890,0.946972,0.142700],[0.038850,-0.160434,0.986282]] 2025-10-29T00:25:18.246Z,1761697518.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956726,-0.278999,-0.082667],[0.288364,0.947105,0.140846],[0.038998,-0.158589,0.986574]] 2025-10-29T00:25:18.646Z,1761697518.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956804,-0.278622,-0.083045],[0.288041,0.947241,0.140598],[0.039490,-0.158445,0.986578]] 2025-10-29T00:25:19.076Z,1761697519.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956827,-0.278522,-0.083113],[0.287909,0.947438,0.139535],[0.039880,-0.157440,0.986723]] 2025-10-29T00:25:19.454Z,1761697519.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956814,-0.278553,-0.083154],[0.287925,0.947512,0.138998],[0.040071,-0.156938,0.986795]] 2025-10-29T00:25:19.862Z,1761697519.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956839,-0.278510,-0.083009],[0.287814,0.947709,0.137876],[0.040268,-0.155816,0.986965]] 2025-10-29T00:25:20.265Z,1761697520.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956821,-0.278594,-0.082944],[0.287874,0.947738,0.137555],[0.040287,-0.155493,0.987015]] 2025-10-29T00:25:20.667Z,1761697520.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956767,-0.278758,-0.083011],[0.288035,0.947731,0.137265],[0.040409,-0.155240,0.987050]] 2025-10-29T00:25:21.117Z,1761697521.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956609,-0.279221,-0.083273],[0.288500,0.947711,0.136427],[0.040825,-0.154532,0.987144]] 2025-10-29T00:25:21.477Z,1761697521.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956438,-0.279820,-0.083234],[0.289056,0.947648,0.135679],[0.040911,-0.153828,0.987250]] 2025-10-29T00:25:21.878Z,1761697521.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956127,-0.280971,-0.082923],[0.290099,0.947502,0.134473],[0.040786,-0.152629,0.987442]] 2025-10-29T00:25:22.285Z,1761697522.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955762,-0.282209,-0.082926],[0.291275,0.947316,0.133233],[0.040958,-0.151493,0.987609]] 2025-10-29T00:25:22.688Z,1761697522.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955301,-0.283841,-0.082674],[0.292781,0.947100,0.131456],[0.040988,-0.149785,0.987869]] 2025-10-29T00:25:23.128Z,1761697523.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954971,-0.284828,-0.083088],[0.293824,0.946768,0.131521],[0.041204,-0.150012,0.987825]] 2025-10-29T00:25:23.495Z,1761697523.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954567,-0.286159,-0.083160],[0.295122,0.946471,0.130747],[0.041294,-0.149349,0.987922]] 2025-10-29T00:25:23.899Z,1761697523.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954227,-0.287243,-0.083320],[0.296243,0.946048,0.131271],[0.041118,-0.149946,0.987839]] 2025-10-29T00:25:24.306Z,1761697524.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953709,-0.289138,-0.082697],[0.297948,0.945781,0.129323],[0.040821,-0.147976,0.988148]] 2025-10-29T00:25:24.715Z,1761697524.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953217,-0.290678,-0.082971],[0.299549,0.945169,0.130099],[0.040605,-0.148867,0.988023]] 2025-10-29T00:25:25.154Z,1761697525.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952813,-0.291970,-0.083070],[0.300815,0.944864,0.129390],[0.040712,-0.148273,0.988108]] 2025-10-29T00:25:25.514Z,1761697525.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952533,-0.292927,-0.082910],[0.301728,0.944614,0.129090],[0.040504,-0.147978,0.988161]] 2025-10-29T00:25:25.918Z,1761697525.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952110,-0.294296,-0.082930],[0.303091,0.944168,0.129163],[0.040288,-0.148112,0.988150]] 2025-10-29T00:25:26.340Z,1761697526.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951913,-0.294950,-0.082864],[0.303734,0.943950,0.129244],[0.040098,-0.148198,0.988145]] 2025-10-29T00:25:26.726Z,1761697526.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951643,-0.295895,-0.082597],[0.304626,0.943679,0.129124],[0.039738,-0.148041,0.988182]] 2025-10-29T00:25:27.152Z,1761697527.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951489,-0.296436,-0.082423],[0.305140,0.943503,0.129193],[0.039469,-0.148077,0.988188]] 2025-10-29T00:25:27.536Z,1761697527.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951368,-0.296880,-0.082227],[0.305554,0.943358,0.129276],[0.039190,-0.148114,0.988193]] 2025-10-29T00:25:27.938Z,1761697527.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951235,-0.297367,-0.082003],[0.306002,0.943217,0.129249],[0.038912,-0.148039,0.988216]] 2025-10-29T00:25:28.351Z,1761697528.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951093,-0.297942,-0.081568],[0.306484,0.943142,0.128651],[0.038599,-0.147358,0.988330]] 2025-10-29T00:25:28.749Z,1761697528.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951087,-0.298114,-0.081006],[0.306577,0.943093,0.128788],[0.038003,-0.147323,0.988358]] 2025-10-29T00:25:29.162Z,1761697529.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951027,-0.298380,-0.080723],[0.306800,0.943020,0.128792],[0.037695,-0.147251,0.988381]] 2025-10-29T00:25:29.556Z,1761697529.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951028,-0.298348,-0.080833],[0.306790,0.943002,0.128948],[0.037754,-0.147431,0.988351]] 2025-10-29T00:25:29.958Z,1761697529.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951000,-0.298542,-0.080448],[0.306894,0.943080,0.128126],[0.037617,-0.146537,0.988490]] 2025-10-29T00:25:30.364Z,1761697530.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950986,-0.298647,-0.080217],[0.306968,0.943043,0.128221],[0.037356,-0.146560,0.988496]] 2025-10-29T00:25:30.771Z,1761697530.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951118,-0.298248,-0.080135],[0.306576,0.943112,0.128646],[0.037208,-0.146925,0.988447]] 2025-10-29T00:25:31.176Z,1761697531.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951132,-0.298266,-0.079905],[0.306565,0.943102,0.128753],[0.036956,-0.146957,0.988452]] 2025-10-29T00:25:31.575Z,1761697531.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950986,-0.298867,-0.079398],[0.307077,0.942967,0.128521],[0.036460,-0.146603,0.988523]] 2025-10-29T00:25:31.978Z,1761697531.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950924,-0.299158,-0.079046],[0.307315,0.942887,0.128540],[0.036078,-0.146524,0.988549]] 2025-10-29T00:25:32.389Z,1761697532.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950836,-0.299535,-0.078677],[0.307629,0.942804,0.128395],[0.035718,-0.146286,0.988597]] 2025-10-29T00:25:32.789Z,1761697532.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950642,-0.300198,-0.078493],[0.308245,0.942655,0.128010],[0.035564,-0.145887,0.988662]] 2025-10-29T00:25:33.190Z,1761697533.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950260,-0.301518,-0.078060],[0.309456,0.942389,0.127042],[0.035257,-0.144879,0.988821]] 2025-10-29T00:25:33.594Z,1761697533.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949908,-0.302611,-0.078105],[0.310549,0.942021,0.127101],[0.035114,-0.144990,0.988810]] 2025-10-29T00:25:33.998Z,1761697533.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949691,-0.303297,-0.078093],[0.311247,0.941720,0.127626],[0.034833,-0.145512,0.988743]] 2025-10-29T00:25:34.410Z,1761697534.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949396,-0.304249,-0.077977],[0.312171,0.941423,0.127561],[0.034600,-0.145448,0.988761]] 2025-10-29T00:25:34.817Z,1761697534.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949070,-0.305292,-0.077868],[0.313194,0.941064,0.127702],[0.034293,-0.145586,0.988751]] 2025-10-29T00:25:35.211Z,1761697535.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948719,-0.306392,-0.077816],[0.314269,0.940740,0.127446],[0.034157,-0.145366,0.988788]] 2025-10-29T00:25:35.615Z,1761697535.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948447,-0.307168,-0.078079],[0.315114,0.940311,0.128527],[0.033939,-0.146505,0.988628]] 2025-10-29T00:25:36.020Z,1761697536.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948163,-0.308110,-0.077818],[0.316008,0.940015,0.128493],[0.033560,-0.146424,0.988653]] 2025-10-29T00:25:36.423Z,1761697536.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947835,-0.309123,-0.077796],[0.317007,0.939690,0.128411],[0.033409,-0.146375,0.988665]] 2025-10-29T00:25:36.832Z,1761697536.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947714,-0.309465,-0.077905],[0.317369,0.939537,0.128639],[0.033385,-0.146638,0.988627]] 2025-10-29T00:25:37.230Z,1761697537.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947602,-0.309765,-0.078083],[0.317719,0.939309,0.129434],[0.033249,-0.147460,0.988509]] 2025-10-29T00:25:37.636Z,1761697537.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947472,-0.310149,-0.078127],[0.318116,0.939140,0.129685],[0.033150,-0.147726,0.988473]] 2025-10-29T00:25:38.038Z,1761697538.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947306,-0.310531,-0.078625],[0.318574,0.938960,0.129863],[0.033499,-0.148068,0.988410]] 2025-10-29T00:25:38.448Z,1761697538.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947059,-0.311254,-0.078738],[0.319269,0.938879,0.128736],[0.033856,-0.147059,0.988548]] 2025-10-29T00:25:38.853Z,1761697538.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946587,-0.312783,-0.078353],[0.320675,0.938611,0.127186],[0.033761,-0.145519,0.988779]] 2025-10-29T00:25:39.256Z,1761697539.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946464,-0.313195,-0.078202],[0.321051,0.938523,0.126885],[0.033654,-0.145199,0.988830]] 2025-10-29T00:25:39.661Z,1761697539.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946366,-0.313422,-0.078468],[0.321324,0.938397,0.127132],[0.033788,-0.145527,0.988777]] 2025-10-29T00:25:40.062Z,1761697540.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946444,-0.313363,-0.077766],[0.321135,0.938577,0.126280],[0.033418,-0.144490,0.988942]] 2025-10-29T00:25:40.463Z,1761697540.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946370,-0.313640,-0.077548],[0.321354,0.938597,0.125571],[0.033402,-0.143757,0.989049]] 2025-10-29T00:25:40.867Z,1761697540.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946422,-0.313474,-0.077580],[0.321202,0.938613,0.125840],[0.033370,-0.144016,0.989013]] 2025-10-29T00:25:41.272Z,1761697541.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946515,-0.313217,-0.077486],[0.320947,0.938648,0.126224],[0.033196,-0.144341,0.988971]] 2025-10-29T00:25:41.674Z,1761697541.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946601,-0.312988,-0.077358],[0.320714,0.938680,0.126579],[0.032997,-0.144629,0.988936]] 2025-10-29T00:25:42.079Z,1761697542.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946543,-0.313250,-0.077017],[0.320928,0.938587,0.126728],[0.032590,-0.144671,0.988943]] 2025-10-29T00:25:42.124Z,1761697542.124 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:25:42.488Z,1761697542.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946464,-0.313536,-0.076821],[0.321187,0.938486,0.126818],[0.032334,-0.144703,0.988947]] 2025-10-29T00:25:42.887Z,1761697542.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946446,-0.313646,-0.076595],[0.321277,0.938395,0.127262],[0.031961,-0.145055,0.988907]] 2025-10-29T00:25:43.128Z,1761697543.128 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:25:43.295Z,1761697543.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946429,-0.313695,-0.076606],[0.321355,0.938250,0.128129],[0.031682,-0.145883,0.988794]] 2025-10-29T00:25:43.694Z,1761697543.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946200,-0.314569,-0.075835],[0.322063,0.938210,0.126641],[0.031312,-0.144251,0.989046]] 2025-10-29T00:25:44.100Z,1761697544.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945835,-0.315699,-0.075697],[0.323155,0.937871,0.126370],[0.031099,-0.143987,0.989091]] 2025-10-29T00:25:44.503Z,1761697544.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945530,-0.316689,-0.075371],[0.324083,0.937573,0.126204],[0.030698,-0.143756,0.989137]] 2025-10-29T00:25:44.906Z,1761697544.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945279,-0.317650,-0.074472],[0.324893,0.937358,0.125714],[0.029874,-0.143030,0.989267]] 2025-10-29T00:25:45.318Z,1761697545.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945093,-0.318368,-0.073759],[0.325534,0.936992,0.126784],[0.028747,-0.143834,0.989184]] 2025-10-29T00:25:45.715Z,1761697545.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944698,-0.319723,-0.072960],[0.326774,0.936502,0.127214],[0.027654,-0.144020,0.989188]] 2025-10-29T00:25:46.125Z,1761697546.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944271,-0.321196,-0.072014],[0.328094,0.936058,0.127082],[0.026591,-0.143628,0.989275]] 2025-10-29T00:25:46.522Z,1761697546.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944154,-0.321758,-0.071029],[0.328569,0.935570,0.129426],[0.024808,-0.145536,0.989042]] 2025-10-29T00:25:46.927Z,1761697546.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943828,-0.322913,-0.070110],[0.329586,0.935177,0.129679],[0.023690,-0.145502,0.989074]] 2025-10-29T00:25:47.332Z,1761697547.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943568,-0.323915,-0.068976],[0.330457,0.934600,0.131608],[0.021835,-0.146975,0.988899]] 2025-10-29T00:25:47.735Z,1761697547.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943399,-0.324619,-0.067971],[0.331020,0.934316,0.132212],[0.020587,-0.147229,0.988888]] 2025-10-29T00:25:48.139Z,1761697548.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943124,-0.325629,-0.066953],[0.331866,0.934039,0.132047],[0.019538,-0.146756,0.988980]] 2025-10-29T00:25:48.544Z,1761697548.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942963,-0.326315,-0.065872],[0.332403,0.933728,0.132889],[0.018143,-0.147206,0.988939]] 2025-10-29T00:25:48.948Z,1761697548.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942901,-0.326665,-0.065016],[0.332653,0.933387,0.134650],[0.016700,-0.148589,0.988758]] 2025-10-29T00:25:49.350Z,1761697549.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942904,-0.326875,-0.063919],[0.332707,0.933288,0.135201],[0.015461,-0.148748,0.988754]] 2025-10-29T00:25:49.759Z,1761697549.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942984,-0.326951,-0.062321],[0.332542,0.933378,0.134985],[0.014035,-0.148013,0.988886]] 2025-10-29T00:25:50.159Z,1761697550.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942931,-0.327267,-0.061460],[0.332732,0.933256,0.135363],[0.013058,-0.148088,0.988888]] 2025-10-29T00:25:50.562Z,1761697550.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942927,-0.327449,-0.060554],[0.332787,0.933122,0.136146],[0.011923,-0.148527,0.988836]] 2025-10-29T00:25:50.966Z,1761697550.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943109,-0.327117,-0.059491],[0.332321,0.933026,0.137933],[0.010386,-0.149856,0.988653]] 2025-10-29T00:25:51.371Z,1761697551.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943345,-0.326725,-0.057881],[0.331690,0.933290,0.137666],[0.009041,-0.149065,0.988786]] 2025-10-29T00:25:51.791Z,1761697551.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943386,-0.326816,-0.056694],[0.331603,0.933317,0.137690],[0.007915,-0.148694,0.988852]] 2025-10-29T00:25:52.181Z,1761697552.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943374,-0.327085,-0.055326],[0.331661,0.933395,0.137022],[0.006823,-0.147612,0.989022]] 2025-10-29T00:25:52.582Z,1761697552.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943429,-0.327147,-0.054001],[0.331526,0.933464,0.136877],[0.005629,-0.147036,0.989115]] 2025-10-29T00:25:52.986Z,1761697552.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943328,-0.327585,-0.053112],[0.331827,0.933396,0.136609],[0.004823,-0.146491,0.989200]] 2025-10-29T00:25:53.390Z,1761697553.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943133,-0.328268,-0.052353],[0.332393,0.933178,0.136728],[0.003972,-0.146355,0.989224]] 2025-10-29T00:25:53.807Z,1761697553.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943012,-0.328791,-0.051224],[0.332744,0.933129,0.136207],[0.003015,-0.145489,0.989355]] 2025-10-29T00:25:54.199Z,1761697554.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942740,-0.329716,-0.050285],[0.333522,0.932926,0.135690],[0.002173,-0.144692,0.989474]] 2025-10-29T00:25:54.602Z,1761697554.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942498,-0.330567,-0.049234],[0.334211,0.932720,0.135413],[0.001159,-0.144081,0.989565]] 2025-10-29T00:25:55.008Z,1761697555.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942352,-0.331117,-0.048323],[0.334625,0.932577,0.135376],[0.000240,-0.143742,0.989615]] 2025-10-29T00:25:55.410Z,1761697555.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942000,-0.332263,-0.047296],[0.335612,0.932277,0.135000],[-0.000763,-0.143043,0.989716]] 2025-10-29T00:25:55.815Z,1761697555.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941732,-0.333170,-0.046238],[0.336358,0.932045,0.134744],[-0.001797,-0.142446,0.989801]] 2025-10-29T00:25:56.218Z,1761697556.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941558,-0.333747,-0.045635],[0.336842,0.931781,0.135359],[-0.002654,-0.142820,0.989745]] 2025-10-29T00:25:56.630Z,1761697556.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941377,-0.334330,-0.045087],[0.337339,0.931538,0.135794],[-0.003400,-0.143043,0.989711]] 2025-10-29T00:25:57.033Z,1761697557.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941376,-0.334414,-0.044492],[0.337335,0.931459,0.136344],[-0.004153,-0.143359,0.989662]] 2025-10-29T00:25:57.434Z,1761697557.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941146,-0.335170,-0.043646],[0.337961,0.931208,0.136503],[-0.005108,-0.143220,0.989678]] 2025-10-29T00:25:57.838Z,1761697557.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940907,-0.335838,-0.043672],[0.338617,0.930739,0.138070],[-0.005722,-0.144699,0.989459]] 2025-10-29T00:25:58.243Z,1761697558.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940687,-0.336550,-0.042913],[0.339214,0.930571,0.137736],[-0.006422,-0.144123,0.989539]] 2025-10-29T00:25:58.662Z,1761697558.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940429,-0.337361,-0.042195],[0.339915,0.930355,0.137468],[-0.007120,-0.143622,0.989607]] 2025-10-29T00:25:59.051Z,1761697559.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940246,-0.337939,-0.041648],[0.340409,0.930196,0.137324],[-0.007666,-0.143296,0.989650]] 2025-10-29T00:25:59.454Z,1761697559.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940071,-0.338465,-0.041320],[0.340883,0.930023,0.137321],[-0.008050,-0.143177,0.989664]] 2025-10-29T00:25:59.862Z,1761697559.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940028,-0.338646,-0.040808],[0.340984,0.929897,0.137919],[-0.008758,-0.143562,0.989603]] 2025-10-29T00:25:59.915Z,1761697559.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:26:00.109Z,1761697560.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:26:00.109Z,1761697560.109 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:26:00.266Z,1761697560.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939868,-0.339083,-0.040868],[0.341412,0.929539,0.139264],[-0.009234,-0.144843,0.989412]] 2025-10-29T00:26:00.362Z,1761697560.362 [DAT](INFO): DAT read: user:372> 2025-10-29T00:26:00.363Z,1761697560.363 [DAT](INFO): DAT read: Tx time:00:26:00.1274 2025-10-29T00:26:00.364Z,1761697560.364 [DAT](INFO): Ping request sent. 2025-10-29T00:26:00.364Z,1761697560.364 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:26:00.364Z,1761697560.364 [DAT](INFO): publishing transmit ping time 2025-10-29T00:26:00.365Z,1761697560.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001132 2025-10-29T00:26:00.615Z,1761697560.615 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251310 2025-10-29T00:26:00.684Z,1761697560.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939585,-0.339913,-0.040490],[0.342179,0.929260,0.139248],[-0.009706,-0.144690,0.989429]] 2025-10-29T00:26:00.866Z,1761697560.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501380 2025-10-29T00:26:01.118Z,1761697561.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754041 2025-10-29T00:26:01.369Z,1761697561.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005202 2025-10-29T00:26:01.475Z,1761697561.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938919,-0.341843,-0.039686],[0.343975,0.928648,0.138902],[-0.010629,-0.144068,0.989511]] 2025-10-29T00:26:01.622Z,1761697561.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258660 2025-10-29T00:26:01.877Z,1761697561.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513054 2025-10-29T00:26:01.888Z,1761697561.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938661,-0.342572,-0.039489],[0.344665,0.928366,0.139080],[-0.010985,-0.144160,0.989493]] 2025-10-29T00:26:02.129Z,1761697562.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765142 2025-10-29T00:26:02.290Z,1761697562.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938539,-0.342894,-0.039612],[0.344994,0.928140,0.139768],[-0.011160,-0.144844,0.989392]] 2025-10-29T00:26:02.381Z,1761697562.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017123 2025-10-29T00:26:02.635Z,1761697562.635 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271127 2025-10-29T00:26:02.715Z,1761697562.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938436,-0.343225,-0.039168],[0.345253,0.927987,0.140143],[-0.011753,-0.145038,0.989356]] 2025-10-29T00:26:02.885Z,1761697562.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521194 2025-10-29T00:26:03.091Z,1761697563.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938293,-0.343607,-0.039254],[0.345627,0.927652,0.141433],[-0.012184,-0.146273,0.989169]] 2025-10-29T00:26:03.138Z,1761697563.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773575 2025-10-29T00:26:03.389Z,1761697563.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025106 2025-10-29T00:26:03.497Z,1761697563.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938209,-0.343833,-0.039278],[0.345852,0.927542,0.141606],[-0.012257,-0.146440,0.989144]] 2025-10-29T00:26:03.641Z,1761697563.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277133 2025-10-29T00:26:03.893Z,1761697563.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529223 2025-10-29T00:26:03.900Z,1761697563.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938074,-0.344234,-0.038981],[0.346209,0.927458,0.141281],[-0.012480,-0.146027,0.989202]] 2025-10-29T00:26:04.145Z,1761697564.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781174 2025-10-29T00:26:04.303Z,1761697564.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937830,-0.344926,-0.038743],[0.346865,0.927287,0.140797],[-0.012639,-0.145482,0.989280]] 2025-10-29T00:26:04.397Z,1761697564.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.033214 2025-10-29T00:26:04.655Z,1761697564.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.287910 2025-10-29T00:26:04.762Z,1761697564.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937836,-0.344889,-0.038925],[0.346834,0.927048,0.142434],[-0.013038,-0.147080,0.989039]] 2025-10-29T00:26:04.902Z,1761697564.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.537746 2025-10-29T00:26:05.110Z,1761697565.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937962,-0.344566,-0.038736],[0.346487,0.927175,0.142452],[-0.013169,-0.147036,0.989043]] 2025-10-29T00:26:05.155Z,1761697565.155 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.791049 2025-10-29T00:26:05.405Z,1761697565.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.041122 2025-10-29T00:26:05.514Z,1761697565.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938197,-0.343954,-0.038499],[0.345840,0.927343,0.142933],[-0.013461,-0.147414,0.988983]] 2025-10-29T00:26:05.657Z,1761697565.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.293177 2025-10-29T00:26:05.910Z,1761697565.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546167 2025-10-29T00:26:05.920Z,1761697565.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938440,-0.343309,-0.038320],[0.345166,0.927475,0.143706],[-0.013795,-0.148086,0.988878]] 2025-10-29T00:26:06.161Z,1761697566.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.797107 2025-10-29T00:26:06.324Z,1761697566.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938708,-0.342597,-0.038135],[0.344423,0.927618,0.144561],[-0.014152,-0.148835,0.988761]] 2025-10-29T00:26:06.413Z,1761697566.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.049159 2025-10-29T00:26:06.665Z,1761697566.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.301184 2025-10-29T00:26:06.763Z,1761697566.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938894,-0.342144,-0.037609],[0.343901,0.927858,0.144264],[-0.014463,-0.148383,0.988824]] 2025-10-29T00:26:06.917Z,1761697566.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553124 2025-10-29T00:26:07.130Z,1761697567.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938971,-0.341957,-0.037394],[0.343677,0.927872,0.144704],[-0.014786,-0.148725,0.988768]] 2025-10-29T00:26:07.169Z,1761697567.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.805517 2025-10-29T00:26:07.421Z,1761697567.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.057214 2025-10-29T00:26:07.534Z,1761697567.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939065,-0.341752,-0.036915],[0.343403,0.927970,0.144727],[-0.015205,-0.148585,0.988783]] 2025-10-29T00:26:07.681Z,1761697567.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.316775 2025-10-29T00:26:07.925Z,1761697567.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.561106 2025-10-29T00:26:07.946Z,1761697567.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938967,-0.342089,-0.036270],[0.343653,0.927993,0.143984],[-0.015597,-0.147660,0.988915]] 2025-10-29T00:26:08.177Z,1761697568.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813203 2025-10-29T00:26:08.342Z,1761697568.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938741,-0.342763,-0.035762],[0.344249,0.927825,0.143645],[-0.016056,-0.147156,0.988983]] 2025-10-29T00:26:08.430Z,1761697568.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.065736 2025-10-29T00:26:08.681Z,1761697568.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.317162 2025-10-29T00:26:08.791Z,1761697568.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938626,-0.343124,-0.035315],[0.344541,0.927724,0.143598],[-0.016509,-0.146952,0.989006]] 2025-10-29T00:26:08.933Z,1761697568.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.569201 2025-10-29T00:26:09.151Z,1761697569.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938531,-0.343430,-0.034850],[0.344773,0.927618,0.143724],[-0.017031,-0.146905,0.989004]] 2025-10-29T00:26:09.185Z,1761697569.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821255 2025-10-29T00:26:09.437Z,1761697569.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.073144 2025-10-29T00:26:09.556Z,1761697569.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938249,-0.344261,-0.034266],[0.345515,0.927393,0.143392],[-0.017587,-0.146377,0.989073]] 2025-10-29T00:26:09.689Z,1761697569.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325207 2025-10-29T00:26:09.941Z,1761697569.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.577122 2025-10-29T00:26:09.958Z,1761697569.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937976,-0.345004,-0.034269],[0.346231,0.926969,0.144407],[-0.018055,-0.147315,0.988925]] 2025-10-29T00:26:10.193Z,1761697570.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.829140 2025-10-29T00:26:10.362Z,1761697570.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937723,-0.345707,-0.034099],[0.346896,0.926673,0.144710],[-0.018429,-0.147526,0.988886]] 2025-10-29T00:26:10.445Z,1761697570.445 [DAT](INFO): Reached modem response timeout 2025-10-29T00:26:10.824Z,1761697570.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937391,-0.346573,-0.034435],[0.347777,0.926142,0.145989],[-0.018704,-0.148824,0.988687]] 2025-10-29T00:26:11.215Z,1761697571.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936854,-0.348049,-0.034140],[0.349201,0.925685,0.145485],[-0.019033,-0.148220,0.988771]] 2025-10-29T00:26:11.575Z,1761697571.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936338,-0.349433,-0.034171],[0.350570,0.925138,0.145673],[-0.019290,-0.148379,0.988742]] 2025-10-29T00:26:11.979Z,1761697571.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935918,-0.350524,-0.034509],[0.351674,0.924533,0.146846],[-0.019569,-0.149572,0.988557]] 2025-10-29T00:26:12.382Z,1761697572.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935450,-0.351741,-0.034802],[0.352906,0.923949,0.147566],[-0.019750,-0.150322,0.988440]] 2025-10-29T00:26:12.713Z,1761697572.713 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:26:12.713Z,1761697572.713 [DAT](INFO): response not received 2025-10-29T00:26:12.713Z,1761697572.713 [DAT](ERROR): No response from remote modem. 2025-10-29T00:26:12.813Z,1761697572.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935188,-0.352409,-0.035090],[0.353588,0.923518,0.148628],[-0.019972,-0.151403,0.988270]] 2025-10-29T00:26:13.190Z,1761697573.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934947,-0.353048,-0.035089],[0.354214,0.923239,0.148867],[-0.020162,-0.151612,0.988234]] 2025-10-29T00:26:13.253Z,1761697573.253 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:26:13.594Z,1761697573.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934718,-0.353583,-0.035787],[0.354826,0.922826,0.149969],[-0.020002,-0.152877,0.988043]] 2025-10-29T00:26:13.998Z,1761697573.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934339,-0.354615,-0.035493],[0.355832,0.922689,0.148418],[-0.019882,-0.151302,0.988288]] 2025-10-29T00:26:14.257Z,1761697574.257 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:26:14.404Z,1761697574.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934058,-0.355349,-0.035544],[0.356567,0.922430,0.148267],[-0.019900,-0.151164,0.988308]] 2025-10-29T00:26:14.729Z,1761697574.729 [DAT](INFO): DAT read: user:373>Rx Time:00:26:13.9815 2025-10-29T00:26:14.729Z,1761697574.729 [DAT](INFO): Rx dataTimestamp_ set to:1761697574.729154 2025-10-29T00:26:14.810Z,1761697574.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933988,-0.355527,-0.035595],[0.356748,0.922331,0.148449],[-0.019947,-0.151348,0.988279]] 2025-10-29T00:26:15.211Z,1761697575.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933718,-0.356228,-0.035678],[0.357453,0.922061,0.148429],[-0.019977,-0.151344,0.988279]] 2025-10-29T00:26:15.241Z,1761697575.241 [DAT](INFO): DAT read: 00:26:13.9815 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 252, 0.34,-2.534, 2.192,-2.354,-2.549, PHS= 0.116,-1.498, 0.151, RAW= 151.0, 14.9, CAL= 151.3, 16.7, ROT= 358.7, -16.7 2025-10-29T00:26:15.242Z,1761697575.242 [DAT](INFO): got valid direction response: 00:26:13.9815 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 252, 0.34,-2.534, 2.192,-2.354,-2.549, PHS= 0.116,-1.498, 0.151, RAW= 151.0, 14.9, CAL= 151.3, 16.7, ROT= 358.7, -16.7 2025-10-29T00:26:15.243Z,1761697575.243 [DAT](INFO): DAT read: bearing request 2025-10-29T00:26:15.243Z,1761697575.243 [DAT](INFO): received a bearing request message 2025-10-29T00:26:15.244Z,1761697575.244 [DAT](INFO): DAT read: Tx time:00:26:15.5843 2025-10-29T00:26:15.245Z,1761697575.245 [DAT](INFO): Ping request sent. 2025-10-29T00:26:15.245Z,1761697575.245 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:26:15.245Z,1761697575.245 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:26:15.247Z,1761697575.247 [DAT](INFO): direction in FSK: [0.957576,-0.021730,0.287361] 2025-10-29T00:26:15.264Z,1761697575.264 [DAT](INFO): publishing transmit ping time 2025-10-29T00:26:15.264Z,1761697575.264 [DAT](INFO): publishing range request flag 2025-10-29T00:26:15.277Z,1761697575.277 [DAT](INFO): publishing transmit ping time 2025-10-29T00:26:15.277Z,1761697575.277 [DAT](INFO): publishing range request flag 2025-10-29T00:26:15.614Z,1761697575.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933491,-0.356875,-0.035137],[0.358035,0.922028,0.147227],[-0.020144,-0.150015,0.988478]] 2025-10-29T00:26:16.018Z,1761697576.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933195,-0.357682,-0.034785],[0.358794,0.921854,0.146465],[-0.020321,-0.149162,0.988604]] 2025-10-29T00:26:16.423Z,1761697576.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932889,-0.358505,-0.034517],[0.359575,0.921610,0.146083],[-0.020560,-0.148691,0.988670]] 2025-10-29T00:26:16.837Z,1761697576.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932716,-0.358976,-0.034305],[0.360008,0.921431,0.146150],[-0.020855,-0.148666,0.988667]] 2025-10-29T00:26:17.230Z,1761697577.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932406,-0.359836,-0.033725],[0.360807,0.921376,0.144514],[-0.020928,-0.146914,0.988928]] 2025-10-29T00:26:17.635Z,1761697577.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932192,-0.360413,-0.033470],[0.361335,0.921134,0.144737],[-0.021335,-0.147016,0.988904]] 2025-10-29T00:26:18.038Z,1761697578.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932000,-0.360926,-0.033296],[0.361806,0.920879,0.145185],[-0.021739,-0.147359,0.988844]] 2025-10-29T00:26:18.444Z,1761697578.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932105,-0.360655,-0.033292],[0.361515,0.920831,0.146210],[-0.022075,-0.148318,0.988693]] 2025-10-29T00:26:18.846Z,1761697578.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931822,-0.361444,-0.032657],[0.362230,0.920756,0.144907],[-0.022307,-0.146856,0.988906]] 2025-10-29T00:26:19.258Z,1761697579.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931702,-0.361771,-0.032448],[0.362513,0.920575,0.145350],[-0.022712,-0.147186,0.988848]] 2025-10-29T00:26:19.655Z,1761697579.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931749,-0.361707,-0.031819],[0.362366,0.920694,0.144958],[-0.023137,-0.146595,0.988926]] 2025-10-29T00:26:20.061Z,1761697580.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931651,-0.361987,-0.031494],[0.362583,0.920532,0.145447],[-0.023659,-0.146925,0.988865]] 2025-10-29T00:26:20.463Z,1761697580.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931718,-0.361832,-0.031291],[0.362382,0.920489,0.146214],[-0.024101,-0.147570,0.988758]] 2025-10-29T00:26:20.867Z,1761697580.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931873,-0.361446,-0.031143],[0.361957,0.920518,0.147085],[-0.024496,-0.148337,0.988634]] 2025-10-29T00:26:21.276Z,1761697581.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932087,-0.360894,-0.031127],[0.361386,0.920591,0.148027],[-0.024767,-0.149223,0.988493]] 2025-10-29T00:26:21.674Z,1761697581.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932202,-0.360612,-0.030958],[0.361062,0.920591,0.148816],[-0.025165,-0.149904,0.988380]] 2025-10-29T00:26:22.078Z,1761697582.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932367,-0.360203,-0.030749],[0.360611,0.920665,0.149449],[-0.025522,-0.150429,0.988291]] 2025-10-29T00:26:22.483Z,1761697582.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932447,-0.360021,-0.030468],[0.360379,0.920694,0.149830],[-0.025890,-0.150688,0.988242]] 2025-10-29T00:26:22.890Z,1761697582.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932439,-0.360063,-0.030198],[0.360374,0.920660,0.150053],[-0.026227,-0.150798,0.988217]] 2025-10-29T00:26:23.297Z,1761697583.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932102,-0.360988,-0.029561],[0.361211,0.920451,0.149322],[-0.026694,-0.149861,0.988347]] 2025-10-29T00:26:23.700Z,1761697583.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932241,-0.360626,-0.029598],[0.360832,0.920438,0.150314],[-0.026964,-0.150808,0.988195]] 2025-10-29T00:26:24.103Z,1761697584.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932224,-0.360702,-0.029211],[0.360861,0.920494,0.149903],[-0.027182,-0.150284,0.988269]] 2025-10-29T00:26:24.508Z,1761697584.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931859,-0.361618,-0.029521],[0.361805,0.920082,0.150154],[-0.027136,-0.150603,0.988222]] 2025-10-29T00:26:24.918Z,1761697584.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931621,-0.362235,-0.029459],[0.362407,0.919858,0.150072],[-0.027263,-0.150487,0.988236]] 2025-10-29T00:26:25.311Z,1761697585.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931450,-0.362653,-0.029716],[0.362841,0.919581,0.150726],[-0.027335,-0.151176,0.988129]] 2025-10-29T00:26:25.716Z,1761697585.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931322,-0.362962,-0.029959],[0.363156,0.919302,0.151664],[-0.027507,-0.152128,0.987978]] 2025-10-29T00:26:26.118Z,1761697586.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931129,-0.363399,-0.030645],[0.363668,0.918958,0.152521],[-0.027264,-0.153161,0.987825]] 2025-10-29T00:26:26.522Z,1761697586.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930817,-0.364177,-0.030892],[0.364472,0.918625,0.152604],[-0.027196,-0.153306,0.987804]] 2025-10-29T00:26:26.933Z,1761697586.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930587,-0.364733,-0.031280],[0.365074,0.918353,0.152799],[-0.027005,-0.153613,0.987762]] 2025-10-29T00:26:27.330Z,1761697587.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930380,-0.365193,-0.032055],[0.365636,0.918060,0.153220],[-0.026527,-0.154273,0.987672]] 2025-10-29T00:26:27.739Z,1761697587.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930341,-0.365246,-0.032583],[0.365756,0.917921,0.153767],[-0.026254,-0.154973,0.987570]] 2025-10-29T00:26:28.138Z,1761697588.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930196,-0.365546,-0.033343],[0.366165,0.917732,0.153922],[-0.025665,-0.155386,0.987520]] 2025-10-29T00:26:28.544Z,1761697588.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930192,-0.365485,-0.034120],[0.366215,0.917641,0.154339],[-0.025098,-0.156060,0.987429]] 2025-10-29T00:26:28.946Z,1761697588.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930025,-0.365857,-0.034670],[0.366708,0.917721,0.152685],[-0.024043,-0.154715,0.987667]] 2025-10-29T00:26:29.350Z,1761697589.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930003,-0.365834,-0.035493],[0.366834,0.917815,0.151817],[-0.022964,-0.154211,0.987771]] 2025-10-29T00:26:29.762Z,1761697589.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929970,-0.365850,-0.036191],[0.366987,0.917977,0.150462],[-0.021824,-0.153207,0.987953]] 2025-10-29T00:26:30.161Z,1761697590.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930039,-0.365606,-0.036860],[0.366856,0.918078,0.150163],[-0.021060,-0.153180,0.987974]] 2025-10-29T00:26:30.563Z,1761697590.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930184,-0.365175,-0.037488],[0.366528,0.918223,0.150082],[-0.020383,-0.153344,0.987963]] 2025-10-29T00:26:30.967Z,1761697590.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930309,-0.364777,-0.038253],[0.366276,0.918522,0.148859],[-0.019164,-0.152496,0.988118]] 2025-10-29T00:26:31.374Z,1761697591.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930484,-0.364218,-0.039301],[0.365877,0.918617,0.149257],[-0.018259,-0.153260,0.988017]] 2025-10-29T00:26:31.780Z,1761697591.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930606,-0.363821,-0.040082],[0.365603,0.918709,0.149358],[-0.017516,-0.153647,0.987970]] 2025-10-29T00:26:32.178Z,1761697592.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930613,-0.363784,-0.040246],[0.365636,0.919110,0.146789],[-0.016409,-0.151319,0.988349]] 2025-10-29T00:26:32.582Z,1761697592.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930610,-0.363709,-0.040999],[0.365681,0.919152,0.146414],[-0.015568,-0.151247,0.988373]] 2025-10-29T00:26:32.988Z,1761697592.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930522,-0.363864,-0.041624],[0.365931,0.919076,0.146266],[-0.014965,-0.151335,0.988369]] 2025-10-29T00:26:33.404Z,1761697593.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930373,-0.364162,-0.042322],[0.366338,0.918980,0.145849],[-0.014220,-0.151199,0.988401]] 2025-10-29T00:26:33.794Z,1761697593.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930302,-0.364187,-0.043663],[0.366553,0.918759,0.146701],[-0.013311,-0.152481,0.988217]] 2025-10-29T00:26:34.198Z,1761697594.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930224,-0.364301,-0.044368],[0.366772,0.918651,0.146832],[-0.012732,-0.152859,0.988166]] 2025-10-29T00:26:34.603Z,1761697594.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930168,-0.364332,-0.045278],[0.366937,0.918520,0.147237],[-0.012054,-0.153569,0.988064]] 2025-10-29T00:26:35.007Z,1761697595.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930036,-0.364580,-0.045985],[0.367290,0.918384,0.147202],[-0.011435,-0.153794,0.988037]] 2025-10-29T00:26:35.415Z,1761697595.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929898,-0.364860,-0.046552],[0.367657,0.918276,0.146961],[-0.010872,-0.153774,0.988046]] 2025-10-29T00:26:35.814Z,1761697595.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929659,-0.365407,-0.047024],[0.368273,0.918074,0.146682],[-0.010427,-0.153682,0.988065]] 2025-10-29T00:26:36.243Z,1761697596.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929415,-0.365958,-0.047575],[0.368905,0.917881,0.146302],[-0.009872,-0.153526,0.988095]] 2025-10-29T00:26:36.270Z,1761697596.270 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504145644,35.0, +11.4, 0.0 0 2025-10-29T00:26:36.628Z,1761697596.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929286,-0.366228,-0.048015],[0.369239,0.917749,0.146285],[-0.009508,-0.153669,0.988077]] 2025-10-29T00:26:37.031Z,1761697597.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929027,-0.366769,-0.048887],[0.369902,0.917379,0.146928],[-0.009041,-0.154583,0.987938]] 2025-10-29T00:26:37.436Z,1761697597.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928821,-0.367166,-0.049807],[0.370433,0.917096,0.147360],[-0.008428,-0.155321,0.987828]] 2025-10-29T00:26:37.839Z,1761697597.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928621,-0.367623,-0.050166],[0.370942,0.916929,0.147120],[-0.008086,-0.155228,0.987846]] 2025-10-29T00:26:38.255Z,1761697598.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928382,-0.368082,-0.051211],[0.371548,0.916485,0.148346],[-0.007669,-0.156749,0.987609]] 2025-10-29T00:26:38.647Z,1761697598.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928359,-0.368082,-0.051617],[0.371613,0.916475,0.148247],[-0.007261,-0.156808,0.987602]] 2025-10-29T00:26:39.050Z,1761697599.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928403,-0.367886,-0.052226],[0.371514,0.916499,0.148344],[-0.006708,-0.157126,0.987556]] 2025-10-29T00:26:39.455Z,1761697599.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928707,-0.367044,-0.052739],[0.370755,0.916578,0.149751],[-0.006626,-0.158628,0.987316]] 2025-10-29T00:26:39.860Z,1761697599.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928976,-0.366300,-0.053187],[0.370086,0.916728,0.150488],[-0.006366,-0.159483,0.987180]] 2025-10-29T00:26:40.281Z,1761697600.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929177,-0.365700,-0.053791],[0.369588,0.916861,0.150900],[-0.005865,-0.160093,0.987085]] 2025-10-29T00:26:40.666Z,1761697600.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929372,-0.365115,-0.054395],[0.369106,0.917004,0.151207],[-0.005328,-0.160605,0.987004]] 2025-10-29T00:26:41.070Z,1761697601.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929679,-0.364291,-0.054673],[0.368334,0.917205,0.151873],[-0.005179,-0.161331,0.986887]] 2025-10-29T00:26:41.478Z,1761697601.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930068,-0.363216,-0.055201],[0.367352,0.917362,0.153294],[-0.005039,-0.162852,0.986638]] 2025-10-29T00:26:41.878Z,1761697601.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930439,-0.362206,-0.055593],[0.366417,0.917631,0.153922],[-0.004737,-0.163585,0.986518]] 2025-10-29T00:26:42.304Z,1761697602.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930869,-0.361075,-0.055751],[0.365324,0.917966,0.154521],[-0.004616,-0.164206,0.986415]] 2025-10-29T00:26:42.688Z,1761697602.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931112,-0.360422,-0.055915],[0.364707,0.918188,0.154660],[-0.004402,-0.164399,0.986384]] 2025-10-29T00:26:43.091Z,1761697603.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931380,-0.359824,-0.055305],[0.364022,0.918646,0.153550],[-0.004445,-0.163146,0.986592]] 2025-10-29T00:26:43.496Z,1761697603.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931597,-0.359253,-0.055365],[0.363468,0.918840,0.153701],[-0.004346,-0.163311,0.986565]] 2025-10-29T00:26:43.899Z,1761697603.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931854,-0.358606,-0.055226],[0.362807,0.919062,0.153937],[-0.004446,-0.163483,0.986536]] 2025-10-29T00:26:44.332Z,1761697604.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932075,-0.358097,-0.054797],[0.362236,0.919370,0.153442],[-0.004568,-0.162869,0.986637]] 2025-10-29T00:26:44.385Z,1761697604.385 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:26:44.709Z,1761697604.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932277,-0.357595,-0.054637],[0.361715,0.919554,0.153569],[-0.004674,-0.162932,0.986626]] 2025-10-29T00:26:45.110Z,1761697605.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932424,-0.357235,-0.054493],[0.361337,0.919730,0.153401],[-0.004682,-0.162725,0.986660]] 2025-10-29T00:26:45.388Z,1761697605.388 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:26:45.514Z,1761697605.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932564,-0.356829,-0.054752],[0.360977,0.919808,0.153781],[-0.004512,-0.163175,0.986587]] 2025-10-29T00:26:45.920Z,1761697605.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932782,-0.356350,-0.054151],[0.360413,0.920259,0.152398],[-0.004474,-0.161671,0.986835]] 2025-10-29T00:26:46.359Z,1761697606.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932843,-0.356190,-0.054147],[0.360256,0.920354,0.152196],[-0.004376,-0.161482,0.986866]] 2025-10-29T00:26:46.735Z,1761697606.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933057,-0.355665,-0.053918],[0.359701,0.920564,0.152241],[-0.004512,-0.161443,0.986872]] 2025-10-29T00:26:47.130Z,1761697607.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933180,-0.355321,-0.054052],[0.359383,0.920710,0.152110],[-0.004282,-0.161372,0.986884]] 2025-10-29T00:26:47.538Z,1761697607.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933521,-0.354434,-0.053993],[0.358498,0.921015,0.152348],[-0.004269,-0.161576,0.986851]] 2025-10-29T00:26:47.940Z,1761697607.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933575,-0.354238,-0.054342],[0.358360,0.921040,0.152525],[-0.003979,-0.161868,0.986804]] 2025-10-29T00:26:48.379Z,1761697608.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933815,-0.353555,-0.054666],[0.357738,0.921258,0.152668],[-0.003616,-0.162120,0.986764]] 2025-10-29T00:26:48.750Z,1761697608.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934074,-0.352859,-0.054737],[0.357062,0.921466,0.152996],[-0.003548,-0.162454,0.986710]] 2025-10-29T00:26:49.151Z,1761697609.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934449,-0.351804,-0.055116],[0.356081,0.921763,0.153487],[-0.003193,-0.163052,0.986612]] 2025-10-29T00:26:49.562Z,1761697609.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934511,-0.351553,-0.055677],[0.355923,0.921711,0.154171],[-0.002881,-0.163891,0.986474]] 2025-10-29T00:26:49.959Z,1761697609.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934826,-0.350690,-0.055829],[0.355099,0.922217,0.153040],[-0.002183,-0.162891,0.986642]] 2025-10-29T00:26:50.396Z,1761697610.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935044,-0.350053,-0.056178],[0.354527,0.922418,0.153152],[-0.001791,-0.163120,0.986605]] 2025-10-29T00:26:50.771Z,1761697610.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935399,-0.349031,-0.056627],[0.353592,0.922751,0.153310],[-0.001258,-0.163429,0.986554]] 2025-10-29T00:26:51.188Z,1761697611.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935591,-0.348408,-0.057281],[0.353085,0.922903,0.153562],[-0.000637,-0.163896,0.986477]] 2025-10-29T00:26:51.574Z,1761697611.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935852,-0.347628,-0.057761],[0.352394,0.923262,0.152992],[0.000144,-0.163533,0.986538]] 2025-10-29T00:26:51.978Z,1761697611.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935819,-0.347681,-0.057967],[0.352480,0.923310,0.152502],[0.000499,-0.163146,0.986602]] 2025-10-29T00:26:52.395Z,1761697612.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936168,-0.346701,-0.058206],[0.351552,0.923598,0.152900],[0.000748,-0.163603,0.986526]] 2025-10-29T00:26:52.789Z,1761697612.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936341,-0.346173,-0.058566],[0.351091,0.923718,0.153233],[0.001053,-0.164041,0.986453]] 2025-10-29T00:26:53.191Z,1761697613.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936559,-0.345578,-0.058592],[0.350508,0.923963,0.153087],[0.001233,-0.163912,0.986474]] 2025-10-29T00:26:53.595Z,1761697613.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936770,-0.345045,-0.058360],[0.349943,0.924239,0.152717],[0.001244,-0.163484,0.986545]] 2025-10-29T00:26:53.998Z,1761697613.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936992,-0.344356,-0.058859],[0.349347,0.924291,0.153763],[0.001454,-0.164637,0.986353]] 2025-10-29T00:26:54.407Z,1761697614.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937228,-0.343675,-0.059084],[0.348713,0.924506,0.153911],[0.001728,-0.164853,0.986317]] 2025-10-29T00:26:54.807Z,1761697614.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937313,-0.343433,-0.059149],[0.348484,0.924626,0.153709],[0.001902,-0.164686,0.986344]] 2025-10-29T00:26:55.219Z,1761697615.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937506,-0.342878,-0.059311],[0.347963,0.924808,0.153790],[0.002120,-0.164817,0.986322]] 2025-10-29T00:26:55.621Z,1761697615.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937814,-0.341977,-0.059645],[0.347132,0.924958,0.154765],[0.002243,-0.165845,0.986149]] 2025-10-29T00:26:56.019Z,1761697616.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938177,-0.340959,-0.059751],[0.346148,0.925196,0.155546],[0.002247,-0.166612,0.986020]] 2025-10-29T00:26:56.423Z,1761697616.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938453,-0.340137,-0.060098],[0.345396,0.925435,0.155797],[0.002625,-0.166966,0.985959]] 2025-10-29T00:26:56.829Z,1761697616.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938702,-0.339348,-0.060671],[0.344714,0.925650,0.156026],[0.003213,-0.167376,0.985888]] 2025-10-29T00:26:57.234Z,1761697617.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938781,-0.339037,-0.061192],[0.344494,0.925775,0.155772],[0.003838,-0.167316,0.985896]] 2025-10-29T00:26:57.635Z,1761697617.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938972,-0.338249,-0.062605],[0.343959,0.925783,0.156902],[0.004887,-0.168860,0.985628]] 2025-10-29T00:26:58.043Z,1761697618.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939263,-0.337265,-0.063535],[0.343150,0.925992,0.157437],[0.005735,-0.169677,0.985483]] 2025-10-29T00:26:58.443Z,1761697618.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939411,-0.336742,-0.064124],[0.342725,0.926355,0.156221],[0.006796,-0.168733,0.985638]] 2025-10-29T00:26:58.850Z,1761697618.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939666,-0.335844,-0.065091],[0.342004,0.926603,0.156332],[0.007810,-0.169161,0.985557]] 2025-10-29T00:26:59.250Z,1761697619.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939911,-0.335019,-0.065804],[0.341312,0.926863,0.156306],[0.008626,-0.169373,0.985514]] 2025-10-29T00:26:59.655Z,1761697619.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940007,-0.334572,-0.066691],[0.341015,0.927082,0.155656],[0.009750,-0.169060,0.985558]] 2025-10-29T00:27:00.060Z,1761697620.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940189,-0.333877,-0.067613],[0.340475,0.927441,0.154695],[0.011058,-0.168463,0.985646]] 2025-10-29T00:27:00.076Z,1761697620.076 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:27:00.105Z,1761697620.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:27:00.105Z,1761697620.105 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:27:00.357Z,1761697620.357 [DAT](INFO): DAT read: 2025-10-29T00:27:00.357Z,1761697620.357 [DAT](INFO): DAT read: Tx time:00:27:00.0790 2025-10-29T00:27:00.358Z,1761697620.358 [DAT](INFO): Ping request sent. 2025-10-29T00:27:00.358Z,1761697620.358 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:27:00.358Z,1761697620.358 [DAT](INFO): publishing transmit ping time 2025-10-29T00:27:00.359Z,1761697620.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-29T00:27:00.463Z,1761697620.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940193,-0.333638,-0.068719],[0.340419,0.927548,0.154171],[0.012302,-0.168344,0.985651]] 2025-10-29T00:27:00.609Z,1761697620.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251193 2025-10-29T00:27:00.861Z,1761697620.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503139 2025-10-29T00:27:00.868Z,1761697620.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940483,-0.332610,-0.069730],[0.339577,0.927841,0.154269],[0.013387,-0.168766,0.985565]] 2025-10-29T00:27:01.113Z,1761697621.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755064 2025-10-29T00:27:01.270Z,1761697621.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940591,-0.332127,-0.070570],[0.339223,0.928191,0.152935],[0.014708,-0.167788,0.985713]] 2025-10-29T00:27:01.365Z,1761697621.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007114 2025-10-29T00:27:01.617Z,1761697621.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259213 2025-10-29T00:27:01.677Z,1761697621.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940863,-0.331191,-0.071339],[0.338425,0.928518,0.152715],[0.015661,-0.167827,0.985692]] 2025-10-29T00:27:01.869Z,1761697621.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511059 2025-10-29T00:27:02.084Z,1761697622.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940958,-0.330767,-0.072049],[0.338108,0.928813,0.151623],[0.016768,-0.167031,0.985809]] 2025-10-29T00:27:02.121Z,1761697622.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763152 2025-10-29T00:27:02.373Z,1761697622.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015043 2025-10-29T00:27:02.484Z,1761697622.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941141,-0.330083,-0.072790],[0.337548,0.929090,0.151172],[0.017730,-0.166844,0.985824]] 2025-10-29T00:27:02.625Z,1761697622.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267079 2025-10-29T00:27:02.885Z,1761697622.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527180 2025-10-29T00:27:02.888Z,1761697622.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941231,-0.329613,-0.073758],[0.337231,0.929329,0.150406],[0.018970,-0.166440,0.985869]] 2025-10-29T00:27:03.137Z,1761697623.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779044 2025-10-29T00:27:03.291Z,1761697623.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941188,-0.329580,-0.074452],[0.337277,0.929611,0.148553],[0.020251,-0.164927,0.986098]] 2025-10-29T00:27:03.389Z,1761697623.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031032 2025-10-29T00:27:03.641Z,1761697623.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283172 2025-10-29T00:27:03.717Z,1761697623.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941309,-0.329072,-0.075159],[0.336881,0.929839,0.148020],[0.021176,-0.164652,0.986124]] 2025-10-29T00:27:03.893Z,1761697623.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535040 2025-10-29T00:27:04.099Z,1761697624.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941405,-0.328545,-0.076253],[0.336529,0.930047,0.147516],[0.022453,-0.164534,0.986116]] 2025-10-29T00:27:04.145Z,1761697624.145 [DAT](INFO): DAT read: Rx Time:00:27:03.4156 2025-10-29T00:27:04.145Z,1761697624.145 [DAT](INFO): Rx dataTimestamp_ set to:1761697624.145183 2025-10-29T00:27:04.146Z,1761697624.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.788199 2025-10-29T00:27:04.397Z,1761697624.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.039099 2025-10-29T00:27:04.502Z,1761697624.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941449,-0.328207,-0.077164],[0.336331,0.930217,0.146893],[0.023568,-0.164245,0.986138]] 2025-10-29T00:27:04.660Z,1761697624.660 [DAT](INFO): DAT read: 00:27:03.4156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 489,-0.43,-1.658, 3.065,-1.631,-1.894, PHS= 0.337,-1.279, 0.219, RAW= 146.2, 9.3, CAL= 145.8, 10.1, ROT= 4.2, -10.1 2025-10-29T00:27:04.662Z,1761697624.662 [DAT](INFO): got valid direction response: 00:27:03.4156 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 489,-0.43,-1.658, 3.065,-1.631,-1.894, PHS= 0.337,-1.279, 0.219, RAW= 146.2, 9.3, CAL= 145.8, 10.1, ROT= 4.2, -10.1 2025-10-29T00:27:04.662Z,1761697624.662 [DAT](INFO): DAT read: Bearing 181.3, 3.7 (Local) 2025-10-29T00:27:04.663Z,1761697624.663 [DAT](INFO): Local bearing/azimuth received: Bearing 181.3, 3.7 (Local) 2025-10-29T00:27:04.664Z,1761697624.664 [DAT](INFO): DAT read: Range 11 to 50 : 699.3 m (Round-trip 932.5 ms) speed 0.4 m/s 2025-10-29T00:27:04.665Z,1761697624.665 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:27:04.666Z,1761697624.666 [DAT](INFO): direction in FSK: [0.981859,0.072103,0.175367] 2025-10-29T00:27:04.666Z,1761697624.666 [DAT](INFO): publishing direction and range info 2025-10-29T00:27:04.907Z,1761697624.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941442,-0.328042,-0.077946],[0.336280,0.930348,0.146179],[0.024564,-0.163830,0.986183]] 2025-10-29T00:27:05.310Z,1761697625.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941396,-0.327944,-0.078908],[0.336319,0.930464,0.145351],[0.025754,-0.163371,0.986229]] 2025-10-29T00:27:05.718Z,1761697625.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941323,-0.327944,-0.079773],[0.336438,0.930548,0.144531],[0.026835,-0.162889,0.986279]] 2025-10-29T00:27:06.124Z,1761697626.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941179,-0.328164,-0.080560],[0.336758,0.930580,0.143576],[0.027851,-0.162260,0.986355]] 2025-10-29T00:27:06.523Z,1761697626.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941057,-0.328238,-0.081674],[0.337012,0.930493,0.143547],[0.028879,-0.162611,0.986268]] 2025-10-29T00:27:06.927Z,1761697626.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941063,-0.328000,-0.082567],[0.336934,0.930458,0.143956],[0.029608,-0.163291,0.986134]] 2025-10-29T00:27:07.332Z,1761697627.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941145,-0.327539,-0.083445],[0.336627,0.930546,0.144104],[0.030450,-0.163713,0.986038]] 2025-10-29T00:27:07.745Z,1761697627.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941284,-0.327006,-0.083980],[0.336185,0.930720,0.144015],[0.031068,-0.163792,0.986005]] 2025-10-29T00:27:08.145Z,1761697628.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941641,-0.325618,-0.085357],[0.335061,0.931023,0.144671],[0.032362,-0.164828,0.985791]] 2025-10-29T00:27:08.548Z,1761697628.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941938,-0.324600,-0.085949],[0.334164,0.931294,0.145002],[0.032976,-0.165304,0.985691]] 2025-10-29T00:27:08.954Z,1761697628.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942229,-0.323591,-0.086563],[0.333292,0.931493,0.145729],[0.033476,-0.166160,0.985530]] 2025-10-29T00:27:09.355Z,1761697629.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942582,-0.322455,-0.086955],[0.332259,0.931749,0.146448],[0.033798,-0.166931,0.985389]] 2025-10-29T00:27:09.765Z,1761697629.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942865,-0.321679,-0.086765],[0.331447,0.932101,0.146051],[0.033892,-0.166465,0.985465]] 2025-10-29T00:27:10.161Z,1761697630.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943113,-0.320979,-0.086664],[0.330727,0.932405,0.145739],[0.034027,-0.166111,0.985520]] 2025-10-29T00:27:10.563Z,1761697630.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943346,-0.320183,-0.087073],[0.330017,0.932618,0.145987],[0.034464,-0.166452,0.985447]] 2025-10-29T00:27:10.967Z,1761697630.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943725,-0.319017,-0.087246],[0.328914,0.932913,0.146592],[0.034627,-0.167039,0.985342]] 2025-10-29T00:27:11.370Z,1761697631.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943966,-0.318256,-0.087418],[0.328204,0.933102,0.146976],[0.034794,-0.167432,0.985270]] 2025-10-29T00:27:11.785Z,1761697631.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944311,-0.317446,-0.086635],[0.327239,0.933589,0.146033],[0.034523,-0.166251,0.985479]] 2025-10-29T00:27:12.189Z,1761697632.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944413,-0.317067,-0.086908],[0.326896,0.933775,0.145615],[0.034983,-0.165931,0.985517]] 2025-10-29T00:27:12.582Z,1761697632.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944553,-0.316706,-0.086706],[0.326481,0.934022,0.144959],[0.035076,-0.165229,0.985631]] 2025-10-29T00:27:12.987Z,1761697632.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944668,-0.316428,-0.086464],[0.326146,0.934229,0.144379],[0.035091,-0.164590,0.985738]] 2025-10-29T00:27:13.391Z,1761697633.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944632,-0.316483,-0.086654],[0.326236,0.934177,0.144513],[0.035214,-0.164781,0.985701]] 2025-10-29T00:27:13.794Z,1761697633.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944817,-0.316074,-0.086124],[0.325703,0.934546,0.143325],[0.035185,-0.163467,0.985921]] 2025-10-29T00:27:14.204Z,1761697634.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944892,-0.315846,-0.086146],[0.325469,0.934676,0.143009],[0.035350,-0.163166,0.985965]] 2025-10-29T00:27:14.603Z,1761697634.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944873,-0.315946,-0.085987],[0.325517,0.934763,0.142328],[0.035410,-0.162472,0.986078]] 2025-10-29T00:27:15.008Z,1761697635.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944889,-0.315964,-0.085740],[0.325481,0.934837,0.141924],[0.035310,-0.162009,0.986157]] 2025-10-29T00:27:15.413Z,1761697635.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944921,-0.315798,-0.085993],[0.325370,0.934825,0.142252],[0.035466,-0.162397,0.986088]] 2025-10-29T00:27:15.524Z,1761697635.524 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:27:15.814Z,1761697635.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944955,-0.315648,-0.086182],[0.325232,0.934955,0.141712],[0.035846,-0.161941,0.986149]] 2025-10-29T00:27:16.220Z,1761697636.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944978,-0.315532,-0.086354],[0.325121,0.935094,0.141050],[0.036244,-0.161364,0.986229]] 2025-10-29T00:27:16.534Z,1761697636.534 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:27:16.623Z,1761697636.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945112,-0.315008,-0.086799],[0.324673,0.935256,0.141012],[0.036759,-0.161454,0.986195]] 2025-10-29T00:27:17.026Z,1761697637.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945314,-0.314310,-0.087127],[0.324047,0.935426,0.141320],[0.037082,-0.161825,0.986122]] 2025-10-29T00:27:17.430Z,1761697637.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945654,-0.313216,-0.087372],[0.323011,0.935760,0.141480],[0.037445,-0.162014,0.986078]] 2025-10-29T00:27:17.836Z,1761697637.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945816,-0.312648,-0.087661],[0.322481,0.936000,0.141103],[0.037935,-0.161726,0.986106]] 2025-10-29T00:27:18.239Z,1761697638.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945951,-0.312134,-0.088031],[0.322012,0.936239,0.140589],[0.038535,-0.161337,0.986147]] 2025-10-29T00:27:18.642Z,1761697638.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946194,-0.311063,-0.089201],[0.321174,0.936407,0.141380],[0.039551,-0.162422,0.985928]] 2025-10-29T00:27:19.047Z,1761697639.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946476,-0.310048,-0.089744],[0.320257,0.936728,0.141338],[0.040244,-0.162514,0.985885]] 2025-10-29T00:27:19.452Z,1761697639.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946828,-0.308820,-0.090260],[0.319152,0.937007,0.141986],[0.040726,-0.163244,0.985745]] 2025-10-29T00:27:19.854Z,1761697639.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947131,-0.307796,-0.090581],[0.318191,0.937335,0.141974],[0.041206,-0.163290,0.985717]] 2025-10-29T00:27:20.258Z,1761697640.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947583,-0.306121,-0.091521],[0.316746,0.937617,0.143344],[0.041932,-0.164819,0.985432]] 2025-10-29T00:27:20.667Z,1761697640.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947986,-0.304648,-0.092258],[0.315436,0.937966,0.143946],[0.042681,-0.165560,0.985276]] 2025-10-29T00:27:21.067Z,1761697641.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948151,-0.303976,-0.092784],[0.314842,0.938227,0.143546],[0.043418,-0.165315,0.985285]] 2025-10-29T00:27:21.470Z,1761697641.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948571,-0.302486,-0.093354],[0.313481,0.938616,0.143978],[0.044072,-0.165838,0.985168]] 2025-10-29T00:27:21.890Z,1761697641.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949026,-0.300857,-0.093994],[0.311990,0.939064,0.144294],[0.044854,-0.166264,0.985061]] 2025-10-29T00:27:22.279Z,1761697642.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949562,-0.299007,-0.094484],[0.310264,0.939561,0.144782],[0.045483,-0.166794,0.984942]] 2025-10-29T00:27:22.690Z,1761697642.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950000,-0.297437,-0.095033],[0.308804,0.940035,0.144823],[0.046259,-0.166929,0.984883]] 2025-10-29T00:27:23.087Z,1761697643.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950188,-0.296749,-0.095305],[0.308114,0.940439,0.143666],[0.046996,-0.165875,0.985026]] 2025-10-29T00:27:23.096Z,1761697643.096 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 276.12, 227.39, 242.80 2025-10-29T00:27:23.491Z,1761697643.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950418,-0.296202,-0.094714],[0.307352,0.941079,0.141084],[0.047344,-0.163199,0.985457]] 2025-10-29T00:27:23.908Z,1761697643.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950458,-0.296194,-0.094332],[0.307169,0.941485,0.138757],[0.047713,-0.160859,0.985823]] 2025-10-29T00:27:24.299Z,1761697644.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950541,-0.296007,-0.094083],[0.306825,0.941954,0.136315],[0.048272,-0.158440,0.986188]] 2025-10-29T00:27:24.703Z,1761697644.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950452,-0.296394,-0.093766],[0.307055,0.942183,0.134197],[0.048570,-0.156339,0.986509]] 2025-10-29T00:27:25.106Z,1761697645.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950455,-0.296602,-0.093077],[0.306991,0.942666,0.130907],[0.048913,-0.152995,0.987016]] 2025-10-29T00:27:25.513Z,1761697645.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950271,-0.297363,-0.092521],[0.307536,0.942835,0.128387],[0.049055,-0.150456,0.987399]] 2025-10-29T00:27:25.937Z,1761697645.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950131,-0.297819,-0.092493],[0.307901,0.942941,0.126724],[0.049475,-0.148884,0.987616]] 2025-10-29T00:27:26.318Z,1761697646.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950032,-0.298201,-0.092282],[0.308177,0.943044,0.125281],[0.049667,-0.147461,0.987820]] 2025-10-29T00:27:26.723Z,1761697646.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949842,-0.298953,-0.091801],[0.308691,0.943296,0.122077],[0.050100,-0.144293,0.988266]] 2025-10-29T00:27:27.530Z,1761697647.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950121,-0.298047,-0.091856],[0.307742,0.943750,0.120955],[0.050639,-0.143190,0.988399]] 2025-10-29T00:27:27.963Z,1761697647.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950365,-0.297179,-0.092145],[0.306942,0.943962,0.121341],[0.050921,-0.143601,0.988325]] 2025-10-29T00:27:28.338Z,1761697648.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950484,-0.296720,-0.092397],[0.306592,0.943900,0.122693],[0.050808,-0.144946,0.988134]] 2025-10-29T00:27:28.746Z,1761697648.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950689,-0.295920,-0.092852],[0.306041,0.943624,0.126147],[0.050288,-0.148343,0.987657]] 2025-10-29T00:27:29.169Z,1761697649.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951007,-0.294817,-0.093109],[0.305084,0.943673,0.128084],[0.050103,-0.150215,0.987383]] 2025-10-29T00:27:29.550Z,1761697649.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951143,-0.294394,-0.093054],[0.304728,0.943591,0.129524],[0.049674,-0.151552,0.987200]] 2025-10-29T00:27:29.994Z,1761697649.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951268,-0.294056,-0.092846],[0.304445,0.943450,0.131207],[0.049013,-0.153079,0.986998]] 2025-10-29T00:27:30.360Z,1761697650.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951583,-0.293189,-0.092355],[0.303577,0.943539,0.132570],[0.048273,-0.154189,0.986861]] 2025-10-29T00:27:30.767Z,1761697650.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951907,-0.292219,-0.092092],[0.302630,0.943683,0.133706],[0.047834,-0.155145,0.986733]] 2025-10-29T00:27:31.179Z,1761697651.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952075,-0.291962,-0.091168],[0.302254,0.943735,0.134188],[0.046861,-0.155313,0.986753]] 2025-10-29T00:27:31.571Z,1761697651.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952033,-0.292553,-0.089701],[0.302575,0.943745,0.133394],[0.045630,-0.154137,0.986995]] 2025-10-29T00:27:32.013Z,1761697652.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951792,-0.293715,-0.088453],[0.303520,0.943482,0.133103],[0.044359,-0.153533,0.987147]] 2025-10-29T00:27:32.379Z,1761697652.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951668,-0.294537,-0.087039],[0.304110,0.943315,0.132943],[0.042949,-0.152987,0.987294]] 2025-10-29T00:27:32.785Z,1761697652.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951501,-0.295488,-0.085631],[0.304778,0.943296,0.131540],[0.041907,-0.151259,0.987605]] 2025-10-29T00:27:33.191Z,1761697653.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951251,-0.296649,-0.084384],[0.305672,0.943234,0.129899],[0.041060,-0.149361,0.987930]] 2025-10-29T00:27:33.595Z,1761697653.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951075,-0.297538,-0.083227],[0.306356,0.943097,0.129286],[0.040023,-0.148458,0.988108]] 2025-10-29T00:27:34.039Z,1761697654.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950913,-0.298324,-0.082263],[0.306958,0.943014,0.128458],[0.039253,-0.147404,0.988297]] 2025-10-29T00:27:34.403Z,1761697654.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951035,-0.298058,-0.081819],[0.306623,0.943144,0.128303],[0.038925,-0.147108,0.988354]] 2025-10-29T00:27:34.806Z,1761697654.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951129,-0.297798,-0.081666],[0.306347,0.943220,0.128402],[0.038791,-0.147145,0.988354]] 2025-10-29T00:27:35.218Z,1761697655.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951138,-0.297915,-0.081136],[0.306343,0.943364,0.127351],[0.038601,-0.145984,0.988534]] 2025-10-29T00:27:35.615Z,1761697655.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951273,-0.297518,-0.081013],[0.305945,0.943445,0.127707],[0.038436,-0.146270,0.988498]] 2025-10-29T00:27:36.057Z,1761697656.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951439,-0.296948,-0.081157],[0.305408,0.943598,0.127862],[0.038611,-0.146439,0.988466]] 2025-10-29T00:27:36.422Z,1761697656.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951531,-0.296675,-0.081073],[0.305080,0.943857,0.126731],[0.038924,-0.145322,0.988618]] 2025-10-29T00:27:36.828Z,1761697656.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951572,-0.296570,-0.080971],[0.304939,0.943977,0.126175],[0.039015,-0.144756,0.988698]] 2025-10-29T00:27:37.230Z,1761697657.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951702,-0.296155,-0.080965],[0.304527,0.944109,0.126179],[0.039071,-0.144741,0.988698]] 2025-10-29T00:27:37.636Z,1761697657.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951665,-0.296370,-0.080608],[0.304637,0.944246,0.124884],[0.039102,-0.143404,0.988891]] 2025-10-29T00:27:38.047Z,1761697658.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951753,-0.296044,-0.080770],[0.304341,0.944331,0.124965],[0.039278,-0.143517,0.988868]] 2025-10-29T00:27:38.444Z,1761697658.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951962,-0.295440,-0.080525],[0.303718,0.944489,0.125284],[0.039041,-0.143722,0.988848]] 2025-10-29T00:27:38.846Z,1761697658.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951906,-0.295703,-0.080214],[0.303885,0.944602,0.124022],[0.039097,-0.142433,0.989032]] 2025-10-29T00:27:39.250Z,1761697659.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951995,-0.295414,-0.080228],[0.303592,0.944725,0.123802],[0.039221,-0.142216,0.989058]] 2025-10-29T00:27:39.663Z,1761697659.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952009,-0.295378,-0.080187],[0.303542,0.944765,0.123614],[0.039245,-0.142021,0.989085]] 2025-10-29T00:27:40.064Z,1761697660.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952141,-0.294903,-0.080370],[0.303097,0.944909,0.123608],[0.039490,-0.142052,0.989071]] 2025-10-29T00:27:40.463Z,1761697660.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952128,-0.294911,-0.080500],[0.303113,0.944939,0.123340],[0.039693,-0.141836,0.989094]] 2025-10-29T00:27:40.867Z,1761697660.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952249,-0.294412,-0.080892],[0.302702,0.944976,0.124065],[0.039914,-0.142626,0.988971]] 2025-10-29T00:27:41.271Z,1761697661.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952211,-0.294476,-0.081110],[0.302793,0.944961,0.123956],[0.040143,-0.142592,0.988967]] 2025-10-29T00:27:41.677Z,1761697661.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952080,-0.294808,-0.081441],[0.303136,0.944957,0.123146],[0.040653,-0.141933,0.989041]] 2025-10-29T00:27:42.078Z,1761697662.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951972,-0.294965,-0.082123],[0.303418,0.944778,0.123823],[0.041065,-0.142793,0.988900]] 2025-10-29T00:27:42.486Z,1761697662.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951778,-0.295440,-0.082671],[0.303981,0.944557,0.124130],[0.041415,-0.143274,0.988816]] 2025-10-29T00:27:42.887Z,1761697662.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951498,-0.296161,-0.083304],[0.304845,0.944097,0.125500],[0.041479,-0.144807,0.988590]] 2025-10-29T00:27:43.291Z,1761697663.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951419,-0.296393,-0.083390],[0.305083,0.944033,0.125401],[0.041555,-0.144749,0.988595]] 2025-10-29T00:27:43.694Z,1761697663.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950974,-0.297871,-0.083193],[0.306439,0.943850,0.123456],[0.041747,-0.142897,0.988857]] 2025-10-29T00:27:44.098Z,1761697664.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950443,-0.299647,-0.082890],[0.308063,0.943617,0.121174],[0.041907,-0.140704,0.989164]] 2025-10-29T00:27:44.507Z,1761697664.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949910,-0.301354,-0.082807],[0.309695,0.943237,0.119968],[0.041954,-0.139604,0.989318]] 2025-10-29T00:27:45.310Z,1761697665.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948899,-0.304845,-0.081606],[0.312847,0.942643,0.116412],[0.041438,-0.135993,0.989843]] 2025-10-29T00:27:45.715Z,1761697665.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948347,-0.306603,-0.081441],[0.314555,0.942117,0.116059],[0.041143,-0.135682,0.989898]] 2025-10-29T00:27:46.527Z,1761697666.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947439,-0.309715,-0.080224],[0.317527,0.940978,0.117208],[0.039188,-0.136520,0.989862]] 2025-10-29T00:27:46.660Z,1761697666.660 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:27:46.927Z,1761697666.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947064,-0.311096,-0.079301],[0.318808,0.940427,0.118145],[0.037822,-0.137173,0.989825]] 2025-10-29T00:27:47.332Z,1761697667.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946778,-0.312116,-0.078711],[0.319808,0.939857,0.119967],[0.036533,-0.138754,0.989653]] 2025-10-29T00:27:47.664Z,1761697667.664 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:27:47.734Z,1761697667.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946494,-0.313266,-0.077553],[0.320794,0.939500,0.120131],[0.035228,-0.138582,0.989724]] 2025-10-29T00:27:48.146Z,1761697668.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946254,-0.314216,-0.076623],[0.321641,0.939090,0.121069],[0.033914,-0.139207,0.989682]] 2025-10-29T00:27:48.547Z,1761697668.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946119,-0.314756,-0.076081],[0.322135,0.938788,0.122093],[0.032994,-0.140023,0.989598]] 2025-10-29T00:27:48.946Z,1761697668.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946034,-0.315265,-0.075018],[0.322511,0.938578,0.122713],[0.031723,-0.140285,0.989603]] 2025-10-29T00:27:49.351Z,1761697669.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945760,-0.316287,-0.074161],[0.323429,0.938161,0.123484],[0.030519,-0.140772,0.989572]] 2025-10-29T00:27:49.759Z,1761697669.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945500,-0.317230,-0.073455],[0.324307,0.937668,0.124916],[0.029250,-0.141930,0.989445]] 2025-10-29T00:27:50.163Z,1761697670.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945198,-0.318518,-0.071743],[0.325296,0.937539,0.123303],[0.027988,-0.139884,0.989772]] 2025-10-29T00:27:50.568Z,1761697670.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944991,-0.319477,-0.070184],[0.326004,0.937415,0.122372],[0.026696,-0.138521,0.990000]] 2025-10-29T00:27:50.966Z,1761697670.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944619,-0.320750,-0.069383],[0.327159,0.936995,0.122504],[0.025718,-0.138419,0.990040]] 2025-10-29T00:27:51.783Z,1761697671.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944081,-0.323135,-0.065530],[0.328906,0.936878,0.118660],[0.023051,-0.133578,0.990770]] 2025-10-29T00:27:52.179Z,1761697672.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943855,-0.324097,-0.064026],[0.329631,0.936788,0.117355],[0.021944,-0.131870,0.991024]] 2025-10-29T00:27:52.594Z,1761697672.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943729,-0.324765,-0.062481],[0.330152,0.936212,0.120446],[0.019379,-0.134296,0.990752]] 2025-10-29T00:27:52.992Z,1761697672.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943545,-0.325472,-0.061570],[0.330732,0.936009,0.120433],[0.018432,-0.133997,0.990810]] 2025-10-29T00:27:53.396Z,1761697673.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943415,-0.325998,-0.060767],[0.331148,0.935841,0.120594],[0.017555,-0.133894,0.990840]] 2025-10-29T00:27:53.799Z,1761697673.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943066,-0.327178,-0.059839],[0.332186,0.935538,0.120088],[0.016691,-0.133129,0.990958]] 2025-10-29T00:27:54.202Z,1761697674.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942699,-0.328382,-0.059020],[0.333262,0.935229,0.119512],[0.015951,-0.132333,0.991077]] 2025-10-29T00:27:54.608Z,1761697674.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942150,-0.330070,-0.058373],[0.334848,0.934688,0.119313],[0.015179,-0.131957,0.991139]] 2025-10-29T00:27:55.008Z,1761697675.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941750,-0.331337,-0.057635],[0.336013,0.934230,0.119623],[0.014209,-0.132022,0.991145]] 2025-10-29T00:27:55.410Z,1761697675.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941442,-0.332298,-0.057133],[0.336898,0.933927,0.119499],[0.013649,-0.131750,0.991189]] 2025-10-29T00:27:55.815Z,1761697675.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941033,-0.333487,-0.056951],[0.338064,0.933395,0.120358],[0.013020,-0.132514,0.991096]] 2025-10-29T00:27:56.241Z,1761697676.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940483,-0.335103,-0.056540],[0.339609,0.932879,0.120009],[0.012529,-0.132068,0.991161]] 2025-10-29T00:27:56.636Z,1761697676.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939954,-0.336670,-0.056035],[0.341098,0.932315,0.120171],[0.011785,-0.132069,0.991171]] 2025-10-29T00:27:57.027Z,1761697677.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939457,-0.338094,-0.055801],[0.342493,0.931637,0.121453],[0.010923,-0.133211,0.991027]] 2025-10-29T00:27:57.431Z,1761697677.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938822,-0.339811,-0.056053],[0.344259,0.930623,0.124203],[0.009959,-0.135901,0.990672]] 2025-10-29T00:27:57.834Z,1761697677.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938498,-0.340751,-0.055761],[0.345163,0.930120,0.125456],[0.009115,-0.136987,0.990531]] 2025-10-29T00:27:58.240Z,1761697678.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938214,-0.341679,-0.054858],[0.345964,0.929740,0.126062],[0.007931,-0.137252,0.990504]] 2025-10-29T00:27:58.661Z,1761697678.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937811,-0.342937,-0.053903],[0.347080,0.929306,0.126195],[0.006815,-0.137055,0.990540]] 2025-10-29T00:27:59.047Z,1761697679.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937385,-0.344239,-0.053003],[0.348252,0.928762,0.126969],[0.005520,-0.137477,0.990489]] 2025-10-29T00:27:59.453Z,1761697679.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937088,-0.345203,-0.051975],[0.349068,0.928388,0.127464],[0.004252,-0.137588,0.990480]] 2025-10-29T00:27:59.855Z,1761697679.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936642,-0.346604,-0.050679],[0.350278,0.927904,0.127666],[0.002775,-0.137329,0.990522]] 2025-10-29T00:28:00.258Z,1761697680.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936284,-0.347724,-0.049596],[0.351240,0.927543,0.127647],[0.001617,-0.136935,0.990579]] 2025-10-29T00:28:00.292Z,1761697680.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:28:00.407Z,1761697680.407 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:28:00.408Z,1761697680.408 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:28:00.657Z,1761697680.657 [DAT](INFO): DAT read: user:374> 2025-10-29T00:28:00.658Z,1761697680.658 [DAT](INFO): DAT read: Tx time:00:28:00.3789 2025-10-29T00:28:00.658Z,1761697680.658 [DAT](INFO): Ping request sent. 2025-10-29T00:28:00.658Z,1761697680.658 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:28:00.658Z,1761697680.658 [DAT](INFO): publishing transmit ping time 2025-10-29T00:28:00.659Z,1761697680.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:28:00.670Z,1761697680.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935982,-0.348694,-0.048482],[0.352048,0.927188,0.128005],[0.000318,-0.136879,0.990588]] 2025-10-29T00:28:00.909Z,1761697680.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250765 2025-10-29T00:28:01.070Z,1761697681.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935496,-0.350100,-0.047713],[0.353336,0.926700,0.127988],[-0.000593,-0.136591,0.990627]] 2025-10-29T00:28:01.161Z,1761697681.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502942 2025-10-29T00:28:01.415Z,1761697681.415 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756367 2025-10-29T00:28:01.482Z,1761697681.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935070,-0.351309,-0.047183],[0.354461,0.926221,0.128346],[-0.001387,-0.136737,0.990606]] 2025-10-29T00:28:01.665Z,1761697681.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006841 2025-10-29T00:28:01.878Z,1761697681.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934892,-0.351866,-0.046566],[0.354927,0.925964,0.128913],[-0.002241,-0.137047,0.990562]] 2025-10-29T00:28:01.917Z,1761697681.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983 2025-10-29T00:28:02.169Z,1761697682.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510816 2025-10-29T00:28:02.282Z,1761697682.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934533,-0.352862,-0.046225],[0.355867,0.925604,0.128900],[-0.002698,-0.136911,0.990580]] 2025-10-29T00:28:02.424Z,1761697682.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765248 2025-10-29T00:28:02.673Z,1761697682.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014782 2025-10-29T00:28:02.696Z,1761697682.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934183,-0.353809,-0.046055],[0.356781,0.925231,0.129055],[-0.003049,-0.136993,0.990567]] 2025-10-29T00:28:02.925Z,1761697682.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266800 2025-10-29T00:28:03.092Z,1761697683.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933845,-0.354722,-0.045879],[0.357661,0.924878,0.129145],[-0.003378,-0.137010,0.990564]] 2025-10-29T00:28:03.177Z,1761697683.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518910 2025-10-29T00:28:03.429Z,1761697683.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770875 2025-10-29T00:28:03.511Z,1761697683.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933664,-0.355187,-0.045981],[0.358133,0.924609,0.129765],[-0.003576,-0.137624,0.990478]] 2025-10-29T00:28:03.681Z,1761697683.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022767 2025-10-29T00:28:03.898Z,1761697683.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933377,-0.355833,-0.046795],[0.358883,0.924228,0.130410],[-0.003154,-0.138515,0.990355]] 2025-10-29T00:28:03.933Z,1761697683.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274846 2025-10-29T00:28:04.185Z,1761697684.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526837 2025-10-29T00:28:04.307Z,1761697684.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933158,-0.356442,-0.046539],[0.359454,0.924140,0.129455],[-0.003135,-0.137530,0.990493]] 2025-10-29T00:28:04.439Z,1761697684.439 [DAT](INFO): DAT read: Rx Time:00:28:03.6652 2025-10-29T00:28:04.441Z,1761697684.441 [DAT](INFO): Rx dataTimestamp_ set to:1761697684.440053 2025-10-29T00:28:04.442Z,1761697684.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784055 2025-10-29T00:28:04.689Z,1761697684.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030850 2025-10-29T00:28:04.706Z,1761697684.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932837,-0.357277,-0.046556],[0.360286,0.923912,0.128764],[-0.002991,-0.136890,0.990582]] 2025-10-29T00:28:04.946Z,1761697684.946 [DAT](INFO): DAT read: 00:28:03.6652 LVL= 32752, 32753, 32754, 3C= 72, IDX= 438,-0.02,-1.395,-3.056,-1.210,-1.476, PHS= 0.182,-1.535, 0.221, RAW= 151.1, 13.0, CAL= 151.2, 14.4, ROT= 358.8, -14.4 2025-10-29T00:28:04.947Z,1761697684.947 [DAT](INFO): unknown deviceResponse_: 00:28:03.6652 LVL= 32752, 32753, 32754, 3C= 72, IDX= 438,-0.02,-1.395,-3.056,-1.210,-1.476, PHS= 0.182,-1.535, 0.221, RAW= 151.1, 13.0, CAL= 151.2, 14.4, ROT= 358.8, -14.4 2025-10-29T00:28:04.948Z,1761697684.948 [DAT](INFO): DAT read: Bearing 186.2, -3.3 (Local) 2025-10-29T00:28:04.948Z,1761697684.948 [DAT](INFO): Local bearing/azimuth received: Bearing 186.2, -3.3 (Local) 2025-10-29T00:28:04.949Z,1761697684.949 [DAT](INFO): DAT read: Range 11 to 50 : 661.6 m (Round-trip 882.2 ms) speed 0.4 m/s 2025-10-29T00:28:04.950Z,1761697684.950 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:28:05.117Z,1761697685.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932558,-0.357992,-0.046664],[0.361008,0.923612,0.128894],[-0.003043,-0.137047,0.990560]] 2025-10-29T00:28:05.535Z,1761697685.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932157,-0.359045,-0.046596],[0.362043,0.923322,0.128064],[-0.002957,-0.136246,0.990671]] 2025-10-29T00:28:05.919Z,1761697685.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931666,-0.360336,-0.046441],[0.363304,0.922916,0.127420],[-0.003053,-0.135585,0.990761]] 2025-10-29T00:28:06.322Z,1761697686.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931161,-0.361688,-0.046048],[0.364592,0.922483,0.126879],[-0.003412,-0.134933,0.990849]] 2025-10-29T00:28:06.726Z,1761697686.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930776,-0.362734,-0.045604],[0.365570,0.922158,0.126423],[-0.003804,-0.134343,0.990928]] 2025-10-29T00:28:07.137Z,1761697687.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930230,-0.364194,-0.045113],[0.366951,0.921619,0.126356],[-0.004441,-0.134094,0.990959]] 2025-10-29T00:28:07.564Z,1761697687.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929951,-0.364944,-0.044804],[0.367651,0.921321,0.126493],[-0.004884,-0.134105,0.990955]] 2025-10-29T00:28:07.939Z,1761697687.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929378,-0.366482,-0.044126],[0.369087,0.920823,0.125932],[-0.005520,-0.133325,0.991057]] 2025-10-29T00:28:08.342Z,1761697688.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929044,-0.367399,-0.043542],[0.369918,0.920484,0.125975],[-0.006203,-0.133143,0.991077]] 2025-10-29T00:28:08.761Z,1761697688.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928467,-0.368926,-0.042927],[0.371351,0.919936,0.125760],[-0.006906,-0.132705,0.991131]] 2025-10-29T00:28:09.153Z,1761697689.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927974,-0.370233,-0.042333],[0.372568,0.919468,0.125585],[-0.007572,-0.132312,0.991179]] 2025-10-29T00:28:09.590Z,1761697689.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927497,-0.371499,-0.041695],[0.373741,0.919024,0.125354],[-0.008250,-0.131849,0.991235]] 2025-10-29T00:28:09.959Z,1761697689.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926779,-0.373365,-0.040978],[0.375501,0.918393,0.124716],[-0.008931,-0.130971,0.991346]] 2025-10-29T00:28:10.365Z,1761697690.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926329,-0.374570,-0.040157],[0.376588,0.917951,0.124689],[-0.009843,-0.130625,0.991383]] 2025-10-29T00:28:10.779Z,1761697690.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925793,-0.375954,-0.039574],[0.377885,0.917445,0.124489],[-0.010495,-0.130206,0.991431]] 2025-10-29T00:28:11.170Z,1761697691.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925284,-0.377192,-0.039701],[0.379121,0.916845,0.125151],[-0.010806,-0.130851,0.991343]] 2025-10-29T00:28:11.618Z,1761697691.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925015,-0.377868,-0.039547],[0.379766,0.916517,0.125592],[-0.011211,-0.131193,0.991293]] 2025-10-29T00:28:11.979Z,1761697691.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924639,-0.378786,-0.039542],[0.380673,0.916118,0.125762],[-0.011412,-0.131337,0.991272]] 2025-10-29T00:28:12.387Z,1761697692.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924355,-0.379479,-0.039541],[0.381355,0.915778,0.126174],[-0.011669,-0.131708,0.991220]] 2025-10-29T00:28:12.788Z,1761697692.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924184,-0.379861,-0.039875],[0.381766,0.915470,0.127159],[-0.011798,-0.132741,0.991080]] 2025-10-29T00:28:13.190Z,1761697693.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924076,-0.380095,-0.040143],[0.382017,0.915172,0.128541],[-0.012120,-0.134117,0.990891]] 2025-10-29T00:28:13.643Z,1761697693.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924103,-0.379902,-0.041323],[0.381946,0.914746,0.131745],[-0.012250,-0.137529,0.990422]] 2025-10-29T00:28:14.000Z,1761697694.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923943,-0.380265,-0.041575],[0.382327,0.914435,0.132797],[-0.012480,-0.138592,0.990271]] 2025-10-29T00:28:14.402Z,1761697694.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923699,-0.380869,-0.041456],[0.382905,0.914149,0.133102],[-0.012798,-0.138820,0.990235]] 2025-10-29T00:28:14.807Z,1761697694.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923656,-0.380995,-0.041258],[0.382997,0.914052,0.133502],[-0.013152,-0.139112,0.990189]] 2025-10-29T00:28:15.211Z,1761697695.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923322,-0.381836,-0.040956],[0.383788,0.913726,0.133460],[-0.013537,-0.138945,0.990208]] 2025-10-29T00:28:15.645Z,1761697695.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923118,-0.382304,-0.041207],[0.384279,0.913449,0.133942],[-0.013566,-0.139479,0.990132]] 2025-10-29T00:28:16.018Z,1761697696.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922659,-0.383470,-0.040644],[0.385356,0.913020,0.133771],[-0.014188,-0.139088,0.990178]] 2025-10-29T00:28:16.422Z,1761697696.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922385,-0.384176,-0.040177],[0.385988,0.912731,0.133926],[-0.014780,-0.139039,0.990177]] 2025-10-29T00:28:16.833Z,1761697696.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922138,-0.384817,-0.039722],[0.386560,0.912494,0.133889],[-0.015276,-0.138819,0.990200]] 2025-10-29T00:28:17.231Z,1761697697.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921839,-0.385565,-0.039397],[0.387252,0.912169,0.134101],[-0.015768,-0.138876,0.990184]] 2025-10-29T00:28:17.639Z,1761697697.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921385,-0.386721,-0.038674],[0.388309,0.911841,0.133273],[-0.016275,-0.137813,0.990324]] 2025-10-29T00:28:17.810Z,1761697697.810 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:28:18.039Z,1761697698.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920985,-0.387727,-0.038136],[0.389233,0.911466,0.133141],[-0.016863,-0.137465,0.990363]] 2025-10-29T00:28:18.445Z,1761697698.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920657,-0.388549,-0.037694],[0.389987,0.911158,0.133045],[-0.017350,-0.137188,0.990393]] 2025-10-29T00:28:18.812Z,1761697698.812 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:28:18.846Z,1761697698.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920485,-0.388979,-0.037463],[0.390376,0.910948,0.133340],[-0.017740,-0.137362,0.990362]] 2025-10-29T00:28:19.250Z,1761697699.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920373,-0.389249,-0.037415],[0.390625,0.910751,0.133957],[-0.018067,-0.137906,0.990281]] 2025-10-29T00:28:19.655Z,1761697699.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920518,-0.388856,-0.037910],[0.390258,0.910522,0.136564],[-0.018586,-0.140504,0.989906]] 2025-10-29T00:28:20.060Z,1761697700.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920811,-0.388142,-0.038128],[0.389542,0.910512,0.138652],[-0.019100,-0.142525,0.989607]] 2025-10-29T00:28:20.462Z,1761697700.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921006,-0.387702,-0.037894],[0.389046,0.910509,0.140058],[-0.019798,-0.143736,0.989418]] 2025-10-29T00:28:20.867Z,1761697700.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921192,-0.387292,-0.037552],[0.388575,0.910583,0.140886],[-0.020370,-0.144374,0.989313]] 2025-10-29T00:28:21.275Z,1761697701.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921475,-0.386658,-0.037148],[0.387867,0.910712,0.141997],[-0.021073,-0.145255,0.989170]] 2025-10-29T00:28:21.676Z,1761697701.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921689,-0.386189,-0.036702],[0.387320,0.910814,0.142830],[-0.021731,-0.145860,0.989066]] 2025-10-29T00:28:22.483Z,1761697702.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922354,-0.384667,-0.035977],[0.385660,0.911169,0.145043],[-0.023012,-0.147656,0.988771]] 2025-10-29T00:28:22.886Z,1761697702.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922710,-0.383834,-0.035751],[0.384769,0.911312,0.146506],[-0.023654,-0.148938,0.988563]] 2025-10-29T00:28:23.291Z,1761697703.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922807,-0.383626,-0.035475],[0.384513,0.911356,0.146902],[-0.024025,-0.149203,0.988515]] 2025-10-29T00:28:23.695Z,1761697703.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923031,-0.383083,-0.035503],[0.383953,0.911408,0.148035],[-0.024352,-0.150273,0.988345]] 2025-10-29T00:28:24.107Z,1761697704.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923231,-0.382608,-0.035435],[0.383459,0.911520,0.148629],[-0.024567,-0.150807,0.988258]] 2025-10-29T00:28:24.503Z,1761697704.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923280,-0.382432,-0.036051],[0.383359,0.911433,0.149415],[-0.024283,-0.151773,0.988117]] 2025-10-29T00:28:24.915Z,1761697704.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923242,-0.382471,-0.036618],[0.383469,0.911288,0.150019],[-0.024009,-0.152546,0.988005]] 2025-10-29T00:28:25.311Z,1761697705.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922991,-0.383040,-0.036978],[0.384089,0.911054,0.149855],[-0.023711,-0.152518,0.988016]] 2025-10-29T00:28:25.714Z,1761697705.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922528,-0.384119,-0.037345],[0.385222,0.910653,0.149383],[-0.023372,-0.152196,0.988074]] 2025-10-29T00:28:26.121Z,1761697706.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922497,-0.384160,-0.037682],[0.385306,0.910564,0.149710],[-0.023201,-0.152626,0.988012]] 2025-10-29T00:28:26.523Z,1761697706.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922313,-0.384558,-0.038138],[0.385765,0.910347,0.149847],[-0.022906,-0.152919,0.987973]] 2025-10-29T00:28:26.926Z,1761697706.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922065,-0.385131,-0.038342],[0.386366,0.910119,0.149682],[-0.022751,-0.152831,0.987990]] 2025-10-29T00:28:27.331Z,1761697707.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921928,-0.385429,-0.038644],[0.386704,0.909964,0.149750],[-0.022554,-0.153003,0.987968]] 2025-10-29T00:28:27.735Z,1761697707.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921812,-0.385686,-0.038855],[0.386990,0.909846,0.149727],[-0.022395,-0.153057,0.987964]] 2025-10-29T00:28:28.141Z,1761697708.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921589,-0.386234,-0.038696],[0.387515,0.909673,0.149422],[-0.022511,-0.152701,0.988016]] 2025-10-29T00:28:28.542Z,1761697708.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921250,-0.387146,-0.037641],[0.388300,0.909656,0.147478],[-0.022855,-0.150481,0.988349]] 2025-10-29T00:28:28.947Z,1761697708.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921149,-0.387444,-0.037024],[0.388522,0.909699,0.146622],[-0.023128,-0.149445,0.988499]] 2025-10-29T00:28:29.350Z,1761697709.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921006,-0.387823,-0.036620],[0.388863,0.909741,0.145457],[-0.023097,-0.148207,0.988687]] 2025-10-29T00:28:29.763Z,1761697709.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921167,-0.387471,-0.036294],[0.388481,0.910001,0.144846],[-0.023096,-0.147527,0.988788]] 2025-10-29T00:28:29.893Z,1761697709.893 [DAT](INFO): DAT read: user:375>Rx Time:00:28:29.1337 2025-10-29T00:28:29.894Z,1761697709.894 [DAT](INFO): Rx dataTimestamp_ set to:1761697709.893451 2025-10-29T00:28:30.410Z,1761697710.410 [DAT](INFO): DAT read: 00:28:29.1337 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 148, 0.26,-0.431,-1.993,-0.157,-0.421, PHS= 0.093,-1.526, 0.220, RAW= 153.8, 14.3, CAL= 154.1, 16.1, ROT= 355.9, -16.1 2025-10-29T00:28:30.411Z,1761697710.411 [DAT](INFO): got valid direction response: 00:28:29.1337 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 148, 0.26,-0.431,-1.993,-0.157,-0.421, PHS= 0.093,-1.526, 0.220, RAW= 153.8, 14.3, CAL= 154.1, 16.1, ROT= 355.9, -16.1 2025-10-29T00:28:30.412Z,1761697710.412 [DAT](INFO): DAT read: bearing request 2025-10-29T00:28:30.413Z,1761697710.413 [DAT](INFO): received a bearing request message 2025-10-29T00:28:30.413Z,1761697710.413 [DAT](INFO): DAT read: Tx time:00:28:30.7366 2025-10-29T00:28:30.414Z,1761697710.414 [DAT](INFO): Ping request sent. 2025-10-29T00:28:30.414Z,1761697710.414 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:28:30.414Z,1761697710.414 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-29T00:28:30.416Z,1761697710.416 [DAT](INFO): direction in FSK: [0.958320,-0.068694,0.277315] 2025-10-29T00:28:30.421Z,1761697710.421 [DAT](INFO): publishing transmit ping time 2025-10-29T00:28:30.421Z,1761697710.421 [DAT](INFO): publishing range request flag 2025-10-29T00:28:30.426Z,1761697710.426 [DAT](INFO): publishing transmit ping time 2025-10-29T00:28:30.426Z,1761697710.426 [DAT](INFO): publishing range request flag 2025-10-29T00:28:30.562Z,1761697710.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921768,-0.386009,-0.036608],[0.387054,0.910408,0.146107],[-0.023071,-0.148846,0.988591]] 2025-10-29T00:28:30.973Z,1761697710.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922480,-0.384260,-0.037090],[0.385372,0.910940,0.147230],[-0.022788,-0.150110,0.988407]] 2025-10-29T00:28:31.371Z,1761697711.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923119,-0.382678,-0.037531],[0.383853,0.911409,0.148293],[-0.022543,-0.151298,0.988231]] 2025-10-29T00:28:31.779Z,1761697711.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923697,-0.381160,-0.038734],[0.382498,0.911692,0.150041],[-0.021876,-0.153408,0.987921]] 2025-10-29T00:28:32.179Z,1761697712.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924490,-0.379099,-0.040041],[0.380610,0.912056,0.152609],[-0.021334,-0.156325,0.987475]] 2025-10-29T00:28:32.590Z,1761697712.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925011,-0.377774,-0.040527],[0.379356,0.912397,0.153690],[-0.021084,-0.157538,0.987288]] 2025-10-29T00:28:32.986Z,1761697712.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925562,-0.376325,-0.041420],[0.378040,0.912719,0.155012],[-0.020530,-0.159132,0.987044]] 2025-10-29T00:28:33.391Z,1761697713.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925972,-0.375252,-0.041984],[0.377050,0.912945,0.156094],[-0.020246,-0.160369,0.986849]] 2025-10-29T00:28:33.794Z,1761697713.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926289,-0.374387,-0.042699],[0.376295,0.913109,0.156951],[-0.019771,-0.161449,0.986683]] 2025-10-29T00:28:34.200Z,1761697714.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926347,-0.374215,-0.042949],[0.376187,0.913338,0.155876],[-0.019104,-0.160552,0.986842]] 2025-10-29T00:28:34.605Z,1761697714.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926200,-0.374594,-0.042813],[0.376559,0.913365,0.154815],[-0.018889,-0.159511,0.987015]] 2025-10-29T00:28:35.007Z,1761697715.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926118,-0.374747,-0.043258],[0.376772,0.913199,0.155274],[-0.018685,-0.160101,0.986924]] 2025-10-29T00:28:35.410Z,1761697715.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925956,-0.375114,-0.043536],[0.377184,0.913078,0.154990],[-0.018387,-0.159935,0.986956]] 2025-10-29T00:28:35.816Z,1761697715.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925614,-0.375947,-0.043620],[0.378030,0.912826,0.154408],[-0.018232,-0.159412,0.987044]] 2025-10-29T00:28:36.219Z,1761697716.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925348,-0.376586,-0.043743],[0.378686,0.912614,0.154056],[-0.018095,-0.159120,0.987093]] 2025-10-29T00:28:36.622Z,1761697716.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925031,-0.377349,-0.043883],[0.379469,0.912369,0.153577],[-0.017914,-0.158716,0.987162]] 2025-10-29T00:28:37.030Z,1761697717.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924851,-0.377764,-0.044099],[0.379918,0.912225,0.153322],[-0.017691,-0.158554,0.987192]] 2025-10-29T00:28:37.441Z,1761697717.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924402,-0.378876,-0.043978],[0.381007,0.911883,0.152655],[-0.017735,-0.157871,0.987300]] 2025-10-29T00:28:37.841Z,1761697717.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924220,-0.379307,-0.044078],[0.381453,0.911741,0.152387],[-0.017614,-0.157653,0.987338]] 2025-10-29T00:28:38.244Z,1761697718.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924156,-0.379450,-0.044193],[0.381614,0.911694,0.152264],[-0.017486,-0.157580,0.987351]] 2025-10-29T00:28:38.649Z,1761697718.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924060,-0.379704,-0.044029],[0.381842,0.911622,0.152128],[-0.017626,-0.157387,0.987380]] 2025-10-29T00:28:39.048Z,1761697719.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923950,-0.379986,-0.043899],[0.382104,0.911557,0.151855],[-0.017686,-0.157080,0.987428]] 2025-10-29T00:28:39.455Z,1761697719.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923996,-0.379898,-0.043695],[0.381988,0.911630,0.151709],[-0.017800,-0.156869,0.987459]] 2025-10-29T00:28:39.855Z,1761697719.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924341,-0.379079,-0.043503],[0.381140,0.911893,0.152262],[-0.018049,-0.157323,0.987382]] 2025-10-29T00:28:40.260Z,1761697720.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924643,-0.378402,-0.042976],[0.380380,0.912128,0.152754],[-0.018603,-0.157591,0.987329]] 2025-10-29T00:28:40.662Z,1761697720.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925006,-0.377537,-0.042781],[0.379486,0.912411,0.153285],[-0.018837,-0.158025,0.987255]] 2025-10-29T00:28:41.073Z,1761697721.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925389,-0.376700,-0.041859],[0.378525,0.912898,0.152762],[-0.019333,-0.157209,0.987376]] 2025-10-29T00:28:41.471Z,1761697721.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925682,-0.376088,-0.040878],[0.377792,0.913408,0.151523],[-0.019647,-0.155705,0.987608]] 2025-10-29T00:28:41.876Z,1761697721.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926015,-0.375351,-0.040093],[0.376949,0.913807,0.151215],[-0.020121,-0.155141,0.987687]] 2025-10-29T00:28:42.278Z,1761697722.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926559,-0.374062,-0.039571],[0.375597,0.914362,0.151225],[-0.020385,-0.154982,0.987707]] 2025-10-29T00:28:42.682Z,1761697722.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926952,-0.373257,-0.037936],[0.374588,0.915068,0.149447],[-0.021068,-0.152740,0.988042]] 2025-10-29T00:28:43.096Z,1761697723.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927482,-0.372042,-0.036901],[0.373243,0.915711,0.148872],[-0.021596,-0.151849,0.988168]] 2025-10-29T00:28:43.501Z,1761697723.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927993,-0.370861,-0.035934],[0.371933,0.916261,0.148767],[-0.022247,-0.151420,0.988219]] 2025-10-29T00:28:43.898Z,1761697723.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928439,-0.369831,-0.035005],[0.370793,0.916843,0.148029],[-0.022651,-0.150415,0.988363]] 2025-10-29T00:28:44.302Z,1761697724.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928929,-0.368634,-0.034637],[0.369553,0.917330,0.148107],[-0.022824,-0.150382,0.988365]] 2025-10-29T00:28:44.709Z,1761697724.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929568,-0.367042,-0.034386],[0.367914,0.917781,0.149390],[-0.023273,-0.151520,0.988180]] 2025-10-29T00:28:45.120Z,1761697725.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930216,-0.365421,-0.034136],[0.366255,0.918299,0.150281],[-0.023569,-0.152296,0.988054]] 2025-10-29T00:28:45.515Z,1761697725.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930638,-0.364333,-0.034278],[0.365175,0.918541,0.151427],[-0.023684,-0.153441,0.987874]] 2025-10-29T00:28:45.919Z,1761697725.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931180,-0.362948,-0.034241],[0.363781,0.918945,0.152327],[-0.023821,-0.154300,0.987737]] 2025-10-29T00:28:46.326Z,1761697726.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931495,-0.362143,-0.034189],[0.362967,0.919193,0.152771],[-0.023899,-0.154715,0.987670]] 2025-10-29T00:28:46.726Z,1761697726.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931474,-0.362199,-0.034178],[0.363034,0.919257,0.152225],[-0.023718,-0.154202,0.987755]] 2025-10-29T00:28:47.142Z,1761697727.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931655,-0.361705,-0.034463],[0.362585,0.919394,0.152470],[-0.023464,-0.154545,0.987707]] 2025-10-29T00:28:47.538Z,1761697727.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931627,-0.361767,-0.034592],[0.362655,0.919295,0.152896],[-0.023513,-0.154987,0.987637]] 2025-10-29T00:28:47.941Z,1761697727.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931522,-0.362030,-0.034651],[0.362916,0.919134,0.153245],[-0.023630,-0.155327,0.987580]] 2025-10-29T00:28:48.343Z,1761697728.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931542,-0.361909,-0.035377],[0.362887,0.918985,0.154204],[-0.023297,-0.156485,0.987405]] 2025-10-29T00:28:48.750Z,1761697728.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931220,-0.362685,-0.035899],[0.363734,0.918651,0.154203],[-0.022948,-0.156654,0.987387]] 2025-10-29T00:28:48.932Z,1761697728.932 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:28:49.171Z,1761697729.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930976,-0.363193,-0.037075],[0.364373,0.918049,0.156264],[-0.022717,-0.158987,0.987019]] 2025-10-29T00:28:49.563Z,1761697729.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930705,-0.363842,-0.037522],[0.365091,0.917815,0.155966],[-0.022309,-0.158857,0.987050]] 2025-10-29T00:28:49.936Z,1761697729.936 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:28:49.958Z,1761697729.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930274,-0.364826,-0.038637],[0.366222,0.917237,0.156708],[-0.021732,-0.159931,0.986889]] 2025-10-29T00:28:50.362Z,1761697730.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930014,-0.365398,-0.039474],[0.366919,0.916951,0.156749],[-0.021080,-0.160263,0.986849]] 2025-10-29T00:28:50.771Z,1761697730.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929953,-0.365441,-0.040507],[0.367107,0.916713,0.157702],[-0.020497,-0.161526,0.986656]] 2025-10-29T00:28:51.201Z,1761697731.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929925,-0.365444,-0.041107],[0.367199,0.916609,0.158094],[-0.020095,-0.162110,0.986568]] 2025-10-29T00:28:51.579Z,1761697731.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930045,-0.365102,-0.041448],[0.366913,0.916685,0.158318],[-0.019807,-0.162451,0.986518]] 2025-10-29T00:28:51.978Z,1761697731.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930071,-0.364992,-0.041821],[0.366860,0.916663,0.158563],[-0.019538,-0.162818,0.986463]] 2025-10-29T00:28:52.382Z,1761697732.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930317,-0.364322,-0.042181],[0.366253,0.916854,0.158865],[-0.019204,-0.163244,0.986399]] 2025-10-29T00:28:52.789Z,1761697732.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930550,-0.363771,-0.041797],[0.365651,0.917135,0.158628],[-0.019371,-0.162894,0.986453]] 2025-10-29T00:28:53.221Z,1761697733.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930835,-0.363151,-0.040840],[0.364913,0.917664,0.157261],[-0.019632,-0.161287,0.986712]] 2025-10-29T00:28:53.594Z,1761697733.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931358,-0.361791,-0.040985],[0.363583,0.918089,0.157863],[-0.019486,-0.161928,0.986610]] 2025-10-29T00:28:53.999Z,1761697733.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931774,-0.360830,-0.039982],[0.362498,0.918722,0.156672],[-0.019799,-0.160477,0.986841]] 2025-10-29T00:28:54.403Z,1761697734.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.932379,-0.359306,-0.039610],[0.360930,0.919289,0.156964],[-0.019985,-0.160646,0.986810]] 2025-10-29T00:28:54.806Z,1761697734.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933090,-0.357536,-0.038873],[0.359065,0.920007,0.157034],[-0.020382,-0.160485,0.986828]] 2025-10-29T00:28:55.249Z,1761697735.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933603,-0.356306,-0.037830],[0.357724,0.920839,0.155206],[-0.020466,-0.158434,0.987157]] 2025-10-29T00:28:55.614Z,1761697735.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934112,-0.355051,-0.037059],[0.356382,0.921503,0.154351],[-0.020653,-0.157388,0.987321]] 2025-10-29T00:28:56.020Z,1761697736.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934804,-0.353223,-0.037074],[0.354556,0.922006,0.155547],[-0.020761,-0.158551,0.987133]] 2025-10-29T00:28:56.422Z,1761697736.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935380,-0.351737,-0.036682],[0.353025,0.922566,0.155713],[-0.020929,-0.158600,0.987121]] 2025-10-29T00:28:56.826Z,1761697736.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935605,-0.351172,-0.036344],[0.352436,0.922972,0.154633],[-0.020758,-0.157485,0.987303]] 2025-10-29T00:28:57.280Z,1761697737.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936017,-0.350073,-0.036343],[0.351339,0.923279,0.155294],[-0.020810,-0.158127,0.987200]] 2025-10-29T00:28:57.638Z,1761697737.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936152,-0.349719,-0.036265],[0.350975,0.923401,0.155394],[-0.020857,-0.158201,0.987187]] 2025-10-29T00:28:58.042Z,1761697738.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936222,-0.349555,-0.036050],[0.350779,0.923479,0.155372],[-0.021020,-0.158108,0.987198]] 2025-10-29T00:28:58.442Z,1761697738.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936421,-0.349012,-0.036131],[0.350255,0.923657,0.155495],[-0.020898,-0.158264,0.987176]] 2025-10-29T00:28:58.846Z,1761697738.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936445,-0.348950,-0.036122],[0.350186,0.923642,0.155740],[-0.020982,-0.158491,0.987137]] 2025-10-29T00:28:59.281Z,1761697739.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936526,-0.348707,-0.036378],[0.349967,0.923569,0.156663],[-0.021032,-0.159450,0.986982]] 2025-10-29T00:28:59.655Z,1761697739.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936380,-0.349110,-0.036265],[0.350349,0.923438,0.156580],[-0.021175,-0.159323,0.986999]] 2025-10-29T00:29:00.065Z,1761697740.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936105,-0.349839,-0.036327],[0.351092,0.923265,0.155935],[-0.021013,-0.158725,0.987099]] 2025-10-29T00:29:00.463Z,1761697740.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936027,-0.350043,-0.036370],[0.351307,0.923240,0.155596],[-0.020888,-0.158419,0.987151]] 2025-10-29T00:29:00.510Z,1761697740.510 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:00.657Z,1761697740.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:00.657Z,1761697740.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:00.867Z,1761697740.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935835,-0.350499,-0.036908],[0.351854,0.923130,0.155014],[-0.020261,-0.158054,0.987222]] 2025-10-29T00:29:00.909Z,1761697740.909 [DAT](INFO): DAT read: 2025-10-29T00:29:00.910Z,1761697740.910 [DAT](INFO): DAT read: Tx time:00:29:00.6773 2025-10-29T00:29:00.910Z,1761697740.910 [DAT](INFO): Ping request sent. 2025-10-29T00:29:00.910Z,1761697740.910 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:00.910Z,1761697740.910 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:00.911Z,1761697740.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-29T00:29:01.161Z,1761697741.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251079 2025-10-29T00:29:01.343Z,1761697741.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935601,-0.351063,-0.037494],[0.352512,0.922960,0.154532],[-0.019645,-0.157797,0.987276]] 2025-10-29T00:29:01.414Z,1761697741.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504059 2025-10-29T00:29:01.665Z,1761697741.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755048 2025-10-29T00:29:01.676Z,1761697741.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935523,-0.351191,-0.038222],[0.352758,0.922904,0.154305],[-0.018915,-0.157839,0.987284]] 2025-10-29T00:29:01.917Z,1761697741.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006942 2025-10-29T00:29:02.080Z,1761697742.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935352,-0.351554,-0.039066],[0.353264,0.922848,0.153480],[-0.017904,-0.157358,0.987379]] 2025-10-29T00:29:02.169Z,1761697742.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259471 2025-10-29T00:29:02.421Z,1761697742.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510947 2025-10-29T00:29:02.483Z,1761697742.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935293,-0.351587,-0.040165],[0.353482,0.922880,0.152788],[-0.016651,-0.157099,0.987442]] 2025-10-29T00:29:02.673Z,1761697742.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762879 2025-10-29T00:29:02.886Z,1761697742.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935371,-0.351219,-0.041545],[0.353339,0.922969,0.152578],[-0.015243,-0.157397,0.987418]] 2025-10-29T00:29:02.925Z,1761697742.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015045 2025-10-29T00:29:03.177Z,1761697743.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266966 2025-10-29T00:29:03.295Z,1761697743.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935593,-0.350445,-0.043060],[0.352810,0.923119,0.152895],[-0.013832,-0.158239,0.987304]] 2025-10-29T00:29:03.430Z,1761697743.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519659 2025-10-29T00:29:03.681Z,1761697743.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770884 2025-10-29T00:29:03.702Z,1761697743.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935929,-0.349340,-0.044705],[0.351978,0.923418,0.153008],[-0.012170,-0.158940,0.987213]] 2025-10-29T00:29:03.933Z,1761697743.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022948 2025-10-29T00:29:04.100Z,1761697744.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936426,-0.347795,-0.046314],[0.350700,0.923757,0.153889],[-0.010739,-0.160348,0.987002]] 2025-10-29T00:29:04.185Z,1761697744.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274878 2025-10-29T00:29:04.437Z,1761697744.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527163 2025-10-29T00:29:04.506Z,1761697744.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.936887,-0.346441,-0.047126],[0.349497,0.924231,0.153779],[-0.009720,-0.160544,0.986981]] 2025-10-29T00:29:04.689Z,1761697744.689 [DAT](INFO): DAT read: Rx Time:00:29:03.9183 2025-10-29T00:29:04.689Z,1761697744.689 [DAT](INFO): Rx dataTimestamp_ set to:1761697744.689155 2025-10-29T00:29:04.690Z,1761697744.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780022 2025-10-29T00:29:04.906Z,1761697744.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937358,-0.345010,-0.048257],[0.348266,0.924686,0.153840],[-0.008454,-0.161009,0.986917]] 2025-10-29T00:29:04.949Z,1761697744.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.038974 2025-10-29T00:29:05.206Z,1761697745.206 [DAT](INFO): DAT read: 00:29:03.9183 LVL= 29792, 32753, 29682, 32755, AGC= 72, IDX= 6,-0.28, 1.949, 0.340, 2.016, 1.698, PHS= 0.353,-1.313, 0.274, RAW= 147.6, 8.5, CAL= 147.1, 9.2, ROT= 2.9, -9.2 2025-10-29T00:29:05.207Z,1761697745.207 [DAT](INFO): got valid direction response: 00:29:03.9183 LVL= 29792, 32753, 29682, 32755, AGC= 72, IDX= 6,-0.28, 1.949, 0.340, 2.016, 1.698, PHS= 0.353,-1.313, 0.274, RAW= 147.6, 8.5, CAL= 147.1, 9.2, ROT= 2.9, -9.2 2025-10-29T00:29:05.208Z,1761697745.208 [DAT](INFO): DAT read: Bearing 180.0, 1.1 (Local) 2025-10-29T00:29:05.209Z,1761697745.209 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, 1.1 (Local) 2025-10-29T00:29:05.210Z,1761697745.210 [DAT](INFO): DAT read: Range 11 to 50 : 627.6 m (Round-trip 836.9 ms) speed 0.4 m/s 2025-10-29T00:29:05.210Z,1761697745.210 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:05.211Z,1761697745.211 [DAT](INFO): direction in FSK: [0.985872,0.049942,0.159881] 2025-10-29T00:29:05.212Z,1761697745.212 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:05.311Z,1761697745.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937748,-0.343812,-0.049220],[0.347240,0.925082,0.153775],[-0.007337,-0.161294,0.986879]] 2025-10-29T00:29:05.716Z,1761697745.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938317,-0.342108,-0.050229],[0.345718,0.925554,0.154366],[-0.006320,-0.162209,0.986736]] 2025-10-29T00:29:05.787Z,1761697745.787 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-29T00:29:05.787Z,1761697745.787 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:29:05.787Z,1761697745.787 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-29T00:29:05.793Z,1761697745.793 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 627.599976 m (mode 0.000000 count ). 2025-10-29T00:29:05.793Z,1761697745.793 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-29T00:29:05.793Z,1761697745.793 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-29T00:29:05.795Z,1761697745.795 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-29T00:29:05.796Z,1761697745.796 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T00:29:05.800Z,1761697745.800 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-29T00:29:05.801Z,1761697745.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 627.599976 m 2025-10-29T00:29:05.801Z,1761697745.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-29T00:29:05.801Z,1761697745.801 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-29T00:29:06.119Z,1761697746.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938851,-0.340547,-0.050855],[0.344285,0.926228,0.153524],[-0.005179,-0.161645,0.986835]] 2025-10-29T00:29:06.135Z,1761697746.135 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-29T00:29:06.135Z,1761697746.135 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-29T00:29:06.136Z,1761697746.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:06.139Z,1761697746.139 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-29T00:29:06.139Z,1761697746.139 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T00:29:06.139Z,1761697746.139 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-29T00:29:06.139Z,1761697746.139 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T00:29:06.209Z,1761697746.209 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:06.209Z,1761697746.209 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:06.209Z,1761697746.209 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:06.461Z,1761697746.461 [DAT](INFO): DAT read: user:376> 2025-10-29T00:29:06.462Z,1761697746.462 [DAT](INFO): DAT read: Tx time:00:29:06.2273 2025-10-29T00:29:06.462Z,1761697746.462 [DAT](INFO): Ping request sent. 2025-10-29T00:29:06.462Z,1761697746.462 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:06.462Z,1761697746.462 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:06.463Z,1761697746.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T00:29:06.526Z,1761697746.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939287,-0.339250,-0.051466],[0.343104,0.926701,0.153309],[-0.004316,-0.161659,0.986837]] 2025-10-29T00:29:06.599Z,1761697746.599 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-29T00:29:06.599Z,1761697746.599 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-29T00:29:06.599Z,1761697746.599 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-29T00:29:06.600Z,1761697746.600 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-29T00:29:06.600Z,1761697746.600 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-29T00:29:06.605Z,1761697746.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-29T00:29:06.606Z,1761697746.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-29T00:29:06.607Z,1761697746.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-29T00:29:06.612Z,1761697746.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-29T00:29:06.612Z,1761697746.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-29T00:29:06.612Z,1761697746.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T00:29:06.612Z,1761697746.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-29T00:29:06.613Z,1761697746.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-29T00:29:06.613Z,1761697746.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-29T00:29:06.614Z,1761697746.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-29T00:29:06.615Z,1761697746.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-29T00:29:06.616Z,1761697746.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-29T00:29:06.620Z,1761697746.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-29T00:29:06.620Z,1761697746.620 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-29T00:29:06.621Z,1761697746.621 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-29T00:29:06.713Z,1761697746.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250972 2025-10-29T00:29:06.926Z,1761697746.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939740,-0.337951,-0.051747],[0.341869,0.927207,0.153012],[-0.003731,-0.161483,0.986869]] 2025-10-29T00:29:06.959Z,1761697746.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-29T00:29:06.959Z,1761697746.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:29:06.959Z,1761697746.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-29T00:29:06.959Z,1761697746.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:29:06.963Z,1761697746.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 627.599976 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-29T00:29:06.965Z,1761697746.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503119 2025-10-29T00:29:06.968Z,1761697746.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 625.022095 m, bearing: 24.669262 deg, lat: 36.779147 deg, lon: -121.859122 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-29T00:29:06.969Z,1761697746.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:06.972Z,1761697746.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.771301 m, bearing: 24.680295 deg, approach rate: nan m/s, LOS rate: nan deg/s, cmd heading: 20.066317 deg, new cmd heading: 24.680295 deg. 2025-10-29T00:29:06.973Z,1761697746.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430752 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:06.986Z,1761697746.986 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-29T00:29:06.987Z,1761697746.987 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-29T00:29:07.217Z,1761697747.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867 2025-10-29T00:29:07.333Z,1761697747.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940146,-0.336700,-0.052521],[0.340760,0.927600,0.153102],[-0.002831,-0.161835,0.986814]] 2025-10-29T00:29:07.355Z,1761697747.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:07.358Z,1761697747.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.560547 m, bearing: 24.683505 deg, approach rate: -0.536089 m/s, LOS rate: nan deg/s, cmd heading: 24.680294 deg, new cmd heading: 24.683505 deg. 2025-10-29T00:29:07.359Z,1761697747.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430808 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:07.469Z,1761697747.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006953 2025-10-29T00:29:07.721Z,1761697747.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258928 2025-10-29T00:29:07.737Z,1761697747.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940457,-0.335830,-0.052526],[0.339912,0.928826,0.147453],[-0.000732,-0.156527,0.987673]] 2025-10-29T00:29:07.817Z,1761697747.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:07.820Z,1761697747.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.307251 m, bearing: 24.687371 deg, approach rate: -0.548197 m/s, LOS rate: nan deg/s, cmd heading: 24.683506 deg, new cmd heading: 24.687371 deg. 2025-10-29T00:29:07.821Z,1761697747.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430876 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:07.973Z,1761697747.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511329 2025-10-29T00:29:07.981Z,1761697747.981 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-29T00:29:08.097Z,1761697748.097 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-29T00:29:08.225Z,1761697748.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763461 2025-10-29T00:29:08.253Z,1761697748.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940455,-0.336053,-0.051115],[0.339917,0.930239,0.138244],[0.001092,-0.147387,0.989078]] 2025-10-29T00:29:08.298Z,1761697748.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:08.304Z,1761697748.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:08.307Z,1761697748.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 617.049377 m, bearing: 24.691321 deg, approach rate: -0.534254 m/s, LOS rate: nan deg/s, cmd heading: 24.687372 deg, new cmd heading: 24.691321 deg. 2025-10-29T00:29:08.307Z,1761697748.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430945 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:08.477Z,1761697748.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978 2025-10-29T00:29:08.654Z,1761697748.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.940296,-0.336635,-0.050202],[0.340349,0.931020,0.131774],[0.002379,-0.140992,0.990008]] 2025-10-29T00:29:08.710Z,1761697748.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:08.712Z,1761697748.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.830627 m, bearing: 24.693907 deg, approach rate: -0.533876 m/s, LOS rate: nan deg/s, cmd heading: 24.691322 deg, new cmd heading: 24.693907 deg. 2025-10-29T00:29:08.713Z,1761697748.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430990 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:08.729Z,1761697748.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267094 2025-10-29T00:29:08.981Z,1761697748.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518855 2025-10-29T00:29:09.069Z,1761697749.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939677,-0.338913,-0.046317],[0.342048,0.932258,0.117891],[0.003225,-0.126623,0.991946]] 2025-10-29T00:29:09.087Z,1761697749.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:09.090Z,1761697749.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.633301 m, bearing: 24.696226 deg, approach rate: -0.522435 m/s, LOS rate: nan deg/s, cmd heading: 24.693907 deg, new cmd heading: 24.696226 deg. 2025-10-29T00:29:09.091Z,1761697749.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431030 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:09.234Z,1761697749.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771705 2025-10-29T00:29:09.474Z,1761697749.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939077,-0.340956,-0.043387],[0.343692,0.932666,0.109595],[0.003099,-0.117830,0.993029]] 2025-10-29T00:29:09.485Z,1761697749.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022992 2025-10-29T00:29:09.521Z,1761697749.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:09.526Z,1761697749.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.416077 m, bearing: 24.698035 deg, approach rate: -0.502395 m/s, LOS rate: nan deg/s, cmd heading: 24.696226 deg, new cmd heading: 24.698035 deg. 2025-10-29T00:29:09.552Z,1761697749.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431062 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:09.737Z,1761697749.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275103 2025-10-29T00:29:09.871Z,1761697749.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937675,-0.345324,-0.038950],[0.347502,0.932647,0.097016],[0.002824,-0.104504,0.994520]] 2025-10-29T00:29:09.906Z,1761697749.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:09.915Z,1761697749.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.229492 m, bearing: 24.699533 deg, approach rate: -0.483567 m/s, LOS rate: nan deg/s, cmd heading: 24.698036 deg, new cmd heading: 24.699533 deg. 2025-10-29T00:29:09.917Z,1761697749.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431088 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:09.989Z,1761697749.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526904 2025-10-29T00:29:10.241Z,1761697750.241 [DAT](INFO): DAT read: Rx Time:00:29:09.4644 2025-10-29T00:29:10.241Z,1761697750.241 [DAT](INFO): Rx dataTimestamp_ set to:1761697750.241111 2025-10-29T00:29:10.242Z,1761697750.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779972 2025-10-29T00:29:10.286Z,1761697750.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935698,-0.351145,-0.034160],[0.352795,0.931924,0.083984],[0.002344,-0.090635,0.995881]] 2025-10-29T00:29:10.318Z,1761697750.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:10.325Z,1761697750.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:10.327Z,1761697750.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 616.016907 m, bearing: 24.701145 deg, approach rate: -0.507303 m/s, LOS rate: nan deg/s, cmd heading: 24.699533 deg, new cmd heading: 24.701145 deg. 2025-10-29T00:29:10.333Z,1761697750.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431116 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:10.493Z,1761697750.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031226 2025-10-29T00:29:10.679Z,1761697750.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933502,-0.357309,-0.030084],[0.358569,0.930605,0.073509],[0.001731,-0.079408,0.996841]] 2025-10-29T00:29:10.724Z,1761697750.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 625.02 m. 2025-10-29T00:29:10.726Z,1761697750.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 625.022095 m, nav range: 615.820251 m, bearing: 24.701741 deg, approach rate: -0.492973 m/s, LOS rate: nan deg/s, cmd heading: 24.701145 deg, new cmd heading: 24.701741 deg. 2025-10-29T00:29:10.727Z,1761697750.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431127 target range: 625.022095 and range: 627.60 m. 2025-10-29T00:29:10.765Z,1761697750.765 [DAT](INFO): DAT read: 00:29:09.4644 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 398, 0.06, 1.556, 0.010, 1.654, 1.278, PHS= 0.380,-1.223, 0.332, RAW= 148.5, 6.5, CAL= 147.9, 7.0, ROT= 2.1, -7.0 2025-10-29T00:29:10.767Z,1761697750.767 [DAT](INFO): got valid direction response: 00:29:09.4644 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 398, 0.06, 1.556, 0.010, 1.654, 1.278, PHS= 0.380,-1.223, 0.332, RAW= 148.5, 6.5, CAL= 147.9, 7.0, ROT= 2.1, -7.0 2025-10-29T00:29:10.768Z,1761697750.768 [DAT](INFO): DAT read: Bearing 178.6, 1.5 (Local) 2025-10-29T00:29:10.768Z,1761697750.768 [DAT](INFO): Local bearing/azimuth received: Bearing 178.6, 1.5 (Local) 2025-10-29T00:29:10.770Z,1761697750.770 [DAT](INFO): DAT read: Range 11 to 50 : 624.7 m (Round-trip 833.0 ms) speed 0.2 m/s 2025-10-29T00:29:10.771Z,1761697750.771 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:10.781Z,1761697750.781 [DAT](INFO): direction in FSK: [0.991880,0.036371,0.121869] 2025-10-29T00:29:10.781Z,1761697750.781 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:10.788Z,1761697750.788 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:10.791Z,1761697750.791 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:10.796Z,1761697750.796 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:11.009Z,1761697751.009 [DAT](INFO): DAT read: user:377> 2025-10-29T00:29:11.010Z,1761697751.010 [DAT](INFO): DAT read: Tx time:00:29:10.7773 2025-10-29T00:29:11.010Z,1761697751.010 [DAT](INFO): Ping request sent. 2025-10-29T00:29:11.010Z,1761697751.010 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:11.010Z,1761697751.010 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:11.011Z,1761697751.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T00:29:11.081Z,1761697751.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931038,-0.363908,-0.027211],[0.364921,0.928685,0.066155],[0.001196,-0.071522,0.997438]] 2025-10-29T00:29:11.145Z,1761697751.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 624.700012 m, deltaT: 5.556603 s, deltaX: -2.899963 m, approachRate: -0.521895 m/s, rangeRepo size: 2 2025-10-29T00:29:11.147Z,1761697751.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 622.105713 m, bearing: 24.000421 deg, lat: 36.779169 deg, lon: -121.859156 deg, deltaT: 5.556603 s, deltaX: -2.916382 m, approachRate: -0.524850 m/s, posRepo size: 2 2025-10-29T00:29:11.153Z,1761697751.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:11.154Z,1761697751.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): ProNav REINIT: LOS rate is nan deg/s. Setting heading cmd to target acoustic bearing of 24.000421 deg. 2025-10-29T00:29:11.155Z,1761697751.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418886 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:11.261Z,1761697751.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250917 2025-10-29T00:29:11.498Z,1761697751.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928434,-0.370665,-0.024851],[0.371497,0.926433,0.060925],[0.000440,-0.065797,0.997833]] 2025-10-29T00:29:11.513Z,1761697751.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503067 2025-10-29T00:29:11.574Z,1761697751.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:11.585Z,1761697751.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 616.401184 m, bearing: 24.349887 deg, approach rate: -0.465412 m/s, LOS rate: -0.000210 deg/s, cmd heading: 24.000421 deg, new cmd heading: 24.000240 deg. 2025-10-29T00:29:11.586Z,1761697751.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418883 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:11.625Z,1761697751.625 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T00:29:11.766Z,1761697751.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755524 2025-10-29T00:29:11.886Z,1761697751.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925938,-0.376933,-0.023673],[0.377676,0.924020,0.059573],[-0.000581,-0.064101,0.997943]] 2025-10-29T00:29:11.932Z,1761697751.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:11.999Z,1761697751.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 616.244324 m, bearing: 24.349719 deg, approach rate: -0.442849 m/s, LOS rate: -0.000474 deg/s, cmd heading: 24.000240 deg, new cmd heading: 23.999904 deg. 2025-10-29T00:29:12.000Z,1761697752.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418877 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:12.019Z,1761697752.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008661 2025-10-29T00:29:12.269Z,1761697752.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259271 2025-10-29T00:29:12.339Z,1761697752.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923342,-0.383269,-0.023323],[0.383975,0.921369,0.060354],[-0.001643,-0.064683,0.997904]] 2025-10-29T00:29:12.356Z,1761697752.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:12.358Z,1761697752.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:12.361Z,1761697752.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 616.037598 m, bearing: 24.349367 deg, approach rate: -0.479978 m/s, LOS rate: -0.000818 deg/s, cmd heading: 23.999903 deg, new cmd heading: 23.999198 deg. 2025-10-29T00:29:12.362Z,1761697752.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418865 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:12.523Z,1761697752.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512178 2025-10-29T00:29:12.731Z,1761697752.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921052,-0.388715,-0.023751],[0.389431,0.918910,0.062837],[-0.002601,-0.067126,0.997741]] 2025-10-29T00:29:12.773Z,1761697752.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763145 2025-10-29T00:29:12.810Z,1761697752.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:12.816Z,1761697752.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 615.846130 m, bearing: 24.348372 deg, approach rate: -0.424496 m/s, LOS rate: -0.002206 deg/s, cmd heading: 23.999198 deg, new cmd heading: 23.997208 deg. 2025-10-29T00:29:12.817Z,1761697752.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418830 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:13.026Z,1761697753.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015452 2025-10-29T00:29:13.135Z,1761697753.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918781,-0.394049,-0.023786],[0.394749,0.916493,0.064913],[-0.003779,-0.069030,0.997607]] 2025-10-29T00:29:13.160Z,1761697753.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:13.163Z,1761697753.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 615.682556 m, bearing: 24.347434 deg, approach rate: -0.466582 m/s, LOS rate: -0.002678 deg/s, cmd heading: 23.997209 deg, new cmd heading: 23.995331 deg. 2025-10-29T00:29:13.164Z,1761697753.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418798 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:13.277Z,1761697753.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266980 2025-10-29T00:29:13.530Z,1761697753.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520255 2025-10-29T00:29:13.549Z,1761697753.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916878,-0.398404,-0.024660],[0.399138,0.914322,0.068583],[-0.004777,-0.072725,0.997341]] 2025-10-29T00:29:13.601Z,1761697753.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:13.603Z,1761697753.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 615.489502 m, bearing: 24.346378 deg, approach rate: -0.438313 m/s, LOS rate: -0.002396 deg/s, cmd heading: 23.995331 deg, new cmd heading: 23.993220 deg. 2025-10-29T00:29:13.604Z,1761697753.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418761 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:13.781Z,1761697753.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770920 2025-10-29T00:29:13.942Z,1761697753.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915069,-0.402482,-0.025617],[0.403258,0.912255,0.071935],[-0.005583,-0.076156,0.997080]] 2025-10-29T00:29:13.967Z,1761697753.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:13.970Z,1761697753.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 615.328857 m, bearing: 24.345434 deg, approach rate: -0.438164 m/s, LOS rate: -0.002576 deg/s, cmd heading: 23.993220 deg, new cmd heading: 23.991331 deg. 2025-10-29T00:29:13.971Z,1761697753.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418728 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:14.034Z,1761697754.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023611 2025-10-29T00:29:14.285Z,1761697754.285 [DAT](INFO): DAT read: Rx Time:00:29:13.4687 2025-10-29T00:29:14.285Z,1761697754.285 [DAT](INFO): Rx dataTimestamp_ set to:1761697754.285108 2025-10-29T00:29:14.286Z,1761697754.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275955 2025-10-29T00:29:14.355Z,1761697754.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913506,-0.405960,-0.026528],[0.406775,0.910420,0.075291],[-0.006414,-0.079570,0.996809]] 2025-10-29T00:29:14.379Z,1761697754.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:14.385Z,1761697754.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:14.392Z,1761697754.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 615.149231 m, bearing: 24.344315 deg, approach rate: -0.429358 m/s, LOS rate: -0.002676 deg/s, cmd heading: 23.991331 deg, new cmd heading: 23.989092 deg. 2025-10-29T00:29:14.393Z,1761697754.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418689 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:14.540Z,1761697754.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529530 2025-10-29T00:29:14.755Z,1761697754.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912093,-0.409013,-0.028173],[0.409925,0.908665,0.079299],[-0.006835,-0.083877,0.996453]] 2025-10-29T00:29:14.793Z,1761697754.793 [DAT](INFO): DAT read: 00:29:13.4687 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 491,-0.40, 0.261,-1.274, 0.529, 0.304, PHS= 0.059,-1.533, 0.181, RAW= 153.6, 15.4, CAL= 154.2, 17.5, ROT= 355.8, -17.5 2025-10-29T00:29:14.794Z,1761697754.794 [DAT](INFO): got valid direction response: 00:29:13.4687 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 491,-0.40, 0.261,-1.274, 0.529, 0.304, PHS= 0.059,-1.533, 0.181, RAW= 153.6, 15.4, CAL= 154.2, 17.5, ROT= 355.8, -17.5 2025-10-29T00:29:14.795Z,1761697754.795 [DAT](INFO): DAT read: bearing request 2025-10-29T00:29:14.795Z,1761697754.795 [DAT](INFO): received a bearing request message 2025-10-29T00:29:14.796Z,1761697754.796 [DAT](INFO): DAT read: Tx time:00:29:15.0715 2025-10-29T00:29:14.796Z,1761697754.796 [DAT](INFO): Ping request sent. 2025-10-29T00:29:14.796Z,1761697754.796 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:14.797Z,1761697754.797 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:29:14.798Z,1761697754.798 [DAT](INFO): direction in FSK: [0.951156,-0.069849,0.300706] 2025-10-29T00:29:14.798Z,1761697754.798 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:14.798Z,1761697754.798 [DAT](INFO): publishing range request flag 2025-10-29T00:29:14.801Z,1761697754.801 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:14.802Z,1761697754.802 [DAT](INFO): publishing range request flag 2025-10-29T00:29:14.866Z,1761697754.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:14.885Z,1761697754.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.958374 m, bearing: 24.343245 deg, approach rate: -0.397209 m/s, LOS rate: -0.002227 deg/s, cmd heading: 23.989093 deg, new cmd heading: 23.986953 deg. 2025-10-29T00:29:14.886Z,1761697754.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418651 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:15.205Z,1761697755.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910989,-0.411325,-0.030172],[0.412364,0.907084,0.084583],[-0.007422,-0.089496,0.995960]] 2025-10-29T00:29:15.223Z,1761697755.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:15.226Z,1761697755.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.786377 m, bearing: 24.342240 deg, approach rate: -0.481673 m/s, LOS rate: -0.002814 deg/s, cmd heading: 23.986953 deg, new cmd heading: 23.984943 deg. 2025-10-29T00:29:15.227Z,1761697755.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418616 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:15.611Z,1761697755.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909993,-0.413431,-0.031423],[0.414548,0.905763,0.087998],[-0.007919,-0.093104,0.995625]] 2025-10-29T00:29:15.659Z,1761697755.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:15.661Z,1761697755.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.600464 m, bearing: 24.341264 deg, approach rate: -0.426903 m/s, LOS rate: -0.002244 deg/s, cmd heading: 23.984944 deg, new cmd heading: 23.982989 deg. 2025-10-29T00:29:15.662Z,1761697755.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418582 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:16.011Z,1761697756.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908965,-0.415608,-0.032453],[0.416791,0.904485,0.090507],[-0.008262,-0.095794,0.995367]] 2025-10-29T00:29:16.065Z,1761697756.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:16.068Z,1761697756.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.438293 m, bearing: 24.340374 deg, approach rate: -0.398803 m/s, LOS rate: -0.002188 deg/s, cmd heading: 23.982988 deg, new cmd heading: 23.981209 deg. 2025-10-29T00:29:16.069Z,1761697756.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418551 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:16.417Z,1761697756.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908291,-0.416982,-0.033655],[0.418253,0.903538,0.093186],[-0.008448,-0.098716,0.995080]] 2025-10-29T00:29:16.433Z,1761697756.433 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:16.435Z,1761697756.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:16.438Z,1761697756.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.269348 m, bearing: 24.339423 deg, approach rate: -0.457002 m/s, LOS rate: -0.002573 deg/s, cmd heading: 23.981209 deg, new cmd heading: 23.979307 deg. 2025-10-29T00:29:16.439Z,1761697756.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418518 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:16.555Z,1761697756.555 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:16.556Z,1761697756.556 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:16.556Z,1761697756.556 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:16.805Z,1761697756.805 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:16.805Z,1761697756.805 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:16.805Z,1761697756.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:16.836Z,1761697756.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907567,-0.418437,-0.035104],[0.419819,0.902482,0.096322],[-0.008624,-0.102157,0.994731]] 2025-10-29T00:29:16.888Z,1761697756.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:16.891Z,1761697756.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 614.083618 m, bearing: 24.338727 deg, approach rate: -0.424854 m/s, LOS rate: -0.001594 deg/s, cmd heading: 23.979307 deg, new cmd heading: 23.977913 deg. 2025-10-29T00:29:16.896Z,1761697756.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418494 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:17.057Z,1761697757.057 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:17.057Z,1761697757.057 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:17.057Z,1761697757.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:17.258Z,1761697757.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:17.261Z,1761697757.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.919617 m, bearing: 24.338112 deg, approach rate: -0.425132 m/s, LOS rate: -0.001595 deg/s, cmd heading: 23.977914 deg, new cmd heading: 23.976683 deg. 2025-10-29T00:29:17.262Z,1761697757.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418472 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:17.309Z,1761697757.309 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:17.309Z,1761697757.309 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:17.310Z,1761697757.310 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:17.563Z,1761697757.563 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:17.563Z,1761697757.563 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:17.563Z,1761697757.563 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:17.631Z,1761697757.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907005,-0.419387,-0.038163],[0.421033,0.901251,0.102363],[-0.008536,-0.108912,0.994015]] 2025-10-29T00:29:17.688Z,1761697757.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:17.691Z,1761697757.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.743286 m, bearing: 24.337752 deg, approach rate: -0.421587 m/s, LOS rate: -0.000861 deg/s, cmd heading: 23.976682 deg, new cmd heading: 23.975962 deg. 2025-10-29T00:29:17.696Z,1761697757.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418459 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:17.813Z,1761697757.813 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:17.813Z,1761697757.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:17.813Z,1761697757.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:18.040Z,1761697758.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906838,-0.419627,-0.039465],[0.421396,0.900820,0.104633],[-0.008356,-0.111515,0.993728]] 2025-10-29T00:29:18.069Z,1761697758.069 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:18.069Z,1761697758.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:18.069Z,1761697758.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:18.076Z,1761697758.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:18.079Z,1761697758.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.581238 m, bearing: 24.337416 deg, approach rate: -0.422121 m/s, LOS rate: -0.000876 deg/s, cmd heading: 23.975962 deg, new cmd heading: 23.975289 deg. 2025-10-29T00:29:18.084Z,1761697758.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418448 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:18.321Z,1761697758.321 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:18.321Z,1761697758.321 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:18.321Z,1761697758.321 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:18.436Z,1761697758.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906651,-0.419946,-0.040360],[0.421796,0.900394,0.106672],[-0.008456,-0.113738,0.993475]] 2025-10-29T00:29:18.458Z,1761697758.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:18.461Z,1761697758.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:18.464Z,1761697758.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.412476 m, bearing: 24.337059 deg, approach rate: -0.420522 m/s, LOS rate: -0.000889 deg/s, cmd heading: 23.975289 deg, new cmd heading: 23.974576 deg. 2025-10-29T00:29:18.465Z,1761697758.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418435 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:18.575Z,1761697758.575 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:18.575Z,1761697758.575 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:18.576Z,1761697758.576 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:18.825Z,1761697758.825 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:18.825Z,1761697758.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:18.825Z,1761697758.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:18.840Z,1761697758.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906625,-0.419880,-0.041607],[0.421851,0.900044,0.109369],[-0.008473,-0.116709,0.993130]] 2025-10-29T00:29:18.918Z,1761697758.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:18.921Z,1761697758.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.226074 m, bearing: 24.337013 deg, approach rate: -0.407879 m/s, LOS rate: -0.000102 deg/s, cmd heading: 23.974575 deg, new cmd heading: 23.974482 deg. 2025-10-29T00:29:18.922Z,1761697758.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418434 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:19.077Z,1761697759.077 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:19.077Z,1761697759.077 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:19.077Z,1761697759.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:19.242Z,1761697759.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906702,-0.419660,-0.042143],[0.421684,0.899955,0.110736],[-0.008545,-0.118176,0.992956]] 2025-10-29T00:29:19.261Z,1761697759.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:19.263Z,1761697759.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 613.080994 m, bearing: 24.336979 deg, approach rate: -0.423662 m/s, LOS rate: -0.000098 deg/s, cmd heading: 23.974483 deg, new cmd heading: 23.974416 deg. 2025-10-29T00:29:19.264Z,1761697759.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418433 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:19.329Z,1761697759.329 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:19.329Z,1761697759.329 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:19.329Z,1761697759.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:19.583Z,1761697759.583 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:19.583Z,1761697759.583 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:19.584Z,1761697759.584 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:19.647Z,1761697759.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906977,-0.418985,-0.042953],[0.421091,0.899938,0.113111],[-0.008737,-0.120676,0.992653]] 2025-10-29T00:29:19.684Z,1761697759.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:19.687Z,1761697759.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.902893 m, bearing: 24.337075 deg, approach rate: -0.420926 m/s, LOS rate: 0.000227 deg/s, cmd heading: 23.974416 deg, new cmd heading: 23.974609 deg. 2025-10-29T00:29:19.687Z,1761697759.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418436 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:19.833Z,1761697759.833 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:19.833Z,1761697759.833 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:19.833Z,1761697759.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:20.054Z,1761697760.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907321,-0.418186,-0.043457],[0.420344,0.900084,0.114713],[-0.008856,-0.122348,0.992448]] 2025-10-29T00:29:20.056Z,1761697760.056 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:29:20.073Z,1761697760.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:20.076Z,1761697760.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.739014 m, bearing: 24.337176 deg, approach rate: -0.421091 m/s, LOS rate: 0.000259 deg/s, cmd heading: 23.974609 deg, new cmd heading: 23.974811 deg. 2025-10-29T00:29:20.077Z,1761697760.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418439 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:20.085Z,1761697760.085 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:20.085Z,1761697760.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:20.085Z,1761697760.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:20.338Z,1761697760.338 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:20.338Z,1761697760.338 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:20.338Z,1761697760.338 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:20.454Z,1761697760.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907861,-0.416967,-0.043909],[0.419183,0.900519,0.115545],[-0.008637,-0.123305,0.992331]] 2025-10-29T00:29:20.479Z,1761697760.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:20.482Z,1761697760.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:20.485Z,1761697760.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.567139 m, bearing: 24.337302 deg, approach rate: -0.420236 m/s, LOS rate: 0.000309 deg/s, cmd heading: 23.974811 deg, new cmd heading: 23.975063 deg. 2025-10-29T00:29:20.486Z,1761697760.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418444 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:20.592Z,1761697760.592 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:20.592Z,1761697760.592 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:20.593Z,1761697760.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:20.841Z,1761697760.841 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:20.841Z,1761697760.841 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:20.841Z,1761697760.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:20.871Z,1761697760.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908382,-0.415787,-0.044303],[0.418053,0.900904,0.116640],[-0.008585,-0.124475,0.992186]] 2025-10-29T00:29:20.925Z,1761697760.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:20.928Z,1761697760.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.375305 m, bearing: 24.337381 deg, approach rate: -0.432700 m/s, LOS rate: 0.000177 deg/s, cmd heading: 23.975064 deg, new cmd heading: 23.975221 deg. 2025-10-29T00:29:20.929Z,1761697760.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418447 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:21.060Z,1761697761.060 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:29:21.093Z,1761697761.093 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:21.093Z,1761697761.093 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:21.093Z,1761697761.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:21.319Z,1761697761.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:21.322Z,1761697761.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.205078 m, bearing: 24.337450 deg, approach rate: -0.432362 m/s, LOS rate: 0.000177 deg/s, cmd heading: 23.975221 deg, new cmd heading: 23.975360 deg. 2025-10-29T00:29:21.323Z,1761697761.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418449 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:21.345Z,1761697761.345 [DAT](INFO): DAT read: Rx Time:00:29:20.6228 2025-10-29T00:29:21.346Z,1761697761.346 [DAT](INFO): Rx dataTimestamp_ set to:1761697761.345315 2025-10-29T00:29:21.346Z,1761697761.346 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:21.346Z,1761697761.346 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:21.346Z,1761697761.346 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:21.599Z,1761697761.599 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:21.599Z,1761697761.599 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:21.599Z,1761697761.599 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:21.709Z,1761697761.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909068,-0.414198,-0.045105],[0.416556,0.901268,0.119155],[-0.008702,-0.127109,0.991851]] 2025-10-29T00:29:21.797Z,1761697761.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:21.799Z,1761697761.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 612.015564 m, bearing: 24.337120 deg, approach rate: -0.396826 m/s, LOS rate: -0.000693 deg/s, cmd heading: 23.975361 deg, new cmd heading: 23.974699 deg. 2025-10-29T00:29:21.804Z,1761697761.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418437 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:21.855Z,1761697761.855 [DAT](INFO): DAT read: 00:29:20.6228 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 292,-0.01,-0.739,-2.267,-0.507,-1.041, PHS= 0.404,-1.181, 0.489, RAW= 152.6, 3.6, CAL= 151.6, 3.3, ROT= 358.4, -3.3 2025-10-29T00:29:21.858Z,1761697761.858 [DAT](INFO): got valid direction response: 00:29:20.6228 LVL= 32752, 32753, 32754, 32755, AGC= 85, IDX= 292,-0.01,-0.739,-2.267,-0.507,-1.041, PHS= 0.404,-1.181, 0.489, RAW= 152.6, 3.6, CAL= 151.6, 3.3, ROT= 358.4, -3.3 2025-10-29T00:29:21.859Z,1761697761.859 [DAT](INFO): DAT read: bearing request 2025-10-29T00:29:21.859Z,1761697761.859 [DAT](INFO): received a bearing request message 2025-10-29T00:29:21.860Z,1761697761.860 [DAT](INFO): DAT read: Tx time:00:29:22.2256 2025-10-29T00:29:21.860Z,1761697761.860 [DAT](INFO): Ping request sent. 2025-10-29T00:29:21.860Z,1761697761.860 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:21.861Z,1761697761.861 [DAT](INFO): #Rx 2: Read direction message, but no range. 2025-10-29T00:29:21.862Z,1761697761.862 [DAT](INFO): direction in FSK: [0.997953,-0.027875,0.057564] 2025-10-29T00:29:21.863Z,1761697761.863 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:21.863Z,1761697761.863 [DAT](INFO): publishing range request flag 2025-10-29T00:29:21.891Z,1761697761.891 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:21.891Z,1761697761.891 [DAT](INFO): publishing range request flag 2025-10-29T00:29:22.112Z,1761697762.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909391,-0.413448,-0.045480],[0.415847,0.901403,0.120599],[-0.008866,-0.128585,0.991659]] 2025-10-29T00:29:22.141Z,1761697762.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:22.144Z,1761697762.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 611.839111 m, bearing: 24.336823 deg, approach rate: -0.511739 m/s, LOS rate: -0.000859 deg/s, cmd heading: 23.974700 deg, new cmd heading: 23.974107 deg. 2025-10-29T00:29:22.145Z,1761697762.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418427 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:22.525Z,1761697762.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909627,-0.412934,-0.045444],[0.415328,0.901557,0.121236],[-0.009092,-0.129154,0.991583]] 2025-10-29T00:29:22.546Z,1761697762.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:22.564Z,1761697762.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:22.567Z,1761697762.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 611.658264 m, bearing: 24.336529 deg, approach rate: -0.444725 m/s, LOS rate: -0.000724 deg/s, cmd heading: 23.974107 deg, new cmd heading: 23.973519 deg. 2025-10-29T00:29:22.572Z,1761697762.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418417 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:22.607Z,1761697762.607 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:22.608Z,1761697762.608 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:22.609Z,1761697762.609 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:22.860Z,1761697762.860 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:22.860Z,1761697762.860 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:22.860Z,1761697762.860 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:22.976Z,1761697762.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909905,-0.412265,-0.045936],[0.414711,0.901593,0.123067],[-0.009321,-0.131029,0.991335]] 2025-10-29T00:29:23.055Z,1761697763.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:23.058Z,1761697763.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 611.435303 m, bearing: 24.335604 deg, approach rate: -0.439869 m/s, LOS rate: -0.001825 deg/s, cmd heading: 23.973518 deg, new cmd heading: 23.971668 deg. 2025-10-29T00:29:23.059Z,1761697763.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418385 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:23.110Z,1761697763.110 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:23.110Z,1761697763.110 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:23.110Z,1761697763.110 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:23.361Z,1761697763.361 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:29:23.361Z,1761697763.361 [DAT](INFO): response not received 2025-10-29T00:29:23.361Z,1761697763.361 [DAT](ERROR): No response from remote modem. 2025-10-29T00:29:23.362Z,1761697763.362 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:23.362Z,1761697763.362 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:23.362Z,1761697763.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:23.379Z,1761697763.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910038,-0.411906,-0.046519],[0.414418,0.901520,0.124574],[-0.009375,-0.132645,0.991119]] 2025-10-29T00:29:23.454Z,1761697763.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:23.461Z,1761697763.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 611.263672 m, bearing: 24.334897 deg, approach rate: -0.430100 m/s, LOS rate: -0.001773 deg/s, cmd heading: 23.971669 deg, new cmd heading: 23.970254 deg. 2025-10-29T00:29:23.462Z,1761697763.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418360 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:23.616Z,1761697763.616 [DAT](INFO): DAT read: user:378> 2025-10-29T00:29:23.618Z,1761697763.618 [DAT](INFO): DAT read: Tx time:00:29:23.3773 2025-10-29T00:29:23.619Z,1761697763.619 [DAT](INFO): Ping request sent. 2025-10-29T00:29:23.619Z,1761697763.619 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:23.620Z,1761697763.620 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:23.623Z,1761697763.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003019 2025-10-29T00:29:23.783Z,1761697763.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910207,-0.411466,-0.047106],[0.414045,0.901454,0.126280],[-0.009497,-0.134445,0.990876]] 2025-10-29T00:29:23.841Z,1761697763.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:23.844Z,1761697763.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 611.059265 m, bearing: 24.333628 deg, approach rate: -0.527806 m/s, LOS rate: -0.003277 deg/s, cmd heading: 23.970253 deg, new cmd heading: 23.967716 deg. 2025-10-29T00:29:23.845Z,1761697763.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418316 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:23.881Z,1761697763.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.261580 2025-10-29T00:29:24.129Z,1761697764.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.510123 2025-10-29T00:29:24.183Z,1761697764.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910225,-0.411376,-0.047551],[0.414007,0.901345,0.127183],[-0.009461,-0.135452,0.990739]] 2025-10-29T00:29:24.238Z,1761697764.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:24.244Z,1761697764.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 610.891113 m, bearing: 24.332585 deg, approach rate: -0.424319 m/s, LOS rate: -0.002634 deg/s, cmd heading: 23.967716 deg, new cmd heading: 23.965628 deg. 2025-10-29T00:29:24.245Z,1761697764.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418279 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:24.381Z,1761697764.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.761857 2025-10-29T00:29:24.649Z,1761697764.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.016280 2025-10-29T00:29:24.686Z,1761697764.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:24.702Z,1761697764.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:24.708Z,1761697764.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 610.695129 m, bearing: 24.331368 deg, approach rate: -0.427537 m/s, LOS rate: -0.002656 deg/s, cmd heading: 23.965628 deg, new cmd heading: 23.963193 deg. 2025-10-29T00:29:24.709Z,1761697764.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418237 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:24.885Z,1761697764.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265875 2025-10-29T00:29:24.991Z,1761697764.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909998,-0.411812,-0.048109],[0.414502,0.900935,0.128471],[-0.009563,-0.136850,0.990546]] 2025-10-29T00:29:25.062Z,1761697765.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:25.065Z,1761697765.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 610.483459 m, bearing: 24.330124 deg, approach rate: -0.578283 m/s, LOS rate: -0.003398 deg/s, cmd heading: 23.963193 deg, new cmd heading: 23.960706 deg. 2025-10-29T00:29:25.066Z,1761697765.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418193 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:25.137Z,1761697765.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517973 2025-10-29T00:29:25.389Z,1761697765.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769770 2025-10-29T00:29:25.396Z,1761697765.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909995,-0.411768,-0.048544],[0.414509,0.900790,0.129462],[-0.009580,-0.137932,0.990395]] 2025-10-29T00:29:25.453Z,1761697765.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:25.456Z,1761697765.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 610.295715 m, bearing: 24.329021 deg, approach rate: -0.480022 m/s, LOS rate: -0.002822 deg/s, cmd heading: 23.960705 deg, new cmd heading: 23.958497 deg. 2025-10-29T00:29:25.457Z,1761697765.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418155 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:25.644Z,1761697765.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.024208 2025-10-29T00:29:25.799Z,1761697765.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909791,-0.412172,-0.048929],[0.414955,0.900475,0.130223],[-0.009614,-0.138779,0.990277]] 2025-10-29T00:29:25.886Z,1761697765.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:25.893Z,1761697765.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273916 2025-10-29T00:29:25.917Z,1761697765.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 610.092224 m, bearing: 24.327976 deg, approach rate: -0.469850 m/s, LOS rate: -0.002414 deg/s, cmd heading: 23.958497 deg, new cmd heading: 23.956406 deg. 2025-10-29T00:29:25.918Z,1761697765.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418118 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:26.146Z,1761697766.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526233 2025-10-29T00:29:26.220Z,1761697766.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909623,-0.412474,-0.049516],[0.415328,0.900201,0.130922],[-0.009428,-0.139655,0.990155]] 2025-10-29T00:29:26.249Z,1761697766.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:26.268Z,1761697766.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 609.907349 m, bearing: 24.327020 deg, approach rate: -0.508951 m/s, LOS rate: -0.002634 deg/s, cmd heading: 23.956407 deg, new cmd heading: 23.954494 deg. 2025-10-29T00:29:26.269Z,1761697766.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418085 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:26.397Z,1761697766.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777909 2025-10-29T00:29:26.622Z,1761697766.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909439,-0.412810,-0.050092],[0.415735,0.899919,0.131568],[-0.009234,-0.140478,0.990041]] 2025-10-29T00:29:26.650Z,1761697766.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031220 2025-10-29T00:29:26.732Z,1761697766.732 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:26.734Z,1761697766.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:26.741Z,1761697766.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 609.701904 m, bearing: 24.325948 deg, approach rate: -0.424153 m/s, LOS rate: -0.002213 deg/s, cmd heading: 23.954493 deg, new cmd heading: 23.952349 deg. 2025-10-29T00:29:26.743Z,1761697766.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418047 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:26.901Z,1761697766.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281838 2025-10-29T00:29:27.036Z,1761697767.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909099,-0.413455,-0.050937],[0.416490,0.899529,0.131843],[-0.008692,-0.141073,0.989961]] 2025-10-29T00:29:27.092Z,1761697767.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:27.094Z,1761697767.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 609.497925 m, bearing: 24.325420 deg, approach rate: -0.570073 m/s, LOS rate: -0.001476 deg/s, cmd heading: 23.952350 deg, new cmd heading: 23.951293 deg. 2025-10-29T00:29:27.095Z,1761697767.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418029 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:27.154Z,1761697767.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534937 2025-10-29T00:29:27.405Z,1761697767.405 [DAT](INFO): DAT read: Rx Time:00:29:26.6098 2025-10-29T00:29:27.405Z,1761697767.405 [DAT](INFO): Rx dataTimestamp_ set to:1761697767.405155 2025-10-29T00:29:27.406Z,1761697767.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786968 2025-10-29T00:29:27.434Z,1761697767.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908816,-0.413985,-0.051680],[0.417117,0.899194,0.132152],[-0.008239,-0.141659,0.989881]] 2025-10-29T00:29:27.490Z,1761697767.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:27.497Z,1761697767.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 609.307617 m, bearing: 24.324915 deg, approach rate: -0.478327 m/s, LOS rate: -0.001269 deg/s, cmd heading: 23.951293 deg, new cmd heading: 23.950283 deg. 2025-10-29T00:29:27.499Z,1761697767.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418011 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:27.657Z,1761697767.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037918 2025-10-29T00:29:27.836Z,1761697767.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908616,-0.414376,-0.052058],[0.417555,0.898958,0.132371],[-0.008053,-0.142012,0.989832]] 2025-10-29T00:29:27.892Z,1761697767.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 622.11 m. 2025-10-29T00:29:27.898Z,1761697767.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 622.105713 m, nav range: 609.111755 m, bearing: 24.324983 deg, approach rate: -0.506832 m/s, LOS rate: 0.000174 deg/s, cmd heading: 23.950284 deg, new cmd heading: 23.950418 deg. 2025-10-29T00:29:27.899Z,1761697767.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418014 target range: 622.105713 and range: 624.70 m. 2025-10-29T00:29:27.914Z,1761697767.914 [DAT](INFO): DAT read: 00:29:26.6098 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 148,-0.34,-0.346,-1.972,-0.038,-0.452, PHS= 0.208,-1.475, 0.371, RAW= 154.6, 10.2, CAL= 154.4, 11.0, ROT= 355.6, -11.0 2025-10-29T00:29:27.915Z,1761697767.915 [DAT](INFO): got valid direction response: 00:29:26.6098 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 148,-0.34,-0.346,-1.972,-0.038,-0.452, PHS= 0.208,-1.475, 0.371, RAW= 154.6, 10.2, CAL= 154.4, 11.0, ROT= 355.6, -11.0 2025-10-29T00:29:27.917Z,1761697767.917 [DAT](INFO): DAT read: Bearing 185.3, -6.5 (Local) 2025-10-29T00:29:27.917Z,1761697767.917 [DAT](INFO): Local bearing/azimuth received: Bearing 185.3, -6.5 (Local) 2025-10-29T00:29:27.918Z,1761697767.918 [DAT](INFO): DAT read: Range 11 to 50 : 621.3 m (Round-trip 828.4 ms) speed 0.4 m/s 2025-10-29T00:29:27.919Z,1761697767.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:27.920Z,1761697767.920 [DAT](INFO): direction in FSK: [0.978734,-0.075309,0.190809] 2025-10-29T00:29:27.920Z,1761697767.920 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:27.923Z,1761697767.923 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:27.923Z,1761697767.923 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:27.928Z,1761697767.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:28.161Z,1761697768.161 [DAT](INFO): DAT read: user:379> 2025-10-29T00:29:28.162Z,1761697768.162 [DAT](INFO): DAT read: Tx time:00:29:27.9273 2025-10-29T00:29:28.162Z,1761697768.162 [DAT](INFO): Ping request sent. 2025-10-29T00:29:28.162Z,1761697768.162 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:28.162Z,1761697768.162 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:28.163Z,1761697768.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-29T00:29:28.239Z,1761697768.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908598,-0.414421,-0.052008],[0.417593,0.898945,0.132339],[-0.008092,-0.141961,0.989839]] 2025-10-29T00:29:28.274Z,1761697768.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 621.299988 m, deltaT: 17.151530 s, deltaX: -3.400024 m, approachRate: -0.198234 m/s, rangeRepo size: 3 2025-10-29T00:29:28.276Z,1761697768.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 618.738159 m, bearing: 21.911995 deg, lat: 36.779191 deg, lon: -121.859191 deg, deltaT: 17.151530 s, deltaX: -3.367554 m, approachRate: -0.196341 m/s, posRepo size: 3 2025-10-29T00:29:28.277Z,1761697768.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:28.284Z,1761697768.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 609.916321 m, bearing: 23.969562 deg, approach rate: 0.000000 m/s, LOS rate: 0.000174 deg/s, cmd heading: 23.950419 deg, new cmd heading: 23.950557 deg. 2025-10-29T00:29:28.285Z,1761697768.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418016 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:28.413Z,1761697768.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250938 2025-10-29T00:29:28.665Z,1761697768.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502739 2025-10-29T00:29:28.695Z,1761697768.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:28.731Z,1761697768.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 609.714233 m, bearing: 23.969513 deg, approach rate: -0.480794 m/s, LOS rate: -0.000117 deg/s, cmd heading: 23.950557 deg, new cmd heading: 23.950458 deg. 2025-10-29T00:29:28.739Z,1761697768.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418014 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:28.917Z,1761697768.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754928 2025-10-29T00:29:29.122Z,1761697769.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:29.124Z,1761697769.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:29.127Z,1761697769.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 609.497192 m, bearing: 23.969806 deg, approach rate: -0.504435 m/s, LOS rate: 0.000681 deg/s, cmd heading: 23.950458 deg, new cmd heading: 23.951044 deg. 2025-10-29T00:29:29.128Z,1761697769.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418025 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:29.169Z,1761697769.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007039 2025-10-29T00:29:29.421Z,1761697769.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259305 2025-10-29T00:29:29.475Z,1761697769.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909324,-0.412657,-0.053325],[0.416010,0.899171,0.135745],[-0.008067,-0.145620,0.989308]] 2025-10-29T00:29:29.541Z,1761697769.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:29.544Z,1761697769.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 609.297119 m, bearing: 23.970110 deg, approach rate: -0.479298 m/s, LOS rate: 0.000729 deg/s, cmd heading: 23.951044 deg, new cmd heading: 23.951652 deg. 2025-10-29T00:29:29.545Z,1761697769.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418035 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:29.673Z,1761697769.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939 2025-10-29T00:29:29.873Z,1761697769.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909581,-0.412128,-0.053040],[0.415445,0.899437,0.135713],[-0.008225,-0.145477,0.989327]] 2025-10-29T00:29:29.922Z,1761697769.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:29.925Z,1761697769.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762999 2025-10-29T00:29:29.927Z,1761697769.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 609.099854 m, bearing: 23.970619 deg, approach rate: -0.517932 m/s, LOS rate: 0.001338 deg/s, cmd heading: 23.951651 deg, new cmd heading: 23.952671 deg. 2025-10-29T00:29:29.928Z,1761697769.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418053 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:30.177Z,1761697770.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015254 2025-10-29T00:29:30.274Z,1761697770.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909982,-0.411245,-0.053008],[0.414561,0.899721,0.136534],[-0.008456,-0.146219,0.989216]] 2025-10-29T00:29:30.298Z,1761697770.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:30.301Z,1761697770.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 608.910339 m, bearing: 23.971126 deg, approach rate: -0.504345 m/s, LOS rate: 0.001349 deg/s, cmd heading: 23.952671 deg, new cmd heading: 23.953685 deg. 2025-10-29T00:29:30.302Z,1761697770.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418071 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:30.429Z,1761697770.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266909 2025-10-29T00:29:30.683Z,1761697770.683 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520197 2025-10-29T00:29:30.798Z,1761697770.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910234,-0.410636,-0.053411],[0.414010,0.899831,0.137477],[-0.008392,-0.147248,0.989064]] 2025-10-29T00:29:30.834Z,1761697770.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:30.837Z,1761697770.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 608.627869 m, bearing: 23.971329 deg, approach rate: -0.527221 m/s, LOS rate: 0.000378 deg/s, cmd heading: 23.953685 deg, new cmd heading: 23.954091 deg. 2025-10-29T00:29:30.837Z,1761697770.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418078 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:30.933Z,1761697770.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833 2025-10-29T00:29:31.186Z,1761697771.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023642 2025-10-29T00:29:31.219Z,1761697771.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910348,-0.410388,-0.053372],[0.413766,0.900057,0.136734],[-0.008076,-0.146558,0.989169]] 2025-10-29T00:29:31.247Z,1761697771.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:31.249Z,1761697771.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:31.252Z,1761697771.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 608.409180 m, bearing: 23.971492 deg, approach rate: -0.526158 m/s, LOS rate: 0.000393 deg/s, cmd heading: 23.954090 deg, new cmd heading: 23.954417 deg. 2025-10-29T00:29:31.253Z,1761697771.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418083 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:31.438Z,1761697771.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275927 2025-10-29T00:29:31.622Z,1761697771.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910374,-0.410314,-0.053500],[0.413709,0.900049,0.136953],[-0.008041,-0.146812,0.989132]] 2025-10-29T00:29:31.641Z,1761697771.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:31.643Z,1761697771.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 608.202515 m, bearing: 23.971647 deg, approach rate: -0.528340 m/s, LOS rate: 0.000397 deg/s, cmd heading: 23.954416 deg, new cmd heading: 23.954727 deg. 2025-10-29T00:29:31.644Z,1761697771.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418089 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:31.689Z,1761697771.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527097 2025-10-29T00:29:31.941Z,1761697771.941 [DAT](INFO): DAT read: Rx Time:00:29:31.1453 2025-10-29T00:29:31.941Z,1761697771.941 [DAT](INFO): Rx dataTimestamp_ set to:1761697771.941158 2025-10-29T00:29:31.942Z,1761697771.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779985 2025-10-29T00:29:32.034Z,1761697772.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910750,-0.409404,-0.054061],[0.412887,0.900322,0.137642],[-0.007679,-0.147679,0.989006]] 2025-10-29T00:29:32.075Z,1761697772.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 618.74 m. 2025-10-29T00:29:32.077Z,1761697772.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 618.738159 m, nav range: 607.976074 m, bearing: 23.971294 deg, approach rate: -0.521615 m/s, LOS rate: -0.000814 deg/s, cmd heading: 23.954727 deg, new cmd heading: 23.954020 deg. 2025-10-29T00:29:32.078Z,1761697772.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418077 target range: 618.738159 and range: 621.30 m. 2025-10-29T00:29:32.193Z,1761697772.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030929 2025-10-29T00:29:32.431Z,1761697772.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910531,-0.409829,-0.054534],[0.413378,0.900131,0.137416],[-0.007229,-0.147665,0.989011]] 2025-10-29T00:29:32.450Z,1761697772.450 [DAT](INFO): DAT read: 00:29:31.1453 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 298, 0.28, 2.451, 0.904, 2.755, 2.476, PHS= 0.077,-1.528, 0.235, RAW= 154.6, 14.3, CAL= 155.1, 16.2, ROT= 354.9, -16.2 2025-10-29T00:29:32.451Z,1761697772.451 [DAT](INFO): got valid direction response: 00:29:31.1453 LVL= 32752, 32753, 32754, 32755, AGC= 83, IDX= 298, 0.28, 2.451, 0.904, 2.755, 2.476, PHS= 0.077,-1.528, 0.235, RAW= 154.6, 14.3, CAL= 155.1, 16.2, ROT= 354.9, -16.2 2025-10-29T00:29:32.453Z,1761697772.453 [DAT](INFO): DAT read: Bearing 190.1, -7.7 (Local) 2025-10-29T00:29:32.453Z,1761697772.453 [DAT](INFO): Local bearing/azimuth received: Bearing 190.1, -7.7 (Local) 2025-10-29T00:29:32.454Z,1761697772.454 [DAT](INFO): DAT read: Range 11 to 50 : 610.3 m (Round-trip 813.8 ms) speed 0.5 m/s 2025-10-29T00:29:32.455Z,1761697772.455 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:32.456Z,1761697772.456 [DAT](INFO): direction in FSK: [0.956492,-0.085365,0.278991] 2025-10-29T00:29:32.456Z,1761697772.456 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:32.459Z,1761697772.459 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:32.459Z,1761697772.459 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:32.463Z,1761697772.463 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:32.503Z,1761697772.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 610.299988 m, deltaT: 4.536005 s, deltaX: -11.000000 m, approachRate: -2.425041 m/s, rangeRepo size: 4 2025-10-29T00:29:32.529Z,1761697772.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 607.781738 m, bearing: 21.835624 deg, lat: 36.779169 deg, lon: -121.859309 deg, deltaT: 4.536005 s, deltaX: -10.956421 m, approachRate: -2.415434 m/s, posRepo size: 4 2025-10-29T00:29:32.529Z,1761697772.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:32.536Z,1761697772.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 601.297180 m, bearing: 23.144372 deg, approach rate: 0.000000 m/s, LOS rate: -0.000814 deg/s, cmd heading: 23.954020 deg, new cmd heading: 23.953326 deg. 2025-10-29T00:29:32.537Z,1761697772.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418064 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:32.697Z,1761697772.697 [DAT](INFO): DAT read: user:380> 2025-10-29T00:29:32.698Z,1761697772.698 [DAT](INFO): DAT read: Tx time:00:29:32.4773 2025-10-29T00:29:32.698Z,1761697772.698 [DAT](INFO): Ping request sent. 2025-10-29T00:29:32.698Z,1761697772.698 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:32.698Z,1761697772.698 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:32.699Z,1761697772.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:29:32.835Z,1761697772.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910207,-0.410486,-0.054997],[0.414098,0.899838,0.137166],[-0.006817,-0.147623,0.989020]] 2025-10-29T00:29:32.900Z,1761697772.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:32.903Z,1761697772.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 601.056946 m, bearing: 23.143362 deg, approach rate: -0.601304 m/s, LOS rate: -0.002529 deg/s, cmd heading: 23.953327 deg, new cmd heading: 23.951306 deg. 2025-10-29T00:29:32.916Z,1761697772.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418029 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:32.949Z,1761697772.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250762 2025-10-29T00:29:33.201Z,1761697773.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502714 2025-10-29T00:29:33.278Z,1761697773.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:33.281Z,1761697773.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:33.283Z,1761697773.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 600.850037 m, bearing: 23.142492 deg, approach rate: -0.544207 m/s, LOS rate: -0.002290 deg/s, cmd heading: 23.951305 deg, new cmd heading: 23.949563 deg. 2025-10-29T00:29:33.305Z,1761697773.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417999 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:33.453Z,1761697773.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754727 2025-10-29T00:29:33.642Z,1761697773.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909534,-0.411800,-0.056290],[0.415595,0.899351,0.135822],[-0.005307,-0.146929,0.989133]] 2025-10-29T00:29:33.669Z,1761697773.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:33.671Z,1761697773.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 600.640991 m, bearing: 23.141579 deg, approach rate: -0.538282 m/s, LOS rate: -0.002350 deg/s, cmd heading: 23.949563 deg, new cmd heading: 23.947738 deg. 2025-10-29T00:29:33.673Z,1761697773.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417967 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:33.705Z,1761697773.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006897 2025-10-29T00:29:33.957Z,1761697773.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258697 2025-10-29T00:29:34.046Z,1761697774.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909303,-0.412118,-0.057670],[0.416112,0.899056,0.136198],[-0.004281,-0.147842,0.989002]] 2025-10-29T00:29:34.094Z,1761697774.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:34.097Z,1761697774.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 600.404419 m, bearing: 23.139863 deg, approach rate: -0.556108 m/s, LOS rate: -0.004036 deg/s, cmd heading: 23.947738 deg, new cmd heading: 23.944304 deg. 2025-10-29T00:29:34.098Z,1761697774.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417907 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:34.209Z,1761697774.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510722 2025-10-29T00:29:34.451Z,1761697774.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909187,-0.412183,-0.059032],[0.416376,0.898864,0.136654],[-0.003265,-0.148823,0.988858]] 2025-10-29T00:29:34.461Z,1761697774.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762769 2025-10-29T00:29:34.471Z,1761697774.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:34.473Z,1761697774.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 600.195007 m, bearing: 23.138337 deg, approach rate: -0.556400 m/s, LOS rate: -0.004056 deg/s, cmd heading: 23.944304 deg, new cmd heading: 23.941251 deg. 2025-10-29T00:29:34.474Z,1761697774.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417854 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:34.715Z,1761697774.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016067 2025-10-29T00:29:34.862Z,1761697774.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908851,-0.412690,-0.060642],[0.417116,0.898439,0.137194],[-0.002135,-0.149983,0.988686]] 2025-10-29T00:29:34.923Z,1761697774.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:34.929Z,1761697774.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 599.958191 m, bearing: 23.136354 deg, approach rate: -0.524197 m/s, LOS rate: -0.004391 deg/s, cmd heading: 23.941251 deg, new cmd heading: 23.937284 deg. 2025-10-29T00:29:34.930Z,1761697774.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417784 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:34.965Z,1761697774.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266802 2025-10-29T00:29:35.217Z,1761697775.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518747 2025-10-29T00:29:35.260Z,1761697775.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908742,-0.412698,-0.062200],[0.417357,0.898111,0.138596],[-0.001336,-0.151908,0.988394]] 2025-10-29T00:29:35.278Z,1761697775.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:35.281Z,1761697775.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 599.752075 m, bearing: 23.134622 deg, approach rate: -0.579403 m/s, LOS rate: -0.004870 deg/s, cmd heading: 23.937284 deg, new cmd heading: 23.933820 deg. 2025-10-29T00:29:35.282Z,1761697775.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417724 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:35.469Z,1761697775.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770656 2025-10-29T00:29:35.662Z,1761697775.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908332,-0.413256,-0.064435],[0.418249,0.897497,0.139882],[0.000023,-0.154009,0.988069]] 2025-10-29T00:29:35.696Z,1761697775.696 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:35.698Z,1761697775.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:35.701Z,1761697775.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 599.521423 m, bearing: 23.132662 deg, approach rate: -0.549065 m/s, LOS rate: -0.004669 deg/s, cmd heading: 23.933820 deg, new cmd heading: 23.929897 deg. 2025-10-29T00:29:35.702Z,1761697775.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417655 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:35.721Z,1761697775.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022839 2025-10-29T00:29:35.973Z,1761697775.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274631 2025-10-29T00:29:36.066Z,1761697776.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907983,-0.413816,-0.065748],[0.419005,0.897111,0.140092],[0.001011,-0.154750,0.987953]] 2025-10-29T00:29:36.119Z,1761697776.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:36.122Z,1761697776.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 599.285828 m, bearing: 23.130799 deg, approach rate: -0.560263 m/s, LOS rate: -0.004431 deg/s, cmd heading: 23.929897 deg, new cmd heading: 23.926170 deg. 2025-10-29T00:29:36.123Z,1761697776.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417590 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:36.225Z,1761697776.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527115 2025-10-29T00:29:36.477Z,1761697776.477 [DAT](INFO): DAT read: Rx Time:00:29:35.7036 2025-10-29T00:29:36.477Z,1761697776.477 [DAT](INFO): Rx dataTimestamp_ set to:1761697776.477179 2025-10-29T00:29:36.478Z,1761697776.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779800 2025-10-29T00:29:36.547Z,1761697776.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:36.554Z,1761697776.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 599.066345 m, bearing: 23.129063 deg, approach rate: -0.512320 m/s, LOS rate: -0.004054 deg/s, cmd heading: 23.926170 deg, new cmd heading: 23.922696 deg. 2025-10-29T00:29:36.555Z,1761697776.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417530 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:36.729Z,1761697776.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030602 2025-10-29T00:29:36.896Z,1761697776.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907569,-0.414303,-0.068350],[0.419893,0.896583,0.140817],[0.002940,-0.156501,0.987673]] 2025-10-29T00:29:36.951Z,1761697776.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 607.78 m. 2025-10-29T00:29:36.953Z,1761697776.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 607.781738 m, nav range: 598.830872 m, bearing: 23.127590 deg, approach rate: -0.583803 m/s, LOS rate: -0.003655 deg/s, cmd heading: 23.922697 deg, new cmd heading: 23.919748 deg. 2025-10-29T00:29:36.954Z,1761697776.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417478 target range: 607.781738 and range: 610.30 m. 2025-10-29T00:29:36.990Z,1761697776.990 [DAT](INFO): DAT read: 00:29:35.7036 LVL= 28784, 29169, 23858, 32755, AGC= 84, IDX= 19, 0.12,-1.430,-2.950,-1.306,-1.729, PHS= 0.401,-1.176, 0.379, RAW= 149.3, 5.1, CAL= 148.6, 5.3, ROT= 1.4, -5.3 2025-10-29T00:29:36.993Z,1761697776.993 [DAT](INFO): got valid direction response: 00:29:35.7036 LVL= 28784, 29169, 23858, 32755, AGC= 84, IDX= 19, 0.12,-1.430,-2.950,-1.306,-1.729, PHS= 0.401,-1.176, 0.379, RAW= 149.3, 5.1, CAL= 148.6, 5.3, ROT= 1.4, -5.3 2025-10-29T00:29:36.995Z,1761697776.995 [DAT](INFO): DAT read: Bearing 180.6, 0.6 (Local) 2025-10-29T00:29:36.995Z,1761697776.995 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, 0.6 (Local) 2025-10-29T00:29:36.998Z,1761697776.998 [DAT](INFO): DAT read: Range 11 to 50 : 616.6 m (Round-trip 822.2 ms) speed 0.3 m/s 2025-10-29T00:29:36.999Z,1761697776.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:37.001Z,1761697777.001 [DAT](INFO): direction in FSK: [0.995427,0.024328,0.092371] 2025-10-29T00:29:37.002Z,1761697777.002 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:37.015Z,1761697777.015 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:37.015Z,1761697777.015 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:37.015Z,1761697777.015 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:37.233Z,1761697777.233 [DAT](INFO): DAT read: user:381> 2025-10-29T00:29:37.235Z,1761697777.235 [DAT](INFO): DAT read: Tx time:00:29:37.0272 2025-10-29T00:29:37.235Z,1761697777.235 [DAT](INFO): Ping request sent. 2025-10-29T00:29:37.235Z,1761697777.235 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:37.235Z,1761697777.235 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:37.236Z,1761697777.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001199 2025-10-29T00:29:37.307Z,1761697777.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907247,-0.414807,-0.069558],[0.420581,0.896212,0.141124],[0.003799,-0.157289,0.987545]] 2025-10-29T00:29:37.346Z,1761697777.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 616.599976 m, deltaT: 4.536006 s, deltaX: 6.299988 m, approachRate: 1.388884 m/s, rangeRepo size: 4 2025-10-29T00:29:37.348Z,1761697777.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 614.055725 m, bearing: 27.090242 deg, lat: 36.779147 deg, lon: -121.859191 deg, deltaT: 4.536006 s, deltaX: 6.273987 m, approachRate: 1.383152 m/s, posRepo size: 4 2025-10-29T00:29:37.349Z,1761697777.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:37.351Z,1761697777.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 600.596130 m, bearing: 24.146971 deg, approach rate: 0.000000 m/s, LOS rate: -0.003655 deg/s, cmd heading: 23.919748 deg, new cmd heading: 23.916867 deg. 2025-10-29T00:29:37.353Z,1761697777.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417428 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:37.487Z,1761697777.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251415 2025-10-29T00:29:37.707Z,1761697777.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906626,-0.416011,-0.070463],[0.421908,0.895776,0.139924],[0.004909,-0.156587,0.987652]] 2025-10-29T00:29:37.723Z,1761697777.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:37.725Z,1761697777.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:37.728Z,1761697777.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 600.380981 m, bearing: 24.145949 deg, approach rate: -0.565130 m/s, LOS rate: -0.002686 deg/s, cmd heading: 23.916867 deg, new cmd heading: 23.914822 deg. 2025-10-29T00:29:37.729Z,1761697777.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417392 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:37.737Z,1761697777.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501814 2025-10-29T00:29:37.991Z,1761697777.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755689 2025-10-29T00:29:38.152Z,1761697778.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906229,-0.416719,-0.071369],[0.422747,0.895451,0.139473],[0.005787,-0.156565,0.987651]] 2025-10-29T00:29:38.198Z,1761697778.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:38.201Z,1761697778.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 600.118103 m, bearing: 24.145441 deg, approach rate: -0.555985 m/s, LOS rate: -0.001074 deg/s, cmd heading: 23.914821 deg, new cmd heading: 23.913806 deg. 2025-10-29T00:29:38.202Z,1761697778.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417375 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:38.241Z,1761697778.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005704 2025-10-29T00:29:38.493Z,1761697778.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258189 2025-10-29T00:29:38.636Z,1761697778.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905892,-0.417297,-0.072271],[0.423458,0.895136,0.139336],[0.006548,-0.156827,0.987604]] 2025-10-29T00:29:38.662Z,1761697778.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:38.664Z,1761697778.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 599.860291 m, bearing: 24.144924 deg, approach rate: -0.556500 m/s, LOS rate: -0.001117 deg/s, cmd heading: 23.913805 deg, new cmd heading: 23.912770 deg. 2025-10-29T00:29:38.665Z,1761697778.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417357 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:38.746Z,1761697778.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510599 2025-10-29T00:29:38.998Z,1761697778.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762593 2025-10-29T00:29:39.088Z,1761697779.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905467,-0.418060,-0.073184],[0.424350,0.894840,0.138520],[0.007579,-0.156481,0.987652]] 2025-10-29T00:29:39.137Z,1761697779.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:39.139Z,1761697779.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 599.601074 m, bearing: 24.144878 deg, approach rate: -0.545256 m/s, LOS rate: -0.000097 deg/s, cmd heading: 23.912771 deg, new cmd heading: 23.912679 deg. 2025-10-29T00:29:39.141Z,1761697779.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417355 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:39.249Z,1761697779.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013954 2025-10-29T00:29:39.497Z,1761697779.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905094,-0.418665,-0.074326],[0.425121,0.894576,0.137862],[0.008772,-0.156376,0.987659]] 2025-10-29T00:29:39.502Z,1761697779.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266685 2025-10-29T00:29:39.534Z,1761697779.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:39.538Z,1761697779.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 599.383423 m, bearing: 24.144821 deg, approach rate: -0.547566 m/s, LOS rate: -0.000142 deg/s, cmd heading: 23.912678 deg, new cmd heading: 23.912565 deg. 2025-10-29T00:29:39.539Z,1761697779.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417353 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:39.754Z,1761697779.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518242 2025-10-29T00:29:39.917Z,1761697779.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904725,-0.419112,-0.076272],[0.425854,0.894425,0.136571],[0.010981,-0.156040,0.987690]] 2025-10-29T00:29:40.005Z,1761697780.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770016 2025-10-29T00:29:40.013Z,1761697780.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:40.020Z,1761697780.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:40.023Z,1761697780.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 599.154846 m, bearing: 24.144733 deg, approach rate: -0.474634 m/s, LOS rate: -0.000184 deg/s, cmd heading: 23.912566 deg, new cmd heading: 23.912388 deg. 2025-10-29T00:29:40.051Z,1761697780.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417350 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:40.257Z,1761697780.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021744 2025-10-29T00:29:40.406Z,1761697780.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904706,-0.418916,-0.077560],[0.425858,0.894474,0.136241],[0.012301,-0.156287,0.987635]] 2025-10-29T00:29:40.423Z,1761697780.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:40.426Z,1761697780.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 598.896851 m, bearing: 24.144633 deg, approach rate: -0.633180 m/s, LOS rate: -0.000246 deg/s, cmd heading: 23.912388 deg, new cmd heading: 23.912188 deg. 2025-10-29T00:29:40.427Z,1761697780.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417346 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:40.511Z,1761697780.511 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275383 2025-10-29T00:29:40.761Z,1761697780.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526215 2025-10-29T00:29:40.808Z,1761697780.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904838,-0.418460,-0.078483],[0.425542,0.894731,0.135538],[0.013504,-0.156038,0.987659]] 2025-10-29T00:29:40.826Z,1761697780.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:40.829Z,1761697780.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 598.676453 m, bearing: 24.144554 deg, approach rate: -0.547185 m/s, LOS rate: -0.000195 deg/s, cmd heading: 23.912188 deg, new cmd heading: 23.912031 deg. 2025-10-29T00:29:40.830Z,1761697780.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417344 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:41.014Z,1761697781.014 [DAT](INFO): DAT read: Rx Time:00:29:40.2385 2025-10-29T00:29:41.014Z,1761697781.014 [DAT](INFO): Rx dataTimestamp_ set to:1761697781.014104 2025-10-29T00:29:41.015Z,1761697781.015 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779775 2025-10-29T00:29:41.262Z,1761697781.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 614.06 m. 2025-10-29T00:29:41.265Z,1761697781.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029832 2025-10-29T00:29:41.267Z,1761697781.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 614.055725 m, nav range: 598.439819 m, bearing: 24.145122 deg, approach rate: -0.542771 m/s, LOS rate: 0.001304 deg/s, cmd heading: 23.912031 deg, new cmd heading: 23.913168 deg. 2025-10-29T00:29:41.267Z,1761697781.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417364 target range: 614.055725 and range: 616.60 m. 2025-10-29T00:29:41.523Z,1761697781.523 [DAT](INFO): DAT read: 00:29:40.2385 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 294, 0.36,-0.111,-1.632, 0.168,-0.193, PHS= 0.184,-1.394, 0.317, RAW= 154.0, 10.8, CAL= 153.9, 11.9, ROT= 356.1, -11.9 2025-10-29T00:29:41.524Z,1761697781.524 [DAT](INFO): got valid direction response: 00:29:40.2385 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 294, 0.36,-0.111,-1.632, 0.168,-0.193, PHS= 0.184,-1.394, 0.317, RAW= 154.0, 10.8, CAL= 153.9, 11.9, ROT= 356.1, -11.9 2025-10-29T00:29:41.525Z,1761697781.525 [DAT](INFO): DAT read: Bearing 187.1, -5.0 (Local) 2025-10-29T00:29:41.525Z,1761697781.525 [DAT](INFO): Local bearing/azimuth received: Bearing 187.1, -5.0 (Local) 2025-10-29T00:29:41.527Z,1761697781.527 [DAT](INFO): DAT read: Range 11 to 50 : 605.4 m (Round-trip 807.2 ms) speed 0.5 m/s 2025-10-29T00:29:41.527Z,1761697781.527 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:29:41.546Z,1761697781.546 [DAT](INFO): direction in FSK: [0.976243,-0.066554,0.206204] 2025-10-29T00:29:41.546Z,1761697781.546 [DAT](INFO): publishing direction and range info 2025-10-29T00:29:41.551Z,1761697781.551 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:41.555Z,1761697781.555 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:41.577Z,1761697781.577 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:41.673Z,1761697781.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904966,-0.417694,-0.081047],[0.425188,0.894884,0.135641],[0.015871,-0.157211,0.987437]] 2025-10-29T00:29:41.723Z,1761697781.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 605.400024 m, deltaT: 4.536525 s, deltaX: -11.199951 m, approachRate: -2.468839 m/s, rangeRepo size: 4 2025-10-29T00:29:41.729Z,1761697781.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 602.902100 m, bearing: 23.205027 deg, lat: 36.779114 deg, lon: -121.859342 deg, deltaT: 4.536525 s, deltaX: -11.153625 m, approachRate: -2.458627 m/s, posRepo size: 4 2025-10-29T00:29:41.730Z,1761697781.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:41.736Z,1761697781.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 589.463562 m, bearing: 23.092521 deg, approach rate: 0.000000 m/s, LOS rate: 0.001304 deg/s, cmd heading: 23.913168 deg, new cmd heading: 23.914368 deg. 2025-10-29T00:29:41.737Z,1761697781.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417384 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:41.770Z,1761697781.770 [DAT](INFO): DAT read: user:382> 2025-10-29T00:29:41.771Z,1761697781.771 [DAT](INFO): DAT read: Tx time:00:29:41.5772 2025-10-29T00:29:41.771Z,1761697781.771 [DAT](INFO): Ping request sent. 2025-10-29T00:29:41.771Z,1761697781.771 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:41.772Z,1761697781.772 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:41.773Z,1761697781.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001458 2025-10-29T00:29:42.022Z,1761697782.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250670 2025-10-29T00:29:42.138Z,1761697782.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:42.141Z,1761697782.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:42.145Z,1761697782.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 589.229858 m, bearing: 23.092082 deg, approach rate: -0.557568 m/s, LOS rate: -0.001047 deg/s, cmd heading: 23.914367 deg, new cmd heading: 23.913490 deg. 2025-10-29T00:29:42.146Z,1761697782.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417369 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:42.273Z,1761697782.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501698 2025-10-29T00:29:42.470Z,1761697782.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905176,-0.416687,-0.083833],[0.424644,0.895053,0.136229],[0.018270,-0.158910,0.987124]] 2025-10-29T00:29:42.518Z,1761697782.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:42.525Z,1761697782.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753841 2025-10-29T00:29:42.526Z,1761697782.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 589.039429 m, bearing: 23.091735 deg, approach rate: -0.505313 m/s, LOS rate: -0.000922 deg/s, cmd heading: 23.913489 deg, new cmd heading: 23.912795 deg. 2025-10-29T00:29:42.532Z,1761697782.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417357 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:42.778Z,1761697782.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006374 2025-10-29T00:29:42.875Z,1761697782.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905374,-0.415982,-0.085191],[0.424170,0.895224,0.136580],[0.019450,-0.159791,0.986959]] 2025-10-29T00:29:42.941Z,1761697782.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:42.959Z,1761697782.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 588.817627 m, bearing: 23.091342 deg, approach rate: -0.531352 m/s, LOS rate: -0.000944 deg/s, cmd heading: 23.912795 deg, new cmd heading: 23.912007 deg. 2025-10-29T00:29:42.966Z,1761697782.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417343 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:43.029Z,1761697783.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257887 2025-10-29T00:29:43.281Z,1761697783.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509825 2025-10-29T00:29:43.294Z,1761697783.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905474,-0.415507,-0.086432],[0.423908,0.895287,0.136976],[0.020467,-0.160667,0.986796]] 2025-10-29T00:29:43.343Z,1761697783.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:43.346Z,1761697783.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 588.578552 m, bearing: 23.090526 deg, approach rate: -0.587116 m/s, LOS rate: -0.002002 deg/s, cmd heading: 23.912007 deg, new cmd heading: 23.910377 deg. 2025-10-29T00:29:43.346Z,1761697783.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417315 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:43.533Z,1761697783.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761602 2025-10-29T00:29:43.694Z,1761697783.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905571,-0.415056,-0.087573],[0.423651,0.895374,0.137206],[0.021462,-0.161350,0.986664]] 2025-10-29T00:29:43.713Z,1761697783.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:43.720Z,1761697783.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 588.376038 m, bearing: 23.089840 deg, approach rate: -0.546426 m/s, LOS rate: -0.001852 deg/s, cmd heading: 23.910377 deg, new cmd heading: 23.909004 deg. 2025-10-29T00:29:43.721Z,1761697783.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417291 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:43.785Z,1761697783.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013859 2025-10-29T00:29:44.037Z,1761697784.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265727 2025-10-29T00:29:44.098Z,1761697784.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905633,-0.414692,-0.088650],[0.423483,0.895331,0.138002],[0.022143,-0.162521,0.986457]] 2025-10-29T00:29:44.227Z,1761697784.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:44.230Z,1761697784.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:44.232Z,1761697784.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 588.132996 m, bearing: 23.088204 deg, approach rate: -0.470798 m/s, LOS rate: -0.003170 deg/s, cmd heading: 23.909004 deg, new cmd heading: 23.905731 deg. 2025-10-29T00:29:44.233Z,1761697784.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417234 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:44.289Z,1761697784.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518208 2025-10-29T00:29:44.511Z,1761697784.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905651,-0.414436,-0.089664],[0.423403,0.895321,0.138312],[0.022956,-0.163226,0.986322]] 2025-10-29T00:29:44.529Z,1761697784.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:44.532Z,1761697784.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 587.935730 m, bearing: 23.086877 deg, approach rate: -0.658065 m/s, LOS rate: -0.004430 deg/s, cmd heading: 23.905730 deg, new cmd heading: 23.903074 deg. 2025-10-29T00:29:44.533Z,1761697784.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417187 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:44.541Z,1761697784.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769743 2025-10-29T00:29:44.793Z,1761697784.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021736 2025-10-29T00:29:44.906Z,1761697784.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905525,-0.414518,-0.090551],[0.423625,0.895241,0.138150],[0.023799,-0.163457,0.986263]] 2025-10-29T00:29:44.998Z,1761697784.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:45.006Z,1761697785.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 587.708252 m, bearing: 23.085339 deg, approach rate: -0.492109 m/s, LOS rate: -0.003329 deg/s, cmd heading: 23.903073 deg, new cmd heading: 23.899996 deg. 2025-10-29T00:29:45.008Z,1761697785.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417134 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:45.045Z,1761697785.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273821 2025-10-29T00:29:45.298Z,1761697785.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526323 2025-10-29T00:29:45.344Z,1761697785.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905571,-0.414192,-0.091577],[0.423485,0.895220,0.138713],[0.024528,-0.164396,0.986089]] 2025-10-29T00:29:45.388Z,1761697785.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:45.391Z,1761697785.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 587.472595 m, bearing: 23.083122 deg, approach rate: -0.594040 m/s, LOS rate: -0.005590 deg/s, cmd heading: 23.899996 deg, new cmd heading: 23.895562 deg. 2025-10-29T00:29:45.392Z,1761697785.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417056 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:45.549Z,1761697785.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777729 2025-10-29T00:29:45.763Z,1761697785.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905451,-0.414225,-0.092605],[0.423688,0.895124,0.138711],[0.025436,-0.164832,0.985994]] 2025-10-29T00:29:45.785Z,1761697785.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:45.801Z,1761697785.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029762 2025-10-29T00:29:45.802Z,1761697785.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 587.258484 m, bearing: 23.081102 deg, approach rate: -0.539196 m/s, LOS rate: -0.005090 deg/s, cmd heading: 23.895562 deg, new cmd heading: 23.891520 deg. 2025-10-29T00:29:45.805Z,1761697785.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416986 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:46.057Z,1761697786.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.285409 2025-10-29T00:29:46.150Z,1761697786.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905324,-0.414332,-0.093365],[0.423916,0.895030,0.138625],[0.026128,-0.165079,0.985934]] 2025-10-29T00:29:46.204Z,1761697786.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:46.207Z,1761697786.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 587.036072 m, bearing: 23.078412 deg, approach rate: -0.532020 m/s, LOS rate: -0.006437 deg/s, cmd heading: 23.891520 deg, new cmd heading: 23.886138 deg. 2025-10-29T00:29:46.208Z,1761697786.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416892 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:46.305Z,1761697786.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533858 2025-10-29T00:29:46.557Z,1761697786.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785724 2025-10-29T00:29:46.579Z,1761697786.579 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:46.581Z,1761697786.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:46.584Z,1761697786.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 586.818237 m, bearing: 23.075775 deg, approach rate: -0.577016 m/s, LOS rate: -0.006986 deg/s, cmd heading: 23.886138 deg, new cmd heading: 23.880863 deg. 2025-10-29T00:29:46.585Z,1761697786.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416800 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:46.811Z,1761697786.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039324 2025-10-29T00:29:46.972Z,1761697786.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905278,-0.414090,-0.094873],[0.423941,0.894943,0.139109],[0.027302,-0.166153,0.985722]] 2025-10-29T00:29:47.043Z,1761697787.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:47.046Z,1761697787.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 586.562683 m, bearing: 23.072679 deg, approach rate: -0.553424 m/s, LOS rate: -0.006708 deg/s, cmd heading: 23.880863 deg, new cmd heading: 23.874669 deg. 2025-10-29T00:29:47.046Z,1761697787.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416692 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:47.061Z,1761697787.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289762 2025-10-29T00:29:47.313Z,1761697787.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541735 2025-10-29T00:29:47.370Z,1761697787.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905329,-0.413835,-0.095503],[0.423797,0.894989,0.139247],[0.027849,-0.166538,0.985642]] 2025-10-29T00:29:47.406Z,1761697787.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:47.425Z,1761697787.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 586.361938 m, bearing: 23.070218 deg, approach rate: -0.552402 m/s, LOS rate: -0.006775 deg/s, cmd heading: 23.874668 deg, new cmd heading: 23.869745 deg. 2025-10-29T00:29:47.426Z,1761697787.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416606 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:47.565Z,1761697787.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793703 2025-10-29T00:29:47.774Z,1761697787.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905135,-0.414100,-0.096185],[0.424153,0.894933,0.138523],[0.028717,-0.166179,0.985677]] 2025-10-29T00:29:47.809Z,1761697787.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:47.811Z,1761697787.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 586.148621 m, bearing: 23.067592 deg, approach rate: -0.529730 m/s, LOS rate: -0.006523 deg/s, cmd heading: 23.869744 deg, new cmd heading: 23.864490 deg. 2025-10-29T00:29:47.817Z,1761697787.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046069 2025-10-29T00:29:47.821Z,1761697787.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416514 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:48.069Z,1761697788.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297753 2025-10-29T00:29:48.174Z,1761697788.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905074,-0.414026,-0.097081],[0.424234,0.894869,0.138688],[0.029454,-0.166708,0.985566]] 2025-10-29T00:29:48.232Z,1761697788.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:48.235Z,1761697788.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 585.910095 m, bearing: 23.064661 deg, approach rate: -0.586373 m/s, LOS rate: -0.007209 deg/s, cmd heading: 23.864490 deg, new cmd heading: 23.858624 deg. 2025-10-29T00:29:48.235Z,1761697788.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416412 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:48.322Z,1761697788.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550397 2025-10-29T00:29:48.573Z,1761697788.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801762 2025-10-29T00:29:48.576Z,1761697788.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904985,-0.414130,-0.097460],[0.424376,0.894929,0.137870],[0.030124,-0.166130,0.985644]] 2025-10-29T00:29:48.608Z,1761697788.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:48.610Z,1761697788.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:48.624Z,1761697788.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 585.696289 m, bearing: 23.062028 deg, approach rate: -0.541955 m/s, LOS rate: -0.006676 deg/s, cmd heading: 23.858624 deg, new cmd heading: 23.853357 deg. 2025-10-29T00:29:48.625Z,1761697788.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416320 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:48.825Z,1761697788.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054224 2025-10-29T00:29:48.989Z,1761697788.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905031,-0.413845,-0.098238],[0.424220,0.895020,0.137752],[0.030917,-0.166345,0.985583]] 2025-10-29T00:29:49.077Z,1761697789.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305785 2025-10-29T00:29:49.079Z,1761697789.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:49.082Z,1761697789.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 585.427490 m, bearing: 23.058718 deg, approach rate: -0.573037 m/s, LOS rate: -0.007059 deg/s, cmd heading: 23.853357 deg, new cmd heading: 23.846734 deg. 2025-10-29T00:29:49.083Z,1761697789.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416204 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:49.329Z,1761697789.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557788 2025-10-29T00:29:49.515Z,1761697789.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904700,-0.414138,-0.100043],[0.424784,0.894883,0.136907],[0.032829,-0.166356,0.985519]] 2025-10-29T00:29:49.560Z,1761697789.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:49.563Z,1761697789.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 585.146667 m, bearing: 23.055719 deg, approach rate: -0.584360 m/s, LOS rate: -0.006244 deg/s, cmd heading: 23.846735 deg, new cmd heading: 23.840733 deg. 2025-10-29T00:29:49.563Z,1761697789.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416099 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:49.602Z,1761697789.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.830579 2025-10-29T00:29:49.853Z,1761697789.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.081708 2025-10-29T00:29:49.911Z,1761697789.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904649,-0.414024,-0.100968],[0.424827,0.894854,0.136964],[0.033645,-0.166798,0.985417]] 2025-10-29T00:29:49.934Z,1761697789.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:49.937Z,1761697789.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 584.931946 m, bearing: 23.053423 deg, approach rate: -0.573262 m/s, LOS rate: -0.006134 deg/s, cmd heading: 23.840734 deg, new cmd heading: 23.836140 deg. 2025-10-29T00:29:49.938Z,1761697789.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416019 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:50.106Z,1761697790.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.334308 2025-10-29T00:29:50.357Z,1761697790.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.585598 2025-10-29T00:29:50.366Z,1761697790.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904529,-0.414078,-0.101817],[0.425020,0.894776,0.136875],[0.034427,-0.167082,0.985342]] 2025-10-29T00:29:50.418Z,1761697790.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:50.425Z,1761697790.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 584.662964 m, bearing: 23.051058 deg, approach rate: -0.556332 m/s, LOS rate: -0.004892 deg/s, cmd heading: 23.836139 deg, new cmd heading: 23.831408 deg. 2025-10-29T00:29:50.426Z,1761697790.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415937 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:50.609Z,1761697790.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.837700 2025-10-29T00:29:50.779Z,1761697790.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904307,-0.414278,-0.102973],[0.425397,0.894658,0.136469],[0.035589,-0.167215,0.985278]] 2025-10-29T00:29:50.800Z,1761697790.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:50.802Z,1761697790.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:50.821Z,1761697790.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 584.432617 m, bearing: 23.049021 deg, approach rate: -0.599123 m/s, LOS rate: -0.005300 deg/s, cmd heading: 23.831408 deg, new cmd heading: 23.827332 deg. 2025-10-29T00:29:50.822Z,1761697790.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415865 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:50.861Z,1761697790.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.089928 2025-10-29T00:29:51.113Z,1761697791.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.341707 2025-10-29T00:29:51.180Z,1761697791.180 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:29:51.189Z,1761697791.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904012,-0.414600,-0.104253],[0.425909,0.894504,0.135878],[0.036919,-0.167238,0.985225]] 2025-10-29T00:29:51.239Z,1761697791.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:51.242Z,1761697791.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 584.175110 m, bearing: 23.047500 deg, approach rate: -0.589806 m/s, LOS rate: -0.003485 deg/s, cmd heading: 23.827332 deg, new cmd heading: 23.824288 deg. 2025-10-29T00:29:51.243Z,1761697791.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415812 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:51.365Z,1761697791.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.593859 2025-10-29T00:29:51.582Z,1761697791.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903817,-0.414714,-0.105482],[0.426185,0.894544,0.134747],[0.038477,-0.166742,0.985250]] 2025-10-29T00:29:51.600Z,1761697791.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:51.603Z,1761697791.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 583.962341 m, bearing: 23.046235 deg, approach rate: -0.589532 m/s, LOS rate: -0.003507 deg/s, cmd heading: 23.824289 deg, new cmd heading: 23.821757 deg. 2025-10-29T00:29:51.603Z,1761697791.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415768 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:51.617Z,1761697791.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.845762 2025-10-29T00:29:51.872Z,1761697791.872 [DAT](INFO): Reached modem response timeout 2025-10-29T00:29:51.873Z,1761697791.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:51.873Z,1761697791.873 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:29:51.999Z,1761697791.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903429,-0.415275,-0.106599],[0.426854,0.894497,0.132930],[0.040150,-0.165595,0.985376]] 2025-10-29T00:29:52.026Z,1761697792.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:52.044Z,1761697792.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 583.713989 m, bearing: 23.044737 deg, approach rate: -0.583804 m/s, LOS rate: -0.003522 deg/s, cmd heading: 23.821757 deg, new cmd heading: 23.818760 deg. 2025-10-29T00:29:52.063Z,1761697792.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415716 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:52.121Z,1761697792.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:52.184Z,1761697792.184 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:29:52.373Z,1761697792.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:52.404Z,1761697792.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903030,-0.415797,-0.107937],[0.427555,0.894298,0.132014],[0.041637,-0.165361,0.985354]] 2025-10-29T00:29:52.454Z,1761697792.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:52.457Z,1761697792.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 583.461853 m, bearing: 23.043727 deg, approach rate: -0.587934 m/s, LOS rate: -0.002356 deg/s, cmd heading: 23.818760 deg, new cmd heading: 23.816739 deg. 2025-10-29T00:29:52.458Z,1761697792.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415681 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:52.625Z,1761697792.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:52.812Z,1761697792.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902783,-0.416047,-0.109031],[0.427903,0.894407,0.130136],[0.043375,-0.164140,0.985483]] 2025-10-29T00:29:52.828Z,1761697792.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:52.830Z,1761697792.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:52.833Z,1761697792.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 583.242798 m, bearing: 23.042839 deg, approach rate: -0.582477 m/s, LOS rate: -0.002363 deg/s, cmd heading: 23.816740 deg, new cmd heading: 23.814963 deg. 2025-10-29T00:29:52.834Z,1761697792.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415650 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:52.877Z,1761697792.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:53.129Z,1761697793.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:53.265Z,1761697793.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:53.267Z,1761697793.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 582.989807 m, bearing: 23.042621 deg, approach rate: -0.582079 m/s, LOS rate: -0.000501 deg/s, cmd heading: 23.814962 deg, new cmd heading: 23.814527 deg. 2025-10-29T00:29:53.269Z,1761697793.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415642 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:53.381Z,1761697793.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:53.614Z,1761697793.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902483,-0.416057,-0.111451],[0.428233,0.894501,0.128393],[0.046274,-0.163600,0.985441]] 2025-10-29T00:29:53.633Z,1761697793.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:53.646Z,1761697793.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:53.648Z,1761697793.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 582.776184 m, bearing: 23.042428 deg, approach rate: -0.561088 m/s, LOS rate: -0.000508 deg/s, cmd heading: 23.814527 deg, new cmd heading: 23.814140 deg. 2025-10-29T00:29:53.649Z,1761697793.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415635 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:53.888Z,1761697793.888 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:29:54.021Z,1761697794.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902637,-0.415449,-0.112466],[0.427722,0.894971,0.126814],[0.047969,-0.162572,0.985530]] 2025-10-29T00:29:54.048Z,1761697794.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:54.057Z,1761697794.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 582.539734 m, bearing: 23.042225 deg, approach rate: -0.587807 m/s, LOS rate: -0.000504 deg/s, cmd heading: 23.814141 deg, new cmd heading: 23.813736 deg. 2025-10-29T00:29:54.061Z,1761697794.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415628 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:54.141Z,1761697794.141 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:29:54.141Z,1761697794.141 [DAT](INFO): response not received 2025-10-29T00:29:54.142Z,1761697794.142 [DAT](INFO): DAT read: user:383> 2025-10-29T00:29:54.142Z,1761697794.142 [DAT](INFO): DAT read: Tx time:00:29:54.0272 2025-10-29T00:29:54.143Z,1761697794.143 [DAT](INFO): Ping request sent. 2025-10-29T00:29:54.143Z,1761697794.143 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:29:54.143Z,1761697794.143 [DAT](INFO): publishing transmit ping time 2025-10-29T00:29:54.144Z,1761697794.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:29:54.393Z,1761697794.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250417 2025-10-29T00:29:54.460Z,1761697794.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902705,-0.415205,-0.112822],[0.427399,0.895517,0.124015],[0.049542,-0.160169,0.985846]] 2025-10-29T00:29:54.544Z,1761697794.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:54.547Z,1761697794.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 582.260376 m, bearing: 23.042539 deg, approach rate: -0.581677 m/s, LOS rate: 0.000653 deg/s, cmd heading: 23.813736 deg, new cmd heading: 23.814364 deg. 2025-10-29T00:29:54.552Z,1761697794.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415639 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:54.646Z,1761697794.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503415 2025-10-29T00:29:54.865Z,1761697794.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902793,-0.414742,-0.113816],[0.427054,0.895806,0.123116],[0.050896,-0.159753,0.985844]] 2025-10-29T00:29:54.882Z,1761697794.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:54.884Z,1761697794.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:54.887Z,1761697794.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 582.057068 m, bearing: 23.042774 deg, approach rate: -0.570938 m/s, LOS rate: 0.000661 deg/s, cmd heading: 23.814363 deg, new cmd heading: 23.814833 deg. 2025-10-29T00:29:54.888Z,1761697794.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415647 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:54.897Z,1761697794.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754144 2025-10-29T00:29:55.149Z,1761697795.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006052 2025-10-29T00:29:55.267Z,1761697795.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902774,-0.414487,-0.114890],[0.426954,0.895903,0.122749],[0.052053,-0.159867,0.985765]] 2025-10-29T00:29:55.304Z,1761697795.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:55.307Z,1761697795.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 581.826904 m, bearing: 23.043123 deg, approach rate: -0.548400 m/s, LOS rate: 0.000831 deg/s, cmd heading: 23.814834 deg, new cmd heading: 23.815532 deg. 2025-10-29T00:29:55.308Z,1761697795.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415659 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:55.402Z,1761697795.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258924 2025-10-29T00:29:55.653Z,1761697795.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510057 2025-10-29T00:29:55.671Z,1761697795.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902911,-0.413864,-0.116051],[0.426523,0.896110,0.122741],[0.053197,-0.160323,0.985630]] 2025-10-29T00:29:55.692Z,1761697795.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:55.694Z,1761697795.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 581.613953 m, bearing: 23.043455 deg, approach rate: -0.549024 m/s, LOS rate: 0.000857 deg/s, cmd heading: 23.815531 deg, new cmd heading: 23.816196 deg. 2025-10-29T00:29:55.695Z,1761697795.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415671 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:55.905Z,1761697795.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762028 2025-10-29T00:29:56.084Z,1761697796.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903160,-0.412971,-0.117289],[0.425839,0.896428,0.122794],[0.054431,-0.160848,0.985477]] 2025-10-29T00:29:56.157Z,1761697796.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014144 2025-10-29T00:29:56.173Z,1761697796.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:56.188Z,1761697796.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 581.376343 m, bearing: 23.043843 deg, approach rate: -0.493654 m/s, LOS rate: 0.000806 deg/s, cmd heading: 23.816195 deg, new cmd heading: 23.816971 deg. 2025-10-29T00:29:56.189Z,1761697796.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415685 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:56.409Z,1761697796.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266104 2025-10-29T00:29:56.573Z,1761697796.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:56.576Z,1761697796.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 581.144775 m, bearing: 23.044053 deg, approach rate: -0.578402 m/s, LOS rate: 0.000524 deg/s, cmd heading: 23.816972 deg, new cmd heading: 23.817392 deg. 2025-10-29T00:29:56.577Z,1761697796.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415692 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:56.662Z,1761697796.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518529 2025-10-29T00:29:56.890Z,1761697796.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903830,-0.410780,-0.119793],[0.424098,0.897189,0.123255],[0.056847,-0.162205,0.985118]] 2025-10-29T00:29:56.907Z,1761697796.907 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:56.909Z,1761697796.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:56.912Z,1761697796.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 580.953308 m, bearing: 23.044261 deg, approach rate: -0.570466 m/s, LOS rate: 0.000621 deg/s, cmd heading: 23.817392 deg, new cmd heading: 23.817809 deg. 2025-10-29T00:29:56.913Z,1761697796.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770262 2025-10-29T00:29:56.914Z,1761697796.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415699 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:57.168Z,1761697797.168 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024399 2025-10-29T00:29:57.297Z,1761697797.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904478,-0.408878,-0.121404],[0.422549,0.897744,0.124529],[0.058072,-0.163933,0.984761]] 2025-10-29T00:29:57.332Z,1761697797.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:57.335Z,1761697797.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 580.730225 m, bearing: 23.044106 deg, approach rate: -0.527299 m/s, LOS rate: -0.000367 deg/s, cmd heading: 23.817809 deg, new cmd heading: 23.817498 deg. 2025-10-29T00:29:57.352Z,1761697797.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415694 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:57.418Z,1761697797.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275564 2025-10-29T00:29:57.669Z,1761697797.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526117 2025-10-29T00:29:57.702Z,1761697797.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905067,-0.407130,-0.122877],[0.421105,0.898313,0.125313],[0.059363,-0.165161,0.984479]] 2025-10-29T00:29:57.720Z,1761697797.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:57.723Z,1761697797.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 580.525818 m, bearing: 23.043994 deg, approach rate: -0.527260 m/s, LOS rate: -0.000288 deg/s, cmd heading: 23.817498 deg, new cmd heading: 23.817275 deg. 2025-10-29T00:29:57.723Z,1761697797.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415690 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:57.921Z,1761697797.921 [DAT](INFO): DAT read: Rx Time:00:29:57.2380 2025-10-29T00:29:57.921Z,1761697797.921 [DAT](INFO): Rx dataTimestamp_ set to:1761697797.921116 2025-10-29T00:29:57.922Z,1761697797.922 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779146 2025-10-29T00:29:58.109Z,1761697798.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905638,-0.405320,-0.124644],[0.419665,0.898850,0.126295],[0.060846,-0.166686,0.984131]] 2025-10-29T00:29:58.176Z,1761697798.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032593 2025-10-29T00:29:58.193Z,1761697798.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:58.200Z,1761697798.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 580.283936 m, bearing: 23.043897 deg, approach rate: -0.510953 m/s, LOS rate: -0.000204 deg/s, cmd heading: 23.817274 deg, new cmd heading: 23.817081 deg. 2025-10-29T00:29:58.201Z,1761697798.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415686 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:58.435Z,1761697798.435 [DAT](INFO): DAT read: 00:29:57.2380 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401,-0.15,-1.871, 2.894,-1.728,-2.152, PHS= 0.383,-1.192, 0.381, RAW= 149.9, 5.5, CAL= 149.2, 5.7, ROT= 0.8, -5.7 2025-10-29T00:29:58.437Z,1761697798.437 [DAT](INFO): got valid direction response: 00:29:57.2380 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 401,-0.15,-1.871, 2.894,-1.728,-2.152, PHS= 0.383,-1.192, 0.381, RAW= 149.9, 5.5, CAL= 149.2, 5.7, ROT= 0.8, -5.7 2025-10-29T00:29:58.438Z,1761697798.438 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:29:58.438Z,1761697798.438 [DAT](INFO): Received a bad header 2025-10-29T00:29:58.453Z,1761697798.453 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:29:58.454Z,1761697798.454 [DAT](INFO): direction in FSK: [0.994959,0.013893,0.099320] 2025-10-29T00:29:58.461Z,1761697798.461 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:58.461Z,1761697798.461 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:58.462Z,1761697798.462 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:58.584Z,1761697798.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:58.586Z,1761697798.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 580.066711 m, bearing: 23.042951 deg, approach rate: -0.556568 m/s, LOS rate: -0.002426 deg/s, cmd heading: 23.817081 deg, new cmd heading: 23.815188 deg. 2025-10-29T00:29:58.587Z,1761697798.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415653 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:58.677Z,1761697798.677 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:58.677Z,1761697798.677 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:58.677Z,1761697798.677 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:58.918Z,1761697798.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906172,-0.403418,-0.126906],[0.418137,0.899609,0.125959],[0.063352,-0.167205,0.983885]] 2025-10-29T00:29:58.929Z,1761697798.929 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:58.929Z,1761697798.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:58.929Z,1761697798.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:58.943Z,1761697798.943 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:29:58.945Z,1761697798.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:58.948Z,1761697798.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 579.872803 m, bearing: 23.042136 deg, approach rate: -0.536166 m/s, LOS rate: -0.002255 deg/s, cmd heading: 23.815188 deg, new cmd heading: 23.813557 deg. 2025-10-29T00:29:58.949Z,1761697798.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415625 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:59.183Z,1761697799.183 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:59.184Z,1761697799.184 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:59.184Z,1761697799.184 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:59.322Z,1761697799.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906435,-0.402331,-0.128469],[0.417320,0.899991,0.125938],[0.064952,-0.167768,0.983685]] 2025-10-29T00:29:59.376Z,1761697799.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:59.379Z,1761697799.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 579.637390 m, bearing: 23.040542 deg, approach rate: -0.546252 m/s, LOS rate: -0.003701 deg/s, cmd heading: 23.813557 deg, new cmd heading: 23.810367 deg. 2025-10-29T00:29:59.380Z,1761697799.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415569 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:59.434Z,1761697799.434 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:59.434Z,1761697799.434 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:59.434Z,1761697799.434 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:59.685Z,1761697799.685 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:59.685Z,1761697799.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:59.685Z,1761697799.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:29:59.746Z,1761697799.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906577,-0.401480,-0.130124],[0.416748,0.900272,0.125825],[0.066630,-0.168299,0.983481]] 2025-10-29T00:29:59.791Z,1761697799.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:29:59.798Z,1761697799.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 579.421692 m, bearing: 23.039091 deg, approach rate: -0.519362 m/s, LOS rate: -0.003493 deg/s, cmd heading: 23.810367 deg, new cmd heading: 23.807466 deg. 2025-10-29T00:29:59.799Z,1761697799.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415519 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:29:59.937Z,1761697799.937 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:29:59.937Z,1761697799.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:29:59.937Z,1761697799.937 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:00.191Z,1761697800.191 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:00.192Z,1761697800.192 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:00.193Z,1761697800.193 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:00.258Z,1761697800.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906829,-0.400357,-0.131820],[0.415933,0.900625,0.125993],[0.068279,-0.169082,0.983234]] 2025-10-29T00:30:00.294Z,1761697800.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:00.297Z,1761697800.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 579.125916 m, bearing: 23.037135 deg, approach rate: -0.588633 m/s, LOS rate: -0.003895 deg/s, cmd heading: 23.807466 deg, new cmd heading: 23.803552 deg. 2025-10-29T00:30:00.298Z,1761697800.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415450 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:00.441Z,1761697800.441 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:00.441Z,1761697800.441 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:00.441Z,1761697800.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:00.654Z,1761697800.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907035,-0.399392,-0.133317],[0.415206,0.901008,0.125649],[0.069937,-0.169322,0.983076]] 2025-10-29T00:30:00.673Z,1761697800.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:00.675Z,1761697800.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 578.912109 m, bearing: 23.035735 deg, approach rate: -0.564086 m/s, LOS rate: -0.003694 deg/s, cmd heading: 23.803552 deg, new cmd heading: 23.800752 deg. 2025-10-29T00:30:00.677Z,1761697800.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415401 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:00.693Z,1761697800.693 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:00.693Z,1761697800.693 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:00.693Z,1761697800.693 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:00.945Z,1761697800.945 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:00.945Z,1761697800.945 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:00.945Z,1761697800.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:01.094Z,1761697801.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:01.096Z,1761697801.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:01.099Z,1761697801.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 578.673828 m, bearing: 23.034174 deg, approach rate: -0.563078 m/s, LOS rate: -0.003690 deg/s, cmd heading: 23.800752 deg, new cmd heading: 23.797629 deg. 2025-10-29T00:30:01.100Z,1761697801.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415347 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:01.200Z,1761697801.200 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:01.201Z,1761697801.201 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:01.201Z,1761697801.201 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:01.449Z,1761697801.449 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:01.449Z,1761697801.449 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:01.449Z,1761697801.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:01.489Z,1761697801.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907100,-0.398056,-0.136826],[0.414398,0.901535,0.124531],[0.073783,-0.169663,0.982736]] 2025-10-29T00:30:01.607Z,1761697801.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:01.610Z,1761697801.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 578.383118 m, bearing: 23.032637 deg, approach rate: -0.569011 m/s, LOS rate: -0.003010 deg/s, cmd heading: 23.797629 deg, new cmd heading: 23.794553 deg. 2025-10-29T00:30:01.611Z,1761697801.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415293 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:01.701Z,1761697801.701 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:01.701Z,1761697801.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:01.701Z,1761697801.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:01.866Z,1761697801.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907110,-0.397314,-0.138897],[0.413980,0.901794,0.124050],[0.075970,-0.170028,0.982507]] 2025-10-29T00:30:01.886Z,1761697801.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:01.888Z,1761697801.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 578.224792 m, bearing: 23.031805 deg, approach rate: -0.568425 m/s, LOS rate: -0.002987 deg/s, cmd heading: 23.794554 deg, new cmd heading: 23.792890 deg. 2025-10-29T00:30:01.889Z,1761697801.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415264 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:01.953Z,1761697801.953 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:01.954Z,1761697801.954 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:01.954Z,1761697801.954 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:02.207Z,1761697802.207 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:02.208Z,1761697802.208 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:02.208Z,1761697802.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:02.333Z,1761697802.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:02.336Z,1761697802.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 577.965454 m, bearing: 23.030553 deg, approach rate: -0.579351 m/s, LOS rate: -0.002800 deg/s, cmd heading: 23.792891 deg, new cmd heading: 23.790384 deg. 2025-10-29T00:30:02.337Z,1761697802.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415221 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:02.458Z,1761697802.458 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:02.458Z,1761697802.458 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:02.458Z,1761697802.458 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:02.677Z,1761697802.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907062,-0.395797,-0.143467],[0.413199,0.902258,0.123275],[0.080652,-0.171098,0.981947]] 2025-10-29T00:30:02.695Z,1761697802.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:02.697Z,1761697802.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 577.756165 m, bearing: 23.029555 deg, approach rate: -0.579170 m/s, LOS rate: -0.002761 deg/s, cmd heading: 23.790384 deg, new cmd heading: 23.788389 deg. 2025-10-29T00:30:02.698Z,1761697802.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415186 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:02.709Z,1761697802.709 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:02.709Z,1761697802.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:02.709Z,1761697802.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:02.963Z,1761697802.963 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:02.963Z,1761697802.963 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:02.963Z,1761697802.963 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:03.078Z,1761697803.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907047,-0.395002,-0.145739],[0.412744,0.902562,0.122577],[0.083121,-0.171336,0.981700]] 2025-10-29T00:30:03.098Z,1761697803.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:03.100Z,1761697803.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:03.103Z,1761697803.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 577.521912 m, bearing: 23.028448 deg, approach rate: -0.577194 m/s, LOS rate: -0.002730 deg/s, cmd heading: 23.788389 deg, new cmd heading: 23.786173 deg. 2025-10-29T00:30:03.120Z,1761697803.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415147 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:03.215Z,1761697803.215 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:03.216Z,1761697803.216 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:03.216Z,1761697803.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:03.466Z,1761697803.466 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:03.466Z,1761697803.466 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:03.466Z,1761697803.466 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:03.504Z,1761697803.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907051,-0.394004,-0.148389],[0.412182,0.902866,0.122226],[0.085818,-0.172028,0.981347]] 2025-10-29T00:30:03.552Z,1761697803.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:03.555Z,1761697803.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 577.255127 m, bearing: 23.027677 deg, approach rate: -0.590497 m/s, LOS rate: -0.001707 deg/s, cmd heading: 23.786173 deg, new cmd heading: 23.784630 deg. 2025-10-29T00:30:03.556Z,1761697803.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415120 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:03.717Z,1761697803.717 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:03.717Z,1761697803.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:03.717Z,1761697803.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:03.886Z,1761697803.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907131,-0.392883,-0.150854],[0.411451,0.903270,0.121705],[0.088446,-0.172472,0.981036]] 2025-10-29T00:30:03.921Z,1761697803.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:03.924Z,1761697803.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 577.046875 m, bearing: 23.027089 deg, approach rate: -0.592082 m/s, LOS rate: -0.001671 deg/s, cmd heading: 23.784631 deg, new cmd heading: 23.783456 deg. 2025-10-29T00:30:03.929Z,1761697803.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415100 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:03.969Z,1761697803.969 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:03.969Z,1761697803.969 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:03.969Z,1761697803.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:30:04.223Z,1761697804.223 [DAT](INFO): Reached modem response timeout 2025-10-29T00:30:04.224Z,1761697804.224 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:04.225Z,1761697804.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:04.301Z,1761697804.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907173,-0.391811,-0.153368],[0.410766,0.903665,0.121084],[0.091151,-0.172842,0.980723]] 2025-10-29T00:30:04.347Z,1761697804.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:04.350Z,1761697804.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 576.784424 m, bearing: 23.026697 deg, approach rate: -0.592104 m/s, LOS rate: -0.000885 deg/s, cmd heading: 23.783456 deg, new cmd heading: 23.782671 deg. 2025-10-29T00:30:04.351Z,1761697804.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415086 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:04.474Z,1761697804.474 [DAT](INFO): DAT read: 2025-10-29T00:30:04.475Z,1761697804.475 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:04.698Z,1761697804.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907254,-0.390667,-0.155788],[0.409938,0.904200,0.119884],[0.094029,-0.172629,0.980489]] 2025-10-29T00:30:04.715Z,1761697804.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:04.722Z,1761697804.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 576.566406 m, bearing: 23.026388 deg, approach rate: -0.592549 m/s, LOS rate: -0.000840 deg/s, cmd heading: 23.782671 deg, new cmd heading: 23.782053 deg. 2025-10-29T00:30:04.723Z,1761697804.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415075 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:04.725Z,1761697804.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:04.981Z,1761697804.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:05.099Z,1761697805.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907297,-0.389592,-0.158207],[0.409166,0.904720,0.118598],[0.096928,-0.172336,0.980258]] 2025-10-29T00:30:05.115Z,1761697805.115 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:05.122Z,1761697805.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:05.125Z,1761697805.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 576.328308 m, bearing: 23.026068 deg, approach rate: -0.585526 m/s, LOS rate: -0.000789 deg/s, cmd heading: 23.782053 deg, new cmd heading: 23.781411 deg. 2025-10-29T00:30:05.126Z,1761697805.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415064 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:05.229Z,1761697805.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:05.482Z,1761697805.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:05.502Z,1761697805.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907313,-0.388536,-0.160694],[0.408489,0.905105,0.117994],[0.099600,-0.172699,0.979926]] 2025-10-29T00:30:05.552Z,1761697805.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:05.555Z,1761697805.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 576.071289 m, bearing: 23.025968 deg, approach rate: -0.597253 m/s, LOS rate: -0.000231 deg/s, cmd heading: 23.781411 deg, new cmd heading: 23.781212 deg. 2025-10-29T00:30:05.556Z,1761697805.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415060 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:05.733Z,1761697805.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:05.907Z,1761697805.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907368,-0.387368,-0.163183],[0.407693,0.905549,0.117333],[0.102319,-0.172993,0.979594]] 2025-10-29T00:30:05.929Z,1761697805.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:05.932Z,1761697805.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 575.851074 m, bearing: 23.025900 deg, approach rate: -0.583508 m/s, LOS rate: -0.000181 deg/s, cmd heading: 23.781213 deg, new cmd heading: 23.781076 deg. 2025-10-29T00:30:05.933Z,1761697805.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415058 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:05.985Z,1761697805.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:06.239Z,1761697806.239 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:06.324Z,1761697806.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907314,-0.386695,-0.165068],[0.407078,0.906157,0.114747],[0.105206,-0.171307,0.979585]] 2025-10-29T00:30:06.420Z,1761697806.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:06.422Z,1761697806.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 575.572937 m, bearing: 23.025773 deg, approach rate: -0.567419 m/s, LOS rate: -0.000258 deg/s, cmd heading: 23.781076 deg, new cmd heading: 23.780823 deg. 2025-10-29T00:30:06.423Z,1761697806.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:06.491Z,1761697806.491 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:06.746Z,1761697806.746 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:30:06.746Z,1761697806.746 [DAT](INFO): response not received 2025-10-29T00:30:06.747Z,1761697806.747 [DAT](INFO): DAT read: user:385>Tx time:00:30:06.4772 2025-10-29T00:30:06.748Z,1761697806.748 [DAT](ERROR): No response from remote modem. 2025-10-29T00:30:06.748Z,1761697806.748 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:06.749Z,1761697806.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:06.759Z,1761697806.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:06.763Z,1761697806.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 575.372437 m, bearing: 23.025682 deg, approach rate: -0.590844 m/s, LOS rate: -0.000269 deg/s, cmd heading: 23.780823 deg, new cmd heading: 23.780641 deg. 2025-10-29T00:30:06.789Z,1761697806.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415050 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:06.997Z,1761697806.997 [DAT](INFO): DAT read: 2025-10-29T00:30:06.997Z,1761697806.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:07.118Z,1761697807.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907093,-0.385276,-0.169545],[0.406215,0.906803,0.112686],[0.110329,-0.171088,0.979059]] 2025-10-29T00:30:07.153Z,1761697807.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:07.155Z,1761697807.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:07.157Z,1761697807.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 575.137390 m, bearing: 23.025592 deg, approach rate: -0.594043 m/s, LOS rate: -0.000229 deg/s, cmd heading: 23.780641 deg, new cmd heading: 23.780460 deg. 2025-10-29T00:30:07.158Z,1761697807.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415047 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:07.250Z,1761697807.250 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:07.501Z,1761697807.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:07.529Z,1761697807.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906954,-0.384202,-0.172694],[0.405159,0.907832,0.108106],[0.115243,-0.168016,0.979025]] 2025-10-29T00:30:07.573Z,1761697807.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:07.576Z,1761697807.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 574.898376 m, bearing: 23.025693 deg, approach rate: -0.571023 m/s, LOS rate: 0.000242 deg/s, cmd heading: 23.780460 deg, new cmd heading: 23.780662 deg. 2025-10-29T00:30:07.577Z,1761697807.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415051 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:07.753Z,1761697807.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:07.933Z,1761697807.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906806,-0.383710,-0.174554],[0.404775,0.908212,0.106340],[0.117729,-0.167085,0.978888]] 2025-10-29T00:30:07.964Z,1761697807.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:07.968Z,1761697807.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 574.679688 m, bearing: 23.025792 deg, approach rate: -0.560758 m/s, LOS rate: 0.000255 deg/s, cmd heading: 23.780663 deg, new cmd heading: 23.780861 deg. 2025-10-29T00:30:07.970Z,1761697807.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:08.005Z,1761697808.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:08.257Z,1761697808.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:08.423Z,1761697808.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:08.426Z,1761697808.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 574.422546 m, bearing: 23.025758 deg, approach rate: -0.558727 m/s, LOS rate: -0.000075 deg/s, cmd heading: 23.780861 deg, new cmd heading: 23.780792 deg. 2025-10-29T00:30:08.427Z,1761697808.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415053 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:08.509Z,1761697808.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:08.741Z,1761697808.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906562,-0.382562,-0.178301],[0.403893,0.908951,0.103335],[0.122535,-0.165694,0.978535]] 2025-10-29T00:30:08.761Z,1761697808.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:08.770Z,1761697808.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:08.797Z,1761697808.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 574.223938 m, bearing: 23.025745 deg, approach rate: -0.573244 m/s, LOS rate: -0.000036 deg/s, cmd heading: 23.780793 deg, new cmd heading: 23.780768 deg. 2025-10-29T00:30:08.798Z,1761697808.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415053 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:09.013Z,1761697809.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:09.141Z,1761697809.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906611,-0.381528,-0.180260],[0.403101,0.909381,0.102639],[0.124766,-0.165717,0.978249]] 2025-10-29T00:30:09.157Z,1761697809.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:09.159Z,1761697809.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:09.162Z,1761697809.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 574.000549 m, bearing: 23.025748 deg, approach rate: -0.573645 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.780767 deg, new cmd heading: 23.780773 deg. 2025-10-29T00:30:09.163Z,1761697809.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415053 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:09.265Z,1761697809.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:09.517Z,1761697809.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:09.542Z,1761697809.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906492,-0.380872,-0.182232],[0.402685,0.909648,0.101911],[0.126952,-0.165763,0.977960]] 2025-10-29T00:30:09.589Z,1761697809.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:09.592Z,1761697809.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 573.761658 m, bearing: 23.025787 deg, approach rate: -0.555801 m/s, LOS rate: 0.000090 deg/s, cmd heading: 23.780772 deg, new cmd heading: 23.780850 deg. 2025-10-29T00:30:09.593Z,1761697809.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415054 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:09.769Z,1761697809.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:09.949Z,1761697809.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906389,-0.379911,-0.184736],[0.402222,0.909790,0.102473],[0.129140,-0.167185,0.977431]] 2025-10-29T00:30:09.993Z,1761697809.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:09.995Z,1761697809.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 573.547241 m, bearing: 23.025830 deg, approach rate: -0.531182 m/s, LOS rate: 0.000107 deg/s, cmd heading: 23.780849 deg, new cmd heading: 23.780936 deg. 2025-10-29T00:30:10.000Z,1761697810.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415056 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:10.021Z,1761697810.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:10.273Z,1761697810.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:10.370Z,1761697810.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906500,-0.378699,-0.186670],[0.401299,0.910229,0.102185],[0.131215,-0.167541,0.977094]] 2025-10-29T00:30:10.406Z,1761697810.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:10.408Z,1761697810.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 573.309753 m, bearing: 23.025990 deg, approach rate: -0.575315 m/s, LOS rate: 0.000387 deg/s, cmd heading: 23.780936 deg, new cmd heading: 23.781255 deg. 2025-10-29T00:30:10.409Z,1761697810.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415061 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:10.526Z,1761697810.526 [DAT](INFO): DAT read: Rx Time:00:30:09.6727 2025-10-29T00:30:10.526Z,1761697810.526 [DAT](INFO): Rx dataTimestamp_ set to:1761697810.525797 2025-10-29T00:30:10.527Z,1761697810.527 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:10.765Z,1761697810.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906553,-0.377652,-0.188524],[0.400517,0.910615,0.101813],[0.133223,-0.167805,0.976777]] 2025-10-29T00:30:10.777Z,1761697810.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:10.788Z,1761697810.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 602.90 m. 2025-10-29T00:30:10.790Z,1761697810.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 602.902100 m, nav range: 573.099365 m, bearing: 23.026147 deg, approach rate: -0.550874 m/s, LOS rate: 0.000412 deg/s, cmd heading: 23.781255 deg, new cmd heading: 23.781570 deg. 2025-10-29T00:30:10.791Z,1761697810.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415067 target range: 602.902100 and range: 605.40 m. 2025-10-29T00:30:11.035Z,1761697811.035 [DAT](INFO): DAT read: 00:30:09.6727 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 292,-0.03, 0.752,-0.795, 0.936, 0.545, PHS= 0.309,-1.295, 0.346, RAW= 151.1, 7.9, CAL= 150.6, 8.5, ROT= 359.4, -8.5 2025-10-29T00:30:11.036Z,1761697811.036 [DAT](INFO): got valid direction response: 00:30:09.6727 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 292,-0.03, 0.752,-0.795, 0.936, 0.545, PHS= 0.309,-1.295, 0.346, RAW= 151.1, 7.9, CAL= 150.6, 8.5, ROT= 359.4, -8.5 2025-10-29T00:30:11.037Z,1761697811.037 [DAT](INFO): DAT read: Bearing 181.5, 5.5 (Local) 2025-10-29T00:30:11.037Z,1761697811.037 [DAT](INFO): Local bearing/azimuth received: Bearing 181.5, 5.5 (Local) 2025-10-29T00:30:11.039Z,1761697811.039 [DAT](INFO): DAT read: Range 11 to 50 : 593.5 m (Round-trip 791.4 ms) speed 0.4 m/s 2025-10-29T00:30:11.040Z,1761697811.040 [DAT](INFO): DAT read: user:386>Tx time:00:30:10.7772 2025-10-29T00:30:11.040Z,1761697811.040 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:11.041Z,1761697811.041 [DAT](INFO): direction in FSK: [0.988962,-0.010357,0.147809] 2025-10-29T00:30:11.041Z,1761697811.041 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:11.052Z,1761697811.052 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:11.052Z,1761697811.052 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:11.166Z,1761697811.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906464,-0.377027,-0.190191],[0.400088,0.910877,0.101159],[0.135101,-0.167790,0.976522]] 2025-10-29T00:30:11.222Z,1761697811.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 593.500000 m, deltaT: 29.511385 s, deltaX: -11.900024 m, approachRate: -0.403235 m/s, rangeRepo size: 4 2025-10-29T00:30:11.228Z,1761697811.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 590.986145 m, bearing: 24.699934 deg, lat: 36.779088 deg, lon: -121.859342 deg, deltaT: 29.511385 s, deltaX: -11.915955 m, approachRate: -0.403775 m/s, posRepo size: 4 2025-10-29T00:30:11.229Z,1761697811.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:11.231Z,1761697811.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 570.203918 m, bearing: 23.140321 deg, approach rate: 0.000000 m/s, LOS rate: 0.000412 deg/s, cmd heading: 23.781570 deg, new cmd heading: 23.781927 deg. 2025-10-29T00:30:11.236Z,1761697811.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415073 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:11.282Z,1761697811.282 [DAT](INFO): DAT read: 2025-10-29T00:30:11.282Z,1761697811.282 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:11.533Z,1761697811.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:11.563Z,1761697811.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906276,-0.376925,-0.191290],[0.399973,0.911087,0.099713],[0.136697,-0.166878,0.976456]] 2025-10-29T00:30:11.598Z,1761697811.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:11.600Z,1761697811.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:11.602Z,1761697811.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 569.984863 m, bearing: 23.140538 deg, approach rate: -0.578756 m/s, LOS rate: 0.000574 deg/s, cmd heading: 23.781926 deg, new cmd heading: 23.782361 deg. 2025-10-29T00:30:11.603Z,1761697811.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415080 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:11.785Z,1761697811.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:11.977Z,1761697811.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906028,-0.376821,-0.192662],[0.399953,0.911211,0.098647],[0.138384,-0.166433,0.976294]] 2025-10-29T00:30:11.995Z,1761697811.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:11.998Z,1761697811.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 569.767151 m, bearing: 23.140752 deg, approach rate: -0.550737 m/s, LOS rate: 0.000542 deg/s, cmd heading: 23.782360 deg, new cmd heading: 23.782788 deg. 2025-10-29T00:30:11.999Z,1761697811.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415088 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:12.037Z,1761697812.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:12.289Z,1761697812.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:12.396Z,1761697812.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905577,-0.377204,-0.194030],[0.400386,0.911162,0.097339],[0.140076,-0.165834,0.976155]] 2025-10-29T00:30:12.433Z,1761697812.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:12.435Z,1761697812.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 569.526428 m, bearing: 23.140771 deg, approach rate: -0.550032 m/s, LOS rate: 0.000043 deg/s, cmd heading: 23.782789 deg, new cmd heading: 23.782826 deg. 2025-10-29T00:30:12.461Z,1761697812.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415089 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:12.542Z,1761697812.542 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:12.779Z,1761697812.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905299,-0.377059,-0.195605],[0.400387,0.911252,0.096490],[0.141863,-0.165670,0.975924]] 2025-10-29T00:30:12.793Z,1761697812.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:12.822Z,1761697812.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:12.828Z,1761697812.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 569.326050 m, bearing: 23.140784 deg, approach rate: -0.514925 m/s, LOS rate: 0.000035 deg/s, cmd heading: 23.782826 deg, new cmd heading: 23.782853 deg. 2025-10-29T00:30:12.829Z,1761697812.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415089 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:13.045Z,1761697813.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:13.179Z,1761697813.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905072,-0.376915,-0.196927],[0.400361,0.911340,0.095764],[0.143372,-0.165515,0.975730]] 2025-10-29T00:30:13.207Z,1761697813.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:13.210Z,1761697813.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 569.100830 m, bearing: 23.140798 deg, approach rate: -0.584194 m/s, LOS rate: 0.000035 deg/s, cmd heading: 23.782854 deg, new cmd heading: 23.782881 deg. 2025-10-29T00:30:13.211Z,1761697813.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415090 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:13.297Z,1761697813.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:13.549Z,1761697813.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:13.583Z,1761697813.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904799,-0.377298,-0.197444],[0.400634,0.911363,0.094393],[0.144329,-0.164510,0.975759]] 2025-10-29T00:30:13.628Z,1761697813.628 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:13.630Z,1761697813.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:13.633Z,1761697813.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 568.872009 m, bearing: 23.140213 deg, approach rate: -0.540949 m/s, LOS rate: -0.001384 deg/s, cmd heading: 23.782881 deg, new cmd heading: 23.781710 deg. 2025-10-29T00:30:13.634Z,1761697813.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415069 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:13.801Z,1761697813.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:13.988Z,1761697813.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904284,-0.378387,-0.197720],[0.401468,0.911210,0.092307],[0.145237,-0.162850,0.975903]] 2025-10-29T00:30:14.006Z,1761697814.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:14.009Z,1761697814.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 568.668335 m, bearing: 23.139672 deg, approach rate: -0.541942 m/s, LOS rate: -0.001441 deg/s, cmd heading: 23.781710 deg, new cmd heading: 23.780627 deg. 2025-10-29T00:30:14.010Z,1761697814.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415050 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:14.053Z,1761697814.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:14.305Z,1761697814.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:14.421Z,1761697814.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903883,-0.378906,-0.198559],[0.401944,0.911127,0.091047],[0.146414,-0.162105,0.975851]] 2025-10-29T00:30:14.486Z,1761697814.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:14.489Z,1761697814.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 568.403503 m, bearing: 23.138839 deg, approach rate: -0.552274 m/s, LOS rate: -0.001737 deg/s, cmd heading: 23.780627 deg, new cmd heading: 23.778962 deg. 2025-10-29T00:30:14.490Z,1761697814.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415021 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:14.558Z,1761697814.558 [DAT](INFO): DAT read: Rx Time:00:30:13.9633 2025-10-29T00:30:14.559Z,1761697814.559 [DAT](INFO): Rx dataTimestamp_ set to:1761697814.558069 2025-10-29T00:30:14.559Z,1761697814.559 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:14.809Z,1761697814.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:14.853Z,1761697814.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:14.860Z,1761697814.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 568.213196 m, bearing: 23.138241 deg, approach rate: -0.517734 m/s, LOS rate: -0.001629 deg/s, cmd heading: 23.778962 deg, new cmd heading: 23.777764 deg. 2025-10-29T00:30:14.861Z,1761697814.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415000 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:15.063Z,1761697815.063 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:15.198Z,1761697815.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903216,-0.379480,-0.200489],[0.402613,0.910983,0.089516],[0.148673,-0.161572,0.975598]] 2025-10-29T00:30:15.217Z,1761697815.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 590.99 m. 2025-10-29T00:30:15.219Z,1761697815.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 590.986145 m, nav range: 567.999268 m, bearing: 23.137548 deg, approach rate: -0.589378 m/s, LOS rate: -0.001910 deg/s, cmd heading: 23.777765 deg, new cmd heading: 23.776379 deg. 2025-10-29T00:30:15.221Z,1761697815.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414976 target range: 590.986145 and range: 593.50 m. 2025-10-29T00:30:15.322Z,1761697815.322 [DAT](INFO): DAT read: 00:30:13.9633 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.07,-0.076,-1.619, 0.154,-0.336, PHS= 0.362,-1.238, 0.445, RAW= 152.5, 5.3, CAL= 151.7, 5.3, ROT= 358.3, -5.3 2025-10-29T00:30:15.323Z,1761697815.323 [DAT](INFO): got valid direction response: 00:30:13.9633 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 340,-0.07,-0.076,-1.619, 0.154,-0.336, PHS= 0.362,-1.238, 0.445, RAW= 152.5, 5.3, CAL= 151.7, 5.3, ROT= 358.3, -5.3 2025-10-29T00:30:15.324Z,1761697815.324 [DAT](INFO): DAT read: Bearing 177.6, 6.2 (Local) 2025-10-29T00:30:15.325Z,1761697815.325 [DAT](INFO): Local bearing/azimuth received: Bearing 177.6, 6.2 (Local) 2025-10-29T00:30:15.326Z,1761697815.326 [DAT](INFO): DAT read: Range 11 to 50 : 586.5 m (Round-trip 782.0 ms) speed 0.0 m/s 2025-10-29T00:30:15.327Z,1761697815.327 [DAT](INFO): DAT read: Tx time:00:30:15.0288 2025-10-29T00:30:15.327Z,1761697815.327 [DAT](INFO): Ping request sent. 2025-10-29T00:30:15.327Z,1761697815.327 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:15.328Z,1761697815.328 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:15.329Z,1761697815.329 [DAT](INFO): direction in FSK: [0.995286,-0.029540,0.092371] 2025-10-29T00:30:15.329Z,1761697815.329 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:15.330Z,1761697815.330 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:15.333Z,1761697815.333 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:15.333Z,1761697815.333 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:15.602Z,1761697815.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902802,-0.379797,-0.201750],[0.402977,0.910928,0.088428],[0.150195,-0.161133,0.975437]] 2025-10-29T00:30:15.659Z,1761697815.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 586.500000 m, deltaT: 4.284540 s, deltaX: -7.000000 m, approachRate: -1.633781 m/s, rangeRepo size: 4 2025-10-29T00:30:15.661Z,1761697815.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 583.985535 m, bearing: 23.221606 deg, lat: 36.779073 deg, lon: -121.859340 deg, deltaT: 4.284540 s, deltaX: -7.000610 m, approachRate: -1.633923 m/s, posRepo size: 4 2025-10-29T00:30:15.662Z,1761697815.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:15.665Z,1761697815.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 566.280762 m, bearing: 23.220222 deg, approach rate: 0.000000 m/s, LOS rate: -0.001910 deg/s, cmd heading: 23.776379 deg, new cmd heading: 23.774688 deg. 2025-10-29T00:30:15.666Z,1761697815.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414947 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:16.007Z,1761697816.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902265,-0.380489,-0.202846],[0.403653,0.910756,0.087107],[0.151600,-0.160473,0.975329]] 2025-10-29T00:30:16.038Z,1761697816.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:16.041Z,1761697816.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:16.043Z,1761697816.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 566.072998 m, bearing: 23.219431 deg, approach rate: -0.543611 m/s, LOS rate: -0.002070 deg/s, cmd heading: 23.774688 deg, new cmd heading: 23.773106 deg. 2025-10-29T00:30:16.045Z,1761697816.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414919 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:16.069Z,1761697816.069 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:16.069Z,1761697816.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:16.069Z,1761697816.069 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:16.321Z,1761697816.321 [DAT](INFO): DAT read: user:387> 2025-10-29T00:30:16.322Z,1761697816.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994279 2025-10-29T00:30:16.513Z,1761697816.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:16.523Z,1761697816.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 565.811096 m, bearing: 23.218621 deg, approach rate: -0.554517 m/s, LOS rate: -0.001716 deg/s, cmd heading: 23.773105 deg, new cmd heading: 23.771485 deg. 2025-10-29T00:30:16.524Z,1761697816.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414891 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:16.574Z,1761697816.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246634 2025-10-29T00:30:16.817Z,1761697816.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901421,-0.381431,-0.204818],[0.404659,0.910474,0.085369],[0.153919,-0.159835,0.975070]] 2025-10-29T00:30:16.825Z,1761697816.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497687 2025-10-29T00:30:16.837Z,1761697816.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:16.839Z,1761697816.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 565.623047 m, bearing: 23.218015 deg, approach rate: -0.581481 m/s, LOS rate: -0.001876 deg/s, cmd heading: 23.771485 deg, new cmd heading: 23.770271 deg. 2025-10-29T00:30:16.840Z,1761697816.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414869 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:17.078Z,1761697817.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750010 2025-10-29T00:30:17.258Z,1761697817.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:17.261Z,1761697817.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 565.396851 m, bearing: 23.217285 deg, approach rate: -0.536070 m/s, LOS rate: -0.001731 deg/s, cmd heading: 23.770271 deg, new cmd heading: 23.768810 deg. 2025-10-29T00:30:17.262Z,1761697817.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414844 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:17.329Z,1761697817.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001907 2025-10-29T00:30:17.581Z,1761697817.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253578 2025-10-29T00:30:17.627Z,1761697817.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900772,-0.381450,-0.207621],[0.405139,0.910263,0.085339],[0.156437,-0.160986,0.974480]] 2025-10-29T00:30:17.680Z,1761697817.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:17.686Z,1761697817.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 565.161743 m, bearing: 23.216876 deg, approach rate: -0.558400 m/s, LOS rate: -0.000971 deg/s, cmd heading: 23.768809 deg, new cmd heading: 23.767991 deg. 2025-10-29T00:30:17.687Z,1761697817.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414830 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:17.833Z,1761697817.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505598 2025-10-29T00:30:18.031Z,1761697818.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900606,-0.381169,-0.208850],[0.405027,0.910334,0.085124],[0.157676,-0.161253,0.974236]] 2025-10-29T00:30:18.047Z,1761697818.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:18.065Z,1761697818.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:18.067Z,1761697818.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 564.945190 m, bearing: 23.216500 deg, approach rate: -0.561694 m/s, LOS rate: -0.000975 deg/s, cmd heading: 23.767991 deg, new cmd heading: 23.767239 deg. 2025-10-29T00:30:18.073Z,1761697818.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414817 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:18.085Z,1761697818.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757736 2025-10-29T00:30:18.337Z,1761697818.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009655 2025-10-29T00:30:18.479Z,1761697818.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900386,-0.380728,-0.210598],[0.404975,0.910298,0.085748],[0.159060,-0.162493,0.973805]] 2025-10-29T00:30:18.522Z,1761697818.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:18.525Z,1761697818.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 564.678894 m, bearing: 23.216108 deg, approach rate: -0.582216 m/s, LOS rate: -0.000858 deg/s, cmd heading: 23.767240 deg, new cmd heading: 23.766455 deg. 2025-10-29T00:30:18.526Z,1761697818.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414803 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:18.589Z,1761697818.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261961 2025-10-29T00:30:18.838Z,1761697818.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900173,-0.380442,-0.212019],[0.404872,0.910375,0.085418],[0.160520,-0.162732,0.973525]] 2025-10-29T00:30:18.841Z,1761697818.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513731 2025-10-29T00:30:18.882Z,1761697818.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:18.889Z,1761697818.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 564.490173 m, bearing: 23.215830 deg, approach rate: -0.524711 m/s, LOS rate: -0.000773 deg/s, cmd heading: 23.766454 deg, new cmd heading: 23.765898 deg. 2025-10-29T00:30:18.890Z,1761697818.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414793 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:19.093Z,1761697819.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766019 2025-10-29T00:30:19.244Z,1761697819.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900005,-0.380076,-0.213386],[0.404691,0.910479,0.085165],[0.161914,-0.163005,0.973249]] 2025-10-29T00:30:19.262Z,1761697819.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:19.264Z,1761697819.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 564.263306 m, bearing: 23.215498 deg, approach rate: -0.597674 m/s, LOS rate: -0.000875 deg/s, cmd heading: 23.765898 deg, new cmd heading: 23.765233 deg. 2025-10-29T00:30:19.265Z,1761697819.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414782 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:19.346Z,1761697819.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.018388 2025-10-29T00:30:19.597Z,1761697819.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.269678 2025-10-29T00:30:19.647Z,1761697819.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899891,-0.379666,-0.214590],[0.404467,0.910587,0.085079],[0.163101,-0.163356,0.972992]] 2025-10-29T00:30:19.698Z,1761697819.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:19.701Z,1761697819.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 564.013184 m, bearing: 23.215636 deg, approach rate: -0.573185 m/s, LOS rate: 0.000317 deg/s, cmd heading: 23.765233 deg, new cmd heading: 23.765510 deg. 2025-10-29T00:30:19.702Z,1761697819.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414786 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:19.849Z,1761697819.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.521588 2025-10-29T00:30:20.053Z,1761697820.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899937,-0.378839,-0.215860],[0.403906,0.910802,0.085437],[0.164239,-0.164075,0.972679]] 2025-10-29T00:30:20.069Z,1761697820.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:20.071Z,1761697820.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:20.073Z,1761697820.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 563.799011 m, bearing: 23.215767 deg, approach rate: -0.574551 m/s, LOS rate: 0.000350 deg/s, cmd heading: 23.765510 deg, new cmd heading: 23.765771 deg. 2025-10-29T00:30:20.074Z,1761697820.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414791 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:20.114Z,1761697820.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786635 2025-10-29T00:30:20.365Z,1761697820.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037642 2025-10-29T00:30:20.499Z,1761697820.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899883,-0.378073,-0.217419],[0.403439,0.910986,0.085683],[0.165671,-0.164820,0.972310]] 2025-10-29T00:30:20.557Z,1761697820.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:20.559Z,1761697820.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 563.525208 m, bearing: 23.215623 deg, approach rate: -0.563534 m/s, LOS rate: -0.000297 deg/s, cmd heading: 23.765771 deg, new cmd heading: 23.765483 deg. 2025-10-29T00:30:20.560Z,1761697820.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414786 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:20.618Z,1761697820.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290547 2025-10-29T00:30:20.861Z,1761697820.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899803,-0.377455,-0.218819],[0.403058,0.911153,0.085705],[0.167028,-0.165314,0.971994]] 2025-10-29T00:30:20.869Z,1761697820.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541643 2025-10-29T00:30:20.891Z,1761697820.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:20.894Z,1761697820.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 563.338745 m, bearing: 23.215530 deg, approach rate: -0.557166 m/s, LOS rate: -0.000276 deg/s, cmd heading: 23.765483 deg, new cmd heading: 23.765298 deg. 2025-10-29T00:30:20.895Z,1761697820.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414783 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:21.121Z,1761697821.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.793971 2025-10-29T00:30:21.263Z,1761697821.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899667,-0.377150,-0.219903],[0.402898,0.911243,0.085489],[0.168144,-0.165510,0.971769]] 2025-10-29T00:30:21.297Z,1761697821.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:21.306Z,1761697821.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 563.117004 m, bearing: 23.215423 deg, approach rate: -0.546119 m/s, LOS rate: -0.000265 deg/s, cmd heading: 23.765298 deg, new cmd heading: 23.765083 deg. 2025-10-29T00:30:21.307Z,1761697821.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414779 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:21.373Z,1761697821.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.045589 2025-10-29T00:30:21.625Z,1761697821.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297862 2025-10-29T00:30:21.666Z,1761697821.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899571,-0.376650,-0.221148],[0.402573,0.911405,0.085295],[0.169429,-0.165757,0.971503]] 2025-10-29T00:30:21.723Z,1761697821.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:21.730Z,1761697821.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 562.877258 m, bearing: 23.215464 deg, approach rate: -0.562659 m/s, LOS rate: 0.000097 deg/s, cmd heading: 23.765083 deg, new cmd heading: 23.765166 deg. 2025-10-29T00:30:21.731Z,1761697821.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414780 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:21.877Z,1761697821.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549642 2025-10-29T00:30:22.111Z,1761697822.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:22.113Z,1761697822.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:22.116Z,1761697822.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 562.644348 m, bearing: 23.215504 deg, approach rate: -0.597376 m/s, LOS rate: 0.000103 deg/s, cmd heading: 23.765165 deg, new cmd heading: 23.765245 deg. 2025-10-29T00:30:22.117Z,1761697822.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414782 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:22.129Z,1761697822.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801671 2025-10-29T00:30:22.324Z,1761697822.324 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:30:22.381Z,1761697822.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053632 2025-10-29T00:30:22.503Z,1761697822.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899141,-0.376334,-0.223422],[0.402464,0.911550,0.084257],[0.171952,-0.165678,0.971073]] 2025-10-29T00:30:22.583Z,1761697822.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:22.585Z,1761697822.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 562.374512 m, bearing: 23.214348 deg, approach rate: -0.575168 m/s, LOS rate: -0.002465 deg/s, cmd heading: 23.765245 deg, new cmd heading: 23.762933 deg. 2025-10-29T00:30:22.586Z,1761697822.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414741 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:22.634Z,1761697822.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306401 2025-10-29T00:30:22.885Z,1761697822.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.557657 2025-10-29T00:30:22.892Z,1761697822.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898943,-0.376344,-0.224202],[0.402450,0.911638,0.083365],[0.173017,-0.165170,0.970971]] 2025-10-29T00:30:22.921Z,1761697822.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:22.923Z,1761697822.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 562.180542 m, bearing: 23.213516 deg, approach rate: -0.575165 m/s, LOS rate: -0.002469 deg/s, cmd heading: 23.762933 deg, new cmd heading: 23.761268 deg. 2025-10-29T00:30:22.924Z,1761697822.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414712 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:23.141Z,1761697823.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.813588 2025-10-29T00:30:23.282Z,1761697823.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898735,-0.376241,-0.225208],[0.402399,0.911722,0.082693],[0.174214,-0.164943,0.970795]] 2025-10-29T00:30:23.316Z,1761697823.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:23.319Z,1761697823.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 561.961731 m, bearing: 23.212575 deg, approach rate: -0.557561 m/s, LOS rate: -0.002398 deg/s, cmd heading: 23.761268 deg, new cmd heading: 23.759386 deg. 2025-10-29T00:30:23.324Z,1761697823.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414680 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:23.328Z,1761697823.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:30:23.390Z,1761697823.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062372 2025-10-29T00:30:23.641Z,1761697823.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313573 2025-10-29T00:30:23.692Z,1761697823.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898332,-0.376667,-0.226101],[0.402789,0.911648,0.081603],[0.175387,-0.164378,0.970680]] 2025-10-29T00:30:23.745Z,1761697823.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:23.754Z,1761697823.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 561.713318 m, bearing: 23.211579 deg, approach rate: -0.573758 m/s, LOS rate: -0.002300 deg/s, cmd heading: 23.759387 deg, new cmd heading: 23.757395 deg. 2025-10-29T00:30:23.760Z,1761697823.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414645 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:23.893Z,1761697823.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.565642 2025-10-29T00:30:24.090Z,1761697824.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897991,-0.377262,-0.226464],[0.403161,0.911627,0.079983],[0.176276,-0.163126,0.970730]] 2025-10-29T00:30:24.114Z,1761697824.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:24.115Z,1761697824.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:24.118Z,1761697824.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 561.488220 m, bearing: 23.210666 deg, approach rate: -0.607738 m/s, LOS rate: -0.002467 deg/s, cmd heading: 23.757396 deg, new cmd heading: 23.755568 deg. 2025-10-29T00:30:24.119Z,1761697824.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414613 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:24.156Z,1761697824.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.828460 2025-10-29T00:30:24.405Z,1761697824.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.077619 2025-10-29T00:30:24.572Z,1761697824.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:24.575Z,1761697824.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 561.227905 m, bearing: 23.209608 deg, approach rate: -0.570382 m/s, LOS rate: -0.002318 deg/s, cmd heading: 23.755569 deg, new cmd heading: 23.753453 deg. 2025-10-29T00:30:24.576Z,1761697824.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414576 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:24.658Z,1761697824.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330826 2025-10-29T00:30:24.909Z,1761697824.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.581751 2025-10-29T00:30:24.991Z,1761697824.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:24.994Z,1761697824.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 560.979004 m, bearing: 23.207880 deg, approach rate: -0.594205 m/s, LOS rate: -0.004128 deg/s, cmd heading: 23.753453 deg, new cmd heading: 23.749995 deg. 2025-10-29T00:30:24.994Z,1761697824.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414516 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:25.161Z,1761697825.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.833591 2025-10-29T00:30:25.315Z,1761697825.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897326,-0.377650,-0.228443],[0.403422,0.911734,0.077413],[0.179044,-0.161624,0.970475]] 2025-10-29T00:30:25.342Z,1761697825.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:25.345Z,1761697825.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 560.774780 m, bearing: 23.206449 deg, approach rate: -0.580740 m/s, LOS rate: -0.004072 deg/s, cmd heading: 23.749995 deg, new cmd heading: 23.747131 deg. 2025-10-29T00:30:25.346Z,1761697825.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414466 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:25.413Z,1761697825.413 [DAT](INFO): Reached modem response timeout 2025-10-29T00:30:25.413Z,1761697825.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:25.413Z,1761697825.413 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:25.665Z,1761697825.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:25.785Z,1761697825.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:25.788Z,1761697825.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 560.518311 m, bearing: 23.204977 deg, approach rate: -0.579025 m/s, LOS rate: -0.003323 deg/s, cmd heading: 23.747132 deg, new cmd heading: 23.744188 deg. 2025-10-29T00:30:25.789Z,1761697825.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414414 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:25.917Z,1761697825.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:26.125Z,1761697826.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897045,-0.377714,-0.229437],[0.403367,0.911888,0.075863],[0.180566,-0.160600,0.970363]] 2025-10-29T00:30:26.142Z,1761697826.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:26.144Z,1761697826.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:26.147Z,1761697826.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 560.311340 m, bearing: 23.203787 deg, approach rate: -0.577395 m/s, LOS rate: -0.003323 deg/s, cmd heading: 23.744188 deg, new cmd heading: 23.741806 deg. 2025-10-29T00:30:26.147Z,1761697826.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414373 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:26.169Z,1761697826.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:26.422Z,1761697826.422 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:26.534Z,1761697826.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896857,-0.377642,-0.230291],[0.403307,0.911972,0.075166],[0.181633,-0.160291,0.970215]] 2025-10-29T00:30:26.616Z,1761697826.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:26.619Z,1761697826.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 560.043945 m, bearing: 23.202246 deg, approach rate: -0.568742 m/s, LOS rate: -0.003278 deg/s, cmd heading: 23.741806 deg, new cmd heading: 23.738723 deg. 2025-10-29T00:30:26.620Z,1761697826.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414319 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:26.674Z,1761697826.674 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:26.926Z,1761697826.926 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:27.017Z,1761697827.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:27.019Z,1761697827.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 559.804565 m, bearing: 23.201025 deg, approach rate: -0.594424 m/s, LOS rate: -0.003034 deg/s, cmd heading: 23.738724 deg, new cmd heading: 23.736280 deg. 2025-10-29T00:30:27.020Z,1761697827.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414276 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:27.177Z,1761697827.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:27.328Z,1761697827.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896598,-0.377022,-0.232306],[0.402968,0.912143,0.074916],[0.183652,-0.160782,0.969753]] 2025-10-29T00:30:27.346Z,1761697827.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:27.349Z,1761697827.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 559.612854 m, bearing: 23.200051 deg, approach rate: -0.581511 m/s, LOS rate: -0.002956 deg/s, cmd heading: 23.736280 deg, new cmd heading: 23.734331 deg. 2025-10-29T00:30:27.350Z,1761697827.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414242 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:27.429Z,1761697827.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:30:27.681Z,1761697827.681 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:30:27.681Z,1761697827.681 [DAT](INFO): response not received 2025-10-29T00:30:27.682Z,1761697827.682 [DAT](INFO): DAT read: user:388> 2025-10-29T00:30:27.682Z,1761697827.682 [DAT](INFO): DAT read: Tx time:00:30:27.4772 2025-10-29T00:30:27.683Z,1761697827.683 [DAT](INFO): Ping request sent. 2025-10-29T00:30:27.683Z,1761697827.683 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:27.683Z,1761697827.683 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:27.684Z,1761697827.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-10-29T00:30:27.742Z,1761697827.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896591,-0.376194,-0.233671],[0.402546,0.912247,0.075908],[0.184609,-0.162122,0.969348]] 2025-10-29T00:30:27.799Z,1761697827.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:27.811Z,1761697827.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 559.354858 m, bearing: 23.199371 deg, approach rate: -0.569459 m/s, LOS rate: -0.001500 deg/s, cmd heading: 23.734332 deg, new cmd heading: 23.732973 deg. 2025-10-29T00:30:27.812Z,1761697827.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414219 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:27.934Z,1761697827.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251228 2025-10-29T00:30:28.138Z,1761697828.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896655,-0.375334,-0.234808],[0.401940,0.912481,0.076302],[0.185619,-0.162796,0.969042]] 2025-10-29T00:30:28.154Z,1761697828.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:28.156Z,1761697828.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:28.159Z,1761697828.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 559.152283 m, bearing: 23.198851 deg, approach rate: -0.568294 m/s, LOS rate: -0.001461 deg/s, cmd heading: 23.732973 deg, new cmd heading: 23.731931 deg. 2025-10-29T00:30:28.160Z,1761697828.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414200 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:28.185Z,1761697828.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502029 2025-10-29T00:30:28.438Z,1761697828.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754972 2025-10-29T00:30:28.538Z,1761697828.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896556,-0.374899,-0.235876],[0.401685,0.912591,0.076330],[0.186642,-0.163182,0.968781]] 2025-10-29T00:30:28.606Z,1761697828.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:28.632Z,1761697828.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 558.919556 m, bearing: 23.198257 deg, approach rate: -0.524362 m/s, LOS rate: -0.001338 deg/s, cmd heading: 23.731931 deg, new cmd heading: 23.730744 deg. 2025-10-29T00:30:28.633Z,1761697828.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414180 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:28.690Z,1761697828.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006935 2025-10-29T00:30:28.942Z,1761697828.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258453 2025-10-29T00:30:28.969Z,1761697828.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896474,-0.374324,-0.237099],[0.401547,0.912549,0.077548],[0.187336,-0.164726,0.968385]] 2025-10-29T00:30:29.027Z,1761697829.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:29.036Z,1761697829.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 558.669312 m, bearing: 23.197890 deg, approach rate: -0.585943 m/s, LOS rate: -0.000860 deg/s, cmd heading: 23.730744 deg, new cmd heading: 23.730009 deg. 2025-10-29T00:30:29.037Z,1761697829.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414167 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:29.193Z,1761697829.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510028 2025-10-29T00:30:29.346Z,1761697829.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896524,-0.373685,-0.237915],[0.401090,0.912727,0.077820],[0.188071,-0.165193,0.968163]] 2025-10-29T00:30:29.365Z,1761697829.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:29.367Z,1761697829.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 558.470398 m, bearing: 23.197608 deg, approach rate: -0.588349 m/s, LOS rate: -0.000836 deg/s, cmd heading: 23.730010 deg, new cmd heading: 23.729445 deg. 2025-10-29T00:30:29.385Z,1761697829.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:29.446Z,1761697829.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763441 2025-10-29T00:30:29.697Z,1761697829.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014029 2025-10-29T00:30:29.760Z,1761697829.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896594,-0.372966,-0.238780],[0.400606,0.912897,0.078318],[0.188771,-0.165876,0.967910]] 2025-10-29T00:30:29.802Z,1761697829.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:29.804Z,1761697829.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 558.229126 m, bearing: 23.197607 deg, approach rate: -0.552613 m/s, LOS rate: -0.000002 deg/s, cmd heading: 23.729445 deg, new cmd heading: 23.729443 deg. 2025-10-29T00:30:29.805Z,1761697829.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:29.949Z,1761697829.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266506 2025-10-29T00:30:30.157Z,1761697830.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896808,-0.372039,-0.239423],[0.400010,0.913054,0.079530],[0.189018,-0.167094,0.967653]] 2025-10-29T00:30:30.173Z,1761697830.173 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:30.175Z,1761697830.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:30.178Z,1761697830.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 558.022034 m, bearing: 23.197620 deg, approach rate: -0.554066 m/s, LOS rate: 0.000036 deg/s, cmd heading: 23.729443 deg, new cmd heading: 23.729470 deg. 2025-10-29T00:30:30.179Z,1761697830.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414157 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:30.201Z,1761697830.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518315 2025-10-29T00:30:30.453Z,1761697830.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770093 2025-10-29T00:30:30.558Z,1761697830.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896969,-0.371419,-0.239780],[0.399536,0.913220,0.080006],[0.189257,-0.167563,0.967525]] 2025-10-29T00:30:30.601Z,1761697830.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:30.614Z,1761697830.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 557.797913 m, bearing: 23.197647 deg, approach rate: -0.548341 m/s, LOS rate: 0.000065 deg/s, cmd heading: 23.729471 deg, new cmd heading: 23.729524 deg. 2025-10-29T00:30:30.622Z,1761697830.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414158 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:30.706Z,1761697830.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023039 2025-10-29T00:30:30.957Z,1761697830.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274043 2025-10-29T00:30:30.962Z,1761697830.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896788,-0.371940,-0.239651],[0.399832,0.913184,0.078926],[0.189490,-0.166600,0.967646]] 2025-10-29T00:30:31.033Z,1761697831.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:31.035Z,1761697831.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 557.559326 m, bearing: 23.197658 deg, approach rate: -0.531591 m/s, LOS rate: 0.000024 deg/s, cmd heading: 23.729523 deg, new cmd heading: 23.729545 deg. 2025-10-29T00:30:31.041Z,1761697831.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414159 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:31.209Z,1761697831.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526058 2025-10-29T00:30:31.383Z,1761697831.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896591,-0.372407,-0.239661],[0.400138,0.913125,0.078053],[0.189773,-0.165879,0.967714]] 2025-10-29T00:30:31.422Z,1761697831.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:31.426Z,1761697831.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 557.352173 m, bearing: 23.197660 deg, approach rate: -0.532573 m/s, LOS rate: 0.000004 deg/s, cmd heading: 23.729546 deg, new cmd heading: 23.729549 deg. 2025-10-29T00:30:31.429Z,1761697831.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414159 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:31.461Z,1761697831.461 [DAT](INFO): DAT read: Rx Time:00:30:30.6506 2025-10-29T00:30:31.462Z,1761697831.462 [DAT](INFO): Rx dataTimestamp_ set to:1761697831.461271 2025-10-29T00:30:31.462Z,1761697831.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779300 2025-10-29T00:30:31.713Z,1761697831.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030183 2025-10-29T00:30:31.796Z,1761697831.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896444,-0.372489,-0.240083],[0.400238,0.913106,0.077760],[0.190257,-0.165798,0.967633]] 2025-10-29T00:30:31.878Z,1761697831.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 583.99 m. 2025-10-29T00:30:31.885Z,1761697831.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 583.985535 m, nav range: 557.096191 m, bearing: 23.197436 deg, approach rate: -0.560678 m/s, LOS rate: -0.000490 deg/s, cmd heading: 23.729549 deg, new cmd heading: 23.729101 deg. 2025-10-29T00:30:31.886Z,1761697831.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414151 target range: 583.985535 and range: 586.50 m. 2025-10-29T00:30:31.977Z,1761697831.977 [DAT](INFO): DAT read: 00:30:30.6506 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 88,-0.00, 1.308,-0.104, 1.399, 0.894, PHS= 0.515,-0.953, 0.461, RAW= 148.1, -0.3, CAL= 147.3, -0.7, ROT= 2.7, 0.7 2025-10-29T00:30:31.978Z,1761697831.978 [DAT](INFO): got valid direction response: 00:30:30.6506 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 88,-0.00, 1.308,-0.104, 1.399, 0.894, PHS= 0.515,-0.953, 0.461, RAW= 148.1, -0.3, CAL= 147.3, -0.7, ROT= 2.7, 0.7 2025-10-29T00:30:31.979Z,1761697831.979 [DAT](INFO): DAT read: Bearing 173.5, 13.8 (Local) 2025-10-29T00:30:31.980Z,1761697831.980 [DAT](INFO): Local bearing/azimuth received: Bearing 173.5, 13.8 (Local) 2025-10-29T00:30:31.981Z,1761697831.981 [DAT](INFO): DAT read: Range 11 to 50 : 576.9 m (Round-trip 769.3 ms) speed 0.4 m/s 2025-10-29T00:30:31.982Z,1761697831.982 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:31.983Z,1761697831.983 [DAT](INFO): direction in FSK: [0.998815,0.047103,-0.012217] 2025-10-29T00:30:31.983Z,1761697831.983 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:31.988Z,1761697831.988 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:31.988Z,1761697831.988 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:31.988Z,1761697831.988 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:32.217Z,1761697832.217 [DAT](INFO): DAT read: user:389> 2025-10-29T00:30:32.218Z,1761697832.218 [DAT](INFO): DAT read: Tx time:00:30:31.9772 2025-10-29T00:30:32.218Z,1761697832.218 [DAT](INFO): Ping request sent. 2025-10-29T00:30:32.218Z,1761697832.218 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:32.218Z,1761697832.218 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:32.219Z,1761697832.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T00:30:32.258Z,1761697832.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896311,-0.372574,-0.240448],[0.400378,0.913050,0.077705],[0.190590,-0.165918,0.967547]] 2025-10-29T00:30:32.302Z,1761697832.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 576.900024 m, deltaT: 16.652073 s, deltaX: -9.599976 m, approachRate: -0.576503 m/s, rangeRepo size: 4 2025-10-29T00:30:32.309Z,1761697832.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 574.281433 m, bearing: 26.650486 deg, lat: 36.779073 deg, lon: -121.859196 deg, deltaT: 16.652073 s, deltaX: -9.704102 m, approachRate: -0.582756 m/s, posRepo size: 4 2025-10-29T00:30:32.309Z,1761697832.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:32.316Z,1761697832.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 562.036804 m, bearing: 24.398599 deg, approach rate: 0.000000 m/s, LOS rate: -0.000490 deg/s, cmd heading: 23.729102 deg, new cmd heading: 23.728686 deg. 2025-10-29T00:30:32.317Z,1761697832.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414144 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:32.470Z,1761697832.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252316 2025-10-29T00:30:32.688Z,1761697832.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896094,-0.372868,-0.240801],[0.400671,0.912950,0.077366],[0.190991,-0.165809,0.967486]] 2025-10-29T00:30:32.721Z,1761697832.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502925 2025-10-29T00:30:32.733Z,1761697832.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:32.735Z,1761697832.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:32.738Z,1761697832.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 561.790405 m, bearing: 24.398501 deg, approach rate: -0.568599 m/s, LOS rate: -0.000226 deg/s, cmd heading: 23.728687 deg, new cmd heading: 23.728491 deg. 2025-10-29T00:30:32.739Z,1761697832.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414140 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:32.974Z,1761697832.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755554 2025-10-29T00:30:33.213Z,1761697833.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895188,-0.374969,-0.240907],[0.402388,0.912382,0.075124],[0.191630,-0.164188,0.967636]] 2025-10-29T00:30:33.225Z,1761697833.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007118 2025-10-29T00:30:33.234Z,1761697833.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:33.237Z,1761697833.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 561.516235 m, bearing: 24.398337 deg, approach rate: -0.549364 m/s, LOS rate: -0.000328 deg/s, cmd heading: 23.728490 deg, new cmd heading: 23.728163 deg. 2025-10-29T00:30:33.238Z,1761697833.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414135 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:33.477Z,1761697833.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259327 2025-10-29T00:30:33.708Z,1761697833.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894687,-0.376022,-0.241126],[0.403295,0.912066,0.074091],[0.192063,-0.163534,0.967661]] 2025-10-29T00:30:33.729Z,1761697833.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511025 2025-10-29T00:30:33.793Z,1761697833.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:33.796Z,1761697833.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 561.216980 m, bearing: 24.397435 deg, approach rate: -0.535479 m/s, LOS rate: -0.001615 deg/s, cmd heading: 23.728163 deg, new cmd heading: 23.726357 deg. 2025-10-29T00:30:33.801Z,1761697833.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414103 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:33.981Z,1761697833.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762975 2025-10-29T00:30:34.069Z,1761697834.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894307,-0.376834,-0.241272],[0.404052,0.911769,0.073612],[0.192245,-0.163318,0.967662]] 2025-10-29T00:30:34.087Z,1761697834.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:34.090Z,1761697834.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 561.040100 m, bearing: 24.396886 deg, approach rate: -0.601898 m/s, LOS rate: -0.001870 deg/s, cmd heading: 23.726358 deg, new cmd heading: 23.725259 deg. 2025-10-29T00:30:34.091Z,1761697834.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414084 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:34.233Z,1761697834.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871 2025-10-29T00:30:34.470Z,1761697834.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894139,-0.377217,-0.241294],[0.404445,0.911596,0.073605],[0.192198,-0.163403,0.967657]] 2025-10-29T00:30:34.485Z,1761697834.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267065 2025-10-29T00:30:34.521Z,1761697834.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:34.523Z,1761697834.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 560.815613 m, bearing: 24.396178 deg, approach rate: -0.517635 m/s, LOS rate: -0.001632 deg/s, cmd heading: 23.725258 deg, new cmd heading: 23.723843 deg. 2025-10-29T00:30:34.535Z,1761697834.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414059 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:34.737Z,1761697834.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519075 2025-10-29T00:30:34.874Z,1761697834.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893590,-0.378416,-0.241452],[0.405730,0.911010,0.073783],[0.192045,-0.163896,0.967604]] 2025-10-29T00:30:34.984Z,1761697834.984 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:34.986Z,1761697834.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:34.989Z,1761697834.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770969 2025-10-29T00:30:35.009Z,1761697835.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 560.550171 m, bearing: 24.395050 deg, approach rate: -0.569769 m/s, LOS rate: -0.002424 deg/s, cmd heading: 23.723842 deg, new cmd heading: 23.721584 deg. 2025-10-29T00:30:35.010Z,1761697835.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414020 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:35.241Z,1761697835.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023514 2025-10-29T00:30:35.344Z,1761697835.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893173,-0.379273,-0.241650],[0.406553,0.910677,0.073360],[0.192242,-0.163767,0.967586]] 2025-10-29T00:30:35.371Z,1761697835.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:35.374Z,1761697835.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 560.320190 m, bearing: 24.394049 deg, approach rate: -0.598392 m/s, LOS rate: -0.002605 deg/s, cmd heading: 23.721583 deg, new cmd heading: 23.719581 deg. 2025-10-29T00:30:35.375Z,1761697835.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413985 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:35.493Z,1761697835.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275148 2025-10-29T00:30:35.747Z,1761697835.747 [DAT](INFO): DAT read: Rx Time:00:30:35.1473 2025-10-29T00:30:35.748Z,1761697835.748 [DAT](INFO): Rx dataTimestamp_ set to:1761697835.747428 2025-10-29T00:30:35.749Z,1761697835.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530902 2025-10-29T00:30:35.798Z,1761697835.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892642,-0.380600,-0.241523],[0.407734,0.910210,0.072600],[0.192206,-0.163283,0.967675]] 2025-10-29T00:30:35.842Z,1761697835.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:35.844Z,1761697835.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 560.051453 m, bearing: 24.392591 deg, approach rate: -0.570874 m/s, LOS rate: -0.003099 deg/s, cmd heading: 23.719580 deg, new cmd heading: 23.716663 deg. 2025-10-29T00:30:35.845Z,1761697835.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413934 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:35.997Z,1761697835.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778924 2025-10-29T00:30:36.170Z,1761697836.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892168,-0.381844,-0.241312],[0.408831,0.909772,0.071918],[0.192078,-0.162819,0.967779]] 2025-10-29T00:30:36.189Z,1761697836.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.28 m. 2025-10-29T00:30:36.192Z,1761697836.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.281433 m, nav range: 559.853149 m, bearing: 24.391489 deg, approach rate: -0.570530 m/s, LOS rate: -0.003171 deg/s, cmd heading: 23.716662 deg, new cmd heading: 23.714458 deg. 2025-10-29T00:30:36.193Z,1761697836.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413895 target range: 574.281433 and range: 576.90 m. 2025-10-29T00:30:36.250Z,1761697836.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031810 2025-10-29T00:30:36.506Z,1761697836.506 [DAT](INFO): DAT read: 00:30:35.1473 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 400, 0.07,-0.604,-2.130,-0.391,-0.934, PHS= 0.432,-1.151, 0.498, RAW= 152.0, 2.8, CAL= 151.0, 2.4, ROT= 359.0, -2.4 2025-10-29T00:30:36.507Z,1761697836.507 [DAT](INFO): got valid direction response: 00:30:35.1473 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 400, 0.07,-0.604,-2.130,-0.391,-0.934, PHS= 0.432,-1.151, 0.498, RAW= 152.0, 2.8, CAL= 151.0, 2.4, ROT= 359.0, -2.4 2025-10-29T00:30:36.511Z,1761697836.511 [DAT](INFO): DAT read: Bearing 176.3, 9.8 (Local) 2025-10-29T00:30:36.511Z,1761697836.511 [DAT](INFO): Local bearing/azimuth received: Bearing 176.3, 9.8 (Local) 2025-10-29T00:30:36.513Z,1761697836.513 [DAT](INFO): DAT read: Range 11 to 50 : 574.5 m (Round-trip 766.0 ms) speed 0.5 m/s 2025-10-29T00:30:36.514Z,1761697836.514 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:36.514Z,1761697836.514 [DAT](INFO): direction in FSK: [0.998971,-0.017437,0.041876] 2025-10-29T00:30:36.515Z,1761697836.515 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:36.518Z,1761697836.518 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:36.518Z,1761697836.518 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:36.518Z,1761697836.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:36.719Z,1761697836.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 574.500000 m, deltaT: 4.535363 s, deltaX: -2.400024 m, approachRate: -0.529180 m/s, rangeRepo size: 4 2025-10-29T00:30:36.735Z,1761697836.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 571.846191 m, bearing: 24.015191 deg, lat: 36.779055 deg, lon: -121.859251 deg, deltaT: 4.535363 s, deltaX: -2.435242 m, approachRate: -0.536945 m/s, posRepo size: 4 2025-10-29T00:30:36.742Z,1761697836.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:36.755Z,1761697836.755 [DAT](INFO): DAT read: user:390> 2025-10-29T00:30:36.756Z,1761697836.756 [DAT](INFO): DAT read: Tx time:00:30:36.5272 2025-10-29T00:30:36.757Z,1761697836.757 [DAT](INFO): Ping request sent. 2025-10-29T00:30:36.757Z,1761697836.757 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:36.757Z,1761697836.757 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:36.758Z,1761697836.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001067 2025-10-29T00:30:36.761Z,1761697836.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 555.795166 m, bearing: 24.013796 deg, approach rate: 0.000000 m/s, LOS rate: -0.003171 deg/s, cmd heading: 23.714458 deg, new cmd heading: 23.711146 deg. 2025-10-29T00:30:36.763Z,1761697836.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413838 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:37.005Z,1761697837.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247882 2025-10-29T00:30:37.064Z,1761697837.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891478,-0.383414,-0.241373],[0.410508,0.908990,0.072252],[0.191703,-0.163497,0.967739]] 2025-10-29T00:30:37.108Z,1761697837.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:37.110Z,1761697837.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:37.113Z,1761697837.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 555.535828 m, bearing: 24.012015 deg, approach rate: -0.650232 m/s, LOS rate: -0.004466 deg/s, cmd heading: 23.711147 deg, new cmd heading: 23.707585 deg. 2025-10-29T00:30:37.114Z,1761697837.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413775 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:37.257Z,1761697837.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499782 2025-10-29T00:30:37.466Z,1761697837.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891202,-0.383709,-0.241921],[0.411090,0.908652,0.073190],[0.191739,-0.164678,0.967532]] 2025-10-29T00:30:37.491Z,1761697837.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:37.494Z,1761697837.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 555.314148 m, bearing: 24.010478 deg, approach rate: -0.582322 m/s, LOS rate: -0.004040 deg/s, cmd heading: 23.707585 deg, new cmd heading: 23.704509 deg. 2025-10-29T00:30:37.495Z,1761697837.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413722 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:37.512Z,1761697837.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755223 2025-10-29T00:30:37.764Z,1761697837.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005939 2025-10-29T00:30:37.870Z,1761697837.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890696,-0.384798,-0.242056],[0.412162,0.908191,0.072881],[0.191788,-0.164681,0.967521]] 2025-10-29T00:30:37.942Z,1761697837.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:37.945Z,1761697837.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 555.051025 m, bearing: 24.008882 deg, approach rate: -0.583559 m/s, LOS rate: -0.003540 deg/s, cmd heading: 23.704510 deg, new cmd heading: 23.701317 deg. 2025-10-29T00:30:37.945Z,1761697837.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413666 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:38.014Z,1761697838.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256705 2025-10-29T00:30:38.265Z,1761697838.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507918 2025-10-29T00:30:38.276Z,1761697838.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890492,-0.385413,-0.241828],[0.412760,0.907916,0.072931],[0.191451,-0.164761,0.967575]] 2025-10-29T00:30:38.310Z,1761697838.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:38.312Z,1761697838.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 554.824707 m, bearing: 24.007494 deg, approach rate: -0.615288 m/s, LOS rate: -0.003776 deg/s, cmd heading: 23.701316 deg, new cmd heading: 23.698539 deg. 2025-10-29T00:30:38.313Z,1761697838.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413618 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:38.517Z,1761697838.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759965 2025-10-29T00:30:38.679Z,1761697838.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890202,-0.386228,-0.241595],[0.413459,0.907634,0.072469],[0.191290,-0.164402,0.967667]] 2025-10-29T00:30:38.725Z,1761697838.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:38.743Z,1761697838.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 554.593201 m, bearing: 24.006054 deg, approach rate: -0.565023 m/s, LOS rate: -0.003516 deg/s, cmd heading: 23.698538 deg, new cmd heading: 23.695657 deg. 2025-10-29T00:30:38.751Z,1761697838.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413567 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:38.773Z,1761697838.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014695 2025-10-29T00:30:39.021Z,1761697839.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264229 2025-10-29T00:30:39.132Z,1761697839.132 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:39.134Z,1761697839.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:39.160Z,1761697839.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 554.338989 m, bearing: 24.004603 deg, approach rate: -0.612556 m/s, LOS rate: -0.003499 deg/s, cmd heading: 23.695658 deg, new cmd heading: 23.692754 deg. 2025-10-29T00:30:39.161Z,1761697839.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413517 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:39.273Z,1761697839.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516321 2025-10-29T00:30:39.490Z,1761697839.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889651,-0.387334,-0.241855],[0.414755,0.906993,0.073091],[0.191050,-0.165336,0.967556]] 2025-10-29T00:30:39.512Z,1761697839.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:39.515Z,1761697839.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 554.118713 m, bearing: 24.003313 deg, approach rate: -0.582626 m/s, LOS rate: -0.003414 deg/s, cmd heading: 23.692753 deg, new cmd heading: 23.690172 deg. 2025-10-29T00:30:39.516Z,1761697839.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413471 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:39.525Z,1761697839.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767929 2025-10-29T00:30:39.780Z,1761697839.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022174 2025-10-29T00:30:39.891Z,1761697839.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889574,-0.387703,-0.241547],[0.415086,0.906838,0.073135],[0.190689,-0.165322,0.967629]] 2025-10-29T00:30:39.981Z,1761697839.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:39.983Z,1761697839.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 553.860291 m, bearing: 24.002155 deg, approach rate: -0.551883 m/s, LOS rate: -0.002475 deg/s, cmd heading: 23.690171 deg, new cmd heading: 23.687854 deg. 2025-10-29T00:30:39.988Z,1761697839.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413431 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:40.031Z,1761697840.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274068 2025-10-29T00:30:40.281Z,1761697840.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523774 2025-10-29T00:30:40.299Z,1761697840.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889372,-0.388383,-0.241199],[0.415580,0.906668,0.072432],[0.190556,-0.164656,0.967769]] 2025-10-29T00:30:40.325Z,1761697840.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:40.327Z,1761697840.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 553.649597 m, bearing: 24.001197 deg, approach rate: -0.611860 m/s, LOS rate: -0.002783 deg/s, cmd heading: 23.687854 deg, new cmd heading: 23.685938 deg. 2025-10-29T00:30:40.329Z,1761697840.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413398 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:40.533Z,1761697840.533 [DAT](INFO): DAT read: Rx Time:00:30:39.7007 2025-10-29T00:30:40.533Z,1761697840.533 [DAT](INFO): Rx dataTimestamp_ set to:1761697840.533187 2025-10-29T00:30:40.534Z,1761697840.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776992 2025-10-29T00:30:40.698Z,1761697840.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889243,-0.389399,-0.240032],[0.416082,0.906571,0.070739],[0.190061,-0.162778,0.968184]] 2025-10-29T00:30:40.725Z,1761697840.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 571.85 m. 2025-10-29T00:30:40.730Z,1761697840.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 571.846191 m, nav range: 553.418640 m, bearing: 24.000132 deg, approach rate: -0.579333 m/s, LOS rate: -0.002673 deg/s, cmd heading: 23.685938 deg, new cmd heading: 23.683807 deg. 2025-10-29T00:30:40.731Z,1761697840.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413360 target range: 571.846191 and range: 574.50 m. 2025-10-29T00:30:40.788Z,1761697840.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030293 2025-10-29T00:30:41.042Z,1761697841.042 [DAT](INFO): DAT read: 00:30:39.7007 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 483, 0.12, 0.008,-1.521, 0.202,-0.323, PHS= 0.433,-1.153, 0.481, RAW= 151.5, 3.0, CAL= 150.4, 2.8, ROT= 359.6, -2.8 2025-10-29T00:30:41.043Z,1761697841.043 [DAT](INFO): got valid direction response: 00:30:39.7007 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 483, 0.12, 0.008,-1.521, 0.202,-0.323, PHS= 0.433,-1.153, 0.481, RAW= 151.5, 3.0, CAL= 150.4, 2.8, ROT= 359.6, -2.8 2025-10-29T00:30:41.048Z,1761697841.048 [DAT](INFO): DAT read: Bearing 177.5, 10.0 (Local) 2025-10-29T00:30:41.048Z,1761697841.048 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, 10.0 (Local) 2025-10-29T00:30:41.050Z,1761697841.050 [DAT](INFO): DAT read: Range 11 to 50 : 577.0 m (Round-trip 769.4 ms) speed 0.5 m/s 2025-10-29T00:30:41.050Z,1761697841.050 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:41.051Z,1761697841.051 [DAT](INFO): direction in FSK: [0.998782,-0.006973,0.048850] 2025-10-29T00:30:41.051Z,1761697841.051 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:41.056Z,1761697841.056 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:41.056Z,1761697841.056 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:41.056Z,1761697841.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:41.107Z,1761697841.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889073,-0.389909,-0.239832],[0.416540,0.906372,0.070602],[0.189849,-0.162670,0.968244]] 2025-10-29T00:30:41.229Z,1761697841.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 577.000000 m, deltaT: 4.535970 s, deltaX: 2.500000 m, approachRate: 0.551150 m/s, rangeRepo size: 4 2025-10-29T00:30:41.231Z,1761697841.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 574.325195 m, bearing: 25.175387 deg, lat: 36.779051 deg, lon: -121.859196 deg, deltaT: 4.535970 s, deltaX: 2.479004 m, approachRate: 0.546521 m/s, posRepo size: 4 2025-10-29T00:30:41.236Z,1761697841.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:41.238Z,1761697841.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 554.702087 m, bearing: 24.481624 deg, approach rate: 0.000000 m/s, LOS rate: -0.002673 deg/s, cmd heading: 23.683807 deg, new cmd heading: 23.681109 deg. 2025-10-29T00:30:41.239Z,1761697841.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413313 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:41.290Z,1761697841.290 [DAT](INFO): DAT read: user:391> 2025-10-29T00:30:41.291Z,1761697841.291 [DAT](INFO): DAT read: Tx time:00:30:41.0772 2025-10-29T00:30:41.291Z,1761697841.291 [DAT](INFO): Ping request sent. 2025-10-29T00:30:41.291Z,1761697841.291 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:41.292Z,1761697841.292 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:41.293Z,1761697841.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001484 2025-10-29T00:30:41.541Z,1761697841.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249690 2025-10-29T00:30:41.555Z,1761697841.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889117,-0.389919,-0.239654],[0.416543,0.906361,0.070723],[0.189637,-0.162707,0.968279]] 2025-10-29T00:30:41.575Z,1761697841.575 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:41.577Z,1761697841.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:41.580Z,1761697841.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 554.494812 m, bearing: 24.481239 deg, approach rate: -0.593807 m/s, LOS rate: -0.001105 deg/s, cmd heading: 23.681109 deg, new cmd heading: 23.680338 deg. 2025-10-29T00:30:41.581Z,1761697841.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413300 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:41.795Z,1761697841.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503591 2025-10-29T00:30:41.961Z,1761697841.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889179,-0.389999,-0.239293],[0.416558,0.906357,0.070691],[0.189315,-0.162536,0.968371]] 2025-10-29T00:30:42.023Z,1761697842.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:42.025Z,1761697842.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 554.257080 m, bearing: 24.480788 deg, approach rate: -0.533975 m/s, LOS rate: -0.001013 deg/s, cmd heading: 23.680338 deg, new cmd heading: 23.679436 deg. 2025-10-29T00:30:42.026Z,1761697842.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413284 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:42.045Z,1761697842.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753702 2025-10-29T00:30:42.297Z,1761697842.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005708 2025-10-29T00:30:42.354Z,1761697842.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889635,-0.389383,-0.238600],[0.415692,0.906802,0.070077],[0.189076,-0.161527,0.968586]] 2025-10-29T00:30:42.384Z,1761697842.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:42.387Z,1761697842.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 554.038818 m, bearing: 24.480395 deg, approach rate: -0.604429 m/s, LOS rate: -0.001087 deg/s, cmd heading: 23.679436 deg, new cmd heading: 23.678651 deg. 2025-10-29T00:30:42.387Z,1761697842.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413270 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:42.549Z,1761697842.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257620 2025-10-29T00:30:42.775Z,1761697842.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890104,-0.388802,-0.237797],[0.415048,0.907062,0.070518],[0.188279,-0.161466,0.968752]] 2025-10-29T00:30:42.804Z,1761697842.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512259 2025-10-29T00:30:42.859Z,1761697842.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:42.866Z,1761697842.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 553.777161 m, bearing: 24.479946 deg, approach rate: -0.550496 m/s, LOS rate: -0.000946 deg/s, cmd heading: 23.678651 deg, new cmd heading: 23.677752 deg. 2025-10-29T00:30:42.867Z,1761697842.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413255 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:43.053Z,1761697843.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761692 2025-10-29T00:30:43.167Z,1761697843.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890642,-0.388008,-0.237080],[0.414158,0.907453,0.070725],[0.187697,-0.161180,0.968912]] 2025-10-29T00:30:43.211Z,1761697843.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:43.214Z,1761697843.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 553.572815 m, bearing: 24.479629 deg, approach rate: -0.580924 m/s, LOS rate: -0.000902 deg/s, cmd heading: 23.677752 deg, new cmd heading: 23.677117 deg. 2025-10-29T00:30:43.215Z,1761697843.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413244 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:43.305Z,1761697843.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013813 2025-10-29T00:30:43.561Z,1761697843.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269111 2025-10-29T00:30:43.576Z,1761697843.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891415,-0.386287,-0.236984],[0.412748,0.907948,0.072584],[0.187131,-0.162517,0.968798]] 2025-10-29T00:30:43.608Z,1761697843.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:43.610Z,1761697843.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:43.617Z,1761697843.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 553.357361 m, bearing: 24.479331 deg, approach rate: -0.539266 m/s, LOS rate: -0.000747 deg/s, cmd heading: 23.677117 deg, new cmd heading: 23.676521 deg. 2025-10-29T00:30:43.618Z,1761697843.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413233 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:43.812Z,1761697843.812 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520037 2025-10-29T00:30:43.980Z,1761697843.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892269,-0.384298,-0.237004],[0.411195,0.908456,0.075014],[0.186480,-0.164388,0.968608]] 2025-10-29T00:30:44.033Z,1761697844.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:44.035Z,1761697844.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 553.118347 m, bearing: 24.478725 deg, approach rate: -0.565813 m/s, LOS rate: -0.001435 deg/s, cmd heading: 23.676521 deg, new cmd heading: 23.675309 deg. 2025-10-29T00:30:44.037Z,1761697844.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413212 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:44.061Z,1761697844.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769700 2025-10-29T00:30:44.313Z,1761697844.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021750 2025-10-29T00:30:44.384Z,1761697844.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892843,-0.383119,-0.236750],[0.410137,0.908853,0.075982],[0.186061,-0.164940,0.968595]] 2025-10-29T00:30:44.424Z,1761697844.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:44.427Z,1761697844.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 552.909729 m, bearing: 24.478222 deg, approach rate: -0.534207 m/s, LOS rate: -0.001288 deg/s, cmd heading: 23.675309 deg, new cmd heading: 23.674303 deg. 2025-10-29T00:30:44.428Z,1761697844.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413195 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:44.565Z,1761697844.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274127 2025-10-29T00:30:44.792Z,1761697844.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893588,-0.381278,-0.236913],[0.408708,0.909312,0.078156],[0.185629,-0.166668,0.968382]] 2025-10-29T00:30:44.819Z,1761697844.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527825 2025-10-29T00:30:44.881Z,1761697844.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:44.883Z,1761697844.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 552.675171 m, bearing: 24.477696 deg, approach rate: -0.512662 m/s, LOS rate: -0.001150 deg/s, cmd heading: 23.674303 deg, new cmd heading: 23.673251 deg. 2025-10-29T00:30:44.886Z,1761697844.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413176 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:45.069Z,1761697845.069 [DAT](INFO): DAT read: Rx Time:00:30:44.2547 2025-10-29T00:30:45.070Z,1761697845.070 [DAT](INFO): Rx dataTimestamp_ set to:1761697845.069302 2025-10-29T00:30:45.070Z,1761697845.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778904 2025-10-29T00:30:45.235Z,1761697845.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894289,-0.379776,-0.236679],[0.407444,0.909741,0.079751],[0.185029,-0.167754,0.968309]] 2025-10-29T00:30:45.271Z,1761697845.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 574.33 m. 2025-10-29T00:30:45.274Z,1761697845.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 574.325195 m, nav range: 552.442627 m, bearing: 24.476179 deg, approach rate: -0.595959 m/s, LOS rate: -0.003891 deg/s, cmd heading: 23.673251 deg, new cmd heading: 23.670215 deg. 2025-10-29T00:30:45.275Z,1761697845.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413123 target range: 574.325195 and range: 577.00 m. 2025-10-29T00:30:45.321Z,1761697845.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029759 2025-10-29T00:30:45.578Z,1761697845.578 [DAT](INFO): DAT read: 00:30:44.2547 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.07, 2.118, 0.628, 2.252, 1.702, PHS= 0.518,-1.028, 0.506, RAW= 149.6, 0.1, CAL= 148.6, -0.4, ROT= 1.4, 0.4 2025-10-29T00:30:45.580Z,1761697845.580 [DAT](INFO): got valid direction response: 00:30:44.2547 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 476,-0.07, 2.118, 0.628, 2.252, 1.702, PHS= 0.518,-1.028, 0.506, RAW= 149.6, 0.1, CAL= 148.6, -0.4, ROT= 1.4, 0.4 2025-10-29T00:30:45.590Z,1761697845.590 [DAT](INFO): DAT read: Bearing 173.8, 12.3 (Local) 2025-10-29T00:30:45.590Z,1761697845.590 [DAT](INFO): Local bearing/azimuth received: Bearing 173.8, 12.3 (Local) 2025-10-29T00:30:45.591Z,1761697845.591 [DAT](INFO): DAT read: Range 11 to 50 : 580.0 m (Round-trip 773.4 ms) speed 0.4 m/s 2025-10-29T00:30:45.592Z,1761697845.592 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:45.593Z,1761697845.593 [DAT](INFO): direction in FSK: [0.999677,0.024432,-0.006981] 2025-10-29T00:30:45.593Z,1761697845.593 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:45.597Z,1761697845.597 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:45.597Z,1761697845.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:45.597Z,1761697845.597 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:45.680Z,1761697845.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894524,-0.379638,-0.236012],[0.407134,0.909904,0.079479],[0.184575,-0.167185,0.968494]] 2025-10-29T00:30:45.723Z,1761697845.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 580.000000 m, deltaT: 4.536374 s, deltaX: 3.000000 m, approachRate: 0.661321 m/s, rangeRepo size: 4 2025-10-29T00:30:45.729Z,1761697845.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 577.305603 m, bearing: 25.803956 deg, lat: 36.779055 deg, lon: -121.859113 deg, deltaT: 4.536374 s, deltaX: 2.980408 m, approachRate: 0.657002 m/s, posRepo size: 4 2025-10-29T00:30:45.730Z,1761697845.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:45.742Z,1761697845.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 555.757935 m, bearing: 25.148571 deg, approach rate: 0.000000 m/s, LOS rate: -0.003891 deg/s, cmd heading: 23.670215 deg, new cmd heading: 23.666705 deg. 2025-10-29T00:30:45.743Z,1761697845.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413062 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:45.826Z,1761697845.826 [DAT](INFO): DAT read: user:392> 2025-10-29T00:30:45.827Z,1761697845.827 [DAT](INFO): DAT read: Tx time:00:30:45.5772 2025-10-29T00:30:45.827Z,1761697845.827 [DAT](INFO): Ping request sent. 2025-10-29T00:30:45.827Z,1761697845.827 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:45.827Z,1761697845.827 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:45.828Z,1761697845.828 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000854 2025-10-29T00:30:46.077Z,1761697846.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250051 2025-10-29T00:30:46.141Z,1761697846.141 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:46.143Z,1761697846.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:46.145Z,1761697846.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 555.519104 m, bearing: 25.146470 deg, approach rate: -0.568098 m/s, LOS rate: -0.005001 deg/s, cmd heading: 23.666705 deg, new cmd heading: 23.662500 deg. 2025-10-29T00:30:46.146Z,1761697846.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412989 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:46.332Z,1761697846.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504656 2025-10-29T00:30:46.466Z,1761697846.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895417,-0.377783,-0.235604],[0.405548,0.910439,0.081434],[0.183739,-0.168467,0.968431]] 2025-10-29T00:30:46.502Z,1761697846.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:46.505Z,1761697846.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 555.331299 m, bearing: 25.144853 deg, approach rate: -0.522943 m/s, LOS rate: -0.004503 deg/s, cmd heading: 23.662499 deg, new cmd heading: 23.659264 deg. 2025-10-29T00:30:46.506Z,1761697846.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412932 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:46.581Z,1761697846.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754336 2025-10-29T00:30:46.836Z,1761697846.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008439 2025-10-29T00:30:46.972Z,1761697846.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:46.975Z,1761697846.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 555.067139 m, bearing: 25.142631 deg, approach rate: -0.566441 m/s, LOS rate: -0.004768 deg/s, cmd heading: 23.659265 deg, new cmd heading: 23.654818 deg. 2025-10-29T00:30:46.976Z,1761697846.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412854 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:47.085Z,1761697847.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257896 2025-10-29T00:30:47.276Z,1761697847.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896135,-0.376125,-0.235524],[0.404177,0.910892,0.083168],[0.183256,-0.169723,0.968303]] 2025-10-29T00:30:47.294Z,1761697847.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:47.297Z,1761697847.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 554.889282 m, bearing: 25.141164 deg, approach rate: -0.546252 m/s, LOS rate: -0.004507 deg/s, cmd heading: 23.654818 deg, new cmd heading: 23.651883 deg. 2025-10-29T00:30:47.297Z,1761697847.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412803 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:47.338Z,1761697847.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510633 2025-10-29T00:30:47.589Z,1761697847.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761828 2025-10-29T00:30:47.719Z,1761697847.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:47.722Z,1761697847.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 554.656860 m, bearing: 25.139245 deg, approach rate: -0.546508 m/s, LOS rate: -0.004513 deg/s, cmd heading: 23.651883 deg, new cmd heading: 23.648044 deg. 2025-10-29T00:30:47.723Z,1761697847.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412736 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:47.841Z,1761697847.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013759 2025-10-29T00:30:48.091Z,1761697848.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896561,-0.374993,-0.235710],[0.403303,0.911161,0.084455],[0.183099,-0.170782,0.968147]] 2025-10-29T00:30:48.093Z,1761697848.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265882 2025-10-29T00:30:48.157Z,1761697848.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:48.159Z,1761697848.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 554.422607 m, bearing: 25.137392 deg, approach rate: -0.535439 m/s, LOS rate: -0.004238 deg/s, cmd heading: 23.648044 deg, new cmd heading: 23.644337 deg. 2025-10-29T00:30:48.164Z,1761697848.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412672 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:48.345Z,1761697848.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517774 2025-10-29T00:30:48.512Z,1761697848.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896693,-0.374657,-0.235743],[0.403048,0.911234,0.084882],[0.183016,-0.171129,0.968101]] 2025-10-29T00:30:48.529Z,1761697848.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:48.530Z,1761697848.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:48.533Z,1761697848.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 554.197205 m, bearing: 25.135615 deg, approach rate: -0.602697 m/s, LOS rate: -0.004753 deg/s, cmd heading: 23.644337 deg, new cmd heading: 23.640782 deg. 2025-10-29T00:30:48.534Z,1761697848.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412609 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:48.598Z,1761697848.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804 2025-10-29T00:30:48.850Z,1761697848.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022850 2025-10-29T00:30:48.938Z,1761697848.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897385,-0.373387,-0.235120],[0.401998,0.911522,0.086751],[0.181925,-0.172367,0.968087]] 2025-10-29T00:30:48.983Z,1761697848.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:48.986Z,1761697848.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 553.946777 m, bearing: 25.134362 deg, approach rate: -0.553559 m/s, LOS rate: -0.002770 deg/s, cmd heading: 23.640782 deg, new cmd heading: 23.638276 deg. 2025-10-29T00:30:48.987Z,1761697848.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412566 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:49.101Z,1761697849.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273992 2025-10-29T00:30:49.353Z,1761697849.353 [DAT](INFO): DAT read: Rx Time:00:30:48.7373 2025-10-29T00:30:49.353Z,1761697849.353 [DAT](INFO): Rx dataTimestamp_ set to:1761697849.353160 2025-10-29T00:30:49.354Z,1761697849.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526886 2025-10-29T00:30:49.433Z,1761697849.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898320,-0.372616,-0.232765],[0.401040,0.911815,0.088097],[0.179412,-0.172487,0.968535]] 2025-10-29T00:30:49.451Z,1761697849.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:49.454Z,1761697849.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 553.683044 m, bearing: 25.133078 deg, approach rate: -0.563320 m/s, LOS rate: -0.002745 deg/s, cmd heading: 23.638276 deg, new cmd heading: 23.635705 deg. 2025-10-29T00:30:49.455Z,1761697849.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412521 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:49.605Z,1761697849.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778149 2025-10-29T00:30:49.831Z,1761697849.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899516,-0.372282,-0.228643],[0.400084,0.912169,0.088774],[0.175512,-0.171330,0.969454]] 2025-10-29T00:30:49.849Z,1761697849.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 577.31 m. 2025-10-29T00:30:49.852Z,1761697849.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 577.305603 m, nav range: 553.460693 m, bearing: 25.132025 deg, approach rate: -0.558601 m/s, LOS rate: -0.002647 deg/s, cmd heading: 23.635706 deg, new cmd heading: 23.633598 deg. 2025-10-29T00:30:49.880Z,1761697849.880 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032121 2025-10-29T00:30:49.888Z,1761697849.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412484 target range: 577.305603 and range: 580.00 m. 2025-10-29T00:30:50.114Z,1761697850.114 [DAT](INFO): DAT read: 00:30:48.7373 LVL= 32416, 31889, 27634, 32755, AGC= 79, IDX= 265, 0.17,-1.962, 2.647,-1.784,-2.406, PHS= 0.546,-1.185, 0.579, RAW= 150.9, 0.7, CAL= 149.7, 0.2, ROT= 0.3, -0.2 2025-10-29T00:30:50.115Z,1761697850.115 [DAT](INFO): got valid direction response: 00:30:48.7373 LVL= 32416, 31889, 27634, 32755, AGC= 79, IDX= 265, 0.17,-1.962, 2.647,-1.784,-2.406, PHS= 0.546,-1.185, 0.579, RAW= 150.9, 0.7, CAL= 149.7, 0.2, ROT= 0.3, -0.2 2025-10-29T00:30:50.120Z,1761697850.120 [DAT](INFO): DAT read: Bearing 173.5, 10.7 (Local) 2025-10-29T00:30:50.120Z,1761697850.120 [DAT](INFO): Local bearing/azimuth received: Bearing 173.5, 10.7 (Local) 2025-10-29T00:30:50.122Z,1761697850.122 [DAT](INFO): DAT read: Range 11 to 50 : 566.9 m (Round-trip 755.9 ms) speed 0.4 m/s 2025-10-29T00:30:50.122Z,1761697850.122 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:50.123Z,1761697850.123 [DAT](INFO): direction in FSK: [0.999980,0.005236,0.003491] 2025-10-29T00:30:50.124Z,1761697850.124 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:50.156Z,1761697850.156 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:50.156Z,1761697850.156 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:50.157Z,1761697850.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:50.261Z,1761697850.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901058,-0.371576,-0.223663],[0.398624,0.912730,0.089577],[0.170859,-0.169871,0.970542]] 2025-10-29T00:30:50.328Z,1761697850.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 566.900024 m, deltaT: 4.535625 s, deltaX: -13.099976 m, approachRate: -2.888240 m/s, rangeRepo size: 4 2025-10-29T00:30:50.330Z,1761697850.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 564.260559 m, bearing: 24.199409 deg, lat: 36.779055 deg, lon: -121.859113 deg, deltaT: 4.535625 s, deltaX: -13.045044 m, approachRate: -2.876129 m/s, posRepo size: 4 2025-10-29T00:30:50.331Z,1761697850.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:50.349Z,1761697850.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 553.197754 m, bearing: 25.131921 deg, approach rate: 0.000000 m/s, LOS rate: -0.002647 deg/s, cmd heading: 23.633599 deg, new cmd heading: 23.631069 deg. 2025-10-29T00:30:50.350Z,1761697850.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412440 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:50.361Z,1761697850.361 [DAT](INFO): DAT read: user:393> 2025-10-29T00:30:50.362Z,1761697850.362 [DAT](INFO): DAT read: Tx time:00:30:50.1272 2025-10-29T00:30:50.362Z,1761697850.362 [DAT](INFO): Ping request sent. 2025-10-29T00:30:50.362Z,1761697850.362 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:50.362Z,1761697850.362 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:50.364Z,1761697850.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001352 2025-10-29T00:30:50.613Z,1761697850.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250853 2025-10-29T00:30:50.718Z,1761697850.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902823,-0.371124,-0.217206],[0.396950,0.913506,0.089094],[0.165354,-0.166656,0.972051]] 2025-10-29T00:30:50.751Z,1761697850.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:50.759Z,1761697850.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:50.774Z,1761697850.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 552.968689 m, bearing: 25.131880 deg, approach rate: -0.530088 m/s, LOS rate: -0.000093 deg/s, cmd heading: 23.631068 deg, new cmd heading: 23.630987 deg. 2025-10-29T00:30:50.780Z,1761697850.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412439 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:50.866Z,1761697850.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503704 2025-10-29T00:30:51.117Z,1761697851.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754659 2025-10-29T00:30:51.147Z,1761697851.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904659,-0.369815,-0.211727],[0.395139,0.914017,0.091859],[0.159551,-0.166763,0.973002]] 2025-10-29T00:30:51.212Z,1761697851.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:51.215Z,1761697851.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 552.699280 m, bearing: 25.132488 deg, approach rate: -0.594846 m/s, LOS rate: 0.001344 deg/s, cmd heading: 23.630988 deg, new cmd heading: 23.632205 deg. 2025-10-29T00:30:51.216Z,1761697851.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412460 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:51.370Z,1761697851.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007496 2025-10-29T00:30:51.524Z,1761697851.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906633,-0.367995,-0.206387],[0.393036,0.914501,0.095975],[0.153422,-0.168132,0.973752]] 2025-10-29T00:30:51.542Z,1761697851.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:51.545Z,1761697851.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 552.512512 m, bearing: 25.132965 deg, approach rate: -0.566058 m/s, LOS rate: 0.001444 deg/s, cmd heading: 23.632205 deg, new cmd heading: 23.633158 deg. 2025-10-29T00:30:51.546Z,1761697851.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412476 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:51.621Z,1761697851.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259038 2025-10-29T00:30:51.873Z,1761697851.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510809 2025-10-29T00:30:52.030Z,1761697852.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:52.037Z,1761697852.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 552.238586 m, bearing: 25.134158 deg, approach rate: -0.560842 m/s, LOS rate: 0.002445 deg/s, cmd heading: 23.633158 deg, new cmd heading: 23.635547 deg. 2025-10-29T00:30:52.039Z,1761697852.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412518 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:52.125Z,1761697852.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763257 2025-10-29T00:30:52.377Z,1761697852.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014888 2025-10-29T00:30:52.407Z,1761697852.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:52.414Z,1761697852.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 552.046509 m, bearing: 25.134996 deg, approach rate: -0.511341 m/s, LOS rate: 0.002231 deg/s, cmd heading: 23.635547 deg, new cmd heading: 23.637223 deg. 2025-10-29T00:30:52.415Z,1761697852.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412547 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:52.630Z,1761697852.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267408 2025-10-29T00:30:52.749Z,1761697852.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912785,-0.362837,-0.187546],[0.385615,0.916905,0.102888],[0.134630,-0.166235,0.976852]] 2025-10-29T00:30:52.777Z,1761697852.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:52.779Z,1761697852.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:52.781Z,1761697852.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 551.823181 m, bearing: 25.136187 deg, approach rate: -0.599489 m/s, LOS rate: 0.003197 deg/s, cmd heading: 23.637224 deg, new cmd heading: 23.639606 deg. 2025-10-29T00:30:52.782Z,1761697852.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412589 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:52.883Z,1761697852.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520409 2025-10-29T00:30:53.133Z,1761697853.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770732 2025-10-29T00:30:53.153Z,1761697853.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914692,-0.361598,-0.180515],[0.383179,0.917927,0.102877],[0.128499,-0.163270,0.978177]] 2025-10-29T00:30:53.211Z,1761697853.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:53.214Z,1761697853.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 551.574219 m, bearing: 25.138026 deg, approach rate: -0.575664 m/s, LOS rate: 0.004255 deg/s, cmd heading: 23.639606 deg, new cmd heading: 23.643286 deg. 2025-10-29T00:30:53.215Z,1761697853.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412653 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:53.386Z,1761697853.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023643 2025-10-29T00:30:53.448Z,1761697853.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:30:53.552Z,1761697853.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916372,-0.360874,-0.173298],[0.381153,0.918863,0.102043],[0.122412,-0.159562,0.979569]] 2025-10-29T00:30:53.576Z,1761697853.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:53.579Z,1761697853.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 551.370728 m, bearing: 25.139586 deg, approach rate: -0.557908 m/s, LOS rate: 0.004278 deg/s, cmd heading: 23.643286 deg, new cmd heading: 23.646406 deg. 2025-10-29T00:30:53.579Z,1761697853.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412708 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:53.638Z,1761697853.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275804 2025-10-29T00:30:53.889Z,1761697853.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527140 2025-10-29T00:30:53.986Z,1761697853.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917753,-0.360213,-0.167262],[0.379554,0.919487,0.102385],[0.116915,-0.157449,0.980582]] 2025-10-29T00:30:54.056Z,1761697854.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:54.059Z,1761697854.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 551.095276 m, bearing: 25.141018 deg, approach rate: -0.573829 m/s, LOS rate: 0.002985 deg/s, cmd heading: 23.646407 deg, new cmd heading: 23.649273 deg. 2025-10-29T00:30:54.059Z,1761697854.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412758 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:54.142Z,1761697854.142 [DAT](INFO): DAT read: Rx Time:00:30:53.2913 2025-10-29T00:30:54.142Z,1761697854.142 [DAT](INFO): Rx dataTimestamp_ set to:1761697854.142092 2025-10-29T00:30:54.143Z,1761697854.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781204 2025-10-29T00:30:54.394Z,1761697854.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.032195 2025-10-29T00:30:54.454Z,1761697854.454 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:30:54.472Z,1761697854.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 564.26 m. 2025-10-29T00:30:54.478Z,1761697854.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 564.260559 m, nav range: 550.888489 m, bearing: 25.142094 deg, approach rate: -0.497398 m/s, LOS rate: 0.002589 deg/s, cmd heading: 23.649272 deg, new cmd heading: 23.651425 deg. 2025-10-29T00:30:54.479Z,1761697854.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412795 target range: 564.260559 and range: 566.90 m. 2025-10-29T00:30:54.650Z,1761697854.650 [DAT](INFO): DAT read: 00:30:53.2913 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 482,-0.35, 1.728, 0.186, 1.918, 1.532, PHS= 0.297,-1.301, 0.341, RAW= 151.3, 8.2, CAL= 150.9, 8.8, ROT= 359.1, -8.8 2025-10-29T00:30:54.651Z,1761697854.651 [DAT](INFO): got valid direction response: 00:30:53.2913 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 482,-0.35, 1.728, 0.186, 1.918, 1.532, PHS= 0.297,-1.301, 0.341, RAW= 151.3, 8.2, CAL= 150.9, 8.8, ROT= 359.1, -8.8 2025-10-29T00:30:54.655Z,1761697854.655 [DAT](INFO): DAT read: Bearing 179.7, 4.6 (Local) 2025-10-29T00:30:54.655Z,1761697854.655 [DAT](INFO): Local bearing/azimuth received: Bearing 179.7, 4.6 (Local) 2025-10-29T00:30:54.670Z,1761697854.670 [DAT](INFO): DAT read: Range 11 to 50 : 569.9 m (Round-trip 759.9 ms) speed 0.4 m/s 2025-10-29T00:30:54.670Z,1761697854.670 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:30:54.671Z,1761697854.671 [DAT](INFO): direction in FSK: [0.988106,-0.015522,0.152986] 2025-10-29T00:30:54.672Z,1761697854.672 [DAT](INFO): publishing direction and range info 2025-10-29T00:30:54.687Z,1761697854.687 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:30:54.687Z,1761697854.687 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:30:54.688Z,1761697854.688 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:30:54.815Z,1761697854.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922510,-0.355188,-0.151050],[0.372215,0.922228,0.104651],[0.102132,-0.152764,0.982971]] 2025-10-29T00:30:54.858Z,1761697854.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 569.900024 m, deltaT: 4.536018 s, deltaX: 3.000000 m, approachRate: 0.661373 m/s, rangeRepo size: 4 2025-10-29T00:30:54.864Z,1761697854.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 567.199524 m, bearing: 22.456190 deg, lat: 36.779110 deg, lon: -121.859193 deg, deltaT: 4.536018 s, deltaX: 2.938965 m, approachRate: 0.647917 m/s, posRepo size: 4 2025-10-29T00:30:54.865Z,1761697854.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:54.867Z,1761697854.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 553.164062 m, bearing: 24.205290 deg, approach rate: 0.000000 m/s, LOS rate: 0.002589 deg/s, cmd heading: 23.651425 deg, new cmd heading: 23.653422 deg. 2025-10-29T00:30:54.885Z,1761697854.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412830 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:54.898Z,1761697854.898 [DAT](INFO): DAT read: user:394> 2025-10-29T00:30:54.900Z,1761697854.900 [DAT](INFO): DAT read: Tx time:00:30:54.6772 2025-10-29T00:30:54.901Z,1761697854.901 [DAT](INFO): Ping request sent. 2025-10-29T00:30:54.901Z,1761697854.901 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:30:54.901Z,1761697854.901 [DAT](INFO): publishing transmit ping time 2025-10-29T00:30:54.902Z,1761697854.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001401 2025-10-29T00:30:55.150Z,1761697855.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248939 2025-10-29T00:30:55.255Z,1761697855.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923981,-0.353271,-0.146489],[0.369900,0.922805,0.107723],[0.097125,-0.153721,0.983329]] 2025-10-29T00:30:55.289Z,1761697855.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:55.291Z,1761697855.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:55.294Z,1761697855.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 552.906128 m, bearing: 24.205706 deg, approach rate: -0.594380 m/s, LOS rate: 0.000959 deg/s, cmd heading: 23.653423 deg, new cmd heading: 23.654256 deg. 2025-10-29T00:30:55.295Z,1761697855.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412845 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:55.402Z,1761697855.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501162 2025-10-29T00:30:55.653Z,1761697855.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752084 2025-10-29T00:30:55.658Z,1761697855.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925168,-0.351960,-0.142085],[0.368109,0.923270,0.109859],[0.092517,-0.153941,0.983739]] 2025-10-29T00:30:55.679Z,1761697855.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:55.682Z,1761697855.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 552.683044 m, bearing: 24.206115 deg, approach rate: -0.575650 m/s, LOS rate: 0.001056 deg/s, cmd heading: 23.654255 deg, new cmd heading: 23.655073 deg. 2025-10-29T00:30:55.682Z,1761697855.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412859 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:55.906Z,1761697855.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005377 2025-10-29T00:30:56.065Z,1761697856.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926207,-0.350651,-0.138510],[0.366553,0.923481,0.113231],[0.088207,-0.155646,0.983867]] 2025-10-29T00:30:56.107Z,1761697856.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:56.109Z,1761697856.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 552.435974 m, bearing: 24.205455 deg, approach rate: -0.577348 m/s, LOS rate: -0.001543 deg/s, cmd heading: 23.655073 deg, new cmd heading: 23.653752 deg. 2025-10-29T00:30:56.110Z,1761697856.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412836 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:56.158Z,1761697856.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256990 2025-10-29T00:30:56.409Z,1761697856.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508238 2025-10-29T00:30:56.518Z,1761697856.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:56.521Z,1761697856.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 552.198059 m, bearing: 24.204819 deg, approach rate: -0.577941 m/s, LOS rate: -0.001546 deg/s, cmd heading: 23.653751 deg, new cmd heading: 23.652478 deg. 2025-10-29T00:30:56.522Z,1761697856.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412814 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:56.661Z,1761697856.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760177 2025-10-29T00:30:56.866Z,1761697856.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927426,-0.351409,-0.128037],[0.365509,0.924151,0.111123],[0.079276,-0.149857,0.985524]] 2025-10-29T00:30:56.910Z,1761697856.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:56.913Z,1761697856.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012345 2025-10-29T00:30:56.914Z,1761697856.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 551.973694 m, bearing: 24.204254 deg, approach rate: -0.573694 m/s, LOS rate: -0.001445 deg/s, cmd heading: 23.652479 deg, new cmd heading: 23.651349 deg. 2025-10-29T00:30:56.915Z,1761697856.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412794 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:57.165Z,1761697857.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264261 2025-10-29T00:30:57.270Z,1761697857.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927429,-0.353191,-0.123010],[0.366302,0.924190,0.108150],[0.075487,-0.145360,0.986495]] 2025-10-29T00:30:57.320Z,1761697857.320 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:57.322Z,1761697857.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:57.325Z,1761697857.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 551.729126 m, bearing: 24.203275 deg, approach rate: -0.593136 m/s, LOS rate: -0.002376 deg/s, cmd heading: 23.651349 deg, new cmd heading: 23.649389 deg. 2025-10-29T00:30:57.326Z,1761697857.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412760 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:57.417Z,1761697857.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516466 2025-10-29T00:30:57.669Z,1761697857.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768276 2025-10-29T00:30:57.679Z,1761697857.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927335,-0.355229,-0.117740],[0.367350,0.924117,0.105175],[0.071444,-0.140784,0.987459]] 2025-10-29T00:30:57.721Z,1761697857.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:57.723Z,1761697857.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 551.498291 m, bearing: 24.202324 deg, approach rate: -0.578780 m/s, LOS rate: -0.002385 deg/s, cmd heading: 23.649390 deg, new cmd heading: 23.647488 deg. 2025-10-29T00:30:57.729Z,1761697857.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412727 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:57.921Z,1761697857.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020224 2025-10-29T00:30:58.094Z,1761697858.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926699,-0.358694,-0.112104],[0.369690,0.923707,0.100471],[0.067513,-0.134550,0.988604]] 2025-10-29T00:30:58.149Z,1761697858.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:58.153Z,1761697858.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 551.255615 m, bearing: 24.201221 deg, approach rate: -0.566358 m/s, LOS rate: -0.002576 deg/s, cmd heading: 23.647488 deg, new cmd heading: 23.645280 deg. 2025-10-29T00:30:58.153Z,1761697858.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412688 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:58.173Z,1761697858.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272316 2025-10-29T00:30:58.425Z,1761697858.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524101 2025-10-29T00:30:58.584Z,1761697858.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926068,-0.361946,-0.106741],[0.372002,0.923128,0.097211],[0.063351,-0.129732,0.989523]] 2025-10-29T00:30:58.613Z,1761697858.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:58.615Z,1761697858.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 550.974854 m, bearing: 24.199870 deg, approach rate: -0.605447 m/s, LOS rate: -0.002914 deg/s, cmd heading: 23.645280 deg, new cmd heading: 23.642577 deg. 2025-10-29T00:30:58.617Z,1761697858.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412641 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:58.678Z,1761697858.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777202 2025-10-29T00:30:58.929Z,1761697858.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028202 2025-10-29T00:30:58.987Z,1761697858.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.925234,-0.365315,-0.102402],[0.374665,0.922278,0.095028],[0.059728,-0.126289,0.990194]] 2025-10-29T00:30:59.080Z,1761697859.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:59.083Z,1761697859.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 550.741455 m, bearing: 24.198676 deg, approach rate: -0.499212 m/s, LOS rate: -0.002555 deg/s, cmd heading: 23.642577 deg, new cmd heading: 23.640188 deg. 2025-10-29T00:30:59.089Z,1761697859.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412599 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:59.181Z,1761697859.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280339 2025-10-29T00:30:59.433Z,1761697859.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532189 2025-10-29T00:30:59.528Z,1761697859.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924362,-0.368620,-0.098354],[0.377334,0.921394,0.093017],[0.056334,-0.123094,0.990795]] 2025-10-29T00:30:59.589Z,1761697859.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:30:59.591Z,1761697859.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:59.594Z,1761697859.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 550.407715 m, bearing: 24.197170 deg, approach rate: -0.653569 m/s, LOS rate: -0.002952 deg/s, cmd heading: 23.640188 deg, new cmd heading: 23.637173 deg. 2025-10-29T00:30:59.595Z,1761697859.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412546 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:30:59.686Z,1761697859.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.785378 2025-10-29T00:30:59.934Z,1761697859.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923658,-0.371444,-0.094265],[0.379531,0.920705,0.090877],[0.053035,-0.119716,0.991391]] 2025-10-29T00:30:59.937Z,1761697859.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036311 2025-10-29T00:30:59.954Z,1761697859.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:30:59.956Z,1761697859.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 550.186707 m, bearing: 24.196115 deg, approach rate: -0.609717 m/s, LOS rate: -0.002911 deg/s, cmd heading: 23.637172 deg, new cmd heading: 23.635062 deg. 2025-10-29T00:30:59.957Z,1761697859.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412510 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:00.189Z,1761697860.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288538 2025-10-29T00:31:00.334Z,1761697860.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923059,-0.373715,-0.091103],[0.381353,0.920073,0.089643],[0.050321,-0.117488,0.991799]] 2025-10-29T00:31:00.423Z,1761697860.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:00.430Z,1761697860.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 549.933838 m, bearing: 24.195830 deg, approach rate: -0.538134 m/s, LOS rate: -0.000606 deg/s, cmd heading: 23.635062 deg, new cmd heading: 23.634492 deg. 2025-10-29T00:31:00.431Z,1761697860.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412500 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:00.441Z,1761697860.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540508 2025-10-29T00:31:00.693Z,1761697860.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792268 2025-10-29T00:31:00.789Z,1761697860.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922559,-0.376049,-0.086436],[0.383162,0.919260,0.090271],[0.045511,-0.116399,0.992159]] 2025-10-29T00:31:00.818Z,1761697860.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:00.820Z,1761697860.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 549.682922 m, bearing: 24.195497 deg, approach rate: -0.636604 m/s, LOS rate: -0.000845 deg/s, cmd heading: 23.634492 deg, new cmd heading: 23.633825 deg. 2025-10-29T00:31:00.821Z,1761697860.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412488 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:00.945Z,1761697860.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044469 2025-10-29T00:31:01.186Z,1761697861.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922590,-0.376201,-0.085449],[0.383320,0.918918,0.093036],[0.043520,-0.118588,0.991989]] 2025-10-29T00:31:01.197Z,1761697861.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296351 2025-10-29T00:31:01.252Z,1761697861.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:01.254Z,1761697861.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 549.445251 m, bearing: 24.195901 deg, approach rate: -0.547650 m/s, LOS rate: 0.000930 deg/s, cmd heading: 23.633826 deg, new cmd heading: 23.634633 deg. 2025-10-29T00:31:01.255Z,1761697861.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412502 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:01.450Z,1761697861.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548873 2025-10-29T00:31:01.701Z,1761697861.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.800196 2025-10-29T00:31:01.715Z,1761697861.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922739,-0.375929,-0.085034],[0.383169,0.918572,0.096987],[0.041649,-0.122076,0.991647]] 2025-10-29T00:31:01.768Z,1761697861.768 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:01.775Z,1761697861.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:01.786Z,1761697861.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 549.145691 m, bearing: 24.196419 deg, approach rate: -0.572837 m/s, LOS rate: 0.000992 deg/s, cmd heading: 23.634633 deg, new cmd heading: 23.635671 deg. 2025-10-29T00:31:01.787Z,1761697861.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412520 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:01.953Z,1761697861.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052257 2025-10-29T00:31:02.155Z,1761697862.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922988,-0.375360,-0.084836],[0.382777,0.918213,0.101816],[0.039680,-0.126448,0.991179]] 2025-10-29T00:31:02.205Z,1761697862.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304251 2025-10-29T00:31:02.211Z,1761697862.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:02.222Z,1761697862.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 548.892151 m, bearing: 24.197092 deg, approach rate: -0.580575 m/s, LOS rate: 0.001541 deg/s, cmd heading: 23.635672 deg, new cmd heading: 23.637017 deg. 2025-10-29T00:31:02.223Z,1761697862.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412544 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:02.457Z,1761697862.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556656 2025-10-29T00:31:02.659Z,1761697862.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923263,-0.374793,-0.084353],[0.382270,0.918081,0.104869],[0.038138,-0.129067,0.990902]] 2025-10-29T00:31:02.677Z,1761697862.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:02.679Z,1761697862.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 548.611084 m, bearing: 24.197857 deg, approach rate: -0.603925 m/s, LOS rate: 0.001645 deg/s, cmd heading: 23.637017 deg, new cmd heading: 23.638549 deg. 2025-10-29T00:31:02.680Z,1761697862.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412571 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:02.710Z,1761697862.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809008 2025-10-29T00:31:02.961Z,1761697862.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060280 2025-10-29T00:31:03.067Z,1761697863.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923532,-0.374197,-0.084059],[0.381711,0.918096,0.106753],[0.037227,-0.130676,0.990726]] 2025-10-29T00:31:03.149Z,1761697863.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:03.151Z,1761697863.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 548.362793 m, bearing: 24.198551 deg, approach rate: -0.525997 m/s, LOS rate: 0.001470 deg/s, cmd heading: 23.638549 deg, new cmd heading: 23.639937 deg. 2025-10-29T00:31:03.156Z,1761697863.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412595 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:03.215Z,1761697863.215 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313871 2025-10-29T00:31:03.465Z,1761697863.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564248 2025-10-29T00:31:03.491Z,1761697863.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923518,-0.374190,-0.084238],[0.381809,0.917800,0.108926],[0.036555,-0.132758,0.990474]] 2025-10-29T00:31:03.543Z,1761697863.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:03.545Z,1761697863.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 548.108887 m, bearing: 24.199930 deg, approach rate: -0.644552 m/s, LOS rate: 0.003503 deg/s, cmd heading: 23.639937 deg, new cmd heading: 23.642697 deg. 2025-10-29T00:31:03.546Z,1761697863.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412643 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:03.717Z,1761697863.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.816137 2025-10-29T00:31:03.898Z,1761697863.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923561,-0.374144,-0.083970],[0.381726,0.917838,0.108895],[0.036329,-0.132625,0.990500]] 2025-10-29T00:31:03.914Z,1761697863.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:03.933Z,1761697863.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:03.935Z,1761697863.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 547.891907 m, bearing: 24.201112 deg, approach rate: -0.556376 m/s, LOS rate: 0.003032 deg/s, cmd heading: 23.642696 deg, new cmd heading: 23.645061 deg. 2025-10-29T00:31:03.944Z,1761697863.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412684 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:03.969Z,1761697863.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068730 2025-10-29T00:31:04.222Z,1761697864.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.321405 2025-10-29T00:31:04.294Z,1761697864.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923566,-0.374228,-0.083544],[0.381734,0.917897,0.108368],[0.036130,-0.131977,0.990594]] 2025-10-29T00:31:04.397Z,1761697864.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:04.404Z,1761697864.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 547.633423 m, bearing: 24.202597 deg, approach rate: -0.556053 m/s, LOS rate: 0.003196 deg/s, cmd heading: 23.645061 deg, new cmd heading: 23.648033 deg. 2025-10-29T00:31:04.405Z,1761697864.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412736 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:04.474Z,1761697864.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.572751 2025-10-29T00:31:04.719Z,1761697864.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923117,-0.375402,-0.083241],[0.382807,0.917621,0.106913],[0.036248,-0.130559,0.990778]] 2025-10-29T00:31:04.725Z,1761697864.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.824183 2025-10-29T00:31:04.776Z,1761697864.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:04.786Z,1761697864.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 547.396912 m, bearing: 24.203928 deg, approach rate: -0.625939 m/s, LOS rate: 0.003525 deg/s, cmd heading: 23.648032 deg, new cmd heading: 23.650696 deg. 2025-10-29T00:31:04.787Z,1761697864.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412783 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:04.977Z,1761697864.977 [DAT](INFO): Reached modem response timeout 2025-10-29T00:31:04.978Z,1761697864.978 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:04.978Z,1761697864.978 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:05.185Z,1761697865.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922410,-0.377237,-0.082781],[0.384483,0.917202,0.104464],[0.036519,-0.128187,0.991077]] 2025-10-29T00:31:05.229Z,1761697865.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:05.230Z,1761697865.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:05.233Z,1761697865.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 547.131104 m, bearing: 24.205386 deg, approach rate: -0.584086 m/s, LOS rate: 0.003205 deg/s, cmd heading: 23.650696 deg, new cmd heading: 23.653613 deg. 2025-10-29T00:31:05.234Z,1761697865.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412833 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:05.481Z,1761697865.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:05.582Z,1761697865.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921652,-0.378934,-0.083467],[0.386249,0.916490,0.104200],[0.037012,-0.128275,0.991048]] 2025-10-29T00:31:05.602Z,1761697865.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:05.605Z,1761697865.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 546.914734 m, bearing: 24.206530 deg, approach rate: -0.582146 m/s, LOS rate: 0.003080 deg/s, cmd heading: 23.653613 deg, new cmd heading: 23.655902 deg. 2025-10-29T00:31:05.606Z,1761697865.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412873 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:05.733Z,1761697865.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:05.985Z,1761697865.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:06.005Z,1761697866.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920378,-0.381506,-0.085779],[0.389034,0.915512,0.102419],[0.039458,-0.127636,0.991036]] 2025-10-29T00:31:06.021Z,1761697866.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:06.023Z,1761697866.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:06.026Z,1761697866.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 546.670837 m, bearing: 24.207742 deg, approach rate: -0.579687 m/s, LOS rate: 0.002882 deg/s, cmd heading: 23.655903 deg, new cmd heading: 23.658328 deg. 2025-10-29T00:31:06.027Z,1761697866.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412916 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:06.237Z,1761697866.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:06.489Z,1761697866.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:06.509Z,1761697866.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:06.512Z,1761697866.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 546.392883 m, bearing: 24.208705 deg, approach rate: -0.571485 m/s, LOS rate: 0.001981 deg/s, cmd heading: 23.658327 deg, new cmd heading: 23.660255 deg. 2025-10-29T00:31:06.513Z,1761697866.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412949 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:06.741Z,1761697866.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:06.847Z,1761697866.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918750,-0.385079,-0.087250],[0.392381,0.915081,0.093084],[0.043996,-0.119756,0.991828]] 2025-10-29T00:31:06.894Z,1761697866.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:06.897Z,1761697866.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 546.174072 m, bearing: 24.209379 deg, approach rate: -0.568667 m/s, LOS rate: 0.001751 deg/s, cmd heading: 23.660255 deg, new cmd heading: 23.661603 deg. 2025-10-29T00:31:06.898Z,1761697866.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412973 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:06.993Z,1761697866.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:07.245Z,1761697867.245 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:31:07.245Z,1761697867.245 [DAT](INFO): response not received 2025-10-29T00:31:07.246Z,1761697867.246 [DAT](INFO): DAT read: user:395> 2025-10-29T00:31:07.247Z,1761697867.247 [DAT](INFO): DAT read: Tx time:00:31:07.1272 2025-10-29T00:31:07.247Z,1761697867.247 [DAT](INFO): Ping request sent. 2025-10-29T00:31:07.247Z,1761697867.247 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:07.247Z,1761697867.247 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:07.248Z,1761697867.248 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-29T00:31:07.368Z,1761697867.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:07.377Z,1761697867.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 545.915100 m, bearing: 24.209871 deg, approach rate: -0.551531 m/s, LOS rate: 0.001047 deg/s, cmd heading: 23.661602 deg, new cmd heading: 23.662586 deg. 2025-10-29T00:31:07.379Z,1761697867.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412990 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:07.497Z,1761697867.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250144 2025-10-29T00:31:07.721Z,1761697867.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:07.724Z,1761697867.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 545.702942 m, bearing: 24.210274 deg, approach rate: -0.593028 m/s, LOS rate: 0.001127 deg/s, cmd heading: 23.662586 deg, new cmd heading: 23.663392 deg. 2025-10-29T00:31:07.725Z,1761697867.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413004 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:07.750Z,1761697867.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502286 2025-10-29T00:31:08.001Z,1761697868.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753962 2025-10-29T00:31:08.087Z,1761697868.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917566,-0.385605,-0.096859],[0.394174,0.914127,0.094860],[0.051963,-0.125219,0.990767]] 2025-10-29T00:31:08.116Z,1761697868.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:08.118Z,1761697868.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:08.121Z,1761697868.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 545.477905 m, bearing: 24.210651 deg, approach rate: -0.567277 m/s, LOS rate: 0.000950 deg/s, cmd heading: 23.663392 deg, new cmd heading: 23.664146 deg. 2025-10-29T00:31:08.122Z,1761697868.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413017 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:08.253Z,1761697868.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006003 2025-10-29T00:31:08.491Z,1761697868.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917464,-0.384814,-0.100891],[0.394055,0.913878,0.097714],[0.054601,-0.129406,0.990087]] 2025-10-29T00:31:08.505Z,1761697868.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257968 2025-10-29T00:31:08.547Z,1761697868.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:08.550Z,1761697868.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 545.232605 m, bearing: 24.210541 deg, approach rate: -0.571263 m/s, LOS rate: -0.000255 deg/s, cmd heading: 23.664147 deg, new cmd heading: 23.663927 deg. 2025-10-29T00:31:08.551Z,1761697868.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413013 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:08.757Z,1761697868.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510411 2025-10-29T00:31:08.901Z,1761697868.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917360,-0.383984,-0.104916],[0.393872,0.913744,0.099687],[0.057588,-0.132773,0.989472]] 2025-10-29T00:31:08.919Z,1761697868.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:08.922Z,1761697868.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 545.020508 m, bearing: 24.210448 deg, approach rate: -0.570835 m/s, LOS rate: -0.000251 deg/s, cmd heading: 23.663928 deg, new cmd heading: 23.663742 deg. 2025-10-29T00:31:08.923Z,1761697868.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413010 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:09.009Z,1761697869.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761906 2025-10-29T00:31:09.261Z,1761697869.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014016 2025-10-29T00:31:09.367Z,1761697869.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917204,-0.383424,-0.108274],[0.393817,0.913675,0.100533],[0.060381,-0.134849,0.989025]] 2025-10-29T00:31:09.430Z,1761697869.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:09.437Z,1761697869.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 544.733887 m, bearing: 24.209402 deg, approach rate: -0.560533 m/s, LOS rate: -0.002047 deg/s, cmd heading: 23.663742 deg, new cmd heading: 23.661649 deg. 2025-10-29T00:31:09.438Z,1761697869.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412974 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:09.513Z,1761697869.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265989 2025-10-29T00:31:09.766Z,1761697869.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518660 2025-10-29T00:31:09.767Z,1761697869.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917087,-0.382393,-0.112811],[0.393542,0.913565,0.102579],[0.063835,-0.138470,0.988307]] 2025-10-29T00:31:09.804Z,1761697869.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:09.807Z,1761697869.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 544.513184 m, bearing: 24.208598 deg, approach rate: -0.590268 m/s, LOS rate: -0.002151 deg/s, cmd heading: 23.661648 deg, new cmd heading: 23.660040 deg. 2025-10-29T00:31:09.812Z,1761697869.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412946 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:10.018Z,1761697870.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770865 2025-10-29T00:31:10.169Z,1761697870.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917039,-0.381045,-0.117664],[0.392994,0.913617,0.104209],[0.067792,-0.141805,0.987571]] 2025-10-29T00:31:10.190Z,1761697870.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:10.199Z,1761697870.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:10.233Z,1761697870.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 544.278625 m, bearing: 24.207752 deg, approach rate: -0.596808 m/s, LOS rate: -0.002153 deg/s, cmd heading: 23.660040 deg, new cmd heading: 23.658348 deg. 2025-10-29T00:31:10.241Z,1761697870.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412916 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:10.269Z,1761697870.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022080 2025-10-29T00:31:10.521Z,1761697870.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273911 2025-10-29T00:31:10.620Z,1761697870.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:10.623Z,1761697870.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 544.029724 m, bearing: 24.206080 deg, approach rate: -0.588980 m/s, LOS rate: -0.003959 deg/s, cmd heading: 23.658348 deg, new cmd heading: 23.655002 deg. 2025-10-29T00:31:10.624Z,1761697870.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412858 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:10.774Z,1761697870.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526287 2025-10-29T00:31:10.975Z,1761697870.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916404,-0.379135,-0.128297],[0.392817,0.913425,0.106531],[0.076800,-0.148023,0.985997]] 2025-10-29T00:31:10.993Z,1761697870.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:10.996Z,1761697870.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 543.813416 m, bearing: 24.204617 deg, approach rate: -0.579015 m/s, LOS rate: -0.003918 deg/s, cmd heading: 23.655001 deg, new cmd heading: 23.652073 deg. 2025-10-29T00:31:10.997Z,1761697870.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412807 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:11.025Z,1761697871.025 [DAT](INFO): DAT read: Rx Time:00:31:10.2783 2025-10-29T00:31:11.026Z,1761697871.026 [DAT](INFO): Rx dataTimestamp_ set to:1761697871.025245 2025-10-29T00:31:11.026Z,1761697871.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779112 2025-10-29T00:31:11.277Z,1761697871.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.029876 2025-10-29T00:31:11.449Z,1761697871.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915820,-0.378947,-0.132937],[0.393189,0.913461,0.104841],[0.081703,-0.148285,0.985564]] 2025-10-29T00:31:11.513Z,1761697871.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 567.20 m. 2025-10-29T00:31:11.516Z,1761697871.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 567.199524 m, nav range: 543.515808 m, bearing: 24.201678 deg, approach rate: -0.572631 m/s, LOS rate: -0.005658 deg/s, cmd heading: 23.652073 deg, new cmd heading: 23.646191 deg. 2025-10-29T00:31:11.522Z,1761697871.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412704 target range: 567.199524 and range: 569.90 m. 2025-10-29T00:31:11.535Z,1761697871.535 [DAT](INFO): DAT read: 00:31:10.2783 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 269,-0.07,-0.079,-1.668, 0.148,-0.223, PHS= 0.245,-1.400, 0.326, RAW= 152.4, 9.8, CAL= 152.1, 10.7, ROT= 357.9, -10.7 2025-10-29T00:31:11.536Z,1761697871.536 [DAT](INFO): got valid direction response: 00:31:10.2783 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 269,-0.07,-0.079,-1.668, 0.148,-0.223, PHS= 0.245,-1.400, 0.326, RAW= 152.4, 9.8, CAL= 152.1, 10.7, ROT= 357.9, -10.7 2025-10-29T00:31:11.537Z,1761697871.537 [DAT](INFO): DAT read: Bearing 181.9, 0.4 (Local) 2025-10-29T00:31:11.538Z,1761697871.538 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, 0.4 (Local) 2025-10-29T00:31:11.539Z,1761697871.539 [DAT](INFO): DAT read: Range 11 to 50 : 560.1 m (Round-trip 746.9 ms) speed 0.2 m/s 2025-10-29T00:31:11.540Z,1761697871.540 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:11.541Z,1761697871.541 [DAT](INFO): direction in FSK: [0.981953,-0.036007,0.185667] 2025-10-29T00:31:11.541Z,1761697871.541 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:11.544Z,1761697871.544 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:11.545Z,1761697871.545 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:11.545Z,1761697871.545 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:11.782Z,1761697871.782 [DAT](INFO): DAT read: user:396> 2025-10-29T00:31:11.783Z,1761697871.783 [DAT](INFO): DAT read: Tx time:00:31:11.5272 2025-10-29T00:31:11.783Z,1761697871.783 [DAT](INFO): Ping request sent. 2025-10-29T00:31:11.783Z,1761697871.783 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:11.784Z,1761697871.784 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:11.785Z,1761697871.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001714 2025-10-29T00:31:11.891Z,1761697871.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915072,-0.379419,-0.136695],[0.393962,0.913473,0.101794],[0.086245,-0.147002,0.985369]] 2025-10-29T00:31:11.914Z,1761697871.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 560.099976 m, deltaT: 16.884435 s, deltaX: -9.800049 m, approachRate: -0.580419 m/s, rangeRepo size: 4 2025-10-29T00:31:11.916Z,1761697871.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 557.402161 m, bearing: 22.803729 deg, lat: 36.779110 deg, lon: -121.859193 deg, deltaT: 16.884435 s, deltaX: -9.797363 m, approachRate: -0.580260 m/s, posRepo size: 4 2025-10-29T00:31:11.917Z,1761697871.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:11.920Z,1761697871.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 543.266968 m, bearing: 24.199191 deg, approach rate: 0.000000 m/s, LOS rate: -0.005658 deg/s, cmd heading: 23.646192 deg, new cmd heading: 23.641659 deg. 2025-10-29T00:31:11.933Z,1761697871.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412625 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:12.033Z,1761697872.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249642 2025-10-29T00:31:12.287Z,1761697872.287 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503350 2025-10-29T00:31:12.297Z,1761697872.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914301,-0.379779,-0.140788],[0.394762,0.913336,0.099904],[0.090646,-0.146920,0.984986]] 2025-10-29T00:31:12.384Z,1761697872.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:12.393Z,1761697872.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:12.395Z,1761697872.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 542.987183 m, bearing: 24.196239 deg, approach rate: -0.583865 m/s, LOS rate: -0.006162 deg/s, cmd heading: 23.641660 deg, new cmd heading: 23.635755 deg. 2025-10-29T00:31:12.400Z,1761697872.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412522 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:12.537Z,1761697872.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753442 2025-10-29T00:31:12.708Z,1761697872.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913544,-0.379840,-0.145460],[0.395438,0.913139,0.099021],[0.095213,-0.147980,0.984396]] 2025-10-29T00:31:12.726Z,1761697872.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:12.729Z,1761697872.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 542.774292 m, bearing: 24.193970 deg, approach rate: -0.639355 m/s, LOS rate: -0.006817 deg/s, cmd heading: 23.635755 deg, new cmd heading: 23.631215 deg. 2025-10-29T00:31:12.730Z,1761697872.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412443 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:12.792Z,1761697872.792 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008249 2025-10-29T00:31:13.041Z,1761697873.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257404 2025-10-29T00:31:13.169Z,1761697873.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912660,-0.380351,-0.149617],[0.396428,0.912870,0.097535],[0.099483,-0.148328,0.983922]] 2025-10-29T00:31:13.192Z,1761697873.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:13.195Z,1761697873.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 542.495911 m, bearing: 24.190961 deg, approach rate: -0.597071 m/s, LOS rate: -0.006458 deg/s, cmd heading: 23.631215 deg, new cmd heading: 23.625193 deg. 2025-10-29T00:31:13.196Z,1761697873.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412337 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:13.294Z,1761697873.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510433 2025-10-29T00:31:13.545Z,1761697873.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761320 2025-10-29T00:31:13.601Z,1761697873.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910885,-0.380770,-0.159067],[0.398399,0.911907,0.098506],[0.107547,-0.153100,0.982341]] 2025-10-29T00:31:13.637Z,1761697873.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:13.656Z,1761697873.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 542.225037 m, bearing: 24.187852 deg, approach rate: -0.608255 m/s, LOS rate: -0.006985 deg/s, cmd heading: 23.625194 deg, new cmd heading: 23.618973 deg. 2025-10-29T00:31:13.657Z,1761697873.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412229 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:13.797Z,1761697873.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013387 2025-10-29T00:31:14.013Z,1761697874.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909950,-0.381943,-0.161589],[0.399572,0.911768,0.094978],[0.111055,-0.150992,0.982277]] 2025-10-29T00:31:14.031Z,1761697874.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:14.033Z,1761697874.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 541.988464 m, bearing: 24.185095 deg, approach rate: -0.601569 m/s, LOS rate: -0.007014 deg/s, cmd heading: 23.618973 deg, new cmd heading: 23.613457 deg. 2025-10-29T00:31:14.034Z,1761697874.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412133 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:14.049Z,1761697874.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265525 2025-10-29T00:31:14.304Z,1761697874.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519678 2025-10-29T00:31:14.415Z,1761697874.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908974,-0.383305,-0.163842],[0.400827,0.911622,0.091014],[0.114476,-0.148402,0.982279]] 2025-10-29T00:31:14.457Z,1761697874.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:14.459Z,1761697874.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:14.462Z,1761697874.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 541.731506 m, bearing: 24.182876 deg, approach rate: -0.599319 m/s, LOS rate: -0.005178 deg/s, cmd heading: 23.613456 deg, new cmd heading: 23.609016 deg. 2025-10-29T00:31:14.463Z,1761697874.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412055 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:14.557Z,1761697874.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773459 2025-10-29T00:31:14.809Z,1761697874.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025510 2025-10-29T00:31:14.820Z,1761697874.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908165,-0.384050,-0.166558],[0.401726,0.911442,0.088823],[0.117695,-0.147576,0.982023]] 2025-10-29T00:31:14.845Z,1761697874.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:14.850Z,1761697874.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 541.503540 m, bearing: 24.180876 deg, approach rate: -0.592285 m/s, LOS rate: -0.005198 deg/s, cmd heading: 23.609017 deg, new cmd heading: 23.605015 deg. 2025-10-29T00:31:14.853Z,1761697874.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411985 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:15.061Z,1761697875.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277419 2025-10-29T00:31:15.223Z,1761697875.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907422,-0.384594,-0.169330],[0.402412,0.911359,0.086543],[0.121036,-0.146671,0.981752]] 2025-10-29T00:31:15.274Z,1761697875.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:15.299Z,1761697875.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 541.254028 m, bearing: 24.178659 deg, approach rate: -0.582033 m/s, LOS rate: -0.005175 deg/s, cmd heading: 23.605014 deg, new cmd heading: 23.600578 deg. 2025-10-29T00:31:15.307Z,1761697875.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411908 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:15.316Z,1761697875.316 [DAT](INFO): DAT read: Rx Time:00:31:14.6672 2025-10-29T00:31:15.317Z,1761697875.317 [DAT](INFO): Rx dataTimestamp_ set to:1761697875.316568 2025-10-29T00:31:15.317Z,1761697875.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533956 2025-10-29T00:31:15.565Z,1761697875.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781396 2025-10-29T00:31:15.633Z,1761697875.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906995,-0.384386,-0.172066],[0.402523,0.911379,0.085807],[0.123834,-0.147087,0.981341]] 2025-10-29T00:31:15.694Z,1761697875.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:15.703Z,1761697875.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 541.001221 m, bearing: 24.178173 deg, approach rate: -0.601040 m/s, LOS rate: -0.001155 deg/s, cmd heading: 23.600578 deg, new cmd heading: 23.599606 deg. 2025-10-29T00:31:15.705Z,1761697875.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411891 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:15.820Z,1761697875.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.036317 2025-10-29T00:31:16.050Z,1761697876.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906717,-0.383732,-0.174969],[0.402347,0.911426,0.086138],[0.126417,-0.148501,0.980799]] 2025-10-29T00:31:16.067Z,1761697876.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 557.40 m. 2025-10-29T00:31:16.074Z,1761697876.074 [DAT](INFO): DAT read: 00:31:14.6672 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 332,-0.04,-1.562,-3.097,-1.309,-1.734, PHS= 0.274,-1.318, 0.381, RAW= 153.2, 8.1, CAL= 152.8, 8.6, ROT= 357.2, -8.6 2025-10-29T00:31:16.076Z,1761697876.076 [DAT](INFO): got valid direction response: 00:31:14.6672 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 332,-0.04,-1.562,-3.097,-1.309,-1.734, PHS= 0.274,-1.318, 0.381, RAW= 153.2, 8.1, CAL= 152.8, 8.6, ROT= 357.2, -8.6 2025-10-29T00:31:16.077Z,1761697876.077 [DAT](INFO): DAT read: Bearing 180.1, 2.4 (Local) 2025-10-29T00:31:16.077Z,1761697876.077 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, 2.4 (Local) 2025-10-29T00:31:16.078Z,1761697876.078 [DAT](INFO): DAT read: Range 11 to 50 : 551.9 m (Round-trip 735.9 ms) speed 0.5 m/s 2025-10-29T00:31:16.079Z,1761697876.079 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:16.081Z,1761697876.081 [DAT](INFO): direction in FSK: [0.987576,-0.048300,0.149535] 2025-10-29T00:31:16.081Z,1761697876.081 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:16.101Z,1761697876.101 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:16.101Z,1761697876.101 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:16.101Z,1761697876.101 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:16.109Z,1761697876.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 557.402161 m, nav range: 540.776917 m, bearing: 24.177745 deg, approach rate: -0.600489 m/s, LOS rate: -0.001146 deg/s, cmd heading: 23.599606 deg, new cmd heading: 23.598750 deg. 2025-10-29T00:31:16.110Z,1761697876.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411876 target range: 557.402161 and range: 560.10 m. 2025-10-29T00:31:16.323Z,1761697876.323 [DAT](INFO): DAT read: user:397> 2025-10-29T00:31:16.326Z,1761697876.326 [DAT](INFO): DAT read: Tx time:00:31:16.0772 2025-10-29T00:31:16.327Z,1761697876.327 [DAT](INFO): Ping request sent. 2025-10-29T00:31:16.327Z,1761697876.327 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:16.329Z,1761697876.329 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:16.330Z,1761697876.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003141 2025-10-29T00:31:16.460Z,1761697876.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906734,-0.381914,-0.178815],[0.401514,0.911497,0.089214],[0.128917,-0.152690,0.979830]] 2025-10-29T00:31:16.516Z,1761697876.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 551.900024 m, deltaT: 4.539719 s, deltaX: -8.199951 m, approachRate: -1.806268 m/s, rangeRepo size: 4 2025-10-29T00:31:16.518Z,1761697876.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 549.232178 m, bearing: 22.409530 deg, lat: 36.779110 deg, lon: -121.859360 deg, deltaT: 4.539719 s, deltaX: -8.169983 m, approachRate: -1.799667 m/s, posRepo size: 4 2025-10-29T00:31:16.518Z,1761697876.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:16.521Z,1761697876.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 534.603027 m, bearing: 22.724886 deg, approach rate: 0.000000 m/s, LOS rate: -0.001146 deg/s, cmd heading: 23.598749 deg, new cmd heading: 23.597722 deg. 2025-10-29T00:31:16.522Z,1761697876.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411858 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:16.574Z,1761697876.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246717 2025-10-29T00:31:16.825Z,1761697876.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497971 2025-10-29T00:31:16.877Z,1761697876.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906850,-0.379941,-0.182396],[0.400364,0.911805,0.091220],[0.131651,-0.155748,0.978985]] 2025-10-29T00:31:16.894Z,1761697876.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:16.896Z,1761697876.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:16.898Z,1761697876.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 534.381775 m, bearing: 22.725272 deg, approach rate: -0.581075 m/s, LOS rate: 0.001013 deg/s, cmd heading: 23.597723 deg, new cmd heading: 23.598495 deg. 2025-10-29T00:31:16.899Z,1761697876.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411871 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:17.077Z,1761697877.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750007 2025-10-29T00:31:17.259Z,1761697877.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907081,-0.378114,-0.185026],[0.398923,0.912454,0.091037],[0.134406,-0.156389,0.978508]] 2025-10-29T00:31:17.309Z,1761697877.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:17.332Z,1761697877.332 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004183 2025-10-29T00:31:17.349Z,1761697877.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 534.156372 m, bearing: 22.725701 deg, approach rate: -0.547742 m/s, LOS rate: 0.001042 deg/s, cmd heading: 23.598495 deg, new cmd heading: 23.599353 deg. 2025-10-29T00:31:17.351Z,1761697877.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411886 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:17.581Z,1761697877.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254432 2025-10-29T00:31:17.676Z,1761697877.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907303,-0.376313,-0.187592],[0.397537,0.913051,0.091120],[0.136991,-0.157248,0.978011]] 2025-10-29T00:31:17.729Z,1761697877.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:17.732Z,1761697877.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 533.914001 m, bearing: 22.727367 deg, approach rate: -0.574158 m/s, LOS rate: 0.003948 deg/s, cmd heading: 23.599352 deg, new cmd heading: 23.602685 deg. 2025-10-29T00:31:17.733Z,1761697877.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411945 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:17.834Z,1761697877.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507254 2025-10-29T00:31:18.079Z,1761697878.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907675,-0.373986,-0.190423],[0.395823,0.913676,0.092304],[0.139465,-0.159156,0.977353]] 2025-10-29T00:31:18.085Z,1761697878.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758001 2025-10-29T00:31:18.099Z,1761697878.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:18.117Z,1761697878.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 533.693420 m, bearing: 22.728927 deg, approach rate: -0.597141 m/s, LOS rate: 0.004226 deg/s, cmd heading: 23.602685 deg, new cmd heading: 23.605807 deg. 2025-10-29T00:31:18.118Z,1761697878.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411999 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:18.343Z,1761697878.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015958 2025-10-29T00:31:18.485Z,1761697878.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907931,-0.371737,-0.193578],[0.394313,0.914165,0.093915],[0.142050,-0.161599,0.976579]] 2025-10-29T00:31:18.550Z,1761697878.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:18.553Z,1761697878.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 533.456970 m, bearing: 22.730483 deg, approach rate: -0.524245 m/s, LOS rate: 0.003450 deg/s, cmd heading: 23.605807 deg, new cmd heading: 23.608919 deg. 2025-10-29T00:31:18.553Z,1761697878.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412053 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:18.590Z,1761697878.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262943 2025-10-29T00:31:18.842Z,1761697878.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514825 2025-10-29T00:31:18.897Z,1761697878.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908126,-0.369666,-0.196606],[0.392994,0.914550,0.095674],[0.144438,-0.164149,0.975804]] 2025-10-29T00:31:18.923Z,1761697878.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:18.925Z,1761697878.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:18.927Z,1761697878.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 533.236328 m, bearing: 22.731966 deg, approach rate: -0.588101 m/s, LOS rate: 0.003955 deg/s, cmd heading: 23.608919 deg, new cmd heading: 23.611887 deg. 2025-10-29T00:31:18.929Z,1761697878.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412105 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:19.093Z,1761697879.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765916 2025-10-29T00:31:19.292Z,1761697879.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908256,-0.368299,-0.198560],[0.391789,0.915178,0.094606],[0.146875,-0.163720,0.975512]] 2025-10-29T00:31:19.349Z,1761697879.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021809 2025-10-29T00:31:19.358Z,1761697879.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:19.381Z,1761697879.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 533.020508 m, bearing: 22.733446 deg, approach rate: -0.530495 m/s, LOS rate: 0.003639 deg/s, cmd heading: 23.611887 deg, new cmd heading: 23.614848 deg. 2025-10-29T00:31:19.382Z,1761697879.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412157 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:19.599Z,1761697879.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271953 2025-10-29T00:31:19.695Z,1761697879.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908266,-0.368049,-0.198981],[0.390976,0.915946,0.090449],[0.148967,-0.159948,0.975820]] 2025-10-29T00:31:19.746Z,1761697879.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:19.750Z,1761697879.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 532.780334 m, bearing: 22.734864 deg, approach rate: -0.580470 m/s, LOS rate: 0.003429 deg/s, cmd heading: 23.614848 deg, new cmd heading: 23.617685 deg. 2025-10-29T00:31:19.751Z,1761697879.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412206 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:19.850Z,1761697879.850 [DAT](INFO): DAT read: Rx Time:00:31:19.2212 2025-10-29T00:31:19.851Z,1761697879.851 [DAT](INFO): Rx dataTimestamp_ set to:1761697879.850336 2025-10-29T00:31:19.852Z,1761697879.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524847 2025-10-29T00:31:20.099Z,1761697880.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908123,-0.367536,-0.200572],[0.390436,0.916357,0.088597],[0.151233,-0.158767,0.975665]] 2025-10-29T00:31:20.101Z,1761697880.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774073 2025-10-29T00:31:20.123Z,1761697880.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:20.150Z,1761697880.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 532.569824 m, bearing: 22.736120 deg, approach rate: -0.557962 m/s, LOS rate: 0.003330 deg/s, cmd heading: 23.617686 deg, new cmd heading: 23.620199 deg. 2025-10-29T00:31:20.151Z,1761697880.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412250 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:20.359Z,1761697880.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031617 2025-10-29T00:31:20.574Z,1761697880.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 549.23 m. 2025-10-29T00:31:20.577Z,1761697880.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 549.232178 m, nav range: 532.324646 m, bearing: 22.736123 deg, approach rate: -0.543276 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.620198 deg, new cmd heading: 23.620204 deg. 2025-10-29T00:31:20.578Z,1761697880.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412250 target range: 549.232178 and range: 551.90 m. 2025-10-29T00:31:20.620Z,1761697880.620 [DAT](INFO): DAT read: 00:31:19.2212 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 485, 0.15, 2.027, 0.424, 2.234, 1.714, PHS= 0.416,-1.245, 0.476, RAW= 151.8, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 2025-10-29T00:31:20.622Z,1761697880.622 [DAT](INFO): got valid direction response: 00:31:19.2212 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 485, 0.15, 2.027, 0.424, 2.234, 1.714, PHS= 0.416,-1.245, 0.476, RAW= 151.8, 4.2, CAL= 150.8, 4.2, ROT= 359.2, -4.2 2025-10-29T00:31:20.623Z,1761697880.623 [DAT](INFO): DAT read: Bearing 175.6, 6.9 (Local) 2025-10-29T00:31:20.623Z,1761697880.623 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, 6.9 (Local) 2025-10-29T00:31:20.630Z,1761697880.630 [DAT](INFO): DAT read: Range 11 to 50 : 554.9 m (Round-trip 739.9 ms) speed 0.4 m/s 2025-10-29T00:31:20.631Z,1761697880.631 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:20.636Z,1761697880.636 [DAT](INFO): direction in FSK: [0.997217,-0.013925,0.073238] 2025-10-29T00:31:20.636Z,1761697880.636 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:20.640Z,1761697880.640 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:20.640Z,1761697880.640 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:20.640Z,1761697880.640 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:20.858Z,1761697880.858 [DAT](INFO): DAT read: user:398> 2025-10-29T00:31:20.859Z,1761697880.859 [DAT](INFO): DAT read: Tx time:00:31:20.6272 2025-10-29T00:31:20.860Z,1761697880.860 [DAT](INFO): Ping request sent. 2025-10-29T00:31:20.860Z,1761697880.860 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:20.860Z,1761697880.860 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:20.861Z,1761697880.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001139 2025-10-29T00:31:20.925Z,1761697880.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907704,-0.367273,-0.202940],[0.389834,0.917045,0.084004],[0.155252,-0.155364,0.975581]] 2025-10-29T00:31:20.965Z,1761697880.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 554.900024 m, deltaT: 4.535850 s, deltaX: 3.000000 m, approachRate: 0.661398 m/s, rangeRepo size: 4 2025-10-29T00:31:20.967Z,1761697880.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 552.198669 m, bearing: 23.110802 deg, lat: 36.779110 deg, lon: -121.859360 deg, deltaT: 4.535850 s, deltaX: 2.966492 m, approachRate: 0.654010 m/s, posRepo size: 4 2025-10-29T00:31:20.967Z,1761697880.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:20.975Z,1761697880.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 532.106079 m, bearing: 22.736140 deg, approach rate: 0.000000 m/s, LOS rate: 0.000007 deg/s, cmd heading: 23.620205 deg, new cmd heading: 23.620210 deg. 2025-10-29T00:31:20.980Z,1761697880.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412250 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:21.109Z,1761697881.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249257 2025-10-29T00:31:21.311Z,1761697881.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907300,-0.367604,-0.204140],[0.389933,0.917244,0.081337],[0.157347,-0.153398,0.975557]] 2025-10-29T00:31:21.364Z,1761697881.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503962 2025-10-29T00:31:21.445Z,1761697881.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:21.447Z,1761697881.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:21.454Z,1761697881.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 531.854980 m, bearing: 22.736157 deg, approach rate: -0.515814 m/s, LOS rate: 0.000034 deg/s, cmd heading: 23.620210 deg, new cmd heading: 23.620243 deg. 2025-10-29T00:31:21.454Z,1761697881.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412251 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:21.613Z,1761697881.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753386 2025-10-29T00:31:21.715Z,1761697881.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906658,-0.368285,-0.205760],[0.390489,0.917217,0.078943],[0.159653,-0.151921,0.975413]] 2025-10-29T00:31:21.769Z,1761697881.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:21.773Z,1761697881.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 531.645020 m, bearing: 22.734647 deg, approach rate: -0.651998 m/s, LOS rate: -0.004691 deg/s, cmd heading: 23.620242 deg, new cmd heading: 23.617221 deg. 2025-10-29T00:31:21.775Z,1761697881.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412198 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:21.866Z,1761697881.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005731 2025-10-29T00:31:22.117Z,1761697882.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257262 2025-10-29T00:31:22.121Z,1761697882.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906233,-0.367810,-0.208464],[0.390533,0.917148,0.079522],[0.161943,-0.153478,0.974792]] 2025-10-29T00:31:22.145Z,1761697882.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:22.147Z,1761697882.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 531.430664 m, bearing: 22.733096 deg, approach rate: -0.570475 m/s, LOS rate: -0.004129 deg/s, cmd heading: 23.617221 deg, new cmd heading: 23.614118 deg. 2025-10-29T00:31:22.148Z,1761697882.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412144 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:22.370Z,1761697882.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510022 2025-10-29T00:31:22.590Z,1761697882.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:22.593Z,1761697882.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 531.171265 m, bearing: 22.730300 deg, approach rate: -0.582764 m/s, LOS rate: -0.006284 deg/s, cmd heading: 23.614119 deg, new cmd heading: 23.608525 deg. 2025-10-29T00:31:22.593Z,1761697882.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412046 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:22.626Z,1761697882.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765657 2025-10-29T00:31:22.877Z,1761697882.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017191 2025-10-29T00:31:22.970Z,1761697882.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:22.973Z,1761697882.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 530.949768 m, bearing: 22.727911 deg, approach rate: -0.582241 m/s, LOS rate: -0.006283 deg/s, cmd heading: 23.608525 deg, new cmd heading: 23.603744 deg. 2025-10-29T00:31:22.974Z,1761697882.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411963 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:23.129Z,1761697883.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269191 2025-10-29T00:31:23.336Z,1761697883.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905739,-0.364968,-0.215491],[0.389171,0.917530,0.081757],[0.167881,-0.157913,0.973077]] 2025-10-29T00:31:23.384Z,1761697883.384 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523878 2025-10-29T00:31:23.399Z,1761697883.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:23.433Z,1761697883.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 530.722168 m, bearing: 22.725476 deg, approach rate: -0.532541 m/s, LOS rate: -0.005700 deg/s, cmd heading: 23.603744 deg, new cmd heading: 23.598872 deg. 2025-10-29T00:31:23.440Z,1761697883.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411878 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:23.633Z,1761697883.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773420 2025-10-29T00:31:23.759Z,1761697883.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905448,-0.364408,-0.217647],[0.388909,0.917666,0.081474],[0.170038,-0.158415,0.972621]] 2025-10-29T00:31:23.809Z,1761697883.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:23.811Z,1761697883.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:23.813Z,1761697883.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 530.455811 m, bearing: 22.722493 deg, approach rate: -0.644832 m/s, LOS rate: -0.007225 deg/s, cmd heading: 23.598872 deg, new cmd heading: 23.592903 deg. 2025-10-29T00:31:23.814Z,1761697883.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411774 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:23.885Z,1761697883.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025395 2025-10-29T00:31:24.137Z,1761697884.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277257 2025-10-29T00:31:24.155Z,1761697884.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905133,-0.363916,-0.219771],[0.388798,0.917696,0.081674],[0.171960,-0.159372,0.972127]] 2025-10-29T00:31:24.189Z,1761697884.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:24.192Z,1761697884.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 530.233826 m, bearing: 22.720003 deg, approach rate: -0.586565 m/s, LOS rate: -0.006582 deg/s, cmd heading: 23.592903 deg, new cmd heading: 23.587921 deg. 2025-10-29T00:31:24.197Z,1761697884.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411687 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:24.392Z,1761697884.392 [DAT](INFO): DAT read: Rx Time:00:31:23.7601 2025-10-29T00:31:24.393Z,1761697884.393 [DAT](INFO): Rx dataTimestamp_ set to:1761697884.392274 2025-10-29T00:31:24.393Z,1761697884.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533423 2025-10-29T00:31:24.558Z,1761697884.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904730,-0.363063,-0.222820],[0.388886,0.917435,0.084148],[0.173872,-0.162783,0.971221]] 2025-10-29T00:31:24.572Z,1761697884.572 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:31:24.613Z,1761697884.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:24.615Z,1761697884.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 529.984741 m, bearing: 22.717687 deg, approach rate: -0.588243 m/s, LOS rate: -0.005472 deg/s, cmd heading: 23.587922 deg, new cmd heading: 23.583288 deg. 2025-10-29T00:31:24.616Z,1761697884.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411606 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:24.641Z,1761697884.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781315 2025-10-29T00:31:24.896Z,1761697884.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035845 2025-10-29T00:31:24.967Z,1761697884.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904333,-0.361582,-0.226804],[0.389105,0.916800,0.089867],[0.175439,-0.169520,0.969785]] 2025-10-29T00:31:24.992Z,1761697884.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 552.20 m. 2025-10-29T00:31:24.995Z,1761697884.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 552.198669 m, nav range: 529.763062 m, bearing: 22.715618 deg, approach rate: -0.584463 m/s, LOS rate: -0.005457 deg/s, cmd heading: 23.583287 deg, new cmd heading: 23.579148 deg. 2025-10-29T00:31:24.995Z,1761697884.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411534 target range: 552.198669 and range: 554.90 m. 2025-10-29T00:31:25.150Z,1761697885.150 [DAT](INFO): DAT read: 00:31:23.7601 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 323, 0.18,-1.847, 2.840,-1.664,-2.143, PHS= 0.397,-1.255, 0.434, RAW= 151.1, 5.1, CAL= 150.3, 5.2, ROT= 359.7, -5.2 2025-10-29T00:31:25.152Z,1761697885.152 [DAT](INFO): got valid direction response: 00:31:23.7601 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 323, 0.18,-1.847, 2.840,-1.664,-2.143, PHS= 0.397,-1.255, 0.434, RAW= 151.1, 5.1, CAL= 150.3, 5.2, ROT= 359.7, -5.2 2025-10-29T00:31:25.153Z,1761697885.153 [DAT](INFO): DAT read: Bearing 176.1, 8.6 (Local) 2025-10-29T00:31:25.153Z,1761697885.153 [DAT](INFO): Local bearing/azimuth received: Bearing 176.1, 8.6 (Local) 2025-10-29T00:31:25.154Z,1761697885.154 [DAT](INFO): DAT read: Range 11 to 50 : 546.6 m (Round-trip 728.8 ms) speed 0.4 m/s 2025-10-29T00:31:25.155Z,1761697885.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:25.156Z,1761697885.156 [DAT](INFO): direction in FSK: [0.995871,-0.005214,0.090633] 2025-10-29T00:31:25.156Z,1761697885.156 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:25.159Z,1761697885.159 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:25.159Z,1761697885.159 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:25.160Z,1761697885.160 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:25.371Z,1761697885.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904051,-0.360621,-0.229444],[0.389160,0.916471,0.092926],[0.176768,-0.173301,0.968876]] 2025-10-29T00:31:25.397Z,1761697885.397 [DAT](INFO): DAT read: user:399> 2025-10-29T00:31:25.398Z,1761697885.398 [DAT](INFO): DAT read: Tx time:00:31:25.1772 2025-10-29T00:31:25.398Z,1761697885.398 [DAT](INFO): Ping request sent. 2025-10-29T00:31:25.398Z,1761697885.398 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:25.399Z,1761697885.399 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:25.401Z,1761697885.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002253 2025-10-29T00:31:25.483Z,1761697885.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 546.599976 m, deltaT: 4.540266 s, deltaX: -8.300049 m, approachRate: -1.828097 m/s, rangeRepo size: 4 2025-10-29T00:31:25.509Z,1761697885.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 543.932739 m, bearing: 23.933274 deg, lat: 36.779099 deg, lon: -121.859360 deg, deltaT: 4.540266 s, deltaX: -8.265930 m, approachRate: -1.820583 m/s, posRepo size: 4 2025-10-29T00:31:25.510Z,1761697885.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:25.517Z,1761697885.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 528.419067 m, bearing: 22.763594 deg, approach rate: 0.000000 m/s, LOS rate: -0.005457 deg/s, cmd heading: 23.579148 deg, new cmd heading: 23.573793 deg. 2025-10-29T00:31:25.518Z,1761697885.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411440 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:25.578Z,1761697885.578 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:31:25.649Z,1761697885.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929 2025-10-29T00:31:25.779Z,1761697885.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903553,-0.361734,-0.229655],[0.389806,0.916480,0.090085],[0.177887,-0.170917,0.969094]] 2025-10-29T00:31:25.845Z,1761697885.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:25.852Z,1761697885.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:25.858Z,1761697885.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 528.170166 m, bearing: 22.762281 deg, approach rate: -0.682159 m/s, LOS rate: -0.003600 deg/s, cmd heading: 23.573793 deg, new cmd heading: 23.571166 deg. 2025-10-29T00:31:25.859Z,1761697885.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411394 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:25.902Z,1761697885.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503370 2025-10-29T00:31:26.153Z,1761697886.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754870 2025-10-29T00:31:26.179Z,1761697886.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902978,-0.363373,-0.229328],[0.390585,0.916578,0.085600],[0.179093,-0.166867,0.969578]] 2025-10-29T00:31:26.219Z,1761697886.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:26.221Z,1761697886.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 527.928528 m, bearing: 22.760976 deg, approach rate: -0.650819 m/s, LOS rate: -0.003516 deg/s, cmd heading: 23.571167 deg, new cmd heading: 23.568556 deg. 2025-10-29T00:31:26.222Z,1761697886.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411349 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:26.406Z,1761697886.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008049 2025-10-29T00:31:26.637Z,1761697886.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:26.640Z,1761697886.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 527.678589 m, bearing: 22.761048 deg, approach rate: -0.597113 m/s, LOS rate: 0.000170 deg/s, cmd heading: 23.568556 deg, new cmd heading: 23.568699 deg. 2025-10-29T00:31:26.641Z,1761697886.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411351 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:26.660Z,1761697886.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261423 2025-10-29T00:31:26.909Z,1761697886.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510817 2025-10-29T00:31:26.986Z,1761697886.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902269,-0.365562,-0.228638],[0.391030,0.917179,0.076665],[0.181677,-0.158577,0.970488]] 2025-10-29T00:31:27.015Z,1761697887.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:27.018Z,1761697887.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 527.452576 m, bearing: 22.761091 deg, approach rate: -0.597511 m/s, LOS rate: 0.000114 deg/s, cmd heading: 23.568698 deg, new cmd heading: 23.568784 deg. 2025-10-29T00:31:27.019Z,1761697887.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411353 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:27.161Z,1761697887.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675 2025-10-29T00:31:27.414Z,1761697887.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015592 2025-10-29T00:31:27.499Z,1761697887.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:27.506Z,1761697887.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 527.190125 m, bearing: 22.761141 deg, approach rate: -0.542326 m/s, LOS rate: 0.000104 deg/s, cmd heading: 23.568784 deg, new cmd heading: 23.568884 deg. 2025-10-29T00:31:27.507Z,1761697887.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411355 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:27.665Z,1761697887.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266843 2025-10-29T00:31:27.808Z,1761697887.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902770,-0.363484,-0.229970],[0.388937,0.918158,0.075596],[0.183670,-0.157689,0.970257]] 2025-10-29T00:31:27.866Z,1761697887.866 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:27.868Z,1761697887.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:27.870Z,1761697887.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 526.953613 m, bearing: 22.761822 deg, approach rate: -0.642278 m/s, LOS rate: 0.001852 deg/s, cmd heading: 23.568884 deg, new cmd heading: 23.570248 deg. 2025-10-29T00:31:27.871Z,1761697887.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411378 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:27.917Z,1761697887.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518894 2025-10-29T00:31:28.169Z,1761697888.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770867 2025-10-29T00:31:28.210Z,1761697888.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903414,-0.360988,-0.231367],[0.387011,0.918804,0.077600],[0.184569,-0.159647,0.969767]] 2025-10-29T00:31:28.248Z,1761697888.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:28.250Z,1761697888.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 526.743713 m, bearing: 22.762475 deg, approach rate: -0.552204 m/s, LOS rate: 0.001718 deg/s, cmd heading: 23.570249 deg, new cmd heading: 23.571555 deg. 2025-10-29T00:31:28.251Z,1761697888.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411401 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:28.421Z,1761697888.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022780 2025-10-29T00:31:28.617Z,1761697888.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904070,-0.358475,-0.232706],[0.385070,0.919445,0.079635],[0.185414,-0.161604,0.969281]] 2025-10-29T00:31:28.653Z,1761697888.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:28.656Z,1761697888.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 526.496155 m, bearing: 22.763356 deg, approach rate: -0.610650 m/s, LOS rate: 0.002173 deg/s, cmd heading: 23.571555 deg, new cmd heading: 23.573317 deg. 2025-10-29T00:31:28.657Z,1761697888.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411432 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:28.673Z,1761697888.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274759 2025-10-29T00:31:28.925Z,1761697888.925 [DAT](INFO): DAT read: Rx Time:00:31:28.3146 2025-10-29T00:31:28.926Z,1761697888.926 [DAT](INFO): Rx dataTimestamp_ set to:1761697888.925800 2025-10-29T00:31:28.927Z,1761697888.927 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528767 2025-10-29T00:31:29.019Z,1761697889.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904729,-0.356191,-0.233650],[0.383285,0.920018,0.081606],[0.185895,-0.163386,0.968890]] 2025-10-29T00:31:29.053Z,1761697889.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:29.056Z,1761697889.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 526.270386 m, bearing: 22.764207 deg, approach rate: -0.563970 m/s, LOS rate: 0.002127 deg/s, cmd heading: 23.573317 deg, new cmd heading: 23.575020 deg. 2025-10-29T00:31:29.057Z,1761697889.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411462 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:29.177Z,1761697889.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778817 2025-10-29T00:31:29.422Z,1761697889.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905188,-0.354151,-0.234972],[0.381932,0.920349,0.084170],[0.186447,-0.165933,0.968351]] 2025-10-29T00:31:29.429Z,1761697889.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031348 2025-10-29T00:31:29.531Z,1761697889.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 543.93 m. 2025-10-29T00:31:29.541Z,1761697889.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 543.932739 m, nav range: 526.032471 m, bearing: 22.765142 deg, approach rate: -0.498612 m/s, LOS rate: 0.001960 deg/s, cmd heading: 23.575019 deg, new cmd heading: 23.576890 deg. 2025-10-29T00:31:29.542Z,1761697889.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411494 target range: 543.932739 and range: 546.60 m. 2025-10-29T00:31:29.686Z,1761697889.686 [DAT](INFO): DAT read: 00:31:28.3146 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 480, 0.20, 0.409,-1.155, 0.515,-0.172, PHS= 0.684,-0.938, 0.643, RAW= 148.8, -4.9, CAL= 148.5, -6.1, ROT= 1.5, 6.1 2025-10-29T00:31:29.687Z,1761697889.687 [DAT](INFO): got valid direction response: 00:31:28.3146 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 480, 0.20, 0.409,-1.155, 0.515,-0.172, PHS= 0.684,-0.938, 0.643, RAW= 148.8, -4.9, CAL= 148.5, -6.1, ROT= 1.5, 6.1 2025-10-29T00:31:29.688Z,1761697889.688 [DAT](INFO): DAT read: Bearing 165.3, 12.9 (Local) 2025-10-29T00:31:29.689Z,1761697889.689 [DAT](INFO): Local bearing/azimuth received: Bearing 165.3, 12.9 (Local) 2025-10-29T00:31:29.690Z,1761697889.690 [DAT](INFO): DAT read: Range 11 to 50 : 549.9 m (Round-trip 733.3 ms) speed 0.7 m/s 2025-10-29T00:31:29.691Z,1761697889.691 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:29.692Z,1761697889.692 [DAT](INFO): direction in FSK: [0.993997,0.026029,-0.106264] 2025-10-29T00:31:29.692Z,1761697889.692 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:29.695Z,1761697889.695 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:29.695Z,1761697889.695 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:29.696Z,1761697889.696 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:29.859Z,1761697889.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905542,-0.353196,-0.235045],[0.381125,0.920612,0.084957],[0.186378,-0.166514,0.968265]] 2025-10-29T00:31:29.931Z,1761697889.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 549.900024 m, deltaT: 4.535749 s, deltaX: 3.300049 m, approachRate: 0.727564 m/s, rangeRepo size: 4 2025-10-29T00:31:29.933Z,1761697889.933 [DAT](INFO): DAT read: user:400> 2025-10-29T00:31:29.934Z,1761697889.934 [DAT](INFO): DAT read: Tx time:00:31:29.6772 2025-10-29T00:31:29.934Z,1761697889.934 [DAT](INFO): Ping request sent. 2025-10-29T00:31:29.934Z,1761697889.934 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:29.934Z,1761697889.934 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:29.935Z,1761697889.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-29T00:31:29.941Z,1761697889.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 547.202393 m, bearing: 23.264485 deg, lat: 36.779099 deg, lon: -121.859300 deg, deltaT: 4.535749 s, deltaX: 3.269653 m, approachRate: 0.720863 m/s, posRepo size: 4 2025-10-29T00:31:29.942Z,1761697889.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:29.953Z,1761697889.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 527.865723 m, bearing: 23.301586 deg, approach rate: 0.000000 m/s, LOS rate: 0.001960 deg/s, cmd heading: 23.576891 deg, new cmd heading: 23.578458 deg. 2025-10-29T00:31:29.954Z,1761697889.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411522 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:30.189Z,1761697890.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.255331 2025-10-29T00:31:30.277Z,1761697890.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905812,-0.352101,-0.235646],[0.380425,0.920753,0.086549],[0.186498,-0.168042,0.967977]] 2025-10-29T00:31:30.293Z,1761697890.293 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:30.295Z,1761697890.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:30.298Z,1761697890.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 527.636963 m, bearing: 23.302849 deg, approach rate: -0.627160 m/s, LOS rate: 0.003464 deg/s, cmd heading: 23.578458 deg, new cmd heading: 23.580985 deg. 2025-10-29T00:31:30.299Z,1761697890.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411566 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:30.437Z,1761697890.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502728 2025-10-29T00:31:30.679Z,1761697890.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906029,-0.351516,-0.235685],[0.379835,0.920997,0.086542],[0.186645,-0.167931,0.967968]] 2025-10-29T00:31:30.689Z,1761697890.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754662 2025-10-29T00:31:30.747Z,1761697890.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:30.751Z,1761697890.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 527.372192 m, bearing: 23.304134 deg, approach rate: -0.586292 m/s, LOS rate: 0.002847 deg/s, cmd heading: 23.580986 deg, new cmd heading: 23.583557 deg. 2025-10-29T00:31:30.753Z,1761697890.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411611 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:30.941Z,1761697890.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006756 2025-10-29T00:31:31.116Z,1761697891.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:31.118Z,1761697891.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 527.152283 m, bearing: 23.305202 deg, approach rate: -0.595932 m/s, LOS rate: 0.002897 deg/s, cmd heading: 23.583557 deg, new cmd heading: 23.585695 deg. 2025-10-29T00:31:31.119Z,1761697891.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411648 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:31.193Z,1761697891.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913 2025-10-29T00:31:31.445Z,1761697891.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510858 2025-10-29T00:31:31.532Z,1761697891.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905859,-0.352132,-0.235420],[0.380216,0.920936,0.085511],[0.186696,-0.166971,0.968125]] 2025-10-29T00:31:31.625Z,1761697891.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:31.628Z,1761697891.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 526.871826 m, bearing: 23.305284 deg, approach rate: -0.550599 m/s, LOS rate: 0.000160 deg/s, cmd heading: 23.585695 deg, new cmd heading: 23.585858 deg. 2025-10-29T00:31:31.629Z,1761697891.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411651 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:31.697Z,1761697891.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763222 2025-10-29T00:31:31.953Z,1761697891.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019180 2025-10-29T00:31:31.989Z,1761697891.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905144,-0.354712,-0.234294],[0.381905,0.920585,0.081676],[0.186716,-0.163406,0.968729]] 2025-10-29T00:31:32.064Z,1761697892.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:32.067Z,1761697892.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 526.641907 m, bearing: 23.305306 deg, approach rate: -0.523236 m/s, LOS rate: 0.000050 deg/s, cmd heading: 23.585859 deg, new cmd heading: 23.585903 deg. 2025-10-29T00:31:32.080Z,1761697892.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411652 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:32.206Z,1761697892.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271950 2025-10-29T00:31:32.433Z,1761697892.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902365,-0.362735,-0.232725],[0.387784,0.918996,0.071202],[0.188046,-0.154497,0.969933]] 2025-10-29T00:31:32.450Z,1761697892.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:32.452Z,1761697892.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:32.455Z,1761697892.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 526.387634 m, bearing: 23.305151 deg, approach rate: -0.656267 m/s, LOS rate: -0.000398 deg/s, cmd heading: 23.585903 deg, new cmd heading: 23.585595 deg. 2025-10-29T00:31:32.455Z,1761697892.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411646 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:32.457Z,1761697892.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522897 2025-10-29T00:31:32.710Z,1761697892.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775996 2025-10-29T00:31:32.844Z,1761697892.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900657,-0.368010,-0.231053],[0.391237,0.918154,0.062672],[0.189079,-0.146842,0.970921]] 2025-10-29T00:31:32.887Z,1761697892.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:32.890Z,1761697892.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 526.134521 m, bearing: 23.304657 deg, approach rate: -0.581437 m/s, LOS rate: -0.001136 deg/s, cmd heading: 23.585594 deg, new cmd heading: 23.584605 deg. 2025-10-29T00:31:32.891Z,1761697892.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411629 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:32.962Z,1761697892.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027377 2025-10-29T00:31:33.213Z,1761697893.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279212 2025-10-29T00:31:33.239Z,1761697893.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899155,-0.372786,-0.229241],[0.394285,0.917357,0.054727],[0.189895,-0.139594,0.971830]] 2025-10-29T00:31:33.256Z,1761697893.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:33.259Z,1761697893.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 525.920044 m, bearing: 23.304158 deg, approach rate: -0.581301 m/s, LOS rate: -0.001353 deg/s, cmd heading: 23.584606 deg, new cmd heading: 23.583607 deg. 2025-10-29T00:31:33.260Z,1761697893.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411612 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:33.465Z,1761697893.465 [DAT](INFO): DAT read: Rx Time:00:31:32.8192 2025-10-29T00:31:33.465Z,1761697893.465 [DAT](INFO): Rx dataTimestamp_ set to:1761697893.465076 2025-10-29T00:31:33.466Z,1761697893.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531814 2025-10-29T00:31:33.642Z,1761697893.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897754,-0.377270,-0.227387],[0.397025,0.916619,0.046695],[0.190811,-0.132199,0.972684]] 2025-10-29T00:31:33.684Z,1761697893.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:33.687Z,1761697893.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 525.669861 m, bearing: 23.303486 deg, approach rate: -0.584722 m/s, LOS rate: -0.001570 deg/s, cmd heading: 23.583607 deg, new cmd heading: 23.582263 deg. 2025-10-29T00:31:33.688Z,1761697893.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411588 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:33.717Z,1761697893.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782981 2025-10-29T00:31:33.974Z,1761697893.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037089 2025-10-29T00:31:34.049Z,1761697894.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896675,-0.380162,-0.226827],[0.398852,0.916082,0.041355],[0.192071,-0.127552,0.973057]] 2025-10-29T00:31:34.067Z,1761697894.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 547.20 m. 2025-10-29T00:31:34.070Z,1761697894.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 547.202393 m, nav range: 525.445862 m, bearing: 23.302831 deg, approach rate: -0.585355 m/s, LOS rate: -0.001712 deg/s, cmd heading: 23.582263 deg, new cmd heading: 23.580952 deg. 2025-10-29T00:31:34.070Z,1761697894.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411565 target range: 547.202393 and range: 549.90 m. 2025-10-29T00:31:34.226Z,1761697894.226 [DAT](INFO): DAT read: 00:31:32.8192 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 496, 0.18, 1.044,-0.523, 1.202, 0.558, PHS= 0.588,-1.036, 0.600, RAW= 150.4, -1.9, CAL= 149.6, -2.7, ROT= 0.4, 2.7 2025-10-29T00:31:34.227Z,1761697894.227 [DAT](INFO): got valid direction response: 00:31:32.8192 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 496, 0.18, 1.044,-0.523, 1.202, 0.558, PHS= 0.588,-1.036, 0.600, RAW= 150.4, -1.9, CAL= 149.6, -2.7, ROT= 0.4, 2.7 2025-10-29T00:31:34.228Z,1761697894.228 [DAT](INFO): DAT read: Bearing 169.6, 11.6 (Local) 2025-10-29T00:31:34.229Z,1761697894.229 [DAT](INFO): Local bearing/azimuth received: Bearing 169.6, 11.6 (Local) 2025-10-29T00:31:34.230Z,1761697894.230 [DAT](INFO): DAT read: Range 11 to 50 : 553.4 m (Round-trip 737.9 ms) speed 0.5 m/s 2025-10-29T00:31:34.231Z,1761697894.231 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:34.233Z,1761697894.233 [DAT](INFO): direction in FSK: [0.998866,0.006974,-0.047106] 2025-10-29T00:31:34.233Z,1761697894.233 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:34.236Z,1761697894.236 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:34.236Z,1761697894.236 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:34.237Z,1761697894.237 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:34.451Z,1761697894.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895971,-0.381937,-0.226630],[0.399800,0.915851,0.037117],[0.193383,-0.123862,0.973273]] 2025-10-29T00:31:34.473Z,1761697894.473 [DAT](INFO): DAT read: user:401> 2025-10-29T00:31:34.474Z,1761697894.474 [DAT](INFO): DAT read: Tx time:00:31:34.2271 2025-10-29T00:31:34.474Z,1761697894.474 [DAT](INFO): Ping request sent. 2025-10-29T00:31:34.474Z,1761697894.474 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:34.474Z,1761697894.474 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:34.475Z,1761697894.475 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-29T00:31:34.546Z,1761697894.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 553.400024 m, deltaT: 4.539994 s, deltaX: 3.500000 m, approachRate: 0.770926 m/s, rangeRepo size: 4 2025-10-29T00:31:34.548Z,1761697894.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 550.675171 m, bearing: 24.103604 deg, lat: 36.779143 deg, lon: -121.859267 deg, deltaT: 4.539994 s, deltaX: 3.472778 m, approachRate: 0.764930 m/s, posRepo size: 4 2025-10-29T00:31:34.554Z,1761697894.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:34.576Z,1761697894.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 530.857910 m, bearing: 23.386636 deg, approach rate: 0.000000 m/s, LOS rate: -0.001712 deg/s, cmd heading: 23.580953 deg, new cmd heading: 23.579332 deg. 2025-10-29T00:31:34.579Z,1761697894.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411537 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:34.725Z,1761697894.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250704 2025-10-29T00:31:34.853Z,1761697894.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895437,-0.381841,-0.228889],[0.400344,0.915541,0.038845],[0.194725,-0.126418,0.972677]] 2025-10-29T00:31:34.902Z,1761697894.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:34.904Z,1761697894.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:34.907Z,1761697894.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 530.625610 m, bearing: 23.385876 deg, approach rate: -0.638425 m/s, LOS rate: -0.002091 deg/s, cmd heading: 23.579333 deg, new cmd heading: 23.577811 deg. 2025-10-29T00:31:34.908Z,1761697894.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411510 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:34.978Z,1761697894.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503413 2025-10-29T00:31:35.229Z,1761697895.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754725 2025-10-29T00:31:35.260Z,1761697895.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895356,-0.379782,-0.232599],[0.399849,0.915508,0.044338],[0.196107,-0.132703,0.971562]] 2025-10-29T00:31:35.278Z,1761697895.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:35.281Z,1761697895.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 530.404968 m, bearing: 23.385164 deg, approach rate: -0.589678 m/s, LOS rate: -0.001903 deg/s, cmd heading: 23.577811 deg, new cmd heading: 23.576387 deg. 2025-10-29T00:31:35.282Z,1761697895.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411486 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:35.482Z,1761697895.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007332 2025-10-29T00:31:35.659Z,1761697895.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895798,-0.376801,-0.235725],[0.398369,0.915868,0.049881],[0.197098,-0.138589,0.970539]] 2025-10-29T00:31:35.724Z,1761697895.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:35.727Z,1761697895.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 530.156982 m, bearing: 23.384973 deg, approach rate: -0.556364 m/s, LOS rate: -0.000429 deg/s, cmd heading: 23.576387 deg, new cmd heading: 23.576005 deg. 2025-10-29T00:31:35.728Z,1761697895.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411479 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:35.733Z,1761697895.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258689 2025-10-29T00:31:35.986Z,1761697895.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511298 2025-10-29T00:31:36.064Z,1761697896.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896528,-0.373184,-0.238685],[0.396239,0.916474,0.055411],[0.198070,-0.144254,0.969515]] 2025-10-29T00:31:36.082Z,1761697896.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:36.085Z,1761697896.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 529.934570 m, bearing: 23.384857 deg, approach rate: -0.621440 m/s, LOS rate: -0.000322 deg/s, cmd heading: 23.576005 deg, new cmd heading: 23.575774 deg. 2025-10-29T00:31:36.086Z,1761697896.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411475 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:36.237Z,1761697896.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762593 2025-10-29T00:31:36.489Z,1761697896.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014691 2025-10-29T00:31:36.554Z,1761697896.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:36.557Z,1761697896.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 529.657959 m, bearing: 23.384714 deg, approach rate: -0.585421 m/s, LOS rate: -0.000304 deg/s, cmd heading: 23.575774 deg, new cmd heading: 23.575487 deg. 2025-10-29T00:31:36.558Z,1761697896.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411470 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:36.742Z,1761697896.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267588 2025-10-29T00:31:36.979Z,1761697896.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898907,-0.363366,-0.244809],[0.389943,0.918261,0.068861],[0.199777,-0.157362,0.967123]] 2025-10-29T00:31:36.993Z,1761697896.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518627 2025-10-29T00:31:37.030Z,1761697897.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:37.034Z,1761697897.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:37.038Z,1761697897.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 529.380920 m, bearing: 23.385238 deg, approach rate: -0.578001 m/s, LOS rate: 0.001093 deg/s, cmd heading: 23.575487 deg, new cmd heading: 23.576535 deg. 2025-10-29T00:31:37.039Z,1761697897.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411488 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:37.246Z,1761697897.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771673 2025-10-29T00:31:37.415Z,1761697897.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900160,-0.358724,-0.247040],[0.386508,0.919365,0.073350],[0.200807,-0.161509,0.966225]] 2025-10-29T00:31:37.440Z,1761697897.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:37.442Z,1761697897.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 529.141418 m, bearing: 23.385788 deg, approach rate: -0.590072 m/s, LOS rate: 0.001355 deg/s, cmd heading: 23.576536 deg, new cmd heading: 23.577636 deg. 2025-10-29T00:31:37.443Z,1761697897.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411507 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:37.498Z,1761697897.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023485 2025-10-29T00:31:37.750Z,1761697897.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275353 2025-10-29T00:31:37.829Z,1761697897.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901502,-0.354118,-0.248786],[0.383137,0.920367,0.078300],[0.201247,-0.165906,0.965388]] 2025-10-29T00:31:37.874Z,1761697897.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:37.877Z,1761697897.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 528.890808 m, bearing: 23.387150 deg, approach rate: -0.576174 m/s, LOS rate: 0.003133 deg/s, cmd heading: 23.577635 deg, new cmd heading: 23.580361 deg. 2025-10-29T00:31:37.878Z,1761697897.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411555 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:38.001Z,1761697898.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526629 2025-10-29T00:31:38.229Z,1761697898.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902850,-0.349083,-0.251006],[0.379878,0.921085,0.085409],[0.201383,-0.172463,0.964210]] 2025-10-29T00:31:38.247Z,1761697898.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:38.250Z,1761697898.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 528.675964 m, bearing: 23.388401 deg, approach rate: -0.576516 m/s, LOS rate: 0.003359 deg/s, cmd heading: 23.580361 deg, new cmd heading: 23.582864 deg. 2025-10-29T00:31:38.251Z,1761697898.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411599 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:38.253Z,1761697898.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778747 2025-10-29T00:31:38.505Z,1761697898.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030559 2025-10-29T00:31:38.670Z,1761697898.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904363,-0.343501,-0.253246],[0.376347,0.921723,0.093749],[0.201220,-0.180092,0.962849]] 2025-10-29T00:31:38.717Z,1761697898.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:38.719Z,1761697898.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 528.394287 m, bearing: 23.390032 deg, approach rate: -0.600050 m/s, LOS rate: 0.003477 deg/s, cmd heading: 23.582864 deg, new cmd heading: 23.586128 deg. 2025-10-29T00:31:38.720Z,1761697898.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411656 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:38.758Z,1761697898.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.283193 2025-10-29T00:31:39.009Z,1761697899.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534615 2025-10-29T00:31:39.037Z,1761697899.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905721,-0.338800,-0.254725],[0.373092,0.922420,0.099721],[0.201178,-0.185355,0.961858]] 2025-10-29T00:31:39.057Z,1761697899.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:39.059Z,1761697899.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:39.062Z,1761697899.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 528.189209 m, bearing: 23.391298 deg, approach rate: -0.599081 m/s, LOS rate: 0.003700 deg/s, cmd heading: 23.586129 deg, new cmd heading: 23.588662 deg. 2025-10-29T00:31:39.063Z,1761697899.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411700 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:39.261Z,1761697899.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786564 2025-10-29T00:31:39.435Z,1761697899.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906577,-0.336857,-0.254256],[0.371095,0.923187,0.100074],[0.201015,-0.185078,0.961946]] 2025-10-29T00:31:39.453Z,1761697899.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:39.456Z,1761697899.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 527.952698 m, bearing: 23.392817 deg, approach rate: -0.599386 m/s, LOS rate: 0.003851 deg/s, cmd heading: 23.588663 deg, new cmd heading: 23.591702 deg. 2025-10-29T00:31:39.457Z,1761697899.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411753 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:39.514Z,1761697899.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.040004 2025-10-29T00:31:39.766Z,1761697899.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291206 2025-10-29T00:31:39.842Z,1761697899.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907097,-0.336562,-0.252789],[0.369692,0.924166,0.096157],[0.201256,-0.180677,0.962731]] 2025-10-29T00:31:39.886Z,1761697899.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:39.889Z,1761697899.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 527.699219 m, bearing: 23.394623 deg, approach rate: -0.586207 m/s, LOS rate: 0.004177 deg/s, cmd heading: 23.591702 deg, new cmd heading: 23.595315 deg. 2025-10-29T00:31:39.890Z,1761697899.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411816 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:40.019Z,1761697900.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.545127 2025-10-29T00:31:40.248Z,1761697900.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907200,-0.337612,-0.251011],[0.369291,0.924876,0.090717],[0.201527,-0.174994,0.963724]] 2025-10-29T00:31:40.267Z,1761697900.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:40.269Z,1761697900.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794723 2025-10-29T00:31:40.271Z,1761697900.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 527.476379 m, bearing: 23.396226 deg, approach rate: -0.584997 m/s, LOS rate: 0.004212 deg/s, cmd heading: 23.595315 deg, new cmd heading: 23.598524 deg. 2025-10-29T00:31:40.272Z,1761697900.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411872 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:40.522Z,1761697900.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047570 2025-10-29T00:31:40.677Z,1761697900.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907011,-0.338873,-0.249992],[0.369493,0.925205,0.086435],[0.202003,-0.170768,0.964382]] 2025-10-29T00:31:40.732Z,1761697900.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:40.735Z,1761697900.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 527.211182 m, bearing: 23.398133 deg, approach rate: -0.575050 m/s, LOS rate: 0.004137 deg/s, cmd heading: 23.598524 deg, new cmd heading: 23.602340 deg. 2025-10-29T00:31:40.736Z,1761697900.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411939 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:40.774Z,1761697900.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.299532 2025-10-29T00:31:41.025Z,1761697901.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551179 2025-10-29T00:31:41.067Z,1761697901.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906827,-0.340154,-0.248917],[0.369780,0.925451,0.082481],[0.202304,-0.166840,0.965006]] 2025-10-29T00:31:41.118Z,1761697901.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:41.120Z,1761697901.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:41.123Z,1761697901.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 526.976929 m, bearing: 23.399332 deg, approach rate: -0.597881 m/s, LOS rate: 0.003060 deg/s, cmd heading: 23.602340 deg, new cmd heading: 23.604738 deg. 2025-10-29T00:31:41.123Z,1761697901.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.411980 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:41.277Z,1761697901.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802631 2025-10-29T00:31:41.467Z,1761697901.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906502,-0.341915,-0.247685],[0.370403,0.925599,0.077903],[0.202620,-0.162362,0.965704]] 2025-10-29T00:31:41.506Z,1761697901.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:41.509Z,1761697901.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 526.749451 m, bearing: 23.400483 deg, approach rate: -0.589236 m/s, LOS rate: 0.002983 deg/s, cmd heading: 23.604738 deg, new cmd heading: 23.607041 deg. 2025-10-29T00:31:41.510Z,1761697901.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412021 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:41.529Z,1761697901.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054674 2025-10-29T00:31:41.781Z,1761697901.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307045 2025-10-29T00:31:41.871Z,1761697901.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905930,-0.344673,-0.245949],[0.371345,0.925825,0.070364],[0.203453,-0.155077,0.966725]] 2025-10-29T00:31:41.921Z,1761697901.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:41.923Z,1761697901.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 526.505066 m, bearing: 23.401502 deg, approach rate: -0.588919 m/s, LOS rate: 0.002457 deg/s, cmd heading: 23.607041 deg, new cmd heading: 23.609080 deg. 2025-10-29T00:31:41.925Z,1761697901.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412056 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:42.033Z,1761697902.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558825 2025-10-29T00:31:42.285Z,1761697902.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810569 2025-10-29T00:31:42.339Z,1761697902.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:42.346Z,1761697902.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 526.270081 m, bearing: 23.402483 deg, approach rate: -0.561775 m/s, LOS rate: 0.002346 deg/s, cmd heading: 23.609080 deg, new cmd heading: 23.611042 deg. 2025-10-29T00:31:42.347Z,1761697902.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412090 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:42.537Z,1761697902.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062538 2025-10-29T00:31:42.717Z,1761697902.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904628,-0.350869,-0.241950],[0.373743,0.925921,0.054645],[0.204853,-0.139861,0.968749]] 2025-10-29T00:31:42.786Z,1761697902.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:42.789Z,1761697902.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314774 2025-10-29T00:31:42.790Z,1761697902.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 525.999207 m, bearing: 23.402895 deg, approach rate: -0.606631 m/s, LOS rate: 0.000925 deg/s, cmd heading: 23.611042 deg, new cmd heading: 23.611868 deg. 2025-10-29T00:31:42.791Z,1761697902.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412105 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:43.041Z,1761697903.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566576 2025-10-29T00:31:43.108Z,1761697903.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904280,-0.351665,-0.242096],[0.374340,0.925746,0.053513],[0.205300,-0.139017,0.968776]] 2025-10-29T00:31:43.124Z,1761697903.124 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:43.126Z,1761697903.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:43.141Z,1761697903.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 525.800049 m, bearing: 23.403184 deg, approach rate: -0.584838 m/s, LOS rate: 0.000849 deg/s, cmd heading: 23.611868 deg, new cmd heading: 23.612447 deg. 2025-10-29T00:31:43.142Z,1761697903.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412115 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:43.294Z,1761697903.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819449 2025-10-29T00:31:43.503Z,1761697903.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903769,-0.352790,-0.242364],[0.375206,0.925483,0.051981],[0.205966,-0.137915,0.968792]] 2025-10-29T00:31:43.538Z,1761697903.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:43.540Z,1761697903.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 525.569519 m, bearing: 23.403494 deg, approach rate: -0.560368 m/s, LOS rate: 0.000753 deg/s, cmd heading: 23.612447 deg, new cmd heading: 23.613067 deg. 2025-10-29T00:31:43.541Z,1761697903.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412126 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:43.545Z,1761697903.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070755 2025-10-29T00:31:43.798Z,1761697903.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.323560 2025-10-29T00:31:43.906Z,1761697903.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903241,-0.354472,-0.241878],[0.376315,0.925172,0.049427],[0.206258,-0.135666,0.969047]] 2025-10-29T00:31:43.959Z,1761697903.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:43.966Z,1761697903.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 525.323608 m, bearing: 23.403258 deg, approach rate: -0.583116 m/s, LOS rate: -0.000560 deg/s, cmd heading: 23.613067 deg, new cmd heading: 23.612595 deg. 2025-10-29T00:31:43.967Z,1761697903.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412118 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:44.050Z,1761697904.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575473 2025-10-29T00:31:44.302Z,1761697904.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827328 2025-10-29T00:31:44.357Z,1761697904.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:44.359Z,1761697904.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 525.082642 m, bearing: 23.403027 deg, approach rate: -0.606450 m/s, LOS rate: -0.000583 deg/s, cmd heading: 23.612594 deg, new cmd heading: 23.612131 deg. 2025-10-29T00:31:44.360Z,1761697904.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412109 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:44.553Z,1761697904.553 [DAT](INFO): Reached modem response timeout 2025-10-29T00:31:44.553Z,1761697904.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:44.554Z,1761697904.554 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:44.765Z,1761697904.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902081,-0.358652,-0.240039],[0.378894,0.924458,0.042634],[0.206615,-0.129408,0.969827]] 2025-10-29T00:31:44.807Z,1761697904.807 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:44.845Z,1761697904.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:44.852Z,1761697904.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 524.801208 m, bearing: 23.402489 deg, approach rate: -0.576043 m/s, LOS rate: -0.001102 deg/s, cmd heading: 23.612131 deg, new cmd heading: 23.611055 deg. 2025-10-29T00:31:44.853Z,1761697904.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412091 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:45.057Z,1761697905.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:45.125Z,1761697905.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901638,-0.359569,-0.240331],[0.379845,0.924073,0.042502],[0.206801,-0.129610,0.969760]] 2025-10-29T00:31:45.142Z,1761697905.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:45.144Z,1761697905.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:45.147Z,1761697905.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 524.622375 m, bearing: 23.402126 deg, approach rate: -0.598412 m/s, LOS rate: -0.001215 deg/s, cmd heading: 23.611056 deg, new cmd heading: 23.610329 deg. 2025-10-29T00:31:45.148Z,1761697905.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412078 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:45.309Z,1761697905.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:45.522Z,1761697905.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901384,-0.359962,-0.240694],[0.380494,0.923764,0.043419],[0.206715,-0.130720,0.969629]] 2025-10-29T00:31:45.549Z,1761697905.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:45.551Z,1761697905.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 524.384949 m, bearing: 23.401625 deg, approach rate: -0.586204 m/s, LOS rate: -0.001237 deg/s, cmd heading: 23.610330 deg, new cmd heading: 23.609328 deg. 2025-10-29T00:31:45.561Z,1761697905.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:45.577Z,1761697905.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412060 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:45.813Z,1761697905.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:45.998Z,1761697905.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:46.001Z,1761697906.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 524.128967 m, bearing: 23.401975 deg, approach rate: -0.570407 m/s, LOS rate: 0.000781 deg/s, cmd heading: 23.609328 deg, new cmd heading: 23.610028 deg. 2025-10-29T00:31:46.002Z,1761697906.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412073 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:46.065Z,1761697906.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:46.318Z,1761697906.318 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:46.368Z,1761697906.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:46.371Z,1761697906.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 523.900269 m, bearing: 23.402288 deg, approach rate: -0.617709 m/s, LOS rate: 0.000846 deg/s, cmd heading: 23.610028 deg, new cmd heading: 23.610654 deg. 2025-10-29T00:31:46.372Z,1761697906.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412084 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:46.570Z,1761697906.570 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:31:46.826Z,1761697906.826 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:31:46.826Z,1761697906.826 [DAT](INFO): response not received 2025-10-29T00:31:46.827Z,1761697906.827 [DAT](INFO): DAT read: user:402> 2025-10-29T00:31:46.827Z,1761697906.827 [DAT](INFO): DAT read: Tx time:00:31:46.6771 2025-10-29T00:31:46.828Z,1761697906.828 [DAT](INFO): Ping request sent. 2025-10-29T00:31:46.828Z,1761697906.828 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:46.828Z,1761697906.828 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:46.829Z,1761697906.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001068 2025-10-29T00:31:46.849Z,1761697906.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:46.852Z,1761697906.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 523.618896 m, bearing: 23.403888 deg, approach rate: -0.584766 m/s, LOS rate: 0.003327 deg/s, cmd heading: 23.610654 deg, new cmd heading: 23.613856 deg. 2025-10-29T00:31:46.853Z,1761697906.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412140 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:47.074Z,1761697907.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245762 2025-10-29T00:31:47.219Z,1761697907.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901391,-0.357205,-0.244741],[0.380608,0.923132,0.054462],[0.206474,-0.142242,0.968058]] 2025-10-29T00:31:47.257Z,1761697907.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:47.259Z,1761697907.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:47.261Z,1761697907.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 523.379883 m, bearing: 23.405249 deg, approach rate: -0.583890 m/s, LOS rate: 0.003327 deg/s, cmd heading: 23.613856 deg, new cmd heading: 23.616580 deg. 2025-10-29T00:31:47.262Z,1761697907.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412187 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:47.325Z,1761697907.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497226 2025-10-29T00:31:47.577Z,1761697907.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749222 2025-10-29T00:31:47.633Z,1761697907.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901290,-0.356271,-0.246469],[0.380535,0.922986,0.057366],[0.207050,-0.145494,0.967451]] 2025-10-29T00:31:47.672Z,1761697907.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:47.675Z,1761697907.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 523.149719 m, bearing: 23.406563 deg, approach rate: -0.562590 m/s, LOS rate: 0.003213 deg/s, cmd heading: 23.616579 deg, new cmd heading: 23.619208 deg. 2025-10-29T00:31:47.680Z,1761697907.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412233 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:47.829Z,1761697907.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001652 2025-10-29T00:31:48.031Z,1761697908.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901390,-0.355288,-0.247522],[0.380257,0.922932,0.060005],[0.207127,-0.148210,0.967022]] 2025-10-29T00:31:48.073Z,1761697908.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:48.076Z,1761697908.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 522.898621 m, bearing: 23.408843 deg, approach rate: -0.619021 m/s, LOS rate: 0.005622 deg/s, cmd heading: 23.619209 deg, new cmd heading: 23.623770 deg. 2025-10-29T00:31:48.077Z,1761697908.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412313 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:48.081Z,1761697908.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253368 2025-10-29T00:31:48.333Z,1761697908.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505160 2025-10-29T00:31:48.435Z,1761697908.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901540,-0.354559,-0.248019],[0.379761,0.923083,0.060813],[0.207381,-0.149013,0.966844]] 2025-10-29T00:31:48.465Z,1761697908.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:48.472Z,1761697908.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 522.672607 m, bearing: 23.410910 deg, approach rate: -0.576385 m/s, LOS rate: 0.005274 deg/s, cmd heading: 23.623770 deg, new cmd heading: 23.627906 deg. 2025-10-29T00:31:48.473Z,1761697908.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412385 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:48.585Z,1761697908.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757231 2025-10-29T00:31:48.837Z,1761697908.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009327 2025-10-29T00:31:48.844Z,1761697908.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901442,-0.355301,-0.247312],[0.380065,0.923063,0.059202],[0.207250,-0.147362,0.967126]] 2025-10-29T00:31:48.880Z,1761697908.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:48.883Z,1761697908.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 522.419067 m, bearing: 23.414092 deg, approach rate: -0.611380 m/s, LOS rate: 0.007678 deg/s, cmd heading: 23.627906 deg, new cmd heading: 23.634273 deg. 2025-10-29T00:31:48.900Z,1761697908.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412496 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:49.089Z,1761697909.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261159 2025-10-29T00:31:49.247Z,1761697909.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901414,-0.355734,-0.246793],[0.380157,0.923106,0.057938],[0.207206,-0.146046,0.967335]] 2025-10-29T00:31:49.274Z,1761697909.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:49.276Z,1761697909.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:49.279Z,1761697909.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 522.184021 m, bearing: 23.417042 deg, approach rate: -0.593824 m/s, LOS rate: 0.007456 deg/s, cmd heading: 23.634273 deg, new cmd heading: 23.640176 deg. 2025-10-29T00:31:49.280Z,1761697909.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412599 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:49.341Z,1761697909.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513314 2025-10-29T00:31:49.593Z,1761697909.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765336 2025-10-29T00:31:49.655Z,1761697909.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901662,-0.355460,-0.246279],[0.379561,0.923419,0.056834],[0.207217,-0.144723,0.967531]] 2025-10-29T00:31:49.674Z,1761697909.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:49.677Z,1761697909.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 521.947937 m, bearing: 23.420027 deg, approach rate: -0.593562 m/s, LOS rate: 0.007508 deg/s, cmd heading: 23.640176 deg, new cmd heading: 23.646148 deg. 2025-10-29T00:31:49.678Z,1761697909.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412703 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:49.848Z,1761697909.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020304 2025-10-29T00:31:50.046Z,1761697910.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901835,-0.356175,-0.244609],[0.379301,0.923732,0.053380],[0.206941,-0.140920,0.968151]] 2025-10-29T00:31:50.090Z,1761697910.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:50.093Z,1761697910.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 521.706482 m, bearing: 23.423677 deg, approach rate: -0.579454 m/s, LOS rate: 0.008763 deg/s, cmd heading: 23.646149 deg, new cmd heading: 23.653452 deg. 2025-10-29T00:31:50.094Z,1761697910.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412831 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:50.097Z,1761697910.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269307 2025-10-29T00:31:50.349Z,1761697910.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521326 2025-10-29T00:31:50.485Z,1761697910.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:50.488Z,1761697910.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 521.478821 m, bearing: 23.427122 deg, approach rate: -0.576546 m/s, LOS rate: 0.008729 deg/s, cmd heading: 23.653452 deg, new cmd heading: 23.660346 deg. 2025-10-29T00:31:50.489Z,1761697910.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.412951 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:50.601Z,1761697910.601 [DAT](INFO): DAT read: Rx Time:00:31:49.8071 2025-10-29T00:31:50.602Z,1761697910.602 [DAT](INFO): Rx dataTimestamp_ set to:1761697910.601519 2025-10-29T00:31:50.602Z,1761697910.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774658 2025-10-29T00:31:50.856Z,1761697910.856 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027711 2025-10-29T00:31:50.915Z,1761697910.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 550.68 m. 2025-10-29T00:31:50.918Z,1761697910.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 550.675171 m, nav range: 521.224121 m, bearing: 23.430822 deg, approach rate: -0.592033 m/s, LOS rate: 0.008604 deg/s, cmd heading: 23.660346 deg, new cmd heading: 23.667749 deg. 2025-10-29T00:31:50.919Z,1761697910.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413080 target range: 550.675171 and range: 553.40 m. 2025-10-29T00:31:51.110Z,1761697911.110 [DAT](INFO): DAT read: 00:31:49.8071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 293,-0.39,-1.312,-2.868,-1.183,-1.879, PHS= 0.669,-0.944, 0.652, RAW= 149.5, -4.8, CAL= 149.2, -5.9, ROT= 0.8, 5.9 2025-10-29T00:31:51.111Z,1761697911.111 [DAT](INFO): got valid direction response: 00:31:49.8071 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 293,-0.39,-1.312,-2.868,-1.183,-1.879, PHS= 0.669,-0.944, 0.652, RAW= 149.5, -4.8, CAL= 149.2, -5.9, ROT= 0.8, 5.9 2025-10-29T00:31:51.112Z,1761697911.112 [DAT](INFO): DAT read: Bearing 165.9, 13.7 (Local) 2025-10-29T00:31:51.113Z,1761697911.113 [DAT](INFO): Local bearing/azimuth received: Bearing 165.9, 13.7 (Local) 2025-10-29T00:31:51.114Z,1761697911.114 [DAT](INFO): DAT read: Range 11 to 50 : 544.3 m (Round-trip 725.8 ms) speed 0.3 m/s 2025-10-29T00:31:51.115Z,1761697911.115 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:51.116Z,1761697911.116 [DAT](INFO): direction in FSK: [0.994606,0.013888,-0.102793] 2025-10-29T00:31:51.116Z,1761697911.116 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:51.119Z,1761697911.119 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:51.120Z,1761697911.120 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:51.120Z,1761697911.120 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:51.259Z,1761697911.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902264,-0.355714,-0.243694],[0.378057,0.924410,0.050399],[0.207345,-0.137603,0.968542]] 2025-10-29T00:31:51.323Z,1761697911.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 544.299988 m, deltaT: 16.884061 s, deltaX: -9.100037 m, approachRate: -0.538972 m/s, rangeRepo size: 4 2025-10-29T00:31:51.325Z,1761697911.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 541.528992 m, bearing: 22.693298 deg, lat: 36.779233 deg, lon: -121.859261 deg, deltaT: 16.884061 s, deltaX: -9.146179 m, approachRate: -0.541705 m/s, posRepo size: 4 2025-10-29T00:31:51.326Z,1761697911.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:51.339Z,1761697911.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 530.406067 m, bearing: 23.060251 deg, approach rate: 0.000000 m/s, LOS rate: 0.008604 deg/s, cmd heading: 23.667750 deg, new cmd heading: 23.674752 deg. 2025-10-29T00:31:51.345Z,1761697911.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413202 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:51.357Z,1761697911.357 [DAT](INFO): DAT read: user:403> 2025-10-29T00:31:51.358Z,1761697911.358 [DAT](INFO): DAT read: Tx time:00:31:51.1271 2025-10-29T00:31:51.358Z,1761697911.358 [DAT](INFO): Ping request sent. 2025-10-29T00:31:51.358Z,1761697911.358 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:51.358Z,1761697911.358 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:51.359Z,1761697911.359 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-29T00:31:51.611Z,1761697911.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253328 2025-10-29T00:31:51.675Z,1761697911.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902544,-0.354728,-0.244093],[0.377169,0.924756,0.050697],[0.207743,-0.137820,0.968426]] 2025-10-29T00:31:51.699Z,1761697911.699 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:51.702Z,1761697911.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:51.705Z,1761697911.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 530.167480 m, bearing: 23.063556 deg, approach rate: -0.628993 m/s, LOS rate: 0.008716 deg/s, cmd heading: 23.674752 deg, new cmd heading: 23.681364 deg. 2025-10-29T00:31:51.705Z,1761697911.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413318 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:51.865Z,1761697911.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506943 2025-10-29T00:31:52.066Z,1761697912.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902844,-0.353754,-0.244400],[0.376359,0.925049,0.051368],[0.207910,-0.138359,0.968313]] 2025-10-29T00:31:52.108Z,1761697912.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:52.111Z,1761697912.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 529.928406 m, bearing: 23.066551 deg, approach rate: -0.588283 m/s, LOS rate: 0.007373 deg/s, cmd heading: 23.681364 deg, new cmd heading: 23.687357 deg. 2025-10-29T00:31:52.112Z,1761697912.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413422 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:52.117Z,1761697912.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758878 2025-10-29T00:31:52.369Z,1761697912.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010788 2025-10-29T00:31:52.470Z,1761697912.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903158,-0.352454,-0.245115],[0.375484,0.925312,0.053003],[0.208127,-0.139907,0.968044]] 2025-10-29T00:31:52.497Z,1761697912.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:52.499Z,1761697912.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 529.699890 m, bearing: 23.069437 deg, approach rate: -0.587906 m/s, LOS rate: 0.007430 deg/s, cmd heading: 23.687357 deg, new cmd heading: 23.693133 deg. 2025-10-29T00:31:52.516Z,1761697912.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413523 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:52.621Z,1761697912.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262857 2025-10-29T00:31:52.876Z,1761697912.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517094 2025-10-29T00:31:52.901Z,1761697912.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903533,-0.350323,-0.246784],[0.374403,0.925515,0.056959],[0.208448,-0.143861,0.967395]] 2025-10-29T00:31:52.937Z,1761697912.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:52.939Z,1761697912.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 529.441589 m, bearing: 23.072126 deg, approach rate: -0.587173 m/s, LOS rate: 0.006116 deg/s, cmd heading: 23.693132 deg, new cmd heading: 23.698513 deg. 2025-10-29T00:31:52.961Z,1761697912.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413617 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:53.125Z,1761697913.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766774 2025-10-29T00:31:53.294Z,1761697913.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903729,-0.349595,-0.247099],[0.373850,0.925697,0.057629],[0.208592,-0.144459,0.967275]] 2025-10-29T00:31:53.319Z,1761697913.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:53.322Z,1761697913.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 529.217163 m, bearing: 23.074478 deg, approach rate: -0.587259 m/s, LOS rate: 0.006157 deg/s, cmd heading: 23.698513 deg, new cmd heading: 23.703219 deg. 2025-10-29T00:31:53.323Z,1761697913.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413699 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:53.378Z,1761697913.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019800 2025-10-29T00:31:53.633Z,1761697913.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274113 2025-10-29T00:31:53.686Z,1761697913.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903900,-0.348878,-0.247484],[0.373373,0.925832,0.058547],[0.208703,-0.145324,0.967121]] 2025-10-29T00:31:53.704Z,1761697913.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:53.706Z,1761697913.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:53.709Z,1761697913.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 528.990479 m, bearing: 23.076869 deg, approach rate: -0.585695 m/s, LOS rate: 0.006178 deg/s, cmd heading: 23.703219 deg, new cmd heading: 23.708001 deg. 2025-10-29T00:31:53.710Z,1761697913.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413783 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:53.885Z,1761697913.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526034 2025-10-29T00:31:54.088Z,1761697914.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904056,-0.348482,-0.247474],[0.372958,0.926001,0.058514],[0.208770,-0.145197,0.967126]] 2025-10-29T00:31:54.124Z,1761697914.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:54.127Z,1761697914.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 528.737976 m, bearing: 23.078246 deg, approach rate: -0.604070 m/s, LOS rate: 0.003297 deg/s, cmd heading: 23.708002 deg, new cmd heading: 23.710758 deg. 2025-10-29T00:31:54.128Z,1761697914.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413831 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:54.133Z,1761697914.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774934 2025-10-29T00:31:54.385Z,1761697914.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026795 2025-10-29T00:31:54.491Z,1761697914.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904165,-0.348249,-0.247405],[0.372713,0.926099,0.058532],[0.208738,-0.145134,0.967142]] 2025-10-29T00:31:54.509Z,1761697914.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:54.512Z,1761697914.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 528.505127 m, bearing: 23.079525 deg, approach rate: -0.604475 m/s, LOS rate: 0.003320 deg/s, cmd heading: 23.710758 deg, new cmd heading: 23.713315 deg. 2025-10-29T00:31:54.513Z,1761697914.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413875 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:54.637Z,1761697914.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278754 2025-10-29T00:31:54.892Z,1761697914.892 [DAT](INFO): DAT read: Rx Time:00:31:54.2536 2025-10-29T00:31:54.894Z,1761697914.894 [DAT](INFO): Rx dataTimestamp_ set to:1761697914.892878 2025-10-29T00:31:54.896Z,1761697914.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537194 2025-10-29T00:31:54.935Z,1761697914.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904039,-0.348254,-0.247855],[0.373167,0.925803,0.060291],[0.208469,-0.146997,0.966919]] 2025-10-29T00:31:54.987Z,1761697914.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:55.006Z,1761697915.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 528.217041 m, bearing: 23.080369 deg, approach rate: -0.602849 m/s, LOS rate: 0.001769 deg/s, cmd heading: 23.713315 deg, new cmd heading: 23.715006 deg. 2025-10-29T00:31:55.007Z,1761697915.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413905 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:55.141Z,1761697915.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783042 2025-10-29T00:31:55.335Z,1761697915.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904076,-0.348045,-0.248017],[0.373172,0.925742,0.061190],[0.208303,-0.147873,0.966821]] 2025-10-29T00:31:55.353Z,1761697915.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 541.53 m. 2025-10-29T00:31:55.356Z,1761697915.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 541.528992 m, nav range: 527.995605 m, bearing: 23.081019 deg, approach rate: -0.604639 m/s, LOS rate: 0.001775 deg/s, cmd heading: 23.715006 deg, new cmd heading: 23.716306 deg. 2025-10-29T00:31:55.357Z,1761697915.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413928 target range: 541.528992 and range: 544.30 m. 2025-10-29T00:31:55.396Z,1761697915.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.037705 2025-10-29T00:31:55.651Z,1761697915.651 [DAT](INFO): DAT read: 00:31:54.2536 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 401,-0.08,-0.344,-1.718,-0.234,-0.705, PHS= 0.463,-0.968, 0.427, RAW= 148.7, 1.1, CAL= 147.8, 0.9, ROT= 2.2, -0.9 2025-10-29T00:31:55.652Z,1761697915.652 [DAT](INFO): got valid direction response: 00:31:54.2536 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 401,-0.08,-0.344,-1.718,-0.234,-0.705, PHS= 0.463,-0.968, 0.427, RAW= 148.7, 1.1, CAL= 147.8, 0.9, ROT= 2.2, -0.9 2025-10-29T00:31:55.653Z,1761697915.653 [DAT](INFO): DAT read: Bearing 172.2, 14.2 (Local) 2025-10-29T00:31:55.653Z,1761697915.653 [DAT](INFO): Local bearing/azimuth received: Bearing 172.2, 14.2 (Local) 2025-10-29T00:31:55.654Z,1761697915.654 [DAT](INFO): DAT read: Range 11 to 50 : 541.7 m (Round-trip 722.3 ms) speed 0.4 m/s 2025-10-29T00:31:55.655Z,1761697915.655 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:31:55.656Z,1761697915.656 [DAT](INFO): direction in FSK: [0.999140,0.038383,0.015707] 2025-10-29T00:31:55.656Z,1761697915.656 [DAT](INFO): publishing direction and range info 2025-10-29T00:31:55.660Z,1761697915.660 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:31:55.661Z,1761697915.661 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:31:55.662Z,1761697915.662 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:31:55.696Z,1761697915.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:31:55.786Z,1761697915.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903711,-0.349354,-0.247502],[0.374114,0.925459,0.059706],[0.208194,-0.146551,0.967046]] 2025-10-29T00:31:55.853Z,1761697915.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 541.700012 m, deltaT: 4.540321 s, deltaX: -2.599976 m, approachRate: -0.572641 m/s, rangeRepo size: 4 2025-10-29T00:31:55.870Z,1761697915.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 538.913940 m, bearing: 24.854870 deg, lat: 36.779233 deg, lon: -121.859226 deg, deltaT: 4.540321 s, deltaX: -2.615051 m, approachRate: -0.575962 m/s, posRepo size: 4 2025-10-29T00:31:55.877Z,1761697915.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:55.900Z,1761697915.900 [DAT](INFO): DAT read: user:404> 2025-10-29T00:31:55.902Z,1761697915.902 [DAT](INFO): DAT read: Tx time:00:31:55.6771 2025-10-29T00:31:55.903Z,1761697915.903 [DAT](INFO): Ping request sent. 2025-10-29T00:31:55.903Z,1761697915.903 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:31:55.905Z,1761697915.905 [DAT](INFO): publishing transmit ping time 2025-10-29T00:31:55.907Z,1761697915.907 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003244 2025-10-29T00:31:55.913Z,1761697915.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 528.942322 m, bearing: 23.393530 deg, approach rate: 0.000000 m/s, LOS rate: 0.001775 deg/s, cmd heading: 23.716305 deg, new cmd heading: 23.718060 deg. 2025-10-29T00:31:55.920Z,1761697915.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413958 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:56.149Z,1761697916.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246259 2025-10-29T00:31:56.228Z,1761697916.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903295,-0.350723,-0.247085],[0.375116,0.925152,0.058152],[0.208196,-0.145214,0.967247]] 2025-10-29T00:31:56.301Z,1761697916.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:56.309Z,1761697916.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:56.318Z,1761697916.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 528.664307 m, bearing: 23.394293 deg, approach rate: -0.602308 m/s, LOS rate: 0.001654 deg/s, cmd heading: 23.718059 deg, new cmd heading: 23.719586 deg. 2025-10-29T00:31:56.319Z,1761697916.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413985 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:56.402Z,1761697916.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499210 2025-10-29T00:31:56.629Z,1761697916.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902857,-0.352020,-0.246841],[0.375996,0.924913,0.056242],[0.208508,-0.143590,0.967423]] 2025-10-29T00:31:56.646Z,1761697916.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:56.653Z,1761697916.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749684 2025-10-29T00:31:56.665Z,1761697916.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 528.447510 m, bearing: 23.394865 deg, approach rate: -0.642893 m/s, LOS rate: 0.001699 deg/s, cmd heading: 23.719586 deg, new cmd heading: 23.720731 deg. 2025-10-29T00:31:56.666Z,1761697916.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414005 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:56.700Z,1761697916.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:31:56.909Z,1761697916.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005475 2025-10-29T00:31:57.047Z,1761697917.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902390,-0.353660,-0.246205],[0.376999,0.924664,0.053546],[0.208720,-0.141138,0.967737]] 2025-10-29T00:31:57.098Z,1761697917.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:57.101Z,1761697917.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 528.175903 m, bearing: 23.395422 deg, approach rate: -0.601430 m/s, LOS rate: 0.001234 deg/s, cmd heading: 23.720731 deg, new cmd heading: 23.721846 deg. 2025-10-29T00:31:57.101Z,1761697917.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414024 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:57.158Z,1761697917.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255299 2025-10-29T00:31:57.409Z,1761697917.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505551 2025-10-29T00:31:57.439Z,1761697917.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902112,-0.354944,-0.245373],[0.377742,0.924479,0.051462],[0.208576,-0.139113,0.968062]] 2025-10-29T00:31:57.458Z,1761697917.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:57.469Z,1761697917.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 527.959229 m, bearing: 23.395849 deg, approach rate: -0.601853 m/s, LOS rate: 0.001185 deg/s, cmd heading: 23.721846 deg, new cmd heading: 23.722700 deg. 2025-10-29T00:31:57.470Z,1761697917.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414039 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:57.664Z,1761697917.664 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760959 2025-10-29T00:31:57.839Z,1761697917.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901849,-0.355790,-0.245116],[0.378406,0.924250,0.050697],[0.208511,-0.138474,0.968167]] 2025-10-29T00:31:57.873Z,1761697917.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:57.875Z,1761697917.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 527.712646 m, bearing: 23.396315 deg, approach rate: -0.594421 m/s, LOS rate: 0.001125 deg/s, cmd heading: 23.722700 deg, new cmd heading: 23.723634 deg. 2025-10-29T00:31:57.876Z,1761697917.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414056 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:57.916Z,1761697917.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012111 2025-10-29T00:31:58.165Z,1761697918.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261655 2025-10-29T00:31:58.243Z,1761697918.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901844,-0.355549,-0.245485],[0.378418,0.924193,0.051648],[0.208512,-0.139474,0.968024]] 2025-10-29T00:31:58.312Z,1761697918.312 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:31:58.314Z,1761697918.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:58.321Z,1761697918.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 527.453857 m, bearing: 23.397237 deg, approach rate: -0.586035 m/s, LOS rate: 0.002088 deg/s, cmd heading: 23.723634 deg, new cmd heading: 23.725479 deg. 2025-10-29T00:31:58.322Z,1761697918.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414088 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:58.418Z,1761697918.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514173 2025-10-29T00:31:58.647Z,1761697918.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902025,-0.355015,-0.245593],[0.378188,0.924208,0.053043],[0.208148,-0.140726,0.967921]] 2025-10-29T00:31:58.669Z,1761697918.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765839 2025-10-29T00:31:58.674Z,1761697918.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:58.676Z,1761697918.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 527.231262 m, bearing: 23.398037 deg, approach rate: -0.619192 m/s, LOS rate: 0.002227 deg/s, cmd heading: 23.725478 deg, new cmd heading: 23.727079 deg. 2025-10-29T00:31:58.677Z,1761697918.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414116 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:58.924Z,1761697918.924 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020011 2025-10-29T00:31:59.052Z,1761697919.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902032,-0.354718,-0.245995],[0.378209,0.924128,0.054274],[0.208079,-0.141994,0.967750]] 2025-10-29T00:31:59.088Z,1761697919.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:59.090Z,1761697919.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 526.982361 m, bearing: 23.399692 deg, approach rate: -0.601509 m/s, LOS rate: 0.004000 deg/s, cmd heading: 23.727080 deg, new cmd heading: 23.730390 deg. 2025-10-29T00:31:59.091Z,1761697919.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414173 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:59.173Z,1761697919.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269922 2025-10-29T00:31:59.425Z,1761697919.425 [DAT](INFO): DAT read: Rx Time:00:31:58.8007 2025-10-29T00:31:59.425Z,1761697919.425 [DAT](INFO): Rx dataTimestamp_ set to:1761697919.425151 2025-10-29T00:31:59.426Z,1761697919.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522816 2025-10-29T00:31:59.459Z,1761697919.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901793,-0.355450,-0.245814],[0.378724,0.923973,0.053309],[0.208177,-0.141169,0.967850]] 2025-10-29T00:31:59.477Z,1761697919.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:59.480Z,1761697919.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 526.748962 m, bearing: 23.401230 deg, approach rate: -0.599120 m/s, LOS rate: 0.003950 deg/s, cmd heading: 23.730391 deg, new cmd heading: 23.733468 deg. 2025-10-29T00:31:59.493Z,1761697919.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414227 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:59.677Z,1761697919.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773622 2025-10-29T00:31:59.860Z,1761697919.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901705,-0.355593,-0.245930],[0.378908,0.923892,0.053405],[0.208222,-0.141340,0.967815]] 2025-10-29T00:31:59.885Z,1761697919.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 538.91 m. 2025-10-29T00:31:59.887Z,1761697919.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 538.913940 m, nav range: 526.505127 m, bearing: 23.402833 deg, approach rate: -0.598478 m/s, LOS rate: 0.003936 deg/s, cmd heading: 23.733468 deg, new cmd heading: 23.736675 deg. 2025-10-29T00:31:59.888Z,1761697919.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414283 target range: 538.913940 and range: 541.70 m. 2025-10-29T00:31:59.935Z,1761697919.935 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031321 2025-10-29T00:32:00.186Z,1761697920.186 [DAT](INFO): DAT read: 00:31:58.8007 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 420, 0.05,-2.180, 2.694,-2.038,-2.491, PHS= 0.413,-1.053, 0.409, RAW= 149.9, 3.2, CAL= 148.9, 3.1, ROT= 1.1, -3.1 2025-10-29T00:32:00.187Z,1761697920.187 [DAT](INFO): got valid direction response: 00:31:58.8007 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 420, 0.05,-2.180, 2.694,-2.038,-2.491, PHS= 0.413,-1.053, 0.409, RAW= 149.9, 3.2, CAL= 148.9, 3.1, ROT= 1.1, -3.1 2025-10-29T00:32:00.188Z,1761697920.188 [DAT](INFO): DAT read: Bearing 174.1, 12.7 (Local) 2025-10-29T00:32:00.189Z,1761697920.189 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, 12.7 (Local) 2025-10-29T00:32:00.190Z,1761697920.190 [DAT](INFO): DAT read: Range 11 to 50 : 539.6 m (Round-trip 719.5 ms) speed 0.5 m/s 2025-10-29T00:32:00.191Z,1761697920.191 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:00.192Z,1761697920.192 [DAT](INFO): direction in FSK: [0.998353,0.019169,0.054079] 2025-10-29T00:32:00.192Z,1761697920.192 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:00.195Z,1761697920.195 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:00.195Z,1761697920.195 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:00.196Z,1761697920.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:00.279Z,1761697920.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901516,-0.355535,-0.246705],[0.379396,0.923574,0.055406],[0.208152,-0.143549,0.967505]] 2025-10-29T00:32:00.397Z,1761697920.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 539.599976 m, deltaT: 4.535637 s, deltaX: -2.100037 m, approachRate: -0.463008 m/s, rangeRepo size: 4 2025-10-29T00:32:00.399Z,1761697920.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 536.810059 m, bearing: 24.418529 deg, lat: 36.779233 deg, lon: -121.859165 deg, deltaT: 4.535637 s, deltaX: -2.103882 m, approachRate: -0.463856 m/s, posRepo size: 4 2025-10-29T00:32:00.404Z,1761697920.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:00.406Z,1761697920.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 528.373413 m, bearing: 23.942976 deg, approach rate: 0.000000 m/s, LOS rate: 0.003936 deg/s, cmd heading: 23.736675 deg, new cmd heading: 23.740705 deg. 2025-10-29T00:32:00.407Z,1761697920.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414353 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:00.433Z,1761697920.433 [DAT](INFO): DAT read: user:405> 2025-10-29T00:32:00.434Z,1761697920.434 [DAT](INFO): DAT read: Tx time:00:32:00.1771 2025-10-29T00:32:00.434Z,1761697920.434 [DAT](INFO): Ping request sent. 2025-10-29T00:32:00.435Z,1761697920.435 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:00.435Z,1761697920.435 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:00.439Z,1761697920.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003753 2025-10-29T00:32:00.685Z,1761697920.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251360 2025-10-29T00:32:00.738Z,1761697920.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901435,-0.354987,-0.247789],[0.379649,0.923284,0.058418],[0.208042,-0.146733,0.967051]] 2025-10-29T00:32:00.794Z,1761697920.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:00.801Z,1761697920.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:00.803Z,1761697920.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 528.140442 m, bearing: 23.945444 deg, approach rate: -0.576239 m/s, LOS rate: 0.006106 deg/s, cmd heading: 23.740704 deg, new cmd heading: 23.745641 deg. 2025-10-29T00:32:00.808Z,1761697920.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414440 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:00.937Z,1761697920.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915 2025-10-29T00:32:01.142Z,1761697921.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901146,-0.355780,-0.247701],[0.380373,0.923008,0.058071],[0.207970,-0.146549,0.967095]] 2025-10-29T00:32:01.179Z,1761697921.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:01.181Z,1761697921.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 527.895447 m, bearing: 23.948641 deg, approach rate: -0.648506 m/s, LOS rate: 0.008468 deg/s, cmd heading: 23.745641 deg, new cmd heading: 23.752039 deg. 2025-10-29T00:32:01.182Z,1761697921.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414551 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:01.197Z,1761697921.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762966 2025-10-29T00:32:01.449Z,1761697921.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014774 2025-10-29T00:32:01.542Z,1761697921.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900827,-0.357027,-0.247067],[0.381276,0.922716,0.056785],[0.207698,-0.145354,0.967333]] 2025-10-29T00:32:01.578Z,1761697921.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:01.581Z,1761697921.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 527.668518 m, bearing: 23.951581 deg, approach rate: -0.568695 m/s, LOS rate: 0.007371 deg/s, cmd heading: 23.752039 deg, new cmd heading: 23.757922 deg. 2025-10-29T00:32:01.581Z,1761697921.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414654 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:01.701Z,1761697921.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266917 2025-10-29T00:32:01.956Z,1761697921.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521207 2025-10-29T00:32:02.054Z,1761697922.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:02.057Z,1761697922.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 527.375916 m, bearing: 23.955901 deg, approach rate: -0.614016 m/s, LOS rate: 0.009069 deg/s, cmd heading: 23.757922 deg, new cmd heading: 23.766565 deg. 2025-10-29T00:32:02.058Z,1761697922.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414805 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:02.205Z,1761697922.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770855 2025-10-29T00:32:02.409Z,1761697922.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:02.411Z,1761697922.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 527.165894 m, bearing: 23.959004 deg, approach rate: -0.591866 m/s, LOS rate: 0.008749 deg/s, cmd heading: 23.766565 deg, new cmd heading: 23.772774 deg. 2025-10-29T00:32:02.413Z,1761697922.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.414913 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:02.457Z,1761697922.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023311 2025-10-29T00:32:02.709Z,1761697922.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274854 2025-10-29T00:32:02.799Z,1761697922.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900107,-0.360261,-0.244987],[0.383429,0.922057,0.052843],[0.206854,-0.141500,0.968085]] 2025-10-29T00:32:02.815Z,1761697922.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:02.817Z,1761697922.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:02.832Z,1761697922.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 526.924316 m, bearing: 23.962517 deg, approach rate: -0.591970 m/s, LOS rate: 0.008614 deg/s, cmd heading: 23.772774 deg, new cmd heading: 23.779804 deg. 2025-10-29T00:32:02.833Z,1761697922.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415036 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:02.961Z,1761697922.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527226 2025-10-29T00:32:03.171Z,1761697923.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899863,-0.362024,-0.243281],[0.384020,0.922059,0.048331],[0.206823,-0.136916,0.968751]] 2025-10-29T00:32:03.213Z,1761697923.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778963 2025-10-29T00:32:03.223Z,1761697923.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:03.226Z,1761697923.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 526.681580 m, bearing: 23.966496 deg, approach rate: -0.597762 m/s, LOS rate: 0.009802 deg/s, cmd heading: 23.779804 deg, new cmd heading: 23.787764 deg. 2025-10-29T00:32:03.227Z,1761697923.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415175 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:03.465Z,1761697923.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780 2025-10-29T00:32:03.575Z,1761697923.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899936,-0.361791,-0.243357],[0.383914,0.922073,0.048899],[0.206701,-0.137434,0.968704]] 2025-10-29T00:32:03.601Z,1761697923.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:03.620Z,1761697923.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 526.456360 m, bearing: 23.970192 deg, approach rate: -0.595492 m/s, LOS rate: 0.009778 deg/s, cmd heading: 23.787764 deg, new cmd heading: 23.795161 deg. 2025-10-29T00:32:03.621Z,1761697923.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415304 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:03.718Z,1761697923.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283991 2025-10-29T00:32:03.972Z,1761697923.972 [DAT](INFO): DAT read: Rx Time:00:32:03.2971 2025-10-29T00:32:03.973Z,1761697923.973 [DAT](INFO): Rx dataTimestamp_ set to:1761697923.972448 2025-10-29T00:32:03.975Z,1761697923.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.540986 2025-10-29T00:32:04.054Z,1761697924.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899789,-0.361507,-0.244320],[0.384043,0.921949,0.050205],[0.207101,-0.139003,0.968394]] 2025-10-29T00:32:04.090Z,1761697924.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:04.093Z,1761697924.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 526.169312 m, bearing: 23.974991 deg, approach rate: -0.587227 m/s, LOS rate: 0.009821 deg/s, cmd heading: 23.795160 deg, new cmd heading: 23.804762 deg. 2025-10-29T00:32:04.094Z,1761697924.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415471 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:04.221Z,1761697924.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.786820 2025-10-29T00:32:04.417Z,1761697924.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 536.81 m. 2025-10-29T00:32:04.422Z,1761697924.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 536.810059 m, nav range: 525.978516 m, bearing: 23.978183 deg, approach rate: -0.585968 m/s, LOS rate: 0.009809 deg/s, cmd heading: 23.804761 deg, new cmd heading: 23.811149 deg. 2025-10-29T00:32:04.426Z,1761697924.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415583 target range: 536.810059 and range: 539.60 m. 2025-10-29T00:32:04.483Z,1761697924.483 [DAT](INFO): DAT read: 00:32:03.2971 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.04,-0.934,-2.734,-0.854,-1.778, PHS= 0.945,-0.911, 0.879, RAW= 148.2, -10.0, CAL= 148.8, -11.9, ROT= 1.2, 11.9 2025-10-29T00:32:04.485Z,1761697924.485 [DAT](INFO): got valid direction response: 00:32:03.2971 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 398,-0.04,-0.934,-2.734,-0.854,-1.778, PHS= 0.945,-0.911, 0.879, RAW= 148.2, -10.0, CAL= 148.8, -11.9, ROT= 1.2, 11.9 2025-10-29T00:32:04.486Z,1761697924.486 [DAT](INFO): DAT read: Bearing 159.9, 14.6 (Local) 2025-10-29T00:32:04.486Z,1761697924.486 [DAT](INFO): Local bearing/azimuth received: Bearing 159.9, 14.6 (Local) 2025-10-29T00:32:04.487Z,1761697924.487 [DAT](INFO): DAT read: Range 11 to 50 : 536.9 m (Round-trip 715.9 ms) speed 0.3 m/s 2025-10-29T00:32:04.488Z,1761697924.488 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:04.489Z,1761697924.489 [DAT](INFO): direction in FSK: [0.978294,0.020492,-0.206204] 2025-10-29T00:32:04.489Z,1761697924.489 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:04.512Z,1761697924.512 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:04.513Z,1761697924.513 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:04.513Z,1761697924.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:04.725Z,1761697924.725 [DAT](INFO): DAT read: user:406> 2025-10-29T00:32:04.726Z,1761697924.726 [DAT](INFO): DAT read: Tx time:00:32:04.5271 2025-10-29T00:32:04.726Z,1761697924.726 [DAT](INFO): Ping request sent. 2025-10-29T00:32:04.726Z,1761697924.726 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:04.726Z,1761697924.726 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:04.727Z,1761697924.727 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-29T00:32:04.826Z,1761697924.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900061,-0.359599,-0.246126],[0.383265,0.922033,0.054441],[0.207359,-0.143332,0.967708]] 2025-10-29T00:32:04.887Z,1761697924.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 536.900024 m, deltaT: 4.293951 s, deltaX: -2.699951 m, approachRate: -0.628780 m/s, rangeRepo size: 4 2025-10-29T00:32:04.889Z,1761697924.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 534.103455 m, bearing: 22.495707 deg, lat: 36.779233 deg, lon: -121.859165 deg, deltaT: 4.293951 s, deltaX: -2.706604 m, approachRate: -0.630329 m/s, posRepo size: 4 2025-10-29T00:32:04.890Z,1761697924.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:04.893Z,1761697924.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 525.705322 m, bearing: 23.982778 deg, approach rate: 0.000000 m/s, LOS rate: 0.009809 deg/s, cmd heading: 23.811149 deg, new cmd heading: 23.820385 deg. 2025-10-29T00:32:04.894Z,1761697924.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415744 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:04.978Z,1761697924.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251673 2025-10-29T00:32:05.190Z,1761697925.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900312,-0.358326,-0.247062],[0.382596,0.922172,0.056737],[0.207504,-0.145606,0.967337]] 2025-10-29T00:32:05.229Z,1761697925.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502911 2025-10-29T00:32:05.258Z,1761697925.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:05.285Z,1761697925.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:05.293Z,1761697925.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 525.486633 m, bearing: 23.986129 deg, approach rate: -0.579651 m/s, LOS rate: 0.008887 deg/s, cmd heading: 23.820384 deg, new cmd heading: 23.827090 deg. 2025-10-29T00:32:05.294Z,1761697925.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415861 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:05.481Z,1761697925.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755422 2025-10-29T00:32:05.600Z,1761697925.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900343,-0.358351,-0.246917],[0.382232,0.922426,0.055032],[0.208042,-0.143927,0.967473]] 2025-10-29T00:32:05.618Z,1761697925.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:05.621Z,1761697925.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 525.277100 m, bearing: 23.989354 deg, approach rate: -0.591097 m/s, LOS rate: 0.009100 deg/s, cmd heading: 23.827089 deg, new cmd heading: 23.833541 deg. 2025-10-29T00:32:05.622Z,1761697925.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415974 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:05.733Z,1761697925.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006851 2025-10-29T00:32:05.989Z,1761697925.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262976 2025-10-29T00:32:06.138Z,1761697926.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:06.141Z,1761697926.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 524.969238 m, bearing: 23.993555 deg, approach rate: -0.592412 m/s, LOS rate: 0.008089 deg/s, cmd heading: 23.833540 deg, new cmd heading: 23.841948 deg. 2025-10-29T00:32:06.142Z,1761697926.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416120 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:06.237Z,1761697926.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510995 2025-10-29T00:32:06.490Z,1761697926.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763576 2025-10-29T00:32:06.605Z,1761697926.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:06.608Z,1761697926.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 524.692383 m, bearing: 23.997338 deg, approach rate: -0.592477 m/s, LOS rate: 0.008099 deg/s, cmd heading: 23.841948 deg, new cmd heading: 23.849518 deg. 2025-10-29T00:32:06.609Z,1761697926.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416253 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:06.742Z,1761697926.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015452 2025-10-29T00:32:06.993Z,1761697926.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266958 2025-10-29T00:32:07.077Z,1761697927.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900448,-0.356714,-0.248894],[0.381529,0.922527,0.058132],[0.208875,-0.147305,0.966785]] 2025-10-29T00:32:07.137Z,1761697927.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:07.139Z,1761697927.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 524.368347 m, bearing: 24.000786 deg, approach rate: -0.609524 m/s, LOS rate: 0.006489 deg/s, cmd heading: 23.849518 deg, new cmd heading: 23.856418 deg. 2025-10-29T00:32:07.141Z,1761697927.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416373 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:07.247Z,1761697927.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521113 2025-10-29T00:32:07.453Z,1761697927.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900376,-0.356511,-0.249446],[0.381480,0.922526,0.058468],[0.209276,-0.147802,0.966622]] 2025-10-29T00:32:07.470Z,1761697927.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:07.488Z,1761697927.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:07.491Z,1761697927.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 524.163696 m, bearing: 24.002966 deg, approach rate: -0.611071 m/s, LOS rate: 0.006512 deg/s, cmd heading: 23.856418 deg, new cmd heading: 23.860780 deg. 2025-10-29T00:32:07.491Z,1761697927.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416449 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:07.497Z,1761697927.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771006 2025-10-29T00:32:07.750Z,1761697927.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023937 2025-10-29T00:32:07.854Z,1761697927.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900196,-0.356473,-0.250148],[0.381589,0.922470,0.058641],[0.209850,-0.148243,0.966430]] 2025-10-29T00:32:07.880Z,1761697927.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:07.883Z,1761697927.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 523.914062 m, bearing: 24.005622 deg, approach rate: -0.610783 m/s, LOS rate: 0.006503 deg/s, cmd heading: 23.860779 deg, new cmd heading: 23.866095 deg. 2025-10-29T00:32:07.885Z,1761697927.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416542 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:08.001Z,1761697928.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274911 2025-10-29T00:32:08.254Z,1761697928.254 [DAT](INFO): DAT read: Rx Time:00:32:07.6346 2025-10-29T00:32:08.255Z,1761697928.255 [DAT](INFO): Rx dataTimestamp_ set to:1761697928.254514 2025-10-29T00:32:08.256Z,1761697928.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530274 2025-10-29T00:32:08.297Z,1761697928.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900053,-0.356351,-0.250834],[0.381627,0.922439,0.058892],[0.210393,-0.148731,0.966237]] 2025-10-29T00:32:08.367Z,1761697928.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:08.374Z,1761697928.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 523.628479 m, bearing: 24.008067 deg, approach rate: -0.586608 m/s, LOS rate: 0.005025 deg/s, cmd heading: 23.866095 deg, new cmd heading: 23.870987 deg. 2025-10-29T00:32:08.375Z,1761697928.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416627 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:08.505Z,1761697928.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778887 2025-10-29T00:32:08.687Z,1761697928.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899768,-0.356505,-0.251638],[0.381896,0.922331,0.058822],[0.211124,-0.149026,0.966032]] 2025-10-29T00:32:08.715Z,1761697928.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 534.10 m. 2025-10-29T00:32:08.718Z,1761697928.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 534.103455 m, nav range: 523.417297 m, bearing: 24.009868 deg, approach rate: -0.607904 m/s, LOS rate: 0.005187 deg/s, cmd heading: 23.870987 deg, new cmd heading: 23.874591 deg. 2025-10-29T00:32:08.719Z,1761697928.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416690 target range: 534.103455 and range: 536.90 m. 2025-10-29T00:32:08.762Z,1761697928.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034652 2025-10-29T00:32:09.014Z,1761697929.014 [DAT](INFO): DAT read: 00:32:07.6346 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 319,-0.31, 2.513, 1.015, 2.668, 2.298, PHS= 0.318,-1.238, 0.327, RAW= 150.3, 7.7, CAL= 149.7, 8.2, ROT= 0.3, -8.2 2025-10-29T00:32:09.016Z,1761697929.016 [DAT](INFO): got valid direction response: 00:32:07.6346 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 319,-0.31, 2.513, 1.015, 2.668, 2.298, PHS= 0.318,-1.238, 0.327, RAW= 150.3, 7.7, CAL= 149.7, 8.2, ROT= 0.3, -8.2 2025-10-29T00:32:09.017Z,1761697929.017 [DAT](INFO): DAT read: Bearing 179.5, 11.1 (Local) 2025-10-29T00:32:09.017Z,1761697929.017 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, 11.1 (Local) 2025-10-29T00:32:09.018Z,1761697929.018 [DAT](INFO): DAT read: Range 11 to 50 : 527.5 m (Round-trip 703.4 ms) speed 0.4 m/s 2025-10-29T00:32:09.019Z,1761697929.019 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:09.020Z,1761697929.020 [DAT](INFO): direction in FSK: [0.989763,0.005182,0.142629] 2025-10-29T00:32:09.020Z,1761697929.020 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:09.023Z,1761697929.023 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:09.023Z,1761697929.023 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:09.024Z,1761697929.024 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:09.161Z,1761697929.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899437,-0.356784,-0.252423],[0.382245,0.922205,0.058543],[0.211899,-0.149143,0.965844]] 2025-10-29T00:32:09.261Z,1761697929.261 [DAT](INFO): DAT read: user:407> 2025-10-29T00:32:09.263Z,1761697929.263 [DAT](INFO): DAT read: Tx time:00:32:09.0271 2025-10-29T00:32:09.263Z,1761697929.263 [DAT](INFO): Ping request sent. 2025-10-29T00:32:09.263Z,1761697929.263 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:09.263Z,1761697929.263 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:09.265Z,1761697929.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001114 2025-10-29T00:32:09.268Z,1761697929.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 527.500000 m, deltaT: 4.534239 s, deltaX: -9.400024 m, approachRate: -2.073121 m/s, rangeRepo size: 4 2025-10-29T00:32:09.271Z,1761697929.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 524.748230 m, bearing: 24.667303 deg, lat: 36.779160 deg, lon: -121.859249 deg, deltaT: 4.534239 s, deltaX: -9.355225 m, approachRate: -2.063240 m/s, posRepo size: 4 2025-10-29T00:32:09.277Z,1761697929.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:09.285Z,1761697929.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 512.608093 m, bearing: 23.622553 deg, approach rate: 0.000000 m/s, LOS rate: 0.005187 deg/s, cmd heading: 23.874590 deg, new cmd heading: 23.880229 deg. 2025-10-29T00:32:09.286Z,1761697929.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416789 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:09.288Z,1761697929.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 61.395466 m. 2025-10-29T00:32:09.495Z,1761697929.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899067,-0.357195,-0.253161],[0.382704,0.922037,0.058179],[0.212643,-0.149192,0.965673]] 2025-10-29T00:32:09.513Z,1761697929.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249644 2025-10-29T00:32:09.550Z,1761697929.550 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:09.556Z,1761697929.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:09.559Z,1761697929.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 512.420471 m, bearing: 23.623964 deg, approach rate: -0.638890 m/s, LOS rate: 0.004806 deg/s, cmd heading: 23.880228 deg, new cmd heading: 23.883051 deg. 2025-10-29T00:32:09.560Z,1761697929.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416838 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:09.766Z,1761697929.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502583 2025-10-29T00:32:09.898Z,1761697929.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898623,-0.357612,-0.254147],[0.383177,0.921873,0.057677],[0.213666,-0.149213,0.965444]] 2025-10-29T00:32:09.938Z,1761697929.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:09.944Z,1761697929.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 512.190735 m, bearing: 23.625677 deg, approach rate: -0.595652 m/s, LOS rate: 0.004443 deg/s, cmd heading: 23.883051 deg, new cmd heading: 23.886478 deg. 2025-10-29T00:32:09.945Z,1761697929.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416898 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:10.018Z,1761697930.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754397 2025-10-29T00:32:10.270Z,1761697930.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006039 2025-10-29T00:32:10.381Z,1761697930.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:10.384Z,1761697930.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 511.912598 m, bearing: 23.627661 deg, approach rate: -0.626917 m/s, LOS rate: 0.004475 deg/s, cmd heading: 23.886478 deg, new cmd heading: 23.890449 deg. 2025-10-29T00:32:10.385Z,1761697930.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.416967 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:10.521Z,1761697930.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257554 2025-10-29T00:32:10.707Z,1761697930.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897849,-0.358163,-0.256098],[0.383942,0.921585,0.057183],[0.215536,-0.149668,0.964958]] 2025-10-29T00:32:10.749Z,1761697930.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:10.755Z,1761697930.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 511.691925 m, bearing: 23.629212 deg, approach rate: -0.602776 m/s, LOS rate: 0.004238 deg/s, cmd heading: 23.890450 deg, new cmd heading: 23.893552 deg. 2025-10-29T00:32:10.761Z,1761697930.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417021 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:10.774Z,1761697930.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510889 2025-10-29T00:32:11.025Z,1761697931.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761594 2025-10-29T00:32:11.187Z,1761697931.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897623,-0.358269,-0.256741],[0.384120,0.921520,0.057035],[0.216158,-0.149815,0.964796]] 2025-10-29T00:32:11.278Z,1761697931.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014139 2025-10-29T00:32:11.288Z,1761697931.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:11.290Z,1761697931.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 511.369751 m, bearing: 23.631576 deg, approach rate: -0.596281 m/s, LOS rate: 0.004379 deg/s, cmd heading: 23.893552 deg, new cmd heading: 23.898284 deg. 2025-10-29T00:32:11.291Z,1761697931.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417104 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:11.530Z,1761697931.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266236 2025-10-29T00:32:11.655Z,1761697931.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897027,-0.360333,-0.255935],[0.385078,0.921394,0.052424],[0.216927,-0.145581,0.965271]] 2025-10-29T00:32:11.672Z,1761697931.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:11.674Z,1761697931.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:11.677Z,1761697931.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 511.137054 m, bearing: 23.633260 deg, approach rate: -0.602739 m/s, LOS rate: 0.004363 deg/s, cmd heading: 23.898284 deg, new cmd heading: 23.901652 deg. 2025-10-29T00:32:11.677Z,1761697931.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417163 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:11.782Z,1761697931.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518248 2025-10-29T00:32:12.034Z,1761697932.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770626 2025-10-29T00:32:12.058Z,1761697932.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897123,-0.361433,-0.254039],[0.385670,0.921208,0.051327],[0.215471,-0.144022,0.965831]] 2025-10-29T00:32:12.109Z,1761697932.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:12.138Z,1761697932.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 510.891144 m, bearing: 23.635027 deg, approach rate: -0.571602 m/s, LOS rate: 0.004110 deg/s, cmd heading: 23.901653 deg, new cmd heading: 23.905189 deg. 2025-10-29T00:32:12.153Z,1761697932.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417224 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:12.285Z,1761697932.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021666 2025-10-29T00:32:12.537Z,1761697932.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273646 2025-10-29T00:32:12.604Z,1761697932.604 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897821,-0.361910,-0.250876],[0.385838,0.921097,0.052055],[0.212241,-0.143534,0.966619]] 2025-10-29T00:32:12.649Z,1761697932.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:12.652Z,1761697932.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 510.549469 m, bearing: 23.638039 deg, approach rate: -0.626945 m/s, LOS rate: 0.005530 deg/s, cmd heading: 23.905189 deg, new cmd heading: 23.911217 deg. 2025-10-29T00:32:12.653Z,1761697932.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417329 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:12.790Z,1761697932.790 [DAT](INFO): DAT read: Rx Time:00:32:12.1413 2025-10-29T00:32:12.791Z,1761697932.791 [DAT](INFO): Rx dataTimestamp_ set to:1761697932.790299 2025-10-29T00:32:12.791Z,1761697932.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527852 2025-10-29T00:32:13.041Z,1761697933.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778018 2025-10-29T00:32:13.072Z,1761697933.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898776,-0.362349,-0.246788],[0.386029,0.920921,0.053723],[0.207806,-0.143552,0.967579]] 2025-10-29T00:32:13.099Z,1761697933.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:13.113Z,1761697933.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 510.281219 m, bearing: 23.640410 deg, approach rate: -0.595704 m/s, LOS rate: 0.005269 deg/s, cmd heading: 23.911217 deg, new cmd heading: 23.915962 deg. 2025-10-29T00:32:13.114Z,1761697933.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417412 target range: 524.748230 and range: 527.50 m. 2025-10-29T00:32:13.294Z,1761697933.294 [DAT](INFO): DAT read: Range 11 to 50 : 532.5 m (Round-trip 710.0 ms) speed 0.5 m/s 2025-10-29T00:32:13.294Z,1761697933.294 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:32:13.295Z,1761697933.295 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:13.295Z,1761697933.295 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:13.295Z,1761697933.295 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:13.536Z,1761697933.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 532.500000 m, deltaT: 4.283816 s, deltaX: 5.000000 m, approachRate: 1.167184 m/s, rangeRepo size: 4 2025-10-29T00:32:13.537Z,1761697933.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:13.539Z,1761697933.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 510.012756 m, bearing: 23.643113 deg, approach rate: -0.615576 m/s, LOS rate: 0.006201 deg/s, cmd heading: 23.915962 deg, new cmd heading: 23.921371 deg. 2025-10-29T00:32:13.541Z,1761697933.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417507 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:13.545Z,1761697933.545 [DAT](INFO): DAT read: user:408> 2025-10-29T00:32:13.546Z,1761697933.546 [DAT](INFO): DAT read: Tx time:00:32:13.2771 2025-10-29T00:32:13.546Z,1761697933.546 [DAT](INFO): Ping request sent. 2025-10-29T00:32:13.546Z,1761697933.546 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:13.546Z,1761697933.546 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:13.547Z,1761697933.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:32:13.798Z,1761697933.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251222 2025-10-29T00:32:13.882Z,1761697933.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900920,-0.363969,-0.236368],[0.386908,0.920320,0.057557],[0.196586,-0.143307,0.969957]] 2025-10-29T00:32:13.909Z,1761697933.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:13.911Z,1761697933.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:13.915Z,1761697933.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 509.785278 m, bearing: 23.645401 deg, approach rate: -0.605115 m/s, LOS rate: 0.006089 deg/s, cmd heading: 23.921372 deg, new cmd heading: 23.925950 deg. 2025-10-29T00:32:13.916Z,1761697933.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417587 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:14.053Z,1761697934.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506403 2025-10-29T00:32:14.289Z,1761697934.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902015,-0.364884,-0.230714],[0.387561,0.919861,0.060433],[0.190174,-0.143927,0.971143]] 2025-10-29T00:32:14.301Z,1761697934.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754851 2025-10-29T00:32:14.351Z,1761697934.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:14.358Z,1761697934.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 509.531342 m, bearing: 23.648828 deg, approach rate: -0.577351 m/s, LOS rate: 0.007795 deg/s, cmd heading: 23.925949 deg, new cmd heading: 23.932806 deg. 2025-10-29T00:32:14.359Z,1761697934.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417706 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:14.553Z,1761697934.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006781 2025-10-29T00:32:14.729Z,1761697934.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:14.731Z,1761697934.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 509.286072 m, bearing: 23.652141 deg, approach rate: -0.649233 m/s, LOS rate: 0.008774 deg/s, cmd heading: 23.932807 deg, new cmd heading: 23.939437 deg. 2025-10-29T00:32:14.733Z,1761697934.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.417822 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:14.805Z,1761697934.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258737 2025-10-29T00:32:15.057Z,1761697935.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510991 2025-10-29T00:32:15.255Z,1761697935.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904826,-0.365837,-0.217838],[0.387543,0.919524,0.065474],[0.176354,-0.143664,0.973786]] 2025-10-29T00:32:15.309Z,1761697935.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762939 2025-10-29T00:32:15.310Z,1761697935.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:15.312Z,1761697935.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 508.935699 m, bearing: 23.657642 deg, approach rate: -0.605227 m/s, LOS rate: 0.009509 deg/s, cmd heading: 23.939437 deg, new cmd heading: 23.950447 deg. 2025-10-29T00:32:15.313Z,1761697935.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418014 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:15.561Z,1761697935.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014771 2025-10-29T00:32:15.648Z,1761697935.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906024,-0.366584,-0.211512],[0.387672,0.919341,0.067252],[0.169798,-0.142929,0.975059]] 2025-10-29T00:32:15.671Z,1761697935.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:15.674Z,1761697935.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 508.715363 m, bearing: 23.661111 deg, approach rate: -0.606282 m/s, LOS rate: 0.009549 deg/s, cmd heading: 23.950448 deg, new cmd heading: 23.957388 deg. 2025-10-29T00:32:15.675Z,1761697935.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418135 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:15.813Z,1761697935.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267348 2025-10-29T00:32:16.047Z,1761697936.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907366,-0.366981,-0.204968],[0.387449,0.919285,0.069270],[0.163003,-0.142268,0.976314]] 2025-10-29T00:32:16.065Z,1761697936.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518928 2025-10-29T00:32:16.090Z,1761697936.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:16.096Z,1761697936.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:16.099Z,1761697936.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 508.472382 m, bearing: 23.664956 deg, approach rate: -0.577406 m/s, LOS rate: 0.009141 deg/s, cmd heading: 23.957389 deg, new cmd heading: 23.965083 deg. 2025-10-29T00:32:16.105Z,1761697936.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418270 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:16.321Z,1761697936.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774895 2025-10-29T00:32:16.490Z,1761697936.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910173,-0.368348,-0.189484],[0.386869,0.919394,0.071042],[0.148042,-0.137966,0.979310]] 2025-10-29T00:32:16.549Z,1761697936.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:16.551Z,1761697936.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 508.198029 m, bearing: 23.669676 deg, approach rate: -0.600677 m/s, LOS rate: 0.010340 deg/s, cmd heading: 23.965083 deg, new cmd heading: 23.974528 deg. 2025-10-29T00:32:16.557Z,1761697936.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418434 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:16.573Z,1761697936.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026957 2025-10-29T00:32:16.825Z,1761697936.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278809 2025-10-29T00:32:16.891Z,1761697936.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911567,-0.368885,-0.181574],[0.386510,0.919431,0.072503],[0.140200,-0.136272,0.980701]] 2025-10-29T00:32:16.910Z,1761697936.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:16.913Z,1761697936.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 507.967896 m, bearing: 23.673659 deg, approach rate: -0.637099 m/s, LOS rate: 0.011032 deg/s, cmd heading: 23.974529 deg, new cmd heading: 23.982499 deg. 2025-10-29T00:32:16.914Z,1761697936.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418574 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:17.077Z,1761697937.077 [DAT](INFO): DAT read: Rx Time:00:32:16.3871 2025-10-29T00:32:17.077Z,1761697937.077 [DAT](INFO): Rx dataTimestamp_ set to:1761697937.077175 2025-10-29T00:32:17.078Z,1761697937.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531887 2025-10-29T00:32:17.329Z,1761697937.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782865 2025-10-29T00:32:17.332Z,1761697937.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 524.75 m. 2025-10-29T00:32:17.335Z,1761697937.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 524.748230 m, nav range: 507.718842 m, bearing: 23.678508 deg, approach rate: -0.590570 m/s, LOS rate: 0.011504 deg/s, cmd heading: 23.982498 deg, new cmd heading: 23.992201 deg. 2025-10-29T00:32:17.335Z,1761697937.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418743 target range: 524.748230 and range: 532.50 m. 2025-10-29T00:32:17.588Z,1761697937.588 [DAT](INFO): DAT read: 00:32:16.3871 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 391, 0.19, 1.168,-0.381, 1.329, 0.769, PHS= 0.501,-1.105, 0.516, RAW= 150.5, 1.1, CAL= 149.3, 0.7, ROT= 0.7, -0.7 2025-10-29T00:32:17.589Z,1761697937.589 [DAT](INFO): got valid direction response: 00:32:16.3871 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 391, 0.19, 1.168,-0.381, 1.329, 0.769, PHS= 0.501,-1.105, 0.516, RAW= 150.5, 1.1, CAL= 149.3, 0.7, ROT= 0.7, -0.7 2025-10-29T00:32:17.590Z,1761697937.590 [DAT](INFO): DAT read: Bearing 172.0, 8.9 (Local) 2025-10-29T00:32:17.590Z,1761697937.590 [DAT](INFO): Local bearing/azimuth received: Bearing 172.0, 8.9 (Local) 2025-10-29T00:32:17.591Z,1761697937.591 [DAT](INFO): DAT read: Range 11 to 50 : 529.3 m (Round-trip 705.8 ms) speed 0.4 m/s 2025-10-29T00:32:17.592Z,1761697937.592 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:17.593Z,1761697937.593 [DAT](INFO): direction in FSK: [0.999851,0.012216,0.012217] 2025-10-29T00:32:17.593Z,1761697937.593 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:17.603Z,1761697937.603 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:17.603Z,1761697937.603 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:17.603Z,1761697937.603 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:17.711Z,1761697937.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914510,-0.368103,-0.167844],[0.384624,0.919722,0.078585],[0.125443,-0.136423,0.982676]] 2025-10-29T00:32:17.771Z,1761697937.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 529.299988 m, deltaT: 4.289510 s, deltaX: -3.200012 m, approachRate: -0.746009 m/s, rangeRepo size: 4 2025-10-29T00:32:17.778Z,1761697937.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 526.517700 m, bearing: 23.607549 deg, lat: 36.779160 deg, lon: -121.859192 deg, deltaT: 8.573326 s, deltaX: 1.769470 m, approachRate: 0.206392 m/s, posRepo size: 4 2025-10-29T00:32:17.778Z,1761697937.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:17.786Z,1761697937.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 509.527222 m, bearing: 24.202942 deg, approach rate: 0.000000 m/s, LOS rate: 0.011504 deg/s, cmd heading: 23.992201 deg, new cmd heading: 24.002125 deg. 2025-10-29T00:32:17.787Z,1761697937.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418916 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:17.834Z,1761697937.834 [DAT](INFO): DAT read: user:409> 2025-10-29T00:32:17.835Z,1761697937.835 [DAT](INFO): DAT read: Tx time:00:32:17.5771 2025-10-29T00:32:17.835Z,1761697937.835 [DAT](INFO): Ping request sent. 2025-10-29T00:32:17.835Z,1761697937.835 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:17.836Z,1761697937.836 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:17.837Z,1761697937.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001183 2025-10-29T00:32:18.085Z,1761697938.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249782 2025-10-29T00:32:18.134Z,1761697938.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:18.136Z,1761697938.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:18.139Z,1761697938.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 509.288605 m, bearing: 24.207896 deg, approach rate: -0.639801 m/s, LOS rate: 0.013291 deg/s, cmd heading: 24.002125 deg, new cmd heading: 24.012039 deg. 2025-10-29T00:32:18.140Z,1761697938.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419089 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:18.337Z,1761697938.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501484 2025-10-29T00:32:18.499Z,1761697938.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917261,-0.367753,-0.152939],[0.382586,0.920306,0.081640],[0.110728,-0.133397,0.984858]] 2025-10-29T00:32:18.548Z,1761697938.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:18.551Z,1761697938.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 509.034332 m, bearing: 24.212965 deg, approach rate: -0.617111 m/s, LOS rate: 0.012309 deg/s, cmd heading: 24.012039 deg, new cmd heading: 24.022182 deg. 2025-10-29T00:32:18.552Z,1761697938.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419266 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:18.589Z,1761697938.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753595 2025-10-29T00:32:18.841Z,1761697938.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005444 2025-10-29T00:32:18.905Z,1761697938.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918546,-0.366939,-0.147067],[0.381450,0.920374,0.086069],[0.103774,-0.135157,0.985375]] 2025-10-29T00:32:18.926Z,1761697938.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:18.944Z,1761697938.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 508.801697 m, bearing: 24.217643 deg, approach rate: -0.616354 m/s, LOS rate: 0.012399 deg/s, cmd heading: 24.022182 deg, new cmd heading: 24.031541 deg. 2025-10-29T00:32:18.945Z,1761697938.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419430 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:19.093Z,1761697939.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257510 2025-10-29T00:32:19.345Z,1761697939.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509529 2025-10-29T00:32:19.381Z,1761697939.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:19.388Z,1761697939.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 508.537994 m, bearing: 24.222464 deg, approach rate: -0.578896 m/s, LOS rate: 0.010589 deg/s, cmd heading: 24.031541 deg, new cmd heading: 24.041188 deg. 2025-10-29T00:32:19.389Z,1761697939.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419598 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:19.597Z,1761697939.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761579 2025-10-29T00:32:19.711Z,1761697939.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920502,-0.366975,-0.134184],[0.380335,0.920220,0.092419],[0.089563,-0.136106,0.986638]] 2025-10-29T00:32:19.757Z,1761697939.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:19.767Z,1761697939.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 508.314392 m, bearing: 24.226593 deg, approach rate: -0.595106 m/s, LOS rate: 0.010994 deg/s, cmd heading: 24.041188 deg, new cmd heading: 24.049450 deg. 2025-10-29T00:32:19.773Z,1761697939.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419742 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:19.849Z,1761697939.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013491 2025-10-29T00:32:20.101Z,1761697940.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265378 2025-10-29T00:32:20.281Z,1761697940.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920961,-0.367812,-0.128628],[0.380664,0.919780,0.095397],[0.083221,-0.136821,0.987094]] 2025-10-29T00:32:20.323Z,1761697940.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:20.325Z,1761697940.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:20.328Z,1761697940.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 507.944397 m, bearing: 24.232194 deg, approach rate: -0.650938 m/s, LOS rate: 0.009861 deg/s, cmd heading: 24.049450 deg, new cmd heading: 24.060660 deg. 2025-10-29T00:32:20.329Z,1761697940.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.419938 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:20.353Z,1761697940.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517354 2025-10-29T00:32:20.605Z,1761697940.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769484 2025-10-29T00:32:20.768Z,1761697940.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921386,-0.368954,-0.122149],[0.380965,0.919588,0.096035],[0.076894,-0.135020,0.987855]] 2025-10-29T00:32:20.799Z,1761697940.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:20.802Z,1761697940.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 507.649689 m, bearing: 24.236658 deg, approach rate: -0.622044 m/s, LOS rate: 0.009427 deg/s, cmd heading: 24.060660 deg, new cmd heading: 24.069592 deg. 2025-10-29T00:32:20.803Z,1761697940.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420094 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:20.861Z,1761697940.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025599 2025-10-29T00:32:21.109Z,1761697941.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273407 2025-10-29T00:32:21.213Z,1761697941.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921534,-0.370561,-0.116015],[0.381748,0.919252,0.096147],[0.071019,-0.132891,0.988583]] 2025-10-29T00:32:21.272Z,1761697941.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:21.290Z,1761697941.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 507.378204 m, bearing: 24.240754 deg, approach rate: -0.581128 m/s, LOS rate: 0.008773 deg/s, cmd heading: 24.069592 deg, new cmd heading: 24.077789 deg. 2025-10-29T00:32:21.298Z,1761697941.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420237 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:21.362Z,1761697941.362 [DAT](INFO): DAT read: Rx Time:00:32:20.6835 2025-10-29T00:32:21.362Z,1761697941.362 [DAT](INFO): Rx dataTimestamp_ set to:1761697941.362016 2025-10-29T00:32:21.363Z,1761697941.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527751 2025-10-29T00:32:21.613Z,1761697941.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777533 2025-10-29T00:32:21.685Z,1761697941.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 526.52 m. 2025-10-29T00:32:21.688Z,1761697941.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 526.517700 m, nav range: 507.098053 m, bearing: 24.244457 deg, approach rate: -0.668359 m/s, LOS rate: 0.008840 deg/s, cmd heading: 24.077790 deg, new cmd heading: 24.085200 deg. 2025-10-29T00:32:21.689Z,1761697941.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420366 target range: 526.517700 and range: 529.30 m. 2025-10-29T00:32:21.871Z,1761697941.871 [DAT](INFO): DAT read: 00:32:20.6835 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.21,-0.837,-2.265,-0.708,-1.116, PHS= 0.381,-1.104, 0.364, RAW= 149.4, 4.9, CAL= 148.7, 5.1, ROT= 1.3, -5.1 2025-10-29T00:32:21.873Z,1761697941.873 [DAT](INFO): got valid direction response: 00:32:20.6835 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 404,-0.21,-0.837,-2.265,-0.708,-1.116, PHS= 0.381,-1.104, 0.364, RAW= 149.4, 4.9, CAL= 148.7, 5.1, ROT= 1.3, -5.1 2025-10-29T00:32:21.874Z,1761697941.874 [DAT](INFO): DAT read: Bearing 176.0, 4.6 (Local) 2025-10-29T00:32:21.875Z,1761697941.875 [DAT](INFO): Local bearing/azimuth received: Bearing 176.0, 4.6 (Local) 2025-10-29T00:32:21.877Z,1761697941.877 [DAT](INFO): DAT read: Range 11 to 50 : 526.7 m (Round-trip 702.3 ms) speed 0.5 m/s 2025-10-29T00:32:21.878Z,1761697941.878 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:21.879Z,1761697941.879 [DAT](INFO): direction in FSK: [0.995785,0.022598,0.088894] 2025-10-29T00:32:21.879Z,1761697941.879 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:21.883Z,1761697941.883 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:21.883Z,1761697941.883 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:21.883Z,1761697941.883 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:22.018Z,1761697942.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921757,-0.373469,-0.104334],[0.383060,0.918787,0.095366],[0.060245,-0.127870,0.989959]] 2025-10-29T00:32:22.045Z,1761697942.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 526.700012 m, deltaT: 4.283558 s, deltaX: -2.599976 m, approachRate: -0.606966 m/s, rangeRepo size: 4 2025-10-29T00:32:22.047Z,1761697942.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 523.918335 m, bearing: 24.524238 deg, lat: 36.779245 deg, lon: -121.859192 deg, deltaT: 4.283558 s, deltaX: -2.599365 m, approachRate: -0.606824 m/s, posRepo size: 4 2025-10-29T00:32:22.062Z,1761697942.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:22.069Z,1761697942.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 515.508362 m, bearing: 23.815979 deg, approach rate: 0.000000 m/s, LOS rate: 0.008840 deg/s, cmd heading: 24.085200 deg, new cmd heading: 24.091556 deg. 2025-10-29T00:32:22.070Z,1761697942.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420477 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:22.118Z,1761697942.118 [DAT](INFO): DAT read: user:410> 2025-10-29T00:32:22.119Z,1761697942.119 [DAT](INFO): DAT read: Tx time:00:32:21.8771 2025-10-29T00:32:22.119Z,1761697942.119 [DAT](INFO): Ping request sent. 2025-10-29T00:32:22.120Z,1761697942.120 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:22.120Z,1761697942.120 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:22.121Z,1761697942.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001197 2025-10-29T00:32:22.369Z,1761697942.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249345 2025-10-29T00:32:22.435Z,1761697942.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921609,-0.375261,-0.099071],[0.384193,0.918279,0.095708],[0.055060,-0.126268,0.990467]] 2025-10-29T00:32:22.494Z,1761697942.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:22.496Z,1761697942.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:22.499Z,1761697942.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 515.221985 m, bearing: 23.819672 deg, approach rate: -0.635188 m/s, LOS rate: 0.008194 deg/s, cmd heading: 24.091556 deg, new cmd heading: 24.098945 deg. 2025-10-29T00:32:22.499Z,1761697942.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420606 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:22.621Z,1761697942.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501323 2025-10-29T00:32:22.827Z,1761697942.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921575,-0.376313,-0.095329],[0.384927,0.917645,0.098794],[0.050301,-0.127740,0.990531]] 2025-10-29T00:32:22.873Z,1761697942.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753446 2025-10-29T00:32:22.932Z,1761697942.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:22.934Z,1761697942.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 514.958252 m, bearing: 23.823054 deg, approach rate: -0.605045 m/s, LOS rate: 0.007763 deg/s, cmd heading: 24.098944 deg, new cmd heading: 24.105712 deg. 2025-10-29T00:32:22.935Z,1761697942.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420724 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:23.125Z,1761697943.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005744 2025-10-29T00:32:23.237Z,1761697943.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921676,-0.376907,-0.091947],[0.385251,0.917124,0.102299],[0.045770,-0.129709,0.990495]] 2025-10-29T00:32:23.360Z,1761697943.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:23.363Z,1761697943.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 514.685303 m, bearing: 23.826547 deg, approach rate: -0.643096 m/s, LOS rate: 0.008234 deg/s, cmd heading: 24.105712 deg, new cmd heading: 24.112701 deg. 2025-10-29T00:32:23.364Z,1761697943.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420846 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:23.377Z,1761697943.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257340 2025-10-29T00:32:23.629Z,1761697943.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509731 2025-10-29T00:32:23.673Z,1761697943.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921749,-0.378348,-0.085039],[0.386007,0.916173,0.107822],[0.037117,-0.132210,0.990527]] 2025-10-29T00:32:23.701Z,1761697943.701 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS +65, -629, -3, -4,A 2025-10-29T00:32:23.717Z,1761697943.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:23.720Z,1761697943.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 514.452637 m, bearing: 23.829508 deg, approach rate: -0.643755 m/s, LOS rate: 0.008196 deg/s, cmd heading: 24.112700 deg, new cmd heading: 24.118625 deg. 2025-10-29T00:32:23.721Z,1761697943.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420949 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:23.881Z,1761697943.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761320 2025-10-29T00:32:24.071Z,1761697944.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921625,-0.379365,-0.081789],[0.386684,0.915551,0.110647],[0.032906,-0.133601,0.990489]] 2025-10-29T00:32:24.117Z,1761697944.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:24.120Z,1761697944.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 514.200867 m, bearing: 23.832694 deg, approach rate: -0.629959 m/s, LOS rate: 0.007977 deg/s, cmd heading: 24.118624 deg, new cmd heading: 24.125000 deg. 2025-10-29T00:32:24.121Z,1761697944.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421061 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:24.133Z,1761697944.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013441 2025-10-29T00:32:24.385Z,1761697944.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265494 2025-10-29T00:32:24.475Z,1761697944.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921610,-0.380233,-0.077838],[0.387077,0.915144,0.112620],[0.028411,-0.133921,0.990585]] 2025-10-29T00:32:24.525Z,1761697944.525 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:24.527Z,1761697944.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:24.530Z,1761697944.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 513.948425 m, bearing: 23.836909 deg, approach rate: -0.615121 m/s, LOS rate: 0.010276 deg/s, cmd heading: 24.125000 deg, new cmd heading: 24.133435 deg. 2025-10-29T00:32:24.531Z,1761697944.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421208 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:24.637Z,1761697944.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517382 2025-10-29T00:32:24.881Z,1761697944.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921492,-0.381206,-0.074393],[0.387639,0.914630,0.114838],[0.024265,-0.134660,0.990595]] 2025-10-29T00:32:24.889Z,1761697944.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769501 2025-10-29T00:32:24.903Z,1761697944.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:24.906Z,1761697944.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 513.717896 m, bearing: 23.840746 deg, approach rate: -0.613534 m/s, LOS rate: 0.010215 deg/s, cmd heading: 24.133435 deg, new cmd heading: 24.141112 deg. 2025-10-29T00:32:24.907Z,1761697944.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421342 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:25.141Z,1761697945.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021730 2025-10-29T00:32:25.281Z,1761697945.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921189,-0.382771,-0.069973],[0.388597,0.914236,0.114740],[0.020053,-0.132889,0.990928]] 2025-10-29T00:32:25.369Z,1761697945.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:25.371Z,1761697945.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 513.469666 m, bearing: 23.844853 deg, approach rate: -0.539123 m/s, LOS rate: 0.008924 deg/s, cmd heading: 24.141112 deg, new cmd heading: 24.149330 deg. 2025-10-29T00:32:25.377Z,1761697945.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421485 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:25.393Z,1761697945.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273577 2025-10-29T00:32:25.645Z,1761697945.645 [DAT](INFO): DAT read: Rx Time:00:32:24.9813 2025-10-29T00:32:25.646Z,1761697945.646 [DAT](INFO): Rx dataTimestamp_ set to:1761697945.645582 2025-10-29T00:32:25.646Z,1761697945.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526870 2025-10-29T00:32:25.777Z,1761697945.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920994,-0.383972,-0.065838],[0.389257,0.913844,0.115626],[0.015768,-0.132119,0.991108]] 2025-10-29T00:32:25.829Z,1761697945.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 523.92 m. 2025-10-29T00:32:25.832Z,1761697945.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 523.918335 m, nav range: 513.142212 m, bearing: 23.851598 deg, approach rate: -0.702987 m/s, LOS rate: 0.014490 deg/s, cmd heading: 24.149331 deg, new cmd heading: 24.162830 deg. 2025-10-29T00:32:25.833Z,1761697945.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421721 target range: 523.918335 and range: 526.70 m. 2025-10-29T00:32:25.897Z,1761697945.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777551 2025-10-29T00:32:26.162Z,1761697946.162 [DAT](INFO): DAT read: 00:32:24.9813 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.14,-2.654, 2.126,-2.495,-3.054, PHS= 0.502,-1.058, 0.515, RAW= 150.4, 0.5, CAL= 149.2, 0.0, ROT= 0.8, -0.0 2025-10-29T00:32:26.163Z,1761697946.163 [DAT](INFO): got valid direction response: 00:32:24.9813 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 412, 0.14,-2.654, 2.126,-2.495,-3.054, PHS= 0.502,-1.058, 0.515, RAW= 150.4, 0.5, CAL= 149.2, 0.0, ROT= 0.8, -0.0 2025-10-29T00:32:26.164Z,1761697946.164 [DAT](INFO): DAT read: Bearing 171.4, 1.8 (Local) 2025-10-29T00:32:26.164Z,1761697946.164 [DAT](INFO): Local bearing/azimuth received: Bearing 171.4, 1.8 (Local) 2025-10-29T00:32:26.165Z,1761697946.165 [DAT](INFO): DAT read: Range 11 to 50 : 525.0 m (Round-trip 700.0 ms) speed 1.0 m/s 2025-10-29T00:32:26.166Z,1761697946.166 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:26.167Z,1761697946.167 [DAT](INFO): direction in FSK: [0.999903,0.013962,0.000000] 2025-10-29T00:32:26.167Z,1761697946.167 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:26.207Z,1761697946.207 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:26.207Z,1761697946.207 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:26.207Z,1761697946.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:26.223Z,1761697946.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920931,-0.384895,-0.061168],[0.389559,0.913713,0.115642],[0.011380,-0.130327,0.991406]] 2025-10-29T00:32:26.321Z,1761697946.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 525.000000 m, deltaT: 4.284541 s, deltaX: -1.700012 m, approachRate: -0.396778 m/s, rangeRepo size: 4 2025-10-29T00:32:26.339Z,1761697946.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 522.223511 m, bearing: 23.721847 deg, lat: 36.779279 deg, lon: -121.859192 deg, deltaT: 4.284541 s, deltaX: -1.694824 m, approachRate: -0.395567 m/s, posRepo size: 4 2025-10-29T00:32:26.350Z,1761697946.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:26.369Z,1761697946.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 516.344482 m, bearing: 23.686716 deg, approach rate: 0.000000 m/s, LOS rate: 0.014490 deg/s, cmd heading: 24.162829 deg, new cmd heading: 24.176702 deg. 2025-10-29T00:32:26.370Z,1761697946.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421963 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:26.404Z,1761697946.404 [DAT](INFO): DAT read: user:411> 2025-10-29T00:32:26.405Z,1761697946.405 [DAT](INFO): DAT read: Tx time:00:32:26.2271 2025-10-29T00:32:26.405Z,1761697946.405 [DAT](INFO): Ping request sent. 2025-10-29T00:32:26.405Z,1761697946.405 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:26.405Z,1761697946.405 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:26.406Z,1761697946.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T00:32:26.654Z,1761697946.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248561 2025-10-29T00:32:26.695Z,1761697946.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920995,-0.385419,-0.056750],[0.389509,0.913690,0.115991],[0.007146,-0.128932,0.991628]] 2025-10-29T00:32:26.758Z,1761697946.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:26.765Z,1761697946.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:26.774Z,1761697946.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 516.062256 m, bearing: 23.692936 deg, approach rate: -0.617856 m/s, LOS rate: 0.013625 deg/s, cmd heading: 24.176703 deg, new cmd heading: 24.189150 deg. 2025-10-29T00:32:26.775Z,1761697946.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422180 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:26.821Z,1761697946.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:32:26.905Z,1761697946.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499685 2025-10-29T00:32:27.157Z,1761697947.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752156 2025-10-29T00:32:27.228Z,1761697947.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921140,-0.385654,-0.052646],[0.389217,0.913799,0.116110],[0.003329,-0.127444,0.991840]] 2025-10-29T00:32:27.259Z,1761697947.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:27.281Z,1761697947.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 515.748535 m, bearing: 23.699870 deg, approach rate: -0.634514 m/s, LOS rate: 0.014034 deg/s, cmd heading: 24.189149 deg, new cmd heading: 24.203026 deg. 2025-10-29T00:32:27.282Z,1761697947.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422422 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:27.409Z,1761697947.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003825 2025-10-29T00:32:27.661Z,1761697947.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255684 2025-10-29T00:32:27.781Z,1761697947.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921556,-0.385322,-0.047559],[0.388225,0.913298,0.123163],[-0.004022,-0.131965,0.991246]] 2025-10-29T00:32:27.824Z,1761697947.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:32:27.829Z,1761697947.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:27.831Z,1761697947.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 515.398987 m, bearing: 23.708530 deg, approach rate: -0.613857 m/s, LOS rate: 0.015219 deg/s, cmd heading: 24.203026 deg, new cmd heading: 24.220359 deg. 2025-10-29T00:32:27.832Z,1761697947.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422725 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:27.913Z,1761697947.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507782 2025-10-29T00:32:28.166Z,1761697948.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760451 2025-10-29T00:32:28.267Z,1761697948.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921719,-0.385161,-0.045655],[0.387795,0.913044,0.126353],[-0.006982,-0.134167,0.990934]] 2025-10-29T00:32:28.287Z,1761697948.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:28.290Z,1761697948.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 515.117554 m, bearing: 23.715522 deg, approach rate: -0.614508 m/s, LOS rate: 0.015275 deg/s, cmd heading: 24.220358 deg, new cmd heading: 24.234349 deg. 2025-10-29T00:32:28.291Z,1761697948.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.422969 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:28.417Z,1761697948.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011853 2025-10-29T00:32:28.666Z,1761697948.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921796,-0.385315,-0.042720],[0.387544,0.913005,0.127403],[-0.010086,-0.133996,0.990931]] 2025-10-29T00:32:28.669Z,1761697948.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263818 2025-10-29T00:32:28.716Z,1761697948.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:28.720Z,1761697948.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 514.846252 m, bearing: 23.721333 deg, approach rate: -0.632397 m/s, LOS rate: 0.013551 deg/s, cmd heading: 24.234350 deg, new cmd heading: 24.245977 deg. 2025-10-29T00:32:28.722Z,1761697948.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423172 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:28.921Z,1761697948.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515733 2025-10-29T00:32:29.070Z,1761697949.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921777,-0.385636,-0.040158],[0.387497,0.912761,0.129283],[-0.013202,-0.134731,0.990794]] 2025-10-29T00:32:29.096Z,1761697949.096 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:29.098Z,1761697949.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:29.101Z,1761697949.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 514.605042 m, bearing: 23.726504 deg, approach rate: -0.630327 m/s, LOS rate: 0.013520 deg/s, cmd heading: 24.245976 deg, new cmd heading: 24.256324 deg. 2025-10-29T00:32:29.102Z,1761697949.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423353 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:29.173Z,1761697949.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767867 2025-10-29T00:32:29.426Z,1761697949.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021181 2025-10-29T00:32:29.487Z,1761697949.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921696,-0.386000,-0.038480],[0.387600,0.912420,0.131363],[-0.015597,-0.135991,0.990587]] 2025-10-29T00:32:29.552Z,1761697949.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:29.555Z,1761697949.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 514.328979 m, bearing: 23.731618 deg, approach rate: -0.614104 m/s, LOS rate: 0.011380 deg/s, cmd heading: 24.256324 deg, new cmd heading: 24.266556 deg. 2025-10-29T00:32:29.557Z,1761697949.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423531 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:29.677Z,1761697949.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271819 2025-10-29T00:32:29.887Z,1761697949.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921569,-0.386584,-0.035554],[0.387791,0.912413,0.130848],[-0.018143,-0.134373,0.990765]] 2025-10-29T00:32:29.906Z,1761697949.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:29.908Z,1761697949.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 514.100769 m, bearing: 23.735845 deg, approach rate: -0.638262 m/s, LOS rate: 0.011829 deg/s, cmd heading: 24.266556 deg, new cmd heading: 24.275014 deg. 2025-10-29T00:32:29.909Z,1761697949.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423679 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:29.950Z,1761697949.950 [DAT](INFO): DAT read: Rx Time:00:32:29.3268 2025-10-29T00:32:29.950Z,1761697949.950 [DAT](INFO): Rx dataTimestamp_ set to:1761697949.949817 2025-10-29T00:32:29.951Z,1761697949.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.545834 2025-10-29T00:32:30.201Z,1761697950.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.795725 2025-10-29T00:32:30.286Z,1761697950.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920863,-0.388543,-0.032337],[0.389358,0.912133,0.128116],[-0.020283,-0.130568,0.991232]] 2025-10-29T00:32:30.328Z,1761697950.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 522.22 m. 2025-10-29T00:32:30.331Z,1761697950.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 522.223511 m, nav range: 513.847046 m, bearing: 23.740507 deg, approach rate: -0.624302 m/s, LOS rate: 0.011475 deg/s, cmd heading: 24.275015 deg, new cmd heading: 24.284342 deg. 2025-10-29T00:32:30.332Z,1761697950.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423842 target range: 522.223511 and range: 525.00 m. 2025-10-29T00:32:30.456Z,1761697950.456 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.050407 2025-10-29T00:32:30.710Z,1761697950.710 [DAT](INFO): DAT read: 00:32:29.3268 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 399,-0.30, 0.867,-0.756, 0.990, 0.487, PHS= 0.482,-1.198, 0.459, RAW= 149.3, 3.1, CAL= 148.5, 3.1, ROT= 1.5, -3.1 2025-10-29T00:32:30.711Z,1761697950.711 [DAT](INFO): got valid direction response: 00:32:29.3268 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 399,-0.30, 0.867,-0.756, 0.990, 0.487, PHS= 0.482,-1.198, 0.459, RAW= 149.3, 3.1, CAL= 148.5, 3.1, ROT= 1.5, -3.1 2025-10-29T00:32:30.713Z,1761697950.713 [DAT](INFO): DAT read: Bearing 174.7, 0.3 (Local) 2025-10-29T00:32:30.713Z,1761697950.713 [DAT](INFO): Local bearing/azimuth received: Bearing 174.7, 0.3 (Local) 2025-10-29T00:32:30.714Z,1761697950.714 [DAT](INFO): DAT read: Range 11 to 50 : 521.7 m (Round-trip 695.6 ms) speed 0.2 m/s 2025-10-29T00:32:30.715Z,1761697950.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:30.717Z,1761697950.717 [DAT](INFO): direction in FSK: [0.998194,0.026139,0.054079] 2025-10-29T00:32:30.718Z,1761697950.718 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:30.728Z,1761697950.728 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:30.728Z,1761697950.728 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:30.728Z,1761697950.728 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:30.890Z,1761697950.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 521.700012 m, deltaT: 4.554421 s, deltaX: -3.299988 m, approachRate: -0.724568 m/s, rangeRepo size: 4 2025-10-29T00:32:30.896Z,1761697950.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 518.942810 m, bearing: 24.810211 deg, lat: 36.779279 deg, lon: -121.859163 deg, deltaT: 4.554421 s, deltaX: -3.280701 m, approachRate: -0.720333 m/s, posRepo size: 4 2025-10-29T00:32:30.897Z,1761697950.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:30.899Z,1761697950.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 514.559631 m, bearing: 24.013278 deg, approach rate: 0.000000 m/s, LOS rate: 0.011475 deg/s, cmd heading: 24.284341 deg, new cmd heading: 24.297589 deg. 2025-10-29T00:32:30.904Z,1761697950.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424073 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:30.958Z,1761697950.958 [DAT](INFO): DAT read: user:412> 2025-10-29T00:32:30.959Z,1761697950.959 [DAT](INFO): DAT read: Tx time:00:32:30.7271 2025-10-29T00:32:30.959Z,1761697950.959 [DAT](INFO): Ping request sent. 2025-10-29T00:32:30.959Z,1761697950.959 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:30.980Z,1761697950.980 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:30.980Z,1761697950.980 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.020920 2025-10-29T00:32:31.209Z,1761697951.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249535 2025-10-29T00:32:31.210Z,1761697951.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919461,-0.392197,-0.027802],[0.392424,0.911007,0.126763],[-0.024388,-0.127464,0.991543]] 2025-10-29T00:32:31.265Z,1761697951.265 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:31.273Z,1761697951.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:31.275Z,1761697951.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 514.307068 m, bearing: 24.016411 deg, approach rate: -0.658137 m/s, LOS rate: 0.008169 deg/s, cmd heading: 24.297589 deg, new cmd heading: 24.303858 deg. 2025-10-29T00:32:31.277Z,1761697951.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424182 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:31.461Z,1761697951.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501684 2025-10-29T00:32:31.611Z,1761697951.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918501,-0.394547,-0.026228],[0.394544,0.910043,0.127114],[-0.026284,-0.127102,0.991541]] 2025-10-29T00:32:31.655Z,1761697951.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:31.658Z,1761697951.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 514.049622 m, bearing: 24.018964 deg, approach rate: -0.673008 m/s, LOS rate: 0.006676 deg/s, cmd heading: 24.303859 deg, new cmd heading: 24.308967 deg. 2025-10-29T00:32:31.659Z,1761697951.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424271 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:31.714Z,1761697951.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754403 2025-10-29T00:32:31.965Z,1761697951.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005470 2025-10-29T00:32:32.023Z,1761697952.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917613,-0.396736,-0.024229],[0.396475,0.909279,0.126571],[-0.028185,-0.125749,0.991662]] 2025-10-29T00:32:32.049Z,1761697952.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:32.051Z,1761697952.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 513.794678 m, bearing: 24.021436 deg, approach rate: -0.647937 m/s, LOS rate: 0.006286 deg/s, cmd heading: 24.308966 deg, new cmd heading: 24.313912 deg. 2025-10-29T00:32:32.053Z,1761697952.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424358 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:32.219Z,1761697952.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258751 2025-10-29T00:32:32.472Z,1761697952.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512950 2025-10-29T00:32:32.474Z,1761697952.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916484,-0.399425,-0.022733],[0.398981,0.908316,0.125601],[-0.029520,-0.124181,0.991820]] 2025-10-29T00:32:32.526Z,1761697952.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:32.529Z,1761697952.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 513.478577 m, bearing: 24.022917 deg, approach rate: -0.662443 m/s, LOS rate: 0.003106 deg/s, cmd heading: 24.313913 deg, new cmd heading: 24.316877 deg. 2025-10-29T00:32:32.530Z,1761697952.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424410 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:32.722Z,1761697952.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762371 2025-10-29T00:32:32.861Z,1761697952.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915243,-0.402316,-0.021739],[0.401726,0.907117,0.125516],[-0.030777,-0.123611,0.991853]] 2025-10-29T00:32:32.900Z,1761697952.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:32.903Z,1761697952.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 513.240906 m, bearing: 24.023952 deg, approach rate: -0.635096 m/s, LOS rate: 0.002767 deg/s, cmd heading: 24.316877 deg, new cmd heading: 24.318948 deg. 2025-10-29T00:32:32.908Z,1761697952.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424446 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:32.973Z,1761697952.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013492 2025-10-29T00:32:33.227Z,1761697953.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266691 2025-10-29T00:32:33.341Z,1761697953.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913171,-0.407067,-0.020364],[0.406209,0.904885,0.127188],[-0.033347,-0.124417,0.991670]] 2025-10-29T00:32:33.359Z,1761697953.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:33.361Z,1761697953.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:33.363Z,1761697953.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 512.925415 m, bearing: 24.025153 deg, approach rate: -0.685301 m/s, LOS rate: 0.002609 deg/s, cmd heading: 24.318948 deg, new cmd heading: 24.321351 deg. 2025-10-29T00:32:33.380Z,1761697953.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424488 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:33.486Z,1761697953.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526171 2025-10-29T00:32:33.730Z,1761697953.730 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770208 2025-10-29T00:32:33.755Z,1761697953.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912270,-0.409091,-0.020181],[0.408129,0.903760,0.129028],[-0.034545,-0.125945,0.991436]] 2025-10-29T00:32:33.826Z,1761697953.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:33.833Z,1761697953.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 512.634094 m, bearing: 24.027189 deg, approach rate: -0.626442 m/s, LOS rate: 0.004381 deg/s, cmd heading: 24.321351 deg, new cmd heading: 24.325426 deg. 2025-10-29T00:32:33.834Z,1761697953.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424559 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:33.981Z,1761697953.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021379 2025-10-29T00:32:34.234Z,1761697954.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273873 2025-10-29T00:32:34.263Z,1761697954.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911236,-0.411360,-0.020784],[0.410445,0.902678,0.129260],[-0.034411,-0.126317,0.991393]] 2025-10-29T00:32:34.282Z,1761697954.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:34.285Z,1761697954.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 512.332886 m, bearing: 24.029211 deg, approach rate: -0.659892 m/s, LOS rate: 0.004433 deg/s, cmd heading: 24.325425 deg, new cmd heading: 24.329472 deg. 2025-10-29T00:32:34.286Z,1761697954.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424629 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:34.487Z,1761697954.487 [DAT](INFO): DAT read: Rx Time:00:32:33.8233 2025-10-29T00:32:34.488Z,1761697954.488 [DAT](INFO): Rx dataTimestamp_ set to:1761697954.487440 2025-10-29T00:32:34.489Z,1761697954.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529170 2025-10-29T00:32:34.703Z,1761697954.703 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-10-29T00:32:34.738Z,1761697954.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778434 2025-10-29T00:32:34.762Z,1761697954.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 518.94 m. 2025-10-29T00:32:34.770Z,1761697954.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 518.942810 m, nav range: 512.051636 m, bearing: 24.031101 deg, approach rate: -0.586626 m/s, LOS rate: 0.003944 deg/s, cmd heading: 24.329472 deg, new cmd heading: 24.333254 deg. 2025-10-29T00:32:34.771Z,1761697954.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424695 target range: 518.942810 and range: 521.70 m. 2025-10-29T00:32:35.005Z,1761697955.005 [DAT](INFO): DAT read: 00:32:33.8233 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 412, 0.10, 1.597, 0.154, 1.764, 1.383, PHS= 0.317,-1.184, 0.337, RAW= 150.7, 7.1, CAL= 150.1, 7.5, ROT= 359.9, -7.5 2025-10-29T00:32:35.007Z,1761697955.007 [DAT](INFO): got valid direction response: 00:32:33.8233 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 412, 0.10, 1.597, 0.154, 1.764, 1.383, PHS= 0.317,-1.184, 0.337, RAW= 150.7, 7.1, CAL= 150.1, 7.5, ROT= 359.9, -7.5 2025-10-29T00:32:35.007Z,1761697955.007 [DAT](INFO): DAT read: Bearing 179.1, -3.0 (Local) 2025-10-29T00:32:35.008Z,1761697955.008 [DAT](INFO): Local bearing/azimuth received: Bearing 179.1, -3.0 (Local) 2025-10-29T00:32:35.009Z,1761697955.009 [DAT](INFO): DAT read: Range 11 to 50 : 519.0 m (Round-trip 692.1 ms) speed 0.4 m/s 2025-10-29T00:32:35.010Z,1761697955.010 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:35.011Z,1761697955.011 [DAT](INFO): direction in FSK: [0.991443,-0.001731,0.130526] 2025-10-29T00:32:35.011Z,1761697955.011 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:35.016Z,1761697955.016 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:35.017Z,1761697955.017 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:35.017Z,1761697955.017 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:35.087Z,1761697955.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909868,-0.414180,-0.024402],[0.413726,0.901309,0.128344],[-0.031164,-0.126872,0.991429]] 2025-10-29T00:32:35.150Z,1761697955.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 519.000000 m, deltaT: 4.285760 s, deltaX: -2.700012 m, approachRate: -0.629996 m/s, rangeRepo size: 4 2025-10-29T00:32:35.157Z,1761697955.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 516.257874 m, bearing: 25.306895 deg, lat: 36.779279 deg, lon: -121.859114 deg, deltaT: 4.285760 s, deltaX: -2.684937 m, approachRate: -0.626478 m/s, posRepo size: 4 2025-10-29T00:32:35.157Z,1761697955.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:35.164Z,1761697955.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 513.576172 m, bearing: 24.476751 deg, approach rate: 0.000000 m/s, LOS rate: 0.003944 deg/s, cmd heading: 24.333254 deg, new cmd heading: 24.336316 deg. 2025-10-29T00:32:35.165Z,1761697955.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424749 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:35.243Z,1761697955.243 [DAT](INFO): DAT read: user:413> 2025-10-29T00:32:35.244Z,1761697955.244 [DAT](INFO): DAT read: Tx time:00:32:35.0270 2025-10-29T00:32:35.244Z,1761697955.244 [DAT](INFO): Ping request sent. 2025-10-29T00:32:35.244Z,1761697955.244 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:35.245Z,1761697955.245 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:35.245Z,1761697955.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-29T00:32:35.496Z,1761697955.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251156 2025-10-29T00:32:35.541Z,1761697955.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909285,-0.415259,-0.027592],[0.415198,0.900614,0.128472],[-0.028500,-0.128274,0.991329]] 2025-10-29T00:32:35.597Z,1761697955.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:35.599Z,1761697955.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:35.602Z,1761697955.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 513.289368 m, bearing: 24.480862 deg, approach rate: -0.638388 m/s, LOS rate: 0.009154 deg/s, cmd heading: 24.336316 deg, new cmd heading: 24.344541 deg. 2025-10-29T00:32:35.603Z,1761697955.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424892 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:35.746Z,1761697955.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501301 2025-10-29T00:32:35.910Z,1761697955.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909060,-0.415451,-0.031795],[0.415895,0.900093,0.129866],[-0.025334,-0.131279,0.991022]] 2025-10-29T00:32:35.985Z,1761697955.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:35.989Z,1761697955.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 513.050903 m, bearing: 24.484263 deg, approach rate: -0.617118 m/s, LOS rate: 0.008805 deg/s, cmd heading: 24.344541 deg, new cmd heading: 24.351346 deg. 2025-10-29T00:32:35.990Z,1761697955.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425011 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:36.013Z,1761697956.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.768432 2025-10-29T00:32:36.265Z,1761697956.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.020473 2025-10-29T00:32:36.334Z,1761697956.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908859,-0.415586,-0.035534],[0.416514,0.899755,0.130215],[-0.022143,-0.133148,0.990849]] 2025-10-29T00:32:36.359Z,1761697956.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:36.362Z,1761697956.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 512.820618 m, bearing: 24.487533 deg, approach rate: -0.616022 m/s, LOS rate: 0.008753 deg/s, cmd heading: 24.351346 deg, new cmd heading: 24.357890 deg. 2025-10-29T00:32:36.363Z,1761697956.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425125 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:36.518Z,1761697956.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.273548 2025-10-29T00:32:36.747Z,1761697956.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908616,-0.415818,-0.038887],[0.417202,0.899512,0.129696],[-0.018950,-0.134068,0.990791]] 2025-10-29T00:32:36.769Z,1761697956.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524592 2025-10-29T00:32:36.778Z,1761697956.778 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504205675,35.0, +11.1, 3.7, 0 2025-10-29T00:32:36.811Z,1761697956.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:36.814Z,1761697956.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 512.542175 m, bearing: 24.491468 deg, approach rate: -0.615953 m/s, LOS rate: 0.008708 deg/s, cmd heading: 24.357889 deg, new cmd heading: 24.365762 deg. 2025-10-29T00:32:36.815Z,1761697956.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425263 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:37.021Z,1761697957.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.776709 2025-10-29T00:32:37.139Z,1761697957.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908685,-0.415342,-0.042224],[0.417184,0.899551,0.129479],[-0.015795,-0.135270,0.990683]] 2025-10-29T00:32:37.181Z,1761697957.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:37.184Z,1761697957.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 512.314209 m, bearing: 24.494694 deg, approach rate: -0.616104 m/s, LOS rate: 0.008723 deg/s, cmd heading: 24.365762 deg, new cmd heading: 24.372217 deg. 2025-10-29T00:32:37.185Z,1761697957.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425375 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:37.277Z,1761697957.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032354 2025-10-29T00:32:37.528Z,1761697957.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282630 2025-10-29T00:32:37.571Z,1761697957.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909006,-0.414230,-0.046060],[0.416594,0.899708,0.130286],[-0.012528,-0.137619,0.990406]] 2025-10-29T00:32:37.623Z,1761697957.623 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:37.629Z,1761697957.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:37.631Z,1761697957.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 512.057495 m, bearing: 24.500476 deg, approach rate: -0.573744 m/s, LOS rate: 0.012930 deg/s, cmd heading: 24.372217 deg, new cmd heading: 24.383787 deg. 2025-10-29T00:32:37.637Z,1761697957.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425577 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:37.777Z,1761697957.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.532504 2025-10-29T00:32:37.947Z,1761697957.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909491,-0.412775,-0.049434],[0.415622,0.900181,0.130127],[-0.009213,-0.138896,0.990264]] 2025-10-29T00:32:37.966Z,1761697957.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:37.969Z,1761697957.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 511.842346 m, bearing: 24.505354 deg, approach rate: -0.637214 m/s, LOS rate: 0.014453 deg/s, cmd heading: 24.383787 deg, new cmd heading: 24.393547 deg. 2025-10-29T00:32:37.970Z,1761697957.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425748 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:38.030Z,1761697958.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.785309 2025-10-29T00:32:38.281Z,1761697958.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036439 2025-10-29T00:32:38.350Z,1761697958.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910127,-0.411085,-0.051750],[0.414290,0.901186,0.127388],[-0.005731,-0.137379,0.990502]] 2025-10-29T00:32:38.388Z,1761697958.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:38.391Z,1761697958.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 511.588898 m, bearing: 24.511152 deg, approach rate: -0.601199 m/s, LOS rate: 0.013760 deg/s, cmd heading: 24.393548 deg, new cmd heading: 24.405150 deg. 2025-10-29T00:32:38.392Z,1761697958.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425950 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:38.537Z,1761697958.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291144 2025-10-29T00:32:38.761Z,1761697958.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910697,-0.409498,-0.054244],[0.413067,0.901978,0.125746],[-0.002565,-0.136923,0.990578]] 2025-10-29T00:32:38.785Z,1761697958.785 [DAT](INFO): DAT read: Rx Time:00:32:38.1194 2025-10-29T00:32:38.786Z,1761697958.786 [DAT](INFO): Rx dataTimestamp_ set to:1761697958.785261 2025-10-29T00:32:38.786Z,1761697958.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.541640 2025-10-29T00:32:38.813Z,1761697958.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:38.815Z,1761697958.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 511.328705 m, bearing: 24.517284 deg, approach rate: -0.612533 m/s, LOS rate: 0.014444 deg/s, cmd heading: 24.405150 deg, new cmd heading: 24.417421 deg. 2025-10-29T00:32:38.816Z,1761697958.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426164 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:39.037Z,1761697959.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.792818 2025-10-29T00:32:39.158Z,1761697959.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911262,-0.407597,-0.058880],[0.411828,0.902044,0.129282],[0.000417,-0.142058,0.989858]] 2025-10-29T00:32:39.178Z,1761697959.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 516.26 m. 2025-10-29T00:32:39.197Z,1761697959.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 516.257874 m, nav range: 511.105499 m, bearing: 24.522577 deg, approach rate: -0.611594 m/s, LOS rate: 0.014510 deg/s, cmd heading: 24.417421 deg, new cmd heading: 24.428012 deg. 2025-10-29T00:32:39.198Z,1761697959.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426349 target range: 516.257874 and range: 519.00 m. 2025-10-29T00:32:39.305Z,1761697959.305 [DAT](INFO): DAT read: 00:32:38.1194 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404,-0.27, 1.417,-0.076, 1.578, 1.220, PHS= 0.299,-1.251, 0.314, RAW= 150.5, 8.3, CAL= 150.0, 8.9, ROT= 0.0, -8.9 2025-10-29T00:32:39.306Z,1761697959.306 [DAT](INFO): got valid direction response: 00:32:38.1194 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 404,-0.27, 1.417,-0.076, 1.578, 1.220, PHS= 0.299,-1.251, 0.314, RAW= 150.5, 8.3, CAL= 150.0, 8.9, ROT= 0.0, -8.9 2025-10-29T00:32:39.307Z,1761697959.307 [DAT](INFO): DAT read: Bearing 180.5, -1.4 (Local) 2025-10-29T00:32:39.307Z,1761697959.307 [DAT](INFO): Local bearing/azimuth received: Bearing 180.5, -1.4 (Local) 2025-10-29T00:32:39.309Z,1761697959.309 [DAT](INFO): DAT read: Range 11 to 50 : 516.1 m (Round-trip 688.2 ms) speed 0.0 m/s 2025-10-29T00:32:39.309Z,1761697959.309 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:39.310Z,1761697959.310 [DAT](INFO): direction in FSK: [0.987960,0.000000,0.154710] 2025-10-29T00:32:39.310Z,1761697959.310 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:39.314Z,1761697959.314 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:39.314Z,1761697959.314 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:39.314Z,1761697959.314 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:39.543Z,1761697959.543 [DAT](INFO): DAT read: user:414> 2025-10-29T00:32:39.546Z,1761697959.546 [DAT](INFO): DAT read: Tx time:00:32:39.3270 2025-10-29T00:32:39.547Z,1761697959.547 [DAT](INFO): Ping request sent. 2025-10-29T00:32:39.547Z,1761697959.547 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:39.548Z,1761697959.548 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:39.550Z,1761697959.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003066 2025-10-29T00:32:39.620Z,1761697959.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911646,-0.405968,-0.063969],[0.410963,0.901790,0.133734],[0.003395,-0.148207,0.988951]] 2025-10-29T00:32:39.683Z,1761697959.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 516.099976 m, deltaT: 4.300247 s, deltaX: -2.900024 m, approachRate: -0.674386 m/s, rangeRepo size: 4 2025-10-29T00:32:39.686Z,1761697959.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 513.370728 m, bearing: 25.595714 deg, lat: 36.779252 deg, lon: -121.859070 deg, deltaT: 4.300247 s, deltaX: -2.887146 m, approachRate: -0.671391 m/s, posRepo size: 4 2025-10-29T00:32:39.686Z,1761697959.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:39.689Z,1761697959.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 509.724213 m, bearing: 25.065971 deg, approach rate: 0.000000 m/s, LOS rate: 0.014510 deg/s, cmd heading: 24.428011 deg, new cmd heading: 24.442669 deg. 2025-10-29T00:32:39.690Z,1761697959.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426605 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:39.793Z,1761697959.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246641 2025-10-29T00:32:40.045Z,1761697960.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498457 2025-10-29T00:32:40.047Z,1761697960.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:40.049Z,1761697960.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:40.052Z,1761697960.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 509.496979 m, bearing: 25.070994 deg, approach rate: -0.619918 m/s, LOS rate: 0.013709 deg/s, cmd heading: 24.442669 deg, new cmd heading: 24.452719 deg. 2025-10-29T00:32:40.053Z,1761697960.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426780 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:40.297Z,1761697960.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750430 2025-10-29T00:32:40.416Z,1761697960.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911972,-0.403609,-0.073529],[0.410138,0.901178,0.140228],[0.009665,-0.158041,0.987385]] 2025-10-29T00:32:40.435Z,1761697960.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:40.437Z,1761697960.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 509.260956 m, bearing: 25.076219 deg, approach rate: -0.612833 m/s, LOS rate: 0.013574 deg/s, cmd heading: 24.452719 deg, new cmd heading: 24.463175 deg. 2025-10-29T00:32:40.438Z,1761697960.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426963 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:40.551Z,1761697960.551 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004367 2025-10-29T00:32:40.801Z,1761697960.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254550 2025-10-29T00:32:40.818Z,1761697960.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911522,-0.404171,-0.075981],[0.411050,0.901155,0.137688],[0.012821,-0.156737,0.987557]] 2025-10-29T00:32:40.882Z,1761697960.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:40.889Z,1761697960.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 508.991058 m, bearing: 25.080758 deg, approach rate: -0.603241 m/s, LOS rate: 0.010150 deg/s, cmd heading: 24.463175 deg, new cmd heading: 24.472257 deg. 2025-10-29T00:32:40.890Z,1761697960.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427121 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:41.054Z,1761697961.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507264 2025-10-29T00:32:41.235Z,1761697961.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910883,-0.405183,-0.078226],[0.412370,0.900890,0.135456],[0.015589,-0.155643,0.987690]] 2025-10-29T00:32:41.254Z,1761697961.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:41.257Z,1761697961.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 508.755432 m, bearing: 25.084689 deg, approach rate: -0.633523 m/s, LOS rate: 0.010573 deg/s, cmd heading: 24.472257 deg, new cmd heading: 24.480122 deg. 2025-10-29T00:32:41.258Z,1761697961.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427259 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:41.305Z,1761697961.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758598 2025-10-29T00:32:41.561Z,1761697961.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012894 2025-10-29T00:32:41.630Z,1761697961.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910095,-0.406667,-0.079683],[0.413990,0.900776,0.131201],[0.018422,-0.152393,0.988148]] 2025-10-29T00:32:41.673Z,1761697961.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:41.676Z,1761697961.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 508.493500 m, bearing: 25.088169 deg, approach rate: -0.624901 m/s, LOS rate: 0.008307 deg/s, cmd heading: 24.480122 deg, new cmd heading: 24.487086 deg. 2025-10-29T00:32:41.681Z,1761697961.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427380 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:41.809Z,1761697961.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262409 2025-10-29T00:32:42.031Z,1761697962.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909296,-0.408391,-0.079988],[0.415619,0.900919,0.124926],[0.021045,-0.146839,0.988937]] 2025-10-29T00:32:42.061Z,1761697962.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514364 2025-10-29T00:32:42.177Z,1761697962.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:42.179Z,1761697962.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:42.182Z,1761697962.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 508.219940 m, bearing: 25.091766 deg, approach rate: -0.540730 m/s, LOS rate: 0.007114 deg/s, cmd heading: 24.487085 deg, new cmd heading: 24.494283 deg. 2025-10-29T00:32:42.183Z,1761697962.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427506 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:42.313Z,1761697962.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766270 2025-10-29T00:32:42.437Z,1761697962.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908594,-0.409736,-0.081081],[0.416984,0.901034,0.119428],[0.024123,-0.142321,0.989527]] 2025-10-29T00:32:42.459Z,1761697962.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:42.463Z,1761697962.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 508.004364 m, bearing: 25.094575 deg, approach rate: -0.769187 m/s, LOS rate: 0.010028 deg/s, cmd heading: 24.494283 deg, new cmd heading: 24.499904 deg. 2025-10-29T00:32:42.464Z,1761697962.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427604 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:42.568Z,1761697962.568 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020905 2025-10-29T00:32:42.817Z,1761697962.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270350 2025-10-29T00:32:42.839Z,1761697962.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908067,-0.410574,-0.082732],[0.417953,0.901067,0.115732],[0.027030,-0.139671,0.989829]] 2025-10-29T00:32:42.908Z,1761697962.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:42.911Z,1761697962.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 507.719330 m, bearing: 25.096407 deg, approach rate: -0.641166 m/s, LOS rate: 0.004124 deg/s, cmd heading: 24.499904 deg, new cmd heading: 24.503570 deg. 2025-10-29T00:32:42.911Z,1761697962.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427668 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:43.069Z,1761697963.069 [DAT](INFO): DAT read: Rx Time:00:32:42.4161 2025-10-29T00:32:43.069Z,1761697963.069 [DAT](INFO): Rx dataTimestamp_ set to:1761697963.069105 2025-10-29T00:32:43.070Z,1761697963.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523401 2025-10-29T00:32:43.245Z,1761697963.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907713,-0.410964,-0.084652],[0.418534,0.901126,0.113145],[0.029784,-0.138133,0.989966]] 2025-10-29T00:32:43.264Z,1761697963.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 513.37 m. 2025-10-29T00:32:43.267Z,1761697963.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 513.370728 m, nav range: 507.481018 m, bearing: 25.097925 deg, approach rate: -0.661720 m/s, LOS rate: 0.004216 deg/s, cmd heading: 24.503570 deg, new cmd heading: 24.506607 deg. 2025-10-29T00:32:43.268Z,1761697963.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427721 target range: 513.370728 and range: 516.10 m. 2025-10-29T00:32:43.322Z,1761697963.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774990 2025-10-29T00:32:43.641Z,1761697963.641 [DAT](INFO): DAT read: 00:32:42.4161 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 385, 0.26,-1.737, 2.837,-1.585,-2.301, PHS= 0.666,-1.100, 0.672, RAW= 150.2, -2.7, CAL= 149.5, -3.6, ROT= 0.5, 3.6 2025-10-29T00:32:43.642Z,1761697963.642 [DAT](INFO): got valid direction response: 00:32:42.4161 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 385, 0.26,-1.737, 2.837,-1.585,-2.301, PHS= 0.666,-1.100, 0.672, RAW= 150.2, -2.7, CAL= 149.5, -3.6, ROT= 0.5, 3.6 2025-10-29T00:32:43.643Z,1761697963.643 [DAT](INFO): DAT read: Bearing 168.8, 2.6 (Local) 2025-10-29T00:32:43.643Z,1761697963.643 [DAT](INFO): Local bearing/azimuth received: Bearing 168.8, 2.6 (Local) 2025-10-29T00:32:43.657Z,1761697963.657 [DAT](INFO): DAT read: Range 11 to 50 : 513.6 m (Round-trip 684.9 ms) speed 0.7 m/s 2025-10-29T00:32:43.657Z,1761697963.657 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:43.658Z,1761697963.658 [DAT](INFO): direction in FSK: [0.997989,0.008709,-0.062791] 2025-10-29T00:32:43.659Z,1761697963.659 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:43.674Z,1761697963.674 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:43.674Z,1761697963.674 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:43.675Z,1761697963.675 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:43.734Z,1761697963.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907411,-0.410412,-0.090376],[0.418754,0.901134,0.112264],[0.035367,-0.139715,0.989560]] 2025-10-29T00:32:43.825Z,1761697963.825 [DAT](INFO): DAT read: user:415> 2025-10-29T00:32:43.826Z,1761697963.826 [DAT](INFO): DAT read: Tx time:00:32:43.6770 2025-10-29T00:32:43.826Z,1761697963.826 [DAT](INFO): Ping request sent. 2025-10-29T00:32:43.826Z,1761697963.826 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:43.826Z,1761697963.826 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:43.827Z,1761697963.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T00:32:43.845Z,1761697963.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 513.599976 m, deltaT: 4.286846 s, deltaX: -2.500000 m, approachRate: -0.583179 m/s, rangeRepo size: 4 2025-10-29T00:32:43.847Z,1761697963.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 510.893677 m, bearing: 24.763648 deg, lat: 36.779286 deg, lon: -121.859070 deg, deltaT: 4.286846 s, deltaX: -2.477051 m, approachRate: -0.577826 m/s, posRepo size: 4 2025-10-29T00:32:43.847Z,1761697963.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:43.850Z,1761697963.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 510.549377 m, bearing: 24.919273 deg, approach rate: 0.000000 m/s, LOS rate: 0.004216 deg/s, cmd heading: 24.506608 deg, new cmd heading: 24.511499 deg. 2025-10-29T00:32:43.851Z,1761697963.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427806 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:44.079Z,1761697964.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252051 2025-10-29T00:32:44.160Z,1761697964.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907308,-0.409728,-0.094416],[0.418738,0.900840,0.114651],[0.038078,-0.143559,0.988909]] 2025-10-29T00:32:44.177Z,1761697964.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:44.179Z,1761697964.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:44.182Z,1761697964.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 510.330353 m, bearing: 24.920431 deg, approach rate: -0.653247 m/s, LOS rate: 0.003456 deg/s, cmd heading: 24.511498 deg, new cmd heading: 24.513815 deg. 2025-10-29T00:32:44.183Z,1761697964.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427847 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:44.329Z,1761697964.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502776 2025-10-29T00:32:44.563Z,1761697964.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907209,-0.408835,-0.099130],[0.418694,0.900375,0.118409],[0.040845,-0.148927,0.988004]] 2025-10-29T00:32:44.584Z,1761697964.584 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757428 2025-10-29T00:32:44.651Z,1761697964.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:44.658Z,1761697964.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 510.032745 m, bearing: 24.922000 deg, approach rate: -0.630729 m/s, LOS rate: 0.003326 deg/s, cmd heading: 24.513815 deg, new cmd heading: 24.516954 deg. 2025-10-29T00:32:44.659Z,1761697964.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427902 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:44.833Z,1761697964.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006812 2025-10-29T00:32:44.962Z,1761697964.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907151,-0.407849,-0.103612],[0.418513,0.900095,0.121147],[0.043851,-0.153262,0.987212]] 2025-10-29T00:32:45.010Z,1761697965.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:45.012Z,1761697965.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 509.789093 m, bearing: 24.923264 deg, approach rate: -0.679447 m/s, LOS rate: 0.003528 deg/s, cmd heading: 24.516954 deg, new cmd heading: 24.519484 deg. 2025-10-29T00:32:45.013Z,1761697965.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427946 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:45.086Z,1761697965.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259724 2025-10-29T00:32:45.337Z,1761697965.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510837 2025-10-29T00:32:45.367Z,1761697965.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907028,-0.407095,-0.107585],[0.418496,0.899774,0.123561],[0.046502,-0.157097,0.986488]] 2025-10-29T00:32:45.386Z,1761697965.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:45.389Z,1761697965.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 509.541809 m, bearing: 24.924546 deg, approach rate: -0.656589 m/s, LOS rate: 0.003406 deg/s, cmd heading: 24.519484 deg, new cmd heading: 24.522050 deg. 2025-10-29T00:32:45.390Z,1761697965.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427990 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:45.589Z,1761697965.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763074 2025-10-29T00:32:45.777Z,1761697965.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906805,-0.406679,-0.110983],[0.418691,0.899491,0.124954],[0.049012,-0.159777,0.985936]] 2025-10-29T00:32:45.821Z,1761697965.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:45.823Z,1761697965.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 509.258209 m, bearing: 24.926960 deg, approach rate: -0.652545 m/s, LOS rate: 0.005558 deg/s, cmd heading: 24.522049 deg, new cmd heading: 24.526880 deg. 2025-10-29T00:32:45.825Z,1761697965.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428075 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:45.841Z,1761697965.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014676 2025-10-29T00:32:46.093Z,1761697966.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266803 2025-10-29T00:32:46.174Z,1761697966.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906310,-0.407249,-0.112915],[0.419468,0.899396,0.123021],[0.051455,-0.158859,0.985959]] 2025-10-29T00:32:46.196Z,1761697966.196 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:46.200Z,1761697966.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:46.205Z,1761697966.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 509.015198 m, bearing: 24.929007 deg, approach rate: -0.641591 m/s, LOS rate: 0.005405 deg/s, cmd heading: 24.526880 deg, new cmd heading: 24.530974 deg. 2025-10-29T00:32:46.206Z,1761697966.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428146 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:46.345Z,1761697966.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518935 2025-10-29T00:32:46.597Z,1761697966.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714 2025-10-29T00:32:46.690Z,1761697966.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:46.712Z,1761697966.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 508.697510 m, bearing: 24.931684 deg, approach rate: -0.648519 m/s, LOS rate: 0.005470 deg/s, cmd heading: 24.530974 deg, new cmd heading: 24.536333 deg. 2025-10-29T00:32:46.714Z,1761697966.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428240 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:46.849Z,1761697966.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022907 2025-10-29T00:32:47.101Z,1761697967.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274885 2025-10-29T00:32:47.140Z,1761697967.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905537,-0.407906,-0.116686],[0.420550,0.899315,0.119873],[0.056041,-0.157621,0.985908]] 2025-10-29T00:32:47.196Z,1761697967.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:47.201Z,1761697967.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 508.378296 m, bearing: 24.935463 deg, approach rate: -0.631025 m/s, LOS rate: 0.007474 deg/s, cmd heading: 24.536333 deg, new cmd heading: 24.543895 deg. 2025-10-29T00:32:47.203Z,1761697967.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428372 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:47.353Z,1761697967.353 [DAT](INFO): DAT read: Rx Time:00:32:46.7625 2025-10-29T00:32:47.353Z,1761697967.353 [DAT](INFO): Rx dataTimestamp_ set to:1761697967.353152 2025-10-29T00:32:47.354Z,1761697967.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527907 2025-10-29T00:32:47.605Z,1761697967.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778833 2025-10-29T00:32:47.727Z,1761697967.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905119,-0.408162,-0.119008],[0.420952,0.899616,0.116151],[0.059653,-0.155227,0.986076]] 2025-10-29T00:32:47.784Z,1761697967.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 510.89 m. 2025-10-29T00:32:47.787Z,1761697967.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 510.893677 m, nav range: 507.997620 m, bearing: 24.941017 deg, approach rate: -0.646621 m/s, LOS rate: 0.009441 deg/s, cmd heading: 24.543895 deg, new cmd heading: 24.555011 deg. 2025-10-29T00:32:47.788Z,1761697967.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428566 target range: 510.893677 and range: 513.60 m. 2025-10-29T00:32:47.857Z,1761697967.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031029 2025-10-29T00:32:48.114Z,1761697968.114 [DAT](INFO): DAT read: 00:32:46.7625 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 398, 0.08, 0.461,-1.100, 0.584, 0.092, PHS= 0.471,-1.147, 0.448, RAW= 149.3, 2.9, CAL= 148.4, 2.8, ROT= 1.6, -2.8 2025-10-29T00:32:48.115Z,1761697968.115 [DAT](INFO): got valid direction response: 00:32:46.7625 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 398, 0.08, 0.461,-1.100, 0.584, 0.092, PHS= 0.471,-1.147, 0.448, RAW= 149.3, 2.9, CAL= 148.4, 2.8, ROT= 1.6, -2.8 2025-10-29T00:32:48.116Z,1761697968.116 [DAT](INFO): DAT read: Bearing 175.3, 4.4 (Local) 2025-10-29T00:32:48.117Z,1761697968.117 [DAT](INFO): Local bearing/azimuth received: Bearing 175.3, 4.4 (Local) 2025-10-29T00:32:48.118Z,1761697968.118 [DAT](INFO): DAT read: Range 11 to 50 : 511.0 m (Round-trip 681.4 ms) speed 0.4 m/s 2025-10-29T00:32:48.119Z,1761697968.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:48.119Z,1761697968.119 [DAT](INFO): direction in FSK: [0.998417,0.027888,0.048850] 2025-10-29T00:32:48.132Z,1761697968.132 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:48.135Z,1761697968.135 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:48.135Z,1761697968.135 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:48.146Z,1761697968.146 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:48.246Z,1761697968.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905259,-0.407670,-0.119631],[0.420406,0.900189,0.113657],[0.061356,-0.153182,0.986291]] 2025-10-29T00:32:48.299Z,1761697968.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 511.000000 m, deltaT: 4.531078 s, deltaX: -2.599976 m, approachRate: -0.573810 m/s, rangeRepo size: 4 2025-10-29T00:32:48.305Z,1761697968.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 508.301392 m, bearing: 26.930494 deg, lat: 36.779252 deg, lon: -121.859037 deg, deltaT: 4.531078 s, deltaX: -2.592285 m, approachRate: -0.572112 m/s, posRepo size: 4 2025-10-29T00:32:48.306Z,1761697968.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:48.313Z,1761697968.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 505.480927 m, bearing: 25.427014 deg, approach rate: 0.000000 m/s, LOS rate: 0.009441 deg/s, cmd heading: 24.555012 deg, new cmd heading: 24.564718 deg. 2025-10-29T00:32:48.313Z,1761697968.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428735 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:48.361Z,1761697968.361 [DAT](INFO): DAT read: user:416> 2025-10-29T00:32:48.362Z,1761697968.362 [DAT](INFO): DAT read: Tx time:00:32:48.1270 2025-10-29T00:32:48.362Z,1761697968.362 [DAT](INFO): Ping request sent. 2025-10-29T00:32:48.362Z,1761697968.362 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:48.363Z,1761697968.363 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:48.363Z,1761697968.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000722 2025-10-29T00:32:48.617Z,1761697968.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254008 2025-10-29T00:32:48.795Z,1761697968.795 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:48.797Z,1761697968.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:48.800Z,1761697968.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 505.156738 m, bearing: 25.433219 deg, approach rate: -0.649323 m/s, LOS rate: 0.012436 deg/s, cmd heading: 24.564717 deg, new cmd heading: 24.577135 deg. 2025-10-29T00:32:48.801Z,1761697968.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428952 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:48.866Z,1761697968.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502981 2025-10-29T00:32:49.117Z,1761697969.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754355 2025-10-29T00:32:49.157Z,1761697969.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905550,-0.406481,-0.121459],[0.419337,0.901015,0.111031],[0.064304,-0.151477,0.986367]] 2025-10-29T00:32:49.255Z,1761697969.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:49.257Z,1761697969.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 504.872772 m, bearing: 25.438701 deg, approach rate: -0.621196 m/s, LOS rate: 0.011999 deg/s, cmd heading: 24.577135 deg, new cmd heading: 24.588105 deg. 2025-10-29T00:32:49.258Z,1761697969.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429143 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:49.369Z,1761697969.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006421 2025-10-29T00:32:49.550Z,1761697969.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905895,-0.405469,-0.122269],[0.418510,0.901297,0.111864],[0.064843,-0.152508,0.986173]] 2025-10-29T00:32:49.600Z,1761697969.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:49.603Z,1761697969.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 504.650513 m, bearing: 25.443019 deg, approach rate: -0.642619 m/s, LOS rate: 0.012489 deg/s, cmd heading: 24.588104 deg, new cmd heading: 24.596743 deg. 2025-10-29T00:32:49.604Z,1761697969.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429294 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:49.621Z,1761697969.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258489 2025-10-29T00:32:49.873Z,1761697969.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510460 2025-10-29T00:32:49.951Z,1761697969.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906142,-0.404695,-0.122995],[0.417864,0.901572,0.112056],[0.065540,-0.152934,0.986061]] 2025-10-29T00:32:50.012Z,1761697970.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:50.014Z,1761697970.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 504.394592 m, bearing: 25.448939 deg, approach rate: -0.622456 m/s, LOS rate: 0.014407 deg/s, cmd heading: 24.596742 deg, new cmd heading: 24.608589 deg. 2025-10-29T00:32:50.015Z,1761697970.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429501 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:50.125Z,1761697970.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762452 2025-10-29T00:32:50.351Z,1761697970.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906320,-0.403554,-0.125411],[0.417288,0.901498,0.114771],[0.066741,-0.156352,0.985444]] 2025-10-29T00:32:50.377Z,1761697970.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014478 2025-10-29T00:32:50.383Z,1761697970.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:50.386Z,1761697970.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 504.164124 m, bearing: 25.454287 deg, approach rate: -0.619841 m/s, LOS rate: 0.014391 deg/s, cmd heading: 24.608589 deg, new cmd heading: 24.619291 deg. 2025-10-29T00:32:50.387Z,1761697970.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429688 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:50.630Z,1761697970.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266982 2025-10-29T00:32:50.763Z,1761697970.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906441,-0.402495,-0.127918],[0.416811,0.901387,0.117342],[0.068074,-0.159681,0.984819]] 2025-10-29T00:32:50.814Z,1761697970.814 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:50.817Z,1761697970.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:50.819Z,1761697970.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 503.895599 m, bearing: 25.460373 deg, approach rate: -0.619994 m/s, LOS rate: 0.014059 deg/s, cmd heading: 24.619291 deg, new cmd heading: 24.631469 deg. 2025-10-29T00:32:50.820Z,1761697970.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429900 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:50.881Z,1761697970.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518632 2025-10-29T00:32:51.133Z,1761697971.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770364 2025-10-29T00:32:51.218Z,1761697971.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:51.222Z,1761697971.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 503.649414 m, bearing: 25.465959 deg, approach rate: -0.612970 m/s, LOS rate: 0.013914 deg/s, cmd heading: 24.631469 deg, new cmd heading: 24.642645 deg. 2025-10-29T00:32:51.223Z,1761697971.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430095 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:51.385Z,1761697971.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022769 2025-10-29T00:32:51.567Z,1761697971.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906308,-0.402551,-0.128679],[0.416675,0.902018,0.112894],[0.070625,-0.155934,0.985239]] 2025-10-29T00:32:51.587Z,1761697971.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:51.589Z,1761697971.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 503.419037 m, bearing: 25.471201 deg, approach rate: -0.625167 m/s, LOS rate: 0.014233 deg/s, cmd heading: 24.642645 deg, new cmd heading: 24.653135 deg. 2025-10-29T00:32:51.590Z,1761697971.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430278 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:51.637Z,1761697971.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274691 2025-10-29T00:32:51.890Z,1761697971.890 [DAT](INFO): DAT read: Rx Time:00:32:51.2093 2025-10-29T00:32:51.891Z,1761697971.891 [DAT](INFO): Rx dataTimestamp_ set to:1761697971.890140 2025-10-29T00:32:51.891Z,1761697971.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528781 2025-10-29T00:32:52.019Z,1761697972.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 508.30 m. 2025-10-29T00:32:52.041Z,1761697972.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 508.301392 m, nav range: 503.149414 m, bearing: 25.477276 deg, approach rate: -0.624071 m/s, LOS rate: 0.014067 deg/s, cmd heading: 24.653134 deg, new cmd heading: 24.665289 deg. 2025-10-29T00:32:52.042Z,1761697972.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430490 target range: 508.301392 and range: 511.00 m. 2025-10-29T00:32:52.142Z,1761697972.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779397 2025-10-29T00:32:52.398Z,1761697972.398 [DAT](INFO): DAT read: 00:32:51.2093 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413, 0.35, 0.512,-0.931, 0.659, 0.247, PHS= 0.367,-1.133, 0.368, RAW= 150.0, 5.4, CAL= 149.3, 5.6, ROT= 0.7, -5.6 2025-10-29T00:32:52.399Z,1761697972.399 [DAT](INFO): got valid direction response: 00:32:51.2093 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 413, 0.35, 0.512,-0.931, 0.659, 0.247, PHS= 0.367,-1.133, 0.368, RAW= 150.0, 5.4, CAL= 149.3, 5.6, ROT= 0.7, -5.6 2025-10-29T00:32:52.413Z,1761697972.413 [DAT](INFO): DAT read: Bearing 177.6, 4.1 (Local) 2025-10-29T00:32:52.414Z,1761697972.414 [DAT](INFO): Local bearing/azimuth received: Bearing 177.6, 4.1 (Local) 2025-10-29T00:32:52.415Z,1761697972.415 [DAT](INFO): DAT read: Range 11 to 50 : 508.6 m (Round-trip 678.2 ms) speed 0.4 m/s 2025-10-29T00:32:52.416Z,1761697972.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:32:52.421Z,1761697972.421 [DAT](INFO): direction in FSK: [0.995153,0.012159,0.097583] 2025-10-29T00:32:52.421Z,1761697972.421 [DAT](INFO): publishing direction and range info 2025-10-29T00:32:52.433Z,1761697972.433 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:32:52.433Z,1761697972.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:32:52.433Z,1761697972.433 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:32:52.435Z,1761697972.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906132,-0.402981,-0.128577],[0.416597,0.902869,0.106185],[0.073298,-0.149783,0.985998]] 2025-10-29T00:32:52.520Z,1761697972.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 508.600006 m, deltaT: 4.284163 s, deltaX: -2.399994 m, approachRate: -0.560201 m/s, rangeRepo size: 4 2025-10-29T00:32:52.522Z,1761697972.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 505.915314 m, bearing: 26.241250 deg, lat: 36.779212 deg, lon: -121.859035 deg, deltaT: 4.284163 s, deltaX: -2.386078 m, approachRate: -0.556953 m/s, posRepo size: 4 2025-10-29T00:32:52.523Z,1761697972.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:52.529Z,1761697972.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 498.949982 m, bearing: 25.720776 deg, approach rate: 0.000000 m/s, LOS rate: 0.014067 deg/s, cmd heading: 24.665288 deg, new cmd heading: 24.679256 deg. 2025-10-29T00:32:52.530Z,1761697972.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430734 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:52.645Z,1761697972.645 [DAT](INFO): DAT read: user:417> 2025-10-29T00:32:52.646Z,1761697972.646 [DAT](INFO): DAT read: Tx time:00:32:52.4270 2025-10-29T00:32:52.646Z,1761697972.646 [DAT](INFO): Ping request sent. 2025-10-29T00:32:52.646Z,1761697972.646 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:32:52.646Z,1761697972.646 [DAT](INFO): publishing transmit ping time 2025-10-29T00:32:52.647Z,1761697972.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:32:52.850Z,1761697972.850 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:52.856Z,1761697972.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:52.859Z,1761697972.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 498.734985 m, bearing: 25.725185 deg, approach rate: -0.638117 m/s, LOS rate: 0.013091 deg/s, cmd heading: 24.679256 deg, new cmd heading: 24.688077 deg. 2025-10-29T00:32:52.868Z,1761697972.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430888 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:52.897Z,1761697972.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251005 2025-10-29T00:32:53.149Z,1761697973.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502804 2025-10-29T00:32:53.204Z,1761697973.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905786,-0.403649,-0.128914],[0.416830,0.903489,0.099800],[0.076188,-0.144133,0.986621]] 2025-10-29T00:32:53.242Z,1761697973.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:53.245Z,1761697973.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 498.499573 m, bearing: 25.730021 deg, approach rate: -0.604192 m/s, LOS rate: 0.012418 deg/s, cmd heading: 24.688077 deg, new cmd heading: 24.697754 deg. 2025-10-29T00:32:53.246Z,1761697973.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431057 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:53.401Z,1761697973.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754737 2025-10-29T00:32:53.578Z,1761697973.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905751,-0.403319,-0.130189],[0.416687,0.903554,0.099808],[0.077379,-0.144649,0.986453]] 2025-10-29T00:32:53.607Z,1761697973.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:53.609Z,1761697973.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 498.268311 m, bearing: 25.734779 deg, approach rate: -0.633503 m/s, LOS rate: 0.013042 deg/s, cmd heading: 24.697754 deg, new cmd heading: 24.707276 deg. 2025-10-29T00:32:53.610Z,1761697973.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431223 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:53.654Z,1761697973.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007526 2025-10-29T00:32:53.905Z,1761697973.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258791 2025-10-29T00:32:54.035Z,1761697974.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:54.038Z,1761697974.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 498.000977 m, bearing: 25.739227 deg, approach rate: -0.624300 m/s, LOS rate: 0.010391 deg/s, cmd heading: 24.707275 deg, new cmd heading: 24.716175 deg. 2025-10-29T00:32:54.039Z,1761697974.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431379 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:54.158Z,1761697974.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511748 2025-10-29T00:32:54.386Z,1761697974.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905642,-0.402179,-0.134402],[0.416627,0.902942,0.105435],[0.078953,-0.151482,0.985302]] 2025-10-29T00:32:54.409Z,1761697974.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763131 2025-10-29T00:32:54.413Z,1761697974.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:54.416Z,1761697974.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 497.765991 m, bearing: 25.743129 deg, approach rate: -0.621237 m/s, LOS rate: 0.010322 deg/s, cmd heading: 24.716175 deg, new cmd heading: 24.723983 deg. 2025-10-29T00:32:54.417Z,1761697974.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431515 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:54.661Z,1761697974.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015217 2025-10-29T00:32:54.882Z,1761697974.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:54.884Z,1761697974.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:54.887Z,1761697974.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 497.471039 m, bearing: 25.747083 deg, approach rate: -0.626733 m/s, LOS rate: 0.008406 deg/s, cmd heading: 24.723984 deg, new cmd heading: 24.731896 deg. 2025-10-29T00:32:54.887Z,1761697974.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431653 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:54.913Z,1761697974.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266798 2025-10-29T00:32:55.165Z,1761697975.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518829 2025-10-29T00:32:55.240Z,1761697975.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905335,-0.402268,-0.136194],[0.416963,0.902828,0.105087],[0.080687,-0.151927,0.985093]] 2025-10-29T00:32:55.258Z,1761697975.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:55.261Z,1761697975.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 497.237213 m, bearing: 25.750209 deg, approach rate: -0.624388 m/s, LOS rate: 0.008351 deg/s, cmd heading: 24.731896 deg, new cmd heading: 24.738151 deg. 2025-10-29T00:32:55.262Z,1761697975.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431762 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:55.417Z,1761697975.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770751 2025-10-29T00:32:55.594Z,1761697975.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905265,-0.402141,-0.137034],[0.416956,0.902845,0.104971],[0.081507,-0.152164,0.984989]] 2025-10-29T00:32:55.626Z,1761697975.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:55.628Z,1761697975.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 497.008362 m, bearing: 25.753270 deg, approach rate: -0.623025 m/s, LOS rate: 0.008338 deg/s, cmd heading: 24.738151 deg, new cmd heading: 24.744276 deg. 2025-10-29T00:32:55.629Z,1761697975.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431869 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:55.669Z,1761697975.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022893 2025-10-29T00:32:55.921Z,1761697975.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275026 2025-10-29T00:32:56.056Z,1761697976.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905313,-0.401680,-0.138065],[0.416688,0.902923,0.105364],[0.082340,-0.152917,0.984803]] 2025-10-29T00:32:56.116Z,1761697976.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:56.118Z,1761697976.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 496.712433 m, bearing: 25.756717 deg, approach rate: -0.604060 m/s, LOS rate: 0.007041 deg/s, cmd heading: 24.744276 deg, new cmd heading: 24.751175 deg. 2025-10-29T00:32:56.119Z,1761697976.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431989 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:56.177Z,1761697976.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531005 2025-10-29T00:32:56.429Z,1761697976.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782701 2025-10-29T00:32:56.500Z,1761697976.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905112,-0.401763,-0.139133],[0.416932,0.902818,0.105300],[0.083306,-0.153317,0.984659]] 2025-10-29T00:32:56.531Z,1761697976.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:56.538Z,1761697976.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 496.461823 m, bearing: 25.759630 deg, approach rate: -0.603447 m/s, LOS rate: 0.007018 deg/s, cmd heading: 24.751175 deg, new cmd heading: 24.757004 deg. 2025-10-29T00:32:56.541Z,1761697976.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432091 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:56.682Z,1761697976.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.035901 2025-10-29T00:32:56.933Z,1761697976.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286842 2025-10-29T00:32:57.001Z,1761697977.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905144,-0.401529,-0.139606],[0.416776,0.902882,0.105362],[0.083742,-0.153552,0.984586]] 2025-10-29T00:32:57.057Z,1761697977.057 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:57.059Z,1761697977.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:57.066Z,1761697977.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 496.141846 m, bearing: 25.763588 deg, approach rate: -0.605585 m/s, LOS rate: 0.007496 deg/s, cmd heading: 24.757004 deg, new cmd heading: 24.764926 deg. 2025-10-29T00:32:57.067Z,1761697977.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432229 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:57.185Z,1761697977.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538985 2025-10-29T00:32:57.437Z,1761697977.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790806 2025-10-29T00:32:57.518Z,1761697977.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904847,-0.402154,-0.139726],[0.417491,0.902452,0.106218],[0.083380,-0.154445,0.984477]] 2025-10-29T00:32:57.537Z,1761697977.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:57.540Z,1761697977.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 495.827026 m, bearing: 25.767458 deg, approach rate: -0.658691 m/s, LOS rate: 0.008102 deg/s, cmd heading: 24.764926 deg, new cmd heading: 24.772670 deg. 2025-10-29T00:32:57.541Z,1761697977.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432365 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:57.690Z,1761697977.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043914 2025-10-29T00:32:57.915Z,1761697977.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904909,-0.401916,-0.140013],[0.417377,0.902395,0.107140],[0.083286,-0.155391,0.984336]] 2025-10-29T00:32:57.941Z,1761697977.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294838 2025-10-29T00:32:57.977Z,1761697977.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:57.980Z,1761697977.980 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:32:57.984Z,1761697977.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 495.568176 m, bearing: 25.770720 deg, approach rate: -0.588064 m/s, LOS rate: 0.007415 deg/s, cmd heading: 24.772671 deg, new cmd heading: 24.779199 deg. 2025-10-29T00:32:57.985Z,1761697977.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432479 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:58.194Z,1761697978.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547372 2025-10-29T00:32:58.319Z,1761697978.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904849,-0.402491,-0.138742],[0.417698,0.902322,0.106504],[0.082323,-0.154323,0.984585]] 2025-10-29T00:32:58.346Z,1761697978.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:58.349Z,1761697978.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 495.323578 m, bearing: 25.773798 deg, approach rate: -0.663084 m/s, LOS rate: 0.008347 deg/s, cmd heading: 24.779199 deg, new cmd heading: 24.785357 deg. 2025-10-29T00:32:58.350Z,1761697978.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432586 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:58.445Z,1761697978.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798907 2025-10-29T00:32:58.698Z,1761697978.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051771 2025-10-29T00:32:58.727Z,1761697978.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904849,-0.402690,-0.138163],[0.417850,0.902189,0.107033],[0.081548,-0.154580,0.984609]] 2025-10-29T00:32:58.773Z,1761697978.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:58.781Z,1761697978.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 495.075073 m, bearing: 25.776923 deg, approach rate: -0.590954 m/s, LOS rate: 0.007436 deg/s, cmd heading: 24.785356 deg, new cmd heading: 24.791610 deg. 2025-10-29T00:32:58.790Z,1761697978.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432695 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:58.949Z,1761697978.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302768 2025-10-29T00:32:58.984Z,1761697978.984 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:32:59.129Z,1761697979.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904744,-0.403080,-0.137712],[0.418190,0.901998,0.107312],[0.080961,-0.154679,0.984642]] 2025-10-29T00:32:59.165Z,1761697979.165 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:32:59.167Z,1761697979.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:59.187Z,1761697979.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 494.814392 m, bearing: 25.781216 deg, approach rate: -0.651363 m/s, LOS rate: 0.010733 deg/s, cmd heading: 24.791609 deg, new cmd heading: 24.800200 deg. 2025-10-29T00:32:59.193Z,1761697979.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432845 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:59.202Z,1761697979.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555805 2025-10-29T00:32:59.453Z,1761697979.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806774 2025-10-29T00:32:59.573Z,1761697979.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:59.576Z,1761697979.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 494.562286 m, bearing: 25.785372 deg, approach rate: -0.620163 m/s, LOS rate: 0.010229 deg/s, cmd heading: 24.800200 deg, new cmd heading: 24.808517 deg. 2025-10-29T00:32:59.577Z,1761697979.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432990 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:32:59.705Z,1761697979.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058905 2025-10-29T00:32:59.934Z,1761697979.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904747,-0.403894,-0.135289],[0.418497,0.902044,0.105724],[0.079335,-0.152271,0.985150]] 2025-10-29T00:32:59.957Z,1761697979.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310884 2025-10-29T00:32:59.979Z,1761697979.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:32:59.983Z,1761697979.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 494.309845 m, bearing: 25.790513 deg, approach rate: -0.621994 m/s, LOS rate: 0.012673 deg/s, cmd heading: 24.808517 deg, new cmd heading: 24.818804 deg. 2025-10-29T00:32:59.984Z,1761697979.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433170 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:00.210Z,1761697980.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563121 2025-10-29T00:33:00.338Z,1761697980.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905124,-0.403202,-0.134826],[0.417734,0.902399,0.105706],[0.079046,-0.151998,0.985215]] 2025-10-29T00:33:00.364Z,1761697980.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:00.367Z,1761697980.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 494.070374 m, bearing: 25.795419 deg, approach rate: -0.622915 m/s, LOS rate: 0.012768 deg/s, cmd heading: 24.818804 deg, new cmd heading: 24.828621 deg. 2025-10-29T00:33:00.367Z,1761697980.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433341 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:00.462Z,1761697980.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815361 2025-10-29T00:33:00.713Z,1761697980.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066823 2025-10-29T00:33:00.764Z,1761697980.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905429,-0.403201,-0.132768],[0.417193,0.902976,0.102874],[0.078408,-0.148535,0.985794]] 2025-10-29T00:33:00.804Z,1761697980.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:00.807Z,1761697980.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 493.806976 m, bearing: 25.800843 deg, approach rate: -0.603957 m/s, LOS rate: 0.012444 deg/s, cmd heading: 24.828620 deg, new cmd heading: 24.839474 deg. 2025-10-29T00:33:00.821Z,1761697980.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433531 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:00.965Z,1761697980.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.319003 2025-10-29T00:33:01.214Z,1761697981.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:01.215Z,1761697981.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:01.217Z,1761697981.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570914 2025-10-29T00:33:01.220Z,1761697981.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 493.542267 m, bearing: 25.807420 deg, approach rate: -0.636910 m/s, LOS rate: 0.015832 deg/s, cmd heading: 24.839474 deg, new cmd heading: 24.852634 deg. 2025-10-29T00:33:01.221Z,1761697981.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433760 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:01.470Z,1761697981.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823543 2025-10-29T00:33:01.558Z,1761697981.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906632,-0.400974,-0.131297],[0.414876,0.903863,0.104452],[0.076792,-0.149171,0.985825]] 2025-10-29T00:33:01.577Z,1761697981.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:01.579Z,1761697981.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 493.318542 m, bearing: 25.813052 deg, approach rate: -0.619008 m/s, LOS rate: 0.015591 deg/s, cmd heading: 24.852634 deg, new cmd heading: 24.863903 deg. 2025-10-29T00:33:01.581Z,1761697981.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433957 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:01.721Z,1761697981.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074676 2025-10-29T00:33:01.954Z,1761697981.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907621,-0.398913,-0.130738],[0.412948,0.904425,0.107188],[0.075484,-0.151275,0.985605]] 2025-10-29T00:33:01.973Z,1761697981.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327164 2025-10-29T00:33:02.009Z,1761697982.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:02.011Z,1761697982.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 493.049713 m, bearing: 25.820451 deg, approach rate: -0.622773 m/s, LOS rate: 0.017149 deg/s, cmd heading: 24.863903 deg, new cmd heading: 24.878709 deg. 2025-10-29T00:33:02.012Z,1761697982.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434215 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:02.225Z,1761697982.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.578802 2025-10-29T00:33:02.358Z,1761697982.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908611,-0.396630,-0.130812],[0.410986,0.904841,0.111143],[0.074282,-0.154747,0.985158]] 2025-10-29T00:33:02.434Z,1761697982.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:02.437Z,1761697982.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 492.784393 m, bearing: 25.827824 deg, approach rate: -0.623105 m/s, LOS rate: 0.017326 deg/s, cmd heading: 24.878710 deg, new cmd heading: 24.893465 deg. 2025-10-29T00:33:02.438Z,1761697982.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434473 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:02.477Z,1761697982.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831015 2025-10-29T00:33:02.729Z,1761697982.729 [DAT](INFO): Reached modem response timeout 2025-10-29T00:33:02.729Z,1761697982.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:02.729Z,1761697982.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:02.799Z,1761697982.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909485,-0.394728,-0.130490],[0.409285,0.905207,0.114400],[0.072963,-0.157452,0.984828]] 2025-10-29T00:33:02.909Z,1761697982.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:02.911Z,1761697982.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 492.529327 m, bearing: 25.834975 deg, approach rate: -0.543179 m/s, LOS rate: 0.015236 deg/s, cmd heading: 24.893465 deg, new cmd heading: 24.907774 deg. 2025-10-29T00:33:02.916Z,1761697982.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434723 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:02.981Z,1761697982.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:03.233Z,1761697983.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:03.309Z,1761697983.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:03.311Z,1761697983.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:03.313Z,1761697983.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 492.243164 m, bearing: 25.843008 deg, approach rate: -0.703659 m/s, LOS rate: 0.019762 deg/s, cmd heading: 24.907774 deg, new cmd heading: 24.923848 deg. 2025-10-29T00:33:03.314Z,1761697983.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435003 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:03.485Z,1761697983.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:03.639Z,1761697983.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910825,-0.392598,-0.127531],[0.406811,0.906117,0.116005],[0.070014,-0.157542,0.985027]] 2025-10-29T00:33:03.691Z,1761697983.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:03.697Z,1761697983.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 492.006866 m, bearing: 25.849727 deg, approach rate: -0.622652 m/s, LOS rate: 0.017713 deg/s, cmd heading: 24.923847 deg, new cmd heading: 24.937292 deg. 2025-10-29T00:33:03.698Z,1761697983.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435238 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:03.737Z,1761697983.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:03.989Z,1761697983.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:04.052Z,1761697984.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910935,-0.392930,-0.125709],[0.406792,0.906236,0.115139],[0.068680,-0.156022,0.985363]] 2025-10-29T00:33:04.121Z,1761697984.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:04.123Z,1761697984.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 491.735535 m, bearing: 25.857678 deg, approach rate: -0.630463 m/s, LOS rate: 0.018486 deg/s, cmd heading: 24.937292 deg, new cmd heading: 24.953204 deg. 2025-10-29T00:33:04.124Z,1761697984.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435516 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:04.241Z,1761697984.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:04.489Z,1761697984.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:04.492Z,1761697984.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 491.506195 m, bearing: 25.864406 deg, approach rate: -0.622253 m/s, LOS rate: 0.018263 deg/s, cmd heading: 24.953205 deg, new cmd heading: 24.966667 deg. 2025-10-29T00:33:04.493Z,1761697984.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:04.494Z,1761697984.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435751 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:04.745Z,1761697984.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:04.862Z,1761697984.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910494,-0.395349,-0.121241],[0.408142,0.906295,0.109770],[0.066483,-0.149428,0.986535]] 2025-10-29T00:33:04.953Z,1761697984.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:04.955Z,1761697984.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 491.219604 m, bearing: 25.872787 deg, approach rate: -0.618815 m/s, LOS rate: 0.018107 deg/s, cmd heading: 24.966667 deg, new cmd heading: 24.983439 deg. 2025-10-29T00:33:04.957Z,1761697984.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436043 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:04.997Z,1761697984.997 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:33:04.997Z,1761697984.997 [DAT](INFO): response not received 2025-10-29T00:33:04.998Z,1761697984.998 [DAT](INFO): DAT read: user:418> 2025-10-29T00:33:04.998Z,1761697984.998 [DAT](INFO): DAT read: Tx time:00:33:04.8770 2025-10-29T00:33:04.999Z,1761697984.999 [DAT](INFO): Ping request sent. 2025-10-29T00:33:04.999Z,1761697984.999 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:04.999Z,1761697984.999 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:04.000Z,1761697985.000 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-29T00:33:05.249Z,1761697985.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250098 2025-10-29T00:33:05.358Z,1761697985.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:05.365Z,1761697985.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:05.367Z,1761697985.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 490.971649 m, bearing: 25.877343 deg, approach rate: -0.601101 m/s, LOS rate: 0.011050 deg/s, cmd heading: 24.983439 deg, new cmd heading: 24.992555 deg. 2025-10-29T00:33:05.376Z,1761697985.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436202 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:05.501Z,1761697985.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502082 2025-10-29T00:33:05.699Z,1761697985.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909442,-0.398940,-0.117314],[0.410763,0.905778,0.104117],[0.064724,-0.142876,0.987622]] 2025-10-29T00:33:05.725Z,1761697985.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:05.728Z,1761697985.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 490.736328 m, bearing: 25.881604 deg, approach rate: -0.652269 m/s, LOS rate: 0.011815 deg/s, cmd heading: 24.992555 deg, new cmd heading: 25.001080 deg. 2025-10-29T00:33:05.729Z,1761697985.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436351 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:05.754Z,1761697985.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754456 2025-10-29T00:33:06.005Z,1761697986.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006413 2025-10-29T00:33:06.159Z,1761697986.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:06.165Z,1761697986.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 490.456757 m, bearing: 25.885754 deg, approach rate: -0.645833 m/s, LOS rate: 0.009594 deg/s, cmd heading: 25.001081 deg, new cmd heading: 25.009387 deg. 2025-10-29T00:33:06.167Z,1761697986.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436496 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:06.258Z,1761697986.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258749 2025-10-29T00:33:06.509Z,1761697986.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509984 2025-10-29T00:33:06.529Z,1761697986.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907422,-0.404790,-0.112828],[0.415709,0.903957,0.100244],[0.061413,-0.137867,0.988545]] 2025-10-29T00:33:06.562Z,1761697986.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:06.568Z,1761697986.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 490.203705 m, bearing: 25.889361 deg, approach rate: -0.649819 m/s, LOS rate: 0.009268 deg/s, cmd heading: 25.009387 deg, new cmd heading: 25.016605 deg. 2025-10-29T00:33:06.569Z,1761697986.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436622 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:06.761Z,1761697986.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762600 2025-10-29T00:33:06.981Z,1761697986.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:06.984Z,1761697986.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 489.922852 m, bearing: 25.893370 deg, approach rate: -0.647990 m/s, LOS rate: 0.009253 deg/s, cmd heading: 25.016604 deg, new cmd heading: 25.024625 deg. 2025-10-29T00:33:06.985Z,1761697986.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436762 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:07.013Z,1761697987.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013918 2025-10-29T00:33:07.265Z,1761697987.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266033 2025-10-29T00:33:07.311Z,1761697987.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906156,-0.408009,-0.111399],[0.418720,0.902558,0.100311],[0.059616,-0.137543,0.988700]] 2025-10-29T00:33:07.369Z,1761697987.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:07.371Z,1761697987.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:07.374Z,1761697987.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 489.675140 m, bearing: 25.895515 deg, approach rate: -0.635724 m/s, LOS rate: 0.005509 deg/s, cmd heading: 25.024625 deg, new cmd heading: 25.028918 deg. 2025-10-29T00:33:07.374Z,1761697987.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436837 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:07.517Z,1761697987.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518047 2025-10-29T00:33:07.717Z,1761697987.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905586,-0.409346,-0.111133],[0.420075,0.901816,0.101318],[0.058747,-0.138436,0.988627]] 2025-10-29T00:33:07.737Z,1761697987.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:07.741Z,1761697987.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 489.442139 m, bearing: 25.897494 deg, approach rate: -0.636047 m/s, LOS rate: 0.005404 deg/s, cmd heading: 25.028917 deg, new cmd heading: 25.032877 deg. 2025-10-29T00:33:07.742Z,1761697987.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436906 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:07.769Z,1761697987.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770217 2025-10-29T00:33:08.022Z,1761697988.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022611 2025-10-29T00:33:08.119Z,1761697988.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904958,-0.410832,-0.110758],[0.421513,0.901124,0.101495],[0.058110,-0.138535,0.988651]] 2025-10-29T00:33:08.194Z,1761697988.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:08.201Z,1761697988.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 489.152954 m, bearing: 25.899473 deg, approach rate: -0.632965 m/s, LOS rate: 0.004335 deg/s, cmd heading: 25.032877 deg, new cmd heading: 25.036838 deg. 2025-10-29T00:33:08.202Z,1761697988.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436975 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:08.274Z,1761697988.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274498 2025-10-29T00:33:08.525Z,1761697988.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525858 2025-10-29T00:33:08.529Z,1761697988.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904326,-0.412100,-0.111211],[0.422883,0.900397,0.102249],[0.057997,-0.139496,0.988523]] 2025-10-29T00:33:08.561Z,1761697988.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:08.588Z,1761697988.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 488.922424 m, bearing: 25.901011 deg, approach rate: -0.627760 m/s, LOS rate: 0.004190 deg/s, cmd heading: 25.036839 deg, new cmd heading: 25.039916 deg. 2025-10-29T00:33:08.589Z,1761697988.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437029 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:08.777Z,1761697988.777 [DAT](INFO): DAT read: Rx Time:00:33:07.9458 2025-10-29T00:33:08.777Z,1761697988.777 [DAT](INFO): Rx dataTimestamp_ set to:1761697988.777074 2025-10-29T00:33:08.778Z,1761697988.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779028 2025-10-29T00:33:08.942Z,1761697988.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903861,-0.413019,-0.111586],[0.423924,0.899765,0.103491],[0.057657,-0.140845,0.988351]] 2025-10-29T00:33:09.029Z,1761697989.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030081 2025-10-29T00:33:09.134Z,1761697989.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 505.92 m. 2025-10-29T00:33:09.178Z,1761697989.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 505.915314 m, nav range: 488.587646 m, bearing: 25.904054 deg, approach rate: -0.584362 m/s, LOS rate: 0.005316 deg/s, cmd heading: 25.039916 deg, new cmd heading: 25.046007 deg. 2025-10-29T00:33:09.216Z,1761697989.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437135 target range: 505.915314 and range: 508.60 m. 2025-10-29T00:33:09.286Z,1761697989.286 [DAT](INFO): DAT read: 00:33:07.9458 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 268, 0.14,-1.775, 3.099,-1.662,-2.077, PHS= 0.404,-1.062, 0.372, RAW= 148.9, 4.0, CAL= 148.1, 4.1, ROT= 1.9, -4.1 2025-10-29T00:33:09.287Z,1761697989.287 [DAT](INFO): got valid direction response: 00:33:07.9458 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 268, 0.14,-1.775, 3.099,-1.662,-2.077, PHS= 0.404,-1.062, 0.372, RAW= 148.9, 4.0, CAL= 148.1, 4.1, ROT= 1.9, -4.1 2025-10-29T00:33:09.289Z,1761697989.289 [DAT](INFO): DAT read: Bearing 177.0, 4.5 (Local) 2025-10-29T00:33:09.289Z,1761697989.289 [DAT](INFO): Local bearing/azimuth received: Bearing 177.0, 4.5 (Local) 2025-10-29T00:33:09.291Z,1761697989.291 [DAT](INFO): DAT read: Range 11 to 50 : 498.4 m (Round-trip 664.6 ms) speed 0.4 m/s 2025-10-29T00:33:09.292Z,1761697989.292 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:09.293Z,1761697989.293 [DAT](INFO): direction in FSK: [0.996892,0.033070,0.071497] 2025-10-29T00:33:09.294Z,1761697989.294 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:09.299Z,1761697989.299 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:09.299Z,1761697989.299 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:09.299Z,1761697989.299 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:09.533Z,1761697989.533 [DAT](INFO): DAT read: user:419> 2025-10-29T00:33:09.534Z,1761697989.534 [DAT](INFO): DAT read: Tx time:00:33:09.3270 2025-10-29T00:33:09.534Z,1761697989.534 [DAT](INFO): Ping request sent. 2025-10-29T00:33:09.534Z,1761697989.534 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:09.534Z,1761697989.534 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:09.535Z,1761697989.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000753 2025-10-29T00:33:09.578Z,1761697989.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903449,-0.413756,-0.112192],[0.424854,0.899108,0.105379],[0.057271,-0.142870,0.988083]] 2025-10-29T00:33:09.621Z,1761697989.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 498.399994 m, deltaT: 16.887913 s, deltaX: -10.200012 m, approachRate: -0.603983 m/s, rangeRepo size: 4 2025-10-29T00:33:09.623Z,1761697989.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 495.768219 m, bearing: 27.666763 deg, lat: 36.779199 deg, lon: -121.858990 deg, deltaT: 16.887913 s, deltaX: -10.147095 m, approachRate: -0.600850 m/s, posRepo size: 4 2025-10-29T00:33:09.623Z,1761697989.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:09.626Z,1761697989.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 488.716522 m, bearing: 26.400923 deg, approach rate: 0.000000 m/s, LOS rate: 0.005316 deg/s, cmd heading: 25.046007 deg, new cmd heading: 25.051170 deg. 2025-10-29T00:33:09.627Z,1761697989.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437225 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:09.785Z,1761697989.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-29T00:33:09.945Z,1761697989.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903141,-0.414373,-0.112393],[0.425503,0.898788,0.105486],[0.057307,-0.143092,0.988049]] 2025-10-29T00:33:10.010Z,1761697990.010 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:10.025Z,1761697990.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:10.032Z,1761697990.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 488.493317 m, bearing: 26.403136 deg, approach rate: -0.550247 m/s, LOS rate: 0.005458 deg/s, cmd heading: 25.051170 deg, new cmd heading: 25.055598 deg. 2025-10-29T00:33:10.033Z,1761697990.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437303 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:10.037Z,1761697990.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502759 2025-10-29T00:33:10.289Z,1761697990.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754923 2025-10-29T00:33:10.347Z,1761697990.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902544,-0.415740,-0.112140],[0.426772,0.898297,0.104540],[0.057273,-0.142210,0.988178]] 2025-10-29T00:33:10.391Z,1761697990.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:10.394Z,1761697990.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 488.224670 m, bearing: 26.406553 deg, approach rate: -0.734669 m/s, LOS rate: 0.009350 deg/s, cmd heading: 25.055598 deg, new cmd heading: 25.062436 deg. 2025-10-29T00:33:10.395Z,1761697990.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437422 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:10.541Z,1761697990.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006701 2025-10-29T00:33:10.757Z,1761697990.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902280,-0.416282,-0.112248],[0.427334,0.898016,0.104654],[0.057235,-0.142395,0.988154]] 2025-10-29T00:33:10.782Z,1761697990.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:10.785Z,1761697990.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 487.977386 m, bearing: 26.409684 deg, approach rate: -0.631879 m/s, LOS rate: 0.008003 deg/s, cmd heading: 25.062437 deg, new cmd heading: 25.068701 deg. 2025-10-29T00:33:10.786Z,1761697990.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437531 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:10.793Z,1761697990.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258775 2025-10-29T00:33:11.045Z,1761697991.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510901 2025-10-29T00:33:11.161Z,1761697991.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902023,-0.416827,-0.112294],[0.427888,0.897743,0.104736],[0.057155,-0.142523,0.988140]] 2025-10-29T00:33:11.256Z,1761697991.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:11.258Z,1761697991.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 487.671661 m, bearing: 26.414467 deg, approach rate: -0.646163 m/s, LOS rate: 0.010115 deg/s, cmd heading: 25.068700 deg, new cmd heading: 25.078272 deg. 2025-10-29T00:33:11.259Z,1761697991.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437698 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:11.298Z,1761697991.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763052 2025-10-29T00:33:11.549Z,1761697991.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014703 2025-10-29T00:33:11.579Z,1761697991.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902247,-0.416652,-0.111139],[0.427492,0.898046,0.103751],[0.056580,-0.141120,0.988374]] 2025-10-29T00:33:11.598Z,1761697991.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:11.601Z,1761697991.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 487.450928 m, bearing: 26.417936 deg, approach rate: -0.645067 m/s, LOS rate: 0.010144 deg/s, cmd heading: 25.078272 deg, new cmd heading: 25.085214 deg. 2025-10-29T00:33:11.601Z,1761697991.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437820 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:11.801Z,1761697991.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266622 2025-10-29T00:33:11.963Z,1761697991.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902525,-0.416225,-0.110474],[0.426959,0.898329,0.103494],[0.056165,-0.140574,0.988476]] 2025-10-29T00:33:12.056Z,1761697992.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521262 2025-10-29T00:33:12.087Z,1761697992.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:12.103Z,1761697992.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:12.117Z,1761697992.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 487.163544 m, bearing: 26.422479 deg, approach rate: -0.568799 m/s, LOS rate: 0.008996 deg/s, cmd heading: 25.085214 deg, new cmd heading: 25.094304 deg. 2025-10-29T00:33:12.118Z,1761697992.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437978 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:12.305Z,1761697992.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770655 2025-10-29T00:33:12.452Z,1761697992.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903242,-0.414551,-0.110911],[0.425546,0.898603,0.106882],[0.055357,-0.143738,0.988066]] 2025-10-29T00:33:12.479Z,1761697992.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:12.482Z,1761697992.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 486.883301 m, bearing: 26.426965 deg, approach rate: -0.745920 m/s, LOS rate: 0.011947 deg/s, cmd heading: 25.094305 deg, new cmd heading: 25.103282 deg. 2025-10-29T00:33:12.483Z,1761697992.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438135 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:12.557Z,1761697992.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022918 2025-10-29T00:33:12.809Z,1761697992.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274698 2025-10-29T00:33:12.858Z,1761697992.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904046,-0.412764,-0.111022],[0.423925,0.899066,0.109399],[0.054660,-0.145967,0.987778]] 2025-10-29T00:33:12.876Z,1761697992.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:12.879Z,1761697992.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 486.626526 m, bearing: 26.431134 deg, approach rate: -0.645548 m/s, LOS rate: 0.010489 deg/s, cmd heading: 25.103281 deg, new cmd heading: 25.111625 deg. 2025-10-29T00:33:12.880Z,1761697992.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438281 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:13.061Z,1761697993.061 [DAT](INFO): DAT read: Rx Time:00:33:12.3919 2025-10-29T00:33:13.062Z,1761697993.062 [DAT](INFO): Rx dataTimestamp_ set to:1761697993.061587 2025-10-29T00:33:13.062Z,1761697993.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528205 2025-10-29T00:33:13.296Z,1761697993.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 495.77 m. 2025-10-29T00:33:13.299Z,1761697993.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 495.768219 m, nav range: 486.355865 m, bearing: 26.435535 deg, approach rate: -0.644922 m/s, LOS rate: 0.010490 deg/s, cmd heading: 25.111624 deg, new cmd heading: 25.120429 deg. 2025-10-29T00:33:13.300Z,1761697993.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438434 target range: 495.768219 and range: 498.40 m. 2025-10-29T00:33:13.315Z,1761697993.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780303 2025-10-29T00:33:13.573Z,1761697993.573 [DAT](INFO): DAT read: 00:33:12.3919 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 395,-0.17, 1.747, 0.076, 1.951, 1.145, PHS= 0.704,-1.024, 0.762, RAW= 151.6, -5.1, CAL= 151.4, -6.4, ROT= 358.6, 6.4 2025-10-29T00:33:13.575Z,1761697993.575 [DAT](INFO): got valid direction response: 00:33:12.3919 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 395,-0.17, 1.747, 0.076, 1.951, 1.145, PHS= 0.704,-1.024, 0.762, RAW= 151.6, -5.1, CAL= 151.4, -6.4, ROT= 358.6, 6.4 2025-10-29T00:33:13.575Z,1761697993.575 [DAT](INFO): DAT read: Bearing 166.0, 2.7 (Local) 2025-10-29T00:33:13.580Z,1761697993.580 [DAT](INFO): Local bearing/azimuth received: Bearing 166.0, 2.7 (Local) 2025-10-29T00:33:13.581Z,1761697993.581 [DAT](INFO): DAT read: Range 11 to 50 : 495.6 m (Round-trip 660.8 ms) speed 0.6 m/s 2025-10-29T00:33:13.582Z,1761697993.582 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:13.583Z,1761697993.583 [DAT](INFO): direction in FSK: [0.993471,-0.024280,-0.111469] 2025-10-29T00:33:13.583Z,1761697993.583 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:13.604Z,1761697993.604 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:13.604Z,1761697993.604 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:13.605Z,1761697993.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:13.691Z,1761697993.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905644,-0.409289,-0.110866],[0.420609,0.900259,0.112348],[0.053825,-0.148379,0.987465]] 2025-10-29T00:33:13.723Z,1761697993.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 495.600006 m, deltaT: 4.285476 s, deltaX: -2.799988 m, approachRate: -0.653367 m/s, rangeRepo size: 4 2025-10-29T00:33:13.726Z,1761697993.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 492.977020 m, bearing: 22.582972 deg, lat: 36.779199 deg, lon: -121.858990 deg, deltaT: 4.285476 s, deltaX: -2.791199 m, approachRate: -0.651316 m/s, posRepo size: 4 2025-10-29T00:33:13.727Z,1761697993.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:13.729Z,1761697993.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 486.087524 m, bearing: 26.440019 deg, approach rate: 0.000000 m/s, LOS rate: 0.010490 deg/s, cmd heading: 25.120430 deg, new cmd heading: 25.129376 deg. 2025-10-29T00:33:13.730Z,1761697993.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438590 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:13.817Z,1761697993.817 [DAT](INFO): DAT read: user:420> 2025-10-29T00:33:13.818Z,1761697993.818 [DAT](INFO): DAT read: Tx time:00:33:13.6270 2025-10-29T00:33:13.818Z,1761697993.818 [DAT](INFO): Ping request sent. 2025-10-29T00:33:13.818Z,1761697993.818 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:13.818Z,1761697993.818 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:13.819Z,1761697993.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:33:14.072Z,1761697994.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253027 2025-10-29T00:33:14.093Z,1761697994.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906276,-0.407564,-0.112057],[0.419262,0.900450,0.115798],[0.053706,-0.151926,0.986932]] 2025-10-29T00:33:14.147Z,1761697994.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:14.153Z,1761697994.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:14.157Z,1761697994.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 485.824341 m, bearing: 26.447681 deg, approach rate: -0.613123 m/s, LOS rate: 0.017859 deg/s, cmd heading: 25.129376 deg, new cmd heading: 25.144707 deg. 2025-10-29T00:33:14.159Z,1761697994.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.438858 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:14.321Z,1761697994.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502915 2025-10-29T00:33:14.470Z,1761697994.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906778,-0.406189,-0.112978],[0.418174,0.900631,0.118294],[0.053702,-0.154511,0.986531]] 2025-10-29T00:33:14.490Z,1761697994.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:14.493Z,1761697994.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 485.615997 m, bearing: 26.453778 deg, approach rate: -0.615501 m/s, LOS rate: 0.018021 deg/s, cmd heading: 25.144708 deg, new cmd heading: 25.156908 deg. 2025-10-29T00:33:14.494Z,1761697994.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439071 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:14.573Z,1761697994.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755363 2025-10-29T00:33:14.825Z,1761697994.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006919 2025-10-29T00:33:14.894Z,1761697994.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907265,-0.405176,-0.112709],[0.417152,0.901043,0.118767],[0.053433,-0.154770,0.986504]] 2025-10-29T00:33:14.937Z,1761697994.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:14.940Z,1761697994.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 485.356445 m, bearing: 26.461417 deg, approach rate: -0.580879 m/s, LOS rate: 0.017106 deg/s, cmd heading: 25.156908 deg, new cmd heading: 25.172195 deg. 2025-10-29T00:33:14.941Z,1761697994.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439338 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:15.081Z,1761697995.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261790 2025-10-29T00:33:15.279Z,1761697995.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907302,-0.405310,-0.111924],[0.417027,0.901428,0.116260],[0.053770,-0.152159,0.986892]] 2025-10-29T00:33:15.322Z,1761697995.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:15.325Z,1761697995.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 485.109650 m, bearing: 26.468291 deg, approach rate: -0.640555 m/s, LOS rate: 0.017850 deg/s, cmd heading: 25.172194 deg, new cmd heading: 25.185949 deg. 2025-10-29T00:33:15.326Z,1761697995.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439578 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:15.329Z,1761697995.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511014 2025-10-29T00:33:15.581Z,1761697995.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762886 2025-10-29T00:33:15.731Z,1761697995.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:15.734Z,1761697995.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 484.853394 m, bearing: 26.475436 deg, approach rate: -0.627233 m/s, LOS rate: 0.017497 deg/s, cmd heading: 25.185949 deg, new cmd heading: 25.200245 deg. 2025-10-29T00:33:15.735Z,1761697995.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439827 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:15.833Z,1761697995.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015029 2025-10-29T00:33:16.088Z,1761697996.088 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269185 2025-10-29T00:33:16.129Z,1761697996.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907151,-0.406605,-0.108393],[0.417371,0.902225,0.108583],[0.053645,-0.143742,0.988160]] 2025-10-29T00:33:16.186Z,1761697996.186 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:16.188Z,1761697996.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:16.191Z,1761697996.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 484.572021 m, bearing: 26.482209 deg, approach rate: -0.615831 m/s, LOS rate: 0.014833 deg/s, cmd heading: 25.200246 deg, new cmd heading: 25.213800 deg. 2025-10-29T00:33:16.191Z,1761697996.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440064 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:16.337Z,1761697996.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519000 2025-10-29T00:33:16.525Z,1761697996.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907018,-0.406982,-0.108093],[0.417690,0.902107,0.108340],[0.053419,-0.143415,0.988220]] 2025-10-29T00:33:16.554Z,1761697996.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:16.557Z,1761697996.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 484.345306 m, bearing: 26.487664 deg, approach rate: -0.618708 m/s, LOS rate: 0.014894 deg/s, cmd heading: 25.213800 deg, new cmd heading: 25.224715 deg. 2025-10-29T00:33:16.558Z,1761697996.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440254 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:16.597Z,1761697996.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778655 2025-10-29T00:33:16.849Z,1761697996.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030841 2025-10-29T00:33:16.928Z,1761697996.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907108,-0.406823,-0.107940],[0.417534,0.902124,0.108797],[0.053114,-0.143760,0.988186]] 2025-10-29T00:33:16.947Z,1761697996.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:16.949Z,1761697996.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 484.103180 m, bearing: 26.493499 deg, approach rate: -0.617041 m/s, LOS rate: 0.014878 deg/s, cmd heading: 25.224715 deg, new cmd heading: 25.236391 deg. 2025-10-29T00:33:16.950Z,1761697996.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440458 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:17.105Z,1761697997.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286218 2025-10-29T00:33:17.331Z,1761697997.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907209,-0.406710,-0.107516],[0.417408,0.902075,0.109691],[0.052375,-0.144391,0.988134]] 2025-10-29T00:33:17.353Z,1761697997.353 [DAT](INFO): DAT read: Rx Time:00:33:16.6888 2025-10-29T00:33:17.353Z,1761697997.353 [DAT](INFO): Rx dataTimestamp_ set to:1761697997.353228 2025-10-29T00:33:17.354Z,1761697997.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.536067 2025-10-29T00:33:17.381Z,1761697997.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:17.383Z,1761697997.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 483.830261 m, bearing: 26.498914 deg, approach rate: -0.628754 m/s, LOS rate: 0.012483 deg/s, cmd heading: 25.236391 deg, new cmd heading: 25.247228 deg. 2025-10-29T00:33:17.385Z,1761697997.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440647 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:17.605Z,1761697997.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.787242 2025-10-29T00:33:17.733Z,1761697997.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907234,-0.406441,-0.108317],[0.417401,0.901744,0.112400],[0.051990,-0.147185,0.987742]] 2025-10-29T00:33:17.774Z,1761697997.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 492.98 m. 2025-10-29T00:33:17.778Z,1761697997.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 492.977020 m, nav range: 483.595428 m, bearing: 26.503573 deg, approach rate: -0.597356 m/s, LOS rate: 0.011857 deg/s, cmd heading: 25.247227 deg, new cmd heading: 25.256550 deg. 2025-10-29T00:33:17.779Z,1761697997.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.440810 target range: 492.977020 and range: 495.60 m. 2025-10-29T00:33:17.876Z,1761697997.876 [DAT](INFO): DAT read: 00:33:16.6887 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 406,-0.11,-2.988, 1.846,-2.850, 2.944, PHS= 0.453,-1.053, 0.445, RAW= 149.7, 2.1, CAL= 148.7, 1.9, ROT= 1.3, -1.9 2025-10-29T00:33:17.886Z,1761697997.886 [DAT](INFO): got valid direction response: 00:33:16.6887 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 406,-0.11,-2.988, 1.846,-2.850, 2.944, PHS= 0.453,-1.053, 0.445, RAW= 149.7, 2.1, CAL= 148.7, 1.9, ROT= 1.3, -1.9 2025-10-29T00:33:17.887Z,1761697997.887 [DAT](INFO): DAT read: Bearing 174.3, 4.0 (Local) 2025-10-29T00:33:17.887Z,1761697997.887 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, 4.0 (Local) 2025-10-29T00:33:17.895Z,1761697997.895 [DAT](INFO): DAT read: Range 11 to 50 : 493.2 m (Round-trip 657.7 ms) speed 0.0 m/s 2025-10-29T00:33:17.896Z,1761697997.896 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:17.897Z,1761697997.897 [DAT](INFO): direction in FSK: [0.999193,0.022675,0.033155] 2025-10-29T00:33:17.898Z,1761697997.898 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:17.906Z,1761697997.906 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:17.906Z,1761697997.906 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:17.906Z,1761697997.906 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:18.111Z,1761697998.111 [DAT](INFO): DAT read: user:421> 2025-10-29T00:33:18.115Z,1761697998.115 [DAT](INFO): DAT read: Tx time:00:33:17.9269 2025-10-29T00:33:18.117Z,1761697998.117 [DAT](INFO): Ping request sent. 2025-10-29T00:33:18.118Z,1761697998.118 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:18.119Z,1761697998.119 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:18.129Z,1761697998.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.011535 2025-10-29T00:33:18.192Z,1761697998.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907146,-0.406669,-0.108197],[0.417623,0.901612,0.112639],[0.051745,-0.147365,0.987728]] 2025-10-29T00:33:18.239Z,1761697998.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 493.200012 m, deltaT: 4.292324 s, deltaX: -2.399994 m, approachRate: -0.559136 m/s, rangeRepo size: 4 2025-10-29T00:33:18.242Z,1761697998.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 490.594330 m, bearing: 26.290560 deg, lat: 36.779199 deg, lon: -121.858981 deg, deltaT: 4.292324 s, deltaX: -2.382690 m, approachRate: -0.555105 m/s, posRepo size: 4 2025-10-29T00:33:18.242Z,1761697998.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:18.247Z,1761697998.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 483.680115 m, bearing: 26.599555 deg, approach rate: 0.000000 m/s, LOS rate: 0.011857 deg/s, cmd heading: 25.256549 deg, new cmd heading: 25.267563 deg. 2025-10-29T00:33:18.248Z,1761697998.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441002 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:18.361Z,1761697998.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244528 2025-10-29T00:33:18.538Z,1761697998.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906887,-0.407306,-0.107970],[0.418225,0.901326,0.112691],[0.051416,-0.147354,0.987747]] 2025-10-29T00:33:18.562Z,1761697998.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:18.564Z,1761697998.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:18.567Z,1761697998.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 483.474304 m, bearing: 26.602833 deg, approach rate: -0.631133 m/s, LOS rate: 0.010056 deg/s, cmd heading: 25.267563 deg, new cmd heading: 25.274121 deg. 2025-10-29T00:33:18.568Z,1761697998.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441117 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:18.614Z,1761697998.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496788 2025-10-29T00:33:18.865Z,1761697998.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747987 2025-10-29T00:33:18.944Z,1761697998.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906627,-0.407893,-0.107934],[0.418818,0.901014,0.112982],[0.051165,-0.147637,0.987717]] 2025-10-29T00:33:18.968Z,1761697998.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:18.971Z,1761697998.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 483.221558 m, bearing: 26.606841 deg, approach rate: -0.626252 m/s, LOS rate: 0.009937 deg/s, cmd heading: 25.274121 deg, new cmd heading: 25.282142 deg. 2025-10-29T00:33:18.972Z,1761697998.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441257 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:19.120Z,1761697999.120 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002458 2025-10-29T00:33:19.346Z,1761697999.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906129,-0.409241,-0.107017],[0.419895,0.900819,0.110512],[0.051176,-0.145074,0.988096]] 2025-10-29T00:33:19.369Z,1761697999.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252081 2025-10-29T00:33:19.395Z,1761697999.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:19.398Z,1761697999.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 482.952698 m, bearing: 26.609806 deg, approach rate: -0.629417 m/s, LOS rate: 0.006944 deg/s, cmd heading: 25.282142 deg, new cmd heading: 25.288074 deg. 2025-10-29T00:33:19.399Z,1761697999.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441360 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:19.621Z,1761697999.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504054 2025-10-29T00:33:19.760Z,1761697999.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905740,-0.410457,-0.105642],[0.420760,0.900755,0.107711],[0.050947,-0.142008,0.988554]] 2025-10-29T00:33:19.785Z,1761697999.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:19.787Z,1761697999.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 482.707062 m, bearing: 26.612493 deg, approach rate: -0.630874 m/s, LOS rate: 0.006904 deg/s, cmd heading: 25.288074 deg, new cmd heading: 25.293450 deg. 2025-10-29T00:33:19.788Z,1761697999.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441454 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:19.875Z,1761697999.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757803 2025-10-29T00:33:20.127Z,1761698000.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009872 2025-10-29T00:33:20.187Z,1761698000.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905249,-0.411581,-0.105473],[0.421831,0.900308,0.107257],[0.050813,-0.141586,0.988621]] 2025-10-29T00:33:20.240Z,1761698000.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:20.242Z,1761698000.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 482.421448 m, bearing: 26.614830 deg, approach rate: -0.650210 m/s, LOS rate: 0.005323 deg/s, cmd heading: 25.293451 deg, new cmd heading: 25.298127 deg. 2025-10-29T00:33:20.243Z,1761698000.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441536 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:20.377Z,1761698000.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260055 2025-10-29T00:33:20.562Z,1761698000.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904913,-0.412384,-0.105219],[0.422604,0.899921,0.107460],[0.050374,-0.141708,0.988626]] 2025-10-29T00:33:20.580Z,1761698000.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:20.582Z,1761698000.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:20.585Z,1761698000.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 482.188599 m, bearing: 26.616713 deg, approach rate: -0.649961 m/s, LOS rate: 0.005260 deg/s, cmd heading: 25.298128 deg, new cmd heading: 25.301897 deg. 2025-10-29T00:33:20.586Z,1761698000.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441601 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:20.629Z,1761698000.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512132 2025-10-29T00:33:20.881Z,1761698000.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764075 2025-10-29T00:33:20.966Z,1761698000.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905125,-0.411845,-0.105512],[0.422221,0.899837,0.109653],[0.049783,-0.143799,0.988354]] 2025-10-29T00:33:20.985Z,1761698000.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:20.988Z,1761698000.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 481.926025 m, bearing: 26.618852 deg, approach rate: -0.651185 m/s, LOS rate: 0.005306 deg/s, cmd heading: 25.301896 deg, new cmd heading: 25.306175 deg. 2025-10-29T00:33:20.989Z,1761698000.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441676 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:21.137Z,1761698001.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019915 2025-10-29T00:33:21.370Z,1761698001.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905347,-0.411224,-0.106030],[0.421795,0.899753,0.111954],[0.049363,-0.146080,0.988041]] 2025-10-29T00:33:21.385Z,1761698001.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268120 2025-10-29T00:33:21.453Z,1761698001.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:21.460Z,1761698001.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 481.642487 m, bearing: 26.622077 deg, approach rate: -0.606083 m/s, LOS rate: 0.006897 deg/s, cmd heading: 25.306175 deg, new cmd heading: 25.312629 deg. 2025-10-29T00:33:21.461Z,1761698001.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441789 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:21.638Z,1761698001.638 [DAT](INFO): DAT read: Rx Time:00:33:20.9748 2025-10-29T00:33:21.639Z,1761698001.639 [DAT](INFO): Rx dataTimestamp_ set to:1761698001.638519 2025-10-29T00:33:21.640Z,1761698001.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523428 2025-10-29T00:33:21.785Z,1761698001.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905651,-0.410649,-0.105658],[0.421251,0.899797,0.113632],[0.048408,-0.147419,0.987889]] 2025-10-29T00:33:21.804Z,1761698001.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 490.59 m. 2025-10-29T00:33:21.807Z,1761698001.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 490.594330 m, nav range: 481.402435 m, bearing: 26.624827 deg, approach rate: -0.683198 m/s, LOS rate: 0.007831 deg/s, cmd heading: 25.312628 deg, new cmd heading: 25.318132 deg. 2025-10-29T00:33:21.808Z,1761698001.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441885 target range: 490.594330 and range: 493.20 m. 2025-10-29T00:33:21.889Z,1761698001.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772224 2025-10-29T00:33:22.174Z,1761698002.174 [DAT](INFO): DAT read: 00:33:20.9748 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 300,-0.28,-0.208,-1.754,-0.050,-0.555, PHS= 0.449,-1.154, 0.461, RAW= 150.4, 3.1, CAL= 149.4, 2.9, ROT= 0.6, -2.9 2025-10-29T00:33:22.187Z,1761698002.187 [DAT](INFO): got valid direction response: 00:33:20.9748 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 300,-0.28,-0.208,-1.754,-0.050,-0.555, PHS= 0.449,-1.154, 0.461, RAW= 150.4, 3.1, CAL= 149.4, 2.9, ROT= 0.6, -2.9 2025-10-29T00:33:22.194Z,1761698002.194 [DAT](INFO): DAT read: Bearing 175.6, 2.7 (Local) 2025-10-29T00:33:22.195Z,1761698002.195 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, 2.7 (Local) 2025-10-29T00:33:22.206Z,1761698002.206 [DAT](INFO): DAT read: Range 11 to 50 : 482.7 m (Round-trip 643.7 ms) speed 0.7 m/s 2025-10-29T00:33:22.207Z,1761698002.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:22.208Z,1761698002.208 [DAT](INFO): direction in FSK: [0.998665,0.010458,0.050593] 2025-10-29T00:33:22.212Z,1761698002.212 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:22.215Z,1761698002.215 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:22.215Z,1761698002.215 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:22.256Z,1761698002.256 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:22.354Z,1761698002.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 482.700012 m, deltaT: 4.284716 s, deltaX: -10.500000 m, approachRate: -2.450571 m/s, rangeRepo size: 4 2025-10-29T00:33:22.356Z,1761698002.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 480.151276 m, bearing: 25.970198 deg, lat: 36.779196 deg, lon: -121.858990 deg, deltaT: 4.284716 s, deltaX: -10.443054 m, approachRate: -2.437280 m/s, posRepo size: 4 2025-10-29T00:33:22.357Z,1761698002.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:22.359Z,1761698002.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 480.325073 m, bearing: 26.557842 deg, approach rate: 0.000000 m/s, LOS rate: 0.007831 deg/s, cmd heading: 25.318132 deg, new cmd heading: 25.326725 deg. 2025-10-29T00:33:22.360Z,1761698002.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442035 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:22.393Z,1761698002.393 [DAT](INFO): DAT read: user:422> 2025-10-29T00:33:22.394Z,1761698002.394 [DAT](INFO): DAT read: Tx time:00:33:22.2769 2025-10-29T00:33:22.395Z,1761698002.395 [DAT](INFO): Ping request sent. 2025-10-29T00:33:22.395Z,1761698002.395 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:22.395Z,1761698002.395 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:22.396Z,1761698002.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001272 2025-10-29T00:33:22.647Z,1761698002.647 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251482 2025-10-29T00:33:22.650Z,1761698002.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906087,-0.409928,-0.104716],[0.420493,0.899893,0.115665],[0.046818,-0.148835,0.987753]] 2025-10-29T00:33:22.688Z,1761698002.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:22.691Z,1761698002.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:22.694Z,1761698002.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 480.103607 m, bearing: 26.560540 deg, approach rate: -0.654605 m/s, LOS rate: 0.007977 deg/s, cmd heading: 25.326726 deg, new cmd heading: 25.332124 deg. 2025-10-29T00:33:22.695Z,1761698002.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442129 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:22.897Z,1761698002.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502241 2025-10-29T00:33:23.044Z,1761698003.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905918,-0.410478,-0.104020],[0.420893,0.899823,0.114749],[0.046497,-0.147735,0.987933]] 2025-10-29T00:33:23.063Z,1761698003.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:23.065Z,1761698003.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 479.863098 m, bearing: 26.563460 deg, approach rate: -0.647881 m/s, LOS rate: 0.007871 deg/s, cmd heading: 25.332123 deg, new cmd heading: 25.337967 deg. 2025-10-29T00:33:23.066Z,1761698003.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442231 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:23.153Z,1761698003.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758032 2025-10-29T00:33:23.401Z,1761698003.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006168 2025-10-29T00:33:23.446Z,1761698003.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905814,-0.410832,-0.103531],[0.421175,0.899681,0.114831],[0.045969,-0.147620,0.987975]] 2025-10-29T00:33:23.493Z,1761698003.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:23.512Z,1761698003.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 479.591858 m, bearing: 26.568224 deg, approach rate: -0.630113 m/s, LOS rate: 0.011073 deg/s, cmd heading: 25.337966 deg, new cmd heading: 25.347499 deg. 2025-10-29T00:33:23.513Z,1761698003.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442397 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:23.654Z,1761698003.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258565 2025-10-29T00:33:23.850Z,1761698003.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905840,-0.410862,-0.103178],[0.421197,0.899547,0.115797],[0.045236,-0.148352,0.987899]] 2025-10-29T00:33:23.875Z,1761698003.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:23.878Z,1761698003.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 479.351135 m, bearing: 26.572456 deg, approach rate: -0.630316 m/s, LOS rate: 0.011086 deg/s, cmd heading: 25.347500 deg, new cmd heading: 25.355968 deg. 2025-10-29T00:33:23.879Z,1761698003.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442545 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:23.905Z,1761698003.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510152 2025-10-29T00:33:24.158Z,1761698004.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763451 2025-10-29T00:33:24.257Z,1761698004.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905738,-0.411071,-0.103243],[0.421467,0.899270,0.116957],[0.044766,-0.149446,0.987756]] 2025-10-29T00:33:24.294Z,1761698004.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:24.296Z,1761698004.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 479.091431 m, bearing: 26.578020 deg, approach rate: -0.620430 m/s, LOS rate: 0.013300 deg/s, cmd heading: 25.355967 deg, new cmd heading: 25.367102 deg. 2025-10-29T00:33:24.297Z,1761698004.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442739 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:24.409Z,1761698004.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014173 2025-10-29T00:33:24.661Z,1761698004.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266511 2025-10-29T00:33:24.670Z,1761698004.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.905360,-0.412139,-0.102298],[0.422299,0.899129,0.115027],[0.044572,-0.147342,0.988081]] 2025-10-29T00:33:24.689Z,1761698004.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:24.691Z,1761698004.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 478.846222 m, bearing: 26.583254 deg, approach rate: -0.620793 m/s, LOS rate: 0.013256 deg/s, cmd heading: 25.367102 deg, new cmd heading: 25.377575 deg. 2025-10-29T00:33:24.704Z,1761698004.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442922 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:24.913Z,1761698004.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518166 2025-10-29T00:33:25.062Z,1761698005.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904970,-0.413087,-0.101924],[0.423123,0.898918,0.113635],[0.044681,-0.145963,0.988281]] 2025-10-29T00:33:25.103Z,1761698005.103 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:25.106Z,1761698005.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:25.112Z,1761698005.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 478.598541 m, bearing: 26.588519 deg, approach rate: -0.594061 m/s, LOS rate: 0.012637 deg/s, cmd heading: 25.377575 deg, new cmd heading: 25.388112 deg. 2025-10-29T00:33:25.113Z,1761698005.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443106 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:25.165Z,1761698005.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770298 2025-10-29T00:33:25.417Z,1761698005.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022136 2025-10-29T00:33:25.466Z,1761698005.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904556,-0.414392,-0.100292],[0.423999,0.899012,0.109558],[0.044764,-0.141625,0.988908]] 2025-10-29T00:33:25.516Z,1761698005.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:25.518Z,1761698005.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 478.336639 m, bearing: 26.594975 deg, approach rate: -0.638526 m/s, LOS rate: 0.015747 deg/s, cmd heading: 25.388112 deg, new cmd heading: 25.401030 deg. 2025-10-29T00:33:25.519Z,1761698005.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443332 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:25.670Z,1761698005.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274776 2025-10-29T00:33:25.870Z,1761698005.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904073,-0.415842,-0.098627],[0.424994,0.899102,0.104861],[0.045070,-0.136717,0.989584]] 2025-10-29T00:33:25.890Z,1761698005.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:25.892Z,1761698005.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 478.107697 m, bearing: 26.600598 deg, approach rate: -0.612410 m/s, LOS rate: 0.015050 deg/s, cmd heading: 25.401030 deg, new cmd heading: 25.412282 deg. 2025-10-29T00:33:25.893Z,1761698005.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443528 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:25.921Z,1761698005.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127 2025-10-29T00:33:26.173Z,1761698006.173 [DAT](INFO): DAT read: Rx Time:00:33:25.3315 2025-10-29T00:33:26.174Z,1761698006.174 [DAT](INFO): Rx dataTimestamp_ set to:1761698006.173280 2025-10-29T00:33:26.174Z,1761698006.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779372 2025-10-29T00:33:26.278Z,1761698006.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903843,-0.416481,-0.098033],[0.425466,0.899091,0.103022],[0.045234,-0.134825,0.989836]] 2025-10-29T00:33:26.321Z,1761698006.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:26.324Z,1761698006.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 477.842804 m, bearing: 26.607599 deg, approach rate: -0.613474 m/s, LOS rate: 0.016223 deg/s, cmd heading: 25.412282 deg, new cmd heading: 25.426292 deg. 2025-10-29T00:33:26.325Z,1761698006.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.443773 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:26.425Z,1761698006.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030275 2025-10-29T00:33:26.682Z,1761698006.682 [DAT](INFO): DAT read: 00:33:25.3315 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.07,-1.868, 3.054,-1.560,-1.804, PHS= 0.038,-1.380, 0.200, RAW= 155.4, 15.0, CAL= 156.0, 17.2, ROT= 354.0, -17.2 2025-10-29T00:33:26.684Z,1761698006.684 [DAT](INFO): got valid direction response: 00:33:25.3315 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 399, 0.07,-1.868, 3.054,-1.560,-1.804, PHS= 0.038,-1.380, 0.200, RAW= 155.4, 15.0, CAL= 156.0, 17.2, ROT= 354.0, -17.2 2025-10-29T00:33:26.684Z,1761698006.684 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:33:26.685Z,1761698006.685 [DAT](INFO): Received a bad header 2025-10-29T00:33:26.687Z,1761698006.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903929,-0.416281,-0.098098],[0.425297,0.899116,0.103501],[0.045116,-0.135278,0.989780]] 2025-10-29T00:33:26.696Z,1761698006.696 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:33:26.697Z,1761698006.697 [DAT](INFO): direction in FSK: [0.950045,-0.099854,0.295708] 2025-10-29T00:33:26.709Z,1761698006.709 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:26.709Z,1761698006.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:26.709Z,1761698006.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:26.794Z,1761698006.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:26.801Z,1761698006.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 477.566528 m, bearing: 26.614916 deg, approach rate: -0.584809 m/s, LOS rate: 0.015497 deg/s, cmd heading: 25.426293 deg, new cmd heading: 25.440935 deg. 2025-10-29T00:33:26.801Z,1761698006.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444028 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:26.929Z,1761698006.929 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:26.929Z,1761698006.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:26.929Z,1761698006.929 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:27.103Z,1761698007.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903982,-0.416111,-0.098328],[0.425183,0.899111,0.104014],[0.045126,-0.135834,0.989703]] 2025-10-29T00:33:27.121Z,1761698007.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:27.123Z,1761698007.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:27.129Z,1761698007.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 477.351135 m, bearing: 26.620629 deg, approach rate: -0.654380 m/s, LOS rate: 0.017363 deg/s, cmd heading: 25.440935 deg, new cmd heading: 25.452365 deg. 2025-10-29T00:33:27.131Z,1761698007.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444228 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:27.181Z,1761698007.181 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:27.181Z,1761698007.181 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:27.181Z,1761698007.181 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:27.433Z,1761698007.433 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:27.433Z,1761698007.433 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:27.433Z,1761698007.433 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:27.511Z,1761698007.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903965,-0.416104,-0.098512],[0.425219,0.899049,0.104401],[0.045125,-0.136264,0.989644]] 2025-10-29T00:33:27.603Z,1761698007.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:27.613Z,1761698007.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 477.073547 m, bearing: 26.627808 deg, approach rate: -0.578740 m/s, LOS rate: 0.014976 deg/s, cmd heading: 25.452365 deg, new cmd heading: 25.466732 deg. 2025-10-29T00:33:27.614Z,1761698007.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444478 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:27.685Z,1761698007.685 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:27.685Z,1761698007.685 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:27.685Z,1761698007.685 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:27.937Z,1761698007.937 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:27.937Z,1761698007.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:27.938Z,1761698007.938 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:27.991Z,1761698007.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903772,-0.416451,-0.098819],[0.425612,0.898847,0.104543],[0.045286,-0.136541,0.989599]] 2025-10-29T00:33:28.030Z,1761698008.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:28.037Z,1761698008.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 476.808014 m, bearing: 26.634669 deg, approach rate: -0.620665 m/s, LOS rate: 0.016045 deg/s, cmd heading: 25.466733 deg, new cmd heading: 25.480462 deg. 2025-10-29T00:33:28.038Z,1761698008.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444718 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:28.189Z,1761698008.189 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:28.189Z,1761698008.189 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:28.189Z,1761698008.189 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:28.386Z,1761698008.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903930,-0.415925,-0.099581],[0.425261,0.898843,0.105991],[0.045423,-0.138157,0.989368]] 2025-10-29T00:33:28.424Z,1761698008.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:28.427Z,1761698008.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 476.560883 m, bearing: 26.639883 deg, approach rate: -0.628607 m/s, LOS rate: 0.013271 deg/s, cmd heading: 25.480461 deg, new cmd heading: 25.490896 deg. 2025-10-29T00:33:28.428Z,1761698008.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444900 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:28.441Z,1761698008.441 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:28.441Z,1761698008.441 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:28.441Z,1761698008.441 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:28.694Z,1761698008.694 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:28.694Z,1761698008.694 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:28.694Z,1761698008.694 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:28.792Z,1761698008.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903919,-0.415879,-0.099873],[0.425282,0.898766,0.106564],[0.045445,-0.138799,0.989277]] 2025-10-29T00:33:28.811Z,1761698008.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:28.813Z,1761698008.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 476.322479 m, bearing: 26.644917 deg, approach rate: -0.615899 m/s, LOS rate: 0.013011 deg/s, cmd heading: 25.490896 deg, new cmd heading: 25.500969 deg. 2025-10-29T00:33:28.814Z,1761698008.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445076 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:28.945Z,1761698008.945 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:28.945Z,1761698008.945 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:28.945Z,1761698008.945 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:29.117Z,1761698009.117 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:33:29.191Z,1761698009.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903784,-0.416076,-0.100281],[0.425558,0.898575,0.107069],[0.045561,-0.139442,0.989182]] 2025-10-29T00:33:29.197Z,1761698009.197 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:29.197Z,1761698009.197 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:29.197Z,1761698009.197 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:29.311Z,1761698009.311 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:29.313Z,1761698009.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:29.315Z,1761698009.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 476.027069 m, bearing: 26.651150 deg, approach rate: -0.588021 m/s, LOS rate: 0.012414 deg/s, cmd heading: 25.500969 deg, new cmd heading: 25.513442 deg. 2025-10-29T00:33:29.317Z,1761698009.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445294 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:29.449Z,1761698009.449 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:29.449Z,1761698009.449 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:29.449Z,1761698009.449 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:29.605Z,1761698009.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903692,-0.416057,-0.101178],[0.425758,0.898241,0.109061],[0.045507,-0.141635,0.988872]] 2025-10-29T00:33:29.683Z,1761698009.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:29.686Z,1761698009.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 475.792786 m, bearing: 26.655433 deg, approach rate: -0.632947 m/s, LOS rate: 0.011577 deg/s, cmd heading: 25.513443 deg, new cmd heading: 25.522013 deg. 2025-10-29T00:33:29.687Z,1761698009.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445443 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:29.701Z,1761698009.701 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:29.701Z,1761698009.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:29.701Z,1761698009.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:29.953Z,1761698009.953 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:29.953Z,1761698009.953 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:29.953Z,1761698009.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:30.018Z,1761698010.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903590,-0.416189,-0.101549],[0.426001,0.897970,0.110335],[0.045267,-0.142958,0.988693]] 2025-10-29T00:33:30.053Z,1761698010.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:30.061Z,1761698010.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 475.558990 m, bearing: 26.659702 deg, approach rate: -0.631340 m/s, LOS rate: 0.011533 deg/s, cmd heading: 25.522013 deg, new cmd heading: 25.530555 deg. 2025-10-29T00:33:30.062Z,1761698010.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445592 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:30.121Z,1761698010.121 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:33:30.205Z,1761698010.205 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:30.205Z,1761698010.205 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:30.205Z,1761698010.205 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:30.411Z,1761698010.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903405,-0.416480,-0.102002],[0.426384,0.897709,0.110975],[0.045349,-0.143747,0.988575]] 2025-10-29T00:33:30.457Z,1761698010.457 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:30.457Z,1761698010.457 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:30.457Z,1761698010.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:30.463Z,1761698010.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:30.466Z,1761698010.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 475.299225 m, bearing: 26.663476 deg, approach rate: -0.634282 m/s, LOS rate: 0.009221 deg/s, cmd heading: 25.530554 deg, new cmd heading: 25.538106 deg. 2025-10-29T00:33:30.467Z,1761698010.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445724 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:30.709Z,1761698010.709 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:30.709Z,1761698010.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:30.709Z,1761698010.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:30.815Z,1761698010.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903090,-0.417213,-0.101798],[0.427075,0.897401,0.110806],[0.045124,-0.143543,0.988615]] 2025-10-29T00:33:30.834Z,1761698010.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:30.837Z,1761698010.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 475.066559 m, bearing: 26.666839 deg, approach rate: -0.626806 m/s, LOS rate: 0.009064 deg/s, cmd heading: 25.538106 deg, new cmd heading: 25.544835 deg. 2025-10-29T00:33:30.838Z,1761698010.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445841 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:30.961Z,1761698010.961 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:30.961Z,1761698010.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:30.961Z,1761698010.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:31.213Z,1761698011.213 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:31.213Z,1761698011.213 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:31.213Z,1761698011.213 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:31.220Z,1761698011.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902950,-0.417447,-0.102073],[0.427362,0.897227,0.111109],[0.045201,-0.143948,0.988552]] 2025-10-29T00:33:31.286Z,1761698011.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:31.308Z,1761698011.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 474.801025 m, bearing: 26.670669 deg, approach rate: -0.588459 m/s, LOS rate: 0.008493 deg/s, cmd heading: 25.544836 deg, new cmd heading: 25.552501 deg. 2025-10-29T00:33:31.316Z,1761698011.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445975 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:31.465Z,1761698011.465 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:31.465Z,1761698011.465 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:31.465Z,1761698011.465 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:31.632Z,1761698011.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902647,-0.418057,-0.102260],[0.427991,0.896938,0.111024],[0.045307,-0.143982,0.988543]] 2025-10-29T00:33:31.695Z,1761698011.695 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:31.698Z,1761698011.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:31.700Z,1761698011.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 474.526123 m, bearing: 26.673649 deg, approach rate: -0.666925 m/s, LOS rate: 0.007233 deg/s, cmd heading: 25.552501 deg, new cmd heading: 25.558464 deg. 2025-10-29T00:33:31.701Z,1761698011.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446079 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:31.717Z,1761698011.717 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:31.717Z,1761698011.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:31.717Z,1761698011.717 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:31.969Z,1761698011.969 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:31.969Z,1761698011.969 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:31.969Z,1761698011.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:32.038Z,1761698012.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902609,-0.418136,-0.102268],[0.428121,0.896737,0.112140],[0.044818,-0.145001,0.988416]] 2025-10-29T00:33:32.076Z,1761698012.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:32.079Z,1761698012.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 474.287750 m, bearing: 26.676230 deg, approach rate: -0.629111 m/s, LOS rate: 0.006816 deg/s, cmd heading: 25.558464 deg, new cmd heading: 25.563629 deg. 2025-10-29T00:33:32.080Z,1761698012.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446169 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:32.221Z,1761698012.221 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:32.221Z,1761698012.221 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:32.221Z,1761698012.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:33:32.436Z,1761698012.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902527,-0.418316,-0.102257],[0.428313,0.896605,0.112461],[0.044640,-0.145297,0.988380]] 2025-10-29T00:33:32.473Z,1761698012.473 [DAT](INFO): Reached modem response timeout 2025-10-29T00:33:32.473Z,1761698012.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:32.473Z,1761698012.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:32.476Z,1761698012.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:32.479Z,1761698012.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 474.031525 m, bearing: 26.679519 deg, approach rate: -0.647806 m/s, LOS rate: 0.008320 deg/s, cmd heading: 25.563629 deg, new cmd heading: 25.570211 deg. 2025-10-29T00:33:32.500Z,1761698012.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446284 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:32.725Z,1761698012.725 [DAT](INFO): DAT read: 2025-10-29T00:33:32.725Z,1761698012.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:32.839Z,1761698012.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902498,-0.418412,-0.102120],[0.428404,0.896515,0.112828],[0.044343,-0.145576,0.988353]] 2025-10-29T00:33:32.869Z,1761698012.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:32.872Z,1761698012.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 473.774048 m, bearing: 26.682824 deg, approach rate: -0.647898 m/s, LOS rate: 0.008322 deg/s, cmd heading: 25.570212 deg, new cmd heading: 25.576826 deg. 2025-10-29T00:33:32.873Z,1761698012.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446400 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:32.977Z,1761698012.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:33.229Z,1761698013.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:33.244Z,1761698013.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902429,-0.418562,-0.102113],[0.428577,0.896366,0.113356],[0.044084,-0.146059,0.988293]] 2025-10-29T00:33:33.263Z,1761698013.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:33.265Z,1761698013.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 473.519226 m, bearing: 26.686093 deg, approach rate: -0.648121 m/s, LOS rate: 0.008318 deg/s, cmd heading: 25.576827 deg, new cmd heading: 25.583367 deg. 2025-10-29T00:33:33.266Z,1761698013.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446514 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:33.482Z,1761698013.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:33.735Z,1761698013.735 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:33.783Z,1761698013.783 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:33.785Z,1761698013.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:33.787Z,1761698013.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 473.194336 m, bearing: 26.689834 deg, approach rate: -0.622235 m/s, LOS rate: 0.007169 deg/s, cmd heading: 25.583367 deg, new cmd heading: 25.590853 deg. 2025-10-29T00:33:33.788Z,1761698013.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446645 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:33.985Z,1761698013.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:34.110Z,1761698014.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901969,-0.419535,-0.102192],[0.429593,0.895770,0.114218],[0.043622,-0.146922,0.988186]] 2025-10-29T00:33:34.169Z,1761698014.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:34.171Z,1761698014.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 472.970367 m, bearing: 26.692384 deg, approach rate: -0.583315 m/s, LOS rate: 0.006645 deg/s, cmd heading: 25.590852 deg, new cmd heading: 25.595956 deg. 2025-10-29T00:33:34.172Z,1761698014.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446734 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:34.237Z,1761698014.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:34.489Z,1761698014.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:34.597Z,1761698014.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901525,-0.420657,-0.101488],[0.430505,0.895614,0.111985],[0.043787,-0.144649,0.988514]] 2025-10-29T00:33:34.659Z,1761698014.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:34.662Z,1761698014.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 472.644226 m, bearing: 26.696710 deg, approach rate: -0.665025 m/s, LOS rate: 0.008826 deg/s, cmd heading: 25.595956 deg, new cmd heading: 25.604613 deg. 2025-10-29T00:33:34.663Z,1761698014.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.446885 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:34.743Z,1761698014.743 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:34.993Z,1761698014.993 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:33:34.993Z,1761698014.993 [DAT](INFO): response not received 2025-10-29T00:33:34.994Z,1761698014.994 [DAT](INFO): DAT read: user:424>Tx time:00:33:34.7269 2025-10-29T00:33:34.994Z,1761698014.994 [DAT](ERROR): No response from remote modem. 2025-10-29T00:33:34.995Z,1761698014.995 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:34.995Z,1761698014.995 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:35.122Z,1761698015.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901133,-0.421795,-0.100245],[0.431289,0.895703,0.108192],[0.044155,-0.140730,0.989063]] 2025-10-29T00:33:35.164Z,1761698015.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:35.166Z,1761698015.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 472.332245 m, bearing: 26.700825 deg, approach rate: -0.618228 m/s, LOS rate: 0.008160 deg/s, cmd heading: 25.604614 deg, new cmd heading: 25.612849 deg. 2025-10-29T00:33:35.167Z,1761698015.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447029 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:35.245Z,1761698015.245 [DAT](INFO): DAT read: 2025-10-29T00:33:35.246Z,1761698015.246 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:35.497Z,1761698015.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:35.528Z,1761698015.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900890,-0.422570,-0.099157],[0.431726,0.895972,0.104150],[0.044832,-0.136636,0.989606]] 2025-10-29T00:33:35.585Z,1761698015.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:35.593Z,1761698015.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 472.069763 m, bearing: 26.704817 deg, approach rate: -0.622738 m/s, LOS rate: 0.009478 deg/s, cmd heading: 25.612849 deg, new cmd heading: 25.620839 deg. 2025-10-29T00:33:35.594Z,1761698015.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447168 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:35.749Z,1761698015.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:35.923Z,1761698015.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900689,-0.423061,-0.098894],[0.432030,0.896195,0.100917],[0.045934,-0.133620,0.989968]] 2025-10-29T00:33:35.941Z,1761698015.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:35.943Z,1761698015.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:35.946Z,1761698015.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 471.830719 m, bearing: 26.708451 deg, approach rate: -0.668457 m/s, LOS rate: 0.010165 deg/s, cmd heading: 25.620839 deg, new cmd heading: 25.628109 deg. 2025-10-29T00:33:35.946Z,1761698015.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447295 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:36.002Z,1761698016.002 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:36.253Z,1761698016.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:36.323Z,1761698016.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900969,-0.422353,-0.099358],[0.431371,0.896554,0.100544],[0.046614,-0.133447,0.989959]] 2025-10-29T00:33:36.391Z,1761698016.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:36.413Z,1761698016.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 471.571259 m, bearing: 26.712421 deg, approach rate: -0.580112 m/s, LOS rate: 0.008882 deg/s, cmd heading: 25.628109 deg, new cmd heading: 25.636055 deg. 2025-10-29T00:33:36.417Z,1761698016.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447434 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:36.505Z,1761698016.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:36.727Z,1761698016.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901413,-0.421029,-0.100941],[0.430322,0.896929,0.101693],[0.047722,-0.135105,0.989681]] 2025-10-29T00:33:36.757Z,1761698016.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:36.803Z,1761698016.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:36.805Z,1761698016.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 471.286865 m, bearing: 26.717170 deg, approach rate: -0.689293 m/s, LOS rate: 0.011516 deg/s, cmd heading: 25.636055 deg, new cmd heading: 25.645557 deg. 2025-10-29T00:33:36.806Z,1761698016.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447599 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:37.009Z,1761698017.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:37.139Z,1761698017.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901964,-0.419535,-0.102235],[0.429063,0.897415,0.102724],[0.048650,-0.136519,0.989442]] 2025-10-29T00:33:37.173Z,1761698017.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:37.175Z,1761698017.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 471.061157 m, bearing: 26.720979 deg, approach rate: -0.609862 m/s, LOS rate: 0.010299 deg/s, cmd heading: 25.645557 deg, new cmd heading: 25.653181 deg. 2025-10-29T00:33:37.176Z,1761698017.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447732 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:37.261Z,1761698017.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:37.513Z,1761698017.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:37.537Z,1761698017.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902598,-0.417547,-0.104741],[0.427556,0.897847,0.105195],[0.050118,-0.139732,0.988920]] 2025-10-29T00:33:37.594Z,1761698017.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:37.601Z,1761698017.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 470.796875 m, bearing: 26.726968 deg, approach rate: -0.627376 m/s, LOS rate: 0.014224 deg/s, cmd heading: 25.653180 deg, new cmd heading: 25.665163 deg. 2025-10-29T00:33:37.602Z,1761698017.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447942 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:37.765Z,1761698017.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:37.938Z,1761698017.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903056,-0.415950,-0.107122],[0.426392,0.898201,0.106882],[0.051760,-0.142196,0.988484]] 2025-10-29T00:33:37.972Z,1761698017.972 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:37.974Z,1761698017.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:37.977Z,1761698017.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 470.552338 m, bearing: 26.732551 deg, approach rate: -0.643724 m/s, LOS rate: 0.014704 deg/s, cmd heading: 25.665163 deg, new cmd heading: 25.676335 deg. 2025-10-29T00:33:37.978Z,1761698017.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448137 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:38.017Z,1761698018.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:38.269Z,1761698018.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:38.342Z,1761698018.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903493,-0.414048,-0.110742],[0.425239,0.898271,0.110824],[0.053589,-0.147221,0.987651]] 2025-10-29T00:33:38.361Z,1761698018.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:38.391Z,1761698018.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 470.294983 m, bearing: 26.738466 deg, approach rate: -0.664531 m/s, LOS rate: 0.015282 deg/s, cmd heading: 25.676334 deg, new cmd heading: 25.688170 deg. 2025-10-29T00:33:38.399Z,1761698018.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448343 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:38.522Z,1761698018.522 [DAT](INFO): DAT read: Rx Time:00:33:37.7722 2025-10-29T00:33:38.522Z,1761698018.522 [DAT](INFO): Rx dataTimestamp_ set to:1761698018.522049 2025-10-29T00:33:38.523Z,1761698018.523 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:38.773Z,1761698018.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:38.777Z,1761698018.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903776,-0.412367,-0.114641],[0.424383,0.898157,0.114944],[0.055567,-0.152535,0.986735]] 2025-10-29T00:33:38.823Z,1761698018.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 480.15 m. 2025-10-29T00:33:38.827Z,1761698018.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 480.151276 m, nav range: 469.994965 m, bearing: 26.744340 deg, approach rate: -0.649090 m/s, LOS rate: 0.012717 deg/s, cmd heading: 25.688171 deg, new cmd heading: 25.699927 deg. 2025-10-29T00:33:38.828Z,1761698018.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448548 target range: 480.151276 and range: 482.70 m. 2025-10-29T00:33:39.031Z,1761698019.031 [DAT](INFO): DAT read: 00:33:37.7722 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 353, 0.14, 3.040, 1.769,-3.117, 2.790, PHS= 0.352,-0.975, 0.333, RAW= 149.3, 4.4, CAL= 148.5, 4.6, ROT= 1.5, -4.6 2025-10-29T00:33:39.032Z,1761698019.032 [DAT](INFO): got valid direction response: 00:33:37.7722 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 353, 0.14, 3.040, 1.769,-3.117, 2.790, PHS= 0.352,-0.975, 0.333, RAW= 149.3, 4.4, CAL= 148.5, 4.6, ROT= 1.5, -4.6 2025-10-29T00:33:39.033Z,1761698019.033 [DAT](INFO): DAT read: Bearing 177.6, 3.7 (Local) 2025-10-29T00:33:39.034Z,1761698019.034 [DAT](INFO): Local bearing/azimuth received: Bearing 177.6, 3.7 (Local) 2025-10-29T00:33:39.035Z,1761698019.035 [DAT](INFO): DAT read: Range 11 to 50 : 480.9 m (Round-trip 641.2 ms) speed 0.5 m/s 2025-10-29T00:33:39.043Z,1761698019.043 [DAT](INFO): DAT read: user:425>Tx time:00:33:38.8769 2025-10-29T00:33:39.046Z,1761698019.046 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:39.048Z,1761698019.048 [DAT](INFO): direction in FSK: [0.996437,0.026093,0.080199] 2025-10-29T00:33:39.049Z,1761698019.049 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:39.053Z,1761698019.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:39.053Z,1761698019.053 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:39.171Z,1761698019.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903659,-0.411794,-0.117584],[0.424368,0.897945,0.116649],[0.057548,-0.155310,0.986188]] 2025-10-29T00:33:39.219Z,1761698019.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 480.899994 m, deltaT: 16.881517 s, deltaX: -1.800018 m, approachRate: -0.106627 m/s, rangeRepo size: 4 2025-10-29T00:33:39.225Z,1761698019.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 478.346588 m, bearing: 27.366918 deg, lat: 36.779210 deg, lon: -121.858981 deg, deltaT: 16.881517 s, deltaX: -1.804688 m, approachRate: -0.106903 m/s, posRepo size: 4 2025-10-29T00:33:39.226Z,1761698019.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:39.233Z,1761698019.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 471.560883 m, bearing: 26.755301 deg, approach rate: 0.000000 m/s, LOS rate: 0.012717 deg/s, cmd heading: 25.699927 deg, new cmd heading: 25.709974 deg. 2025-10-29T00:33:39.234Z,1761698019.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448724 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:39.277Z,1761698019.277 [DAT](INFO): DAT read: 2025-10-29T00:33:39.277Z,1761698019.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:39.529Z,1761698019.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:39.578Z,1761698019.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903376,-0.411876,-0.119457],[0.424724,0.897820,0.116312],[0.059345,-0.155810,0.986003]] 2025-10-29T00:33:39.650Z,1761698019.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:39.658Z,1761698019.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 471.287964 m, bearing: 26.760825 deg, approach rate: -0.632034 m/s, LOS rate: 0.012800 deg/s, cmd heading: 25.709974 deg, new cmd heading: 25.721029 deg. 2025-10-29T00:33:39.659Z,1761698019.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.448917 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:39.781Z,1761698019.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:39.979Z,1761698019.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.903125,-0.412236,-0.120112],[0.425030,0.897998,0.113794],[0.060950,-0.153822,0.986217]] 2025-10-29T00:33:40.012Z,1761698020.012 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:40.014Z,1761698020.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:40.025Z,1761698020.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 471.054901 m, bearing: 26.765541 deg, approach rate: -0.640094 m/s, LOS rate: 0.012958 deg/s, cmd heading: 25.721029 deg, new cmd heading: 25.730465 deg. 2025-10-29T00:33:40.026Z,1761698020.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449081 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:40.033Z,1761698020.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:40.285Z,1761698020.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:40.385Z,1761698020.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902586,-0.413215,-0.120798],[0.425951,0.897879,0.111260],[0.062487,-0.151876,0.986422]] 2025-10-29T00:33:40.409Z,1761698020.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:40.419Z,1761698020.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 470.802124 m, bearing: 26.770632 deg, approach rate: -0.642944 m/s, LOS rate: 0.012956 deg/s, cmd heading: 25.730465 deg, new cmd heading: 25.740653 deg. 2025-10-29T00:33:40.422Z,1761698020.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449259 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:40.541Z,1761698020.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:40.789Z,1761698020.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:40.789Z,1761698020.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902247,-0.413922,-0.120908],[0.426456,0.898048,0.107907],[0.063916,-0.148921,0.986781]] 2025-10-29T00:33:40.842Z,1761698020.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:40.845Z,1761698020.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 470.530975 m, bearing: 26.775635 deg, approach rate: -0.623773 m/s, LOS rate: 0.011516 deg/s, cmd heading: 25.740652 deg, new cmd heading: 25.750664 deg. 2025-10-29T00:33:40.846Z,1761698020.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449434 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:41.041Z,1761698021.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:41.190Z,1761698021.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901940,-0.414464,-0.121341],[0.426905,0.898118,0.105527],[0.065242,-0.146980,0.986986]] 2025-10-29T00:33:41.215Z,1761698021.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:41.218Z,1761698021.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 470.298553 m, bearing: 26.779916 deg, approach rate: -0.623831 m/s, LOS rate: 0.011497 deg/s, cmd heading: 25.750664 deg, new cmd heading: 25.759231 deg. 2025-10-29T00:33:41.219Z,1761698021.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449583 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:41.294Z,1761698021.294 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:41.545Z,1761698021.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:41.603Z,1761698021.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901547,-0.415179,-0.121819],[0.427577,0.897991,0.103873],[0.066267,-0.145733,0.987102]] 2025-10-29T00:33:41.659Z,1761698021.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:41.662Z,1761698021.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 470.013824 m, bearing: 26.785365 deg, approach rate: -0.640439 m/s, LOS rate: 0.012264 deg/s, cmd heading: 25.759230 deg, new cmd heading: 25.770135 deg. 2025-10-29T00:33:41.663Z,1761698021.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449774 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:41.797Z,1761698021.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:42.004Z,1761698022.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901077,-0.416132,-0.122046],[0.428422,0.897821,0.101844],[0.067194,-0.144056,0.987285]] 2025-10-29T00:33:42.021Z,1761698022.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:42.023Z,1761698022.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:42.026Z,1761698022.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 469.781067 m, bearing: 26.789801 deg, approach rate: -0.639901 m/s, LOS rate: 0.012199 deg/s, cmd heading: 25.770135 deg, new cmd heading: 25.779009 deg. 2025-10-29T00:33:42.027Z,1761698022.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449929 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:42.049Z,1761698022.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:42.301Z,1761698022.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:42.406Z,1761698022.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900780,-0.416698,-0.122308],[0.429033,0.897514,0.101975],[0.067280,-0.144331,0.987240]] 2025-10-29T00:33:42.477Z,1761698022.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:42.514Z,1761698022.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 469.522888 m, bearing: 26.794702 deg, approach rate: -0.581087 m/s, LOS rate: 0.011038 deg/s, cmd heading: 25.779009 deg, new cmd heading: 25.788817 deg. 2025-10-29T00:33:42.515Z,1761698022.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450100 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:42.553Z,1761698022.553 [DAT](INFO): DAT read: Rx Time:00:33:41.9175 2025-10-29T00:33:42.554Z,1761698022.554 [DAT](INFO): Rx dataTimestamp_ set to:1761698022.553383 2025-10-29T00:33:42.554Z,1761698022.554 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:42.805Z,1761698022.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:42.932Z,1761698022.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:42.935Z,1761698022.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 469.196777 m, bearing: 26.799586 deg, approach rate: -0.701949 m/s, LOS rate: 0.010519 deg/s, cmd heading: 25.788817 deg, new cmd heading: 25.798591 deg. 2025-10-29T00:33:42.936Z,1761698022.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450270 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:43.059Z,1761698023.059 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:33:43.276Z,1761698023.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899865,-0.418316,-0.123513],[0.430756,0.896797,0.101021],[0.068507,-0.144109,0.987188]] 2025-10-29T00:33:43.294Z,1761698023.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 478.35 m. 2025-10-29T00:33:43.315Z,1761698023.315 [DAT](INFO): DAT read: 00:33:41.9175 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 386,-0.17, 2.104, 0.585, 2.269, 1.752, PHS= 0.454,-1.123, 0.472, RAW= 150.6, 2.5, CAL= 149.5, 2.3, ROT= 0.5, -2.3 2025-10-29T00:33:43.316Z,1761698023.316 [DAT](INFO): got valid direction response: 00:33:41.9175 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 386,-0.17, 2.104, 0.585, 2.269, 1.752, PHS= 0.454,-1.123, 0.472, RAW= 150.6, 2.5, CAL= 149.5, 2.3, ROT= 0.5, -2.3 2025-10-29T00:33:43.317Z,1761698023.317 [DAT](INFO): DAT read: Bearing 175.8, 3.8 (Local) 2025-10-29T00:33:43.317Z,1761698023.317 [DAT](INFO): Local bearing/azimuth received: Bearing 175.8, 3.8 (Local) 2025-10-29T00:33:43.319Z,1761698023.319 [DAT](INFO): DAT read: Range 11 to 50 : 477.3 m (Round-trip 636.5 ms) speed 0.3 m/s 2025-10-29T00:33:43.319Z,1761698023.319 [DAT](INFO): DAT read: Tx time:00:33:42.9832 2025-10-29T00:33:43.321Z,1761698023.321 [DAT](INFO): Ping request sent. 2025-10-29T00:33:43.321Z,1761698023.321 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:43.321Z,1761698023.321 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:43.322Z,1761698023.322 [DAT](INFO): direction in FSK: [0.999156,0.008720,0.040132] 2025-10-29T00:33:43.322Z,1761698023.322 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:43.322Z,1761698023.322 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:43.326Z,1761698023.326 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:43.326Z,1761698023.326 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:43.357Z,1761698023.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 478.346588 m, nav range: 468.962769 m, bearing: 26.803038 deg, approach rate: -0.645664 m/s, LOS rate: 0.009531 deg/s, cmd heading: 25.798591 deg, new cmd heading: 25.805499 deg. 2025-10-29T00:33:43.358Z,1761698023.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450391 target range: 478.346588 and range: 480.90 m. 2025-10-29T00:33:43.683Z,1761698023.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899355,-0.419437,-0.123423],[0.431722,0.896554,0.099033],[0.069118,-0.142350,0.987400]] 2025-10-29T00:33:43.784Z,1761698023.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 477.299988 m, deltaT: 4.283858 s, deltaX: -3.600006 m, approachRate: -0.840365 m/s, rangeRepo size: 4 2025-10-29T00:33:43.786Z,1761698023.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 474.757568 m, bearing: 26.470032 deg, lat: 36.779248 deg, lon: -121.858992 deg, deltaT: 4.283858 s, deltaX: -3.589020 m, approachRate: -0.837801 m/s, posRepo size: 4 2025-10-29T00:33:43.787Z,1761698023.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:43.793Z,1761698023.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 472.006927 m, bearing: 26.468757 deg, approach rate: 0.000000 m/s, LOS rate: 0.009531 deg/s, cmd heading: 25.805500 deg, new cmd heading: 25.814743 deg. 2025-10-29T00:33:43.794Z,1761698023.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450552 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:44.151Z,1761698024.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:44.153Z,1761698024.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:44.156Z,1761698024.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 471.757599 m, bearing: 26.471925 deg, approach rate: -0.666430 m/s, LOS rate: 0.008470 deg/s, cmd heading: 25.814743 deg, new cmd heading: 25.821081 deg. 2025-10-29T00:33:44.157Z,1761698024.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450663 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:44.317Z,1761698024.317 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:44.317Z,1761698024.317 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:44.317Z,1761698024.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:44.550Z,1761698024.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898151,-0.422018,-0.123389],[0.434011,0.895877,0.095076],[0.070417,-0.138945,0.987793]] 2025-10-29T00:33:44.569Z,1761698024.569 [DAT](INFO): DAT read: user:426> 2025-10-29T00:33:44.570Z,1761698024.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248903 2025-10-29T00:33:44.605Z,1761698024.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:44.610Z,1761698024.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 471.468719 m, bearing: 26.475999 deg, approach rate: -0.640111 m/s, LOS rate: 0.009034 deg/s, cmd heading: 25.821081 deg, new cmd heading: 25.829235 deg. 2025-10-29T00:33:44.611Z,1761698024.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450805 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:44.821Z,1761698024.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500047 2025-10-29T00:33:44.947Z,1761698024.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:44.949Z,1761698024.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 471.253906 m, bearing: 26.479032 deg, approach rate: -0.628304 m/s, LOS rate: 0.008875 deg/s, cmd heading: 25.829235 deg, new cmd heading: 25.835303 deg. 2025-10-29T00:33:44.950Z,1761698024.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450911 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:45.073Z,1761698025.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752107 2025-10-29T00:33:45.295Z,1761698025.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897798,-0.422803,-0.123273],[0.434673,0.895711,0.093608],[0.070839,-0.137624,0.987948]] 2025-10-29T00:33:45.325Z,1761698025.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004254 2025-10-29T00:33:45.326Z,1761698025.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:45.328Z,1761698025.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 471.001495 m, bearing: 26.482577 deg, approach rate: -0.675685 m/s, LOS rate: 0.009495 deg/s, cmd heading: 25.835303 deg, new cmd heading: 25.842397 deg. 2025-10-29T00:33:45.329Z,1761698025.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451035 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:45.578Z,1761698025.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257644 2025-10-29T00:33:45.701Z,1761698025.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897711,-0.422914,-0.123526],[0.434822,0.895633,0.093656],[0.071025,-0.137788,0.987912]] 2025-10-29T00:33:45.785Z,1761698025.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:45.787Z,1761698025.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 470.707397 m, bearing: 26.486869 deg, approach rate: -0.633081 m/s, LOS rate: 0.009244 deg/s, cmd heading: 25.842398 deg, new cmd heading: 25.850987 deg. 2025-10-29T00:33:45.792Z,1761698025.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451185 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:45.829Z,1761698025.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508194 2025-10-29T00:33:46.081Z,1761698026.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760205 2025-10-29T00:33:46.176Z,1761698026.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:46.178Z,1761698026.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:46.181Z,1761698026.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 470.441864 m, bearing: 26.490748 deg, approach rate: -0.674646 m/s, LOS rate: 0.009861 deg/s, cmd heading: 25.850987 deg, new cmd heading: 25.858750 deg. 2025-10-29T00:33:46.182Z,1761698026.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451320 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:46.333Z,1761698026.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012154 2025-10-29T00:33:46.585Z,1761698026.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264115 2025-10-29T00:33:46.607Z,1761698026.607 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,000505042206 +10.9, 0.0,1493.3, 0 2025-10-29T00:33:46.659Z,1761698026.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:46.665Z,1761698026.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 470.148163 m, bearing: 26.495044 deg, approach rate: -0.611432 m/s, LOS rate: 0.008949 deg/s, cmd heading: 25.858750 deg, new cmd heading: 25.867347 deg. 2025-10-29T00:33:46.666Z,1761698026.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451470 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:46.837Z,1761698026.837 [DAT](INFO): DAT read: Rx Time:00:33:46.0208 2025-10-29T00:33:46.837Z,1761698026.837 [DAT](INFO): Rx dataTimestamp_ set to:1761698026.837177 2025-10-29T00:33:46.838Z,1761698026.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517229 2025-10-29T00:33:46.972Z,1761698026.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897965,-0.421435,-0.126698],[0.434140,0.895456,0.098389],[0.071988,-0.143355,0.987050]] 2025-10-29T00:33:47.007Z,1761698027.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 474.76 m. 2025-10-29T00:33:47.014Z,1761698027.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 474.757568 m, nav range: 469.911438 m, bearing: 26.498526 deg, approach rate: -0.679377 m/s, LOS rate: 0.009998 deg/s, cmd heading: 25.867347 deg, new cmd heading: 25.874314 deg. 2025-10-29T00:33:47.015Z,1761698027.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451592 target range: 474.757568 and range: 477.30 m. 2025-10-29T00:33:47.090Z,1761698027.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769036 2025-10-29T00:33:47.351Z,1761698027.351 [DAT](INFO): DAT read: 00:33:46.0208 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 146, 0.49,-2.458, 2.384,-2.321,-2.729, PHS= 0.373,-1.124, 0.364, RAW= 149.7, 5.2, CAL= 149.0, 5.5, ROT= 1.0, -5.5 2025-10-29T00:33:47.353Z,1761698027.353 [DAT](INFO): got valid direction response: 00:33:46.0208 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 146, 0.49,-2.458, 2.384,-2.321,-2.729, PHS= 0.373,-1.124, 0.364, RAW= 149.7, 5.2, CAL= 149.0, 5.5, ROT= 1.0, -5.5 2025-10-29T00:33:47.354Z,1761698027.354 [DAT](INFO): DAT read: Bearing 179.5, 4.2 (Local) 2025-10-29T00:33:47.354Z,1761698027.354 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, 4.2 (Local) 2025-10-29T00:33:47.355Z,1761698027.355 [DAT](INFO): DAT read: Range 11 to 50 : 475.0 m (Round-trip 633.4 ms) speed 0.1 m/s 2025-10-29T00:33:47.356Z,1761698027.356 [DAT](INFO): DAT read: Tx time:00:33:47.0847 2025-10-29T00:33:47.357Z,1761698027.357 [DAT](INFO): Ping request sent. 2025-10-29T00:33:47.357Z,1761698027.357 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:47.357Z,1761698027.357 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:47.358Z,1761698027.358 [DAT](INFO): direction in FSK: [0.995245,0.017372,0.095846] 2025-10-29T00:33:47.358Z,1761698027.358 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:47.358Z,1761698027.358 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:47.388Z,1761698027.388 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:47.388Z,1761698027.388 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:47.440Z,1761698027.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897979,-0.421223,-0.127296],[0.434037,0.895475,0.098674],[0.072426,-0.143858,0.986944]] 2025-10-29T00:33:47.489Z,1761698027.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 475.000000 m, deltaT: 4.032005 s, deltaX: -2.299988 m, approachRate: -0.570433 m/s, rangeRepo size: 4 2025-10-29T00:33:47.491Z,1761698027.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 472.469513 m, bearing: 27.598484 deg, lat: 36.779210 deg, lon: -121.858981 deg, deltaT: 4.032005 s, deltaX: -2.288055 m, approachRate: -0.567473 m/s, posRepo size: 4 2025-10-29T00:33:47.492Z,1761698027.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:47.522Z,1761698027.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 466.261841 m, bearing: 26.843376 deg, approach rate: 0.000000 m/s, LOS rate: 0.009998 deg/s, cmd heading: 25.874314 deg, new cmd heading: 25.883772 deg. 2025-10-29T00:33:47.530Z,1761698027.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451757 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:47.865Z,1761698027.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898007,-0.421011,-0.127802],[0.433876,0.895586,0.098375],[0.073041,-0.143791,0.986909]] 2025-10-29T00:33:47.910Z,1761698027.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:47.913Z,1761698027.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 465.984100 m, bearing: 26.849507 deg, approach rate: -0.645597 m/s, LOS rate: 0.014261 deg/s, cmd heading: 25.883772 deg, new cmd heading: 25.896042 deg. 2025-10-29T00:33:47.914Z,1761698027.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.451971 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:48.270Z,1761698028.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897865,-0.421347,-0.127689],[0.434132,0.895555,0.097523],[0.073261,-0.142996,0.987008]] 2025-10-29T00:33:48.287Z,1761698028.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:48.289Z,1761698028.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:48.292Z,1761698028.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 465.748535 m, bearing: 26.854707 deg, approach rate: -0.621316 m/s, LOS rate: 0.013721 deg/s, cmd heading: 25.896042 deg, new cmd heading: 25.906446 deg. 2025-10-29T00:33:48.293Z,1761698028.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452153 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:48.350Z,1761698028.350 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:48.350Z,1761698028.350 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:48.350Z,1761698028.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:48.601Z,1761698028.601 [DAT](INFO): DAT read: user:427> 2025-10-29T00:33:48.603Z,1761698028.603 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245980 2025-10-29T00:33:48.675Z,1761698028.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897985,-0.421021,-0.127923],[0.433875,0.895629,0.097989],[0.073316,-0.143495,0.986932]] 2025-10-29T00:33:48.719Z,1761698028.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:48.722Z,1761698028.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 465.483459 m, bearing: 26.860420 deg, approach rate: -0.616607 m/s, LOS rate: 0.013296 deg/s, cmd heading: 25.906446 deg, new cmd heading: 25.917878 deg. 2025-10-29T00:33:48.723Z,1761698028.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452352 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:48.853Z,1761698028.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496398 2025-10-29T00:33:49.077Z,1761698029.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898168,-0.420589,-0.128057],[0.433476,0.895803,0.098159],[0.073430,-0.143673,0.986897]] 2025-10-29T00:33:49.106Z,1761698029.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748885 2025-10-29T00:33:49.110Z,1761698029.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:49.114Z,1761698029.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 465.249207 m, bearing: 26.865486 deg, approach rate: -0.600952 m/s, LOS rate: 0.013005 deg/s, cmd heading: 25.917879 deg, new cmd heading: 25.928017 deg. 2025-10-29T00:33:49.118Z,1761698029.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452529 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:49.358Z,1761698029.358 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001583 2025-10-29T00:33:49.478Z,1761698029.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898334,-0.420108,-0.128472],[0.433090,0.895942,0.098597],[0.073682,-0.144213,0.986800]] 2025-10-29T00:33:49.499Z,1761698029.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:49.501Z,1761698029.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 465.003662 m, bearing: 26.870815 deg, approach rate: -0.630443 m/s, LOS rate: 0.013689 deg/s, cmd heading: 25.928018 deg, new cmd heading: 25.938681 deg. 2025-10-29T00:33:49.502Z,1761698029.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452715 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:49.610Z,1761698029.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253223 2025-10-29T00:33:49.861Z,1761698029.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504175 2025-10-29T00:33:49.883Z,1761698029.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898258,-0.420220,-0.128634],[0.433216,0.895895,0.098472],[0.073863,-0.144180,0.986791]] 2025-10-29T00:33:49.932Z,1761698029.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:49.935Z,1761698029.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 464.741058 m, bearing: 26.876253 deg, approach rate: -0.606352 m/s, LOS rate: 0.012562 deg/s, cmd heading: 25.938682 deg, new cmd heading: 25.949563 deg. 2025-10-29T00:33:49.935Z,1761698029.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452905 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:50.116Z,1761698030.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759326 2025-10-29T00:33:50.288Z,1761698030.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898233,-0.420218,-0.128820],[0.433224,0.895917,0.098239],[0.074130,-0.144049,0.986790]] 2025-10-29T00:33:50.305Z,1761698030.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:50.307Z,1761698030.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:50.310Z,1761698030.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 464.513733 m, bearing: 26.880963 deg, approach rate: -0.605338 m/s, LOS rate: 0.012551 deg/s, cmd heading: 25.949562 deg, new cmd heading: 25.958988 deg. 2025-10-29T00:33:50.311Z,1761698030.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453070 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:50.366Z,1761698030.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009187 2025-10-29T00:33:50.620Z,1761698030.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262724 2025-10-29T00:33:50.690Z,1761698030.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898327,-0.419960,-0.129008],[0.432995,0.896024,0.098265],[0.074327,-0.144134,0.986763]] 2025-10-29T00:33:50.746Z,1761698030.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:50.750Z,1761698030.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 464.247650 m, bearing: 26.886475 deg, approach rate: -0.607591 m/s, LOS rate: 0.012593 deg/s, cmd heading: 25.958988 deg, new cmd heading: 25.970018 deg. 2025-10-29T00:33:50.751Z,1761698030.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453262 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:50.869Z,1761698030.869 [DAT](INFO): DAT read: Rx Time:00:33:50.1193 2025-10-29T00:33:50.869Z,1761698030.869 [DAT](INFO): Rx dataTimestamp_ set to:1761698030.869141 2025-10-29T00:33:50.870Z,1761698030.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513216 2025-10-29T00:33:51.121Z,1761698031.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764072 2025-10-29T00:33:51.142Z,1761698031.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 472.47 m. 2025-10-29T00:33:51.145Z,1761698031.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 472.469513 m, nav range: 464.000916 m, bearing: 26.891592 deg, approach rate: -0.622140 m/s, LOS rate: 0.012910 deg/s, cmd heading: 25.970017 deg, new cmd heading: 25.980257 deg. 2025-10-29T00:33:51.145Z,1761698031.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453441 target range: 472.469513 and range: 475.00 m. 2025-10-29T00:33:51.385Z,1761698031.385 [DAT](INFO): DAT read: 00:33:50.1193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 148,-0.28, 1.498,-0.080, 1.718, 1.069, PHS= 0.530,-1.104, 0.604, RAW= 152.2, -0.4, CAL= 151.1, -1.2, ROT= 358.9, 1.2 2025-10-29T00:33:51.387Z,1761698031.387 [DAT](INFO): got valid direction response: 00:33:50.1193 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 148,-0.28, 1.498,-0.080, 1.718, 1.069, PHS= 0.530,-1.104, 0.604, RAW= 152.2, -0.4, CAL= 151.1, -1.2, ROT= 358.9, 1.2 2025-10-29T00:33:51.388Z,1761698031.388 [DAT](INFO): DAT read: Bearing 172.2, 3.4 (Local) 2025-10-29T00:33:51.388Z,1761698031.388 [DAT](INFO): Local bearing/azimuth received: Bearing 172.2, 3.4 (Local) 2025-10-29T00:33:51.389Z,1761698031.389 [DAT](INFO): DAT read: Range 11 to 50 : 472.8 m (Round-trip 630.4 ms) speed 0.4 m/s 2025-10-29T00:33:51.390Z,1761698031.390 [DAT](INFO): DAT read: Tx time:00:33:51.1847 2025-10-29T00:33:51.391Z,1761698031.391 [DAT](INFO): Ping request sent. 2025-10-29T00:33:51.391Z,1761698031.391 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:51.391Z,1761698031.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:51.392Z,1761698031.392 [DAT](INFO): direction in FSK: [0.999596,-0.019193,-0.020942] 2025-10-29T00:33:51.392Z,1761698031.392 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:51.393Z,1761698031.393 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:51.397Z,1761698031.397 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:51.398Z,1761698031.398 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:51.538Z,1761698031.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898223,-0.420116,-0.129222],[0.433145,0.896005,0.097775],[0.074707,-0.143795,0.986784]] 2025-10-29T00:33:51.650Z,1761698031.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 472.799988 m, deltaT: 4.033591 s, deltaX: -2.200012 m, approachRate: -0.545423 m/s, rangeRepo size: 4 2025-10-29T00:33:51.652Z,1761698031.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 470.281342 m, bearing: 24.481118 deg, lat: 36.779210 deg, lon: -121.858992 deg, deltaT: 4.033591 s, deltaX: -2.188171 m, approachRate: -0.542487 m/s, posRepo size: 4 2025-10-29T00:33:51.661Z,1761698031.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:51.669Z,1761698031.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 463.264252 m, bearing: 26.789178 deg, approach rate: 0.000000 m/s, LOS rate: 0.012910 deg/s, cmd heading: 25.980257 deg, new cmd heading: 25.993218 deg. 2025-10-29T00:33:51.670Z,1761698031.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453667 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:51.969Z,1761698031.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898254,-0.420010,-0.129348],[0.433055,0.896053,0.097738],[0.074852,-0.143809,0.986771]] 2025-10-29T00:33:51.994Z,1761698031.994 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T00:33:52.044Z,1761698032.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:52.052Z,1761698032.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 463.006134 m, bearing: 26.794071 deg, approach rate: -0.651635 m/s, LOS rate: 0.012359 deg/s, cmd heading: 25.993219 deg, new cmd heading: 26.003010 deg. 2025-10-29T00:33:52.054Z,1761698032.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453838 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:52.371Z,1761698032.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898187,-0.420089,-0.129561],[0.433169,0.895991,0.097799],[0.075002,-0.143963,0.986737]] 2025-10-29T00:33:52.398Z,1761698032.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:52.400Z,1761698032.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:52.403Z,1761698032.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 462.780182 m, bearing: 26.798355 deg, approach rate: -0.627274 m/s, LOS rate: 0.011898 deg/s, cmd heading: 26.003010 deg, new cmd heading: 26.011582 deg. 2025-10-29T00:33:52.404Z,1761698032.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453988 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:52.635Z,1761698032.635 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:52.635Z,1761698032.635 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:52.636Z,1761698032.636 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:52.783Z,1761698032.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898302,-0.419747,-0.129871],[0.432944,0.895997,0.098731],[0.074922,-0.144917,0.986603]] 2025-10-29T00:33:52.835Z,1761698032.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:52.838Z,1761698032.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 462.511749 m, bearing: 26.802656 deg, approach rate: -0.617365 m/s, LOS rate: 0.009898 deg/s, cmd heading: 26.011582 deg, new cmd heading: 26.020189 deg. 2025-10-29T00:33:52.839Z,1761698032.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454138 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:52.886Z,1761698032.886 [DAT](INFO): DAT read: user:428> 2025-10-29T00:33:52.887Z,1761698032.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495954 2025-10-29T00:33:53.137Z,1761698033.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746305 2025-10-29T00:33:53.179Z,1761698033.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898150,-0.420252,-0.129283],[0.433277,0.895960,0.097603],[0.074815,-0.143678,0.986793]] 2025-10-29T00:33:53.210Z,1761698033.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:53.217Z,1761698033.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 462.287872 m, bearing: 26.806238 deg, approach rate: -0.597453 m/s, LOS rate: 0.009565 deg/s, cmd heading: 26.020190 deg, new cmd heading: 26.027358 deg. 2025-10-29T00:33:53.218Z,1761698033.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454263 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:53.389Z,1761698033.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998120 2025-10-29T00:33:53.606Z,1761698033.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897888,-0.420868,-0.129106],[0.433782,0.895834,0.096512],[0.075039,-0.142661,0.986923]] 2025-10-29T00:33:53.644Z,1761698033.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252661 2025-10-29T00:33:53.700Z,1761698033.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:53.703Z,1761698033.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 461.978058 m, bearing: 26.811016 deg, approach rate: -0.631933 m/s, LOS rate: 0.009752 deg/s, cmd heading: 26.027358 deg, new cmd heading: 26.036920 deg. 2025-10-29T00:33:53.704Z,1761698033.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454430 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:53.893Z,1761698033.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502276 2025-10-29T00:33:54.005Z,1761698034.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897729,-0.421054,-0.129602],[0.434061,0.895669,0.096790],[0.075327,-0.143146,0.986831]] 2025-10-29T00:33:54.031Z,1761698034.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:54.034Z,1761698034.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 461.773560 m, bearing: 26.814164 deg, approach rate: -0.617011 m/s, LOS rate: 0.009503 deg/s, cmd heading: 26.036920 deg, new cmd heading: 26.043219 deg. 2025-10-29T00:33:54.035Z,1761698034.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454540 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:54.145Z,1761698034.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754263 2025-10-29T00:33:54.397Z,1761698034.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006305 2025-10-29T00:33:54.409Z,1761698034.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897767,-0.420952,-0.129666],[0.433969,0.895714,0.096788],[0.075401,-0.143164,0.986823]] 2025-10-29T00:33:54.430Z,1761698034.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:54.432Z,1761698034.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:54.435Z,1761698034.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 461.526672 m, bearing: 26.817972 deg, approach rate: -0.615496 m/s, LOS rate: 0.009498 deg/s, cmd heading: 26.043219 deg, new cmd heading: 26.050839 deg. 2025-10-29T00:33:54.436Z,1761698034.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454673 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:54.653Z,1761698034.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261320 2025-10-29T00:33:54.813Z,1761698034.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897671,-0.421144,-0.129713],[0.434105,0.895735,0.095979],[0.075768,-0.142466,0.986895]] 2025-10-29T00:33:54.860Z,1761698034.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:54.863Z,1761698034.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 461.258362 m, bearing: 26.821709 deg, approach rate: -0.627834 m/s, LOS rate: 0.008750 deg/s, cmd heading: 26.050838 deg, new cmd heading: 26.058317 deg. 2025-10-29T00:33:54.863Z,1761698034.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454803 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:54.902Z,1761698034.902 [DAT](INFO): DAT read: Rx Time:00:33:54.2165 2025-10-29T00:33:54.902Z,1761698034.902 [DAT](INFO): Rx dataTimestamp_ set to:1761698034.902111 2025-10-29T00:33:54.903Z,1761698034.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512470 2025-10-29T00:33:55.153Z,1761698035.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762214 2025-10-29T00:33:55.222Z,1761698035.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897569,-0.421352,-0.129740],[0.434282,0.895696,0.095536],[0.075953,-0.142094,0.986935]] 2025-10-29T00:33:55.243Z,1761698035.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 470.28 m. 2025-10-29T00:33:55.245Z,1761698035.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 470.281342 m, nav range: 461.018768 m, bearing: 26.825045 deg, approach rate: -0.625881 m/s, LOS rate: 0.008718 deg/s, cmd heading: 26.058317 deg, new cmd heading: 26.064992 deg. 2025-10-29T00:33:55.246Z,1761698035.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.454920 target range: 470.281342 and range: 472.80 m. 2025-10-29T00:33:55.411Z,1761698035.411 [DAT](INFO): DAT read: 00:33:54.2165 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 150, 0.37,-1.008,-2.529,-0.841,-1.452, PHS= 0.546,-1.032, 0.567, RAW= 150.7, -1.0, CAL= 149.7, -1.8, ROT= 0.3, 1.8 2025-10-29T00:33:55.412Z,1761698035.412 [DAT](INFO): got valid direction response: 00:33:54.2165 LVL= 32752, 32753, 32754, 32755, AGC= 80, IDX= 150, 0.37,-1.008,-2.529,-0.841,-1.452, PHS= 0.546,-1.032, 0.567, RAW= 150.7, -1.0, CAL= 149.7, -1.8, ROT= 0.3, 1.8 2025-10-29T00:33:55.413Z,1761698035.413 [DAT](INFO): DAT read: Bearing 171.9, 5.0 (Local) 2025-10-29T00:33:55.413Z,1761698035.413 [DAT](INFO): Local bearing/azimuth received: Bearing 171.9, 5.0 (Local) 2025-10-29T00:33:55.415Z,1761698035.415 [DAT](INFO): DAT read: Range 11 to 50 : 470.7 m (Round-trip 627.6 ms) speed 0.5 m/s 2025-10-29T00:33:55.416Z,1761698035.416 [DAT](INFO): DAT read: Tx time:00:33:55.2769 2025-10-29T00:33:55.416Z,1761698035.416 [DAT](INFO): Ping request sent. 2025-10-29T00:33:55.416Z,1761698035.416 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:55.416Z,1761698035.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:55.417Z,1761698035.417 [DAT](INFO): direction in FSK: [0.999493,0.005233,-0.031411] 2025-10-29T00:33:55.418Z,1761698035.418 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:55.418Z,1761698035.418 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:55.438Z,1761698035.438 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:55.438Z,1761698035.438 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:55.637Z,1761698035.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897647,-0.421148,-0.129860],[0.434095,0.895789,0.095521],[0.076099,-0.142116,0.986921]] 2025-10-29T00:33:55.730Z,1761698035.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 470.700012 m, deltaT: 4.030532 s, deltaX: -2.099976 m, approachRate: -0.521017 m/s, rangeRepo size: 4 2025-10-29T00:33:55.732Z,1761698035.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 468.200806 m, bearing: 25.848340 deg, lat: 36.779248 deg, lon: -121.858992 deg, deltaT: 4.030532 s, deltaX: -2.080536 m, approachRate: -0.516194 m/s, posRepo size: 4 2025-10-29T00:33:55.733Z,1761698035.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:55.735Z,1761698035.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 464.490082 m, bearing: 26.593424 deg, approach rate: 0.000000 m/s, LOS rate: 0.008718 deg/s, cmd heading: 26.064992 deg, new cmd heading: 26.073479 deg. 2025-10-29T00:33:55.736Z,1761698035.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455068 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:56.052Z,1761698036.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897873,-0.420060,-0.131807],[0.433629,0.895540,0.099867],[0.076088,-0.146824,0.986232]] 2025-10-29T00:33:56.072Z,1761698036.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:56.075Z,1761698036.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 464.268036 m, bearing: 26.596210 deg, approach rate: -0.648315 m/s, LOS rate: 0.008138 deg/s, cmd heading: 26.073479 deg, new cmd heading: 26.079053 deg. 2025-10-29T00:33:56.077Z,1761698036.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455165 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:56.456Z,1761698036.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898074,-0.419159,-0.133296],[0.433210,0.895368,0.103177],[0.076101,-0.150406,0.985691]] 2025-10-29T00:33:56.473Z,1761698036.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:56.475Z,1761698036.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:56.478Z,1761698036.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 464.008881 m, bearing: 26.599474 deg, approach rate: -0.642135 m/s, LOS rate: 0.008093 deg/s, cmd heading: 26.079054 deg, new cmd heading: 26.085586 deg. 2025-10-29T00:33:56.479Z,1761698036.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455279 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:56.667Z,1761698036.667 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:33:56.667Z,1761698036.667 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:33:56.668Z,1761698036.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:33:56.913Z,1761698036.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:56.915Z,1761698036.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 463.730377 m, bearing: 26.602873 deg, approach rate: -0.636461 m/s, LOS rate: 0.007770 deg/s, cmd heading: 26.085585 deg, new cmd heading: 26.092386 deg. 2025-10-29T00:33:56.917Z,1761698036.917 [DAT](INFO): DAT read: user:429> 2025-10-29T00:33:56.918Z,1761698036.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501539 2025-10-29T00:33:56.919Z,1761698036.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455398 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:57.169Z,1761698037.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753346 2025-10-29T00:33:57.263Z,1761698037.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898154,-0.418722,-0.134132],[0.433012,0.895298,0.104604],[0.076288,-0.152032,0.985427]] 2025-10-29T00:33:57.290Z,1761698037.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:57.293Z,1761698037.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 463.489624 m, bearing: 26.605818 deg, approach rate: -0.638381 m/s, LOS rate: 0.007815 deg/s, cmd heading: 26.092386 deg, new cmd heading: 26.098281 deg. 2025-10-29T00:33:57.294Z,1761698037.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455501 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:57.421Z,1761698037.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004821 2025-10-29T00:33:57.676Z,1761698037.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259280 2025-10-29T00:33:57.726Z,1761698037.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898299,-0.418302,-0.134471],[0.432740,0.895287,0.105816],[0.076127,-0.153245,0.985251]] 2025-10-29T00:33:57.788Z,1761698037.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:57.791Z,1761698037.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 463.169922 m, bearing: 26.611503 deg, approach rate: -0.641934 m/s, LOS rate: 0.011422 deg/s, cmd heading: 26.098281 deg, new cmd heading: 26.109658 deg. 2025-10-29T00:33:57.792Z,1761698037.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455700 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:57.925Z,1761698037.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508850 2025-10-29T00:33:58.113Z,1761698038.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898384,-0.418080,-0.134593],[0.432539,0.895382,0.105837],[0.076264,-0.153299,0.985233]] 2025-10-29T00:33:58.153Z,1761698038.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:58.161Z,1761698038.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 462.946472 m, bearing: 26.615487 deg, approach rate: -0.620987 m/s, LOS rate: 0.011078 deg/s, cmd heading: 26.109658 deg, new cmd heading: 26.117630 deg. 2025-10-29T00:33:58.162Z,1761698038.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455839 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:58.183Z,1761698038.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767185 2025-10-29T00:33:58.429Z,1761698038.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012715 2025-10-29T00:33:58.511Z,1761698038.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898415,-0.417977,-0.134705],[0.432454,0.895424,0.105830],[0.076383,-0.153333,0.985218]] 2025-10-29T00:33:58.529Z,1761698038.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:33:58.531Z,1761698038.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:58.533Z,1761698038.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 462.688812 m, bearing: 26.620089 deg, approach rate: -0.673346 m/s, LOS rate: 0.012033 deg/s, cmd heading: 26.117631 deg, new cmd heading: 26.126840 deg. 2025-10-29T00:33:58.534Z,1761698038.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455999 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:58.684Z,1761698038.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267211 2025-10-29T00:33:58.917Z,1761698038.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898599,-0.417588,-0.134683],[0.432080,0.895576,0.106065],[0.076327,-0.153504,0.985196]] 2025-10-29T00:33:58.933Z,1761698038.933 [DAT](INFO): DAT read: Rx Time:00:33:58.3047 2025-10-29T00:33:58.933Z,1761698038.933 [DAT](INFO): Rx dataTimestamp_ set to:1761698038.933210 2025-10-29T00:33:58.934Z,1761698038.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517943 2025-10-29T00:33:58.962Z,1761698038.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:58.985Z,1761698038.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 462.419281 m, bearing: 26.625428 deg, approach rate: -0.625216 m/s, LOS rate: 0.012392 deg/s, cmd heading: 26.126840 deg, new cmd heading: 26.137524 deg. 2025-10-29T00:33:58.986Z,1761698038.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456186 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:59.186Z,1761698039.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769560 2025-10-29T00:33:59.319Z,1761698039.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898705,-0.417309,-0.134841],[0.431847,0.895656,0.106336],[0.076396,-0.153795,0.985145]] 2025-10-29T00:33:59.347Z,1761698039.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 468.20 m. 2025-10-29T00:33:59.350Z,1761698039.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 468.200806 m, nav range: 462.171600 m, bearing: 26.630349 deg, approach rate: -0.642209 m/s, LOS rate: 0.012765 deg/s, cmd heading: 26.137524 deg, new cmd heading: 26.147370 deg. 2025-10-29T00:33:59.351Z,1761698039.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456358 target range: 468.200806 and range: 470.70 m. 2025-10-29T00:33:59.441Z,1761698039.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024429 2025-10-29T00:33:59.752Z,1761698039.752 [DAT](INFO): DAT read: 00:33:58.3047 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398, 0.41, 2.250, 0.681, 2.446, 1.864, PHS= 0.488,-1.138, 0.538, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 2025-10-29T00:33:59.754Z,1761698039.754 [DAT](INFO): got valid direction response: 00:33:58.3047 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 398, 0.41, 2.250, 0.681, 2.446, 1.864, PHS= 0.488,-1.138, 0.538, RAW= 151.5, 1.4, CAL= 150.3, 0.9, ROT= 359.7, -0.9 2025-10-29T00:33:59.764Z,1761698039.764 [DAT](INFO): DAT read: Bearing 174.1, 4.0 (Local) 2025-10-29T00:33:59.765Z,1761698039.765 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, 4.0 (Local) 2025-10-29T00:33:59.767Z,1761698039.767 [DAT](INFO): DAT read: Range 11 to 50 : 467.7 m (Round-trip 623.7 ms) speed 0.0 m/s 2025-10-29T00:33:59.776Z,1761698039.776 [DAT](INFO): DAT read: Tx time:00:33:59.3769 2025-10-29T00:33:59.776Z,1761698039.776 [DAT](INFO): Ping request sent. 2025-10-29T00:33:59.777Z,1761698039.777 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:33:59.777Z,1761698039.777 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:33:59.778Z,1761698039.778 [DAT](INFO): direction in FSK: [0.999863,-0.005235,0.015707] 2025-10-29T00:33:59.778Z,1761698039.778 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:59.778Z,1761698039.778 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:59.806Z,1761698039.806 [DAT](INFO): publishing transmit ping time 2025-10-29T00:33:59.806Z,1761698039.806 [DAT](INFO): publishing direction and range info 2025-10-29T00:33:59.814Z,1761698039.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898993,-0.416838,-0.134382],[0.431311,0.895909,0.106387],[0.076048,-0.153602,0.985202]] 2025-10-29T00:33:59.922Z,1761698039.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 467.700012 m, deltaT: 4.285765 s, deltaX: -3.000000 m, approachRate: -0.699992 m/s, rangeRepo size: 4 2025-10-29T00:33:59.928Z,1761698039.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 465.207886 m, bearing: 25.471925 deg, lat: 36.779297 deg, lon: -121.859037 deg, deltaT: 4.285765 s, deltaX: -2.992920 m, approachRate: -0.698340 m/s, posRepo size: 4 2025-10-29T00:33:59.929Z,1761698039.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:33:59.932Z,1761698039.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 464.882660 m, bearing: 25.897734 deg, approach rate: 0.000000 m/s, LOS rate: 0.012765 deg/s, cmd heading: 26.147369 deg, new cmd heading: 26.162026 deg. 2025-10-29T00:33:59.937Z,1761698039.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456614 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:00.175Z,1761698040.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898929,-0.417023,-0.134229],[0.431456,0.895863,0.106181],[0.075971,-0.153364,0.985245]] 2025-10-29T00:34:00.195Z,1761698040.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:00.198Z,1761698040.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 464.700684 m, bearing: 25.901410 deg, approach rate: -0.664312 m/s, LOS rate: 0.013426 deg/s, cmd heading: 26.162027 deg, new cmd heading: 26.169383 deg. 2025-10-29T00:34:00.199Z,1761698040.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456742 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:00.245Z,1761698040.245 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:34:00.582Z,1761698040.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898885,-0.417417,-0.133297],[0.431602,0.895950,0.104850],[0.075661,-0.151779,0.985514]] 2025-10-29T00:34:00.614Z,1761698040.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:00.615Z,1761698040.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:00.618Z,1761698040.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 464.431763 m, bearing: 25.906846 deg, approach rate: -0.640196 m/s, LOS rate: 0.012948 deg/s, cmd heading: 26.169383 deg, new cmd heading: 26.180261 deg. 2025-10-29T00:34:00.619Z,1761698040.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456932 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:00.698Z,1761698040.698 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:00.698Z,1761698040.698 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:00.699Z,1761698040.699 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:00.949Z,1761698040.949 [DAT](INFO): DAT read: user:430> 2025-10-29T00:34:00.949Z,1761698040.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.172850 2025-10-29T00:34:00.977Z,1761698040.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898739,-0.418323,-0.131430],[0.432030,0.896034,0.102339],[0.074955,-0.148758,0.986029]] 2025-10-29T00:34:01.030Z,1761698041.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:01.033Z,1761698041.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 464.171326 m, bearing: 25.912770 deg, approach rate: -0.628143 m/s, LOS rate: 0.014296 deg/s, cmd heading: 26.180262 deg, new cmd heading: 26.192117 deg. 2025-10-29T00:34:01.034Z,1761698041.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457139 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:01.201Z,1761698041.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.424309 2025-10-29T00:34:01.248Z,1761698041.248 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:34:01.380Z,1761698041.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898749,-0.418692,-0.130181],[0.432068,0.896229,0.100449],[0.074615,-0.146525,0.986389]] 2025-10-29T00:34:01.399Z,1761698041.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:01.402Z,1761698041.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 463.939636 m, bearing: 25.918049 deg, approach rate: -0.627874 m/s, LOS rate: 0.014312 deg/s, cmd heading: 26.192117 deg, new cmd heading: 26.202680 deg. 2025-10-29T00:34:01.403Z,1761698041.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457323 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:01.453Z,1761698041.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.676496 2025-10-29T00:34:01.705Z,1761698041.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.928301 2025-10-29T00:34:01.916Z,1761698041.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:01.919Z,1761698041.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 463.627747 m, bearing: 25.925866 deg, approach rate: -0.603734 m/s, LOS rate: 0.015143 deg/s, cmd heading: 26.202680 deg, new cmd heading: 26.218326 deg. 2025-10-29T00:34:01.920Z,1761698041.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457596 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:01.957Z,1761698041.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.180676 2025-10-29T00:34:02.211Z,1761698042.211 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.434358 2025-10-29T00:34:02.288Z,1761698042.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:02.291Z,1761698042.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 463.382935 m, bearing: 25.932010 deg, approach rate: -0.657621 m/s, LOS rate: 0.016511 deg/s, cmd heading: 26.218325 deg, new cmd heading: 26.230618 deg. 2025-10-29T00:34:02.292Z,1761698042.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457811 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:02.462Z,1761698042.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.684914 2025-10-29T00:34:02.659Z,1761698042.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898829,-0.419652,-0.126490],[0.432012,0.896949,0.094069],[0.073979,-0.139197,0.987498]] 2025-10-29T00:34:02.693Z,1761698042.693 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:02.695Z,1761698042.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:02.697Z,1761698042.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 463.138702 m, bearing: 25.938163 deg, approach rate: -0.600516 m/s, LOS rate: 0.015139 deg/s, cmd heading: 26.230618 deg, new cmd heading: 26.242931 deg. 2025-10-29T00:34:02.698Z,1761698042.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458026 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:02.713Z,1761698042.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.936451 2025-10-29T00:34:02.966Z,1761698042.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.189324 2025-10-29T00:34:03.161Z,1761698043.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898991,-0.419417,-0.126118],[0.431692,0.897150,0.093622],[0.073880,-0.138609,0.987588]] 2025-10-29T00:34:03.215Z,1761698043.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:03.217Z,1761698043.217 [DAT](INFO): DAT read: Rx Time:00:34:02.4010 2025-10-29T00:34:03.218Z,1761698043.218 [DAT](INFO): Rx dataTimestamp_ set to:1761698043.217278 2025-10-29T00:34:03.218Z,1761698043.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.441506 2025-10-29T00:34:03.221Z,1761698043.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 462.821045 m, bearing: 25.946081 deg, approach rate: -0.611148 m/s, LOS rate: 0.015244 deg/s, cmd heading: 26.242931 deg, new cmd heading: 26.258777 deg. 2025-10-29T00:34:03.222Z,1761698043.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458302 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:03.469Z,1761698043.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.692289 2025-10-29T00:34:03.594Z,1761698043.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899087,-0.419223,-0.126078],[0.431470,0.897287,0.093322],[0.074006,-0.138303,0.987621]] 2025-10-29T00:34:03.615Z,1761698043.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 465.21 m. 2025-10-29T00:34:03.648Z,1761698043.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 465.207886 m, nav range: 462.566864 m, bearing: 25.952434 deg, approach rate: -0.634756 m/s, LOS rate: 0.015874 deg/s, cmd heading: 26.258777 deg, new cmd heading: 26.271489 deg. 2025-10-29T00:34:03.649Z,1761698043.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458524 target range: 465.207886 and range: 467.70 m. 2025-10-29T00:34:03.748Z,1761698043.748 [DAT](INFO): DAT read: 00:34:02.4010 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.48, 0.018,-1.338, 0.206,-0.159, PHS= 0.279,-1.133, 0.321, RAW= 151.5, 7.5, CAL= 150.9, 7.9, ROT= 359.1, -7.9 2025-10-29T00:34:03.764Z,1761698043.764 [DAT](INFO): got valid direction response: 00:34:02.4010 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 409,-0.48, 0.018,-1.338, 0.206,-0.159, PHS= 0.279,-1.133, 0.321, RAW= 151.5, 7.5, CAL= 150.9, 7.9, ROT= 359.1, -7.9 2025-10-29T00:34:03.769Z,1761698043.769 [DAT](INFO): DAT read: Bearing 181.2, 2.5 (Local) 2025-10-29T00:34:03.771Z,1761698043.771 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, 2.5 (Local) 2025-10-29T00:34:03.785Z,1761698043.785 [DAT](INFO): DAT read: Range 11 to 50 : 465.0 m (Round-trip 620.0 ms) speed 0.4 m/s 2025-10-29T00:34:03.805Z,1761698043.805 [DAT](INFO): DAT read: user:431>Tx time:00:34:03.4769 2025-10-29T00:34:03.805Z,1761698043.805 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:34:03.806Z,1761698043.806 [DAT](INFO): direction in FSK: [0.990387,-0.015558,0.137445] 2025-10-29T00:34:03.807Z,1761698043.807 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:03.815Z,1761698043.815 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:03.815Z,1761698043.815 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:03.815Z,1761698043.815 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:03.973Z,1761698043.973 [DAT](INFO): DAT read: 2025-10-29T00:34:03.973Z,1761698043.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.196763 2025-10-29T00:34:04.051Z,1761698044.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 465.000000 m, deltaT: 4.030871 s, deltaX: -2.700012 m, approachRate: -0.669833 m/s, rangeRepo size: 4 2025-10-29T00:34:04.078Z,1761698044.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 462.509583 m, bearing: 25.850423 deg, lat: 36.779297 deg, lon: -121.859080 deg, deltaT: 4.030871 s, deltaX: -2.698303 m, approachRate: -0.669409 m/s, posRepo size: 4 2025-10-29T00:34:04.079Z,1761698044.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:04.100Z,1761698044.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 460.643097 m, bearing: 25.529206 deg, approach rate: 0.000000 m/s, LOS rate: 0.015874 deg/s, cmd heading: 26.271489 deg, new cmd heading: 26.285215 deg. 2025-10-29T00:34:04.101Z,1761698044.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458764 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:04.225Z,1761698044.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.448330 2025-10-29T00:34:04.423Z,1761698044.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899262,-0.418649,-0.126733],[0.430861,0.897754,0.091632],[0.075414,-0.137005,0.987695]] 2025-10-29T00:34:04.443Z,1761698044.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:04.446Z,1761698044.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 460.384369 m, bearing: 25.535022 deg, approach rate: -0.653732 m/s, LOS rate: 0.014702 deg/s, cmd heading: 26.285215 deg, new cmd heading: 26.296852 deg. 2025-10-29T00:34:04.447Z,1761698044.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.458967 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:04.477Z,1761698044.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.700250 2025-10-29T00:34:04.729Z,1761698044.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.952306 2025-10-29T00:34:04.878Z,1761698044.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899358,-0.418011,-0.128152],[0.430443,0.897925,0.091923],[0.076646,-0.137834,0.987485]] 2025-10-29T00:34:04.908Z,1761698044.908 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -345.45, 0.00 2025-10-29T00:34:04.941Z,1761698044.941 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:04.943Z,1761698044.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:04.954Z,1761698044.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 460.085632 m, bearing: 25.541760 deg, approach rate: -0.596967 m/s, LOS rate: 0.013473 deg/s, cmd heading: 26.296852 deg, new cmd heading: 26.310336 deg. 2025-10-29T00:34:04.955Z,1761698044.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459202 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:04.981Z,1761698044.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.204473 2025-10-29T00:34:05.234Z,1761698045.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.457249 2025-10-29T00:34:05.295Z,1761698045.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899552,-0.417019,-0.130003],[0.429758,0.898193,0.092505],[0.078192,-0.139083,0.987189]] 2025-10-29T00:34:05.322Z,1761698045.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:05.324Z,1761698045.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 459.842651 m, bearing: 25.547266 deg, approach rate: -0.642700 m/s, LOS rate: 0.014573 deg/s, cmd heading: 26.310336 deg, new cmd heading: 26.321355 deg. 2025-10-29T00:34:05.325Z,1761698045.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459394 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:05.485Z,1761698045.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.708621 2025-10-29T00:34:05.686Z,1761698045.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899669,-0.416375,-0.131254],[0.429278,0.898440,0.092338],[0.079477,-0.139418,0.987039]] 2025-10-29T00:34:05.722Z,1761698045.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:05.729Z,1761698045.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 459.598755 m, bearing: 25.552816 deg, approach rate: -0.609432 m/s, LOS rate: 0.013874 deg/s, cmd heading: 26.321355 deg, new cmd heading: 26.332460 deg. 2025-10-29T00:34:05.729Z,1761698045.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459588 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:05.737Z,1761698045.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.960468 2025-10-29T00:34:05.989Z,1761698045.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.212192 2025-10-29T00:34:06.123Z,1761698046.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899992,-0.415439,-0.132006],[0.428437,0.898855,0.092202],[0.080350,-0.139537,0.986951]] 2025-10-29T00:34:06.160Z,1761698046.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:06.188Z,1761698046.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 459.315186 m, bearing: 25.557952 deg, approach rate: -0.646984 m/s, LOS rate: 0.011727 deg/s, cmd heading: 26.332459 deg, new cmd heading: 26.342739 deg. 2025-10-29T00:34:06.189Z,1761698046.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459768 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:06.242Z,1761698046.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.465244 2025-10-29T00:34:06.493Z,1761698046.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.716341 2025-10-29T00:34:06.530Z,1761698046.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899884,-0.415036,-0.133990],[0.428381,0.898802,0.092976],[0.081842,-0.141067,0.986611]] 2025-10-29T00:34:06.614Z,1761698046.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:06.621Z,1761698046.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 459.036621 m, bearing: 25.563002 deg, approach rate: -0.612948 m/s, LOS rate: 0.011118 deg/s, cmd heading: 26.342738 deg, new cmd heading: 26.352844 deg. 2025-10-29T00:34:06.622Z,1761698046.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459944 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:06.746Z,1761698046.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.968746 2025-10-29T00:34:06.948Z,1761698046.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899825,-0.414194,-0.136964],[0.428136,0.898712,0.094959],[0.083759,-0.144086,0.986014]] 2025-10-29T00:34:06.997Z,1761698046.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.220395 2025-10-29T00:34:07.005Z,1761698047.005 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:07.007Z,1761698047.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:07.010Z,1761698047.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 458.788208 m, bearing: 25.567163 deg, approach rate: -0.632342 m/s, LOS rate: 0.010598 deg/s, cmd heading: 26.352844 deg, new cmd heading: 26.361171 deg. 2025-10-29T00:34:07.011Z,1761698047.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460089 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:07.253Z,1761698047.253 [DAT](INFO): DAT read: Rx Time:00:34:06.4984 2025-10-29T00:34:07.254Z,1761698047.254 [DAT](INFO): Rx dataTimestamp_ set to:1761698047.253060 2025-10-29T00:34:07.254Z,1761698047.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.477599 2025-10-29T00:34:07.352Z,1761698047.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899852,-0.413650,-0.138419],[0.427771,0.898926,0.094572],[0.085309,-0.144312,0.985848]] 2025-10-29T00:34:07.376Z,1761698047.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 462.51 m. 2025-10-29T00:34:07.378Z,1761698047.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 462.509583 m, nav range: 458.561493 m, bearing: 25.570975 deg, approach rate: -0.615400 m/s, LOS rate: 0.010352 deg/s, cmd heading: 26.361170 deg, new cmd heading: 26.368797 deg. 2025-10-29T00:34:07.379Z,1761698047.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460222 target range: 462.509583 and range: 465.00 m. 2025-10-29T00:34:07.501Z,1761698047.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.724234 2025-10-29T00:34:07.761Z,1761698047.761 [DAT](INFO): DAT read: 00:34:06.4984 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.46, 2.779, 1.208, 2.951, 2.354, PHS= 0.527,-1.101, 0.552, RAW= 150.8, 0.3, CAL= 149.6, -0.3, ROT= 0.4, 0.3 2025-10-29T00:34:07.762Z,1761698047.762 [DAT](INFO): got valid direction response: 00:34:06.4984 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 415,-0.46, 2.779, 1.208, 2.951, 2.354, PHS= 0.527,-1.101, 0.552, RAW= 150.8, 0.3, CAL= 149.6, -0.3, ROT= 0.4, 0.3 2025-10-29T00:34:07.793Z,1761698047.793 [DAT](INFO): DAT read: Bearing 172.5, 5.7 (Local) 2025-10-29T00:34:07.793Z,1761698047.793 [DAT](INFO): Local bearing/azimuth received: Bearing 172.5, 5.7 (Local) 2025-10-29T00:34:07.794Z,1761698047.794 [DAT](INFO): DAT read: Range 11 to 50 : 463.0 m (Round-trip 617.4 ms) speed 0.5 m/s 2025-10-29T00:34:07.795Z,1761698047.795 [DAT](INFO): DAT read: user:432>Tx time:00:34:07.5768 2025-10-29T00:34:07.796Z,1761698047.796 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:34:07.799Z,1761698047.799 [DAT](INFO): direction in FSK: [0.999962,0.006981,-0.005236] 2025-10-29T00:34:07.832Z,1761698047.832 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:07.866Z,1761698047.866 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:07.866Z,1761698047.866 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:07.866Z,1761698047.866 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:07.871Z,1761698047.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899252,-0.414292,-0.140387],[0.428419,0.898947,0.091386],[0.088341,-0.142323,0.985870]] 2025-10-29T00:34:07.978Z,1761698047.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 463.000000 m, deltaT: 4.031538 s, deltaX: -2.000000 m, approachRate: -0.496089 m/s, rangeRepo size: 4 2025-10-29T00:34:07.984Z,1761698047.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 460.483276 m, bearing: 25.828137 deg, lat: 36.779297 deg, lon: -121.859080 deg, deltaT: 4.031538 s, deltaX: -2.026306 m, approachRate: -0.502614 m/s, posRepo size: 4 2025-10-29T00:34:07.985Z,1761698047.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:07.988Z,1761698047.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 458.177917 m, bearing: 25.577826 deg, approach rate: 0.000000 m/s, LOS rate: 0.010352 deg/s, cmd heading: 26.368797 deg, new cmd heading: 26.381256 deg. 2025-10-29T00:34:07.993Z,1761698047.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460440 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:08.005Z,1761698048.005 [DAT](INFO): DAT read: 2025-10-29T00:34:08.005Z,1761698048.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.228762 2025-10-29T00:34:08.257Z,1761698048.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.480804 2025-10-29T00:34:08.297Z,1761698048.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898800,-0.414942,-0.141356],[0.428972,0.898944,0.088786],[0.090230,-0.140439,0.985969]] 2025-10-29T00:34:08.345Z,1761698048.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:08.355Z,1761698048.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 457.933594 m, bearing: 25.582178 deg, approach rate: -0.664297 m/s, LOS rate: 0.011839 deg/s, cmd heading: 26.381256 deg, new cmd heading: 26.389964 deg. 2025-10-29T00:34:08.356Z,1761698048.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460592 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:08.509Z,1761698048.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.732223 2025-10-29T00:34:08.699Z,1761698048.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898500,-0.415459,-0.141746],[0.429222,0.899161,0.085305],[0.092012,-0.137488,0.986221]] 2025-10-29T00:34:08.734Z,1761698048.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:08.745Z,1761698048.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 457.686401 m, bearing: 25.586581 deg, approach rate: -0.636649 m/s, LOS rate: 0.011346 deg/s, cmd heading: 26.389964 deg, new cmd heading: 26.398775 deg. 2025-10-29T00:34:08.747Z,1761698048.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460746 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:08.762Z,1761698048.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.985059 2025-10-29T00:34:09.013Z,1761698049.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.236203 2025-10-29T00:34:09.103Z,1761698049.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898145,-0.416225,-0.141747],[0.429573,0.899402,0.080891],[0.093819,-0.133543,0.986592]] 2025-10-29T00:34:09.146Z,1761698049.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:09.147Z,1761698049.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:09.150Z,1761698049.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 457.407257 m, bearing: 25.591797 deg, approach rate: -0.674323 m/s, LOS rate: 0.012609 deg/s, cmd heading: 26.398775 deg, new cmd heading: 26.409214 deg. 2025-10-29T00:34:09.151Z,1761698049.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460928 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:09.265Z,1761698049.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.488708 2025-10-29T00:34:09.507Z,1761698049.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897930,-0.416426,-0.142514],[0.429760,0.899423,0.079653],[0.095011,-0.132770,0.986583]] 2025-10-29T00:34:09.517Z,1761698049.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.740410 2025-10-29T00:34:09.528Z,1761698049.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:09.531Z,1761698049.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 457.159454 m, bearing: 25.596427 deg, approach rate: -0.650994 m/s, LOS rate: 0.012169 deg/s, cmd heading: 26.409215 deg, new cmd heading: 26.418479 deg. 2025-10-29T00:34:09.532Z,1761698049.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461089 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:09.772Z,1761698049.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.995082 2025-10-29T00:34:09.910Z,1761698049.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898006,-0.415910,-0.143542],[0.429349,0.899649,0.079317],[0.096149,-0.132857,0.986461]] 2025-10-29T00:34:09.957Z,1761698049.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:09.959Z,1761698049.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 456.879333 m, bearing: 25.602572 deg, approach rate: -0.653851 m/s, LOS rate: 0.014353 deg/s, cmd heading: 26.418478 deg, new cmd heading: 26.430777 deg. 2025-10-29T00:34:09.960Z,1761698049.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461304 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:10.021Z,1761698050.021 [DAT](INFO): Reached modem response timeout 2025-10-29T00:34:10.022Z,1761698050.022 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:10.022Z,1761698050.022 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:10.273Z,1761698050.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:10.322Z,1761698050.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898063,-0.415157,-0.145352],[0.428844,0.899887,0.079353],[0.097857,-0.133597,0.986193]] 2025-10-29T00:34:10.342Z,1761698050.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:10.345Z,1761698050.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 456.628113 m, bearing: 25.608106 deg, approach rate: -0.651538 m/s, LOS rate: 0.014359 deg/s, cmd heading: 26.430776 deg, new cmd heading: 26.441849 deg. 2025-10-29T00:34:10.346Z,1761698050.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461497 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:10.528Z,1761698050.528 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:10.718Z,1761698050.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898023,-0.414752,-0.146750],[0.428576,0.900060,0.078837],[0.099386,-0.133690,0.986027]] 2025-10-29T00:34:10.738Z,1761698050.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:10.742Z,1761698050.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 456.369293 m, bearing: 25.613822 deg, approach rate: -0.654601 m/s, LOS rate: 0.014466 deg/s, cmd heading: 26.441850 deg, new cmd heading: 26.453289 deg. 2025-10-29T00:34:10.743Z,1761698050.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461697 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:10.777Z,1761698050.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:11.029Z,1761698051.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:11.122Z,1761698051.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897785,-0.414883,-0.147833],[0.428688,0.900147,0.077210],[0.101039,-0.132692,0.985994]] 2025-10-29T00:34:11.166Z,1761698051.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:11.168Z,1761698051.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:11.171Z,1761698051.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 456.085907 m, bearing: 25.620250 deg, approach rate: -0.657626 m/s, LOS rate: 0.014927 deg/s, cmd heading: 26.453289 deg, new cmd heading: 26.466153 deg. 2025-10-29T00:34:11.172Z,1761698051.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461922 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:11.281Z,1761698051.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:11.528Z,1761698051.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897828,-0.414263,-0.149304],[0.428248,0.900372,0.077037],[0.102516,-0.133105,0.985786]] 2025-10-29T00:34:11.533Z,1761698051.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:11.602Z,1761698051.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:11.622Z,1761698051.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 455.814240 m, bearing: 25.626435 deg, approach rate: -0.626089 m/s, LOS rate: 0.014262 deg/s, cmd heading: 26.466153 deg, new cmd heading: 26.478530 deg. 2025-10-29T00:34:11.622Z,1761698051.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462138 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:11.788Z,1761698051.788 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:12.037Z,1761698052.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:12.062Z,1761698052.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897689,-0.414048,-0.150725],[0.428183,0.900437,0.076634],[0.103988,-0.133332,0.985601]] 2025-10-29T00:34:12.124Z,1761698052.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:12.127Z,1761698052.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 455.468994 m, bearing: 25.634634 deg, approach rate: -0.661254 m/s, LOS rate: 0.015715 deg/s, cmd heading: 26.478531 deg, new cmd heading: 26.494941 deg. 2025-10-29T00:34:12.128Z,1761698052.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462424 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:12.289Z,1761698052.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:12.454Z,1761698052.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897490,-0.413757,-0.152701],[0.428231,0.900357,0.077304],[0.105500,-0.134771,0.985244]] 2025-10-29T00:34:12.500Z,1761698052.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:12.503Z,1761698052.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 455.214355 m, bearing: 25.640683 deg, approach rate: -0.677912 m/s, LOS rate: 0.016113 deg/s, cmd heading: 26.494941 deg, new cmd heading: 26.507045 deg. 2025-10-29T00:34:12.504Z,1761698052.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462635 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:12.541Z,1761698052.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:12.793Z,1761698052.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:12.879Z,1761698052.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897079,-0.414532,-0.153013],[0.428686,0.900425,0.073915],[0.107136,-0.131902,0.985456]] 2025-10-29T00:34:12.959Z,1761698052.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:12.966Z,1761698052.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 454.939667 m, bearing: 25.647205 deg, approach rate: -0.598333 m/s, LOS rate: 0.014214 deg/s, cmd heading: 26.507046 deg, new cmd heading: 26.520097 deg. 2025-10-29T00:34:12.967Z,1761698052.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462863 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:13.045Z,1761698053.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:13.297Z,1761698053.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:13.425Z,1761698053.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895980,-0.415684,-0.156291],[0.430365,0.899564,0.074630],[0.109572,-0.134129,0.984888]] 2025-10-29T00:34:13.467Z,1761698053.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:13.469Z,1761698053.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:13.472Z,1761698053.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 454.577362 m, bearing: 25.655463 deg, approach rate: -0.710417 m/s, LOS rate: 0.016205 deg/s, cmd heading: 26.520096 deg, new cmd heading: 26.536625 deg. 2025-10-29T00:34:13.473Z,1761698053.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463151 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:13.550Z,1761698053.550 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:13.804Z,1761698053.804 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:13.960Z,1761698053.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895685,-0.415650,-0.158061],[0.430775,0.899218,0.076417],[0.110369,-0.136534,0.984468]] 2025-10-29T00:34:13.997Z,1761698053.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:13.000Z,1761698054.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 454.225372 m, bearing: 25.662419 deg, approach rate: -0.666621 m/s, LOS rate: 0.013185 deg/s, cmd heading: 26.536625 deg, new cmd heading: 26.550549 deg. 2025-10-29T00:34:14.001Z,1761698054.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463394 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:14.055Z,1761698054.055 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:14.305Z,1761698054.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:14.347Z,1761698054.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895092,-0.416338,-0.159602],[0.431818,0.898614,0.077631],[0.111100,-0.138406,0.984124]] 2025-10-29T00:34:14.367Z,1761698054.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:14.369Z,1761698054.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 453.978455 m, bearing: 25.667264 deg, approach rate: -0.668304 m/s, LOS rate: 0.013120 deg/s, cmd heading: 26.550549 deg, new cmd heading: 26.560244 deg. 2025-10-29T00:34:14.370Z,1761698054.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463564 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:14.558Z,1761698054.558 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:14.735Z,1761698054.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894731,-0.416522,-0.161138],[0.432478,0.898098,0.079893],[0.111440,-0.141171,0.983693]] 2025-10-29T00:34:14.772Z,1761698054.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:14.776Z,1761698054.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 453.710968 m, bearing: 25.672486 deg, approach rate: -0.660593 m/s, LOS rate: 0.012905 deg/s, cmd heading: 26.560244 deg, new cmd heading: 26.570695 deg. 2025-10-29T00:34:14.777Z,1761698054.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463746 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:14.810Z,1761698054.810 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:15.062Z,1761698055.062 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:15.139Z,1761698055.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894110,-0.417289,-0.162594],[0.433590,0.897458,0.081047],[0.112101,-0.142963,0.983359]] 2025-10-29T00:34:15.221Z,1761698055.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:15.224Z,1761698055.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 453.417114 m, bearing: 25.679059 deg, approach rate: -0.653727 m/s, LOS rate: 0.014631 deg/s, cmd heading: 26.570696 deg, new cmd heading: 26.583849 deg. 2025-10-29T00:34:15.225Z,1761698055.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463976 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:15.313Z,1761698055.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:15.566Z,1761698055.566 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:15.580Z,1761698055.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893461,-0.418256,-0.163675],[0.434777,0.896838,0.081553],[0.112680,-0.144027,0.983137]] 2025-10-29T00:34:15.613Z,1761698055.613 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:15.615Z,1761698055.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:15.622Z,1761698055.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 453.172272 m, bearing: 25.684496 deg, approach rate: -0.621682 m/s, LOS rate: 0.013815 deg/s, cmd heading: 26.583849 deg, new cmd heading: 26.594731 deg. 2025-10-29T00:34:15.623Z,1761698055.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464166 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:15.817Z,1761698055.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:15.994Z,1761698055.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892840,-0.419204,-0.164632],[0.435911,0.896255,0.081909],[0.113215,-0.144897,0.982948]] 2025-10-29T00:34:16.063Z,1761698056.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:16.070Z,1761698056.070 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:16.078Z,1761698056.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 452.894196 m, bearing: 25.690727 deg, approach rate: -0.621007 m/s, LOS rate: 0.013922 deg/s, cmd heading: 26.594731 deg, new cmd heading: 26.607199 deg. 2025-10-29T00:34:16.079Z,1761698056.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464383 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:16.321Z,1761698056.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:16.374Z,1761698056.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892381,-0.419830,-0.165530],[0.436734,0.895804,0.082452],[0.113667,-0.145871,0.982752]] 2025-10-29T00:34:16.417Z,1761698056.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:16.419Z,1761698056.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 452.656616 m, bearing: 25.696026 deg, approach rate: -0.671166 m/s, LOS rate: 0.014978 deg/s, cmd heading: 26.607200 deg, new cmd heading: 26.617804 deg. 2025-10-29T00:34:16.425Z,1761698056.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464568 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:16.576Z,1761698056.576 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:16.782Z,1761698056.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891771,-0.421022,-0.165788],[0.437910,0.895278,0.081935],[0.113930,-0.145667,0.982752]] 2025-10-29T00:34:16.806Z,1761698056.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:16.809Z,1761698056.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 452.395081 m, bearing: 25.701820 deg, approach rate: -0.671419 m/s, LOS rate: 0.014883 deg/s, cmd heading: 26.617804 deg, new cmd heading: 26.629399 deg. 2025-10-29T00:34:16.810Z,1761698056.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464771 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:16.828Z,1761698056.828 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:17.077Z,1761698057.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:17.183Z,1761698057.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891569,-0.421362,-0.166009],[0.438257,0.895129,0.081704],[0.114172,-0.145600,0.982734]] 2025-10-29T00:34:17.236Z,1761698057.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:17.239Z,1761698057.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 452.141266 m, bearing: 25.707716 deg, approach rate: -0.613513 m/s, LOS rate: 0.014261 deg/s, cmd heading: 26.629398 deg, new cmd heading: 26.641198 deg. 2025-10-29T00:34:17.239Z,1761698057.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464977 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:17.329Z,1761698057.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:17.581Z,1761698057.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:17.589Z,1761698057.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891298,-0.422097,-0.165594],[0.438851,0.894902,0.080994],[0.114003,-0.144861,0.982862]] 2025-10-29T00:34:17.624Z,1761698057.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:17.627Z,1761698057.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 451.902740 m, bearing: 25.713244 deg, approach rate: -0.589719 m/s, LOS rate: 0.013674 deg/s, cmd heading: 26.641197 deg, new cmd heading: 26.652258 deg. 2025-10-29T00:34:17.632Z,1761698057.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465170 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:17.833Z,1761698057.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:18.019Z,1761698058.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891100,-0.422403,-0.165880],[0.439171,0.894769,0.080733],[0.114322,-0.144790,0.982836]] 2025-10-29T00:34:18.085Z,1761698058.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:18.089Z,1761698058.089 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:18.091Z,1761698058.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:18.093Z,1761698058.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 451.608368 m, bearing: 25.720495 deg, approach rate: -0.631267 m/s, LOS rate: 0.015560 deg/s, cmd heading: 26.652259 deg, new cmd heading: 26.666771 deg. 2025-10-29T00:34:18.094Z,1761698058.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465423 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:18.337Z,1761698058.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:18.405Z,1761698058.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891078,-0.422671,-0.165318],[0.439294,0.894757,0.080190],[0.114025,-0.144079,0.982975]] 2025-10-29T00:34:18.424Z,1761698058.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:18.427Z,1761698058.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 451.403229 m, bearing: 25.725551 deg, approach rate: -0.615972 m/s, LOS rate: 0.015189 deg/s, cmd heading: 26.666771 deg, new cmd heading: 26.676888 deg. 2025-10-29T00:34:18.427Z,1761698058.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465600 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:18.589Z,1761698058.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:18.803Z,1761698058.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890844,-0.423317,-0.164926],[0.439807,0.894565,0.079520],[0.113875,-0.143375,0.983095]] 2025-10-29T00:34:18.830Z,1761698058.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:18.832Z,1761698058.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 451.154480 m, bearing: 25.731672 deg, approach rate: -0.612836 m/s, LOS rate: 0.015087 deg/s, cmd heading: 26.676888 deg, new cmd heading: 26.689136 deg. 2025-10-29T00:34:18.833Z,1761698058.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465813 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:18.841Z,1761698058.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:19.093Z,1761698059.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:19.206Z,1761698059.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890664,-0.423797,-0.164662],[0.440223,0.894381,0.079283],[0.113670,-0.143102,0.983159]] 2025-10-29T00:34:19.251Z,1761698059.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:19.254Z,1761698059.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 450.895538 m, bearing: 25.737334 deg, approach rate: -0.613908 m/s, LOS rate: 0.013432 deg/s, cmd heading: 26.689137 deg, new cmd heading: 26.700467 deg. 2025-10-29T00:34:19.255Z,1761698059.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466011 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:19.345Z,1761698059.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:19.597Z,1761698059.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:19.612Z,1761698059.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890782,-0.423704,-0.164261],[0.440052,0.894480,0.079118],[0.113406,-0.142760,0.983239]] 2025-10-29T00:34:19.636Z,1761698059.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:19.639Z,1761698059.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 450.659363 m, bearing: 25.742511 deg, approach rate: -0.614097 m/s, LOS rate: 0.013470 deg/s, cmd heading: 26.700468 deg, new cmd heading: 26.710828 deg. 2025-10-29T00:34:19.640Z,1761698059.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466192 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:19.849Z,1761698059.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:20.055Z,1761698060.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890995,-0.423770,-0.162934],[0.439778,0.894728,0.077828],[0.112800,-0.140999,0.983563]] 2025-10-29T00:34:20.101Z,1761698060.101 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:34:20.101Z,1761698060.101 [DAT](INFO): response not received 2025-10-29T00:34:20.102Z,1761698060.102 [DAT](INFO): DAT read: user:433> 2025-10-29T00:34:20.103Z,1761698060.103 [DAT](INFO): DAT read: Tx time:00:34:20.0268 2025-10-29T00:34:20.103Z,1761698060.103 [DAT](INFO): Ping request sent. 2025-10-29T00:34:20.103Z,1761698060.103 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:34:20.103Z,1761698060.103 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:20.104Z,1761698060.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:34:20.147Z,1761698060.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:20.153Z,1761698060.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:20.160Z,1761698060.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 450.378357 m, bearing: 25.748154 deg, approach rate: -0.543072 m/s, LOS rate: 0.010911 deg/s, cmd heading: 26.710828 deg, new cmd heading: 26.722120 deg. 2025-10-29T00:34:20.161Z,1761698060.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466389 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:20.353Z,1761698060.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250400 2025-10-29T00:34:20.605Z,1761698060.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501920 2025-10-29T00:34:20.618Z,1761698060.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891468,-0.423414,-0.161260],[0.439050,0.895185,0.076674],[0.111892,-0.139154,0.983929]] 2025-10-29T00:34:20.650Z,1761698060.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:20.653Z,1761698060.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 450.043182 m, bearing: 25.754936 deg, approach rate: -0.675152 m/s, LOS rate: 0.013671 deg/s, cmd heading: 26.722120 deg, new cmd heading: 26.735694 deg. 2025-10-29T00:34:20.654Z,1761698060.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466626 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:20.860Z,1761698060.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756928 2025-10-29T00:34:21.065Z,1761698061.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891842,-0.422954,-0.160399],[0.438480,0.895454,0.076799],[0.111148,-0.138825,0.984060]] 2025-10-29T00:34:21.109Z,1761698061.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005908 2025-10-29T00:34:21.121Z,1761698061.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:21.124Z,1761698061.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 449.752777 m, bearing: 25.761152 deg, approach rate: -0.616237 m/s, LOS rate: 0.013200 deg/s, cmd heading: 26.735693 deg, new cmd heading: 26.748134 deg. 2025-10-29T00:34:21.125Z,1761698061.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466843 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:21.361Z,1761698061.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257980 2025-10-29T00:34:21.581Z,1761698061.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892315,-0.422525,-0.158889],[0.437736,0.895893,0.075908],[0.110275,-0.137285,0.984374]] 2025-10-29T00:34:21.601Z,1761698061.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:21.604Z,1761698061.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 449.457214 m, bearing: 25.767525 deg, approach rate: -0.615815 m/s, LOS rate: 0.013287 deg/s, cmd heading: 26.748134 deg, new cmd heading: 26.760889 deg. 2025-10-29T00:34:21.605Z,1761698061.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467066 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:21.613Z,1761698061.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509893 2025-10-29T00:34:21.865Z,1761698061.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761794 2025-10-29T00:34:21.946Z,1761698061.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892924,-0.421902,-0.157118],[0.436768,0.896438,0.075048],[0.109183,-0.135636,0.984724]] 2025-10-29T00:34:21.966Z,1761698061.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:21.968Z,1761698061.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 449.232361 m, bearing: 25.772415 deg, approach rate: -0.616962 m/s, LOS rate: 0.013423 deg/s, cmd heading: 26.760888 deg, new cmd heading: 26.770672 deg. 2025-10-29T00:34:21.969Z,1761698061.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467236 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:22.117Z,1761698062.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013961 2025-10-29T00:34:22.351Z,1761698062.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893363,-0.421314,-0.156194],[0.436137,0.896679,0.075833],[0.108106,-0.135869,0.984811]] 2025-10-29T00:34:22.369Z,1761698062.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265956 2025-10-29T00:34:22.412Z,1761698062.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:22.414Z,1761698062.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:22.421Z,1761698062.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 448.970734 m, bearing: 25.778220 deg, approach rate: -0.583189 m/s, LOS rate: 0.012948 deg/s, cmd heading: 26.770672 deg, new cmd heading: 26.782290 deg. 2025-10-29T00:34:22.422Z,1761698062.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467439 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:22.621Z,1761698062.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517875 2025-10-29T00:34:22.767Z,1761698062.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893978,-0.420566,-0.154688],[0.435188,0.897133,0.075926],[0.106844,-0.135195,0.985041]] 2025-10-29T00:34:22.789Z,1761698062.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:22.791Z,1761698062.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 448.724365 m, bearing: 25.783731 deg, approach rate: -0.657338 m/s, LOS rate: 0.014711 deg/s, cmd heading: 26.782290 deg, new cmd heading: 26.793317 deg. 2025-10-29T00:34:22.793Z,1761698062.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467632 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:22.873Z,1761698062.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769880 2025-10-29T00:34:23.126Z,1761698063.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023408 2025-10-29T00:34:23.158Z,1761698063.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894635,-0.419722,-0.153172],[0.434173,0.897592,0.076301],[0.105461,-0.134765,0.985249]] 2025-10-29T00:34:23.207Z,1761698063.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:23.211Z,1761698063.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 448.469025 m, bearing: 25.790229 deg, approach rate: -0.610328 m/s, LOS rate: 0.015540 deg/s, cmd heading: 26.793318 deg, new cmd heading: 26.806320 deg. 2025-10-29T00:34:23.212Z,1761698063.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467859 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:23.377Z,1761698063.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273825 2025-10-29T00:34:23.611Z,1761698063.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:23.613Z,1761698063.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 448.222717 m, bearing: 25.796504 deg, approach rate: -0.610806 m/s, LOS rate: 0.015570 deg/s, cmd heading: 26.806320 deg, new cmd heading: 26.818877 deg. 2025-10-29T00:34:23.614Z,1761698063.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468078 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:23.629Z,1761698063.629 [DAT](INFO): DAT read: Rx Time:00:34:23.0220 2025-10-29T00:34:23.630Z,1761698063.630 [DAT](INFO): Rx dataTimestamp_ set to:1761698063.629331 2025-10-29T00:34:23.630Z,1761698063.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527122 2025-10-29T00:34:23.881Z,1761698063.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777916 2025-10-29T00:34:23.968Z,1761698063.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895845,-0.418118,-0.150463],[0.432349,0.898346,0.077775],[0.102649,-0.134727,0.985552]] 2025-10-29T00:34:23.993Z,1761698063.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 460.48 m. 2025-10-29T00:34:23.995Z,1761698063.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 460.483276 m, nav range: 447.989960 m, bearing: 25.802505 deg, approach rate: -0.610584 m/s, LOS rate: 0.015751 deg/s, cmd heading: 26.818878 deg, new cmd heading: 26.830887 deg. 2025-10-29T00:34:23.996Z,1761698063.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468287 target range: 460.483276 and range: 463.00 m. 2025-10-29T00:34:24.133Z,1761698064.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030086 2025-10-29T00:34:24.370Z,1761698064.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896203,-0.417836,-0.149106],[0.431895,0.898552,0.077915],[0.101423,-0.134226,0.985747]] 2025-10-29T00:34:24.390Z,1761698064.390 [DAT](INFO): DAT read: 00:34:23.0220 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 142,-0.10, 2.164, 0.650, 2.354, 1.726, PHS= 0.540,-1.031, 0.584, RAW= 151.4, -1.2, CAL= 150.4, -2.0, ROT= 359.6, 2.0 2025-10-29T00:34:24.391Z,1761698064.391 [DAT](INFO): got valid direction response: 00:34:23.0220 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 142,-0.10, 2.164, 0.650, 2.354, 1.726, PHS= 0.540,-1.031, 0.584, RAW= 151.4, -1.2, CAL= 150.4, -2.0, ROT= 359.6, 2.0 2025-10-29T00:34:24.405Z,1761698064.405 [DAT](INFO): DAT read: Bearing 171.6, 6.0 (Local) 2025-10-29T00:34:24.406Z,1761698064.406 [DAT](INFO): Local bearing/azimuth received: Bearing 171.6, 6.0 (Local) 2025-10-29T00:34:24.407Z,1761698064.407 [DAT](INFO): DAT read: Range 11 to 50 : 443.3 m (Round-trip 591.1 ms) speed 0.4 m/s 2025-10-29T00:34:24.416Z,1761698064.416 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:34:24.417Z,1761698064.417 [DAT](INFO): direction in FSK: [0.999366,-0.006977,-0.034899] 2025-10-29T00:34:24.417Z,1761698064.417 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:24.437Z,1761698064.437 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:24.438Z,1761698064.438 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:24.438Z,1761698064.438 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:24.517Z,1761698064.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 443.299988 m, deltaT: 16.631826 s, deltaX: -19.700012 m, approachRate: -1.184477 m/s, rangeRepo size: 4 2025-10-29T00:34:24.519Z,1761698064.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 440.750610 m, bearing: 25.062718 deg, lat: 36.779295 deg, lon: -121.859080 deg, deltaT: 16.631826 s, deltaX: -19.732666 m, approachRate: -1.186440 m/s, posRepo size: 4 2025-10-29T00:34:24.519Z,1761698064.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:24.561Z,1761698064.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 447.504089 m, bearing: 25.821544 deg, approach rate: 0.000000 m/s, LOS rate: 0.015751 deg/s, cmd heading: 26.830887 deg, new cmd heading: 26.847262 deg. 2025-10-29T00:34:24.563Z,1761698064.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468573 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:24.638Z,1761698064.638 [DAT](INFO): DAT read: user:434> 2025-10-29T00:34:24.639Z,1761698064.639 [DAT](INFO): DAT read: Tx time:00:34:24.4268 2025-10-29T00:34:24.639Z,1761698064.639 [DAT](INFO): Ping request sent. 2025-10-29T00:34:24.639Z,1761698064.639 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:34:24.639Z,1761698064.639 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:24.640Z,1761698064.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000866 2025-10-29T00:34:24.811Z,1761698064.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896622,-0.417625,-0.147169],[0.431383,0.898829,0.077557],[0.099890,-0.133025,0.986066]] 2025-10-29T00:34:24.829Z,1761698064.829 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:24.831Z,1761698064.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:24.834Z,1761698064.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 447.291901 m, bearing: 25.827208 deg, approach rate: -0.664184 m/s, LOS rate: 0.017740 deg/s, cmd heading: 26.847262 deg, new cmd heading: 26.858597 deg. 2025-10-29T00:34:24.835Z,1761698064.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468771 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:24.889Z,1761698064.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249635 2025-10-29T00:34:25.141Z,1761698065.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501850 2025-10-29T00:34:25.214Z,1761698065.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896922,-0.417472,-0.145767],[0.431082,0.898938,0.077968],[0.098486,-0.132769,0.986242]] 2025-10-29T00:34:25.267Z,1761698065.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:25.270Z,1761698065.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 447.012939 m, bearing: 25.835017 deg, approach rate: -0.639922 m/s, LOS rate: 0.017925 deg/s, cmd heading: 26.858597 deg, new cmd heading: 26.874225 deg. 2025-10-29T00:34:25.271Z,1761698065.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469044 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:25.393Z,1761698065.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753624 2025-10-29T00:34:25.618Z,1761698065.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897368,-0.417113,-0.144042],[0.430508,0.899197,0.078153],[0.096923,-0.132143,0.986481]] 2025-10-29T00:34:25.643Z,1761698065.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:25.645Z,1761698065.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005650 2025-10-29T00:34:25.647Z,1761698065.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 446.772919 m, bearing: 25.841767 deg, approach rate: -0.638684 m/s, LOS rate: 0.017971 deg/s, cmd heading: 26.874225 deg, new cmd heading: 26.887732 deg. 2025-10-29T00:34:25.648Z,1761698065.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469279 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:25.897Z,1761698065.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257611 2025-10-29T00:34:26.022Z,1761698066.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897661,-0.417147,-0.142103],[0.430232,0.899375,0.077625],[0.095423,-0.130818,0.986803]] 2025-10-29T00:34:26.105Z,1761698066.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:26.122Z,1761698066.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 446.506317 m, bearing: 25.849288 deg, approach rate: -0.584285 m/s, LOS rate: 0.016491 deg/s, cmd heading: 26.887731 deg, new cmd heading: 26.902781 deg. 2025-10-29T00:34:26.131Z,1761698066.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469542 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:26.149Z,1761698066.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509843 2025-10-29T00:34:26.401Z,1761698066.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761591 2025-10-29T00:34:26.615Z,1761698066.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:26.626Z,1761698066.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 446.194305 m, bearing: 25.857665 deg, approach rate: -0.604364 m/s, LOS rate: 0.016239 deg/s, cmd heading: 26.902782 deg, new cmd heading: 26.919549 deg. 2025-10-29T00:34:26.627Z,1761698066.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469835 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:26.653Z,1761698066.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013787 2025-10-29T00:34:26.905Z,1761698066.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265619 2025-10-29T00:34:27.016Z,1761698067.016 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:27.018Z,1761698067.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:27.021Z,1761698067.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 445.893463 m, bearing: 25.865755 deg, approach rate: -0.747444 m/s, LOS rate: 0.020112 deg/s, cmd heading: 26.919550 deg, new cmd heading: 26.935739 deg. 2025-10-29T00:34:27.022Z,1761698067.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470117 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:27.162Z,1761698067.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521839 2025-10-29T00:34:27.363Z,1761698067.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898237,-0.417511,-0.137314],[0.430065,0.899361,0.078705],[0.090634,-0.129750,0.987396]] 2025-10-29T00:34:27.409Z,1761698067.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769740 2025-10-29T00:34:27.423Z,1761698067.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:27.426Z,1761698067.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 445.629913 m, bearing: 25.872553 deg, approach rate: -0.650371 m/s, LOS rate: 0.016786 deg/s, cmd heading: 26.935739 deg, new cmd heading: 26.949344 deg. 2025-10-29T00:34:27.427Z,1761698067.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470355 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:27.661Z,1761698067.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021748 2025-10-29T00:34:27.793Z,1761698067.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898141,-0.418733,-0.134186],[0.430835,0.899035,0.078213],[0.087887,-0.128058,0.987865]] 2025-10-29T00:34:27.824Z,1761698067.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:27.826Z,1761698067.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 445.377136 m, bearing: 25.879057 deg, approach rate: -0.631236 m/s, LOS rate: 0.016252 deg/s, cmd heading: 26.949343 deg, new cmd heading: 26.962359 deg. 2025-10-29T00:34:27.827Z,1761698067.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470582 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:27.913Z,1761698067.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273814 2025-10-29T00:34:28.166Z,1761698068.166 [DAT](INFO): DAT read: Rx Time:00:34:27.4321 2025-10-29T00:34:28.166Z,1761698068.166 [DAT](INFO): Rx dataTimestamp_ set to:1761698068.165918 2025-10-29T00:34:28.167Z,1761698068.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527418 2025-10-29T00:34:28.206Z,1761698068.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897985,-0.419276,-0.133531],[0.431366,0.898708,0.079041],[0.086865,-0.128579,0.987888]] 2025-10-29T00:34:28.256Z,1761698068.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 440.75 m. 2025-10-29T00:34:28.258Z,1761698068.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 440.750610 m, nav range: 445.095276 m, bearing: 25.885527 deg, approach rate: -0.652341 m/s, LOS rate: 0.014983 deg/s, cmd heading: 26.962360 deg, new cmd heading: 26.975307 deg. 2025-10-29T00:34:28.259Z,1761698068.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470808 target range: 440.750610 and range: 443.30 m. 2025-10-29T00:34:28.417Z,1761698068.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777595 2025-10-29T00:34:28.674Z,1761698068.674 [DAT](INFO): DAT read: 00:34:27.4320 LVL= 22576, 26017, 23282, 22211, AGC= 76, IDX= 35, 0.03,-1.082,-2.679,-0.916,-1.567, PHS= 0.586,-1.067, 0.606, RAW= 150.6, -1.5, CAL= 149.7, -2.3, ROT= 0.3, 2.3 2025-10-29T00:34:28.675Z,1761698068.675 [DAT](INFO): got valid direction response: 00:34:27.4320 LVL= 22576, 26017, 23282, 22211, AGC= 76, IDX= 35, 0.03,-1.082,-2.679,-0.916,-1.567, PHS= 0.586,-1.067, 0.606, RAW= 150.6, -1.5, CAL= 149.7, -2.3, ROT= 0.3, 2.3 2025-10-29T00:34:28.677Z,1761698068.677 [DAT](INFO): DAT read: Bearing 171.3, 5.6 (Local) 2025-10-29T00:34:28.677Z,1761698068.677 [DAT](INFO): Local bearing/azimuth received: Bearing 171.3, 5.6 (Local) 2025-10-29T00:34:28.679Z,1761698068.679 [DAT](INFO): DAT read: Range 11 to 50 : 450.8 m (Round-trip 601.1 ms) speed 0.6 m/s 2025-10-29T00:34:28.679Z,1761698068.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:34:28.681Z,1761698068.681 [DAT](INFO): direction in FSK: [0.999181,0.005232,-0.040132] 2025-10-29T00:34:28.681Z,1761698068.681 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:28.684Z,1761698068.684 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:28.684Z,1761698068.684 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:28.685Z,1761698068.685 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:28.694Z,1761698068.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897773,-0.420061,-0.132487],[0.431966,0.898471,0.078456],[0.086079,-0.127666,0.988075]] 2025-10-29T00:34:28.798Z,1761698068.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 450.799988 m, deltaT: 4.283991 s, deltaX: 7.500000 m, approachRate: 1.750704 m/s, rangeRepo size: 4 2025-10-29T00:34:28.804Z,1761698068.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 448.196991 m, bearing: 25.697316 deg, lat: 36.779295 deg, lon: -121.859081 deg, deltaT: 4.283991 s, deltaX: 7.446381 m, approachRate: 1.738188 m/s, posRepo size: 4 2025-10-29T00:34:28.805Z,1761698068.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:28.807Z,1761698068.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 444.725159 m, bearing: 25.882383 deg, approach rate: 0.000000 m/s, LOS rate: 0.014983 deg/s, cmd heading: 26.975306 deg, new cmd heading: 26.991542 deg. 2025-10-29T00:34:28.813Z,1761698068.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471091 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:28.921Z,1761698068.921 [DAT](INFO): DAT read: user:435> 2025-10-29T00:34:28.922Z,1761698068.922 [DAT](INFO): DAT read: Tx time:00:34:28.6767 2025-10-29T00:34:28.922Z,1761698068.922 [DAT](INFO): Ping request sent. 2025-10-29T00:34:28.922Z,1761698068.922 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:34:28.922Z,1761698068.922 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:28.923Z,1761698068.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000759 2025-10-29T00:34:29.160Z,1761698069.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897519,-0.420780,-0.131926],[0.432708,0.898017,0.079554],[0.084997,-0.128486,0.988062]] 2025-10-29T00:34:29.176Z,1761698069.176 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253390 2025-10-29T00:34:29.226Z,1761698069.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:29.227Z,1761698069.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:29.234Z,1761698069.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 444.443115 m, bearing: 25.888814 deg, approach rate: -0.655791 m/s, LOS rate: 0.014962 deg/s, cmd heading: 26.991542 deg, new cmd heading: 27.004411 deg. 2025-10-29T00:34:29.235Z,1761698069.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471316 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:29.425Z,1761698069.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503317 2025-10-29T00:34:29.624Z,1761698069.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897268,-0.421732,-0.130582],[0.433527,0.897579,0.080038],[0.083453,-0.128427,0.988201]] 2025-10-29T00:34:29.677Z,1761698069.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754930 2025-10-29T00:34:29.687Z,1761698069.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:29.694Z,1761698069.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 444.138092 m, bearing: 25.894171 deg, approach rate: -0.663571 m/s, LOS rate: 0.011662 deg/s, cmd heading: 27.004411 deg, new cmd heading: 27.015132 deg. 2025-10-29T00:34:29.695Z,1761698069.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471503 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:29.929Z,1761698069.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006912 2025-10-29T00:34:30.034Z,1761698070.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897203,-0.422491,-0.128562],[0.434106,0.897210,0.081032],[0.081112,-0.128512,0.988385]] 2025-10-29T00:34:30.069Z,1761698070.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:30.071Z,1761698070.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 443.877777 m, bearing: 25.898727 deg, approach rate: -0.682276 m/s, LOS rate: 0.011950 deg/s, cmd heading: 27.015133 deg, new cmd heading: 27.024252 deg. 2025-10-29T00:34:30.072Z,1761698070.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471662 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:30.184Z,1761698070.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261554 2025-10-29T00:34:30.431Z,1761698070.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896988,-0.423547,-0.126568],[0.434973,0.896711,0.081899],[0.078807,-0.128517,0.988571]] 2025-10-29T00:34:30.433Z,1761698070.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510911 2025-10-29T00:34:30.499Z,1761698070.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:30.502Z,1761698070.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 443.602356 m, bearing: 25.902900 deg, approach rate: -0.639744 m/s, LOS rate: 0.009698 deg/s, cmd heading: 27.024251 deg, new cmd heading: 27.032602 deg. 2025-10-29T00:34:30.503Z,1761698070.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471808 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:30.685Z,1761698070.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762860 2025-10-29T00:34:30.835Z,1761698070.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896684,-0.424624,-0.125106],[0.435998,0.896050,0.083670],[0.076573,-0.129572,0.988609]] 2025-10-29T00:34:30.882Z,1761698070.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:30.885Z,1761698070.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 443.357574 m, bearing: 25.906576 deg, approach rate: -0.639779 m/s, LOS rate: 0.009613 deg/s, cmd heading: 27.032601 deg, new cmd heading: 27.039957 deg. 2025-10-29T00:34:30.886Z,1761698070.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471936 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:30.938Z,1761698070.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016067 2025-10-29T00:34:31.193Z,1761698071.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270490 2025-10-29T00:34:31.246Z,1761698071.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896410,-0.425884,-0.122767],[0.437046,0.895419,0.084945],[0.073751,-0.129801,0.988794]] 2025-10-29T00:34:31.282Z,1761698071.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:31.284Z,1761698071.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:31.302Z,1761698071.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 443.093781 m, bearing: 25.911159 deg, approach rate: -0.656566 m/s, LOS rate: 0.011413 deg/s, cmd heading: 27.039957 deg, new cmd heading: 27.049128 deg. 2025-10-29T00:34:31.303Z,1761698071.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472096 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:31.369Z,1761698071.369 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:34:31.441Z,1761698071.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518897 2025-10-29T00:34:31.642Z,1761698071.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896219,-0.426938,-0.120482],[0.437882,0.894902,0.086077],[0.071070,-0.129901,0.988977]] 2025-10-29T00:34:31.677Z,1761698071.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:31.680Z,1761698071.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 442.834167 m, bearing: 25.915644 deg, approach rate: -0.659879 m/s, LOS rate: 0.011407 deg/s, cmd heading: 27.049129 deg, new cmd heading: 27.058104 deg. 2025-10-29T00:34:31.681Z,1761698071.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472253 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:31.693Z,1761698071.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770920 2025-10-29T00:34:31.945Z,1761698071.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023009 2025-10-29T00:34:32.054Z,1761698072.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896053,-0.427867,-0.118396],[0.438678,0.894315,0.088099],[0.068189,-0.130879,0.989051]] 2025-10-29T00:34:32.073Z,1761698072.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:32.092Z,1761698072.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 442.573181 m, bearing: 25.920128 deg, approach rate: -0.658428 m/s, LOS rate: 0.011319 deg/s, cmd heading: 27.058105 deg, new cmd heading: 27.067079 deg. 2025-10-29T00:34:32.093Z,1761698072.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472410 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:32.201Z,1761698072.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278987 2025-10-29T00:34:32.372Z,1761698072.372 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:34:32.454Z,1761698072.454 [DAT](INFO): DAT read: 00:34:31.6771 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 395,-0.06, 1.273,-0.309, 1.373, 0.741, PHS= 0.634,-1.005, 0.587, RAW= 148.6, -2.7, CAL= 148.0, -3.5, ROT= 2.0, 3.5 2025-10-29T00:34:32.455Z,1761698072.455 [DAT](INFO): got valid direction response: 00:34:31.6771 LVL= 32752, 32753, 32754, 32755, AGC= 78, IDX= 395,-0.06, 1.273,-0.309, 1.373, 0.741, PHS= 0.634,-1.005, 0.587, RAW= 148.6, -2.7, CAL= 148.0, -3.5, ROT= 2.0, 3.5 2025-10-29T00:34:32.456Z,1761698072.456 [DAT](INFO): DAT read: Rx Time:00:34:31.6771 2025-10-29T00:34:32.457Z,1761698072.457 [DAT](INFO): Rx dataTimestamp_ set to:1761698072.456631 2025-10-29T00:34:32.458Z,1761698072.458 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-29T00:34:32.458Z,1761698072.458 [DAT](INFO): Received low SNR in chirp 2025-10-29T00:34:32.475Z,1761698072.475 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:34:32.476Z,1761698072.476 [DAT](INFO): direction in FSK: [0.997527,0.034834,-0.061049] 2025-10-29T00:34:32.479Z,1761698072.479 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:32.479Z,1761698072.479 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:32.479Z,1761698072.479 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:32.659Z,1761698072.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:32.662Z,1761698072.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 442.193298 m, bearing: 25.927651 deg, approach rate: -0.648597 m/s, LOS rate: 0.012855 deg/s, cmd heading: 27.067078 deg, new cmd heading: 27.082137 deg. 2025-10-29T00:34:32.663Z,1761698072.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472672 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:32.701Z,1761698072.701 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:32.701Z,1761698072.701 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:32.701Z,1761698072.701 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:32.953Z,1761698072.953 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:32.953Z,1761698072.953 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:32.953Z,1761698072.953 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:32.962Z,1761698072.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895966,-0.429066,-0.114666],[0.439614,0.893497,0.091659],[0.063126,-0.132532,0.989166]] 2025-10-29T00:34:33.040Z,1761698073.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:33.049Z,1761698073.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 441.960175 m, bearing: 25.932241 deg, approach rate: -0.618914 m/s, LOS rate: 0.012194 deg/s, cmd heading: 27.082137 deg, new cmd heading: 27.091323 deg. 2025-10-29T00:34:33.050Z,1761698073.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472833 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:33.207Z,1761698073.207 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:33.207Z,1761698073.207 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:33.208Z,1761698073.208 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:33.362Z,1761698073.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895893,-0.429823,-0.112372],[0.440129,0.893134,0.092727],[0.060507,-0.132531,0.989330]] 2025-10-29T00:34:33.427Z,1761698073.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:33.429Z,1761698073.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:33.431Z,1761698073.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 441.698212 m, bearing: 25.939450 deg, approach rate: -0.666286 m/s, LOS rate: 0.018345 deg/s, cmd heading: 27.091324 deg, new cmd heading: 27.105749 deg. 2025-10-29T00:34:33.433Z,1761698073.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473085 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:33.457Z,1761698073.457 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:33.457Z,1761698073.457 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:33.457Z,1761698073.457 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:33.709Z,1761698073.709 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:33.709Z,1761698073.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:33.709Z,1761698073.709 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:33.780Z,1761698073.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895742,-0.430645,-0.110416],[0.440721,0.892784,0.093278],[0.058408,-0.132216,0.989499]] 2025-10-29T00:34:33.820Z,1761698073.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:33.823Z,1761698073.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 441.445587 m, bearing: 25.946388 deg, approach rate: -0.645871 m/s, LOS rate: 0.017750 deg/s, cmd heading: 27.105749 deg, new cmd heading: 27.119634 deg. 2025-10-29T00:34:33.824Z,1761698073.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473327 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:33.961Z,1761698073.961 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:33.961Z,1761698073.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:33.961Z,1761698073.961 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:34.166Z,1761698074.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895844,-0.431233,-0.107243],[0.440868,0.892748,0.092938],[0.055663,-0.130538,0.989880]] 2025-10-29T00:34:34.215Z,1761698074.215 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:34.215Z,1761698074.215 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:34.216Z,1761698074.216 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:34.255Z,1761698074.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:34.262Z,1761698074.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 441.205139 m, bearing: 25.952998 deg, approach rate: -0.552391 m/s, LOS rate: 0.015193 deg/s, cmd heading: 27.119635 deg, new cmd heading: 27.132861 deg. 2025-10-29T00:34:34.263Z,1761698074.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473558 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:34.468Z,1761698074.468 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:34.468Z,1761698074.468 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:34.468Z,1761698074.468 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:34.576Z,1761698074.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895849,-0.431768,-0.105028],[0.441147,0.892539,0.093611],[0.053324,-0.130194,0.990054]] 2025-10-29T00:34:34.626Z,1761698074.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:34.629Z,1761698074.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 440.934021 m, bearing: 25.961683 deg, approach rate: -0.731945 m/s, LOS rate: 0.023462 deg/s, cmd heading: 27.132862 deg, new cmd heading: 27.150243 deg. 2025-10-29T00:34:34.630Z,1761698074.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.473861 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:34.718Z,1761698074.718 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:34.718Z,1761698074.718 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:34.718Z,1761698074.718 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:34.969Z,1761698074.969 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:34.969Z,1761698074.969 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:34.969Z,1761698074.969 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:35.075Z,1761698075.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:35.078Z,1761698075.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 440.655212 m, bearing: 25.970627 deg, approach rate: -0.624567 m/s, LOS rate: 0.020048 deg/s, cmd heading: 27.150243 deg, new cmd heading: 27.168142 deg. 2025-10-29T00:34:35.079Z,1761698075.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474174 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:35.224Z,1761698075.224 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:35.224Z,1761698075.224 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:35.224Z,1761698075.224 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:35.409Z,1761698075.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896620,-0.431635,-0.098815],[0.440344,0.892636,0.096429],[0.046583,-0.129973,0.990423]] 2025-10-29T00:34:35.473Z,1761698075.473 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:35.473Z,1761698075.473 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:35.473Z,1761698075.473 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:35.477Z,1761698075.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:35.479Z,1761698075.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:35.486Z,1761698075.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 440.415497 m, bearing: 25.978838 deg, approach rate: -0.589448 m/s, LOS rate: 0.020202 deg/s, cmd heading: 27.168141 deg, new cmd heading: 27.184573 deg. 2025-10-29T00:34:35.487Z,1761698075.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474460 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:35.725Z,1761698075.725 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:35.725Z,1761698075.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:35.725Z,1761698075.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:35.838Z,1761698075.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896942,-0.431488,-0.096504],[0.439905,0.892833,0.096609],[0.044477,-0.129105,0.990633]] 2025-10-29T00:34:35.878Z,1761698075.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:35.897Z,1761698075.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 440.142151 m, bearing: 25.988233 deg, approach rate: -0.684472 m/s, LOS rate: 0.023540 deg/s, cmd heading: 27.184573 deg, new cmd heading: 27.203374 deg. 2025-10-29T00:34:35.898Z,1761698075.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474788 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:35.977Z,1761698075.977 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:35.978Z,1761698075.978 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:35.978Z,1761698075.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:36.231Z,1761698076.231 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:36.231Z,1761698076.231 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:36.232Z,1761698076.232 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:36.341Z,1761698076.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:36.344Z,1761698076.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 439.843781 m, bearing: 25.999733 deg, approach rate: -0.644181 m/s, LOS rate: 0.024846 deg/s, cmd heading: 27.203375 deg, new cmd heading: 27.226391 deg. 2025-10-29T00:34:36.345Z,1761698076.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475190 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:36.481Z,1761698076.481 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:36.481Z,1761698076.481 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:36.481Z,1761698076.481 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:36.640Z,1761698076.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897756,-0.430626,-0.092707],[0.438702,0.893039,0.100111],[0.039681,-0.130547,0.990648]] 2025-10-29T00:34:36.696Z,1761698076.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:36.699Z,1761698076.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 439.640045 m, bearing: 26.007628 deg, approach rate: -0.602033 m/s, LOS rate: 0.023339 deg/s, cmd heading: 27.226391 deg, new cmd heading: 27.242187 deg. 2025-10-29T00:34:36.699Z,1761698076.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475466 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:36.735Z,1761698076.735 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:36.736Z,1761698076.736 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:36.736Z,1761698076.736 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:36.985Z,1761698076.985 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:36.985Z,1761698076.985 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:36.985Z,1761698076.985 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:37.084Z,1761698077.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898002,-0.430547,-0.090670],[0.438400,0.893058,0.101260],[0.037376,-0.130681,0.990720]] 2025-10-29T00:34:37.112Z,1761698077.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:37.114Z,1761698077.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 439.349274 m, bearing: 26.018922 deg, approach rate: -0.673433 m/s, LOS rate: 0.026175 deg/s, cmd heading: 27.242187 deg, new cmd heading: 27.264791 deg. 2025-10-29T00:34:37.115Z,1761698077.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475860 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:37.237Z,1761698077.237 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:37.237Z,1761698077.237 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:37.237Z,1761698077.237 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:37.460Z,1761698077.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898387,-0.430236,-0.088304],[0.437793,0.893321,0.101559],[0.035190,-0.129898,0.990903]] 2025-10-29T00:34:37.489Z,1761698077.489 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:37.489Z,1761698077.489 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:37.489Z,1761698077.489 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:37.528Z,1761698077.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:37.532Z,1761698077.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:37.543Z,1761698077.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 439.113678 m, bearing: 26.027768 deg, approach rate: -0.561451 m/s, LOS rate: 0.021093 deg/s, cmd heading: 27.264790 deg, new cmd heading: 27.282492 deg. 2025-10-29T00:34:37.550Z,1761698077.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476169 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:37.741Z,1761698077.741 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:37.741Z,1761698077.741 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:37.741Z,1761698077.741 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:37.860Z,1761698077.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898575,-0.430275,-0.086179],[0.437564,0.893402,0.101835],[0.033175,-0.129215,0.991062]] 2025-10-29T00:34:37.900Z,1761698077.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:37.903Z,1761698077.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 438.885803 m, bearing: 26.036343 deg, approach rate: -0.617721 m/s, LOS rate: 0.023257 deg/s, cmd heading: 27.282492 deg, new cmd heading: 27.299651 deg. 2025-10-29T00:34:37.905Z,1761698077.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476469 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:37.993Z,1761698077.993 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:37.994Z,1761698077.994 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:37.994Z,1761698077.994 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:38.245Z,1761698078.245 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:38.245Z,1761698078.245 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:38.245Z,1761698078.245 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:38.333Z,1761698078.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898613,-0.430545,-0.084418],[0.437636,0.893254,0.102815],[0.031140,-0.129335,0.991112]] 2025-10-29T00:34:38.376Z,1761698078.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:38.378Z,1761698078.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 438.576752 m, bearing: 26.047148 deg, approach rate: -0.650075 m/s, LOS rate: 0.022744 deg/s, cmd heading: 27.299651 deg, new cmd heading: 27.321277 deg. 2025-10-29T00:34:38.379Z,1761698078.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476846 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:38.497Z,1761698078.497 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:38.497Z,1761698078.497 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:38.497Z,1761698078.497 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:38.675Z,1761698078.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898616,-0.430905,-0.082523],[0.437776,0.893082,0.103716],[0.029008,-0.129327,0.991178]] 2025-10-29T00:34:38.705Z,1761698078.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:38.707Z,1761698078.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 438.371033 m, bearing: 26.054344 deg, approach rate: -0.624904 m/s, LOS rate: 0.021869 deg/s, cmd heading: 27.321276 deg, new cmd heading: 27.335674 deg. 2025-10-29T00:34:38.709Z,1761698078.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477098 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:38.751Z,1761698078.751 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:38.751Z,1761698078.751 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:38.751Z,1761698078.751 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:34:39.001Z,1761698079.001 [DAT](INFO): Reached modem response timeout 2025-10-29T00:34:39.001Z,1761698079.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:39.002Z,1761698079.002 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:39.074Z,1761698079.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898456,-0.431583,-0.080700],[0.438205,0.892909,0.103390],[0.027437,-0.128254,0.991362]] 2025-10-29T00:34:39.150Z,1761698079.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:39.169Z,1761698079.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 438.095825 m, bearing: 26.063964 deg, approach rate: -0.618575 m/s, LOS rate: 0.021638 deg/s, cmd heading: 27.335674 deg, new cmd heading: 27.354927 deg. 2025-10-29T00:34:39.170Z,1761698079.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477434 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:39.253Z,1761698079.253 [DAT](INFO): DAT read: 2025-10-29T00:34:39.254Z,1761698079.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:39.481Z,1761698079.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897950,-0.432986,-0.078795],[0.439339,0.892424,0.102766],[0.025822,-0.126896,0.991580]] 2025-10-29T00:34:39.505Z,1761698079.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:39.551Z,1761698079.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:39.557Z,1761698079.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:39.564Z,1761698079.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 437.837311 m, bearing: 26.071030 deg, approach rate: -0.634611 m/s, LOS rate: 0.017354 deg/s, cmd heading: 27.354928 deg, new cmd heading: 27.369067 deg. 2025-10-29T00:34:39.565Z,1761698079.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477680 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:39.757Z,1761698079.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:39.882Z,1761698079.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897557,-0.434140,-0.076899],[0.440254,0.891936,0.103091],[0.023833,-0.126385,0.991695]] 2025-10-29T00:34:39.925Z,1761698079.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:39.928Z,1761698079.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 437.595398 m, bearing: 26.077616 deg, approach rate: -0.657000 m/s, LOS rate: 0.017899 deg/s, cmd heading: 27.369067 deg, new cmd heading: 27.382247 deg. 2025-10-29T00:34:39.929Z,1761698079.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477910 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:40.010Z,1761698080.010 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:40.261Z,1761698080.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:40.353Z,1761698080.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897054,-0.435406,-0.075609],[0.441363,0.891309,0.103760],[0.022213,-0.126449,0.991724]] 2025-10-29T00:34:40.406Z,1761698080.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:40.413Z,1761698080.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 437.304382 m, bearing: 26.084564 deg, approach rate: -0.605142 m/s, LOS rate: 0.014456 deg/s, cmd heading: 27.382247 deg, new cmd heading: 27.396151 deg. 2025-10-29T00:34:40.414Z,1761698080.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478153 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:40.513Z,1761698080.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:40.740Z,1761698080.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896500,-0.436755,-0.074383],[0.442552,0.890703,0.103908],[0.020871,-0.126072,0.991802]] 2025-10-29T00:34:40.765Z,1761698080.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:40.772Z,1761698080.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:40.776Z,1761698080.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 437.070557 m, bearing: 26.090111 deg, approach rate: -0.640220 m/s, LOS rate: 0.015196 deg/s, cmd heading: 27.396152 deg, new cmd heading: 27.407252 deg. 2025-10-29T00:34:40.777Z,1761698080.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478347 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:41.017Z,1761698081.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:41.160Z,1761698081.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895813,-0.438365,-0.073174],[0.444003,0.889960,0.104083],[0.019496,-0.125729,0.991873]] 2025-10-29T00:34:41.182Z,1761698081.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:41.185Z,1761698081.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 436.808594 m, bearing: 26.096276 deg, approach rate: -0.637370 m/s, LOS rate: 0.015010 deg/s, cmd heading: 27.407252 deg, new cmd heading: 27.419591 deg. 2025-10-29T00:34:41.186Z,1761698081.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478562 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:41.269Z,1761698081.269 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:34:41.269Z,1761698081.269 [DAT](INFO): response not received 2025-10-29T00:34:41.270Z,1761698081.270 [DAT](INFO): DAT read: user:437>Tx time:00:34:41.1267 2025-10-29T00:34:41.271Z,1761698081.271 [DAT](ERROR): No response from remote modem. 2025-10-29T00:34:41.271Z,1761698081.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:41.272Z,1761698081.272 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:41.522Z,1761698081.522 [DAT](INFO): DAT read: 2025-10-29T00:34:41.522Z,1761698081.522 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:41.554Z,1761698081.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894964,-0.440208,-0.072504],[0.445772,0.888926,0.105349],[0.018075,-0.126603,0.991789]] 2025-10-29T00:34:41.631Z,1761698081.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:41.633Z,1761698081.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:41.636Z,1761698081.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 436.509369 m, bearing: 26.102212 deg, approach rate: -0.663333 m/s, LOS rate: 0.013167 deg/s, cmd heading: 27.419591 deg, new cmd heading: 27.431471 deg. 2025-10-29T00:34:41.637Z,1761698081.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478769 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:41.774Z,1761698081.774 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:41.948Z,1761698081.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894213,-0.441866,-0.071674],[0.447310,0.888183,0.105092],[0.017223,-0.126036,0.991876]] 2025-10-29T00:34:41.966Z,1761698081.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:41.969Z,1761698081.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 436.288208 m, bearing: 26.106555 deg, approach rate: -0.664207 m/s, LOS rate: 0.013049 deg/s, cmd heading: 27.431471 deg, new cmd heading: 27.440160 deg. 2025-10-29T00:34:41.970Z,1761698081.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478921 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:42.026Z,1761698082.026 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:42.277Z,1761698082.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:42.385Z,1761698082.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893374,-0.443731,-0.070606],[0.449018,0.887393,0.104483],[0.016293,-0.125046,0.992017]] 2025-10-29T00:34:42.422Z,1761698082.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:42.426Z,1761698082.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 435.988953 m, bearing: 26.112755 deg, approach rate: -0.656279 m/s, LOS rate: 0.013608 deg/s, cmd heading: 27.440160 deg, new cmd heading: 27.452571 deg. 2025-10-29T00:34:42.427Z,1761698082.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479138 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:42.531Z,1761698082.531 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:42.764Z,1761698082.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893009,-0.444528,-0.070211],[0.449756,0.887047,0.104240],[0.015943,-0.124665,0.992071]] 2025-10-29T00:34:42.781Z,1761698082.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:42.788Z,1761698082.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:42.791Z,1761698082.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 435.749512 m, bearing: 26.117696 deg, approach rate: -0.654639 m/s, LOS rate: 0.013515 deg/s, cmd heading: 27.452571 deg, new cmd heading: 27.462458 deg. 2025-10-29T00:34:42.792Z,1761698082.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479310 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:43.033Z,1761698083.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:43.156Z,1761698083.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892657,-0.445342,-0.069533],[0.450481,0.886667,0.104344],[0.015184,-0.124466,0.992108]] 2025-10-29T00:34:43.174Z,1761698083.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:43.177Z,1761698083.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 435.495026 m, bearing: 26.122926 deg, approach rate: -0.658737 m/s, LOS rate: 0.013546 deg/s, cmd heading: 27.462457 deg, new cmd heading: 27.472923 deg. 2025-10-29T00:34:43.178Z,1761698083.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479493 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:43.285Z,1761698083.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:43.537Z,1761698083.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:43.564Z,1761698083.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892404,-0.445985,-0.068644],[0.451016,0.886349,0.104738],[0.014131,-0.124429,0.992128]] 2025-10-29T00:34:43.602Z,1761698083.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:43.605Z,1761698083.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 435.213104 m, bearing: 26.129139 deg, approach rate: -0.658672 m/s, LOS rate: 0.014526 deg/s, cmd heading: 27.472923 deg, new cmd heading: 27.485357 deg. 2025-10-29T00:34:43.606Z,1761698083.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479710 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:43.789Z,1761698083.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:43.965Z,1761698083.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892136,-0.446618,-0.068016],[0.451577,0.885968,0.105541],[0.013124,-0.124871,0.992086]] 2025-10-29T00:34:43.982Z,1761698083.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:43.985Z,1761698083.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:43.987Z,1761698083.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 434.961884 m, bearing: 26.134660 deg, approach rate: -0.658492 m/s, LOS rate: 0.014479 deg/s, cmd heading: 27.485357 deg, new cmd heading: 27.496405 deg. 2025-10-29T00:34:43.989Z,1761698083.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479903 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:44.041Z,1761698084.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:44.293Z,1761698084.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:44.406Z,1761698084.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891712,-0.447683,-0.066557],[0.452450,0.885545,0.105350],[0.011775,-0.124056,0.992205]] 2025-10-29T00:34:44.449Z,1761698084.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:44.452Z,1761698084.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 434.664734 m, bearing: 26.142082 deg, approach rate: -0.638639 m/s, LOS rate: 0.015962 deg/s, cmd heading: 27.496405 deg, new cmd heading: 27.511259 deg. 2025-10-29T00:34:44.453Z,1761698084.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480162 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:44.545Z,1761698084.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:44.779Z,1761698084.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891345,-0.448517,-0.065851],[0.453203,0.885027,0.106465],[0.010529,-0.124740,0.992134]] 2025-10-29T00:34:44.797Z,1761698084.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:44.799Z,1761698084.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:44.802Z,1761698084.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 434.441925 m, bearing: 26.147627 deg, approach rate: -0.636415 m/s, LOS rate: 0.015847 deg/s, cmd heading: 27.511259 deg, new cmd heading: 27.522355 deg. 2025-10-29T00:34:44.803Z,1761698084.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480356 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:45.049Z,1761698085.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:45.174Z,1761698085.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891238,-0.448847,-0.065054],[0.453440,0.884798,0.107356],[0.009373,-0.125178,0.992090]] 2025-10-29T00:34:45.202Z,1761698085.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:45.208Z,1761698085.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 434.189423 m, bearing: 26.153908 deg, approach rate: -0.627827 m/s, LOS rate: 0.015628 deg/s, cmd heading: 27.522355 deg, new cmd heading: 27.534925 deg. 2025-10-29T00:34:45.209Z,1761698085.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480575 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:45.301Z,1761698085.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:45.553Z,1761698085.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:45.650Z,1761698085.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:45.653Z,1761698085.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 433.897919 m, bearing: 26.162929 deg, approach rate: -0.650141 m/s, LOS rate: 0.020132 deg/s, cmd heading: 27.534926 deg, new cmd heading: 27.552979 deg. 2025-10-29T00:34:45.654Z,1761698085.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480890 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:45.808Z,1761698085.808 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:45.982Z,1761698085.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891087,-0.449373,-0.063467],[0.453777,0.884417,0.109052],[0.007126,-0.125975,0.992008]] 2025-10-29T00:34:46.057Z,1761698086.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:46.085Z,1761698086.085 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:46.087Z,1761698086.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:46.090Z,1761698086.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 433.620575 m, bearing: 26.171505 deg, approach rate: -0.634668 m/s, LOS rate: 0.019638 deg/s, cmd heading: 27.552980 deg, new cmd heading: 27.570143 deg. 2025-10-29T00:34:46.091Z,1761698086.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481190 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:46.309Z,1761698086.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:46.441Z,1761698086.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891271,-0.449114,-0.062708],[0.453431,0.884472,0.110043],[0.006042,-0.126511,0.991947]] 2025-10-29T00:34:46.510Z,1761698086.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:46.523Z,1761698086.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 433.364380 m, bearing: 26.180108 deg, approach rate: -0.606039 m/s, LOS rate: 0.020362 deg/s, cmd heading: 27.570142 deg, new cmd heading: 27.587358 deg. 2025-10-29T00:34:46.528Z,1761698086.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481490 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:46.561Z,1761698086.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:46.813Z,1761698086.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:46.836Z,1761698086.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891273,-0.449266,-0.061591],[0.453440,0.884463,0.110080],[0.005020,-0.126039,0.992013]] 2025-10-29T00:34:46.880Z,1761698086.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:46.883Z,1761698086.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 433.113770 m, bearing: 26.188534 deg, approach rate: -0.677563 m/s, LOS rate: 0.022793 deg/s, cmd heading: 27.587358 deg, new cmd heading: 27.604219 deg. 2025-10-29T00:34:46.884Z,1761698086.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481785 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:47.065Z,1761698087.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:47.239Z,1761698087.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891417,-0.449111,-0.060627],[0.453169,0.884491,0.110970],[0.003786,-0.126395,0.991973]] 2025-10-29T00:34:47.293Z,1761698087.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:47.296Z,1761698087.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 432.861755 m, bearing: 26.197026 deg, approach rate: -0.636027 m/s, LOS rate: 0.021445 deg/s, cmd heading: 27.604220 deg, new cmd heading: 27.621214 deg. 2025-10-29T00:34:47.297Z,1761698087.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482081 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:47.317Z,1761698087.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:47.569Z,1761698087.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:47.649Z,1761698087.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891580,-0.448906,-0.059732],[0.452854,0.884585,0.111502],[0.002784,-0.126463,0.991967]] 2025-10-29T00:34:47.686Z,1761698087.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:47.688Z,1761698087.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 432.607635 m, bearing: 26.206312 deg, approach rate: -0.619895 m/s, LOS rate: 0.022666 deg/s, cmd heading: 27.621213 deg, new cmd heading: 27.639796 deg. 2025-10-29T00:34:47.689Z,1761698087.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482405 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:47.821Z,1761698087.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:48.049Z,1761698088.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891525,-0.449132,-0.058856],[0.452968,0.884504,0.111682],[0.001898,-0.126227,0.992000]] 2025-10-29T00:34:48.067Z,1761698088.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:48.070Z,1761698088.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 432.371094 m, bearing: 26.214961 deg, approach rate: -0.620306 m/s, LOS rate: 0.022694 deg/s, cmd heading: 27.639797 deg, new cmd heading: 27.657104 deg. 2025-10-29T00:34:48.071Z,1761698088.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482708 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:48.073Z,1761698088.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:48.325Z,1761698088.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:48.474Z,1761698088.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891431,-0.449463,-0.057742],[0.453156,0.884444,0.111397],[0.001001,-0.125469,0.992097]] 2025-10-29T00:34:48.540Z,1761698088.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:48.542Z,1761698088.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:48.549Z,1761698088.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 432.075592 m, bearing: 26.225145 deg, approach rate: -0.622110 m/s, LOS rate: 0.021454 deg/s, cmd heading: 27.657104 deg, new cmd heading: 27.677486 deg. 2025-10-29T00:34:48.550Z,1761698088.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483063 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:48.579Z,1761698088.579 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:48.829Z,1761698088.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:48.895Z,1761698088.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:48.898Z,1761698088.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 431.851074 m, bearing: 26.232891 deg, approach rate: -0.635884 m/s, LOS rate: 0.021951 deg/s, cmd heading: 27.677486 deg, new cmd heading: 27.692986 deg. 2025-10-29T00:34:48.899Z,1761698088.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483334 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:49.081Z,1761698089.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:49.292Z,1761698089.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:49.295Z,1761698089.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 431.602020 m, bearing: 26.241494 deg, approach rate: -0.627253 m/s, LOS rate: 0.021678 deg/s, cmd heading: 27.692987 deg, new cmd heading: 27.710201 deg. 2025-10-29T00:34:49.333Z,1761698089.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:49.336Z,1761698089.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483634 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:49.585Z,1761698089.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:49.662Z,1761698089.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891563,-0.449208,-0.057687],[0.452896,0.884050,0.115502],[-0.000886,-0.129103,0.991631]] 2025-10-29T00:34:49.711Z,1761698089.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:49.714Z,1761698089.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 431.334534 m, bearing: 26.250074 deg, approach rate: -0.638085 m/s, LOS rate: 0.020481 deg/s, cmd heading: 27.710202 deg, new cmd heading: 27.727373 deg. 2025-10-29T00:34:49.715Z,1761698089.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483934 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:49.837Z,1761698089.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:50.066Z,1761698090.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891336,-0.449656,-0.057695],[0.453340,0.883646,0.116847],[-0.001559,-0.130305,0.991473]] 2025-10-29T00:34:50.089Z,1761698090.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:50.097Z,1761698090.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:50.099Z,1761698090.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 431.088318 m, bearing: 26.257960 deg, approach rate: -0.638432 m/s, LOS rate: 0.020459 deg/s, cmd heading: 27.727373 deg, new cmd heading: 27.743154 deg. 2025-10-29T00:34:50.101Z,1761698090.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484209 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:50.341Z,1761698090.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:50.511Z,1761698090.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890955,-0.450437,-0.057503],[0.454086,0.883123,0.117897],[-0.002323,-0.131152,0.991360]] 2025-10-29T00:34:50.567Z,1761698090.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:50.569Z,1761698090.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:50.572Z,1761698090.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 430.791260 m, bearing: 26.265861 deg, approach rate: -0.629190 m/s, LOS rate: 0.016747 deg/s, cmd heading: 27.743154 deg, new cmd heading: 27.758967 deg. 2025-10-29T00:34:50.573Z,1761698090.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484485 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:50.593Z,1761698090.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:50.845Z,1761698090.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:50.877Z,1761698090.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890865,-0.450671,-0.057050],[0.454256,0.882888,0.118996],[-0.003259,-0.131925,0.991254]] 2025-10-29T00:34:50.896Z,1761698090.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:50.899Z,1761698090.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 430.584656 m, bearing: 26.271354 deg, approach rate: -0.631336 m/s, LOS rate: 0.016795 deg/s, cmd heading: 27.758968 deg, new cmd heading: 27.769960 deg. 2025-10-29T00:34:50.900Z,1761698090.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484677 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:51.097Z,1761698091.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:51.279Z,1761698091.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890232,-0.452020,-0.056251],[0.455490,0.882307,0.118589],[-0.003973,-0.131193,0.991349]] 2025-10-29T00:34:51.307Z,1761698091.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:51.310Z,1761698091.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 430.326263 m, bearing: 26.278184 deg, approach rate: -0.628941 m/s, LOS rate: 0.016635 deg/s, cmd heading: 27.769961 deg, new cmd heading: 27.783629 deg. 2025-10-29T00:34:51.311Z,1761698091.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484916 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:51.349Z,1761698091.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:51.601Z,1761698091.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:51.683Z,1761698091.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889595,-0.453361,-0.055544],[0.456728,0.881712,0.118253],[-0.004638,-0.130566,0.991429]] 2025-10-29T00:34:51.736Z,1761698091.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:51.740Z,1761698091.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 430.059204 m, bearing: 26.284681 deg, approach rate: -0.622570 m/s, LOS rate: 0.015155 deg/s, cmd heading: 27.783630 deg, new cmd heading: 27.796632 deg. 2025-10-29T00:34:51.741Z,1761698091.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485143 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:51.853Z,1761698091.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:52.094Z,1761698092.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888843,-0.455001,-0.054147],[0.458177,0.881083,0.117331],[-0.005678,-0.129098,0.991616]] 2025-10-29T00:34:52.105Z,1761698092.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:52.116Z,1761698092.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:52.118Z,1761698092.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 429.817657 m, bearing: 26.290514 deg, approach rate: -0.636701 m/s, LOS rate: 0.015383 deg/s, cmd heading: 27.796631 deg, new cmd heading: 27.808303 deg. 2025-10-29T00:34:52.119Z,1761698092.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485346 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:52.357Z,1761698092.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:52.529Z,1761698092.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888059,-0.456660,-0.053032],[0.459681,0.880355,0.116915],[-0.006704,-0.128205,0.991725]] 2025-10-29T00:34:52.566Z,1761698092.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:52.569Z,1761698092.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 429.531189 m, bearing: 26.297464 deg, approach rate: -0.636361 m/s, LOS rate: 0.015449 deg/s, cmd heading: 27.808302 deg, new cmd heading: 27.822211 deg. 2025-10-29T00:34:52.569Z,1761698092.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485589 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:52.613Z,1761698092.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:52.861Z,1761698092.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:52.894Z,1761698092.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887380,-0.458136,-0.051663],[0.460969,0.879693,0.116826],[-0.008075,-0.127484,0.991808]] 2025-10-29T00:34:52.911Z,1761698092.911 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:52.930Z,1761698092.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:52.933Z,1761698092.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 429.310059 m, bearing: 26.302791 deg, approach rate: -0.607116 m/s, LOS rate: 0.014635 deg/s, cmd heading: 27.822212 deg, new cmd heading: 27.832873 deg. 2025-10-29T00:34:52.934Z,1761698092.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485775 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:53.113Z,1761698093.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:53.332Z,1761698093.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:53.335Z,1761698093.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 429.042999 m, bearing: 26.309233 deg, approach rate: -0.664252 m/s, LOS rate: 0.016033 deg/s, cmd heading: 27.832872 deg, new cmd heading: 27.845764 deg. 2025-10-29T00:34:53.336Z,1761698093.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486000 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:53.365Z,1761698093.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:53.617Z,1761698093.617 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:34:53.617Z,1761698093.617 [DAT](INFO): response not received 2025-10-29T00:34:53.617Z,1761698093.617 [DAT](ERROR): No response from remote modem. 2025-10-29T00:34:53.618Z,1761698093.618 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:34:53.618Z,1761698093.618 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:53.702Z,1761698093.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885988,-0.461158,-0.048571],[0.463567,0.878264,0.117293],[-0.011433,-0.126436,0.991909]] 2025-10-29T00:34:53.760Z,1761698093.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:53.765Z,1761698093.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 428.768005 m, bearing: 26.315466 deg, approach rate: -0.642719 m/s, LOS rate: 0.014578 deg/s, cmd heading: 27.845764 deg, new cmd heading: 27.858239 deg. 2025-10-29T00:34:53.767Z,1761698093.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486218 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:53.869Z,1761698093.869 [DAT](INFO): DAT read: user:438> 2025-10-29T00:34:53.870Z,1761698093.870 [DAT](INFO): DAT read: Tx time:00:34:53.5767 2025-10-29T00:34:53.871Z,1761698093.871 [DAT](INFO): Ping request sent. 2025-10-29T00:34:53.871Z,1761698093.871 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:34:53.871Z,1761698093.871 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:53.872Z,1761698093.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001312 2025-10-29T00:34:54.121Z,1761698094.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250173 2025-10-29T00:34:54.127Z,1761698094.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885372,-0.462490,-0.047110],[0.464695,0.877573,0.118001],[-0.013231,-0.126366,0.991895]] 2025-10-29T00:34:54.146Z,1761698094.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:54.149Z,1761698094.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 428.514099 m, bearing: 26.321183 deg, approach rate: -0.657759 m/s, LOS rate: 0.014819 deg/s, cmd heading: 27.858238 deg, new cmd heading: 27.869679 deg. 2025-10-29T00:34:54.150Z,1761698094.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486418 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:54.373Z,1761698094.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502620 2025-10-29T00:34:54.558Z,1761698094.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884929,-0.463485,-0.045624],[0.465480,0.877026,0.118967],[-0.015126,-0.126515,0.991849]] 2025-10-29T00:34:54.595Z,1761698094.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:54.597Z,1761698094.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 428.230835 m, bearing: 26.328160 deg, approach rate: -0.631270 m/s, LOS rate: 0.015558 deg/s, cmd heading: 27.869678 deg, new cmd heading: 27.883641 deg. 2025-10-29T00:34:54.598Z,1761698094.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486661 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:54.625Z,1761698094.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754177 2025-10-29T00:34:54.878Z,1761698094.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006515 2025-10-29T00:34:54.931Z,1761698094.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884376,-0.464732,-0.043634],[0.466468,0.876524,0.118804],[-0.016966,-0.125421,0.991958]] 2025-10-29T00:34:54.949Z,1761698094.949 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:54.951Z,1761698094.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:54.953Z,1761698094.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 428.006226 m, bearing: 26.333664 deg, approach rate: -0.631024 m/s, LOS rate: 0.015472 deg/s, cmd heading: 27.883641 deg, new cmd heading: 27.894655 deg. 2025-10-29T00:34:54.954Z,1761698094.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486854 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:55.129Z,1761698095.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257952 2025-10-29T00:34:55.336Z,1761698095.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883954,-0.465677,-0.042078],[0.467196,0.876036,0.119536],[-0.018803,-0.125323,0.991938]] 2025-10-29T00:34:55.355Z,1761698095.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:55.358Z,1761698095.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 427.750549 m, bearing: 26.339908 deg, approach rate: -0.632291 m/s, LOS rate: 0.015450 deg/s, cmd heading: 27.894655 deg, new cmd heading: 27.907150 deg. 2025-10-29T00:34:55.359Z,1761698095.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487072 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:55.381Z,1761698095.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510167 2025-10-29T00:34:55.633Z,1761698095.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762118 2025-10-29T00:34:55.739Z,1761698095.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883585,-0.466481,-0.040894],[0.467823,0.875551,0.120633],[-0.020468,-0.125721,0.991854]] 2025-10-29T00:34:55.798Z,1761698095.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:55.818Z,1761698095.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 427.482513 m, bearing: 26.347891 deg, approach rate: -0.604677 m/s, LOS rate: 0.018020 deg/s, cmd heading: 27.907149 deg, new cmd heading: 27.923125 deg. 2025-10-29T00:34:55.819Z,1761698095.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487350 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:55.886Z,1761698095.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014863 2025-10-29T00:34:56.137Z,1761698096.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266159 2025-10-29T00:34:56.151Z,1761698096.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883281,-0.467186,-0.039402],[0.468311,0.875142,0.121706],[-0.022377,-0.125953,0.991784]] 2025-10-29T00:34:56.176Z,1761698096.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:56.179Z,1761698096.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 427.256378 m, bearing: 26.354614 deg, approach rate: -0.598855 m/s, LOS rate: 0.017813 deg/s, cmd heading: 27.923125 deg, new cmd heading: 27.936577 deg. 2025-10-29T00:34:56.180Z,1761698096.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487585 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:56.389Z,1761698096.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518132 2025-10-29T00:34:56.606Z,1761698096.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883118,-0.467614,-0.037934],[0.468524,0.874875,0.122799],[-0.024235,-0.126219,0.991706]] 2025-10-29T00:34:56.640Z,1761698096.640 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -352.13, +283 +66.05, 7.20 2025-10-29T00:34:56.641Z,1761698096.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770125 2025-10-29T00:34:56.656Z,1761698096.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:56.659Z,1761698096.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 426.963593 m, bearing: 26.363317 deg, approach rate: -0.609554 m/s, LOS rate: 0.018133 deg/s, cmd heading: 27.936577 deg, new cmd heading: 27.953996 deg. 2025-10-29T00:34:56.660Z,1761698096.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487889 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:56.894Z,1761698096.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022869 2025-10-29T00:34:56.969Z,1761698096.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883358,-0.467273,-0.036543],[0.467965,0.874926,0.124554],[-0.026228,-0.127126,0.991540]] 2025-10-29T00:34:56.996Z,1761698096.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:57.017Z,1761698097.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:57.026Z,1761698097.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 426.760498 m, bearing: 26.369376 deg, approach rate: -0.591743 m/s, LOS rate: 0.017662 deg/s, cmd heading: 27.953995 deg, new cmd heading: 27.966119 deg. 2025-10-29T00:34:57.026Z,1761698097.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488101 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:57.146Z,1761698097.146 [DAT](INFO): DAT read: Rx Time:00:34:56.5580 2025-10-29T00:34:57.146Z,1761698097.146 [DAT](INFO): Rx dataTimestamp_ set to:1761698097.145930 2025-10-29T00:34:57.147Z,1761698097.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275919 2025-10-29T00:34:57.370Z,1761698097.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883473,-0.467151,-0.035286],[0.467649,0.874908,0.125863],[-0.027925,-0.127698,0.991420]] 2025-10-29T00:34:57.397Z,1761698097.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526036 2025-10-29T00:34:57.406Z,1761698097.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:57.412Z,1761698097.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 426.519989 m, bearing: 26.376568 deg, approach rate: -0.591952 m/s, LOS rate: 0.017712 deg/s, cmd heading: 27.966119 deg, new cmd heading: 27.980512 deg. 2025-10-29T00:34:57.416Z,1761698097.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488352 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:57.649Z,1761698097.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777982 2025-10-29T00:34:57.779Z,1761698097.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883713,-0.466811,-0.033737],[0.467092,0.875092,0.126646],[-0.029596,-0.127677,0.991374]] 2025-10-29T00:34:57.830Z,1761698097.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 448.20 m. 2025-10-29T00:34:57.848Z,1761698097.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 448.196991 m, nav range: 426.236115 m, bearing: 26.385967 deg, approach rate: -0.669443 m/s, LOS rate: 0.022178 deg/s, cmd heading: 27.980512 deg, new cmd heading: 27.999321 deg. 2025-10-29T00:34:57.849Z,1761698097.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488680 target range: 448.196991 and range: 450.80 m. 2025-10-29T00:34:57.910Z,1761698097.910 [DAT](INFO): DAT read: 00:34:56.5580 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 210,-0.41,-2.346, 2.458,-2.159,-2.639, PHS= 0.395,-1.142, 0.436, RAW= 151.3, 4.0, CAL= 150.4, 4.0, ROT= 359.6, -4.0 2025-10-29T00:34:57.911Z,1761698097.911 [DAT](INFO): got valid direction response: 00:34:56.5580 LVL= 32752, 32753, 32754, 32755, AGC= 81, IDX= 210,-0.41,-2.346, 2.458,-2.159,-2.639, PHS= 0.395,-1.142, 0.436, RAW= 151.3, 4.0, CAL= 150.4, 4.0, ROT= 359.6, -4.0 2025-10-29T00:34:57.912Z,1761698097.912 [DAT](INFO): DAT read: Bearing 179.4, -2.7 (Local) 2025-10-29T00:34:57.913Z,1761698097.913 [DAT](INFO): Local bearing/azimuth received: Bearing 179.4, -2.7 (Local) 2025-10-29T00:34:57.914Z,1761698097.914 [DAT](INFO): DAT read: Range 11 to 50 : 432.8 m (Round-trip 577.1 ms) speed 0.6 m/s 2025-10-29T00:34:57.916Z,1761698097.916 [DAT](INFO): DAT read: Tx time:00:34:57.6267 2025-10-29T00:34:57.916Z,1761698097.916 [DAT](INFO): Ping request sent. 2025-10-29T00:34:57.917Z,1761698097.917 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:34:57.917Z,1761698097.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:34:57.918Z,1761698097.918 [DAT](INFO): direction in FSK: [0.997540,-0.006964,0.069756] 2025-10-29T00:34:57.919Z,1761698097.919 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:57.919Z,1761698097.919 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:57.925Z,1761698097.925 [DAT](INFO): publishing transmit ping time 2025-10-29T00:34:57.925Z,1761698097.925 [DAT](INFO): publishing direction and range info 2025-10-29T00:34:58.179Z,1761698098.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883853,-0.466660,-0.032125],[0.466709,0.875163,0.127564],[-0.031415,-0.127741,0.991310]] 2025-10-29T00:34:58.210Z,1761698098.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 432.799988 m, deltaT: 29.234416 s, deltaX: -18.000000 m, approachRate: -0.615713 m/s, rangeRepo size: 4 2025-10-29T00:34:58.228Z,1761698098.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 430.261017 m, bearing: 27.950929 deg, lat: 36.779279 deg, lon: -121.859081 deg, deltaT: 29.234416 s, deltaX: -17.935974 m, approachRate: -0.613523 m/s, posRepo size: 4 2025-10-29T00:34:58.229Z,1761698098.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:34:58.231Z,1761698098.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 424.382782 m, bearing: 26.502001 deg, approach rate: 0.000000 m/s, LOS rate: 0.022178 deg/s, cmd heading: 27.999321 deg, new cmd heading: 28.016162 deg. 2025-10-29T00:34:58.233Z,1761698098.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488974 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:34:58.623Z,1761698098.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884250,-0.466084,-0.029447],[0.465709,0.875316,0.130140],[-0.034881,-0.128789,0.991058]] 2025-10-29T00:34:58.668Z,1761698098.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:34:58.670Z,1761698098.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 424.088531 m, bearing: 26.511727 deg, approach rate: -0.642269 m/s, LOS rate: 0.021243 deg/s, cmd heading: 28.016162 deg, new cmd heading: 28.035627 deg. 2025-10-29T00:34:58.671Z,1761698098.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489314 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:34:59.033Z,1761698099.033 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:34:59.035Z,1761698099.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:34:59.038Z,1761698099.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 423.854523 m, bearing: 26.519472 deg, approach rate: -0.636726 m/s, LOS rate: 0.021085 deg/s, cmd heading: 28.035626 deg, new cmd heading: 28.051125 deg. 2025-10-29T00:34:59.039Z,1761698099.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489584 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:34:59.161Z,1761698099.161 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:34:59.161Z,1761698099.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:34:59.161Z,1761698099.161 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:34:59.390Z,1761698099.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884464,-0.465726,-0.028679],[0.465174,0.875262,0.132397],[-0.036559,-0.130441,0.990782]] 2025-10-29T00:34:59.413Z,1761698099.413 [DAT](INFO): DAT read: user:439> 2025-10-29T00:34:59.414Z,1761698099.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497085 2025-10-29T00:34:59.499Z,1761698099.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:34:59.518Z,1761698099.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 423.563446 m, bearing: 26.529134 deg, approach rate: -0.628393 m/s, LOS rate: 0.020874 deg/s, cmd heading: 28.051124 deg, new cmd heading: 28.070463 deg. 2025-10-29T00:34:59.519Z,1761698099.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489922 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:34:59.665Z,1761698099.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.748451 2025-10-29T00:34:59.917Z,1761698099.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000445 2025-10-29T00:34:59.957Z,1761698099.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:34:59.964Z,1761698099.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 423.274872 m, bearing: 26.538064 deg, approach rate: -0.635965 m/s, LOS rate: 0.019692 deg/s, cmd heading: 28.070462 deg, new cmd heading: 28.088333 deg. 2025-10-29T00:34:59.965Z,1761698099.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490234 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:35:00.169Z,1761698100.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252393 2025-10-29T00:35:00.293Z,1761698100.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884154,-0.466552,-0.024516],[0.465407,0.874965,0.133538],[-0.040851,-0.129478,0.990740]] 2025-10-29T00:35:00.341Z,1761698100.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:35:00.343Z,1761698100.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 423.011810 m, bearing: 26.546202 deg, approach rate: -0.676534 m/s, LOS rate: 0.020943 deg/s, cmd heading: 28.088333 deg, new cmd heading: 28.104620 deg. 2025-10-29T00:35:00.344Z,1761698100.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490518 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:35:00.421Z,1761698100.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504504 2025-10-29T00:35:00.673Z,1761698100.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756363 2025-10-29T00:35:00.786Z,1761698100.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:35:00.789Z,1761698100.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 422.722412 m, bearing: 26.554861 deg, approach rate: -0.650237 m/s, LOS rate: 0.019470 deg/s, cmd heading: 28.104620 deg, new cmd heading: 28.121951 deg. 2025-10-29T00:35:00.790Z,1761698100.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490821 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:35:00.925Z,1761698100.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008384 2025-10-29T00:35:01.098Z,1761698101.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883395,-0.468123,-0.021751],[0.466581,0.874254,0.134095],[-0.043757,-0.128608,0.990730]] 2025-10-29T00:35:01.133Z,1761698101.133 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:01.134Z,1761698101.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:35:01.137Z,1761698101.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 422.506714 m, bearing: 26.561282 deg, approach rate: -0.618722 m/s, LOS rate: 0.018427 deg/s, cmd heading: 28.121952 deg, new cmd heading: 28.134799 deg. 2025-10-29T00:35:01.138Z,1761698101.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491045 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:35:01.177Z,1761698101.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260468 2025-10-29T00:35:01.429Z,1761698101.429 [DAT](INFO): DAT read: Rx Time:00:35:00.6035 2025-10-29T00:35:01.430Z,1761698101.430 [DAT](INFO): Rx dataTimestamp_ set to:1761698101.429407 2025-10-29T00:35:01.430Z,1761698101.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513712 2025-10-29T00:35:01.508Z,1761698101.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883035,-0.468842,-0.020902],[0.467105,0.873708,0.135825],[-0.045418,-0.129702,0.990512]] 2025-10-29T00:35:01.534Z,1761698101.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 430.26 m. 2025-10-29T00:35:01.537Z,1761698101.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 430.261017 m, nav range: 422.236053 m, bearing: 26.569321 deg, approach rate: -0.676923 m/s, LOS rate: 0.020118 deg/s, cmd heading: 28.134799 deg, new cmd heading: 28.150887 deg. 2025-10-29T00:35:01.538Z,1761698101.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491326 target range: 430.261017 and range: 432.80 m. 2025-10-29T00:35:01.681Z,1761698101.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.764574 2025-10-29T00:35:01.939Z,1761698101.939 [DAT](INFO): DAT read: 00:35:00.6035 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 388,-0.03, 0.686,-0.820, 0.882, 0.386, PHS= 0.402,-1.161, 0.452, RAW= 151.6, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8 2025-10-29T00:35:01.940Z,1761698101.940 [DAT](INFO): got valid direction response: 00:35:00.6035 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 388,-0.03, 0.686,-0.820, 0.882, 0.386, PHS= 0.402,-1.161, 0.452, RAW= 151.6, 3.9, CAL= 150.6, 3.8, ROT= 359.4, -3.8 2025-10-29T00:35:01.941Z,1761698101.941 [DAT](INFO): DAT read: Bearing 179.6, -3.9 (Local) 2025-10-29T00:35:01.941Z,1761698101.941 [DAT](INFO): Local bearing/azimuth received: Bearing 179.6, -3.9 (Local) 2025-10-29T00:35:01.943Z,1761698101.943 [DAT](INFO): DAT read: Range 11 to 50 : 429.4 m (Round-trip 572.6 ms) speed 0.6 m/s 2025-10-29T00:35:01.944Z,1761698101.944 [DAT](INFO): DAT read: user:440>Tx time:00:35:01.6767 2025-10-29T00:35:01.945Z,1761698101.945 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:01.946Z,1761698101.946 [DAT](INFO): direction in FSK: [0.997747,-0.010449,0.066274] 2025-10-29T00:35:01.946Z,1761698101.946 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:01.950Z,1761698101.950 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:01.950Z,1761698101.950 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:01.950Z,1761698101.950 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:02.060Z,1761698102.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 429.399994 m, deltaT: 4.029565 s, deltaX: -3.399994 m, approachRate: -0.843762 m/s, rangeRepo size: 4 2025-10-29T00:35:02.062Z,1761698102.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 426.879517 m, bearing: 27.777163 deg, lat: 36.779281 deg, lon: -121.859056 deg, deltaT: 4.029565 s, deltaX: -3.381500 m, approachRate: -0.839173 m/s, posRepo size: 4 2025-10-29T00:35:02.063Z,1761698102.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:02.074Z,1761698102.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 423.150848 m, bearing: 26.828905 deg, approach rate: 0.000000 m/s, LOS rate: 0.020118 deg/s, cmd heading: 28.150888 deg, new cmd heading: 28.171550 deg. 2025-10-29T00:35:02.075Z,1761698102.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491686 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:02.185Z,1761698102.185 [DAT](INFO): DAT read: 2025-10-29T00:35:02.185Z,1761698102.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.268969 2025-10-29T00:35:02.311Z,1761698102.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882115,-0.470715,-0.017335],[0.468588,0.873195,0.133999],[-0.047939,-0.126325,0.990830]] 2025-10-29T00:35:02.333Z,1761698102.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:02.335Z,1761698102.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 422.919495 m, bearing: 26.834286 deg, approach rate: -0.812500 m/s, LOS rate: 0.018908 deg/s, cmd heading: 28.171549 deg, new cmd heading: 28.182317 deg. 2025-10-29T00:35:02.336Z,1761698102.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491874 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:02.437Z,1761698102.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.520594 2025-10-29T00:35:02.531Z,1761698102.531 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:35:02.689Z,1761698102.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772375 2025-10-29T00:35:02.714Z,1761698102.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881733,-0.471453,-0.016716],[0.469174,0.872671,0.135353],[-0.049226,-0.127188,0.990656]] 2025-10-29T00:35:02.789Z,1761698102.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:02.791Z,1761698102.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 422.622864 m, bearing: 26.841971 deg, approach rate: -0.657030 m/s, LOS rate: 0.017032 deg/s, cmd heading: 28.182317 deg, new cmd heading: 28.197696 deg. 2025-10-29T00:35:02.797Z,1761698102.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492143 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:02.941Z,1761698102.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.024350 2025-10-29T00:35:03.125Z,1761698103.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881363,-0.472177,-0.015747],[0.469739,0.872278,0.135931],[-0.050448,-0.127202,0.990593]] 2025-10-29T00:35:03.143Z,1761698103.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:03.145Z,1761698103.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:03.148Z,1761698103.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 422.381042 m, bearing: 26.848220 deg, approach rate: -0.669396 m/s, LOS rate: 0.017308 deg/s, cmd heading: 28.197697 deg, new cmd heading: 28.210202 deg. 2025-10-29T00:35:03.149Z,1761698103.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492361 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:03.194Z,1761698103.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.277197 2025-10-29T00:35:03.445Z,1761698103.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.528295 2025-10-29T00:35:03.523Z,1761698103.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880968,-0.472944,-0.014821],[0.470354,0.871868,0.136433],[-0.051603,-0.127165,0.990538]] 2025-10-29T00:35:03.532Z,1761698103.532 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:35:03.543Z,1761698103.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:03.546Z,1761698103.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 422.116638 m, bearing: 26.855035 deg, approach rate: -0.664426 m/s, LOS rate: 0.017136 deg/s, cmd heading: 28.210203 deg, new cmd heading: 28.223841 deg. 2025-10-29T00:35:03.547Z,1761698103.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492599 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:03.701Z,1761698103.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.784218 2025-10-29T00:35:03.927Z,1761698103.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880718,-0.473410,-0.014800],[0.470705,0.871358,0.138462],[-0.052653,-0.128913,0.990257]] 2025-10-29T00:35:03.949Z,1761698103.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.032483 2025-10-29T00:35:03.972Z,1761698103.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:03.994Z,1761698103.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 421.839691 m, bearing: 26.861506 deg, approach rate: -0.647115 m/s, LOS rate: 0.015130 deg/s, cmd heading: 28.223841 deg, new cmd heading: 28.236791 deg. 2025-10-29T00:35:03.995Z,1761698103.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492825 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:04.201Z,1761698104.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284457 2025-10-29T00:35:04.331Z,1761698104.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880582,-0.473686,-0.014039],[0.470814,0.871103,0.139691],[-0.053940,-0.129619,0.990096]] 2025-10-29T00:35:04.368Z,1761698104.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:04.371Z,1761698104.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 421.586670 m, bearing: 26.867418 deg, approach rate: -0.637590 m/s, LOS rate: 0.014908 deg/s, cmd heading: 28.236791 deg, new cmd heading: 28.248623 deg. 2025-10-29T00:35:04.372Z,1761698104.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493031 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:04.453Z,1761698104.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536526 2025-10-29T00:35:04.706Z,1761698104.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.789102 2025-10-29T00:35:04.745Z,1761698104.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880364,-0.474106,-0.013524],[0.471090,0.870741,0.141011],[-0.055079,-0.130512,0.989916]] 2025-10-29T00:35:04.810Z,1761698104.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:04.812Z,1761698104.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 421.296417 m, bearing: 26.874552 deg, approach rate: -0.657455 m/s, LOS rate: 0.016171 deg/s, cmd heading: 28.248623 deg, new cmd heading: 28.262901 deg. 2025-10-29T00:35:04.813Z,1761698104.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493281 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:04.957Z,1761698104.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.040335 2025-10-29T00:35:05.170Z,1761698105.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:05.172Z,1761698105.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:05.175Z,1761698105.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 421.064667 m, bearing: 26.880256 deg, approach rate: -0.639485 m/s, LOS rate: 0.015748 deg/s, cmd heading: 28.262901 deg, new cmd heading: 28.274315 deg. 2025-10-29T00:35:05.176Z,1761698105.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493480 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:05.209Z,1761698105.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292702 2025-10-29T00:35:05.461Z,1761698105.461 [DAT](INFO): DAT read: Rx Time:00:35:04.6510 2025-10-29T00:35:05.461Z,1761698105.461 [DAT](INFO): Rx dataTimestamp_ set to:1761698105.461155 2025-10-29T00:35:05.462Z,1761698105.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.545475 2025-10-29T00:35:05.544Z,1761698105.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879743,-0.475258,-0.013515],[0.472001,0.869590,0.145012],[-0.057166,-0.133952,0.989338]] 2025-10-29T00:35:05.568Z,1761698105.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 426.88 m. 2025-10-29T00:35:05.571Z,1761698105.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 426.879517 m, nav range: 420.810760 m, bearing: 26.886466 deg, approach rate: -0.641027 m/s, LOS rate: 0.015687 deg/s, cmd heading: 28.274314 deg, new cmd heading: 28.286741 deg. 2025-10-29T00:35:05.572Z,1761698105.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493697 target range: 426.879517 and range: 429.40 m. 2025-10-29T00:35:05.716Z,1761698105.716 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.799093 2025-10-29T00:35:05.947Z,1761698105.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879522,-0.475671,-0.013325],[0.472274,0.869126,0.146892],[-0.058291,-0.135488,0.989063]] 2025-10-29T00:35:05.976Z,1761698105.976 [DAT](INFO): DAT read: 00:35:04.6510 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 411,-0.20, 1.817, 0.335, 2.141, 1.461, PHS= 0.458,-1.081, 0.636, RAW= 155.4, -0.2, CAL= 154.3, -1.3, ROT= 355.7, 1.3 2025-10-29T00:35:05.978Z,1761698105.978 [DAT](INFO): got valid direction response: 00:35:04.6510 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 411,-0.20, 1.817, 0.335, 2.141, 1.461, PHS= 0.458,-1.081, 0.636, RAW= 155.4, -0.2, CAL= 154.3, -1.3, ROT= 355.7, 1.3 2025-10-29T00:35:05.979Z,1761698105.979 [DAT](INFO): DAT read: Bearing 174.1, -7.8 (Local) 2025-10-29T00:35:05.985Z,1761698105.985 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, -7.8 (Local) 2025-10-29T00:35:05.987Z,1761698105.987 [DAT](INFO): DAT read: Range 11 to 50 : 427.6 m (Round-trip 570.2 ms) speed 0.6 m/s 2025-10-29T00:35:05.992Z,1761698105.992 [DAT](INFO): DAT read: user:441>Tx time:00:35:05.7267 2025-10-29T00:35:05.994Z,1761698105.994 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:05.995Z,1761698105.995 [DAT](INFO): direction in FSK: [0.996928,-0.074959,-0.022687] 2025-10-29T00:35:06.040Z,1761698106.040 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:06.043Z,1761698106.043 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:06.043Z,1761698106.043 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:06.055Z,1761698106.055 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:06.100Z,1761698106.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 427.600006 m, deltaT: 4.033483 s, deltaX: -1.799988 m, approachRate: -0.446261 m/s, rangeRepo size: 4 2025-10-29T00:35:06.102Z,1761698106.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 425.090302 m, bearing: 23.787296 deg, lat: 36.779281 deg, lon: -121.859081 deg, deltaT: 4.033483 s, deltaX: -1.789215 m, approachRate: -0.443591 m/s, posRepo size: 4 2025-10-29T00:35:06.103Z,1761698106.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:06.110Z,1761698106.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 419.501587 m, bearing: 26.625062 deg, approach rate: 0.000000 m/s, LOS rate: 0.015687 deg/s, cmd heading: 28.286742 deg, new cmd heading: 28.303288 deg. 2025-10-29T00:35:06.111Z,1761698106.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493986 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:06.217Z,1761698106.217 [DAT](INFO): DAT read: 2025-10-29T00:35:06.218Z,1761698106.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.301874 2025-10-29T00:35:06.416Z,1761698106.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879175,-0.476342,-0.012249],[0.472789,0.868839,0.146931],[-0.059347,-0.134969,0.989071]] 2025-10-29T00:35:06.434Z,1761698106.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:06.457Z,1761698106.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 419.259674 m, bearing: 26.631110 deg, approach rate: -0.714349 m/s, LOS rate: 0.017867 deg/s, cmd heading: 28.303288 deg, new cmd heading: 28.315389 deg. 2025-10-29T00:35:06.458Z,1761698106.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494197 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:06.471Z,1761698106.471 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.553841 2025-10-29T00:35:06.724Z,1761698106.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.806825 2025-10-29T00:35:06.818Z,1761698106.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878661,-0.477314,-0.011245],[0.473585,0.868323,0.147419],[-0.060600,-0.134857,0.989010]] 2025-10-29T00:35:06.864Z,1761698106.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:06.867Z,1761698106.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 418.992218 m, bearing: 26.638919 deg, approach rate: -0.622683 m/s, LOS rate: 0.018194 deg/s, cmd heading: 28.315389 deg, new cmd heading: 28.331019 deg. 2025-10-29T00:35:06.868Z,1761698106.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494470 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:06.974Z,1761698106.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057130 2025-10-29T00:35:07.223Z,1761698107.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878317,-0.477974,-0.010018],[0.474078,0.868069,0.147327],[-0.061722,-0.134150,0.989037]] 2025-10-29T00:35:07.225Z,1761698107.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.308456 2025-10-29T00:35:07.242Z,1761698107.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:07.244Z,1761698107.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:07.246Z,1761698107.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 418.755676 m, bearing: 26.645817 deg, approach rate: -0.622300 m/s, LOS rate: 0.018157 deg/s, cmd heading: 28.331018 deg, new cmd heading: 28.344822 deg. 2025-10-29T00:35:07.247Z,1761698107.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494710 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:07.478Z,1761698107.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.560587 2025-10-29T00:35:07.724Z,1761698107.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878034,-0.478514,-0.008979],[0.474435,0.867772,0.147929],[-0.062995,-0.134147,0.988957]] 2025-10-29T00:35:07.733Z,1761698107.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.815634 2025-10-29T00:35:07.831Z,1761698107.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:07.834Z,1761698107.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 418.394196 m, bearing: 26.655538 deg, approach rate: -0.615657 m/s, LOS rate: 0.016571 deg/s, cmd heading: 28.344822 deg, new cmd heading: 28.364281 deg. 2025-10-29T00:35:07.835Z,1761698107.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495050 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:07.982Z,1761698107.982 [DAT](INFO): Reached modem response timeout 2025-10-29T00:35:07.982Z,1761698107.982 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:07.983Z,1761698107.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:08.228Z,1761698108.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877905,-0.478766,-0.008132],[0.474541,0.867638,0.148377],[-0.063982,-0.134120,0.988897]] 2025-10-29T00:35:08.233Z,1761698108.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:08.338Z,1761698108.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:08.341Z,1761698108.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 418.077789 m, bearing: 26.664055 deg, approach rate: -0.623349 m/s, LOS rate: 0.016791 deg/s, cmd heading: 28.364282 deg, new cmd heading: 28.381327 deg. 2025-10-29T00:35:08.342Z,1761698108.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495348 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:08.486Z,1761698108.486 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:08.692Z,1761698108.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877414,-0.479692,-0.006380],[0.475218,0.867256,0.148442],[-0.065674,-0.133277,0.988901]] 2025-10-29T00:35:08.743Z,1761698108.743 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:08.783Z,1761698108.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:08.789Z,1761698108.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 417.835510 m, bearing: 26.670558 deg, approach rate: -0.545408 m/s, LOS rate: 0.014648 deg/s, cmd heading: 28.381328 deg, new cmd heading: 28.394342 deg. 2025-10-29T00:35:08.790Z,1761698108.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495575 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:08.993Z,1761698108.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:09.086Z,1761698109.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877285,-0.479936,-0.005760],[0.475400,0.867217,0.148088],[-0.066077,-0.132653,0.988957]] 2025-10-29T00:35:09.147Z,1761698109.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:09.154Z,1761698109.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 417.584595 m, bearing: 26.678119 deg, approach rate: -0.688479 m/s, LOS rate: 0.020758 deg/s, cmd heading: 28.394341 deg, new cmd heading: 28.409472 deg. 2025-10-29T00:35:09.155Z,1761698109.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495839 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:09.246Z,1761698109.246 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:09.497Z,1761698109.497 [DAT](INFO): DAT read: Rx Time:00:35:08.6968 2025-10-29T00:35:09.498Z,1761698109.498 [DAT](INFO): Rx dataTimestamp_ set to:1761698109.497248 2025-10-29T00:35:09.498Z,1761698109.498 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:09.499Z,1761698109.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877132,-0.480225,-0.004955],[0.475581,0.867121,0.148067],[-0.066809,-0.132230,0.988965]] 2025-10-29T00:35:09.541Z,1761698109.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:09.543Z,1761698109.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:09.549Z,1761698109.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 417.339539 m, bearing: 26.685504 deg, approach rate: -0.619592 m/s, LOS rate: 0.018684 deg/s, cmd heading: 28.409472 deg, new cmd heading: 28.424251 deg. 2025-10-29T00:35:09.553Z,1761698109.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496097 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:09.752Z,1761698109.752 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:35:09.901Z,1761698109.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877068,-0.480340,-0.005015],[0.475640,0.866930,0.148993],[-0.067220,-0.133062,0.988826]] 2025-10-29T00:35:09.955Z,1761698109.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 425.09 m. 2025-10-29T00:35:09.959Z,1761698109.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 425.090302 m, nav range: 417.073914 m, bearing: 26.694313 deg, approach rate: -0.644776 m/s, LOS rate: 0.021397 deg/s, cmd heading: 28.424251 deg, new cmd heading: 28.441880 deg. 2025-10-29T00:35:09.962Z,1761698109.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496404 target range: 425.090302 and range: 427.60 m. 2025-10-29T00:35:10.007Z,1761698110.007 [DAT](INFO): DAT read: 00:35:08.6968 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 399, 0.40, 0.346,-1.133, 0.573, 0.054, PHS= 0.394,-1.142, 0.475, RAW= 152.6, 3.5, CAL= 151.5, 3.2, ROT= 358.5, -3.2 2025-10-29T00:35:10.008Z,1761698110.008 [DAT](INFO): got valid direction response: 00:35:08.6968 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 399, 0.40, 0.346,-1.133, 0.573, 0.054, PHS= 0.394,-1.142, 0.475, RAW= 152.6, 3.5, CAL= 151.5, 3.2, ROT= 358.5, -3.2 2025-10-29T00:35:10.009Z,1761698110.009 [DAT](INFO): DAT read: Bearing 178.8, -6.1 (Local) 2025-10-29T00:35:10.010Z,1761698110.010 [DAT](INFO): Local bearing/azimuth received: Bearing 178.8, -6.1 (Local) 2025-10-29T00:35:10.011Z,1761698110.011 [DAT](INFO): DAT read: Range 11 to 50 : 424.5 m (Round-trip 566.0 ms) speed 0.4 m/s 2025-10-29T00:35:10.013Z,1761698110.013 [DAT](INFO): DAT read: user:442> 2025-10-29T00:35:10.013Z,1761698110.013 [DAT](INFO): DAT read: Tx time:00:35:09.7767 2025-10-29T00:35:10.014Z,1761698110.014 [DAT](INFO): Ping request sent. 2025-10-29T00:35:10.014Z,1761698110.014 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:10.014Z,1761698110.014 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:10.015Z,1761698110.015 [DAT](INFO): direction in FSK: [0.998099,-0.026136,0.055822] 2025-10-29T00:35:10.015Z,1761698110.015 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:10.015Z,1761698110.015 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:10.019Z,1761698110.019 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:10.019Z,1761698110.019 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:10.304Z,1761698110.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876924,-0.480608,-0.004575],[0.475825,0.866776,0.149299],[-0.067788,-0.133101,0.988782]] 2025-10-29T00:35:10.350Z,1761698110.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 424.500000 m, deltaT: 4.034583 s, deltaX: -3.100006 m, approachRate: -0.768358 m/s, rangeRepo size: 4 2025-10-29T00:35:10.353Z,1761698110.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 422.010925 m, bearing: 27.427030 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.034583 s, deltaX: -3.079376 m, approachRate: -0.763245 m/s, posRepo size: 4 2025-10-29T00:35:10.353Z,1761698110.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:10.356Z,1761698110.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 421.991943 m, bearing: 27.425862 deg, approach rate: 0.000000 m/s, LOS rate: 0.021397 deg/s, cmd heading: 28.441881 deg, new cmd heading: 28.458786 deg. 2025-10-29T00:35:10.357Z,1761698110.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496700 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:10.706Z,1761698110.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876611,-0.481178,-0.004515],[0.476399,0.866505,0.149038],[-0.067802,-0.132799,0.988821]] 2025-10-29T00:35:10.860Z,1761698110.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:10.863Z,1761698110.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 421.684753 m, bearing: 27.436472 deg, approach rate: -0.602151 m/s, LOS rate: 0.020813 deg/s, cmd heading: 28.458786 deg, new cmd heading: 28.480022 deg. 2025-10-29T00:35:10.863Z,1761698110.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497070 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:11.107Z,1761698111.107 [CTD_Seabird](ERROR): Failed to parse device response: .67 2025-10-29T00:35:11.152Z,1761698111.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876592,-0.481216,-0.004245],[0.476410,0.866522,0.148904],[-0.067976,-0.132550,0.988843]] 2025-10-29T00:35:11.186Z,1761698111.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:11.189Z,1761698111.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 421.477295 m, bearing: 27.443647 deg, approach rate: -0.635460 m/s, LOS rate: 0.021987 deg/s, cmd heading: 28.480022 deg, new cmd heading: 28.494379 deg. 2025-10-29T00:35:11.190Z,1761698111.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497321 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:11.555Z,1761698111.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876388,-0.481589,-0.004070],[0.476776,0.866372,0.148605],[-0.068040,-0.132176,0.988888]] 2025-10-29T00:35:11.608Z,1761698111.608 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:11.610Z,1761698111.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:11.617Z,1761698111.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 421.241699 m, bearing: 27.451790 deg, approach rate: -0.555699 m/s, LOS rate: 0.019217 deg/s, cmd heading: 28.494380 deg, new cmd heading: 28.510675 deg. 2025-10-29T00:35:11.618Z,1761698111.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497605 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:11.769Z,1761698111.769 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:11.769Z,1761698111.769 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:11.770Z,1761698111.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:11.965Z,1761698111.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876343,-0.481662,-0.004876],[0.476880,0.866127,0.149695],[-0.067879,-0.133510,0.988720]] 2025-10-29T00:35:11.996Z,1761698111.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:12.017Z,1761698112.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003148 2025-10-29T00:35:12.031Z,1761698112.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 420.986420 m, bearing: 27.460616 deg, approach rate: -0.662539 m/s, LOS rate: 0.022920 deg/s, cmd heading: 28.510675 deg, new cmd heading: 28.528337 deg. 2025-10-29T00:35:12.034Z,1761698112.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497913 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:12.269Z,1761698112.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255111 2025-10-29T00:35:12.364Z,1761698112.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876169,-0.481980,-0.004874],[0.477186,0.865938,0.149814],[-0.067986,-0.133588,0.988702]] 2025-10-29T00:35:12.383Z,1761698112.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:12.386Z,1761698112.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 420.750885 m, bearing: 27.468757 deg, approach rate: -0.607842 m/s, LOS rate: 0.021022 deg/s, cmd heading: 28.528338 deg, new cmd heading: 28.544629 deg. 2025-10-29T00:35:12.387Z,1761698112.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498198 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:12.521Z,1761698112.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507295 2025-10-29T00:35:12.780Z,1761698112.780 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765579 2025-10-29T00:35:12.826Z,1761698112.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875947,-0.482384,-0.004666],[0.477561,0.865741,0.149760],[-0.068203,-0.133410,0.988711]] 2025-10-29T00:35:12.936Z,1761698112.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:12.939Z,1761698112.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 420.403900 m, bearing: 27.480093 deg, approach rate: -0.627674 m/s, LOS rate: 0.020522 deg/s, cmd heading: 28.544629 deg, new cmd heading: 28.567319 deg. 2025-10-29T00:35:12.939Z,1761698112.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498594 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:13.033Z,1761698113.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017439 2025-10-29T00:35:13.194Z,1761698113.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875764,-0.482716,-0.004681],[0.477898,0.865573,0.149655],[-0.068189,-0.133299,0.988727]] 2025-10-29T00:35:13.220Z,1761698113.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:13.222Z,1761698113.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 420.225677 m, bearing: 27.485912 deg, approach rate: -0.627976 m/s, LOS rate: 0.020515 deg/s, cmd heading: 28.567319 deg, new cmd heading: 28.578964 deg. 2025-10-29T00:35:13.223Z,1761698113.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498797 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:13.282Z,1761698113.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267995 2025-10-29T00:35:13.534Z,1761698113.534 [DAT](INFO): DAT read: Rx Time:00:35:12.7435 2025-10-29T00:35:13.535Z,1761698113.535 [DAT](INFO): Rx dataTimestamp_ set to:1761698113.534616 2025-10-29T00:35:13.535Z,1761698113.535 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521668 2025-10-29T00:35:13.606Z,1761698113.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875888,-0.482488,-0.005130],[0.477716,0.865631,0.149899],[-0.067883,-0.133745,0.988688]] 2025-10-29T00:35:13.644Z,1761698113.644 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:13.646Z,1761698113.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 422.01 m. 2025-10-29T00:35:13.653Z,1761698113.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 422.010925 m, nav range: 419.962799 m, bearing: 27.494513 deg, approach rate: -0.616140 m/s, LOS rate: 0.020172 deg/s, cmd heading: 28.578963 deg, new cmd heading: 28.596176 deg. 2025-10-29T00:35:13.654Z,1761698113.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499097 target range: 422.010925 and range: 424.50 m. 2025-10-29T00:35:13.785Z,1761698113.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771374 2025-10-29T00:35:13.999Z,1761698113.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876056,-0.482179,-0.005319],[0.477409,0.865731,0.150302],[-0.067867,-0.134212,0.988626]] 2025-10-29T00:35:14.043Z,1761698114.043 [DAT](INFO): DAT read: 00:35:12.7435 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 420, 0.20, 1.561, 0.224, 1.762, 1.518, PHS= 0.145,-1.249, 0.200, RAW= 151.9, 12.7, CAL= 152.0, 14.1, ROT= 358.0, -14.1 2025-10-29T00:35:14.044Z,1761698114.044 [DAT](INFO): got valid direction response: 00:35:12.7435 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 420, 0.20, 1.561, 0.224, 1.762, 1.518, PHS= 0.145,-1.249, 0.200, RAW= 151.9, 12.7, CAL= 152.0, 14.1, ROT= 358.0, -14.1 2025-10-29T00:35:14.045Z,1761698114.045 [DAT](INFO): DAT read: Bearing 189.0, -7.8 (Local) 2025-10-29T00:35:14.045Z,1761698114.045 [DAT](INFO): Local bearing/azimuth received: Bearing 189.0, -7.8 (Local) 2025-10-29T00:35:14.047Z,1761698114.047 [DAT](INFO): DAT read: Range 11 to 50 : 422.0 m (Round-trip 562.7 ms) speed 0.8 m/s 2025-10-29T00:35:14.048Z,1761698114.048 [DAT](INFO): DAT read: user:443> 2025-10-29T00:35:14.048Z,1761698114.048 [DAT](INFO): DAT read: Tx time:00:35:13.8266 2025-10-29T00:35:14.049Z,1761698114.049 [DAT](INFO): Ping request sent. 2025-10-29T00:35:14.049Z,1761698114.049 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:14.049Z,1761698114.049 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:14.050Z,1761698114.050 [DAT](INFO): direction in FSK: [0.969281,-0.033848,0.243615] 2025-10-29T00:35:14.050Z,1761698114.050 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:14.051Z,1761698114.051 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:14.058Z,1761698114.058 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:14.058Z,1761698114.058 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:14.173Z,1761698114.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 422.000000 m, deltaT: 4.036000 s, deltaX: -2.500000 m, approachRate: -0.619425 m/s, rangeRepo size: 4 2025-10-29T00:35:14.175Z,1761698114.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 419.527924 m, bearing: 28.543485 deg, lat: 36.779281 deg, lon: -121.858967 deg, deltaT: 4.036000 s, deltaX: -2.483002 m, approachRate: -0.615214 m/s, posRepo size: 4 2025-10-29T00:35:14.175Z,1761698114.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:14.182Z,1761698114.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 419.141998 m, bearing: 28.012470 deg, approach rate: 0.000000 m/s, LOS rate: 0.020172 deg/s, cmd heading: 28.596175 deg, new cmd heading: 28.616728 deg. 2025-10-29T00:35:14.183Z,1761698114.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499456 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:14.434Z,1761698114.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876212,-0.481894,-0.005534],[0.477170,0.865899,0.150094],[-0.067538,-0.134155,0.988656]] 2025-10-29T00:35:14.459Z,1761698114.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:14.465Z,1761698114.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 418.938782 m, bearing: 28.019236 deg, approach rate: -0.670334 m/s, LOS rate: 0.022331 deg/s, cmd heading: 28.616729 deg, new cmd heading: 28.630268 deg. 2025-10-29T00:35:14.466Z,1761698114.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499692 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:14.869Z,1761698114.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876194,-0.481926,-0.005662],[0.477235,0.865904,0.149857],[-0.067317,-0.134005,0.988692]] 2025-10-29T00:35:14.906Z,1761698114.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:14.909Z,1761698114.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 418.641266 m, bearing: 28.028027 deg, approach rate: -0.665558 m/s, LOS rate: 0.019679 deg/s, cmd heading: 28.630268 deg, new cmd heading: 28.647862 deg. 2025-10-29T00:35:14.910Z,1761698114.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500000 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:15.242Z,1761698115.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876138,-0.482024,-0.005831],[0.477364,0.865856,0.149725],[-0.067122,-0.133963,0.988711]] 2025-10-29T00:35:15.263Z,1761698115.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:15.265Z,1761698115.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 418.407013 m, bearing: 28.034953 deg, approach rate: -0.656901 m/s, LOS rate: 0.019433 deg/s, cmd heading: 28.647862 deg, new cmd heading: 28.661722 deg. 2025-10-29T00:35:15.266Z,1761698115.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500241 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:15.648Z,1761698115.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876208,-0.481895,-0.006030],[0.477257,0.865900,0.149808],[-0.066970,-0.134141,0.988697]] 2025-10-29T00:35:15.666Z,1761698115.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:15.668Z,1761698115.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:15.671Z,1761698115.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 418.141174 m, bearing: 28.042827 deg, approach rate: -0.655443 m/s, LOS rate: 0.019426 deg/s, cmd heading: 28.661721 deg, new cmd heading: 28.677479 deg. 2025-10-29T00:35:15.672Z,1761698115.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500516 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:15.801Z,1761698115.801 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:15.802Z,1761698115.802 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:15.802Z,1761698115.802 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:16.050Z,1761698116.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876325,-0.481679,-0.006292],[0.477101,0.866045,0.149467],[-0.066546,-0.133983,0.988747]] 2025-10-29T00:35:16.053Z,1761698116.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004133 2025-10-29T00:35:16.100Z,1761698116.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:16.103Z,1761698116.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 417.860504 m, bearing: 28.049982 deg, approach rate: -0.650228 m/s, LOS rate: 0.016586 deg/s, cmd heading: 28.677478 deg, new cmd heading: 28.691797 deg. 2025-10-29T00:35:16.103Z,1761698116.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500766 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:16.306Z,1761698116.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256546 2025-10-29T00:35:16.557Z,1761698116.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508483 2025-10-29T00:35:16.577Z,1761698116.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876232,-0.481845,-0.006607],[0.477343,0.866003,0.148936],[-0.066042,-0.133656,0.988825]] 2025-10-29T00:35:16.646Z,1761698116.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:16.653Z,1761698116.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 417.518372 m, bearing: 28.058705 deg, approach rate: -0.625796 m/s, LOS rate: 0.015969 deg/s, cmd heading: 28.691798 deg, new cmd heading: 28.709259 deg. 2025-10-29T00:35:16.654Z,1761698116.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501071 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:16.809Z,1761698116.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760022 2025-10-29T00:35:17.061Z,1761698117.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012111 2025-10-29T00:35:17.142Z,1761698117.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876008,-0.482204,-0.009444],[0.477915,0.865250,0.151457],[-0.064862,-0.137191,0.988419]] 2025-10-29T00:35:17.203Z,1761698117.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:17.210Z,1761698117.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 417.146729 m, bearing: 28.067576 deg, approach rate: -0.668025 m/s, LOS rate: 0.015960 deg/s, cmd heading: 28.709259 deg, new cmd heading: 28.727017 deg. 2025-10-29T00:35:17.210Z,1761698117.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501381 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:17.313Z,1761698117.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264019 2025-10-29T00:35:17.566Z,1761698117.566 [DAT](INFO): DAT read: Rx Time:00:35:16.7900 2025-10-29T00:35:17.566Z,1761698117.566 [DAT](INFO): Rx dataTimestamp_ set to:1761698117.566131 2025-10-29T00:35:17.567Z,1761698117.567 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518445 2025-10-29T00:35:17.647Z,1761698117.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875990,-0.482199,-0.011174],[0.478038,0.864881,0.153171],[-0.064195,-0.139518,0.988137]] 2025-10-29T00:35:17.665Z,1761698117.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 419.53 m. 2025-10-29T00:35:17.668Z,1761698117.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 419.527924 m, nav range: 416.838989 m, bearing: 28.074922 deg, approach rate: -0.665299 m/s, LOS rate: 0.015892 deg/s, cmd heading: 28.727017 deg, new cmd heading: 28.741719 deg. 2025-10-29T00:35:17.669Z,1761698117.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501638 target range: 419.527924 and range: 422.00 m. 2025-10-29T00:35:17.817Z,1761698117.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768082 2025-10-29T00:35:18.046Z,1761698118.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875901,-0.482318,-0.012912],[0.478322,0.864512,0.154360],[-0.063288,-0.141380,0.987930]] 2025-10-29T00:35:18.075Z,1761698118.075 [DAT](INFO): DAT read: 00:35:16.7900 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.20,-2.825, 1.782,-2.584, 2.897, PHS= 0.663,-1.070, 0.757, RAW= 152.6, -4.0, CAL= 152.2, -5.2, ROT= 357.8, 5.2 2025-10-29T00:35:18.076Z,1761698118.076 [DAT](INFO): got valid direction response: 00:35:16.7900 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 411, 0.20,-2.825, 1.782,-2.584, 2.897, PHS= 0.663,-1.070, 0.757, RAW= 152.6, -4.0, CAL= 152.2, -5.2, ROT= 357.8, 5.2 2025-10-29T00:35:18.077Z,1761698118.077 [DAT](INFO): DAT read: Bearing 169.3, -5.2 (Local) 2025-10-29T00:35:18.077Z,1761698118.077 [DAT](INFO): Local bearing/azimuth received: Bearing 169.3, -5.2 (Local) 2025-10-29T00:35:18.079Z,1761698118.079 [DAT](INFO): DAT read: Range 11 to 50 : 419.4 m (Round-trip 559.2 ms) speed 0.3 m/s 2025-10-29T00:35:18.079Z,1761698118.079 [DAT](INFO): DAT read: user:444> 2025-10-29T00:35:18.080Z,1761698118.080 [DAT](INFO): DAT read: Tx time:00:35:17.8766 2025-10-29T00:35:18.080Z,1761698118.080 [DAT](INFO): Ping request sent. 2025-10-29T00:35:18.081Z,1761698118.081 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:18.081Z,1761698118.081 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:18.082Z,1761698118.082 [DAT](INFO): direction in FSK: [0.995150,-0.038230,-0.090633] 2025-10-29T00:35:18.082Z,1761698118.082 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:18.082Z,1761698118.082 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:18.086Z,1761698118.086 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:18.086Z,1761698118.086 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:18.170Z,1761698118.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 419.399994 m, deltaT: 4.031909 s, deltaX: -2.600006 m, approachRate: -0.644857 m/s, rangeRepo size: 4 2025-10-29T00:35:18.176Z,1761698118.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 416.942749 m, bearing: 25.701385 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.031909 s, deltaX: -2.585175 m, approachRate: -0.641179 m/s, posRepo size: 4 2025-10-29T00:35:18.177Z,1761698118.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:18.179Z,1761698118.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 417.040161 m, bearing: 27.570032 deg, approach rate: 0.000000 m/s, LOS rate: 0.015892 deg/s, cmd heading: 28.741719 deg, new cmd heading: 28.757736 deg. 2025-10-29T00:35:18.189Z,1761698118.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501917 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:18.494Z,1761698118.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875684,-0.482697,-0.013445],[0.478765,0.864249,0.154459],[-0.062937,-0.141694,0.987908]] 2025-10-29T00:35:18.520Z,1761698118.520 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:18.522Z,1761698118.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:18.525Z,1761698118.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 416.797089 m, bearing: 27.574764 deg, approach rate: -0.688673 m/s, LOS rate: 0.013417 deg/s, cmd heading: 28.757736 deg, new cmd heading: 28.767207 deg. 2025-10-29T00:35:18.526Z,1761698118.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502082 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:18.573Z,1761698118.573 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:18.574Z,1761698118.574 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:18.574Z,1761698118.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:18.825Z,1761698118.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.744330 2025-10-29T00:35:18.930Z,1761698118.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875191,-0.483572,-0.014081],[0.479761,0.863816,0.153793],[-0.062206,-0.141354,0.988003]] 2025-10-29T00:35:19.002Z,1761698119.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:19.009Z,1761698119.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 416.504486 m, bearing: 27.580502 deg, approach rate: -0.609913 m/s, LOS rate: 0.011968 deg/s, cmd heading: 28.767206 deg, new cmd heading: 28.778690 deg. 2025-10-29T00:35:19.010Z,1761698119.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502283 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:19.078Z,1761698119.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996678 2025-10-29T00:35:19.329Z,1761698119.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248257 2025-10-29T00:35:19.386Z,1761698119.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:19.389Z,1761698119.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 416.244720 m, bearing: 27.585602 deg, approach rate: -0.676863 m/s, LOS rate: 0.013297 deg/s, cmd heading: 28.778688 deg, new cmd heading: 28.788894 deg. 2025-10-29T00:35:19.389Z,1761698119.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502461 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:19.581Z,1761698119.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500337 2025-10-29T00:35:19.735Z,1761698119.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873964,-0.485730,-0.015912],[0.482271,0.862768,0.151805],[-0.060008,-0.140346,0.988282]] 2025-10-29T00:35:19.783Z,1761698119.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:19.792Z,1761698119.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 416.006744 m, bearing: 27.590189 deg, approach rate: -0.599051 m/s, LOS rate: 0.011553 deg/s, cmd heading: 28.788896 deg, new cmd heading: 28.798074 deg. 2025-10-29T00:35:19.793Z,1761698119.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502621 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:19.833Z,1761698119.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752503 2025-10-29T00:35:20.089Z,1761698120.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008097 2025-10-29T00:35:20.139Z,1761698120.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873353,-0.486803,-0.016668],[0.483491,0.862243,0.150909],[-0.059090,-0.139855,0.988407]] 2025-10-29T00:35:20.201Z,1761698120.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:20.204Z,1761698120.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 415.732971 m, bearing: 27.595165 deg, approach rate: -0.654290 m/s, LOS rate: 0.011901 deg/s, cmd heading: 28.798075 deg, new cmd heading: 28.808035 deg. 2025-10-29T00:35:20.205Z,1761698120.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502795 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:20.337Z,1761698120.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256226 2025-10-29T00:35:20.544Z,1761698120.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872490,-0.488314,-0.017592],[0.485188,0.861514,0.149619],[-0.057905,-0.139077,0.988587]] 2025-10-29T00:35:20.562Z,1761698120.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:20.565Z,1761698120.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:20.567Z,1761698120.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 415.509308 m, bearing: 27.599178 deg, approach rate: -0.615761 m/s, LOS rate: 0.011053 deg/s, cmd heading: 28.808034 deg, new cmd heading: 28.816063 deg. 2025-10-29T00:35:20.568Z,1761698120.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502935 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:20.606Z,1761698120.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524753 2025-10-29T00:35:20.857Z,1761698120.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776344 2025-10-29T00:35:20.962Z,1761698120.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871644,-0.489810,-0.017952],[0.486909,0.861121,0.146256],[-0.056179,-0.136224,0.989084]] 2025-10-29T00:35:21.011Z,1761698121.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:21.013Z,1761698121.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 415.237823 m, bearing: 27.605050 deg, approach rate: -0.608828 m/s, LOS rate: 0.013178 deg/s, cmd heading: 28.816063 deg, new cmd heading: 28.827815 deg. 2025-10-29T00:35:21.014Z,1761698121.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503140 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:21.109Z,1761698121.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028842 2025-10-29T00:35:21.350Z,1761698121.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870989,-0.490941,-0.018843],[0.488236,0.860636,0.144681],[-0.054813,-0.135215,0.989299]] 2025-10-29T00:35:21.361Z,1761698121.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280442 2025-10-29T00:35:21.385Z,1761698121.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:21.388Z,1761698121.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 415.010559 m, bearing: 27.609926 deg, approach rate: -0.606920 m/s, LOS rate: 0.013029 deg/s, cmd heading: 28.827814 deg, new cmd heading: 28.837571 deg. 2025-10-29T00:35:21.390Z,1761698121.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503311 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:21.613Z,1761698121.613 [DAT](INFO): DAT read: Rx Time:00:35:20.8370 2025-10-29T00:35:21.613Z,1761698121.613 [DAT](INFO): Rx dataTimestamp_ set to:1761698121.613217 2025-10-29T00:35:21.614Z,1761698121.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533466 2025-10-29T00:35:21.806Z,1761698121.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 416.94 m. 2025-10-29T00:35:21.809Z,1761698121.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 416.942749 m, nav range: 414.763092 m, bearing: 27.615242 deg, approach rate: -0.587914 m/s, LOS rate: 0.012637 deg/s, cmd heading: 28.837571 deg, new cmd heading: 28.848210 deg. 2025-10-29T00:35:21.810Z,1761698121.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503496 target range: 416.942749 and range: 419.40 m. 2025-10-29T00:35:21.866Z,1761698121.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.784905 2025-10-29T00:35:22.122Z,1761698122.122 [DAT](INFO): DAT read: 00:35:20.8370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 412, 0.19,-1.077,-2.617,-0.800,-1.396, PHS= 0.422,-1.176, 0.552, RAW= 153.9, 2.5, CAL= 152.7, 1.8, ROT= 357.3, -1.8 2025-10-29T00:35:22.124Z,1761698122.124 [DAT](INFO): got valid direction response: 00:35:20.8370 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 412, 0.19,-1.077,-2.617,-0.800,-1.396, PHS= 0.422,-1.176, 0.552, RAW= 153.9, 2.5, CAL= 152.7, 1.8, ROT= 357.3, -1.8 2025-10-29T00:35:22.125Z,1761698122.125 [DAT](INFO): DAT read: Bearing 176.7, -6.0 (Local) 2025-10-29T00:35:22.125Z,1761698122.125 [DAT](INFO): Local bearing/azimuth received: Bearing 176.7, -6.0 (Local) 2025-10-29T00:35:22.126Z,1761698122.126 [DAT](INFO): DAT read: Range 11 to 50 : 417.1 m (Round-trip 556.2 ms) speed 0.6 m/s 2025-10-29T00:35:22.127Z,1761698122.127 [DAT](INFO): DAT read: user:445> 2025-10-29T00:35:22.128Z,1761698122.128 [DAT](INFO): DAT read: Tx time:00:35:21.9266 2025-10-29T00:35:22.128Z,1761698122.128 [DAT](INFO): Ping request sent. 2025-10-29T00:35:22.129Z,1761698122.129 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:22.129Z,1761698122.129 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:22.130Z,1761698122.130 [DAT](INFO): direction in FSK: [0.998397,-0.047084,0.031411] 2025-10-29T00:35:22.130Z,1761698122.130 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:22.130Z,1761698122.130 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:22.133Z,1761698122.133 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:22.134Z,1761698122.134 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:22.171Z,1761698122.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870036,-0.492478,-0.022418],[0.490327,0.859725,0.143012],[-0.051157,-0.135418,0.989467]] 2025-10-29T00:35:22.291Z,1761698122.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 417.100006 m, deltaT: 4.047925 s, deltaX: -2.299988 m, approachRate: -0.568189 m/s, rangeRepo size: 4 2025-10-29T00:35:22.297Z,1761698122.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 414.655457 m, bearing: 26.974647 deg, lat: 36.779318 deg, lon: -121.859048 deg, deltaT: 4.047925 s, deltaX: -2.287292 m, approachRate: -0.565053 m/s, posRepo size: 4 2025-10-29T00:35:22.298Z,1761698122.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:22.305Z,1761698122.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 414.299072 m, bearing: 26.995762 deg, approach rate: 0.000000 m/s, LOS rate: 0.012637 deg/s, cmd heading: 28.848209 deg, new cmd heading: 28.860453 deg. 2025-10-29T00:35:22.306Z,1761698122.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503710 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:22.615Z,1761698122.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870078,-0.492277,-0.025072],[0.490407,0.859407,0.144637],[-0.049654,-0.138141,0.989167]] 2025-10-29T00:35:22.633Z,1761698122.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:22.635Z,1761698122.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:22.639Z,1761698122.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 414.075073 m, bearing: 27.001528 deg, approach rate: -0.649169 m/s, LOS rate: 0.016718 deg/s, cmd heading: 28.860452 deg, new cmd heading: 28.871989 deg. 2025-10-29T00:35:22.644Z,1761698122.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503911 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:22.873Z,1761698122.873 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:22.874Z,1761698122.874 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:22.874Z,1761698122.874 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:23.015Z,1761698123.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870328,-0.491739,-0.026845],[0.490124,0.859576,0.144596],[-0.048029,-0.139003,0.989127]] 2025-10-29T00:35:23.081Z,1761698123.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:23.084Z,1761698123.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 413.807129 m, bearing: 27.010498 deg, approach rate: -0.601094 m/s, LOS rate: 0.020138 deg/s, cmd heading: 28.871988 deg, new cmd heading: 28.889941 deg. 2025-10-29T00:35:23.085Z,1761698123.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504225 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:23.126Z,1761698123.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.997261 2025-10-29T00:35:23.377Z,1761698123.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248318 2025-10-29T00:35:23.419Z,1761698123.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870708,-0.490983,-0.028348],[0.489570,0.859834,0.144939],[-0.046788,-0.140078,0.989034]] 2025-10-29T00:35:23.502Z,1761698123.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:23.505Z,1761698123.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 413.544159 m, bearing: 27.019336 deg, approach rate: -0.624224 m/s, LOS rate: 0.020991 deg/s, cmd heading: 28.889941 deg, new cmd heading: 28.907628 deg. 2025-10-29T00:35:23.506Z,1761698123.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504533 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:23.629Z,1761698123.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500411 2025-10-29T00:35:23.872Z,1761698123.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:23.875Z,1761698123.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 413.324829 m, bearing: 27.026717 deg, approach rate: -0.592785 m/s, LOS rate: 0.019959 deg/s, cmd heading: 28.907628 deg, new cmd heading: 28.922398 deg. 2025-10-29T00:35:23.876Z,1761698123.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504791 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:23.881Z,1761698123.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752499 2025-10-29T00:35:24.133Z,1761698124.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004331 2025-10-29T00:35:24.283Z,1761698124.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:24.286Z,1761698124.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 413.063385 m, bearing: 27.036108 deg, approach rate: -0.637229 m/s, LOS rate: 0.022905 deg/s, cmd heading: 28.922398 deg, new cmd heading: 28.941193 deg. 2025-10-29T00:35:24.287Z,1761698124.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505119 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:24.385Z,1761698124.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256518 2025-10-29T00:35:24.631Z,1761698124.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872613,-0.487300,-0.032948],[0.486514,0.861297,0.146530],[-0.043026,-0.143893,0.988657]] 2025-10-29T00:35:24.637Z,1761698124.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508508 2025-10-29T00:35:24.666Z,1761698124.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:24.668Z,1761698124.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:24.671Z,1761698124.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 412.824982 m, bearing: 27.044800 deg, approach rate: -0.618633 m/s, LOS rate: 0.022567 deg/s, cmd heading: 28.941192 deg, new cmd heading: 28.958585 deg. 2025-10-29T00:35:24.672Z,1761698124.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505423 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:24.889Z,1761698124.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760746 2025-10-29T00:35:25.037Z,1761698125.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873083,-0.486323,-0.034862],[0.485786,0.861548,0.147469],[-0.041682,-0.145688,0.988452]] 2025-10-29T00:35:25.081Z,1761698125.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:25.083Z,1761698125.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 412.571442 m, bearing: 27.054808 deg, approach rate: -0.614534 m/s, LOS rate: 0.024272 deg/s, cmd heading: 28.958585 deg, new cmd heading: 28.978613 deg. 2025-10-29T00:35:25.100Z,1761698125.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505772 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:25.141Z,1761698125.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012710 2025-10-29T00:35:25.393Z,1761698125.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264376 2025-10-29T00:35:25.466Z,1761698125.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874434,-0.483621,-0.038420],[0.483548,0.862400,0.149826],[-0.039326,-0.149591,0.987966]] 2025-10-29T00:35:25.487Z,1761698125.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:25.493Z,1761698125.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 412.322815 m, bearing: 27.064717 deg, approach rate: -0.612636 m/s, LOS rate: 0.024433 deg/s, cmd heading: 28.978614 deg, new cmd heading: 28.998445 deg. 2025-10-29T00:35:25.494Z,1761698125.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506118 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:25.645Z,1761698125.645 [DAT](INFO): DAT read: Rx Time:00:35:24.8830 2025-10-29T00:35:25.645Z,1761698125.645 [DAT](INFO): Rx dataTimestamp_ set to:1761698125.645088 2025-10-29T00:35:25.646Z,1761698125.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517360 2025-10-29T00:35:25.897Z,1761698125.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768383 2025-10-29T00:35:25.927Z,1761698125.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 414.66 m. 2025-10-29T00:35:25.931Z,1761698125.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 414.655457 m, nav range: 412.052307 m, bearing: 27.075513 deg, approach rate: -0.614133 m/s, LOS rate: 0.024525 deg/s, cmd heading: 28.998446 deg, new cmd heading: 29.020051 deg. 2025-10-29T00:35:25.979Z,1761698125.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506495 target range: 414.655457 and range: 417.10 m. 2025-10-29T00:35:26.157Z,1761698126.157 [DAT](INFO): DAT read: 00:35:24.8830 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 402, 0.17, 3.098, 1.659,-2.954, 2.886, PHS= 0.315,-1.182, 0.399, RAW= 152.7, 6.1, CAL= 152.0, 6.3, ROT= 358.0, -6.3 2025-10-29T00:35:26.158Z,1761698126.158 [DAT](INFO): got valid direction response: 00:35:24.8830 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 402, 0.17, 3.098, 1.659,-2.954, 2.886, PHS= 0.315,-1.182, 0.399, RAW= 152.7, 6.1, CAL= 152.0, 6.3, ROT= 358.0, -6.3 2025-10-29T00:35:26.159Z,1761698126.159 [DAT](INFO): DAT read: Bearing 181.4, -5.2 (Local) 2025-10-29T00:35:26.159Z,1761698126.159 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -5.2 (Local) 2025-10-29T00:35:26.161Z,1761698126.161 [DAT](INFO): DAT read: Range 11 to 50 : 414.1 m (Round-trip 552.2 ms) speed 0.4 m/s 2025-10-29T00:35:26.162Z,1761698126.162 [DAT](INFO): DAT read: user:446> 2025-10-29T00:35:26.162Z,1761698126.162 [DAT](INFO): DAT read: Tx time:00:35:25.9766 2025-10-29T00:35:26.163Z,1761698126.163 [DAT](INFO): Ping request sent. 2025-10-29T00:35:26.163Z,1761698126.163 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:26.163Z,1761698126.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:26.173Z,1761698126.173 [DAT](INFO): direction in FSK: [0.993355,-0.034689,0.109734] 2025-10-29T00:35:26.173Z,1761698126.173 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:26.174Z,1761698126.174 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:26.177Z,1761698126.177 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:26.178Z,1761698126.178 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:26.381Z,1761698126.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874650,-0.483188,-0.038953],[0.483332,0.863106,0.146417],[-0.037126,-0.146891,0.988456]] 2025-10-29T00:35:26.468Z,1761698126.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 414.100006 m, deltaT: 4.032402 s, deltaX: -3.000000 m, approachRate: -0.743973 m/s, rangeRepo size: 4 2025-10-29T00:35:26.470Z,1761698126.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 411.671844 m, bearing: 27.880173 deg, lat: 36.779301 deg, lon: -121.859002 deg, deltaT: 4.032402 s, deltaX: -2.983612 m, approachRate: -0.739909 m/s, posRepo size: 4 2025-10-29T00:35:26.471Z,1761698126.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:26.478Z,1761698126.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 411.919678 m, bearing: 27.718202 deg, approach rate: 0.000000 m/s, LOS rate: 0.024525 deg/s, cmd heading: 29.020050 deg, new cmd heading: 29.046341 deg. 2025-10-29T00:35:26.479Z,1761698126.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506954 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:26.791Z,1761698126.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874616,-0.483162,-0.040016],[0.483480,0.863107,0.145921],[-0.035965,-0.146971,0.988487]] 2025-10-29T00:35:26.837Z,1761698126.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:26.838Z,1761698126.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:26.841Z,1761698126.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 411.663757 m, bearing: 27.727922 deg, approach rate: -0.681587 m/s, LOS rate: 0.025903 deg/s, cmd heading: 29.046339 deg, new cmd heading: 29.065791 deg. 2025-10-29T00:35:26.842Z,1761698126.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507294 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:26.905Z,1761698126.905 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:26.905Z,1761698126.905 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:26.905Z,1761698126.905 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:27.157Z,1761698127.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994448 2025-10-29T00:35:27.194Z,1761698127.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874406,-0.483520,-0.040266],[0.483917,0.863080,0.144625],[-0.035176,-0.145946,0.988667]] 2025-10-29T00:35:27.252Z,1761698127.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:27.255Z,1761698127.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 411.409393 m, bearing: 27.736865 deg, approach rate: -0.615394 m/s, LOS rate: 0.021648 deg/s, cmd heading: 29.065791 deg, new cmd heading: 29.083687 deg. 2025-10-29T00:35:27.255Z,1761698127.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507606 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:27.409Z,1761698127.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246042 2025-10-29T00:35:27.599Z,1761698127.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874266,-0.483771,-0.040302],[0.484213,0.863120,0.143392],[-0.034583,-0.144878,0.988845]] 2025-10-29T00:35:27.625Z,1761698127.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:27.627Z,1761698127.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 411.179169 m, bearing: 27.744961 deg, approach rate: -0.616973 m/s, LOS rate: 0.021710 deg/s, cmd heading: 29.083687 deg, new cmd heading: 29.099889 deg. 2025-10-29T00:35:27.629Z,1761698127.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507889 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:27.662Z,1761698127.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498763 2025-10-29T00:35:27.913Z,1761698127.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750042 2025-10-29T00:35:28.018Z,1761698128.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873755,-0.484731,-0.039861],[0.485194,0.863028,0.140602],[-0.033753,-0.142192,0.989263]] 2025-10-29T00:35:28.085Z,1761698128.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:28.087Z,1761698128.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 410.901794 m, bearing: 27.754696 deg, approach rate: -0.604246 m/s, LOS rate: 0.021222 deg/s, cmd heading: 29.099888 deg, new cmd heading: 29.119371 deg. 2025-10-29T00:35:28.116Z,1761698128.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508229 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:28.165Z,1761698128.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002489 2025-10-29T00:35:28.409Z,1761698128.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872970,-0.486184,-0.039355],[0.486677,0.862757,0.137095],[-0.032700,-0.138833,0.989776]] 2025-10-29T00:35:28.417Z,1761698128.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254182 2025-10-29T00:35:28.490Z,1761698128.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:28.497Z,1761698128.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 410.651794 m, bearing: 27.761489 deg, approach rate: -0.615713 m/s, LOS rate: 0.016740 deg/s, cmd heading: 29.119371 deg, new cmd heading: 29.132965 deg. 2025-10-29T00:35:28.498Z,1761698128.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508466 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:28.669Z,1761698128.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506038 2025-10-29T00:35:28.811Z,1761698128.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872405,-0.487195,-0.039379],[0.487735,0.862432,0.135372],[-0.031991,-0.137306,0.990012]] 2025-10-29T00:35:28.837Z,1761698128.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:28.840Z,1761698128.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 410.432404 m, bearing: 27.767425 deg, approach rate: -0.631622 m/s, LOS rate: 0.017098 deg/s, cmd heading: 29.132966 deg, new cmd heading: 29.144845 deg. 2025-10-29T00:35:28.841Z,1761698128.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508673 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:28.921Z,1761698128.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758587 2025-10-29T00:35:29.173Z,1761698129.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010099 2025-10-29T00:35:29.214Z,1761698129.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871827,-0.488156,-0.040263],[0.488841,0.861974,0.134297],[-0.030852,-0.136766,0.990123]] 2025-10-29T00:35:29.258Z,1761698129.258 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:29.260Z,1761698129.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:29.262Z,1761698129.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 410.167694 m, bearing: 27.772414 deg, approach rate: -0.627030 m/s, LOS rate: 0.011825 deg/s, cmd heading: 29.144844 deg, new cmd heading: 29.154828 deg. 2025-10-29T00:35:29.263Z,1761698129.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508848 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:29.426Z,1761698129.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263250 2025-10-29T00:35:29.653Z,1761698129.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:29.656Z,1761698129.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 409.920349 m, bearing: 27.777081 deg, approach rate: -0.628548 m/s, LOS rate: 0.011867 deg/s, cmd heading: 29.154830 deg, new cmd heading: 29.164169 deg. 2025-10-29T00:35:29.657Z,1761698129.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509011 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:29.677Z,1761698129.677 [DAT](INFO): DAT read: Rx Time:00:35:28.9300 2025-10-29T00:35:29.677Z,1761698129.677 [DAT](INFO): Rx dataTimestamp_ set to:1761698129.677008 2025-10-29T00:35:29.678Z,1761698129.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515022 2025-10-29T00:35:29.933Z,1761698129.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770281 2025-10-29T00:35:30.029Z,1761698130.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870230,-0.490896,-0.041485],[0.491797,0.860703,0.131628],[-0.028909,-0.134949,0.990431]] 2025-10-29T00:35:30.124Z,1761698130.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 411.67 m. 2025-10-29T00:35:30.127Z,1761698130.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 411.671844 m, nav range: 409.624786 m, bearing: 27.782531 deg, approach rate: -0.627498 m/s, LOS rate: 0.011579 deg/s, cmd heading: 29.164170 deg, new cmd heading: 29.175078 deg. 2025-10-29T00:35:30.128Z,1761698130.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509201 target range: 411.671844 and range: 414.10 m. 2025-10-29T00:35:30.189Z,1761698130.189 [DAT](INFO): DAT read: 00:35:28.9300 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405,-0.20,-0.166,-1.617, 0.083,-0.379, PHS= 0.315,-1.193, 0.417, RAW= 153.3, 6.0, CAL= 152.5, 6.1, ROT= 357.5, -6.1 2025-10-29T00:35:30.190Z,1761698130.190 [DAT](INFO): got valid direction response: 00:35:28.9300 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 405,-0.20,-0.166,-1.617, 0.083,-0.379, PHS= 0.315,-1.193, 0.417, RAW= 153.3, 6.0, CAL= 152.5, 6.1, ROT= 357.5, -6.1 2025-10-29T00:35:30.191Z,1761698130.191 [DAT](INFO): DAT read: Bearing 181.9, -5.0 (Local) 2025-10-29T00:35:30.191Z,1761698130.191 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, -5.0 (Local) 2025-10-29T00:35:30.193Z,1761698130.193 [DAT](INFO): DAT read: Range 11 to 50 : 411.9 m (Round-trip 549.3 ms) speed 0.4 m/s 2025-10-29T00:35:30.194Z,1761698130.194 [DAT](INFO): DAT read: user:447> 2025-10-29T00:35:30.194Z,1761698130.194 [DAT](INFO): DAT read: Tx time:00:35:30.0266 2025-10-29T00:35:30.195Z,1761698130.195 [DAT](INFO): Ping request sent. 2025-10-29T00:35:30.195Z,1761698130.195 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:30.195Z,1761698130.195 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:30.196Z,1761698130.196 [DAT](INFO): direction in FSK: [0.993392,-0.043372,0.106264] 2025-10-29T00:35:30.196Z,1761698130.196 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:30.197Z,1761698130.197 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:30.200Z,1761698130.200 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:30.200Z,1761698130.200 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:30.460Z,1761698130.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869218,-0.492647,-0.041933],[0.493656,0.859994,0.129281],[-0.027628,-0.133074,0.990721]] 2025-10-29T00:35:30.519Z,1761698130.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 411.899994 m, deltaT: 4.032138 s, deltaX: -2.200012 m, approachRate: -0.545619 m/s, rangeRepo size: 4 2025-10-29T00:35:30.525Z,1761698130.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 409.492767 m, bearing: 27.935146 deg, lat: 36.779286 deg, lon: -121.858998 deg, deltaT: 4.032138 s, deltaX: -2.179077 m, approachRate: -0.540427 m/s, posRepo size: 4 2025-10-29T00:35:30.526Z,1761698130.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:30.533Z,1761698130.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 408.057220 m, bearing: 27.934002 deg, approach rate: 0.000000 m/s, LOS rate: 0.011579 deg/s, cmd heading: 29.175078 deg, new cmd heading: 29.184208 deg. 2025-10-29T00:35:30.534Z,1761698130.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509360 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:30.838Z,1761698130.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868564,-0.493702,-0.043069],[0.494877,0.859440,0.128298],[-0.026326,-0.132749,0.990800]] 2025-10-29T00:35:30.857Z,1761698130.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:30.859Z,1761698130.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 407.832031 m, bearing: 27.937008 deg, approach rate: -0.665150 m/s, LOS rate: 0.008884 deg/s, cmd heading: 29.184206 deg, new cmd heading: 29.190222 deg. 2025-10-29T00:35:30.861Z,1761698130.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509465 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:31.243Z,1761698131.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868223,-0.494110,-0.045210],[0.495540,0.858901,0.129343],[-0.025079,-0.134702,0.990569]] 2025-10-29T00:35:31.290Z,1761698131.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:31.292Z,1761698131.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:31.295Z,1761698131.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 407.557159 m, bearing: 27.940273 deg, approach rate: -0.631753 m/s, LOS rate: 0.007508 deg/s, cmd heading: 29.190220 deg, new cmd heading: 29.196753 deg. 2025-10-29T00:35:31.296Z,1761698131.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509579 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:31.442Z,1761698131.442 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:31.442Z,1761698131.442 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:31.442Z,1761698131.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:31.648Z,1761698131.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868240,-0.493931,-0.046809],[0.495563,0.858790,0.129987],[-0.024005,-0.136057,0.990410]] 2025-10-29T00:35:31.666Z,1761698131.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:31.669Z,1761698131.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 407.320038 m, bearing: 27.943090 deg, approach rate: -0.633182 m/s, LOS rate: 0.007527 deg/s, cmd heading: 29.196754 deg, new cmd heading: 29.202391 deg. 2025-10-29T00:35:31.670Z,1761698131.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509678 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:31.693Z,1761698131.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498160 2025-10-29T00:35:31.946Z,1761698131.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751488 2025-10-29T00:35:32.057Z,1761698132.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868296,-0.493698,-0.048205],[0.495489,0.858611,0.131444],[-0.023504,-0.138018,0.990151]] 2025-10-29T00:35:32.137Z,1761698132.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:32.139Z,1761698132.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 407.045868 m, bearing: 27.946352 deg, approach rate: -0.589014 m/s, LOS rate: 0.007012 deg/s, cmd heading: 29.202392 deg, new cmd heading: 29.208919 deg. 2025-10-29T00:35:32.144Z,1761698132.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509792 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:32.198Z,1761698132.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003033 2025-10-29T00:35:32.449Z,1761698132.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254397 2025-10-29T00:35:32.465Z,1761698132.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868582,-0.492963,-0.050528],[0.495013,0.858405,0.134547],[-0.022953,-0.141877,0.989618]] 2025-10-29T00:35:32.522Z,1761698132.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:32.537Z,1761698132.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 406.769531 m, bearing: 27.950298 deg, approach rate: -0.708053 m/s, LOS rate: 0.010118 deg/s, cmd heading: 29.208918 deg, new cmd heading: 29.216816 deg. 2025-10-29T00:35:32.538Z,1761698132.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509930 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:32.701Z,1761698132.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506163 2025-10-29T00:35:32.872Z,1761698132.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868889,-0.492229,-0.052380],[0.494497,0.858315,0.136995],[-0.022474,-0.144935,0.989186]] 2025-10-29T00:35:32.891Z,1761698132.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:32.910Z,1761698132.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 406.527985 m, bearing: 27.953769 deg, approach rate: -0.654768 m/s, LOS rate: 0.009416 deg/s, cmd heading: 29.216817 deg, new cmd heading: 29.223764 deg. 2025-10-29T00:35:32.911Z,1761698132.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510051 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:32.953Z,1761698132.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758542 2025-10-29T00:35:33.205Z,1761698133.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010172 2025-10-29T00:35:33.274Z,1761698133.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869255,-0.491320,-0.054787],[0.493867,0.858058,0.140824],[-0.022179,-0.149469,0.988518]] 2025-10-29T00:35:33.323Z,1761698133.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:33.326Z,1761698133.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:33.328Z,1761698133.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 406.255554 m, bearing: 27.958379 deg, approach rate: -0.626969 m/s, LOS rate: 0.010616 deg/s, cmd heading: 29.223763 deg, new cmd heading: 29.232989 deg. 2025-10-29T00:35:33.329Z,1761698133.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510212 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:33.457Z,1761698133.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262320 2025-10-29T00:35:33.652Z,1761698133.652 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:35:33.689Z,1761698133.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869434,-0.490814,-0.056444],[0.493570,0.857875,0.142965],[-0.021748,-0.152158,0.988117]] 2025-10-29T00:35:33.709Z,1761698133.709 [DAT](INFO): DAT read: Rx Time:00:35:32.9775 2025-10-29T00:35:33.710Z,1761698133.710 [DAT](INFO): Rx dataTimestamp_ set to:1761698133.709269 2025-10-29T00:35:33.710Z,1761698133.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515383 2025-10-29T00:35:33.712Z,1761698133.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:33.714Z,1761698133.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 406.014343 m, bearing: 27.962472 deg, approach rate: -0.624862 m/s, LOS rate: 0.010611 deg/s, cmd heading: 29.232988 deg, new cmd heading: 29.241180 deg. 2025-10-29T00:35:33.715Z,1761698133.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510355 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:33.961Z,1761698133.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766425 2025-10-29T00:35:34.180Z,1761698134.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 409.49 m. 2025-10-29T00:35:34.183Z,1761698134.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 409.492767 m, nav range: 405.723816 m, bearing: 27.967410 deg, approach rate: -0.625953 m/s, LOS rate: 0.010645 deg/s, cmd heading: 29.241180 deg, new cmd heading: 29.251062 deg. 2025-10-29T00:35:34.183Z,1761698134.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510527 target range: 409.492767 and range: 411.90 m. 2025-10-29T00:35:34.219Z,1761698134.219 [DAT](INFO): DAT read: 00:35:32.9775 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 410, 0.02,-3.071, 1.681,-2.835, 2.877, PHS= 0.437,-1.151, 0.527, RAW= 152.7, 2.3, CAL= 151.6, 1.8, ROT= 358.4, -1.8 2025-10-29T00:35:34.225Z,1761698134.225 [DAT](INFO): got valid direction response: 00:35:32.9775 LVL= 32752, 32753, 32754, 32755, AGC= 79, IDX= 410, 0.02,-3.071, 1.681,-2.835, 2.877, PHS= 0.437,-1.151, 0.527, RAW= 152.7, 2.3, CAL= 151.6, 1.8, ROT= 358.4, -1.8 2025-10-29T00:35:34.226Z,1761698134.226 [DAT](INFO): DAT read: Bearing 177.5, -3.1 (Local) 2025-10-29T00:35:34.226Z,1761698134.226 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, -3.1 (Local) 2025-10-29T00:35:34.227Z,1761698134.227 [DAT](INFO): DAT read: Range 11 to 50 : 410.0 m (Round-trip 546.7 ms) speed 0.7 m/s 2025-10-29T00:35:34.228Z,1761698134.228 [DAT](INFO): DAT read: user:448> 2025-10-29T00:35:34.229Z,1761698134.229 [DAT](INFO): DAT read: Tx time:00:35:34.0766 2025-10-29T00:35:34.229Z,1761698134.229 [DAT](INFO): Ping request sent. 2025-10-29T00:35:34.229Z,1761698134.229 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:34.230Z,1761698134.230 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:34.231Z,1761698134.231 [DAT](INFO): direction in FSK: [0.999117,-0.027908,0.031411] 2025-10-29T00:35:34.231Z,1761698134.231 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:34.231Z,1761698134.231 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:34.234Z,1761698134.234 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:34.235Z,1761698134.235 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:34.544Z,1761698134.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869753,-0.489846,-0.059844],[0.493098,0.857827,0.144870],[-0.019628,-0.155510,0.987639]] 2025-10-29T00:35:34.593Z,1761698134.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 410.000000 m, deltaT: 4.031660 s, deltaX: -1.899994 m, approachRate: -0.471268 m/s, rangeRepo size: 4 2025-10-29T00:35:34.595Z,1761698134.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 407.601837 m, bearing: 28.250751 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.031660 s, deltaX: -1.890930 m, approachRate: -0.469020 m/s, posRepo size: 4 2025-10-29T00:35:34.596Z,1761698134.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:34.599Z,1761698134.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 406.274078 m, bearing: 27.913059 deg, approach rate: 0.000000 m/s, LOS rate: 0.010645 deg/s, cmd heading: 29.251060 deg, new cmd heading: 29.259936 deg. 2025-10-29T00:35:34.599Z,1761698134.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510682 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:34.657Z,1761698134.657 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:35:34.955Z,1761698134.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869781,-0.489676,-0.060810],[0.493089,0.857912,0.144394],[-0.018537,-0.155576,0.987650]] 2025-10-29T00:35:34.975Z,1761698134.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:34.978Z,1761698134.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 406.035156 m, bearing: 27.918778 deg, approach rate: -0.625221 m/s, LOS rate: 0.014973 deg/s, cmd heading: 29.259936 deg, new cmd heading: 29.271380 deg. 2025-10-29T00:35:34.978Z,1761698134.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510882 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:35.434Z,1761698135.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:35.438Z,1761698135.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:35.443Z,1761698135.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 405.752136 m, bearing: 27.926333 deg, approach rate: -0.611498 m/s, LOS rate: 0.016336 deg/s, cmd heading: 29.271380 deg, new cmd heading: 29.286502 deg. 2025-10-29T00:35:35.445Z,1761698135.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511146 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:35.473Z,1761698135.473 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:35.473Z,1761698135.473 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:35.473Z,1761698135.473 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:35.725Z,1761698135.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495485 2025-10-29T00:35:35.777Z,1761698135.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870704,-0.487907,-0.061812],[0.491532,0.859118,0.142522],[-0.016434,-0.154477,0.987860]] 2025-10-29T00:35:35.813Z,1761698135.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:35.815Z,1761698135.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 405.524750 m, bearing: 27.932476 deg, approach rate: -0.606476 m/s, LOS rate: 0.016392 deg/s, cmd heading: 29.286502 deg, new cmd heading: 29.298794 deg. 2025-10-29T00:35:35.824Z,1761698135.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511360 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:35.977Z,1761698135.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747464 2025-10-29T00:35:36.229Z,1761698136.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999290 2025-10-29T00:35:36.270Z,1761698136.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872119,-0.485481,-0.060954],[0.489081,0.861284,0.137805],[-0.014403,-0.149994,0.988582]] 2025-10-29T00:35:36.317Z,1761698136.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:36.320Z,1761698136.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 405.199921 m, bearing: 27.942990 deg, approach rate: -0.643803 m/s, LOS rate: 0.020856 deg/s, cmd heading: 29.298793 deg, new cmd heading: 29.319839 deg. 2025-10-29T00:35:36.321Z,1761698136.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511728 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:36.481Z,1761698136.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251941 2025-10-29T00:35:36.677Z,1761698136.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872452,-0.484841,-0.061297],[0.488514,0.861765,0.136806],[-0.013506,-0.149301,0.988700]] 2025-10-29T00:35:36.697Z,1761698136.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:36.699Z,1761698136.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 404.963531 m, bearing: 27.950679 deg, approach rate: -0.623000 m/s, LOS rate: 0.020276 deg/s, cmd heading: 29.319840 deg, new cmd heading: 29.335227 deg. 2025-10-29T00:35:36.700Z,1761698136.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511996 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:36.733Z,1761698136.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503713 2025-10-29T00:35:36.987Z,1761698136.987 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757599 2025-10-29T00:35:37.073Z,1761698137.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873114,-0.483583,-0.061804],[0.487350,0.862464,0.136548],[-0.012729,-0.149342,0.988704]] 2025-10-29T00:35:37.111Z,1761698137.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:37.114Z,1761698137.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 404.714142 m, bearing: 27.958850 deg, approach rate: -0.601091 m/s, LOS rate: 0.019706 deg/s, cmd heading: 29.335229 deg, new cmd heading: 29.351581 deg. 2025-10-29T00:35:37.115Z,1761698137.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512282 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:37.238Z,1761698137.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007886 2025-10-29T00:35:37.476Z,1761698137.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873520,-0.482841,-0.061864],[0.486636,0.862986,0.135799],[-0.012181,-0.148729,0.988803]] 2025-10-29T00:35:37.489Z,1761698137.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259550 2025-10-29T00:35:37.536Z,1761698137.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:37.538Z,1761698137.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:37.541Z,1761698137.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 404.433563 m, bearing: 27.968539 deg, approach rate: -0.657589 m/s, LOS rate: 0.022724 deg/s, cmd heading: 29.351580 deg, new cmd heading: 29.370972 deg. 2025-10-29T00:35:37.542Z,1761698137.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512620 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:37.744Z,1761698137.744 [DAT](INFO): DAT read: Rx Time:00:35:37.0229 2025-10-29T00:35:37.745Z,1761698137.745 [DAT](INFO): Rx dataTimestamp_ set to:1761698137.744253 2025-10-29T00:35:37.745Z,1761698137.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515657 2025-10-29T00:35:37.882Z,1761698137.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873870,-0.482125,-0.062511],[0.486021,0.863285,0.136097],[-0.011651,-0.149313,0.988721]] 2025-10-29T00:35:37.901Z,1761698137.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 407.60 m. 2025-10-29T00:35:37.904Z,1761698137.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 407.601837 m, nav range: 404.202667 m, bearing: 27.976546 deg, approach rate: -0.635793 m/s, LOS rate: 0.022058 deg/s, cmd heading: 29.370971 deg, new cmd heading: 29.386993 deg. 2025-10-29T00:35:37.905Z,1761698137.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512900 target range: 407.601837 and range: 410.00 m. 2025-10-29T00:35:37.993Z,1761698137.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763866 2025-10-29T00:35:38.251Z,1761698138.251 [DAT](INFO): DAT read: 00:35:37.0229 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397, 0.14,-2.905, 1.849,-2.627, 3.105, PHS= 0.375,-1.211, 0.508, RAW= 154.0, 4.0, CAL= 153.0, 3.7, ROT= 357.0, -3.7 2025-10-29T00:35:38.252Z,1761698138.252 [DAT](INFO): got valid direction response: 00:35:37.0229 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 397, 0.14,-2.905, 1.849,-2.627, 3.105, PHS= 0.375,-1.211, 0.508, RAW= 154.0, 4.0, CAL= 153.0, 3.7, ROT= 357.0, -3.7 2025-10-29T00:35:38.253Z,1761698138.253 [DAT](INFO): DAT read: Bearing 178.9, -4.3 (Local) 2025-10-29T00:35:38.253Z,1761698138.253 [DAT](INFO): Local bearing/azimuth received: Bearing 178.9, -4.3 (Local) 2025-10-29T00:35:38.273Z,1761698138.273 [DAT](INFO): DAT read: Range 11 to 50 : 406.6 m (Round-trip 542.2 ms) speed 0.2 m/s 2025-10-29T00:35:38.274Z,1761698138.274 [DAT](INFO): DAT read: user:449> 2025-10-29T00:35:38.275Z,1761698138.275 [DAT](INFO): DAT read: Tx time:00:35:38.1265 2025-10-29T00:35:38.275Z,1761698138.275 [DAT](INFO): Ping request sent. 2025-10-29T00:35:38.275Z,1761698138.275 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:38.275Z,1761698138.275 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:38.297Z,1761698138.297 [DAT](INFO): direction in FSK: [0.996548,-0.052227,0.064532] 2025-10-29T00:35:38.297Z,1761698138.297 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:38.297Z,1761698138.297 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:38.305Z,1761698138.305 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:38.305Z,1761698138.305 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:38.326Z,1761698138.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874503,-0.480913,-0.062990],[0.484897,0.863938,0.135962],[-0.010967,-0.149443,0.988710]] 2025-10-29T00:35:38.459Z,1761698138.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 406.600006 m, deltaT: 4.031929 s, deltaX: -3.399994 m, approachRate: -0.843267 m/s, rangeRepo size: 4 2025-10-29T00:35:38.465Z,1761698138.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 404.212494 m, bearing: 26.596275 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.031929 s, deltaX: -3.389343 m, approachRate: -0.840626 m/s, posRepo size: 4 2025-10-29T00:35:38.466Z,1761698138.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:38.490Z,1761698138.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 403.878662 m, bearing: 27.988951 deg, approach rate: 0.000000 m/s, LOS rate: 0.022058 deg/s, cmd heading: 29.386991 deg, new cmd heading: 29.411567 deg. 2025-10-29T00:35:38.491Z,1761698138.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513329 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:38.800Z,1761698138.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874417,-0.481172,-0.062197],[0.485083,0.864539,0.131401],[-0.009455,-0.145070,0.989376]] 2025-10-29T00:35:38.836Z,1761698138.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:38.839Z,1761698138.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 403.648315 m, bearing: 27.997791 deg, approach rate: -0.610193 m/s, LOS rate: 0.023431 deg/s, cmd heading: 29.411566 deg, new cmd heading: 29.429256 deg. 2025-10-29T00:35:38.844Z,1761698138.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513637 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:39.221Z,1761698139.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873968,-0.482026,-0.061892],[0.485922,0.864707,0.127131],[-0.007762,-0.141183,0.989953]] 2025-10-29T00:35:39.349Z,1761698139.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:39.351Z,1761698139.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 403.332916 m, bearing: 28.008613 deg, approach rate: -0.615169 m/s, LOS rate: 0.021125 deg/s, cmd heading: 29.429257 deg, new cmd heading: 29.450918 deg. 2025-10-29T00:35:39.352Z,1761698139.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514015 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:39.644Z,1761698139.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873273,-0.483146,-0.062968],[0.487192,0.864228,0.125514],[-0.006223,-0.140286,0.990092]] 2025-10-29T00:35:39.680Z,1761698139.680 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:39.682Z,1761698139.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:39.697Z,1761698139.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 403.121765 m, bearing: 28.015826 deg, approach rate: -0.632957 m/s, LOS rate: 0.021634 deg/s, cmd heading: 29.450919 deg, new cmd heading: 29.465352 deg. 2025-10-29T00:35:39.698Z,1761698139.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514267 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:39.758Z,1761698139.758 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:39.758Z,1761698139.758 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:39.758Z,1761698139.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:40.009Z,1761698140.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.733644 2025-10-29T00:35:40.046Z,1761698140.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872885,-0.483556,-0.065149],[0.487904,0.863787,0.125783],[-0.004548,-0.141581,0.989916]] 2025-10-29T00:35:40.106Z,1761698140.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:40.109Z,1761698140.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 402.861694 m, bearing: 28.024686 deg, approach rate: -0.612971 m/s, LOS rate: 0.020896 deg/s, cmd heading: 29.465351 deg, new cmd heading: 29.483082 deg. 2025-10-29T00:35:40.110Z,1761698140.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514577 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:40.263Z,1761698140.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987604 2025-10-29T00:35:40.452Z,1761698140.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872350,-0.484447,-0.065709],[0.488873,0.863554,0.123602],[-0.003136,-0.139948,0.990154]] 2025-10-29T00:35:40.513Z,1761698140.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237823 2025-10-29T00:35:40.518Z,1761698140.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:40.521Z,1761698140.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 402.616791 m, bearing: 28.031625 deg, approach rate: -0.595336 m/s, LOS rate: 0.016878 deg/s, cmd heading: 29.483082 deg, new cmd heading: 29.496968 deg. 2025-10-29T00:35:40.522Z,1761698140.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514819 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:40.767Z,1761698140.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491345 2025-10-29T00:35:40.851Z,1761698140.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872034,-0.484955,-0.066156],[0.489442,0.863452,0.122052],[-0.002067,-0.138813,0.990316]] 2025-10-29T00:35:40.875Z,1761698140.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:40.878Z,1761698140.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 402.401123 m, bearing: 28.037725 deg, approach rate: -0.603012 m/s, LOS rate: 0.017066 deg/s, cmd heading: 29.496968 deg, new cmd heading: 29.509175 deg. 2025-10-29T00:35:40.879Z,1761698140.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515032 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:41.017Z,1761698141.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742119 2025-10-29T00:35:41.262Z,1761698141.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871834,-0.485273,-0.066452],[0.489800,0.863449,0.120633],[-0.001162,-0.137720,0.990470]] 2025-10-29T00:35:41.269Z,1761698141.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993848 2025-10-29T00:35:41.320Z,1761698141.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:41.322Z,1761698141.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 402.133545 m, bearing: 28.044033 deg, approach rate: -0.602364 m/s, LOS rate: 0.014210 deg/s, cmd heading: 29.509177 deg, new cmd heading: 29.521801 deg. 2025-10-29T00:35:41.323Z,1761698141.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515253 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:41.521Z,1761698141.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245665 2025-10-29T00:35:41.666Z,1761698141.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871510,-0.485970,-0.065596],[0.490377,0.863561,0.117439],[-0.000425,-0.134516,0.990911]] 2025-10-29T00:35:41.683Z,1761698141.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:41.686Z,1761698141.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:41.689Z,1761698141.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 401.913544 m, bearing: 28.049215 deg, approach rate: -0.600878 m/s, LOS rate: 0.014159 deg/s, cmd heading: 29.521802 deg, new cmd heading: 29.532171 deg. 2025-10-29T00:35:41.690Z,1761698141.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515434 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:41.774Z,1761698141.774 [DAT](INFO): DAT read: Rx Time:00:35:41.0706 2025-10-29T00:35:41.775Z,1761698141.775 [DAT](INFO): Rx dataTimestamp_ set to:1761698141.774095 2025-10-29T00:35:41.775Z,1761698141.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500029 2025-10-29T00:35:42.025Z,1761698142.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.749724 2025-10-29T00:35:42.065Z,1761698142.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871220,-0.486456,-0.065857],[0.490894,0.863455,0.116060],[0.000407,-0.133442,0.991057]] 2025-10-29T00:35:42.114Z,1761698142.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 404.21 m. 2025-10-29T00:35:42.116Z,1761698142.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 404.212494 m, nav range: 401.662659 m, bearing: 28.055113 deg, approach rate: -0.588893 m/s, LOS rate: 0.013854 deg/s, cmd heading: 29.532170 deg, new cmd heading: 29.543975 deg. 2025-10-29T00:35:42.117Z,1761698142.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515640 target range: 404.212494 and range: 406.60 m. 2025-10-29T00:35:42.286Z,1761698142.286 [DAT](INFO): DAT read: 00:35:41.0706 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.17, 0.071,-1.325, 0.365,-0.136, PHS= 0.309,-1.143, 0.458, RAW= 154.8, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 2025-10-29T00:35:42.288Z,1761698142.288 [DAT](INFO): got valid direction response: 00:35:41.0706 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 421,-0.17, 0.071,-1.325, 0.365,-0.136, PHS= 0.309,-1.143, 0.458, RAW= 154.8, 5.0, CAL= 153.9, 4.8, ROT= 356.1, -4.8 2025-10-29T00:35:42.289Z,1761698142.289 [DAT](INFO): DAT read: Bearing 180.2, -4.4 (Local) 2025-10-29T00:35:42.289Z,1761698142.289 [DAT](INFO): Local bearing/azimuth received: Bearing 180.2, -4.4 (Local) 2025-10-29T00:35:42.290Z,1761698142.290 [DAT](INFO): DAT read: Range 11 to 50 : 404.9 m (Round-trip 539.9 ms) speed 0.7 m/s 2025-10-29T00:35:42.291Z,1761698142.291 [DAT](INFO): DAT read: user:450> 2025-10-29T00:35:42.292Z,1761698142.292 [DAT](INFO): DAT read: Tx time:00:35:42.1765 2025-10-29T00:35:42.292Z,1761698142.292 [DAT](INFO): Ping request sent. 2025-10-29T00:35:42.292Z,1761698142.292 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:42.293Z,1761698142.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:42.294Z,1761698142.294 [DAT](INFO): direction in FSK: [0.994185,-0.067777,0.083678] 2025-10-29T00:35:42.294Z,1761698142.294 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:42.294Z,1761698142.294 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:42.298Z,1761698142.298 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:42.298Z,1761698142.298 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:42.473Z,1761698142.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871081,-0.486523,-0.067182],[0.491138,0.863227,0.116714],[0.001209,-0.134663,0.990891]] 2025-10-29T00:35:42.626Z,1761698142.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 404.899994 m, deltaT: 4.035605 s, deltaX: -1.700012 m, approachRate: -0.421253 m/s, rangeRepo size: 4 2025-10-29T00:35:42.627Z,1761698142.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 402.533234 m, bearing: 26.197387 deg, lat: 36.779294 deg, lon: -121.858998 deg, deltaT: 4.035605 s, deltaX: -1.679260 m, approachRate: -0.416111 m/s, posRepo size: 4 2025-10-29T00:35:42.632Z,1761698142.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:42.635Z,1761698142.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 401.360046 m, bearing: 28.060954 deg, approach rate: 0.000000 m/s, LOS rate: 0.013854 deg/s, cmd heading: 29.543976 deg, new cmd heading: 29.558193 deg. 2025-10-29T00:35:42.640Z,1761698142.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515888 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:42.959Z,1761698142.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870756,-0.486677,-0.070211],[0.491711,0.862428,0.120158],[0.002074,-0.139152,0.990269]] 2025-10-29T00:35:42.985Z,1761698142.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:42.988Z,1761698142.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 401.118073 m, bearing: 28.065596 deg, approach rate: -0.671566 m/s, LOS rate: 0.012892 deg/s, cmd heading: 29.558193 deg, new cmd heading: 29.567484 deg. 2025-10-29T00:35:42.989Z,1761698142.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516050 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:43.359Z,1761698143.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870376,-0.486960,-0.072916],[0.492378,0.861725,0.122451],[0.003205,-0.142480,0.989792]] 2025-10-29T00:35:43.437Z,1761698143.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:43.440Z,1761698143.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 400.837830 m, bearing: 28.069757 deg, approach rate: -0.619845 m/s, LOS rate: 0.009210 deg/s, cmd heading: 29.567483 deg, new cmd heading: 29.575811 deg. 2025-10-29T00:35:43.441Z,1761698143.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516195 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:43.823Z,1761698143.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:43.844Z,1761698143.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:43.846Z,1761698143.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 400.590881 m, bearing: 28.073429 deg, approach rate: -0.607950 m/s, LOS rate: 0.009044 deg/s, cmd heading: 29.575812 deg, new cmd heading: 29.583159 deg. 2025-10-29T00:35:43.847Z,1761698143.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516324 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:44.049Z,1761698144.049 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:44.050Z,1761698144.050 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:44.050Z,1761698144.050 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:44.174Z,1761698144.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869011,-0.489439,-0.072593],[0.494760,0.861249,0.116027],[0.005732,-0.136745,0.990590]] 2025-10-29T00:35:44.209Z,1761698144.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:44.211Z,1761698144.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 400.359772 m, bearing: 28.076789 deg, approach rate: -0.632783 m/s, LOS rate: 0.009205 deg/s, cmd heading: 29.583158 deg, new cmd heading: 29.589882 deg. 2025-10-29T00:35:44.212Z,1761698144.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516441 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:44.304Z,1761698144.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011341 2025-10-29T00:35:44.553Z,1761698144.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260475 2025-10-29T00:35:44.643Z,1761698144.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:44.645Z,1761698144.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 400.077606 m, bearing: 28.080885 deg, approach rate: -0.650356 m/s, LOS rate: 0.009448 deg/s, cmd heading: 29.589882 deg, new cmd heading: 29.598081 deg. 2025-10-29T00:35:44.646Z,1761698144.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516584 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:44.805Z,1761698144.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512461 2025-10-29T00:35:44.982Z,1761698144.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866669,-0.493856,-0.070649],[0.498797,0.860425,0.104263],[0.009297,-0.125602,0.992037]] 2025-10-29T00:35:45.011Z,1761698145.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:45.014Z,1761698145.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 399.845551 m, bearing: 28.084118 deg, approach rate: -0.630389 m/s, LOS rate: 0.008788 deg/s, cmd heading: 29.598082 deg, new cmd heading: 29.604552 deg. 2025-10-29T00:35:45.015Z,1761698145.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516697 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:45.058Z,1761698145.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765096 2025-10-29T00:35:45.309Z,1761698145.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016523 2025-10-29T00:35:45.387Z,1761698145.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865792,-0.495573,-0.069366],[0.500284,0.860263,0.098299],[0.010959,-0.119809,0.992736]] 2025-10-29T00:35:45.461Z,1761698145.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:45.470Z,1761698145.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 399.565216 m, bearing: 28.088560 deg, approach rate: -0.623226 m/s, LOS rate: 0.009882 deg/s, cmd heading: 29.604550 deg, new cmd heading: 29.613440 deg. 2025-10-29T00:35:45.470Z,1761698145.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516852 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:45.562Z,1761698145.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269087 2025-10-29T00:35:45.813Z,1761698145.813 [DAT](INFO): DAT read: Rx Time:00:35:45.1185 2025-10-29T00:35:45.814Z,1761698145.814 [DAT](INFO): Rx dataTimestamp_ set to:1761698145.813243 2025-10-29T00:35:45.814Z,1761698145.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521658 2025-10-29T00:35:45.845Z,1761698145.845 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:45.847Z,1761698145.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:45.850Z,1761698145.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 399.305023 m, bearing: 28.092688 deg, approach rate: -0.672881 m/s, LOS rate: 0.010684 deg/s, cmd heading: 29.613439 deg, new cmd heading: 29.621702 deg. 2025-10-29T00:35:45.851Z,1761698145.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516996 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:46.066Z,1761698146.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.773739 2025-10-29T00:35:46.191Z,1761698146.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864795,-0.496912,-0.072170],[0.501931,0.859488,0.096671],[0.013993,-0.119825,0.992696]] 2025-10-29T00:35:46.220Z,1761698146.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 402.53 m. 2025-10-29T00:35:46.222Z,1761698146.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 402.533234 m, nav range: 399.063934 m, bearing: 28.096452 deg, approach rate: -0.647314 m/s, LOS rate: 0.010111 deg/s, cmd heading: 29.621701 deg, new cmd heading: 29.629232 deg. 2025-10-29T00:35:46.223Z,1761698146.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517128 target range: 402.533234 and range: 404.90 m. 2025-10-29T00:35:46.339Z,1761698146.339 [DAT](INFO): DAT read: 00:35:45.1185 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416,-0.23, 1.699, 0.026, 1.979, 1.127, PHS= 0.674,-1.056, 0.808, RAW= 153.7, -4.8, CAL= 153.4, -6.2, ROT= 356.6, 6.2 2025-10-29T00:35:46.348Z,1761698146.348 [DAT](INFO): got valid direction response: 00:35:45.1185 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416,-0.23, 1.699, 0.026, 1.979, 1.127, PHS= 0.674,-1.056, 0.808, RAW= 153.7, -4.8, CAL= 153.4, -6.2, ROT= 356.6, 6.2 2025-10-29T00:35:46.349Z,1761698146.349 [DAT](INFO): DAT read: Bearing 169.6, -1.8 (Local) 2025-10-29T00:35:46.349Z,1761698146.349 [DAT](INFO): Local bearing/azimuth received: Bearing 169.6, -1.8 (Local) 2025-10-29T00:35:46.351Z,1761698146.351 [DAT](INFO): DAT read: Range 11 to 50 : 403.3 m (Round-trip 537.8 ms) speed 0.4 m/s 2025-10-29T00:35:46.360Z,1761698146.360 [DAT](INFO): DAT read: user:451> 2025-10-29T00:35:46.361Z,1761698146.361 [DAT](INFO): DAT read: Tx time:00:35:46.2265 2025-10-29T00:35:46.361Z,1761698146.361 [DAT](INFO): Ping request sent. 2025-10-29T00:35:46.361Z,1761698146.361 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:46.361Z,1761698146.361 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:46.362Z,1761698146.362 [DAT](INFO): direction in FSK: [0.992401,-0.058960,-0.107999] 2025-10-29T00:35:46.363Z,1761698146.363 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:46.363Z,1761698146.363 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:46.366Z,1761698146.366 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:46.367Z,1761698146.367 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:46.691Z,1761698146.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 403.299988 m, deltaT: 4.038162 s, deltaX: -1.600006 m, approachRate: -0.396221 m/s, rangeRepo size: 4 2025-10-29T00:35:46.693Z,1761698146.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 400.947083 m, bearing: 26.016897 deg, lat: 36.779331 deg, lon: -121.859098 deg, deltaT: 4.038162 s, deltaX: -1.586151 m, approachRate: -0.392790 m/s, posRepo size: 4 2025-10-29T00:35:46.694Z,1761698146.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:46.696Z,1761698146.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 398.341248 m, bearing: 26.690923 deg, approach rate: 0.000000 m/s, LOS rate: 0.010111 deg/s, cmd heading: 29.629231 deg, new cmd heading: 29.638743 deg. 2025-10-29T00:35:46.697Z,1761698146.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517294 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:47.001Z,1761698147.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865246,-0.495123,-0.078758],[0.501048,0.859428,0.101657],[0.017355,-0.127420,0.991697]] 2025-10-29T00:35:47.020Z,1761698147.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:47.022Z,1761698147.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 398.131805 m, bearing: 26.694517 deg, approach rate: -0.635785 m/s, LOS rate: 0.010914 deg/s, cmd heading: 29.638742 deg, new cmd heading: 29.645933 deg. 2025-10-29T00:35:47.023Z,1761698147.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517419 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:47.411Z,1761698147.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865517,-0.493896,-0.083347],[0.500525,0.859101,0.106863],[0.018824,-0.134209,0.990774]] 2025-10-29T00:35:47.471Z,1761698147.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:47.473Z,1761698147.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 397.855621 m, bearing: 26.700729 deg, approach rate: -0.612232 m/s, LOS rate: 0.013781 deg/s, cmd heading: 29.645934 deg, new cmd heading: 29.658367 deg. 2025-10-29T00:35:47.474Z,1761698147.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517636 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:47.851Z,1761698147.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:47.853Z,1761698147.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:47.855Z,1761698147.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 397.616333 m, bearing: 26.706118 deg, approach rate: -0.626165 m/s, LOS rate: 0.014110 deg/s, cmd heading: 29.658368 deg, new cmd heading: 29.669153 deg. 2025-10-29T00:35:47.856Z,1761698147.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517824 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:48.081Z,1761698148.081 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:48.081Z,1761698148.081 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:48.081Z,1761698148.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:48.213Z,1761698148.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867015,-0.490126,-0.089785],[0.497826,0.859748,0.114032],[0.021303,-0.143564,0.989412]] 2025-10-29T00:35:48.237Z,1761698148.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:48.239Z,1761698148.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 397.378510 m, bearing: 26.711573 deg, approach rate: -0.619140 m/s, LOS rate: 0.014210 deg/s, cmd heading: 29.669153 deg, new cmd heading: 29.680070 deg. 2025-10-29T00:35:48.241Z,1761698148.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518015 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:48.338Z,1761698148.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976574 2025-10-29T00:35:48.585Z,1761698148.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223647 2025-10-29T00:35:48.619Z,1761698148.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867926,-0.488321,-0.090814],[0.496210,0.860532,0.115153],[0.021917,-0.145007,0.989188]] 2025-10-29T00:35:48.691Z,1761698148.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:48.693Z,1761698148.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 397.095825 m, bearing: 26.719404 deg, approach rate: -0.622974 m/s, LOS rate: 0.017271 deg/s, cmd heading: 29.680071 deg, new cmd heading: 29.695745 deg. 2025-10-29T00:35:48.694Z,1761698148.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518289 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:48.837Z,1761698148.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475698 2025-10-29T00:35:49.056Z,1761698149.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869198,-0.486084,-0.090654],[0.493954,0.861917,0.114490],[0.022484,-0.144294,0.989279]] 2025-10-29T00:35:49.089Z,1761698149.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.727734 2025-10-29T00:35:49.111Z,1761698149.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:49.118Z,1761698149.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 396.839172 m, bearing: 26.726626 deg, approach rate: -0.610975 m/s, LOS rate: 0.017202 deg/s, cmd heading: 29.695747 deg, new cmd heading: 29.710199 deg. 2025-10-29T00:35:49.119Z,1761698149.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518541 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:49.344Z,1761698149.344 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982016 2025-10-29T00:35:49.461Z,1761698149.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870326,-0.484262,-0.089573],[0.491952,0.863290,0.112757],[0.022724,-0.142201,0.989577]] 2025-10-29T00:35:49.535Z,1761698149.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:49.542Z,1761698149.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 396.586212 m, bearing: 26.734123 deg, approach rate: -0.595931 m/s, LOS rate: 0.017674 deg/s, cmd heading: 29.710199 deg, new cmd heading: 29.725203 deg. 2025-10-29T00:35:49.543Z,1761698149.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518803 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:49.593Z,1761698149.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.231784 2025-10-29T00:35:49.845Z,1761698149.845 [DAT](INFO): DAT read: Rx Time:00:35:49.1636 2025-10-29T00:35:49.845Z,1761698149.845 [DAT](INFO): Rx dataTimestamp_ set to:1761698149.845055 2025-10-29T00:35:49.846Z,1761698149.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.484642 2025-10-29T00:35:49.873Z,1761698149.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871061,-0.482829,-0.090155],[0.490618,0.864029,0.112912],[0.023379,-0.142585,0.989506]] 2025-10-29T00:35:49.956Z,1761698149.956 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:49.958Z,1761698149.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:49.965Z,1761698149.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 396.319153 m, bearing: 26.742109 deg, approach rate: -0.631286 m/s, LOS rate: 0.018891 deg/s, cmd heading: 29.725202 deg, new cmd heading: 29.741185 deg. 2025-10-29T00:35:49.966Z,1761698149.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519082 target range: 400.947083 and range: 403.30 m. 2025-10-29T00:35:50.097Z,1761698150.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.735643 2025-10-29T00:35:50.277Z,1761698150.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872864,-0.478614,-0.095059],[0.487364,0.864737,0.121270],[0.024159,-0.152180,0.988057]] 2025-10-29T00:35:50.387Z,1761698150.387 [DAT](INFO): DAT read: 00:35:49.1636 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 398,-0.03, 2.926, 1.387,-3.131, 2.472, PHS= 0.556,-1.040, 0.637, RAW= 152.4, -1.9, CAL= 151.6, -2.9, ROT= 358.4, 2.9 2025-10-29T00:35:50.402Z,1761698150.402 [DAT](INFO): got valid direction response: 00:35:49.1636 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 398,-0.03, 2.926, 1.387,-3.131, 2.472, PHS= 0.556,-1.040, 0.637, RAW= 152.4, -1.9, CAL= 151.6, -2.9, ROT= 358.4, 2.9 2025-10-29T00:35:50.403Z,1761698150.403 [DAT](INFO): DAT read: Bearing 172.5, 0.4 (Local) 2025-10-29T00:35:50.412Z,1761698150.412 [DAT](INFO): Local bearing/azimuth received: Bearing 172.5, 0.4 (Local) 2025-10-29T00:35:50.415Z,1761698150.415 [DAT](INFO): DAT read: Range 11 to 50 : 399.7 m (Round-trip 533.0 ms) speed 0.5 m/s 2025-10-29T00:35:50.428Z,1761698150.428 [DAT](INFO): DAT read: user:452> 2025-10-29T00:35:50.429Z,1761698150.429 [DAT](INFO): DAT read: Tx time:00:35:50.2765 2025-10-29T00:35:50.429Z,1761698150.429 [DAT](INFO): Ping request sent. 2025-10-29T00:35:50.429Z,1761698150.429 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:50.430Z,1761698150.430 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:50.431Z,1761698150.431 [DAT](INFO): direction in FSK: [0.998330,-0.027886,-0.050593] 2025-10-29T00:35:50.431Z,1761698150.431 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:50.431Z,1761698150.431 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:50.438Z,1761698150.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 399.700012 m, deltaT: 4.032403 s, deltaX: -3.599976 m, approachRate: -0.892762 m/s, rangeRepo size: 4 2025-10-29T00:35:50.438Z,1761698150.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:50.443Z,1761698150.443 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:50.443Z,1761698150.443 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:50.449Z,1761698150.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 396.038940 m, bearing: 26.750626 deg, approach rate: -0.585230 m/s, LOS rate: 0.017801 deg/s, cmd heading: 29.741184 deg, new cmd heading: 29.758231 deg. 2025-10-29T00:35:50.450Z,1761698150.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519379 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:50.705Z,1761698150.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873502,-0.477156,-0.096522],[0.486201,0.865072,0.123529],[0.024556,-0.154832,0.987636]] 2025-10-29T00:35:50.782Z,1761698150.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:50.789Z,1761698150.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 395.825562 m, bearing: 26.757780 deg, approach rate: -0.619483 m/s, LOS rate: 0.020780 deg/s, cmd heading: 29.758233 deg, new cmd heading: 29.772548 deg. 2025-10-29T00:35:50.790Z,1761698150.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519629 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:51.099Z,1761698151.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874185,-0.475895,-0.096567],[0.484945,0.865857,0.122962],[0.025096,-0.154321,0.987702]] 2025-10-29T00:35:51.119Z,1761698151.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:51.122Z,1761698151.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 395.604797 m, bearing: 26.765240 deg, approach rate: -0.653431 m/s, LOS rate: 0.022093 deg/s, cmd heading: 29.772549 deg, new cmd heading: 29.787477 deg. 2025-10-29T00:35:51.123Z,1761698151.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519890 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:51.502Z,1761698151.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874295,-0.475694,-0.096562],[0.484709,0.866184,0.121585],[0.025803,-0.153106,0.987873]] 2025-10-29T00:35:51.561Z,1761698151.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:51.564Z,1761698151.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 395.326752 m, bearing: 26.773554 deg, approach rate: -0.629458 m/s, LOS rate: 0.018834 deg/s, cmd heading: 29.787476 deg, new cmd heading: 29.804115 deg. 2025-10-29T00:35:51.565Z,1761698151.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520180 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:51.917Z,1761698151.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874104,-0.476024,-0.096659],[0.485018,0.866187,0.120320],[0.026450,-0.152053,0.988018]] 2025-10-29T00:35:51.943Z,1761698151.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:51.946Z,1761698151.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 395.085938 m, bearing: 26.780755 deg, approach rate: -0.630245 m/s, LOS rate: 0.018858 deg/s, cmd heading: 29.804114 deg, new cmd heading: 29.818525 deg. 2025-10-29T00:35:51.947Z,1761698151.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520431 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:52.313Z,1761698152.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873147,-0.478074,-0.095180],[0.486715,0.865805,0.116146],[0.026881,-0.147738,0.988661]] 2025-10-29T00:35:52.357Z,1761698152.357 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:52.365Z,1761698152.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:52.371Z,1761698152.371 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:52.372Z,1761698152.372 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:52.373Z,1761698152.373 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:52.382Z,1761698152.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 394.832977 m, bearing: 26.788271 deg, approach rate: -0.601644 m/s, LOS rate: 0.017887 deg/s, cmd heading: 29.818526 deg, new cmd heading: 29.833567 deg. 2025-10-29T00:35:52.385Z,1761698152.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520694 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:52.621Z,1761698152.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.191754 2025-10-29T00:35:52.764Z,1761698152.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872166,-0.479977,-0.094599],[0.488458,0.865109,0.113995],[0.027124,-0.145631,0.988967]] 2025-10-29T00:35:52.865Z,1761698152.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:52.867Z,1761698152.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 394.503693 m, bearing: 26.796227 deg, approach rate: -0.658303 m/s, LOS rate: 0.015920 deg/s, cmd heading: 29.833566 deg, new cmd heading: 29.849493 deg. 2025-10-29T00:35:52.868Z,1761698152.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520972 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:52.873Z,1761698152.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.443585 2025-10-29T00:35:53.126Z,1761698153.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.696182 2025-10-29T00:35:53.168Z,1761698153.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871117,-0.481952,-0.094222],[0.490298,0.864375,0.111646],[0.027635,-0.143453,0.989271]] 2025-10-29T00:35:53.209Z,1761698153.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:53.216Z,1761698153.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 394.294495 m, bearing: 26.801229 deg, approach rate: -0.605432 m/s, LOS rate: 0.014482 deg/s, cmd heading: 29.849494 deg, new cmd heading: 29.859502 deg. 2025-10-29T00:35:53.217Z,1761698153.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521147 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:53.380Z,1761698153.380 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.949911 2025-10-29T00:35:53.573Z,1761698153.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870114,-0.483977,-0.093101],[0.492048,0.863831,0.108096],[0.028107,-0.139866,0.989771]] 2025-10-29T00:35:53.629Z,1761698153.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.199615 2025-10-29T00:35:53.642Z,1761698153.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:53.645Z,1761698153.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 394.015778 m, bearing: 26.807617 deg, approach rate: -0.644848 m/s, LOS rate: 0.014791 deg/s, cmd heading: 29.859500 deg, new cmd heading: 29.872287 deg. 2025-10-29T00:35:53.645Z,1761698153.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521370 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:53.882Z,1761698153.882 [DAT](INFO): DAT read: Rx Time:00:35:53.2107 2025-10-29T00:35:53.883Z,1761698153.883 [DAT](INFO): Rx dataTimestamp_ set to:1761698153.881996 2025-10-29T00:35:53.883Z,1761698153.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.453751 2025-10-29T00:35:53.980Z,1761698153.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868959,-0.486138,-0.092630],[0.494045,0.863049,0.105190],[0.028808,-0.137169,0.990129]] 2025-10-29T00:35:54.021Z,1761698154.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 400.95 m. 2025-10-29T00:35:54.024Z,1761698154.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 400.947083 m, nav range: 393.779114 m, bearing: 26.812976 deg, approach rate: -0.623686 m/s, LOS rate: 0.014131 deg/s, cmd heading: 29.872287 deg, new cmd heading: 29.883011 deg. 2025-10-29T00:35:54.025Z,1761698154.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521557 target range: 400.947083 and range: 399.70 m. 2025-10-29T00:35:54.133Z,1761698154.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.703512 2025-10-29T00:35:54.432Z,1761698154.432 [DAT](INFO): DAT read: 00:35:53.2107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.22, 1.879, 0.375, 2.144, 1.474, PHS= 0.508,-1.054, 0.626, RAW= 153.6, -1.0, CAL= 152.6, -2.0, ROT= 357.4, 2.0 2025-10-29T00:35:54.440Z,1761698154.440 [DAT](INFO): got valid direction response: 00:35:53.2107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 416,-0.22, 1.879, 0.375, 2.144, 1.474, PHS= 0.508,-1.054, 0.626, RAW= 153.6, -1.0, CAL= 152.6, -2.0, ROT= 357.4, 2.0 2025-10-29T00:35:54.443Z,1761698154.443 [DAT](INFO): DAT read: Bearing 174.0, -0.5 (Local) 2025-10-29T00:35:54.449Z,1761698154.449 [DAT](INFO): Local bearing/azimuth received: Bearing 174.0, -0.5 (Local) 2025-10-29T00:35:54.457Z,1761698154.457 [DAT](INFO): DAT read: Range 11 to 50 : 397.5 m (Round-trip 530.0 ms) speed 0.5 m/s 2025-10-29T00:35:54.458Z,1761698154.458 [DAT](INFO): DAT read: user:453> 2025-10-29T00:35:54.459Z,1761698154.459 [DAT](INFO): DAT read: Tx time:00:35:54.3265 2025-10-29T00:35:54.459Z,1761698154.459 [DAT](INFO): Ping request sent. 2025-10-29T00:35:54.459Z,1761698154.459 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:54.459Z,1761698154.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:54.461Z,1761698154.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867892,-0.488034,-0.092665],[0.495888,0.862178,0.103655],[0.029307,-0.135913,0.990287]] 2025-10-29T00:35:54.492Z,1761698154.492 [DAT](INFO): direction in FSK: [0.998362,-0.045335,-0.034899] 2025-10-29T00:35:54.493Z,1761698154.493 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:54.493Z,1761698154.493 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:54.509Z,1761698154.509 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:54.509Z,1761698154.509 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:54.585Z,1761698154.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 397.500000 m, deltaT: 4.035514 s, deltaX: -2.200012 m, approachRate: -0.545163 m/s, rangeRepo size: 4 2025-10-29T00:35:54.587Z,1761698154.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 395.170166 m, bearing: 26.895932 deg, lat: 36.779343 deg, lon: -121.859098 deg, deltaT: 8.067917 s, deltaX: -5.776917 m, approachRate: -0.716036 m/s, posRepo size: 4 2025-10-29T00:35:54.587Z,1761698154.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:54.594Z,1761698154.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 394.586090 m, bearing: 26.734800 deg, approach rate: 0.000000 m/s, LOS rate: 0.014131 deg/s, cmd heading: 29.883010 deg, new cmd heading: 29.898802 deg. 2025-10-29T00:35:54.595Z,1761698154.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521833 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:54.908Z,1761698154.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867242,-0.489126,-0.092990],[0.496974,0.861723,0.102223],[0.030131,-0.134866,0.990406]] 2025-10-29T00:35:54.929Z,1761698154.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:54.931Z,1761698154.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:54.934Z,1761698154.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 394.348267 m, bearing: 26.739332 deg, approach rate: -0.677506 m/s, LOS rate: 0.012918 deg/s, cmd heading: 29.898801 deg, new cmd heading: 29.907870 deg. 2025-10-29T00:35:54.935Z,1761698154.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521991 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:55.142Z,1761698155.142 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:55.142Z,1761698155.142 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:55.142Z,1761698155.142 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:55.296Z,1761698155.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866621,-0.490167,-0.093295],[0.498000,0.861321,0.100613],[0.031040,-0.133654,0.990542]] 2025-10-29T00:35:55.319Z,1761698155.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:55.322Z,1761698155.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 394.096710 m, bearing: 26.744089 deg, approach rate: -0.648580 m/s, LOS rate: 0.012275 deg/s, cmd heading: 29.907872 deg, new cmd heading: 29.917394 deg. 2025-10-29T00:35:55.323Z,1761698155.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522157 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:55.396Z,1761698155.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.936845 2025-10-29T00:35:55.645Z,1761698155.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.185956 2025-10-29T00:35:55.699Z,1761698155.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865794,-0.491523,-0.093845],[0.499429,0.860464,0.100854],[0.031178,-0.134188,0.990465]] 2025-10-29T00:35:55.766Z,1761698155.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:55.785Z,1761698155.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 393.814117 m, bearing: 26.749245 deg, approach rate: -0.632919 m/s, LOS rate: 0.011555 deg/s, cmd heading: 29.917393 deg, new cmd heading: 29.927712 deg. 2025-10-29T00:35:55.789Z,1761698155.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522337 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:55.898Z,1761698155.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.438827 2025-10-29T00:35:56.106Z,1761698156.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865430,-0.492116,-0.094085],[0.500034,0.860178,0.100303],[0.031569,-0.133851,0.990498]] 2025-10-29T00:35:56.125Z,1761698156.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:56.128Z,1761698156.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 393.581879 m, bearing: 26.753464 deg, approach rate: -0.645316 m/s, LOS rate: 0.011731 deg/s, cmd heading: 29.927710 deg, new cmd heading: 29.936154 deg. 2025-10-29T00:35:56.129Z,1761698156.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522484 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:56.149Z,1761698156.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.690195 2025-10-29T00:35:56.406Z,1761698156.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.945903 2025-10-29T00:35:56.507Z,1761698156.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864801,-0.493328,-0.093528],[0.501108,0.859754,0.098559],[0.031789,-0.132102,0.990726]] 2025-10-29T00:35:56.565Z,1761698156.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:56.567Z,1761698156.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 393.313110 m, bearing: 26.758658 deg, approach rate: -0.611547 m/s, LOS rate: 0.011825 deg/s, cmd heading: 29.936152 deg, new cmd heading: 29.946546 deg. 2025-10-29T00:35:56.572Z,1761698156.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522666 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:56.653Z,1761698156.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.194009 2025-10-29T00:35:56.906Z,1761698156.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.446942 2025-10-29T00:35:56.963Z,1761698156.963 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:56.965Z,1761698156.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:56.967Z,1761698156.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 393.063660 m, bearing: 26.763484 deg, approach rate: -0.623337 m/s, LOS rate: 0.012068 deg/s, cmd heading: 29.946548 deg, new cmd heading: 29.956206 deg. 2025-10-29T00:35:56.968Z,1761698156.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522834 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:57.157Z,1761698157.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.698486 2025-10-29T00:35:57.319Z,1761698157.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863795,-0.494941,-0.094296],[0.502790,0.858853,0.097842],[0.032560,-0.131927,0.990725]] 2025-10-29T00:35:57.358Z,1761698157.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:57.368Z,1761698157.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 392.825684 m, bearing: 26.768026 deg, approach rate: -0.604616 m/s, LOS rate: 0.011547 deg/s, cmd heading: 29.956206 deg, new cmd heading: 29.965296 deg. 2025-10-29T00:35:57.369Z,1761698157.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522993 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:57.410Z,1761698157.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.950639 2025-10-29T00:35:57.662Z,1761698157.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.202788 2025-10-29T00:35:57.829Z,1761698157.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:57.831Z,1761698157.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 392.525970 m, bearing: 26.773991 deg, approach rate: -0.637293 m/s, LOS rate: 0.012692 deg/s, cmd heading: 29.965297 deg, new cmd heading: 29.977235 deg. 2025-10-29T00:35:57.832Z,1761698157.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523201 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:57.914Z,1761698157.914 [DAT](INFO): DAT read: Rx Time:00:35:57.2575 2025-10-29T00:35:57.915Z,1761698157.915 [DAT](INFO): Rx dataTimestamp_ set to:1761698157.914266 2025-10-29T00:35:57.915Z,1761698157.915 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.456455 2025-10-29T00:35:58.162Z,1761698158.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862733,-0.495845,-0.099141],[0.504523,0.857221,0.103093],[0.033868,-0.138961,0.989718]] 2025-10-29T00:35:58.165Z,1761698158.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.705977 2025-10-29T00:35:58.183Z,1761698158.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 395.17 m. 2025-10-29T00:35:58.186Z,1761698158.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 395.170166 m, nav range: 392.304565 m, bearing: 26.778325 deg, approach rate: -0.624683 m/s, LOS rate: 0.012236 deg/s, cmd heading: 29.977236 deg, new cmd heading: 29.985909 deg. 2025-10-29T00:35:58.187Z,1761698158.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523353 target range: 395.170166 and range: 397.50 m. 2025-10-29T00:35:58.443Z,1761698158.443 [DAT](INFO): DAT read: 00:35:57.2575 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.30, 1.032,-0.562, 1.305, 0.522, PHS= 0.612,-1.039, 0.739, RAW= 153.7, -3.7, CAL= 153.2, -4.9, ROT= 356.8, 4.9 2025-10-29T00:35:58.445Z,1761698158.445 [DAT](INFO): got valid direction response: 00:35:57.2575 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415, 0.30, 1.032,-0.562, 1.305, 0.522, PHS= 0.612,-1.039, 0.739, RAW= 153.7, -3.7, CAL= 153.2, -4.9, ROT= 356.8, 4.9 2025-10-29T00:35:58.450Z,1761698158.450 [DAT](INFO): DAT read: Bearing 171.6, -0.5 (Local) 2025-10-29T00:35:58.451Z,1761698158.451 [DAT](INFO): Local bearing/azimuth received: Bearing 171.6, -0.5 (Local) 2025-10-29T00:35:58.457Z,1761698158.457 [DAT](INFO): DAT read: Range 11 to 50 : 395.1 m (Round-trip 526.8 ms) speed 0.4 m/s 2025-10-29T00:35:58.461Z,1761698158.461 [DAT](INFO): DAT read: user:454> 2025-10-29T00:35:58.463Z,1761698158.463 [DAT](INFO): DAT read: Tx time:00:35:58.3765 2025-10-29T00:35:58.465Z,1761698158.465 [DAT](INFO): Ping request sent. 2025-10-29T00:35:58.465Z,1761698158.465 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:35:58.466Z,1761698158.466 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:35:58.470Z,1761698158.470 [DAT](INFO): direction in FSK: [0.994792,-0.055618,-0.085417] 2025-10-29T00:35:58.470Z,1761698158.470 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:58.471Z,1761698158.471 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:58.528Z,1761698158.528 [DAT](INFO): publishing transmit ping time 2025-10-29T00:35:58.528Z,1761698158.528 [DAT](INFO): publishing direction and range info 2025-10-29T00:35:58.567Z,1761698158.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862078,-0.496955,-0.099283],[0.505574,0.856851,0.100998],[0.034879,-0.137263,0.989920]] 2025-10-29T00:35:58.628Z,1761698158.628 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-29T00:35:58.628Z,1761698158.628 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-29T00:35:58.628Z,1761698158.628 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-29T00:35:58.671Z,1761698158.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 395.100006 m, deltaT: 4.033966 s, deltaX: -2.399994 m, approachRate: -0.594947 m/s, rangeRepo size: 4 2025-10-29T00:35:58.685Z,1761698158.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 392.773804 m, bearing: 26.554978 deg, lat: 36.779343 deg, lon: -121.859112 deg, deltaT: 4.033966 s, deltaX: -2.396362 m, approachRate: -0.594046 m/s, posRepo size: 4 2025-10-29T00:35:58.685Z,1761698158.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:35:58.695Z,1761698158.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 391.480103 m, bearing: 26.622828 deg, approach rate: 0.000000 m/s, LOS rate: 0.012236 deg/s, cmd heading: 29.985910 deg, new cmd heading: 29.997834 deg. 2025-10-29T00:35:58.701Z,1761698158.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523561 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:35:58.999Z,1761698158.999 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-29T00:35:59.017Z,1761698159.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861547,-0.497943,-0.098938],[0.506390,0.856754,0.097684],[0.036125,-0.134260,0.990287]] 2025-10-29T00:35:59.092Z,1761698159.092 [RDI_Pathfinder](INFO): Powering down 2025-10-29T00:35:59.111Z,1761698159.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:35:59.114Z,1761698159.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:35:59.118Z,1761698159.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 391.192108 m, bearing: 26.628285 deg, approach rate: -0.648914 m/s, LOS rate: 0.012306 deg/s, cmd heading: 29.997832 deg, new cmd heading: 30.008755 deg. 2025-10-29T00:35:59.119Z,1761698159.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523752 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:35:59.173Z,1761698159.173 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:35:59.173Z,1761698159.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:35:59.174Z,1761698159.174 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:35:59.425Z,1761698159.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.960299 2025-10-29T00:35:59.427Z,1761698159.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861400,-0.498303,-0.098408],[0.506564,0.856996,0.094613],[0.037189,-0.131349,0.990638]] 2025-10-29T00:35:59.447Z,1761698159.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:35:59.449Z,1761698159.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 390.983276 m, bearing: 26.632246 deg, approach rate: -0.627843 m/s, LOS rate: 0.011915 deg/s, cmd heading: 30.008754 deg, new cmd heading: 30.016680 deg. 2025-10-29T00:35:59.450Z,1761698159.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523890 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:35:59.677Z,1761698159.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.212134 2025-10-29T00:35:59.826Z,1761698159.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861911,-0.497132,-0.099846],[0.505642,0.857387,0.095989],[0.037888,-0.133220,0.990362]] 2025-10-29T00:35:59.846Z,1761698159.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:35:59.849Z,1761698159.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 390.733765 m, bearing: 26.637020 deg, approach rate: -0.625023 m/s, LOS rate: 0.011966 deg/s, cmd heading: 30.016680 deg, new cmd heading: 30.026234 deg. 2025-10-29T00:35:59.850Z,1761698159.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524057 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:35:59.930Z,1761698159.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.465075 2025-10-29T00:36:00.171Z,1761698160.171 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-29T00:36:00.171Z,1761698160.171 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-29T00:36:00.181Z,1761698160.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.716191 2025-10-29T00:36:00.230Z,1761698160.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862867,-0.495007,-0.102120],[0.503995,0.857891,0.100063],[0.038076,-0.137809,0.989727]] 2025-10-29T00:36:00.235Z,1761698160.235 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-29T00:36:00.270Z,1761698160.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:00.284Z,1761698160.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 390.480255 m, bearing: 26.641940 deg, approach rate: -0.597297 m/s, LOS rate: 0.011599 deg/s, cmd heading: 30.026236 deg, new cmd heading: 30.036082 deg. 2025-10-29T00:36:00.285Z,1761698160.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524229 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:00.433Z,1761698160.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968225 2025-10-29T00:36:00.634Z,1761698160.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864004,-0.492592,-0.104169],[0.502047,0.858522,0.104349],[0.038030,-0.142456,0.989070]] 2025-10-29T00:36:00.653Z,1761698160.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:00.656Z,1761698160.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 390.228302 m, bearing: 26.646912 deg, approach rate: -0.658314 m/s, LOS rate: 0.012999 deg/s, cmd heading: 30.036081 deg, new cmd heading: 30.046032 deg. 2025-10-29T00:36:00.657Z,1761698160.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524402 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:00.685Z,1761698160.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.220141 2025-10-29T00:36:00.938Z,1761698160.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473307 2025-10-29T00:36:01.038Z,1761698161.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865283,-0.490070,-0.105436],[0.499828,0.859488,0.107012],[0.038178,-0.145296,0.988651]] 2025-10-29T00:36:01.057Z,1761698161.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:01.060Z,1761698161.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 389.975616 m, bearing: 26.651996 deg, approach rate: -0.625289 m/s, LOS rate: 0.012589 deg/s, cmd heading: 30.046033 deg, new cmd heading: 30.056208 deg. 2025-10-29T00:36:01.061Z,1761698161.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524580 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:01.189Z,1761698161.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.724174 2025-10-29T00:36:01.441Z,1761698161.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976067 2025-10-29T00:36:01.444Z,1761698161.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866298,-0.488217,-0.105700],[0.498058,0.860410,0.107859],[0.038287,-0.146083,0.988531]] 2025-10-29T00:36:01.474Z,1761698161.474 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:01.476Z,1761698161.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:01.484Z,1761698161.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 389.714569 m, bearing: 26.657333 deg, approach rate: -0.624033 m/s, LOS rate: 0.012768 deg/s, cmd heading: 30.056206 deg, new cmd heading: 30.066889 deg. 2025-10-29T00:36:01.485Z,1761698161.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524766 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:01.693Z,1761698161.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228533 2025-10-29T00:36:01.847Z,1761698161.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867123,-0.486297,-0.107762],[0.496610,0.860750,0.111749],[0.038413,-0.150416,0.987876]] 2025-10-29T00:36:01.874Z,1761698161.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:01.882Z,1761698161.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 389.466431 m, bearing: 26.662467 deg, approach rate: -0.624293 m/s, LOS rate: 0.012925 deg/s, cmd heading: 30.066889 deg, new cmd heading: 30.077163 deg. 2025-10-29T00:36:01.901Z,1761698161.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524945 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:01.945Z,1761698161.945 [DAT](INFO): DAT read: Rx Time:00:36:01.3043 2025-10-29T00:36:01.946Z,1761698161.946 [DAT](INFO): Rx dataTimestamp_ set to:1761698161.945345 2025-10-29T00:36:01.946Z,1761698161.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481445 2025-10-29T00:36:02.197Z,1761698162.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.732555 2025-10-29T00:36:02.261Z,1761698162.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867817,-0.484505,-0.110226],[0.495412,0.860753,0.116925],[0.038227,-0.156077,0.987005]] 2025-10-29T00:36:02.285Z,1761698162.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 392.77 m. 2025-10-29T00:36:02.288Z,1761698162.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 392.773804 m, nav range: 389.211548 m, bearing: 26.667788 deg, approach rate: -0.618544 m/s, LOS rate: 0.012921 deg/s, cmd heading: 30.077161 deg, new cmd heading: 30.087810 deg. 2025-10-29T00:36:02.305Z,1761698162.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525131 target range: 392.773804 and range: 395.10 m. 2025-10-29T00:36:02.452Z,1761698162.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.986427 2025-10-29T00:36:02.685Z,1761698162.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868122,-0.483643,-0.111594],[0.494857,0.860782,0.119046],[0.038482,-0.158570,0.986598]] 2025-10-29T00:36:02.707Z,1761698162.707 [DAT](INFO): DAT read: 00:36:01.3043 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414,-0.01, 2.324, 0.777, 2.616, 1.890, PHS= 0.536,-1.069, 0.682, RAW= 154.3, -1.8, CAL= 153.5, -3.0, ROT= 356.5, 3.0 2025-10-29T00:36:02.708Z,1761698162.708 [DAT](INFO): got valid direction response: 00:36:01.3043 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 414,-0.01, 2.324, 0.777, 2.616, 1.890, PHS= 0.536,-1.069, 0.682, RAW= 154.3, -1.8, CAL= 153.5, -3.0, ROT= 356.5, 3.0 2025-10-29T00:36:02.709Z,1761698162.709 [DAT](INFO): DAT read: Bearing 172.5, -0.7 (Local) 2025-10-29T00:36:02.709Z,1761698162.709 [DAT](INFO): Local bearing/azimuth received: Bearing 172.5, -0.7 (Local) 2025-10-29T00:36:02.711Z,1761698162.711 [DAT](INFO): DAT read: Range 11 to 50 : 392.7 m (Round-trip 523.7 ms) speed 0.4 m/s 2025-10-29T00:36:02.711Z,1761698162.711 [DAT](INFO): DAT read: user:455> 2025-10-29T00:36:02.714Z,1761698162.714 [DAT](INFO): DAT read: Tx time:00:36:02.4264 2025-10-29T00:36:02.714Z,1761698162.714 [DAT](INFO): Ping request sent. 2025-10-29T00:36:02.714Z,1761698162.714 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:02.714Z,1761698162.714 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:02.715Z,1761698162.715 [DAT](INFO): direction in FSK: [0.996767,-0.060965,-0.052336] 2025-10-29T00:36:02.715Z,1761698162.715 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:02.716Z,1761698162.716 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:02.719Z,1761698162.719 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:02.719Z,1761698162.719 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:02.755Z,1761698162.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 392.700012 m, deltaT: 4.280369 s, deltaX: -2.399994 m, approachRate: -0.560698 m/s, rangeRepo size: 4 2025-10-29T00:36:02.762Z,1761698162.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 390.386871 m, bearing: 25.756768 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.280369 s, deltaX: -2.386932 m, approachRate: -0.557646 m/s, posRepo size: 4 2025-10-29T00:36:02.763Z,1761698162.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:02.781Z,1761698162.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 389.888184 m, bearing: 26.603862 deg, approach rate: 0.000000 m/s, LOS rate: 0.012921 deg/s, cmd heading: 30.087810 deg, new cmd heading: 30.099923 deg. 2025-10-29T00:36:02.782Z,1761698162.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525343 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:03.173Z,1761698163.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:03.175Z,1761698163.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 389.595093 m, bearing: 26.609952 deg, approach rate: -0.699464 m/s, LOS rate: 0.014545 deg/s, cmd heading: 30.099923 deg, new cmd heading: 30.112112 deg. 2025-10-29T00:36:03.177Z,1761698163.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525555 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:03.534Z,1761698163.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:03.552Z,1761698163.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:03.554Z,1761698163.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 389.368622 m, bearing: 26.614663 deg, approach rate: -0.624179 m/s, LOS rate: 0.012993 deg/s, cmd heading: 30.112112 deg, new cmd heading: 30.121540 deg. 2025-10-29T00:36:03.555Z,1761698163.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525720 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:03.709Z,1761698163.709 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:03.709Z,1761698163.709 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:03.709Z,1761698163.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:03.905Z,1761698163.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866166,-0.488426,-0.105814],[0.498078,0.861023,0.102749],[0.040923,-0.141701,0.989063]] 2025-10-29T00:36:03.961Z,1761698163.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247378 2025-10-29T00:36:03.969Z,1761698163.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:03.976Z,1761698163.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 389.107422 m, bearing: 26.619995 deg, approach rate: -0.602219 m/s, LOS rate: 0.012301 deg/s, cmd heading: 30.121541 deg, new cmd heading: 30.132211 deg. 2025-10-29T00:36:03.977Z,1761698163.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525906 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:04.213Z,1761698164.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498823 2025-10-29T00:36:04.453Z,1761698164.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865610,-0.489622,-0.104836],[0.498994,0.860874,0.099501],[0.041532,-0.138441,0.989499]] 2025-10-29T00:36:04.465Z,1761698164.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750872 2025-10-29T00:36:04.517Z,1761698164.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:04.519Z,1761698164.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 388.759979 m, bearing: 26.627051 deg, approach rate: -0.634632 m/s, LOS rate: 0.012900 deg/s, cmd heading: 30.132209 deg, new cmd heading: 30.146334 deg. 2025-10-29T00:36:04.521Z,1761698164.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526153 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:04.717Z,1761698164.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002996 2025-10-29T00:36:04.776Z,1761698164.776 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:36:04.952Z,1761698164.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865159,-0.490626,-0.103858],[0.499733,0.860783,0.096537],[0.042036,-0.135421,0.989896]] 2025-10-29T00:36:04.969Z,1761698164.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255130 2025-10-29T00:36:04.981Z,1761698164.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:04.983Z,1761698164.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 388.465210 m, bearing: 26.633017 deg, approach rate: -0.635739 m/s, LOS rate: 0.012877 deg/s, cmd heading: 30.146334 deg, new cmd heading: 30.158275 deg. 2025-10-29T00:36:04.984Z,1761698164.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526361 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:05.221Z,1761698165.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506915 2025-10-29T00:36:05.389Z,1761698165.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864834,-0.491309,-0.103330],[0.500249,0.860722,0.094381],[0.042568,-0.133315,0.990159]] 2025-10-29T00:36:05.427Z,1761698165.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:05.433Z,1761698165.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 388.191437 m, bearing: 26.638546 deg, approach rate: -0.613720 m/s, LOS rate: 0.012402 deg/s, cmd heading: 30.158277 deg, new cmd heading: 30.169342 deg. 2025-10-29T00:36:05.434Z,1761698165.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526554 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:05.473Z,1761698165.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759080 2025-10-29T00:36:05.725Z,1761698165.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010897 2025-10-29T00:36:05.780Z,1761698165.780 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:36:05.787Z,1761698165.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864712,-0.491496,-0.103460],[0.500423,0.860698,0.093682],[0.043003,-0.132782,0.990212]] 2025-10-29T00:36:05.822Z,1761698165.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:05.825Z,1761698165.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:05.827Z,1761698165.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 387.937775 m, bearing: 26.643668 deg, approach rate: -0.637283 m/s, LOS rate: 0.012878 deg/s, cmd heading: 30.169342 deg, new cmd heading: 30.179593 deg. 2025-10-29T00:36:05.828Z,1761698165.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526733 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:05.977Z,1761698165.977 [DAT](INFO): DAT read: Rx Time:00:36:05.3513 2025-10-29T00:36:05.977Z,1761698165.977 [DAT](INFO): Rx dataTimestamp_ set to:1761698165.977167 2025-10-29T00:36:05.978Z,1761698165.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264009 2025-10-29T00:36:06.178Z,1761698166.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864397,-0.492026,-0.103576],[0.500922,0.860516,0.092678],[0.043529,-0.131994,0.990294]] 2025-10-29T00:36:06.229Z,1761698166.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514951 2025-10-29T00:36:06.263Z,1761698166.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:06.266Z,1761698166.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 387.665253 m, bearing: 26.649157 deg, approach rate: -0.621447 m/s, LOS rate: 0.012526 deg/s, cmd heading: 30.179594 deg, new cmd heading: 30.190580 deg. 2025-10-29T00:36:06.267Z,1761698166.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526925 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:06.486Z,1761698166.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.771028 2025-10-29T00:36:06.583Z,1761698166.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864816,-0.491216,-0.103924],[0.500216,0.860794,0.093904],[0.043329,-0.133194,0.990142]] 2025-10-29T00:36:06.613Z,1761698166.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 390.39 m. 2025-10-29T00:36:06.616Z,1761698166.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 390.386871 m, nav range: 387.444519 m, bearing: 26.653634 deg, approach rate: -0.630806 m/s, LOS rate: 0.012800 deg/s, cmd heading: 30.190580 deg, new cmd heading: 30.199539 deg. 2025-10-29T00:36:06.617Z,1761698166.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527081 target range: 390.386871 and range: 392.70 m. 2025-10-29T00:36:06.745Z,1761698166.745 [DAT](INFO): DAT read: 00:36:05.3513 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.31, 0.083,-1.429, 0.428,-0.310, PHS= 0.494,-1.074, 0.693, RAW= 155.9, -1.4, CAL= 155.0, -2.7, ROT= 355.0, 2.7 2025-10-29T00:36:06.747Z,1761698166.747 [DAT](INFO): got valid direction response: 00:36:05.3513 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 416, 0.31, 0.083,-1.429, 0.428,-0.310, PHS= 0.494,-1.074, 0.693, RAW= 155.9, -1.4, CAL= 155.0, -2.7, ROT= 355.0, 2.7 2025-10-29T00:36:06.748Z,1761698166.748 [DAT](INFO): DAT read: Bearing 173.1, -2.2 (Local) 2025-10-29T00:36:06.749Z,1761698166.749 [DAT](INFO): Local bearing/azimuth received: Bearing 173.1, -2.2 (Local) 2025-10-29T00:36:06.751Z,1761698166.751 [DAT](INFO): DAT read: Range 11 to 50 : 390.6 m (Round-trip 520.8 ms) speed 0.4 m/s 2025-10-29T00:36:06.774Z,1761698166.774 [DAT](INFO): DAT read: user:456> 2025-10-29T00:36:06.775Z,1761698166.775 [DAT](INFO): DAT read: Tx time:00:36:06.4764 2025-10-29T00:36:06.776Z,1761698166.776 [DAT](INFO): Ping request sent. 2025-10-29T00:36:06.776Z,1761698166.776 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:06.776Z,1761698166.776 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:06.777Z,1761698166.777 [DAT](INFO): direction in FSK: [0.995089,-0.087059,-0.047106] 2025-10-29T00:36:06.778Z,1761698166.778 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:06.778Z,1761698166.778 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:06.797Z,1761698166.797 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:06.797Z,1761698166.797 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:07.005Z,1761698167.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864988,-0.490893,-0.104020],[0.499895,0.861010,0.093632],[0.043599,-0.132990,0.990158]] 2025-10-29T00:36:07.093Z,1761698167.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 390.600006 m, deltaT: 4.036169 s, deltaX: -2.100006 m, approachRate: -0.520297 m/s, rangeRepo size: 4 2025-10-29T00:36:07.095Z,1761698167.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 388.300232 m, bearing: 24.713746 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.036169 s, deltaX: -2.086639 m, approachRate: -0.516985 m/s, posRepo size: 4 2025-10-29T00:36:07.100Z,1761698167.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:07.103Z,1761698167.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 387.165253 m, bearing: 26.659321 deg, approach rate: 0.000000 m/s, LOS rate: 0.012800 deg/s, cmd heading: 30.199538 deg, new cmd heading: 30.211814 deg. 2025-10-29T00:36:07.112Z,1761698167.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527296 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:07.406Z,1761698167.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865136,-0.490628,-0.104036],[0.499620,0.861205,0.093308],[0.043817,-0.132703,0.990187]] 2025-10-29T00:36:07.437Z,1761698167.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:07.440Z,1761698167.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 386.929382 m, bearing: 26.664143 deg, approach rate: -0.684438 m/s, LOS rate: 0.014000 deg/s, cmd heading: 30.211815 deg, new cmd heading: 30.221465 deg. 2025-10-29T00:36:07.441Z,1761698167.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527464 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:07.803Z,1761698167.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865770,-0.489470,-0.104224],[0.498546,0.861692,0.094548],[0.043530,-0.133817,0.990050]] 2025-10-29T00:36:07.821Z,1761698167.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:07.840Z,1761698167.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 386.689240 m, bearing: 26.669101 deg, approach rate: -0.625024 m/s, LOS rate: 0.012912 deg/s, cmd heading: 30.221463 deg, new cmd heading: 30.231385 deg. 2025-10-29T00:36:07.845Z,1761698167.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527637 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:08.240Z,1761698168.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:08.242Z,1761698168.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:08.245Z,1761698168.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 386.426819 m, bearing: 26.674527 deg, approach rate: -0.624380 m/s, LOS rate: 0.012918 deg/s, cmd heading: 30.231384 deg, new cmd heading: 30.242242 deg. 2025-10-29T00:36:08.245Z,1761698168.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527827 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:08.249Z,1761698168.249 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:08.249Z,1761698168.249 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:08.249Z,1761698168.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:08.501Z,1761698168.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.724845 2025-10-29T00:36:08.612Z,1761698168.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866461,-0.488412,-0.103441],[0.497383,0.862377,0.094428],[0.043086,-0.133268,0.990143]] 2025-10-29T00:36:08.631Z,1761698168.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:08.634Z,1761698168.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 386.183533 m, bearing: 26.679614 deg, approach rate: -0.625295 m/s, LOS rate: 0.013084 deg/s, cmd heading: 30.242244 deg, new cmd heading: 30.252425 deg. 2025-10-29T00:36:08.635Z,1761698168.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528004 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:08.753Z,1761698168.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977232 2025-10-29T00:36:09.005Z,1761698169.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228803 2025-10-29T00:36:09.016Z,1761698169.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866769,-0.487995,-0.102821],[0.496888,0.862654,0.094502],[0.042582,-0.133002,0.990201]] 2025-10-29T00:36:09.035Z,1761698169.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:09.038Z,1761698169.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 385.931488 m, bearing: 26.684913 deg, approach rate: -0.623901 m/s, LOS rate: 0.013125 deg/s, cmd heading: 30.252424 deg, new cmd heading: 30.263029 deg. 2025-10-29T00:36:09.038Z,1761698169.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528189 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:09.258Z,1761698169.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.481380 2025-10-29T00:36:09.418Z,1761698169.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867094,-0.487605,-0.101925],[0.496384,0.862936,0.094573],[0.041841,-0.132598,0.990286]] 2025-10-29T00:36:09.450Z,1761698169.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:09.453Z,1761698169.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 385.672028 m, bearing: 26.690399 deg, approach rate: -0.624772 m/s, LOS rate: 0.013220 deg/s, cmd heading: 30.263028 deg, new cmd heading: 30.274008 deg. 2025-10-29T00:36:09.454Z,1761698169.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528381 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:09.510Z,1761698169.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.733695 2025-10-29T00:36:09.762Z,1761698169.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985580 2025-10-29T00:36:09.835Z,1761698169.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866990,-0.488111,-0.100377],[0.496618,0.862969,0.093029],[0.041214,-0.130504,0.990591]] 2025-10-29T00:36:09.853Z,1761698169.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:09.856Z,1761698169.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 385.419708 m, bearing: 26.695736 deg, approach rate: -0.625637 m/s, LOS rate: 0.013241 deg/s, cmd heading: 30.274008 deg, new cmd heading: 30.284688 deg. 2025-10-29T00:36:09.857Z,1761698169.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528567 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:10.013Z,1761698170.013 [DAT](INFO): DAT read: Rx Time:00:36:09.3999 2025-10-29T00:36:10.013Z,1761698170.013 [DAT](INFO): Rx dataTimestamp_ set to:1761698170.013160 2025-10-29T00:36:10.014Z,1761698170.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.237842 2025-10-29T00:36:10.228Z,1761698170.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867030,-0.488138,-0.099903],[0.496596,0.862949,0.093341],[0.040648,-0.130541,0.990609]] 2025-10-29T00:36:10.245Z,1761698170.245 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:10.247Z,1761698170.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:10.250Z,1761698170.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 385.174194 m, bearing: 26.700936 deg, approach rate: -0.624066 m/s, LOS rate: 0.013227 deg/s, cmd heading: 30.284687 deg, new cmd heading: 30.295094 deg. 2025-10-29T00:36:10.250Z,1761698170.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528749 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:10.268Z,1761698170.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491942 2025-10-29T00:36:10.517Z,1761698170.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.740736 2025-10-29T00:36:10.631Z,1761698170.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866960,-0.488185,-0.100281],[0.496724,0.862791,0.094112],[0.040578,-0.131403,0.990498]] 2025-10-29T00:36:10.663Z,1761698170.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 388.30 m. 2025-10-29T00:36:10.666Z,1761698170.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 388.300232 m, nav range: 384.913940 m, bearing: 26.706448 deg, approach rate: -0.625579 m/s, LOS rate: 0.013259 deg/s, cmd heading: 30.295092 deg, new cmd heading: 30.306124 deg. 2025-10-29T00:36:10.666Z,1761698170.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528942 target range: 388.300232 and range: 390.60 m. 2025-10-29T00:36:10.777Z,1761698170.777 [DAT](INFO): DAT read: 00:36:09.3999 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 437,-0.03,-2.105, 2.853,-1.892,-2.385, PHS= 0.382,-1.000, 0.450, RAW= 152.4, 2.4, CAL= 151.2, 2.0, ROT= 358.8, -2.0 2025-10-29T00:36:10.778Z,1761698170.778 [DAT](INFO): got valid direction response: 00:36:09.3999 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 437,-0.03,-2.105, 2.853,-1.892,-2.385, PHS= 0.382,-1.000, 0.450, RAW= 152.4, 2.4, CAL= 151.2, 2.0, ROT= 358.8, -2.0 2025-10-29T00:36:10.779Z,1761698170.779 [DAT](INFO): DAT read: Bearing 178.3, 0.7 (Local) 2025-10-29T00:36:10.780Z,1761698170.780 [DAT](INFO): Local bearing/azimuth received: Bearing 178.3, 0.7 (Local) 2025-10-29T00:36:10.782Z,1761698170.782 [DAT](INFO): DAT read: Range 11 to 50 : 389.4 m (Round-trip 519.3 ms) speed 0.6 m/s 2025-10-29T00:36:10.783Z,1761698170.783 [DAT](INFO): DAT read: user:457> 2025-10-29T00:36:10.783Z,1761698170.783 [DAT](INFO): DAT read: Tx time:00:36:10.5264 2025-10-29T00:36:10.784Z,1761698170.784 [DAT](INFO): Ping request sent. 2025-10-29T00:36:10.784Z,1761698170.784 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:10.784Z,1761698170.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:10.785Z,1761698170.785 [DAT](INFO): direction in FSK: [0.999172,-0.020930,0.034899] 2025-10-29T00:36:10.785Z,1761698170.785 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:10.786Z,1761698170.786 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:10.795Z,1761698170.795 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:10.795Z,1761698170.795 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:11.036Z,1761698171.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867163,-0.487798,-0.100412],[0.496384,0.862912,0.094800],[0.040403,-0.132050,0.990419]] 2025-10-29T00:36:11.068Z,1761698171.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 389.399994 m, deltaT: 4.032287 s, deltaX: -1.200012 m, approachRate: -0.297601 m/s, rangeRepo size: 4 2025-10-29T00:36:11.070Z,1761698171.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 387.104919 m, bearing: 28.860557 deg, lat: 36.779353 deg, lon: -121.859112 deg, deltaT: 4.032287 s, deltaX: -1.195312 m, approachRate: -0.296435 m/s, posRepo size: 4 2025-10-29T00:36:11.071Z,1761698171.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:11.073Z,1761698171.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 384.663757 m, bearing: 26.711768 deg, approach rate: 0.000000 m/s, LOS rate: 0.013259 deg/s, cmd heading: 30.306123 deg, new cmd heading: 30.316841 deg. 2025-10-29T00:36:11.074Z,1761698171.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529129 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:11.438Z,1761698171.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866963,-0.488233,-0.100020],[0.496732,0.862799,0.093995],[0.040405,-0.131173,0.990536]] 2025-10-29T00:36:11.458Z,1761698171.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:11.476Z,1761698171.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 384.417328 m, bearing: 26.717002 deg, approach rate: -0.631124 m/s, LOS rate: 0.013412 deg/s, cmd heading: 30.316840 deg, new cmd heading: 30.327313 deg. 2025-10-29T00:36:11.477Z,1761698171.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529311 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:11.885Z,1761698171.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:11.892Z,1761698171.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 384.155121 m, bearing: 26.722578 deg, approach rate: -0.615430 m/s, LOS rate: 0.013097 deg/s, cmd heading: 30.327314 deg, new cmd heading: 30.338473 deg. 2025-10-29T00:36:11.895Z,1761698171.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529506 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:12.246Z,1761698172.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866636,-0.488841,-0.099887],[0.497350,0.862361,0.094743],[0.039824,-0.131787,0.990478]] 2025-10-29T00:36:12.263Z,1761698172.263 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:12.283Z,1761698172.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:12.298Z,1761698172.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 383.912537 m, bearing: 26.727716 deg, approach rate: -0.607700 m/s, LOS rate: 0.012879 deg/s, cmd heading: 30.338474 deg, new cmd heading: 30.348756 deg. 2025-10-29T00:36:12.298Z,1761698172.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529686 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:12.535Z,1761698172.535 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:12.535Z,1761698172.535 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:12.536Z,1761698172.536 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:12.651Z,1761698172.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866360,-0.489170,-0.100663],[0.497846,0.861895,0.096364],[0.039622,-0.133600,0.990243]] 2025-10-29T00:36:12.685Z,1761698172.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:12.687Z,1761698172.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 383.657990 m, bearing: 26.733088 deg, approach rate: -0.633355 m/s, LOS rate: 0.013377 deg/s, cmd heading: 30.348757 deg, new cmd heading: 30.359510 deg. 2025-10-29T00:36:12.695Z,1761698172.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529873 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:12.790Z,1761698172.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006287 2025-10-29T00:36:13.041Z,1761698173.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257187 2025-10-29T00:36:13.056Z,1761698173.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866066,-0.489690,-0.100666],[0.498383,0.861532,0.096834],[0.039309,-0.134035,0.990197]] 2025-10-29T00:36:13.087Z,1761698173.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:13.094Z,1761698173.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 383.398987 m, bearing: 26.738538 deg, approach rate: -0.643285 m/s, LOS rate: 0.013544 deg/s, cmd heading: 30.359511 deg, new cmd heading: 30.370417 deg. 2025-10-29T00:36:13.096Z,1761698173.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530064 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:13.293Z,1761698173.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509654 2025-10-29T00:36:13.459Z,1761698173.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865827,-0.490093,-0.100758],[0.498815,0.861227,0.097325],[0.039077,-0.134526,0.990139]] 2025-10-29T00:36:13.503Z,1761698173.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:13.510Z,1761698173.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 383.150696 m, bearing: 26.743748 deg, approach rate: -0.596757 m/s, LOS rate: 0.012531 deg/s, cmd heading: 30.370416 deg, new cmd heading: 30.380843 deg. 2025-10-29T00:36:13.511Z,1761698173.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530246 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:13.545Z,1761698173.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761397 2025-10-29T00:36:13.798Z,1761698173.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013699 2025-10-29T00:36:13.887Z,1761698173.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865522,-0.490587,-0.100976],[0.499366,0.860822,0.098080],[0.038805,-0.135314,0.990043]] 2025-10-29T00:36:13.945Z,1761698173.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:13.948Z,1761698173.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 382.856567 m, bearing: 26.748609 deg, approach rate: -0.665634 m/s, LOS rate: 0.011009 deg/s, cmd heading: 30.380842 deg, new cmd heading: 30.390571 deg. 2025-10-29T00:36:13.949Z,1761698173.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530416 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:14.049Z,1761698174.049 [DAT](INFO): DAT read: Rx Time:00:36:13.4453 2025-10-29T00:36:14.049Z,1761698174.049 [DAT](INFO): Rx dataTimestamp_ set to:1761698174.049194 2025-10-29T00:36:14.050Z,1761698174.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.266348 2025-10-29T00:36:14.267Z,1761698174.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865309,-0.490961,-0.100986],[0.499750,0.860566,0.098366],[0.038611,-0.135584,0.990013]] 2025-10-29T00:36:14.301Z,1761698174.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.517620 2025-10-29T00:36:14.305Z,1761698174.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:14.307Z,1761698174.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:14.313Z,1761698174.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 382.639038 m, bearing: 26.752194 deg, approach rate: -0.601664 m/s, LOS rate: 0.009920 deg/s, cmd heading: 30.390572 deg, new cmd heading: 30.397745 deg. 2025-10-29T00:36:14.314Z,1761698174.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530541 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:14.554Z,1761698174.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769690 2025-10-29T00:36:14.672Z,1761698174.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864764,-0.491787,-0.101628],[0.500711,0.859854,0.099696],[0.038356,-0.137100,0.989814]] 2025-10-29T00:36:14.730Z,1761698174.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 387.10 m. 2025-10-29T00:36:14.732Z,1761698174.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 387.104919 m, nav range: 382.360168 m, bearing: 26.757100 deg, approach rate: -0.659388 m/s, LOS rate: 0.011609 deg/s, cmd heading: 30.397743 deg, new cmd heading: 30.407562 deg. 2025-10-29T00:36:14.733Z,1761698174.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530712 target range: 387.104919 and range: 389.40 m. 2025-10-29T00:36:14.813Z,1761698174.813 [DAT](INFO): DAT read: 00:36:13.4453 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 387,-0.02,-2.742, 2.190,-2.496, 3.131, PHS= 0.512,-0.896, 0.612, RAW= 153.4, -3.2, CAL= 152.8, -4.4, ROT= 357.2, 4.4 2025-10-29T00:36:14.814Z,1761698174.814 [DAT](INFO): got valid direction response: 00:36:13.4453 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 387,-0.02,-2.742, 2.190,-2.496, 3.131, PHS= 0.512,-0.896, 0.612, RAW= 153.4, -3.2, CAL= 152.8, -4.4, ROT= 357.2, 4.4 2025-10-29T00:36:14.815Z,1761698174.815 [DAT](INFO): DAT read: Bearing 171.6, -0.2 (Local) 2025-10-29T00:36:14.816Z,1761698174.816 [DAT](INFO): Local bearing/azimuth received: Bearing 171.6, -0.2 (Local) 2025-10-29T00:36:14.819Z,1761698174.819 [DAT](INFO): DAT read: Range 11 to 50 : 386.0 m (Round-trip 514.7 ms) speed 0.5 m/s 2025-10-29T00:36:14.820Z,1761698174.820 [DAT](INFO): DAT read: user:458> 2025-10-29T00:36:14.821Z,1761698174.821 [DAT](INFO): DAT read: Tx time:00:36:14.5764 2025-10-29T00:36:14.822Z,1761698174.822 [DAT](INFO): Ping request sent. 2025-10-29T00:36:14.822Z,1761698174.822 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:14.822Z,1761698174.822 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:14.825Z,1761698174.825 [DAT](INFO): direction in FSK: [0.995862,-0.048706,-0.076719] 2025-10-29T00:36:14.826Z,1761698174.826 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:14.826Z,1761698174.826 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:14.841Z,1761698174.841 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:14.841Z,1761698174.841 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:15.075Z,1761698175.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864593,-0.492132,-0.101419],[0.501041,0.859611,0.100129],[0.037904,-0.137386,0.989792]] 2025-10-29T00:36:15.124Z,1761698175.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 386.000000 m, deltaT: 4.037264 s, deltaX: -3.399994 m, approachRate: -0.842153 m/s, rangeRepo size: 4 2025-10-29T00:36:15.126Z,1761698175.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 383.736481 m, bearing: 26.720702 deg, lat: 36.779365 deg, lon: -121.859112 deg, deltaT: 4.037264 s, deltaX: -3.368439 m, approachRate: -0.834337 m/s, posRepo size: 4 2025-10-29T00:36:15.126Z,1761698175.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:15.129Z,1761698175.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 383.369659 m, bearing: 26.667693 deg, approach rate: 0.000000 m/s, LOS rate: 0.011609 deg/s, cmd heading: 30.407562 deg, new cmd heading: 30.416692 deg. 2025-10-29T00:36:15.130Z,1761698175.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530871 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:15.513Z,1761698175.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:15.535Z,1761698175.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 383.107971 m, bearing: 26.672214 deg, approach rate: -0.670241 m/s, LOS rate: 0.011586 deg/s, cmd heading: 30.416694 deg, new cmd heading: 30.425741 deg. 2025-10-29T00:36:15.536Z,1761698175.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531029 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:15.904Z,1761698175.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863168,-0.494646,-0.101316],[0.503497,0.858269,0.099321],[0.037828,-0.136744,0.989884]] 2025-10-29T00:36:15.957Z,1761698175.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:15.960Z,1761698175.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 382.829163 m, bearing: 26.678372 deg, approach rate: -0.627943 m/s, LOS rate: 0.013880 deg/s, cmd heading: 30.425740 deg, new cmd heading: 30.438066 deg. 2025-10-29T00:36:15.961Z,1761698175.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531244 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:16.323Z,1761698176.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:16.326Z,1761698176.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:16.329Z,1761698176.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 382.598663 m, bearing: 26.683471 deg, approach rate: -0.626113 m/s, LOS rate: 0.013857 deg/s, cmd heading: 30.438065 deg, new cmd heading: 30.448268 deg. 2025-10-29T00:36:16.330Z,1761698176.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531423 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:16.573Z,1761698176.573 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:16.573Z,1761698176.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:16.574Z,1761698176.574 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:16.700Z,1761698176.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862684,-0.495526,-0.101140],[0.504336,0.857811,0.099024],[0.037690,-0.136435,0.989932]] 2025-10-29T00:36:16.731Z,1761698176.731 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD +0.00, 0, 4.06 2025-10-29T00:36:16.778Z,1761698176.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:16.785Z,1761698176.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 382.322784 m, bearing: 26.689540 deg, approach rate: -0.609098 m/s, LOS rate: 0.013409 deg/s, cmd heading: 30.448270 deg, new cmd heading: 30.460416 deg. 2025-10-29T00:36:16.786Z,1761698176.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531635 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:16.825Z,1761698176.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003079 2025-10-29T00:36:17.077Z,1761698177.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254949 2025-10-29T00:36:17.114Z,1761698177.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862009,-0.496673,-0.101278],[0.505503,0.857102,0.099216],[0.037528,-0.136721,0.989899]] 2025-10-29T00:36:17.133Z,1761698177.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:17.135Z,1761698177.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 382.090454 m, bearing: 26.694610 deg, approach rate: -0.655861 m/s, LOS rate: 0.014321 deg/s, cmd heading: 30.460417 deg, new cmd heading: 30.470563 deg. 2025-10-29T00:36:17.136Z,1761698177.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531812 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:17.329Z,1761698177.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506894 2025-10-29T00:36:17.507Z,1761698177.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862055,-0.496511,-0.101671],[0.505431,0.857036,0.100142],[0.037414,-0.137715,0.989765]] 2025-10-29T00:36:17.581Z,1761698177.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758984 2025-10-29T00:36:17.595Z,1761698177.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:17.598Z,1761698177.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 381.799866 m, bearing: 26.700961 deg, approach rate: -0.628476 m/s, LOS rate: 0.013747 deg/s, cmd heading: 30.470563 deg, new cmd heading: 30.483276 deg. 2025-10-29T00:36:17.599Z,1761698177.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532034 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:17.834Z,1761698177.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011308 2025-10-29T00:36:17.931Z,1761698177.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862232,-0.496174,-0.101819],[0.505141,0.857130,0.100801],[0.037257,-0.138346,0.989683]] 2025-10-29T00:36:18.002Z,1761698178.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:18.008Z,1761698178.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 381.559509 m, bearing: 26.708619 deg, approach rate: -0.591223 m/s, LOS rate: 0.018848 deg/s, cmd heading: 30.483274 deg, new cmd heading: 30.498599 deg. 2025-10-29T00:36:18.009Z,1761698178.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532301 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:18.086Z,1761698178.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264493 2025-10-29T00:36:18.323Z,1761698178.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862650,-0.495400,-0.102050],[0.504451,0.857391,0.102031],[0.036951,-0.139496,0.989533]] 2025-10-29T00:36:18.337Z,1761698178.337 [DAT](INFO): DAT read: Rx Time:00:36:17.4918 2025-10-29T00:36:18.337Z,1761698178.337 [DAT](INFO): Rx dataTimestamp_ set to:1761698178.337112 2025-10-29T00:36:18.338Z,1761698178.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516005 2025-10-29T00:36:18.409Z,1761698178.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:18.411Z,1761698178.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:18.419Z,1761698178.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 381.312347 m, bearing: 26.716532 deg, approach rate: -0.603359 m/s, LOS rate: 0.019331 deg/s, cmd heading: 30.498598 deg, new cmd heading: 30.514436 deg. 2025-10-29T00:36:18.420Z,1761698178.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532577 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:18.589Z,1761698178.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.766945 2025-10-29T00:36:18.725Z,1761698178.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863082,-0.494480,-0.102859],[0.503728,0.857564,0.104128],[0.036719,-0.141684,0.989231]] 2025-10-29T00:36:18.796Z,1761698178.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 383.74 m. 2025-10-29T00:36:18.799Z,1761698178.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 383.736481 m, nav range: 381.076447 m, bearing: 26.725261 deg, approach rate: -0.612932 m/s, LOS rate: 0.022693 deg/s, cmd heading: 30.514437 deg, new cmd heading: 30.531905 deg. 2025-10-29T00:36:18.800Z,1761698178.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532882 target range: 383.736481 and range: 386.00 m. 2025-10-29T00:36:18.850Z,1761698178.850 [DAT](INFO): DAT read: 00:36:17.4918 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.41, 1.411,-0.120, 1.709, 0.949, PHS= 0.564,-1.024, 0.717, RAW= 154.5, -3.1, CAL= 154.0, -4.4, ROT= 356.0, 4.4 2025-10-29T00:36:18.854Z,1761698178.854 [DAT](INFO): got valid direction response: 00:36:17.4918 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 400,-0.41, 1.411,-0.120, 1.709, 0.949, PHS= 0.564,-1.024, 0.717, RAW= 154.5, -3.1, CAL= 154.0, -4.4, ROT= 356.0, 4.4 2025-10-29T00:36:18.855Z,1761698178.855 [DAT](INFO): DAT read: Bearing 171.9, -1.3 (Local) 2025-10-29T00:36:18.855Z,1761698178.855 [DAT](INFO): Local bearing/azimuth received: Bearing 171.9, -1.3 (Local) 2025-10-29T00:36:18.869Z,1761698178.869 [DAT](INFO): DAT read: Range 11 to 50 : 383.4 m (Round-trip 511.3 ms) speed 0.6 m/s 2025-10-29T00:36:18.870Z,1761698178.870 [DAT](INFO): DAT read: user:459> 2025-10-29T00:36:18.871Z,1761698178.871 [DAT](INFO): DAT read: Tx time:00:36:18.5764 2025-10-29T00:36:18.897Z,1761698178.897 [DAT](INFO): Ping request sent. 2025-10-29T00:36:18.897Z,1761698178.897 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:18.897Z,1761698178.897 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:18.899Z,1761698178.899 [DAT](INFO): direction in FSK: [0.994624,-0.069551,-0.076719] 2025-10-29T00:36:18.899Z,1761698178.899 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:18.899Z,1761698178.899 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:18.916Z,1761698178.916 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:18.916Z,1761698178.916 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:19.127Z,1761698179.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863495,-0.493805,-0.102635],[0.503034,0.857942,0.104363],[0.036521,-0.141746,0.989229]] 2025-10-29T00:36:19.171Z,1761698179.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 383.399994 m, deltaT: 4.034318 s, deltaX: -2.600006 m, approachRate: -0.644472 m/s, rangeRepo size: 4 2025-10-29T00:36:19.177Z,1761698179.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 381.154541 m, bearing: 25.648173 deg, lat: 36.779379 deg, lon: -121.859168 deg, deltaT: 4.034318 s, deltaX: -2.581940 m, approachRate: -0.639994 m/s, posRepo size: 4 2025-10-29T00:36:19.178Z,1761698179.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:19.184Z,1761698179.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 380.093689 m, bearing: 25.956245 deg, approach rate: 0.000000 m/s, LOS rate: 0.022693 deg/s, cmd heading: 30.531905 deg, new cmd heading: 30.548875 deg. 2025-10-29T00:36:19.185Z,1761698179.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533178 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:19.533Z,1761698179.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864036,-0.492993,-0.101979],[0.502124,0.858510,0.104078],[0.036241,-0.141133,0.989327]] 2025-10-29T00:36:19.610Z,1761698179.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:19.613Z,1761698179.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 379.822327 m, bearing: 25.965827 deg, approach rate: -0.616681 m/s, LOS rate: 0.021791 deg/s, cmd heading: 30.548875 deg, new cmd heading: 30.568052 deg. 2025-10-29T00:36:19.614Z,1761698179.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533513 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:19.934Z,1761698179.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864416,-0.492242,-0.102382],[0.501491,0.858694,0.105598],[0.035935,-0.142624,0.989124]] 2025-10-29T00:36:20.013Z,1761698180.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:20.015Z,1761698180.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 379.589752 m, bearing: 25.974143 deg, approach rate: -0.577369 m/s, LOS rate: 0.020656 deg/s, cmd heading: 30.568051 deg, new cmd heading: 30.584692 deg. 2025-10-29T00:36:20.017Z,1761698180.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533804 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:20.339Z,1761698180.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864994,-0.491216,-0.102431],[0.500521,0.859114,0.106777],[0.035550,-0.143630,0.988993]] 2025-10-29T00:36:20.394Z,1761698180.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:20.397Z,1761698180.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 379.357178 m, bearing: 25.982506 deg, approach rate: -0.609745 m/s, LOS rate: 0.021941 deg/s, cmd heading: 30.584692 deg, new cmd heading: 30.601430 deg. 2025-10-29T00:36:20.398Z,1761698180.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534096 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:20.753Z,1761698180.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865495,-0.490310,-0.102542],[0.499672,0.859487,0.107752],[0.035301,-0.144496,0.988876]] 2025-10-29T00:36:20.816Z,1761698180.816 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:20.818Z,1761698180.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:20.821Z,1761698180.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 379.094513 m, bearing: 25.990501 deg, approach rate: -0.619278 m/s, LOS rate: 0.018861 deg/s, cmd heading: 30.601430 deg, new cmd heading: 30.617429 deg. 2025-10-29T00:36:20.822Z,1761698180.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534375 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:20.858Z,1761698180.858 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:20.858Z,1761698180.858 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:20.858Z,1761698180.858 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:21.109Z,1761698181.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.212200 2025-10-29T00:36:21.147Z,1761698181.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865658,-0.490013,-0.102584],[0.499399,0.859591,0.108180],[0.035170,-0.144877,0.988824]] 2025-10-29T00:36:21.184Z,1761698181.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:21.187Z,1761698181.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 378.878967 m, bearing: 25.997079 deg, approach rate: -0.616881 m/s, LOS rate: 0.018837 deg/s, cmd heading: 30.617429 deg, new cmd heading: 30.630593 deg. 2025-10-29T00:36:21.188Z,1761698181.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534605 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:21.363Z,1761698181.363 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465909 2025-10-29T00:36:21.551Z,1761698181.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865933,-0.489581,-0.102326],[0.498957,0.859759,0.108889],[0.034665,-0.145347,0.988773]] 2025-10-29T00:36:21.576Z,1761698181.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:21.579Z,1761698181.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 378.627686 m, bearing: 26.004775 deg, approach rate: -0.615671 m/s, LOS rate: 0.018869 deg/s, cmd heading: 30.630595 deg, new cmd heading: 30.645997 deg. 2025-10-29T00:36:21.580Z,1761698181.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534874 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:21.613Z,1761698181.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.716334 2025-10-29T00:36:21.866Z,1761698181.866 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969672 2025-10-29T00:36:21.955Z,1761698181.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866062,-0.489355,-0.102318],[0.498746,0.859830,0.109295],[0.034492,-0.145687,0.988729]] 2025-10-29T00:36:22.000Z,1761698182.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:22.003Z,1761698182.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 378.372467 m, bearing: 26.011759 deg, approach rate: -0.602284 m/s, LOS rate: 0.016494 deg/s, cmd heading: 30.645997 deg, new cmd heading: 30.659975 deg. 2025-10-29T00:36:22.003Z,1761698182.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535118 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:22.117Z,1761698182.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.220281 2025-10-29T00:36:22.370Z,1761698182.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.472728 2025-10-29T00:36:22.373Z,1761698182.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865801,-0.489843,-0.102190],[0.499196,0.859624,0.108858],[0.034522,-0.145262,0.988791]] 2025-10-29T00:36:22.411Z,1761698182.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:22.418Z,1761698182.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 378.129303 m, bearing: 26.018405 deg, approach rate: -0.590915 m/s, LOS rate: 0.016160 deg/s, cmd heading: 30.659975 deg, new cmd heading: 30.673275 deg. 2025-10-29T00:36:22.419Z,1761698182.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535350 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:22.621Z,1761698182.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.724155 2025-10-29T00:36:22.832Z,1761698182.832 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:22.834Z,1761698182.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:22.837Z,1761698182.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 377.862518 m, bearing: 26.023686 deg, approach rate: -0.630979 m/s, LOS rate: 0.012499 deg/s, cmd heading: 30.673273 deg, new cmd heading: 30.683842 deg. 2025-10-29T00:36:22.840Z,1761698182.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535534 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:22.873Z,1761698182.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.976371 2025-10-29T00:36:23.125Z,1761698183.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.228176 2025-10-29T00:36:23.272Z,1761698183.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864520,-0.492312,-0.101158],[0.501405,0.858676,0.106155],[0.034601,-0.142494,0.989191]] 2025-10-29T00:36:23.291Z,1761698183.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:23.293Z,1761698183.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 377.579132 m, bearing: 26.029202 deg, approach rate: -0.620608 m/s, LOS rate: 0.012090 deg/s, cmd heading: 30.683843 deg, new cmd heading: 30.694884 deg. 2025-10-29T00:36:23.294Z,1761698183.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535727 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:23.377Z,1761698183.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.480349 2025-10-29T00:36:23.629Z,1761698183.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.732283 2025-10-29T00:36:23.674Z,1761698183.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863703,-0.494079,-0.099515],[0.502813,0.858253,0.102868],[0.034584,-0.138884,0.989705]] 2025-10-29T00:36:23.693Z,1761698183.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:23.696Z,1761698183.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 377.329681 m, bearing: 26.034015 deg, approach rate: -0.620100 m/s, LOS rate: 0.011970 deg/s, cmd heading: 30.694884 deg, new cmd heading: 30.704515 deg. 2025-10-29T00:36:23.697Z,1761698183.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535895 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:23.881Z,1761698183.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.984677 2025-10-29T00:36:24.080Z,1761698184.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862611,-0.496354,-0.097646],[0.504691,0.857577,0.099241],[0.034480,-0.134887,0.990261]] 2025-10-29T00:36:24.122Z,1761698184.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:24.133Z,1761698184.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.236243 2025-10-29T00:36:24.149Z,1761698184.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 377.049744 m, bearing: 26.037670 deg, approach rate: -0.652052 m/s, LOS rate: 0.008521 deg/s, cmd heading: 30.704514 deg, new cmd heading: 30.711831 deg. 2025-10-29T00:36:24.150Z,1761698184.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536023 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:24.386Z,1761698184.386 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.488674 2025-10-29T00:36:24.483Z,1761698184.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861806,-0.497981,-0.096460],[0.506091,0.856946,0.097548],[0.034084,-0.132885,0.990545]] 2025-10-29T00:36:24.505Z,1761698184.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:24.507Z,1761698184.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 376.800201 m, bearing: 26.040876 deg, approach rate: -0.652835 m/s, LOS rate: 0.008392 deg/s, cmd heading: 30.711829 deg, new cmd heading: 30.718245 deg. 2025-10-29T00:36:24.508Z,1761698184.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536135 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:24.637Z,1761698184.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.740249 2025-10-29T00:36:24.887Z,1761698184.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860971,-0.499627,-0.095407],[0.507528,0.856293,0.095795],[0.033835,-0.130898,0.990818]] 2025-10-29T00:36:24.889Z,1761698184.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.992410 2025-10-29T00:36:24.954Z,1761698184.954 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:24.960Z,1761698184.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:24.963Z,1761698184.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 376.522339 m, bearing: 26.043486 deg, approach rate: -0.615621 m/s, LOS rate: 0.005788 deg/s, cmd heading: 30.718246 deg, new cmd heading: 30.723471 deg. 2025-10-29T00:36:24.963Z,1761698184.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536226 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:25.141Z,1761698185.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.244178 2025-10-29T00:36:25.291Z,1761698185.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860242,-0.500933,-0.095130],[0.508792,0.855538,0.095844],[0.033376,-0.130850,0.990840]] 2025-10-29T00:36:25.326Z,1761698185.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:25.329Z,1761698185.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 376.290222 m, bearing: 26.045618 deg, approach rate: -0.627363 m/s, LOS rate: 0.005765 deg/s, cmd heading: 30.723472 deg, new cmd heading: 30.727737 deg. 2025-10-29T00:36:25.330Z,1761698185.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536300 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:25.394Z,1761698185.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.497157 2025-10-29T00:36:25.645Z,1761698185.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.748190 2025-10-29T00:36:25.758Z,1761698185.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:25.781Z,1761698185.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 376.020142 m, bearing: 26.048101 deg, approach rate: -0.658391 m/s, LOS rate: 0.006058 deg/s, cmd heading: 30.727737 deg, new cmd heading: 30.732707 deg. 2025-10-29T00:36:25.789Z,1761698185.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536387 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:25.898Z,1761698185.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.000899 2025-10-29T00:36:26.103Z,1761698186.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859113,-0.502934,-0.094771],[0.510805,0.854095,0.097981],[0.031666,-0.132587,0.990665]] 2025-10-29T00:36:26.140Z,1761698186.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:26.143Z,1761698186.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 375.759308 m, bearing: 26.050162 deg, approach rate: -0.645157 m/s, LOS rate: 0.005102 deg/s, cmd heading: 30.732706 deg, new cmd heading: 30.736831 deg. 2025-10-29T00:36:26.149Z,1761698186.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.252310 2025-10-29T00:36:26.164Z,1761698186.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536459 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:26.403Z,1761698186.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.505706 2025-10-29T00:36:26.503Z,1761698186.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858653,-0.503793,-0.094379],[0.511649,0.853431,0.099353],[0.030493,-0.133599,0.990566]] 2025-10-29T00:36:26.522Z,1761698186.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:26.540Z,1761698186.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 375.513092 m, bearing: 26.052072 deg, approach rate: -0.645705 m/s, LOS rate: 0.005012 deg/s, cmd heading: 30.736831 deg, new cmd heading: 30.740653 deg. 2025-10-29T00:36:26.541Z,1761698186.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536526 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:26.654Z,1761698186.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.757419 2025-10-29T00:36:26.905Z,1761698186.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.008177 2025-10-29T00:36:26.914Z,1761698186.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858106,-0.504639,-0.094831],[0.512620,0.852581,0.101620],[0.029570,-0.135813,0.990293]] 2025-10-29T00:36:27.044Z,1761698187.044 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:27.046Z,1761698187.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:27.049Z,1761698187.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 375.175934 m, bearing: 26.055625 deg, approach rate: -0.643088 m/s, LOS rate: 0.006784 deg/s, cmd heading: 30.740653 deg, new cmd heading: 30.747766 deg. 2025-10-29T00:36:27.050Z,1761698187.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536650 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:27.157Z,1761698187.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.260518 2025-10-29T00:36:27.361Z,1761698187.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857896,-0.505149,-0.094016],[0.513011,0.852364,0.101467],[0.028880,-0.135279,0.990386]] 2025-10-29T00:36:27.402Z,1761698187.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:27.405Z,1761698187.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 374.950500 m, bearing: 26.057990 deg, approach rate: -0.632731 m/s, LOS rate: 0.006640 deg/s, cmd heading: 30.747767 deg, new cmd heading: 30.752498 deg. 2025-10-29T00:36:27.406Z,1761698187.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536732 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:27.409Z,1761698187.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.512510 2025-10-29T00:36:27.661Z,1761698187.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.764136 2025-10-29T00:36:27.763Z,1761698187.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857356,-0.506376,-0.092323],[0.513967,0.851930,0.100263],[0.027882,-0.133412,0.990668]] 2025-10-29T00:36:27.838Z,1761698187.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:27.855Z,1761698187.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 374.684113 m, bearing: 26.060745 deg, approach rate: -0.619866 m/s, LOS rate: 0.006416 deg/s, cmd heading: 30.752500 deg, new cmd heading: 30.758014 deg. 2025-10-29T00:36:27.862Z,1761698187.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536829 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:27.914Z,1761698187.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.017001 2025-10-29T00:36:28.165Z,1761698188.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.268172 2025-10-29T00:36:28.315Z,1761698188.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857188,-0.506782,-0.091650],[0.514316,0.851569,0.101537],[0.026589,-0.134173,0.990601]] 2025-10-29T00:36:28.374Z,1761698188.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:28.377Z,1761698188.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 374.325958 m, bearing: 26.066721 deg, approach rate: -0.660409 m/s, LOS rate: 0.011029 deg/s, cmd heading: 30.758015 deg, new cmd heading: 30.769978 deg. 2025-10-29T00:36:28.378Z,1761698188.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537037 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:28.418Z,1761698188.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.520702 2025-10-29T00:36:28.669Z,1761698188.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.772216 2025-10-29T00:36:28.703Z,1761698188.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:28.709Z,1761698188.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 374.124359 m, bearing: 26.070090 deg, approach rate: -0.614191 m/s, LOS rate: 0.010269 deg/s, cmd heading: 30.769978 deg, new cmd heading: 30.776720 deg. 2025-10-29T00:36:28.711Z,1761698188.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537155 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:28.921Z,1761698188.921 [DAT](INFO): Reached modem response timeout 2025-10-29T00:36:28.921Z,1761698188.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:28.922Z,1761698188.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:29.066Z,1761698189.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856879,-0.507430,-0.090959],[0.514876,0.851186,0.101910],[0.025711,-0.134157,0.990626]] 2025-10-29T00:36:29.116Z,1761698189.116 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:29.118Z,1761698189.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:29.137Z,1761698189.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 373.868469 m, bearing: 26.074747 deg, approach rate: -0.616255 m/s, LOS rate: 0.011224 deg/s, cmd heading: 30.776720 deg, new cmd heading: 30.786040 deg. 2025-10-29T00:36:29.138Z,1761698189.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537318 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:29.173Z,1761698189.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:29.425Z,1761698189.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:29.471Z,1761698189.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856612,-0.508008,-0.090239],[0.515368,0.850823,0.102456],[0.024728,-0.134271,0.990636]] 2025-10-29T00:36:29.490Z,1761698189.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:29.517Z,1761698189.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 373.632172 m, bearing: 26.079032 deg, approach rate: -0.634179 m/s, LOS rate: 0.011507 deg/s, cmd heading: 30.786039 deg, new cmd heading: 30.794615 deg. 2025-10-29T00:36:29.517Z,1761698189.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537467 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:29.677Z,1761698189.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:29.891Z,1761698189.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856718,-0.507894,-0.089876],[0.515248,0.850683,0.104204],[0.023531,-0.135582,0.990487]] 2025-10-29T00:36:29.929Z,1761698189.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:29.942Z,1761698189.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:29.945Z,1761698189.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 373.347321 m, bearing: 26.086358 deg, approach rate: -0.630571 m/s, LOS rate: 0.016231 deg/s, cmd heading: 30.794615 deg, new cmd heading: 30.809279 deg. 2025-10-29T00:36:29.946Z,1761698189.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537723 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:30.181Z,1761698190.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:30.278Z,1761698190.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856767,-0.507856,-0.089621],[0.515199,0.850588,0.105218],[0.022794,-0.136320,0.990403]] 2025-10-29T00:36:30.314Z,1761698190.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:30.316Z,1761698190.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 373.116241 m, bearing: 26.092311 deg, approach rate: -0.622127 m/s, LOS rate: 0.016036 deg/s, cmd heading: 30.809279 deg, new cmd heading: 30.821192 deg. 2025-10-29T00:36:30.317Z,1761698190.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537931 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:30.433Z,1761698190.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:30.683Z,1761698190.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856712,-0.508108,-0.088720],[0.515342,0.850417,0.105898],[0.021641,-0.136445,0.990411]] 2025-10-29T00:36:30.685Z,1761698190.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:30.713Z,1761698190.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:30.717Z,1761698190.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 372.864227 m, bearing: 26.098804 deg, approach rate: -0.631263 m/s, LOS rate: 0.016275 deg/s, cmd heading: 30.821191 deg, new cmd heading: 30.834186 deg. 2025-10-29T00:36:30.718Z,1761698190.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538158 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:30.937Z,1761698190.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:31.086Z,1761698191.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856952,-0.507843,-0.087913],[0.514994,0.850466,0.107180],[0.020337,-0.137123,0.990345]] 2025-10-29T00:36:31.144Z,1761698191.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:31.146Z,1761698191.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:31.149Z,1761698191.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 372.600983 m, bearing: 26.105764 deg, approach rate: -0.607233 m/s, LOS rate: 0.016067 deg/s, cmd heading: 30.834185 deg, new cmd heading: 30.848116 deg. 2025-10-29T00:36:31.150Z,1761698191.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538401 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:31.190Z,1761698191.190 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:36:31.190Z,1761698191.190 [DAT](INFO): response not received 2025-10-29T00:36:31.191Z,1761698191.191 [DAT](INFO): DAT read: user:460> 2025-10-29T00:36:31.192Z,1761698191.192 [DAT](INFO): DAT read: Tx time:00:36:31.0263 2025-10-29T00:36:31.193Z,1761698191.193 [DAT](INFO): Ping request sent. 2025-10-29T00:36:31.193Z,1761698191.193 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:31.193Z,1761698191.193 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:31.194Z,1761698191.194 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001062 2025-10-29T00:36:31.441Z,1761698191.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248081 2025-10-29T00:36:31.491Z,1761698191.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857145,-0.507722,-0.086726],[0.514725,0.850542,0.107871],[0.018996,-0.137101,0.990375]] 2025-10-29T00:36:31.524Z,1761698191.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:31.527Z,1761698191.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 372.381348 m, bearing: 26.111589 deg, approach rate: -0.587810 m/s, LOS rate: 0.015599 deg/s, cmd heading: 30.848116 deg, new cmd heading: 30.859773 deg. 2025-10-29T00:36:31.528Z,1761698191.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538605 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:31.693Z,1761698191.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500051 2025-10-29T00:36:31.945Z,1761698191.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752141 2025-10-29T00:36:32.061Z,1761698192.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:32.064Z,1761698192.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 372.049133 m, bearing: 26.120605 deg, approach rate: -0.614046 m/s, LOS rate: 0.016680 deg/s, cmd heading: 30.859771 deg, new cmd heading: 30.877820 deg. 2025-10-29T00:36:32.069Z,1761698192.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538920 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:32.197Z,1761698192.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004063 2025-10-29T00:36:32.371Z,1761698192.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857560,-0.507645,-0.082992],[0.514138,0.850919,0.107704],[0.015944,-0.135032,0.990713]] 2025-10-29T00:36:32.404Z,1761698192.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:32.407Z,1761698192.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 371.825836 m, bearing: 26.126702 deg, approach rate: -0.651274 m/s, LOS rate: 0.017792 deg/s, cmd heading: 30.877820 deg, new cmd heading: 30.890020 deg. 2025-10-29T00:36:32.407Z,1761698192.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539133 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:32.450Z,1761698192.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256823 2025-10-29T00:36:32.701Z,1761698192.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508085 2025-10-29T00:36:32.779Z,1761698192.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857753,-0.507431,-0.082307],[0.513845,0.850983,0.108584],[0.014943,-0.135432,0.990674]] 2025-10-29T00:36:32.953Z,1761698192.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759913 2025-10-29T00:36:32.960Z,1761698192.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:32.962Z,1761698192.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 371.501282 m, bearing: 26.135768 deg, approach rate: -0.601252 m/s, LOS rate: 0.016810 deg/s, cmd heading: 30.890019 deg, new cmd heading: 30.908167 deg. 2025-10-29T00:36:32.963Z,1761698192.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539449 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:33.205Z,1761698193.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011963 2025-10-29T00:36:33.238Z,1761698193.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857742,-0.507568,-0.081572],[0.513893,0.850852,0.109380],[0.013888,-0.135740,0.990647]] 2025-10-29T00:36:33.262Z,1761698193.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:33.264Z,1761698193.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:33.267Z,1761698193.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 371.308899 m, bearing: 26.141145 deg, approach rate: -0.600888 m/s, LOS rate: 0.016805 deg/s, cmd heading: 30.908167 deg, new cmd heading: 30.918928 deg. 2025-10-29T00:36:33.267Z,1761698193.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539637 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:33.457Z,1761698193.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264088 2025-10-29T00:36:33.630Z,1761698193.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857628,-0.508007,-0.080018],[0.514113,0.850778,0.108929],[0.012741,-0.134559,0.990824]] 2025-10-29T00:36:33.685Z,1761698193.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:33.688Z,1761698193.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 371.055267 m, bearing: 26.148237 deg, approach rate: -0.602070 m/s, LOS rate: 0.016846 deg/s, cmd heading: 30.918928 deg, new cmd heading: 30.933121 deg. 2025-10-29T00:36:33.689Z,1761698193.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539885 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:33.709Z,1761698193.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516121 2025-10-29T00:36:33.962Z,1761698193.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769282 2025-10-29T00:36:34.099Z,1761698194.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:34.102Z,1761698194.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 370.793884 m, bearing: 26.154523 deg, approach rate: -0.631720 m/s, LOS rate: 0.015203 deg/s, cmd heading: 30.933121 deg, new cmd heading: 30.945702 deg. 2025-10-29T00:36:34.103Z,1761698194.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540104 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:34.213Z,1761698194.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020179 2025-10-29T00:36:34.443Z,1761698194.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856916,-0.509614,-0.077387],[0.515330,0.850316,0.106763],[0.011395,-0.131367,0.991268]] 2025-10-29T00:36:34.462Z,1761698194.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:34.465Z,1761698194.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272165 2025-10-29T00:36:34.467Z,1761698194.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 370.564667 m, bearing: 26.159997 deg, approach rate: -0.630429 m/s, LOS rate: 0.015065 deg/s, cmd heading: 30.945702 deg, new cmd heading: 30.956657 deg. 2025-10-29T00:36:34.468Z,1761698194.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540296 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:34.718Z,1761698194.718 [DAT](INFO): DAT read: Rx Time:00:36:33.9283 2025-10-29T00:36:34.718Z,1761698194.718 [DAT](INFO): Rx dataTimestamp_ set to:1761698194.718096 2025-10-29T00:36:34.719Z,1761698194.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526084 2025-10-29T00:36:34.851Z,1761698194.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856746,-0.510139,-0.075793],[0.515631,0.850277,0.105610],[0.010569,-0.129562,0.991515]] 2025-10-29T00:36:34.907Z,1761698194.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 381.15 m. 2025-10-29T00:36:34.937Z,1761698194.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 381.154541 m, nav range: 370.297821 m, bearing: 26.166368 deg, approach rate: -0.601680 m/s, LOS rate: 0.014376 deg/s, cmd heading: 30.956658 deg, new cmd heading: 30.969409 deg. 2025-10-29T00:36:34.944Z,1761698194.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540518 target range: 381.154541 and range: 383.40 m. 2025-10-29T00:36:34.969Z,1761698194.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776248 2025-10-29T00:36:35.227Z,1761698195.227 [DAT](INFO): DAT read: 00:36:33.9283 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 280,-0.46,-1.946, 3.075,-1.708,-2.030, PHS= 0.187,-1.133, 0.278, RAW= 153.3, 9.8, CAL= 153.1, 10.6, ROT= 356.9, -10.6 2025-10-29T00:36:35.228Z,1761698195.228 [DAT](INFO): got valid direction response: 00:36:33.9283 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 280,-0.46,-1.946, 3.075,-1.708,-2.030, PHS= 0.187,-1.133, 0.278, RAW= 153.3, 9.8, CAL= 153.1, 10.6, ROT= 356.9, -10.6 2025-10-29T00:36:35.229Z,1761698195.229 [DAT](INFO): DAT read: Bearing 188.1, -3.9 (Local) 2025-10-29T00:36:35.230Z,1761698195.230 [DAT](INFO): Local bearing/azimuth received: Bearing 188.1, -3.9 (Local) 2025-10-29T00:36:35.231Z,1761698195.231 [DAT](INFO): DAT read: Range 11 to 50 : 373.3 m (Round-trip 497.8 ms) speed 0.3 m/s 2025-10-29T00:36:35.232Z,1761698195.232 [DAT](INFO): DAT read: user:461> 2025-10-29T00:36:35.233Z,1761698195.233 [DAT](INFO): DAT read: Tx time:00:36:35.0263 2025-10-29T00:36:35.233Z,1761698195.233 [DAT](INFO): Ping request sent. 2025-10-29T00:36:35.233Z,1761698195.233 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:35.233Z,1761698195.233 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:35.234Z,1761698195.234 [DAT](INFO): direction in FSK: [0.981497,-0.053156,0.183951] 2025-10-29T00:36:35.234Z,1761698195.234 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:35.235Z,1761698195.235 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:35.251Z,1761698195.251 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:35.251Z,1761698195.251 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:35.417Z,1761698195.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 373.299988 m, deltaT: 16.380299 s, deltaX: -10.100006 m, approachRate: -0.616595 m/s, rangeRepo size: 4 2025-10-29T00:36:35.419Z,1761698195.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 371.108429 m, bearing: 29.352990 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 16.380299 s, deltaX: -10.046112 m, approachRate: -0.613305 m/s, posRepo size: 4 2025-10-29T00:36:35.419Z,1761698195.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:35.426Z,1761698195.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 370.947113 m, bearing: 27.023944 deg, approach rate: 0.000000 m/s, LOS rate: 0.014376 deg/s, cmd heading: 30.969410 deg, new cmd heading: 30.983841 deg. 2025-10-29T00:36:35.427Z,1761698195.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540770 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:35.753Z,1761698195.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856002,-0.511845,-0.072637],[0.516891,0.849880,0.102608],[0.009213,-0.125378,0.992066]] 2025-10-29T00:36:35.778Z,1761698195.778 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:35.780Z,1761698195.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:35.782Z,1761698195.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 370.709076 m, bearing: 27.029160 deg, approach rate: -0.640411 m/s, LOS rate: 0.014040 deg/s, cmd heading: 30.983842 deg, new cmd heading: 30.994279 deg. 2025-10-29T00:36:35.783Z,1761698195.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540952 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:35.926Z,1761698195.926 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:36:35.977Z,1761698195.977 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:35.977Z,1761698195.977 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:35.977Z,1761698195.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:36.201Z,1761698196.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:36.203Z,1761698196.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 370.440918 m, bearing: 27.034309 deg, approach rate: -0.637062 m/s, LOS rate: 0.012241 deg/s, cmd heading: 30.994278 deg, new cmd heading: 31.004584 deg. 2025-10-29T00:36:36.204Z,1761698196.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541132 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:36.229Z,1761698196.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995918 2025-10-29T00:36:36.481Z,1761698196.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248530 2025-10-29T00:36:36.551Z,1761698196.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855406,-0.512978,-0.071652],[0.517896,0.849219,0.103004],[0.008009,-0.125218,0.992097]] 2025-10-29T00:36:36.576Z,1761698196.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:36.579Z,1761698196.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 370.203339 m, bearing: 27.038833 deg, approach rate: -0.632403 m/s, LOS rate: 0.012051 deg/s, cmd heading: 31.004585 deg, new cmd heading: 31.013640 deg. 2025-10-29T00:36:36.580Z,1761698196.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541290 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:36.733Z,1761698196.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499891 2025-10-29T00:36:36.929Z,1761698196.929 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:36:36.985Z,1761698196.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752199 2025-10-29T00:36:37.052Z,1761698197.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:37.054Z,1761698197.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 369.906738 m, bearing: 27.043724 deg, approach rate: -0.623805 m/s, LOS rate: 0.010294 deg/s, cmd heading: 31.013638 deg, new cmd heading: 31.023427 deg. 2025-10-29T00:36:37.055Z,1761698197.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541461 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:37.237Z,1761698197.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004344 2025-10-29T00:36:37.398Z,1761698197.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855509,-0.512690,-0.072479],[0.517741,0.848880,0.106520],[0.006915,-0.128654,0.991665]] 2025-10-29T00:36:37.417Z,1761698197.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:37.419Z,1761698197.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 369.678955 m, bearing: 27.047484 deg, approach rate: -0.623778 m/s, LOS rate: 0.010305 deg/s, cmd heading: 31.023426 deg, new cmd heading: 31.030952 deg. 2025-10-29T00:36:37.421Z,1761698197.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541592 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:37.490Z,1761698197.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257401 2025-10-29T00:36:37.742Z,1761698197.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508579 2025-10-29T00:36:37.803Z,1761698197.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855402,-0.512915,-0.072148],[0.517927,0.848668,0.107304],[0.006192,-0.129155,0.991605]] 2025-10-29T00:36:37.827Z,1761698197.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:37.831Z,1761698197.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:37.836Z,1761698197.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 369.425842 m, bearing: 27.051659 deg, approach rate: -0.612010 m/s, LOS rate: 0.010100 deg/s, cmd heading: 31.030953 deg, new cmd heading: 31.039307 deg. 2025-10-29T00:36:37.853Z,1761698197.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541738 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:37.999Z,1761698197.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762469 2025-10-29T00:36:38.203Z,1761698198.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855182,-0.513354,-0.071637],[0.518299,0.848397,0.107647],[0.005516,-0.129187,0.991605]] 2025-10-29T00:36:38.245Z,1761698198.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011933 2025-10-29T00:36:38.274Z,1761698198.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:38.277Z,1761698198.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 369.157806 m, bearing: 27.054970 deg, approach rate: -0.603597 m/s, LOS rate: 0.007461 deg/s, cmd heading: 31.039306 deg, new cmd heading: 31.045933 deg. 2025-10-29T00:36:38.278Z,1761698198.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541854 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:38.497Z,1761698198.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263975 2025-10-29T00:36:38.606Z,1761698198.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855024,-0.513692,-0.071087],[0.518565,0.848190,0.107998],[0.004817,-0.129204,0.991606]] 2025-10-29T00:36:38.640Z,1761698198.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:38.643Z,1761698198.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 368.908813 m, bearing: 27.058037 deg, approach rate: -0.681248 m/s, LOS rate: 0.008398 deg/s, cmd heading: 31.045932 deg, new cmd heading: 31.052071 deg. 2025-10-29T00:36:38.644Z,1761698198.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541961 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:38.750Z,1761698198.750 [DAT](INFO): DAT read: Rx Time:00:36:37.9261 2025-10-29T00:36:38.751Z,1761698198.751 [DAT](INFO): Rx dataTimestamp_ set to:1761698198.750080 2025-10-29T00:36:38.751Z,1761698198.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518264 2025-10-29T00:36:39.003Z,1761698199.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770061 2025-10-29T00:36:39.022Z,1761698199.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854670,-0.514367,-0.070471],[0.519155,0.847843,0.107892],[0.004252,-0.128798,0.991662]] 2025-10-29T00:36:39.139Z,1761698199.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 371.11 m. 2025-10-29T00:36:39.143Z,1761698199.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 371.108429 m, nav range: 368.596863 m, bearing: 27.062279 deg, approach rate: -0.625236 m/s, LOS rate: 0.008508 deg/s, cmd heading: 31.052072 deg, new cmd heading: 31.060562 deg. 2025-10-29T00:36:39.143Z,1761698199.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542109 target range: 371.108429 and range: 373.30 m. 2025-10-29T00:36:39.260Z,1761698199.260 [DAT](INFO): DAT read: 00:36:37.9261 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.01, 1.942, 0.471, 2.278, 1.584, PHS= 0.459,-1.068, 0.650, RAW= 155.8, -0.5, CAL= 154.7, -1.8, ROT= 355.3, 1.8 2025-10-29T00:36:39.261Z,1761698199.261 [DAT](INFO): got valid direction response: 00:36:37.9261 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415, 0.01, 1.942, 0.471, 2.278, 1.584, PHS= 0.459,-1.068, 0.650, RAW= 155.8, -0.5, CAL= 154.7, -1.8, ROT= 355.3, 1.8 2025-10-29T00:36:39.262Z,1761698199.262 [DAT](INFO): DAT read: Bearing 175.1, -4.3 (Local) 2025-10-29T00:36:39.262Z,1761698199.262 [DAT](INFO): Local bearing/azimuth received: Bearing 175.1, -4.3 (Local) 2025-10-29T00:36:39.265Z,1761698199.265 [DAT](INFO): DAT read: Range 11 to 50 : 371.7 m (Round-trip 495.7 ms) speed 0.5 m/s 2025-10-29T00:36:39.265Z,1761698199.265 [DAT](INFO): DAT read: user:462> 2025-10-29T00:36:39.266Z,1761698199.266 [DAT](INFO): DAT read: Tx time:00:36:39.0263 2025-10-29T00:36:39.266Z,1761698199.266 [DAT](INFO): Ping request sent. 2025-10-29T00:36:39.266Z,1761698199.266 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:39.267Z,1761698199.267 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:39.268Z,1761698199.268 [DAT](INFO): direction in FSK: [0.996146,-0.081898,-0.031411] 2025-10-29T00:36:39.268Z,1761698199.268 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:39.268Z,1761698199.268 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:39.271Z,1761698199.271 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:39.271Z,1761698199.271 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:39.464Z,1761698199.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854460,-0.514801,-0.069844],[0.519503,0.847671,0.107565],[0.003830,-0.128194,0.991742]] 2025-10-29T00:36:39.506Z,1761698199.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 371.700012 m, deltaT: 4.031937 s, deltaX: -1.599976 m, approachRate: -0.396826 m/s, rangeRepo size: 4 2025-10-29T00:36:39.513Z,1761698199.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 369.525787 m, bearing: 26.408134 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 4.031937 s, deltaX: -1.582642 m, approachRate: -0.392526 m/s, posRepo size: 4 2025-10-29T00:36:39.513Z,1761698199.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:39.522Z,1761698199.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 368.372955 m, bearing: 27.065314 deg, approach rate: 0.000000 m/s, LOS rate: 0.008508 deg/s, cmd heading: 31.060562 deg, new cmd heading: 31.066492 deg. 2025-10-29T00:36:39.523Z,1761698199.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542213 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:39.866Z,1761698199.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854460,-0.514906,-0.069059],[0.519505,0.847727,0.107116],[0.003388,-0.127403,0.991845]] 2025-10-29T00:36:39.895Z,1761698199.895 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:39.897Z,1761698199.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:39.900Z,1761698199.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 368.109772 m, bearing: 27.068887 deg, approach rate: -0.641980 m/s, LOS rate: 0.008723 deg/s, cmd heading: 31.066490 deg, new cmd heading: 31.073643 deg. 2025-10-29T00:36:39.901Z,1761698199.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542337 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:40.011Z,1761698200.011 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:40.011Z,1761698200.011 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:40.013Z,1761698200.013 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:40.261Z,1761698200.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994603 2025-10-29T00:36:40.273Z,1761698200.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854273,-0.515295,-0.068470],[0.519815,0.847591,0.106682],[0.003062,-0.126728,0.991933]] 2025-10-29T00:36:40.344Z,1761698200.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:40.347Z,1761698200.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 367.853516 m, bearing: 27.072808 deg, approach rate: -0.578989 m/s, LOS rate: 0.008864 deg/s, cmd heading: 31.073642 deg, new cmd heading: 31.081488 deg. 2025-10-29T00:36:40.352Z,1761698200.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542474 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:40.513Z,1761698200.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246407 2025-10-29T00:36:40.674Z,1761698200.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854202,-0.515524,-0.067626],[0.519936,0.847505,0.106781],[0.002265,-0.126374,0.991980]] 2025-10-29T00:36:40.700Z,1761698200.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:40.702Z,1761698200.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 367.611969 m, bearing: 27.076504 deg, approach rate: -0.671541 m/s, LOS rate: 0.010282 deg/s, cmd heading: 31.081490 deg, new cmd heading: 31.088886 deg. 2025-10-29T00:36:40.703Z,1761698200.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542603 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:40.766Z,1761698200.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499399 2025-10-29T00:36:41.019Z,1761698201.019 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752648 2025-10-29T00:36:41.082Z,1761698201.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854331,-0.515364,-0.067219],[0.519727,0.847543,0.107494],[0.001572,-0.126771,0.991931]] 2025-10-29T00:36:41.148Z,1761698201.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:41.151Z,1761698201.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 367.336639 m, bearing: 27.081397 deg, approach rate: -0.619742 m/s, LOS rate: 0.011022 deg/s, cmd heading: 31.088887 deg, new cmd heading: 31.098680 deg. 2025-10-29T00:36:41.152Z,1761698201.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542774 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:41.269Z,1761698201.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002944 2025-10-29T00:36:41.483Z,1761698201.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854307,-0.515481,-0.066625],[0.519768,0.847491,0.107705],[0.000944,-0.126643,0.991948]] 2025-10-29T00:36:41.524Z,1761698201.524 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257621 2025-10-29T00:36:41.532Z,1761698201.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:41.535Z,1761698201.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 367.105316 m, bearing: 27.085512 deg, approach rate: -0.602644 m/s, LOS rate: 0.010728 deg/s, cmd heading: 31.098681 deg, new cmd heading: 31.106917 deg. 2025-10-29T00:36:41.541Z,1761698201.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542918 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:41.774Z,1761698201.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506946 2025-10-29T00:36:41.886Z,1761698201.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854587,-0.515061,-0.066278],[0.519308,0.847678,0.108450],[0.000324,-0.127099,0.991890]] 2025-10-29T00:36:41.903Z,1761698201.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:41.905Z,1761698201.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:41.908Z,1761698201.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 366.850189 m, bearing: 27.090077 deg, approach rate: -0.675582 m/s, LOS rate: 0.012097 deg/s, cmd heading: 31.106918 deg, new cmd heading: 31.116055 deg. 2025-10-29T00:36:41.909Z,1761698201.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543078 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:42.028Z,1761698202.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760844 2025-10-29T00:36:42.277Z,1761698202.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010436 2025-10-29T00:36:42.299Z,1761698202.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854973,-0.514396,-0.066459],[0.518672,0.847901,0.109741],[-0.000100,-0.128296,0.991736]] 2025-10-29T00:36:42.364Z,1761698202.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:42.367Z,1761698202.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 366.564667 m, bearing: 27.096726 deg, approach rate: -0.622489 m/s, LOS rate: 0.014506 deg/s, cmd heading: 31.116054 deg, new cmd heading: 31.129361 deg. 2025-10-29T00:36:42.368Z,1761698202.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543310 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:42.529Z,1761698202.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262540 2025-10-29T00:36:42.695Z,1761698202.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855184,-0.514076,-0.066224],[0.518324,0.848031,0.110383],[-0.000585,-0.128723,0.991680]] 2025-10-29T00:36:42.731Z,1761698202.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:42.734Z,1761698202.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 366.339264 m, bearing: 27.101995 deg, approach rate: -0.614486 m/s, LOS rate: 0.014373 deg/s, cmd heading: 31.129362 deg, new cmd heading: 31.139907 deg. 2025-10-29T00:36:42.735Z,1761698202.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543494 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:42.781Z,1761698202.781 [DAT](INFO): DAT read: Rx Time:00:36:41.9239 2025-10-29T00:36:42.782Z,1761698202.782 [DAT](INFO): Rx dataTimestamp_ set to:1761698202.781252 2025-10-29T00:36:42.782Z,1761698202.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515719 2025-10-29T00:36:43.036Z,1761698203.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.769114 2025-10-29T00:36:43.135Z,1761698203.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855686,-0.513336,-0.065487],[0.517494,0.848436,0.111163],[-0.001503,-0.129010,0.991642]] 2025-10-29T00:36:43.174Z,1761698203.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 369.53 m. 2025-10-29T00:36:43.177Z,1761698203.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 369.525787 m, nav range: 366.060364 m, bearing: 27.109533 deg, approach rate: -0.628900 m/s, LOS rate: 0.017010 deg/s, cmd heading: 31.139908 deg, new cmd heading: 31.154995 deg. 2025-10-29T00:36:43.178Z,1761698203.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543757 target range: 369.525787 and range: 371.70 m. 2025-10-29T00:36:43.291Z,1761698203.291 [DAT](INFO): DAT read: 00:36:41.9239 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423, 0.24,-1.966, 3.034,-1.741,-2.179, PHS= 0.315,-1.025, 0.394, RAW= 152.8, 4.6, CAL= 152.0, 4.5, ROT= 358.0, -4.5 2025-10-29T00:36:43.293Z,1761698203.293 [DAT](INFO): got valid direction response: 00:36:41.9239 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 423, 0.24,-1.966, 3.034,-1.741,-2.179, PHS= 0.315,-1.025, 0.394, RAW= 152.8, 4.6, CAL= 152.0, 4.5, ROT= 358.0, -4.5 2025-10-29T00:36:43.295Z,1761698203.295 [DAT](INFO): DAT read: Bearing 181.1, -2.7 (Local) 2025-10-29T00:36:43.295Z,1761698203.295 [DAT](INFO): Local bearing/azimuth received: Bearing 181.1, -2.7 (Local) 2025-10-29T00:36:43.297Z,1761698203.297 [DAT](INFO): DAT read: Range 11 to 50 : 370.0 m (Round-trip 493.4 ms) speed 0.5 m/s 2025-10-29T00:36:43.298Z,1761698203.298 [DAT](INFO): DAT read: user:463> 2025-10-29T00:36:43.299Z,1761698203.299 [DAT](INFO): DAT read: Tx time:00:36:43.0263 2025-10-29T00:36:43.310Z,1761698203.310 [DAT](INFO): Ping request sent. 2025-10-29T00:36:43.310Z,1761698203.310 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:43.311Z,1761698203.311 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:43.318Z,1761698203.318 [DAT](INFO): direction in FSK: [0.996310,-0.034792,0.078459] 2025-10-29T00:36:43.318Z,1761698203.318 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:43.319Z,1761698203.319 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:43.337Z,1761698203.337 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:43.337Z,1761698203.337 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:43.566Z,1761698203.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856022,-0.512826,-0.065083],[0.516936,0.848711,0.111657],[-0.002024,-0.129225,0.991613]] 2025-10-29T00:36:43.614Z,1761698203.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 370.000000 m, deltaT: 4.031799 s, deltaX: -1.700012 m, approachRate: -0.421651 m/s, rangeRepo size: 4 2025-10-29T00:36:43.616Z,1761698203.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 367.837189 m, bearing: 29.726522 deg, lat: 36.779365 deg, lon: -121.859108 deg, deltaT: 4.031799 s, deltaX: -1.688599 m, approachRate: -0.418820 m/s, posRepo size: 4 2025-10-29T00:36:43.621Z,1761698203.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:43.623Z,1761698203.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 365.797394 m, bearing: 27.116678 deg, approach rate: 0.000000 m/s, LOS rate: 0.017010 deg/s, cmd heading: 31.154996 deg, new cmd heading: 31.169919 deg. 2025-10-29T00:36:43.629Z,1761698203.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544018 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:43.969Z,1761698203.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856268,-0.512423,-0.065023],[0.516526,0.848879,0.112272],[-0.002334,-0.129721,0.991548]] 2025-10-29T00:36:43.986Z,1761698203.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:43.988Z,1761698203.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:43.991Z,1761698203.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 365.554474 m, bearing: 27.123305 deg, approach rate: -0.648132 m/s, LOS rate: 0.017694 deg/s, cmd heading: 31.169920 deg, new cmd heading: 31.183183 deg. 2025-10-29T00:36:43.991Z,1761698203.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544249 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:44.046Z,1761698204.046 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:44.046Z,1761698204.046 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:44.047Z,1761698204.047 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:44.293Z,1761698204.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.983105 2025-10-29T00:36:44.375Z,1761698204.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856707,-0.511699,-0.064937],[0.515795,0.849161,0.113494],[-0.002933,-0.130726,0.991414]] 2025-10-29T00:36:44.418Z,1761698204.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:44.437Z,1761698204.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 365.280426 m, bearing: 27.130976 deg, approach rate: -0.636767 m/s, LOS rate: 0.017837 deg/s, cmd heading: 31.183184 deg, new cmd heading: 31.198537 deg. 2025-10-29T00:36:44.438Z,1761698204.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544517 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:44.545Z,1761698204.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.235365 2025-10-29T00:36:44.797Z,1761698204.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487220 2025-10-29T00:36:44.834Z,1761698204.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857258,-0.510839,-0.064433],[0.514876,0.849684,0.113757],[-0.003364,-0.130694,0.991417]] 2025-10-29T00:36:44.877Z,1761698204.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:44.880Z,1761698204.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 364.998230 m, bearing: 27.138935 deg, approach rate: -0.614525 m/s, LOS rate: 0.017345 deg/s, cmd heading: 31.198539 deg, new cmd heading: 31.214469 deg. 2025-10-29T00:36:44.881Z,1761698204.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544795 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:45.052Z,1761698205.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.741702 2025-10-29T00:36:45.194Z,1761698205.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857482,-0.510558,-0.063673],[0.514498,0.849895,0.113886],[-0.004030,-0.130415,0.991451]] 2025-10-29T00:36:45.258Z,1761698205.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:45.265Z,1761698205.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 364.765472 m, bearing: 27.145209 deg, approach rate: -0.611649 m/s, LOS rate: 0.016498 deg/s, cmd heading: 31.214470 deg, new cmd heading: 31.227026 deg. 2025-10-29T00:36:45.266Z,1761698205.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545014 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:45.304Z,1761698205.304 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991716 2025-10-29T00:36:45.553Z,1761698205.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243092 2025-10-29T00:36:45.616Z,1761698205.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857696,-0.510233,-0.063406],[0.514138,0.850048,0.114366],[-0.004456,-0.130691,0.991413]] 2025-10-29T00:36:45.643Z,1761698205.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:45.646Z,1761698205.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 364.514618 m, bearing: 27.151996 deg, approach rate: -0.650808 m/s, LOS rate: 0.017618 deg/s, cmd heading: 31.227027 deg, new cmd heading: 31.240609 deg. 2025-10-29T00:36:45.647Z,1761698205.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545251 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:45.806Z,1761698205.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496116 2025-10-29T00:36:46.018Z,1761698206.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857887,-0.509968,-0.062955],[0.513816,0.850219,0.114550],[-0.004892,-0.130618,0.991421]] 2025-10-29T00:36:46.061Z,1761698206.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750396 2025-10-29T00:36:46.182Z,1761698206.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:46.183Z,1761698206.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:46.186Z,1761698206.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 364.179016 m, bearing: 27.160115 deg, approach rate: -0.621293 m/s, LOS rate: 0.015046 deg/s, cmd heading: 31.240609 deg, new cmd heading: 31.256864 deg. 2025-10-29T00:36:46.187Z,1761698206.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545535 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:46.310Z,1761698206.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.999864 2025-10-29T00:36:46.443Z,1761698206.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857901,-0.510022,-0.062316],[0.513784,0.850207,0.114777],[-0.005557,-0.130484,0.991435]] 2025-10-29T00:36:46.470Z,1761698206.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:46.489Z,1761698206.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 364.000977 m, bearing: 27.164430 deg, approach rate: -0.621846 m/s, LOS rate: 0.015076 deg/s, cmd heading: 31.256865 deg, new cmd heading: 31.265498 deg. 2025-10-29T00:36:46.491Z,1761698206.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545686 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:46.562Z,1761698206.562 [DAT](INFO): DAT read: Rx Time:00:36:45.9190 2025-10-29T00:36:46.563Z,1761698206.563 [DAT](INFO): Rx dataTimestamp_ set to:1761698206.562113 2025-10-29T00:36:46.563Z,1761698206.563 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.253415 2025-10-29T00:36:46.814Z,1761698206.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.503976 2025-10-29T00:36:46.852Z,1761698206.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857863,-0.510127,-0.061971],[0.513843,0.850150,0.114937],[-0.005948,-0.130444,0.991438]] 2025-10-29T00:36:46.957Z,1761698206.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 367.84 m. 2025-10-29T00:36:46.960Z,1761698206.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 367.837189 m, nav range: 363.704712 m, bearing: 27.171616 deg, approach rate: -0.607639 m/s, LOS rate: 0.014751 deg/s, cmd heading: 31.265498 deg, new cmd heading: 31.279882 deg. 2025-10-29T00:36:46.961Z,1761698206.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545937 target range: 367.837189 and range: 370.00 m. 2025-10-29T00:36:47.133Z,1761698207.133 [DAT](INFO): DAT read: 00:36:45.9190 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394,-0.29, 0.556,-0.606, 0.906, 0.419, PHS= 0.240,-0.980, 0.443, RAW= 157.6, 4.5, CAL= 156.6, 3.9, ROT= 353.4, -3.9 2025-10-29T00:36:47.134Z,1761698207.134 [DAT](INFO): got valid direction response: 00:36:45.9190 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 394,-0.29, 0.556,-0.606, 0.906, 0.419, PHS= 0.240,-0.980, 0.443, RAW= 157.6, 4.5, CAL= 156.6, 3.9, ROT= 353.4, -3.9 2025-10-29T00:36:47.135Z,1761698207.135 [DAT](INFO): DAT read: Bearing 179.5, -7.4 (Local) 2025-10-29T00:36:47.135Z,1761698207.135 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -7.4 (Local) 2025-10-29T00:36:47.137Z,1761698207.137 [DAT](INFO): DAT read: Range 11 to 50 : 366.3 m (Round-trip 488.5 ms) speed 0.4 m/s 2025-10-29T00:36:47.138Z,1761698207.138 [DAT](INFO): DAT read: user:464> 2025-10-29T00:36:47.138Z,1761698207.138 [DAT](INFO): DAT read: Tx time:00:36:47.0263 2025-10-29T00:36:47.139Z,1761698207.139 [DAT](INFO): Ping request sent. 2025-10-29T00:36:47.139Z,1761698207.139 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:47.139Z,1761698207.139 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:36:47.141Z,1761698207.141 [DAT](INFO): direction in FSK: [0.991072,-0.114671,0.068015] 2025-10-29T00:36:47.141Z,1761698207.141 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:47.141Z,1761698207.141 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:47.144Z,1761698207.144 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:47.145Z,1761698207.145 [DAT](INFO): publishing direction and range info 2025-10-29T00:36:47.291Z,1761698207.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857625,-0.510527,-0.061987],[0.514238,0.849840,0.115457],[-0.006265,-0.130895,0.991376]] 2025-10-29T00:36:47.390Z,1761698207.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 366.299988 m, deltaT: 3.832106 s, deltaX: -3.700012 m, approachRate: -0.965530 m/s, rangeRepo size: 4 2025-10-29T00:36:47.392Z,1761698207.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 364.155212 m, bearing: 24.915031 deg, lat: 36.779391 deg, lon: -121.859145 deg, deltaT: 3.832106 s, deltaX: -3.681976 m, approachRate: -0.960823 m/s, posRepo size: 4 2025-10-29T00:36:47.393Z,1761698207.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:47.395Z,1761698207.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 364.531281 m, bearing: 26.509894 deg, approach rate: 0.000000 m/s, LOS rate: 0.014751 deg/s, cmd heading: 31.279883 deg, new cmd heading: 31.292620 deg. 2025-10-29T00:36:47.396Z,1761698207.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546159 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:47.700Z,1761698207.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857233,-0.511229,-0.061614],[0.514889,0.849533,0.114818],[-0.006355,-0.130150,0.991474]] 2025-10-29T00:36:47.737Z,1761698207.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:47.740Z,1761698207.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 364.319794 m, bearing: 26.514028 deg, approach rate: -0.609901 m/s, LOS rate: 0.011930 deg/s, cmd heading: 31.292621 deg, new cmd heading: 31.300894 deg. 2025-10-29T00:36:47.742Z,1761698207.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546304 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:48.156Z,1761698208.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856576,-0.512344,-0.061485],[0.515982,0.848954,0.114194],[-0.006309,-0.129541,0.991554]] 2025-10-29T00:36:48.217Z,1761698208.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:48.219Z,1761698208.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:48.222Z,1761698208.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 364.030029 m, bearing: 26.519737 deg, approach rate: -0.599287 m/s, LOS rate: 0.011817 deg/s, cmd heading: 31.300896 deg, new cmd heading: 31.312323 deg. 2025-10-29T00:36:48.223Z,1761698208.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546503 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:48.377Z,1761698208.377 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:36:48.377Z,1761698208.377 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:36:48.377Z,1761698208.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:48.545Z,1761698208.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856124,-0.513127,-0.061260],[0.516731,0.848545,0.113844],[-0.006435,-0.129119,0.991608]] 2025-10-29T00:36:48.564Z,1761698208.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:48.566Z,1761698208.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 363.823059 m, bearing: 26.523793 deg, approach rate: -0.601310 m/s, LOS rate: 0.011791 deg/s, cmd heading: 31.312323 deg, new cmd heading: 31.320439 deg. 2025-10-29T00:36:48.567Z,1761698208.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546645 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:48.630Z,1761698208.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491065 2025-10-29T00:36:48.881Z,1761698208.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742137 2025-10-29T00:36:48.946Z,1761698208.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855512,-0.514222,-0.060615],[0.517744,0.848149,0.112178],[-0.006273,-0.127353,0.991838]] 2025-10-29T00:36:48.965Z,1761698208.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:48.984Z,1761698208.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 363.582153 m, bearing: 26.528478 deg, approach rate: -0.599471 m/s, LOS rate: 0.011665 deg/s, cmd heading: 31.320440 deg, new cmd heading: 31.329816 deg. 2025-10-29T00:36:48.985Z,1761698208.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546808 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:49.136Z,1761698209.136 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996786 2025-10-29T00:36:49.385Z,1761698209.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246270 2025-10-29T00:36:49.427Z,1761698209.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:49.429Z,1761698209.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 363.311279 m, bearing: 26.532857 deg, approach rate: -0.587328 m/s, LOS rate: 0.009502 deg/s, cmd heading: 31.329815 deg, new cmd heading: 31.338579 deg. 2025-10-29T00:36:49.430Z,1761698209.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546961 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:49.638Z,1761698209.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.498553 2025-10-29T00:36:49.760Z,1761698209.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854688,-0.515655,-0.060060],[0.519100,0.847426,0.111374],[-0.006534,-0.126368,0.991962]] 2025-10-29T00:36:49.791Z,1761698209.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:49.794Z,1761698209.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 363.072479 m, bearing: 26.536664 deg, approach rate: -0.656120 m/s, LOS rate: 0.010467 deg/s, cmd heading: 31.338578 deg, new cmd heading: 31.346197 deg. 2025-10-29T00:36:49.796Z,1761698209.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547094 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:49.889Z,1761698209.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750320 2025-10-29T00:36:50.146Z,1761698210.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007167 2025-10-29T00:36:50.204Z,1761698210.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854233,-0.516347,-0.060599],[0.519848,0.846860,0.112187],[-0.006609,-0.127336,0.991838]] 2025-10-29T00:36:50.239Z,1761698210.239 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:50.261Z,1761698210.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:50.272Z,1761698210.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 362.799164 m, bearing: 26.541376 deg, approach rate: -0.580511 m/s, LOS rate: 0.010015 deg/s, cmd heading: 31.346197 deg, new cmd heading: 31.355627 deg. 2025-10-29T00:36:50.273Z,1761698210.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547259 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:50.398Z,1761698210.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258970 2025-10-29T00:36:50.600Z,1761698210.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854059,-0.516551,-0.061297],[0.520130,0.846476,0.113767],[-0.006880,-0.129046,0.991615]] 2025-10-29T00:36:50.619Z,1761698210.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:50.621Z,1761698210.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 362.570038 m, bearing: 26.545317 deg, approach rate: -0.641538 m/s, LOS rate: 0.011042 deg/s, cmd heading: 31.355626 deg, new cmd heading: 31.363513 deg. 2025-10-29T00:36:50.622Z,1761698210.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547397 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:50.649Z,1761698210.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510367 2025-10-29T00:36:50.901Z,1761698210.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762176 2025-10-29T00:36:50.999Z,1761698210.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853930,-0.516810,-0.060912],[0.520335,0.846323,0.113963],[-0.007346,-0.129011,0.991616]] 2025-10-29T00:36:51.018Z,1761698211.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:51.021Z,1761698211.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 362.327515 m, bearing: 26.549484 deg, approach rate: -0.606950 m/s, LOS rate: 0.010435 deg/s, cmd heading: 31.363515 deg, new cmd heading: 31.371854 deg. 2025-10-29T00:36:51.022Z,1761698211.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547542 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:51.157Z,1761698211.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.017065 2025-10-29T00:36:51.405Z,1761698211.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.266192 2025-10-29T00:36:51.472Z,1761698211.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:51.475Z,1761698211.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 362.045715 m, bearing: 26.555284 deg, approach rate: -0.621114 m/s, LOS rate: 0.012794 deg/s, cmd heading: 31.371855 deg, new cmd heading: 31.383464 deg. 2025-10-29T00:36:51.476Z,1761698211.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547745 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:51.657Z,1761698211.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.518232 2025-10-29T00:36:51.825Z,1761698211.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854200,-0.516483,-0.059896],[0.519878,0.846562,0.114281],[-0.008318,-0.128758,0.991641]] 2025-10-29T00:36:51.843Z,1761698211.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:51.846Z,1761698211.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 361.815063 m, bearing: 26.560058 deg, approach rate: -0.621174 m/s, LOS rate: 0.012865 deg/s, cmd heading: 31.383462 deg, new cmd heading: 31.393017 deg. 2025-10-29T00:36:51.847Z,1761698211.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547912 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:51.909Z,1761698211.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.770288 2025-10-29T00:36:52.165Z,1761698212.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025218 2025-10-29T00:36:52.360Z,1761698212.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:52.362Z,1761698212.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:52.365Z,1761698212.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 361.503204 m, bearing: 26.567582 deg, approach rate: -0.600811 m/s, LOS rate: 0.014508 deg/s, cmd heading: 31.393018 deg, new cmd heading: 31.408079 deg. 2025-10-29T00:36:52.366Z,1761698212.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548174 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:52.413Z,1761698212.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.274314 2025-10-29T00:36:52.665Z,1761698212.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.526146 2025-10-29T00:36:52.702Z,1761698212.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854712,-0.515685,-0.059461],[0.519025,0.846988,0.114996],[-0.008939,-0.129151,0.991585]] 2025-10-29T00:36:52.746Z,1761698212.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:52.754Z,1761698212.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 361.280060 m, bearing: 26.573009 deg, approach rate: -0.582129 m/s, LOS rate: 0.014167 deg/s, cmd heading: 31.408078 deg, new cmd heading: 31.418939 deg. 2025-10-29T00:36:52.755Z,1761698212.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548364 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:52.917Z,1761698212.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.778194 2025-10-29T00:36:53.174Z,1761698213.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.035119 2025-10-29T00:36:53.239Z,1761698213.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855305,-0.514831,-0.058329],[0.518040,0.847692,0.114247],[-0.009373,-0.127933,0.991738]] 2025-10-29T00:36:53.285Z,1761698213.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:53.288Z,1761698213.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 360.937256 m, bearing: 26.580748 deg, approach rate: -0.635458 m/s, LOS rate: 0.014360 deg/s, cmd heading: 31.418938 deg, new cmd heading: 31.434432 deg. 2025-10-29T00:36:53.290Z,1761698213.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548634 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:53.421Z,1761698213.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.282141 2025-10-29T00:36:53.634Z,1761698213.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855541,-0.514511,-0.057680],[0.517640,0.847932,0.114281],[-0.009891,-0.127630,0.991773]] 2025-10-29T00:36:53.655Z,1761698213.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:53.673Z,1761698213.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.534127 2025-10-29T00:36:53.678Z,1761698213.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 360.707611 m, bearing: 26.585960 deg, approach rate: -0.620532 m/s, LOS rate: 0.014091 deg/s, cmd heading: 31.434433 deg, new cmd heading: 31.444862 deg. 2025-10-29T00:36:53.679Z,1761698213.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548816 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:53.925Z,1761698213.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.786194 2025-10-29T00:36:54.039Z,1761698214.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855981,-0.513977,-0.055898],[0.516883,0.848380,0.114382],[-0.011367,-0.126801,0.991863]] 2025-10-29T00:36:54.060Z,1761698214.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:54.063Z,1761698214.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 360.455627 m, bearing: 26.591723 deg, approach rate: -0.623016 m/s, LOS rate: 0.014258 deg/s, cmd heading: 31.444862 deg, new cmd heading: 31.456396 deg. 2025-10-29T00:36:54.064Z,1761698214.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549018 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:54.180Z,1761698214.180 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.040574 2025-10-29T00:36:54.429Z,1761698214.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.290070 2025-10-29T00:36:54.444Z,1761698214.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856058,-0.513969,-0.054775],[0.516735,0.848493,0.114212],[-0.012225,-0.126076,0.991945]] 2025-10-29T00:36:54.494Z,1761698214.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:54.497Z,1761698214.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:54.499Z,1761698214.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 360.189484 m, bearing: 26.598193 deg, approach rate: -0.608845 m/s, LOS rate: 0.014813 deg/s, cmd heading: 31.456395 deg, new cmd heading: 31.469346 deg. 2025-10-29T00:36:54.512Z,1761698214.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549244 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:54.681Z,1761698214.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.542138 2025-10-29T00:36:54.898Z,1761698214.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:54.901Z,1761698214.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 359.952301 m, bearing: 26.603969 deg, approach rate: -0.590631 m/s, LOS rate: 0.014392 deg/s, cmd heading: 31.469345 deg, new cmd heading: 31.480904 deg. 2025-10-29T00:36:54.902Z,1761698214.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549445 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:54.934Z,1761698214.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.794791 2025-10-29T00:36:55.188Z,1761698215.188 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.048311 2025-10-29T00:36:55.261Z,1761698215.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856280,-0.513846,-0.052412],[0.516312,0.848708,0.114529],[-0.014367,-0.125130,0.992036]] 2025-10-29T00:36:55.327Z,1761698215.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:55.334Z,1761698215.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 359.686340 m, bearing: 26.610196 deg, approach rate: -0.620432 m/s, LOS rate: 0.014538 deg/s, cmd heading: 31.480905 deg, new cmd heading: 31.493369 deg. 2025-10-29T00:36:55.335Z,1761698215.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549663 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:55.438Z,1761698215.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.298917 2025-10-29T00:36:55.669Z,1761698215.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856645,-0.513405,-0.050747],[0.515642,0.848904,0.116085],[-0.016519,-0.125611,0.991942]] 2025-10-29T00:36:55.689Z,1761698215.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.550287 2025-10-29T00:36:55.717Z,1761698215.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:55.724Z,1761698215.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 359.431335 m, bearing: 26.616205 deg, approach rate: -0.653052 m/s, LOS rate: 0.015399 deg/s, cmd heading: 31.493370 deg, new cmd heading: 31.505397 deg. 2025-10-29T00:36:55.725Z,1761698215.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549873 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:55.942Z,1761698215.942 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.802741 2025-10-29T00:36:56.073Z,1761698216.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856951,-0.513033,-0.049327],[0.515079,0.849118,0.117012],[-0.018147,-0.125681,0.991905]] 2025-10-29T00:36:56.094Z,1761698216.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:56.097Z,1761698216.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 359.187805 m, bearing: 26.621976 deg, approach rate: -0.646650 m/s, LOS rate: 0.015335 deg/s, cmd heading: 31.505398 deg, new cmd heading: 31.516949 deg. 2025-10-29T00:36:56.098Z,1761698216.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550075 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:56.196Z,1761698216.196 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.056703 2025-10-29T00:36:56.445Z,1761698216.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.306207 2025-10-29T00:36:56.474Z,1761698216.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857276,-0.512672,-0.047375],[0.514470,0.849435,0.117393],[-0.019942,-0.125011,0.991955]] 2025-10-29T00:36:56.526Z,1761698216.526 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:56.544Z,1761698216.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:56.547Z,1761698216.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 358.919342 m, bearing: 26.627492 deg, approach rate: -0.618710 m/s, LOS rate: 0.012722 deg/s, cmd heading: 31.516948 deg, new cmd heading: 31.527989 deg. 2025-10-29T00:36:56.548Z,1761698216.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550267 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:56.697Z,1761698216.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.558287 2025-10-29T00:36:56.889Z,1761698216.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857572,-0.512269,-0.046370],[0.513908,0.849528,0.119169],[-0.021654,-0.126026,0.991791]] 2025-10-29T00:36:56.929Z,1761698216.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:56.932Z,1761698216.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 358.682831 m, bearing: 26.632380 deg, approach rate: -0.589413 m/s, LOS rate: 0.012187 deg/s, cmd heading: 31.527989 deg, new cmd heading: 31.537770 deg. 2025-10-29T00:36:56.933Z,1761698216.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550438 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:56.949Z,1761698216.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.810329 2025-10-29T00:36:57.204Z,1761698217.204 [DAT](INFO): Reached modem response timeout 2025-10-29T00:36:57.205Z,1761698217.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:57.205Z,1761698217.205 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:36:57.320Z,1761698217.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857821,-0.511952,-0.045261],[0.513446,0.849753,0.119553],[-0.022745,-0.125794,0.991796]] 2025-10-29T00:36:57.379Z,1761698217.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:57.386Z,1761698217.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 358.381989 m, bearing: 26.637806 deg, approach rate: -0.669103 m/s, LOS rate: 0.012080 deg/s, cmd heading: 31.537770 deg, new cmd heading: 31.548633 deg. 2025-10-29T00:36:57.387Z,1761698217.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550628 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:57.453Z,1761698217.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:57.709Z,1761698217.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:57.719Z,1761698217.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857763,-0.512188,-0.043661],[0.513481,0.849748,0.119439],[-0.024075,-0.124870,0.991881]] 2025-10-29T00:36:57.757Z,1761698217.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:57.765Z,1761698217.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 358.142578 m, bearing: 26.642130 deg, approach rate: -0.641617 m/s, LOS rate: 0.011596 deg/s, cmd heading: 31.548634 deg, new cmd heading: 31.557287 deg. 2025-10-29T00:36:57.766Z,1761698217.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550779 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:57.961Z,1761698217.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:58.122Z,1761698218.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857557,-0.512662,-0.042121],[0.513760,0.849581,0.119429],[-0.025442,-0.124058,0.991949]] 2025-10-29T00:36:58.141Z,1761698218.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:58.144Z,1761698218.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 357.879791 m, bearing: 26.646870 deg, approach rate: -0.674842 m/s, LOS rate: 0.012180 deg/s, cmd heading: 31.557287 deg, new cmd heading: 31.566773 deg. 2025-10-29T00:36:58.145Z,1761698218.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550944 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:58.213Z,1761698218.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:58.465Z,1761698218.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:58.523Z,1761698218.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857102,-0.513571,-0.040264],[0.514436,0.849195,0.119264],[-0.027059,-0.122934,0.992046]] 2025-10-29T00:36:58.571Z,1761698218.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:36:58.573Z,1761698218.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:58.576Z,1761698218.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 357.606079 m, bearing: 26.652165 deg, approach rate: -0.633389 m/s, LOS rate: 0.012264 deg/s, cmd heading: 31.566775 deg, new cmd heading: 31.577374 deg. 2025-10-29T00:36:58.577Z,1761698218.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551129 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:58.717Z,1761698218.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:58.946Z,1761698218.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856115,-0.515392,-0.037914],[0.515992,0.848434,0.117952],[-0.028624,-0.120544,0.992295]] 2025-10-29T00:36:58.969Z,1761698218.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:59.053Z,1761698219.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:59.056Z,1761698219.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 357.302582 m, bearing: 26.657961 deg, approach rate: -0.632675 m/s, LOS rate: 0.012091 deg/s, cmd heading: 31.577375 deg, new cmd heading: 31.588975 deg. 2025-10-29T00:36:59.057Z,1761698219.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551332 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:59.224Z,1761698219.224 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:59.346Z,1761698219.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855579,-0.516388,-0.036428],[0.516811,0.847984,0.117601],[-0.029838,-0.119443,0.992393]] 2025-10-29T00:36:59.430Z,1761698219.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:59.441Z,1761698219.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 357.057465 m, bearing: 26.663019 deg, approach rate: -0.649723 m/s, LOS rate: 0.013416 deg/s, cmd heading: 31.588976 deg, new cmd heading: 31.599099 deg. 2025-10-29T00:36:59.441Z,1761698219.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551508 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:59.473Z,1761698219.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:36:59.725Z,1761698219.725 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:36:59.725Z,1761698219.725 [DAT](INFO): response not received 2025-10-29T00:36:59.726Z,1761698219.726 [DAT](INFO): DAT read: user:465> 2025-10-29T00:36:59.726Z,1761698219.726 [DAT](INFO): DAT read: Tx time:00:36:59.4762 2025-10-29T00:36:59.727Z,1761698219.727 [DAT](INFO): Ping request sent. 2025-10-29T00:36:59.727Z,1761698219.727 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:36:59.727Z,1761698219.727 [DAT](INFO): publishing transmit ping time 2025-10-29T00:36:59.728Z,1761698219.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-29T00:36:59.795Z,1761698219.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854977,-0.517504,-0.034689],[0.517727,0.847498,0.117072],[-0.031187,-0.118053,0.992517]] 2025-10-29T00:36:59.851Z,1761698219.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:36:59.858Z,1761698219.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 356.783173 m, bearing: 26.668640 deg, approach rate: -0.652224 m/s, LOS rate: 0.013378 deg/s, cmd heading: 31.599098 deg, new cmd heading: 31.610350 deg. 2025-10-29T00:36:59.859Z,1761698219.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551705 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:36:59.977Z,1761698219.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250049 2025-10-29T00:37:00.173Z,1761698220.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854532,-0.518370,-0.032685],[0.518377,0.847214,0.116248],[-0.032569,-0.116281,0.992682]] 2025-10-29T00:37:00.215Z,1761698220.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:00.217Z,1761698220.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 356.549805 m, bearing: 26.673403 deg, approach rate: -0.647114 m/s, LOS rate: 0.013217 deg/s, cmd heading: 31.610351 deg, new cmd heading: 31.619884 deg. 2025-10-29T00:37:00.218Z,1761698220.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551871 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:00.229Z,1761698220.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502147 2025-10-29T00:37:00.482Z,1761698220.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754748 2025-10-29T00:37:00.616Z,1761698220.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854398,-0.518660,-0.031561],[0.518494,0.846977,0.117449],[-0.034185,-0.116712,0.992577]] 2025-10-29T00:37:00.659Z,1761698220.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:00.661Z,1761698220.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:00.664Z,1761698220.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 356.264008 m, bearing: 26.680495 deg, approach rate: -0.635769 m/s, LOS rate: 0.015788 deg/s, cmd heading: 31.619883 deg, new cmd heading: 31.634077 deg. 2025-10-29T00:37:00.665Z,1761698220.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552119 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:00.733Z,1761698220.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006239 2025-10-29T00:37:00.985Z,1761698220.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258171 2025-10-29T00:37:01.060Z,1761698221.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:01.063Z,1761698221.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 356.009827 m, bearing: 26.686812 deg, approach rate: -0.637064 m/s, LOS rate: 0.015844 deg/s, cmd heading: 31.634076 deg, new cmd heading: 31.646719 deg. 2025-10-29T00:37:01.077Z,1761698221.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552339 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:01.237Z,1761698221.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510140 2025-10-29T00:37:01.422Z,1761698221.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854525,-0.518544,-0.029991],[0.518082,0.846788,0.120587],[-0.037134,-0.118583,0.992250]] 2025-10-29T00:37:01.489Z,1761698221.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762506 2025-10-29T00:37:01.528Z,1761698221.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:01.531Z,1761698221.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 355.720703 m, bearing: 26.693860 deg, approach rate: -0.618192 m/s, LOS rate: 0.015083 deg/s, cmd heading: 31.646718 deg, new cmd heading: 31.660827 deg. 2025-10-29T00:37:01.531Z,1761698221.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552586 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:01.742Z,1761698221.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014889 2025-10-29T00:37:01.854Z,1761698221.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854781,-0.518170,-0.029140],[0.517546,0.846876,0.122260],[-0.038673,-0.119587,0.992070]] 2025-10-29T00:37:01.880Z,1761698221.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:01.882Z,1761698221.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 355.503204 m, bearing: 26.699190 deg, approach rate: -0.618224 m/s, LOS rate: 0.015157 deg/s, cmd heading: 31.660826 deg, new cmd heading: 31.671491 deg. 2025-10-29T00:37:01.883Z,1761698221.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552772 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:01.993Z,1761698221.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266509 2025-10-29T00:37:02.245Z,1761698222.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518156 2025-10-29T00:37:02.256Z,1761698222.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854553,-0.518627,-0.027662],[0.517820,0.846698,0.122329],[-0.040022,-0.118861,0.992104]] 2025-10-29T00:37:02.370Z,1761698222.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:02.379Z,1761698222.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 355.228088 m, bearing: 26.705926 deg, approach rate: -0.561221 m/s, LOS rate: 0.013752 deg/s, cmd heading: 31.671492 deg, new cmd heading: 31.684975 deg. 2025-10-29T00:37:02.380Z,1761698222.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553007 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:02.497Z,1761698222.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770166 2025-10-29T00:37:02.680Z,1761698222.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854302,-0.519071,-0.027072],[0.518094,0.846194,0.124636],[-0.041786,-0.120503,0.991833]] 2025-10-29T00:37:02.750Z,1761698222.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022517 2025-10-29T00:37:02.766Z,1761698222.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:02.774Z,1761698222.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:02.783Z,1761698222.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 354.979309 m, bearing: 26.713035 deg, approach rate: -0.617093 m/s, LOS rate: 0.017645 deg/s, cmd heading: 31.684974 deg, new cmd heading: 31.699201 deg. 2025-10-29T00:37:02.789Z,1761698222.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553255 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:03.004Z,1761698223.004 [DAT](INFO): DAT read: Rx Time:00:37:02.3568 2025-10-29T00:37:03.004Z,1761698223.004 [DAT](INFO): Rx dataTimestamp_ set to:1761698223.004067 2025-10-29T00:37:03.005Z,1761698223.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278099 2025-10-29T00:37:03.116Z,1761698223.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854427,-0.518940,-0.025595],[0.517759,0.846305,0.125273],[-0.043348,-0.120289,0.991792]] 2025-10-29T00:37:03.134Z,1761698223.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:03.137Z,1761698223.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 354.735596 m, bearing: 26.720022 deg, approach rate: -0.674839 m/s, LOS rate: 0.019362 deg/s, cmd heading: 31.699202 deg, new cmd heading: 31.713186 deg. 2025-10-29T00:37:03.138Z,1761698223.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553500 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:03.253Z,1761698223.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526466 2025-10-29T00:37:03.508Z,1761698223.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.780939 2025-10-29T00:37:03.557Z,1761698223.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853767,-0.520180,-0.022239],[0.518602,0.845833,0.124975],[-0.046199,-0.118232,0.991911]] 2025-10-29T00:37:03.606Z,1761698223.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 364.16 m. 2025-10-29T00:37:03.609Z,1761698223.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 364.155212 m, nav range: 354.439178 m, bearing: 26.727187 deg, approach rate: -0.628466 m/s, LOS rate: 0.015205 deg/s, cmd heading: 31.713186 deg, new cmd heading: 31.727529 deg. 2025-10-29T00:37:03.610Z,1761698223.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553750 target range: 364.155212 and range: 366.30 m. 2025-10-29T00:37:03.765Z,1761698223.765 [DAT](INFO): DAT read: 00:37:02.3568 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 282, 0.22,-2.944, 1.861,-2.632, 2.990, PHS= 0.452,-1.084, 0.618, RAW= 155.1, 0.2, CAL= 153.9, -1.0, ROT= 356.1, 1.0 2025-10-29T00:37:03.767Z,1761698223.767 [DAT](INFO): got valid direction response: 00:37:02.3568 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 282, 0.22,-2.944, 1.861,-2.632, 2.990, PHS= 0.452,-1.084, 0.618, RAW= 155.1, 0.2, CAL= 153.9, -1.0, ROT= 356.1, 1.0 2025-10-29T00:37:03.769Z,1761698223.769 [DAT](INFO): DAT read: Bearing 175.5, -6.5 (Local) 2025-10-29T00:37:03.769Z,1761698223.769 [DAT](INFO): Local bearing/azimuth received: Bearing 175.5, -6.5 (Local) 2025-10-29T00:37:03.774Z,1761698223.774 [DAT](INFO): DAT read: Range 11 to 50 : 357.3 m (Round-trip 476.4 ms) speed 0.5 m/s 2025-10-29T00:37:03.801Z,1761698223.801 [DAT](INFO): DAT read: user:466> 2025-10-29T00:37:03.805Z,1761698223.805 [DAT](INFO): DAT read: Tx time:00:37:03.4762 2025-10-29T00:37:03.806Z,1761698223.806 [DAT](INFO): Ping request sent. 2025-10-29T00:37:03.806Z,1761698223.806 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:03.806Z,1761698223.806 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:03.807Z,1761698223.807 [DAT](INFO): direction in FSK: [0.997532,-0.068005,-0.017452] 2025-10-29T00:37:03.807Z,1761698223.807 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:03.808Z,1761698223.808 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:03.838Z,1761698223.838 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:03.838Z,1761698223.838 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:04.079Z,1761698224.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853292,-0.521028,-0.020576],[0.519250,0.845449,0.124880],[-0.047670,-0.117243,0.991959]] 2025-10-29T00:37:04.102Z,1761698224.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 357.299988 m, deltaT: 16.639931 s, deltaX: -9.000000 m, approachRate: -0.540868 m/s, rangeRepo size: 4 2025-10-29T00:37:04.105Z,1761698224.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 355.208832 m, bearing: 27.325075 deg, lat: 36.779380 deg, lon: -121.859106 deg, deltaT: 16.639931 s, deltaX: -8.946381 m, approachRate: -0.537645 m/s, posRepo size: 4 2025-10-29T00:37:04.105Z,1761698224.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:04.108Z,1761698224.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 354.632141 m, bearing: 27.324095 deg, approach rate: 0.000000 m/s, LOS rate: 0.015205 deg/s, cmd heading: 31.727530 deg, new cmd heading: 31.742611 deg. 2025-10-29T00:37:04.109Z,1761698224.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554013 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:04.548Z,1761698224.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853118,-0.521376,-0.018895],[0.519391,0.845337,0.125055],[-0.049228,-0.116500,0.991970]] 2025-10-29T00:37:04.608Z,1761698224.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:04.611Z,1761698224.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 354.324951 m, bearing: 27.332118 deg, approach rate: -0.607011 m/s, LOS rate: 0.015868 deg/s, cmd heading: 31.742611 deg, new cmd heading: 31.758671 deg. 2025-10-29T00:37:04.611Z,1761698224.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554293 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:05.057Z,1761698225.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852771,-0.521987,-0.017663],[0.519865,0.845081,0.124811],[-0.050223,-0.115618,0.992023]] 2025-10-29T00:37:05.074Z,1761698225.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:05.076Z,1761698225.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:05.079Z,1761698225.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 354.043396 m, bearing: 27.339458 deg, approach rate: -0.601290 m/s, LOS rate: 0.015688 deg/s, cmd heading: 31.758672 deg, new cmd heading: 31.773364 deg. 2025-10-29T00:37:05.080Z,1761698225.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554550 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:05.269Z,1761698225.269 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:05.270Z,1761698225.270 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:05.270Z,1761698225.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:05.458Z,1761698225.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852737,-0.522052,-0.017355],[0.519822,0.844897,0.126230],[-0.051235,-0.116662,0.991849]] 2025-10-29T00:37:05.521Z,1761698225.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.715166 2025-10-29T00:37:05.522Z,1761698225.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:05.524Z,1761698225.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 353.782074 m, bearing: 27.345276 deg, approach rate: -0.588936 m/s, LOS rate: 0.013121 deg/s, cmd heading: 31.773364 deg, new cmd heading: 31.785008 deg. 2025-10-29T00:37:05.525Z,1761698225.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554753 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:05.774Z,1761698225.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.968001 2025-10-29T00:37:05.864Z,1761698225.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852971,-0.521650,-0.017929],[0.519341,0.844758,0.129111],[-0.052205,-0.119439,0.991468]] 2025-10-29T00:37:05.883Z,1761698225.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:05.886Z,1761698225.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 353.541779 m, bearing: 27.350646 deg, approach rate: -0.661825 m/s, LOS rate: 0.014800 deg/s, cmd heading: 31.785009 deg, new cmd heading: 31.795757 deg. 2025-10-29T00:37:05.887Z,1761698225.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554941 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:06.025Z,1761698226.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.219021 2025-10-29T00:37:06.274Z,1761698226.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853048,-0.521531,-0.017727],[0.519115,0.844655,0.130678],[-0.053179,-0.120677,0.991266]] 2025-10-29T00:37:06.277Z,1761698226.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.471549 2025-10-29T00:37:06.327Z,1761698226.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:06.329Z,1761698226.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 353.279816 m, bearing: 27.356515 deg, approach rate: -0.590330 m/s, LOS rate: 0.013236 deg/s, cmd heading: 31.795757 deg, new cmd heading: 31.807504 deg. 2025-10-29T00:37:06.330Z,1761698226.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555146 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:06.529Z,1761698226.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.722970 2025-10-29T00:37:06.782Z,1761698226.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.976301 2025-10-29T00:37:06.803Z,1761698226.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:06.818Z,1761698226.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 353.005890 m, bearing: 27.362480 deg, approach rate: -0.575213 m/s, LOS rate: 0.012535 deg/s, cmd heading: 31.807505 deg, new cmd heading: 31.819443 deg. 2025-10-29T00:37:06.819Z,1761698226.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555354 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:07.033Z,1761698227.033 [DAT](INFO): DAT read: Rx Time:00:37:06.3540 2025-10-29T00:37:07.034Z,1761698227.034 [DAT](INFO): Rx dataTimestamp_ set to:1761698227.033510 2025-10-29T00:37:07.034Z,1761698227.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.228446 2025-10-29T00:37:07.057Z,1761698227.057 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:37:07.104Z,1761698227.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852911,-0.521771,-0.017255],[0.519147,0.844212,0.133386],[-0.055030,-0.122725,0.990914]] 2025-10-29T00:37:07.130Z,1761698227.130 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:07.133Z,1761698227.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 355.21 m. 2025-10-29T00:37:07.135Z,1761698227.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 355.208832 m, nav range: 352.765350 m, bearing: 27.367716 deg, approach rate: -0.729555 m/s, LOS rate: 0.015891 deg/s, cmd heading: 31.819444 deg, new cmd heading: 31.829923 deg. 2025-10-29T00:37:07.136Z,1761698227.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555537 target range: 355.208832 and range: 357.30 m. 2025-10-29T00:37:07.286Z,1761698227.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.479792 2025-10-29T00:37:07.531Z,1761698227.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852957,-0.521715,-0.016637],[0.518990,0.844233,0.133868],[-0.055796,-0.122818,0.990859]] 2025-10-29T00:37:07.543Z,1761698227.543 [DAT](INFO): DAT read: 00:37:06.3540 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.02, 2.964, 1.672,-3.019, 2.843, PHS= 0.223,-1.126, 0.377, RAW= 155.4, 7.4, CAL= 154.8, 7.7, ROT= 355.2, -7.7 2025-10-29T00:37:07.547Z,1761698227.547 [DAT](INFO): got valid direction response: 00:37:06.3540 LVL= 32752, 32753, 32754, 32755, AGC= 76, IDX= 414, 0.02, 2.964, 1.672,-3.019, 2.843, PHS= 0.223,-1.126, 0.377, RAW= 155.4, 7.4, CAL= 154.8, 7.7, ROT= 355.2, -7.7 2025-10-29T00:37:07.557Z,1761698227.557 [DAT](INFO): DAT read: Bearing 183.6, -9.0 (Local) 2025-10-29T00:37:07.557Z,1761698227.557 [DAT](INFO): Local bearing/azimuth received: Bearing 183.6, -9.0 (Local) 2025-10-29T00:37:07.559Z,1761698227.559 [DAT](INFO): DAT read: Range 11 to 50 : 355.2 m (Round-trip 473.6 ms) speed 0.5 m/s 2025-10-29T00:37:07.559Z,1761698227.559 [DAT](INFO): DAT read: user:467> 2025-10-29T00:37:07.572Z,1761698227.572 [DAT](INFO): DAT read: Tx time:00:37:07.4762 2025-10-29T00:37:07.573Z,1761698227.573 [DAT](INFO): Ping request sent. 2025-10-29T00:37:07.573Z,1761698227.573 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:07.573Z,1761698227.573 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:07.574Z,1761698227.574 [DAT](INFO): direction in FSK: [0.987508,-0.082923,0.133986] 2025-10-29T00:37:07.574Z,1761698227.574 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:07.574Z,1761698227.574 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:07.586Z,1761698227.586 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:07.586Z,1761698227.586 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:07.682Z,1761698227.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 355.200012 m, deltaT: 3.780180 s, deltaX: -2.099976 m, approachRate: -0.555523 m/s, rangeRepo size: 4 2025-10-29T00:37:07.688Z,1761698227.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 353.130646 m, bearing: 27.530669 deg, lat: 36.779380 deg, lon: -121.859106 deg, deltaT: 3.780180 s, deltaX: -2.078186 m, approachRate: -0.549758 m/s, posRepo size: 4 2025-10-29T00:37:07.689Z,1761698227.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:07.691Z,1761698227.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 352.423981 m, bearing: 27.374057 deg, approach rate: 0.000000 m/s, LOS rate: 0.015891 deg/s, cmd heading: 31.829921 deg, new cmd heading: 31.847357 deg. 2025-10-29T00:37:07.700Z,1761698227.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555841 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:08.000Z,1761698228.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852206,-0.522972,-0.015635],[0.520136,0.843596,0.133435],[-0.056593,-0.121846,0.990934]] 2025-10-29T00:37:08.019Z,1761698228.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:08.022Z,1761698228.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 352.197662 m, bearing: 27.378220 deg, approach rate: -0.670408 m/s, LOS rate: 0.012338 deg/s, cmd heading: 31.847359 deg, new cmd heading: 31.855689 deg. 2025-10-29T00:37:08.023Z,1761698228.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555987 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:08.061Z,1761698228.061 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:37:08.439Z,1761698228.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851664,-0.523861,-0.015428],[0.521013,0.843116,0.133046],[-0.056690,-0.121349,0.990990]] 2025-10-29T00:37:08.502Z,1761698228.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:08.505Z,1761698228.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 351.893036 m, bearing: 27.382594 deg, approach rate: -0.630592 m/s, LOS rate: 0.009062 deg/s, cmd heading: 31.855688 deg, new cmd heading: 31.864444 deg. 2025-10-29T00:37:08.506Z,1761698228.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556139 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:08.816Z,1761698228.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851266,-0.524507,-0.015465],[0.521667,0.842739,0.132869],[-0.056658,-0.121174,0.991013]] 2025-10-29T00:37:08.834Z,1761698228.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:08.837Z,1761698228.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 351.683228 m, bearing: 27.385585 deg, approach rate: -0.630782 m/s, LOS rate: 0.008998 deg/s, cmd heading: 31.864444 deg, new cmd heading: 31.870430 deg. 2025-10-29T00:37:08.838Z,1761698228.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556244 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:09.215Z,1761698229.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850740,-0.525374,-0.014911],[0.522515,0.842366,0.131899],[-0.056736,-0.120003,0.991151]] 2025-10-29T00:37:09.247Z,1761698229.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:09.249Z,1761698229.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:09.252Z,1761698229.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 351.431122 m, bearing: 27.389145 deg, approach rate: -0.607538 m/s, LOS rate: 0.008586 deg/s, cmd heading: 31.870431 deg, new cmd heading: 31.877557 deg. 2025-10-29T00:37:09.253Z,1761698229.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556368 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:09.301Z,1761698229.301 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:09.302Z,1761698229.302 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:09.302Z,1761698229.302 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:09.553Z,1761698229.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.980035 2025-10-29T00:37:09.623Z,1761698229.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850119,-0.526402,-0.014090],[0.523539,0.842016,0.130061],[-0.056600,-0.117944,0.991406]] 2025-10-29T00:37:09.681Z,1761698229.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:09.683Z,1761698229.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 351.154022 m, bearing: 27.393312 deg, approach rate: -0.642322 m/s, LOS rate: 0.009666 deg/s, cmd heading: 31.877555 deg, new cmd heading: 31.885895 deg. 2025-10-29T00:37:09.689Z,1761698229.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556514 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:09.805Z,1761698229.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.232149 2025-10-29T00:37:10.023Z,1761698230.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849552,-0.527329,-0.013597],[0.524446,0.841574,0.129268],[-0.056723,-0.116951,0.991517]] 2025-10-29T00:37:10.042Z,1761698230.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:10.045Z,1761698230.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 350.906403 m, bearing: 27.396998 deg, approach rate: -0.684745 m/s, LOS rate: 0.010202 deg/s, cmd heading: 31.885895 deg, new cmd heading: 31.893273 deg. 2025-10-29T00:37:10.046Z,1761698230.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556643 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:10.057Z,1761698230.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.484284 2025-10-29T00:37:10.313Z,1761698230.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.739815 2025-10-29T00:37:10.462Z,1761698230.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849145,-0.527988,-0.013453],[0.525122,0.841260,0.128566],[-0.056563,-0.116236,0.991610]] 2025-10-29T00:37:10.520Z,1761698230.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:10.523Z,1761698230.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 350.614716 m, bearing: 27.401885 deg, approach rate: -0.611190 m/s, LOS rate: 0.010247 deg/s, cmd heading: 31.893275 deg, new cmd heading: 31.903055 deg. 2025-10-29T00:37:10.523Z,1761698230.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556813 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:10.561Z,1761698230.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988578 2025-10-29T00:37:10.813Z,1761698230.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.240138 2025-10-29T00:37:10.831Z,1761698230.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848508,-0.529016,-0.013303],[0.526179,0.840750,0.127573],[-0.056304,-0.115247,0.991740]] 2025-10-29T00:37:10.866Z,1761698230.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:10.869Z,1761698230.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 350.413116 m, bearing: 27.405228 deg, approach rate: -0.582402 m/s, LOS rate: 0.009664 deg/s, cmd heading: 31.903055 deg, new cmd heading: 31.909746 deg. 2025-10-29T00:37:10.869Z,1761698230.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556930 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:11.068Z,1761698231.068 [DAT](INFO): DAT read: Rx Time:00:37:10.3500 2025-10-29T00:37:11.069Z,1761698231.069 [DAT](INFO): Rx dataTimestamp_ set to:1761698231.068664 2025-10-29T00:37:11.069Z,1761698231.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.496710 2025-10-29T00:37:11.235Z,1761698231.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848261,-0.529415,-0.013155],[0.526589,0.840576,0.127027],[-0.056192,-0.114679,0.991812]] 2025-10-29T00:37:11.252Z,1761698231.252 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:11.254Z,1761698231.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 353.13 m. 2025-10-29T00:37:11.257Z,1761698231.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 353.130646 m, nav range: 350.166351 m, bearing: 27.409306 deg, approach rate: -0.635177 m/s, LOS rate: 0.010506 deg/s, cmd heading: 31.909746 deg, new cmd heading: 31.917908 deg. 2025-10-29T00:37:11.258Z,1761698231.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557073 target range: 353.130646 and range: 355.20 m. 2025-10-29T00:37:11.318Z,1761698231.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.745632 2025-10-29T00:37:11.575Z,1761698231.575 [DAT](INFO): DAT read: 00:37:10.3500 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.13, 1.778, 0.464, 2.111, 1.706, PHS= 0.174,-1.198, 0.361, RAW= 156.3, 9.0, CAL= 156.0, 9.6, ROT= 354.0, -9.6 2025-10-29T00:37:11.576Z,1761698231.576 [DAT](INFO): got valid direction response: 00:37:10.3500 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.13, 1.778, 0.464, 2.111, 1.706, PHS= 0.174,-1.198, 0.361, RAW= 156.3, 9.0, CAL= 156.0, 9.6, ROT= 354.0, -9.6 2025-10-29T00:37:11.577Z,1761698231.577 [DAT](INFO): DAT read: Bearing 185.3, -10.5 (Local) 2025-10-29T00:37:11.577Z,1761698231.577 [DAT](INFO): Local bearing/azimuth received: Bearing 185.3, -10.5 (Local) 2025-10-29T00:37:11.579Z,1761698231.579 [DAT](INFO): DAT read: Range 11 to 50 : 352.2 m (Round-trip 469.7 ms) speed 1.0 m/s 2025-10-29T00:37:11.579Z,1761698231.579 [DAT](INFO): DAT read: user:468> 2025-10-29T00:37:11.580Z,1761698231.580 [DAT](INFO): DAT read: Tx time:00:37:11.4762 2025-10-29T00:37:11.580Z,1761698231.580 [DAT](INFO): Ping request sent. 2025-10-29T00:37:11.580Z,1761698231.580 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:11.581Z,1761698231.581 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:11.582Z,1761698231.582 [DAT](INFO): direction in FSK: [0.980595,-0.103065,0.166769] 2025-10-29T00:37:11.582Z,1761698231.582 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:11.582Z,1761698231.582 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:11.594Z,1761698231.594 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:11.594Z,1761698231.594 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:11.639Z,1761698231.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848111,-0.529643,-0.013596],[0.526858,0.840387,0.127161],[-0.055924,-0.115010,0.991789]] 2025-10-29T00:37:11.794Z,1761698231.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 352.200012 m, deltaT: 4.031644 s, deltaX: -3.000000 m, approachRate: -0.744113 m/s, rangeRepo size: 4 2025-10-29T00:37:11.795Z,1761698231.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 350.150055 m, bearing: 27.042135 deg, lat: 36.779371 deg, lon: -121.859106 deg, deltaT: 4.031644 s, deltaX: -2.980591 m, approachRate: -0.739299 m/s, posRepo size: 4 2025-10-29T00:37:11.801Z,1761698231.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:11.803Z,1761698231.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 348.947296 m, bearing: 27.491668 deg, approach rate: 0.000000 m/s, LOS rate: 0.010506 deg/s, cmd heading: 31.917908 deg, new cmd heading: 31.929226 deg. 2025-10-29T00:37:11.809Z,1761698231.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557270 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:12.116Z,1761698232.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847895,-0.529992,-0.013513],[0.527249,0.840289,0.126188],[-0.055524,-0.114119,0.991914]] 2025-10-29T00:37:12.206Z,1761698232.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:12.208Z,1761698232.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 348.658569 m, bearing: 27.496185 deg, approach rate: -0.699711 m/s, LOS rate: 0.010957 deg/s, cmd heading: 31.929225 deg, new cmd heading: 31.938268 deg. 2025-10-29T00:37:12.209Z,1761698232.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557428 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:12.635Z,1761698232.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847464,-0.530674,-0.013789],[0.527980,0.839895,0.125751],[-0.055152,-0.113849,0.991966]] 2025-10-29T00:37:12.721Z,1761698232.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:12.723Z,1761698232.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 348.332306 m, bearing: 27.502759 deg, approach rate: -0.633664 m/s, LOS rate: 0.012780 deg/s, cmd heading: 31.938269 deg, new cmd heading: 31.951429 deg. 2025-10-29T00:37:12.728Z,1761698232.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557658 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:13.201Z,1761698233.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846912,-0.531555,-0.013716],[0.528946,0.839558,0.123930],[-0.054360,-0.112213,0.992196]] 2025-10-29T00:37:13.248Z,1761698233.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:13.250Z,1761698233.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 348.000549 m, bearing: 27.509399 deg, approach rate: -0.629488 m/s, LOS rate: 0.012611 deg/s, cmd heading: 31.951430 deg, new cmd heading: 31.964723 deg. 2025-10-29T00:37:13.251Z,1761698233.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557890 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:13.692Z,1761698233.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846746,-0.531819,-0.013774],[0.529237,0.839437,0.123502],[-0.054118,-0.111865,0.992249]] 2025-10-29T00:37:13.786Z,1761698233.786 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:13.793Z,1761698233.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:13.800Z,1761698233.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 347.669464 m, bearing: 27.516399 deg, approach rate: -0.606702 m/s, LOS rate: 0.012839 deg/s, cmd heading: 31.964722 deg, new cmd heading: 31.978734 deg. 2025-10-29T00:37:13.801Z,1761698233.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558134 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:13.840Z,1761698233.840 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:13.840Z,1761698233.840 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:13.840Z,1761698233.840 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:14.093Z,1761698234.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512367 2025-10-29T00:37:14.116Z,1761698234.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846493,-0.532214,-0.014059],[0.529705,0.839259,0.122706],[-0.053507,-0.111317,0.992343]] 2025-10-29T00:37:14.155Z,1761698234.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:14.162Z,1761698234.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 347.417297 m, bearing: 27.521717 deg, approach rate: -0.696107 m/s, LOS rate: 0.014693 deg/s, cmd heading: 31.978734 deg, new cmd heading: 31.989379 deg. 2025-10-29T00:37:14.163Z,1761698234.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558320 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:14.345Z,1761698234.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764582 2025-10-29T00:37:14.548Z,1761698234.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846102,-0.532824,-0.014519],[0.530405,0.838941,0.121856],[-0.052747,-0.110804,0.992442]] 2025-10-29T00:37:14.585Z,1761698234.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:14.597Z,1761698234.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016373 2025-10-29T00:37:14.604Z,1761698234.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 347.146393 m, bearing: 27.527957 deg, approach rate: -0.630170 m/s, LOS rate: 0.014527 deg/s, cmd heading: 31.989379 deg, new cmd heading: 32.001869 deg. 2025-10-29T00:37:14.605Z,1761698234.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558538 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:14.849Z,1761698234.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268336 2025-10-29T00:37:14.923Z,1761698234.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846228,-0.532593,-0.015606],[0.530313,0.839045,0.121538],[-0.051637,-0.111125,0.992464]] 2025-10-29T00:37:14.945Z,1761698234.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:14.948Z,1761698234.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 346.925964 m, bearing: 27.533047 deg, approach rate: -0.612364 m/s, LOS rate: 0.014148 deg/s, cmd heading: 32.001868 deg, new cmd heading: 32.012053 deg. 2025-10-29T00:37:14.949Z,1761698234.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558716 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:15.101Z,1761698235.101 [DAT](INFO): DAT read: Rx Time:00:37:14.3473 2025-10-29T00:37:15.101Z,1761698235.101 [DAT](INFO): Rx dataTimestamp_ set to:1761698235.101077 2025-10-29T00:37:15.102Z,1761698235.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521411 2025-10-29T00:37:15.327Z,1761698235.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845976,-0.532959,-0.016693],[0.530821,0.838790,0.121083],[-0.050530,-0.111294,0.992502]] 2025-10-29T00:37:15.353Z,1761698235.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.772544 2025-10-29T00:37:15.362Z,1761698235.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 350.15 m. 2025-10-29T00:37:15.365Z,1761698235.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 350.150055 m, nav range: 346.665680 m, bearing: 27.539040 deg, approach rate: -0.624189 m/s, LOS rate: 0.014384 deg/s, cmd heading: 32.012052 deg, new cmd heading: 32.024047 deg. 2025-10-29T00:37:15.366Z,1761698235.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558925 target range: 350.150055 and range: 352.20 m. 2025-10-29T00:37:15.611Z,1761698235.611 [DAT](INFO): DAT read: 00:37:14.3473 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.08,-0.774,-2.220,-0.430,-1.097, PHS= 0.425,-1.078, 0.623, RAW= 156.1, 0.4, CAL= 154.9, -0.9, ROT= 355.1, 0.9 2025-10-29T00:37:15.612Z,1761698235.612 [DAT](INFO): got valid direction response: 00:37:14.3473 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410, 0.08,-0.774,-2.220,-0.430,-1.097, PHS= 0.425,-1.078, 0.623, RAW= 156.1, 0.4, CAL= 154.9, -0.9, ROT= 355.1, 0.9 2025-10-29T00:37:15.613Z,1761698235.613 [DAT](INFO): DAT read: Bearing 175.7, -7.8 (Local) 2025-10-29T00:37:15.613Z,1761698235.613 [DAT](INFO): Local bearing/azimuth received: Bearing 175.7, -7.8 (Local) 2025-10-29T00:37:15.615Z,1761698235.615 [DAT](INFO): DAT read: Range 11 to 50 : 350.1 m (Round-trip 466.9 ms) speed 0.7 m/s 2025-10-29T00:37:15.615Z,1761698235.615 [DAT](INFO): DAT read: user:469> 2025-10-29T00:37:15.616Z,1761698235.616 [DAT](INFO): DAT read: Tx time:00:37:15.4762 2025-10-29T00:37:15.616Z,1761698235.616 [DAT](INFO): Ping request sent. 2025-10-29T00:37:15.616Z,1761698235.616 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:15.617Z,1761698235.617 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:15.618Z,1761698235.618 [DAT](INFO): direction in FSK: [0.996222,-0.085406,-0.015707] 2025-10-29T00:37:15.618Z,1761698235.618 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:15.618Z,1761698235.618 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:15.622Z,1761698235.622 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:15.622Z,1761698235.622 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:15.731Z,1761698235.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846166,-0.532635,-0.017438],[0.530595,0.838969,0.120829],[-0.049728,-0.111494,0.992520]] 2025-10-29T00:37:15.894Z,1761698235.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 350.100006 m, deltaT: 4.035947 s, deltaX: -2.100006 m, approachRate: -0.520325 m/s, rangeRepo size: 4 2025-10-29T00:37:15.896Z,1761698235.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 348.084808 m, bearing: 27.112852 deg, lat: 36.779380 deg, lon: -121.859126 deg, deltaT: 4.035947 s, deltaX: -2.065247 m, approachRate: -0.511713 m/s, posRepo size: 4 2025-10-29T00:37:15.897Z,1761698235.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:15.900Z,1761698235.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 346.417969 m, bearing: 27.207372 deg, approach rate: 0.000000 m/s, LOS rate: 0.014384 deg/s, cmd heading: 32.024049 deg, new cmd heading: 32.039334 deg. 2025-10-29T00:37:15.917Z,1761698235.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559192 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:16.203Z,1761698236.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845966,-0.532930,-0.018088],[0.531008,0.838845,0.119877],[-0.048713,-0.111017,0.992624]] 2025-10-29T00:37:16.228Z,1761698236.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:16.230Z,1761698236.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:16.232Z,1761698236.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 346.199158 m, bearing: 27.212512 deg, approach rate: -0.651117 m/s, LOS rate: 0.015305 deg/s, cmd heading: 32.039335 deg, new cmd heading: 32.049621 deg. 2025-10-29T00:37:16.233Z,1761698236.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559371 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:16.361Z,1761698236.361 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:16.361Z,1761698236.361 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:16.361Z,1761698236.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:16.602Z,1761698236.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845900,-0.533003,-0.018971],[0.531206,0.838803,0.119288],[-0.047668,-0.110983,0.992678]] 2025-10-29T00:37:16.613Z,1761698236.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996339 2025-10-29T00:37:16.675Z,1761698236.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:16.679Z,1761698236.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 345.918304 m, bearing: 27.218913 deg, approach rate: -0.630367 m/s, LOS rate: 0.014377 deg/s, cmd heading: 32.049621 deg, new cmd heading: 32.062432 deg. 2025-10-29T00:37:16.680Z,1761698236.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559595 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:16.865Z,1761698236.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248639 2025-10-29T00:37:17.006Z,1761698237.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846007,-0.532798,-0.019966],[0.531131,0.838904,0.118912],[-0.046606,-0.111205,0.992704]] 2025-10-29T00:37:17.117Z,1761698237.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500454 2025-10-29T00:37:17.117Z,1761698237.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:17.120Z,1761698237.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 345.682861 m, bearing: 27.224291 deg, approach rate: -0.534576 m/s, LOS rate: 0.012220 deg/s, cmd heading: 32.062431 deg, new cmd heading: 32.073195 deg. 2025-10-29T00:37:17.121Z,1761698237.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559783 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:17.369Z,1761698237.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752367 2025-10-29T00:37:17.411Z,1761698237.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846053,-0.532691,-0.020845],[0.531148,0.838972,0.118354],[-0.045558,-0.111205,0.992753]] 2025-10-29T00:37:17.446Z,1761698237.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:17.455Z,1761698237.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 345.443085 m, bearing: 27.229776 deg, approach rate: -0.726801 m/s, LOS rate: 0.016639 deg/s, cmd heading: 32.073195 deg, new cmd heading: 32.084174 deg. 2025-10-29T00:37:17.456Z,1761698237.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559974 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:17.621Z,1761698237.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004350 2025-10-29T00:37:17.814Z,1761698237.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846243,-0.532345,-0.021972],[0.530943,0.839140,0.118082],[-0.044423,-0.111592,0.992761]] 2025-10-29T00:37:17.871Z,1761698237.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:17.873Z,1761698237.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256466 2025-10-29T00:37:17.878Z,1761698237.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 345.180542 m, bearing: 27.234990 deg, approach rate: -0.616794 m/s, LOS rate: 0.012258 deg/s, cmd heading: 32.084175 deg, new cmd heading: 32.094611 deg. 2025-10-29T00:37:17.879Z,1761698237.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560157 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:18.125Z,1761698238.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508375 2025-10-29T00:37:18.219Z,1761698238.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846186,-0.532379,-0.023277],[0.531122,0.839023,0.118109],[-0.043349,-0.112305,0.992728]] 2025-10-29T00:37:18.259Z,1761698238.259 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:18.267Z,1761698238.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:18.275Z,1761698238.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 344.940247 m, bearing: 27.239760 deg, approach rate: -0.608526 m/s, LOS rate: 0.012087 deg/s, cmd heading: 32.094612 deg, new cmd heading: 32.104157 deg. 2025-10-29T00:37:18.281Z,1761698238.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560323 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:18.377Z,1761698238.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760473 2025-10-29T00:37:18.623Z,1761698238.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846211,-0.532261,-0.024994],[0.531173,0.838907,0.118699],[-0.042211,-0.113721,0.992616]] 2025-10-29T00:37:18.629Z,1761698238.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012402 2025-10-29T00:37:18.692Z,1761698238.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:18.695Z,1761698238.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 344.651184 m, bearing: 27.243822 deg, approach rate: -0.678546 m/s, LOS rate: 0.009543 deg/s, cmd heading: 32.104157 deg, new cmd heading: 32.112287 deg. 2025-10-29T00:37:18.696Z,1761698238.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560465 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:18.881Z,1761698238.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264454 2025-10-29T00:37:19.026Z,1761698239.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846198,-0.532181,-0.027052],[0.531275,0.838659,0.119994],[-0.041171,-0.115911,0.992406]] 2025-10-29T00:37:19.045Z,1761698239.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:19.047Z,1761698239.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 344.427429 m, bearing: 27.246962 deg, approach rate: -0.634827 m/s, LOS rate: 0.008915 deg/s, cmd heading: 32.112288 deg, new cmd heading: 32.118573 deg. 2025-10-29T00:37:19.072Z,1761698239.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560575 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:19.134Z,1761698239.134 [DAT](INFO): DAT read: Rx Time:00:37:18.3434 2025-10-29T00:37:19.134Z,1761698239.134 [DAT](INFO): Rx dataTimestamp_ set to:1761698239.134176 2025-10-29T00:37:19.135Z,1761698239.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518806 2025-10-29T00:37:19.385Z,1761698239.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.768276 2025-10-29T00:37:19.430Z,1761698239.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845955,-0.532479,-0.028752],[0.531749,0.838292,0.120455],[-0.040037,-0.117188,0.992302]] 2025-10-29T00:37:19.458Z,1761698239.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 348.08 m. 2025-10-29T00:37:19.461Z,1761698239.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 348.084808 m, nav range: 344.165039 m, bearing: 27.250623 deg, approach rate: -0.634725 m/s, LOS rate: 0.008864 deg/s, cmd heading: 32.118572 deg, new cmd heading: 32.125900 deg. 2025-10-29T00:37:19.462Z,1761698239.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560703 target range: 348.084808 and range: 350.10 m. 2025-10-29T00:37:19.643Z,1761698239.643 [DAT](INFO): DAT read: 00:37:18.3434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.01,-1.825, 3.033,-1.461,-2.132, PHS= 0.409,-1.073, 0.627, RAW= 156.8, 0.5, CAL= 155.5, -0.9, ROT= 354.5, 0.9 2025-10-29T00:37:19.645Z,1761698239.645 [DAT](INFO): got valid direction response: 00:37:18.3434 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403,-0.01,-1.825, 3.033,-1.461,-2.132, PHS= 0.409,-1.073, 0.627, RAW= 156.8, 0.5, CAL= 155.5, -0.9, ROT= 354.5, 0.9 2025-10-29T00:37:19.646Z,1761698239.646 [DAT](INFO): DAT read: Bearing 176.2, -7.8 (Local) 2025-10-29T00:37:19.646Z,1761698239.646 [DAT](INFO): Local bearing/azimuth received: Bearing 176.2, -7.8 (Local) 2025-10-29T00:37:19.647Z,1761698239.647 [DAT](INFO): DAT read: Range 11 to 50 : 347.3 m (Round-trip 463.1 ms) speed 0.4 m/s 2025-10-29T00:37:19.652Z,1761698239.652 [DAT](INFO): DAT read: user:470> 2025-10-29T00:37:19.653Z,1761698239.653 [DAT](INFO): DAT read: Tx time:00:37:19.4761 2025-10-29T00:37:19.653Z,1761698239.653 [DAT](INFO): Ping request sent. 2025-10-29T00:37:19.653Z,1761698239.653 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:19.654Z,1761698239.654 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:19.654Z,1761698239.654 [DAT](INFO): direction in FSK: [0.995273,-0.095834,-0.015707] 2025-10-29T00:37:19.655Z,1761698239.655 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:19.655Z,1761698239.655 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:19.658Z,1761698239.658 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:19.658Z,1761698239.658 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:19.932Z,1761698239.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 347.299988 m, deltaT: 4.032608 s, deltaX: -2.800018 m, approachRate: -0.694344 m/s, rangeRepo size: 4 2025-10-29T00:37:19.938Z,1761698239.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 345.305115 m, bearing: 26.579817 deg, lat: 36.779380 deg, lon: -121.859126 deg, deltaT: 4.032608 s, deltaX: -2.779694 m, approachRate: -0.689304 m/s, posRepo size: 4 2025-10-29T00:37:19.938Z,1761698239.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:19.943Z,1761698239.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 343.876862 m, bearing: 27.252714 deg, approach rate: 0.000000 m/s, LOS rate: 0.008864 deg/s, cmd heading: 32.125901 deg, new cmd heading: 32.134285 deg. 2025-10-29T00:37:19.944Z,1761698239.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560849 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:20.297Z,1761698240.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845107,-0.533705,-0.030858],[0.533235,0.837431,0.119876],[-0.038137,-0.117763,0.992309]] 2025-10-29T00:37:20.321Z,1761698240.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:20.323Z,1761698240.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:20.326Z,1761698240.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 343.618805 m, bearing: 27.254515 deg, approach rate: -0.657885 m/s, LOS rate: 0.004594 deg/s, cmd heading: 32.134285 deg, new cmd heading: 32.137889 deg. 2025-10-29T00:37:20.327Z,1761698240.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560912 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:20.393Z,1761698240.393 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:20.393Z,1761698240.393 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:20.393Z,1761698240.393 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:20.645Z,1761698240.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991658 2025-10-29T00:37:20.698Z,1761698240.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844733,-0.534236,-0.031905],[0.533908,0.837091,0.119252],[-0.037002,-0.117770,0.992351]] 2025-10-29T00:37:20.754Z,1761698240.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:20.762Z,1761698240.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 343.349030 m, bearing: 27.256110 deg, approach rate: -0.627048 m/s, LOS rate: 0.003710 deg/s, cmd heading: 32.137888 deg, new cmd heading: 32.141080 deg. 2025-10-29T00:37:20.764Z,1761698240.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560968 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:20.897Z,1761698240.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243531 2025-10-29T00:37:21.137Z,1761698241.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:21.139Z,1761698241.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 343.098663 m, bearing: 27.257592 deg, approach rate: -0.652992 m/s, LOS rate: 0.003869 deg/s, cmd heading: 32.141081 deg, new cmd heading: 32.144047 deg. 2025-10-29T00:37:21.141Z,1761698241.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561019 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:21.149Z,1761698241.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495667 2025-10-29T00:37:21.401Z,1761698241.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747991 2025-10-29T00:37:21.506Z,1761698241.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843435,-0.536179,-0.033608],[0.536090,0.835917,0.117687],[-0.035007,-0.117279,0.992482]] 2025-10-29T00:37:21.525Z,1761698241.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:21.527Z,1761698241.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 342.850861 m, bearing: 27.258957 deg, approach rate: -0.638802 m/s, LOS rate: 0.003521 deg/s, cmd heading: 32.144048 deg, new cmd heading: 32.146780 deg. 2025-10-29T00:37:21.529Z,1761698241.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561067 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:21.654Z,1761698241.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000430 2025-10-29T00:37:21.905Z,1761698241.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251668 2025-10-29T00:37:21.912Z,1761698241.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842645,-0.537351,-0.034687],[0.537399,0.835162,0.117078],[-0.033942,-0.117296,0.992517]] 2025-10-29T00:37:21.973Z,1761698241.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:21.976Z,1761698241.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 342.565826 m, bearing: 27.259651 deg, approach rate: -0.635617 m/s, LOS rate: 0.001549 deg/s, cmd heading: 32.146781 deg, new cmd heading: 32.148170 deg. 2025-10-29T00:37:21.977Z,1761698241.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561091 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:22.157Z,1761698242.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504073 2025-10-29T00:37:22.318Z,1761698242.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842162,-0.538021,-0.036015],[0.538232,0.834680,0.116691],[-0.032721,-0.117657,0.992515]] 2025-10-29T00:37:22.335Z,1761698242.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:22.337Z,1761698242.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:22.340Z,1761698242.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 342.334473 m, bearing: 27.260178 deg, approach rate: -0.635299 m/s, LOS rate: 0.001447 deg/s, cmd heading: 32.148170 deg, new cmd heading: 32.149225 deg. 2025-10-29T00:37:22.341Z,1761698242.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561110 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:22.409Z,1761698242.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755774 2025-10-29T00:37:22.663Z,1761698242.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009680 2025-10-29T00:37:22.723Z,1761698242.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841868,-0.538392,-0.037310],[0.538749,0.834333,0.116781],[-0.031745,-0.118415,0.992457]] 2025-10-29T00:37:22.798Z,1761698242.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:22.806Z,1761698242.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 342.049225 m, bearing: 27.262286 deg, approach rate: -0.618953 m/s, LOS rate: 0.004579 deg/s, cmd heading: 32.149226 deg, new cmd heading: 32.153447 deg. 2025-10-29T00:37:22.807Z,1761698242.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561184 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:22.913Z,1761698242.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259598 2025-10-29T00:37:23.131Z,1761698243.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841565,-0.538778,-0.038560],[0.539275,0.833971,0.116942],[-0.030847,-0.119209,0.992390]] 2025-10-29T00:37:23.151Z,1761698243.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:23.153Z,1761698243.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 341.822418 m, bearing: 27.263942 deg, approach rate: -0.643821 m/s, LOS rate: 0.004701 deg/s, cmd heading: 32.153447 deg, new cmd heading: 32.156759 deg. 2025-10-29T00:37:23.154Z,1761698243.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561241 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:23.166Z,1761698243.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513106 2025-10-29T00:37:23.417Z,1761698243.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.763621 2025-10-29T00:37:23.530Z,1761698243.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841014,-0.539564,-0.039574],[0.540179,0.833409,0.116776],[-0.030026,-0.119587,0.992369]] 2025-10-29T00:37:23.573Z,1761698243.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:23.575Z,1761698243.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 341.567017 m, bearing: 27.265762 deg, approach rate: -0.604918 m/s, LOS rate: 0.004315 deg/s, cmd heading: 32.156759 deg, new cmd heading: 32.160403 deg. 2025-10-29T00:37:23.576Z,1761698243.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561305 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:23.670Z,1761698243.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.016237 2025-10-29T00:37:23.921Z,1761698243.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.267531 2025-10-29T00:37:23.947Z,1761698243.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840467,-0.540334,-0.040674],[0.541068,0.832801,0.116996],[-0.029343,-0.120338,0.992299]] 2025-10-29T00:37:24.010Z,1761698244.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:24.017Z,1761698244.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 341.296234 m, bearing: 27.268422 deg, approach rate: -0.619936 m/s, LOS rate: 0.006095 deg/s, cmd heading: 32.160403 deg, new cmd heading: 32.165728 deg. 2025-10-29T00:37:24.018Z,1761698244.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561398 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:24.173Z,1761698244.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.519599 2025-10-29T00:37:24.338Z,1761698244.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840082,-0.540870,-0.041509],[0.541700,0.832397,0.116947],[-0.028701,-0.120731,0.992270]] 2025-10-29T00:37:24.355Z,1761698244.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:24.358Z,1761698244.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:24.360Z,1761698244.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 341.066559 m, bearing: 27.270653 deg, approach rate: -0.659926 m/s, LOS rate: 0.006413 deg/s, cmd heading: 32.165727 deg, new cmd heading: 32.170192 deg. 2025-10-29T00:37:24.365Z,1761698244.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561476 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:24.426Z,1761698244.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.772406 2025-10-29T00:37:24.680Z,1761698244.680 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.025985 2025-10-29T00:37:24.748Z,1761698244.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839847,-0.541168,-0.042357],[0.542100,0.832144,0.116892],[-0.028011,-0.121133,0.992241]] 2025-10-29T00:37:24.806Z,1761698244.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:24.809Z,1761698244.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 340.788849 m, bearing: 27.274215 deg, approach rate: -0.619601 m/s, LOS rate: 0.007954 deg/s, cmd heading: 32.170191 deg, new cmd heading: 32.177321 deg. 2025-10-29T00:37:24.809Z,1761698244.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561600 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:24.929Z,1761698244.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.275883 2025-10-29T00:37:25.150Z,1761698245.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839774,-0.541252,-0.042727],[0.542228,0.832065,0.116863],[-0.027701,-0.121307,0.992229]] 2025-10-29T00:37:25.174Z,1761698245.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:25.177Z,1761698245.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 340.563202 m, bearing: 27.277107 deg, approach rate: -0.612668 m/s, LOS rate: 0.007858 deg/s, cmd heading: 32.177322 deg, new cmd heading: 32.183110 deg. 2025-10-29T00:37:25.178Z,1761698245.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561701 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:25.181Z,1761698245.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.527794 2025-10-29T00:37:25.434Z,1761698245.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.780408 2025-10-29T00:37:25.551Z,1761698245.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839786,-0.541166,-0.043583],[0.542220,0.831933,0.117830],[-0.027507,-0.122583,0.992077]] 2025-10-29T00:37:25.688Z,1761698245.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.033944 2025-10-29T00:37:25.699Z,1761698245.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:25.706Z,1761698245.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 340.265869 m, bearing: 27.280923 deg, approach rate: -0.566152 m/s, LOS rate: 0.007272 deg/s, cmd heading: 32.183110 deg, new cmd heading: 32.190749 deg. 2025-10-29T00:37:25.707Z,1761698245.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561835 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:25.939Z,1761698245.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.284941 2025-10-29T00:37:26.017Z,1761698246.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841131,-0.538862,-0.046115],[0.540144,0.832708,0.121825],[-0.027247,-0.127380,0.991480]] 2025-10-29T00:37:26.095Z,1761698246.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:26.102Z,1761698246.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 339.992126 m, bearing: 27.286115 deg, approach rate: -0.691942 m/s, LOS rate: 0.013135 deg/s, cmd heading: 32.190750 deg, new cmd heading: 32.201143 deg. 2025-10-29T00:37:26.103Z,1761698246.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562016 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:26.190Z,1761698246.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.536316 2025-10-29T00:37:26.421Z,1761698246.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842034,-0.537323,-0.047564],[0.538734,0.833223,0.124522],[-0.027277,-0.130476,0.991076]] 2025-10-29T00:37:26.441Z,1761698246.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.787564 2025-10-29T00:37:26.456Z,1761698246.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:26.458Z,1761698246.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:26.461Z,1761698246.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 339.760376 m, bearing: 27.290578 deg, approach rate: -0.637474 m/s, LOS rate: 0.012284 deg/s, cmd heading: 32.201142 deg, new cmd heading: 32.210074 deg. 2025-10-29T00:37:26.462Z,1761698246.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562172 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:26.695Z,1761698246.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.041800 2025-10-29T00:37:26.822Z,1761698246.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842983,-0.535745,-0.048553],[0.537260,0.833942,0.126067],[-0.027049,-0.132358,0.990833]] 2025-10-29T00:37:26.872Z,1761698246.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:26.875Z,1761698246.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 339.501556 m, bearing: 27.295643 deg, approach rate: -0.626038 m/s, LOS rate: 0.012260 deg/s, cmd heading: 32.210072 deg, new cmd heading: 32.220210 deg. 2025-10-29T00:37:26.876Z,1761698246.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562349 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:26.946Z,1761698246.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.292971 2025-10-29T00:37:27.197Z,1761698247.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.543593 2025-10-29T00:37:27.283Z,1761698247.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:27.286Z,1761698247.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 339.244873 m, bearing: 27.300674 deg, approach rate: -0.624532 m/s, LOS rate: 0.012250 deg/s, cmd heading: 32.220208 deg, new cmd heading: 32.230278 deg. 2025-10-29T00:37:27.287Z,1761698247.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562524 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:27.449Z,1761698247.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.795626 2025-10-29T00:37:27.635Z,1761698247.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844311,-0.533436,-0.050835],[0.535179,0.834693,0.129889],[-0.026856,-0.136873,0.990225]] 2025-10-29T00:37:27.704Z,1761698247.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.050301 2025-10-29T00:37:27.778Z,1761698247.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:27.789Z,1761698247.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 338.961761 m, bearing: 27.306340 deg, approach rate: -0.571753 m/s, LOS rate: 0.011452 deg/s, cmd heading: 32.230280 deg, new cmd heading: 32.241621 deg. 2025-10-29T00:37:27.790Z,1761698247.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562722 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:27.953Z,1761698247.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.299667 2025-10-29T00:37:28.205Z,1761698248.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.551670 2025-10-29T00:37:28.250Z,1761698248.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844731,-0.532707,-0.051496],[0.534530,0.834997,0.130604],[-0.026575,-0.137852,0.990096]] 2025-10-29T00:37:28.302Z,1761698248.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:28.305Z,1761698248.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 338.606506 m, bearing: 27.313206 deg, approach rate: -0.677881 m/s, LOS rate: 0.013115 deg/s, cmd heading: 32.241621 deg, new cmd heading: 32.255368 deg. 2025-10-29T00:37:28.306Z,1761698248.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562962 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:28.457Z,1761698248.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.803535 2025-10-29T00:37:28.637Z,1761698248.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845241,-0.531844,-0.052058],[0.533732,0.835375,0.131446],[-0.026420,-0.138889,0.989955]] 2025-10-29T00:37:28.654Z,1761698248.654 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:28.656Z,1761698248.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:28.659Z,1761698248.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 338.384460 m, bearing: 27.317539 deg, approach rate: -0.627084 m/s, LOS rate: 0.012244 deg/s, cmd heading: 32.255367 deg, new cmd heading: 32.264038 deg. 2025-10-29T00:37:28.660Z,1761698248.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563114 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:28.711Z,1761698248.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.057701 2025-10-29T00:37:28.961Z,1761698248.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.307691 2025-10-29T00:37:29.059Z,1761698249.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845686,-0.530959,-0.053829],[0.533055,0.835503,0.133367],[-0.025838,-0.141481,0.989604]] 2025-10-29T00:37:29.104Z,1761698249.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:29.107Z,1761698249.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 338.102234 m, bearing: 27.322413 deg, approach rate: -0.629963 m/s, LOS rate: 0.010888 deg/s, cmd heading: 32.264038 deg, new cmd heading: 32.273793 deg. 2025-10-29T00:37:29.108Z,1761698249.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563284 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:29.213Z,1761698249.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.559635 2025-10-29T00:37:29.465Z,1761698249.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.811695 2025-10-29T00:37:29.472Z,1761698249.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846077,-0.530270,-0.054470],[0.532455,0.835822,0.133767],[-0.025405,-0.142180,0.989515]] 2025-10-29T00:37:29.492Z,1761698249.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:29.494Z,1761698249.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 337.858063 m, bearing: 27.326664 deg, approach rate: -0.630074 m/s, LOS rate: 0.010980 deg/s, cmd heading: 32.273795 deg, new cmd heading: 32.282305 deg. 2025-10-29T00:37:29.495Z,1761698249.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563433 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:29.719Z,1761698249.719 [DAT](INFO): Reached modem response timeout 2025-10-29T00:37:29.720Z,1761698249.720 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:29.721Z,1761698249.721 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:29.866Z,1761698249.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846319,-0.529761,-0.055642],[0.532112,0.835993,0.134063],[-0.024505,-0.143068,0.989409]] 2025-10-29T00:37:29.913Z,1761698249.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:29.915Z,1761698249.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 337.593109 m, bearing: 27.330749 deg, approach rate: -0.630687 m/s, LOS rate: 0.009729 deg/s, cmd heading: 32.282305 deg, new cmd heading: 32.290480 deg. 2025-10-29T00:37:29.916Z,1761698249.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563575 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:29.973Z,1761698249.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:30.221Z,1761698250.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:30.277Z,1761698250.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846447,-0.529401,-0.057121],[0.531959,0.836038,0.134383],[-0.023387,-0.144134,0.989282]] 2025-10-29T00:37:30.360Z,1761698250.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:30.363Z,1761698250.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 337.310425 m, bearing: 27.335120 deg, approach rate: -0.631088 m/s, LOS rate: 0.009768 deg/s, cmd heading: 32.290481 deg, new cmd heading: 32.299232 deg. 2025-10-29T00:37:30.363Z,1761698250.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563728 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:30.473Z,1761698250.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:30.674Z,1761698250.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846401,-0.529379,-0.057990],[0.532071,0.836016,0.134084],[-0.022500,-0.144343,0.989272]] 2025-10-29T00:37:30.727Z,1761698250.727 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:30.789Z,1761698250.789 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:30.791Z,1761698250.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:30.794Z,1761698250.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 337.060974 m, bearing: 27.338979 deg, approach rate: -0.578666 m/s, LOS rate: 0.008957 deg/s, cmd heading: 32.299230 deg, new cmd heading: 32.306952 deg. 2025-10-29T00:37:30.795Z,1761698250.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563863 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:30.977Z,1761698250.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:31.166Z,1761698251.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:31.172Z,1761698251.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 336.798553 m, bearing: 27.340795 deg, approach rate: -0.699803 m/s, LOS rate: 0.004847 deg/s, cmd heading: 32.306952 deg, new cmd heading: 32.310587 deg. 2025-10-29T00:37:31.174Z,1761698251.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563926 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:31.230Z,1761698251.230 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:31.481Z,1761698251.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:31.522Z,1761698251.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845728,-0.530263,-0.059716],[0.533257,0.835751,0.130984],[-0.019548,-0.142621,0.989584]] 2025-10-29T00:37:31.560Z,1761698251.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:31.579Z,1761698251.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 336.545258 m, bearing: 27.342497 deg, approach rate: -0.643201 m/s, LOS rate: 0.004324 deg/s, cmd heading: 32.310589 deg, new cmd heading: 32.313995 deg. 2025-10-29T00:37:31.584Z,1761698251.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563986 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:31.733Z,1761698251.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:31.928Z,1761698251.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845238,-0.531023,-0.059888],[0.534085,0.835649,0.128238],[-0.018052,-0.140377,0.989933]] 2025-10-29T00:37:31.937Z,1761698251.937 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504255202,35.0, +10.6, 0.0,1492.0,A, 0.02768,-32768,V 2025-10-29T00:37:31.985Z,1761698251.985 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:37:31.985Z,1761698251.985 [DAT](INFO): response not received 2025-10-29T00:37:31.986Z,1761698251.986 [DAT](INFO): DAT read: user:471> 2025-10-29T00:37:31.986Z,1761698251.986 [DAT](ERROR): No response from remote modem. 2025-10-29T00:37:31.986Z,1761698251.986 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:37:31.987Z,1761698251.987 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:31.989Z,1761698251.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:31.996Z,1761698251.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 336.276703 m, bearing: 27.344265 deg, approach rate: -0.624722 m/s, LOS rate: 0.004118 deg/s, cmd heading: 32.313994 deg, new cmd heading: 32.317535 deg. 2025-10-29T00:37:31.997Z,1761698251.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564047 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:32.238Z,1761698252.238 [DAT](INFO): DAT read: Tx time:00:37:31.9261 2025-10-29T00:37:32.238Z,1761698252.238 [DAT](INFO): Ping request sent. 2025-10-29T00:37:32.238Z,1761698252.238 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:32.239Z,1761698252.239 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:32.240Z,1761698252.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001698 2025-10-29T00:37:32.331Z,1761698252.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844774,-0.531643,-0.060924],[0.534860,0.835300,0.127275],[-0.016775,-0.140105,0.989995]] 2025-10-29T00:37:32.350Z,1761698252.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:32.352Z,1761698252.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 336.038818 m, bearing: 27.345799 deg, approach rate: -0.660348 m/s, LOS rate: 0.004259 deg/s, cmd heading: 32.317535 deg, new cmd heading: 32.320604 deg. 2025-10-29T00:37:32.353Z,1761698252.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564101 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:32.489Z,1761698252.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250489 2025-10-29T00:37:32.742Z,1761698252.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503129 2025-10-29T00:37:32.744Z,1761698252.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844305,-0.532301,-0.061686],[0.535646,0.835073,0.125447],[-0.015263,-0.138957,0.990181]] 2025-10-29T00:37:32.828Z,1761698252.828 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:32.830Z,1761698252.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:32.837Z,1761698252.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 335.733765 m, bearing: 27.347724 deg, approach rate: -0.634924 m/s, LOS rate: 0.004011 deg/s, cmd heading: 32.320605 deg, new cmd heading: 32.324460 deg. 2025-10-29T00:37:32.838Z,1761698252.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564168 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:32.993Z,1761698252.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754458 2025-10-29T00:37:33.218Z,1761698253.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:33.221Z,1761698253.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 335.484619 m, bearing: 27.348289 deg, approach rate: -0.642857 m/s, LOS rate: 0.001458 deg/s, cmd heading: 32.324461 deg, new cmd heading: 32.325591 deg. 2025-10-29T00:37:33.221Z,1761698253.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564188 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:33.246Z,1761698253.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007936 2025-10-29T00:37:33.497Z,1761698253.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258485 2025-10-29T00:37:33.565Z,1761698253.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843120,-0.534064,-0.062645],[0.537576,0.834404,0.121581],[-0.012661,-0.136184,0.990603]] 2025-10-29T00:37:33.588Z,1761698253.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:33.591Z,1761698253.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 335.248962 m, bearing: 27.348737 deg, approach rate: -0.636181 m/s, LOS rate: 0.001211 deg/s, cmd heading: 32.325591 deg, new cmd heading: 32.326488 deg. 2025-10-29T00:37:33.592Z,1761698253.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564204 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:33.753Z,1761698253.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513810 2025-10-29T00:37:33.966Z,1761698253.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842544,-0.534936,-0.062953],[0.538507,0.834106,0.119487],[-0.011408,-0.134573,0.990838]] 2025-10-29T00:37:34.001Z,1761698254.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762526 2025-10-29T00:37:34.020Z,1761698254.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:34.023Z,1761698254.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 334.979126 m, bearing: 27.348756 deg, approach rate: -0.624614 m/s, LOS rate: 0.000043 deg/s, cmd heading: 32.326490 deg, new cmd heading: 32.326527 deg. 2025-10-29T00:37:34.024Z,1761698254.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564204 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:34.255Z,1761698254.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016656 2025-10-29T00:37:34.370Z,1761698254.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841886,-0.535825,-0.064186],[0.539564,0.833571,0.118448],[-0.009964,-0.134352,0.990884]] 2025-10-29T00:37:34.401Z,1761698254.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:34.403Z,1761698254.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 334.741364 m, bearing: 27.348722 deg, approach rate: -0.624555 m/s, LOS rate: -0.000089 deg/s, cmd heading: 32.326527 deg, new cmd heading: 32.326459 deg. 2025-10-29T00:37:34.405Z,1761698254.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564203 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:34.505Z,1761698254.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266527 2025-10-29T00:37:34.758Z,1761698254.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519288 2025-10-29T00:37:34.834Z,1761698254.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841298,-0.536390,-0.067105],[0.540520,0.833009,0.118042],[-0.007417,-0.135580,0.990739]] 2025-10-29T00:37:34.881Z,1761698254.881 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:34.883Z,1761698254.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:34.885Z,1761698254.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 334.444519 m, bearing: 27.348925 deg, approach rate: -0.616318 m/s, LOS rate: 0.000422 deg/s, cmd heading: 32.326459 deg, new cmd heading: 32.326866 deg. 2025-10-29T00:37:34.886Z,1761698254.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564210 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:35.009Z,1761698255.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770498 2025-10-29T00:37:35.199Z,1761698255.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841203,-0.536344,-0.068643],[0.540682,0.832863,0.118331],[-0.006296,-0.136654,0.990599]] 2025-10-29T00:37:35.218Z,1761698255.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:35.223Z,1761698255.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 334.237335 m, bearing: 27.349059 deg, approach rate: -0.616753 m/s, LOS rate: 0.000400 deg/s, cmd heading: 32.326865 deg, new cmd heading: 32.327134 deg. 2025-10-29T00:37:35.225Z,1761698255.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564215 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:35.261Z,1761698255.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022546 2025-10-29T00:37:35.513Z,1761698255.513 [DAT](INFO): DAT read: Rx Time:00:37:34.7818 2025-10-29T00:37:35.514Z,1761698255.514 [DAT](INFO): Rx dataTimestamp_ set to:1761698255.513677 2025-10-29T00:37:35.514Z,1761698255.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276096 2025-10-29T00:37:35.598Z,1761698255.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840924,-0.536629,-0.069830],[0.541128,0.832612,0.118058],[-0.005212,-0.137065,0.990548]] 2025-10-29T00:37:35.642Z,1761698255.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 345.31 m. 2025-10-29T00:37:35.645Z,1761698255.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 345.305115 m, nav range: 333.986633 m, bearing: 27.349199 deg, approach rate: -0.591345 m/s, LOS rate: 0.000330 deg/s, cmd heading: 32.327135 deg, new cmd heading: 32.327415 deg. 2025-10-29T00:37:35.646Z,1761698255.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564220 target range: 345.305115 and range: 347.30 m. 2025-10-29T00:37:35.766Z,1761698255.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528017 2025-10-29T00:37:36.003Z,1761698256.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840709,-0.536794,-0.071138],[0.541472,0.832440,0.117688],[-0.003956,-0.137461,0.990499]] 2025-10-29T00:37:36.023Z,1761698256.023 [DAT](INFO): DAT read: 00:37:34.7818 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 284,-0.47,-0.616,-1.928,-0.275,-0.877, PHS= 0.363,-1.006, 0.559, RAW= 156.6, 1.2, CAL= 155.2, -0.1, ROT= 354.8, 0.1 2025-10-29T00:37:36.024Z,1761698256.024 [DAT](INFO): got valid direction response: 00:37:34.7818 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 284,-0.47,-0.616,-1.928,-0.275,-0.877, PHS= 0.363,-1.006, 0.559, RAW= 156.6, 1.2, CAL= 155.2, -0.1, ROT= 354.8, 0.1 2025-10-29T00:37:36.025Z,1761698256.025 [DAT](INFO): DAT read: Bearing 177.7, -5.5 (Local) 2025-10-29T00:37:36.025Z,1761698256.025 [DAT](INFO): Local bearing/azimuth received: Bearing 177.7, -5.5 (Local) 2025-10-29T00:37:36.027Z,1761698256.027 [DAT](INFO): DAT read: Range 11 to 50 : 338.6 m (Round-trip 451.5 ms) speed 0.7 m/s 2025-10-29T00:37:36.027Z,1761698256.027 [DAT](INFO): DAT read: user:472> 2025-10-29T00:37:36.028Z,1761698256.028 [DAT](INFO): DAT read: Tx time:00:37:35.8761 2025-10-29T00:37:36.028Z,1761698256.028 [DAT](INFO): Ping request sent. 2025-10-29T00:37:36.029Z,1761698256.029 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:36.029Z,1761698256.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:36.030Z,1761698256.030 [DAT](INFO): direction in FSK: [0.995883,-0.090633,-0.001745] 2025-10-29T00:37:36.030Z,1761698256.030 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:36.030Z,1761698256.030 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:36.038Z,1761698256.038 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:36.038Z,1761698256.038 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:36.131Z,1761698256.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 338.600006 m, deltaT: 16.379473 s, deltaX: -8.699982 m, approachRate: -0.531151 m/s, rangeRepo size: 4 2025-10-29T00:37:36.145Z,1761698256.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 336.708069 m, bearing: 27.619791 deg, lat: 36.779391 deg, lon: -121.859126 deg, deltaT: 16.379473 s, deltaX: -8.597046 m, approachRate: -0.524867 m/s, posRepo size: 4 2025-10-29T00:37:36.146Z,1761698256.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:36.153Z,1761698256.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 334.814911 m, bearing: 27.249801 deg, approach rate: 0.000000 m/s, LOS rate: 0.000330 deg/s, cmd heading: 32.327415 deg, new cmd heading: 32.327735 deg. 2025-10-29T00:37:36.154Z,1761698256.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564225 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:36.459Z,1761698256.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840733,-0.536556,-0.072632],[0.541444,0.832489,0.117476],[-0.002567,-0.138092,0.990416]] 2025-10-29T00:37:36.478Z,1761698256.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:36.481Z,1761698256.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 334.582062 m, bearing: 27.249876 deg, approach rate: -0.664274 m/s, LOS rate: 0.000212 deg/s, cmd heading: 32.327736 deg, new cmd heading: 32.327885 deg. 2025-10-29T00:37:36.482Z,1761698256.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564228 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:36.878Z,1761698256.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840548,-0.536665,-0.073959],[0.541736,0.832368,0.116984],[-0.001220,-0.138397,0.990376]] 2025-10-29T00:37:36.922Z,1761698256.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:36.924Z,1761698256.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:36.926Z,1761698256.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 334.300293 m, bearing: 27.251120 deg, approach rate: -0.631800 m/s, LOS rate: 0.002792 deg/s, cmd heading: 32.327886 deg, new cmd heading: 32.330377 deg. 2025-10-29T00:37:36.927Z,1761698256.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564272 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:37.025Z,1761698257.025 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:37.025Z,1761698257.025 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:37.025Z,1761698257.025 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:37.264Z,1761698257.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840649,-0.536308,-0.075382],[0.541580,0.832492,0.116830],[0.000099,-0.139038,0.990287]] 2025-10-29T00:37:37.277Z,1761698257.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248298 2025-10-29T00:37:37.305Z,1761698257.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:37.308Z,1761698257.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 334.065338 m, bearing: 27.252166 deg, approach rate: -0.615739 m/s, LOS rate: 0.002743 deg/s, cmd heading: 32.330376 deg, new cmd heading: 32.332469 deg. 2025-10-29T00:37:37.309Z,1761698257.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564308 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:37.529Z,1761698257.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500242 2025-10-29T00:37:37.706Z,1761698257.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:37.709Z,1761698257.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 333.809021 m, bearing: 27.253308 deg, approach rate: -0.638873 m/s, LOS rate: 0.002851 deg/s, cmd heading: 32.332469 deg, new cmd heading: 32.334757 deg. 2025-10-29T00:37:37.710Z,1761698257.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564348 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:37.782Z,1761698257.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753192 2025-10-29T00:37:38.033Z,1761698258.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004286 2025-10-29T00:37:38.082Z,1761698258.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841065,-0.535147,-0.078912],[0.540927,0.832803,0.117629],[0.002769,-0.141620,0.989917]] 2025-10-29T00:37:38.135Z,1761698258.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:38.138Z,1761698258.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 333.534332 m, bearing: 27.256368 deg, approach rate: -0.640626 m/s, LOS rate: 0.007143 deg/s, cmd heading: 32.334758 deg, new cmd heading: 32.340883 deg. 2025-10-29T00:37:38.139Z,1761698258.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564455 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:38.189Z,1761698258.189 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:37:38.285Z,1761698258.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256157 2025-10-29T00:37:38.475Z,1761698258.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841273,-0.534646,-0.080088],[0.540597,0.833017,0.117629],[0.003825,-0.142253,0.989823]] 2025-10-29T00:37:38.503Z,1761698258.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:38.506Z,1761698258.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 333.301361 m, bearing: 27.258983 deg, approach rate: -0.632929 m/s, LOS rate: 0.007108 deg/s, cmd heading: 32.340884 deg, new cmd heading: 32.346117 deg. 2025-10-29T00:37:38.507Z,1761698258.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564546 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:38.547Z,1761698258.547 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518104 2025-10-29T00:37:38.797Z,1761698258.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768310 2025-10-29T00:37:38.906Z,1761698258.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841484,-0.534104,-0.081473],[0.540259,0.833225,0.117713],[0.005015,-0.143070,0.989700]] 2025-10-29T00:37:39.011Z,1761698259.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:39.013Z,1761698259.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:39.016Z,1761698259.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 332.993866 m, bearing: 27.264001 deg, approach rate: -0.603111 m/s, LOS rate: 0.009852 deg/s, cmd heading: 32.346116 deg, new cmd heading: 32.356162 deg. 2025-10-29T00:37:39.017Z,1761698259.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564722 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:39.050Z,1761698259.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020756 2025-10-29T00:37:39.193Z,1761698259.193 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:37:39.302Z,1761698259.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272943 2025-10-29T00:37:39.329Z,1761698259.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841757,-0.533424,-0.083089],[0.539822,0.833424,0.118306],[0.006141,-0.144438,0.989495]] 2025-10-29T00:37:39.358Z,1761698259.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:39.361Z,1761698259.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 332.772003 m, bearing: 27.267645 deg, approach rate: -0.642745 m/s, LOS rate: 0.010564 deg/s, cmd heading: 32.356163 deg, new cmd heading: 32.363456 deg. 2025-10-29T00:37:39.362Z,1761698259.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564849 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:39.553Z,1761698259.553 [DAT](INFO): DAT read: Rx Time:00:37:38.7274 2025-10-29T00:37:39.553Z,1761698259.553 [DAT](INFO): Rx dataTimestamp_ set to:1761698259.553158 2025-10-29T00:37:39.554Z,1761698259.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525344 2025-10-29T00:37:39.747Z,1761698259.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842251,-0.532554,-0.083664],[0.539040,0.834005,0.117781],[0.007051,-0.144300,0.989509]] 2025-10-29T00:37:39.805Z,1761698259.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776311 2025-10-29T00:37:39.811Z,1761698259.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 336.71 m. 2025-10-29T00:37:39.814Z,1761698259.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 336.708069 m, nav range: 332.505646 m, bearing: 27.272069 deg, approach rate: -0.588410 m/s, LOS rate: 0.009782 deg/s, cmd heading: 32.363455 deg, new cmd heading: 32.372310 deg. 2025-10-29T00:37:39.815Z,1761698259.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565003 target range: 336.708069 and range: 338.60 m. 2025-10-29T00:37:40.066Z,1761698260.066 [DAT](INFO): DAT read: 00:37:38.7274 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 399, 0.04,-2.101, 2.774,-1.771,-2.466, PHS= 0.466,-0.998, 0.651, RAW= 155.9, -1.5, CAL= 155.0, -2.9, ROT= 355.0, 2.9 2025-10-29T00:37:40.067Z,1761698260.067 [DAT](INFO): got valid direction response: 00:37:38.7274 LVL= 32752, 32753, 32754, 32755, AGC= 77, IDX= 399, 0.04,-2.101, 2.774,-1.771,-2.466, PHS= 0.466,-0.998, 0.651, RAW= 155.9, -1.5, CAL= 155.0, -2.9, ROT= 355.0, 2.9 2025-10-29T00:37:40.091Z,1761698260.091 [DAT](INFO): DAT read: Bearing 174.7, -4.0 (Local) 2025-10-29T00:37:40.092Z,1761698260.092 [DAT](INFO): Local bearing/azimuth received: Bearing 174.7, -4.0 (Local) 2025-10-29T00:37:40.094Z,1761698260.094 [DAT](INFO): DAT read: Range 11 to 50 : 335.3 m (Round-trip 447.1 ms) speed 0.4 m/s 2025-10-29T00:37:40.095Z,1761698260.095 [DAT](INFO): DAT read: user:473> 2025-10-29T00:37:40.140Z,1761698260.140 [DAT](INFO): DAT read: Tx time:00:37:39.8261 2025-10-29T00:37:40.140Z,1761698260.140 [DAT](INFO): Ping request sent. 2025-10-29T00:37:40.141Z,1761698260.141 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:40.141Z,1761698260.141 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:40.142Z,1761698260.142 [DAT](INFO): direction in FSK: [0.994919,-0.087044,-0.050593] 2025-10-29T00:37:40.142Z,1761698260.142 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:40.142Z,1761698260.142 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:40.158Z,1761698260.158 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:40.158Z,1761698260.158 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:40.161Z,1761698260.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842548,-0.532076,-0.083714],[0.538565,0.834483,0.116562],[0.007838,-0.143295,0.989649]] 2025-10-29T00:37:40.284Z,1761698260.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 335.299988 m, deltaT: 4.041223 s, deltaX: -3.300018 m, approachRate: -0.816589 m/s, rangeRepo size: 4 2025-10-29T00:37:40.286Z,1761698260.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 333.425781 m, bearing: 27.225738 deg, lat: 36.779398 deg, lon: -121.859126 deg, deltaT: 4.041223 s, deltaX: -3.282288 m, approachRate: -0.812202 m/s, posRepo size: 4 2025-10-29T00:37:40.287Z,1761698260.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:40.302Z,1761698260.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 332.800934 m, bearing: 27.225397 deg, approach rate: 0.000000 m/s, LOS rate: 0.009782 deg/s, cmd heading: 32.372310 deg, new cmd heading: 32.381547 deg. 2025-10-29T00:37:40.303Z,1761698260.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565165 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:40.611Z,1761698260.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842783,-0.531617,-0.084261],[0.538180,0.834869,0.115568],[0.008909,-0.142746,0.989719]] 2025-10-29T00:37:40.631Z,1761698260.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:40.634Z,1761698260.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 332.572815 m, bearing: 27.230346 deg, approach rate: -0.656518 m/s, LOS rate: 0.014254 deg/s, cmd heading: 32.381548 deg, new cmd heading: 32.391453 deg. 2025-10-29T00:37:40.635Z,1761698260.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565337 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:41.013Z,1761698261.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843029,-0.531141,-0.084802],[0.537776,0.835263,0.114596],[0.009965,-0.142212,0.989786]] 2025-10-29T00:37:41.052Z,1761698261.052 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:41.054Z,1761698261.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:41.057Z,1761698261.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 332.308075 m, bearing: 27.235948 deg, approach rate: -0.624736 m/s, LOS rate: 0.013230 deg/s, cmd heading: 32.391452 deg, new cmd heading: 32.402664 deg. 2025-10-29T00:37:41.058Z,1761698261.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565533 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:41.065Z,1761698261.065 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:41.065Z,1761698261.065 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:41.065Z,1761698261.065 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:41.317Z,1761698261.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.176305 2025-10-29T00:37:41.414Z,1761698261.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843238,-0.530639,-0.085861],[0.537430,0.835472,0.114697],[0.010872,-0.142861,0.989683]] 2025-10-29T00:37:41.450Z,1761698261.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:41.453Z,1761698261.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 332.065002 m, bearing: 27.241116 deg, approach rate: -0.614826 m/s, LOS rate: 0.013081 deg/s, cmd heading: 32.402663 deg, new cmd heading: 32.413006 deg. 2025-10-29T00:37:41.454Z,1761698261.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565714 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:41.569Z,1761698261.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.428239 2025-10-29T00:37:41.821Z,1761698261.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.680800 2025-10-29T00:37:41.839Z,1761698261.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843603,-0.530069,-0.085801],[0.536848,0.835957,0.113887],[0.011358,-0.142137,0.989782]] 2025-10-29T00:37:41.942Z,1761698261.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:41.952Z,1761698261.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 331.783783 m, bearing: 27.247141 deg, approach rate: -0.571585 m/s, LOS rate: 0.012256 deg/s, cmd heading: 32.413008 deg, new cmd heading: 32.425067 deg. 2025-10-29T00:37:41.953Z,1761698261.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565924 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:42.073Z,1761698262.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.932270 2025-10-29T00:37:42.276Z,1761698262.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843892,-0.529506,-0.086428],[0.536378,0.836277,0.113752],[0.012045,-0.142352,0.989743]] 2025-10-29T00:37:42.321Z,1761698262.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:42.325Z,1761698262.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.184569 2025-10-29T00:37:42.326Z,1761698262.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 331.499939 m, bearing: 27.251933 deg, approach rate: -0.747320 m/s, LOS rate: 0.012628 deg/s, cmd heading: 32.425066 deg, new cmd heading: 32.434659 deg. 2025-10-29T00:37:42.327Z,1761698262.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566092 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:42.577Z,1761698262.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.436346 2025-10-29T00:37:42.735Z,1761698262.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:42.748Z,1761698262.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 331.249695 m, bearing: 27.256165 deg, approach rate: -0.605150 m/s, LOS rate: 0.010242 deg/s, cmd heading: 32.434659 deg, new cmd heading: 32.443130 deg. 2025-10-29T00:37:42.750Z,1761698262.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566239 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:42.830Z,1761698262.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.689021 2025-10-29T00:37:43.081Z,1761698263.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.940275 2025-10-29T00:37:43.091Z,1761698263.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844356,-0.528634,-0.087228],[0.535615,0.836898,0.112777],[0.013383,-0.141944,0.989784]] 2025-10-29T00:37:43.150Z,1761698263.150 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:43.152Z,1761698263.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:43.155Z,1761698263.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 330.982788 m, bearing: 27.260487 deg, approach rate: -0.639846 m/s, LOS rate: 0.010370 deg/s, cmd heading: 32.443129 deg, new cmd heading: 32.451780 deg. 2025-10-29T00:37:43.156Z,1761698263.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566390 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:43.333Z,1761698263.333 [DAT](INFO): DAT read: Rx Time:00:37:42.6745 2025-10-29T00:37:43.333Z,1761698263.333 [DAT](INFO): Rx dataTimestamp_ set to:1761698263.333177 2025-10-29T00:37:43.334Z,1761698263.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.193414 2025-10-29T00:37:43.487Z,1761698263.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844522,-0.528298,-0.087656],[0.535336,0.837143,0.112284],[0.014062,-0.141752,0.989802]] 2025-10-29T00:37:43.513Z,1761698263.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 333.43 m. 2025-10-29T00:37:43.515Z,1761698263.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 333.425781 m, nav range: 330.750610 m, bearing: 27.264268 deg, approach rate: -0.644060 m/s, LOS rate: 0.010494 deg/s, cmd heading: 32.451779 deg, new cmd heading: 32.459345 deg. 2025-10-29T00:37:43.516Z,1761698263.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566522 target range: 333.425781 and range: 335.30 m. 2025-10-29T00:37:43.587Z,1761698263.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.446095 2025-10-29T00:37:43.859Z,1761698263.859 [DAT](INFO): DAT read: 00:37:42.6745 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.24,-0.888,-2.348,-0.547,-1.388, PHS= 0.602,-0.915, 0.797, RAW= 156.0, -6.0, CAL= 156.0, -7.6, ROT= 354.0, 7.6 2025-10-29T00:37:43.860Z,1761698263.860 [DAT](INFO): got valid direction response: 00:37:42.6745 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 417, 0.24,-0.888,-2.348,-0.547,-1.388, PHS= 0.602,-0.915, 0.797, RAW= 156.0, -6.0, CAL= 156.0, -7.6, ROT= 354.0, 7.6 2025-10-29T00:37:43.861Z,1761698263.861 [DAT](INFO): DAT read: Bearing 170.2, -3.7 (Local) 2025-10-29T00:37:43.861Z,1761698263.861 [DAT](INFO): Local bearing/azimuth received: Bearing 170.2, -3.7 (Local) 2025-10-29T00:37:43.863Z,1761698263.863 [DAT](INFO): DAT read: Range 11 to 50 : 333.2 m (Round-trip 444.3 ms) speed 0.5 m/s 2025-10-29T00:37:43.864Z,1761698263.864 [DAT](INFO): DAT read: user:474> 2025-10-29T00:37:43.865Z,1761698263.865 [DAT](INFO): DAT read: Tx time:00:37:43.7760 2025-10-29T00:37:43.865Z,1761698263.865 [DAT](INFO): Ping request sent. 2025-10-29T00:37:43.865Z,1761698263.865 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:43.865Z,1761698263.865 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:43.866Z,1761698263.866 [DAT](INFO): direction in FSK: [0.985786,-0.103610,-0.132256] 2025-10-29T00:37:43.866Z,1761698263.866 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:43.867Z,1761698263.867 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:43.870Z,1761698263.870 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:43.870Z,1761698263.870 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:43.894Z,1761698263.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844614,-0.528009,-0.088505],[0.535162,0.837326,0.111746],[0.015104,-0.141746,0.989788]] 2025-10-29T00:37:44.030Z,1761698264.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 333.200012 m, deltaT: 3.780021 s, deltaX: -2.099976 m, approachRate: -0.555546 m/s, rangeRepo size: 4 2025-10-29T00:37:44.048Z,1761698264.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 331.336609 m, bearing: 25.354916 deg, lat: 36.779401 deg, lon: -121.859126 deg, deltaT: 3.780021 s, deltaX: -2.089172 m, approachRate: -0.552688 m/s, posRepo size: 4 2025-10-29T00:37:44.049Z,1761698264.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:44.052Z,1761698264.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 330.834473 m, bearing: 27.235384 deg, approach rate: 0.000000 m/s, LOS rate: 0.010494 deg/s, cmd heading: 32.459344 deg, new cmd heading: 32.470191 deg. 2025-10-29T00:37:44.054Z,1761698264.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566712 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:44.294Z,1761698264.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844330,-0.528345,-0.089205],[0.535582,0.837168,0.110914],[0.016078,-0.141424,0.989819]] 2025-10-29T00:37:44.375Z,1761698264.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:44.379Z,1761698264.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 330.584900 m, bearing: 27.237313 deg, approach rate: -0.721836 m/s, LOS rate: 0.005583 deg/s, cmd heading: 32.470190 deg, new cmd heading: 32.474051 deg. 2025-10-29T00:37:44.379Z,1761698264.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566779 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:44.817Z,1761698264.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:44.820Z,1761698264.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 330.304016 m, bearing: 27.239487 deg, approach rate: -0.635527 m/s, LOS rate: 0.004924 deg/s, cmd heading: 32.474052 deg, new cmd heading: 32.478405 deg. 2025-10-29T00:37:44.821Z,1761698264.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566855 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:45.155Z,1761698265.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844298,-0.528077,-0.091082],[0.535588,0.837120,0.111245],[0.017500,-0.142706,0.989610]] 2025-10-29T00:37:45.244Z,1761698265.244 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:45.246Z,1761698265.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:45.253Z,1761698265.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 330.037750 m, bearing: 27.240235 deg, approach rate: -0.620692 m/s, LOS rate: 0.001744 deg/s, cmd heading: 32.478407 deg, new cmd heading: 32.479903 deg. 2025-10-29T00:37:45.254Z,1761698265.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566881 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:45.349Z,1761698265.349 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:45.350Z,1761698265.350 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:45.350Z,1761698265.350 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:45.561Z,1761698265.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844049,-0.528333,-0.091904],[0.535953,0.836931,0.110910],[0.018320,-0.142870,0.989572]] 2025-10-29T00:37:45.601Z,1761698265.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736045 2025-10-29T00:37:45.621Z,1761698265.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:45.624Z,1761698265.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 329.785553 m, bearing: 27.240925 deg, approach rate: -0.672497 m/s, LOS rate: 0.001841 deg/s, cmd heading: 32.479903 deg, new cmd heading: 32.481283 deg. 2025-10-29T00:37:45.625Z,1761698265.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566905 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:45.853Z,1761698265.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988287 2025-10-29T00:37:45.000Z,1761698266.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843146,-0.529648,-0.092619],[0.537323,0.836305,0.108985],[0.019734,-0.141657,0.989719]] 2025-10-29T00:37:46.075Z,1761698266.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:46.078Z,1761698266.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 329.508972 m, bearing: 27.241329 deg, approach rate: -0.608807 m/s, LOS rate: 0.000891 deg/s, cmd heading: 32.481282 deg, new cmd heading: 32.482092 deg. 2025-10-29T00:37:46.079Z,1761698266.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566919 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:46.114Z,1761698266.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.248743 2025-10-29T00:37:46.365Z,1761698266.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500080 2025-10-29T00:37:46.412Z,1761698266.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:46.415Z,1761698266.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 329.285431 m, bearing: 27.241657 deg, approach rate: -0.664674 m/s, LOS rate: 0.000974 deg/s, cmd heading: 32.482092 deg, new cmd heading: 32.482747 deg. 2025-10-29T00:37:46.415Z,1761698266.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566931 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:46.617Z,1761698266.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.751889 2025-10-29T00:37:46.783Z,1761698266.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842784,-0.529912,-0.094384],[0.537863,0.835785,0.110304],[0.020433,-0.143729,0.989406]] 2025-10-29T00:37:46.818Z,1761698266.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:46.821Z,1761698266.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 329.028351 m, bearing: 27.242000 deg, approach rate: -0.632213 m/s, LOS rate: 0.000846 deg/s, cmd heading: 32.482747 deg, new cmd heading: 32.483435 deg. 2025-10-29T00:37:46.822Z,1761698266.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566943 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:46.870Z,1761698266.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005014 2025-10-29T00:37:47.121Z,1761698267.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255892 2025-10-29T00:37:47.178Z,1761698267.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842395,-0.530361,-0.095332],[0.538448,0.835395,0.110407],[0.021084,-0.144337,0.989304]] 2025-10-29T00:37:47.255Z,1761698267.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:47.258Z,1761698267.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:47.261Z,1761698267.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 328.746185 m, bearing: 27.241583 deg, approach rate: -0.642259 m/s, LOS rate: -0.000951 deg/s, cmd heading: 32.483434 deg, new cmd heading: 32.482598 deg. 2025-10-29T00:37:47.261Z,1761698267.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566928 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:47.373Z,1761698267.373 [DAT](INFO): DAT read: Rx Time:00:37:46.6215 2025-10-29T00:37:47.373Z,1761698267.373 [DAT](INFO): Rx dataTimestamp_ set to:1761698267.373204 2025-10-29T00:37:47.374Z,1761698267.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509064 2025-10-29T00:37:47.582Z,1761698267.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842163,-0.530555,-0.096299],[0.538775,0.835216,0.110164],[0.021983,-0.144659,0.989237]] 2025-10-29T00:37:47.625Z,1761698267.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.760005 2025-10-29T00:37:47.634Z,1761698267.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 331.34 m. 2025-10-29T00:37:47.638Z,1761698267.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 331.336609 m, nav range: 328.517548 m, bearing: 27.241228 deg, approach rate: -0.607355 m/s, LOS rate: -0.000944 deg/s, cmd heading: 32.482597 deg, new cmd heading: 32.481886 deg. 2025-10-29T00:37:47.639Z,1761698267.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566916 target range: 331.336609 and range: 333.20 m. 2025-10-29T00:37:47.885Z,1761698267.885 [DAT](INFO): DAT read: 00:37:46.6215 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404, 0.28,-0.143,-1.482, 0.158,-0.579, PHS= 0.538,-0.857, 0.693, RAW= 155.2, -5.1, CAL= 155.0, -6.6, ROT= 355.0, 6.6 2025-10-29T00:37:47.887Z,1761698267.887 [DAT](INFO): got valid direction response: 00:37:46.6215 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 404, 0.28,-0.143,-1.482, 0.158,-0.579, PHS= 0.538,-0.857, 0.693, RAW= 155.2, -5.1, CAL= 155.0, -6.6, ROT= 355.0, 6.6 2025-10-29T00:37:47.887Z,1761698267.887 [DAT](INFO): DAT read: Bearing 171.8, -2.7 (Local) 2025-10-29T00:37:47.914Z,1761698267.914 [DAT](INFO): Local bearing/azimuth received: Bearing 171.8, -2.7 (Local) 2025-10-29T00:37:47.916Z,1761698267.916 [DAT](INFO): DAT read: Range 11 to 50 : 331.0 m (Round-trip 441.4 ms) speed 0.6 m/s 2025-10-29T00:37:47.917Z,1761698267.917 [DAT](INFO): DAT read: user:475> 2025-10-29T00:37:47.918Z,1761698267.918 [DAT](INFO): DAT read: Tx time:00:37:47.7260 2025-10-29T00:37:47.918Z,1761698267.918 [DAT](INFO): Ping request sent. 2025-10-29T00:37:47.918Z,1761698267.918 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:47.919Z,1761698267.919 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:47.919Z,1761698267.919 [DAT](INFO): direction in FSK: [0.989593,-0.086578,-0.114937] 2025-10-29T00:37:47.948Z,1761698267.948 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:47.948Z,1761698267.948 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:47.951Z,1761698267.951 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:47.960Z,1761698267.960 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:48.157Z,1761698268.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 331.000000 m, deltaT: 4.039159 s, deltaX: -2.200012 m, approachRate: -0.544671 m/s, rangeRepo size: 4 2025-10-29T00:37:48.159Z,1761698268.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 329.153931 m, bearing: 26.718969 deg, lat: 36.779405 deg, lon: -121.859156 deg, deltaT: 4.039159 s, deltaX: -2.182678 m, approachRate: -0.540379 m/s, posRepo size: 4 2025-10-29T00:37:48.159Z,1761698268.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:48.170Z,1761698268.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 327.339172 m, bearing: 26.786279 deg, approach rate: 0.000000 m/s, LOS rate: -0.000944 deg/s, cmd heading: 32.481887 deg, new cmd heading: 32.480909 deg. 2025-10-29T00:37:48.171Z,1761698268.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566899 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:48.473Z,1761698268.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841528,-0.531152,-0.098530],[0.539668,0.834772,0.109152],[0.024274,-0.145028,0.989130]] 2025-10-29T00:37:48.492Z,1761698268.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:48.495Z,1761698268.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 327.117950 m, bearing: 26.786501 deg, approach rate: -0.651128 m/s, LOS rate: 0.000653 deg/s, cmd heading: 32.480910 deg, new cmd heading: 32.481354 deg. 2025-10-29T00:37:48.495Z,1761698268.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566907 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:48.875Z,1761698268.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841210,-0.531533,-0.099186],[0.540135,0.834503,0.108894],[0.024890,-0.145177,0.989093]] 2025-10-29T00:37:48.900Z,1761698268.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:48.903Z,1761698268.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 326.857788 m, bearing: 26.786736 deg, approach rate: -0.637247 m/s, LOS rate: 0.000577 deg/s, cmd heading: 32.481354 deg, new cmd heading: 32.481825 deg. 2025-10-29T00:37:48.904Z,1761698268.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566915 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:49.278Z,1761698269.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841102,-0.531595,-0.099764],[0.540279,0.834420,0.108819],[0.025398,-0.145429,0.989043]] 2025-10-29T00:37:49.324Z,1761698269.324 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:49.326Z,1761698269.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:49.329Z,1761698269.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 326.585876 m, bearing: 26.788119 deg, approach rate: -0.637860 m/s, LOS rate: 0.003246 deg/s, cmd heading: 32.481825 deg, new cmd heading: 32.484592 deg. 2025-10-29T00:37:49.330Z,1761698269.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566963 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:49.389Z,1761698269.389 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:49.389Z,1761698269.389 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:49.389Z,1761698269.389 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:49.641Z,1761698269.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.722566 2025-10-29T00:37:49.689Z,1761698269.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841110,-0.531482,-0.100306],[0.540244,0.834453,0.108743],[0.025906,-0.145655,0.988996]] 2025-10-29T00:37:49.728Z,1761698269.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:49.731Z,1761698269.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 326.333282 m, bearing: 26.789406 deg, approach rate: -0.630339 m/s, LOS rate: 0.003216 deg/s, cmd heading: 32.484591 deg, new cmd heading: 32.487169 deg. 2025-10-29T00:37:49.749Z,1761698269.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567008 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:49.893Z,1761698269.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.975012 2025-10-29T00:37:50.088Z,1761698270.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841006,-0.531753,-0.099739],[0.540378,0.834617,0.106796],[0.026455,-0.143713,0.989266]] 2025-10-29T00:37:50.129Z,1761698270.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:50.131Z,1761698270.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 326.075409 m, bearing: 26.792681 deg, approach rate: -0.642133 m/s, LOS rate: 0.008161 deg/s, cmd heading: 32.487170 deg, new cmd heading: 32.493725 deg. 2025-10-29T00:37:50.145Z,1761698270.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.226714 2025-10-29T00:37:50.152Z,1761698270.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567122 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:50.397Z,1761698270.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.478980 2025-10-29T00:37:50.494Z,1761698270.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841266,-0.531242,-0.100271],[0.539949,0.834893,0.106817],[0.026970,-0.144003,0.989210]] 2025-10-29T00:37:50.512Z,1761698270.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:50.515Z,1761698270.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 325.832367 m, bearing: 26.795794 deg, approach rate: -0.633352 m/s, LOS rate: 0.008117 deg/s, cmd heading: 32.493723 deg, new cmd heading: 32.499953 deg. 2025-10-29T00:37:50.516Z,1761698270.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567231 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:50.649Z,1761698270.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730739 2025-10-29T00:37:50.901Z,1761698270.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.982685 2025-10-29T00:37:50.927Z,1761698270.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:50.930Z,1761698270.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 325.570007 m, bearing: 26.799159 deg, approach rate: -0.632811 m/s, LOS rate: 0.008124 deg/s, cmd heading: 32.499953 deg, new cmd heading: 32.506689 deg. 2025-10-29T00:37:50.931Z,1761698270.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567349 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:51.153Z,1761698271.153 [DAT](INFO): DAT read: Rx Time:00:37:50.5692 2025-10-29T00:37:51.153Z,1761698271.153 [DAT](INFO): Rx dataTimestamp_ set to:1761698271.153183 2025-10-29T00:37:51.154Z,1761698271.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235727 2025-10-29T00:37:51.298Z,1761698271.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842391,-0.529234,-0.101438],[0.538141,0.835986,0.107385],[0.027969,-0.145047,0.989029]] 2025-10-29T00:37:51.353Z,1761698271.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:51.355Z,1761698271.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:51.361Z,1761698271.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 325.311829 m, bearing: 26.803619 deg, approach rate: -0.603999 m/s, LOS rate: 0.010442 deg/s, cmd heading: 32.506687 deg, new cmd heading: 32.515614 deg. 2025-10-29T00:37:51.362Z,1761698271.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567505 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:51.406Z,1761698271.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.487203 2025-10-29T00:37:51.657Z,1761698271.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.738668 2025-10-29T00:37:51.772Z,1761698271.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843247,-0.528039,-0.100549],[0.536807,0.836929,0.106711],[0.027805,-0.143959,0.989193]] 2025-10-29T00:37:51.858Z,1761698271.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:51.879Z,1761698271.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 324.985352 m, bearing: 26.809363 deg, approach rate: -0.648791 m/s, LOS rate: 0.011427 deg/s, cmd heading: 32.515614 deg, new cmd heading: 32.527114 deg. 2025-10-29T00:37:51.880Z,1761698271.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567705 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:51.927Z,1761698271.927 [DAT](INFO): DAT read: 00:37:50.5692 LVL= 26704, 32753, 26658, 32755, AGC= 72, IDX= 412, 0.14, 3.084, 1.738,-2.866, 2.456, PHS= 0.730,-0.672, 0.917, RAW= 156.2, -12.9, CAL= 157.7, -14.6, ROT= 352.3, 14.6 2025-10-29T00:37:51.946Z,1761698271.946 [DAT](INFO): got valid direction response: 00:37:50.5692 LVL= 26704, 32753, 26658, 32755, AGC= 72, IDX= 412, 0.14, 3.084, 1.738,-2.866, 2.456, PHS= 0.730,-0.672, 0.917, RAW= 156.2, -12.9, CAL= 157.7, -14.6, ROT= 352.3, 14.6 2025-10-29T00:37:51.957Z,1761698271.957 [DAT](INFO): DAT read: Bearing 163.5, -3.8 (Local 11 to 50 : 329.2 m (Round-trip 439.0 ms) speed 1.1 m/s 2025-10-29T00:37:51.958Z,1761698271.958 [DAT](INFO): unknown deviceResponse_: Bearing 163.5, -3.8 (Local 11 to 50 : 329.2 m (Round-trip 439.0 ms) speed 1.1 m/s 2025-10-29T00:37:51.958Z,1761698271.958 [DAT](INFO): DAT read: user:476> 2025-10-29T00:37:51.959Z,1761698271.959 [DAT](INFO): DAT read: Tx time:00:37:51.6760 2025-10-29T00:37:51.964Z,1761698271.964 [DAT](INFO): Ping request sent. 2025-10-29T00:37:51.964Z,1761698271.964 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:51.965Z,1761698271.965 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:37:51.966Z,1761698271.966 [DAT](INFO): direction in FSK: [0.958983,-0.129660,-0.252069] 2025-10-29T00:37:51.966Z,1761698271.966 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:51.977Z,1761698271.977 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:52.169Z,1761698272.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843830,-0.527235,-0.099871],[0.535869,0.837723,0.105189],[0.028205,-0.142280,0.989425]] 2025-10-29T00:37:52.260Z,1761698272.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:52.263Z,1761698272.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 324.725403 m, bearing: 26.814471 deg, approach rate: -0.646563 m/s, LOS rate: 0.012715 deg/s, cmd heading: 32.527113 deg, new cmd heading: 32.537337 deg. 2025-10-29T00:37:52.263Z,1761698272.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567884 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:52.565Z,1761698272.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844434,-0.526221,-0.100115],[0.534904,0.838310,0.105427],[0.028449,-0.142578,0.989375]] 2025-10-29T00:37:52.604Z,1761698272.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:52.607Z,1761698272.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 324.502747 m, bearing: 26.818897 deg, approach rate: -0.647055 m/s, LOS rate: 0.012872 deg/s, cmd heading: 32.537338 deg, new cmd heading: 32.546196 deg. 2025-10-29T00:37:52.607Z,1761698272.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568038 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:52.966Z,1761698272.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845099,-0.525213,-0.099795],[0.533842,0.839054,0.104889],[0.028644,-0.141917,0.989464]] 2025-10-29T00:37:53.010Z,1761698273.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:53.013Z,1761698273.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 324.240234 m, bearing: 26.824185 deg, approach rate: -0.646252 m/s, LOS rate: 0.013028 deg/s, cmd heading: 32.546196 deg, new cmd heading: 32.556780 deg. 2025-10-29T00:37:53.014Z,1761698273.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568223 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:53.370Z,1761698273.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845431,-0.524687,-0.099749],[0.533300,0.839457,0.104421],[0.028947,-0.141476,0.989518]] 2025-10-29T00:37:53.422Z,1761698273.422 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:53.424Z,1761698273.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:53.427Z,1761698273.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 323.986633 m, bearing: 26.828510 deg, approach rate: -0.612507 m/s, LOS rate: 0.010456 deg/s, cmd heading: 32.556780 deg, new cmd heading: 32.565438 deg. 2025-10-29T00:37:53.432Z,1761698273.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568374 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:53.674Z,1761698273.674 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:53.674Z,1761698273.674 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:53.674Z,1761698273.674 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:53.783Z,1761698273.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846273,-0.523320,-0.099793],[0.531961,0.840251,0.104862],[0.028975,-0.141828,0.989467]] 2025-10-29T00:37:53.806Z,1761698273.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:53.809Z,1761698273.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 323.731293 m, bearing: 26.832944 deg, approach rate: -0.668490 m/s, LOS rate: 0.011617 deg/s, cmd heading: 32.565437 deg, new cmd heading: 32.574311 deg. 2025-10-29T00:37:53.810Z,1761698273.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568529 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:53.925Z,1761698273.925 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:53.925Z,1761698273.925 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:53.925Z,1761698273.925 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:54.177Z,1761698274.177 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:54.177Z,1761698274.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:54.177Z,1761698274.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:54.181Z,1761698274.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846574,-0.522999,-0.098915],[0.531484,0.840700,0.103676],[0.028935,-0.140341,0.989680]] 2025-10-29T00:37:54.275Z,1761698274.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:54.278Z,1761698274.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 323.448029 m, bearing: 26.837446 deg, approach rate: -0.604272 m/s, LOS rate: 0.009612 deg/s, cmd heading: 32.574313 deg, new cmd heading: 32.583324 deg. 2025-10-29T00:37:54.279Z,1761698274.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568686 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:54.429Z,1761698274.429 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:54.429Z,1761698274.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:54.429Z,1761698274.429 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:54.602Z,1761698274.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846985,-0.522507,-0.097993],[0.530836,0.841234,0.102658],[0.028795,-0.138968,0.989878]] 2025-10-29T00:37:54.620Z,1761698274.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:54.623Z,1761698274.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 323.230621 m, bearing: 26.840940 deg, approach rate: -0.629947 m/s, LOS rate: 0.010130 deg/s, cmd heading: 32.583325 deg, new cmd heading: 32.590317 deg. 2025-10-29T00:37:54.624Z,1761698274.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568808 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:54.681Z,1761698274.681 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:54.681Z,1761698274.681 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:54.681Z,1761698274.681 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:54.933Z,1761698274.933 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:54.933Z,1761698274.933 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:54.933Z,1761698274.933 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:55.002Z,1761698275.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847215,-0.522257,-0.097335],[0.530468,0.841582,0.101700],[0.028802,-0.137795,0.990042]] 2025-10-29T00:37:55.033Z,1761698275.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:55.035Z,1761698275.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 322.976929 m, bearing: 26.845046 deg, approach rate: -0.614792 m/s, LOS rate: 0.009960 deg/s, cmd heading: 32.590316 deg, new cmd heading: 32.598536 deg. 2025-10-29T00:37:55.036Z,1761698275.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568952 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:55.185Z,1761698275.185 [DAT](INFO): DAT read: Rx Time:00:37:54.5148 2025-10-29T00:37:55.185Z,1761698275.185 [DAT](INFO): Rx dataTimestamp_ set to:1761698275.185188 2025-10-29T00:37:55.186Z,1761698275.186 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:55.186Z,1761698275.186 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:55.186Z,1761698275.186 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:55.407Z,1761698275.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847499,-0.521947,-0.096528],[0.530011,0.842029,0.100381],[0.028886,-0.136234,0.990256]] 2025-10-29T00:37:55.437Z,1761698275.437 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:55.437Z,1761698275.437 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:55.437Z,1761698275.437 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:37:55.460Z,1761698275.460 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:55.462Z,1761698275.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 329.15 m. 2025-10-29T00:37:55.469Z,1761698275.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 329.153931 m, nav range: 322.716827 m, bearing: 26.847569 deg, approach rate: -0.605567 m/s, LOS rate: 0.005877 deg/s, cmd heading: 32.598536 deg, new cmd heading: 32.603585 deg. 2025-10-29T00:37:55.470Z,1761698275.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569040 target range: 329.153931 and range: 331.00 m. 2025-10-29T00:37:55.713Z,1761698275.713 [DAT](INFO): DAT read: 00:37:54.5148 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.16,-2.516, 2.450,-2.224,-2.882, PHS= 0.468,-0.906, 0.614, RAW= 155.0, -2.4, CAL= 154.3, -3.7, ROT= 355.7, 3.7 2025-10-29T00:37:55.715Z,1761698275.715 [DAT](INFO): got valid direction response: 00:37:54.5148 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 399, 0.16,-2.516, 2.450,-2.224,-2.882, PHS= 0.468,-0.906, 0.614, RAW= 155.0, -2.4, CAL= 154.3, -3.7, ROT= 355.7, 3.7 2025-10-29T00:37:55.720Z,1761698275.720 [DAT](INFO): DAT read: Bearing 174.0, -2.1 (Local) 2025-10-29T00:37:55.721Z,1761698275.721 [DAT](INFO): Local bearing/azimuth received: Bearing 174.0, -2.1 (Local) 2025-10-29T00:37:55.722Z,1761698275.722 [DAT](INFO): DAT read: Range 11 to 50 : 325.9 m (Round-trip 434.6 ms) speed 0.4 m/s 2025-10-29T00:37:55.723Z,1761698275.723 [DAT](INFO): DAT read: user:477> 2025-10-29T00:37:55.728Z,1761698275.728 [DAT](INFO): DAT read: Tx time:00:37:55.6276 2025-10-29T00:37:55.729Z,1761698275.729 [DAT](INFO): Ping request sent. 2025-10-29T00:37:55.729Z,1761698275.729 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:55.729Z,1761698275.729 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T00:37:55.730Z,1761698275.730 [DAT](INFO): direction in FSK: [0.995107,-0.074822,-0.064532] 2025-10-29T00:37:55.730Z,1761698275.730 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:55.730Z,1761698275.730 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:55.738Z,1761698275.738 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:55.738Z,1761698275.738 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:55.827Z,1761698275.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847320,-0.522483,-0.095186],[0.530275,0.842213,0.097398],[0.029278,-0.133002,0.990683]] 2025-10-29T00:37:55.885Z,1761698275.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 325.899994 m, deltaT: 7.813039 s, deltaX: -5.100006 m, approachRate: -0.652756 m/s, rangeRepo size: 4 2025-10-29T00:37:55.887Z,1761698275.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 324.059998 m, bearing: 27.291655 deg, lat: 36.779407 deg, lon: -121.859123 deg, deltaT: 7.813039 s, deltaX: -5.093933 m, approachRate: -0.651978 m/s, posRepo size: 4 2025-10-29T00:37:55.887Z,1761698275.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:55.894Z,1761698275.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 323.958801 m, bearing: 27.290761 deg, approach rate: 0.000000 m/s, LOS rate: 0.005877 deg/s, cmd heading: 32.603584 deg, new cmd heading: 32.608491 deg. 2025-10-29T00:37:55.895Z,1761698275.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569126 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:56.233Z,1761698276.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847070,-0.522966,-0.094762],[0.530659,0.842122,0.096080],[0.029554,-0.131673,0.990853]] 2025-10-29T00:37:56.293Z,1761698276.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:56.302Z,1761698276.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 323.693939 m, bearing: 27.292284 deg, approach rate: -0.640135 m/s, LOS rate: 0.003684 deg/s, cmd heading: 32.608491 deg, new cmd heading: 32.611539 deg. 2025-10-29T00:37:56.303Z,1761698276.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569179 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:56.622Z,1761698276.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846954,-0.523248,-0.094237],[0.530823,0.842200,0.094480],[0.029930,-0.130043,0.991057]] 2025-10-29T00:37:56.641Z,1761698276.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:56.660Z,1761698276.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 323.465912 m, bearing: 27.293593 deg, approach rate: -0.655739 m/s, LOS rate: 0.003766 deg/s, cmd heading: 32.611541 deg, new cmd heading: 32.614160 deg. 2025-10-29T00:37:56.661Z,1761698276.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569224 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:57.032Z,1761698277.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846379,-0.524412,-0.092919],[0.531723,0.841954,0.091563],[0.030217,-0.126905,0.991455]] 2025-10-29T00:37:57.061Z,1761698277.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:57.064Z,1761698277.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 323.202698 m, bearing: 27.295063 deg, approach rate: -0.626582 m/s, LOS rate: 0.003503 deg/s, cmd heading: 32.614160 deg, new cmd heading: 32.617103 deg. 2025-10-29T00:37:57.065Z,1761698277.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569276 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:57.436Z,1761698277.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845910,-0.525228,-0.092589],[0.532451,0.841641,0.090204],[0.030549,-0.125603,0.991610]] 2025-10-29T00:37:57.473Z,1761698277.473 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:57.475Z,1761698277.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:57.498Z,1761698277.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 322.950317 m, bearing: 27.295888 deg, approach rate: -0.610248 m/s, LOS rate: 0.001997 deg/s, cmd heading: 32.617104 deg, new cmd heading: 32.618756 deg. 2025-10-29T00:37:57.499Z,1761698277.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569305 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:57.706Z,1761698277.706 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:37:57.706Z,1761698277.706 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:37:57.706Z,1761698277.706 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:37:57.842Z,1761698277.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845394,-0.526067,-0.092530],[0.533243,0.841262,0.089054],[0.030994,-0.124626,0.991720]] 2025-10-29T00:37:57.861Z,1761698277.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:57.864Z,1761698277.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 322.713776 m, bearing: 27.296625 deg, approach rate: -0.611984 m/s, LOS rate: 0.001908 deg/s, cmd heading: 32.618757 deg, new cmd heading: 32.620232 deg. 2025-10-29T00:37:57.865Z,1761698277.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569330 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:57.957Z,1761698277.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.228298 2025-10-29T00:37:58.210Z,1761698278.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.480999 2025-10-29T00:37:58.242Z,1761698278.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844971,-0.526790,-0.092288],[0.533892,0.840982,0.087793],[0.031364,-0.123454,0.991854]] 2025-10-29T00:37:58.289Z,1761698278.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:58.291Z,1761698278.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 322.445038 m, bearing: 27.297470 deg, approach rate: -0.628521 m/s, LOS rate: 0.001978 deg/s, cmd heading: 32.620232 deg, new cmd heading: 32.621923 deg. 2025-10-29T00:37:58.293Z,1761698278.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569360 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:58.461Z,1761698278.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.732183 2025-10-29T00:37:58.647Z,1761698278.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844606,-0.527376,-0.092272],[0.534444,0.840732,0.086836],[0.031781,-0.122657,0.991940]] 2025-10-29T00:37:58.666Z,1761698278.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:58.669Z,1761698278.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 322.208191 m, bearing: 27.298189 deg, approach rate: -0.627878 m/s, LOS rate: 0.001907 deg/s, cmd heading: 32.621923 deg, new cmd heading: 32.623361 deg. 2025-10-29T00:37:58.670Z,1761698278.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569385 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:58.715Z,1761698278.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.985799 2025-10-29T00:37:58.965Z,1761698278.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236237 2025-10-29T00:37:59.055Z,1761698279.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844386,-0.527727,-0.092278],[0.534772,0.840591,0.086172],[0.032093,-0.122110,0.991998]] 2025-10-29T00:37:59.074Z,1761698279.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:59.077Z,1761698279.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 321.951477 m, bearing: 27.298952 deg, approach rate: -0.629497 m/s, LOS rate: 0.001872 deg/s, cmd heading: 32.623360 deg, new cmd heading: 32.624887 deg. 2025-10-29T00:37:59.078Z,1761698279.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569412 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:59.220Z,1761698279.220 [DAT](INFO): DAT read: Rx Time:00:37:58.4640 2025-10-29T00:37:59.220Z,1761698279.220 [DAT](INFO): Rx dataTimestamp_ set to:1761698279.219951 2025-10-29T00:37:59.221Z,1761698279.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.492078 2025-10-29T00:37:59.473Z,1761698279.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.744004 2025-10-29T00:37:59.568Z,1761698279.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:37:59.572Z,1761698279.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 324.06 m. 2025-10-29T00:37:59.575Z,1761698279.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 324.059998 m, nav range: 321.645142 m, bearing: 27.300673 deg, approach rate: -0.615143 m/s, LOS rate: 0.003459 deg/s, cmd heading: 32.624887 deg, new cmd heading: 32.628332 deg. 2025-10-29T00:37:59.576Z,1761698279.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569472 target range: 324.059998 and range: 325.90 m. 2025-10-29T00:37:59.732Z,1761698279.732 [DAT](INFO): DAT read: 00:37:58.4640 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423, 0.00,-1.529,-2.925,-1.226,-2.137, PHS= 0.710,-0.743, 0.867, RAW= 155.1, -10.9, CAL= 156.1, -12.6, ROT= 353.9, 12.6 2025-10-29T00:37:59.733Z,1761698279.733 [DAT](INFO): got valid direction response: 00:37:58.4640 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 423, 0.00,-1.529,-2.925,-1.226,-2.137, PHS= 0.710,-0.743, 0.867, RAW= 155.1, -10.9, CAL= 156.1, -12.6, ROT= 353.9, 12.6 2025-10-29T00:37:59.734Z,1761698279.734 [DAT](INFO): DAT read: Bearing 165.0, -2.4 (Local) 2025-10-29T00:37:59.735Z,1761698279.735 [DAT](INFO): Local bearing/azimuth received: Bearing 165.0, -2.4 (Local) 2025-10-29T00:37:59.736Z,1761698279.736 [DAT](INFO): DAT read: Range 11 to 50 : 324.2 m (Round-trip 432.3 ms) speed 0.7 m/s 2025-10-29T00:37:59.737Z,1761698279.737 [DAT](INFO): DAT read: user:478> 2025-10-29T00:37:59.738Z,1761698279.738 [DAT](INFO): DAT read: Tx time:00:37:59.5776 2025-10-29T00:37:59.738Z,1761698279.738 [DAT](INFO): Ping request sent. 2025-10-29T00:37:59.739Z,1761698279.739 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:37:59.739Z,1761698279.739 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:37:59.741Z,1761698279.741 [DAT](INFO): direction in FSK: [0.970391,-0.103705,-0.218143] 2025-10-29T00:37:59.741Z,1761698279.741 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:59.741Z,1761698279.741 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:59.752Z,1761698279.752 [DAT](INFO): publishing transmit ping time 2025-10-29T00:37:59.753Z,1761698279.753 [DAT](INFO): publishing direction and range info 2025-10-29T00:37:59.952Z,1761698279.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843901,-0.528532,-0.092112],[0.535509,0.840261,0.084804],[0.032576,-0.120893,0.992131]] 2025-10-29T00:38:00.072Z,1761698280.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 324.200012 m, deltaT: 4.035365 s, deltaX: -1.699982 m, approachRate: -0.421271 m/s, rangeRepo size: 4 2025-10-29T00:38:00.074Z,1761698280.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 322.353912 m, bearing: 24.853411 deg, lat: 36.779413 deg, lon: -121.859156 deg, deltaT: 4.035365 s, deltaX: -1.706085 m, approachRate: -0.422783 m/s, posRepo size: 4 2025-10-29T00:38:00.075Z,1761698280.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:00.081Z,1761698280.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 320.617371 m, bearing: 26.788120 deg, approach rate: 0.000000 m/s, LOS rate: 0.003459 deg/s, cmd heading: 32.628333 deg, new cmd heading: 32.631786 deg. 2025-10-29T00:38:00.082Z,1761698280.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569532 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:00.421Z,1761698280.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843477,-0.529045,-0.093044],[0.536149,0.839803,0.085295],[0.033014,-0.121830,0.992002]] 2025-10-29T00:38:00.487Z,1761698280.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:00.490Z,1761698280.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 320.346954 m, bearing: 26.790412 deg, approach rate: -0.649655 m/s, LOS rate: 0.005513 deg/s, cmd heading: 32.631785 deg, new cmd heading: 32.636375 deg. 2025-10-29T00:38:00.491Z,1761698280.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569612 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:00.822Z,1761698280.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843742,-0.528595,-0.093201],[0.535730,0.840040,0.085590],[0.033051,-0.122146,0.991962]] 2025-10-29T00:38:00.858Z,1761698280.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:00.861Z,1761698280.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 320.114075 m, bearing: 26.792410 deg, approach rate: -0.627505 m/s, LOS rate: 0.005387 deg/s, cmd heading: 32.636375 deg, new cmd heading: 32.640374 deg. 2025-10-29T00:38:00.862Z,1761698280.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569682 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:01.300Z,1761698281.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:01.302Z,1761698281.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 319.838684 m, bearing: 26.795367 deg, approach rate: -0.624149 m/s, LOS rate: 0.006707 deg/s, cmd heading: 32.640374 deg, new cmd heading: 32.646293 deg. 2025-10-29T00:38:01.303Z,1761698281.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569785 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:01.623Z,1761698281.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844076,-0.528028,-0.093392],[0.535187,0.840391,0.085540],[0.033318,-0.122185,0.991948]] 2025-10-29T00:38:01.646Z,1761698281.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:01.648Z,1761698281.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:01.650Z,1761698281.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 319.621887 m, bearing: 26.797723 deg, approach rate: -0.623116 m/s, LOS rate: 0.006776 deg/s, cmd heading: 32.646293 deg, new cmd heading: 32.651008 deg. 2025-10-29T00:38:01.651Z,1761698281.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569868 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:01.741Z,1761698281.741 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:01.741Z,1761698281.741 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:01.742Z,1761698281.742 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:01.993Z,1761698281.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254552 2025-10-29T00:38:02.038Z,1761698282.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844228,-0.527657,-0.094114],[0.534929,0.840492,0.086171],[0.033633,-0.123092,0.991825]] 2025-10-29T00:38:02.085Z,1761698282.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:02.087Z,1761698282.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 319.361664 m, bearing: 26.800568 deg, approach rate: -0.595522 m/s, LOS rate: 0.006517 deg/s, cmd heading: 32.651009 deg, new cmd heading: 32.656704 deg. 2025-10-29T00:38:02.097Z,1761698282.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569967 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:02.245Z,1761698282.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506294 2025-10-29T00:38:02.441Z,1761698282.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844361,-0.527499,-0.093809],[0.534707,0.840712,0.085391],[0.033822,-0.122261,0.991922]] 2025-10-29T00:38:02.486Z,1761698282.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:02.489Z,1761698282.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 319.102722 m, bearing: 26.805370 deg, approach rate: -0.645091 m/s, LOS rate: 0.011973 deg/s, cmd heading: 32.656705 deg, new cmd heading: 32.666317 deg. 2025-10-29T00:38:02.490Z,1761698282.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570135 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:02.505Z,1761698282.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766356 2025-10-29T00:38:02.762Z,1761698282.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023269 2025-10-29T00:38:02.844Z,1761698282.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844457,-0.527320,-0.093948],[0.534539,0.840838,0.085204],[0.034066,-0.122170,0.991924]] 2025-10-29T00:38:02.879Z,1761698282.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:02.882Z,1761698282.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 318.870392 m, bearing: 26.809693 deg, approach rate: -0.591525 m/s, LOS rate: 0.011015 deg/s, cmd heading: 32.666315 deg, new cmd heading: 32.674968 deg. 2025-10-29T00:38:02.882Z,1761698282.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570286 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:03.009Z,1761698283.009 [DAT](INFO): DAT read: Rx Time:00:38:02.4108 2025-10-29T00:38:03.010Z,1761698283.010 [DAT](INFO): Rx dataTimestamp_ set to:1761698283.009563 2025-10-29T00:38:03.010Z,1761698283.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271850 2025-10-29T00:38:03.263Z,1761698283.263 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523999 2025-10-29T00:38:03.339Z,1761698283.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:03.357Z,1761698283.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 318.563141 m, bearing: 26.814731 deg, approach rate: -0.667973 m/s, LOS rate: 0.010962 deg/s, cmd heading: 32.674969 deg, new cmd heading: 32.685054 deg. 2025-10-29T00:38:03.358Z,1761698283.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570462 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:03.513Z,1761698283.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774368 2025-10-29T00:38:03.686Z,1761698283.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844275,-0.527632,-0.093836],[0.534791,0.840808,0.083909],[0.034625,-0.121025,0.992045]] 2025-10-29T00:38:03.712Z,1761698283.712 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:03.714Z,1761698283.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 322.35 m. 2025-10-29T00:38:03.737Z,1761698283.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 322.353912 m, nav range: 318.321991 m, bearing: 26.818681 deg, approach rate: -0.641785 m/s, LOS rate: 0.010521 deg/s, cmd heading: 32.685054 deg, new cmd heading: 32.692960 deg. 2025-10-29T00:38:03.738Z,1761698283.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570600 target range: 322.353912 and range: 324.20 m. 2025-10-29T00:38:03.774Z,1761698283.774 [DAT](INFO): DAT read: 00:38:02.4107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.16, 1.181,-0.383, 1.524, 0.652, PHS= 0.631,-0.990, 0.829, RAW= 155.7, -5.5, CAL= 155.6, -7.0, ROT= 354.4, 7.0 2025-10-29T00:38:03.775Z,1761698283.775 [DAT](INFO): got valid direction response: 00:38:02.4107 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 406, 0.16, 1.181,-0.383, 1.524, 0.652, PHS= 0.631,-0.990, 0.829, RAW= 155.7, -5.5, CAL= 155.6, -7.0, ROT= 354.4, 7.0 2025-10-29T00:38:03.777Z,1761698283.777 [DAT](INFO): DAT read: Bearing 170.9, -2.3 (Local) 2025-10-29T00:38:03.777Z,1761698283.777 [DAT](INFO): Local bearing/azimuth received: Bearing 170.9, -2.3 (Local) 2025-10-29T00:38:03.778Z,1761698283.778 [DAT](INFO): DAT read: Range 11 to 50 : 321.8 m (Round-trip 429.1 ms) speed 0.4 m/s 2025-10-29T00:38:03.779Z,1761698283.779 [DAT](INFO): DAT read: user:479> 2025-10-29T00:38:03.780Z,1761698283.780 [DAT](INFO): DAT read: Tx time:00:38:03.5259 2025-10-29T00:38:03.780Z,1761698283.780 [DAT](INFO): Ping request sent. 2025-10-29T00:38:03.781Z,1761698283.781 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:03.781Z,1761698283.781 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:03.782Z,1761698283.782 [DAT](INFO): direction in FSK: [0.987809,-0.096856,-0.121869] 2025-10-29T00:38:03.782Z,1761698283.782 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:03.782Z,1761698283.782 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:03.786Z,1761698283.786 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:03.786Z,1761698283.786 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:04.078Z,1761698284.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844228,-0.527661,-0.094086],[0.534854,0.840758,0.084010],[0.034774,-0.121245,0.992013]] 2025-10-29T00:38:04.102Z,1761698284.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 321.799988 m, deltaT: 4.039647 s, deltaX: -2.400024 m, approachRate: -0.594117 m/s, rangeRepo size: 4 2025-10-29T00:38:04.121Z,1761698284.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 319.983154 m, bearing: 25.969361 deg, lat: 36.779430 deg, lon: -121.859199 deg, deltaT: 4.039647 s, deltaX: -2.370758 m, approachRate: -0.586873 m/s, posRepo size: 4 2025-10-29T00:38:04.122Z,1761698284.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:04.128Z,1761698284.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 318.097321 m, bearing: 26.055253 deg, approach rate: 0.000000 m/s, LOS rate: 0.010521 deg/s, cmd heading: 32.692960 deg, new cmd heading: 32.701108 deg. 2025-10-29T00:38:04.129Z,1761698284.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570742 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:04.484Z,1761698284.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844280,-0.527521,-0.094406],[0.534754,0.840823,0.083992],[0.035072,-0.121397,0.991984]] 2025-10-29T00:38:04.531Z,1761698284.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:04.534Z,1761698284.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 317.818634 m, bearing: 26.058808 deg, approach rate: -0.648932 m/s, LOS rate: 0.008286 deg/s, cmd heading: 32.701108 deg, new cmd heading: 32.708226 deg. 2025-10-29T00:38:04.535Z,1761698284.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570866 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:04.891Z,1761698284.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844535,-0.527152,-0.094192],[0.534363,0.841061,0.084096],[0.034890,-0.121355,0.991996]] 2025-10-29T00:38:04.967Z,1761698284.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:04.969Z,1761698284.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 317.538269 m, bearing: 26.062415 deg, approach rate: -0.643813 m/s, LOS rate: 0.008290 deg/s, cmd heading: 32.708225 deg, new cmd heading: 32.715445 deg. 2025-10-29T00:38:04.970Z,1761698284.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570992 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:05.310Z,1761698285.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844553,-0.527204,-0.093739],[0.534343,0.841124,0.083598],[0.034773,-0.120691,0.992081]] 2025-10-29T00:38:05.360Z,1761698285.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:05.363Z,1761698285.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 317.287903 m, bearing: 26.065107 deg, approach rate: -0.636706 m/s, LOS rate: 0.006853 deg/s, cmd heading: 32.715445 deg, new cmd heading: 32.720835 deg. 2025-10-29T00:38:05.364Z,1761698285.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571086 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:05.706Z,1761698285.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844728,-0.526975,-0.093447],[0.534079,0.841291,0.083598],[0.034562,-0.120526,0.992108]] 2025-10-29T00:38:05.762Z,1761698285.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:05.766Z,1761698285.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:05.771Z,1761698285.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 317.032379 m, bearing: 26.067875 deg, approach rate: -0.630201 m/s, LOS rate: 0.006831 deg/s, cmd heading: 32.720834 deg, new cmd heading: 32.726373 deg. 2025-10-29T00:38:05.773Z,1761698285.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571183 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:05.781Z,1761698285.781 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:05.781Z,1761698285.781 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:05.781Z,1761698285.781 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:06.033Z,1761698286.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252313 2025-10-29T00:38:06.102Z,1761698286.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844869,-0.526792,-0.093205],[0.533864,0.841438,0.083495],[0.034442,-0.120301,0.992140]] 2025-10-29T00:38:06.144Z,1761698286.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:06.147Z,1761698286.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 316.787140 m, bearing: 26.070547 deg, approach rate: -0.647693 m/s, LOS rate: 0.007064 deg/s, cmd heading: 32.726373 deg, new cmd heading: 32.731722 deg. 2025-10-29T00:38:06.148Z,1761698286.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571276 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:06.291Z,1761698286.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507080 2025-10-29T00:38:06.507Z,1761698286.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845081,-0.526467,-0.093112],[0.533530,0.841648,0.083510],[0.034402,-0.120250,0.992147]] 2025-10-29T00:38:06.537Z,1761698286.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756421 2025-10-29T00:38:06.563Z,1761698286.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:06.571Z,1761698286.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 316.524994 m, bearing: 26.072891 deg, approach rate: -0.625011 m/s, LOS rate: 0.005593 deg/s, cmd heading: 32.731721 deg, new cmd heading: 32.736413 deg. 2025-10-29T00:38:06.576Z,1761698286.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571358 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:06.789Z,1761698286.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008352 2025-10-29T00:38:06.911Z,1761698286.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845162,-0.526349,-0.093046],[0.533402,0.841734,0.083458],[0.034392,-0.120167,0.992158]] 2025-10-29T00:38:06.982Z,1761698286.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:06.984Z,1761698286.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 316.237396 m, bearing: 26.075476 deg, approach rate: -0.687589 m/s, LOS rate: 0.006184 deg/s, cmd heading: 32.736414 deg, new cmd heading: 32.741587 deg. 2025-10-29T00:38:06.985Z,1761698286.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571449 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:07.041Z,1761698287.041 [DAT](INFO): DAT read: .3563 2025-10-29T00:38:07.042Z,1761698287.042 [DAT](INFO): unknown deviceResponse_: .3563 2025-10-29T00:38:07.043Z,1761698287.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262167 2025-10-29T00:38:07.295Z,1761698287.295 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514432 2025-10-29T00:38:07.342Z,1761698287.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845179,-0.526311,-0.093107],[0.533379,0.841730,0.083653],[0.034343,-0.120363,0.992136]] 2025-10-29T00:38:07.379Z,1761698287.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 319.98 m. 2025-10-29T00:38:07.402Z,1761698287.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 319.983154 m, nav range: 315.977295 m, bearing: 26.076895 deg, approach rate: -0.655134 m/s, LOS rate: 0.003579 deg/s, cmd heading: 32.741588 deg, new cmd heading: 32.744429 deg. 2025-10-29T00:38:07.402Z,1761698287.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571498 target range: 319.983154 and range: 321.80 m. 2025-10-29T00:38:07.552Z,1761698287.552 [DAT](INFO): DAT read: 00:38:06.3563 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407, 0.40,-0.042,-1.279, 0.346,-0.296, PHS= 0.356,-0.938, 0.598, RAW= 158.4, -0.2, CAL= 157.3, -1.7, ROT= 352.7, 1.7 2025-10-29T00:38:07.553Z,1761698287.553 [DAT](INFO): got valid direction response: 00:38:06.3563 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 407, 0.40,-0.042,-1.279, 0.346,-0.296, PHS= 0.356,-0.938, 0.598, RAW= 158.4, -0.2, CAL= 157.3, -1.7, ROT= 352.7, 1.7 2025-10-29T00:38:07.554Z,1761698287.554 [DAT](INFO): DAT read: Bearing 175.2, -4.9 (Local) 2025-10-29T00:38:07.554Z,1761698287.554 [DAT](INFO): Local bearing/azimuth received: Bearing 175.2, -4.9 (Local) 2025-10-29T00:38:07.563Z,1761698287.563 [DAT](INFO): DAT read: Range 11 to 50 : 319.6 m (Round-trip 426.2 ms) speed 0.3 m/s 2025-10-29T00:38:07.564Z,1761698287.564 [DAT](INFO): DAT read: user:480> 2025-10-29T00:38:07.565Z,1761698287.565 [DAT](INFO): DAT read: Tx time:00:38:07.4759 2025-10-29T00:38:07.565Z,1761698287.565 [DAT](INFO): Ping request sent. 2025-10-29T00:38:07.565Z,1761698287.565 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:07.566Z,1761698287.566 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:07.567Z,1761698287.567 [DAT](INFO): direction in FSK: [0.991458,-0.127008,-0.029666] 2025-10-29T00:38:07.567Z,1761698287.567 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:07.567Z,1761698287.567 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:07.595Z,1761698287.595 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:07.595Z,1761698287.595 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:07.719Z,1761698287.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845013,-0.526477,-0.093680],[0.533625,0.841539,0.084006],[0.034608,-0.120976,0.992052]] 2025-10-29T00:38:07.785Z,1761698287.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 319.600006 m, deltaT: 3.780589 s, deltaX: -2.199982 m, approachRate: -0.581915 m/s, rangeRepo size: 4 2025-10-29T00:38:07.787Z,1761698287.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 317.774353 m, bearing: 24.820591 deg, lat: 36.779430 deg, lon: -121.859199 deg, deltaT: 3.780589 s, deltaX: -2.208801 m, approachRate: -0.584248 m/s, posRepo size: 4 2025-10-29T00:38:07.793Z,1761698287.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:07.795Z,1761698287.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 315.727264 m, bearing: 26.078248 deg, approach rate: 0.000000 m/s, LOS rate: 0.003579 deg/s, cmd heading: 32.744429 deg, new cmd heading: 32.747336 deg. 2025-10-29T00:38:07.800Z,1761698287.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571549 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:08.123Z,1761698288.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844633,-0.527102,-0.093586],[0.534209,0.841245,0.083229],[0.034859,-0.120293,0.992126]] 2025-10-29T00:38:08.155Z,1761698288.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:08.157Z,1761698288.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:08.160Z,1761698288.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 315.478302 m, bearing: 26.079566 deg, approach rate: -0.668679 m/s, LOS rate: 0.003545 deg/s, cmd heading: 32.747335 deg, new cmd heading: 32.749975 deg. 2025-10-29T00:38:08.161Z,1761698288.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571595 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:08.303Z,1761698288.303 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:08.303Z,1761698288.303 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:08.304Z,1761698288.304 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:08.526Z,1761698288.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844323,-0.527656,-0.093269],[0.534699,0.840999,0.082569],[0.034871,-0.119586,0.992211]] 2025-10-29T00:38:08.553Z,1761698288.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.987641 2025-10-29T00:38:08.586Z,1761698288.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:08.589Z,1761698288.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 315.190155 m, bearing: 26.082156 deg, approach rate: -0.672168 m/s, LOS rate: 0.006047 deg/s, cmd heading: 32.749975 deg, new cmd heading: 32.755159 deg. 2025-10-29T00:38:08.590Z,1761698288.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571685 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:08.805Z,1761698288.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.239746 2025-10-29T00:38:08.932Z,1761698288.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843890,-0.528459,-0.092634],[0.535373,0.840713,0.081101],[0.035020,-0.118034,0.992392]] 2025-10-29T00:38:08.951Z,1761698288.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:08.953Z,1761698288.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 314.953705 m, bearing: 26.084253 deg, approach rate: -0.648295 m/s, LOS rate: 0.005753 deg/s, cmd heading: 32.755159 deg, new cmd heading: 32.759356 deg. 2025-10-29T00:38:08.954Z,1761698288.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571759 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:09.057Z,1761698289.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.491783 2025-10-29T00:38:09.313Z,1761698289.313 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:38:09.315Z,1761698289.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746019 2025-10-29T00:38:09.372Z,1761698289.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843134,-0.529827,-0.091701],[0.536544,0.840188,0.078775],[0.035309,-0.115620,0.992666]] 2025-10-29T00:38:09.425Z,1761698289.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:09.427Z,1761698289.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 314.661652 m, bearing: 26.087300 deg, approach rate: -0.615769 m/s, LOS rate: 0.006432 deg/s, cmd heading: 32.759356 deg, new cmd heading: 32.765457 deg. 2025-10-29T00:38:09.433Z,1761698289.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571865 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:09.561Z,1761698289.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.995549 2025-10-29T00:38:09.739Z,1761698289.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843054,-0.530015,-0.091348],[0.536678,0.840133,0.078440],[0.035170,-0.115154,0.992725]] 2025-10-29T00:38:09.781Z,1761698289.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:09.784Z,1761698289.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 314.427094 m, bearing: 26.089747 deg, approach rate: -0.657866 m/s, LOS rate: 0.006866 deg/s, cmd heading: 32.765459 deg, new cmd heading: 32.770355 deg. 2025-10-29T00:38:09.785Z,1761698289.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571951 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:09.813Z,1761698289.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247632 2025-10-29T00:38:10.065Z,1761698290.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500159 2025-10-29T00:38:10.145Z,1761698290.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843126,-0.529903,-0.091327],[0.536568,0.840196,0.078527],[0.035121,-0.115211,0.992720]] 2025-10-29T00:38:10.237Z,1761698290.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:10.239Z,1761698290.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:10.242Z,1761698290.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 314.137939 m, bearing: 26.092774 deg, approach rate: -0.631735 m/s, LOS rate: 0.006620 deg/s, cmd heading: 32.770356 deg, new cmd heading: 32.776416 deg. 2025-10-29T00:38:10.243Z,1761698290.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572056 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:10.319Z,1761698290.319 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753660 2025-10-29T00:38:10.323Z,1761698290.323 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:38:10.548Z,1761698290.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843048,-0.529882,-0.092164],[0.536692,0.839987,0.079893],[0.035083,-0.116817,0.992534]] 2025-10-29T00:38:10.569Z,1761698290.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003685 2025-10-29T00:38:10.591Z,1761698290.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:10.594Z,1761698290.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 313.905823 m, bearing: 26.095913 deg, approach rate: -0.660028 m/s, LOS rate: 0.008934 deg/s, cmd heading: 32.776415 deg, new cmd heading: 32.782699 deg. 2025-10-29T00:38:10.594Z,1761698290.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572166 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:10.822Z,1761698290.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.256717 2025-10-29T00:38:10.952Z,1761698290.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843197,-0.529527,-0.092851],[0.536450,0.840059,0.080765],[0.035233,-0.117911,0.992399]] 2025-10-29T00:38:10.970Z,1761698290.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:10.973Z,1761698290.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 313.662933 m, bearing: 26.099215 deg, approach rate: -0.639905 m/s, LOS rate: 0.008704 deg/s, cmd heading: 32.782698 deg, new cmd heading: 32.789306 deg. 2025-10-29T00:38:10.974Z,1761698290.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572281 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:11.073Z,1761698291.073 [DAT](INFO): DAT read: Rx Time:00:38:10.3033 2025-10-29T00:38:11.074Z,1761698291.074 [DAT](INFO): Rx dataTimestamp_ set to:1761698291.073238 2025-10-29T00:38:11.074Z,1761698291.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508727 2025-10-29T00:38:11.328Z,1761698291.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762094 2025-10-29T00:38:11.407Z,1761698291.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843477,-0.529040,-0.093081],[0.536009,0.840293,0.081254],[0.035229,-0.118428,0.992338]] 2025-10-29T00:38:11.506Z,1761698291.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 317.77 m. 2025-10-29T00:38:11.509Z,1761698291.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 317.774353 m, nav range: 313.321991 m, bearing: 26.105153 deg, approach rate: -0.635977 m/s, LOS rate: 0.011089 deg/s, cmd heading: 32.789307 deg, new cmd heading: 32.801196 deg. 2025-10-29T00:38:11.510Z,1761698291.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572489 target range: 317.774353 and range: 319.60 m. 2025-10-29T00:38:11.583Z,1761698291.583 [DAT](INFO): DAT read: 00:38:10.3033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.44,-2.243, 2.874,-1.946,-2.551, PHS= 0.410,-0.813, 0.561, RAW= 155.8, -2.5, CAL= 155.1, -3.8, ROT= 354.9, 3.8 2025-10-29T00:38:11.584Z,1761698291.584 [DAT](INFO): got valid direction response: 00:38:10.3033 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.44,-2.243, 2.874,-1.946,-2.551, PHS= 0.410,-0.813, 0.561, RAW= 155.8, -2.5, CAL= 155.1, -3.8, ROT= 354.9, 3.8 2025-10-29T00:38:11.585Z,1761698291.585 [DAT](INFO): DAT read: Bearing 173.1, -2.4 (Local) 2025-10-29T00:38:11.585Z,1761698291.585 [DAT](INFO): Local bearing/azimuth received: Bearing 173.1, -2.4 (Local) 2025-10-29T00:38:11.587Z,1761698291.587 [DAT](INFO): DAT read: Range 11 to 50 : 317.4 m (Round-trip 423.2 ms) speed 0.4 m/s 2025-10-29T00:38:11.588Z,1761698291.588 [DAT](INFO): DAT read: user:481> 2025-10-29T00:38:11.589Z,1761698291.589 [DAT](INFO): DAT read: Tx time:00:38:11.4259 2025-10-29T00:38:11.589Z,1761698291.589 [DAT](INFO): Ping request sent. 2025-10-29T00:38:11.589Z,1761698291.589 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:11.589Z,1761698291.589 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:11.590Z,1761698291.590 [DAT](INFO): direction in FSK: [0.993851,-0.088699,-0.066274] 2025-10-29T00:38:11.590Z,1761698291.590 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:11.591Z,1761698291.591 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:11.594Z,1761698291.594 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:11.594Z,1761698291.594 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:11.849Z,1761698291.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843694,-0.528569,-0.093779],[0.535665,0.840401,0.082394],[0.035261,-0.119750,0.992178]] 2025-10-29T00:38:11.897Z,1761698291.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 317.399994 m, deltaT: 4.031035 s, deltaX: -2.200012 m, approachRate: -0.545769 m/s, rangeRepo size: 4 2025-10-29T00:38:11.899Z,1761698291.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 315.595703 m, bearing: 26.901563 deg, lat: 36.779433 deg, lon: -121.859199 deg, deltaT: 4.031035 s, deltaX: -2.178650 m, approachRate: -0.540469 m/s, posRepo size: 4 2025-10-29T00:38:11.899Z,1761698291.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:11.906Z,1761698291.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 313.310883 m, bearing: 26.089159 deg, approach rate: 0.000000 m/s, LOS rate: 0.011089 deg/s, cmd heading: 32.801195 deg, new cmd heading: 32.809741 deg. 2025-10-29T00:38:11.907Z,1761698291.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572638 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:12.243Z,1761698292.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843646,-0.528568,-0.094216],[0.535715,0.840373,0.082358],[0.035645,-0.119954,0.992139]] 2025-10-29T00:38:12.276Z,1761698292.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:12.278Z,1761698292.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:12.281Z,1761698292.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 313.064972 m, bearing: 26.093449 deg, approach rate: -0.636790 m/s, LOS rate: 0.011120 deg/s, cmd heading: 32.809739 deg, new cmd heading: 32.818328 deg. 2025-10-29T00:38:12.282Z,1761698292.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572788 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:12.336Z,1761698292.336 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:12.337Z,1761698292.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:12.338Z,1761698292.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:12.585Z,1761698292.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995926 2025-10-29T00:38:12.647Z,1761698292.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843790,-0.528361,-0.094091],[0.535487,0.840534,0.082193],[0.035659,-0.119738,0.992165]] 2025-10-29T00:38:12.713Z,1761698292.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:12.715Z,1761698292.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 312.784576 m, bearing: 26.098573 deg, approach rate: -0.644859 m/s, LOS rate: 0.011795 deg/s, cmd heading: 32.818328 deg, new cmd heading: 32.828585 deg. 2025-10-29T00:38:12.716Z,1761698292.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572967 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:12.837Z,1761698292.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248089 2025-10-29T00:38:13.050Z,1761698293.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843763,-0.528421,-0.094002],[0.535524,0.840544,0.081855],[0.035759,-0.119407,0.992201]] 2025-10-29T00:38:13.077Z,1761698293.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:13.079Z,1761698293.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 312.557526 m, bearing: 26.102729 deg, approach rate: -0.624131 m/s, LOS rate: 0.011431 deg/s, cmd heading: 32.828584 deg, new cmd heading: 32.836900 deg. 2025-10-29T00:38:13.080Z,1761698293.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573112 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:13.089Z,1761698293.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500021 2025-10-29T00:38:13.341Z,1761698293.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751924 2025-10-29T00:38:13.454Z,1761698293.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843631,-0.528698,-0.093620],[0.535727,0.840489,0.081080],[0.035820,-0.118557,0.992301]] 2025-10-29T00:38:13.507Z,1761698293.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:13.510Z,1761698293.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 312.290070 m, bearing: 26.107133 deg, approach rate: -0.621762 m/s, LOS rate: 0.010248 deg/s, cmd heading: 32.836899 deg, new cmd heading: 32.845716 deg. 2025-10-29T00:38:13.510Z,1761698293.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573266 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:13.594Z,1761698293.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005015 2025-10-29T00:38:13.845Z,1761698293.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255866 2025-10-29T00:38:13.880Z,1761698293.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843662,-0.528633,-0.093713],[0.535668,0.840541,0.080933],[0.035985,-0.118479,0.992304]] 2025-10-29T00:38:13.905Z,1761698293.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:13.907Z,1761698293.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 312.042908 m, bearing: 26.111214 deg, approach rate: -0.620910 m/s, LOS rate: 0.010259 deg/s, cmd heading: 32.845717 deg, new cmd heading: 32.853885 deg. 2025-10-29T00:38:13.908Z,1761698293.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573408 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:14.098Z,1761698294.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509067 2025-10-29T00:38:14.262Z,1761698294.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843620,-0.528684,-0.093798],[0.535733,0.840488,0.081051],[0.035985,-0.118627,0.992287]] 2025-10-29T00:38:14.352Z,1761698294.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762425 2025-10-29T00:38:14.423Z,1761698294.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:14.425Z,1761698294.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:14.428Z,1761698294.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 311.722046 m, bearing: 26.116516 deg, approach rate: -0.616157 m/s, LOS rate: 0.010192 deg/s, cmd heading: 32.853886 deg, new cmd heading: 32.864501 deg. 2025-10-29T00:38:14.429Z,1761698294.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573594 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:14.601Z,1761698294.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011919 2025-10-29T00:38:14.708Z,1761698294.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843690,-0.528614,-0.093571],[0.535641,0.840534,0.081191],[0.035731,-0.118620,0.992297]] 2025-10-29T00:38:14.791Z,1761698294.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:14.794Z,1761698294.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 311.491119 m, bearing: 26.120152 deg, approach rate: -0.632336 m/s, LOS rate: 0.009963 deg/s, cmd heading: 32.864500 deg, new cmd heading: 32.871777 deg. 2025-10-29T00:38:14.795Z,1761698294.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573721 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:14.853Z,1761698294.853 [DAT](INFO): DAT read: Rx Time:00:38:14.2498 2025-10-29T00:38:14.854Z,1761698294.854 [DAT](INFO): Rx dataTimestamp_ set to:1761698294.853681 2025-10-29T00:38:14.854Z,1761698294.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265565 2025-10-29T00:38:15.105Z,1761698295.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516073 2025-10-29T00:38:15.112Z,1761698295.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843721,-0.528583,-0.093460],[0.535622,0.840479,0.081874],[0.035274,-0.119138,0.992251]] 2025-10-29T00:38:15.154Z,1761698295.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:15.160Z,1761698295.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 311.265045 m, bearing: 26.123717 deg, approach rate: -0.622091 m/s, LOS rate: 0.009817 deg/s, cmd heading: 32.871778 deg, new cmd heading: 32.878913 deg. 2025-10-29T00:38:15.163Z,1761698295.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573845 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:15.357Z,1761698295.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767893 2025-10-29T00:38:15.514Z,1761698295.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843979,-0.528162,-0.093510],[0.535251,0.840597,0.083083],[0.034723,-0.120172,0.992146]] 2025-10-29T00:38:15.585Z,1761698295.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 315.60 m. 2025-10-29T00:38:15.588Z,1761698295.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 315.595703 m, nav range: 310.990356 m, bearing: 26.127867 deg, approach rate: -0.637162 m/s, LOS rate: 0.009634 deg/s, cmd heading: 32.878912 deg, new cmd heading: 32.887219 deg. 2025-10-29T00:38:15.589Z,1761698295.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573990 target range: 315.595703 and range: 317.40 m. 2025-10-29T00:38:15.619Z,1761698295.619 [DAT](INFO): DAT read: 00:38:14.2498 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.01, 2.287, 1.067, 2.617, 1.896, PHS= 0.493,-0.784, 0.677, RAW= 156.6, -5.7, CAL= 156.6, -7.2, ROT= 353.4, 7.2 2025-10-29T00:38:15.621Z,1761698295.621 [DAT](INFO): got valid direction response: 00:38:14.2498 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.01, 2.287, 1.067, 2.617, 1.896, PHS= 0.493,-0.784, 0.677, RAW= 156.6, -5.7, CAL= 156.6, -7.2, ROT= 353.4, 7.2 2025-10-29T00:38:15.622Z,1761698295.622 [DAT](INFO): DAT read: Bearing 169.0, -3.3 (Local) 2025-10-29T00:38:15.622Z,1761698295.622 [DAT](INFO): Local bearing/azimuth received: Bearing 169.0, -3.3 (Local) 2025-10-29T00:38:15.623Z,1761698295.623 [DAT](INFO): DAT read: Range 11 to 50 : 314.7 m (Round-trip 419.7 ms) speed 0.6 m/s 2025-10-29T00:38:15.624Z,1761698295.624 [DAT](INFO): DAT read: user:482> 2025-10-29T00:38:15.625Z,1761698295.625 [DAT](INFO): DAT read: Tx time:00:38:15.3759 2025-10-29T00:38:15.625Z,1761698295.625 [DAT](INFO): Ping request sent. 2025-10-29T00:38:15.625Z,1761698295.625 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:15.625Z,1761698295.625 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:15.626Z,1761698295.626 [DAT](INFO): direction in FSK: [0.985540,-0.114031,-0.125333] 2025-10-29T00:38:15.627Z,1761698295.627 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:15.627Z,1761698295.627 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:15.630Z,1761698295.630 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:15.630Z,1761698295.630 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:15.918Z,1761698295.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844057,-0.527989,-0.093787],[0.535148,0.840558,0.084131],[0.034413,-0.121201,0.992031]] 2025-10-29T00:38:15.953Z,1761698295.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 314.700012 m, deltaT: 4.032037 s, deltaX: -2.699982 m, approachRate: -0.669632 m/s, rangeRepo size: 4 2025-10-29T00:38:15.955Z,1761698295.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 312.909454 m, bearing: 24.977137 deg, lat: 36.779440 deg, lon: -121.859256 deg, deltaT: 4.032037 s, deltaX: -2.686249 m, approachRate: -0.666226 m/s, posRepo size: 4 2025-10-29T00:38:15.955Z,1761698295.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:15.958Z,1761698295.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 309.301666 m, bearing: 25.208459 deg, approach rate: 0.000000 m/s, LOS rate: 0.009634 deg/s, cmd heading: 32.887217 deg, new cmd heading: 32.894281 deg. 2025-10-29T00:38:15.959Z,1761698295.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574113 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:16.483Z,1761698296.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:16.486Z,1761698296.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:16.488Z,1761698296.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 308.967529 m, bearing: 25.211119 deg, approach rate: -0.625843 m/s, LOS rate: 0.004987 deg/s, cmd heading: 32.894280 deg, new cmd heading: 32.899605 deg. 2025-10-29T00:38:16.489Z,1761698296.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574206 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:16.617Z,1761698296.617 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:16.617Z,1761698296.617 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:16.617Z,1761698296.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:16.869Z,1761698296.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243655 2025-10-29T00:38:16.896Z,1761698296.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844206,-0.527647,-0.094366],[0.534924,0.840573,0.085408],[0.034256,-0.122581,0.991867]] 2025-10-29T00:38:16.927Z,1761698296.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:16.933Z,1761698296.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 308.700012 m, bearing: 25.213261 deg, approach rate: -0.606800 m/s, LOS rate: 0.004864 deg/s, cmd heading: 32.899604 deg, new cmd heading: 32.903893 deg. 2025-10-29T00:38:16.934Z,1761698296.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574281 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:17.122Z,1761698297.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496639 2025-10-29T00:38:17.373Z,1761698297.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747806 2025-10-29T00:38:17.396Z,1761698297.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844335,-0.527400,-0.094590],[0.534723,0.840647,0.085933],[0.034196,-0.123136,0.991800]] 2025-10-29T00:38:17.477Z,1761698297.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:17.484Z,1761698297.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 308.360077 m, bearing: 25.216002 deg, approach rate: -0.617175 m/s, LOS rate: 0.004982 deg/s, cmd heading: 32.903893 deg, new cmd heading: 32.909382 deg. 2025-10-29T00:38:17.485Z,1761698297.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574377 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:17.625Z,1761698297.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999616 2025-10-29T00:38:17.793Z,1761698297.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844075,-0.527808,-0.094639],[0.535131,0.840400,0.085807],[0.034245,-0.123072,0.991807]] 2025-10-29T00:38:17.877Z,1761698297.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251739 2025-10-29T00:38:17.904Z,1761698297.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:17.906Z,1761698297.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 308.078674 m, bearing: 25.218024 deg, approach rate: -0.660009 m/s, LOS rate: 0.004746 deg/s, cmd heading: 32.909381 deg, new cmd heading: 32.913429 deg. 2025-10-29T00:38:17.907Z,1761698297.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574448 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:18.130Z,1761698298.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504831 2025-10-29T00:38:18.276Z,1761698298.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:18.279Z,1761698298.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 307.842285 m, bearing: 25.219725 deg, approach rate: -0.635636 m/s, LOS rate: 0.004578 deg/s, cmd heading: 32.913428 deg, new cmd heading: 32.916833 deg. 2025-10-29T00:38:18.280Z,1761698298.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574507 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:18.381Z,1761698298.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.755595 2025-10-29T00:38:18.621Z,1761698298.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844323,-0.527043,-0.096665],[0.534693,0.840471,0.087821],[0.034959,-0.125835,0.991435]] 2025-10-29T00:38:18.633Z,1761698298.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007866 2025-10-29T00:38:18.704Z,1761698298.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:18.706Z,1761698298.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:18.709Z,1761698298.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 307.568695 m, bearing: 25.221661 deg, approach rate: -0.635188 m/s, LOS rate: 0.004498 deg/s, cmd heading: 32.916833 deg, new cmd heading: 32.920708 deg. 2025-10-29T00:38:18.710Z,1761698298.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574575 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:18.885Z,1761698298.885 [DAT](INFO): DAT read: Rx Time:00:38:18.1977 2025-10-29T00:38:18.886Z,1761698298.886 [DAT](INFO): Rx dataTimestamp_ set to:1761698298.885236 2025-10-29T00:38:18.886Z,1761698298.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260852 2025-10-29T00:38:19.030Z,1761698299.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844533,-0.526605,-0.097220],[0.534350,0.840622,0.088462],[0.035141,-0.126658,0.991324]] 2025-10-29T00:38:19.085Z,1761698299.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 312.91 m. 2025-10-29T00:38:19.088Z,1761698299.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 312.909454 m, nav range: 307.338257 m, bearing: 25.223309 deg, approach rate: -0.610243 m/s, LOS rate: 0.004368 deg/s, cmd heading: 32.920709 deg, new cmd heading: 32.924008 deg. 2025-10-29T00:38:19.089Z,1761698299.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574632 target range: 312.909454 and range: 314.70 m. 2025-10-29T00:38:19.138Z,1761698299.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.512571 2025-10-29T00:38:19.397Z,1761698299.397 [DAT](INFO): DAT read: 00:38:18.1977 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.19, 1.718, 0.425, 2.031, 1.246, PHS= 0.573,-0.777, 0.740, RAW= 155.8, -7.5, CAL= 156.1, -9.1, ROT= 353.9, 9.1 2025-10-29T00:38:19.399Z,1761698299.399 [DAT](INFO): got valid direction response: 00:38:18.1977 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 420,-0.19, 1.718, 0.425, 2.031, 1.246, PHS= 0.573,-0.777, 0.740, RAW= 155.8, -7.5, CAL= 156.1, -9.1, ROT= 353.9, 9.1 2025-10-29T00:38:19.400Z,1761698299.400 [DAT](INFO): DAT read: Bearing 166.4, -2.2 (Local) 2025-10-29T00:38:19.400Z,1761698299.400 [DAT](INFO): Local bearing/azimuth received: Bearing 166.4, -2.2 (Local) 2025-10-29T00:38:19.402Z,1761698299.402 [DAT](INFO): DAT read: Range 11 to 50 : 313.2 m (Round-trip 417.6 ms) speed 0.1 m/s 2025-10-29T00:38:19.402Z,1761698299.402 [DAT](INFO): DAT read: user:483> 2025-10-29T00:38:19.403Z,1761698299.403 [DAT](INFO): DAT read: Tx time:00:38:19.3259 2025-10-29T00:38:19.403Z,1761698299.403 [DAT](INFO): Ping request sent. 2025-10-29T00:38:19.403Z,1761698299.403 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:19.404Z,1761698299.404 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:19.405Z,1761698299.405 [DAT](INFO): direction in FSK: [0.981823,-0.104927,-0.158158] 2025-10-29T00:38:19.405Z,1761698299.405 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:19.405Z,1761698299.405 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:19.409Z,1761698299.409 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:19.409Z,1761698299.409 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:19.514Z,1761698299.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844968,-0.525740,-0.098113],[0.533649,0.840928,0.089770],[0.035311,-0.128211,0.991118]] 2025-10-29T00:38:19.625Z,1761698299.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 313.200012 m, deltaT: 3.779820 s, deltaX: -1.500000 m, approachRate: -0.396844 m/s, rangeRepo size: 4 2025-10-29T00:38:19.627Z,1761698299.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 311.398193 m, bearing: 25.088963 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 3.779820 s, deltaX: -1.511261 m, approachRate: -0.399824 m/s, posRepo size: 4 2025-10-29T00:38:19.628Z,1761698299.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:19.631Z,1761698299.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 309.554443 m, bearing: 25.088159 deg, approach rate: 0.000000 m/s, LOS rate: 0.004368 deg/s, cmd heading: 32.924008 deg, new cmd heading: 32.928673 deg. 2025-10-29T00:38:19.632Z,1761698299.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574714 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:20.014Z,1761698300.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:20.019Z,1761698300.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 309.308319 m, bearing: 25.090044 deg, approach rate: -0.621369 m/s, LOS rate: 0.004761 deg/s, cmd heading: 32.928673 deg, new cmd heading: 32.932445 deg. 2025-10-29T00:38:20.023Z,1761698300.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574780 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:20.372Z,1761698300.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845319,-0.525179,-0.098093],[0.533073,0.841343,0.089306],[0.035628,-0.127783,0.991162]] 2025-10-29T00:38:20.395Z,1761698300.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:20.399Z,1761698300.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 309.070312 m, bearing: 25.091900 deg, approach rate: -0.624556 m/s, LOS rate: 0.004875 deg/s, cmd heading: 32.932444 deg, new cmd heading: 32.936159 deg. 2025-10-29T00:38:20.400Z,1761698300.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574844 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:20.835Z,1761698300.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:20.837Z,1761698300.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:20.840Z,1761698300.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 308.781769 m, bearing: 25.093333 deg, approach rate: -0.652346 m/s, LOS rate: 0.003244 deg/s, cmd heading: 32.936159 deg, new cmd heading: 32.939029 deg. 2025-10-29T00:38:20.841Z,1761698300.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574894 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:20.901Z,1761698300.901 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:20.901Z,1761698300.901 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:20.901Z,1761698300.901 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:21.154Z,1761698301.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750329 2025-10-29T00:38:21.231Z,1761698301.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845314,-0.525387,-0.097020],[0.533073,0.841544,0.087385],[0.035736,-0.125587,0.991439]] 2025-10-29T00:38:21.249Z,1761698301.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:21.268Z,1761698301.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 308.514679 m, bearing: 25.094667 deg, approach rate: -0.648508 m/s, LOS rate: 0.003242 deg/s, cmd heading: 32.939028 deg, new cmd heading: 32.941699 deg. 2025-10-29T00:38:21.269Z,1761698301.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574941 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:21.405Z,1761698301.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001294 2025-10-29T00:38:21.632Z,1761698301.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845298,-0.525414,-0.097013],[0.533091,0.841555,0.087170],[0.035842,-0.125401,0.991458]] 2025-10-29T00:38:21.658Z,1761698301.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254491 2025-10-29T00:38:21.712Z,1761698301.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:21.715Z,1761698301.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 308.238312 m, bearing: 25.096751 deg, approach rate: -0.624353 m/s, LOS rate: 0.004713 deg/s, cmd heading: 32.941698 deg, new cmd heading: 32.945870 deg. 2025-10-29T00:38:21.716Z,1761698301.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575014 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:21.909Z,1761698301.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505483 2025-10-29T00:38:22.073Z,1761698302.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845171,-0.525605,-0.097082],[0.533276,0.841481,0.086760],[0.036091,-0.125099,0.991488]] 2025-10-29T00:38:22.091Z,1761698302.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:22.094Z,1761698302.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 307.989044 m, bearing: 25.098625 deg, approach rate: -0.624498 m/s, LOS rate: 0.004698 deg/s, cmd heading: 32.945872 deg, new cmd heading: 32.949622 deg. 2025-10-29T00:38:22.095Z,1761698302.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575079 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:22.162Z,1761698302.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757916 2025-10-29T00:38:22.413Z,1761698302.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009369 2025-10-29T00:38:22.510Z,1761698302.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844961,-0.526027,-0.096627],[0.533617,0.841325,0.086170],[0.035967,-0.124372,0.991584]] 2025-10-29T00:38:22.574Z,1761698302.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:22.577Z,1761698302.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 307.684052 m, bearing: 25.101150 deg, approach rate: -0.631714 m/s, LOS rate: 0.005235 deg/s, cmd heading: 32.949621 deg, new cmd heading: 32.954676 deg. 2025-10-29T00:38:22.578Z,1761698302.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575168 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:22.666Z,1761698302.666 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262911 2025-10-29T00:38:22.878Z,1761698302.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845006,-0.525943,-0.096689],[0.533527,0.841422,0.085771],[0.036246,-0.124063,0.991612]] 2025-10-29T00:38:22.904Z,1761698302.904 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:22.913Z,1761698302.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:22.917Z,1761698302.917 [DAT](INFO): DAT read: Rx Time:00:38:22.1441 2025-10-29T00:38:22.918Z,1761698302.918 [DAT](INFO): Rx dataTimestamp_ set to:1761698302.917254 2025-10-29T00:38:22.918Z,1761698302.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.514563 2025-10-29T00:38:22.918Z,1761698302.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 307.474548 m, bearing: 25.102891 deg, approach rate: -0.617166 m/s, LOS rate: 0.005134 deg/s, cmd heading: 32.954676 deg, new cmd heading: 32.958162 deg. 2025-10-29T00:38:22.919Z,1761698302.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575228 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:23.171Z,1761698303.171 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767045 2025-10-29T00:38:23.322Z,1761698303.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844696,-0.526447,-0.096653],[0.533998,0.841197,0.085048],[0.036531,-0.123452,0.991678]] 2025-10-29T00:38:23.340Z,1761698303.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 311.40 m. 2025-10-29T00:38:23.343Z,1761698303.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 311.398193 m, nav range: 307.200134 m, bearing: 25.105149 deg, approach rate: -0.643038 m/s, LOS rate: 0.005295 deg/s, cmd heading: 32.958163 deg, new cmd heading: 32.962682 deg. 2025-10-29T00:38:23.344Z,1761698303.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575307 target range: 311.398193 and range: 313.20 m. 2025-10-29T00:38:23.427Z,1761698303.427 [DAT](INFO): DAT read: 00:38:22.1441 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.49,-2.182, 2.774,-1.822,-2.632, PHS= 0.552,-0.832, 0.766, RAW= 157.1, -6.5, CAL= 157.3, -8.1, ROT= 352.7, 8.1 2025-10-29T00:38:23.428Z,1761698303.428 [DAT](INFO): got valid direction response: 00:38:22.1441 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412,-0.49,-2.182, 2.774,-1.822,-2.632, PHS= 0.552,-0.832, 0.766, RAW= 157.1, -6.5, CAL= 157.3, -8.1, ROT= 352.7, 8.1 2025-10-29T00:38:23.430Z,1761698303.430 [DAT](INFO): DAT read: Bearing 166.9, -3.5 (Local) 2025-10-29T00:38:23.430Z,1761698303.430 [DAT](INFO): Local bearing/azimuth received: Bearing 166.9, -3.5 (Local) 2025-10-29T00:38:23.432Z,1761698303.432 [DAT](INFO): DAT read: Range 11 to 50 : 310.5 m (Round-trip 414.0 ms) speed 0.4 m/s 2025-10-29T00:38:23.433Z,1761698303.433 [DAT](INFO): DAT read: user:484> 2025-10-29T00:38:23.434Z,1761698303.434 [DAT](INFO): DAT read: Tx time:00:38:23.2759 2025-10-29T00:38:23.435Z,1761698303.435 [DAT](INFO): Ping request sent. 2025-10-29T00:38:23.435Z,1761698303.435 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:23.435Z,1761698303.435 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:23.442Z,1761698303.442 [DAT](INFO): direction in FSK: [0.981999,-0.125797,-0.140901] 2025-10-29T00:38:23.442Z,1761698303.442 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:23.442Z,1761698303.442 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:23.452Z,1761698303.452 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:23.457Z,1761698303.457 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:23.700Z,1761698303.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844774,-0.526345,-0.096527],[0.533877,0.841284,0.084951],[0.036493,-0.123298,0.991699]] 2025-10-29T00:38:23.757Z,1761698303.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 310.500000 m, deltaT: 4.032222 s, deltaX: -2.700012 m, approachRate: -0.669609 m/s, rangeRepo size: 4 2025-10-29T00:38:23.761Z,1761698303.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 308.692291 m, bearing: 24.083259 deg, lat: 36.779467 deg, lon: -121.859256 deg, deltaT: 4.032222 s, deltaX: -2.705902 m, approachRate: -0.671070 m/s, posRepo size: 4 2025-10-29T00:38:23.762Z,1761698303.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:23.785Z,1761698303.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 307.093689 m, bearing: 25.011274 deg, approach rate: 0.000000 m/s, LOS rate: 0.005295 deg/s, cmd heading: 32.962681 deg, new cmd heading: 32.967085 deg. 2025-10-29T00:38:23.786Z,1761698303.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575384 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:24.098Z,1761698304.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844625,-0.526567,-0.096620],[0.534082,0.841229,0.084202],[0.036941,-0.122723,0.991753]] 2025-10-29T00:38:24.123Z,1761698304.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:24.126Z,1761698304.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 306.855621 m, bearing: 25.014148 deg, approach rate: -0.647919 m/s, LOS rate: 0.007827 deg/s, cmd heading: 32.967086 deg, new cmd heading: 32.972838 deg. 2025-10-29T00:38:24.127Z,1761698304.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575485 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:24.522Z,1761698304.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844820,-0.526105,-0.097433],[0.533754,0.841350,0.085064],[0.037222,-0.123869,0.991600]] 2025-10-29T00:38:24.606Z,1761698304.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:24.609Z,1761698304.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 306.560944 m, bearing: 25.018440 deg, approach rate: -0.610316 m/s, LOS rate: 0.008897 deg/s, cmd heading: 32.972837 deg, new cmd heading: 32.981429 deg. 2025-10-29T00:38:24.610Z,1761698304.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575635 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:24.907Z,1761698304.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844949,-0.525673,-0.098635],[0.533527,0.841354,0.086442],[0.037547,-0.125664,0.991362]] 2025-10-29T00:38:24.932Z,1761698304.932 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:24.934Z,1761698304.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:24.937Z,1761698304.937 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:24.937Z,1761698304.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:24.937Z,1761698304.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:24.940Z,1761698304.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 306.350006 m, bearing: 25.021524 deg, approach rate: -0.643736 m/s, LOS rate: 0.009418 deg/s, cmd heading: 32.981430 deg, new cmd heading: 32.987601 deg. 2025-10-29T00:38:24.941Z,1761698304.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575742 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:25.190Z,1761698305.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755068 2025-10-29T00:38:25.306Z,1761698305.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845133,-0.525250,-0.099311],[0.533212,0.841498,0.086979],[0.037885,-0.126462,0.991248]] 2025-10-29T00:38:25.336Z,1761698305.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:25.338Z,1761698305.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 306.098846 m, bearing: 25.025216 deg, approach rate: -0.625240 m/s, LOS rate: 0.009199 deg/s, cmd heading: 32.987601 deg, new cmd heading: 32.994991 deg. 2025-10-29T00:38:25.339Z,1761698305.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575871 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:25.441Z,1761698305.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005865 2025-10-29T00:38:25.693Z,1761698305.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258048 2025-10-29T00:38:25.711Z,1761698305.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845458,-0.524526,-0.100367],[0.532681,0.841684,0.088421],[0.038098,-0.128220,0.991014]] 2025-10-29T00:38:25.784Z,1761698305.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:25.787Z,1761698305.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 305.823547 m, bearing: 25.029793 deg, approach rate: -0.619245 m/s, LOS rate: 0.010304 deg/s, cmd heading: 32.994991 deg, new cmd heading: 33.004153 deg. 2025-10-29T00:38:25.792Z,1761698305.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576031 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:25.945Z,1761698305.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509974 2025-10-29T00:38:26.114Z,1761698306.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845509,-0.524235,-0.101451],[0.532581,0.841612,0.089699],[0.038359,-0.129873,0.990788]] 2025-10-29T00:38:26.164Z,1761698306.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:26.169Z,1761698306.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 305.587158 m, bearing: 25.033730 deg, approach rate: -0.616995 m/s, LOS rate: 0.010285 deg/s, cmd heading: 33.004154 deg, new cmd heading: 33.012034 deg. 2025-10-29T00:38:26.170Z,1761698306.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576169 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:26.197Z,1761698306.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762415 2025-10-29T00:38:26.449Z,1761698306.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014524 2025-10-29T00:38:26.522Z,1761698306.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845680,-0.523731,-0.102620],[0.532304,0.841593,0.091510],[0.038438,-0.132013,0.990502]] 2025-10-29T00:38:26.608Z,1761698306.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:26.614Z,1761698306.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 305.298523 m, bearing: 25.038557 deg, approach rate: -0.649579 m/s, LOS rate: 0.010874 deg/s, cmd heading: 33.012036 deg, new cmd heading: 33.021699 deg. 2025-10-29T00:38:26.615Z,1761698306.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576337 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:26.701Z,1761698306.701 [DAT](INFO): DAT read: Rx Time:00:38:26.0913 2025-10-29T00:38:26.702Z,1761698306.702 [DAT](INFO): Rx dataTimestamp_ set to:1761698306.701375 2025-10-29T00:38:26.702Z,1761698306.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267320 2025-10-29T00:38:26.928Z,1761698306.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845621,-0.523688,-0.103319],[0.532354,0.841562,0.091504],[0.039030,-0.132380,0.990430]] 2025-10-29T00:38:26.956Z,1761698306.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521470 2025-10-29T00:38:26.994Z,1761698306.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:26.996Z,1761698306.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:26.998Z,1761698306.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 305.061310 m, bearing: 25.042238 deg, approach rate: -0.611489 m/s, LOS rate: 0.009497 deg/s, cmd heading: 33.021700 deg, new cmd heading: 33.029068 deg. 2025-10-29T00:38:26.999Z,1761698306.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576466 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:27.209Z,1761698307.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774100 2025-10-29T00:38:27.327Z,1761698307.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845661,-0.523569,-0.103600],[0.532278,0.841595,0.091639],[0.039210,-0.132639,0.990388]] 2025-10-29T00:38:27.363Z,1761698307.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 308.69 m. 2025-10-29T00:38:27.366Z,1761698307.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 308.692291 m, nav range: 304.841827 m, bearing: 25.045653 deg, approach rate: -0.596849 m/s, LOS rate: 0.009291 deg/s, cmd heading: 33.029067 deg, new cmd heading: 33.035900 deg. 2025-10-29T00:38:27.367Z,1761698307.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576585 target range: 308.692291 and range: 310.50 m. 2025-10-29T00:38:27.467Z,1761698307.467 [DAT](INFO): DAT read: 00:38:26.0913 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.11, 1.266,-0.100, 1.523, 0.712, PHS= 0.656,-0.767, 0.767, RAW= 153.7, -8.9, CAL= 154.2, -10.6, ROT= 355.8, 10.6 2025-10-29T00:38:27.469Z,1761698307.469 [DAT](INFO): got valid direction response: 00:38:26.0913 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 415,-0.11, 1.266,-0.100, 1.523, 0.712, PHS= 0.656,-0.767, 0.767, RAW= 153.7, -8.9, CAL= 154.2, -10.6, ROT= 355.8, 10.6 2025-10-29T00:38:27.470Z,1761698307.470 [DAT](INFO): DAT read: Bearing 164.7, -0.1 (Local) 2025-10-29T00:38:27.470Z,1761698307.470 [DAT](INFO): Local bearing/azimuth received: Bearing 164.7, -0.1 (Local) 2025-10-29T00:38:27.471Z,1761698307.471 [DAT](INFO): DAT read: Range 11 to 50 : 308.4 m (Round-trip 411.2 ms) speed 0.4 m/s 2025-10-29T00:38:27.472Z,1761698307.472 [DAT](INFO): DAT read: user:485> 2025-10-29T00:38:27.473Z,1761698307.473 [DAT](INFO): DAT read: Tx time:00:38:27.1759 2025-10-29T00:38:27.473Z,1761698307.473 [DAT](INFO): Ping request sent. 2025-10-29T00:38:27.473Z,1761698307.473 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:27.474Z,1761698307.474 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:27.475Z,1761698307.475 [DAT](INFO): direction in FSK: [0.980296,-0.071989,-0.183951] 2025-10-29T00:38:27.475Z,1761698307.475 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:27.475Z,1761698307.475 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:27.483Z,1761698307.483 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:27.484Z,1761698307.484 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:27.732Z,1761698307.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845242,-0.524259,-0.103529],[0.532916,0.841300,0.090636],[0.039582,-0.131782,0.990488]] 2025-10-29T00:38:27.814Z,1761698307.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 308.399994 m, deltaT: 4.039917 s, deltaX: -2.100006 m, approachRate: -0.519814 m/s, rangeRepo size: 4 2025-10-29T00:38:27.820Z,1761698307.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 306.600769 m, bearing: 26.693942 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 4.039917 s, deltaX: -2.091522 m, approachRate: -0.517714 m/s, posRepo size: 4 2025-10-29T00:38:27.821Z,1761698307.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:27.823Z,1761698307.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 304.419220 m, bearing: 25.148035 deg, approach rate: 0.000000 m/s, LOS rate: 0.009291 deg/s, cmd heading: 33.035900 deg, new cmd heading: 33.044262 deg. 2025-10-29T00:38:27.844Z,1761698307.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576731 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:28.140Z,1761698308.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844466,-0.525595,-0.103085],[0.534127,0.840694,0.089124],[0.039820,-0.130323,0.990672]] 2025-10-29T00:38:28.171Z,1761698308.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:28.174Z,1761698308.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 304.181580 m, bearing: 25.151974 deg, approach rate: -0.664684 m/s, LOS rate: 0.011025 deg/s, cmd heading: 33.044261 deg, new cmd heading: 33.052144 deg. 2025-10-29T00:38:28.175Z,1761698308.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576869 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:28.539Z,1761698308.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844111,-0.526130,-0.103267],[0.534666,0.840397,0.088690],[0.040123,-0.130078,0.990692]] 2025-10-29T00:38:28.725Z,1761698308.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:28.727Z,1761698308.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 303.824860 m, bearing: 25.156750 deg, approach rate: -0.644820 m/s, LOS rate: 0.008644 deg/s, cmd heading: 33.052143 deg, new cmd heading: 33.061706 deg. 2025-10-29T00:38:28.729Z,1761698308.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577036 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:29.031Z,1761698309.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843315,-0.527602,-0.102254],[0.535910,0.839836,0.086466],[0.040257,-0.127717,0.990993]] 2025-10-29T00:38:29.056Z,1761698309.056 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:29.058Z,1761698309.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:29.071Z,1761698309.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 303.610260 m, bearing: 25.159573 deg, approach rate: -0.642383 m/s, LOS rate: 0.008458 deg/s, cmd heading: 33.061705 deg, new cmd heading: 33.067356 deg. 2025-10-29T00:38:29.093Z,1761698309.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577134 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:29.225Z,1761698309.225 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:29.225Z,1761698309.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:29.225Z,1761698309.225 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:29.431Z,1761698309.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842660,-0.528858,-0.101157],[0.536918,0.839448,0.083938],[0.040525,-0.125044,0.991323]] 2025-10-29T00:38:29.462Z,1761698309.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:29.477Z,1761698309.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003512 2025-10-29T00:38:29.485Z,1761698309.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 303.351288 m, bearing: 25.162935 deg, approach rate: -0.641554 m/s, LOS rate: 0.008334 deg/s, cmd heading: 33.067357 deg, new cmd heading: 33.074085 deg. 2025-10-29T00:38:29.485Z,1761698309.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577252 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:29.729Z,1761698309.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255331 2025-10-29T00:38:29.837Z,1761698309.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842139,-0.529781,-0.100670],[0.537740,0.839012,0.083033],[0.040474,-0.124060,0.991449]] 2025-10-29T00:38:29.903Z,1761698309.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:29.906Z,1761698309.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 303.066864 m, bearing: 25.166546 deg, approach rate: -0.644782 m/s, LOS rate: 0.008194 deg/s, cmd heading: 33.074085 deg, new cmd heading: 33.081314 deg. 2025-10-29T00:38:29.906Z,1761698309.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577378 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:29.981Z,1761698309.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507562 2025-10-29T00:38:30.233Z,1761698310.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759638 2025-10-29T00:38:30.240Z,1761698310.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841899,-0.530161,-0.100669],[0.538110,0.838797,0.082812],[0.040537,-0.123890,0.991468]] 2025-10-29T00:38:30.287Z,1761698310.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:30.295Z,1761698310.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 302.837006 m, bearing: 25.169451 deg, approach rate: -0.597617 m/s, LOS rate: 0.007558 deg/s, cmd heading: 33.081314 deg, new cmd heading: 33.087128 deg. 2025-10-29T00:38:30.296Z,1761698310.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577479 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:30.485Z,1761698310.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011602 2025-10-29T00:38:30.667Z,1761698310.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841493,-0.530838,-0.100498],[0.538742,0.838440,0.082308],[0.040570,-0.123404,0.991527]] 2025-10-29T00:38:30.737Z,1761698310.737 [DAT](INFO): DAT read: Rx Time:00:38:29.9884 2025-10-29T00:38:30.737Z,1761698310.737 [DAT](INFO): Rx dataTimestamp_ set to:1761698310.737151 2025-10-29T00:38:30.738Z,1761698310.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264499 2025-10-29T00:38:30.823Z,1761698310.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:30.837Z,1761698310.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 302.489288 m, bearing: 25.174279 deg, approach rate: -0.649145 m/s, LOS rate: 0.009024 deg/s, cmd heading: 33.087127 deg, new cmd heading: 33.096794 deg. 2025-10-29T00:38:30.838Z,1761698310.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577648 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:30.989Z,1761698310.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515647 2025-10-29T00:38:31.171Z,1761698311.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841206,-0.531263,-0.100661],[0.539176,0.838184,0.082078],[0.040767,-0.123319,0.991529]] 2025-10-29T00:38:31.195Z,1761698311.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:31.213Z,1761698311.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:31.216Z,1761698311.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 302.245758 m, bearing: 25.177644 deg, approach rate: -0.624369 m/s, LOS rate: 0.008634 deg/s, cmd heading: 33.096795 deg, new cmd heading: 33.103530 deg. 2025-10-29T00:38:31.221Z,1761698311.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577766 target range: 306.600769 and range: 308.40 m. 2025-10-29T00:38:31.242Z,1761698311.242 [DAT](INFO): DAT read: Range 11 to 50 : 306.3 m (Round-trip 408.4 ms) speed 0.0 m/s 2025-10-29T00:38:31.243Z,1761698311.243 [DAT](INFO): DAT read: user:486> 2025-10-29T00:38:31.243Z,1761698311.243 [DAT](INFO): DAT read: Tx time:00:38:31.0758 2025-10-29T00:38:31.244Z,1761698311.244 [DAT](INFO): Ping request sent. 2025-10-29T00:38:31.244Z,1761698311.244 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:31.244Z,1761698311.244 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:38:31.244Z,1761698311.244 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:31.245Z,1761698311.245 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:31.802Z,1761698311.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 306.299988 m, deltaT: 3.779916 s, deltaX: -2.100006 m, approachRate: -0.555570 m/s, rangeRepo size: 4 2025-10-29T00:38:31.803Z,1761698311.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:31.806Z,1761698311.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 301.877380 m, bearing: 25.182981 deg, approach rate: -0.625881 m/s, LOS rate: 0.009080 deg/s, cmd heading: 33.103530 deg, new cmd heading: 33.114217 deg. 2025-10-29T00:38:31.807Z,1761698311.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577952 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:32.268Z,1761698312.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840275,-0.532569,-0.101532],[0.540626,0.837155,0.083039],[0.040774,-0.124667,0.991361]] 2025-10-29T00:38:32.328Z,1761698312.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:32.331Z,1761698312.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 301.564972 m, bearing: 25.187410 deg, approach rate: -0.593721 m/s, LOS rate: 0.008426 deg/s, cmd heading: 33.114219 deg, new cmd heading: 33.123086 deg. 2025-10-29T00:38:32.331Z,1761698312.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578107 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:32.771Z,1761698312.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839910,-0.533390,-0.100232],[0.541244,0.836846,0.082122],[0.040075,-0.123225,0.991569]] 2025-10-29T00:38:32.817Z,1761698312.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:32.819Z,1761698312.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 301.248138 m, bearing: 25.191255 deg, approach rate: -0.647874 m/s, LOS rate: 0.007870 deg/s, cmd heading: 33.123088 deg, new cmd heading: 33.130785 deg. 2025-10-29T00:38:32.821Z,1761698312.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578241 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:33.172Z,1761698313.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839570,-0.534189,-0.098813],[0.541845,0.836506,0.081622],[0.039056,-0.122068,0.991753]] 2025-10-29T00:38:33.191Z,1761698313.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:33.193Z,1761698313.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 301.012604 m, bearing: 25.194089 deg, approach rate: -0.630271 m/s, LOS rate: 0.007590 deg/s, cmd heading: 33.130785 deg, new cmd heading: 33.136458 deg. 2025-10-29T00:38:33.194Z,1761698313.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578340 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:33.571Z,1761698313.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839270,-0.534832,-0.097881],[0.542369,0.836172,0.081556],[0.038227,-0.121536,0.991851]] 2025-10-29T00:38:33.588Z,1761698313.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:33.590Z,1761698313.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:33.609Z,1761698313.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 300.761017 m, bearing: 25.197093 deg, approach rate: -0.629843 m/s, LOS rate: 0.007526 deg/s, cmd heading: 33.136458 deg, new cmd heading: 33.142470 deg. 2025-10-29T00:38:33.610Z,1761698313.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578445 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:33.765Z,1761698313.765 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:33.765Z,1761698313.765 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:33.766Z,1761698313.766 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:34.017Z,1761698314.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773198 2025-10-29T00:38:34.062Z,1761698314.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:34.069Z,1761698314.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 300.472687 m, bearing: 25.201352 deg, approach rate: -0.610395 m/s, LOS rate: 0.009026 deg/s, cmd heading: 33.142472 deg, new cmd heading: 33.150999 deg. 2025-10-29T00:38:34.070Z,1761698314.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578594 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:34.269Z,1761698314.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024905 2025-10-29T00:38:34.400Z,1761698314.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838961,-0.535796,-0.095217],[0.542991,0.835810,0.081128],[0.036115,-0.119765,0.992145]] 2025-10-29T00:38:34.418Z,1761698314.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:34.421Z,1761698314.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 300.237732 m, bearing: 25.204801 deg, approach rate: -0.659956 m/s, LOS rate: 0.009694 deg/s, cmd heading: 33.150999 deg, new cmd heading: 33.157902 deg. 2025-10-29T00:38:34.422Z,1761698314.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578715 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:34.522Z,1761698314.522 [DAT](INFO): DAT read: Rx Time:00:38:33.8857 2025-10-29T00:38:34.522Z,1761698314.522 [DAT](INFO): Rx dataTimestamp_ set to:1761698314.521930 2025-10-29T00:38:34.523Z,1761698314.523 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279155 2025-10-29T00:38:34.773Z,1761698314.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529262 2025-10-29T00:38:34.802Z,1761698314.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838839,-0.536130,-0.094417],[0.543241,0.835612,0.081500],[0.035201,-0.119657,0.992191]] 2025-10-29T00:38:34.861Z,1761698314.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:34.863Z,1761698314.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 299.957794 m, bearing: 25.208319 deg, approach rate: -0.634095 m/s, LOS rate: 0.007976 deg/s, cmd heading: 33.157901 deg, new cmd heading: 33.164944 deg. 2025-10-29T00:38:34.880Z,1761698314.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578837 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:35.028Z,1761698315.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783314 2025-10-29T00:38:35.209Z,1761698315.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839334,-0.535481,-0.093691],[0.542557,0.835917,0.082916],[0.033918,-0.120427,0.992143]] 2025-10-29T00:38:35.234Z,1761698315.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 306.60 m. 2025-10-29T00:38:35.239Z,1761698315.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 306.600769 m, nav range: 299.721924 m, bearing: 25.211324 deg, approach rate: -0.633895 m/s, LOS rate: 0.008082 deg/s, cmd heading: 33.164943 deg, new cmd heading: 33.170958 deg. 2025-10-29T00:38:35.241Z,1761698315.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578942 target range: 306.600769 and range: 306.30 m. 2025-10-29T00:38:35.283Z,1761698315.283 [DAT](INFO): DAT read: 00:38:33.8857 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.36,-1.960, 3.101,-1.670,-2.363, PHS= 0.505,-0.774, 0.650, RAW= 155.3, -5.7, CAL= 155.2, -7.2, ROT= 354.8, 7.2 2025-10-29T00:38:35.284Z,1761698315.284 [DAT](INFO): got valid direction response: 00:38:33.8857 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 407, 0.36,-1.960, 3.101,-1.670,-2.363, PHS= 0.505,-0.774, 0.650, RAW= 155.3, -5.7, CAL= 155.2, -7.2, ROT= 354.8, 7.2 2025-10-29T00:38:35.285Z,1761698315.285 [DAT](INFO): DAT read: Bearing 168.7, -2.3 (Local) 2025-10-29T00:38:35.285Z,1761698315.285 [DAT](INFO): Local bearing/azimuth received: Bearing 168.7, -2.3 (Local) 2025-10-29T00:38:35.287Z,1761698315.287 [DAT](INFO): DAT read: Range 11 to 50 : 304.2 m (Round-trip 405.7 ms) speed 0.4 m/s 2025-10-29T00:38:35.287Z,1761698315.287 [DAT](INFO): DAT read: user:487> 2025-10-29T00:38:35.288Z,1761698315.288 [DAT](INFO): DAT read: Tx time:00:38:34.9758 2025-10-29T00:38:35.288Z,1761698315.288 [DAT](INFO): Ping request sent. 2025-10-29T00:38:35.289Z,1761698315.289 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:35.289Z,1761698315.289 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:35.290Z,1761698315.290 [DAT](INFO): direction in FSK: [0.988032,-0.089918,-0.125333] 2025-10-29T00:38:35.290Z,1761698315.290 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:35.290Z,1761698315.290 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:35.294Z,1761698315.294 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:35.294Z,1761698315.294 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:35.611Z,1761698315.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839322,-0.535631,-0.092942],[0.542683,0.835630,0.084953],[0.032161,-0.121741,0.992041]] 2025-10-29T00:38:35.670Z,1761698315.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 304.200012 m, deltaT: 4.036008 s, deltaX: -2.099976 m, approachRate: -0.520310 m/s, rangeRepo size: 4 2025-10-29T00:38:35.676Z,1761698315.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 302.433136 m, bearing: 26.866273 deg, lat: 36.779464 deg, lon: -121.859252 deg, deltaT: 7.815924 s, deltaX: -4.167633 m, approachRate: -0.533223 m/s, posRepo size: 4 2025-10-29T00:38:35.679Z,1761698315.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:35.701Z,1761698315.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 299.469421 m, bearing: 25.214537 deg, approach rate: 0.000000 m/s, LOS rate: 0.008082 deg/s, cmd heading: 33.170957 deg, new cmd heading: 33.178023 deg. 2025-10-29T00:38:35.703Z,1761698315.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579066 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:36.015Z,1761698316.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839432,-0.535495,-0.092734],[0.542577,0.835520,0.086698],[0.031055,-0.123092,0.991909]] 2025-10-29T00:38:36.083Z,1761698316.083 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:36.089Z,1761698316.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:36.096Z,1761698316.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 299.190460 m, bearing: 25.217290 deg, approach rate: -0.663714 m/s, LOS rate: 0.006557 deg/s, cmd heading: 33.178023 deg, new cmd heading: 33.183535 deg. 2025-10-29T00:38:36.097Z,1761698316.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579162 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:36.285Z,1761698316.285 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:36.285Z,1761698316.285 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:36.285Z,1761698316.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:36.419Z,1761698316.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838960,-0.536395,-0.091801],[0.543383,0.834908,0.087537],[0.029691,-0.123324,0.991922]] 2025-10-29T00:38:36.453Z,1761698316.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:36.460Z,1761698316.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 298.965332 m, bearing: 25.219474 deg, approach rate: -0.618455 m/s, LOS rate: 0.006004 deg/s, cmd heading: 33.183535 deg, new cmd heading: 33.187906 deg. 2025-10-29T00:38:36.461Z,1761698316.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579238 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:36.538Z,1761698316.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248752 2025-10-29T00:38:36.789Z,1761698316.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500290 2025-10-29T00:38:36.822Z,1761698316.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838615,-0.537054,-0.091098],[0.544002,0.834322,0.089266],[0.028064,-0.124417,0.991833]] 2025-10-29T00:38:36.886Z,1761698316.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:36.893Z,1761698316.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 298.690369 m, bearing: 25.222377 deg, approach rate: -0.635438 m/s, LOS rate: 0.006714 deg/s, cmd heading: 33.187906 deg, new cmd heading: 33.193717 deg. 2025-10-29T00:38:36.894Z,1761698316.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579340 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:37.041Z,1761698317.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752604 2025-10-29T00:38:37.229Z,1761698317.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838559,-0.537276,-0.090299],[0.544152,0.834110,0.090325],[0.026790,-0.124879,0.991810]] 2025-10-29T00:38:37.253Z,1761698317.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:37.256Z,1761698317.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 298.456421 m, bearing: 25.224842 deg, approach rate: -0.637891 m/s, LOS rate: 0.006726 deg/s, cmd heading: 33.193719 deg, new cmd heading: 33.198652 deg. 2025-10-29T00:38:37.257Z,1761698317.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579426 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:37.293Z,1761698317.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004449 2025-10-29T00:38:37.545Z,1761698317.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256310 2025-10-29T00:38:37.651Z,1761698317.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837812,-0.538738,-0.088502],[0.545424,0.833099,0.091970],[0.024183,-0.125324,0.991821]] 2025-10-29T00:38:37.670Z,1761698317.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:37.673Z,1761698317.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 298.196136 m, bearing: 25.227511 deg, approach rate: -0.624315 m/s, LOS rate: 0.006408 deg/s, cmd heading: 33.198654 deg, new cmd heading: 33.203997 deg. 2025-10-29T00:38:37.674Z,1761698317.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579519 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:37.797Z,1761698317.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508621 2025-10-29T00:38:38.049Z,1761698318.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760160 2025-10-29T00:38:38.094Z,1761698318.094 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:38.096Z,1761698318.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:38.099Z,1761698318.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 297.932404 m, bearing: 25.229582 deg, approach rate: -0.618299 m/s, LOS rate: 0.004860 deg/s, cmd heading: 33.203998 deg, new cmd heading: 33.208144 deg. 2025-10-29T00:38:38.100Z,1761698318.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579591 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:38.301Z,1761698318.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012482 2025-10-29T00:38:38.446Z,1761698318.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836363,-0.541469,-0.085492],[0.547769,0.831530,0.092234],[0.021147,-0.123971,0.992061]] 2025-10-29T00:38:38.465Z,1761698318.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:38.468Z,1761698318.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 297.703430 m, bearing: 25.231264 deg, approach rate: -0.620489 m/s, LOS rate: 0.004559 deg/s, cmd heading: 33.208144 deg, new cmd heading: 33.211509 deg. 2025-10-29T00:38:38.469Z,1761698318.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579650 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:38.555Z,1761698318.555 [DAT](INFO): DAT read: Rx Time:00:38:37.7822 2025-10-29T00:38:38.555Z,1761698318.555 [DAT](INFO): Rx dataTimestamp_ set to:1761698318.554776 2025-10-29T00:38:38.556Z,1761698318.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267028 2025-10-29T00:38:38.805Z,1761698318.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516289 2025-10-29T00:38:38.848Z,1761698318.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835678,-0.542727,-0.084207],[0.548864,0.830782,0.092461],[0.019777,-0.123486,0.992149]] 2025-10-29T00:38:38.896Z,1761698318.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:38.902Z,1761698318.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 297.428558 m, bearing: 25.233842 deg, approach rate: -0.638790 m/s, LOS rate: 0.005997 deg/s, cmd heading: 33.211508 deg, new cmd heading: 33.216669 deg. 2025-10-29T00:38:38.920Z,1761698318.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579740 target range: 302.433136 and range: 304.20 m. 2025-10-29T00:38:39.058Z,1761698319.058 [DAT](INFO): DAT read: Range 11 to 50 : 301.6 m (Round-trip 402.2 ms) speed 0.6 m/s 2025-10-29T00:38:39.059Z,1761698319.059 [DAT](INFO): DAT read: user:488> 2025-10-29T00:38:39.059Z,1761698319.059 [DAT](INFO): DAT read: Tx time:00:38:38.8758 2025-10-29T00:38:39.060Z,1761698319.060 [DAT](INFO): Ping request sent. 2025-10-29T00:38:39.060Z,1761698319.060 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:39.060Z,1761698319.060 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:38:39.060Z,1761698319.060 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:39.061Z,1761698319.061 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:39.251Z,1761698319.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835164,-0.543724,-0.082852],[0.549695,0.830196,0.092795],[0.018328,-0.123042,0.992232]] 2025-10-29T00:38:39.289Z,1761698319.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 301.600006 m, deltaT: 3.779962 s, deltaX: -2.600006 m, approachRate: -0.687839 m/s, rangeRepo size: 4 2025-10-29T00:38:39.289Z,1761698319.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:39.292Z,1761698319.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 297.188873 m, bearing: 25.236049 deg, approach rate: -0.611169 m/s, LOS rate: 0.005632 deg/s, cmd heading: 33.216668 deg, new cmd heading: 33.221086 deg. 2025-10-29T00:38:39.293Z,1761698319.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579817 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:39.659Z,1761698319.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834636,-0.544760,-0.081360],[0.550541,0.829633,0.092804],[0.016944,-0.122250,0.992355]] 2025-10-29T00:38:39.679Z,1761698319.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:39.682Z,1761698319.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 296.928497 m, bearing: 25.238401 deg, approach rate: -0.666438 m/s, LOS rate: 0.006027 deg/s, cmd heading: 33.221087 deg, new cmd heading: 33.225796 deg. 2025-10-29T00:38:39.683Z,1761698319.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579900 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:40.061Z,1761698320.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834118,-0.545729,-0.080165],[0.551362,0.829066,0.093004],[0.015707,-0.121776,0.992433]] 2025-10-29T00:38:40.099Z,1761698320.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:40.131Z,1761698320.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:40.138Z,1761698320.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 296.658447 m, bearing: 25.241969 deg, approach rate: -0.598457 m/s, LOS rate: 0.007914 deg/s, cmd heading: 33.225797 deg, new cmd heading: 33.232939 deg. 2025-10-29T00:38:40.144Z,1761698320.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580024 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:40.317Z,1761698320.317 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:40.317Z,1761698320.317 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:40.317Z,1761698320.317 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:40.456Z,1761698320.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:38:40.460Z,1761698320.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834101,-0.545897,-0.079198],[0.551425,0.828915,0.093972],[0.014349,-0.122054,0.992420]] 2025-10-29T00:38:40.490Z,1761698320.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:40.492Z,1761698320.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 296.409576 m, bearing: 25.245259 deg, approach rate: -0.691671 m/s, LOS rate: 0.009150 deg/s, cmd heading: 33.232938 deg, new cmd heading: 33.239522 deg. 2025-10-29T00:38:40.493Z,1761698320.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580139 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:40.570Z,1761698320.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509958 2025-10-29T00:38:40.821Z,1761698320.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761194 2025-10-29T00:38:40.862Z,1761698320.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834519,-0.545250,-0.079249],[0.550817,0.829085,0.096018],[0.013350,-0.123781,0.992220]] 2025-10-29T00:38:40.921Z,1761698320.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:40.923Z,1761698320.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 296.154694 m, bearing: 25.249324 deg, approach rate: -0.598095 m/s, LOS rate: 0.009547 deg/s, cmd heading: 33.239522 deg, new cmd heading: 33.247659 deg. 2025-10-29T00:38:40.928Z,1761698320.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580281 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:41.073Z,1761698321.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013189 2025-10-29T00:38:41.266Z,1761698321.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834704,-0.545097,-0.078348],[0.550567,0.829131,0.097046],[0.012061,-0.124141,0.992191]] 2025-10-29T00:38:41.285Z,1761698321.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:41.304Z,1761698321.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 295.914490 m, bearing: 25.253175 deg, approach rate: -0.650022 m/s, LOS rate: 0.010429 deg/s, cmd heading: 33.247660 deg, new cmd heading: 33.255368 deg. 2025-10-29T00:38:41.305Z,1761698321.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580416 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:41.325Z,1761698321.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265387 2025-10-29T00:38:41.460Z,1761698321.460 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:38:41.577Z,1761698321.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517339 2025-10-29T00:38:41.721Z,1761698321.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:41.723Z,1761698321.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 295.651550 m, bearing: 25.257396 deg, approach rate: -0.622327 m/s, LOS rate: 0.010001 deg/s, cmd heading: 33.255368 deg, new cmd heading: 33.263819 deg. 2025-10-29T00:38:41.725Z,1761698321.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580563 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:41.832Z,1761698321.832 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771839 2025-10-29T00:38:42.079Z,1761698322.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836255,-0.542900,-0.077048],[0.548249,0.830391,0.099371],[0.010031,-0.125341,0.992063]] 2025-10-29T00:38:42.081Z,1761698322.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021165 2025-10-29T00:38:42.157Z,1761698322.157 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:42.159Z,1761698322.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:42.162Z,1761698322.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 295.372131 m, bearing: 25.262883 deg, approach rate: -0.618730 m/s, LOS rate: 0.012160 deg/s, cmd heading: 33.263820 deg, new cmd heading: 33.274804 deg. 2025-10-29T00:38:42.163Z,1761698322.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580755 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:42.333Z,1761698322.333 [DAT](INFO): DAT read: Rx Time:00:38:41.6586 2025-10-29T00:38:42.333Z,1761698322.333 [DAT](INFO): Rx dataTimestamp_ set to:1761698322.333122 2025-10-29T00:38:42.334Z,1761698322.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274180 2025-10-29T00:38:42.529Z,1761698322.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 302.43 m. 2025-10-29T00:38:42.532Z,1761698322.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 302.433136 m, nav range: 295.150330 m, bearing: 25.267245 deg, approach rate: -0.622296 m/s, LOS rate: 0.012249 deg/s, cmd heading: 33.274803 deg, new cmd heading: 33.283535 deg. 2025-10-29T00:38:42.533Z,1761698322.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580907 target range: 302.433136 and range: 301.60 m. 2025-10-29T00:38:42.585Z,1761698322.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525667 2025-10-29T00:38:42.851Z,1761698322.851 [DAT](INFO): DAT read: 00:38:41.6586 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 194, 0.07, 1.559, 0.124, 1.895, 1.041, PHS= 0.619,-0.872, 0.810, RAW= 155.9, -7.0, CAL= 156.2, -8.7, ROT= 353.8, 8.7 2025-10-29T00:38:42.853Z,1761698322.853 [DAT](INFO): got valid direction response: 00:38:41.6586 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 194, 0.07, 1.559, 0.124, 1.895, 1.041, PHS= 0.619,-0.872, 0.810, RAW= 155.9, -7.0, CAL= 156.2, -8.7, ROT= 353.8, 8.7 2025-10-29T00:38:42.854Z,1761698322.854 [DAT](INFO): DAT read: Bearing 167.0, -4.7 (Local) 2025-10-29T00:38:42.854Z,1761698322.854 [DAT](INFO): Local bearing/azimuth received: Bearing 167.0, -4.7 (Local) 2025-10-29T00:38:42.856Z,1761698322.856 [DAT](INFO): DAT read: Range 11 to 50 : 284.0 m (Round-trip 378.7 ms) speed 0.6 m/s 2025-10-29T00:38:42.857Z,1761698322.857 [DAT](INFO): DAT read: user:489> 2025-10-29T00:38:42.857Z,1761698322.857 [DAT](INFO): DAT read: Tx time:00:38:42.7758 2025-10-29T00:38:42.858Z,1761698322.858 [DAT](INFO): Ping request sent. 2025-10-29T00:38:42.858Z,1761698322.858 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:42.858Z,1761698322.858 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:42.859Z,1761698322.859 [DAT](INFO): direction in FSK: [0.982712,-0.106757,-0.151261] 2025-10-29T00:38:42.859Z,1761698322.859 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:42.859Z,1761698322.859 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:42.863Z,1761698322.863 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:42.863Z,1761698322.863 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:42.883Z,1761698322.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837213,-0.541718,-0.074939],[0.546819,0.831220,0.100312],[0.007950,-0.124960,0.992130]] 2025-10-29T00:38:43.145Z,1761698323.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 284.000000 m, deltaT: 3.781807 s, deltaX: -17.600006 m, approachRate: -4.653862 m/s, rangeRepo size: 4 2025-10-29T00:38:43.147Z,1761698323.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 282.356384 m, bearing: 25.919081 deg, lat: 36.779445 deg, lon: -121.859252 deg, deltaT: 7.561769 s, deltaX: -20.076752 m, approachRate: -2.655034 m/s, posRepo size: 4 2025-10-29T00:38:43.147Z,1761698323.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:43.158Z,1761698323.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 292.930328 m, bearing: 25.445749 deg, approach rate: 0.000000 m/s, LOS rate: 0.012249 deg/s, cmd heading: 33.283536 deg, new cmd heading: 33.298822 deg. 2025-10-29T00:38:43.159Z,1761698323.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581174 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:43.415Z,1761698323.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837686,-0.541078,-0.074280],[0.546108,0.831571,0.101269],[0.006975,-0.125396,0.992082]] 2025-10-29T00:38:43.471Z,1761698323.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:43.483Z,1761698323.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 292.712250 m, bearing: 25.450470 deg, approach rate: -0.658679 m/s, LOS rate: 0.014271 deg/s, cmd heading: 33.298822 deg, new cmd heading: 33.308272 deg. 2025-10-29T00:38:43.483Z,1761698323.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581339 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:43.862Z,1761698323.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838367,-0.540235,-0.072713],[0.545075,0.832263,0.101153],[0.005870,-0.124438,0.992210]] 2025-10-29T00:38:43.925Z,1761698323.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:43.927Z,1761698323.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 292.426727 m, bearing: 25.456221 deg, approach rate: -0.629141 m/s, LOS rate: 0.012683 deg/s, cmd heading: 33.308271 deg, new cmd heading: 33.319783 deg. 2025-10-29T00:38:43.928Z,1761698323.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581540 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:44.227Z,1761698324.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839059,-0.539249,-0.072044],[0.544017,0.832860,0.101927],[0.005039,-0.124716,0.992180]] 2025-10-29T00:38:44.322Z,1761698324.322 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:44.325Z,1761698324.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:44.327Z,1761698324.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 292.180115 m, bearing: 25.461256 deg, approach rate: -0.616665 m/s, LOS rate: 0.012602 deg/s, cmd heading: 33.319784 deg, new cmd heading: 33.329863 deg. 2025-10-29T00:38:44.328Z,1761698324.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581716 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:44.349Z,1761698324.349 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:44.349Z,1761698324.349 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:44.349Z,1761698324.349 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:44.601Z,1761698324.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.743298 2025-10-29T00:38:44.672Z,1761698324.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839393,-0.538987,-0.070089],[0.543510,0.833324,0.100830],[0.004061,-0.122730,0.992432]] 2025-10-29T00:38:44.698Z,1761698324.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:44.716Z,1761698324.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 291.949890 m, bearing: 25.465998 deg, approach rate: -0.617330 m/s, LOS rate: 0.012725 deg/s, cmd heading: 33.329861 deg, new cmd heading: 33.339353 deg. 2025-10-29T00:38:44.717Z,1761698324.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581881 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:44.857Z,1761698324.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998553 2025-10-29T00:38:45.074Z,1761698325.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839813,-0.538510,-0.068709],[0.542867,0.833761,0.100685],[0.003067,-0.121856,0.992543]] 2025-10-29T00:38:45.105Z,1761698325.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.247195 2025-10-29T00:38:45.163Z,1761698325.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:45.166Z,1761698325.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 291.662262 m, bearing: 25.470959 deg, approach rate: -0.617855 m/s, LOS rate: 0.010667 deg/s, cmd heading: 33.339352 deg, new cmd heading: 33.349283 deg. 2025-10-29T00:38:45.167Z,1761698325.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582055 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:45.357Z,1761698325.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.499112 2025-10-29T00:38:45.476Z,1761698325.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840039,-0.538279,-0.067751],[0.542522,0.833929,0.101149],[0.002053,-0.121726,0.992562]] 2025-10-29T00:38:45.519Z,1761698325.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:45.522Z,1761698325.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 291.442657 m, bearing: 25.474771 deg, approach rate: -0.617120 m/s, LOS rate: 0.010720 deg/s, cmd heading: 33.349283 deg, new cmd heading: 33.356912 deg. 2025-10-29T00:38:45.523Z,1761698325.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582188 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:45.611Z,1761698325.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753279 2025-10-29T00:38:45.874Z,1761698325.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015217 2025-10-29T00:38:45.906Z,1761698325.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840330,-0.537961,-0.066652],[0.542074,0.834166,0.101605],[0.000939,-0.121512,0.992590]] 2025-10-29T00:38:45.957Z,1761698325.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:45.959Z,1761698325.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 291.172058 m, bearing: 25.478306 deg, approach rate: -0.618186 m/s, LOS rate: 0.008083 deg/s, cmd heading: 33.356912 deg, new cmd heading: 33.363989 deg. 2025-10-29T00:38:45.960Z,1761698325.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582311 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:46.115Z,1761698326.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.257037 2025-10-29T00:38:46.285Z,1761698326.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840439,-0.537929,-0.065536],[0.541907,0.834314,0.101274],[0.000199,-0.120629,0.992698]] 2025-10-29T00:38:46.303Z,1761698326.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:46.306Z,1761698326.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 290.957794 m, bearing: 25.481119 deg, approach rate: -0.618538 m/s, LOS rate: 0.008129 deg/s, cmd heading: 33.363989 deg, new cmd heading: 33.369620 deg. 2025-10-29T00:38:46.307Z,1761698326.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582410 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:46.366Z,1761698326.366 [DAT](INFO): DAT read: Rx Time:00:38:45.5554 2025-10-29T00:38:46.367Z,1761698326.367 [DAT](INFO): Rx dataTimestamp_ set to:1761698326.366396 2025-10-29T00:38:46.368Z,1761698326.368 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.509794 2025-10-29T00:38:46.617Z,1761698326.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.759534 2025-10-29T00:38:46.737Z,1761698326.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840543,-0.537900,-0.064430],[0.541744,0.834403,0.101417],[-0.000791,-0.120150,0.992755]] 2025-10-29T00:38:46.806Z,1761698326.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:46.813Z,1761698326.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.36 m. 2025-10-29T00:38:46.821Z,1761698326.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.356384 m, nav range: 290.667145 m, bearing: 25.484956 deg, approach rate: -0.575866 m/s, LOS rate: 0.007609 deg/s, cmd heading: 33.369620 deg, new cmd heading: 33.377301 deg. 2025-10-29T00:38:46.822Z,1761698326.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582544 target range: 282.356384 and range: 284.00 m. 2025-10-29T00:38:46.893Z,1761698326.893 [DAT](INFO): DAT read: 00:38:45.5554 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 402, 0.00, 2.463, 1.020, 3.020, 2.414, PHS= 0.151,-1.349, 0.562, RAW= 161.8, 7.4, CAL= 161.3, 7.3, ROT= 348.7, -7.3 2025-10-29T00:38:46.894Z,1761698326.894 [DAT](INFO): got valid direction response: 00:38:45.5554 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 402, 0.00, 2.463, 1.020, 3.020, 2.414, PHS= 0.151,-1.349, 0.562, RAW= 161.8, 7.4, CAL= 161.3, 7.3, ROT= 348.7, -7.3 2025-10-29T00:38:46.895Z,1761698326.895 [DAT](INFO): DAT read: Bearing 181.4, -12.4 (Local) 2025-10-29T00:38:46.895Z,1761698326.895 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -12.4 (Local) 2025-10-29T00:38:46.897Z,1761698326.897 [DAT](INFO): DAT read: Range 11 to 50 : 281.6 m (Round-trip 375.5 ms) speed 0.4 m/s 2025-10-29T00:38:46.898Z,1761698326.898 [DAT](INFO): DAT read: user:490> 2025-10-29T00:38:46.899Z,1761698326.899 [DAT](INFO): DAT read: Tx time:00:38:46.6757 2025-10-29T00:38:46.899Z,1761698326.899 [DAT](INFO): Ping request sent. 2025-10-29T00:38:46.899Z,1761698326.899 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:46.899Z,1761698326.899 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:46.901Z,1761698326.901 [DAT](INFO): direction in FSK: [0.972666,-0.194358,0.127065] 2025-10-29T00:38:46.901Z,1761698326.901 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:46.901Z,1761698326.901 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:46.905Z,1761698326.905 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:46.905Z,1761698326.905 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:47.209Z,1761698327.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840448,-0.538074,-0.064209],[0.541890,0.834218,0.102153],[-0.001402,-0.120648,0.992694]] 2025-10-29T00:38:47.272Z,1761698327.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 281.600006 m, deltaT: 4.031708 s, deltaX: -2.399994 m, approachRate: -0.595280 m/s, rangeRepo size: 4 2025-10-29T00:38:47.274Z,1761698327.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 279.962830 m, bearing: 22.466448 deg, lat: 36.779427 deg, lon: -121.859291 deg, deltaT: 4.031708 s, deltaX: -2.393555 m, approachRate: -0.593683 m/s, posRepo size: 4 2025-10-29T00:38:47.275Z,1761698327.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:47.277Z,1761698327.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 287.004913 m, bearing: 25.036881 deg, approach rate: 0.000000 m/s, LOS rate: 0.007609 deg/s, cmd heading: 33.377301 deg, new cmd heading: 33.384351 deg. 2025-10-29T00:38:47.278Z,1761698327.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582667 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:47.619Z,1761698327.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840413,-0.538191,-0.063690],[0.541943,0.834141,0.102505],[-0.002041,-0.120663,0.992691]] 2025-10-29T00:38:47.657Z,1761698327.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:47.659Z,1761698327.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 286.763031 m, bearing: 25.037217 deg, approach rate: -0.626935 m/s, LOS rate: 0.000872 deg/s, cmd heading: 33.384349 deg, new cmd heading: 33.385023 deg. 2025-10-29T00:38:47.661Z,1761698327.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582679 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:48.016Z,1761698328.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840409,-0.538272,-0.063050],[0.541945,0.834094,0.102875],[-0.002785,-0.120627,0.992694]] 2025-10-29T00:38:48.082Z,1761698328.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:48.085Z,1761698328.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 286.502167 m, bearing: 25.037120 deg, approach rate: -0.614054 m/s, LOS rate: -0.000228 deg/s, cmd heading: 33.385022 deg, new cmd heading: 33.384828 deg. 2025-10-29T00:38:48.085Z,1761698328.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582675 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:48.414Z,1761698328.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839725,-0.539423,-0.062324],[0.543001,0.833466,0.102390],[-0.003287,-0.119822,0.992790]] 2025-10-29T00:38:48.446Z,1761698328.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:48.457Z,1761698328.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 286.251892 m, bearing: 25.036966 deg, approach rate: -0.688847 m/s, LOS rate: -0.000426 deg/s, cmd heading: 33.384827 deg, new cmd heading: 33.384518 deg. 2025-10-29T00:38:48.458Z,1761698328.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582670 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:48.923Z,1761698328.923 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:48.929Z,1761698328.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:48.931Z,1761698328.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 285.969116 m, bearing: 25.036791 deg, approach rate: -0.584615 m/s, LOS rate: -0.000362 deg/s, cmd heading: 33.384517 deg, new cmd heading: 33.384166 deg. 2025-10-29T00:38:48.937Z,1761698328.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582664 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:49.137Z,1761698329.137 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:49.137Z,1761698329.137 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:49.137Z,1761698329.137 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:49.266Z,1761698329.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837937,-0.542289,-0.061512],[0.545747,0.831609,0.102893],[-0.004643,-0.119788,0.992789]] 2025-10-29T00:38:49.327Z,1761698329.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:49.330Z,1761698329.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 285.696960 m, bearing: 25.037371 deg, approach rate: -0.689288 m/s, LOS rate: 0.001472 deg/s, cmd heading: 33.384165 deg, new cmd heading: 33.385327 deg. 2025-10-29T00:38:49.331Z,1761698329.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582684 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:49.390Z,1761698329.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490608 2025-10-29T00:38:49.641Z,1761698329.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742084 2025-10-29T00:38:49.663Z,1761698329.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837409,-0.543199,-0.060677],[0.546552,0.831129,0.102496],[-0.005246,-0.118994,0.992881]] 2025-10-29T00:38:49.697Z,1761698329.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:49.699Z,1761698329.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 285.440948 m, bearing: 25.037870 deg, approach rate: -0.685602 m/s, LOS rate: 0.001337 deg/s, cmd heading: 33.385326 deg, new cmd heading: 33.386325 deg. 2025-10-29T00:38:49.701Z,1761698329.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582701 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:49.898Z,1761698329.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.998699 2025-10-29T00:38:50.069Z,1761698330.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836619,-0.544469,-0.060179],[0.547755,0.830364,0.102271],[-0.005713,-0.118525,0.992935]] 2025-10-29T00:38:50.145Z,1761698330.145 [DAT](INFO): DAT read: Rx Time:00:38:49.4739 2025-10-29T00:38:50.146Z,1761698330.146 [DAT](INFO): Rx dataTimestamp_ set to:1761698330.145223 2025-10-29T00:38:50.146Z,1761698330.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.247087 2025-10-29T00:38:50.147Z,1761698330.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:50.166Z,1761698330.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 285.153168 m, bearing: 25.039893 deg, approach rate: -0.638992 m/s, LOS rate: 0.004496 deg/s, cmd heading: 33.386323 deg, new cmd heading: 33.390373 deg. 2025-10-29T00:38:50.167Z,1761698330.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582772 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:50.397Z,1761698330.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498459 2025-10-29T00:38:50.475Z,1761698330.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836127,-0.545239,-0.060049],[0.548500,0.829792,0.102921],[-0.006288,-0.118991,0.992875]] 2025-10-29T00:38:50.497Z,1761698330.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 279.96 m. 2025-10-29T00:38:50.500Z,1761698330.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 279.962830 m, nav range: 284.922089 m, bearing: 25.041478 deg, approach rate: -0.660469 m/s, LOS rate: 0.004533 deg/s, cmd heading: 33.390374 deg, new cmd heading: 33.393545 deg. 2025-10-29T00:38:50.501Z,1761698330.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582827 target range: 279.962830 and range: 281.60 m. 2025-10-29T00:38:50.661Z,1761698330.661 [DAT](INFO): DAT read: 00:38:49.4739 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 117,-0.31,-2.568, 2.534,-2.298,-2.934, PHS= 0.468,-0.770, 0.592, RAW= 154.7, -4.5, CAL= 154.4, -5.9, ROT= 355.6, 5.9 2025-10-29T00:38:50.662Z,1761698330.662 [DAT](INFO): got valid direction response: 00:38:49.4739 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 117,-0.31,-2.568, 2.534,-2.298,-2.934, PHS= 0.468,-0.770, 0.592, RAW= 154.7, -4.5, CAL= 154.4, -5.9, ROT= 355.6, 5.9 2025-10-29T00:38:50.663Z,1761698330.663 [DAT](INFO): DAT read: Bearing 169.5, -4.5 (Local) 2025-10-29T00:38:50.663Z,1761698330.663 [DAT](INFO): Local bearing/azimuth received: Bearing 169.5, -4.5 (Local) 2025-10-29T00:38:50.665Z,1761698330.665 [DAT](INFO): DAT read: Range 11 to 50 : 295.5 m (Round-trip 394.0 ms) speed 0.5 m/s 2025-10-29T00:38:50.665Z,1761698330.665 [DAT](INFO): DAT read: user:491> 2025-10-29T00:38:50.666Z,1761698330.666 [DAT](INFO): DAT read: Tx time:00:38:50.5757 2025-10-29T00:38:50.666Z,1761698330.666 [DAT](INFO): Ping request sent. 2025-10-29T00:38:50.666Z,1761698330.666 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:50.667Z,1761698330.667 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:50.668Z,1761698330.668 [DAT](INFO): direction in FSK: [0.991771,-0.076313,-0.102793] 2025-10-29T00:38:50.668Z,1761698330.668 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:50.669Z,1761698330.669 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:50.672Z,1761698330.672 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:50.673Z,1761698330.673 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:50.879Z,1761698330.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836254,-0.545065,-0.059866],[0.548301,0.829847,0.103537],[-0.006755,-0.119408,0.992822]] 2025-10-29T00:38:50.977Z,1761698330.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 295.500000 m, deltaT: 3.780051 s, deltaX: 13.899994 m, approachRate: 3.677197 m/s, rangeRepo size: 4 2025-10-29T00:38:50.979Z,1761698330.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 293.783356 m, bearing: 28.175163 deg, lat: 36.779425 deg, lon: -121.859172 deg, deltaT: 3.780051 s, deltaX: 13.820526 m, approachRate: 3.656174 m/s, posRepo size: 4 2025-10-29T00:38:50.979Z,1761698330.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:50.986Z,1761698330.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 289.107300 m, bearing: 26.961490 deg, approach rate: 0.000000 m/s, LOS rate: 0.004533 deg/s, cmd heading: 33.393546 deg, new cmd heading: 33.397811 deg. 2025-10-29T00:38:50.987Z,1761698330.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582902 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:51.314Z,1761698331.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836195,-0.545189,-0.059558],[0.548384,0.829738,0.103974],[-0.007268,-0.119603,0.992795]] 2025-10-29T00:38:51.349Z,1761698331.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:51.351Z,1761698331.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:51.354Z,1761698331.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 288.859894 m, bearing: 26.965891 deg, approach rate: -0.645514 m/s, LOS rate: 0.011491 deg/s, cmd heading: 33.397812 deg, new cmd heading: 33.406620 deg. 2025-10-29T00:38:51.355Z,1761698331.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583055 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:51.405Z,1761698331.405 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:51.405Z,1761698331.405 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:51.405Z,1761698331.405 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:51.657Z,1761698331.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.990704 2025-10-29T00:38:51.722Z,1761698331.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836265,-0.545014,-0.060174],[0.548272,0.829596,0.105684],[-0.007679,-0.121372,0.992577]] 2025-10-29T00:38:51.742Z,1761698331.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:51.746Z,1761698331.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 288.611511 m, bearing: 26.970319 deg, approach rate: -0.635225 m/s, LOS rate: 0.011334 deg/s, cmd heading: 33.406619 deg, new cmd heading: 33.415483 deg. 2025-10-29T00:38:51.748Z,1761698331.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583210 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:51.909Z,1761698331.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242433 2025-10-29T00:38:52.130Z,1761698332.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836481,-0.544683,-0.060168],[0.547933,0.829670,0.106846],[-0.008277,-0.122343,0.992453]] 2025-10-29T00:38:52.161Z,1761698332.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494508 2025-10-29T00:38:52.190Z,1761698332.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:52.197Z,1761698332.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 288.335724 m, bearing: 26.978301 deg, approach rate: -0.615920 m/s, LOS rate: 0.017843 deg/s, cmd heading: 33.415481 deg, new cmd heading: 33.431460 deg. 2025-10-29T00:38:52.198Z,1761698332.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583489 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:52.413Z,1761698332.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746940 2025-10-29T00:38:52.520Z,1761698332.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836960,-0.543963,-0.060020],[0.547191,0.830011,0.108002],[-0.008932,-0.123236,0.992337]] 2025-10-29T00:38:52.538Z,1761698332.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:52.541Z,1761698332.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 288.103546 m, bearing: 26.985071 deg, approach rate: -0.665760 m/s, LOS rate: 0.019430 deg/s, cmd heading: 33.431461 deg, new cmd heading: 33.445012 deg. 2025-10-29T00:38:52.542Z,1761698332.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583726 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:52.665Z,1761698332.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998382 2025-10-29T00:38:52.920Z,1761698332.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252600 2025-10-29T00:38:52.979Z,1761698332.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837249,-0.543477,-0.060384],[0.546743,0.830142,0.109252],[-0.009248,-0.124486,0.992178]] 2025-10-29T00:38:53.029Z,1761698333.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:53.032Z,1761698333.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 287.795654 m, bearing: 26.995230 deg, approach rate: -0.627604 m/s, LOS rate: 0.020729 deg/s, cmd heading: 33.445012 deg, new cmd heading: 33.465350 deg. 2025-10-29T00:38:53.033Z,1761698333.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584081 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:53.169Z,1761698333.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502347 2025-10-29T00:38:53.353Z,1761698333.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837696,-0.542652,-0.061595],[0.546056,0.830303,0.111440],[-0.009331,-0.126988,0.991860]] 2025-10-29T00:38:53.371Z,1761698333.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:53.389Z,1761698333.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:53.392Z,1761698333.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 287.576447 m, bearing: 27.002505 deg, approach rate: -0.608777 m/s, LOS rate: 0.020220 deg/s, cmd heading: 33.465352 deg, new cmd heading: 33.479913 deg. 2025-10-29T00:38:53.397Z,1761698333.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584335 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:53.421Z,1761698333.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754458 2025-10-29T00:38:53.673Z,1761698333.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006796 2025-10-29T00:38:53.767Z,1761698333.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838102,-0.542028,-0.061573],[0.545428,0.830605,0.112264],[-0.009708,-0.127672,0.991769]] 2025-10-29T00:38:53.789Z,1761698333.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:53.792Z,1761698333.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 287.312561 m, bearing: 27.011315 deg, approach rate: -0.659387 m/s, LOS rate: 0.022036 deg/s, cmd heading: 33.479914 deg, new cmd heading: 33.497551 deg. 2025-10-29T00:38:53.793Z,1761698333.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584643 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:53.925Z,1761698333.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258309 2025-10-29T00:38:54.159Z,1761698334.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838235,-0.541919,-0.060711],[0.545221,0.830882,0.111216],[-0.009826,-0.126326,0.991940]] 2025-10-29T00:38:54.177Z,1761698334.177 [DAT](INFO): DAT read: Rx Time:00:38:53.3700 2025-10-29T00:38:54.177Z,1761698334.177 [DAT](INFO): Rx dataTimestamp_ set to:1761698334.177212 2025-10-29T00:38:54.178Z,1761698334.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.511535 2025-10-29T00:38:54.240Z,1761698334.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:54.243Z,1761698334.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 287.044220 m, bearing: 27.020981 deg, approach rate: -0.600996 m/s, LOS rate: 0.021668 deg/s, cmd heading: 33.497553 deg, new cmd heading: 33.516902 deg. 2025-10-29T00:38:54.244Z,1761698334.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584980 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:54.429Z,1761698334.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762399 2025-10-29T00:38:54.587Z,1761698334.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838285,-0.541850,-0.060642],[0.545138,0.830875,0.111675],[-0.010125,-0.126674,0.991893]] 2025-10-29T00:38:54.647Z,1761698334.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 293.78 m. 2025-10-29T00:38:54.654Z,1761698334.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 293.783356 m, nav range: 286.791992 m, bearing: 27.030086 deg, approach rate: -0.613052 m/s, LOS rate: 0.022148 deg/s, cmd heading: 33.516903 deg, new cmd heading: 33.535128 deg. 2025-10-29T00:38:54.655Z,1761698334.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585298 target range: 293.783356 and range: 295.50 m. 2025-10-29T00:38:54.687Z,1761698334.687 [DAT](INFO): DAT read: 00:38:53.3700 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.17, 1.348,-0.076, 1.692, 0.853, PHS= 0.597,-0.884, 0.795, RAW= 156.2, -6.5, CAL= 156.3, -8.0, ROT= 353.7, 8.0 2025-10-29T00:38:54.688Z,1761698334.688 [DAT](INFO): got valid direction response: 00:38:53.3700 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.17, 1.348,-0.076, 1.692, 0.853, PHS= 0.597,-0.884, 0.795, RAW= 156.2, -6.5, CAL= 156.3, -8.0, ROT= 353.7, 8.0 2025-10-29T00:38:54.689Z,1761698334.689 [DAT](INFO): DAT read: Bearing 166.8, -6.3 (Local) 2025-10-29T00:38:54.689Z,1761698334.689 [DAT](INFO): Local bearing/azimuth received: Bearing 166.8, -6.3 (Local) 2025-10-29T00:38:54.691Z,1761698334.691 [DAT](INFO): DAT read: Range 11 to 50 : 292.5 m (Round-trip 390.1 ms) speed 0.4 m/s 2025-10-29T00:38:54.691Z,1761698334.691 [DAT](INFO): DAT read: user:492> 2025-10-29T00:38:54.692Z,1761698334.692 [DAT](INFO): DAT read: Tx time:00:38:54.4757 2025-10-29T00:38:54.693Z,1761698334.693 [DAT](INFO): Ping request sent. 2025-10-29T00:38:54.693Z,1761698334.693 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:54.693Z,1761698334.693 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:54.694Z,1761698334.694 [DAT](INFO): direction in FSK: [0.984288,-0.108666,-0.139173] 2025-10-29T00:38:54.694Z,1761698334.694 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:54.695Z,1761698334.695 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:54.699Z,1761698334.699 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:54.699Z,1761698334.699 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:55.089Z,1761698335.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 292.500000 m, deltaT: 4.030416 s, deltaX: -3.000000 m, approachRate: -0.744340 m/s, rangeRepo size: 4 2025-10-29T00:38:55.093Z,1761698335.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 290.797363 m, bearing: 25.764780 deg, lat: 36.779425 deg, lon: -121.859228 deg, deltaT: 4.030416 s, deltaX: -2.985992 m, approachRate: -0.740865 m/s, posRepo size: 4 2025-10-29T00:38:55.095Z,1761698335.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:55.121Z,1761698335.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 284.278625 m, bearing: 26.142618 deg, approach rate: 0.000000 m/s, LOS rate: 0.022148 deg/s, cmd heading: 33.535129 deg, new cmd heading: 33.554676 deg. 2025-10-29T00:38:55.123Z,1761698335.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585640 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:55.449Z,1761698335.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838136,-0.542303,-0.058622],[0.545363,0.831078,0.109035],[-0.010410,-0.123356,0.992308]] 2025-10-29T00:38:55.467Z,1761698335.467 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:55.485Z,1761698335.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:55.487Z,1761698335.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 284.037415 m, bearing: 26.149376 deg, approach rate: -0.608590 m/s, LOS rate: 0.017064 deg/s, cmd heading: 33.554677 deg, new cmd heading: 33.568203 deg. 2025-10-29T00:38:55.493Z,1761698335.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585876 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:55.689Z,1761698335.689 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:55.689Z,1761698335.689 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:55.689Z,1761698335.689 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:38:55.854Z,1761698335.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838156,-0.542336,-0.058020],[0.545325,0.831143,0.108732],[-0.010746,-0.122774,0.992376]] 2025-10-29T00:38:55.873Z,1761698335.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:55.876Z,1761698335.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 283.782501 m, bearing: 26.156534 deg, approach rate: -0.656156 m/s, LOS rate: 0.018441 deg/s, cmd heading: 33.568204 deg, new cmd heading: 33.582533 deg. 2025-10-29T00:38:55.877Z,1761698335.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586126 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:55.947Z,1761698335.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253684 2025-10-29T00:38:56.197Z,1761698336.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504065 2025-10-29T00:38:56.258Z,1761698336.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838076,-0.542522,-0.057431],[0.545438,0.831075,0.108678],[-0.011230,-0.122406,0.992417]] 2025-10-29T00:38:56.308Z,1761698336.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:56.311Z,1761698336.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 283.512909 m, bearing: 26.162846 deg, approach rate: -0.620407 m/s, LOS rate: 0.014541 deg/s, cmd heading: 33.582534 deg, new cmd heading: 33.595171 deg. 2025-10-29T00:38:56.312Z,1761698336.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586346 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:56.449Z,1761698336.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756027 2025-10-29T00:38:56.660Z,1761698336.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838144,-0.542489,-0.056752],[0.545324,0.831173,0.108504],[-0.011691,-0.121890,0.992475]] 2025-10-29T00:38:56.680Z,1761698336.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:56.683Z,1761698336.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 283.282318 m, bearing: 26.168262 deg, approach rate: -0.620009 m/s, LOS rate: 0.014574 deg/s, cmd heading: 33.595170 deg, new cmd heading: 33.606011 deg. 2025-10-29T00:38:56.683Z,1761698336.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586536 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:56.701Z,1761698336.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008199 2025-10-29T00:38:56.953Z,1761698336.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260116 2025-10-29T00:38:57.067Z,1761698337.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837933,-0.542893,-0.056003],[0.545636,0.830999,0.108266],[-0.012238,-0.121276,0.992543]] 2025-10-29T00:38:57.137Z,1761698337.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:57.139Z,1761698337.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 283.007507 m, bearing: 26.172690 deg, approach rate: -0.601343 m/s, LOS rate: 0.009697 deg/s, cmd heading: 33.606009 deg, new cmd heading: 33.614873 deg. 2025-10-29T00:38:57.144Z,1761698337.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586690 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:57.206Z,1761698337.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512471 2025-10-29T00:38:57.457Z,1761698337.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764147 2025-10-29T00:38:57.468Z,1761698337.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837884,-0.542972,-0.055959],[0.545701,0.830869,0.108934],[-0.012654,-0.121811,0.992473]] 2025-10-29T00:38:57.624Z,1761698337.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:57.626Z,1761698337.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:57.629Z,1761698337.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 282.684692 m, bearing: 26.177892 deg, approach rate: -0.659267 m/s, LOS rate: 0.010637 deg/s, cmd heading: 33.614872 deg, new cmd heading: 33.625289 deg. 2025-10-29T00:38:57.630Z,1761698337.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586872 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:57.709Z,1761698337.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016160 2025-10-29T00:38:57.961Z,1761698337.961 [DAT](INFO): DAT read: Rx Time:00:38:57.2671 2025-10-29T00:38:57.962Z,1761698337.962 [DAT](INFO): Rx dataTimestamp_ set to:1761698337.961324 2025-10-29T00:38:57.962Z,1761698337.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269316 2025-10-29T00:38:58.000Z,1761698338.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837599,-0.543436,-0.055734],[0.546128,0.830534,0.109351],[-0.013136,-0.122031,0.992439]] 2025-10-29T00:38:58.197Z,1761698338.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 290.80 m. 2025-10-29T00:38:58.199Z,1761698338.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 290.797363 m, nav range: 282.331146 m, bearing: 26.181555 deg, approach rate: -0.620209 m/s, LOS rate: 0.006434 deg/s, cmd heading: 33.625288 deg, new cmd heading: 33.632623 deg. 2025-10-29T00:38:58.213Z,1761698338.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520161 2025-10-29T00:38:58.214Z,1761698338.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587000 target range: 290.797363 and range: 292.50 m. 2025-10-29T00:38:58.471Z,1761698338.471 [DAT](INFO): DAT read: 00:38:57.2671 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 190, 0.03, 1.335,-0.110, 1.837, 1.218, PHS= 0.219,-1.282, 0.575, RAW= 160.4, 5.8, CAL= 159.6, 5.3, ROT= 350.4, -5.3 2025-10-29T00:38:58.473Z,1761698338.473 [DAT](INFO): got valid direction response: 00:38:57.2671 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 190, 0.03, 1.335,-0.110, 1.837, 1.218, PHS= 0.219,-1.282, 0.575, RAW= 160.4, 5.8, CAL= 159.6, 5.3, ROT= 350.4, -5.3 2025-10-29T00:38:58.474Z,1761698338.474 [DAT](INFO): DAT read: Bearing 179.7, -11.2 (Local) 2025-10-29T00:38:58.474Z,1761698338.474 [DAT](INFO): Local bearing/azimuth received: Bearing 179.7, -11.2 (Local) 2025-10-29T00:38:58.475Z,1761698338.475 [DAT](INFO): DAT read: Range 11 to 50 : 290.4 m (Round-trip 387.3 ms) speed 0.5 m/s 2025-10-29T00:38:58.476Z,1761698338.476 [DAT](INFO): DAT read: user:493> 2025-10-29T00:38:58.477Z,1761698338.477 [DAT](INFO): DAT read: Tx time:00:38:58.3757 2025-10-29T00:38:58.477Z,1761698338.477 [DAT](INFO): Ping request sent. 2025-10-29T00:38:58.477Z,1761698338.477 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:38:58.478Z,1761698338.478 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:38:58.479Z,1761698338.479 [DAT](INFO): direction in FSK: [0.981781,-0.166056,0.092371] 2025-10-29T00:38:58.479Z,1761698338.479 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:58.479Z,1761698338.479 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:58.483Z,1761698338.483 [DAT](INFO): publishing transmit ping time 2025-10-29T00:38:58.483Z,1761698338.483 [DAT](INFO): publishing direction and range info 2025-10-29T00:38:58.618Z,1761698338.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836732,-0.544683,-0.056571],[0.547446,0.829452,0.110957],[-0.013513,-0.123811,0.992214]] 2025-10-29T00:38:58.701Z,1761698338.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 290.399994 m, deltaT: 3.784181 s, deltaX: -2.100006 m, approachRate: -0.554943 m/s, rangeRepo size: 4 2025-10-29T00:38:58.703Z,1761698338.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 288.710541 m, bearing: 24.330989 deg, lat: 36.779425 deg, lon: -121.859291 deg, deltaT: 3.784181 s, deltaX: -2.086823 m, approachRate: -0.551459 m/s, posRepo size: 4 2025-10-29T00:38:58.703Z,1761698338.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:38:58.711Z,1761698338.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 279.586121 m, bearing: 25.153874 deg, approach rate: 0.000000 m/s, LOS rate: 0.006434 deg/s, cmd heading: 33.632623 deg, new cmd heading: 33.639103 deg. 2025-10-29T00:38:58.718Z,1761698338.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587113 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:38:59.076Z,1761698339.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836194,-0.545304,-0.058500],[0.548263,0.828511,0.113914],[-0.013650,-0.127328,0.991767]] 2025-10-29T00:38:59.156Z,1761698339.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:38:59.159Z,1761698339.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 279.285126 m, bearing: 25.154042 deg, approach rate: -0.659491 m/s, LOS rate: 0.000369 deg/s, cmd heading: 33.639102 deg, new cmd heading: 33.639438 deg. 2025-10-29T00:38:59.172Z,1761698339.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587119 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:38:59.473Z,1761698339.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835422,-0.546489,-0.058470],[0.549440,0.827792,0.113475],[-0.013611,-0.126925,0.991819]] 2025-10-29T00:38:59.493Z,1761698339.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:38:59.495Z,1761698339.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 279.070251 m, bearing: 25.154101 deg, approach rate: -0.639242 m/s, LOS rate: 0.000175 deg/s, cmd heading: 33.639440 deg, new cmd heading: 33.639558 deg. 2025-10-29T00:38:59.516Z,1761698339.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587121 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:38:59.877Z,1761698339.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834663,-0.547614,-0.058790],[0.550594,0.827020,0.113506],[-0.013536,-0.127109,0.991796]] 2025-10-29T00:38:59.894Z,1761698339.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:38:59.897Z,1761698339.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:38:59.899Z,1761698339.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 278.812958 m, bearing: 25.154098 deg, approach rate: -0.638212 m/s, LOS rate: -0.000007 deg/s, cmd heading: 33.639559 deg, new cmd heading: 33.639554 deg. 2025-10-29T00:38:59.900Z,1761698339.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587121 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:38:59.977Z,1761698339.977 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:38:59.977Z,1761698339.977 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:38:59.977Z,1761698339.977 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:00.229Z,1761698340.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751457 2025-10-29T00:39:00.333Z,1761698340.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:00.336Z,1761698340.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 278.534698 m, bearing: 25.154312 deg, approach rate: -0.635667 m/s, LOS rate: 0.000490 deg/s, cmd heading: 33.639553 deg, new cmd heading: 33.639981 deg. 2025-10-29T00:39:00.337Z,1761698340.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587128 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:00.481Z,1761698340.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003871 2025-10-29T00:39:00.684Z,1761698340.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833578,-0.549174,-0.059629],[0.552239,0.825847,0.114055],[-0.013392,-0.128004,0.991683]] 2025-10-29T00:39:00.702Z,1761698340.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:00.705Z,1761698340.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 278.300323 m, bearing: 25.154396 deg, approach rate: -0.635357 m/s, LOS rate: 0.000228 deg/s, cmd heading: 33.639979 deg, new cmd heading: 33.640147 deg. 2025-10-29T00:39:00.706Z,1761698340.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587131 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:00.733Z,1761698340.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255418 2025-10-29T00:39:00.985Z,1761698340.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507535 2025-10-29T00:39:01.119Z,1761698341.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832847,-0.550351,-0.058988],[0.553342,0.825291,0.112722],[-0.013354,-0.126521,0.991874]] 2025-10-29T00:39:01.157Z,1761698341.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:01.160Z,1761698341.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 278.016815 m, bearing: 25.156210 deg, approach rate: -0.623539 m/s, LOS rate: 0.003993 deg/s, cmd heading: 33.640147 deg, new cmd heading: 33.643777 deg. 2025-10-29T00:39:01.177Z,1761698341.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587195 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:01.238Z,1761698341.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760259 2025-10-29T00:39:01.489Z,1761698341.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011374 2025-10-29T00:39:01.536Z,1761698341.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:01.538Z,1761698341.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 277.779541 m, bearing: 25.157730 deg, approach rate: -0.626587 m/s, LOS rate: 0.004019 deg/s, cmd heading: 33.643777 deg, new cmd heading: 33.646821 deg. 2025-10-29T00:39:01.539Z,1761698341.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587248 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:01.742Z,1761698341.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264070 2025-10-29T00:39:01.897Z,1761698341.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831747,-0.552061,-0.058527],[0.554991,0.824302,0.111857],[-0.013508,-0.125518,0.991999]] 2025-10-29T00:39:01.914Z,1761698341.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:01.916Z,1761698341.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:01.919Z,1761698341.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 277.542419 m, bearing: 25.159157 deg, approach rate: -0.623702 m/s, LOS rate: 0.003757 deg/s, cmd heading: 33.646820 deg, new cmd heading: 33.649676 deg. 2025-10-29T00:39:01.920Z,1761698341.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587298 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:01.993Z,1761698341.993 [DAT](INFO): DAT read: Rx Time:00:39:01.1432 2025-10-29T00:39:01.994Z,1761698341.994 [DAT](INFO): Rx dataTimestamp_ set to:1761698341.993415 2025-10-29T00:39:01.994Z,1761698341.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516790 2025-10-29T00:39:02.245Z,1761698342.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.767509 2025-10-29T00:39:02.337Z,1761698342.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831363,-0.552635,-0.058571],[0.555563,0.823903,0.111955],[-0.013614,-0.125615,0.991986]] 2025-10-29T00:39:02.377Z,1761698342.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 288.71 m. 2025-10-29T00:39:02.379Z,1761698342.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 288.710541 m, nav range: 277.251862 m, bearing: 25.161853 deg, approach rate: -0.630331 m/s, LOS rate: 0.005854 deg/s, cmd heading: 33.649675 deg, new cmd heading: 33.655072 deg. 2025-10-29T00:39:02.397Z,1761698342.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587392 target range: 288.710541 and range: 290.40 m. 2025-10-29T00:39:02.509Z,1761698342.509 [DAT](INFO): DAT read: 00:39:01.1432 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 197, 0.21,-1.353,-2.747,-1.040,-2.000, PHS= 0.749,-0.702, 0.917, RAW= 155.4, -12.5, CAL= 156.7, -14.2, ROT= 353.3, 14.2 2025-10-29T00:39:02.510Z,1761698342.510 [DAT](INFO): got valid direction response: 00:39:01.1432 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 197, 0.21,-1.353,-2.747,-1.040,-2.000, PHS= 0.749,-0.702, 0.917, RAW= 155.4, -12.5, CAL= 156.7, -14.2, ROT= 353.3, 14.2 2025-10-29T00:39:02.511Z,1761698342.511 [DAT](INFO): DAT read: Bearing 161.8, -6.2 (Local) 2025-10-29T00:39:02.511Z,1761698342.511 [DAT](INFO): Local bearing/azimuth received: Bearing 161.8, -6.2 (Local) 2025-10-29T00:39:02.514Z,1761698342.514 [DAT](INFO): DAT read: Range 11 to 50 : 272.4 m (Round-trip 363.3 ms) speed 0.5 m/s 2025-10-29T00:39:02.515Z,1761698342.515 [DAT](INFO): DAT read: user:494> 2025-10-29T00:39:02.516Z,1761698342.516 [DAT](INFO): DAT read: Tx time:00:39:02.2757 2025-10-29T00:39:02.516Z,1761698342.516 [DAT](INFO): Ping request sent. 2025-10-29T00:39:02.516Z,1761698342.516 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:02.516Z,1761698342.516 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:02.517Z,1761698342.517 [DAT](INFO): direction in FSK: [0.962825,-0.113106,-0.245307] 2025-10-29T00:39:02.518Z,1761698342.518 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:02.518Z,1761698342.518 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:02.521Z,1761698342.521 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:02.522Z,1761698342.522 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:02.720Z,1761698342.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831031,-0.553104,-0.058851],[0.556060,0.823531,0.112226],[-0.013607,-0.125988,0.991938]] 2025-10-29T00:39:02.752Z,1761698342.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 272.399994 m, deltaT: 4.031845 s, deltaX: -18.000000 m, approachRate: -4.464458 m/s, rangeRepo size: 4 2025-10-29T00:39:02.755Z,1761698342.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 270.819611 m, bearing: 25.304948 deg, lat: 36.779425 deg, lon: -121.859296 deg, deltaT: 4.031845 s, deltaX: -17.890930 m, approachRate: -4.437405 m/s, posRepo size: 4 2025-10-29T00:39:02.757Z,1761698342.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:02.761Z,1761698342.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 276.822723 m, bearing: 25.075024 deg, approach rate: 0.000000 m/s, LOS rate: 0.005854 deg/s, cmd heading: 33.655071 deg, new cmd heading: 33.659449 deg. 2025-10-29T00:39:02.762Z,1761698342.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587468 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:03.145Z,1761698343.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830786,-0.553428,-0.059263],[0.556422,0.823188,0.112941],[-0.013720,-0.126805,0.991833]] 2025-10-29T00:39:03.187Z,1761698343.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:03.190Z,1761698343.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 276.538971 m, bearing: 25.079487 deg, approach rate: -0.650279 m/s, LOS rate: 0.010237 deg/s, cmd heading: 33.659449 deg, new cmd heading: 33.668383 deg. 2025-10-29T00:39:03.191Z,1761698343.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587624 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:03.520Z,1761698343.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830546,-0.553769,-0.059442],[0.556776,0.822877,0.113466],[-0.013920,-0.127335,0.991762]] 2025-10-29T00:39:03.555Z,1761698343.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:03.561Z,1761698343.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 276.316528 m, bearing: 25.082970 deg, approach rate: -0.605311 m/s, LOS rate: 0.009487 deg/s, cmd heading: 33.668383 deg, new cmd heading: 33.675355 deg. 2025-10-29T00:39:03.562Z,1761698343.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587746 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:03.925Z,1761698343.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830011,-0.554686,-0.058346],[0.557568,0.822546,0.111967],[-0.014114,-0.125466,0.991997]] 2025-10-29T00:39:03.942Z,1761698343.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:03.944Z,1761698343.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:03.946Z,1761698343.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 276.059967 m, bearing: 25.086949 deg, approach rate: -0.659746 m/s, LOS rate: 0.010242 deg/s, cmd heading: 33.675356 deg, new cmd heading: 33.683322 deg. 2025-10-29T00:39:03.947Z,1761698343.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587885 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:04.011Z,1761698344.011 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:04.011Z,1761698344.011 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:04.011Z,1761698344.011 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:04.261Z,1761698344.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744742 2025-10-29T00:39:04.327Z,1761698344.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829789,-0.555067,-0.057881],[0.557890,0.822355,0.111764],[-0.014437,-0.125032,0.992048]] 2025-10-29T00:39:04.378Z,1761698344.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:04.380Z,1761698344.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 275.780060 m, bearing: 25.091097 deg, approach rate: -0.644707 m/s, LOS rate: 0.009562 deg/s, cmd heading: 33.683320 deg, new cmd heading: 33.691623 deg. 2025-10-29T00:39:04.381Z,1761698344.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588030 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:04.513Z,1761698344.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996659 2025-10-29T00:39:04.732Z,1761698344.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829538,-0.555536,-0.056977],[0.558259,0.822254,0.110660],[-0.014626,-0.123604,0.992224]] 2025-10-29T00:39:04.761Z,1761698344.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:04.766Z,1761698344.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249441 2025-10-29T00:39:04.767Z,1761698344.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 275.537781 m, bearing: 25.094675 deg, approach rate: -0.632427 m/s, LOS rate: 0.009348 deg/s, cmd heading: 33.691622 deg, new cmd heading: 33.698785 deg. 2025-10-29T00:39:04.769Z,1761698344.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588155 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:05.017Z,1761698345.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.500738 2025-10-29T00:39:05.176Z,1761698345.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829275,-0.555862,-0.057616],[0.558647,0.821854,0.111668],[-0.014720,-0.124790,0.992074]] 2025-10-29T00:39:05.232Z,1761698345.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:05.235Z,1761698345.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 275.235931 m, bearing: 25.100235 deg, approach rate: -0.640104 m/s, LOS rate: 0.011804 deg/s, cmd heading: 33.698784 deg, new cmd heading: 33.709916 deg. 2025-10-29T00:39:05.240Z,1761698345.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588349 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:05.269Z,1761698345.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752827 2025-10-29T00:39:05.522Z,1761698345.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.005491 2025-10-29T00:39:05.570Z,1761698345.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829410,-0.555630,-0.057908],[0.558441,0.821882,0.112492],[-0.014911,-0.125640,0.991964]] 2025-10-29T00:39:05.617Z,1761698345.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:05.619Z,1761698345.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 274.983948 m, bearing: 25.104896 deg, approach rate: -0.655322 m/s, LOS rate: 0.012133 deg/s, cmd heading: 33.709917 deg, new cmd heading: 33.719248 deg. 2025-10-29T00:39:05.625Z,1761698345.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588512 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:05.774Z,1761698345.774 [DAT](INFO): DAT read: Rx Time:00:39:05.0614 2025-10-29T00:39:05.774Z,1761698345.774 [DAT](INFO): Rx dataTimestamp_ set to:1761698345.773975 2025-10-29T00:39:05.775Z,1761698345.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258940 2025-10-29T00:39:05.970Z,1761698345.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829249,-0.555838,-0.058228],[0.558679,0.821653,0.112977],[-0.014954,-0.126216,0.991890]] 2025-10-29T00:39:06.003Z,1761698346.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:06.005Z,1761698346.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 270.82 m. 2025-10-29T00:39:06.016Z,1761698346.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 270.819611 m, nav range: 274.724915 m, bearing: 25.109678 deg, approach rate: -0.666577 m/s, LOS rate: 0.012318 deg/s, cmd heading: 33.719247 deg, new cmd heading: 33.728821 deg. 2025-10-29T00:39:06.017Z,1761698346.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588679 target range: 270.819611 and range: 272.40 m. 2025-10-29T00:39:06.025Z,1761698346.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.508820 2025-10-29T00:39:06.283Z,1761698346.283 [DAT](INFO): DAT read: 00:39:05.0614 LVL= 29728, 31905, 27554, 31603, AGC= 75, IDX= 111,-0.02, 2.691, 1.442, 3.047, 2.186, PHS= 0.607,-0.699, 0.817, RAW= 157.4, -10.2, CAL= 158.3, -11.9, ROT= 351.7, 11.9 2025-10-29T00:39:06.284Z,1761698346.284 [DAT](INFO): got valid direction response: 00:39:05.0614 LVL= 29728, 31905, 27554, 31603, AGC= 75, IDX= 111,-0.02, 2.691, 1.442, 3.047, 2.186, PHS= 0.607,-0.699, 0.817, RAW= 157.4, -10.2, CAL= 158.3, -11.9, ROT= 351.7, 11.9 2025-10-29T00:39:06.285Z,1761698346.285 [DAT](INFO): DAT read: Bearing 167.3, -8.2 (Local) 2025-10-29T00:39:06.285Z,1761698346.285 [DAT](INFO): Local bearing/azimuth received: Bearing 167.3, -8.2 (Local) 2025-10-29T00:39:06.287Z,1761698346.287 [DAT](INFO): DAT read: Range 11 to 50 : 286.1 m (Round-trip 381.5 ms) speed 0.4 m/s 2025-10-29T00:39:06.287Z,1761698346.287 [DAT](INFO): DAT read: user:495> 2025-10-29T00:39:06.294Z,1761698346.294 [DAT](INFO): DAT read: Tx time:00:39:06.1757 2025-10-29T00:39:06.295Z,1761698346.295 [DAT](INFO): Ping request sent. 2025-10-29T00:39:06.295Z,1761698346.295 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:06.295Z,1761698346.295 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:06.296Z,1761698346.296 [DAT](INFO): direction in FSK: [0.968260,-0.141254,-0.206204] 2025-10-29T00:39:06.296Z,1761698346.296 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:06.297Z,1761698346.297 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:06.300Z,1761698346.300 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:06.300Z,1761698346.300 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:06.374Z,1761698346.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829088,-0.556045,-0.058540],[0.558916,0.821426,0.113458],[-0.015001,-0.126785,0.991817]] 2025-10-29T00:39:06.484Z,1761698346.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 286.100006 m, deltaT: 3.780031 s, deltaX: 13.700012 m, approachRate: 3.624312 m/s, rangeRepo size: 4 2025-10-29T00:39:06.486Z,1761698346.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 284.446045 m, bearing: 24.213195 deg, lat: 36.779464 deg, lon: -121.859296 deg, deltaT: 3.780031 s, deltaX: 13.626434 m, approachRate: 3.604847 m/s, posRepo size: 4 2025-10-29T00:39:06.487Z,1761698346.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:06.497Z,1761698346.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 278.345001 m, bearing: 24.736457 deg, approach rate: 0.000000 m/s, LOS rate: 0.012318 deg/s, cmd heading: 33.728820 deg, new cmd heading: 33.740489 deg. 2025-10-29T00:39:06.498Z,1761698346.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588883 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:06.830Z,1761698346.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828918,-0.556271,-0.058797],[0.559168,0.821207,0.113799],[-0.015018,-0.127208,0.991762]] 2025-10-29T00:39:06.854Z,1761698346.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:06.857Z,1761698346.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 278.087280 m, bearing: 24.739781 deg, approach rate: -0.687245 m/s, LOS rate: 0.008871 deg/s, cmd heading: 33.740489 deg, new cmd heading: 33.747143 deg. 2025-10-29T00:39:06.858Z,1761698346.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588999 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:07.266Z,1761698347.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:07.272Z,1761698347.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 277.825928 m, bearing: 24.742442 deg, approach rate: -0.638116 m/s, LOS rate: 0.006505 deg/s, cmd heading: 33.747142 deg, new cmd heading: 33.752470 deg. 2025-10-29T00:39:07.277Z,1761698347.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589092 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:07.633Z,1761698347.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:07.635Z,1761698347.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 277.590332 m, bearing: 24.744846 deg, approach rate: -0.638092 m/s, LOS rate: 0.006517 deg/s, cmd heading: 33.752469 deg, new cmd heading: 33.757281 deg. 2025-10-29T00:39:07.637Z,1761698347.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589176 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:07.992Z,1761698347.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827386,-0.558726,-0.057073],[0.561433,0.820089,0.110665],[-0.015027,-0.123606,0.992218]] 2025-10-29T00:39:08.008Z,1761698348.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:08.010Z,1761698348.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:08.013Z,1761698348.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 277.349792 m, bearing: 24.747182 deg, approach rate: -0.637361 m/s, LOS rate: 0.006195 deg/s, cmd heading: 33.757281 deg, new cmd heading: 33.761957 deg. 2025-10-29T00:39:08.014Z,1761698348.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589257 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:08.041Z,1761698348.041 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:08.041Z,1761698348.041 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:08.041Z,1761698348.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:08.293Z,1761698348.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998193 2025-10-29T00:39:08.394Z,1761698348.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826503,-0.560084,-0.056560],[0.562737,0.819380,0.109285],[-0.014865,-0.122153,0.992400]] 2025-10-29T00:39:08.445Z,1761698348.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:08.447Z,1761698348.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 277.069916 m, bearing: 24.747688 deg, approach rate: -0.645605 m/s, LOS rate: 0.001166 deg/s, cmd heading: 33.761956 deg, new cmd heading: 33.762968 deg. 2025-10-29T00:39:08.449Z,1761698348.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589275 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:08.545Z,1761698348.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.250317 2025-10-29T00:39:08.797Z,1761698348.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502370 2025-10-29T00:39:08.803Z,1761698348.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825689,-0.561311,-0.056287],[0.563928,0.818640,0.108687],[-0.014929,-0.121483,0.992481]] 2025-10-29T00:39:08.842Z,1761698348.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:08.849Z,1761698348.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 276.818115 m, bearing: 24.748070 deg, approach rate: -0.632525 m/s, LOS rate: 0.000961 deg/s, cmd heading: 33.762967 deg, new cmd heading: 33.763732 deg. 2025-10-29T00:39:08.850Z,1761698348.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589288 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:09.052Z,1761698349.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757474 2025-10-29T00:39:09.234Z,1761698349.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824918,-0.562463,-0.056094],[0.565055,0.817935,0.108139],[-0.014943,-0.120902,0.992552]] 2025-10-29T00:39:09.276Z,1761698349.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:09.278Z,1761698349.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 276.544464 m, bearing: 24.747528 deg, approach rate: -0.631039 m/s, LOS rate: -0.001251 deg/s, cmd heading: 33.763732 deg, new cmd heading: 33.762647 deg. 2025-10-29T00:39:09.279Z,1761698349.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589269 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:09.301Z,1761698349.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006289 2025-10-29T00:39:09.553Z,1761698349.553 [DAT](INFO): DAT read: Rx Time:00:39:08.9587 2025-10-29T00:39:09.554Z,1761698349.554 [DAT](INFO): Rx dataTimestamp_ set to:1761698349.553662 2025-10-29T00:39:09.554Z,1761698349.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.259841 2025-10-29T00:39:09.624Z,1761698349.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823918,-0.563906,-0.056291],[0.566515,0.816971,0.107790],[-0.014796,-0.120700,0.992579]] 2025-10-29T00:39:09.642Z,1761698349.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:09.645Z,1761698349.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 276.311737 m, bearing: 24.746981 deg, approach rate: -0.634691 m/s, LOS rate: -0.001492 deg/s, cmd heading: 33.762646 deg, new cmd heading: 33.761552 deg. 2025-10-29T00:39:09.646Z,1761698349.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589250 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:09.805Z,1761698349.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510220 2025-10-29T00:39:10.023Z,1761698350.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823344,-0.564635,-0.057381],[0.567357,0.816271,0.108661],[-0.014515,-0.122020,0.992421]] 2025-10-29T00:39:10.040Z,1761698350.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:10.042Z,1761698350.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 284.45 m. 2025-10-29T00:39:10.045Z,1761698350.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 284.446045 m, nav range: 276.061646 m, bearing: 24.746336 deg, approach rate: -0.625637 m/s, LOS rate: -0.001615 deg/s, cmd heading: 33.761553 deg, new cmd heading: 33.760262 deg. 2025-10-29T00:39:10.046Z,1761698350.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589228 target range: 284.446045 and range: 286.10 m. 2025-10-29T00:39:10.057Z,1761698350.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.762413 2025-10-29T00:39:10.318Z,1761698350.318 [DAT](INFO): DAT read: 00:39:08.9587 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421,-0.01,-0.078,-1.420, 0.212,-0.581, PHS= 0.605,-0.794, 0.748, RAW= 154.8, -7.6, CAL= 155.1, -9.3, ROT= 354.9, 9.3 2025-10-29T00:39:10.319Z,1761698350.319 [DAT](INFO): got valid direction response: 00:39:08.9587 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 421,-0.01,-0.078,-1.420, 0.212,-0.581, PHS= 0.605,-0.794, 0.748, RAW= 154.8, -7.6, CAL= 155.1, -9.3, ROT= 354.9, 9.3 2025-10-29T00:39:10.320Z,1761698350.320 [DAT](INFO): DAT read: Bearing 171.7, -5.4 (Local) 2025-10-29T00:39:10.320Z,1761698350.320 [DAT](INFO): Local bearing/azimuth received: Bearing 171.7, -5.4 (Local) 2025-10-29T00:39:10.322Z,1761698350.322 [DAT](INFO): DAT read: Range 11 to 50 : 284.2 m (Round-trip 379.0 ms) speed 0.4 m/s 2025-10-29T00:39:10.322Z,1761698350.322 [DAT](INFO): DAT read: user:496> 2025-10-29T00:39:10.323Z,1761698350.323 [DAT](INFO): DAT read: Tx time:00:39:10.0756 2025-10-29T00:39:10.323Z,1761698350.323 [DAT](INFO): Ping request sent. 2025-10-29T00:39:10.323Z,1761698350.323 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:10.324Z,1761698350.324 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:10.325Z,1761698350.325 [DAT](INFO): direction in FSK: [0.982949,-0.087726,-0.161604] 2025-10-29T00:39:10.325Z,1761698350.325 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:10.326Z,1761698350.326 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:10.329Z,1761698350.329 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:10.329Z,1761698350.329 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:10.583Z,1761698350.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822377,-0.565861,-0.059144],[0.568771,0.815116,0.109930],[-0.013996,-0.124043,0.992178]] 2025-10-29T00:39:10.651Z,1761698350.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 284.200012 m, deltaT: 4.032286 s, deltaX: -1.899994 m, approachRate: -0.471195 m/s, rangeRepo size: 4 2025-10-29T00:39:10.658Z,1761698350.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 282.561462 m, bearing: 28.436625 deg, lat: 36.779464 deg, lon: -121.859296 deg, deltaT: 4.032286 s, deltaX: -1.884583 m, approachRate: -0.467373 m/s, posRepo size: 4 2025-10-29T00:39:10.658Z,1761698350.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:10.665Z,1761698350.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 275.693634 m, bearing: 24.743242 deg, approach rate: 0.000000 m/s, LOS rate: -0.001615 deg/s, cmd heading: 33.760262 deg, new cmd heading: 33.758296 deg. 2025-10-29T00:39:10.666Z,1761698350.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589193 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:11.121Z,1761698351.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822083,-0.566169,-0.060272],[0.569199,0.814646,0.111194],[-0.013854,-0.125717,0.991969]] 2025-10-29T00:39:11.157Z,1761698351.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:11.159Z,1761698351.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 275.370941 m, bearing: 24.740482 deg, approach rate: -0.637631 m/s, LOS rate: -0.005459 deg/s, cmd heading: 33.758295 deg, new cmd heading: 33.752770 deg. 2025-10-29T00:39:11.165Z,1761698351.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589097 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:11.586Z,1761698351.586 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:39:11.645Z,1761698351.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822156,-0.565998,-0.060869],[0.569085,0.814524,0.112665],[-0.014189,-0.127268,0.991767]] 2025-10-29T00:39:11.703Z,1761698351.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:11.705Z,1761698351.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 275.019257 m, bearing: 24.737565 deg, approach rate: -0.644428 m/s, LOS rate: -0.005353 deg/s, cmd heading: 33.752770 deg, new cmd heading: 33.746927 deg. 2025-10-29T00:39:11.706Z,1761698351.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588995 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:12.047Z,1761698352.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822389,-0.565581,-0.061606],[0.568737,0.814487,0.114675],[-0.014680,-0.129345,0.991491]] 2025-10-29T00:39:12.154Z,1761698352.154 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:12.156Z,1761698352.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:12.159Z,1761698352.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 274.736511 m, bearing: 24.735234 deg, approach rate: -0.624081 m/s, LOS rate: -0.005151 deg/s, cmd heading: 33.746927 deg, new cmd heading: 33.742259 deg. 2025-10-29T00:39:12.160Z,1761698352.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588914 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:12.325Z,1761698352.325 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:12.325Z,1761698352.325 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:12.325Z,1761698352.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:12.450Z,1761698352.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822663,-0.565097,-0.062374],[0.568325,0.814468,0.116829],[-0.015218,-0.131560,0.991191]] 2025-10-29T00:39:12.535Z,1761698352.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:12.542Z,1761698352.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 274.501801 m, bearing: 24.733873 deg, approach rate: -0.617909 m/s, LOS rate: -0.003584 deg/s, cmd heading: 33.742258 deg, new cmd heading: 33.739535 deg. 2025-10-29T00:39:12.543Z,1761698352.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588866 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:12.578Z,1761698352.578 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254521 2025-10-29T00:39:12.589Z,1761698352.589 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:39:12.829Z,1761698352.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505420 2025-10-29T00:39:12.854Z,1761698352.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823059,-0.564543,-0.062170],[0.567728,0.814688,0.118190],[-0.016074,-0.132573,0.991043]] 2025-10-29T00:39:12.909Z,1761698352.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:12.911Z,1761698352.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 274.261078 m, bearing: 24.732509 deg, approach rate: -0.644360 m/s, LOS rate: -0.003654 deg/s, cmd heading: 33.739536 deg, new cmd heading: 33.736806 deg. 2025-10-29T00:39:12.913Z,1761698352.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588818 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:13.081Z,1761698353.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757911 2025-10-29T00:39:13.287Z,1761698353.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823929,-0.563185,-0.062955],[0.566397,0.814815,0.123579],[-0.018301,-0.137478,0.990336]] 2025-10-29T00:39:13.333Z,1761698353.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009625 2025-10-29T00:39:13.341Z,1761698353.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:13.364Z,1761698353.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 273.989319 m, bearing: 24.731397 deg, approach rate: -0.628835 m/s, LOS rate: -0.002576 deg/s, cmd heading: 33.736804 deg, new cmd heading: 33.734577 deg. 2025-10-29T00:39:13.365Z,1761698353.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588779 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:13.585Z,1761698353.585 [DAT](INFO): DAT read: Rx Time:00:39:12.8563 2025-10-29T00:39:13.587Z,1761698353.587 [DAT](INFO): Rx dataTimestamp_ set to:1761698353.585894 2025-10-29T00:39:13.587Z,1761698353.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263727 2025-10-29T00:39:13.700Z,1761698353.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 282.56 m. 2025-10-29T00:39:13.703Z,1761698353.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 282.561462 m, nav range: 273.761780 m, bearing: 24.730464 deg, approach rate: -0.634806 m/s, LOS rate: -0.002605 deg/s, cmd heading: 33.734578 deg, new cmd heading: 33.732710 deg. 2025-10-29T00:39:13.703Z,1761698353.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588747 target range: 282.561462 and range: 284.20 m. 2025-10-29T00:39:13.837Z,1761698353.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513867 2025-10-29T00:39:14.078Z,1761698354.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824540,-0.562230,-0.063486],[0.565467,0.814975,0.126742],[-0.019518,-0.140403,0.989902]] 2025-10-29T00:39:14.097Z,1761698354.097 [DAT](INFO): DAT read: 00:39:12.8563 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.32,-0.050,-1.501, 0.337,-0.452, PHS= 0.504,-1.004, 0.744, RAW= 157.3, -3.0, CAL= 156.7, -4.5, ROT= 353.3, 4.5 2025-10-29T00:39:14.098Z,1761698354.098 [DAT](INFO): got valid direction response: 00:39:12.8563 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.32,-0.050,-1.501, 0.337,-0.452, PHS= 0.504,-1.004, 0.744, RAW= 157.3, -3.0, CAL= 156.7, -4.5, ROT= 353.3, 4.5 2025-10-29T00:39:14.099Z,1761698354.099 [DAT](INFO): DAT read: Bearing 176.6, -7.5 (Local) 2025-10-29T00:39:14.099Z,1761698354.099 [DAT](INFO): Local bearing/azimuth received: Bearing 176.6, -7.5 (Local) 2025-10-29T00:39:14.101Z,1761698354.101 [DAT](INFO): DAT read: Range 11 to 50 : 282.3 m (Round-trip 376.5 ms) speed 0.4 m/s 2025-10-29T00:39:14.102Z,1761698354.102 [DAT](INFO): DAT read: user:497> 2025-10-29T00:39:14.102Z,1761698354.102 [DAT](INFO): DAT read: Tx time:00:39:13.9756 2025-10-29T00:39:14.103Z,1761698354.103 [DAT](INFO): Ping request sent. 2025-10-29T00:39:14.103Z,1761698354.103 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:14.103Z,1761698354.103 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:14.104Z,1761698354.104 [DAT](INFO): direction in FSK: [0.990109,-0.116311,-0.078459] 2025-10-29T00:39:14.104Z,1761698354.104 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:14.105Z,1761698354.105 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:14.121Z,1761698354.121 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:14.121Z,1761698354.121 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:14.218Z,1761698354.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 282.299988 m, deltaT: 3.780535 s, deltaX: -1.900024 m, approachRate: -0.502581 m/s, rangeRepo size: 4 2025-10-29T00:39:14.220Z,1761698354.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 280.671906 m, bearing: 27.169641 deg, lat: 36.779469 deg, lon: -121.859296 deg, deltaT: 3.780535 s, deltaX: -1.889557 m, approachRate: -0.499812 m/s, posRepo size: 4 2025-10-29T00:39:14.225Z,1761698354.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:14.227Z,1761698354.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 273.919434 m, bearing: 24.684363 deg, approach rate: 0.000000 m/s, LOS rate: -0.002605 deg/s, cmd heading: 33.732709 deg, new cmd heading: 33.730014 deg. 2025-10-29T00:39:14.233Z,1761698354.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588700 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:14.607Z,1761698354.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825337,-0.561433,-0.060092],[0.564188,0.815735,0.127552],[-0.022593,-0.139176,0.990010]] 2025-10-29T00:39:14.659Z,1761698354.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:14.665Z,1761698354.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:14.667Z,1761698354.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 273.633179 m, bearing: 24.684671 deg, approach rate: -0.639269 m/s, LOS rate: 0.000689 deg/s, cmd heading: 33.730015 deg, new cmd heading: 33.730632 deg. 2025-10-29T00:39:14.677Z,1761698354.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588711 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:14.845Z,1761698354.845 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:14.845Z,1761698354.845 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:14.845Z,1761698354.845 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:14.999Z,1761698354.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825660,-0.561188,-0.057914],[0.563632,0.816046,0.128013],[-0.024579,-0.138337,0.990080]] 2025-10-29T00:39:15.018Z,1761698355.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:15.020Z,1761698355.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 273.399048 m, bearing: 24.684957 deg, approach rate: -0.663537 m/s, LOS rate: 0.000810 deg/s, cmd heading: 33.730633 deg, new cmd heading: 33.731205 deg. 2025-10-29T00:39:15.021Z,1761698355.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588721 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:15.097Z,1761698355.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.994427 2025-10-29T00:39:15.349Z,1761698355.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246188 2025-10-29T00:39:15.402Z,1761698355.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825620,-0.561543,-0.054960],[0.563598,0.816187,0.127260],[-0.026604,-0.136044,0.990346]] 2025-10-29T00:39:15.448Z,1761698355.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:15.450Z,1761698355.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 273.127075 m, bearing: 24.685919 deg, approach rate: -0.632756 m/s, LOS rate: 0.002241 deg/s, cmd heading: 33.731203 deg, new cmd heading: 33.733130 deg. 2025-10-29T00:39:15.451Z,1761698355.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588754 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:15.601Z,1761698355.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498183 2025-10-29T00:39:15.808Z,1761698355.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825836,-0.561543,-0.051614],[0.563190,0.816694,0.125809],[-0.028494,-0.132966,0.990711]] 2025-10-29T00:39:15.826Z,1761698355.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:15.829Z,1761698355.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 272.887939 m, bearing: 24.686798 deg, approach rate: -0.631615 m/s, LOS rate: 0.002324 deg/s, cmd heading: 33.733130 deg, new cmd heading: 33.734889 deg. 2025-10-29T00:39:15.830Z,1761698355.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588785 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:15.853Z,1761698355.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750205 2025-10-29T00:39:16.105Z,1761698356.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002190 2025-10-29T00:39:16.245Z,1761698356.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:16.248Z,1761698356.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 272.623444 m, bearing: 24.687772 deg, approach rate: -0.630805 m/s, LOS rate: 0.002325 deg/s, cmd heading: 33.734888 deg, new cmd heading: 33.736838 deg. 2025-10-29T00:39:16.249Z,1761698356.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588819 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:16.357Z,1761698356.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254486 2025-10-29T00:39:16.609Z,1761698356.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.506260 2025-10-29T00:39:16.617Z,1761698356.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826447,-0.561104,-0.046332],[0.562094,0.817597,0.124842],[-0.032168,-0.129218,0.991094]] 2025-10-29T00:39:16.669Z,1761698356.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:16.671Z,1761698356.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:16.678Z,1761698356.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 272.365540 m, bearing: 24.689241 deg, approach rate: -0.606436 m/s, LOS rate: 0.003458 deg/s, cmd heading: 33.736838 deg, new cmd heading: 33.739780 deg. 2025-10-29T00:39:16.679Z,1761698356.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588870 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:16.865Z,1761698356.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762137 2025-10-29T00:39:17.020Z,1761698357.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826832,-0.560649,-0.044951],[0.561432,0.817898,0.125845],[-0.033789,-0.129290,0.991031]] 2025-10-29T00:39:17.041Z,1761698357.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:17.044Z,1761698357.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 272.123230 m, bearing: 24.690663 deg, approach rate: -0.654153 m/s, LOS rate: 0.003841 deg/s, cmd heading: 33.739779 deg, new cmd heading: 33.742624 deg. 2025-10-29T00:39:17.045Z,1761698357.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588920 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:17.117Z,1761698357.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014524 2025-10-29T00:39:17.369Z,1761698357.369 [DAT](INFO): DAT read: Rx Time:00:39:16.7524 2025-10-29T00:39:17.369Z,1761698357.369 [DAT](INFO): Rx dataTimestamp_ set to:1761698357.369115 2025-10-29T00:39:17.370Z,1761698357.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267233 2025-10-29T00:39:17.483Z,1761698357.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:17.486Z,1761698357.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 271.846466 m, bearing: 24.693239 deg, approach rate: -0.626317 m/s, LOS rate: 0.005836 deg/s, cmd heading: 33.742623 deg, new cmd heading: 33.747781 deg. 2025-10-29T00:39:17.487Z,1761698357.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589010 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:17.622Z,1761698357.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.519072 2025-10-29T00:39:17.862Z,1761698357.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 280.67 m. 2025-10-29T00:39:17.865Z,1761698357.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 280.671906 m, nav range: 271.610687 m, bearing: 24.695438 deg, approach rate: -0.621300 m/s, LOS rate: 0.005798 deg/s, cmd heading: 33.747780 deg, new cmd heading: 33.752181 deg. 2025-10-29T00:39:17.866Z,1761698357.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589087 target range: 280.671906 and range: 282.30 m. 2025-10-29T00:39:17.874Z,1761698357.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.770937 2025-10-29T00:39:18.136Z,1761698358.136 [DAT](INFO): DAT read: 00:39:16.7524 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.05,-1.494,-2.765,-1.150,-1.874, PHS= 0.482,-0.846, 0.680, RAW= 156.9, -4.4, CAL= 156.6, -6.0, ROT= 353.4, 6.0 2025-10-29T00:39:18.137Z,1761698358.137 [DAT](INFO): got valid direction response: 00:39:16.7524 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 404,-0.05,-1.494,-2.765,-1.150,-1.874, PHS= 0.482,-0.846, 0.680, RAW= 156.9, -4.4, CAL= 156.6, -6.0, ROT= 353.4, 6.0 2025-10-29T00:39:18.138Z,1761698358.138 [DAT](INFO): DAT read: Bearing 175.8, -8.2 (Local) 2025-10-29T00:39:18.138Z,1761698358.138 [DAT](INFO): Local bearing/azimuth received: Bearing 175.8, -8.2 (Local) 2025-10-29T00:39:18.139Z,1761698358.139 [DAT](INFO): DAT read: Range 11 to 50 : 279.4 m (Round-trip 372.6 ms) speed 0.6 m/s 2025-10-29T00:39:18.152Z,1761698358.152 [DAT](INFO): DAT read: user:498> 2025-10-29T00:39:18.154Z,1761698358.154 [DAT](INFO): DAT read: Tx time:00:39:17.8756 2025-10-29T00:39:18.154Z,1761698358.154 [DAT](INFO): Ping request sent. 2025-10-29T00:39:18.154Z,1761698358.154 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:18.155Z,1761698358.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:18.157Z,1761698358.157 [DAT](INFO): direction in FSK: [0.987931,-0.114308,-0.104528] 2025-10-29T00:39:18.158Z,1761698358.158 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:18.158Z,1761698358.158 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:18.166Z,1761698358.166 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:18.166Z,1761698358.166 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:18.251Z,1761698358.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829003,-0.557606,-0.042767],[0.557960,0.819502,0.130752],[-0.037861,-0.132256,0.990492]] 2025-10-29T00:39:18.322Z,1761698358.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 279.399994 m, deltaT: 4.035401 s, deltaX: -2.899994 m, approachRate: -0.718638 m/s, rangeRepo size: 4 2025-10-29T00:39:18.338Z,1761698358.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 277.805237 m, bearing: 26.579529 deg, lat: 36.779468 deg, lon: -121.859185 deg, deltaT: 4.035401 s, deltaX: -2.866669 m, approachRate: -0.710380 m/s, posRepo size: 4 2025-10-29T00:39:18.345Z,1761698358.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:18.377Z,1761698358.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 275.596710 m, bearing: 26.578783 deg, approach rate: 0.000000 m/s, LOS rate: 0.005798 deg/s, cmd heading: 33.752182 deg, new cmd heading: 33.757379 deg. 2025-10-29T00:39:18.378Z,1761698358.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589177 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:18.687Z,1761698358.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829865,-0.556371,-0.042142],[0.556592,0.820166,0.132414],[-0.039107,-0.133342,0.990298]] 2025-10-29T00:39:18.730Z,1761698358.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:18.733Z,1761698358.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:18.735Z,1761698358.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 275.304810 m, bearing: 26.583299 deg, approach rate: -0.691747 m/s, LOS rate: 0.010714 deg/s, cmd heading: 33.757380 deg, new cmd heading: 33.766422 deg. 2025-10-29T00:39:18.736Z,1761698358.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589335 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:18.882Z,1761698358.882 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:18.882Z,1761698358.882 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:18.882Z,1761698358.882 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:19.095Z,1761698359.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830714,-0.555106,-0.042093],[0.555278,0.820819,0.133875],[-0.039764,-0.134585,0.990104]] 2025-10-29T00:39:19.133Z,1761698359.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978932 2025-10-29T00:39:19.139Z,1761698359.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:19.142Z,1761698359.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 275.057373 m, bearing: 26.587212 deg, approach rate: -0.619268 m/s, LOS rate: 0.009801 deg/s, cmd heading: 33.766423 deg, new cmd heading: 33.774255 deg. 2025-10-29T00:39:19.143Z,1761698359.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589472 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:19.385Z,1761698359.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230959 2025-10-29T00:39:19.495Z,1761698359.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831231,-0.554323,-0.042200],[0.554409,0.820964,0.136565],[-0.041056,-0.136913,0.989732]] 2025-10-29T00:39:19.557Z,1761698359.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:19.566Z,1761698359.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 274.792694 m, bearing: 26.591279 deg, approach rate: -0.630816 m/s, LOS rate: 0.009703 deg/s, cmd heading: 33.774254 deg, new cmd heading: 33.782396 deg. 2025-10-29T00:39:19.568Z,1761698359.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589614 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:19.637Z,1761698359.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482920 2025-10-29T00:39:19.889Z,1761698359.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734889 2025-10-29T00:39:19.908Z,1761698359.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831907,-0.553378,-0.041268],[0.553300,0.821520,0.137710],[-0.042303,-0.137396,0.989612]] 2025-10-29T00:39:19.927Z,1761698359.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:19.930Z,1761698359.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 274.546631 m, bearing: 26.595132 deg, approach rate: -0.655468 m/s, LOS rate: 0.010273 deg/s, cmd heading: 33.782396 deg, new cmd heading: 33.790108 deg. 2025-10-29T00:39:19.931Z,1761698359.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589749 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:20.141Z,1761698360.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.987269 2025-10-29T00:39:20.302Z,1761698360.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832610,-0.552382,-0.040432],[0.552173,0.822168,0.138364],[-0.043188,-0.137529,0.989556]] 2025-10-29T00:39:20.326Z,1761698360.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:20.346Z,1761698360.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 274.299316 m, bearing: 26.599080 deg, approach rate: -0.620554 m/s, LOS rate: 0.009915 deg/s, cmd heading: 33.790107 deg, new cmd heading: 33.798010 deg. 2025-10-29T00:39:20.351Z,1761698360.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589887 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:20.396Z,1761698360.396 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.241366 2025-10-29T00:39:20.645Z,1761698360.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.491051 2025-10-29T00:39:20.706Z,1761698360.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832904,-0.552081,-0.038447],[0.551628,0.822621,0.137846],[-0.044474,-0.136021,0.989707]] 2025-10-29T00:39:20.762Z,1761698360.762 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:20.765Z,1761698360.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:20.770Z,1761698360.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 274.029816 m, bearing: 26.603005 deg, approach rate: -0.613196 m/s, LOS rate: 0.008941 deg/s, cmd heading: 33.798009 deg, new cmd heading: 33.805868 deg. 2025-10-29T00:39:20.771Z,1761698360.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590024 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:20.897Z,1761698360.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742894 2025-10-29T00:39:21.110Z,1761698361.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832954,-0.552149,-0.036312],[0.551449,0.822891,0.136947],[-0.045734,-0.134095,0.989913]] 2025-10-29T00:39:21.136Z,1761698361.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:21.139Z,1761698361.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 273.797638 m, bearing: 26.606407 deg, approach rate: -0.626301 m/s, LOS rate: 0.009185 deg/s, cmd heading: 33.805868 deg, new cmd heading: 33.812678 deg. 2025-10-29T00:39:21.139Z,1761698361.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590143 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:21.149Z,1761698361.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994933 2025-10-29T00:39:21.402Z,1761698361.402 [DAT](INFO): DAT read: Rx Time:00:39:20.6499 2025-10-29T00:39:21.403Z,1761698361.403 [DAT](INFO): Rx dataTimestamp_ set to:1761698361.402597 2025-10-29T00:39:21.403Z,1761698361.403 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.249387 2025-10-29T00:39:21.514Z,1761698361.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832701,-0.552673,-0.034102],[0.551734,0.822917,0.135636],[-0.046900,-0.131760,0.990172]] 2025-10-29T00:39:21.576Z,1761698361.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:21.600Z,1761698361.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 273.528442 m, bearing: 26.610327 deg, approach rate: -0.613246 m/s, LOS rate: 0.008939 deg/s, cmd heading: 33.812677 deg, new cmd heading: 33.820525 deg. 2025-10-29T00:39:21.601Z,1761698361.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590280 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:21.653Z,1761698361.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.499117 2025-10-29T00:39:21.910Z,1761698361.910 [DAT](INFO): DAT read: 00:39:20.6499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-1.859,-3.071,-1.574,-2.279, PHS= 0.522,-0.747, 0.661, RAW= 155.1, -6.5, CAL= 155.3, -8.1, ROT= 354.7, 8.1 2025-10-29T00:39:21.911Z,1761698361.911 [DAT](INFO): got valid direction response: 00:39:20.6499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 410, 0.10,-1.859,-3.071,-1.574,-2.279, PHS= 0.522,-0.747, 0.661, RAW= 155.1, -6.5, CAL= 155.3, -8.1, ROT= 354.7, 8.1 2025-10-29T00:39:21.912Z,1761698361.912 [DAT](INFO): DAT read: Bearing 174.1, -7.4 (Local) 2025-10-29T00:39:21.913Z,1761698361.913 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, -7.4 (Local) 2025-10-29T00:39:21.914Z,1761698361.914 [DAT](INFO): DAT read: Range 11 t77.5 m (Round-trip 370.1 ms) speed 0.4 m/s 2025-10-29T00:39:21.915Z,1761698361.915 [DAT](INFO): unknown deviceResponse_: Range 11 t77.5 m (Round-trip 370.1 ms) speed 0.4 m/s 2025-10-29T00:39:21.915Z,1761698361.915 [DAT](INFO): DAT read: user:499> 2025-10-29T00:39:21.916Z,1761698361.916 [DAT](INFO): DAT read: Tx time:00:39:21.7756 2025-10-29T00:39:21.916Z,1761698361.916 [DAT](INFO): Ping request sent. 2025-10-29T00:39:21.916Z,1761698361.916 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:21.916Z,1761698361.916 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:39:21.917Z,1761698361.917 [DAT](INFO): direction in FSK: [0.985791,-0.091449,-0.140901] 2025-10-29T00:39:21.918Z,1761698361.918 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:21.921Z,1761698361.921 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:21.997Z,1761698361.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832479,-0.553138,-0.031876],[0.551955,0.822943,0.134574],[-0.048206,-0.129624,0.990391]] 2025-10-29T00:39:22.043Z,1761698362.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:22.058Z,1761698362.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 273.244934 m, bearing: 26.614453 deg, approach rate: -0.604929 m/s, LOS rate: 0.008812 deg/s, cmd heading: 33.820525 deg, new cmd heading: 33.828785 deg. 2025-10-29T00:39:22.060Z,1761698362.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590424 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:22.445Z,1761698362.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832051,-0.553896,-0.029832],[0.552486,0.822735,0.133664],[-0.049492,-0.127697,0.990578]] 2025-10-29T00:39:22.487Z,1761698362.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:22.506Z,1761698362.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 272.956116 m, bearing: 26.617594 deg, approach rate: -0.650813 m/s, LOS rate: 0.007085 deg/s, cmd heading: 33.828786 deg, new cmd heading: 33.835075 deg. 2025-10-29T00:39:22.507Z,1761698362.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590533 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:22.847Z,1761698362.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831686,-0.554538,-0.028046],[0.552933,0.822555,0.132924],[-0.050642,-0.126059,0.990729]] 2025-10-29T00:39:22.905Z,1761698362.905 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:22.907Z,1761698362.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:22.913Z,1761698362.913 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:22.913Z,1761698362.913 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:22.913Z,1761698362.913 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:22.925Z,1761698362.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 272.705811 m, bearing: 26.620295 deg, approach rate: -0.596348 m/s, LOS rate: 0.006442 deg/s, cmd heading: 33.835074 deg, new cmd heading: 33.840481 deg. 2025-10-29T00:39:22.926Z,1761698362.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590628 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:23.165Z,1761698363.165 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:23.165Z,1761698363.165 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:23.165Z,1761698363.165 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:23.263Z,1761698363.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831481,-0.554938,-0.026137],[0.553138,0.822566,0.131997],[-0.051751,-0.124211,0.990905]] 2025-10-29T00:39:23.287Z,1761698363.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:23.289Z,1761698363.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 272.451721 m, bearing: 26.623032 deg, approach rate: -0.669430 m/s, LOS rate: 0.007218 deg/s, cmd heading: 33.840483 deg, new cmd heading: 33.845962 deg. 2025-10-29T00:39:23.290Z,1761698363.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590723 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:23.419Z,1761698363.419 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:23.420Z,1761698363.420 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:23.420Z,1761698363.420 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:23.650Z,1761698363.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830903,-0.555833,-0.025491],[0.553959,0.822064,0.131681],[-0.052237,-0.123535,0.990964]] 2025-10-29T00:39:23.669Z,1761698363.669 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:23.669Z,1761698363.669 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:23.669Z,1761698363.669 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:23.730Z,1761698363.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:23.737Z,1761698363.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 272.163300 m, bearing: 26.624812 deg, approach rate: -0.650791 m/s, LOS rate: 0.004021 deg/s, cmd heading: 33.845961 deg, new cmd heading: 33.849525 deg. 2025-10-29T00:39:23.738Z,1761698363.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590786 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:23.921Z,1761698363.921 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:23.921Z,1761698363.921 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:23.921Z,1761698363.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:24.105Z,1761698364.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:24.108Z,1761698364.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 271.906921 m, bearing: 26.626398 deg, approach rate: -0.682739 m/s, LOS rate: 0.004227 deg/s, cmd heading: 33.849526 deg, new cmd heading: 33.852701 deg. 2025-10-29T00:39:24.109Z,1761698364.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590841 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:24.173Z,1761698364.173 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:24.173Z,1761698364.173 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:24.173Z,1761698364.173 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:24.438Z,1761698364.438 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:24.439Z,1761698364.439 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:24.439Z,1761698364.439 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:24.594Z,1761698364.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829795,-0.557588,-0.023165],[0.555445,0.821161,0.131055],[-0.054052,-0.121615,0.991104]] 2025-10-29T00:39:24.640Z,1761698364.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:24.643Z,1761698364.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 271.572418 m, bearing: 26.627497 deg, approach rate: -0.625359 m/s, LOS rate: 0.002057 deg/s, cmd heading: 33.852702 deg, new cmd heading: 33.854902 deg. 2025-10-29T00:39:24.644Z,1761698364.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590879 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:24.689Z,1761698364.689 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:24.689Z,1761698364.689 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:24.689Z,1761698364.689 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:24.941Z,1761698364.941 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:24.941Z,1761698364.941 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:24.941Z,1761698364.941 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:25.088Z,1761698365.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829421,-0.558171,-0.022509],[0.555911,0.820755,0.131623],[-0.054994,-0.121684,0.991044]] 2025-10-29T00:39:25.108Z,1761698365.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:25.110Z,1761698365.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:25.113Z,1761698365.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 271.277863 m, bearing: 26.628430 deg, approach rate: -0.626944 m/s, LOS rate: 0.001987 deg/s, cmd heading: 33.854902 deg, new cmd heading: 33.856769 deg. 2025-10-29T00:39:25.114Z,1761698365.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590912 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:25.193Z,1761698365.193 [DAT](INFO): DAT read: Rx Time:00:39:24.5014 2025-10-29T00:39:25.194Z,1761698365.194 [DAT](INFO): Rx dataTimestamp_ set to:1761698365.193386 2025-10-29T00:39:25.194Z,1761698365.194 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:25.194Z,1761698365.194 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:25.194Z,1761698365.194 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:25.447Z,1761698365.447 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:25.447Z,1761698365.447 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:25.448Z,1761698365.448 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:39:25.528Z,1761698365.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829222,-0.558489,-0.021941],[0.556134,0.820537,0.132042],[-0.055740,-0.121695,0.991001]] 2025-10-29T00:39:25.598Z,1761698365.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:25.601Z,1761698365.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 270.968719 m, bearing: 26.629697 deg, approach rate: -0.633315 m/s, LOS rate: 0.002599 deg/s, cmd heading: 33.856770 deg, new cmd heading: 33.859307 deg. 2025-10-29T00:39:25.602Z,1761698365.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590956 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:25.702Z,1761698365.702 [DAT](INFO): DAT read: 00:39:24.5014 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 458,-0.15, 0.803,-0.694, 1.316, 0.796, PHS= 0.109,-1.445, 0.476, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 2025-10-29T00:39:25.703Z,1761698365.703 [DAT](INFO): got valid direction response: 00:39:24.5014 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 458,-0.15, 0.803,-0.694, 1.316, 0.796, PHS= 0.109,-1.445, 0.476, RAW= 160.4, 9.8, CAL= 160.3, 10.5, ROT= 349.7, -10.5 2025-10-29T00:39:25.704Z,1761698365.704 [DAT](INFO): DAT read: Bearing 192.7, -14.6 (Local) 2025-10-29T00:39:25.705Z,1761698365.705 [DAT](INFO): Local bearing/azimuth received: Bearing 192.7, -14.6 (Local) 2025-10-29T00:39:25.707Z,1761698365.707 [DAT](INFO): DAT read: Range 11 to 50 : 241.2 m (Round-trip 321.6 ms) speed 0.7 m/s 2025-10-29T00:39:25.708Z,1761698365.708 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T00:39:25.709Z,1761698365.709 [DAT](INFO): direction in FSK: [0.967410,-0.175808,0.182236] 2025-10-29T00:39:25.709Z,1761698365.709 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:25.715Z,1761698365.715 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:25.715Z,1761698365.715 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:25.715Z,1761698365.715 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:25.949Z,1761698365.949 [DAT](INFO): DAT read: user:500> 2025-10-29T00:39:25.950Z,1761698365.950 [DAT](INFO): DAT read: Tx time:00:39:25.7256 2025-10-29T00:39:25.950Z,1761698365.950 [DAT](INFO): Ping request sent. 2025-10-29T00:39:25.950Z,1761698365.950 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:25.950Z,1761698365.950 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:25.951Z,1761698365.951 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:39:25.967Z,1761698365.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829066,-0.558760,-0.020897],[0.556313,0.820523,0.131370],[-0.056258,-0.120540,0.991113]] 2025-10-29T00:39:26.017Z,1761698366.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 241.199997 m, deltaT: 7.571716 s, deltaX: -38.199997 m, approachRate: -5.045091 m/s, rangeRepo size: 4 2025-10-29T00:39:26.017Z,1761698366.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:26.020Z,1761698366.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 270.722931 m, bearing: 26.630697 deg, approach rate: -0.594636 m/s, LOS rate: 0.002421 deg/s, cmd heading: 33.859307 deg, new cmd heading: 33.861308 deg. 2025-10-29T00:39:26.025Z,1761698366.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590991 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:26.202Z,1761698366.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251813 2025-10-29T00:39:26.372Z,1761698366.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828625,-0.559430,-0.020475],[0.556937,0.820131,0.131172],[-0.056590,-0.120096,0.991148]] 2025-10-29T00:39:26.455Z,1761698366.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505046 2025-10-29T00:39:26.589Z,1761698366.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:26.591Z,1761698366.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 270.357422 m, bearing: 26.631257 deg, approach rate: -0.633267 m/s, LOS rate: 0.000972 deg/s, cmd heading: 33.861308 deg, new cmd heading: 33.862430 deg. 2025-10-29T00:39:26.600Z,1761698366.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591011 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:26.706Z,1761698366.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755184 2025-10-29T00:39:26.918Z,1761698366.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827794,-0.560653,-0.020643],[0.558168,0.819296,0.131159],[-0.056622,-0.120094,0.991146]] 2025-10-29T00:39:26.947Z,1761698366.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:26.957Z,1761698366.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006883 2025-10-29T00:39:26.966Z,1761698366.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 270.116699 m, bearing: 26.631550 deg, approach rate: -0.672044 m/s, LOS rate: 0.000821 deg/s, cmd heading: 33.862428 deg, new cmd heading: 33.863016 deg. 2025-10-29T00:39:26.966Z,1761698366.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591021 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:27.209Z,1761698367.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259098 2025-10-29T00:39:27.319Z,1761698367.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827542,-0.561010,-0.021019],[0.558558,0.819006,0.131308],[-0.056450,-0.120404,0.991119]] 2025-10-29T00:39:27.356Z,1761698367.356 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:27.358Z,1761698367.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:27.361Z,1761698367.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 269.857208 m, bearing: 26.631841 deg, approach rate: -0.630631 m/s, LOS rate: 0.000708 deg/s, cmd heading: 33.863016 deg, new cmd heading: 33.863598 deg. 2025-10-29T00:39:27.362Z,1761698367.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591031 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:27.465Z,1761698367.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514079 2025-10-29T00:39:27.713Z,1761698367.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833 2025-10-29T00:39:27.730Z,1761698367.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827062,-0.561704,-0.021387],[0.559297,0.818523,0.131174],[-0.056175,-0.120451,0.991129]] 2025-10-29T00:39:27.803Z,1761698367.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:27.806Z,1761698367.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 269.575745 m, bearing: 26.631989 deg, approach rate: -0.632862 m/s, LOS rate: 0.000333 deg/s, cmd heading: 33.863600 deg, new cmd heading: 33.863896 deg. 2025-10-29T00:39:27.807Z,1761698367.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591036 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:27.965Z,1761698367.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766 2025-10-29T00:39:28.126Z,1761698368.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826478,-0.562535,-0.022106],[0.560187,0.817859,0.131519],[-0.055905,-0.121081,0.991067]] 2025-10-29T00:39:28.162Z,1761698368.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:28.173Z,1761698368.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 269.353943 m, bearing: 26.632055 deg, approach rate: -0.618501 m/s, LOS rate: 0.000183 deg/s, cmd heading: 33.863897 deg, new cmd heading: 33.864028 deg. 2025-10-29T00:39:28.173Z,1761698368.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591039 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:28.218Z,1761698368.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267458 2025-10-29T00:39:28.472Z,1761698368.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521519 2025-10-29T00:39:28.619Z,1761698368.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:28.622Z,1761698368.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 269.065887 m, bearing: 26.632976 deg, approach rate: -0.629972 m/s, LOS rate: 0.002017 deg/s, cmd heading: 33.864030 deg, new cmd heading: 33.865874 deg. 2025-10-29T00:39:28.623Z,1761698368.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591071 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:28.721Z,1761698368.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771186 2025-10-29T00:39:28.934Z,1761698368.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825847,-0.563359,-0.024554],[0.561169,0.816802,0.133880],[-0.055367,-0.124343,0.990693]] 2025-10-29T00:39:28.957Z,1761698368.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:28.959Z,1761698368.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 268.839111 m, bearing: 26.633642 deg, approach rate: -0.671563 m/s, LOS rate: 0.001972 deg/s, cmd heading: 33.865874 deg, new cmd heading: 33.867206 deg. 2025-10-29T00:39:28.960Z,1761698368.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591094 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:28.973Z,1761698368.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022711 2025-10-29T00:39:29.226Z,1761698369.226 [DAT](INFO): DAT read: Rx Time:00:39:28.4936 2025-10-29T00:39:29.227Z,1761698369.227 [DAT](INFO): Rx dataTimestamp_ set to:1761698369.226194 2025-10-29T00:39:29.227Z,1761698369.227 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277267 2025-10-29T00:39:29.338Z,1761698369.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825542,-0.563777,-0.025211],[0.561639,0.816403,0.134342],[-0.055156,-0.125065,0.990614]] 2025-10-29T00:39:29.370Z,1761698369.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:29.372Z,1761698369.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 277.81 m. 2025-10-29T00:39:29.374Z,1761698369.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 277.805237 m, nav range: 268.577332 m, bearing: 26.634379 deg, approach rate: -0.630751 m/s, LOS rate: 0.001778 deg/s, cmd heading: 33.867206 deg, new cmd heading: 33.868682 deg. 2025-10-29T00:39:29.375Z,1761698369.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591120 target range: 277.805237 and range: 279.40 m. 2025-10-29T00:39:29.482Z,1761698369.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531681 2025-10-29T00:39:29.734Z,1761698369.734 [DAT](INFO): DAT read: 00:39:28.4936 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 362, 0.33, 2.286, 0.995, 2.614, 1.903, PHS= 0.485,-0.863, 0.666, RAW= 156.2, -4.0, CAL= 155.9, -5.5, ROT= 354.1, 5.5 2025-10-29T00:39:29.735Z,1761698369.735 [DAT](INFO): got valid direction response: 00:39:28.4936 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 362, 0.33, 2.286, 0.995, 2.614, 1.903, PHS= 0.485,-0.863, 0.666, RAW= 156.2, -4.0, CAL= 155.9, -5.5, ROT= 354.1, 5.5 2025-10-29T00:39:29.736Z,1761698369.736 [DAT](INFO): DAT read: Bearing 176.8, -8.7 (Local) 2025-10-29T00:39:29.737Z,1761698369.737 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, -8.7 (Local) 2025-10-29T00:39:29.738Z,1761698369.738 [DAT](INFO): DAT read: Range 11 to 50 : 272.8 m (Round-trip 363.8 ms) speed 0.3 m/s 2025-10-29T00:39:29.739Z,1761698369.739 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:29.740Z,1761698369.740 [DAT](INFO): direction in FSK: [0.990123,-0.102319,-0.095846] 2025-10-29T00:39:29.741Z,1761698369.741 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:29.747Z,1761698369.747 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:29.747Z,1761698369.747 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:29.747Z,1761698369.747 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:29.817Z,1761698369.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825476,-0.563881,-0.025063],[0.561720,0.816340,0.134386],[-0.055317,-0.125011,0.990612]] 2025-10-29T00:39:29.899Z,1761698369.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 272.799988 m, deltaT: 11.603680 s, deltaX: -6.600006 m, approachRate: -0.568786 m/s, rangeRepo size: 4 2025-10-29T00:39:29.905Z,1761698369.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 271.244934 m, bearing: 27.654347 deg, lat: 36.779452 deg, lon: -121.859146 deg, deltaT: 11.603680 s, deltaX: -6.560303 m, approachRate: -0.565364 m/s, posRepo size: 4 2025-10-29T00:39:29.906Z,1761698369.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:29.913Z,1761698369.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 268.211395 m, bearing: 27.458115 deg, approach rate: 0.000000 m/s, LOS rate: 0.001778 deg/s, cmd heading: 33.868681 deg, new cmd heading: 33.870555 deg. 2025-10-29T00:39:29.914Z,1761698369.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591153 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:29.982Z,1761698369.982 [DAT](INFO): DAT read: user:501> 2025-10-29T00:39:29.983Z,1761698369.983 [DAT](INFO): DAT read: Tx time:00:39:29.7256 2025-10-29T00:39:29.983Z,1761698369.983 [DAT](INFO): Ping request sent. 2025-10-29T00:39:29.984Z,1761698369.984 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:29.984Z,1761698369.984 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:29.985Z,1761698369.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001555 2025-10-29T00:39:30.167Z,1761698370.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825276,-0.564168,-0.025171],[0.562027,0.816155,0.134229],[-0.055185,-0.124923,0.990631]] 2025-10-29T00:39:30.190Z,1761698370.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:30.193Z,1761698370.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 268.014374 m, bearing: 27.459231 deg, approach rate: -0.675145 m/s, LOS rate: 0.003827 deg/s, cmd heading: 33.870553 deg, new cmd heading: 33.872787 deg. 2025-10-29T00:39:30.194Z,1761698370.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591192 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:30.233Z,1761698370.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249877 2025-10-29T00:39:30.501Z,1761698370.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.517475 2025-10-29T00:39:30.579Z,1761698370.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824977,-0.564597,-0.025345],[0.562475,0.815852,0.134196],[-0.055089,-0.124964,0.990631]] 2025-10-29T00:39:30.730Z,1761698370.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:30.733Z,1761698370.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 267.680511 m, bearing: 27.462300 deg, approach rate: -0.618723 m/s, LOS rate: 0.005694 deg/s, cmd heading: 33.872786 deg, new cmd heading: 33.878931 deg. 2025-10-29T00:39:30.734Z,1761698370.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591299 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:30.737Z,1761698370.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753771 2025-10-29T00:39:30.989Z,1761698370.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005535 2025-10-29T00:39:31.145Z,1761698371.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824936,-0.564660,-0.025302],[0.562520,0.815786,0.134407],[-0.055253,-0.125110,0.990603]] 2025-10-29T00:39:31.163Z,1761698371.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:31.166Z,1761698371.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 267.412140 m, bearing: 27.464769 deg, approach rate: -0.619058 m/s, LOS rate: 0.005700 deg/s, cmd heading: 33.878930 deg, new cmd heading: 33.883872 deg. 2025-10-29T00:39:31.167Z,1761698371.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591385 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:31.241Z,1761698371.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258033 2025-10-29T00:39:31.496Z,1761698371.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512801 2025-10-29T00:39:31.639Z,1761698371.639 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:31.641Z,1761698371.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:31.643Z,1761698371.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 267.113037 m, bearing: 27.467867 deg, approach rate: -0.626294 m/s, LOS rate: 0.006495 deg/s, cmd heading: 33.883872 deg, new cmd heading: 33.890075 deg. 2025-10-29T00:39:31.645Z,1761698371.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591493 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:31.745Z,1761698371.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761912 2025-10-29T00:39:31.997Z,1761698371.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013628 2025-10-29T00:39:32.077Z,1761698372.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825263,-0.564181,-0.025327],[0.561974,0.815940,0.135746],[-0.055920,-0.126260,0.990420]] 2025-10-29T00:39:32.115Z,1761698372.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:32.122Z,1761698372.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 266.827332 m, bearing: 27.470870 deg, approach rate: -0.602376 m/s, LOS rate: 0.006337 deg/s, cmd heading: 33.890074 deg, new cmd heading: 33.896085 deg. 2025-10-29T00:39:32.123Z,1761698372.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591598 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:32.249Z,1761698372.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265615 2025-10-29T00:39:32.504Z,1761698372.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519893 2025-10-29T00:39:32.603Z,1761698372.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825700,-0.563540,-0.025327],[0.561288,0.816259,0.136662],[-0.056341,-0.127057,0.990294]] 2025-10-29T00:39:32.653Z,1761698372.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:32.655Z,1761698372.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 266.478699 m, bearing: 27.475715 deg, approach rate: -0.648614 m/s, LOS rate: 0.009026 deg/s, cmd heading: 33.896084 deg, new cmd heading: 33.905787 deg. 2025-10-29T00:39:32.657Z,1761698372.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591768 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:32.754Z,1761698372.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771050 2025-10-29T00:39:32.986Z,1761698372.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825794,-0.563406,-0.025267],[0.561173,0.816413,0.136216],[-0.056117,-0.126666,0.990357]] 2025-10-29T00:39:33.005Z,1761698373.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021710 2025-10-29T00:39:33.018Z,1761698373.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:33.021Z,1761698373.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 266.250061 m, bearing: 27.478908 deg, approach rate: -0.625697 m/s, LOS rate: 0.008746 deg/s, cmd heading: 33.905786 deg, new cmd heading: 33.912178 deg. 2025-10-29T00:39:33.022Z,1761698373.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591879 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:33.257Z,1761698373.257 [DAT](INFO): DAT read: Rx Time:00:39:32.4909 2025-10-29T00:39:33.258Z,1761698373.258 [DAT](INFO): Rx dataTimestamp_ set to:1761698373.257413 2025-10-29T00:39:33.258Z,1761698373.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274957 2025-10-29T00:39:33.387Z,1761698373.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825913,-0.563230,-0.025291],[0.561017,0.816562,0.135964],[-0.055927,-0.126483,0.990391]] 2025-10-29T00:39:33.405Z,1761698373.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 271.24 m. 2025-10-29T00:39:33.408Z,1761698373.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 271.244934 m, nav range: 266.007812 m, bearing: 27.482308 deg, approach rate: -0.625587 m/s, LOS rate: 0.008787 deg/s, cmd heading: 33.912180 deg, new cmd heading: 33.918985 deg. 2025-10-29T00:39:33.409Z,1761698373.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591998 target range: 271.244934 and range: 272.80 m. 2025-10-29T00:39:33.509Z,1761698373.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525734 2025-10-29T00:39:33.770Z,1761698373.770 [DAT](INFO): DAT read: 00:39:32.4909 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.09,-2.664, 2.367,-2.311,-2.955, PHS= 0.393,-0.916, 0.600, RAW= 157.3, -1.1, CAL= 156.3, -2.5, ROT= 353.7, 2.5 2025-10-29T00:39:33.771Z,1761698373.771 [DAT](INFO): got valid direction response: 00:39:32.4909 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 420,-0.09,-2.664, 2.367,-2.311,-2.955, PHS= 0.393,-0.916, 0.600, RAW= 157.3, -1.1, CAL= 156.3, -2.5, ROT= 353.7, 2.5 2025-10-29T00:39:33.772Z,1761698373.772 [DAT](INFO): DAT read: Bearing 179.3, -9.4 (Local) 2025-10-29T00:39:33.773Z,1761698373.773 [DAT](INFO): Local bearing/azimuth received: Bearing 179.3, -9.4 (Local) 2025-10-29T00:39:33.775Z,1761698373.775 [DAT](INFO): DAT read: Range 11 to 50 : 270.9 m (Round-trip 361.2 ms) speed 0.7 m/s 2025-10-29T00:39:33.780Z,1761698373.780 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:33.781Z,1761698373.781 [DAT](INFO): direction in FSK: [0.993015,-0.109630,-0.043619] 2025-10-29T00:39:33.781Z,1761698373.781 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:33.788Z,1761698373.788 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:33.788Z,1761698373.788 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:33.788Z,1761698373.788 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:33.841Z,1761698373.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826401,-0.562499,-0.025592],[0.560333,0.817034,0.135950],[-0.055562,-0.126690,0.990385]] 2025-10-29T00:39:33.938Z,1761698373.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 270.899994 m, deltaT: 4.032381 s, deltaX: -1.899994 m, approachRate: -0.471184 m/s, rangeRepo size: 4 2025-10-29T00:39:33.944Z,1761698373.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 269.359314 m, bearing: 27.553193 deg, lat: 36.779468 deg, lon: -121.859146 deg, deltaT: 4.032381 s, deltaX: -1.885620 m, approachRate: -0.467620 m/s, posRepo size: 4 2025-10-29T00:39:33.945Z,1761698373.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:33.947Z,1761698373.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 267.280182 m, bearing: 27.310224 deg, approach rate: 0.000000 m/s, LOS rate: 0.008787 deg/s, cmd heading: 33.918986 deg, new cmd heading: 33.928329 deg. 2025-10-29T00:39:33.952Z,1761698373.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592161 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:34.013Z,1761698374.013 [DAT](INFO): DAT read: user:502> 2025-10-29T00:39:34.015Z,1761698374.015 [DAT](INFO): DAT read: Tx time:00:39:33.7755 2025-10-29T00:39:34.015Z,1761698374.015 [DAT](INFO): Ping request sent. 2025-10-29T00:39:34.015Z,1761698374.015 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:34.015Z,1761698374.015 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:34.016Z,1761698374.016 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001171 2025-10-29T00:39:34.265Z,1761698374.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249728 2025-10-29T00:39:34.274Z,1761698374.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826577,-0.562243,-0.025557],[0.560151,0.817384,0.134591],[-0.054783,-0.125566,0.990572]] 2025-10-29T00:39:34.306Z,1761698374.306 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:34.312Z,1761698374.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:34.315Z,1761698374.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 267.052429 m, bearing: 27.313055 deg, approach rate: -0.613766 m/s, LOS rate: 0.007637 deg/s, cmd heading: 33.928329 deg, new cmd heading: 33.933998 deg. 2025-10-29T00:39:34.324Z,1761698374.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592260 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:34.517Z,1761698374.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501633 2025-10-29T00:39:34.678Z,1761698374.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826724,-0.561975,-0.026696],[0.559999,0.817398,0.135132],[-0.054119,-0.126667,0.990468]] 2025-10-29T00:39:34.715Z,1761698374.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:34.718Z,1761698374.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 266.791321 m, bearing: 27.314543 deg, approach rate: -0.641992 m/s, LOS rate: 0.003661 deg/s, cmd heading: 33.933999 deg, new cmd heading: 33.936976 deg. 2025-10-29T00:39:34.719Z,1761698374.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592312 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:34.771Z,1761698374.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754996 2025-10-29T00:39:35.021Z,1761698375.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005642 2025-10-29T00:39:35.079Z,1761698375.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826809,-0.561799,-0.027728],[0.559940,0.817388,0.135442],[-0.053427,-0.127511,0.990397]] 2025-10-29T00:39:35.113Z,1761698375.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:35.123Z,1761698375.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 266.550262 m, bearing: 27.315921 deg, approach rate: -0.604937 m/s, LOS rate: 0.003462 deg/s, cmd heading: 33.936977 deg, new cmd heading: 33.939736 deg. 2025-10-29T00:39:35.124Z,1761698375.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592360 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:35.273Z,1761698375.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257796 2025-10-29T00:39:35.484Z,1761698375.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826796,-0.561803,-0.028039],[0.560002,0.817403,0.135096],[-0.052978,-0.127399,0.990436]] 2025-10-29T00:39:35.526Z,1761698375.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510289 2025-10-29T00:39:35.539Z,1761698375.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:35.545Z,1761698375.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 266.301849 m, bearing: 27.317341 deg, approach rate: -0.584412 m/s, LOS rate: 0.003345 deg/s, cmd heading: 33.939736 deg, new cmd heading: 33.942579 deg. 2025-10-29T00:39:35.549Z,1761698375.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592410 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:35.777Z,1761698375.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761793 2025-10-29T00:39:35.909Z,1761698375.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826554,-0.562139,-0.028412],[0.560419,0.817231,0.134406],[-0.052336,-0.127017,0.990519]] 2025-10-29T00:39:35.954Z,1761698375.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:35.956Z,1761698375.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 266.023285 m, bearing: 27.317818 deg, approach rate: -0.670987 m/s, LOS rate: 0.001149 deg/s, cmd heading: 33.942581 deg, new cmd heading: 33.943534 deg. 2025-10-29T00:39:35.957Z,1761698375.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592426 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:36.031Z,1761698376.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015201 2025-10-29T00:39:36.281Z,1761698376.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265608 2025-10-29T00:39:36.312Z,1761698376.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826490,-0.562167,-0.029694],[0.560612,0.817109,0.134338],[-0.051258,-0.127676,0.990491]] 2025-10-29T00:39:36.344Z,1761698376.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:36.346Z,1761698376.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:36.349Z,1761698376.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 265.778107 m, bearing: 27.318226 deg, approach rate: -0.624327 m/s, LOS rate: 0.001039 deg/s, cmd heading: 33.943533 deg, new cmd heading: 33.944350 deg. 2025-10-29T00:39:36.350Z,1761698376.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592441 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:36.533Z,1761698376.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518138 2025-10-29T00:39:36.716Z,1761698376.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826252,-0.562466,-0.030643],[0.561036,0.816839,0.134212],[-0.050459,-0.128085,0.990479]] 2025-10-29T00:39:36.778Z,1761698376.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:36.781Z,1761698376.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 265.507324 m, bearing: 27.318292 deg, approach rate: -0.626967 m/s, LOS rate: 0.000155 deg/s, cmd heading: 33.944350 deg, new cmd heading: 33.944484 deg. 2025-10-29T00:39:36.782Z,1761698376.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592443 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:36.785Z,1761698376.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769792 2025-10-29T00:39:37.038Z,1761698377.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022503 2025-10-29T00:39:37.121Z,1761698377.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826095,-0.562589,-0.032575],[0.561368,0.816488,0.134956],[-0.049328,-0.129773,0.990316]] 2025-10-29T00:39:37.141Z,1761698377.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:37.143Z,1761698377.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 265.276642 m, bearing: 27.318327 deg, approach rate: -0.638085 m/s, LOS rate: 0.000095 deg/s, cmd heading: 33.944483 deg, new cmd heading: 33.944551 deg. 2025-10-29T00:39:37.147Z,1761698377.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592444 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:37.289Z,1761698377.289 [DAT](INFO): DAT read: Rx Time:00:39:36.5378 2025-10-29T00:39:37.289Z,1761698377.289 [DAT](INFO): Rx dataTimestamp_ set to:1761698377.289050 2025-10-29T00:39:37.290Z,1761698377.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274617 2025-10-29T00:39:37.532Z,1761698377.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825820,-0.562867,-0.034657],[0.561875,0.816004,0.135776],[-0.048143,-0.131599,0.990133]] 2025-10-29T00:39:37.550Z,1761698377.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534405 2025-10-29T00:39:37.637Z,1761698377.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 269.36 m. 2025-10-29T00:39:37.646Z,1761698377.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 269.359314 m, nav range: 264.998138 m, bearing: 27.318327 deg, approach rate: -0.566018 m/s, LOS rate: 0.000002 deg/s, cmd heading: 33.944551 deg, new cmd heading: 33.944553 deg. 2025-10-29T00:39:37.647Z,1761698377.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592444 target range: 269.359314 and range: 270.90 m. 2025-10-29T00:39:37.807Z,1761698377.807 [DAT](INFO): DAT read: 00:39:36.5378 LVL= 32752, 32753, 32626, 32755, AGC= 70, IDX= 413,-0.20,-2.727, 2.276,-2.403, 3.091, PHS= 0.567,-0.770, 0.745, RAW= 156.2, -7.6, CAL= 156.5, -9.3, ROT= 353.5, 9.3 2025-10-29T00:39:37.808Z,1761698377.808 [DAT](INFO): got valid direction response: 00:39:36.5378 LVL= 32752, 32753, 32626, 32755, AGC= 70, IDX= 413,-0.20,-2.727, 2.276,-2.403, 3.091, PHS= 0.567,-0.770, 0.745, RAW= 156.2, -7.6, CAL= 156.5, -9.3, ROT= 353.5, 9.3 2025-10-29T00:39:37.809Z,1761698377.809 [DAT](INFO): DAT read: Bearing 172.5, -8.1 (Local) 2025-10-29T00:39:37.809Z,1761698377.809 [DAT](INFO): Local bearing/azimuth received: Bearing 172.5, -8.1 (Local) 2025-10-29T00:39:37.811Z,1761698377.811 [DAT](INFO): DAT read: Range 11 to 50 : 268.6 m (Round-trip 358.2 ms) speed 0.3 m/s 2025-10-29T00:39:37.811Z,1761698377.811 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:37.817Z,1761698377.817 [DAT](INFO): direction in FSK: [0.980512,-0.111715,-0.161604] 2025-10-29T00:39:37.817Z,1761698377.817 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:37.821Z,1761698377.821 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:37.821Z,1761698377.821 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:37.821Z,1761698377.821 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:37.934Z,1761698377.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825445,-0.563318,-0.036252],[0.562507,0.815489,0.136251],[-0.047190,-0.132859,0.990011]] 2025-10-29T00:39:37.996Z,1761698377.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 268.600006 m, deltaT: 4.039683 s, deltaX: -2.299988 m, approachRate: -0.569349 m/s, rangeRepo size: 4 2025-10-29T00:39:37.998Z,1761698377.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 267.085663 m, bearing: 26.531095 deg, lat: 36.779462 deg, lon: -121.859185 deg, deltaT: 4.039683 s, deltaX: -2.273651 m, approachRate: -0.562829 m/s, posRepo size: 4 2025-10-29T00:39:37.999Z,1761698377.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:38.005Z,1761698378.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 262.587494 m, bearing: 26.722607 deg, approach rate: 0.000000 m/s, LOS rate: 0.000002 deg/s, cmd heading: 33.944551 deg, new cmd heading: 33.944552 deg. 2025-10-29T00:39:38.006Z,1761698378.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592444 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:38.054Z,1761698378.054 [DAT](INFO): DAT read: user:503> 2025-10-29T00:39:38.055Z,1761698378.055 [DAT](INFO): DAT read: Tx time:00:39:37.8255 2025-10-29T00:39:38.055Z,1761698378.055 [DAT](INFO): Ping request sent. 2025-10-29T00:39:38.055Z,1761698378.055 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:38.056Z,1761698378.056 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:38.056Z,1761698378.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001113 2025-10-29T00:39:38.305Z,1761698378.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249559 2025-10-29T00:39:38.334Z,1761698378.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825136,-0.563619,-0.038522],[0.563040,0.814874,0.137716],[-0.046229,-0.135324,0.989722]] 2025-10-29T00:39:38.371Z,1761698378.371 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:38.373Z,1761698378.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:38.376Z,1761698378.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 262.344574 m, bearing: 26.719979 deg, approach rate: -0.635515 m/s, LOS rate: -0.006882 deg/s, cmd heading: 33.944551 deg, new cmd heading: 33.939290 deg. 2025-10-29T00:39:38.377Z,1761698378.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592352 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:38.558Z,1761698378.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502682 2025-10-29T00:39:38.739Z,1761698378.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824627,-0.564206,-0.040779],[0.563880,0.814126,0.138698],[-0.045055,-0.137369,0.989495]] 2025-10-29T00:39:38.799Z,1761698378.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:38.802Z,1761698378.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 262.054535 m, bearing: 26.716272 deg, approach rate: -0.681430 m/s, LOS rate: -0.008719 deg/s, cmd heading: 33.939292 deg, new cmd heading: 33.931870 deg. 2025-10-29T00:39:38.803Z,1761698378.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592223 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:38.809Z,1761698378.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753640 2025-10-29T00:39:39.061Z,1761698379.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005764 2025-10-29T00:39:39.145Z,1761698379.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824313,-0.564591,-0.041783],[0.564394,0.813754,0.138790],[-0.044359,-0.137989,0.989440]] 2025-10-29T00:39:39.164Z,1761698379.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:39.166Z,1761698379.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 261.817535 m, bearing: 26.713205 deg, approach rate: -0.650126 m/s, LOS rate: -0.008422 deg/s, cmd heading: 33.931871 deg, new cmd heading: 33.925730 deg. 2025-10-29T00:39:39.167Z,1761698379.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592116 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:39.313Z,1761698379.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257987 2025-10-29T00:39:39.560Z,1761698379.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824079,-0.564797,-0.043561],[0.564800,0.813304,0.139777],[-0.043517,-0.139790,0.989224]] 2025-10-29T00:39:39.565Z,1761698379.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509625 2025-10-29T00:39:39.628Z,1761698379.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:39.652Z,1761698379.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 261.546112 m, bearing: 26.709654 deg, approach rate: -0.597100 m/s, LOS rate: -0.007820 deg/s, cmd heading: 33.925731 deg, new cmd heading: 33.918621 deg. 2025-10-29T00:39:39.655Z,1761698379.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591992 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:39.817Z,1761698379.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761604 2025-10-29T00:39:39.951Z,1761698379.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823723,-0.565182,-0.045268],[0.565383,0.812755,0.140609],[-0.042678,-0.141416,0.989030]] 2025-10-29T00:39:39.996Z,1761698379.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:39.999Z,1761698379.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 261.283356 m, bearing: 26.707302 deg, approach rate: -0.695283 m/s, LOS rate: -0.006229 deg/s, cmd heading: 33.918620 deg, new cmd heading: 33.913913 deg. 2025-10-29T00:39:39.000Z,1761698380.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591909 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:40.069Z,1761698380.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013570 2025-10-29T00:39:40.321Z,1761698380.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265770 2025-10-29T00:39:40.360Z,1761698380.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823341,-0.565553,-0.047542],[0.566022,0.812103,0.141806],[-0.041590,-0.143664,0.988752]] 2025-10-29T00:39:40.378Z,1761698380.378 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:40.380Z,1761698380.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:40.383Z,1761698380.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 261.041046 m, bearing: 26.705086 deg, approach rate: -0.631136 m/s, LOS rate: -0.005778 deg/s, cmd heading: 33.913911 deg, new cmd heading: 33.909474 deg. 2025-10-29T00:39:40.384Z,1761698380.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591832 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:40.573Z,1761698380.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517535 2025-10-29T00:39:40.765Z,1761698380.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823019,-0.565808,-0.050022],[0.566554,0.811402,0.143676],[-0.040705,-0.146588,0.988360]] 2025-10-29T00:39:40.825Z,1761698380.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769489 2025-10-29T00:39:40.877Z,1761698380.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:40.900Z,1761698380.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 260.729523 m, bearing: 26.704465 deg, approach rate: -0.626684 m/s, LOS rate: -0.001249 deg/s, cmd heading: 33.909475 deg, new cmd heading: 33.908233 deg. 2025-10-29T00:39:40.912Z,1761698380.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591810 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:41.077Z,1761698381.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021616 2025-10-29T00:39:41.213Z,1761698381.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822924,-0.565826,-0.051353],[0.566739,0.811149,0.144377],[-0.040037,-0.147915,0.988189]] 2025-10-29T00:39:41.271Z,1761698381.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:41.278Z,1761698381.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 260.487640 m, bearing: 26.703969 deg, approach rate: -0.613499 m/s, LOS rate: -0.001259 deg/s, cmd heading: 33.908232 deg, new cmd heading: 33.907239 deg. 2025-10-29T00:39:41.279Z,1761698381.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591793 target range: 267.085663 and range: 268.60 m. 2025-10-29T00:39:41.329Z,1761698381.329 [DAT](INFO): DAT read: Rx Time:00:39:40.5849 2025-10-29T00:39:41.330Z,1761698381.330 [DAT](INFO): Rx dataTimestamp_ set to:1761698381.329317 2025-10-29T00:39:41.330Z,1761698381.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274791 2025-10-29T00:39:41.581Z,1761698381.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525448 2025-10-29T00:39:41.754Z,1761698381.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822712,-0.565749,-0.055424],[0.567156,0.810323,0.147347],[-0.038451,-0.152658,0.987531]] 2025-10-29T00:39:41.834Z,1761698381.834 [DAT](INFO): DAT read: Range 11 to 50 : 266.4 m (Round-trip 355.2 ms) speed 0.6 m/s 2025-10-29T00:39:41.834Z,1761698381.834 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:39:41.835Z,1761698381.835 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:41.835Z,1761698381.835 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:41.835Z,1761698381.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:41.905Z,1761698381.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 266.399994 m, deltaT: 4.032044 s, deltaX: -2.200012 m, approachRate: -0.545632 m/s, rangeRepo size: 4 2025-10-29T00:39:41.906Z,1761698381.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:41.913Z,1761698381.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 260.087646 m, bearing: 26.704080 deg, approach rate: -0.631836 m/s, LOS rate: 0.000176 deg/s, cmd heading: 33.907238 deg, new cmd heading: 33.907461 deg. 2025-10-29T00:39:41.913Z,1761698381.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591797 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:42.085Z,1761698382.085 [DAT](INFO): DAT read: user:504> 2025-10-29T00:39:42.086Z,1761698382.086 [DAT](INFO): DAT read: Tx time:00:39:41.8255 2025-10-29T00:39:42.086Z,1761698382.086 [DAT](INFO): Ping request sent. 2025-10-29T00:39:42.086Z,1761698382.086 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:42.086Z,1761698382.086 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:42.087Z,1761698382.087 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:39:42.337Z,1761698382.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251294 2025-10-29T00:39:42.358Z,1761698382.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822868,-0.565342,-0.057245],[0.566975,0.810171,0.148868],[-0.037783,-0.154955,0.987199]] 2025-10-29T00:39:42.388Z,1761698382.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:42.390Z,1761698382.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:42.393Z,1761698382.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 259.771942 m, bearing: 26.704180 deg, approach rate: -0.650454 m/s, LOS rate: 0.000205 deg/s, cmd heading: 33.907460 deg, new cmd heading: 33.907658 deg. 2025-10-29T00:39:42.393Z,1761698382.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591800 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:42.590Z,1761698382.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503583 2025-10-29T00:39:42.733Z,1761698382.733 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:39:42.812Z,1761698382.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823143,-0.564848,-0.058154],[0.566616,0.810354,0.149239],[-0.037172,-0.155796,0.987090]] 2025-10-29T00:39:42.841Z,1761698382.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754995 2025-10-29T00:39:42.858Z,1761698382.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:42.861Z,1761698382.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 259.478180 m, bearing: 26.705589 deg, approach rate: -0.627492 m/s, LOS rate: 0.003015 deg/s, cmd heading: 33.907658 deg, new cmd heading: 33.910481 deg. 2025-10-29T00:39:42.862Z,1761698382.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591850 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:43.093Z,1761698383.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846 2025-10-29T00:39:43.216Z,1761698383.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823250,-0.564597,-0.059075],[0.566500,0.810375,0.149570],[-0.036573,-0.156599,0.986985]] 2025-10-29T00:39:43.238Z,1761698383.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:43.242Z,1761698383.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 259.241821 m, bearing: 26.706732 deg, approach rate: -0.621244 m/s, LOS rate: 0.003007 deg/s, cmd heading: 33.910482 deg, new cmd heading: 33.912770 deg. 2025-10-29T00:39:43.243Z,1761698383.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591890 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:43.345Z,1761698383.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258997 2025-10-29T00:39:43.597Z,1761698383.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510851 2025-10-29T00:39:43.624Z,1761698383.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823331,-0.564348,-0.060305],[0.566460,0.810465,0.149230],[-0.035343,-0.157026,0.986962]] 2025-10-29T00:39:43.643Z,1761698383.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:43.645Z,1761698383.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 258.985870 m, bearing: 26.707976 deg, approach rate: -0.633297 m/s, LOS rate: 0.003080 deg/s, cmd heading: 33.912770 deg, new cmd heading: 33.915260 deg. 2025-10-29T00:39:43.646Z,1761698383.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591933 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:43.737Z,1761698383.737 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:39:43.849Z,1761698383.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762847 2025-10-29T00:39:44.031Z,1761698384.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823347,-0.564145,-0.061969],[0.566512,0.810382,0.149483],[-0.034112,-0.158183,0.986820]] 2025-10-29T00:39:44.084Z,1761698384.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:44.087Z,1761698384.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 258.710785 m, bearing: 26.710704 deg, approach rate: -0.623439 m/s, LOS rate: 0.006190 deg/s, cmd heading: 33.915260 deg, new cmd heading: 33.920722 deg. 2025-10-29T00:39:44.087Z,1761698384.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592028 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:44.102Z,1761698384.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014849 2025-10-29T00:39:44.353Z,1761698384.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897 2025-10-29T00:39:44.427Z,1761698384.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822905,-0.564756,-0.062272],[0.567264,0.810412,0.146438],[-0.032236,-0.155829,0.987258]] 2025-10-29T00:39:44.444Z,1761698384.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:44.446Z,1761698384.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:44.465Z,1761698384.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 258.485229 m, bearing: 26.712910 deg, approach rate: -0.622964 m/s, LOS rate: 0.006097 deg/s, cmd heading: 33.920724 deg, new cmd heading: 33.925139 deg. 2025-10-29T00:39:44.466Z,1761698384.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592105 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:44.605Z,1761698384.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518831 2025-10-29T00:39:44.830Z,1761698384.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822473,-0.565242,-0.063559],[0.567992,0.810183,0.144878],[-0.030396,-0.155259,0.987406]] 2025-10-29T00:39:44.857Z,1761698384.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944 2025-10-29T00:39:44.876Z,1761698384.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:44.878Z,1761698384.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 258.220276 m, bearing: 26.716542 deg, approach rate: -0.616600 m/s, LOS rate: 0.008463 deg/s, cmd heading: 33.925140 deg, new cmd heading: 33.932413 deg. 2025-10-29T00:39:44.879Z,1761698384.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592232 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:45.109Z,1761698385.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022905 2025-10-29T00:39:45.236Z,1761698385.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822395,-0.565233,-0.064644],[0.568191,0.810287,0.143507],[-0.028734,-0.154750,0.987536]] 2025-10-29T00:39:45.258Z,1761698385.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:45.261Z,1761698385.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 257.984650 m, bearing: 26.719771 deg, approach rate: -0.615394 m/s, LOS rate: 0.008440 deg/s, cmd heading: 33.932414 deg, new cmd heading: 33.938877 deg. 2025-10-29T00:39:45.262Z,1761698385.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592345 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:45.361Z,1761698385.361 [DAT](INFO): DAT read: Rx Time:00:39:44.5825 2025-10-29T00:39:45.362Z,1761698385.362 [DAT](INFO): Rx dataTimestamp_ set to:1761698385.361366 2025-10-29T00:39:45.362Z,1761698385.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276162 2025-10-29T00:39:45.613Z,1761698385.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526852 2025-10-29T00:39:45.641Z,1761698385.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822357,-0.565302,-0.064523],[0.568328,0.810730,0.140427],[-0.027073,-0.152152,0.987986]] 2025-10-29T00:39:45.659Z,1761698385.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 267.09 m. 2025-10-29T00:39:45.662Z,1761698385.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 267.085663 m, nav range: 257.737274 m, bearing: 26.723171 deg, approach rate: -0.616984 m/s, LOS rate: 0.008487 deg/s, cmd heading: 33.938879 deg, new cmd heading: 33.945685 deg. 2025-10-29T00:39:45.663Z,1761698385.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592464 target range: 267.085663 and range: 266.40 m. 2025-10-29T00:39:45.870Z,1761698385.870 [DAT](INFO): DAT read: 00:39:44.5825 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.16,-2.348, 2.741,-2.053,-2.805, PHS= 0.559,-0.692, 0.708, RAW= 155.6, -8.7, CAL= 156.1, -10.4, ROT= 353.9, 10.4 2025-10-29T00:39:45.871Z,1761698385.871 [DAT](INFO): got valid direction response: 00:39:44.5825 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 409,-0.16,-2.348, 2.741,-2.053,-2.805, PHS= 0.559,-0.692, 0.708, RAW= 155.6, -8.7, CAL= 156.1, -10.4, ROT= 353.9, 10.4 2025-10-29T00:39:45.872Z,1761698385.872 [DAT](INFO): DAT read: Bearing 171.6, -6.0 (Local) 2025-10-29T00:39:45.873Z,1761698385.873 [DAT](INFO): Local bearing/azimuth received: Bearing 171.6, -6.0 (Local) 2025-10-29T00:39:45.874Z,1761698385.874 [DAT](INFO): DAT read: Range 11 to 50 : 264.6 m (Round-trip 352.8 ms) speed 0.6 m/s 2025-10-29T00:39:45.875Z,1761698385.875 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:45.876Z,1761698385.876 [DAT](INFO): direction in FSK: [0.978002,-0.104518,-0.180519] 2025-10-29T00:39:45.898Z,1761698385.898 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:45.902Z,1761698385.902 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:45.902Z,1761698385.902 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:45.903Z,1761698385.903 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:46.117Z,1761698386.117 [DAT](INFO): DAT read: user:505> 2025-10-29T00:39:46.117Z,1761698386.117 [DAT](INFO): DAT read: Tx time:00:39:45.9255 2025-10-29T00:39:46.118Z,1761698386.118 [DAT](INFO): Ping request sent. 2025-10-29T00:39:46.118Z,1761698386.118 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:46.118Z,1761698386.118 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:46.119Z,1761698386.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-29T00:39:46.138Z,1761698386.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 264.600006 m, deltaT: 4.031953 s, deltaX: -1.799988 m, approachRate: -0.446431 m/s, rangeRepo size: 4 2025-10-29T00:39:46.144Z,1761698386.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 263.125244 m, bearing: 26.995110 deg, lat: 36.779462 deg, lon: -121.859168 deg, deltaT: 8.063997 s, deltaX: -3.960419 m, approachRate: -0.491124 m/s, posRepo size: 4 2025-10-29T00:39:46.145Z,1761698386.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:46.148Z,1761698386.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 258.121552 m, bearing: 27.024311 deg, approach rate: 0.000000 m/s, LOS rate: 0.008487 deg/s, cmd heading: 33.945685 deg, new cmd heading: 33.953800 deg. 2025-10-29T00:39:46.153Z,1761698386.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592606 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:46.369Z,1761698386.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251338 2025-10-29T00:39:46.446Z,1761698386.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821856,-0.565877,-0.065850],[0.569189,0.810751,0.136773],[-0.024009,-0.149888,0.988411]] 2025-10-29T00:39:46.463Z,1761698386.463 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:46.465Z,1761698386.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:46.468Z,1761698386.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 257.912048 m, bearing: 27.027186 deg, approach rate: -0.639168 m/s, LOS rate: 0.008779 deg/s, cmd heading: 33.953799 deg, new cmd heading: 33.959554 deg. 2025-10-29T00:39:46.469Z,1761698386.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592706 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:46.621Z,1761698386.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503187 2025-10-29T00:39:46.855Z,1761698386.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821639,-0.566091,-0.066702],[0.569586,0.810889,0.134278],[-0.021926,-0.148321,0.988696]] 2025-10-29T00:39:46.873Z,1761698386.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755052 2025-10-29T00:39:46.893Z,1761698386.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:46.916Z,1761698386.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 257.643372 m, bearing: 27.029304 deg, approach rate: -0.627937 m/s, LOS rate: 0.004957 deg/s, cmd heading: 33.959554 deg, new cmd heading: 33.963795 deg. 2025-10-29T00:39:46.917Z,1761698386.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592780 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:47.125Z,1761698387.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007376 2025-10-29T00:39:47.258Z,1761698387.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821462,-0.566221,-0.067783],[0.569883,0.810753,0.133837],[-0.020826,-0.148571,0.988682]] 2025-10-29T00:39:47.287Z,1761698387.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:47.290Z,1761698387.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 257.395935 m, bearing: 27.031240 deg, approach rate: -0.627776 m/s, LOS rate: 0.004915 deg/s, cmd heading: 33.963795 deg, new cmd heading: 33.967669 deg. 2025-10-29T00:39:47.291Z,1761698387.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592848 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:47.377Z,1761698387.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259382 2025-10-29T00:39:47.629Z,1761698387.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510994 2025-10-29T00:39:47.659Z,1761698387.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821178,-0.566567,-0.068336],[0.570349,0.810777,0.131692],[-0.019208,-0.147118,0.988932]] 2025-10-29T00:39:47.678Z,1761698387.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:47.680Z,1761698387.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 257.151001 m, bearing: 27.033136 deg, approach rate: -0.627462 m/s, LOS rate: 0.004863 deg/s, cmd heading: 33.967668 deg, new cmd heading: 33.971465 deg. 2025-10-29T00:39:47.681Z,1761698387.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592914 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:47.881Z,1761698387.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763007 2025-10-29T00:39:48.064Z,1761698388.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820849,-0.566868,-0.069770],[0.570861,0.810447,0.131505],[-0.018001,-0.147775,0.988857]] 2025-10-29T00:39:48.104Z,1761698388.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:48.112Z,1761698388.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 256.880280 m, bearing: 27.033833 deg, approach rate: -0.635104 m/s, LOS rate: 0.001638 deg/s, cmd heading: 33.971466 deg, new cmd heading: 33.972862 deg. 2025-10-29T00:39:48.125Z,1761698388.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592938 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:48.133Z,1761698388.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015091 2025-10-29T00:39:48.385Z,1761698388.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267559 2025-10-29T00:39:48.466Z,1761698388.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820361,-0.567418,-0.071023],[0.571603,0.810055,0.130694],[-0.016626,-0.147813,0.988876]] 2025-10-29T00:39:48.497Z,1761698388.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:48.499Z,1761698388.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:48.502Z,1761698388.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 256.625946 m, bearing: 27.034440 deg, approach rate: -0.643525 m/s, LOS rate: 0.001536 deg/s, cmd heading: 33.972862 deg, new cmd heading: 33.974076 deg. 2025-10-29T00:39:48.503Z,1761698388.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592960 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:48.637Z,1761698388.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519118 2025-10-29T00:39:48.889Z,1761698388.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770987 2025-10-29T00:39:48.936Z,1761698388.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:48.939Z,1761698388.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 256.343628 m, bearing: 27.033332 deg, approach rate: -0.646241 m/s, LOS rate: -0.002538 deg/s, cmd heading: 33.974078 deg, new cmd heading: 33.971861 deg. 2025-10-29T00:39:48.940Z,1761698388.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592921 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:49.141Z,1761698389.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023490 2025-10-29T00:39:49.274Z,1761698389.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819404,-0.568427,-0.073951],[0.573058,0.809295,0.129020],[-0.013490,-0.148097,0.988881]] 2025-10-29T00:39:49.319Z,1761698389.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:49.326Z,1761698389.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 256.112885 m, bearing: 27.032336 deg, approach rate: -0.601764 m/s, LOS rate: -0.002602 deg/s, cmd heading: 33.971862 deg, new cmd heading: 33.969866 deg. 2025-10-29T00:39:49.327Z,1761698389.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592886 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:49.394Z,1761698389.394 [DAT](INFO): DAT read: Rx Time:00:39:48.6785 2025-10-29T00:39:49.394Z,1761698389.394 [DAT](INFO): Rx dataTimestamp_ set to:1761698389.393855 2025-10-29T00:39:49.395Z,1761698389.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277139 2025-10-29T00:39:49.645Z,1761698389.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527039 2025-10-29T00:39:49.678Z,1761698389.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818840,-0.569044,-0.075435],[0.573900,0.808851,0.128062],[-0.011857,-0.148154,0.988893]] 2025-10-29T00:39:49.716Z,1761698389.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:49.719Z,1761698389.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 255.842667 m, bearing: 27.031105 deg, approach rate: -0.681199 m/s, LOS rate: -0.003105 deg/s, cmd heading: 33.969867 deg, new cmd heading: 33.967404 deg. 2025-10-29T00:39:49.720Z,1761698389.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592843 target range: 263.125244 and range: 264.60 m. 2025-10-29T00:39:49.898Z,1761698389.898 [DAT](INFO): DAT read: Range 11 to 50 : 261.6 m (Round-trip 348.8 ms) speed 0.3 m/s 2025-10-29T00:39:49.898Z,1761698389.898 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:39:49.899Z,1761698389.899 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:49.899Z,1761698389.899 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:49.899Z,1761698389.899 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:50.082Z,1761698390.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818186,-0.569783,-0.076936],[0.574865,0.808352,0.126876],[-0.010100,-0.148036,0.988930]] 2025-10-29T00:39:50.133Z,1761698390.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 261.600006 m, deltaT: 4.032016 s, deltaX: -3.000000 m, approachRate: -0.744045 m/s, rangeRepo size: 4 2025-10-29T00:39:50.133Z,1761698390.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:50.149Z,1761698390.149 [DAT](INFO): DAT read: user:506> 2025-10-29T00:39:50.150Z,1761698390.150 [DAT](INFO): DAT read: Tx time:00:39:49.9255 2025-10-29T00:39:50.150Z,1761698390.150 [DAT](INFO): Ping request sent. 2025-10-29T00:39:50.150Z,1761698390.150 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:50.150Z,1761698390.150 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:50.151Z,1761698390.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-29T00:39:50.156Z,1761698390.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 255.569168 m, bearing: 27.028827 deg, approach rate: -0.657747 m/s, LOS rate: -0.005485 deg/s, cmd heading: 33.967405 deg, new cmd heading: 33.962843 deg. 2025-10-29T00:39:50.157Z,1761698390.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592763 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:50.401Z,1761698390.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251245 2025-10-29T00:39:50.487Z,1761698390.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817646,-0.570312,-0.078731],[0.575656,0.807821,0.126673],[-0.008643,-0.148895,0.988815]] 2025-10-29T00:39:50.542Z,1761698390.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:50.548Z,1761698390.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:50.551Z,1761698390.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 255.307938 m, bearing: 27.026588 deg, approach rate: -0.633885 m/s, LOS rate: -0.005439 deg/s, cmd heading: 33.962842 deg, new cmd heading: 33.958360 deg. 2025-10-29T00:39:50.552Z,1761698390.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592685 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:50.654Z,1761698390.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504106 2025-10-29T00:39:50.891Z,1761698390.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816975,-0.571072,-0.080176],[0.576630,0.807274,0.125724],[-0.007073,-0.148946,0.988820]] 2025-10-29T00:39:50.905Z,1761698390.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754975 2025-10-29T00:39:50.953Z,1761698390.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:50.956Z,1761698390.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 255.041504 m, bearing: 27.024905 deg, approach rate: -0.651134 m/s, LOS rate: -0.004118 deg/s, cmd heading: 33.958358 deg, new cmd heading: 33.954989 deg. 2025-10-29T00:39:50.957Z,1761698390.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592626 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:51.162Z,1761698391.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011527 2025-10-29T00:39:51.326Z,1761698391.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:51.329Z,1761698391.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 254.804596 m, bearing: 27.023405 deg, approach rate: -0.635476 m/s, LOS rate: -0.004026 deg/s, cmd heading: 33.954988 deg, new cmd heading: 33.951986 deg. 2025-10-29T00:39:51.330Z,1761698391.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592574 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:51.409Z,1761698391.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031 2025-10-29T00:39:51.661Z,1761698391.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510932 2025-10-29T00:39:51.698Z,1761698391.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815914,-0.572266,-0.082440],[0.578156,0.806460,0.123927],[-0.004435,-0.148777,0.988861]] 2025-10-29T00:39:51.736Z,1761698391.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:51.739Z,1761698391.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 254.544510 m, bearing: 27.021648 deg, approach rate: -0.634793 m/s, LOS rate: -0.004294 deg/s, cmd heading: 33.951986 deg, new cmd heading: 33.948467 deg. 2025-10-29T00:39:51.741Z,1761698391.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592513 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:51.913Z,1761698391.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763038 2025-10-29T00:39:52.140Z,1761698392.140 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, 0.00, +0.00,219.24 2025-10-29T00:39:52.155Z,1761698392.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:52.158Z,1761698392.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 254.278183 m, bearing: 27.019844 deg, approach rate: -0.634952 m/s, LOS rate: -0.004304 deg/s, cmd heading: 33.948468 deg, new cmd heading: 33.944858 deg. 2025-10-29T00:39:52.159Z,1761698392.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592450 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:52.165Z,1761698392.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015005 2025-10-29T00:39:52.417Z,1761698392.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267439 2025-10-29T00:39:52.523Z,1761698392.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815089,-0.572944,-0.085820],[0.579335,0.805864,0.122284],[-0.000903,-0.149391,0.988778]] 2025-10-29T00:39:52.544Z,1761698392.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:52.546Z,1761698392.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:52.549Z,1761698392.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 254.030487 m, bearing: 27.018083 deg, approach rate: -0.633189 m/s, LOS rate: -0.004507 deg/s, cmd heading: 33.944859 deg, new cmd heading: 33.941332 deg. 2025-10-29T00:39:52.550Z,1761698392.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592388 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:52.672Z,1761698392.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522365 2025-10-29T00:39:52.925Z,1761698392.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774843 2025-10-29T00:39:52.968Z,1761698392.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:52.971Z,1761698392.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 253.757446 m, bearing: 27.016856 deg, approach rate: -0.648327 m/s, LOS rate: -0.002915 deg/s, cmd heading: 33.941331 deg, new cmd heading: 33.938875 deg. 2025-10-29T00:39:52.972Z,1761698392.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592345 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:53.182Z,1761698393.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030811 2025-10-29T00:39:53.327Z,1761698393.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815201,-0.572471,-0.087888],[0.579177,0.806080,0.121611],[0.001226,-0.150040,0.988679]] 2025-10-29T00:39:53.345Z,1761698393.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:53.348Z,1761698393.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 253.512787 m, bearing: 27.015765 deg, approach rate: -0.647477 m/s, LOS rate: -0.002890 deg/s, cmd heading: 33.938875 deg, new cmd heading: 33.936691 deg. 2025-10-29T00:39:53.349Z,1761698393.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592307 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:53.429Z,1761698393.429 [DAT](INFO): DAT read: Rx Time:00:39:52.6763 2025-10-29T00:39:53.430Z,1761698393.430 [DAT](INFO): Rx dataTimestamp_ set to:1761698393.429301 2025-10-29T00:39:53.430Z,1761698393.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280164 2025-10-29T00:39:53.681Z,1761698393.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530922 2025-10-29T00:39:53.723Z,1761698393.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815618,-0.571825,-0.088226],[0.578586,0.806685,0.120407],[0.002319,-0.149252,0.988796]] 2025-10-29T00:39:53.760Z,1761698393.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 263.13 m. 2025-10-29T00:39:53.765Z,1761698393.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 263.125244 m, nav range: 253.256226 m, bearing: 27.014662 deg, approach rate: -0.619157 m/s, LOS rate: -0.002665 deg/s, cmd heading: 33.936690 deg, new cmd heading: 33.934481 deg. 2025-10-29T00:39:53.766Z,1761698393.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592268 target range: 263.125244 and range: 261.60 m. 2025-10-29T00:39:53.938Z,1761698393.938 [DAT](INFO): DAT read: 00:39:52.6763 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 427, 0.17, 2.680, 1.307, 3.058, 1.912, PHS= 0.870,-0.560, 1.102, RAW= 157.4, -17.7, CAL= 160.0, -19.3, ROT= 350.0, 19.3 2025-10-29T00:39:53.939Z,1761698393.939 [DAT](INFO): got valid direction response: 00:39:52.6763 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 427, 0.17, 2.680, 1.307, 3.058, 1.912, PHS= 0.870,-0.560, 1.102, RAW= 157.4, -17.7, CAL= 160.0, -19.3, ROT= 350.0, 19.3 2025-10-29T00:39:53.940Z,1761698393.940 [DAT](INFO): DAT read: Bearing 162.2, -6.5 (Local) 2025-10-29T00:39:53.941Z,1761698393.941 [DAT](INFO): Local bearing/azimuth received: Bearing 162.2, -6.5 (Local) 2025-10-29T00:39:53.942Z,1761698393.942 [DAT](INFO): DAT read: Range 11 to 50 : 260.0 m (Round-trip 346.7 ms) speed 0.8 m/s 2025-10-29T00:39:53.942Z,1761698393.942 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:53.943Z,1761698393.943 [DAT](INFO): direction in FSK: [0.929463,-0.163889,-0.330514] 2025-10-29T00:39:53.944Z,1761698393.944 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:53.947Z,1761698393.947 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:53.947Z,1761698393.947 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:53.947Z,1761698393.947 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:54.130Z,1761698394.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815877,-0.571220,-0.089741],[0.578216,0.806868,0.120954],[0.003318,-0.150573,0.988593]] 2025-10-29T00:39:54.185Z,1761698394.185 [DAT](INFO): DAT read: user:507> 2025-10-29T00:39:54.185Z,1761698394.185 [DAT](INFO): DAT read: Tx time:00:39:53.9754 2025-10-29T00:39:54.186Z,1761698394.186 [DAT](INFO): Ping request sent. 2025-10-29T00:39:54.186Z,1761698394.186 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:54.186Z,1761698394.186 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:54.187Z,1761698394.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000767 2025-10-29T00:39:54.202Z,1761698394.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 260.000000 m, deltaT: 4.035941 s, deltaX: -1.600006 m, approachRate: -0.396439 m/s, rangeRepo size: 4 2025-10-29T00:39:54.208Z,1761698394.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 258.545227 m, bearing: 22.502447 deg, lat: 36.779465 deg, lon: -121.859168 deg, deltaT: 8.067957 s, deltaX: -4.580017 m, approachRate: -0.567680 m/s, posRepo size: 4 2025-10-29T00:39:54.209Z,1761698394.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:54.211Z,1761698394.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 253.249573 m, bearing: 26.984494 deg, approach rate: 0.000000 m/s, LOS rate: -0.002665 deg/s, cmd heading: 33.934480 deg, new cmd heading: 33.932128 deg. 2025-10-29T00:39:54.216Z,1761698394.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592227 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:54.437Z,1761698394.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251473 2025-10-29T00:39:54.541Z,1761698394.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816349,-0.570375,-0.090813],[0.577541,0.807408,0.120578],[0.004548,-0.150882,0.988541]] 2025-10-29T00:39:54.558Z,1761698394.558 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:54.560Z,1761698394.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:54.563Z,1761698394.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 253.002258 m, bearing: 26.984817 deg, approach rate: -0.689228 m/s, LOS rate: 0.000901 deg/s, cmd heading: 33.932127 deg, new cmd heading: 33.932774 deg. 2025-10-29T00:39:54.584Z,1761698394.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592239 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:54.689Z,1761698394.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502924 2025-10-29T00:39:54.941Z,1761698394.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755016 2025-10-29T00:39:54.945Z,1761698394.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816780,-0.569670,-0.091355],[0.576924,0.807927,0.120055],[0.005416,-0.150764,0.988555]] 2025-10-29T00:39:54.993Z,1761698394.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:54.999Z,1761698394.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 252.728180 m, bearing: 26.985650 deg, approach rate: -0.634175 m/s, LOS rate: 0.001931 deg/s, cmd heading: 33.932773 deg, new cmd heading: 33.934441 deg. 2025-10-29T00:39:55.016Z,1761698395.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592268 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:55.193Z,1761698395.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006954 2025-10-29T00:39:55.350Z,1761698395.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817203,-0.568939,-0.092134],[0.576316,0.808382,0.119910],[0.006257,-0.151089,0.988500]] 2025-10-29T00:39:55.368Z,1761698395.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:55.371Z,1761698395.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 252.489731 m, bearing: 26.986417 deg, approach rate: -0.634151 m/s, LOS rate: 0.002040 deg/s, cmd heading: 33.934443 deg, new cmd heading: 33.935976 deg. 2025-10-29T00:39:55.372Z,1761698395.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592295 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:55.447Z,1761698395.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261248 2025-10-29T00:39:55.701Z,1761698395.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514990 2025-10-29T00:39:55.755Z,1761698395.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817590,-0.568305,-0.092605],[0.575756,0.808885,0.119207],[0.007161,-0.150780,0.988541]] 2025-10-29T00:39:55.898Z,1761698395.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:55.913Z,1761698395.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 252.183701 m, bearing: 26.987451 deg, approach rate: -0.585572 m/s, LOS rate: 0.001981 deg/s, cmd heading: 33.935976 deg, new cmd heading: 33.938047 deg. 2025-10-29T00:39:55.914Z,1761698395.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592331 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:55.954Z,1761698395.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767617 2025-10-29T00:39:56.205Z,1761698396.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019022 2025-10-29T00:39:56.219Z,1761698396.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818097,-0.567449,-0.093381],[0.575026,0.809399,0.119238],[0.007921,-0.151245,0.988465]] 2025-10-29T00:39:56.300Z,1761698396.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:56.303Z,1761698396.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 251.909836 m, bearing: 26.988446 deg, approach rate: -0.675996 m/s, LOS rate: 0.002459 deg/s, cmd heading: 33.938045 deg, new cmd heading: 33.940038 deg. 2025-10-29T00:39:56.304Z,1761698396.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592365 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:56.457Z,1761698396.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270979 2025-10-29T00:39:56.618Z,1761698396.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818834,-0.566173,-0.094649],[0.573968,0.809963,0.120503],[0.008436,-0.152997,0.988191]] 2025-10-29T00:39:56.659Z,1761698396.659 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:56.661Z,1761698396.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:56.664Z,1761698396.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 251.675003 m, bearing: 26.989365 deg, approach rate: -0.642541 m/s, LOS rate: 0.002516 deg/s, cmd heading: 33.940036 deg, new cmd heading: 33.941876 deg. 2025-10-29T00:39:56.665Z,1761698396.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592398 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:56.709Z,1761698396.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523176 2025-10-29T00:39:56.965Z,1761698396.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778819 2025-10-29T00:39:57.033Z,1761698397.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819581,-0.565002,-0.095178],[0.572890,0.810743,0.120386],[0.009146,-0.153193,0.988154]] 2025-10-29T00:39:57.094Z,1761698397.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:57.097Z,1761698397.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 251.403900 m, bearing: 26.990837 deg, approach rate: -0.626088 m/s, LOS rate: 0.003404 deg/s, cmd heading: 33.941877 deg, new cmd heading: 33.944825 deg. 2025-10-29T00:39:57.098Z,1761698397.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592449 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:57.214Z,1761698397.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027603 2025-10-29T00:39:57.431Z,1761698397.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820298,-0.563779,-0.096250],[0.571850,0.811396,0.120926],[0.009921,-0.154236,0.987984]] 2025-10-29T00:39:57.449Z,1761698397.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:57.452Z,1761698397.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 251.181793 m, bearing: 26.992106 deg, approach rate: -0.625565 m/s, LOS rate: 0.003578 deg/s, cmd heading: 33.944824 deg, new cmd heading: 33.947365 deg. 2025-10-29T00:39:57.453Z,1761698397.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592493 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:57.465Z,1761698397.465 [DAT](INFO): DAT read: Rx Time:00:39:56.7234 2025-10-29T00:39:57.465Z,1761698397.465 [DAT](INFO): Rx dataTimestamp_ set to:1761698397.465026 2025-10-29T00:39:57.466Z,1761698397.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279913 2025-10-29T00:39:57.720Z,1761698397.720 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534527 2025-10-29T00:39:57.834Z,1761698397.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820520,-0.563312,-0.097092],[0.571514,0.811685,0.120576],[0.010886,-0.154425,0.987945]] 2025-10-29T00:39:57.944Z,1761698397.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 258.55 m. 2025-10-29T00:39:57.947Z,1761698397.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 258.545227 m, nav range: 250.920380 m, bearing: 26.993627 deg, approach rate: -0.533692 m/s, LOS rate: 0.003108 deg/s, cmd heading: 33.947365 deg, new cmd heading: 33.950410 deg. 2025-10-29T00:39:57.948Z,1761698397.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592546 target range: 258.545227 and range: 260.00 m. 2025-10-29T00:39:57.974Z,1761698397.974 [DAT](INFO): DAT read: 00:39:56.7234 LVL= 32752, 32753, 32754, 28659, AGC= 70, IDX= 409,-0.02, 1.045,-0.426, 1.328, 0.183, PHS= 0.964,-0.565, 1.101, RAW= 154.3, -18.3, CAL= 156.7, -20.2, ROT= 353.3, 20.2 2025-10-29T00:39:57.975Z,1761698397.975 [DAT](INFO): got valid direction response: 00:39:56.7234 LVL= 32752, 32753, 32754, 28659, AGC= 70, IDX= 409,-0.02, 1.045,-0.426, 1.328, 0.183, PHS= 0.964,-0.565, 1.101, RAW= 154.3, -18.3, CAL= 156.7, -20.2, ROT= 353.3, 20.2 2025-10-29T00:39:57.976Z,1761698397.976 [DAT](INFO): DAT read: Bearing 161.7, -2.9 (Local) 2025-10-29T00:39:57.976Z,1761698397.976 [DAT](INFO): Local bearing/azimuth received: Bearing 161.7, -2.9 (Local) 2025-10-29T00:39:57.978Z,1761698397.978 [DAT](INFO): DAT read: Range 11 to 50 : 257.8 m (Round-trip 343.8 ms) speed 0.6 m/s 2025-10-29T00:39:57.978Z,1761698397.978 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:39:57.979Z,1761698397.979 [DAT](INFO): direction in FSK: [0.932084,-0.109495,-0.345298] 2025-10-29T00:39:57.980Z,1761698397.980 [DAT](INFO): publishing direction and range info 2025-10-29T00:39:57.983Z,1761698397.983 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:39:57.983Z,1761698397.983 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:39:57.983Z,1761698397.983 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:39:58.221Z,1761698398.221 [DAT](INFO): DAT read: user:508> 2025-10-29T00:39:58.222Z,1761698398.222 [DAT](INFO): DAT read: Tx time:00:39:57.9754 2025-10-29T00:39:58.222Z,1761698398.222 [DAT](INFO): Ping request sent. 2025-10-29T00:39:58.222Z,1761698398.222 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:39:58.222Z,1761698398.222 [DAT](INFO): publishing transmit ping time 2025-10-29T00:39:58.223Z,1761698398.223 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-29T00:39:58.334Z,1761698398.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821243,-0.562125,-0.097856],[0.570461,0.812394,0.120790],[0.011598,-0.155021,0.987843]] 2025-10-29T00:39:58.408Z,1761698398.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 257.799988 m, deltaT: 4.035936 s, deltaX: -2.200012 m, approachRate: -0.545106 m/s, rangeRepo size: 4 2025-10-29T00:39:58.410Z,1761698398.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 256.356995 m, bearing: 24.981167 deg, lat: 36.779465 deg, lon: -121.859196 deg, deltaT: 4.035936 s, deltaX: -2.188232 m, approachRate: -0.542187 m/s, posRepo size: 4 2025-10-29T00:39:58.411Z,1761698398.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:39:58.418Z,1761698398.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 249.486588 m, bearing: 26.485959 deg, approach rate: 0.000000 m/s, LOS rate: 0.003108 deg/s, cmd heading: 33.950411 deg, new cmd heading: 33.953296 deg. 2025-10-29T00:39:58.419Z,1761698398.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592597 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:39:58.474Z,1761698398.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252012 2025-10-29T00:39:58.725Z,1761698398.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502989 2025-10-29T00:39:58.760Z,1761698398.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821968,-0.560961,-0.098444],[0.569405,0.813083,0.121133],[0.012092,-0.155623,0.987743]] 2025-10-29T00:39:58.800Z,1761698398.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:39:58.802Z,1761698398.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:39:58.805Z,1761698398.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 249.216400 m, bearing: 26.486164 deg, approach rate: -0.677453 m/s, LOS rate: 0.000513 deg/s, cmd heading: 33.953297 deg, new cmd heading: 33.953707 deg. 2025-10-29T00:39:58.806Z,1761698398.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592604 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:39:58.978Z,1761698398.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756106 2025-10-29T00:39:59.222Z,1761698399.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:39:59.225Z,1761698399.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 248.959534 m, bearing: 26.486003 deg, approach rate: -0.611415 m/s, LOS rate: -0.000382 deg/s, cmd heading: 33.953707 deg, new cmd heading: 33.953386 deg. 2025-10-29T00:39:59.226Z,1761698399.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592598 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:39:59.229Z,1761698399.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007031 2025-10-29T00:39:59.483Z,1761698399.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260936 2025-10-29T00:39:59.546Z,1761698399.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822844,-0.559616,-0.098780],[0.568111,0.814172,0.119888],[0.013332,-0.154767,0.987861]] 2025-10-29T00:39:59.585Z,1761698399.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:39:59.588Z,1761698399.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 248.727142 m, bearing: 26.485945 deg, approach rate: -0.640530 m/s, LOS rate: -0.000161 deg/s, cmd heading: 33.953386 deg, new cmd heading: 33.953269 deg. 2025-10-29T00:39:59.593Z,1761698399.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592596 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:39:59.733Z,1761698399.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510860 2025-10-29T00:39:59.979Z,1761698399.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822846,-0.559675,-0.098433],[0.568091,0.814440,0.118151],[0.014041,-0.153139,0.988105]] 2025-10-29T00:39:59.986Z,1761698399.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763745 2025-10-29T00:40:00.059Z,1761698400.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:00.066Z,1761698400.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 248.413406 m, bearing: 26.485427 deg, approach rate: -0.661492 m/s, LOS rate: -0.001093 deg/s, cmd heading: 33.953270 deg, new cmd heading: 33.952233 deg. 2025-10-29T00:40:00.067Z,1761698400.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592578 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:00.237Z,1761698400.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014977 2025-10-29T00:40:00.397Z,1761698400.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823119,-0.559221,-0.098727],[0.567674,0.814860,0.117257],[0.014877,-0.152561,0.988182]] 2025-10-29T00:40:00.415Z,1761698400.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:00.418Z,1761698400.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 248.173660 m, bearing: 26.485060 deg, approach rate: -0.674236 m/s, LOS rate: -0.001033 deg/s, cmd heading: 33.952232 deg, new cmd heading: 33.951497 deg. 2025-10-29T00:40:00.419Z,1761698400.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592565 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:00.492Z,1761698400.492 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269403 2025-10-29T00:40:00.741Z,1761698400.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519169 2025-10-29T00:40:00.800Z,1761698400.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823366,-0.559002,-0.097904],[0.567295,0.815467,0.114849],[0.015636,-0.150103,0.988547]] 2025-10-29T00:40:00.823Z,1761698400.823 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:00.825Z,1761698400.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:00.828Z,1761698400.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 247.907104 m, bearing: 26.484688 deg, approach rate: -0.649532 m/s, LOS rate: -0.000908 deg/s, cmd heading: 33.951497 deg, new cmd heading: 33.950752 deg. 2025-10-29T00:40:00.829Z,1761698400.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592552 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:00.999Z,1761698400.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776146 2025-10-29T00:40:01.245Z,1761698401.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022976 2025-10-29T00:40:01.262Z,1761698401.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:01.265Z,1761698401.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 247.625076 m, bearing: 26.483113 deg, approach rate: -0.645376 m/s, LOS rate: -0.003608 deg/s, cmd heading: 33.950753 deg, new cmd heading: 33.947600 deg. 2025-10-29T00:40:01.266Z,1761698401.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592497 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:01.498Z,1761698401.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275979 2025-10-29T00:40:01.605Z,1761698401.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823968,-0.558338,-0.096621],[0.566373,0.816724,0.110377],[0.017285,-0.145671,0.989182]] 2025-10-29T00:40:01.636Z,1761698401.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:01.639Z,1761698401.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 247.392380 m, bearing: 26.481883 deg, approach rate: -0.623046 m/s, LOS rate: -0.003297 deg/s, cmd heading: 33.947601 deg, new cmd heading: 33.945138 deg. 2025-10-29T00:40:01.639Z,1761698401.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592454 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:01.750Z,1761698401.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527441 2025-10-29T00:40:02.005Z,1761698402.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782993 2025-10-29T00:40:02.024Z,1761698402.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824361,-0.557956,-0.095472],[0.565780,0.817492,0.107701],[0.017955,-0.142801,0.989588]] 2025-10-29T00:40:02.078Z,1761698402.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:02.081Z,1761698402.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 247.100327 m, bearing: 26.480585 deg, approach rate: -0.660465 m/s, LOS rate: -0.002938 deg/s, cmd heading: 33.945139 deg, new cmd heading: 33.942540 deg. 2025-10-29T00:40:02.082Z,1761698402.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592409 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:02.257Z,1761698402.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034915 2025-10-29T00:40:02.412Z,1761698402.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824723,-0.557324,-0.096034],[0.565224,0.817948,0.107160],[0.018828,-0.142658,0.989593]] 2025-10-29T00:40:02.440Z,1761698402.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:02.443Z,1761698402.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 246.866760 m, bearing: 26.479582 deg, approach rate: -0.644908 m/s, LOS rate: -0.002773 deg/s, cmd heading: 33.942540 deg, new cmd heading: 33.940531 deg. 2025-10-29T00:40:02.444Z,1761698402.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592374 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:02.510Z,1761698402.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288274 2025-10-29T00:40:02.762Z,1761698402.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.539555 2025-10-29T00:40:02.822Z,1761698402.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825198,-0.556303,-0.097853],[0.564501,0.818259,0.108585],[0.019663,-0.144843,0.989259]] 2025-10-29T00:40:02.839Z,1761698402.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:02.841Z,1761698402.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:02.845Z,1761698402.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 246.608597 m, bearing: 26.478517 deg, approach rate: -0.643393 m/s, LOS rate: -0.002655 deg/s, cmd heading: 33.940532 deg, new cmd heading: 33.938401 deg. 2025-10-29T00:40:02.846Z,1761698402.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592337 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:03.017Z,1761698403.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.793785 2025-10-29T00:40:03.265Z,1761698403.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.043055 2025-10-29T00:40:03.284Z,1761698403.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:03.287Z,1761698403.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 246.327698 m, bearing: 26.478303 deg, approach rate: -0.634703 m/s, LOS rate: -0.000486 deg/s, cmd heading: 33.938401 deg, new cmd heading: 33.937971 deg. 2025-10-29T00:40:03.288Z,1761698403.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592329 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:03.517Z,1761698403.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295468 2025-10-29T00:40:03.624Z,1761698403.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826146,-0.555032,-0.097074],[0.563077,0.819570,0.106063],[0.020690,-0.142284,0.989610]] 2025-10-29T00:40:03.657Z,1761698403.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:03.659Z,1761698403.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 246.100372 m, bearing: 26.478225 deg, approach rate: -0.610057 m/s, LOS rate: -0.000208 deg/s, cmd heading: 33.937970 deg, new cmd heading: 33.937815 deg. 2025-10-29T00:40:03.660Z,1761698403.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592327 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:03.770Z,1761698403.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.547366 2025-10-29T00:40:04.029Z,1761698404.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.807092 2025-10-29T00:40:04.044Z,1761698404.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826621,-0.554223,-0.097648],[0.562364,0.820016,0.106399],[0.021104,-0.142866,0.989517]] 2025-10-29T00:40:04.090Z,1761698404.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:04.093Z,1761698404.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 245.810394 m, bearing: 26.479024 deg, approach rate: -0.669269 m/s, LOS rate: 0.001846 deg/s, cmd heading: 33.937817 deg, new cmd heading: 33.939416 deg. 2025-10-29T00:40:04.094Z,1761698404.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592355 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:04.277Z,1761698404.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.054951 2025-10-29T00:40:04.432Z,1761698404.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827170,-0.553256,-0.098478],[0.561531,0.820542,0.106740],[0.021751,-0.143590,0.989398]] 2025-10-29T00:40:04.465Z,1761698404.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:04.468Z,1761698404.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 245.576431 m, bearing: 26.479723 deg, approach rate: -0.623765 m/s, LOS rate: 0.001865 deg/s, cmd heading: 33.939415 deg, new cmd heading: 33.940814 deg. 2025-10-29T00:40:04.469Z,1761698404.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592379 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:04.529Z,1761698404.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.307462 2025-10-29T00:40:04.781Z,1761698404.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.559023 2025-10-29T00:40:04.837Z,1761698404.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827895,-0.551904,-0.099960],[0.560444,0.821052,0.108518],[0.022181,-0.145863,0.989056]] 2025-10-29T00:40:04.854Z,1761698404.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:04.856Z,1761698404.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:04.859Z,1761698404.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 245.314026 m, bearing: 26.480583 deg, approach rate: -0.670748 m/s, LOS rate: 0.002200 deg/s, cmd heading: 33.940815 deg, new cmd heading: 33.942537 deg. 2025-10-29T00:40:04.860Z,1761698404.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592409 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:05.036Z,1761698405.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.813329 2025-10-29T00:40:05.244Z,1761698405.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828652,-0.550516,-0.101333],[0.559309,0.821598,0.110223],[0.022576,-0.148013,0.988728]] 2025-10-29T00:40:05.285Z,1761698405.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.063000 2025-10-29T00:40:05.294Z,1761698405.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:05.297Z,1761698405.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 245.036026 m, bearing: 26.481743 deg, approach rate: -0.635049 m/s, LOS rate: 0.002653 deg/s, cmd heading: 33.942536 deg, new cmd heading: 33.944859 deg. 2025-10-29T00:40:05.298Z,1761698405.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592450 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:05.537Z,1761698405.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.314952 2025-10-29T00:40:05.644Z,1761698405.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829291,-0.549355,-0.102400],[0.558341,0.822117,0.111257],[0.023065,-0.149439,0.988502]] 2025-10-29T00:40:05.675Z,1761698405.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:05.677Z,1761698405.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 244.799362 m, bearing: 26.482794 deg, approach rate: -0.621641 m/s, LOS rate: 0.002763 deg/s, cmd heading: 33.944859 deg, new cmd heading: 33.946962 deg. 2025-10-29T00:40:05.678Z,1761698405.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592486 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:05.789Z,1761698405.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.567048 2025-10-29T00:40:06.061Z,1761698406.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.838211 2025-10-29T00:40:06.082Z,1761698406.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829953,-0.548152,-0.103477],[0.557340,0.822622,0.112535],[0.023436,-0.151070,0.988245]] 2025-10-29T00:40:06.135Z,1761698406.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:06.138Z,1761698406.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 244.509842 m, bearing: 26.484337 deg, approach rate: -0.628406 m/s, LOS rate: 0.003354 deg/s, cmd heading: 33.946962 deg, new cmd heading: 33.950053 deg. 2025-10-29T00:40:06.139Z,1761698406.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592540 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:06.309Z,1761698406.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.086897 2025-10-29T00:40:06.500Z,1761698406.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830315,-0.547685,-0.103043],[0.556792,0.823113,0.111662],[0.023660,-0.150088,0.988389]] 2025-10-29T00:40:06.533Z,1761698406.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:06.552Z,1761698406.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 244.250290 m, bearing: 26.485767 deg, approach rate: -0.652160 m/s, LOS rate: 0.003596 deg/s, cmd heading: 33.950053 deg, new cmd heading: 33.952916 deg. 2025-10-29T00:40:06.553Z,1761698406.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592590 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:06.561Z,1761698406.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.339164 2025-10-29T00:40:06.814Z,1761698406.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.591855 2025-10-29T00:40:06.900Z,1761698406.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830626,-0.547729,-0.100268],[0.556325,0.823980,0.107519],[0.023727,-0.145090,0.989134]] 2025-10-29T00:40:06.918Z,1761698406.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:06.940Z,1761698406.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:06.942Z,1761698406.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 244.001968 m, bearing: 26.487185 deg, approach rate: -0.642722 m/s, LOS rate: 0.003675 deg/s, cmd heading: 33.952915 deg, new cmd heading: 33.955755 deg. 2025-10-29T00:40:06.943Z,1761698406.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592640 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:07.068Z,1761698407.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.845464 2025-10-29T00:40:07.298Z,1761698407.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830692,-0.548039,-0.097995],[0.556229,0.824464,0.104254],[0.023658,-0.141111,0.989711]] 2025-10-29T00:40:07.317Z,1761698407.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.094961 2025-10-29T00:40:07.377Z,1761698407.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:07.379Z,1761698407.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 243.725220 m, bearing: 26.488637 deg, approach rate: -0.611665 m/s, LOS rate: 0.003212 deg/s, cmd heading: 33.955756 deg, new cmd heading: 33.958662 deg. 2025-10-29T00:40:07.384Z,1761698407.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592690 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:07.569Z,1761698407.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.347197 2025-10-29T00:40:07.704Z,1761698407.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831007,-0.547560,-0.098006],[0.555747,0.824826,0.103958],[0.023915,-0.140856,0.989741]] 2025-10-29T00:40:07.722Z,1761698407.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:07.730Z,1761698407.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 243.493378 m, bearing: 26.489887 deg, approach rate: -0.662167 m/s, LOS rate: 0.003576 deg/s, cmd heading: 33.958662 deg, new cmd heading: 33.961166 deg. 2025-10-29T00:40:07.731Z,1761698407.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592734 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:07.821Z,1761698407.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.599058 2025-10-29T00:40:08.075Z,1761698408.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.852871 2025-10-29T00:40:08.111Z,1761698408.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831012,-0.547339,-0.099191],[0.555757,0.824504,0.106433],[0.023528,-0.143573,0.989360]] 2025-10-29T00:40:08.159Z,1761698408.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:08.162Z,1761698408.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 243.215271 m, bearing: 26.490828 deg, approach rate: -0.636157 m/s, LOS rate: 0.002154 deg/s, cmd heading: 33.961166 deg, new cmd heading: 33.963049 deg. 2025-10-29T00:40:08.163Z,1761698408.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592767 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:08.325Z,1761698408.325 [DAT](INFO): Reached modem response timeout 2025-10-29T00:40:08.325Z,1761698408.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:08.325Z,1761698408.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:08.515Z,1761698408.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831259,-0.546800,-0.100093],[0.555404,0.824458,0.108603],[0.023138,-0.145869,0.989033]] 2025-10-29T00:40:08.539Z,1761698408.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:08.542Z,1761698408.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 242.975922 m, bearing: 26.491656 deg, approach rate: -0.630998 m/s, LOS rate: 0.002186 deg/s, cmd heading: 33.963051 deg, new cmd heading: 33.964709 deg. 2025-10-29T00:40:08.543Z,1761698408.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592796 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:08.577Z,1761698408.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:08.829Z,1761698408.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:08.914Z,1761698408.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831263,-0.546607,-0.101111],[0.555410,0.824181,0.110659],[0.022847,-0.148145,0.988702]] 2025-10-29T00:40:08.936Z,1761698408.936 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:08.938Z,1761698408.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:08.962Z,1761698408.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 242.721848 m, bearing: 26.492530 deg, approach rate: -0.635670 m/s, LOS rate: 0.002187 deg/s, cmd heading: 33.964710 deg, new cmd heading: 33.966459 deg. 2025-10-29T00:40:08.963Z,1761698408.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592827 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:09.083Z,1761698409.083 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:09.317Z,1761698409.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831749,-0.545807,-0.101432],[0.554672,0.824635,0.110977],[0.023072,-0.148566,0.988633]] 2025-10-29T00:40:09.333Z,1761698409.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:09.375Z,1761698409.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:09.377Z,1761698409.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 242.442383 m, bearing: 26.492427 deg, approach rate: -0.640751 m/s, LOS rate: -0.000236 deg/s, cmd heading: 33.966459 deg, new cmd heading: 33.966253 deg. 2025-10-29T00:40:09.378Z,1761698409.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592823 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:09.585Z,1761698409.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:09.722Z,1761698409.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832161,-0.545097,-0.101865],[0.554045,0.824989,0.111473],[0.023274,-0.149202,0.988533]] 2025-10-29T00:40:09.749Z,1761698409.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:09.753Z,1761698409.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 242.207626 m, bearing: 26.492380 deg, approach rate: -0.627540 m/s, LOS rate: -0.000124 deg/s, cmd heading: 33.966254 deg, new cmd heading: 33.966161 deg. 2025-10-29T00:40:09.755Z,1761698409.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592821 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:09.838Z,1761698409.838 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:10.091Z,1761698410.091 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:10.143Z,1761698410.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832521,-0.544434,-0.102473],[0.553465,0.825451,0.110932],[0.024191,-0.149069,0.988531]] 2025-10-29T00:40:10.246Z,1761698410.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:10.265Z,1761698410.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 241.896027 m, bearing: 26.492198 deg, approach rate: -0.626664 m/s, LOS rate: -0.000367 deg/s, cmd heading: 33.966162 deg, new cmd heading: 33.965797 deg. 2025-10-29T00:40:10.266Z,1761698410.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592815 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:10.341Z,1761698410.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:40:10.592Z,1761698410.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832453,-0.544458,-0.102895],[0.553540,0.825463,0.110473],[0.024788,-0.148920,0.988539]] 2025-10-29T00:40:10.593Z,1761698410.593 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:40:10.593Z,1761698410.593 [DAT](INFO): response not received 2025-10-29T00:40:10.594Z,1761698410.594 [DAT](INFO): DAT read: user:509> 2025-10-29T00:40:10.594Z,1761698410.594 [DAT](INFO): DAT read: Tx time:00:40:10.4254 2025-10-29T00:40:10.595Z,1761698410.595 [DAT](INFO): Ping request sent. 2025-10-29T00:40:10.595Z,1761698410.595 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:10.595Z,1761698410.595 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:10.596Z,1761698410.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-29T00:40:10.647Z,1761698410.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:10.659Z,1761698410.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 241.661163 m, bearing: 26.492055 deg, approach rate: -0.585230 m/s, LOS rate: -0.000356 deg/s, cmd heading: 33.965796 deg, new cmd heading: 33.965511 deg. 2025-10-29T00:40:10.660Z,1761698410.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592810 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:10.845Z,1761698410.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250026 2025-10-29T00:40:11.006Z,1761698411.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832105,-0.544916,-0.103284],[0.554031,0.825249,0.109608],[0.025508,-0.148428,0.988594]] 2025-10-29T00:40:11.058Z,1761698411.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:11.060Z,1761698411.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:11.063Z,1761698411.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 241.399231 m, bearing: 26.491860 deg, approach rate: -0.634798 m/s, LOS rate: -0.000472 deg/s, cmd heading: 33.965510 deg, new cmd heading: 33.965120 deg. 2025-10-29T00:40:11.063Z,1761698411.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592803 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:11.101Z,1761698411.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504350 2025-10-29T00:40:11.349Z,1761698411.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753991 2025-10-29T00:40:11.398Z,1761698411.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831955,-0.545014,-0.103978],[0.554218,0.825188,0.109117],[0.026331,-0.148407,0.988576]] 2025-10-29T00:40:11.458Z,1761698411.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:11.461Z,1761698411.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 241.141678 m, bearing: 26.491874 deg, approach rate: -0.646607 m/s, LOS rate: 0.000034 deg/s, cmd heading: 33.965120 deg, new cmd heading: 33.965148 deg. 2025-10-29T00:40:11.462Z,1761698411.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592804 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:11.601Z,1761698411.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006045 2025-10-29T00:40:11.805Z,1761698411.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831689,-0.545320,-0.104500],[0.554576,0.825064,0.108237],[0.027195,-0.147973,0.988617]] 2025-10-29T00:40:11.824Z,1761698411.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:11.827Z,1761698411.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 240.914383 m, bearing: 26.491864 deg, approach rate: -0.622189 m/s, LOS rate: -0.000028 deg/s, cmd heading: 33.965148 deg, new cmd heading: 33.965127 deg. 2025-10-29T00:40:11.829Z,1761698411.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592803 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:11.853Z,1761698411.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258194 2025-10-29T00:40:12.109Z,1761698412.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514168 2025-10-29T00:40:12.271Z,1761698412.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:12.281Z,1761698412.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 240.642502 m, bearing: 26.492083 deg, approach rate: -0.607561 m/s, LOS rate: 0.000490 deg/s, cmd heading: 33.965127 deg, new cmd heading: 33.965566 deg. 2025-10-29T00:40:12.282Z,1761698412.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592811 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:12.357Z,1761698412.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762001 2025-10-29T00:40:12.606Z,1761698412.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830807,-0.546308,-0.106336],[0.555762,0.824565,0.105928],[0.029811,-0.147103,0.988672]] 2025-10-29T00:40:12.609Z,1761698412.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014061 2025-10-29T00:40:12.646Z,1761698412.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:12.649Z,1761698412.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 240.408218 m, bearing: 26.492193 deg, approach rate: -0.624833 m/s, LOS rate: 0.000293 deg/s, cmd heading: 33.965564 deg, new cmd heading: 33.965784 deg. 2025-10-29T00:40:12.650Z,1761698412.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592815 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:12.862Z,1761698412.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266804 2025-10-29T00:40:13.011Z,1761698413.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830643,-0.546409,-0.107090],[0.555946,0.824554,0.105042],[0.030906,-0.146789,0.988685]] 2025-10-29T00:40:13.029Z,1761698413.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:13.032Z,1761698413.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 240.154434 m, bearing: 26.492299 deg, approach rate: -0.661882 m/s, LOS rate: 0.000276 deg/s, cmd heading: 33.965783 deg, new cmd heading: 33.965995 deg. 2025-10-29T00:40:13.033Z,1761698413.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592818 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:13.115Z,1761698413.115 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519391 2025-10-29T00:40:13.369Z,1761698413.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773794 2025-10-29T00:40:13.414Z,1761698413.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830465,-0.546612,-0.107438],[0.556120,0.824746,0.102587],[0.032534,-0.144943,0.988905]] 2025-10-29T00:40:13.455Z,1761698413.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:13.458Z,1761698413.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:13.461Z,1761698413.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 239.873901 m, bearing: 26.492764 deg, approach rate: -0.654246 m/s, LOS rate: 0.001087 deg/s, cmd heading: 33.965995 deg, new cmd heading: 33.966927 deg. 2025-10-29T00:40:13.463Z,1761698413.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592835 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:13.621Z,1761698413.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026237 2025-10-29T00:40:13.823Z,1761698413.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830489,-0.546420,-0.108224],[0.555999,0.824990,0.101276],[0.033944,-0.144281,0.988954]] 2025-10-29T00:40:13.856Z,1761698413.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:13.859Z,1761698413.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 239.612259 m, bearing: 26.493209 deg, approach rate: -0.657631 m/s, LOS rate: 0.001120 deg/s, cmd heading: 33.966927 deg, new cmd heading: 33.967818 deg. 2025-10-29T00:40:13.860Z,1761698413.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592850 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:13.873Z,1761698413.873 [DAT](INFO): DAT read: Rx Time:00:40:13.1607 2025-10-29T00:40:13.874Z,1761698413.874 [DAT](INFO): Rx dataTimestamp_ set to:1761698413.873253 2025-10-29T00:40:13.874Z,1761698413.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279192 2025-10-29T00:40:13.875Z,1761698413.875 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:40:14.128Z,1761698414.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.532621 2025-10-29T00:40:14.223Z,1761698414.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830504,-0.546385,-0.108291],[0.555913,0.825264,0.099504],[0.035001,-0.142838,0.989127]] 2025-10-29T00:40:14.285Z,1761698414.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 256.36 m. 2025-10-29T00:40:14.295Z,1761698414.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 256.356995 m, nav range: 239.330536 m, bearing: 26.494712 deg, approach rate: -0.659529 m/s, LOS rate: 0.003522 deg/s, cmd heading: 33.967818 deg, new cmd heading: 33.970827 deg. 2025-10-29T00:40:14.299Z,1761698414.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592903 target range: 256.356995 and range: 257.80 m. 2025-10-29T00:40:14.386Z,1761698414.386 [DAT](INFO): DAT read: 00:40:13.1607 LVL= 32752, 32753, 32754, 31411, AGC= 71, IDX= 28,-0.32,-2.296, 2.646,-1.817,-2.455, PHS= 0.261,-1.137, 0.594, RAW= 160.4, 3.6, CAL= 159.3, 2.4, ROT= 350.7, -2.4 2025-10-29T00:40:14.387Z,1761698414.387 [DAT](INFO): got valid direction response: 00:40:13.1607 LVL= 32752, 32753, 32754, 31411, AGC= 71, IDX= 28,-0.32,-2.296, 2.646,-1.817,-2.455, PHS= 0.261,-1.137, 0.594, RAW= 160.4, 3.6, CAL= 159.3, 2.4, ROT= 350.7, -2.4 2025-10-29T00:40:14.389Z,1761698414.389 [DAT](INFO): DAT read: Bearing 182.0, -7.7 (Local) 2025-10-29T00:40:14.390Z,1761698414.390 [DAT](INFO): Local bearing/azimuth received: Bearing 182.0, -7.7 (Local) 2025-10-29T00:40:14.391Z,1761698414.391 [DAT](INFO): DAT read: Range 11 to 50 : 248.3 m (Round-trip 331.1 ms) speed 0.4 m/s 2025-10-29T00:40:14.392Z,1761698414.392 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:14.394Z,1761698414.394 [DAT](INFO): direction in FSK: [0.985990,-0.161462,0.041876] 2025-10-29T00:40:14.394Z,1761698414.394 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:14.399Z,1761698414.399 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:14.400Z,1761698414.400 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:14.400Z,1761698414.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:14.629Z,1761698414.629 [DAT](INFO): DAT read: user:510> 2025-10-29T00:40:14.630Z,1761698414.630 [DAT](INFO): DAT read: Tx time:00:40:14.3754 2025-10-29T00:40:14.630Z,1761698414.630 [DAT](INFO): Ping request sent. 2025-10-29T00:40:14.630Z,1761698414.630 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:14.630Z,1761698414.630 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:14.631Z,1761698414.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-29T00:40:14.644Z,1761698414.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830681,-0.546144,-0.108146],[0.555581,0.825724,0.097517],[0.036040,-0.141089,0.989341]] 2025-10-29T00:40:14.712Z,1761698414.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 248.300003 m, deltaT: 16.409111 s, deltaX: -9.499985 m, approachRate: -0.578946 m/s, rangeRepo size: 4 2025-10-29T00:40:14.714Z,1761698414.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 246.896622 m, bearing: 24.876013 deg, lat: 36.779465 deg, lon: -121.859233 deg, deltaT: 16.409111 s, deltaX: -9.460373 m, approachRate: -0.576532 m/s, posRepo size: 4 2025-10-29T00:40:14.715Z,1761698414.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:14.721Z,1761698414.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 237.597244 m, bearing: 25.780801 deg, approach rate: 0.000000 m/s, LOS rate: 0.003522 deg/s, cmd heading: 33.970827 deg, new cmd heading: 33.973813 deg. 2025-10-29T00:40:14.722Z,1761698414.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592955 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:14.876Z,1761698414.876 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:40:14.881Z,1761698414.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250919 2025-10-29T00:40:15.053Z,1761698415.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830767,-0.545993,-0.108250],[0.555385,0.826046,0.095891],[0.037064,-0.139783,0.989488]] 2025-10-29T00:40:15.081Z,1761698415.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:15.084Z,1761698415.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 237.333755 m, bearing: 25.781475 deg, approach rate: -0.704017 m/s, LOS rate: 0.001802 deg/s, cmd heading: 33.973815 deg, new cmd heading: 33.975164 deg. 2025-10-29T00:40:15.085Z,1761698415.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592978 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:15.135Z,1761698415.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504393 2025-10-29T00:40:15.385Z,1761698415.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754716 2025-10-29T00:40:15.454Z,1761698415.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831282,-0.545315,-0.107709],[0.554566,0.826806,0.094065],[0.037760,-0.137926,0.989722]] 2025-10-29T00:40:15.512Z,1761698415.512 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:15.514Z,1761698415.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:15.517Z,1761698415.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 237.045319 m, bearing: 25.782201 deg, approach rate: -0.666013 m/s, LOS rate: 0.001679 deg/s, cmd heading: 33.975164 deg, new cmd heading: 33.976618 deg. 2025-10-29T00:40:15.518Z,1761698415.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593004 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:15.637Z,1761698415.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006750 2025-10-29T00:40:15.875Z,1761698415.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831267,-0.545405,-0.107369],[0.554526,0.827074,0.091921],[0.038668,-0.135950,0.989961]] 2025-10-29T00:40:15.889Z,1761698415.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258875 2025-10-29T00:40:15.896Z,1761698415.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:15.899Z,1761698415.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 236.791656 m, bearing: 25.782849 deg, approach rate: -0.665068 m/s, LOS rate: 0.001700 deg/s, cmd heading: 33.976619 deg, new cmd heading: 33.977916 deg. 2025-10-29T00:40:15.900Z,1761698415.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593027 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:16.151Z,1761698416.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.520201 2025-10-29T00:40:16.262Z,1761698416.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831714,-0.544890,-0.106522],[0.553827,0.827742,0.090104],[0.039076,-0.133935,0.990219]] 2025-10-29T00:40:16.307Z,1761698416.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:16.310Z,1761698416.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 236.518112 m, bearing: 25.783875 deg, approach rate: -0.664861 m/s, LOS rate: 0.002496 deg/s, cmd heading: 33.977917 deg, new cmd heading: 33.979971 deg. 2025-10-29T00:40:16.311Z,1761698416.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593062 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:16.394Z,1761698416.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763293 2025-10-29T00:40:16.645Z,1761698416.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014753 2025-10-29T00:40:16.673Z,1761698416.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832169,-0.544455,-0.105178],[0.553168,0.828313,0.088898],[0.038719,-0.132159,0.990472]] 2025-10-29T00:40:16.691Z,1761698416.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:16.694Z,1761698416.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 236.263550 m, bearing: 25.784887 deg, approach rate: -0.662940 m/s, LOS rate: 0.002638 deg/s, cmd heading: 33.979969 deg, new cmd heading: 33.981995 deg. 2025-10-29T00:40:16.695Z,1761698416.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593098 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:16.897Z,1761698416.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267297 2025-10-29T00:40:17.070Z,1761698417.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832900,-0.543625,-0.103677],[0.552087,0.829189,0.087435],[0.038436,-0.130063,0.990760]] 2025-10-29T00:40:17.089Z,1761698417.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:17.091Z,1761698417.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 236.000046 m, bearing: 25.786027 deg, approach rate: -0.662767 m/s, LOS rate: 0.002872 deg/s, cmd heading: 33.981994 deg, new cmd heading: 33.984278 deg. 2025-10-29T00:40:17.093Z,1761698417.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593138 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:17.149Z,1761698417.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518877 2025-10-29T00:40:17.401Z,1761698417.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770777 2025-10-29T00:40:17.487Z,1761698417.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833400,-0.543371,-0.100960],[0.551365,0.829990,0.084342],[0.037967,-0.125957,0.991309]] 2025-10-29T00:40:17.537Z,1761698417.537 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:17.539Z,1761698417.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:17.542Z,1761698417.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 235.711105 m, bearing: 25.785875 deg, approach rate: -0.642317 m/s, LOS rate: -0.000337 deg/s, cmd heading: 33.984279 deg, new cmd heading: 33.983975 deg. 2025-10-29T00:40:17.543Z,1761698417.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593132 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:17.653Z,1761698417.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022782 2025-10-29T00:40:17.879Z,1761698417.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833782,-0.543191,-0.098743],[0.550831,0.830549,0.082304],[0.037304,-0.123014,0.991704]] 2025-10-29T00:40:17.905Z,1761698417.905 [DAT](INFO): DAT read: Rx Time:00:40:17.1083 2025-10-29T00:40:17.905Z,1761698417.905 [DAT](INFO): Rx dataTimestamp_ set to:1761698417.905184 2025-10-29T00:40:17.906Z,1761698417.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275889 2025-10-29T00:40:17.935Z,1761698417.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:17.942Z,1761698417.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 235.462112 m, bearing: 25.785794 deg, approach rate: -0.627600 m/s, LOS rate: -0.000205 deg/s, cmd heading: 33.983975 deg, new cmd heading: 33.983812 deg. 2025-10-29T00:40:17.943Z,1761698417.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593129 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:18.157Z,1761698418.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527026 2025-10-29T00:40:18.297Z,1761698418.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834447,-0.542491,-0.096963],[0.549865,0.831322,0.080946],[0.036696,-0.120862,0.991991]] 2025-10-29T00:40:18.341Z,1761698418.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.90 m. 2025-10-29T00:40:18.347Z,1761698418.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.896622 m, nav range: 235.187500 m, bearing: 25.785158 deg, approach rate: -0.676812 m/s, LOS rate: -0.001568 deg/s, cmd heading: 33.983811 deg, new cmd heading: 33.982539 deg. 2025-10-29T00:40:18.348Z,1761698418.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593107 target range: 246.896622 and range: 248.30 m. 2025-10-29T00:40:18.417Z,1761698418.417 [DAT](INFO): DAT read: 00:40:17.1083 LVL= 32192, 32753, 29170, 32755, AGC= 69, IDX= 149,-0.30,-2.690, 2.218,-2.133,-2.728, PHS= 0.140,-1.292, 0.551, RAW= 162.3, 7.2, CAL= 161.7, 7.1, ROT= 348.3, -7.1 2025-10-29T00:40:18.419Z,1761698418.419 [DAT](INFO): got valid direction response: 00:40:17.1083 LVL= 32192, 32753, 29170, 32755, AGC= 69, IDX= 149,-0.30,-2.690, 2.218,-2.133,-2.728, PHS= 0.140,-1.292, 0.551, RAW= 162.3, 7.2, CAL= 161.7, 7.1, ROT= 348.3, -7.1 2025-10-29T00:40:18.420Z,1761698418.420 [DAT](INFO): DAT read: Bearing 185.8, -10.6 (Local) 2025-10-29T00:40:18.421Z,1761698418.421 [DAT](INFO): Local bearing/azimuth received: Bearing 185.8, -10.6 (Local) 2025-10-29T00:40:18.423Z,1761698418.423 [DAT](INFO): DAT read: Range 11 to 50 : 246.6 m (Round-trip 328.9 ms) speed 0.5 m/s 2025-10-29T00:40:18.424Z,1761698418.424 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:18.427Z,1761698418.427 [DAT](INFO): direction in FSK: [0.971714,-0.201233,0.123601] 2025-10-29T00:40:18.427Z,1761698418.427 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:18.453Z,1761698418.453 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:18.453Z,1761698418.453 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:18.453Z,1761698418.453 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:18.661Z,1761698418.661 [DAT](INFO): DAT read: user:511> 2025-10-29T00:40:18.662Z,1761698418.662 [DAT](INFO): DAT read: Tx time:00:40:18.4254 2025-10-29T00:40:18.662Z,1761698418.662 [DAT](INFO): Ping request sent. 2025-10-29T00:40:18.662Z,1761698418.662 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:18.662Z,1761698418.662 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:18.663Z,1761698418.663 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-29T00:40:18.781Z,1761698418.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 246.600006 m, deltaT: 4.031789 s, deltaX: -1.699997 m, approachRate: -0.421648 m/s, rangeRepo size: 4 2025-10-29T00:40:18.783Z,1761698418.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 245.162369 m, bearing: 22.549028 deg, lat: 36.779485 deg, lon: -121.859291 deg, deltaT: 4.031789 s, deltaX: -1.734253 m, approachRate: -0.430145 m/s, posRepo size: 4 2025-10-29T00:40:18.788Z,1761698418.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:18.790Z,1761698418.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 234.778351 m, bearing: 24.415288 deg, approach rate: 0.000000 m/s, LOS rate: -0.001568 deg/s, cmd heading: 33.982537 deg, new cmd heading: 33.981174 deg. 2025-10-29T00:40:18.791Z,1761698418.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593083 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:18.913Z,1761698418.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251051 2025-10-29T00:40:19.093Z,1761698419.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835616,-0.540475,-0.098153],[0.548181,0.831946,0.085812],[0.035278,-0.125511,0.991465]] 2025-10-29T00:40:19.112Z,1761698419.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:19.115Z,1761698419.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 234.543152 m, bearing: 24.413472 deg, approach rate: -0.699653 m/s, LOS rate: -0.005407 deg/s, cmd heading: 33.981175 deg, new cmd heading: 33.977539 deg. 2025-10-29T00:40:19.116Z,1761698419.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593020 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:19.166Z,1761698419.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503821 2025-10-29T00:40:19.417Z,1761698419.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754796 2025-10-29T00:40:19.498Z,1761698419.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836079,-0.539689,-0.098533],[0.547526,0.832140,0.088081],[0.034457,-0.127592,0.991228]] 2025-10-29T00:40:19.547Z,1761698419.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:19.549Z,1761698419.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:19.552Z,1761698419.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 234.256134 m, bearing: 24.410378 deg, approach rate: -0.656345 m/s, LOS rate: -0.007085 deg/s, cmd heading: 33.977541 deg, new cmd heading: 33.971344 deg. 2025-10-29T00:40:19.553Z,1761698419.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592912 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:19.669Z,1761698419.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006916 2025-10-29T00:40:19.899Z,1761698419.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836263,-0.539578,-0.097571],[0.547310,0.832232,0.088551],[0.033422,-0.127454,0.991281]] 2025-10-29T00:40:19.921Z,1761698419.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259091 2025-10-29T00:40:19.930Z,1761698419.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:19.933Z,1761698419.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 234.006195 m, bearing: 24.407694 deg, approach rate: -0.656547 m/s, LOS rate: -0.007058 deg/s, cmd heading: 33.971343 deg, new cmd heading: 33.965969 deg. 2025-10-29T00:40:19.934Z,1761698419.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592818 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:20.178Z,1761698420.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514790 2025-10-29T00:40:20.303Z,1761698420.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836426,-0.539518,-0.096497],[0.547121,0.832330,0.088805],[0.032406,-0.127074,0.991364]] 2025-10-29T00:40:20.357Z,1761698420.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:20.359Z,1761698420.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 233.735779 m, bearing: 24.405325 deg, approach rate: -0.660036 m/s, LOS rate: -0.005788 deg/s, cmd heading: 33.965967 deg, new cmd heading: 33.961224 deg. 2025-10-29T00:40:20.365Z,1761698420.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592735 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:20.426Z,1761698420.426 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763717 2025-10-29T00:40:20.677Z,1761698420.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014978 2025-10-29T00:40:20.707Z,1761698420.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836268,-0.539742,-0.096617],[0.547409,0.831972,0.090369],[0.031606,-0.128462,0.991211]] 2025-10-29T00:40:20.735Z,1761698420.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:20.738Z,1761698420.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 233.474838 m, bearing: 24.403009 deg, approach rate: -0.660186 m/s, LOS rate: -0.005865 deg/s, cmd heading: 33.961224 deg, new cmd heading: 33.956587 deg. 2025-10-29T00:40:20.740Z,1761698420.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592654 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:20.929Z,1761698420.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267468 2025-10-29T00:40:21.160Z,1761698421.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:21.163Z,1761698421.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 233.196518 m, bearing: 24.400534 deg, approach rate: -0.654453 m/s, LOS rate: -0.005828 deg/s, cmd heading: 33.956586 deg, new cmd heading: 33.951629 deg. 2025-10-29T00:40:21.164Z,1761698421.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592568 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:21.182Z,1761698421.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520486 2025-10-29T00:40:21.433Z,1761698421.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770918 2025-10-29T00:40:21.515Z,1761698421.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835923,-0.540629,-0.094623],[0.547983,0.831779,0.088644],[0.030782,-0.125951,0.991559]] 2025-10-29T00:40:21.559Z,1761698421.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:21.561Z,1761698421.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:21.564Z,1761698421.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 232.937180 m, bearing: 24.398185 deg, approach rate: -0.647011 m/s, LOS rate: -0.005867 deg/s, cmd heading: 33.951627 deg, new cmd heading: 33.946924 deg. 2025-10-29T00:40:21.565Z,1761698421.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592486 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:21.685Z,1761698421.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022906 2025-10-29T00:40:21.926Z,1761698421.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835493,-0.541674,-0.092415],[0.548667,0.831608,0.085983],[0.030279,-0.122543,0.992001]] 2025-10-29T00:40:21.937Z,1761698421.937 [DAT](INFO): DAT read: Rx Time:00:40:21.1557 2025-10-29T00:40:21.938Z,1761698421.938 [DAT](INFO): Rx dataTimestamp_ set to:1761698421.937252 2025-10-29T00:40:21.938Z,1761698421.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276122 2025-10-29T00:40:21.993Z,1761698421.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:22.000Z,1761698422.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 232.669693 m, bearing: 24.395709 deg, approach rate: -0.618852 m/s, LOS rate: -0.005734 deg/s, cmd heading: 33.946925 deg, new cmd heading: 33.941967 deg. 2025-10-29T00:40:22.001Z,1761698422.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592399 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:22.189Z,1761698422.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526964 2025-10-29T00:40:22.350Z,1761698422.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835603,-0.541584,-0.091944],[0.548497,0.831793,0.085274],[0.030295,-0.121686,0.992106]] 2025-10-29T00:40:22.417Z,1761698422.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.16 m. 2025-10-29T00:40:22.424Z,1761698422.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 245.162369 m, nav range: 232.389450 m, bearing: 24.393876 deg, approach rate: -0.661053 m/s, LOS rate: -0.004330 deg/s, cmd heading: 33.941966 deg, new cmd heading: 33.938295 deg. 2025-10-29T00:40:22.425Z,1761698422.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592335 target range: 245.162369 and range: 246.60 m. 2025-10-29T00:40:22.447Z,1761698422.447 [DAT](INFO): DAT read: 00:40:21.1557 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 142,-0.06,-0.695,-2.103,-0.174,-0.826, PHS= 0.233,-1.233, 0.608, RAW= 161.1, 4.7, CAL= 160.1, 3.8, ROT= 349.9, -3.8 2025-10-29T00:40:22.449Z,1761698422.449 [DAT](INFO): got valid direction response: 00:40:21.1557 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 142,-0.06,-0.695,-2.103,-0.174,-0.826, PHS= 0.233,-1.233, 0.608, RAW= 161.1, 4.7, CAL= 160.1, 3.8, ROT= 349.9, -3.8 2025-10-29T00:40:22.451Z,1761698422.451 [DAT](INFO): DAT read: Bearing 182.1, -8.8 (Local) 2025-10-29T00:40:22.452Z,1761698422.452 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, -8.8 (Local) 2025-10-29T00:40:22.455Z,1761698422.455 [DAT](INFO): DAT read: Range 11 to 50 : 244.6 m (Round-trip 326.2 ms) speed 0.7 m/s 2025-10-29T00:40:22.456Z,1761698422.456 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:22.458Z,1761698422.458 [DAT](INFO): direction in FSK: [0.982339,-0.174981,0.066274] 2025-10-29T00:40:22.458Z,1761698422.458 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:22.493Z,1761698422.493 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:22.493Z,1761698422.493 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:22.493Z,1761698422.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:22.694Z,1761698422.694 [DAT](INFO): DAT read: user:512> 2025-10-29T00:40:22.695Z,1761698422.695 [DAT](INFO): DAT read: Tx time:00:40:22.4753 2025-10-29T00:40:22.695Z,1761698422.695 [DAT](INFO): Ping request sent. 2025-10-29T00:40:22.695Z,1761698422.695 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:22.696Z,1761698422.696 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:22.697Z,1761698422.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001141 2025-10-29T00:40:22.784Z,1761698422.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835549,-0.541672,-0.091922],[0.548573,0.831775,0.084963],[0.030436,-0.121417,0.992135]] 2025-10-29T00:40:22.842Z,1761698422.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 244.600006 m, deltaT: 4.031315 s, deltaX: -2.000000 m, approachRate: -0.496116 m/s, rangeRepo size: 4 2025-10-29T00:40:22.848Z,1761698422.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 243.174469 m, bearing: 23.686009 deg, lat: 36.779545 deg, lon: -121.859291 deg, deltaT: 4.031315 s, deltaX: -1.987900 m, approachRate: -0.493114 m/s, posRepo size: 4 2025-10-29T00:40:22.849Z,1761698422.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:22.851Z,1761698422.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 238.203247 m, bearing: 23.729658 deg, approach rate: 0.000000 m/s, LOS rate: -0.004330 deg/s, cmd heading: 33.938295 deg, new cmd heading: 33.934624 deg. 2025-10-29T00:40:22.856Z,1761698422.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592271 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:22.947Z,1761698422.947 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251831 2025-10-29T00:40:23.193Z,1761698423.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835830,-0.541286,-0.091640],[0.548148,0.832074,0.084767],[0.030368,-0.121083,0.992178]] 2025-10-29T00:40:23.197Z,1761698423.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501704 2025-10-29T00:40:23.213Z,1761698423.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:23.216Z,1761698423.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 237.949020 m, bearing: 23.727348 deg, approach rate: -0.684038 m/s, LOS rate: -0.006222 deg/s, cmd heading: 33.934624 deg, new cmd heading: 33.929999 deg. 2025-10-29T00:40:23.217Z,1761698423.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592190 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:23.450Z,1761698423.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754828 2025-10-29T00:40:23.591Z,1761698423.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836291,-0.540804,-0.090268],[0.547464,0.832654,0.083488],[0.030011,-0.119239,0.992412]] 2025-10-29T00:40:23.633Z,1761698423.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:23.635Z,1761698423.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:23.638Z,1761698423.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 237.687805 m, bearing: 23.728730 deg, approach rate: -0.618885 m/s, LOS rate: 0.003279 deg/s, cmd heading: 33.929999 deg, new cmd heading: 33.932767 deg. 2025-10-29T00:40:23.639Z,1761698423.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592238 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:23.704Z,1761698423.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008901 2025-10-29T00:40:23.958Z,1761698423.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262804 2025-10-29T00:40:23.995Z,1761698423.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836636,-0.540277,-0.090224],[0.546944,0.832961,0.083830],[0.029862,-0.119483,0.992387]] 2025-10-29T00:40:24.026Z,1761698424.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:24.029Z,1761698424.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 237.445114 m, bearing: 23.730053 deg, approach rate: -0.620490 m/s, LOS rate: 0.003385 deg/s, cmd heading: 33.932766 deg, new cmd heading: 33.935414 deg. 2025-10-29T00:40:24.030Z,1761698424.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592285 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:24.213Z,1761698424.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517680 2025-10-29T00:40:24.402Z,1761698424.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837127,-0.539440,-0.090682],[0.546212,0.833287,0.085356],[0.029519,-0.120985,0.992215]] 2025-10-29T00:40:24.462Z,1761698424.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766348 2025-10-29T00:40:24.554Z,1761698424.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:24.557Z,1761698424.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 237.099289 m, bearing: 23.732184 deg, approach rate: -0.655054 m/s, LOS rate: 0.004043 deg/s, cmd heading: 33.935412 deg, new cmd heading: 33.939682 deg. 2025-10-29T00:40:24.558Z,1761698424.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592359 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:24.713Z,1761698424.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017555 2025-10-29T00:40:24.832Z,1761698424.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837480,-0.538651,-0.092096],[0.545676,0.833373,0.087905],[0.029400,-0.123874,0.991862]] 2025-10-29T00:40:24.859Z,1761698424.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:24.862Z,1761698424.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 236.894867 m, bearing: 23.733473 deg, approach rate: -0.671068 m/s, LOS rate: 0.004235 deg/s, cmd heading: 33.939681 deg, new cmd heading: 33.942261 deg. 2025-10-29T00:40:24.862Z,1761698424.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592404 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:24.966Z,1761698424.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270798 2025-10-29T00:40:25.217Z,1761698425.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521655 2025-10-29T00:40:25.234Z,1761698425.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837843,-0.537939,-0.092958],[0.545116,0.833595,0.089268],[0.029468,-0.125465,0.991660]] 2025-10-29T00:40:25.266Z,1761698425.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:25.269Z,1761698425.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 236.625046 m, bearing: 23.735217 deg, approach rate: -0.662784 m/s, LOS rate: 0.004289 deg/s, cmd heading: 33.942260 deg, new cmd heading: 33.945752 deg. 2025-10-29T00:40:25.269Z,1761698425.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592465 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:25.470Z,1761698425.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774236 2025-10-29T00:40:25.701Z,1761698425.701 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:25.703Z,1761698425.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:25.706Z,1761698425.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 236.345779 m, bearing: 23.738529 deg, approach rate: -0.638309 m/s, LOS rate: 0.007579 deg/s, cmd heading: 33.945750 deg, new cmd heading: 33.952381 deg. 2025-10-29T00:40:25.707Z,1761698425.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592581 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:25.721Z,1761698425.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025689 2025-10-29T00:40:25.974Z,1761698425.974 [DAT](INFO): DAT read: Rx Time:00:40:25.2020 2025-10-29T00:40:25.975Z,1761698425.975 [DAT](INFO): Rx dataTimestamp_ set to:1761698425.974045 2025-10-29T00:40:25.975Z,1761698425.975 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280195 2025-10-29T00:40:26.042Z,1761698426.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838316,-0.537705,-0.089998],[0.544350,0.834677,0.083650],[0.030140,-0.119115,0.992423]] 2025-10-29T00:40:26.075Z,1761698426.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 243.17 m. 2025-10-29T00:40:26.078Z,1761698426.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 243.174469 m, nav range: 236.107788 m, bearing: 23.741431 deg, approach rate: -0.639963 m/s, LOS rate: 0.007812 deg/s, cmd heading: 33.952382 deg, new cmd heading: 33.958192 deg. 2025-10-29T00:40:26.079Z,1761698426.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592682 target range: 243.174469 and range: 244.60 m. 2025-10-29T00:40:26.225Z,1761698426.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529571 2025-10-29T00:40:26.457Z,1761698426.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837957,-0.538793,-0.086778],[0.544880,0.834903,0.077742],[0.030564,-0.112428,0.993190]] 2025-10-29T00:40:26.487Z,1761698426.487 [DAT](INFO): DAT read: 00:40:25.2020 LVL= 28640, 32753, 25458, 32755, AGC= 70, IDX= 137, 0.15,-2.858, 2.048,-2.328,-2.992, PHS= 0.236,-1.198, 0.619, RAW= 161.5, 4.2, CAL= 160.5, 3.1, ROT= 349.5, -3.1 2025-10-29T00:40:26.489Z,1761698426.489 [DAT](INFO): got valid direction response: 00:40:25.2020 LVL= 28640, 32753, 25458, 32755, AGC= 70, IDX= 137, 0.15,-2.858, 2.048,-2.328,-2.992, PHS= 0.236,-1.198, 0.619, RAW= 161.5, 4.2, CAL= 160.5, 3.1, ROT= 349.5, -3.1 2025-10-29T00:40:26.492Z,1761698426.492 [DAT](INFO): DAT read: Bearing 180.7, -9.0 (Local) 2025-10-29T00:40:26.492Z,1761698426.492 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, -9.0 (Local) 2025-10-29T00:40:26.528Z,1761698426.528 [DAT](INFO): DAT read: Range 11 to 50 : 241.8 m (Round-trip 322.5 ms) speed 0.1 m/s 2025-10-29T00:40:26.529Z,1761698426.529 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:26.530Z,1761698426.530 [DAT](INFO): direction in FSK: [0.981816,-0.181969,0.054079] 2025-10-29T00:40:26.530Z,1761698426.530 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:26.551Z,1761698426.551 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:26.551Z,1761698426.551 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:26.551Z,1761698426.551 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:26.669Z,1761698426.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 241.800003 m, deltaT: 4.040326 s, deltaX: -2.800003 m, approachRate: -0.693014 m/s, rangeRepo size: 4 2025-10-29T00:40:26.671Z,1761698426.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 240.389084 m, bearing: 22.915173 deg, lat: 36.779564 deg, lon: -121.859291 deg, deltaT: 4.040326 s, deltaX: -2.785385 m, approachRate: -0.689396 m/s, posRepo size: 4 2025-10-29T00:40:26.688Z,1761698426.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:26.691Z,1761698426.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 237.727463 m, bearing: 23.536733 deg, approach rate: 0.000000 m/s, LOS rate: 0.007812 deg/s, cmd heading: 33.958191 deg, new cmd heading: 33.967387 deg. 2025-10-29T00:40:26.696Z,1761698426.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592843 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:26.733Z,1761698426.733 [DAT](INFO): DAT read: user:513> 2025-10-29T00:40:26.734Z,1761698426.734 [DAT](INFO): DAT read: Tx time:00:40:26.5753 2025-10-29T00:40:26.734Z,1761698426.734 [DAT](INFO): Ping request sent. 2025-10-29T00:40:26.734Z,1761698426.734 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:26.734Z,1761698426.734 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:26.735Z,1761698426.735 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000737 2025-10-29T00:40:26.985Z,1761698426.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250756 2025-10-29T00:40:27.070Z,1761698427.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:27.073Z,1761698427.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 237.463943 m, bearing: 23.540311 deg, approach rate: -0.649166 m/s, LOS rate: 0.008824 deg/s, cmd heading: 33.967388 deg, new cmd heading: 33.974552 deg. 2025-10-29T00:40:27.073Z,1761698427.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592968 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:27.237Z,1761698427.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502650 2025-10-29T00:40:27.489Z,1761698427.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754786 2025-10-29T00:40:27.511Z,1761698427.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:27.518Z,1761698427.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 237.170486 m, bearing: 23.544091 deg, approach rate: -0.664567 m/s, LOS rate: 0.008573 deg/s, cmd heading: 33.974553 deg, new cmd heading: 33.982124 deg. 2025-10-29T00:40:27.519Z,1761698427.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593100 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:27.742Z,1761698427.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007650 2025-10-29T00:40:27.809Z,1761698427.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837811,-0.538754,-0.088413],[0.544944,0.835091,0.075230],[0.033302,-0.111209,0.993239]] 2025-10-29T00:40:27.825Z,1761698427.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:27.827Z,1761698427.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:27.830Z,1761698427.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 236.962265 m, bearing: 23.546780 deg, approach rate: -0.658635 m/s, LOS rate: 0.008513 deg/s, cmd heading: 33.982124 deg, new cmd heading: 33.987507 deg. 2025-10-29T00:40:27.831Z,1761698427.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593194 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:27.993Z,1761698427.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258669 2025-10-29T00:40:28.211Z,1761698428.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837951,-0.538215,-0.090347],[0.544665,0.835164,0.076431],[0.034319,-0.113254,0.992973]] 2025-10-29T00:40:28.245Z,1761698428.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805 2025-10-29T00:40:28.249Z,1761698428.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:28.251Z,1761698428.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 236.699509 m, bearing: 23.550193 deg, approach rate: -0.623810 m/s, LOS rate: 0.008110 deg/s, cmd heading: 33.987506 deg, new cmd heading: 33.994338 deg. 2025-10-29T00:40:28.252Z,1761698428.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593313 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:28.497Z,1761698428.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762710 2025-10-29T00:40:28.614Z,1761698428.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838357,-0.537123,-0.093043],[0.543987,0.835343,0.079243],[0.035160,-0.117048,0.992504]] 2025-10-29T00:40:28.658Z,1761698428.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:28.661Z,1761698428.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 236.426407 m, bearing: 23.552093 deg, approach rate: -0.666943 m/s, LOS rate: 0.004645 deg/s, cmd heading: 33.994340 deg, new cmd heading: 33.998144 deg. 2025-10-29T00:40:28.662Z,1761698428.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593380 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:28.751Z,1761698428.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016854 2025-10-29T00:40:29.001Z,1761698429.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266661 2025-10-29T00:40:29.069Z,1761698429.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:29.071Z,1761698429.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 236.160538 m, bearing: 23.553947 deg, approach rate: -0.647317 m/s, LOS rate: 0.004519 deg/s, cmd heading: 33.998144 deg, new cmd heading: 34.001856 deg. 2025-10-29T00:40:29.076Z,1761698429.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593444 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:29.253Z,1761698429.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518641 2025-10-29T00:40:29.443Z,1761698429.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839200,-0.535353,-0.095610],[0.542681,0.835783,0.083452],[0.035233,-0.121918,0.991915]] 2025-10-29T00:40:29.505Z,1761698429.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770790 2025-10-29T00:40:29.515Z,1761698429.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:29.518Z,1761698429.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 235.874176 m, bearing: 23.555050 deg, approach rate: -0.641106 m/s, LOS rate: 0.002473 deg/s, cmd heading: 34.001856 deg, new cmd heading: 34.004066 deg. 2025-10-29T00:40:29.519Z,1761698429.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593483 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:29.758Z,1761698429.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023320 2025-10-29T00:40:29.826Z,1761698429.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839673,-0.534446,-0.096522],[0.541957,0.836066,0.085302],[0.035110,-0.123936,0.991669]] 2025-10-29T00:40:29.843Z,1761698429.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:29.845Z,1761698429.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:29.848Z,1761698429.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 235.663010 m, bearing: 23.555903 deg, approach rate: -0.640688 m/s, LOS rate: 0.002592 deg/s, cmd heading: 34.004066 deg, new cmd heading: 34.005774 deg. 2025-10-29T00:40:29.849Z,1761698429.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593513 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:30.009Z,1761698430.009 [DAT](INFO): DAT read: Rx Time:00:40:29.2992 2025-10-29T00:40:30.009Z,1761698430.009 [DAT](INFO): Rx dataTimestamp_ set to:1761698430.009032 2025-10-29T00:40:30.010Z,1761698430.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275643 2025-10-29T00:40:30.230Z,1761698430.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840108,-0.533585,-0.097496],[0.541313,0.836214,0.087901],[0.034625,-0.126622,0.991346]] 2025-10-29T00:40:30.261Z,1761698430.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526775 2025-10-29T00:40:30.262Z,1761698430.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 240.39 m. 2025-10-29T00:40:30.265Z,1761698430.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 240.389084 m, nav range: 235.396072 m, bearing: 23.557024 deg, approach rate: -0.639544 m/s, LOS rate: 0.002687 deg/s, cmd heading: 34.005774 deg, new cmd heading: 34.008017 deg. 2025-10-29T00:40:30.266Z,1761698430.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593552 target range: 240.389084 and range: 241.80 m. 2025-10-29T00:40:30.518Z,1761698430.518 [DAT](INFO): DAT read: 00:40:29.2992 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 131, 0.22, 0.821,-0.592, 1.367, 0.693, PHS= 0.230,-1.240, 0.630, RAW= 161.7, 4.5, CAL= 160.7, 3.5, ROT= 349.3, -3.5 2025-10-29T00:40:30.519Z,1761698430.519 [DAT](INFO): got valid direction response: 00:40:29.2992 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 131, 0.22, 0.821,-0.592, 1.367, 0.693, PHS= 0.230,-1.240, 0.630, RAW= 161.7, 4.5, CAL= 160.7, 3.5, ROT= 349.3, -3.5 2025-10-29T00:40:30.521Z,1761698430.521 [DAT](INFO): DAT read: Bearing 181.0, -8.9 (Local) 2025-10-29T00:40:30.521Z,1761698430.521 [DAT](INFO): Local bearing/azimuth received: Bearing 181.0, -8.9 (Local) 2025-10-29T00:40:30.522Z,1761698430.522 [DAT](INFO): DAT read: Range 11 to 50 : 239.7 m (Round-trip 319.7 ms) speed 0.4 m/s 2025-10-29T00:40:30.523Z,1761698430.523 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:30.524Z,1761698430.524 [DAT](INFO): direction in FSK: [0.980780,-0.185320,0.061049] 2025-10-29T00:40:30.524Z,1761698430.524 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:30.527Z,1761698430.527 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:30.527Z,1761698430.527 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:30.534Z,1761698430.534 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:30.634Z,1761698430.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840232,-0.533297,-0.098004],[0.541163,0.836089,0.089991],[0.033949,-0.128649,0.991109]] 2025-10-29T00:40:30.700Z,1761698430.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 239.699997 m, deltaT: 4.031628 s, deltaX: -2.100006 m, approachRate: -0.520883 m/s, rangeRepo size: 4 2025-10-29T00:40:30.702Z,1761698430.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 238.299332 m, bearing: 22.580305 deg, lat: 36.779573 deg, lon: -121.859311 deg, deltaT: 4.031628 s, deltaX: -2.089752 m, approachRate: -0.518340 m/s, posRepo size: 4 2025-10-29T00:40:30.703Z,1761698430.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:30.710Z,1761698430.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 235.258133 m, bearing: 23.054030 deg, approach rate: 0.000000 m/s, LOS rate: 0.002687 deg/s, cmd heading: 34.008017 deg, new cmd heading: 34.010363 deg. 2025-10-29T00:40:30.711Z,1761698430.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593593 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:30.766Z,1761698430.766 [DAT](INFO): DAT read: user:514> 2025-10-29T00:40:30.767Z,1761698430.767 [DAT](INFO): DAT read: Tx time:00:40:30.5253 2025-10-29T00:40:30.767Z,1761698430.767 [DAT](INFO): Ping request sent. 2025-10-29T00:40:30.767Z,1761698430.767 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:30.769Z,1761698430.769 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:30.770Z,1761698430.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002499 2025-10-29T00:40:31.017Z,1761698431.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249634 2025-10-29T00:40:31.038Z,1761698431.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840181,-0.533191,-0.099009],[0.541237,0.835889,0.091387],[0.034033,-0.130369,0.990881]] 2025-10-29T00:40:31.069Z,1761698431.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:31.072Z,1761698431.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 234.997940 m, bearing: 23.053517 deg, approach rate: -0.702571 m/s, LOS rate: -0.001387 deg/s, cmd heading: 34.010363 deg, new cmd heading: 34.009336 deg. 2025-10-29T00:40:31.073Z,1761698431.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593575 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:31.269Z,1761698431.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502098 2025-10-29T00:40:31.479Z,1761698431.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839580,-0.533769,-0.100981],[0.542146,0.835063,0.093525],[0.034405,-0.133268,0.990483]] 2025-10-29T00:40:31.521Z,1761698431.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753597 2025-10-29T00:40:31.544Z,1761698431.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:31.547Z,1761698431.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 234.707397 m, bearing: 23.051813 deg, approach rate: -0.617334 m/s, LOS rate: -0.003624 deg/s, cmd heading: 34.009336 deg, new cmd heading: 34.005924 deg. 2025-10-29T00:40:31.552Z,1761698431.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593515 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:31.773Z,1761698431.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006001 2025-10-29T00:40:31.871Z,1761698431.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838747,-0.534659,-0.103164],[0.543383,0.834078,0.095123],[0.035189,-0.135842,0.990105]] 2025-10-29T00:40:31.902Z,1761698431.902 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:31.904Z,1761698431.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:31.907Z,1761698431.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 234.460098 m, bearing: 23.050261 deg, approach rate: -0.679190 m/s, LOS rate: -0.004267 deg/s, cmd heading: 34.005924 deg, new cmd heading: 34.002816 deg. 2025-10-29T00:40:31.908Z,1761698431.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593461 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:32.025Z,1761698432.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257772 2025-10-29T00:40:32.251Z,1761698432.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837566,-0.536511,-0.103152],[0.545130,0.833228,0.092546],[0.036297,-0.133744,0.990351]] 2025-10-29T00:40:32.277Z,1761698432.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509686 2025-10-29T00:40:32.291Z,1761698432.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:32.294Z,1761698432.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 234.222961 m, bearing: 23.048655 deg, approach rate: -0.612075 m/s, LOS rate: -0.004149 deg/s, cmd heading: 34.002816 deg, new cmd heading: 33.999602 deg. 2025-10-29T00:40:32.295Z,1761698432.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593405 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:32.529Z,1761698432.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761636 2025-10-29T00:40:32.654Z,1761698432.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836383,-0.538812,-0.100721],[0.546848,0.832831,0.085733],[0.037690,-0.126784,0.991214]] 2025-10-29T00:40:32.707Z,1761698432.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:32.711Z,1761698432.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 233.941177 m, bearing: 23.044636 deg, approach rate: -0.678685 m/s, LOS rate: -0.009691 deg/s, cmd heading: 33.999603 deg, new cmd heading: 33.991555 deg. 2025-10-29T00:40:32.713Z,1761698432.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593265 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:32.781Z,1761698432.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013893 2025-10-29T00:40:33.033Z,1761698433.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265565 2025-10-29T00:40:33.058Z,1761698433.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835092,-0.541401,-0.097500],[0.548703,0.832438,0.077282],[0.039322,-0.118037,0.992230]] 2025-10-29T00:40:33.087Z,1761698433.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:33.090Z,1761698433.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 233.696167 m, bearing: 23.041019 deg, approach rate: -0.644044 m/s, LOS rate: -0.009519 deg/s, cmd heading: 33.991557 deg, new cmd heading: 33.984314 deg. 2025-10-29T00:40:33.091Z,1761698433.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.593138 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:33.285Z,1761698433.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518029 2025-10-29T00:40:33.505Z,1761698433.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834467,-0.542761,-0.095262],[0.549535,0.832475,0.070686],[0.040937,-0.111335,0.992939]] 2025-10-29T00:40:33.537Z,1761698433.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769725 2025-10-29T00:40:33.552Z,1761698433.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:33.554Z,1761698433.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 233.406403 m, bearing: 23.036735 deg, approach rate: -0.623829 m/s, LOS rate: -0.009235 deg/s, cmd heading: 33.984313 deg, new cmd heading: 33.975734 deg. 2025-10-29T00:40:33.555Z,1761698433.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592988 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:33.790Z,1761698433.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022614 2025-10-29T00:40:33.879Z,1761698433.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833789,-0.544029,-0.093961],[0.550425,0.832339,0.065151],[0.042764,-0.106040,0.993442]] 2025-10-29T00:40:33.897Z,1761698433.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:33.900Z,1761698433.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 233.190704 m, bearing: 23.033490 deg, approach rate: -0.623928 m/s, LOS rate: -0.009394 deg/s, cmd heading: 33.975734 deg, new cmd heading: 33.969239 deg. 2025-10-29T00:40:33.901Z,1761698433.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592875 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:34.041Z,1761698434.041 [DAT](INFO): DAT read: Rx Time:00:40:33.2469 2025-10-29T00:40:34.041Z,1761698434.041 [DAT](INFO): Rx dataTimestamp_ set to:1761698434.041073 2025-10-29T00:40:34.042Z,1761698434.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274604 2025-10-29T00:40:34.282Z,1761698434.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832704,-0.545629,-0.094307],[0.551920,0.831590,0.061993],[0.044599,-0.103671,0.993611]] 2025-10-29T00:40:34.293Z,1761698434.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525593 2025-10-29T00:40:34.327Z,1761698434.327 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:34.329Z,1761698434.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 238.30 m. 2025-10-29T00:40:34.334Z,1761698434.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 238.299332 m, nav range: 232.933258 m, bearing: 23.029499 deg, approach rate: -0.596295 m/s, LOS rate: -0.009255 deg/s, cmd heading: 33.969239 deg, new cmd heading: 33.961248 deg. 2025-10-29T00:40:34.335Z,1761698434.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592736 target range: 238.299332 and range: 239.70 m. 2025-10-29T00:40:34.550Z,1761698434.550 [DAT](INFO): DAT read: 00:40:33.2469 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 135,-0.00, 1.468, 0.057, 2.026, 1.383, PHS= 0.187,-1.281, 0.599, RAW= 162.0, 5.8, CAL= 161.2, 5.3, ROT= 348.8, -5.3 2025-10-29T00:40:34.552Z,1761698434.552 [DAT](INFO): got valid direction response: 00:40:33.2469 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 135,-0.00, 1.468, 0.057, 2.026, 1.383, PHS= 0.187,-1.281, 0.599, RAW= 162.0, 5.8, CAL= 161.2, 5.3, ROT= 348.8, -5.3 2025-10-29T00:40:34.556Z,1761698434.556 [DAT](INFO): DAT read: Bearing 183.1, -9.3 (Local) 2025-10-29T00:40:34.557Z,1761698434.557 [DAT](INFO): Local bearing/azimuth received: Bearing 183.1, -9.3 (Local) 2025-10-29T00:40:34.559Z,1761698434.559 [DAT](INFO): DAT read: Range 11 to 50 : 238.0 m (Round-trip 317.4 ms) speed 0.3 m/s 2025-10-29T00:40:34.559Z,1761698434.559 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:34.560Z,1761698434.560 [DAT](INFO): direction in FSK: [0.976761,-0.193404,0.092371] 2025-10-29T00:40:34.561Z,1761698434.561 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:34.564Z,1761698434.564 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:34.564Z,1761698434.564 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:34.564Z,1761698434.564 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:34.689Z,1761698434.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831599,-0.546994,-0.096134],[0.553502,0.830491,0.062606],[0.045593,-0.105273,0.993398]] 2025-10-29T00:40:34.731Z,1761698434.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 238.000000 m, deltaT: 4.031883 s, deltaX: -1.699997 m, approachRate: -0.421638 m/s, rangeRepo size: 4 2025-10-29T00:40:34.733Z,1761698434.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 236.623871 m, bearing: 22.993389 deg, lat: 36.779582 deg, lon: -121.859311 deg, deltaT: 4.031883 s, deltaX: -1.675461 m, approachRate: -0.415553 m/s, posRepo size: 4 2025-10-29T00:40:34.734Z,1761698434.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:34.761Z,1761698434.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 233.594345 m, bearing: 22.930562 deg, approach rate: 0.000000 m/s, LOS rate: -0.009255 deg/s, cmd heading: 33.961248 deg, new cmd heading: 33.953820 deg. 2025-10-29T00:40:34.763Z,1761698434.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592606 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:34.799Z,1761698434.799 [DAT](INFO): DAT read: user:515> 2025-10-29T00:40:34.800Z,1761698434.800 [DAT](INFO): DAT read: Tx time:00:40:34.5753 2025-10-29T00:40:34.800Z,1761698434.800 [DAT](INFO): Ping request sent. 2025-10-29T00:40:34.800Z,1761698434.800 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:34.800Z,1761698434.800 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:34.801Z,1761698434.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-29T00:40:35.049Z,1761698435.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248941 2025-10-29T00:40:35.098Z,1761698435.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831035,-0.547493,-0.098141],[0.554319,0.829776,0.064826],[0.045943,-0.108274,0.993059]] 2025-10-29T00:40:35.118Z,1761698435.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:35.121Z,1761698435.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 233.344421 m, bearing: 22.928145 deg, approach rate: -0.645372 m/s, LOS rate: -0.006250 deg/s, cmd heading: 33.953820 deg, new cmd heading: 33.948979 deg. 2025-10-29T00:40:35.121Z,1761698435.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592521 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:35.301Z,1761698435.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500690 2025-10-29T00:40:35.533Z,1761698435.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829934,-0.549034,-0.098847],[0.555954,0.828649,0.065242],[0.046089,-0.109100,0.992962]] 2025-10-29T00:40:35.553Z,1761698435.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752867 2025-10-29T00:40:35.601Z,1761698435.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:35.604Z,1761698435.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 233.036728 m, bearing: 22.925315 deg, approach rate: -0.636439 m/s, LOS rate: -0.005860 deg/s, cmd heading: 33.948981 deg, new cmd heading: 33.943314 deg. 2025-10-29T00:40:35.605Z,1761698435.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592423 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:35.805Z,1761698435.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004753 2025-10-29T00:40:35.942Z,1761698435.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828831,-0.550390,-0.100550],[0.557635,0.827278,0.068227],[0.045632,-0.112619,0.992590]] 2025-10-29T00:40:35.972Z,1761698435.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:35.975Z,1761698435.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 232.798462 m, bearing: 22.922997 deg, approach rate: -0.641953 m/s, LOS rate: -0.006253 deg/s, cmd heading: 33.943315 deg, new cmd heading: 33.938673 deg. 2025-10-29T00:40:35.976Z,1761698435.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592342 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:36.057Z,1761698436.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257007 2025-10-29T00:40:36.309Z,1761698436.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508774 2025-10-29T00:40:36.334Z,1761698436.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827724,-0.552216,-0.099649],[0.559289,0.826280,0.066760],[0.045472,-0.110991,0.992781]] 2025-10-29T00:40:36.351Z,1761698436.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:36.354Z,1761698436.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:36.357Z,1761698436.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 232.555389 m, bearing: 22.920509 deg, approach rate: -0.637322 m/s, LOS rate: -0.006530 deg/s, cmd heading: 33.938674 deg, new cmd heading: 33.933693 deg. 2025-10-29T00:40:36.358Z,1761698436.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592255 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:36.561Z,1761698436.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760888 2025-10-29T00:40:36.734Z,1761698436.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826286,-0.554724,-0.097631],[0.561408,0.825124,0.063173],[0.045515,-0.107010,0.993216]] 2025-10-29T00:40:36.799Z,1761698436.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:36.813Z,1761698436.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012858 2025-10-29T00:40:36.820Z,1761698436.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 232.270233 m, bearing: 22.918259 deg, approach rate: -0.639664 m/s, LOS rate: -0.005053 deg/s, cmd heading: 33.933691 deg, new cmd heading: 33.929186 deg. 2025-10-29T00:40:36.821Z,1761698436.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592176 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:37.065Z,1761698437.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264853 2025-10-29T00:40:37.194Z,1761698437.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825456,-0.556058,-0.097066],[0.562650,0.824327,0.062527],[0.045246,-0.106227,0.993312]] 2025-10-29T00:40:37.283Z,1761698437.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:37.285Z,1761698437.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 231.961838 m, bearing: 22.915707 deg, approach rate: -0.638255 m/s, LOS rate: -0.005289 deg/s, cmd heading: 33.929187 deg, new cmd heading: 33.924076 deg. 2025-10-29T00:40:37.286Z,1761698437.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592087 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:37.318Z,1761698437.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517530 2025-10-29T00:40:37.569Z,1761698437.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768850 2025-10-29T00:40:37.575Z,1761698437.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825279,-0.555917,-0.099352],[0.562960,0.823767,0.066961],[0.044618,-0.111193,0.992797]] 2025-10-29T00:40:37.625Z,1761698437.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:37.628Z,1761698437.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 231.745331 m, bearing: 22.916775 deg, approach rate: -0.632078 m/s, LOS rate: 0.003122 deg/s, cmd heading: 33.924074 deg, new cmd heading: 33.926213 deg. 2025-10-29T00:40:37.629Z,1761698437.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592124 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:37.821Z,1761698437.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021115 2025-10-29T00:40:37.985Z,1761698437.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825825,-0.554550,-0.102408],[0.562222,0.823749,0.073105],[0.043818,-0.117948,0.992053]] 2025-10-29T00:40:38.003Z,1761698438.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:38.007Z,1761698438.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 231.506516 m, bearing: 22.917994 deg, approach rate: -0.631159 m/s, LOS rate: 0.003223 deg/s, cmd heading: 33.926212 deg, new cmd heading: 33.928651 deg. 2025-10-29T00:40:38.011Z,1761698438.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592167 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:38.074Z,1761698438.074 [DAT](INFO): DAT read: Rx Time:00:40:37.2390 2025-10-29T00:40:38.074Z,1761698438.074 [DAT](INFO): Rx dataTimestamp_ set to:1761698438.074099 2025-10-29T00:40:38.075Z,1761698438.075 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275154 2025-10-29T00:40:38.325Z,1761698438.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524753 2025-10-29T00:40:38.433Z,1761698438.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826563,-0.552975,-0.104942],[0.561169,0.824026,0.077906],[0.043395,-0.123285,0.991422]] 2025-10-29T00:40:38.582Z,1761698438.582 [DAT](INFO): DAT read: 00:40:37.2390 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 367,-0.11,-2.470, 2.506,-1.884,-2.552, PHS= 0.184,-1.181, 0.623, RAW= 163.5, 4.6, CAL= 162.5, 3.6, ROT= 347.5, -3.6 2025-10-29T00:40:38.583Z,1761698438.583 [DAT](INFO): got valid direction response: 00:40:37.2390 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 367,-0.11,-2.470, 2.506,-1.884,-2.552, PHS= 0.184,-1.181, 0.623, RAW= 163.5, 4.6, CAL= 162.5, 3.6, ROT= 347.5, -3.6 2025-10-29T00:40:38.585Z,1761698438.585 [DAT](INFO): DAT read: Bearing 181.9, -10.2 (Local) 2025-10-29T00:40:38.585Z,1761698438.585 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, -10.2 (Local) 2025-10-29T00:40:38.586Z,1761698438.586 [DAT](INFO): DAT read: Range 11 to 50 : 194.6 m (Round-trip 259.5 ms) speed 0.2 m/s 2025-10-29T00:40:38.587Z,1761698438.587 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:38.588Z,1761698438.588 [DAT](INFO): direction in FSK: [0.974370,-0.216013,0.062791] 2025-10-29T00:40:38.588Z,1761698438.588 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:38.591Z,1761698438.591 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:38.592Z,1761698438.592 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:38.592Z,1761698438.592 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:38.713Z,1761698438.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 194.600006 m, deltaT: 4.032207 s, deltaX: -43.399994 m, approachRate: -10.763335 m/s, rangeRepo size: 4 2025-10-29T00:40:38.716Z,1761698438.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:38.719Z,1761698438.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 231.080841 m, bearing: 22.921371 deg, approach rate: -0.604388 m/s, LOS rate: 0.004805 deg/s, cmd heading: 33.928651 deg, new cmd heading: 33.935418 deg. 2025-10-29T00:40:38.720Z,1761698438.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592285 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:38.829Z,1761698438.829 [DAT](INFO): DAT read: user:516> 2025-10-29T00:40:38.830Z,1761698438.830 [DAT](INFO): DAT read: Tx time:00:40:38.5753 2025-10-29T00:40:38.830Z,1761698438.830 [DAT](INFO): Ping request sent. 2025-10-29T00:40:38.831Z,1761698438.831 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:38.831Z,1761698438.831 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:38.831Z,1761698438.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:40:38.982Z,1761698438.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827052,-0.551853,-0.106974],[0.560540,0.823932,0.083255],[0.042194,-0.128820,0.990770]] 2025-10-29T00:40:39.014Z,1761698439.014 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:39.015Z,1761698439.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:39.022Z,1761698439.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 230.873352 m, bearing: 22.923047 deg, approach rate: -0.674237 m/s, LOS rate: 0.005449 deg/s, cmd heading: 33.935419 deg, new cmd heading: 33.938773 deg. 2025-10-29T00:40:39.023Z,1761698439.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592343 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:39.082Z,1761698439.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251085 2025-10-29T00:40:39.333Z,1761698439.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502579 2025-10-29T00:40:39.438Z,1761698439.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:39.443Z,1761698439.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 230.613571 m, bearing: 22.925149 deg, approach rate: -0.615489 m/s, LOS rate: 0.004986 deg/s, cmd heading: 33.938773 deg, new cmd heading: 33.942982 deg. 2025-10-29T00:40:39.445Z,1761698439.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592417 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:39.586Z,1761698439.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755168 2025-10-29T00:40:39.837Z,1761698439.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006287 2025-10-29T00:40:39.841Z,1761698439.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827891,-0.550853,-0.105628],[0.559352,0.824781,0.082835],[0.041490,-0.127661,0.990950]] 2025-10-29T00:40:39.899Z,1761698439.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:39.929Z,1761698439.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 230.314896 m, bearing: 22.927101 deg, approach rate: -0.647114 m/s, LOS rate: 0.004234 deg/s, cmd heading: 33.942980 deg, new cmd heading: 33.946889 deg. 2025-10-29T00:40:39.931Z,1761698439.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592485 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:40.089Z,1761698440.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258296 2025-10-29T00:40:40.248Z,1761698440.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828070,-0.550695,-0.105050],[0.559122,0.824935,0.082856],[0.041031,-0.127347,0.991009]] 2025-10-29T00:40:40.336Z,1761698440.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:40.339Z,1761698440.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 230.036560 m, bearing: 22.928945 deg, approach rate: -0.637294 m/s, LOS rate: 0.004228 deg/s, cmd heading: 33.946887 deg, new cmd heading: 33.950580 deg. 2025-10-29T00:40:40.341Z,1761698440.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510519 2025-10-29T00:40:40.341Z,1761698440.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592549 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:40.593Z,1761698440.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762864 2025-10-29T00:40:40.733Z,1761698440.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:40.736Z,1761698440.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 229.780884 m, bearing: 22.929859 deg, approach rate: -0.643353 m/s, LOS rate: 0.002303 deg/s, cmd heading: 33.950579 deg, new cmd heading: 33.952410 deg. 2025-10-29T00:40:40.737Z,1761698440.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592581 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:40.845Z,1761698440.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014378 2025-10-29T00:40:41.087Z,1761698441.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828100,-0.550905,-0.103704],[0.559130,0.825000,0.082149],[0.040300,-0.126011,0.991210]] 2025-10-29T00:40:41.097Z,1761698441.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266478 2025-10-29T00:40:41.118Z,1761698441.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:41.120Z,1761698441.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:41.127Z,1761698441.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 229.540222 m, bearing: 22.930726 deg, approach rate: -0.622992 m/s, LOS rate: 0.002247 deg/s, cmd heading: 33.952409 deg, new cmd heading: 33.954145 deg. 2025-10-29T00:40:41.132Z,1761698441.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592612 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:41.349Z,1761698441.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518865 2025-10-29T00:40:41.495Z,1761698441.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828608,-0.549951,-0.104700],[0.558415,0.825215,0.084812],[0.039757,-0.128742,0.990881]] 2025-10-29T00:40:41.513Z,1761698441.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:41.516Z,1761698441.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 229.278656 m, bearing: 22.931717 deg, approach rate: -0.664135 m/s, LOS rate: 0.002517 deg/s, cmd heading: 33.954144 deg, new cmd heading: 33.956127 deg. 2025-10-29T00:40:41.517Z,1761698441.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592646 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:41.601Z,1761698441.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770716 2025-10-29T00:40:41.853Z,1761698441.853 [DAT](INFO): DAT read: Rx Time:00:40:41.2632 2025-10-29T00:40:41.853Z,1761698441.853 [DAT](INFO): Rx dataTimestamp_ set to:1761698441.853130 2025-10-29T00:40:41.854Z,1761698441.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023401 2025-10-29T00:40:41.970Z,1761698441.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:41.973Z,1761698441.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 228.998230 m, bearing: 22.931498 deg, approach rate: -0.613888 m/s, LOS rate: -0.000480 deg/s, cmd heading: 33.956128 deg, new cmd heading: 33.955690 deg. 2025-10-29T00:40:41.974Z,1761698441.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592639 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:42.105Z,1761698442.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274423 2025-10-29T00:40:42.298Z,1761698442.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831453,-0.545100,-0.107479],[0.554181,0.827462,0.090499],[0.039604,-0.134809,0.990080]] 2025-10-29T00:40:42.335Z,1761698442.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.62 m. 2025-10-29T00:40:42.337Z,1761698442.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.623871 m, nav range: 228.784698 m, bearing: 22.931579 deg, approach rate: -0.586166 m/s, LOS rate: 0.000223 deg/s, cmd heading: 33.955691 deg, new cmd heading: 33.955854 deg. 2025-10-29T00:40:42.338Z,1761698442.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592641 target range: 236.623871 and range: 238.00 m. 2025-10-29T00:40:42.357Z,1761698442.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526432 2025-10-29T00:40:42.614Z,1761698442.614 [DAT](INFO): DAT read: 00:40:41.2632 LVL= 32752, 32753, 29826, 32755, AGC= 69, IDX= 184,-0.06,-1.210,-2.559,-0.641,-1.267, PHS= 0.159,-1.247, 0.582, RAW= 162.8, 6.2, CAL= 162.1, 5.7, ROT= 347.9, -5.7 2025-10-29T00:40:42.616Z,1761698442.616 [DAT](INFO): got valid direction response: 00:40:41.2632 LVL= 32752, 32753, 29826, 32755, AGC= 69, IDX= 184,-0.06,-1.210,-2.559,-0.641,-1.267, PHS= 0.159,-1.247, 0.582, RAW= 162.8, 6.2, CAL= 162.1, 5.7, ROT= 347.9, -5.7 2025-10-29T00:40:42.617Z,1761698442.617 [DAT](INFO): DAT read: Bearing 184.1, -10.3 (Local) 2025-10-29T00:40:42.617Z,1761698442.617 [DAT](INFO): Local bearing/azimuth received: Bearing 184.1, -10.3 (Local) 2025-10-29T00:40:42.618Z,1761698442.618 [DAT](INFO): DAT read: Range 11 to 50 : 212.8 m (Round-trip 283.8 ms) speed 0.3 m/s 2025-10-29T00:40:42.619Z,1761698442.619 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:42.620Z,1761698442.620 [DAT](INFO): direction in FSK: [0.972949,-0.208582,0.099320] 2025-10-29T00:40:42.620Z,1761698442.620 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:42.624Z,1761698442.624 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:42.624Z,1761698442.624 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:42.624Z,1761698442.624 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:42.706Z,1761698442.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833414,-0.541917,-0.108382],[0.551220,0.829209,0.092566],[0.039708,-0.136888,0.989790]] 2025-10-29T00:40:42.783Z,1761698442.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 212.800003 m, deltaT: 8.064150 s, deltaX: -25.199997 m, approachRate: -3.124942 m/s, rangeRepo size: 4 2025-10-29T00:40:42.801Z,1761698442.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 211.601120 m, bearing: 22.194597 deg, lat: 36.779582 deg, lon: -121.859325 deg, deltaT: 8.064150 s, deltaX: -25.022751 m, approachRate: -3.102962 m/s, posRepo size: 4 2025-10-29T00:40:42.802Z,1761698442.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:42.809Z,1761698442.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 227.999481 m, bearing: 22.637468 deg, approach rate: 0.000000 m/s, LOS rate: 0.000223 deg/s, cmd heading: 33.955855 deg, new cmd heading: 33.956055 deg. 2025-10-29T00:40:42.810Z,1761698442.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592645 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:42.861Z,1761698442.861 [DAT](INFO): DAT read: user:517> 2025-10-29T00:40:42.862Z,1761698442.862 [DAT](INFO): DAT read: Tx time:00:40:42.6268 2025-10-29T00:40:42.862Z,1761698442.862 [DAT](INFO): Ping request sent. 2025-10-29T00:40:42.862Z,1761698442.862 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:42.862Z,1761698442.862 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:42.863Z,1761698442.863 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:40:43.113Z,1761698443.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250772 2025-10-29T00:40:43.140Z,1761698443.140 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:43.142Z,1761698443.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:43.145Z,1761698443.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 227.761658 m, bearing: 22.635685 deg, approach rate: -0.660036 m/s, LOS rate: -0.004954 deg/s, cmd heading: 33.956057 deg, new cmd heading: 33.952487 deg. 2025-10-29T00:40:43.146Z,1761698443.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592583 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:43.367Z,1761698443.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504731 2025-10-29T00:40:43.515Z,1761698443.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837117,-0.535436,-0.111996],[0.545484,0.832430,0.097505],[0.041021,-0.142715,0.988913]] 2025-10-29T00:40:43.541Z,1761698443.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:43.544Z,1761698443.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 227.502762 m, bearing: 22.634161 deg, approach rate: -0.648720 m/s, LOS rate: -0.003823 deg/s, cmd heading: 33.952488 deg, new cmd heading: 33.949436 deg. 2025-10-29T00:40:43.545Z,1761698443.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592529 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:43.620Z,1761698443.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757401 2025-10-29T00:40:43.870Z,1761698443.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007592 2025-10-29T00:40:43.934Z,1761698443.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838692,-0.533026,-0.111706],[0.542992,0.834207,0.096222],[0.041897,-0.141356,0.989072]] 2025-10-29T00:40:44.012Z,1761698444.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:44.015Z,1761698444.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 227.198578 m, bearing: 22.631521 deg, approach rate: -0.646490 m/s, LOS rate: -0.005617 deg/s, cmd heading: 33.949435 deg, new cmd heading: 33.944149 deg. 2025-10-29T00:40:44.016Z,1761698444.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592437 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:44.122Z,1761698444.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259635 2025-10-29T00:40:44.327Z,1761698444.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839753,-0.531567,-0.110688],[0.541292,0.835588,0.093783],[0.042638,-0.138669,0.989421]] 2025-10-29T00:40:44.352Z,1761698444.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:44.354Z,1761698444.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 226.964172 m, bearing: 22.629610 deg, approach rate: -0.689592 m/s, LOS rate: -0.005629 deg/s, cmd heading: 33.944148 deg, new cmd heading: 33.940322 deg. 2025-10-29T00:40:44.355Z,1761698444.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592370 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:44.373Z,1761698444.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510735 2025-10-29T00:40:44.628Z,1761698444.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765654 2025-10-29T00:40:44.824Z,1761698444.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840768,-0.530317,-0.108965],[0.539701,0.836899,0.091229],[0.042812,-0.135511,0.989850]] 2025-10-29T00:40:44.877Z,1761698444.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932 2025-10-29T00:40:44.903Z,1761698444.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:44.906Z,1761698444.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 226.616577 m, bearing: 22.625472 deg, approach rate: -0.630540 m/s, LOS rate: -0.007519 deg/s, cmd heading: 33.940323 deg, new cmd heading: 33.932033 deg. 2025-10-29T00:40:44.907Z,1761698444.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592226 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:44.996Z,1761698444.996 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:40:45.129Z,1761698445.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266866 2025-10-29T00:40:45.369Z,1761698445.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840959,-0.530302,-0.107555],[0.539390,0.837362,0.088789],[0.042977,-0.132682,0.990227]] 2025-10-29T00:40:45.381Z,1761698445.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518831 2025-10-29T00:40:45.430Z,1761698445.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:45.438Z,1761698445.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:45.445Z,1761698445.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 226.269394 m, bearing: 22.621369 deg, approach rate: -0.649892 m/s, LOS rate: -0.007691 deg/s, cmd heading: 33.932035 deg, new cmd heading: 33.923818 deg. 2025-10-29T00:40:45.446Z,1761698445.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592082 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:45.636Z,1761698445.636 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773243 2025-10-29T00:40:45.877Z,1761698445.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839878,-0.532585,-0.104682],[0.541156,0.836538,0.085756],[0.041898,-0.128674,0.990802]] 2025-10-29T00:40:45.885Z,1761698445.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022917 2025-10-29T00:40:45.958Z,1761698445.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:45.960Z,1761698445.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 225.899902 m, bearing: 22.616250 deg, approach rate: -0.710105 m/s, LOS rate: -0.009854 deg/s, cmd heading: 33.923818 deg, new cmd heading: 33.913564 deg. 2025-10-29T00:40:45.961Z,1761698445.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591903 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:46.001Z,1761698446.001 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:40:46.138Z,1761698446.138 [DAT](INFO): DAT read: Rx Time:00:40:45.3119 2025-10-29T00:40:46.138Z,1761698446.138 [DAT](INFO): Rx dataTimestamp_ set to:1761698446.137717 2025-10-29T00:40:46.139Z,1761698446.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276498 2025-10-29T00:40:46.278Z,1761698446.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839272,-0.533931,-0.102659],[0.542165,0.836061,0.084016],[0.040971,-0.126170,0.991162]] 2025-10-29T00:40:46.297Z,1761698446.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:46.320Z,1761698446.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 225.671585 m, bearing: 22.613015 deg, approach rate: -0.672718 m/s, LOS rate: -0.009543 deg/s, cmd heading: 33.913563 deg, new cmd heading: 33.907085 deg. 2025-10-29T00:40:46.321Z,1761698446.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591790 target range: 211.601120 and range: 212.80 m. 2025-10-29T00:40:46.390Z,1761698446.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527802 2025-10-29T00:40:46.647Z,1761698446.647 [DAT](INFO): DAT read: Range 11 to 50 : 210.6 m (Round-trip 280.9 ms) speed 0.4 m/s 2025-10-29T00:40:46.651Z,1761698446.651 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:40:46.654Z,1761698446.654 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:46.654Z,1761698446.654 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:46.655Z,1761698446.655 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:46.683Z,1761698446.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838358,-0.536397,-0.097127],[0.543640,0.835823,0.076521],[0.040135,-0.116954,0.992326]] 2025-10-29T00:40:46.779Z,1761698446.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 4.034030 s, deltaX: -2.199997 m, approachRate: -0.545360 m/s, rangeRepo size: 4 2025-10-29T00:40:46.784Z,1761698446.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:46.787Z,1761698446.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 225.366623 m, bearing: 22.608979 deg, approach rate: -0.632939 m/s, LOS rate: -0.008387 deg/s, cmd heading: 33.907084 deg, new cmd heading: 33.899002 deg. 2025-10-29T00:40:46.796Z,1761698446.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591649 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:46.893Z,1761698446.893 [DAT](INFO): DAT read: user:518> 2025-10-29T00:40:46.894Z,1761698446.894 [DAT](INFO): DAT read: Tx time:00:40:46.6752 2025-10-29T00:40:46.894Z,1761698446.894 [DAT](INFO): Ping request sent. 2025-10-29T00:40:46.894Z,1761698446.894 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:46.894Z,1761698446.894 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:46.895Z,1761698446.895 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-29T00:40:47.089Z,1761698447.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837288,-0.538348,-0.095549],[0.545324,0.834901,0.074576],[0.039626,-0.114547,0.992627]] 2025-10-29T00:40:47.125Z,1761698447.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:47.127Z,1761698447.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 225.130127 m, bearing: 22.605726 deg, approach rate: -0.683922 m/s, LOS rate: -0.009418 deg/s, cmd heading: 33.899004 deg, new cmd heading: 33.892491 deg. 2025-10-29T00:40:47.128Z,1761698447.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591536 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:47.147Z,1761698447.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252629 2025-10-29T00:40:47.397Z,1761698447.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 2025-10-29T00:40:47.492Z,1761698447.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837157,-0.538953,-0.093258],[0.545580,0.834928,0.072377],[0.038856,-0.111471,0.993008]] 2025-10-29T00:40:47.513Z,1761698447.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:47.514Z,1761698447.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:47.517Z,1761698447.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 224.877930 m, bearing: 22.602237 deg, approach rate: -0.646766 m/s, LOS rate: -0.008958 deg/s, cmd heading: 33.892491 deg, new cmd heading: 33.885506 deg. 2025-10-29T00:40:47.518Z,1761698447.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591414 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:47.652Z,1761698447.652 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757182 2025-10-29T00:40:47.895Z,1761698447.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836807,-0.540110,-0.089640],[0.546182,0.834877,0.068311],[0.037943,-0.106123,0.993629]] 2025-10-29T00:40:47.901Z,1761698447.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007018 2025-10-29T00:40:47.959Z,1761698447.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:47.962Z,1761698447.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 224.586700 m, bearing: 22.600419 deg, approach rate: -0.655216 m/s, LOS rate: -0.004095 deg/s, cmd heading: 33.885504 deg, new cmd heading: 33.881864 deg. 2025-10-29T00:40:47.963Z,1761698447.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591350 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:48.153Z,1761698448.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258834 2025-10-29T00:40:48.301Z,1761698448.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837023,-0.539622,-0.090559],[0.545899,0.834829,0.071090],[0.037240,-0.108940,0.993351]] 2025-10-29T00:40:48.326Z,1761698448.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:48.328Z,1761698448.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 224.349030 m, bearing: 22.598950 deg, approach rate: -0.648516 m/s, LOS rate: -0.004015 deg/s, cmd heading: 33.881864 deg, new cmd heading: 33.878921 deg. 2025-10-29T00:40:48.329Z,1761698448.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591299 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:48.405Z,1761698448.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511313 2025-10-29T00:40:48.660Z,1761698448.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765075 2025-10-29T00:40:48.704Z,1761698448.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837245,-0.539268,-0.090613],[0.545585,0.834960,0.071961],[0.036852,-0.109686,0.993283]] 2025-10-29T00:40:48.766Z,1761698448.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:48.774Z,1761698448.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 224.082733 m, bearing: 22.600371 deg, approach rate: -0.604324 m/s, LOS rate: 0.003230 deg/s, cmd heading: 33.878920 deg, new cmd heading: 33.881767 deg. 2025-10-29T00:40:48.780Z,1761698448.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591348 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:48.910Z,1761698448.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015981 2025-10-29T00:40:49.118Z,1761698449.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837510,-0.538767,-0.091144],[0.545229,0.834990,0.074275],[0.036088,-0.111900,0.993064]] 2025-10-29T00:40:49.136Z,1761698449.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:49.139Z,1761698449.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 223.832077 m, bearing: 22.601735 deg, approach rate: -0.678463 m/s, LOS rate: 0.003697 deg/s, cmd heading: 33.881768 deg, new cmd heading: 33.884499 deg. 2025-10-29T00:40:49.139Z,1761698449.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591396 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:49.161Z,1761698449.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266778 2025-10-29T00:40:49.414Z,1761698449.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519754 2025-10-29T00:40:49.511Z,1761698449.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838215,-0.536988,-0.095075],[0.544223,0.834840,0.082850],[0.034883,-0.121188,0.992016]] 2025-10-29T00:40:49.546Z,1761698449.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:49.547Z,1761698449.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:49.550Z,1761698449.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 223.569641 m, bearing: 22.603226 deg, approach rate: -0.637129 m/s, LOS rate: 0.003623 deg/s, cmd heading: 33.884500 deg, new cmd heading: 33.887485 deg. 2025-10-29T00:40:49.551Z,1761698449.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591448 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:49.668Z,1761698449.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773560 2025-10-29T00:40:49.918Z,1761698449.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023549 2025-10-29T00:40:49.937Z,1761698449.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839064,-0.534968,-0.098896],[0.543012,0.834665,0.092047],[0.033303,-0.130935,0.990831]] 2025-10-29T00:40:50.000Z,1761698450.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:50.003Z,1761698450.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 223.291336 m, bearing: 22.606742 deg, approach rate: -0.615024 m/s, LOS rate: 0.007779 deg/s, cmd heading: 33.887485 deg, new cmd heading: 33.894525 deg. 2025-10-29T00:40:50.004Z,1761698450.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591571 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:50.173Z,1761698450.173 [DAT](INFO): DAT read: Rx Time:00:40:49.3570 2025-10-29T00:40:50.173Z,1761698450.173 [DAT](INFO): Rx dataTimestamp_ set to:1761698450.172953 2025-10-29T00:40:50.174Z,1761698450.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279761 2025-10-29T00:40:50.318Z,1761698450.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839030,-0.535037,-0.098813],[0.543151,0.834300,0.094506],[0.031875,-0.132964,0.990608]] 2025-10-29T00:40:50.353Z,1761698450.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.60 m. 2025-10-29T00:40:50.355Z,1761698450.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.601120 m, nav range: 223.058212 m, bearing: 22.609678 deg, approach rate: -0.661044 m/s, LOS rate: 0.008335 deg/s, cmd heading: 33.894523 deg, new cmd heading: 33.900403 deg. 2025-10-29T00:40:50.357Z,1761698450.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591674 target range: 211.601120 and range: 210.60 m. 2025-10-29T00:40:50.422Z,1761698450.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527973 2025-10-29T00:40:50.691Z,1761698450.691 [DAT](INFO): DAT read: 00:40:49.3570 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 116,-0.08,-0.708,-2.107,-0.153,-0.795, PHS= 0.189,-1.267, 0.598, RAW= 162.0, 5.7, CAL= 161.2, 5.1, ROT= 348.8, -5.1 2025-10-29T00:40:50.695Z,1761698450.695 [DAT](INFO): got valid direction response: 00:40:49.3570 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 116,-0.08,-0.708,-2.107,-0.153,-0.795, PHS= 0.189,-1.267, 0.598, RAW= 162.0, 5.7, CAL= 161.2, 5.1, ROT= 348.8, -5.1 2025-10-29T00:40:50.716Z,1761698450.716 [DAT](INFO): DAT read: Bearing 181.6, -9.9 (Local) 2025-10-29T00:40:50.718Z,1761698450.718 [DAT](INFO): Local bearing/azimuth received: Bearing 181.6, -9.9 (Local) 2025-10-29T00:40:50.753Z,1761698450.753 [DAT](INFO): DAT read: Range 11 to 50 : 208.2 m (Round-trip 277.6 ms) speed 0.6 m/s 2025-10-29T00:40:50.754Z,1761698450.754 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:50.756Z,1761698450.756 [DAT](INFO): direction in FSK: [0.977072,-0.193466,0.088894] 2025-10-29T00:40:50.772Z,1761698450.772 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:50.785Z,1761698450.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838568,-0.535989,-0.097566],[0.543945,0.833730,0.094957],[0.030447,-0.132698,0.990689]] 2025-10-29T00:40:50.793Z,1761698450.793 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:50.793Z,1761698450.793 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:50.793Z,1761698450.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:50.873Z,1761698450.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 208.199997 m, deltaT: 4.030945 s, deltaX: -2.400009 m, approachRate: -0.595396 m/s, rangeRepo size: 4 2025-10-29T00:40:50.875Z,1761698450.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 206.965302 m, bearing: 22.493296 deg, lat: 36.779435 deg, lon: -121.859407 deg, deltaT: 8.064975 s, deltaX: -4.635818 m, approachRate: -0.574809 m/s, posRepo size: 4 2025-10-29T00:40:50.875Z,1761698450.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:50.882Z,1761698450.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 204.823303 m, bearing: 22.492807 deg, approach rate: 0.000000 m/s, LOS rate: 0.008335 deg/s, cmd heading: 33.900404 deg, new cmd heading: 33.908991 deg. 2025-10-29T00:40:50.883Z,1761698450.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591824 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:50.928Z,1761698450.928 [DAT](INFO): DAT read: user:519> 2025-10-29T00:40:50.930Z,1761698450.930 [DAT](INFO): DAT read: Tx time:00:40:50.7752 2025-10-29T00:40:50.930Z,1761698450.930 [DAT](INFO): Ping request sent. 2025-10-29T00:40:50.930Z,1761698450.930 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:50.931Z,1761698450.931 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:50.931Z,1761698450.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001213 2025-10-29T00:40:51.177Z,1761698451.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246775 2025-10-29T00:40:51.193Z,1761698451.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837871,-0.537708,-0.094035],[0.545093,0.833351,0.091646],[0.029085,-0.128045,0.991342]] 2025-10-29T00:40:51.233Z,1761698451.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:51.238Z,1761698451.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 204.592850 m, bearing: 22.496989 deg, approach rate: -0.640252 m/s, LOS rate: 0.011631 deg/s, cmd heading: 33.908990 deg, new cmd heading: 33.917363 deg. 2025-10-29T00:40:51.239Z,1761698451.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591970 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:51.430Z,1761698451.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499805 2025-10-29T00:40:51.595Z,1761698451.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837205,-0.539283,-0.090896],[0.546193,0.832894,0.089217],[0.027594,-0.124340,0.991856]] 2025-10-29T00:40:51.626Z,1761698451.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:51.628Z,1761698451.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:51.631Z,1761698451.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 204.329849 m, bearing: 22.501690 deg, approach rate: -0.657312 m/s, LOS rate: 0.011766 deg/s, cmd heading: 33.917364 deg, new cmd heading: 33.926779 deg. 2025-10-29T00:40:51.632Z,1761698451.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592134 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:51.682Z,1761698451.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752230 2025-10-29T00:40:51.933Z,1761698451.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003313 2025-10-29T00:40:52.000Z,1761698452.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836109,-0.541201,-0.089570],[0.547951,0.831680,0.089767],[0.025912,-0.124135,0.991927]] 2025-10-29T00:40:52.038Z,1761698452.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:52.040Z,1761698452.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 204.068497 m, bearing: 22.506710 deg, approach rate: -0.637660 m/s, LOS rate: 0.012263 deg/s, cmd heading: 33.926779 deg, new cmd heading: 33.936831 deg. 2025-10-29T00:40:52.041Z,1761698452.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592309 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:52.186Z,1761698452.186 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255608 2025-10-29T00:40:52.410Z,1761698452.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835170,-0.542747,-0.088973],[0.549463,0.830472,0.091695],[0.024122,-0.125468,0.991804]] 2025-10-29T00:40:52.437Z,1761698452.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506913 2025-10-29T00:40:52.440Z,1761698452.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:52.443Z,1761698452.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 203.816849 m, bearing: 22.511418 deg, approach rate: -0.625602 m/s, LOS rate: 0.011719 deg/s, cmd heading: 33.936830 deg, new cmd heading: 33.946258 deg. 2025-10-29T00:40:52.460Z,1761698452.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592474 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:52.702Z,1761698452.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771294 2025-10-29T00:40:52.807Z,1761698452.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834220,-0.544610,-0.086465],[0.550975,0.829599,0.090514],[0.022436,-0.123148,0.992135]] 2025-10-29T00:40:52.852Z,1761698452.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:52.854Z,1761698452.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 203.556503 m, bearing: 22.515118 deg, approach rate: -0.632158 m/s, LOS rate: 0.008996 deg/s, cmd heading: 33.946259 deg, new cmd heading: 33.953668 deg. 2025-10-29T00:40:52.855Z,1761698452.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592603 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:52.953Z,1761698452.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022861 2025-10-29T00:40:53.205Z,1761698453.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274866 2025-10-29T00:40:53.212Z,1761698453.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832800,-0.547122,-0.084269],[0.553193,0.828172,0.090049],[0.020522,-0.121610,0.992366]] 2025-10-29T00:40:53.231Z,1761698453.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:53.234Z,1761698453.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 203.318710 m, bearing: 22.518334 deg, approach rate: -0.626452 m/s, LOS rate: 0.008482 deg/s, cmd heading: 33.953669 deg, new cmd heading: 33.960109 deg. 2025-10-29T00:40:53.235Z,1761698453.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592716 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:53.457Z,1761698453.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527207 2025-10-29T00:40:53.615Z,1761698453.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831631,-0.549211,-0.082205],[0.555016,0.826975,0.089834],[0.018644,-0.120334,0.992558]] 2025-10-29T00:40:53.642Z,1761698453.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:53.643Z,1761698453.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:53.646Z,1761698453.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 203.063507 m, bearing: 22.521641 deg, approach rate: -0.619183 m/s, LOS rate: 0.008034 deg/s, cmd heading: 33.960110 deg, new cmd heading: 33.966733 deg. 2025-10-29T00:40:53.647Z,1761698453.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592831 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:53.709Z,1761698453.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779033 2025-10-29T00:40:53.961Z,1761698453.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030780 2025-10-29T00:40:54.019Z,1761698454.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830012,-0.551956,-0.080148],[0.557485,0.825403,0.089000],[0.017031,-0.118553,0.992802]] 2025-10-29T00:40:54.076Z,1761698454.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:54.079Z,1761698454.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 202.800171 m, bearing: 22.522890 deg, approach rate: -0.609097 m/s, LOS rate: 0.002891 deg/s, cmd heading: 33.966732 deg, new cmd heading: 33.969232 deg. 2025-10-29T00:40:54.080Z,1761698454.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592875 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:54.213Z,1761698454.213 [DAT](INFO): DAT read: Rx Time:00:40:53.4249 2025-10-29T00:40:54.213Z,1761698454.213 [DAT](INFO): Rx dataTimestamp_ set to:1761698454.213075 2025-10-29T00:40:54.214Z,1761698454.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283749 2025-10-29T00:40:54.431Z,1761698454.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827926,-0.555089,-0.080096],[0.560594,0.823294,0.089007],[0.016536,-0.118593,0.992805]] 2025-10-29T00:40:54.460Z,1761698454.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:54.463Z,1761698454.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 202.549942 m, bearing: 22.523812 deg, approach rate: -0.651344 m/s, LOS rate: 0.002405 deg/s, cmd heading: 33.969232 deg, new cmd heading: 33.971080 deg. 2025-10-29T00:40:54.465Z,1761698454.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534871 2025-10-29T00:40:54.466Z,1761698454.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592907 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:54.739Z,1761698454.739 [DAT](INFO): DAT read: 00:40:53.4249 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 110, 0.42,-0.508,-1.921, 0.111,-0.564, PHS= 0.158,-1.312, 0.631, RAW= 163.5, 6.0, CAL= 162.8, 5.5, ROT= 347.2, -5.5 2025-10-29T00:40:54.767Z,1761698454.767 [DAT](INFO): got valid direction response: 00:40:53.4249 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 110, 0.42,-0.508,-1.921, 0.111,-0.564, PHS= 0.158,-1.312, 0.631, RAW= 163.5, 6.0, CAL= 162.8, 5.5, ROT= 347.2, -5.5 2025-10-29T00:40:54.784Z,1761698454.784 [DAT](INFO): DAT read: Bearing 183.2, -12.2 (Local) 2025-10-29T00:40:54.784Z,1761698454.784 [DAT](INFO): Local bearing/azimuth received: Bearing 183.2, -12.2 (Local) 2025-10-29T00:40:54.786Z,1761698454.786 [DAT](INFO): DAT read: Range 11 to 50 : 184.1 m (Round-trip 245.5 ms) speed 0.4 m/s 2025-10-29T00:40:54.786Z,1761698454.786 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:54.787Z,1761698454.787 [DAT](INFO): direction in FSK: [0.970660,-0.220528,0.095846] 2025-10-29T00:40:54.788Z,1761698454.788 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:54.835Z,1761698454.835 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:54.835Z,1761698454.835 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:54.835Z,1761698454.835 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:54.847Z,1761698454.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825657,-0.558408,-0.080449],[0.563918,0.821137,0.087921],[0.016964,-0.117959,0.992874]] 2025-10-29T00:40:54.960Z,1761698454.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.100006 m, deltaT: 4.044607 s, deltaX: -24.099991 m, approachRate: -5.958549 m/s, rangeRepo size: 4 2025-10-29T00:40:54.964Z,1761698454.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:54.967Z,1761698454.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 202.245712 m, bearing: 22.520464 deg, approach rate: -0.609803 m/s, LOS rate: -0.006722 deg/s, cmd heading: 33.971080 deg, new cmd heading: 33.964372 deg. 2025-10-29T00:40:54.969Z,1761698454.969 [DAT](INFO): DAT read: user:520> 2025-10-29T00:40:54.970Z,1761698454.970 [DAT](INFO): DAT read: Tx time:00:40:54.8252 2025-10-29T00:40:54.970Z,1761698454.970 [DAT](INFO): Ping request sent. 2025-10-29T00:40:54.970Z,1761698454.970 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:54.970Z,1761698454.970 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:54.971Z,1761698454.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-29T00:40:54.973Z,1761698454.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592790 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:55.221Z,1761698455.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251146 2025-10-29T00:40:55.262Z,1761698455.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823363,-0.561304,-0.083736],[0.567219,0.818692,0.089473],[0.018333,-0.121165,0.992463]] 2025-10-29T00:40:55.280Z,1761698455.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:55.283Z,1761698455.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 202.025497 m, bearing: 22.517770 deg, approach rate: -0.685857 m/s, LOS rate: -0.008399 deg/s, cmd heading: 33.964372 deg, new cmd heading: 33.958979 deg. 2025-10-29T00:40:55.284Z,1761698455.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592696 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:55.473Z,1761698455.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502803 2025-10-29T00:40:55.659Z,1761698455.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821387,-0.563709,-0.086924],[0.570019,0.816643,0.090396],[0.020029,-0.123798,0.992105]] 2025-10-29T00:40:55.686Z,1761698455.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:55.689Z,1761698455.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:55.691Z,1761698455.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 201.764755 m, bearing: 22.514307 deg, approach rate: -0.637975 m/s, LOS rate: -0.008485 deg/s, cmd heading: 33.958980 deg, new cmd heading: 33.952044 deg. 2025-10-29T00:40:55.692Z,1761698455.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592575 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:55.725Z,1761698455.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754856 2025-10-29T00:40:55.977Z,1761698455.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007014 2025-10-29T00:40:56.117Z,1761698456.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:56.119Z,1761698456.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 201.480865 m, bearing: 22.509013 deg, approach rate: -0.663161 m/s, LOS rate: -0.012384 deg/s, cmd heading: 33.952044 deg, new cmd heading: 33.941441 deg. 2025-10-29T00:40:56.120Z,1761698456.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592390 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:56.229Z,1761698456.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258742 2025-10-29T00:40:56.466Z,1761698456.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818163,-0.567327,-0.093536],[0.574474,0.813407,0.091364],[0.024250,-0.128484,0.991415]] 2025-10-29T00:40:56.481Z,1761698456.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511246 2025-10-29T00:40:56.506Z,1761698456.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:56.508Z,1761698456.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 201.223663 m, bearing: 22.503786 deg, approach rate: -0.661640 m/s, LOS rate: -0.013463 deg/s, cmd heading: 33.941440 deg, new cmd heading: 33.930973 deg. 2025-10-29T00:40:56.509Z,1761698456.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.592207 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:56.740Z,1761698456.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769821 2025-10-29T00:40:56.910Z,1761698456.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817020,-0.568375,-0.097094],[0.576018,0.812152,0.092806],[0.026107,-0.131752,0.990939]] 2025-10-29T00:40:56.957Z,1761698456.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:56.959Z,1761698456.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 200.927429 m, bearing: 22.495940 deg, approach rate: -0.656576 m/s, LOS rate: -0.017415 deg/s, cmd heading: 33.930973 deg, new cmd heading: 33.915258 deg. 2025-10-29T00:40:56.961Z,1761698456.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591933 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:56.993Z,1761698456.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022926 2025-10-29T00:40:57.245Z,1761698457.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275247 2025-10-29T00:40:57.289Z,1761698457.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817185,-0.567799,-0.099067],[0.575737,0.812221,0.093934],[0.027128,-0.133798,0.990637]] 2025-10-29T00:40:57.365Z,1761698457.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:57.367Z,1761698457.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 200.659424 m, bearing: 22.488842 deg, approach rate: -0.657076 m/s, LOS rate: -0.017425 deg/s, cmd heading: 33.915257 deg, new cmd heading: 33.901042 deg. 2025-10-29T00:40:57.397Z,1761698457.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591685 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:57.497Z,1761698457.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527045 2025-10-29T00:40:57.700Z,1761698457.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818257,-0.566054,-0.100190],[0.574200,0.813121,0.095541],[0.027385,-0.135707,0.990371]] 2025-10-29T00:40:57.740Z,1761698457.740 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:57.747Z,1761698457.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:57.750Z,1761698457.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779395 2025-10-29T00:40:57.758Z,1761698457.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 200.412445 m, bearing: 22.482413 deg, approach rate: -0.646724 m/s, LOS rate: -0.016856 deg/s, cmd heading: 33.901043 deg, new cmd heading: 33.888168 deg. 2025-10-29T00:40:57.765Z,1761698457.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591460 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:58.001Z,1761698458.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030691 2025-10-29T00:40:58.105Z,1761698458.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.819566,-0.563826,-0.102039],[0.572346,0.813974,0.099325],[0.027055,-0.139805,0.989809]] 2025-10-29T00:40:58.143Z,1761698458.143 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504291, +10.6, 0.0,1492.0, 0 2025-10-29T00:40:58.166Z,1761698458.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:58.169Z,1761698458.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 200.132996 m, bearing: 22.475291 deg, approach rate: -0.665904 m/s, LOS rate: -0.016996 deg/s, cmd heading: 33.888168 deg, new cmd heading: 33.873903 deg. 2025-10-29T00:40:58.170Z,1761698458.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591211 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:58.254Z,1761698458.254 [DAT](INFO): DAT read: Rx Time:00:40:57.4713 2025-10-29T00:40:58.254Z,1761698458.254 [DAT](INFO): Rx dataTimestamp_ set to:1761698458.253998 2025-10-29T00:40:58.255Z,1761698458.255 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285033 2025-10-29T00:40:58.505Z,1761698458.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534733 2025-10-29T00:40:58.508Z,1761698458.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821578,-0.560209,-0.105717],[0.569505,0.814936,0.107441],[0.025963,-0.148478,0.988575]] 2025-10-29T00:40:58.561Z,1761698458.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 206.97 m. 2025-10-29T00:40:58.563Z,1761698458.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 206.965302 m, nav range: 199.873550 m, bearing: 22.468896 deg, approach rate: -0.657094 m/s, LOS rate: -0.016216 deg/s, cmd heading: 33.873903 deg, new cmd heading: 33.861098 deg. 2025-10-29T00:40:58.565Z,1761698458.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590988 target range: 206.965302 and range: 208.20 m. 2025-10-29T00:40:58.768Z,1761698458.768 [DAT](INFO): DAT read: 00:40:57.4712 LVL= 32752, 32753, 29826, 32755, AGC= 68, IDX= 410, 0.13,-2.782, 2.130,-2.207,-2.871, PHS= 0.191,-1.237, 0.620, RAW= 162.7, 5.1, CAL= 161.8, 4.3, ROT= 348.2, -4.3 2025-10-29T00:40:58.770Z,1761698458.770 [DAT](INFO): got valid direction response: 00:40:57.4712 LVL= 32752, 32753, 29826, 32755, AGC= 68, IDX= 410, 0.13,-2.782, 2.130,-2.207,-2.871, PHS= 0.191,-1.237, 0.620, RAW= 162.7, 5.1, CAL= 161.8, 4.3, ROT= 348.2, -4.3 2025-10-29T00:40:58.771Z,1761698458.771 [DAT](INFO): DAT read: Bearing 182.2, -10.7 (Local) 2025-10-29T00:40:58.771Z,1761698458.771 [DAT](INFO): Local bearing/azimuth received: Bearing 182.2, -10.7 (Local) 2025-10-29T00:40:58.775Z,1761698458.775 [DAT](INFO): DAT read: Range 11 to 50 : 181.4 m (Round-trip 241.9 ms) speed 0.6 m/s 2025-10-29T00:40:58.778Z,1761698458.778 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:40:58.783Z,1761698458.783 [DAT](INFO): direction in FSK: [0.976112,-0.203920,0.074979] 2025-10-29T00:40:58.785Z,1761698458.785 [DAT](INFO): publishing direction and range info 2025-10-29T00:40:58.799Z,1761698458.799 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:40:58.856Z,1761698458.856 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:40:58.856Z,1761698458.856 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:40:58.927Z,1761698458.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823590,-0.556378,-0.110195],[0.566649,0.815577,0.117228],[0.024649,-0.158990,0.986972]] 2025-10-29T00:40:59.009Z,1761698459.009 [DAT](INFO): DAT read: user:521> 2025-10-29T00:40:59.010Z,1761698459.010 [DAT](INFO): DAT read: Tx time:00:40:58.8751 2025-10-29T00:40:59.010Z,1761698459.010 [DAT](INFO): Ping request sent. 2025-10-29T00:40:59.010Z,1761698459.010 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:40:59.010Z,1761698459.010 [DAT](INFO): publishing transmit ping time 2025-10-29T00:40:59.011Z,1761698459.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:40:59.017Z,1761698459.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 181.399994 m, deltaT: 8.083213 s, deltaX: -26.800003 m, approachRate: -3.315514 m/s, rangeRepo size: 4 2025-10-29T00:40:59.019Z,1761698459.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 180.343170 m, bearing: 23.515762 deg, lat: 36.779266 deg, lon: -121.859463 deg, deltaT: 8.083213 s, deltaX: -26.622131 m, approachRate: -3.293509 m/s, posRepo size: 4 2025-10-29T00:40:59.024Z,1761698459.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:40:59.027Z,1761698459.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 180.363220 m, bearing: 23.299557 deg, approach rate: 0.000000 m/s, LOS rate: -0.016216 deg/s, cmd heading: 33.861097 deg, new cmd heading: 33.846466 deg. 2025-10-29T00:40:59.028Z,1761698459.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590732 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:40:59.262Z,1761698459.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251397 2025-10-29T00:40:59.361Z,1761698459.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825270,-0.552948,-0.114791],[0.564271,0.815634,0.127825],[0.022947,-0.170264,0.985131]] 2025-10-29T00:40:59.385Z,1761698459.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:40:59.388Z,1761698459.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 180.114792 m, bearing: 23.296153 deg, approach rate: -0.666773 m/s, LOS rate: -0.009148 deg/s, cmd heading: 33.846466 deg, new cmd heading: 33.839649 deg. 2025-10-29T00:40:59.390Z,1761698459.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590613 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:40:59.513Z,1761698459.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503112 2025-10-29T00:40:59.766Z,1761698459.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755111 2025-10-29T00:40:59.785Z,1761698459.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827119,-0.549590,-0.117585],[0.561646,0.815970,0.136919],[0.020696,-0.179289,0.983579]] 2025-10-29T00:40:59.842Z,1761698459.842 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:40:59.853Z,1761698459.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:40:59.871Z,1761698459.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 179.839157 m, bearing: 23.292607 deg, approach rate: -0.595411 m/s, LOS rate: -0.007671 deg/s, cmd heading: 33.839650 deg, new cmd heading: 33.832548 deg. 2025-10-29T00:40:59.877Z,1761698459.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590489 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:00.017Z,1761698460.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006854 2025-10-29T00:41:00.224Z,1761698460.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826744,-0.550958,-0.113758],[0.562219,0.816383,0.132016],[0.020135,-0.173101,0.984698]] 2025-10-29T00:41:00.261Z,1761698460.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:00.263Z,1761698460.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 179.541428 m, bearing: 23.292264 deg, approach rate: -0.720234 m/s, LOS rate: -0.000833 deg/s, cmd heading: 33.832546 deg, new cmd heading: 33.831858 deg. 2025-10-29T00:41:00.269Z,1761698460.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258906 2025-10-29T00:41:00.285Z,1761698460.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590477 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:00.522Z,1761698460.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511664 2025-10-29T00:41:00.621Z,1761698460.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826330,-0.552507,-0.109154],[0.562827,0.817066,0.125012],[0.020116,-0.164736,0.986133]] 2025-10-29T00:41:00.639Z,1761698460.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:00.658Z,1761698460.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 179.292786 m, bearing: 23.291960 deg, approach rate: -0.657920 m/s, LOS rate: -0.000803 deg/s, cmd heading: 33.831856 deg, new cmd heading: 33.831249 deg. 2025-10-29T00:41:00.659Z,1761698460.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590467 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:00.774Z,1761698460.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763268 2025-10-29T00:41:01.025Z,1761698461.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014789 2025-10-29T00:41:01.026Z,1761698461.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825793,-0.554446,-0.103226],[0.563598,0.817983,0.115159],[0.020588,-0.153276,0.987969]] 2025-10-29T00:41:01.074Z,1761698461.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:01.077Z,1761698461.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 179.014725 m, bearing: 23.292347 deg, approach rate: -0.639225 m/s, LOS rate: 0.000889 deg/s, cmd heading: 33.831249 deg, new cmd heading: 33.832022 deg. 2025-10-29T00:41:01.078Z,1761698461.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590480 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:01.277Z,1761698461.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266770 2025-10-29T00:41:01.431Z,1761698461.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825315,-0.556403,-0.096284],[0.564274,0.819055,0.103646],[0.021193,-0.139871,0.989943]] 2025-10-29T00:41:01.466Z,1761698461.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:01.469Z,1761698461.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 178.774536 m, bearing: 23.292684 deg, approach rate: -0.612642 m/s, LOS rate: 0.000862 deg/s, cmd heading: 33.832024 deg, new cmd heading: 33.832700 deg. 2025-10-29T00:41:01.470Z,1761698461.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590492 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:01.530Z,1761698461.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519612 2025-10-29T00:41:01.784Z,1761698461.784 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774099 2025-10-29T00:41:01.849Z,1761698461.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824871,-0.557702,-0.092500],[0.564914,0.819376,0.097445],[0.021447,-0.132634,0.990933]] 2025-10-29T00:41:01.944Z,1761698461.944 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:01.946Z,1761698461.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:01.953Z,1761698461.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 178.462326 m, bearing: 23.293092 deg, approach rate: -0.650175 m/s, LOS rate: 0.000850 deg/s, cmd heading: 33.832700 deg, new cmd heading: 33.833516 deg. 2025-10-29T00:41:01.954Z,1761698461.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590506 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:02.034Z,1761698462.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023341 2025-10-29T00:41:02.285Z,1761698462.285 [DAT](INFO): DAT read: Rx Time:00:41:01.5779 2025-10-29T00:41:02.286Z,1761698462.286 [DAT](INFO): Rx dataTimestamp_ set to:1761698462.285250 2025-10-29T00:41:02.286Z,1761698462.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275980 2025-10-29T00:41:02.358Z,1761698462.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:02.361Z,1761698462.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 178.193329 m, bearing: 23.293444 deg, approach rate: -0.652524 m/s, LOS rate: 0.000856 deg/s, cmd heading: 33.833516 deg, new cmd heading: 33.834222 deg. 2025-10-29T00:41:02.362Z,1761698462.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590519 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:02.537Z,1761698462.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526723 2025-10-29T00:41:02.712Z,1761698462.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825853,-0.555703,-0.095709],[0.563448,0.819918,0.101296],[0.022183,-0.137583,0.990242]] 2025-10-29T00:41:02.795Z,1761698462.795 [DAT](INFO): DAT read: 00:41:01.5779 LVL= 28944, 32753, 28594, 32755, AGC= 68, IDX= 211,-0.17, 1.112,-0.271, 1.744, 1.003, PHS= 0.212,-1.229, 0.697, RAW= 164.0, 3.7, CAL= 162.9, 2.3, ROT= 347.1, -2.3 2025-10-29T00:41:02.796Z,1761698462.796 [DAT](INFO): got valid direction response: 00:41:01.5779 LVL= 28944, 32753, 28594, 32755, AGC= 68, IDX= 211,-0.17, 1.112,-0.271, 1.744, 1.003, PHS= 0.212,-1.229, 0.697, RAW= 164.0, 3.7, CAL= 162.9, 2.3, ROT= 347.1, -2.3 2025-10-29T00:41:02.797Z,1761698462.797 [DAT](INFO): DAT read: Bearing 179.1, -11.7 (Local) 2025-10-29T00:41:02.797Z,1761698462.797 [DAT](INFO): Local bearing/azimuth received: Bearing 179.1, -11.7 (Local) 2025-10-29T00:41:02.799Z,1761698462.799 [DAT](INFO): DAT read: Range 11 to 50 : 223.9 m (Round-trip 298.6 ms) speed 0.7 m/s 2025-10-29T00:41:02.799Z,1761698462.799 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:02.801Z,1761698462.801 [DAT](INFO): direction in FSK: [0.973976,-0.223070,0.040132] 2025-10-29T00:41:02.801Z,1761698462.801 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:02.804Z,1761698462.804 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:02.804Z,1761698462.804 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:02.805Z,1761698462.805 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:02.807Z,1761698462.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 223.899994 m, deltaT: 4.031795 s, deltaX: 42.500000 m, approachRate: 10.541210 m/s, rangeRepo size: 4 2025-10-29T00:41:02.812Z,1761698462.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:02.819Z,1761698462.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 177.924133 m, bearing: 23.293925 deg, approach rate: -0.632199 m/s, LOS rate: 0.001132 deg/s, cmd heading: 33.834223 deg, new cmd heading: 33.835187 deg. 2025-10-29T00:41:02.823Z,1761698462.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590535 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:03.041Z,1761698463.041 [DAT](INFO): DAT read: user:522> 2025-10-29T00:41:03.042Z,1761698463.042 [DAT](INFO): DAT read: Tx time:00:41:02.8251 2025-10-29T00:41:03.042Z,1761698463.042 [DAT](INFO): Ping request sent. 2025-10-29T00:41:03.042Z,1761698463.042 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:03.042Z,1761698463.042 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:03.043Z,1761698463.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-29T00:41:03.213Z,1761698463.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826505,-0.554740,-0.095676],[0.562494,0.820536,0.101595],[0.022147,-0.137786,0.990214]] 2025-10-29T00:41:03.271Z,1761698463.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 223.899994 m, deltaT: 4.031795 s, deltaX: 42.500000 m, approachRate: 10.541210 m/s, rangeRepo size: 4 2025-10-29T00:41:03.272Z,1761698463.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:03.275Z,1761698463.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 177.613861 m, bearing: 23.299292 deg, approach rate: -0.637702 m/s, LOS rate: 0.011049 deg/s, cmd heading: 33.835186 deg, new cmd heading: 33.845938 deg. 2025-10-29T00:41:03.276Z,1761698463.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590723 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:03.293Z,1761698463.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250720 2025-10-29T00:41:03.545Z,1761698463.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502694 2025-10-29T00:41:03.617Z,1761698463.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826908,-0.554012,-0.096406],[0.561884,0.820891,0.102103],[0.022572,-0.138598,0.990091]] 2025-10-29T00:41:03.636Z,1761698463.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:03.639Z,1761698463.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 177.378311 m, bearing: 23.303431 deg, approach rate: -0.644565 m/s, LOS rate: 0.011341 deg/s, cmd heading: 33.845937 deg, new cmd heading: 33.854226 deg. 2025-10-29T00:41:03.640Z,1761698463.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590868 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:03.797Z,1761698463.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754743 2025-10-29T00:41:04.018Z,1761698464.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827823,-0.551799,-0.101126],[0.560530,0.820888,0.109309],[0.022696,-0.147173,0.988850]] 2025-10-29T00:41:04.049Z,1761698464.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006726 2025-10-29T00:41:04.069Z,1761698464.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:04.071Z,1761698464.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:04.074Z,1761698464.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 177.103134 m, bearing: 23.307193 deg, approach rate: -0.632971 m/s, LOS rate: 0.008667 deg/s, cmd heading: 33.854225 deg, new cmd heading: 33.861761 deg. 2025-10-29T00:41:04.075Z,1761698464.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590999 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:04.302Z,1761698464.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259864 2025-10-29T00:41:04.427Z,1761698464.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829506,-0.548280,-0.106345],[0.558050,0.821307,0.118475],[0.022385,-0.157622,0.987246]] 2025-10-29T00:41:04.446Z,1761698464.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:04.449Z,1761698464.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 176.864899 m, bearing: 23.310627 deg, approach rate: -0.634645 m/s, LOS rate: 0.009160 deg/s, cmd heading: 33.861762 deg, new cmd heading: 33.868640 deg. 2025-10-29T00:41:04.450Z,1761698464.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591119 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:04.553Z,1761698464.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510734 2025-10-29T00:41:04.805Z,1761698464.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762637 2025-10-29T00:41:04.939Z,1761698464.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831094,-0.545366,-0.108902],[0.555691,0.822157,0.123555],[0.022152,-0.163201,0.986344]] 2025-10-29T00:41:04.989Z,1761698464.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:04.991Z,1761698464.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 176.521729 m, bearing: 23.314594 deg, approach rate: -0.633363 m/s, LOS rate: 0.007337 deg/s, cmd heading: 33.868640 deg, new cmd heading: 33.876591 deg. 2025-10-29T00:41:04.992Z,1761698464.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591258 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:05.058Z,1761698465.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015430 2025-10-29T00:41:05.309Z,1761698465.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266675 2025-10-29T00:41:05.449Z,1761698465.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833531,-0.543079,-0.101445],[0.552100,0.825550,0.116844],[0.020292,-0.153401,0.987956]] 2025-10-29T00:41:05.471Z,1761698465.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:05.490Z,1761698465.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 176.210999 m, bearing: 23.318720 deg, approach rate: -0.643156 m/s, LOS rate: 0.008553 deg/s, cmd heading: 33.876591 deg, new cmd heading: 33.884856 deg. 2025-10-29T00:41:05.491Z,1761698465.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591402 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:05.561Z,1761698465.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518662 2025-10-29T00:41:05.814Z,1761698465.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771304 2025-10-29T00:41:05.967Z,1761698465.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834585,-0.542344,-0.096596],[0.550570,0.827071,0.113252],[0.018470,-0.147701,0.988859]] 2025-10-29T00:41:06.004Z,1761698466.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:06.026Z,1761698466.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 175.859512 m, bearing: 23.322287 deg, approach rate: -0.660304 m/s, LOS rate: 0.006715 deg/s, cmd heading: 33.884855 deg, new cmd heading: 33.892005 deg. 2025-10-29T00:41:06.027Z,1761698466.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591527 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:06.066Z,1761698466.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023502 2025-10-29T00:41:06.317Z,1761698466.317 [DAT](INFO): DAT read: Rx Time:00:41:05.4950 2025-10-29T00:41:06.317Z,1761698466.317 [DAT](INFO): Rx dataTimestamp_ set to:1761698466.317095 2025-10-29T00:41:06.318Z,1761698466.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275726 2025-10-29T00:41:06.340Z,1761698466.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835843,-0.540947,-0.093503],[0.548729,0.828296,0.113231],[0.016196,-0.145951,0.989159]] 2025-10-29T00:41:06.379Z,1761698466.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:06.387Z,1761698466.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:06.401Z,1761698466.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 175.618515 m, bearing: 23.324924 deg, approach rate: -0.628602 m/s, LOS rate: 0.006887 deg/s, cmd heading: 33.892003 deg, new cmd heading: 33.897284 deg. 2025-10-29T00:41:06.403Z,1761698466.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591619 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:06.569Z,1761698466.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526719 2025-10-29T00:41:06.747Z,1761698466.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836577,-0.540252,-0.090920],[0.547669,0.828958,0.113520],[0.014040,-0.144762,0.989367]] 2025-10-29T00:41:06.794Z,1761698466.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 180.34 m. 2025-10-29T00:41:06.801Z,1761698466.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 180.343170 m, nav range: 175.353760 m, bearing: 23.327944 deg, approach rate: -0.650426 m/s, LOS rate: 0.007433 deg/s, cmd heading: 33.897283 deg, new cmd heading: 33.903334 deg. 2025-10-29T00:41:06.805Z,1761698466.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591725 target range: 180.343170 and range: 181.40 m. 2025-10-29T00:41:06.826Z,1761698466.826 [DAT](INFO): DAT read: 00:41:05.4950 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 109,-0.11,-2.434, 2.481,-1.882,-2.503, PHS= 0.171,-1.253, 0.578, RAW= 162.2, 6.1, CAL= 161.5, 5.6, ROT= 348.5, -5.6 2025-10-29T00:41:06.827Z,1761698466.827 [DAT](INFO): got valid direction response: 00:41:05.4950 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 109,-0.11,-2.434, 2.481,-1.882,-2.503, PHS= 0.171,-1.253, 0.578, RAW= 162.2, 6.1, CAL= 161.5, 5.6, ROT= 348.5, -5.6 2025-10-29T00:41:06.829Z,1761698466.829 [DAT](INFO): DAT read: Bearing 182.1, -11.0 (Local) 2025-10-29T00:41:06.829Z,1761698466.829 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, -11.0 (Local) 2025-10-29T00:41:06.830Z,1761698466.830 [DAT](INFO): DAT read: Range 11 to 50 : 199.2 m (Round-trip 265.7 ms) speed 0.6 m/s 2025-10-29T00:41:06.831Z,1761698466.831 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:06.832Z,1761698466.832 [DAT](INFO): direction in FSK: [0.975248,-0.198417,0.097583] 2025-10-29T00:41:06.832Z,1761698466.832 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:06.836Z,1761698466.836 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:06.836Z,1761698466.836 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:06.837Z,1761698466.837 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:07.074Z,1761698467.074 [DAT](INFO): DAT read: user:523> 2025-10-29T00:41:07.075Z,1761698467.075 [DAT](INFO): DAT read: Tx time:00:41:06.8251 2025-10-29T00:41:07.075Z,1761698467.075 [DAT](INFO): Ping request sent. 2025-10-29T00:41:07.075Z,1761698467.075 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:07.075Z,1761698467.075 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:07.080Z,1761698467.080 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T00:41:07.202Z,1761698467.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 199.199997 m, deltaT: 8.063845 s, deltaX: 17.800003 m, approachRate: 2.207384 m/s, rangeRepo size: 4 2025-10-29T00:41:07.203Z,1761698467.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 198.046265 m, bearing: 22.609099 deg, lat: 36.779435 deg, lon: -121.859407 deg, deltaT: 8.063845 s, deltaX: 17.703094 m, approachRate: 2.195366 m/s, posRepo size: 4 2025-10-29T00:41:07.204Z,1761698467.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:07.207Z,1761698467.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 194.309189 m, bearing: 22.469825 deg, approach rate: 0.000000 m/s, LOS rate: 0.007433 deg/s, cmd heading: 33.903334 deg, new cmd heading: 33.909383 deg. 2025-10-29T00:41:07.208Z,1761698467.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591830 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:07.326Z,1761698467.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251158 2025-10-29T00:41:07.563Z,1761698467.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836241,-0.540947,-0.089873],[0.548270,0.827795,0.118974],[0.010038,-0.148765,0.988822]] 2025-10-29T00:41:07.577Z,1761698467.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501896 2025-10-29T00:41:07.610Z,1761698467.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:07.616Z,1761698467.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 194.056549 m, bearing: 22.471236 deg, approach rate: -0.618201 m/s, LOS rate: 0.003459 deg/s, cmd heading: 33.909383 deg, new cmd heading: 33.912210 deg. 2025-10-29T00:41:07.617Z,1761698467.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591880 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:07.829Z,1761698467.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753773 2025-10-29T00:41:07.994Z,1761698467.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835084,-0.542966,-0.088446],[0.550065,0.826459,0.119972],[0.007956,-0.148838,0.988830]] 2025-10-29T00:41:08.014Z,1761698468.014 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 84.23, 70.64, 78.82 2025-10-29T00:41:08.029Z,1761698468.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:08.032Z,1761698468.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 193.762695 m, bearing: 22.472693 deg, approach rate: -0.700409 m/s, LOS rate: 0.003479 deg/s, cmd heading: 33.912210 deg, new cmd heading: 33.915129 deg. 2025-10-29T00:41:08.033Z,1761698468.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591931 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:08.082Z,1761698468.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007160 2025-10-29T00:41:08.333Z,1761698468.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257826 2025-10-29T00:41:08.371Z,1761698468.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833227,-0.546686,-0.082867],[0.552902,0.825293,0.114848],[0.005604,-0.141512,0.989921]] 2025-10-29T00:41:08.413Z,1761698468.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:08.415Z,1761698468.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:08.418Z,1761698468.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 193.509964 m, bearing: 22.473735 deg, approach rate: -0.654827 m/s, LOS rate: 0.002702 deg/s, cmd heading: 33.915130 deg, new cmd heading: 33.917216 deg. 2025-10-29T00:41:08.419Z,1761698468.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591967 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:08.585Z,1761698468.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509806 2025-10-29T00:41:08.785Z,1761698468.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831219,-0.550425,-0.078153],[0.555938,0.823688,0.111671],[0.002908,-0.136271,0.990667]] 2025-10-29T00:41:08.803Z,1761698468.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:08.806Z,1761698468.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 193.254211 m, bearing: 22.474541 deg, approach rate: -0.658832 m/s, LOS rate: 0.002080 deg/s, cmd heading: 33.917217 deg, new cmd heading: 33.918832 deg. 2025-10-29T00:41:08.807Z,1761698468.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591995 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:08.837Z,1761698468.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761828 2025-10-29T00:41:09.090Z,1761698469.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014935 2025-10-29T00:41:09.182Z,1761698469.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829290,-0.553853,-0.074331],[0.558818,0.822106,0.108922],[0.000782,-0.131866,0.991267]] 2025-10-29T00:41:09.219Z,1761698469.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:09.222Z,1761698469.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 192.978470 m, bearing: 22.472807 deg, approach rate: -0.663119 m/s, LOS rate: -0.004176 deg/s, cmd heading: 33.918832 deg, new cmd heading: 33.915360 deg. 2025-10-29T00:41:09.223Z,1761698469.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591935 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:09.341Z,1761698469.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265817 2025-10-29T00:41:09.594Z,1761698469.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519080 2025-10-29T00:41:09.652Z,1761698469.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827142,-0.557623,-0.069945],[0.561992,0.820497,0.104645],[-0.000963,-0.125865,0.992047]] 2025-10-29T00:41:09.671Z,1761698469.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:09.690Z,1761698469.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 192.678543 m, bearing: 22.470606 deg, approach rate: -0.663121 m/s, LOS rate: -0.004876 deg/s, cmd heading: 33.915359 deg, new cmd heading: 33.910948 deg. 2025-10-29T00:41:09.691Z,1761698469.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591858 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:09.845Z,1761698469.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769836 2025-10-29T00:41:10.058Z,1761698470.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824918,-0.561483,-0.065162],[0.565245,0.818853,0.099886],[-0.002726,-0.119231,0.992863]] 2025-10-29T00:41:10.097Z,1761698470.097 [DAT](INFO): DAT read: Rx Time:00:41:09.4917 2025-10-29T00:41:10.098Z,1761698470.098 [DAT](INFO): Rx dataTimestamp_ set to:1761698470.097285 2025-10-29T00:41:10.098Z,1761698470.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023052 2025-10-29T00:41:10.123Z,1761698470.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:10.126Z,1761698470.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 192.397995 m, bearing: 22.467198 deg, approach rate: -0.621138 m/s, LOS rate: -0.007555 deg/s, cmd heading: 33.910950 deg, new cmd heading: 33.904125 deg. 2025-10-29T00:41:10.127Z,1761698470.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591739 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:10.349Z,1761698470.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273934 2025-10-29T00:41:10.460Z,1761698470.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822416,-0.565481,-0.062147],[0.568869,0.816611,0.097650],[-0.004469,-0.115662,0.993279]] 2025-10-29T00:41:10.539Z,1761698470.539 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:10.541Z,1761698470.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 198.05 m. 2025-10-29T00:41:10.544Z,1761698470.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 198.046265 m, nav range: 192.103714 m, bearing: 22.463242 deg, approach rate: -0.703830 m/s, LOS rate: -0.009477 deg/s, cmd heading: 33.904127 deg, new cmd heading: 33.896202 deg. 2025-10-29T00:41:10.545Z,1761698470.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591600 target range: 198.046265 and range: 199.20 m. 2025-10-29T00:41:10.602Z,1761698470.602 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526701 2025-10-29T00:41:10.858Z,1761698470.858 [DAT](INFO): DAT read: 00:41:09.4917 LVL= 32752, 32753, 32546, 32755, AGC= 64, IDX= 412, 0.17,-1.692,-3.116,-1.120,-1.800, PHS= 0.210,-1.271, 0.636, RAW= 162.3, 5.0, CAL= 161.3, 4.1, ROT= 348.7, -4.1 2025-10-29T00:41:10.859Z,1761698470.859 [DAT](INFO): got valid direction response: 00:41:09.4917 LVL= 32752, 32753, 32546, 32755, AGC= 64, IDX= 412, 0.17,-1.692,-3.116,-1.120,-1.800, PHS= 0.210,-1.271, 0.636, RAW= 162.3, 5.0, CAL= 161.3, 4.1, ROT= 348.7, -4.1 2025-10-29T00:41:10.860Z,1761698470.860 [DAT](INFO): DAT read: Bearing 182.3, -11.7 (Local) 2025-10-29T00:41:10.861Z,1761698470.861 [DAT](INFO): Local bearing/azimuth received: Bearing 182.3, -11.7 (Local) 2025-10-29T00:41:10.862Z,1761698470.862 [DAT](INFO): DAT read: Range 11 to 50 : 196.8 m (Round-trip 262.5 ms) speed 0.6 m/s 2025-10-29T00:41:10.863Z,1761698470.863 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:10.864Z,1761698470.864 [DAT](INFO): direction in FSK: [0.978105,-0.195445,0.071497] 2025-10-29T00:41:10.865Z,1761698470.865 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:10.868Z,1761698470.868 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:10.868Z,1761698470.868 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:10.868Z,1761698470.868 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:10.889Z,1761698470.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820409,-0.568548,-0.060679],[0.571745,0.814610,0.097556],[-0.006036,-0.114729,0.993378]] 2025-10-29T00:41:11.037Z,1761698471.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 196.800003 m, deltaT: 4.031896 s, deltaX: -2.399994 m, approachRate: -0.595252 m/s, rangeRepo size: 4 2025-10-29T00:41:11.039Z,1761698471.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 195.651337 m, bearing: 24.114376 deg, lat: 36.779440 deg, lon: -121.859395 deg, deltaT: 4.031896 s, deltaX: -2.394928 m, approachRate: -0.593995 m/s, posRepo size: 4 2025-10-29T00:41:11.039Z,1761698471.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:11.046Z,1761698471.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 192.828369 m, bearing: 22.699718 deg, approach rate: 0.000000 m/s, LOS rate: -0.009477 deg/s, cmd heading: 33.896204 deg, new cmd heading: 33.886904 deg. 2025-10-29T00:41:11.047Z,1761698471.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591438 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:11.105Z,1761698471.105 [DAT](INFO): DAT read: user:524> 2025-10-29T00:41:11.106Z,1761698471.106 [DAT](INFO): DAT read: Tx time:00:41:10.8751 2025-10-29T00:41:11.107Z,1761698471.107 [DAT](INFO): Ping request sent. 2025-10-29T00:41:11.107Z,1761698471.107 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:11.107Z,1761698471.107 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:11.108Z,1761698471.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001156 2025-10-29T00:41:11.357Z,1761698471.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249979 2025-10-29T00:41:11.437Z,1761698471.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:11.440Z,1761698471.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 192.520355 m, bearing: 22.696350 deg, approach rate: -0.759617 m/s, LOS rate: -0.008317 deg/s, cmd heading: 33.886904 deg, new cmd heading: 33.880159 deg. 2025-10-29T00:41:11.441Z,1761698471.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591320 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:11.609Z,1761698471.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501844 2025-10-29T00:41:11.817Z,1761698471.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:11.819Z,1761698471.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 192.269745 m, bearing: 22.693603 deg, approach rate: -0.660154 m/s, LOS rate: -0.007247 deg/s, cmd heading: 33.880160 deg, new cmd heading: 33.874657 deg. 2025-10-29T00:41:11.821Z,1761698471.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591224 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:11.861Z,1761698471.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754131 2025-10-29T00:41:12.113Z,1761698472.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005853 2025-10-29T00:41:12.113Z,1761698472.113 [ThrusterHE](FAULT): Could not get status:serial timeout 2025-10-29T00:41:12.173Z,1761698472.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815883,-0.574492,-0.065534],[0.578170,0.809098,0.105263],[-0.007450,-0.123772,0.992283]] 2025-10-29T00:41:12.205Z,1761698472.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:12.207Z,1761698472.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 192.014313 m, bearing: 22.690162 deg, approach rate: -0.658588 m/s, LOS rate: -0.008884 deg/s, cmd heading: 33.874658 deg, new cmd heading: 33.867767 deg. 2025-10-29T00:41:12.208Z,1761698472.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591104 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:12.365Z,1761698472.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257854 2025-10-29T00:41:12.575Z,1761698472.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815366,-0.574911,-0.068233],[0.578912,0.808353,0.106896],[-0.006300,-0.126660,0.991926]] 2025-10-29T00:41:12.597Z,1761698472.597 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:12.599Z,1761698472.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:12.617Z,1761698472.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509747 2025-10-29T00:41:12.626Z,1761698472.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 191.758102 m, bearing: 22.686622 deg, approach rate: -0.649777 m/s, LOS rate: -0.008990 deg/s, cmd heading: 33.867766 deg, new cmd heading: 33.860677 deg. 2025-10-29T00:41:12.627Z,1761698472.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590980 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:12.870Z,1761698472.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763239 2025-10-29T00:41:12.986Z,1761698472.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815269,-0.574793,-0.070360],[0.579060,0.808109,0.107932],[-0.005180,-0.128736,0.991665]] 2025-10-29T00:41:13.066Z,1761698473.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:13.073Z,1761698473.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 191.456482 m, bearing: 22.682418 deg, approach rate: -0.645658 m/s, LOS rate: -0.009013 deg/s, cmd heading: 33.860676 deg, new cmd heading: 33.852255 deg. 2025-10-29T00:41:13.074Z,1761698473.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590833 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:13.121Z,1761698473.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014030 2025-10-29T00:41:13.374Z,1761698473.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267085 2025-10-29T00:41:13.406Z,1761698473.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816039,-0.573230,-0.074079],[0.577992,0.808773,0.108675],[-0.002382,-0.131500,0.991313]] 2025-10-29T00:41:13.463Z,1761698473.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:13.465Z,1761698473.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 191.186218 m, bearing: 22.678737 deg, approach rate: -0.681653 m/s, LOS rate: -0.009296 deg/s, cmd heading: 33.852255 deg, new cmd heading: 33.844883 deg. 2025-10-29T00:41:13.466Z,1761698473.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590705 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:13.625Z,1761698473.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517914 2025-10-29T00:41:13.833Z,1761698473.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:13.835Z,1761698473.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 190.942886 m, bearing: 22.675415 deg, approach rate: -0.657675 m/s, LOS rate: -0.008992 deg/s, cmd heading: 33.844882 deg, new cmd heading: 33.838228 deg. 2025-10-29T00:41:13.836Z,1761698473.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590589 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:13.878Z,1761698473.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770520 2025-10-29T00:41:14.129Z,1761698474.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022079 2025-10-29T00:41:14.190Z,1761698474.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.816664,-0.571962,-0.076933],[0.577112,0.809245,0.109837],[-0.000565,-0.134099,0.990968]] 2025-10-29T00:41:14.241Z,1761698474.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:14.243Z,1761698474.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 190.680252 m, bearing: 22.673861 deg, approach rate: -0.643705 m/s, LOS rate: -0.003813 deg/s, cmd heading: 33.838229 deg, new cmd heading: 33.835118 deg. 2025-10-29T00:41:14.253Z,1761698474.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590534 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:14.382Z,1761698474.382 [DAT](INFO): DAT read: Rx Time:00:41:13.5699 2025-10-29T00:41:14.382Z,1761698474.382 [DAT](INFO): Rx dataTimestamp_ set to:1761698474.381768 2025-10-29T00:41:14.383Z,1761698474.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276134 2025-10-29T00:41:14.602Z,1761698474.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818807,-0.567196,-0.088568],[0.574066,0.809487,0.123202],[0.001815,-0.151722,0.988421]] 2025-10-29T00:41:14.624Z,1761698474.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:14.626Z,1761698474.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:14.629Z,1761698474.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 190.432922 m, bearing: 22.672602 deg, approach rate: -0.641896 m/s, LOS rate: -0.003273 deg/s, cmd heading: 33.835118 deg, new cmd heading: 33.832595 deg. 2025-10-29T00:41:14.630Z,1761698474.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590490 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:14.633Z,1761698474.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525944 2025-10-29T00:41:14.897Z,1761698474.897 [DAT](INFO): DAT read: 00:41:13.5698 LVL= 32752, 32753, 32754, 30883, AGC= 70, IDX= 220, 0.28, 0.227,-0.876, 0.522,-0.933, PHS= 1.262, 0.102, 1.411, RAW= 156.0, -38.3, CAL= 156.5, -38.2, ROT= 353.5, 38.2 2025-10-29T00:41:14.899Z,1761698474.899 [DAT](INFO): got valid direction response: 00:41:13.5698 LVL= 32752, 32753, 32754, 30883, AGC= 70, IDX= 220, 0.28, 0.227,-0.876, 0.522,-0.933, PHS= 1.262, 0.102, 1.411, RAW= 156.0, -38.3, CAL= 156.5, -38.2, ROT= 353.5, 38.2 2025-10-29T00:41:14.900Z,1761698474.900 [DAT](INFO): DAT read: Bearing 140.7, 0.1 (Local) 2025-10-29T00:41:14.901Z,1761698474.901 [DAT](INFO): Local bearing/azimuth received: Bearing 140.7, 0.1 (Local) 2025-10-29T00:41:14.902Z,1761698474.902 [DAT](INFO): DAT read: Range 11 to 50 : 217.9 m (Round-trip 290.6 ms) speed 0.4 m/s 2025-10-29T00:41:14.903Z,1761698474.903 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:14.904Z,1761698474.904 [DAT](INFO): direction in FSK: [0.780805,-0.088962,-0.618408] 2025-10-29T00:41:14.904Z,1761698474.904 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:14.908Z,1761698474.908 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:14.908Z,1761698474.908 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:14.908Z,1761698474.908 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:15.056Z,1761698475.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820296,-0.564466,-0.092159],[0.571935,0.810197,0.128338],[0.002224,-0.157984,0.987439]] 2025-10-29T00:41:15.137Z,1761698475.137 [DAT](INFO): DAT read: user:525> 2025-10-29T00:41:15.138Z,1761698475.138 [DAT](INFO): DAT read: Tx time:00:41:14.9250 2025-10-29T00:41:15.138Z,1761698475.138 [DAT](INFO): Ping request sent. 2025-10-29T00:41:15.138Z,1761698475.138 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:15.138Z,1761698475.138 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:15.139Z,1761698475.139 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-29T00:41:15.154Z,1761698475.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 217.899994 m, deltaT: 4.034398 s, deltaX: 21.099991 m, approachRate: 5.230022 m/s, rangeRepo size: 4 2025-10-29T00:41:15.155Z,1761698475.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:15.166Z,1761698475.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 190.107712 m, bearing: 22.672003 deg, approach rate: -0.616407 m/s, LOS rate: -0.001137 deg/s, cmd heading: 33.832594 deg, new cmd heading: 33.831395 deg. 2025-10-29T00:41:15.167Z,1761698475.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590469 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:15.391Z,1761698475.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252926 2025-10-29T00:41:15.472Z,1761698475.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.821845,-0.562046,-0.093144],[0.569709,0.811318,0.131128],[0.001869,-0.160832,0.986980]] 2025-10-29T00:41:15.511Z,1761698475.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:15.514Z,1761698475.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 189.864197 m, bearing: 22.671741 deg, approach rate: -0.680723 m/s, LOS rate: -0.000733 deg/s, cmd heading: 33.831395 deg, new cmd heading: 33.830871 deg. 2025-10-29T00:41:15.515Z,1761698475.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590460 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:15.641Z,1761698475.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502786 2025-10-29T00:41:15.885Z,1761698475.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823824,-0.559252,-0.092470],[0.566844,0.813049,0.132811],[0.000908,-0.161829,0.986818]] 2025-10-29T00:41:15.894Z,1761698475.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756205 2025-10-29T00:41:15.930Z,1761698475.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:15.932Z,1761698475.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 189.589432 m, bearing: 22.671728 deg, approach rate: -0.656954 m/s, LOS rate: -0.000031 deg/s, cmd heading: 33.830870 deg, new cmd heading: 33.830844 deg. 2025-10-29T00:41:15.933Z,1761698475.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590460 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:16.141Z,1761698476.141 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:41:16.146Z,1761698476.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007356 2025-10-29T00:41:16.280Z,1761698476.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826218,-0.555971,-0.090887],[0.563350,0.815246,0.134204],[-0.000519,-0.162083,0.986777]] 2025-10-29T00:41:16.317Z,1761698476.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:16.319Z,1761698476.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 189.327438 m, bearing: 22.673864 deg, approach rate: -0.677080 m/s, LOS rate: 0.005526 deg/s, cmd heading: 33.830846 deg, new cmd heading: 33.835122 deg. 2025-10-29T00:41:16.336Z,1761698476.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590534 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:16.398Z,1761698476.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259775 2025-10-29T00:41:16.649Z,1761698476.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510872 2025-10-29T00:41:16.683Z,1761698476.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828580,-0.553083,-0.086916],[0.559867,0.817921,0.132491],[-0.002188,-0.158441,0.987366]] 2025-10-29T00:41:16.716Z,1761698476.716 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:16.718Z,1761698476.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:16.725Z,1761698476.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 189.071762 m, bearing: 22.676297 deg, approach rate: -0.636744 m/s, LOS rate: 0.006068 deg/s, cmd heading: 33.835121 deg, new cmd heading: 33.839995 deg. 2025-10-29T00:41:16.726Z,1761698476.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590619 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:16.902Z,1761698476.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763509 2025-10-29T00:41:17.113Z,1761698477.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830729,-0.550674,-0.081540],[0.556663,0.820698,0.128762],[-0.003987,-0.152357,0.988318]] 2025-10-29T00:41:17.144Z,1761698477.144 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:41:17.153Z,1761698477.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895 2025-10-29T00:41:17.160Z,1761698477.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:17.162Z,1761698477.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 188.788879 m, bearing: 22.679656 deg, approach rate: -0.640629 m/s, LOS rate: 0.007618 deg/s, cmd heading: 33.839995 deg, new cmd heading: 33.846722 deg. 2025-10-29T00:41:17.163Z,1761698477.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590737 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:17.405Z,1761698477.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266917 2025-10-29T00:41:17.492Z,1761698477.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832287,-0.548789,-0.078288],[0.554315,0.822430,0.127840],[-0.005771,-0.149796,0.988700]] 2025-10-29T00:41:17.520Z,1761698477.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:17.523Z,1761698477.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 188.557846 m, bearing: 22.682617 deg, approach rate: -0.640871 m/s, LOS rate: 0.008224 deg/s, cmd heading: 33.846722 deg, new cmd heading: 33.852652 deg. 2025-10-29T00:41:17.524Z,1761698477.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590840 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:17.657Z,1761698477.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519381 2025-10-29T00:41:17.902Z,1761698477.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834009,-0.546202,-0.078057],[0.551690,0.823413,0.132775],[-0.008249,-0.153799,0.988068]] 2025-10-29T00:41:17.909Z,1761698477.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770696 2025-10-29T00:41:17.950Z,1761698477.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:17.953Z,1761698477.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 188.290146 m, bearing: 22.686283 deg, approach rate: -0.623154 m/s, LOS rate: 0.008545 deg/s, cmd heading: 33.852651 deg, new cmd heading: 33.859993 deg. 2025-10-29T00:41:17.953Z,1761698477.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590968 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:18.161Z,1761698478.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022840 2025-10-29T00:41:18.299Z,1761698478.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835103,-0.544615,-0.077442],[0.549986,0.823839,0.137132],[-0.010885,-0.157111,0.987521]] 2025-10-29T00:41:18.351Z,1761698478.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:18.370Z,1761698478.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 188.029404 m, bearing: 22.689237 deg, approach rate: -0.650412 m/s, LOS rate: 0.007380 deg/s, cmd heading: 33.859993 deg, new cmd heading: 33.865911 deg. 2025-10-29T00:41:18.374Z,1761698478.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591072 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:18.413Z,1761698478.413 [DAT](INFO): DAT read: Rx Time:00:41:17.5844 2025-10-29T00:41:18.413Z,1761698478.413 [DAT](INFO): Rx dataTimestamp_ set to:1761698478.413120 2025-10-29T00:41:18.414Z,1761698478.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275860 2025-10-29T00:41:18.665Z,1761698478.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526680 2025-10-29T00:41:18.703Z,1761698478.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835822,-0.543980,-0.074070],[0.548838,0.824662,0.136780],[-0.013323,-0.154976,0.987828]] 2025-10-29T00:41:18.780Z,1761698478.780 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:18.782Z,1761698478.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 195.65 m. 2025-10-29T00:41:18.785Z,1761698478.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 195.651337 m, nav range: 187.752151 m, bearing: 22.692513 deg, approach rate: -0.642491 m/s, LOS rate: 0.007602 deg/s, cmd heading: 33.865912 deg, new cmd heading: 33.872473 deg. 2025-10-29T00:41:18.786Z,1761698478.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591186 target range: 195.651337 and range: 196.80 m. 2025-10-29T00:41:18.922Z,1761698478.922 [DAT](INFO): DAT read: 00:41:17.5844 LVL= 31280, 32753, 28066, 32755, AGC= 68, IDX= 83,-0.21, 0.413,-0.991, 0.931, 0.339, PHS= 0.176,-1.285, 0.549, RAW= 161.1, 6.7, CAL= 160.5, 6.5, ROT= 349.5, -6.5 2025-10-29T00:41:18.924Z,1761698478.924 [DAT](INFO): got valid direction response: 00:41:17.5844 LVL= 31280, 32753, 28066, 32755, AGC= 68, IDX= 83,-0.21, 0.413,-0.991, 0.931, 0.339, PHS= 0.176,-1.285, 0.549, RAW= 161.1, 6.7, CAL= 160.5, 6.5, ROT= 349.5, -6.5 2025-10-29T00:41:18.925Z,1761698478.925 [DAT](INFO): DAT read: Bearing 182.8, -11.8 (Local) 2025-10-29T00:41:18.925Z,1761698478.925 [DAT](INFO): Local bearing/azimuth received: Bearing 182.8, -11.8 (Local) 2025-10-29T00:41:18.926Z,1761698478.926 [DAT](INFO): DAT read: Range 11 to 50 : 191.4 m (Round-trip 255.2 ms) speed 0.6 m/s 2025-10-29T00:41:18.927Z,1761698478.927 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:18.928Z,1761698478.928 [DAT](INFO): direction in FSK: [0.976934,-0.181064,0.113203] 2025-10-29T00:41:18.928Z,1761698478.928 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:18.932Z,1761698478.932 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:18.932Z,1761698478.932 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:18.932Z,1761698478.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:19.142Z,1761698479.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836387,-0.543684,-0.069745],[0.547923,0.825681,0.134284],[-0.015421,-0.150528,0.988485]] 2025-10-29T00:41:19.177Z,1761698479.177 [DAT](INFO): DAT read: user:526> 2025-10-29T00:41:19.178Z,1761698479.178 [DAT](INFO): DAT read: Tx time:00:41:18.9250 2025-10-29T00:41:19.178Z,1761698479.178 [DAT](INFO): Ping request sent. 2025-10-29T00:41:19.178Z,1761698479.178 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:19.178Z,1761698479.178 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:19.179Z,1761698479.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:41:19.237Z,1761698479.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 191.399994 m, deltaT: 8.064152 s, deltaX: -5.400009 m, approachRate: -0.669631 m/s, rangeRepo size: 4 2025-10-29T00:41:19.239Z,1761698479.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 190.290802 m, bearing: 23.835229 deg, lat: 36.779440 deg, lon: -121.859350 deg, deltaT: 8.064152 s, deltaX: -5.360535 m, approachRate: -0.664736 m/s, posRepo size: 4 2025-10-29T00:41:19.239Z,1761698479.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:19.246Z,1761698479.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 189.038422 m, bearing: 23.805478 deg, approach rate: 0.000000 m/s, LOS rate: 0.007602 deg/s, cmd heading: 33.872472 deg, new cmd heading: 33.879311 deg. 2025-10-29T00:41:19.247Z,1761698479.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591305 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:19.429Z,1761698479.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250763 2025-10-29T00:41:19.561Z,1761698479.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836406,-0.544553,-0.062341],[0.547842,0.827014,0.126161],[-0.017144,-0.139675,0.990049]] 2025-10-29T00:41:19.579Z,1761698479.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:19.582Z,1761698479.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 188.802368 m, bearing: 23.807983 deg, approach rate: -0.679553 m/s, LOS rate: 0.007221 deg/s, cmd heading: 33.879309 deg, new cmd heading: 33.884326 deg. 2025-10-29T00:41:19.583Z,1761698479.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591393 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:19.682Z,1761698479.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503677 2025-10-29T00:41:19.933Z,1761698479.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754753 2025-10-29T00:41:19.962Z,1761698479.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836220,-0.545593,-0.055348],[0.548077,0.828045,0.118123],[-0.018617,-0.129112,0.991455]] 2025-10-29T00:41:20.005Z,1761698480.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:20.007Z,1761698480.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 188.536575 m, bearing: 23.810847 deg, approach rate: -0.624767 m/s, LOS rate: 0.006742 deg/s, cmd heading: 33.884326 deg, new cmd heading: 33.890063 deg. 2025-10-29T00:41:20.016Z,1761698480.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591493 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:20.185Z,1761698480.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006765 2025-10-29T00:41:20.386Z,1761698480.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836512,-0.545474,-0.052021],[0.547588,0.828743,0.115464],[-0.019870,-0.125073,0.991949]] 2025-10-29T00:41:20.437Z,1761698480.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258983 2025-10-29T00:41:20.450Z,1761698480.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:20.460Z,1761698480.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 188.244263 m, bearing: 23.812773 deg, approach rate: -0.657117 m/s, LOS rate: 0.004337 deg/s, cmd heading: 33.890063 deg, new cmd heading: 33.893922 deg. 2025-10-29T00:41:20.461Z,1761698480.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591561 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:20.689Z,1761698480.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510851 2025-10-29T00:41:20.781Z,1761698480.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836913,-0.544898,-0.051611],[0.546957,0.829098,0.115910],[-0.020368,-0.125236,0.991918]] 2025-10-29T00:41:20.798Z,1761698480.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:20.801Z,1761698480.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:20.803Z,1761698480.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 188.015274 m, bearing: 23.814338 deg, approach rate: -0.652233 m/s, LOS rate: 0.004461 deg/s, cmd heading: 33.893922 deg, new cmd heading: 33.897055 deg. 2025-10-29T00:41:20.804Z,1761698480.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591615 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:20.941Z,1761698480.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833 2025-10-29T00:41:21.183Z,1761698481.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836766,-0.545176,-0.051043],[0.547160,0.828950,0.116004],[-0.020931,-0.124996,0.991936]] 2025-10-29T00:41:21.199Z,1761698481.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021077 2025-10-29T00:41:21.236Z,1761698481.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:21.239Z,1761698481.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 187.744476 m, bearing: 23.815009 deg, approach rate: -0.621317 m/s, LOS rate: 0.001543 deg/s, cmd heading: 33.897054 deg, new cmd heading: 33.898399 deg. 2025-10-29T00:41:21.240Z,1761698481.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591639 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:21.453Z,1761698481.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274895 2025-10-29T00:41:21.581Z,1761698481.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835852,-0.546377,-0.053144],[0.548551,0.827597,0.119059],[-0.021069,-0.128668,0.991464]] 2025-10-29T00:41:21.600Z,1761698481.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:21.603Z,1761698481.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 187.508072 m, bearing: 23.815461 deg, approach rate: -0.650335 m/s, LOS rate: 0.001245 deg/s, cmd heading: 33.898400 deg, new cmd heading: 33.899305 deg. 2025-10-29T00:41:21.604Z,1761698481.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591654 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:21.705Z,1761698481.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526925 2025-10-29T00:41:21.957Z,1761698481.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778816 2025-10-29T00:41:21.985Z,1761698481.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834947,-0.547361,-0.057093],[0.549940,0.825947,0.124008],[-0.020721,-0.134937,0.990637]] 2025-10-29T00:41:22.003Z,1761698482.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:22.006Z,1761698482.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 187.252350 m, bearing: 23.815793 deg, approach rate: -0.633738 m/s, LOS rate: 0.000823 deg/s, cmd heading: 33.899305 deg, new cmd heading: 33.899968 deg. 2025-10-29T00:41:22.007Z,1761698482.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591666 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:22.209Z,1761698482.209 [DAT](INFO): DAT read: Rx Time:00:41:21.6132 2025-10-29T00:41:22.209Z,1761698482.209 [DAT](INFO): Rx dataTimestamp_ set to:1761698482.209176 2025-10-29T00:41:22.210Z,1761698482.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031934 2025-10-29T00:41:22.453Z,1761698482.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:22.456Z,1761698482.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 186.964142 m, bearing: 23.813643 deg, approach rate: -0.640727 m/s, LOS rate: -0.004786 deg/s, cmd heading: 33.899967 deg, new cmd heading: 33.895661 deg. 2025-10-29T00:41:22.457Z,1761698482.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591591 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:22.461Z,1761698482.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282940 2025-10-29T00:41:22.713Z,1761698482.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534867 2025-10-29T00:41:22.805Z,1761698482.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831493,-0.552242,-0.060408],[0.555134,0.821831,0.128137],[-0.021117,-0.140079,0.989915]] 2025-10-29T00:41:22.822Z,1761698482.822 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:22.824Z,1761698482.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:22.826Z,1761698482.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 186.727005 m, bearing: 23.811398 deg, approach rate: -0.640144 m/s, LOS rate: -0.006068 deg/s, cmd heading: 33.895661 deg, new cmd heading: 33.891165 deg. 2025-10-29T00:41:22.827Z,1761698482.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591512 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:22.970Z,1761698482.970 [DAT](INFO): DAT read: 00:41:21.6132 LVL= 20544, 22513, 18546, 22819, AGC= 65, IDX= 217,-0.17, 2.379, 1.314, 2.673, 1.462, PHS= 1.018,-0.103, 1.167, RAW= 156.1, -31.5, CAL= 157.3, -32.1, ROT= 352.7, 32.1 2025-10-29T00:41:22.971Z,1761698482.971 [DAT](INFO): got valid direction response: 00:41:21.6132 LVL= 20544, 22513, 18546, 22819, AGC= 65, IDX= 217,-0.17, 2.379, 1.314, 2.673, 1.462, PHS= 1.018,-0.103, 1.167, RAW= 156.1, -31.5, CAL= 157.3, -32.1, ROT= 352.7, 32.1 2025-10-29T00:41:22.973Z,1761698482.973 [DAT](INFO): DAT read: Bearing 145.1, -2.8 (Local) 2025-10-29T00:41:22.973Z,1761698482.973 [DAT](INFO): Local bearing/azimuth received: Bearing 145.1, -2.8 (Local) 2025-10-29T00:41:22.974Z,1761698482.974 [DAT](INFO): DAT read: Range 11 to 50 : 213.0 m (Round-trip 284.0 ms) speed 0.4 m/s 2025-10-29T00:41:22.975Z,1761698482.975 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:22.976Z,1761698482.976 [DAT](INFO): direction in FSK: [0.840256,-0.107639,-0.531399] 2025-10-29T00:41:22.976Z,1761698482.976 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:22.979Z,1761698482.979 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:22.980Z,1761698482.980 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:22.980Z,1761698482.980 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:23.210Z,1761698483.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829854,-0.554855,-0.058974],[0.557558,0.820465,0.126361],[-0.021726,-0.137743,0.990230]] 2025-10-29T00:41:23.217Z,1761698483.217 [DAT](INFO): DAT read: user:527> 2025-10-29T00:41:23.217Z,1761698483.217 [DAT](INFO): DAT read: Tx time:00:41:22.9766 2025-10-29T00:41:23.218Z,1761698483.218 [DAT](INFO): Ping request sent. 2025-10-29T00:41:23.218Z,1761698483.218 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:23.218Z,1761698483.218 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:23.219Z,1761698483.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-29T00:41:23.307Z,1761698483.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 213.000000 m, deltaT: 4.047831 s, deltaX: 21.600006 m, approachRate: 5.336193 m/s, rangeRepo size: 4 2025-10-29T00:41:23.307Z,1761698483.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:23.315Z,1761698483.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 186.448105 m, bearing: 23.807913 deg, approach rate: -0.578054 m/s, LOS rate: -0.007234 deg/s, cmd heading: 33.891166 deg, new cmd heading: 33.884186 deg. 2025-10-29T00:41:23.316Z,1761698483.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591391 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:23.469Z,1761698483.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251071 2025-10-29T00:41:23.721Z,1761698483.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503046 2025-10-29T00:41:23.748Z,1761698483.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:23.752Z,1761698483.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 186.130432 m, bearing: 23.803931 deg, approach rate: -0.719910 m/s, LOS rate: -0.009040 deg/s, cmd heading: 33.884186 deg, new cmd heading: 33.876208 deg. 2025-10-29T00:41:23.753Z,1761698483.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591251 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:23.976Z,1761698483.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757869 2025-10-29T00:41:24.086Z,1761698484.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826547,-0.560784,-0.048378],[0.562400,0.819304,0.111567],[-0.022928,-0.119424,0.992579]] 2025-10-29T00:41:24.135Z,1761698484.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:24.138Z,1761698484.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 185.877747 m, bearing: 23.800348 deg, approach rate: -0.652181 m/s, LOS rate: -0.009260 deg/s, cmd heading: 33.876208 deg, new cmd heading: 33.869033 deg. 2025-10-29T00:41:24.139Z,1761698484.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591126 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:24.228Z,1761698484.228 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009596 2025-10-29T00:41:24.477Z,1761698484.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259093 2025-10-29T00:41:24.498Z,1761698484.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825155,-0.563094,-0.045218],[0.564401,0.818381,0.108184],[-0.023912,-0.114790,0.993102]] 2025-10-29T00:41:24.564Z,1761698484.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:24.567Z,1761698484.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 185.604187 m, bearing: 23.798539 deg, approach rate: -0.637527 m/s, LOS rate: -0.004221 deg/s, cmd heading: 33.869033 deg, new cmd heading: 33.865410 deg. 2025-10-29T00:41:24.568Z,1761698484.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591063 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:24.729Z,1761698484.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511055 2025-10-29T00:41:24.900Z,1761698484.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824143,-0.564421,-0.047092],[0.565844,0.816886,0.111888],[-0.024683,-0.118858,0.992604]] 2025-10-29T00:41:24.955Z,1761698484.955 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:24.962Z,1761698484.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:24.968Z,1761698484.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 185.365936 m, bearing: 23.796817 deg, approach rate: -0.599362 m/s, LOS rate: -0.004339 deg/s, cmd heading: 33.865410 deg, new cmd heading: 33.861960 deg. 2025-10-29T00:41:24.969Z,1761698484.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591003 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:24.981Z,1761698484.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763202 2025-10-29T00:41:25.234Z,1761698485.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015952 2025-10-29T00:41:25.298Z,1761698485.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824033,-0.564283,-0.050541],[0.565965,0.815887,0.118375],[-0.025561,-0.126150,0.991682]] 2025-10-29T00:41:25.335Z,1761698485.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:25.337Z,1761698485.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 185.104935 m, bearing: 23.795245 deg, approach rate: -0.699579 m/s, LOS rate: -0.004220 deg/s, cmd heading: 33.861961 deg, new cmd heading: 33.858812 deg. 2025-10-29T00:41:25.338Z,1761698485.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590948 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:25.485Z,1761698485.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267220 2025-10-29T00:41:25.699Z,1761698485.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824187,-0.563903,-0.052246],[0.565713,0.815528,0.122000],[-0.026188,-0.130107,0.991154]] 2025-10-29T00:41:25.729Z,1761698485.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:25.731Z,1761698485.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 184.845825 m, bearing: 23.793690 deg, approach rate: -0.657278 m/s, LOS rate: -0.003951 deg/s, cmd heading: 33.858812 deg, new cmd heading: 33.855697 deg. 2025-10-29T00:41:25.733Z,1761698485.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590893 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:25.737Z,1761698485.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519204 2025-10-29T00:41:25.989Z,1761698485.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771391 2025-10-29T00:41:26.102Z,1761698486.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824173,-0.563951,-0.051944],[0.565718,0.815506,0.122125],[-0.026512,-0.130037,0.991155]] 2025-10-29T00:41:26.128Z,1761698486.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:26.131Z,1761698486.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 184.582764 m, bearing: 23.792105 deg, approach rate: -0.658812 m/s, LOS rate: -0.003973 deg/s, cmd heading: 33.855697 deg, new cmd heading: 33.852524 deg. 2025-10-29T00:41:26.152Z,1761698486.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590838 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:26.251Z,1761698486.251 [DAT](INFO): DAT read: Rx Time:00:41:25.6616 2025-10-29T00:41:26.252Z,1761698486.252 [DAT](INFO): Rx dataTimestamp_ set to:1761698486.251440 2025-10-29T00:41:26.254Z,1761698486.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036081 2025-10-29T00:41:26.493Z,1761698486.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275023 2025-10-29T00:41:26.508Z,1761698486.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824913,-0.562744,-0.053264],[0.564679,0.816132,0.122740],[-0.025601,-0.131327,0.991008]] 2025-10-29T00:41:26.557Z,1761698486.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:26.559Z,1761698486.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 184.299072 m, bearing: 23.791952 deg, approach rate: -0.662157 m/s, LOS rate: -0.000359 deg/s, cmd heading: 33.852525 deg, new cmd heading: 33.852217 deg. 2025-10-29T00:41:26.560Z,1761698486.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590833 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:26.745Z,1761698486.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527409 2025-10-29T00:41:26.932Z,1761698486.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826160,-0.560859,-0.053827],[0.562873,0.817293,0.123313],[-0.025169,-0.132174,0.990907]] 2025-10-29T00:41:26.951Z,1761698486.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 190.29 m. 2025-10-29T00:41:26.954Z,1761698486.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 190.290802 m, nav range: 184.036987 m, bearing: 23.791985 deg, approach rate: -0.664347 m/s, LOS rate: 0.000085 deg/s, cmd heading: 33.852217 deg, new cmd heading: 33.852285 deg. 2025-10-29T00:41:26.955Z,1761698486.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590834 target range: 190.290802 and range: 191.40 m. 2025-10-29T00:41:27.002Z,1761698487.002 [DAT](INFO): DAT read: 00:41:25.6616 LVL= 29088, 32753, 25890, 32755, AGC= 67, IDX= 83,-0.43, 3.107, 1.709,-2.628, 3.000, PHS= 0.209,-1.246, 0.612, RAW= 161.9, 5.1, CAL= 161.0, 4.2, ROT= 349.0, -4.2 2025-10-29T00:41:27.004Z,1761698487.004 [DAT](INFO): got valid direction response: 00:41:25.6616 LVL= 29088, 32753, 25890, 32755, AGC= 67, IDX= 83,-0.43, 3.107, 1.709,-2.628, 3.000, PHS= 0.209,-1.246, 0.612, RAW= 161.9, 5.1, CAL= 161.0, 4.2, ROT= 349.0, -4.2 2025-10-29T00:41:27.009Z,1761698487.009 [DAT](INFO): DAT read: Bearing 180.4, -13.3 (Local) 2025-10-29T00:41:27.010Z,1761698487.010 [DAT](INFO): Local bearing/azimuth received: Bearing 180.4, -13.3 (Local) 2025-10-29T00:41:27.011Z,1761698487.011 [DAT](INFO): DAT read: Range 11 to 50 : 210.6 m (Round-trip 280.8 ms) speed 0.4 m/s 2025-10-29T00:41:27.020Z,1761698487.020 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:27.021Z,1761698487.021 [DAT](INFO): direction in FSK: [0.978991,-0.190297,0.073238] 2025-10-29T00:41:27.021Z,1761698487.021 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:27.034Z,1761698487.034 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:27.034Z,1761698487.034 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:27.034Z,1761698487.034 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:27.251Z,1761698487.251 [DAT](INFO): DAT read: user:528> 2025-10-29T00:41:27.254Z,1761698487.254 [DAT](INFO): DAT read: Tx time:00:41:27.0250 2025-10-29T00:41:27.255Z,1761698487.255 [DAT](INFO): Ping request sent. 2025-10-29T00:41:27.255Z,1761698487.255 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:27.256Z,1761698487.256 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:27.258Z,1761698487.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002864 2025-10-29T00:41:27.355Z,1761698487.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827591,-0.558648,-0.054822],[0.560766,0.818425,0.125385],[-0.025179,-0.134510,0.990592]] 2025-10-29T00:41:27.442Z,1761698487.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 210.600006 m, deltaT: 8.079971 s, deltaX: 19.200012 m, approachRate: 2.376248 m/s, rangeRepo size: 4 2025-10-29T00:41:27.445Z,1761698487.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.387695 m, bearing: 23.798149 deg, lat: 36.779438 deg, lon: -121.859350 deg, deltaT: 8.079971 s, deltaX: 19.096893 m, approachRate: 2.363485 m/s, posRepo size: 4 2025-10-29T00:41:27.445Z,1761698487.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:27.452Z,1761698487.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 183.521057 m, bearing: 23.824936 deg, approach rate: 0.000000 m/s, LOS rate: 0.000085 deg/s, cmd heading: 33.852286 deg, new cmd heading: 33.852369 deg. 2025-10-29T00:41:27.453Z,1761698487.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590835 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:27.501Z,1761698487.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245876 2025-10-29T00:41:27.753Z,1761698487.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498228 2025-10-29T00:41:27.781Z,1761698487.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829417,-0.555636,-0.057770],[0.558052,0.819410,0.130936],[-0.025416,-0.140839,0.989706]] 2025-10-29T00:41:27.798Z,1761698487.798 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:27.820Z,1761698487.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:27.823Z,1761698487.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 183.269257 m, bearing: 23.827623 deg, approach rate: -0.703318 m/s, LOS rate: 0.007516 deg/s, cmd heading: 33.852371 deg, new cmd heading: 33.857752 deg. 2025-10-29T00:41:27.823Z,1761698487.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590929 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:28.005Z,1761698488.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749758 2025-10-29T00:41:28.181Z,1761698488.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830708,-0.553591,-0.058833],[0.556096,0.820192,0.134326],[-0.026107,-0.144302,0.989189]] 2025-10-29T00:41:28.200Z,1761698488.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:28.203Z,1761698488.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 183.010681 m, bearing: 23.830564 deg, approach rate: -0.646435 m/s, LOS rate: 0.007362 deg/s, cmd heading: 33.857753 deg, new cmd heading: 33.863643 deg. 2025-10-29T00:41:28.203Z,1761698488.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591032 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:28.260Z,1761698488.260 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004312 2025-10-29T00:41:28.509Z,1761698488.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253763 2025-10-29T00:41:28.641Z,1761698488.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:28.644Z,1761698488.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 182.723465 m, bearing: 23.833091 deg, approach rate: -0.650865 m/s, LOS rate: 0.005736 deg/s, cmd heading: 33.863644 deg, new cmd heading: 33.868707 deg. 2025-10-29T00:41:28.645Z,1761698488.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591120 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:28.762Z,1761698488.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506871 2025-10-29T00:41:28.989Z,1761698488.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831141,-0.552269,-0.064832],[0.555351,0.818525,0.146976],[-0.028104,-0.158163,0.987013]] 2025-10-29T00:41:29.013Z,1761698489.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757833 2025-10-29T00:41:29.014Z,1761698489.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:29.017Z,1761698489.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 182.484665 m, bearing: 23.835186 deg, approach rate: -0.640479 m/s, LOS rate: 0.005624 deg/s, cmd heading: 33.868705 deg, new cmd heading: 33.872899 deg. 2025-10-29T00:41:29.018Z,1761698489.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591194 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:29.268Z,1761698489.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012243 2025-10-29T00:41:29.390Z,1761698489.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830566,-0.552963,-0.066268],[0.556140,0.817211,0.151243],[-0.029477,-0.162471,0.986273]] 2025-10-29T00:41:29.442Z,1761698489.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:29.445Z,1761698489.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 182.209579 m, bearing: 23.837052 deg, approach rate: -0.642637 m/s, LOS rate: 0.004367 deg/s, cmd heading: 33.872899 deg, new cmd heading: 33.876638 deg. 2025-10-29T00:41:29.446Z,1761698489.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591259 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:29.519Z,1761698489.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263853 2025-10-29T00:41:29.774Z,1761698489.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519065 2025-10-29T00:41:29.795Z,1761698489.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829226,-0.555201,-0.064319],[0.558092,0.816267,0.149138],[-0.030300,-0.159564,0.986722]] 2025-10-29T00:41:29.836Z,1761698489.836 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:29.848Z,1761698489.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:29.858Z,1761698489.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 181.957596 m, bearing: 23.838595 deg, approach rate: -0.627123 m/s, LOS rate: 0.003846 deg/s, cmd heading: 33.876639 deg, new cmd heading: 33.879729 deg. 2025-10-29T00:41:29.859Z,1761698489.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591313 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:30.025Z,1761698490.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769684 2025-10-29T00:41:30.199Z,1761698490.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827166,-0.558875,-0.058780],[0.561135,0.815767,0.140184],[-0.030395,-0.148939,0.988379]] 2025-10-29T00:41:30.223Z,1761698490.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:30.225Z,1761698490.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 181.709030 m, bearing: 23.839894 deg, approach rate: -0.656069 m/s, LOS rate: 0.003431 deg/s, cmd heading: 33.879729 deg, new cmd heading: 33.882329 deg. 2025-10-29T00:41:30.226Z,1761698490.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591358 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:30.280Z,1761698490.280 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024445 2025-10-29T00:41:30.529Z,1761698490.529 [DAT](INFO): DAT read: Rx Time:00:41:29.6758 2025-10-29T00:41:30.529Z,1761698490.529 [DAT](INFO): Rx dataTimestamp_ set to:1761698490.529116 2025-10-29T00:41:30.530Z,1761698490.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274793 2025-10-29T00:41:30.603Z,1761698490.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824853,-0.563017,-0.051281],[0.564540,0.815430,0.127942],[-0.030217,-0.134483,0.990455]] 2025-10-29T00:41:30.655Z,1761698490.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:30.658Z,1761698490.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 181.427307 m, bearing: 23.841180 deg, approach rate: -0.651612 m/s, LOS rate: 0.002980 deg/s, cmd heading: 33.882328 deg, new cmd heading: 33.884905 deg. 2025-10-29T00:41:30.659Z,1761698490.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591403 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:30.781Z,1761698490.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525923 2025-10-29T00:41:31.029Z,1761698491.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820184,-0.570603,-0.041368],[0.571406,0.813480,0.108378],[-0.028189,-0.112528,0.993249]] 2025-10-29T00:41:31.038Z,1761698491.038 [DAT](INFO): DAT read: 00:41:29.6758 LVL= 20560, 20721, 18162, 12995, AGC= 65, IDX= 90,-0.13, 0.548,-0.505, 0.864,-0.263, PHS= 0.912,-0.198, 1.082, RAW= 157.0, -27.8, CAL= 158.6, -28.7, ROT= 351.4, 28.7 2025-10-29T00:41:31.039Z,1761698491.039 [DAT](INFO): got valid direction response: 00:41:29.6758 LVL= 20560, 20721, 18162, 12995, AGC= 65, IDX= 90,-0.13, 0.548,-0.505, 0.864,-0.263, PHS= 0.912,-0.198, 1.082, RAW= 157.0, -27.8, CAL= 158.6, -28.7, ROT= 351.4, 28.7 2025-10-29T00:41:31.041Z,1761698491.041 [DAT](INFO): DAT read: Bearing 147.8, -3.9 (Local) 2025-10-29T00:41:31.041Z,1761698491.041 [DAT](INFO): Local bearing/azimuth received: Bearing 147.8, -3.9 (Local) 2025-10-29T00:41:31.042Z,1761698491.042 [DAT](INFO): DAT read: Range 11 to 50 : 184.9 m (Round-trip 246.6 ms) speed 0.4 m/s 2025-10-29T00:41:31.043Z,1761698491.043 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:31.052Z,1761698491.052 [DAT](INFO): direction in FSK: [0.867284,-0.131165,-0.480224] 2025-10-29T00:41:31.053Z,1761698491.053 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:31.056Z,1761698491.056 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:31.056Z,1761698491.056 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:31.056Z,1761698491.056 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:31.118Z,1761698491.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 184.899994 m, deltaT: 4.035976 s, deltaX: -25.700012 m, approachRate: -6.367732 m/s, rangeRepo size: 4 2025-10-29T00:41:31.119Z,1761698491.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:31.126Z,1761698491.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 181.136093 m, bearing: 23.841875 deg, approach rate: -0.629418 m/s, LOS rate: 0.001506 deg/s, cmd heading: 33.884903 deg, new cmd heading: 33.886297 deg. 2025-10-29T00:41:31.127Z,1761698491.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591427 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:31.289Z,1761698491.289 [DAT](INFO): DAT read: user:529> 2025-10-29T00:41:31.292Z,1761698491.292 [DAT](INFO): DAT read: Tx time:00:41:31.0750 2025-10-29T00:41:31.294Z,1761698491.294 [DAT](INFO): Ping request sent. 2025-10-29T00:41:31.294Z,1761698491.294 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:31.295Z,1761698491.295 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:31.297Z,1761698491.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002411 2025-10-29T00:41:31.510Z,1761698491.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:31.513Z,1761698491.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 180.895264 m, bearing: 23.841303 deg, approach rate: -0.617740 m/s, LOS rate: -0.001469 deg/s, cmd heading: 33.886297 deg, new cmd heading: 33.885151 deg. 2025-10-29T00:41:31.514Z,1761698491.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591407 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:31.537Z,1761698491.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.242711 2025-10-29T00:41:31.789Z,1761698491.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.494803 2025-10-29T00:41:31.855Z,1761698491.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818385,-0.573214,-0.040892],[0.574021,0.812005,0.105587],[-0.027319,-0.109884,0.993569]] 2025-10-29T00:41:31.878Z,1761698491.878 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:31.880Z,1761698491.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:31.883Z,1761698491.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 180.649948 m, bearing: 23.840480 deg, approach rate: -0.658926 m/s, LOS rate: -0.002213 deg/s, cmd heading: 33.885149 deg, new cmd heading: 33.883501 deg. 2025-10-29T00:41:31.883Z,1761698491.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591379 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:32.041Z,1761698492.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.746751 2025-10-29T00:41:32.247Z,1761698492.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.818747,-0.572539,-0.043038],[0.573493,0.811908,0.109142],[-0.027546,-0.114042,0.993094]] 2025-10-29T00:41:32.281Z,1761698492.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:32.285Z,1761698492.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 180.401352 m, bearing: 23.839681 deg, approach rate: -0.620033 m/s, LOS rate: -0.001996 deg/s, cmd heading: 33.883500 deg, new cmd heading: 33.881899 deg. 2025-10-29T00:41:32.289Z,1761698492.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591351 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:32.297Z,1761698492.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001189 2025-10-29T00:41:32.545Z,1761698492.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.250906 2025-10-29T00:41:32.657Z,1761698492.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.820047,-0.570341,-0.047258],[0.571590,0.812137,0.117130],[-0.028424,-0.123064,0.991992]] 2025-10-29T00:41:32.725Z,1761698492.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:32.732Z,1761698492.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 180.133484 m, bearing: 23.840064 deg, approach rate: -0.602584 m/s, LOS rate: 0.000862 deg/s, cmd heading: 33.881898 deg, new cmd heading: 33.882664 deg. 2025-10-29T00:41:32.733Z,1761698492.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591364 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:32.797Z,1761698492.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502794 2025-10-29T00:41:33.049Z,1761698493.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755293 2025-10-29T00:41:33.088Z,1761698493.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822015,-0.567288,-0.049762],[0.568681,0.813152,0.124042],[-0.029903,-0.130263,0.991028]] 2025-10-29T00:41:33.119Z,1761698493.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:33.122Z,1761698493.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 179.888458 m, bearing: 23.840661 deg, approach rate: -0.622593 m/s, LOS rate: 0.001520 deg/s, cmd heading: 33.882663 deg, new cmd heading: 33.883859 deg. 2025-10-29T00:41:33.123Z,1761698493.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591385 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:33.306Z,1761698493.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011061 2025-10-29T00:41:33.491Z,1761698493.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824094,-0.564215,-0.050299],[0.565602,0.814738,0.127659],[-0.031047,-0.133652,0.990542]] 2025-10-29T00:41:33.541Z,1761698493.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:33.544Z,1761698493.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 179.621658 m, bearing: 23.840026 deg, approach rate: -0.631922 m/s, LOS rate: -0.001508 deg/s, cmd heading: 33.883858 deg, new cmd heading: 33.882585 deg. 2025-10-29T00:41:33.545Z,1761698493.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591363 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:33.553Z,1761698493.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.258821 2025-10-29T00:41:33.805Z,1761698493.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511054 2025-10-29T00:41:33.896Z,1761698493.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825691,-0.561883,-0.050220],[0.563173,0.815866,0.131143],[-0.032714,-0.136567,0.990091]] 2025-10-29T00:41:33.913Z,1761698493.913 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:33.915Z,1761698493.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:33.918Z,1761698493.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 179.385147 m, bearing: 23.839669 deg, approach rate: -0.632894 m/s, LOS rate: -0.000956 deg/s, cmd heading: 33.882584 deg, new cmd heading: 33.881870 deg. 2025-10-29T00:41:33.918Z,1761698493.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591350 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:34.057Z,1761698494.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.762813 2025-10-29T00:41:34.303Z,1761698494.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827692,-0.558791,-0.051760],[0.560104,0.816865,0.137895],[-0.034774,-0.143126,0.989093]] 2025-10-29T00:41:34.309Z,1761698494.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014964 2025-10-29T00:41:34.382Z,1761698494.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:34.389Z,1761698494.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 179.120361 m, bearing: 23.839551 deg, approach rate: -0.566243 m/s, LOS rate: -0.000253 deg/s, cmd heading: 33.881871 deg, new cmd heading: 33.881634 deg. 2025-10-29T00:41:34.390Z,1761698494.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591346 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:34.561Z,1761698494.561 [DAT](INFO): DAT read: Rx Time:00:41:33.7230 2025-10-29T00:41:34.561Z,1761698494.561 [DAT](INFO): Rx dataTimestamp_ set to:1761698494.561087 2025-10-29T00:41:34.562Z,1761698494.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267810 2025-10-29T00:41:34.708Z,1761698494.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829485,-0.556073,-0.052332],[0.557341,0.817967,0.142486],[-0.036427,-0.147357,0.988412]] 2025-10-29T00:41:34.782Z,1761698494.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.39 m. 2025-10-29T00:41:34.785Z,1761698494.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.387695 m, nav range: 178.846725 m, bearing: 23.841031 deg, approach rate: -0.684389 m/s, LOS rate: 0.003708 deg/s, cmd heading: 33.881635 deg, new cmd heading: 33.884600 deg. 2025-10-29T00:41:34.786Z,1761698494.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591398 target range: 209.387695 and range: 210.60 m. 2025-10-29T00:41:34.816Z,1761698494.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521887 2025-10-29T00:41:35.070Z,1761698495.070 [DAT](INFO): DAT read: 00:41:33.7229 LVL= 30960, 32753, 29282, 32755, AGC= 67, IDX= 413, 0.40, 1.339,-0.083, 1.896, 1.230, PHS= 0.211,-1.268, 0.622, RAW= 161.9, 5.1, CAL= 161.0, 4.3, ROT= 349.0, -4.3 2025-10-29T00:41:35.071Z,1761698495.071 [DAT](INFO): got valid direction response: 00:41:33.7229 LVL= 30960, 32753, 29282, 32755, AGC= 67, IDX= 413, 0.40, 1.339,-0.083, 1.896, 1.230, PHS= 0.211,-1.268, 0.622, RAW= 161.9, 5.1, CAL= 161.0, 4.3, ROT= 349.0, -4.3 2025-10-29T00:41:35.072Z,1761698495.072 [DAT](INFO): DAT read: Bearing 180.1, -13.6 (Local) 2025-10-29T00:41:35.073Z,1761698495.073 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, -13.6 (Local) 2025-10-29T00:41:35.074Z,1761698495.074 [DAT](INFO): DAT read: Range 11 to 50 : 182.8 m (Round-trip 243.8 ms) speed 0.7 m/s 2025-10-29T00:41:35.075Z,1761698495.075 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:35.076Z,1761698495.076 [DAT](INFO): direction in FSK: [0.978864,-0.190272,0.074979] 2025-10-29T00:41:35.076Z,1761698495.076 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:35.079Z,1761698495.079 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:35.080Z,1761698495.080 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:35.080Z,1761698495.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:35.107Z,1761698495.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830556,-0.554410,-0.052972],[0.555633,0.818357,0.146848],[-0.038064,-0.151398,0.987740]] 2025-10-29T00:41:35.178Z,1761698495.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 182.800003 m, deltaT: 8.067808 s, deltaX: -27.800003 m, approachRate: -3.445794 m/s, rangeRepo size: 4 2025-10-29T00:41:35.184Z,1761698495.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.763275 m, bearing: 23.581341 deg, lat: 36.779438 deg, lon: -121.859350 deg, deltaT: 8.067808 s, deltaX: -27.624420 m, approachRate: -3.424031 m/s, posRepo size: 4 2025-10-29T00:41:35.185Z,1761698495.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:35.187Z,1761698495.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 178.596039 m, bearing: 23.842536 deg, approach rate: 0.000000 m/s, LOS rate: 0.003708 deg/s, cmd heading: 33.884599 deg, new cmd heading: 33.887528 deg. 2025-10-29T00:41:35.192Z,1761698495.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591449 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:35.320Z,1761698495.320 [DAT](INFO): DAT read: user:530> 2025-10-29T00:41:35.323Z,1761698495.323 [DAT](INFO): DAT read: Tx time:00:41:35.0750 2025-10-29T00:41:35.324Z,1761698495.324 [DAT](INFO): Ping request sent. 2025-10-29T00:41:35.325Z,1761698495.325 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:35.325Z,1761698495.325 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:35.328Z,1761698495.328 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003174 2025-10-29T00:41:35.519Z,1761698495.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831430,-0.552822,-0.055789],[0.554276,0.818208,0.152690],[-0.038764,-0.157873,0.986698]] 2025-10-29T00:41:35.569Z,1761698495.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245069 2025-10-29T00:41:35.589Z,1761698495.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:35.596Z,1761698495.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 178.326172 m, bearing: 23.843652 deg, approach rate: -0.654689 m/s, LOS rate: 0.002711 deg/s, cmd heading: 33.887529 deg, new cmd heading: 33.889764 deg. 2025-10-29T00:41:35.597Z,1761698495.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591488 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:35.821Z,1761698495.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497174 2025-10-29T00:41:35.917Z,1761698495.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831979,-0.551947,-0.056265],[0.553451,0.818579,0.153688],[-0.038770,-0.159005,0.986516]] 2025-10-29T00:41:35.934Z,1761698495.934 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:35.936Z,1761698495.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:35.938Z,1761698495.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 178.100296 m, bearing: 23.844655 deg, approach rate: -0.652406 m/s, LOS rate: 0.002901 deg/s, cmd heading: 33.889763 deg, new cmd heading: 33.891772 deg. 2025-10-29T00:41:35.939Z,1761698495.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591523 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:36.073Z,1761698496.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749118 2025-10-29T00:41:36.318Z,1761698496.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832137,-0.551908,-0.054271],[0.553236,0.819367,0.150227],[-0.038443,-0.155034,0.987161]] 2025-10-29T00:41:36.325Z,1761698496.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001141 2025-10-29T00:41:36.420Z,1761698496.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:36.423Z,1761698496.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 177.821442 m, bearing: 23.845945 deg, approach rate: -0.575226 m/s, LOS rate: 0.002664 deg/s, cmd heading: 33.891771 deg, new cmd heading: 33.894354 deg. 2025-10-29T00:41:36.428Z,1761698496.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591568 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:36.577Z,1761698496.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253101 2025-10-29T00:41:36.728Z,1761698496.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831933,-0.552505,-0.051234],[0.553559,0.820054,0.145204],[-0.038211,-0.149162,0.988074]] 2025-10-29T00:41:36.830Z,1761698496.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506430 2025-10-29T00:41:36.875Z,1761698496.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:36.881Z,1761698496.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 177.516312 m, bearing: 23.847508 deg, approach rate: -0.671628 m/s, LOS rate: 0.003446 deg/s, cmd heading: 33.894353 deg, new cmd heading: 33.897484 deg. 2025-10-29T00:41:36.882Z,1761698496.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591623 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:37.081Z,1761698497.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757168 2025-10-29T00:41:37.230Z,1761698497.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831538,-0.553308,-0.048940],[0.554187,0.820414,0.140701],[-0.037700,-0.144120,0.988842]] 2025-10-29T00:41:37.256Z,1761698497.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:37.258Z,1761698497.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 177.257446 m, bearing: 23.848805 deg, approach rate: -0.679745 m/s, LOS rate: 0.003412 deg/s, cmd heading: 33.897484 deg, new cmd heading: 33.900083 deg. 2025-10-29T00:41:37.259Z,1761698497.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591668 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:37.335Z,1761698497.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011175 2025-10-29T00:41:37.585Z,1761698497.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261123 2025-10-29T00:41:37.631Z,1761698497.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830595,-0.554872,-0.047210],[0.555647,0.820144,0.136458],[-0.036998,-0.139574,0.989520]] 2025-10-29T00:41:37.690Z,1761698497.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:37.694Z,1761698497.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 176.977448 m, bearing: 23.849268 deg, approach rate: -0.644048 m/s, LOS rate: 0.001067 deg/s, cmd heading: 33.900083 deg, new cmd heading: 33.901011 deg. 2025-10-29T00:41:37.695Z,1761698497.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591684 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:37.838Z,1761698497.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514109 2025-10-29T00:41:38.035Z,1761698498.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829799,-0.556242,-0.045052],[0.556903,0.820170,0.131071],[-0.035956,-0.133852,0.990349]] 2025-10-29T00:41:38.082Z,1761698498.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:38.084Z,1761698498.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:38.087Z,1761698498.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 176.723953 m, bearing: 23.849592 deg, approach rate: -0.643718 m/s, LOS rate: 0.000823 deg/s, cmd heading: 33.901012 deg, new cmd heading: 33.901660 deg. 2025-10-29T00:41:38.097Z,1761698498.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773149 2025-10-29T00:41:38.112Z,1761698498.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591696 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:38.350Z,1761698498.350 [DAT](INFO): DAT read: Rx Time:00:41:37.7193 2025-10-29T00:41:38.351Z,1761698498.351 [DAT](INFO): Rx dataTimestamp_ set to:1761698498.350247 2025-10-29T00:41:38.352Z,1761698498.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027784 2025-10-29T00:41:38.459Z,1761698498.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828364,-0.558494,-0.043551],[0.559132,0.819523,0.125511],[-0.034406,-0.128320,0.991136]] 2025-10-29T00:41:38.508Z,1761698498.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:38.511Z,1761698498.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 176.448563 m, bearing: 23.847700 deg, approach rate: -0.649381 m/s, LOS rate: -0.004469 deg/s, cmd heading: 33.901661 deg, new cmd heading: 33.897871 deg. 2025-10-29T00:41:38.512Z,1761698498.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591629 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:38.601Z,1761698498.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277397 2025-10-29T00:41:38.857Z,1761698498.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531992 2025-10-29T00:41:38.908Z,1761698498.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827099,-0.560338,-0.043913],[0.561076,0.818521,0.123357],[-0.033178,-0.126667,0.991390]] 2025-10-29T00:41:38.927Z,1761698498.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.76 m. 2025-10-29T00:41:38.930Z,1761698498.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.763275 m, nav range: 176.173218 m, bearing: 23.845600 deg, approach rate: -0.657694 m/s, LOS rate: -0.005024 deg/s, cmd heading: 33.897870 deg, new cmd heading: 33.893664 deg. 2025-10-29T00:41:38.930Z,1761698498.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591556 target range: 181.763275 and range: 182.80 m. 2025-10-29T00:41:39.113Z,1761698499.113 [DAT](INFO): DAT read: 00:41:37.7193 LVL= 25904, 30417, 23666, 31987, AGC= 63, IDX= 70,-0.01,-0.273,-1.679, 0.311,-0.334, PHS= 0.163,-1.301, 0.601, RAW= 162.7, 6.3, CAL= 162.0, 5.8, ROT= 348.0, -5.8 2025-10-29T00:41:39.114Z,1761698499.114 [DAT](INFO): got valid direction response: 00:41:37.7193 LVL= 25904, 30417, 23666, 31987, AGC= 63, IDX= 70,-0.01,-0.273,-1.679, 0.311,-0.334, PHS= 0.163,-1.301, 0.601, RAW= 162.7, 6.3, CAL= 162.0, 5.8, ROT= 348.0, -5.8 2025-10-29T00:41:39.115Z,1761698499.115 [DAT](INFO): DAT read: Bearing 181.5, -15.0 (Local) 2025-10-29T00:41:39.116Z,1761698499.116 [DAT](INFO): Local bearing/azimuth received: Bearing 181.5, -15.0 (Local) 2025-10-29T00:41:39.118Z,1761698499.118 [DAT](INFO): DAT read: Range 11 to 50 : 180.1 m (Round-trip 240.2 ms) speed 0.4 m/s 2025-10-29T00:41:39.119Z,1761698499.119 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:39.121Z,1761698499.121 [DAT](INFO): direction in FSK: [0.973140,-0.206847,0.101056] 2025-10-29T00:41:39.121Z,1761698499.121 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:39.125Z,1761698499.125 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:39.125Z,1761698499.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:39.125Z,1761698499.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:39.267Z,1761698499.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826443,-0.561428,-0.042307],[0.562101,0.818469,0.118959],[-0.032160,-0.122093,0.991997]] 2025-10-29T00:41:39.296Z,1761698499.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 180.100006 m, deltaT: 4.042319 s, deltaX: -2.699997 m, approachRate: -0.667933 m/s, rangeRepo size: 4 2025-10-29T00:41:39.298Z,1761698499.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 179.085388 m, bearing: 23.045827 deg, lat: 36.779464 deg, lon: -121.859365 deg, deltaT: 4.042319 s, deltaX: -2.677887 m, approachRate: -0.662463 m/s, posRepo size: 4 2025-10-29T00:41:39.299Z,1761698499.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:39.318Z,1761698499.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 178.040512 m, bearing: 23.079372 deg, approach rate: 0.000000 m/s, LOS rate: -0.005024 deg/s, cmd heading: 33.893663 deg, new cmd heading: 33.889958 deg. 2025-10-29T00:41:39.319Z,1761698499.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591491 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:39.360Z,1761698499.360 [DAT](INFO): DAT read: user:531> 2025-10-29T00:41:39.362Z,1761698499.362 [DAT](INFO): DAT read: Tx time:00:41:39.1250 2025-10-29T00:41:39.363Z,1761698499.363 [DAT](INFO): Ping request sent. 2025-10-29T00:41:39.363Z,1761698499.363 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:39.363Z,1761698499.363 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:39.364Z,1761698499.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-29T00:41:39.611Z,1761698499.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247594 2025-10-29T00:41:39.678Z,1761698499.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825674,-0.562678,-0.040701],[0.563301,0.818331,0.114132],[-0.030913,-0.117162,0.992632]] 2025-10-29T00:41:39.744Z,1761698499.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:39.752Z,1761698499.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 177.761597 m, bearing: 23.074676 deg, approach rate: -0.628233 m/s, LOS rate: -0.010594 deg/s, cmd heading: 33.889957 deg, new cmd heading: 33.880550 deg. 2025-10-29T00:41:39.754Z,1761698499.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591327 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:39.862Z,1761698499.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499140 2025-10-29T00:41:40.074Z,1761698500.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825087,-0.563646,-0.039178],[0.564218,0.818293,0.109792],[-0.029824,-0.112693,0.993182]] 2025-10-29T00:41:40.104Z,1761698500.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:40.106Z,1761698500.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:40.109Z,1761698500.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 177.504196 m, bearing: 23.070248 deg, approach rate: -0.702894 m/s, LOS rate: -0.012108 deg/s, cmd heading: 33.880549 deg, new cmd heading: 33.871681 deg. 2025-10-29T00:41:40.109Z,1761698500.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591172 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:40.113Z,1761698500.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750306 2025-10-29T00:41:40.365Z,1761698500.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002141 2025-10-29T00:41:40.483Z,1761698500.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824824,-0.564024,-0.039269],[0.564617,0.818078,0.109343],[-0.029547,-0.112360,0.993228]] 2025-10-29T00:41:40.544Z,1761698500.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:40.547Z,1761698500.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 177.223297 m, bearing: 23.066349 deg, approach rate: -0.641010 m/s, LOS rate: -0.008912 deg/s, cmd heading: 33.871680 deg, new cmd heading: 33.863869 deg. 2025-10-29T00:41:40.548Z,1761698500.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.591036 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:40.625Z,1761698500.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256409 2025-10-29T00:41:40.869Z,1761698500.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506127 2025-10-29T00:41:40.890Z,1761698500.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.824950,-0.563840,-0.039283],[0.564424,0.818159,0.109736],[-0.029734,-0.112699,0.993184]] 2025-10-29T00:41:40.910Z,1761698500.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:40.912Z,1761698500.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 176.989105 m, bearing: 23.063105 deg, approach rate: -0.640679 m/s, LOS rate: -0.008886 deg/s, cmd heading: 33.863870 deg, new cmd heading: 33.857373 deg. 2025-10-29T00:41:40.913Z,1761698500.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590923 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:41.122Z,1761698501.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758637 2025-10-29T00:41:41.287Z,1761698501.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825867,-0.562409,-0.040495],[0.563036,0.818630,0.113293],[-0.030567,-0.116365,0.992736]] 2025-10-29T00:41:41.327Z,1761698501.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:41.332Z,1761698501.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 176.731400 m, bearing: 23.059653 deg, approach rate: -0.618345 m/s, LOS rate: -0.008296 deg/s, cmd heading: 33.857374 deg, new cmd heading: 33.850459 deg. 2025-10-29T00:41:41.333Z,1761698501.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590802 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:41.373Z,1761698501.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010672 2025-10-29T00:41:41.625Z,1761698501.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262136 2025-10-29T00:41:41.691Z,1761698501.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826890,-0.560759,-0.042458],[0.561490,0.819042,0.117893],[-0.031335,-0.121324,0.992118]] 2025-10-29T00:41:41.755Z,1761698501.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:41.763Z,1761698501.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 176.462112 m, bearing: 23.053967 deg, approach rate: -0.629264 m/s, LOS rate: -0.013306 deg/s, cmd heading: 33.850459 deg, new cmd heading: 33.839070 deg. 2025-10-29T00:41:41.765Z,1761698501.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590603 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:41.877Z,1761698501.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514577 2025-10-29T00:41:42.095Z,1761698502.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827665,-0.559581,-0.042899],[0.560290,0.819468,0.120609],[-0.032336,-0.123860,0.991773]] 2025-10-29T00:41:42.122Z,1761698502.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:42.124Z,1761698502.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:42.127Z,1761698502.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 176.205536 m, bearing: 23.048645 deg, approach rate: -0.692965 m/s, LOS rate: -0.014395 deg/s, cmd heading: 33.839069 deg, new cmd heading: 33.828409 deg. 2025-10-29T00:41:42.129Z,1761698502.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766288 2025-10-29T00:41:42.130Z,1761698502.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590417 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:42.381Z,1761698502.381 [DAT](INFO): DAT read: Rx Time:00:41:41.7667 2025-10-29T00:41:42.381Z,1761698502.381 [DAT](INFO): Rx dataTimestamp_ set to:1761698502.381159 2025-10-29T00:41:42.382Z,1761698502.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019242 2025-10-29T00:41:42.511Z,1761698502.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828013,-0.559050,-0.043107],[0.559717,0.819529,0.122841],[-0.033347,-0.125842,0.991490]] 2025-10-29T00:41:42.557Z,1761698502.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:42.560Z,1761698502.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 175.924988 m, bearing: 23.042887 deg, approach rate: -0.647995 m/s, LOS rate: -0.013320 deg/s, cmd heading: 33.828411 deg, new cmd heading: 33.816877 deg. 2025-10-29T00:41:42.561Z,1761698502.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590216 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:42.634Z,1761698502.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271241 2025-10-29T00:41:42.885Z,1761698502.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522127 2025-10-29T00:41:42.952Z,1761698502.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827941,-0.559026,-0.044759],[0.559752,0.818825,0.127288],[-0.034507,-0.130441,0.990855]] 2025-10-29T00:41:42.987Z,1761698502.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 179.09 m. 2025-10-29T00:41:42.989Z,1761698502.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 179.085388 m, nav range: 175.657532 m, bearing: 23.037364 deg, approach rate: -0.622931 m/s, LOS rate: -0.012883 deg/s, cmd heading: 33.816878 deg, new cmd heading: 33.805815 deg. 2025-10-29T00:41:42.990Z,1761698502.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.590023 target range: 179.085388 and range: 180.10 m. 2025-10-29T00:41:43.142Z,1761698503.142 [DAT](INFO): DAT read: 00:41:41.7667 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.22, 0.130,-1.387, 0.723, 0.043, PHS= 0.189,-1.385, 0.636, RAW= 162.2, 6.2, CAL= 161.4, 5.7, ROT= 348.6, -5.7 2025-10-29T00:41:43.143Z,1761698503.143 [DAT](INFO): got valid direction response: 00:41:41.7667 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 414,-0.22, 0.130,-1.387, 0.723, 0.043, PHS= 0.189,-1.385, 0.636, RAW= 162.2, 6.2, CAL= 161.4, 5.7, ROT= 348.6, -5.7 2025-10-29T00:41:43.144Z,1761698503.144 [DAT](INFO): DAT read: Bearing 182.1, -14.3 (Local) 2025-10-29T00:41:43.145Z,1761698503.145 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, -14.3 (Local) 2025-10-29T00:41:43.146Z,1761698503.146 [DAT](INFO): DAT read: Range 11 to 50 : 178.2 m (Round-trip 237.6 ms) speed 0.4 m/s 2025-10-29T00:41:43.147Z,1761698503.147 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:43.147Z,1761698503.147 [DAT](INFO): direction in FSK: [0.975424,-0.196680,0.099320] 2025-10-29T00:41:43.148Z,1761698503.148 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:43.152Z,1761698503.152 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:43.152Z,1761698503.152 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:43.152Z,1761698503.152 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:43.307Z,1761698503.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827753,-0.559099,-0.047254],[0.559978,0.817871,0.132332],[-0.035339,-0.136000,0.990078]] 2025-10-29T00:41:43.359Z,1761698503.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 178.199997 m, deltaT: 4.029692 s, deltaX: -1.900009 m, approachRate: -0.471502 m/s, rangeRepo size: 4 2025-10-29T00:41:43.369Z,1761698503.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 177.204269 m, bearing: 23.587363 deg, lat: 36.779466 deg, lon: -121.859346 deg, deltaT: 4.029692 s, deltaX: -1.881119 m, approachRate: -0.466815 m/s, posRepo size: 4 2025-10-29T00:41:43.370Z,1761698503.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:43.377Z,1761698503.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 176.338715 m, bearing: 23.503830 deg, approach rate: 0.000000 m/s, LOS rate: -0.012883 deg/s, cmd heading: 33.805816 deg, new cmd heading: 33.796242 deg. 2025-10-29T00:41:43.378Z,1761698503.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589856 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:43.389Z,1761698503.389 [DAT](INFO): DAT read: user:532> 2025-10-29T00:41:43.390Z,1761698503.390 [DAT](INFO): DAT read: Tx time:00:41:43.1750 2025-10-29T00:41:43.390Z,1761698503.390 [DAT](INFO): Ping request sent. 2025-10-29T00:41:43.390Z,1761698503.390 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:43.390Z,1761698503.390 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:43.391Z,1761698503.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726 2025-10-29T00:41:43.641Z,1761698503.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251179 2025-10-29T00:41:43.710Z,1761698503.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.827429,-0.559525,-0.047896],[0.560416,0.817253,0.134281],[-0.035990,-0.137950,0.989785]] 2025-10-29T00:41:43.769Z,1761698503.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:43.789Z,1761698503.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 176.063705 m, bearing: 23.499798 deg, approach rate: -0.670358 m/s, LOS rate: -0.009843 deg/s, cmd heading: 33.796240 deg, new cmd heading: 33.788164 deg. 2025-10-29T00:41:43.790Z,1761698503.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589715 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:43.894Z,1761698503.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503673 2025-10-29T00:41:44.128Z,1761698504.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826699,-0.560769,-0.045905],[0.561455,0.816898,0.132088],[-0.036571,-0.134971,0.990175]] 2025-10-29T00:41:44.145Z,1761698504.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754854 2025-10-29T00:41:44.147Z,1761698504.147 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:44.149Z,1761698504.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:44.151Z,1761698504.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 175.817795 m, bearing: 23.496090 deg, approach rate: -0.646436 m/s, LOS rate: -0.009763 deg/s, cmd heading: 33.788164 deg, new cmd heading: 33.780736 deg. 2025-10-29T00:41:44.153Z,1761698504.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589585 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:44.398Z,1761698504.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008205 2025-10-29T00:41:44.540Z,1761698504.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825865,-0.562224,-0.043029],[0.562637,0.816620,0.128727],[-0.037235,-0.130521,0.990746]] 2025-10-29T00:41:44.587Z,1761698504.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:44.591Z,1761698504.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 175.534393 m, bearing: 23.492144 deg, approach rate: -0.646564 m/s, LOS rate: -0.009015 deg/s, cmd heading: 33.780736 deg, new cmd heading: 33.772833 deg. 2025-10-29T00:41:44.592Z,1761698504.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589447 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:44.650Z,1761698504.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259834 2025-10-29T00:41:44.901Z,1761698504.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510735 2025-10-29T00:41:44.934Z,1761698504.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825651,-0.562711,-0.040696],[0.562885,0.816722,0.126989],[-0.038221,-0.127756,0.991069]] 2025-10-29T00:41:44.968Z,1761698504.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:44.970Z,1761698504.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 175.289734 m, bearing: 23.488709 deg, approach rate: -0.643465 m/s, LOS rate: -0.009048 deg/s, cmd heading: 33.772833 deg, new cmd heading: 33.765953 deg. 2025-10-29T00:41:44.971Z,1761698504.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589327 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:45.156Z,1761698505.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765654 2025-10-29T00:41:45.347Z,1761698505.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826088,-0.562294,-0.037472],[0.562174,0.817633,0.124245],[-0.039224,-0.123703,0.991544]] 2025-10-29T00:41:45.382Z,1761698505.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:45.389Z,1761698505.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 175.033524 m, bearing: 23.485182 deg, approach rate: -0.618738 m/s, LOS rate: -0.008531 deg/s, cmd heading: 33.765952 deg, new cmd heading: 33.758887 deg. 2025-10-29T00:41:45.389Z,1761698505.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589204 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:45.405Z,1761698505.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014972 2025-10-29T00:41:45.657Z,1761698505.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266754 2025-10-29T00:41:45.758Z,1761698505.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826384,-0.561943,-0.036197],[0.561716,0.818122,0.123087],[-0.039554,-0.122050,0.991736]] 2025-10-29T00:41:45.835Z,1761698505.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:45.852Z,1761698505.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 174.751114 m, bearing: 23.481821 deg, approach rate: -0.623341 m/s, LOS rate: -0.007428 deg/s, cmd heading: 33.758886 deg, new cmd heading: 33.752155 deg. 2025-10-29T00:41:45.853Z,1761698505.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.589086 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:45.910Z,1761698505.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519942 2025-10-29T00:41:46.152Z,1761698506.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.826328,-0.561963,-0.037145],[0.561750,0.817712,0.125635],[-0.040228,-0.124682,0.991381]] 2025-10-29T00:41:46.161Z,1761698506.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770949 2025-10-29T00:41:46.191Z,1761698506.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:46.193Z,1761698506.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:46.195Z,1761698506.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 174.508774 m, bearing: 23.478917 deg, approach rate: -0.676506 m/s, LOS rate: -0.008120 deg/s, cmd heading: 33.752155 deg, new cmd heading: 33.746338 deg. 2025-10-29T00:41:46.201Z,1761698506.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588985 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:46.413Z,1761698506.413 [DAT](INFO): DAT read: Rx Time:00:41:45.8140 2025-10-29T00:41:46.413Z,1761698506.413 [DAT](INFO): Rx dataTimestamp_ set to:1761698506.413050 2025-10-29T00:41:46.414Z,1761698506.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023786 2025-10-29T00:41:46.630Z,1761698506.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:46.632Z,1761698506.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 174.218124 m, bearing: 23.476784 deg, approach rate: -0.666202 m/s, LOS rate: -0.004896 deg/s, cmd heading: 33.746339 deg, new cmd heading: 33.742067 deg. 2025-10-29T00:41:46.633Z,1761698506.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588910 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:46.665Z,1761698506.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274904 2025-10-29T00:41:46.917Z,1761698506.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526731 2025-10-29T00:41:47.100Z,1761698507.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828454,-0.558332,-0.043914],[0.558351,0.817276,0.142492],[-0.043668,-0.142567,0.988821]] 2025-10-29T00:41:47.119Z,1761698507.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.20 m. 2025-10-29T00:41:47.137Z,1761698507.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.204269 m, nav range: 173.899292 m, bearing: 23.474783 deg, approach rate: -0.651287 m/s, LOS rate: -0.004096 deg/s, cmd heading: 33.742067 deg, new cmd heading: 33.738056 deg. 2025-10-29T00:41:47.138Z,1761698507.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588840 target range: 177.204269 and range: 178.20 m. 2025-10-29T00:41:47.174Z,1761698507.174 [DAT](INFO): DAT read: 00:41:45.8140 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.04, 1.082,-0.380, 1.706, 1.006, PHS= 0.178,-1.340, 0.657, RAW= 163.3, 5.7, CAL= 162.5, 5.0, ROT= 347.5, -5.0 2025-10-29T00:41:47.175Z,1761698507.175 [DAT](INFO): got valid direction response: 00:41:45.8140 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 418,-0.04, 1.082,-0.380, 1.706, 1.006, PHS= 0.178,-1.340, 0.657, RAW= 163.3, 5.7, CAL= 162.5, 5.0, ROT= 347.5, -5.0 2025-10-29T00:41:47.177Z,1761698507.177 [DAT](INFO): DAT read: Bearing 181.3, -15.5 (Local) 2025-10-29T00:41:47.177Z,1761698507.177 [DAT](INFO): Local bearing/azimuth received: Bearing 181.3, -15.5 (Local) 2025-10-29T00:41:47.178Z,1761698507.178 [DAT](INFO): DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.9 ms) speed 0.6 m/s 2025-10-29T00:41:47.179Z,1761698507.179 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:47.180Z,1761698507.180 [DAT](INFO): direction in FSK: [0.972581,-0.215616,0.087156] 2025-10-29T00:41:47.180Z,1761698507.180 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:47.184Z,1761698507.184 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:47.184Z,1761698507.184 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:47.189Z,1761698507.189 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:47.269Z,1761698507.269 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:41:47.421Z,1761698507.421 [DAT](INFO): DAT read: user:533> 2025-10-29T00:41:47.422Z,1761698507.422 [DAT](INFO): DAT read: Tx time:00:41:47.1750 2025-10-29T00:41:47.422Z,1761698507.422 [DAT](INFO): Ping request sent. 2025-10-29T00:41:47.422Z,1761698507.422 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:47.422Z,1761698507.422 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:47.423Z,1761698507.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000719 2025-10-29T00:41:47.673Z,1761698507.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250811 2025-10-29T00:41:47.679Z,1761698507.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.100006 m, deltaT: 4.032085 s, deltaX: -2.099991 m, approachRate: -0.520820 m/s, rangeRepo size: 4 2025-10-29T00:41:47.681Z,1761698507.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.124161 m, bearing: 22.352182 deg, lat: 36.779466 deg, lon: -121.859365 deg, deltaT: 4.032085 s, deltaX: -2.080109 m, approachRate: -0.515889 m/s, posRepo size: 4 2025-10-29T00:41:47.682Z,1761698507.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:47.684Z,1761698507.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 172.876724 m, bearing: 22.958151 deg, approach rate: 0.000000 m/s, LOS rate: -0.004096 deg/s, cmd heading: 33.738057 deg, new cmd heading: 33.733475 deg. 2025-10-29T00:41:47.685Z,1761698507.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588760 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:47.925Z,1761698507.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502586 2025-10-29T00:41:48.108Z,1761698508.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829416,-0.556936,-0.043497],[0.556874,0.818123,0.143408],[-0.044283,-0.143167,0.988707]] 2025-10-29T00:41:48.127Z,1761698508.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:48.130Z,1761698508.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 172.584702 m, bearing: 22.955337 deg, approach rate: -0.650127 m/s, LOS rate: -0.006275 deg/s, cmd heading: 33.733474 deg, new cmd heading: 33.727837 deg. 2025-10-29T00:41:48.131Z,1761698508.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588662 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:48.177Z,1761698508.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754895 2025-10-29T00:41:48.272Z,1761698508.272 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:41:48.429Z,1761698508.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006722 2025-10-29T00:41:48.515Z,1761698508.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830023,-0.556132,-0.042190],[0.555954,0.818976,0.142103],[-0.044475,-0.141404,0.988952]] 2025-10-29T00:41:48.594Z,1761698508.594 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:48.600Z,1761698508.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:48.603Z,1761698508.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 172.305389 m, bearing: 22.952748 deg, approach rate: -0.595670 m/s, LOS rate: -0.005531 deg/s, cmd heading: 33.727836 deg, new cmd heading: 33.722649 deg. 2025-10-29T00:41:48.608Z,1761698508.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588571 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:48.682Z,1761698508.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259170 2025-10-29T00:41:48.917Z,1761698508.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830626,-0.555251,-0.041921],[0.555019,0.819505,0.142709],[-0.044885,-0.141805,0.988877]] 2025-10-29T00:41:48.933Z,1761698508.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510677 2025-10-29T00:41:48.975Z,1761698508.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:48.982Z,1761698508.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 172.047928 m, bearing: 22.950768 deg, approach rate: -0.679130 m/s, LOS rate: -0.005230 deg/s, cmd heading: 33.722649 deg, new cmd heading: 33.718683 deg. 2025-10-29T00:41:48.983Z,1761698508.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588502 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:49.185Z,1761698509.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762698 2025-10-29T00:41:49.331Z,1761698509.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831644,-0.553594,-0.043610],[0.553534,0.820152,0.144745],[-0.044363,-0.144516,0.988508]] 2025-10-29T00:41:49.354Z,1761698509.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:49.357Z,1761698509.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 171.787216 m, bearing: 22.948903 deg, approach rate: -0.688671 m/s, LOS rate: -0.004935 deg/s, cmd heading: 33.718684 deg, new cmd heading: 33.714947 deg. 2025-10-29T00:41:49.358Z,1761698509.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588437 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:49.438Z,1761698509.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015328 2025-10-29T00:41:49.689Z,1761698509.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266612 2025-10-29T00:41:49.723Z,1761698509.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832582,-0.552027,-0.045541],[0.552191,0.820742,0.146516],[-0.043503,-0.147134,0.988159]] 2025-10-29T00:41:49.797Z,1761698509.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:49.799Z,1761698509.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 171.511078 m, bearing: 22.947417 deg, approach rate: -0.623748 m/s, LOS rate: -0.003360 deg/s, cmd heading: 33.714948 deg, new cmd heading: 33.711972 deg. 2025-10-29T00:41:49.804Z,1761698509.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588385 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:49.941Z,1761698509.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519119 2025-10-29T00:41:50.126Z,1761698510.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833579,-0.550413,-0.046819],[0.550735,0.821496,0.147769],[-0.042872,-0.148962,0.987913]] 2025-10-29T00:41:50.193Z,1761698510.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770710 2025-10-29T00:41:50.210Z,1761698510.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:50.212Z,1761698510.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 171.237823 m, bearing: 22.946095 deg, approach rate: -0.661596 m/s, LOS rate: -0.003206 deg/s, cmd heading: 33.711973 deg, new cmd heading: 33.709324 deg. 2025-10-29T00:41:50.213Z,1761698510.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588339 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:50.445Z,1761698510.445 [DAT](INFO): DAT read: Rx Time:00:41:49.8096 2025-10-29T00:41:50.445Z,1761698510.445 [DAT](INFO): Rx dataTimestamp_ set to:1761698510.445150 2025-10-29T00:41:50.446Z,1761698510.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023711 2025-10-29T00:41:50.530Z,1761698510.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834432,-0.549048,-0.047640],[0.549471,0.822172,0.148710],[-0.042481,-0.150265,0.987733]] 2025-10-29T00:41:50.620Z,1761698510.620 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:50.622Z,1761698510.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:50.636Z,1761698510.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 171.012955 m, bearing: 22.945113 deg, approach rate: -0.545296 m/s, LOS rate: -0.002384 deg/s, cmd heading: 33.709323 deg, new cmd heading: 33.707357 deg. 2025-10-29T00:41:50.637Z,1761698510.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588304 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:50.698Z,1761698510.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275634 2025-10-29T00:41:50.952Z,1761698510.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529412 2025-10-29T00:41:50.995Z,1761698510.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834928,-0.548282,-0.047771],[0.548783,0.822831,0.147600],[-0.041619,-0.149451,0.987893]] 2025-10-29T00:41:51.055Z,1761698511.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.12 m. 2025-10-29T00:41:51.077Z,1761698511.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.124161 m, nav range: 170.693848 m, bearing: 22.943574 deg, approach rate: -0.737417 m/s, LOS rate: -0.003563 deg/s, cmd heading: 33.707356 deg, new cmd heading: 33.704272 deg. 2025-10-29T00:41:51.078Z,1761698511.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588251 target range: 175.124161 and range: 176.10 m. 2025-10-29T00:41:51.211Z,1761698511.211 [DAT](INFO): DAT read: 00:41:49.8096 LVL= 29984, 30993, 26930, 32755, AGC= 69, IDX= 43, 0.18,-1.945, 2.907,-1.371,-2.038, PHS= 0.195,-1.294, 0.623, RAW= 162.3, 5.5, CAL= 161.4, 4.8, ROT= 348.6, -4.8 2025-10-29T00:41:51.212Z,1761698511.212 [DAT](INFO): got valid direction response: 00:41:49.8096 LVL= 29984, 30993, 26930, 32755, AGC= 69, IDX= 43, 0.18,-1.945, 2.907,-1.371,-2.038, PHS= 0.195,-1.294, 0.623, RAW= 162.3, 5.5, CAL= 161.4, 4.8, ROT= 348.6, -4.8 2025-10-29T00:41:51.213Z,1761698511.213 [DAT](INFO): DAT read: Bearing 180.5, -14.5 (Local) 2025-10-29T00:41:51.214Z,1761698511.214 [DAT](INFO): Local bearing/azimuth received: Bearing 180.5, -14.5 (Local) 2025-10-29T00:41:51.217Z,1761698511.217 [DAT](INFO): DAT read: Range 11 to 50 : 172.9 m (Round-trip 230.6 ms) speed 0.4 m/s 2025-10-29T00:41:51.218Z,1761698511.218 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:51.219Z,1761698511.219 [DAT](INFO): direction in FSK: [0.976833,-0.196964,0.083678] 2025-10-29T00:41:51.231Z,1761698511.231 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:51.255Z,1761698511.255 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:51.255Z,1761698511.255 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:51.255Z,1761698511.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:51.441Z,1761698511.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835270,-0.547894,-0.046212],[0.548443,0.824215,0.140999],[-0.039164,-0.143117,0.988931]] 2025-10-29T00:41:51.457Z,1761698511.457 [DAT](INFO): DAT read: user:534> 2025-10-29T00:41:51.458Z,1761698511.458 [DAT](INFO): DAT read: Tx time:00:41:51.2749 2025-10-29T00:41:51.459Z,1761698511.459 [DAT](INFO): Ping request sent. 2025-10-29T00:41:51.459Z,1761698511.459 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:51.459Z,1761698511.459 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:51.459Z,1761698511.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-29T00:41:51.522Z,1761698511.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.899994 m, deltaT: 4.036621 s, deltaX: -3.200012 m, approachRate: -0.792745 m/s, rangeRepo size: 4 2025-10-29T00:41:51.529Z,1761698511.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.926804 m, bearing: 22.719308 deg, lat: 36.779467 deg, lon: -121.859365 deg, deltaT: 4.036621 s, deltaX: -3.197357 m, approachRate: -0.792088 m/s, posRepo size: 4 2025-10-29T00:41:51.529Z,1761698511.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:51.536Z,1761698511.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 170.437469 m, bearing: 22.939332 deg, approach rate: 0.000000 m/s, LOS rate: -0.003563 deg/s, cmd heading: 33.704272 deg, new cmd heading: 33.700948 deg. 2025-10-29T00:41:51.538Z,1761698511.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588193 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:51.709Z,1761698511.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250275 2025-10-29T00:41:51.904Z,1761698511.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835600,-0.547397,-0.046145],[0.548040,0.824907,0.138490],[-0.037744,-0.141012,0.989288]] 2025-10-29T00:41:51.961Z,1761698511.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502254 2025-10-29T00:41:51.994Z,1761698511.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:51.997Z,1761698511.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 170.109253 m, bearing: 22.935723 deg, approach rate: -0.694378 m/s, LOS rate: -0.007652 deg/s, cmd heading: 33.700949 deg, new cmd heading: 33.693715 deg. 2025-10-29T00:41:51.998Z,1761698511.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.588066 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:52.213Z,1761698512.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754491 2025-10-29T00:41:52.317Z,1761698512.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835954,-0.546977,-0.044701],[0.547577,0.825884,0.134440],[-0.036618,-0.136863,0.989913]] 2025-10-29T00:41:52.371Z,1761698512.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:52.374Z,1761698512.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 169.866196 m, bearing: 22.933108 deg, approach rate: -0.644673 m/s, LOS rate: -0.006945 deg/s, cmd heading: 33.693716 deg, new cmd heading: 33.688479 deg. 2025-10-29T00:41:52.375Z,1761698512.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587975 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:52.466Z,1761698512.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006787 2025-10-29T00:41:52.717Z,1761698512.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258120 2025-10-29T00:41:52.815Z,1761698512.815 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:52.849Z,1761698512.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:52.860Z,1761698512.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 169.589890 m, bearing: 22.931101 deg, approach rate: -0.577308 m/s, LOS rate: -0.004201 deg/s, cmd heading: 33.688481 deg, new cmd heading: 33.684460 deg. 2025-10-29T00:41:52.861Z,1761698512.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587905 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:52.969Z,1761698512.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510604 2025-10-29T00:41:53.188Z,1761698513.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836271,-0.546563,-0.043817],[0.547220,0.826880,0.129689],[-0.034652,-0.132433,0.990586]] 2025-10-29T00:41:53.206Z,1761698513.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:53.209Z,1761698513.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 169.334442 m, bearing: 22.929302 deg, approach rate: -0.716295 m/s, LOS rate: -0.005053 deg/s, cmd heading: 33.684461 deg, new cmd heading: 33.680857 deg. 2025-10-29T00:41:53.210Z,1761698513.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587842 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:53.221Z,1761698513.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762182 2025-10-29T00:41:53.474Z,1761698513.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958 2025-10-29T00:41:53.618Z,1761698513.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836725,-0.545824,-0.044347],[0.546556,0.827300,0.129811],[-0.034166,-0.132854,0.990547]] 2025-10-29T00:41:53.693Z,1761698513.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:53.696Z,1761698513.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 169.018555 m, bearing: 22.924917 deg, approach rate: -0.648522 m/s, LOS rate: -0.009019 deg/s, cmd heading: 33.680858 deg, new cmd heading: 33.672072 deg. 2025-10-29T00:41:53.697Z,1761698513.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587689 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:53.725Z,1761698513.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266470 2025-10-29T00:41:53.978Z,1761698513.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518523 2025-10-29T00:41:54.020Z,1761698514.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836381,-0.546141,-0.046871],[0.547174,0.826740,0.130769],[-0.032668,-0.135020,0.990304]] 2025-10-29T00:41:54.058Z,1761698514.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:54.060Z,1761698514.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 168.794189 m, bearing: 22.921732 deg, approach rate: -0.615688 m/s, LOS rate: -0.008752 deg/s, cmd heading: 33.672071 deg, new cmd heading: 33.665692 deg. 2025-10-29T00:41:54.061Z,1761698514.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587577 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:54.229Z,1761698514.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770102 2025-10-29T00:41:54.423Z,1761698514.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835909,-0.546580,-0.050068],[0.547983,0.825901,0.132671],[-0.031164,-0.138337,0.989895]] 2025-10-29T00:41:54.441Z,1761698514.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:54.444Z,1761698514.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 168.532639 m, bearing: 22.917911 deg, approach rate: -0.681525 m/s, LOS rate: -0.009970 deg/s, cmd heading: 33.665692 deg, new cmd heading: 33.658039 deg. 2025-10-29T00:41:54.445Z,1761698514.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587444 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:54.482Z,1761698514.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022823 2025-10-29T00:41:54.733Z,1761698514.733 [DAT](INFO): DAT read: Rx Time:00:41:53.9073 2025-10-29T00:41:54.733Z,1761698514.733 [DAT](INFO): Rx dataTimestamp_ set to:1761698514.733068 2025-10-29T00:41:54.734Z,1761698514.734 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275183 2025-10-29T00:41:54.835Z,1761698514.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834968,-0.547998,-0.050270],[0.549486,0.825289,0.130242],[-0.029885,-0.136371,0.990207]] 2025-10-29T00:41:54.883Z,1761698514.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:54.885Z,1761698514.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.93 m. 2025-10-29T00:41:54.888Z,1761698514.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.926804 m, nav range: 168.242401 m, bearing: 22.912795 deg, approach rate: -0.653514 m/s, LOS rate: -0.011540 deg/s, cmd heading: 33.658038 deg, new cmd heading: 33.647788 deg. 2025-10-29T00:41:54.889Z,1761698514.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587265 target range: 171.926804 and range: 172.90 m. 2025-10-29T00:41:54.990Z,1761698514.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531677 2025-10-29T00:41:55.233Z,1761698515.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833893,-0.549385,-0.052906],[0.551174,0.823919,0.131775],[-0.028805,-0.139047,0.989867]] 2025-10-29T00:41:55.246Z,1761698515.246 [DAT](INFO): DAT read: 00:41:53.9073 LVL= 32752, 32753, 32754, 31507, AGC= 68, IDX= 56,-0.04, 2.499, 1.111, 3.026, 2.419, PHS= 0.182,-1.264, 0.562, RAW= 161.4, 6.3, CAL= 160.7, 5.9, ROT= 349.3, -5.9 2025-10-29T00:41:55.247Z,1761698515.247 [DAT](INFO): got valid direction response: 00:41:53.9073 LVL= 32752, 32753, 32754, 31507, AGC= 68, IDX= 56,-0.04, 2.499, 1.111, 3.026, 2.419, PHS= 0.182,-1.264, 0.562, RAW= 161.4, 6.3, CAL= 160.7, 5.9, ROT= 349.3, -5.9 2025-10-29T00:41:55.249Z,1761698515.249 [DAT](INFO): DAT read: Bearing 182.0, -13.1 (Local) 2025-10-29T00:41:55.249Z,1761698515.249 [DAT](INFO): Local bearing/azimuth received: Bearing 182.0, -13.1 (Local) 2025-10-29T00:41:55.250Z,1761698515.250 [DAT](INFO): DAT read: Range 11 to 50 : 171.2 m (Round-trip 228.3 ms) speed 0.3 m/s 2025-10-29T00:41:55.251Z,1761698515.251 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:55.252Z,1761698515.252 [DAT](INFO): direction in FSK: [0.977408,-0.184683,0.102793] 2025-10-29T00:41:55.252Z,1761698515.252 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:55.255Z,1761698515.255 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:55.255Z,1761698515.255 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:55.257Z,1761698515.257 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:55.275Z,1761698515.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 171.199997 m, deltaT: 4.035417 s, deltaX: -1.699997 m, approachRate: -0.421269 m/s, rangeRepo size: 4 2025-10-29T00:41:55.320Z,1761698515.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 170.254166 m, bearing: 23.708897 deg, lat: 36.779470 deg, lon: -121.859365 deg, deltaT: 4.035417 s, deltaX: -1.672638 m, approachRate: -0.414489 m/s, posRepo size: 4 2025-10-29T00:41:55.321Z,1761698515.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:55.357Z,1761698515.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 168.334869 m, bearing: 22.858608 deg, approach rate: 0.000000 m/s, LOS rate: -0.011540 deg/s, cmd heading: 33.647786 deg, new cmd heading: 33.638802 deg. 2025-10-29T00:41:55.358Z,1761698515.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.587108 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:55.493Z,1761698515.493 [DAT](INFO): DAT read: user:535> 2025-10-29T00:41:55.494Z,1761698515.494 [DAT](INFO): DAT read: Tx time:00:41:55.2749 2025-10-29T00:41:55.494Z,1761698515.494 [DAT](INFO): Ping request sent. 2025-10-29T00:41:55.494Z,1761698515.494 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:55.494Z,1761698515.494 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:55.495Z,1761698515.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:41:55.697Z,1761698515.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833032,-0.550617,-0.053651],[0.552532,0.823221,0.130443],[-0.027658,-0.138307,0.990003]] 2025-10-29T00:41:55.734Z,1761698515.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:55.745Z,1761698515.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250804 2025-10-29T00:41:55.753Z,1761698515.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 168.039597 m, bearing: 22.849173 deg, approach rate: -0.643379 m/s, LOS rate: -0.020593 deg/s, cmd heading: 33.638801 deg, new cmd heading: 33.619899 deg. 2025-10-29T00:41:55.754Z,1761698515.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586778 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:55.997Z,1761698515.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998 2025-10-29T00:41:56.079Z,1761698516.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831759,-0.552578,-0.053241],[0.554515,0.822462,0.126766],[-0.026260,-0.134961,0.990503]] 2025-10-29T00:41:56.098Z,1761698516.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:56.101Z,1761698516.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 167.807556 m, bearing: 22.841556 deg, approach rate: -0.636353 m/s, LOS rate: -0.020918 deg/s, cmd heading: 33.619899 deg, new cmd heading: 33.604643 deg. 2025-10-29T00:41:56.102Z,1761698516.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586512 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:56.249Z,1761698516.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754545 2025-10-29T00:41:56.484Z,1761698516.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830748,-0.554260,-0.051510],[0.556075,0.822134,0.121967],[-0.025254,-0.129967,0.991197]] 2025-10-29T00:41:56.501Z,1761698516.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006844 2025-10-29T00:41:56.528Z,1761698516.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:56.531Z,1761698516.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 167.537903 m, bearing: 22.832520 deg, approach rate: -0.628063 m/s, LOS rate: -0.021079 deg/s, cmd heading: 33.604643 deg, new cmd heading: 33.586543 deg. 2025-10-29T00:41:56.532Z,1761698516.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.586196 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:56.755Z,1761698516.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260312 2025-10-29T00:41:56.887Z,1761698516.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829821,-0.555789,-0.049949],[0.557505,0.821834,0.117374],[-0.024186,-0.125246,0.991831]] 2025-10-29T00:41:56.974Z,1761698516.974 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:56.976Z,1761698516.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:56.979Z,1761698516.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 167.247955 m, bearing: 22.825541 deg, approach rate: -0.646856 m/s, LOS rate: -0.015597 deg/s, cmd heading: 33.586543 deg, new cmd heading: 33.572561 deg. 2025-10-29T00:41:56.980Z,1761698516.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585952 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:57.005Z,1761698517.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510648 2025-10-29T00:41:57.257Z,1761698517.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762556 2025-10-29T00:41:57.302Z,1761698517.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829311,-0.556567,-0.049759],[0.558299,0.821577,0.115380],[-0.023336,-0.123466,0.992074]] 2025-10-29T00:41:57.332Z,1761698517.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:57.335Z,1761698517.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 167.013107 m, bearing: 22.819800 deg, approach rate: -0.659745 m/s, LOS rate: -0.016153 deg/s, cmd heading: 33.572562 deg, new cmd heading: 33.561062 deg. 2025-10-29T00:41:57.336Z,1761698517.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585751 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:57.509Z,1761698517.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014615 2025-10-29T00:41:57.720Z,1761698517.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829609,-0.556053,-0.050534],[0.557884,0.821850,0.115450],[-0.022665,-0.123971,0.992027]] 2025-10-29T00:41:57.762Z,1761698517.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267312 2025-10-29T00:41:57.780Z,1761698517.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:57.783Z,1761698517.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 166.738541 m, bearing: 22.813826 deg, approach rate: -0.613001 m/s, LOS rate: -0.013358 deg/s, cmd heading: 33.561063 deg, new cmd heading: 33.549097 deg. 2025-10-29T00:41:57.792Z,1761698517.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585542 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:58.013Z,1761698518.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518893 2025-10-29T00:41:58.121Z,1761698518.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830064,-0.555204,-0.052367],[0.557235,0.822055,0.117112],[-0.021972,-0.126391,0.991737]] 2025-10-29T00:41:58.144Z,1761698518.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:58.146Z,1761698518.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 166.495255 m, bearing: 22.808577 deg, approach rate: -0.668499 m/s, LOS rate: -0.014446 deg/s, cmd heading: 33.549097 deg, new cmd heading: 33.538582 deg. 2025-10-29T00:41:58.147Z,1761698518.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585359 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:58.266Z,1761698518.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771252 2025-10-29T00:41:58.517Z,1761698518.517 [DAT](INFO): DAT read: Rx Time:00:41:57.9036 2025-10-29T00:41:58.517Z,1761698518.517 [DAT](INFO): Rx dataTimestamp_ set to:1761698518.517186 2025-10-29T00:41:58.518Z,1761698518.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023707 2025-10-29T00:41:58.525Z,1761698518.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830335,-0.554579,-0.054642],[0.556856,0.821976,0.119444],[-0.021327,-0.129607,0.991336]] 2025-10-29T00:41:58.564Z,1761698518.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:58.566Z,1761698518.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 166.228363 m, bearing: 22.802832 deg, approach rate: -0.635444 m/s, LOS rate: -0.013699 deg/s, cmd heading: 33.538582 deg, new cmd heading: 33.527074 deg. 2025-10-29T00:41:58.567Z,1761698518.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.585158 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:58.771Z,1761698518.771 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276637 2025-10-29T00:41:58.928Z,1761698518.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830727,-0.553818,-0.056385],[0.556294,0.822104,0.121169],[-0.020751,-0.132025,0.991029]] 2025-10-29T00:41:58.981Z,1761698518.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 170.25 m. 2025-10-29T00:41:58.983Z,1761698518.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 170.254166 m, nav range: 165.972794 m, bearing: 22.796514 deg, approach rate: -0.612663 m/s, LOS rate: -0.015170 deg/s, cmd heading: 33.527073 deg, new cmd heading: 33.514417 deg. 2025-10-29T00:41:58.989Z,1761698518.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584937 target range: 170.254166 and range: 171.20 m. 2025-10-29T00:41:59.021Z,1761698519.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526771 2025-10-29T00:41:59.278Z,1761698519.278 [DAT](INFO): DAT read: 00:41:57.9036 LVL= 32752, 32753, 30706, 32755, AGC= 70, IDX= 409,-0.36,-3.062, 1.887,-2.523, 3.130, PHS= 0.193,-1.198, 0.586, RAW= 162.1, 5.2, CAL= 161.2, 4.4, ROT= 348.8, -4.4 2025-10-29T00:41:59.279Z,1761698519.279 [DAT](INFO): got valid direction response: 00:41:57.9036 LVL= 32752, 32753, 30706, 32755, AGC= 70, IDX= 409,-0.36,-3.062, 1.887,-2.523, 3.130, PHS= 0.193,-1.198, 0.586, RAW= 162.1, 5.2, CAL= 161.2, 4.4, ROT= 348.8, -4.4 2025-10-29T00:41:59.280Z,1761698519.280 [DAT](INFO): DAT read: Bearing 180.8, -12.6 (Local) 2025-10-29T00:41:59.281Z,1761698519.281 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -12.6 (Local) 2025-10-29T00:41:59.282Z,1761698519.282 [DAT](INFO): DAT read: Range 11 to 50 : 168.4 m (Round-trip 224.6 ms) speed 0.3 m/s 2025-10-29T00:41:59.282Z,1761698519.282 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:41:59.283Z,1761698519.283 [DAT](INFO): direction in FSK: [0.978064,-0.193662,0.076719] 2025-10-29T00:41:59.284Z,1761698519.284 [DAT](INFO): publishing direction and range info 2025-10-29T00:41:59.287Z,1761698519.287 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:41:59.287Z,1761698519.287 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:41:59.287Z,1761698519.287 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:41:59.415Z,1761698519.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 168.399994 m, deltaT: 4.031857 s, deltaX: -2.800003 m, approachRate: -0.694470 m/s, rangeRepo size: 4 2025-10-29T00:41:59.430Z,1761698519.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 167.476501 m, bearing: 23.296253 deg, lat: 36.779475 deg, lon: -121.859344 deg, deltaT: 4.031857 s, deltaX: -2.777664 m, approachRate: -0.688929 m/s, posRepo size: 4 2025-10-29T00:41:59.431Z,1761698519.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:41:59.435Z,1761698519.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 166.921829 m, bearing: 23.295844 deg, approach rate: 0.000000 m/s, LOS rate: -0.015170 deg/s, cmd heading: 33.514417 deg, new cmd heading: 33.501248 deg. 2025-10-29T00:41:59.436Z,1761698519.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584707 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:41:59.526Z,1761698519.526 [DAT](INFO): DAT read: user:536> 2025-10-29T00:41:59.527Z,1761698519.527 [DAT](INFO): DAT read: Tx time:00:41:59.2749 2025-10-29T00:41:59.527Z,1761698519.527 [DAT](INFO): Ping request sent. 2025-10-29T00:41:59.527Z,1761698519.527 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:41:59.527Z,1761698519.527 [DAT](INFO): publishing transmit ping time 2025-10-29T00:41:59.528Z,1761698519.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001160 2025-10-29T00:41:59.767Z,1761698519.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830638,-0.554021,-0.055679],[0.556488,0.822583,0.116955],[-0.018995,-0.128132,0.991575]] 2025-10-29T00:41:59.777Z,1761698519.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250096 2025-10-29T00:41:59.858Z,1761698519.858 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:41:59.864Z,1761698519.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:41:59.867Z,1761698519.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 166.637939 m, bearing: 23.291694 deg, approach rate: -0.637861 m/s, LOS rate: -0.009341 deg/s, cmd heading: 33.501248 deg, new cmd heading: 33.492933 deg. 2025-10-29T00:41:59.868Z,1761698519.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584562 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:00.029Z,1761698520.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501795 2025-10-29T00:42:00.174Z,1761698520.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830663,-0.553865,-0.056847],[0.556480,0.822561,0.117148],[-0.018124,-0.128945,0.991486]] 2025-10-29T00:42:00.197Z,1761698520.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:00.199Z,1761698520.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 166.420700 m, bearing: 23.288507 deg, approach rate: -0.645221 m/s, LOS rate: -0.009476 deg/s, cmd heading: 33.492932 deg, new cmd heading: 33.486551 deg. 2025-10-29T00:42:00.200Z,1761698520.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584451 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:00.281Z,1761698520.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754091 2025-10-29T00:42:00.533Z,1761698520.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005831 2025-10-29T00:42:00.575Z,1761698520.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830527,-0.553804,-0.059382],[0.556714,0.822113,0.119167],[-0.017176,-0.132030,0.991097]] 2025-10-29T00:42:00.594Z,1761698520.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:00.596Z,1761698520.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 166.171432 m, bearing: 23.284807 deg, approach rate: -0.628008 m/s, LOS rate: -0.009337 deg/s, cmd heading: 33.486549 deg, new cmd heading: 33.479137 deg. 2025-10-29T00:42:00.597Z,1761698520.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584321 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:00.785Z,1761698520.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257694 2025-10-29T00:42:00.978Z,1761698520.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830289,-0.554179,-0.059207],[0.557098,0.822161,0.117020],[-0.016172,-0.130144,0.991363]] 2025-10-29T00:42:01.031Z,1761698521.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:01.034Z,1761698521.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 165.892715 m, bearing: 23.279873 deg, approach rate: -0.637551 m/s, LOS rate: -0.011304 deg/s, cmd heading: 33.479139 deg, new cmd heading: 33.469255 deg. 2025-10-29T00:42:01.034Z,1761698521.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584149 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:01.037Z,1761698521.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509899 2025-10-29T00:42:01.290Z,1761698521.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763026 2025-10-29T00:42:01.383Z,1761698521.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830202,-0.554276,-0.059511],[0.557253,0.822228,0.115798],[-0.015252,-0.129298,0.991488]] 2025-10-29T00:42:01.401Z,1761698521.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:01.404Z,1761698521.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 165.656204 m, bearing: 23.275662 deg, approach rate: -0.638596 m/s, LOS rate: -0.011387 deg/s, cmd heading: 33.469255 deg, new cmd heading: 33.460821 deg. 2025-10-29T00:42:01.405Z,1761698521.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.584001 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:01.541Z,1761698521.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013742 2025-10-29T00:42:01.790Z,1761698521.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829965,-0.554572,-0.060069],[0.557637,0.822145,0.114539],[-0.014135,-0.128560,0.991601]] 2025-10-29T00:42:01.794Z,1761698521.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081 2025-10-29T00:42:01.871Z,1761698521.871 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:01.873Z,1761698521.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:01.876Z,1761698521.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 165.362305 m, bearing: 23.273365 deg, approach rate: -0.622701 m/s, LOS rate: -0.004875 deg/s, cmd heading: 33.460820 deg, new cmd heading: 33.456219 deg. 2025-10-29T00:42:01.877Z,1761698521.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583921 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:02.045Z,1761698522.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517709 2025-10-29T00:42:02.191Z,1761698522.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.829888,-0.554649,-0.060421],[0.557782,0.822297,0.112727],[-0.012840,-0.127253,0.991787]] 2025-10-29T00:42:02.213Z,1761698522.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:02.215Z,1761698522.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 165.150131 m, bearing: 23.271695 deg, approach rate: -0.624569 m/s, LOS rate: -0.004923 deg/s, cmd heading: 33.456220 deg, new cmd heading: 33.452875 deg. 2025-10-29T00:42:02.232Z,1761698522.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583863 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:02.298Z,1761698522.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770450 2025-10-29T00:42:02.549Z,1761698522.549 [DAT](INFO): DAT read: Rx Time:00:42:01.9010 2025-10-29T00:42:02.550Z,1761698522.550 [DAT](INFO): Rx dataTimestamp_ set to:1761698522.549469 2025-10-29T00:42:02.550Z,1761698522.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023187 2025-10-29T00:42:02.603Z,1761698522.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830077,-0.554388,-0.060221],[0.557526,0.822774,0.110485],[-0.011703,-0.125286,0.992052]] 2025-10-29T00:42:02.637Z,1761698522.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:02.652Z,1761698522.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 164.885635 m, bearing: 23.269645 deg, approach rate: -0.623329 m/s, LOS rate: -0.004838 deg/s, cmd heading: 33.452877 deg, new cmd heading: 33.448771 deg. 2025-10-29T00:42:02.653Z,1761698522.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583791 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:02.802Z,1761698522.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274692 2025-10-29T00:42:02.998Z,1761698522.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830492,-0.553592,-0.061792],[0.556921,0.823007,0.111802],[-0.011037,-0.127264,0.991808]] 2025-10-29T00:42:03.056Z,1761698523.056 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528512 2025-10-29T00:42:03.104Z,1761698523.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 167.48 m. 2025-10-29T00:42:03.107Z,1761698523.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 167.476501 m, nav range: 164.594498 m, bearing: 23.267966 deg, approach rate: -0.623062 m/s, LOS rate: -0.003600 deg/s, cmd heading: 33.448772 deg, new cmd heading: 33.445407 deg. 2025-10-29T00:42:03.112Z,1761698523.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583732 target range: 167.476501 and range: 168.40 m. 2025-10-29T00:42:03.314Z,1761698523.314 [DAT](INFO): DAT read: 00:42:01.9010 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.10, 1.835, 0.438, 2.415, 1.729, PHS= 0.208,-1.246, 0.642, RAW= 162.7, 4.7, CAL= 161.7, 3.7, ROT= 348.3, -3.7 2025-10-29T00:42:03.316Z,1761698523.316 [DAT](INFO): got valid direction response: 00:42:01.9010 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.10, 1.835, 0.438, 2.415, 1.729, PHS= 0.208,-1.246, 0.642, RAW= 162.7, 4.7, CAL= 161.7, 3.7, ROT= 348.3, -3.7 2025-10-29T00:42:03.317Z,1761698523.317 [DAT](INFO): DAT read: Bearing 180.0, -12.4 (Local) 2025-10-29T00:42:03.318Z,1761698523.318 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, -12.4 (Local) 2025-10-29T00:42:03.319Z,1761698523.319 [DAT](INFO): DAT read: Range 11 to 50 : 166.5 m (Round-trip 222.0 ms) speed 0.2 m/s 2025-10-29T00:42:03.320Z,1761698523.320 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:03.321Z,1761698523.321 [DAT](INFO): direction in FSK: [0.977182,-0.202365,0.064532] 2025-10-29T00:42:03.321Z,1761698523.321 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:03.324Z,1761698523.324 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:03.325Z,1761698523.325 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:03.325Z,1761698523.325 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:03.465Z,1761698523.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832223,-0.550645,-0.064766],[0.554343,0.824180,0.115897],[-0.010439,-0.132355,0.991147]] 2025-10-29T00:42:03.557Z,1761698523.557 [DAT](INFO): DAT read: user:537> 2025-10-29T00:42:03.558Z,1761698523.558 [DAT](INFO): DAT read: Tx time:00:42:03.3249 2025-10-29T00:42:03.558Z,1761698523.558 [DAT](INFO): Ping request sent. 2025-10-29T00:42:03.558Z,1761698523.558 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:03.558Z,1761698523.558 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:03.559Z,1761698523.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-29T00:42:03.563Z,1761698523.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 166.500000 m, deltaT: 4.032016 s, deltaX: -1.899994 m, approachRate: -0.471227 m/s, rangeRepo size: 4 2025-10-29T00:42:03.565Z,1761698523.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 165.596588 m, bearing: 22.558958 deg, lat: 36.779478 deg, lon: -121.859362 deg, deltaT: 4.032016 s, deltaX: -1.879913 m, approachRate: -0.466246 m/s, posRepo size: 4 2025-10-29T00:42:03.566Z,1761698523.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:03.568Z,1761698523.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 163.941193 m, bearing: 22.720856 deg, approach rate: 0.000000 m/s, LOS rate: -0.003600 deg/s, cmd heading: 33.445408 deg, new cmd heading: 33.442110 deg. 2025-10-29T00:42:03.569Z,1761698523.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583675 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:03.810Z,1761698523.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251631 2025-10-29T00:42:03.892Z,1761698523.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832674,-0.549984,-0.064582],[0.553676,0.824793,0.114716],[-0.009826,-0.131279,0.991297]] 2025-10-29T00:42:03.970Z,1761698523.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:03.972Z,1761698523.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:03.978Z,1761698523.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 163.682281 m, bearing: 22.719593 deg, approach rate: -0.632608 m/s, LOS rate: -0.003092 deg/s, cmd heading: 33.442109 deg, new cmd heading: 33.439578 deg. 2025-10-29T00:42:03.979Z,1761698523.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583631 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:04.062Z,1761698524.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503691 2025-10-29T00:42:04.314Z,1761698524.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755377 2025-10-29T00:42:04.316Z,1761698524.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833389,-0.548739,-0.065940],[0.552601,0.825215,0.116841],[-0.009701,-0.133813,0.990959]] 2025-10-29T00:42:04.361Z,1761698524.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:04.364Z,1761698524.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 163.419907 m, bearing: 22.718415 deg, approach rate: -0.673281 m/s, LOS rate: -0.003028 deg/s, cmd heading: 33.439578 deg, new cmd heading: 33.437218 deg. 2025-10-29T00:42:04.365Z,1761698524.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583590 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:04.566Z,1761698524.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007170 2025-10-29T00:42:04.820Z,1761698524.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260822 2025-10-29T00:42:04.842Z,1761698524.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:04.849Z,1761698524.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 163.139832 m, bearing: 22.717153 deg, approach rate: -0.582741 m/s, LOS rate: -0.002630 deg/s, cmd heading: 33.437218 deg, new cmd heading: 33.434690 deg. 2025-10-29T00:42:04.850Z,1761698524.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583545 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:05.070Z,1761698525.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511210 2025-10-29T00:42:05.108Z,1761698525.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834600,-0.546842,-0.066385],[0.550780,0.826390,0.117133],[-0.009194,-0.134323,0.990895]] 2025-10-29T00:42:05.159Z,1761698525.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:05.162Z,1761698525.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 162.902588 m, bearing: 22.714802 deg, approach rate: -0.747052 m/s, LOS rate: -0.007411 deg/s, cmd heading: 33.434691 deg, new cmd heading: 33.429984 deg. 2025-10-29T00:42:05.163Z,1761698525.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583463 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:05.321Z,1761698525.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762664 2025-10-29T00:42:05.512Z,1761698525.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834861,-0.546399,-0.066743],[0.550393,0.826695,0.116807],[-0.008647,-0.134253,0.990909]] 2025-10-29T00:42:05.530Z,1761698525.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:05.533Z,1761698525.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 162.660446 m, bearing: 22.712437 deg, approach rate: -0.652615 m/s, LOS rate: -0.006385 deg/s, cmd heading: 33.429985 deg, new cmd heading: 33.425248 deg. 2025-10-29T00:42:05.534Z,1761698525.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583381 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:05.574Z,1761698525.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015423 2025-10-29T00:42:05.833Z,1761698525.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268977 2025-10-29T00:42:05.914Z,1761698525.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835518,-0.545253,-0.067881],[0.549401,0.827173,0.118084],[-0.008236,-0.135955,0.990681]] 2025-10-29T00:42:05.962Z,1761698525.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:05.964Z,1761698525.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 162.374588 m, bearing: 22.708963 deg, approach rate: -0.663207 m/s, LOS rate: -0.008075 deg/s, cmd heading: 33.425248 deg, new cmd heading: 33.418287 deg. 2025-10-29T00:42:05.965Z,1761698525.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583259 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:06.077Z,1761698526.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518475 2025-10-29T00:42:06.322Z,1761698526.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835763,-0.544828,-0.068278],[0.549035,0.827443,0.117888],[-0.007732,-0.136014,0.990677]] 2025-10-29T00:42:06.329Z,1761698526.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770660 2025-10-29T00:42:06.340Z,1761698526.340 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:06.342Z,1761698526.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:06.345Z,1761698526.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 162.122116 m, bearing: 22.705923 deg, approach rate: -0.662859 m/s, LOS rate: -0.007992 deg/s, cmd heading: 33.418289 deg, new cmd heading: 33.412200 deg. 2025-10-29T00:42:06.346Z,1761698526.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583153 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:06.581Z,1761698526.581 [DAT](INFO): DAT read: Rx Time:00:42:05.9119 2025-10-29T00:42:06.582Z,1761698526.582 [DAT](INFO): Rx dataTimestamp_ set to:1761698526.581772 2025-10-29T00:42:06.583Z,1761698526.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024305 2025-10-29T00:42:06.723Z,1761698526.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836147,-0.544315,-0.067668],[0.548453,0.827985,0.116792],[-0.007544,-0.134768,0.990848]] 2025-10-29T00:42:06.763Z,1761698526.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:06.771Z,1761698526.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 161.855423 m, bearing: 22.702774 deg, approach rate: -0.634143 m/s, LOS rate: -0.007501 deg/s, cmd heading: 33.412199 deg, new cmd heading: 33.405890 deg. 2025-10-29T00:42:06.778Z,1761698526.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.583043 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:06.836Z,1761698526.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277249 2025-10-29T00:42:07.093Z,1761698527.093 [DAT](INFO): DAT read: 00:42:05.9119 LVL= 32544, 32753, 27346, 32755, AGC= 70, IDX= 45, 0.08, 2.613, 1.148,-3.070, 2.508, PHS= 0.207,-1.315, 0.662, RAW= 162.7, 5.0, CAL= 161.8, 4.2, ROT= 348.2, -4.2 2025-10-29T00:42:07.094Z,1761698527.094 [DAT](INFO): got valid direction response: 00:42:05.9119 LVL= 32544, 32753, 27346, 32755, AGC= 70, IDX= 45, 0.08, 2.613, 1.148,-3.070, 2.508, PHS= 0.207,-1.315, 0.662, RAW= 162.7, 5.0, CAL= 161.8, 4.2, ROT= 348.2, -4.2 2025-10-29T00:42:07.095Z,1761698527.095 [DAT](INFO): DAT read: Bearing 179.8, -12.4 (Local) 2025-10-29T00:42:07.095Z,1761698527.095 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, -12.4 (Local) 2025-10-29T00:42:07.096Z,1761698527.096 [DAT](INFO): DAT read: Range 11 to 50 : 137.1 m (Round-trip 182.9 ms) speed 0.4 m/s 2025-10-29T00:42:07.097Z,1761698527.097 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:07.098Z,1761698527.098 [DAT](INFO): direction in FSK: [0.976239,-0.203947,0.073238] 2025-10-29T00:42:07.098Z,1761698527.098 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:07.102Z,1761698527.102 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:07.102Z,1761698527.102 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:07.102Z,1761698527.102 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:07.332Z,1761698527.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 137.100006 m, deltaT: 3.781801 s, deltaX: -29.399994 m, approachRate: -7.774072 m/s, rangeRepo size: 4 2025-10-29T00:42:07.332Z,1761698527.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:07.335Z,1761698527.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 161.477432 m, bearing: 22.696475 deg, approach rate: -0.665487 m/s, LOS rate: -0.011115 deg/s, cmd heading: 33.405888 deg, new cmd heading: 33.393262 deg. 2025-10-29T00:42:07.337Z,1761698527.337 [DAT](INFO): DAT read: user:538> 2025-10-29T00:42:07.338Z,1761698527.338 [DAT](INFO): DAT read: Tx time:00:42:07.1249 2025-10-29T00:42:07.338Z,1761698527.338 [DAT](INFO): Ping request sent. 2025-10-29T00:42:07.338Z,1761698527.338 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:07.338Z,1761698527.338 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:07.339Z,1761698527.339 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-29T00:42:07.340Z,1761698527.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582822 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:07.589Z,1761698527.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250699 2025-10-29T00:42:07.644Z,1761698527.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836290,-0.544112,-0.067533],[0.548243,0.828287,0.115636],[-0.006983,-0.133729,0.990993]] 2025-10-29T00:42:07.679Z,1761698527.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:07.686Z,1761698527.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 161.259308 m, bearing: 22.692852 deg, approach rate: -0.625773 m/s, LOS rate: -0.010410 deg/s, cmd heading: 33.393263 deg, new cmd heading: 33.386006 deg. 2025-10-29T00:42:07.687Z,1761698527.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582696 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:07.844Z,1761698527.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505088 2025-10-29T00:42:08.046Z,1761698528.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836222,-0.543980,-0.069418],[0.548355,0.827988,0.117229],[-0.006293,-0.136095,0.990676]] 2025-10-29T00:42:08.090Z,1761698528.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:08.093Z,1761698528.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888 2025-10-29T00:42:08.121Z,1761698528.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 160.979706 m, bearing: 22.683797 deg, approach rate: -0.680782 m/s, LOS rate: -0.022085 deg/s, cmd heading: 33.386006 deg, new cmd heading: 33.367865 deg. 2025-10-29T00:42:08.122Z,1761698528.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582379 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:08.345Z,1761698528.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006657 2025-10-29T00:42:08.453Z,1761698528.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836050,-0.544173,-0.069973],[0.548622,0.827793,0.117362],[-0.005942,-0.136509,0.990621]] 2025-10-29T00:42:08.470Z,1761698528.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:08.472Z,1761698528.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:08.475Z,1761698528.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 160.729324 m, bearing: 22.675632 deg, approach rate: -0.655521 m/s, LOS rate: -0.021410 deg/s, cmd heading: 33.367865 deg, new cmd heading: 33.351510 deg. 2025-10-29T00:42:08.476Z,1761698528.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.582094 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:08.597Z,1761698528.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258785 2025-10-29T00:42:08.852Z,1761698528.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513014 2025-10-29T00:42:08.909Z,1761698528.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835554,-0.545065,-0.068947],[0.549380,0.827624,0.114978],[-0.005608,-0.133949,0.990972]] 2025-10-29T00:42:08.958Z,1761698528.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:08.964Z,1761698528.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 160.412506 m, bearing: 22.663751 deg, approach rate: -0.652616 m/s, LOS rate: -0.024523 deg/s, cmd heading: 33.351510 deg, new cmd heading: 33.327700 deg. 2025-10-29T00:42:08.965Z,1761698528.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581678 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:09.101Z,1761698529.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762656 2025-10-29T00:42:09.278Z,1761698529.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834790,-0.546543,-0.066463],[0.550542,0.827436,0.110694],[-0.005505,-0.128997,0.991630]] 2025-10-29T00:42:09.338Z,1761698529.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:09.341Z,1761698529.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 160.169815 m, bearing: 22.654515 deg, approach rate: -0.637893 m/s, LOS rate: -0.024315 deg/s, cmd heading: 33.327700 deg, new cmd heading: 33.309198 deg. 2025-10-29T00:42:09.342Z,1761698529.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581355 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:09.353Z,1761698529.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014862 2025-10-29T00:42:09.606Z,1761698529.606 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267723 2025-10-29T00:42:09.679Z,1761698529.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833839,-0.548186,-0.064835],[0.551980,0.826861,0.107791],[-0.005480,-0.125668,0.992057]] 2025-10-29T00:42:09.697Z,1761698529.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:09.700Z,1761698529.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 159.923386 m, bearing: 22.644966 deg, approach rate: -0.685965 m/s, LOS rate: -0.026621 deg/s, cmd heading: 33.309200 deg, new cmd heading: 33.290073 deg. 2025-10-29T00:42:09.701Z,1761698529.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.581021 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:09.860Z,1761698529.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521405 2025-10-29T00:42:10.082Z,1761698530.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833384,-0.548852,-0.065058],[0.552670,0.826449,0.107412],[-0.005187,-0.125471,0.992084]] 2025-10-29T00:42:10.109Z,1761698530.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770804 2025-10-29T00:42:10.146Z,1761698530.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:10.153Z,1761698530.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 159.655182 m, bearing: 22.635251 deg, approach rate: -0.597157 m/s, LOS rate: -0.021665 deg/s, cmd heading: 33.290072 deg, new cmd heading: 33.270611 deg. 2025-10-29T00:42:10.154Z,1761698530.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580682 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:10.361Z,1761698530.361 [DAT](INFO): DAT read: Rx Time:00:42:09.7465 2025-10-29T00:42:10.361Z,1761698530.361 [DAT](INFO): Rx dataTimestamp_ set to:1761698530.361160 2025-10-29T00:42:10.362Z,1761698530.362 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023813 2025-10-29T00:42:10.491Z,1761698530.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832960,-0.549563,-0.064477],[0.553309,0.826173,0.106241],[-0.005117,-0.124171,0.992248]] 2025-10-29T00:42:10.507Z,1761698530.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:10.510Z,1761698530.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:10.512Z,1761698530.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 159.408295 m, bearing: 22.626215 deg, approach rate: -0.679698 m/s, LOS rate: -0.024917 deg/s, cmd heading: 33.270610 deg, new cmd heading: 33.252509 deg. 2025-10-29T00:42:10.513Z,1761698530.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580366 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:10.613Z,1761698530.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274868 2025-10-29T00:42:10.869Z,1761698530.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530427 2025-10-29T00:42:10.941Z,1761698530.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832590,-0.550135,-0.064381],[0.553870,0.825936,0.105155],[-0.004675,-0.123209,0.992370]] 2025-10-29T00:42:10.980Z,1761698530.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 165.60 m. 2025-10-29T00:42:10.982Z,1761698530.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 165.596588 m, nav range: 159.111740 m, bearing: 22.617325 deg, approach rate: -0.631195 m/s, LOS rate: -0.018957 deg/s, cmd heading: 33.252510 deg, new cmd heading: 33.234696 deg. 2025-10-29T00:42:10.983Z,1761698530.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.580055 target range: 165.596588 and range: 166.50 m. 2025-10-29T00:42:11.122Z,1761698531.122 [DAT](INFO): DAT read: 00:42:09.7465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 289, 0.18, 3.067, 1.626,-2.642, 2.998, PHS= 0.171,-1.328, 0.598, RAW= 162.2, 6.4, CAL= 161.5, 6.1, ROT= 348.5, -6.1 2025-10-29T00:42:11.123Z,1761698531.123 [DAT](INFO): got valid direction response: 00:42:09.7465 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 289, 0.18, 3.067, 1.626,-2.642, 2.998, PHS= 0.171,-1.328, 0.598, RAW= 162.2, 6.4, CAL= 161.5, 6.1, ROT= 348.5, -6.1 2025-10-29T00:42:11.127Z,1761698531.127 [DAT](INFO): DAT read: Bearing 182.2, -12.3 (Local) 2025-10-29T00:42:11.128Z,1761698531.128 [DAT](INFO): Local bearing/azimuth received: Bearing 182.2, -12.3 (Local) 2025-10-29T00:42:11.129Z,1761698531.129 [DAT](INFO): DAT read: Range 11 to 50 : 163.2 m (Round-trip 217.6 ms) speed 0.7 m/s 2025-10-29T00:42:11.130Z,1761698531.130 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:11.131Z,1761698531.131 [DAT](INFO): direction in FSK: [0.974376,-0.198239,0.106264] 2025-10-29T00:42:11.131Z,1761698531.131 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:11.151Z,1761698531.151 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:11.151Z,1761698531.151 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:11.151Z,1761698531.151 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:11.317Z,1761698531.317 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831850,-0.551039,-0.066188],[0.554983,0.824958,0.106952],[-0.004332,-0.125702,0.992059]] 2025-10-29T00:42:11.358Z,1761698531.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 163.199997 m, deltaT: 7.812049 s, deltaX: -3.300003 m, approachRate: -0.422425 m/s, rangeRepo size: 4 2025-10-29T00:42:11.365Z,1761698531.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 162.308182 m, bearing: 23.061340 deg, lat: 36.779475 deg, lon: -121.859344 deg, deltaT: 7.812049 s, deltaX: -3.288406 m, approachRate: -0.420940 m/s, posRepo size: 4 2025-10-29T00:42:11.365Z,1761698531.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:11.369Z,1761698531.369 [DAT](INFO): DAT read: user:539> 2025-10-29T00:42:11.370Z,1761698531.370 [DAT](INFO): DAT read: Tx time:00:42:11.1748 2025-10-29T00:42:11.370Z,1761698531.370 [DAT](INFO): Ping request sent. 2025-10-29T00:42:11.370Z,1761698531.370 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:11.370Z,1761698531.370 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:11.371Z,1761698531.371 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-29T00:42:11.385Z,1761698531.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 159.240799 m, bearing: 23.173696 deg, approach rate: 0.000000 m/s, LOS rate: -0.018957 deg/s, cmd heading: 33.234696 deg, new cmd heading: 33.220363 deg. 2025-10-29T00:42:11.386Z,1761698531.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579805 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:11.622Z,1761698531.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251344 2025-10-29T00:42:11.711Z,1761698531.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831422,-0.551535,-0.067421],[0.555628,0.824421,0.107740],[-0.003839,-0.127039,0.991890]] 2025-10-29T00:42:11.737Z,1761698531.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:11.741Z,1761698531.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 158.987137 m, bearing: 23.166760 deg, approach rate: -0.668635 m/s, LOS rate: -0.018314 deg/s, cmd heading: 33.220363 deg, new cmd heading: 33.206467 deg. 2025-10-29T00:42:11.742Z,1761698531.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579562 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:11.889Z,1761698531.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.518009 2025-10-29T00:42:12.114Z,1761698532.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831332,-0.551648,-0.067617],[0.555766,0.824394,0.107235],[-0.003413,-0.126727,0.991932]] 2025-10-29T00:42:12.137Z,1761698532.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.766789 2025-10-29T00:42:12.161Z,1761698532.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:12.163Z,1761698532.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 158.715591 m, bearing: 23.159469 deg, approach rate: -0.640446 m/s, LOS rate: -0.017223 deg/s, cmd heading: 33.206467 deg, new cmd heading: 33.191862 deg. 2025-10-29T00:42:12.165Z,1761698532.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579307 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:12.389Z,1761698532.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.019305 2025-10-29T00:42:12.519Z,1761698532.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830878,-0.552343,-0.067517],[0.556446,0.824063,0.106249],[-0.003047,-0.125849,0.992045]] 2025-10-29T00:42:12.536Z,1761698532.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:12.538Z,1761698532.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:12.541Z,1761698532.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 158.473740 m, bearing: 23.152885 deg, approach rate: -0.641428 m/s, LOS rate: -0.017489 deg/s, cmd heading: 33.191861 deg, new cmd heading: 33.178672 deg. 2025-10-29T00:42:12.542Z,1761698532.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.579077 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:12.642Z,1761698532.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.271590 2025-10-29T00:42:12.896Z,1761698532.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.524944 2025-10-29T00:42:12.960Z,1761698532.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.830888,-0.552127,-0.069140],[0.556433,0.823871,0.107788],[-0.002550,-0.128031,0.991767]] 2025-10-29T00:42:13.017Z,1761698533.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:13.019Z,1761698533.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 158.173889 m, bearing: 23.148024 deg, approach rate: -0.626378 m/s, LOS rate: -0.010174 deg/s, cmd heading: 33.178672 deg, new cmd heading: 33.168931 deg. 2025-10-29T00:42:13.025Z,1761698533.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578907 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:13.145Z,1761698533.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.774713 2025-10-29T00:42:13.326Z,1761698533.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.831193,-0.551548,-0.070091],[0.555979,0.824005,0.109105],[-0.002421,-0.129657,0.991556]] 2025-10-29T00:42:13.345Z,1761698533.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:13.368Z,1761698533.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 157.959564 m, bearing: 23.144577 deg, approach rate: -0.652409 m/s, LOS rate: -0.010505 deg/s, cmd heading: 33.168932 deg, new cmd heading: 33.162030 deg. 2025-10-29T00:42:13.369Z,1761698533.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578787 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:13.397Z,1761698533.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.027138 2025-10-29T00:42:13.649Z,1761698533.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278719 2025-10-29T00:42:13.806Z,1761698533.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:13.809Z,1761698533.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 157.690323 m, bearing: 23.140235 deg, approach rate: -0.586915 m/s, LOS rate: -0.009483 deg/s, cmd heading: 33.162030 deg, new cmd heading: 33.153330 deg. 2025-10-29T00:42:13.810Z,1761698533.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578635 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:13.905Z,1761698533.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533658 2025-10-29T00:42:14.143Z,1761698534.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832275,-0.549803,-0.070966],[0.554358,0.824852,0.110931],[-0.002454,-0.131666,0.991291]] 2025-10-29T00:42:14.153Z,1761698534.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782856 2025-10-29T00:42:14.183Z,1761698534.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:14.185Z,1761698534.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 157.428055 m, bearing: 23.139773 deg, approach rate: -0.692543 m/s, LOS rate: -0.001222 deg/s, cmd heading: 33.153328 deg, new cmd heading: 33.152402 deg. 2025-10-29T00:42:14.186Z,1761698534.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578619 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:14.405Z,1761698534.405 [DAT](INFO): DAT read: Rx Time:00:42:13.7919 2025-10-29T00:42:14.406Z,1761698534.406 [DAT](INFO): Rx dataTimestamp_ set to:1761698534.405729 2025-10-29T00:42:14.407Z,1761698534.407 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036645 2025-10-29T00:42:14.542Z,1761698534.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.833666,-0.547454,-0.072763],[0.552262,0.825730,0.114792],[-0.002761,-0.135882,0.990721]] 2025-10-29T00:42:14.568Z,1761698534.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:14.570Z,1761698534.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:14.573Z,1761698534.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 157.181137 m, bearing: 23.139544 deg, approach rate: -0.637176 m/s, LOS rate: -0.000590 deg/s, cmd heading: 33.152403 deg, new cmd heading: 33.151946 deg. 2025-10-29T00:42:14.574Z,1761698534.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578611 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:14.659Z,1761698534.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288567 2025-10-29T00:42:14.909Z,1761698534.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538805 2025-10-29T00:42:14.996Z,1761698534.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.834996,-0.545075,-0.075332],[0.550248,0.826373,0.119730],[-0.003010,-0.141425,0.989944]] 2025-10-29T00:42:15.045Z,1761698535.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 162.31 m. 2025-10-29T00:42:15.047Z,1761698535.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 162.308182 m, nav range: 156.882538 m, bearing: 23.141642 deg, approach rate: -0.629409 m/s, LOS rate: 0.004429 deg/s, cmd heading: 33.151945 deg, new cmd heading: 33.156148 deg. 2025-10-29T00:42:15.048Z,1761698535.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578684 target range: 162.308182 and range: 163.20 m. 2025-10-29T00:42:15.166Z,1761698535.166 [DAT](INFO): DAT read: 00:42:13.7919 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 25, 0.31,-0.054,-1.441, 0.551,-0.116, PHS= 0.164,-1.280, 0.622, RAW= 163.4, 5.8, CAL= 162.6, 5.2, ROT= 347.4, -5.2 2025-10-29T00:42:15.167Z,1761698535.167 [DAT](INFO): got valid direction response: 00:42:13.7919 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 25, 0.31,-0.054,-1.441, 0.551,-0.116, PHS= 0.164,-1.280, 0.622, RAW= 163.4, 5.8, CAL= 162.6, 5.2, ROT= 347.4, -5.2 2025-10-29T00:42:15.168Z,1761698535.168 [DAT](INFO): DAT read: Bearing 181.4, -13.4 (Local) 2025-10-29T00:42:15.169Z,1761698535.169 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -13.4 (Local) 2025-10-29T00:42:15.170Z,1761698535.170 [DAT](INFO): DAT read: Range 11 to 50 : 159.7 m (Round-trip 213.0 ms) speed 0.4 m/s 2025-10-29T00:42:15.171Z,1761698535.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:15.172Z,1761698535.172 [DAT](INFO): direction in FSK: [0.971900,-0.217245,0.090633] 2025-10-29T00:42:15.172Z,1761698535.172 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:15.175Z,1761698535.175 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:15.176Z,1761698535.176 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:15.176Z,1761698535.176 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:15.354Z,1761698535.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.835868,-0.543669,-0.075825],[0.548922,0.827065,0.121030],[-0.003088,-0.142787,0.989749]] 2025-10-29T00:42:15.377Z,1761698535.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 159.699997 m, deltaT: 4.043953 s, deltaX: -3.500000 m, approachRate: -0.865490 m/s, rangeRepo size: 4 2025-10-29T00:42:15.378Z,1761698535.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 158.833084 m, bearing: 21.551974 deg, lat: 36.779488 deg, lon: -121.859362 deg, deltaT: 4.043953 s, deltaX: -3.475098 m, approachRate: -0.859332 m/s, posRepo size: 4 2025-10-29T00:42:15.379Z,1761698535.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:15.382Z,1761698535.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 157.440460 m, bearing: 22.401559 deg, approach rate: 0.000000 m/s, LOS rate: 0.004429 deg/s, cmd heading: 33.156149 deg, new cmd heading: 33.159082 deg. 2025-10-29T00:42:15.383Z,1761698535.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578735 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:15.413Z,1761698535.413 [DAT](INFO): DAT read: user:540> 2025-10-29T00:42:15.414Z,1761698535.414 [DAT](INFO): DAT read: Tx time:00:42:15.1748 2025-10-29T00:42:15.414Z,1761698535.414 [DAT](INFO): Ping request sent. 2025-10-29T00:42:15.414Z,1761698535.414 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:15.414Z,1761698535.414 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:15.416Z,1761698535.416 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001446 2025-10-29T00:42:15.665Z,1761698535.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250848 2025-10-29T00:42:15.862Z,1761698535.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:15.869Z,1761698535.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 157.150803 m, bearing: 22.402388 deg, approach rate: -0.595968 m/s, LOS rate: 0.001710 deg/s, cmd heading: 33.159083 deg, new cmd heading: 33.160745 deg. 2025-10-29T00:42:15.870Z,1761698535.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578764 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:15.920Z,1761698535.920 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505243 2025-10-29T00:42:16.170Z,1761698536.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755514 2025-10-29T00:42:16.242Z,1761698536.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837348,-0.541478,-0.075163],[0.546661,0.828604,0.120736],[-0.003096,-0.142187,0.989835]] 2025-10-29T00:42:16.317Z,1761698536.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:16.320Z,1761698536.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 156.842087 m, bearing: 22.403189 deg, approach rate: -0.677603 m/s, LOS rate: 0.001760 deg/s, cmd heading: 33.160746 deg, new cmd heading: 33.162350 deg. 2025-10-29T00:42:16.321Z,1761698536.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578792 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:16.422Z,1761698536.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007309 2025-10-29T00:42:16.642Z,1761698536.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838156,-0.540255,-0.074967],[0.545421,0.829358,0.121162],[-0.003284,-0.142441,0.989798]] 2025-10-29T00:42:16.673Z,1761698536.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258811 2025-10-29T00:42:16.730Z,1761698536.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:16.732Z,1761698536.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:16.734Z,1761698536.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 156.574753 m, bearing: 22.404028 deg, approach rate: -0.645341 m/s, LOS rate: 0.002028 deg/s, cmd heading: 33.162351 deg, new cmd heading: 33.164031 deg. 2025-10-29T00:42:16.735Z,1761698536.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578822 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:16.934Z,1761698536.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518983 2025-10-29T00:42:17.077Z,1761698537.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839516,-0.538144,-0.074931],[0.543326,0.830683,0.121498],[-0.003139,-0.142712,0.989759]] 2025-10-29T00:42:17.095Z,1761698537.095 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.42, 78.80, 85.93, 85.25 2025-10-29T00:42:17.110Z,1761698537.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:17.113Z,1761698537.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 156.332214 m, bearing: 22.405012 deg, approach rate: -0.640536 m/s, LOS rate: 0.002603 deg/s, cmd heading: 33.164031 deg, new cmd heading: 33.166003 deg. 2025-10-29T00:42:17.114Z,1761698537.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578856 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:17.178Z,1761698537.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763607 2025-10-29T00:42:17.429Z,1761698537.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014707 2025-10-29T00:42:17.474Z,1761698537.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840202,-0.537362,-0.072820],[0.542265,0.831811,0.118492],[-0.003100,-0.139045,0.990281]] 2025-10-29T00:42:17.516Z,1761698537.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:17.519Z,1761698537.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 156.072403 m, bearing: 22.406211 deg, approach rate: -0.639977 m/s, LOS rate: 0.002959 deg/s, cmd heading: 33.166002 deg, new cmd heading: 33.168405 deg. 2025-10-29T00:42:17.520Z,1761698537.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578898 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:17.681Z,1761698537.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266789 2025-10-29T00:42:17.882Z,1761698537.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840391,-0.537409,-0.070251],[0.541973,0.832588,0.114287],[-0.002929,-0.134120,0.990961]] 2025-10-29T00:42:17.933Z,1761698537.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519132 2025-10-29T00:42:17.936Z,1761698537.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:17.939Z,1761698537.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 155.807083 m, bearing: 22.407503 deg, approach rate: -0.631815 m/s, LOS rate: 0.003081 deg/s, cmd heading: 33.168406 deg, new cmd heading: 33.170993 deg. 2025-10-29T00:42:17.940Z,1761698537.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578943 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:18.185Z,1761698538.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770806 2025-10-29T00:42:18.304Z,1761698538.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840144,-0.538022,-0.068486],[0.542358,0.832815,0.110757],[-0.002554,-0.130196,0.991485]] 2025-10-29T00:42:18.360Z,1761698538.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:18.363Z,1761698538.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 155.525284 m, bearing: 22.405352 deg, approach rate: -0.665034 m/s, LOS rate: -0.005084 deg/s, cmd heading: 33.170995 deg, new cmd heading: 33.166686 deg. 2025-10-29T00:42:18.363Z,1761698538.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578868 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:18.405Z,1761698538.405 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:42:18.439Z,1761698538.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024795 2025-10-29T00:42:18.693Z,1761698538.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278893 2025-10-29T00:42:18.712Z,1761698538.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840094,-0.538105,-0.068450],[0.542436,0.832818,0.110353],[-0.002375,-0.129837,0.991533]] 2025-10-29T00:42:18.730Z,1761698538.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:18.733Z,1761698538.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 155.282013 m, bearing: 22.403483 deg, approach rate: -0.656667 m/s, LOS rate: -0.005052 deg/s, cmd heading: 33.166685 deg, new cmd heading: 33.162941 deg. 2025-10-29T00:42:18.734Z,1761698538.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578803 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:18.946Z,1761698538.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531497 2025-10-29T00:42:19.107Z,1761698539.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840138,-0.538092,-0.068005],[0.542366,0.832882,0.110214],[-0.002665,-0.129478,0.991579]] 2025-10-29T00:42:19.156Z,1761698539.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:19.158Z,1761698539.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:19.161Z,1761698539.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 155.006393 m, bearing: 22.398534 deg, approach rate: -0.644332 m/s, LOS rate: -0.011590 deg/s, cmd heading: 33.162942 deg, new cmd heading: 33.153026 deg. 2025-10-29T00:42:19.162Z,1761698539.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578629 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:19.198Z,1761698539.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.783464 2025-10-29T00:42:19.410Z,1761698539.410 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:42:19.449Z,1761698539.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034879 2025-10-29T00:42:19.511Z,1761698539.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839987,-0.538331,-0.067984],[0.542601,0.832780,0.109822],[-0.002505,-0.129138,0.991623]] 2025-10-29T00:42:19.541Z,1761698539.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:19.543Z,1761698539.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 154.758957 m, bearing: 22.394053 deg, approach rate: -0.646204 m/s, LOS rate: -0.011723 deg/s, cmd heading: 33.153024 deg, new cmd heading: 33.144047 deg. 2025-10-29T00:42:19.545Z,1761698539.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578473 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:19.701Z,1761698539.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286753 2025-10-29T00:42:19.919Z,1761698539.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839637,-0.538956,-0.067348],[0.543140,0.832505,0.109246],[-0.002812,-0.128306,0.991731]] 2025-10-29T00:42:19.951Z,1761698539.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:19.953Z,1761698539.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538925 2025-10-29T00:42:19.965Z,1761698539.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 154.502213 m, bearing: 22.389331 deg, approach rate: -0.625428 m/s, LOS rate: -0.011521 deg/s, cmd heading: 33.144046 deg, new cmd heading: 33.134587 deg. 2025-10-29T00:42:19.966Z,1761698539.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578308 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:20.205Z,1761698540.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790775 2025-10-29T00:42:20.386Z,1761698540.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:20.389Z,1761698540.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 154.207977 m, bearing: 22.380793 deg, approach rate: -0.676530 m/s, LOS rate: -0.019670 deg/s, cmd heading: 33.134586 deg, new cmd heading: 33.117477 deg. 2025-10-29T00:42:20.390Z,1761698540.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.578009 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:20.457Z,1761698540.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042996 2025-10-29T00:42:20.709Z,1761698540.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294733 2025-10-29T00:42:20.724Z,1761698540.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838660,-0.540533,-0.066880],[0.544648,0.831694,0.107910],[-0.002705,-0.126926,0.991909]] 2025-10-29T00:42:20.787Z,1761698540.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:20.796Z,1761698540.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 153.973450 m, bearing: 22.373812 deg, approach rate: -0.586337 m/s, LOS rate: -0.017479 deg/s, cmd heading: 33.117477 deg, new cmd heading: 33.103494 deg. 2025-10-29T00:42:20.797Z,1761698540.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577765 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:20.961Z,1761698540.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546834 2025-10-29T00:42:21.126Z,1761698541.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837886,-0.541609,-0.067872],[0.545838,0.830753,0.109133],[-0.002722,-0.128488,0.991707]] 2025-10-29T00:42:21.182Z,1761698541.182 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:21.188Z,1761698541.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:21.191Z,1761698541.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 153.710297 m, bearing: 22.364507 deg, approach rate: -0.662080 m/s, LOS rate: -0.023450 deg/s, cmd heading: 33.103495 deg, new cmd heading: 33.084855 deg. 2025-10-29T00:42:21.191Z,1761698541.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577440 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:21.213Z,1761698541.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798912 2025-10-29T00:42:21.465Z,1761698541.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050854 2025-10-29T00:42:21.533Z,1761698541.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837742,-0.541645,-0.069350],[0.546060,0.830308,0.111383],[-0.002748,-0.131180,0.991355]] 2025-10-29T00:42:21.551Z,1761698541.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:21.554Z,1761698541.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 153.467407 m, bearing: 22.355860 deg, approach rate: -0.660803 m/s, LOS rate: -0.023564 deg/s, cmd heading: 33.084856 deg, new cmd heading: 33.067533 deg. 2025-10-29T00:42:21.555Z,1761698541.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.577137 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:21.717Z,1761698541.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302790 2025-10-29T00:42:21.962Z,1761698541.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837185,-0.542516,-0.069259],[0.546914,0.829851,0.110602],[-0.002529,-0.130473,0.991449]] 2025-10-29T00:42:21.969Z,1761698541.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554831 2025-10-29T00:42:22.032Z,1761698542.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:22.058Z,1761698542.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 153.192688 m, bearing: 22.345942 deg, approach rate: -0.581936 m/s, LOS rate: -0.021047 deg/s, cmd heading: 33.067534 deg, new cmd heading: 33.047662 deg. 2025-10-29T00:42:22.066Z,1761698542.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576791 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:22.221Z,1761698542.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806790 2025-10-29T00:42:22.342Z,1761698542.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836793,-0.543052,-0.069797],[0.547515,0.829433,0.110762],[-0.002257,-0.130900,0.991393]] 2025-10-29T00:42:22.406Z,1761698542.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:22.413Z,1761698542.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 152.930954 m, bearing: 22.335560 deg, approach rate: -0.683871 m/s, LOS rate: -0.027171 deg/s, cmd heading: 33.047662 deg, new cmd heading: 33.026864 deg. 2025-10-29T00:42:22.414Z,1761698542.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576428 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:22.473Z,1761698542.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058943 2025-10-29T00:42:22.725Z,1761698542.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310735 2025-10-29T00:42:22.754Z,1761698542.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836652,-0.543319,-0.069414],[0.547731,0.829411,0.109855],[-0.002114,-0.129931,0.991521]] 2025-10-29T00:42:22.788Z,1761698542.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:22.791Z,1761698542.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 152.684448 m, bearing: 22.325729 deg, approach rate: -0.645922 m/s, LOS rate: -0.025803 deg/s, cmd heading: 33.026864 deg, new cmd heading: 33.007170 deg. 2025-10-29T00:42:22.792Z,1761698542.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.576084 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:22.977Z,1761698542.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562856 2025-10-29T00:42:23.147Z,1761698543.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836372,-0.543885,-0.068345],[0.548159,0.829437,0.107499],[-0.001780,-0.127373,0.991853]] 2025-10-29T00:42:23.200Z,1761698543.200 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:23.202Z,1761698543.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:23.205Z,1761698543.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 152.431427 m, bearing: 22.317618 deg, approach rate: -0.610968 m/s, LOS rate: -0.019619 deg/s, cmd heading: 33.007169 deg, new cmd heading: 32.990920 deg. 2025-10-29T00:42:23.206Z,1761698543.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575800 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:23.238Z,1761698543.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.824111 2025-10-29T00:42:23.489Z,1761698543.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.074866 2025-10-29T00:42:23.551Z,1761698543.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836308,-0.543928,-0.068783],[0.548258,0.829337,0.107763],[-0.001571,-0.127834,0.991794]] 2025-10-29T00:42:23.579Z,1761698543.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:23.582Z,1761698543.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 152.182251 m, bearing: 22.309591 deg, approach rate: -0.660492 m/s, LOS rate: -0.021312 deg/s, cmd heading: 32.990920 deg, new cmd heading: 32.974840 deg. 2025-10-29T00:42:23.583Z,1761698543.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575520 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:23.742Z,1761698543.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.327147 2025-10-29T00:42:23.954Z,1761698543.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836283,-0.543902,-0.069289],[0.548297,0.829299,0.107858],[-0.001203,-0.128191,0.991749]] 2025-10-29T00:42:23.973Z,1761698543.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:23.976Z,1761698543.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 151.933929 m, bearing: 22.301560 deg, approach rate: -0.630240 m/s, LOS rate: -0.020416 deg/s, cmd heading: 32.974839 deg, new cmd heading: 32.958750 deg. 2025-10-29T00:42:23.977Z,1761698543.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575239 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:23.993Z,1761698543.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578910 2025-10-29T00:42:24.249Z,1761698544.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.834741 2025-10-29T00:42:24.361Z,1761698544.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836569,-0.543424,-0.069588],[0.547861,0.829550,0.108145],[-0.001042,-0.128595,0.991697]] 2025-10-29T00:42:24.402Z,1761698544.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:24.405Z,1761698544.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 151.663452 m, bearing: 22.294815 deg, approach rate: -0.631447 m/s, LOS rate: -0.015773 deg/s, cmd heading: 32.958750 deg, new cmd heading: 32.945237 deg. 2025-10-29T00:42:24.405Z,1761698544.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.575003 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:24.502Z,1761698544.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.087551 2025-10-29T00:42:24.754Z,1761698544.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.340154 2025-10-29T00:42:24.817Z,1761698544.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:24.819Z,1761698544.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 151.401077 m, bearing: 22.288250 deg, approach rate: -0.631710 m/s, LOS rate: -0.015835 deg/s, cmd heading: 32.945236 deg, new cmd heading: 32.932083 deg. 2025-10-29T00:42:24.821Z,1761698544.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574773 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:25.005Z,1761698545.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.590729 2025-10-29T00:42:25.169Z,1761698545.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836872,-0.542872,-0.070249],[0.547398,0.829824,0.108388],[-0.000547,-0.129161,0.991623]] 2025-10-29T00:42:25.204Z,1761698545.204 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:25.206Z,1761698545.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:25.209Z,1761698545.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 151.158478 m, bearing: 22.283712 deg, approach rate: -0.623636 m/s, LOS rate: -0.011682 deg/s, cmd heading: 32.932082 deg, new cmd heading: 32.922992 deg. 2025-10-29T00:42:25.210Z,1761698545.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574615 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:25.259Z,1761698545.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.844413 2025-10-29T00:42:25.509Z,1761698545.509 [DAT](INFO): Reached modem response timeout 2025-10-29T00:42:25.509Z,1761698545.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:25.510Z,1761698545.510 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:25.570Z,1761698545.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837023,-0.542604,-0.070515],[0.547167,0.830015,0.108090],[-0.000122,-0.129057,0.991637]] 2025-10-29T00:42:25.605Z,1761698545.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:25.608Z,1761698545.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 150.908997 m, bearing: 22.279058 deg, approach rate: -0.624756 m/s, LOS rate: -0.011675 deg/s, cmd heading: 32.922994 deg, new cmd heading: 32.913670 deg. 2025-10-29T00:42:25.609Z,1761698545.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574452 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:25.761Z,1761698545.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:25.974Z,1761698545.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836997,-0.542610,-0.070775],[0.547206,0.830100,0.107231],[0.000566,-0.128481,0.991712]] 2025-10-29T00:42:26.001Z,1761698546.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:26.003Z,1761698546.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 150.661880 m, bearing: 22.274430 deg, approach rate: -0.624905 m/s, LOS rate: -0.011722 deg/s, cmd heading: 32.913671 deg, new cmd heading: 32.904400 deg. 2025-10-29T00:42:26.013Z,1761698546.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:26.020Z,1761698546.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574290 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:26.269Z,1761698546.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:26.465Z,1761698546.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837219,-0.542167,-0.071557],[0.546867,0.830306,0.107371],[0.001201,-0.129025,0.991641]] 2025-10-29T00:42:26.517Z,1761698546.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:26.523Z,1761698546.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:26.527Z,1761698546.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 150.344620 m, bearing: 22.270232 deg, approach rate: -0.607457 m/s, LOS rate: -0.008055 deg/s, cmd heading: 32.904399 deg, new cmd heading: 32.895985 deg. 2025-10-29T00:42:26.528Z,1761698546.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574143 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:26.772Z,1761698546.772 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:26.886Z,1761698546.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837550,-0.541609,-0.071896],[0.546358,0.830616,0.107567],[0.001459,-0.129374,0.991595]] 2025-10-29T00:42:26.909Z,1761698546.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:26.912Z,1761698546.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 150.089630 m, bearing: 22.266904 deg, approach rate: -0.660085 m/s, LOS rate: -0.008632 deg/s, cmd heading: 32.895984 deg, new cmd heading: 32.889315 deg. 2025-10-29T00:42:26.913Z,1761698546.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.574027 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:27.021Z,1761698547.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:27.274Z,1761698547.274 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:27.322Z,1761698547.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837356,-0.541863,-0.072242],[0.546654,0.830493,0.107008],[0.002013,-0.129096,0.991630]] 2025-10-29T00:42:27.377Z,1761698547.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:27.379Z,1761698547.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:27.391Z,1761698547.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 149.800720 m, bearing: 22.262869 deg, approach rate: -0.614447 m/s, LOS rate: -0.008596 deg/s, cmd heading: 32.889314 deg, new cmd heading: 32.881230 deg. 2025-10-29T00:42:27.420Z,1761698547.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573886 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:27.525Z,1761698547.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:42:27.723Z,1761698547.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837217,-0.542039,-0.072534],[0.546864,0.830448,0.106283],[0.002626,-0.128648,0.991687]] 2025-10-29T00:42:27.743Z,1761698547.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:27.769Z,1761698547.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 149.556549 m, bearing: 22.259427 deg, approach rate: -0.672226 m/s, LOS rate: -0.009493 deg/s, cmd heading: 32.881231 deg, new cmd heading: 32.874334 deg. 2025-10-29T00:42:27.771Z,1761698547.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573765 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:27.778Z,1761698547.778 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:42:27.778Z,1761698547.778 [DAT](INFO): response not received 2025-10-29T00:42:27.779Z,1761698547.779 [DAT](INFO): DAT read: user:541> 2025-10-29T00:42:27.779Z,1761698547.779 [DAT](INFO): DAT read: Tx time:00:42:27.6247 2025-10-29T00:42:27.780Z,1761698547.780 [DAT](INFO): Ping request sent. 2025-10-29T00:42:27.780Z,1761698547.780 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:27.780Z,1761698547.780 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:27.781Z,1761698547.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000843 2025-10-29T00:42:28.029Z,1761698548.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249088 2025-10-29T00:42:28.161Z,1761698548.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837362,-0.541742,-0.073080],[0.546639,0.830651,0.105851],[0.003360,-0.128584,0.991693]] 2025-10-29T00:42:28.205Z,1761698548.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:28.207Z,1761698548.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 149.272736 m, bearing: 22.253924 deg, approach rate: -0.614505 m/s, LOS rate: -0.011938 deg/s, cmd heading: 32.874336 deg, new cmd heading: 32.863308 deg. 2025-10-29T00:42:28.208Z,1761698548.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573573 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:28.282Z,1761698548.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502031 2025-10-29T00:42:28.533Z,1761698548.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753184 2025-10-29T00:42:28.559Z,1761698548.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:28.562Z,1761698548.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 149.055328 m, bearing: 22.249694 deg, approach rate: -0.612953 m/s, LOS rate: -0.011943 deg/s, cmd heading: 32.863308 deg, new cmd heading: 32.854836 deg. 2025-10-29T00:42:28.563Z,1761698548.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573425 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:28.785Z,1761698548.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005108 2025-10-29T00:42:28.938Z,1761698548.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837445,-0.541164,-0.076336],[0.546499,0.830476,0.107928],[0.004989,-0.132101,0.991224]] 2025-10-29T00:42:28.988Z,1761698548.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:28.991Z,1761698548.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 148.792511 m, bearing: 22.244557 deg, approach rate: -0.613115 m/s, LOS rate: -0.012004 deg/s, cmd heading: 32.854835 deg, new cmd heading: 32.844544 deg. 2025-10-29T00:42:28.992Z,1761698548.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573245 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:29.038Z,1761698549.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258086 2025-10-29T00:42:29.289Z,1761698549.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509169 2025-10-29T00:42:29.339Z,1761698549.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837559,-0.540764,-0.077905],[0.546315,0.830489,0.108753],[0.005889,-0.133648,0.991011]] 2025-10-29T00:42:29.395Z,1761698549.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:29.402Z,1761698549.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:29.408Z,1761698549.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 148.546448 m, bearing: 22.238108 deg, approach rate: -0.594988 m/s, LOS rate: -0.015620 deg/s, cmd heading: 32.844546 deg, new cmd heading: 32.831626 deg. 2025-10-29T00:42:29.409Z,1761698549.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.573020 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:29.541Z,1761698549.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761080 2025-10-29T00:42:29.749Z,1761698549.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837436,-0.540578,-0.080476],[0.546489,0.830155,0.110421],[0.007116,-0.136450,0.990621]] 2025-10-29T00:42:29.790Z,1761698549.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:29.793Z,1761698549.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013518 2025-10-29T00:42:29.795Z,1761698549.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 148.284042 m, bearing: 22.231168 deg, approach rate: -0.675357 m/s, LOS rate: -0.017894 deg/s, cmd heading: 32.831627 deg, new cmd heading: 32.817722 deg. 2025-10-29T00:42:29.795Z,1761698549.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572777 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:30.045Z,1761698550.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265170 2025-10-29T00:42:30.297Z,1761698550.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517149 2025-10-29T00:42:30.475Z,1761698550.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:30.478Z,1761698550.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 147.837631 m, bearing: 22.216230 deg, approach rate: -0.651620 m/s, LOS rate: -0.021871 deg/s, cmd heading: 32.817720 deg, new cmd heading: 32.787754 deg. 2025-10-29T00:42:30.479Z,1761698550.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.572254 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:30.549Z,1761698550.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769358 2025-10-29T00:42:30.786Z,1761698550.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836762,-0.541127,-0.083730],[0.547468,0.829673,0.109188],[0.010384,-0.137204,0.990488]] 2025-10-29T00:42:30.801Z,1761698550.801 [DAT](INFO): DAT read: Rx Time:00:42:30.1909 2025-10-29T00:42:30.802Z,1761698550.802 [DAT](INFO): Rx dataTimestamp_ set to:1761698550.801272 2025-10-29T00:42:30.802Z,1761698550.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022342 2025-10-29T00:42:30.818Z,1761698550.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:30.821Z,1761698550.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 147.613129 m, bearing: 22.208577 deg, approach rate: -0.655229 m/s, LOS rate: -0.022370 deg/s, cmd heading: 32.787753 deg, new cmd heading: 32.772423 deg. 2025-10-29T00:42:30.821Z,1761698550.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571987 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:31.053Z,1761698551.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273563 2025-10-29T00:42:31.222Z,1761698551.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836428,-0.541488,-0.084727],[0.547954,0.829460,0.108365],[0.011599,-0.137066,0.990494]] 2025-10-29T00:42:31.305Z,1761698551.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525133 2025-10-29T00:42:31.315Z,1761698551.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 158.83 m. 2025-10-29T00:42:31.338Z,1761698551.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 158.833084 m, nav range: 147.300903 m, bearing: 22.195913 deg, approach rate: -0.629824 m/s, LOS rate: -0.025600 deg/s, cmd heading: 32.772422 deg, new cmd heading: 32.747041 deg. 2025-10-29T00:42:31.343Z,1761698551.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571544 target range: 158.833084 and range: 159.70 m. 2025-10-29T00:42:31.569Z,1761698551.569 [DAT](INFO): DAT read: 00:42:30.1909 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 392, 0.14,-1.398,-2.771,-0.822,-1.482, PHS= 0.186,-1.244, 0.616, RAW= 162.8, 5.3, CAL= 161.9, 4.5, ROT= 348.1, -4.5 2025-10-29T00:42:31.570Z,1761698551.570 [DAT](INFO): got valid direction response: 00:42:30.1909 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 392, 0.14,-1.398,-2.771,-0.822,-1.482, PHS= 0.186,-1.244, 0.616, RAW= 162.8, 5.3, CAL= 161.9, 4.5, ROT= 348.1, -4.5 2025-10-29T00:42:31.571Z,1761698551.571 [DAT](INFO): DAT read: Bearing 180.6, -11.8 (Local) 2025-10-29T00:42:31.571Z,1761698551.571 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, -11.8 (Local) 2025-10-29T00:42:31.573Z,1761698551.573 [DAT](INFO): DAT read: Range 11 to 50 : 121.5 m (Round-trip 162.1 ms) speed 0.5 m/s 2025-10-29T00:42:31.574Z,1761698551.574 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:31.575Z,1761698551.575 [DAT](INFO): direction in FSK: [0.975493,-0.205568,0.078459] 2025-10-29T00:42:31.575Z,1761698551.575 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:31.579Z,1761698551.579 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:31.579Z,1761698551.579 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:31.579Z,1761698551.579 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:31.712Z,1761698551.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836377,-0.541356,-0.086068],[0.548003,0.829466,0.108064],[0.012889,-0.137548,0.990411]] 2025-10-29T00:42:31.794Z,1761698551.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.500000 m, deltaT: 16.396036 s, deltaX: -38.199997 m, approachRate: -2.329831 m/s, rangeRepo size: 4 2025-10-29T00:42:31.796Z,1761698551.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 120.846077 m, bearing: 22.035791 deg, lat: 36.779488 deg, lon: -121.859385 deg, deltaT: 16.396036 s, deltaX: -37.987007 m, approachRate: -2.316841 m/s, posRepo size: 4 2025-10-29T00:42:31.800Z,1761698551.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:31.803Z,1761698551.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 146.222275 m, bearing: 21.435677 deg, approach rate: 0.000000 m/s, LOS rate: -0.025600 deg/s, cmd heading: 32.747041 deg, new cmd heading: 32.722498 deg. 2025-10-29T00:42:31.809Z,1761698551.809 [DAT](INFO): DAT read: user:542> 2025-10-29T00:42:31.810Z,1761698551.810 [DAT](INFO): DAT read: Tx time:00:42:31.5747 2025-10-29T00:42:31.810Z,1761698551.810 [DAT](INFO): Ping request sent. 2025-10-29T00:42:31.810Z,1761698551.810 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:31.810Z,1761698551.810 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:31.811Z,1761698551.811 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-29T00:42:31.811Z,1761698551.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.571115 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:32.061Z,1761698552.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250898 2025-10-29T00:42:32.220Z,1761698552.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836367,-0.541157,-0.087402],[0.547985,0.829523,0.107721],[0.014208,-0.137989,0.990332]] 2025-10-29T00:42:32.282Z,1761698552.282 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:32.284Z,1761698552.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:32.286Z,1761698552.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 145.889832 m, bearing: 21.419538 deg, approach rate: -0.677300 m/s, LOS rate: -0.032957 deg/s, cmd heading: 32.722497 deg, new cmd heading: 32.690145 deg. 2025-10-29T00:42:32.287Z,1761698552.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570551 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:32.313Z,1761698552.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984 2025-10-29T00:42:32.565Z,1761698552.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755206 2025-10-29T00:42:32.600Z,1761698552.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836377,-0.541049,-0.087976],[0.547936,0.829741,0.106288],[0.015491,-0.137102,0.990436]] 2025-10-29T00:42:32.618Z,1761698552.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:32.637Z,1761698552.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 145.673157 m, bearing: 21.408986 deg, approach rate: -0.647531 m/s, LOS rate: -0.031581 deg/s, cmd heading: 32.690146 deg, new cmd heading: 32.669011 deg. 2025-10-29T00:42:32.638Z,1761698552.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.570182 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:32.817Z,1761698552.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006751 2025-10-29T00:42:33.002Z,1761698553.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836526,-0.540569,-0.089491],[0.547674,0.829872,0.106609],[0.016637,-0.138193,0.990266]] 2025-10-29T00:42:33.035Z,1761698553.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:33.038Z,1761698553.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 145.403214 m, bearing: 21.395824 deg, approach rate: -0.647873 m/s, LOS rate: -0.031646 deg/s, cmd heading: 32.669010 deg, new cmd heading: 32.642638 deg. 2025-10-29T00:42:33.039Z,1761698553.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569722 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:33.071Z,1761698553.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260472 2025-10-29T00:42:33.321Z,1761698553.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510728 2025-10-29T00:42:33.406Z,1761698553.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836541,-0.540393,-0.090411],[0.547618,0.829970,0.106132],[0.017686,-0.138294,0.990233]] 2025-10-29T00:42:33.450Z,1761698553.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:33.453Z,1761698553.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 145.129456 m, bearing: 21.382502 deg, approach rate: -0.659143 m/s, LOS rate: -0.032137 deg/s, cmd heading: 32.642639 deg, new cmd heading: 32.615944 deg. 2025-10-29T00:42:33.454Z,1761698553.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.569256 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:33.573Z,1761698553.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762856 2025-10-29T00:42:33.812Z,1761698553.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836865,-0.539687,-0.091620],[0.547092,0.830281,0.106415],[0.018640,-0.139180,0.990092]] 2025-10-29T00:42:33.825Z,1761698553.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014962 2025-10-29T00:42:33.832Z,1761698553.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:33.835Z,1761698553.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 144.878418 m, bearing: 21.370301 deg, approach rate: -0.657747 m/s, LOS rate: -0.032023 deg/s, cmd heading: 32.615943 deg, new cmd heading: 32.591498 deg. 2025-10-29T00:42:33.836Z,1761698553.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568829 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:34.077Z,1761698554.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266864 2025-10-29T00:42:34.257Z,1761698554.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837176,-0.539059,-0.092470],[0.546585,0.830630,0.106295],[0.019509,-0.139530,0.990026]] 2025-10-29T00:42:34.307Z,1761698554.307 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:34.309Z,1761698554.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:34.312Z,1761698554.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 144.565414 m, bearing: 21.357358 deg, approach rate: -0.655709 m/s, LOS rate: -0.027174 deg/s, cmd heading: 32.591498 deg, new cmd heading: 32.565554 deg. 2025-10-29T00:42:34.313Z,1761698554.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568376 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:34.331Z,1761698554.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521373 2025-10-29T00:42:34.581Z,1761698554.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770871 2025-10-29T00:42:34.618Z,1761698554.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.837715,-0.538120,-0.093066],[0.545739,0.831165,0.106460],[0.020064,-0.139973,0.989952]] 2025-10-29T00:42:34.653Z,1761698554.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:34.660Z,1761698554.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 144.342804 m, bearing: 21.348206 deg, approach rate: -0.646802 m/s, LOS rate: -0.026632 deg/s, cmd heading: 32.565553 deg, new cmd heading: 32.547221 deg. 2025-10-29T00:42:34.661Z,1761698554.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.568056 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:34.833Z,1761698554.833 [DAT](INFO): DAT read: Rx Time:00:42:34.1375 2025-10-29T00:42:34.833Z,1761698554.833 [DAT](INFO): Rx dataTimestamp_ set to:1761698554.833196 2025-10-29T00:42:34.834Z,1761698554.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023941 2025-10-29T00:42:35.034Z,1761698555.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838091,-0.537522,-0.093127],[0.545142,0.831637,0.105827],[0.020564,-0.139460,0.990014]] 2025-10-29T00:42:35.064Z,1761698555.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 120.85 m. 2025-10-29T00:42:35.067Z,1761698555.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 120.846077 m, nav range: 144.071472 m, bearing: 21.337092 deg, approach rate: -0.661096 m/s, LOS rate: -0.027131 deg/s, cmd heading: 32.547221 deg, new cmd heading: 32.524950 deg. 2025-10-29T00:42:35.068Z,1761698555.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567667 target range: 120.846077 and range: 121.50 m. 2025-10-29T00:42:35.085Z,1761698555.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274694 2025-10-29T00:42:35.343Z,1761698555.343 [DAT](INFO): DAT read: 00:42:34.1375 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406,-0.25,-3.128, 1.773,-2.570, 3.111, PHS= 0.146,-1.293, 0.558, RAW= 162.2, 7.1, CAL= 161.7, 6.9, ROT= 348.3, -6.9 2025-10-29T00:42:35.345Z,1761698555.345 [DAT](INFO): got valid direction response: 00:42:34.1375 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 406,-0.25,-3.128, 1.773,-2.570, 3.111, PHS= 0.146,-1.293, 0.558, RAW= 162.2, 7.1, CAL= 161.7, 6.9, ROT= 348.3, -6.9 2025-10-29T00:42:35.346Z,1761698555.346 [DAT](INFO): DAT read: Bearing 182.9, -11.4 (Local) 2025-10-29T00:42:35.346Z,1761698555.346 [DAT](INFO): Local bearing/azimuth received: Bearing 182.9, -11.4 (Local) 2025-10-29T00:42:35.368Z,1761698555.368 [DAT](INFO): DAT read: Range 11 to 50 : 118.9 m (Round-trip 158.6 ms) speed 0.2 m/s 2025-10-29T00:42:35.369Z,1761698555.369 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:35.370Z,1761698555.370 [DAT](INFO): direction in FSK: [0.972131,-0.201319,0.120137] 2025-10-29T00:42:35.370Z,1761698555.370 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:35.373Z,1761698555.373 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:35.374Z,1761698555.374 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:35.374Z,1761698555.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:35.431Z,1761698555.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838389,-0.537044,-0.093206],[0.544673,0.831980,0.105550],[0.020860,-0.139259,0.990036]] 2025-10-29T00:42:35.520Z,1761698555.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 118.900002 m, deltaT: 3.780978 s, deltaX: -2.599998 m, approachRate: -0.687652 m/s, rangeRepo size: 4 2025-10-29T00:42:35.522Z,1761698555.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.257500 m, bearing: 22.335742 deg, lat: 36.779269 deg, lon: -121.859475 deg, deltaT: 3.780978 s, deltaX: -2.588577 m, approachRate: -0.684632 m/s, posRepo size: 4 2025-10-29T00:42:35.523Z,1761698555.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:35.529Z,1761698555.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 118.147713 m, bearing: 22.025758 deg, approach rate: 0.000000 m/s, LOS rate: -0.027131 deg/s, cmd heading: 32.524951 deg, new cmd heading: 32.500893 deg. 2025-10-29T00:42:35.530Z,1761698555.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.567248 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:35.590Z,1761698555.590 [DAT](INFO): DAT read: user:543> 2025-10-29T00:42:35.591Z,1761698555.591 [DAT](INFO): DAT read: Tx time:00:42:35.3747 2025-10-29T00:42:35.591Z,1761698555.591 [DAT](INFO): Ping request sent. 2025-10-29T00:42:35.591Z,1761698555.591 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:35.592Z,1761698555.592 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:35.593Z,1761698555.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001178 2025-10-29T00:42:35.827Z,1761698555.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839064,-0.535838,-0.094075],[0.543624,0.832508,0.106787],[0.021098,-0.140742,0.989821]] 2025-10-29T00:42:35.841Z,1761698555.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249873 2025-10-29T00:42:35.862Z,1761698555.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:35.869Z,1761698555.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 117.926781 m, bearing: 22.016387 deg, approach rate: -0.622933 m/s, LOS rate: -0.026469 deg/s, cmd heading: 32.500892 deg, new cmd heading: 32.482116 deg. 2025-10-29T00:42:35.870Z,1761698555.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566920 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:36.094Z,1761698556.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502546 2025-10-29T00:42:36.277Z,1761698556.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.839801,-0.534441,-0.095433],[0.542472,0.833016,0.108669],[0.021420,-0.143030,0.989487]] 2025-10-29T00:42:36.321Z,1761698556.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:36.323Z,1761698556.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:36.326Z,1761698556.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 117.612053 m, bearing: 22.003737 deg, approach rate: -0.682144 m/s, LOS rate: -0.027492 deg/s, cmd heading: 32.482115 deg, new cmd heading: 32.456747 deg. 2025-10-29T00:42:36.327Z,1761698556.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566477 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:36.345Z,1761698556.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753453 2025-10-29T00:42:36.597Z,1761698556.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005462 2025-10-29T00:42:36.634Z,1761698556.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840448,-0.533336,-0.095910],[0.541453,0.833632,0.109025],[0.021807,-0.143561,0.989401]] 2025-10-29T00:42:36.656Z,1761698556.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:36.659Z,1761698556.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 117.392250 m, bearing: 21.994990 deg, approach rate: -0.661031 m/s, LOS rate: -0.026355 deg/s, cmd heading: 32.456748 deg, new cmd heading: 32.439222 deg. 2025-10-29T00:42:36.659Z,1761698556.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.566171 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:36.849Z,1761698556.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257531 2025-10-29T00:42:37.039Z,1761698557.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840991,-0.532343,-0.096670],[0.540598,0.834060,0.109988],[0.022077,-0.144759,0.989221]] 2025-10-29T00:42:37.070Z,1761698557.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:37.073Z,1761698557.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 117.118950 m, bearing: 21.984200 deg, approach rate: -0.659957 m/s, LOS rate: -0.026117 deg/s, cmd heading: 32.439222 deg, new cmd heading: 32.417591 deg. 2025-10-29T00:42:37.077Z,1761698557.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565794 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:37.119Z,1761698557.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.527030 2025-10-29T00:42:37.369Z,1761698557.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.777523 2025-10-29T00:42:37.442Z,1761698557.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841494,-0.531455,-0.097174],[0.539795,0.834559,0.110150],[0.022558,-0.145145,0.989153]] 2025-10-29T00:42:37.516Z,1761698557.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:37.519Z,1761698557.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 116.840645 m, bearing: 21.972544 deg, approach rate: -0.624553 m/s, LOS rate: -0.026220 deg/s, cmd heading: 32.417591 deg, new cmd heading: 32.394223 deg. 2025-10-29T00:42:37.528Z,1761698557.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565386 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:37.621Z,1761698557.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.029556 2025-10-29T00:42:37.852Z,1761698557.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841810,-0.531046,-0.096671],[0.539287,0.835054,0.108880],[0.022905,-0.143790,0.989343]] 2025-10-29T00:42:37.871Z,1761698557.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:37.873Z,1761698557.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.281612 2025-10-29T00:42:37.881Z,1761698557.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 116.609428 m, bearing: 21.962893 deg, approach rate: -0.650727 m/s, LOS rate: -0.027215 deg/s, cmd heading: 32.394225 deg, new cmd heading: 32.374884 deg. 2025-10-29T00:42:37.882Z,1761698557.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.565048 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:38.125Z,1761698558.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.533422 2025-10-29T00:42:38.301Z,1761698558.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842297,-0.530276,-0.096664],[0.538478,0.835815,0.107031],[0.024037,-0.142203,0.989546]] 2025-10-29T00:42:38.355Z,1761698558.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:38.357Z,1761698558.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:38.359Z,1761698558.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 116.307457 m, bearing: 21.950354 deg, approach rate: -0.621379 m/s, LOS rate: -0.025868 deg/s, cmd heading: 32.374885 deg, new cmd heading: 32.349743 deg. 2025-10-29T00:42:38.361Z,1761698558.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564610 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:38.379Z,1761698558.379 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.787156 2025-10-29T00:42:38.629Z,1761698558.629 [DAT](INFO): DAT read: Rx Time:00:42:37.9343 2025-10-29T00:42:38.629Z,1761698558.629 [DAT](INFO): Rx dataTimestamp_ set to:1761698558.629122 2025-10-29T00:42:38.630Z,1761698558.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038562 2025-10-29T00:42:38.695Z,1761698558.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.26 m. 2025-10-29T00:42:38.697Z,1761698558.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.257500 m, nav range: 116.096886 m, bearing: 21.941572 deg, approach rate: -0.623171 m/s, LOS rate: -0.026037 deg/s, cmd heading: 32.349743 deg, new cmd heading: 32.332147 deg. 2025-10-29T00:42:38.698Z,1761698558.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.564302 target range: 118.257500 and range: 118.90 m. 2025-10-29T00:42:38.881Z,1761698558.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289482 2025-10-29T00:42:39.115Z,1761698559.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842263,-0.530251,-0.097095],[0.538448,0.836167,0.104398],[0.025831,-0.140211,0.989785]] 2025-10-29T00:42:39.138Z,1761698559.138 [DAT](INFO): DAT read: 00:42:37.9343 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.39,-2.207, 2.694,-1.600,-2.262, PHS= 0.158,-1.282, 0.618, RAW= 163.4, 6.0, CAL= 162.7, 5.4, ROT= 347.3, -5.4 2025-10-29T00:42:39.139Z,1761698559.139 [DAT](INFO): got valid direction response: 00:42:37.9343 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 405, 0.39,-2.207, 2.694,-1.600,-2.262, PHS= 0.158,-1.282, 0.618, RAW= 163.4, 6.0, CAL= 162.7, 5.4, ROT= 347.3, -5.4 2025-10-29T00:42:39.141Z,1761698559.141 [DAT](INFO): DAT read: Bearing 180.8, -12.0 (Local) 2025-10-29T00:42:39.141Z,1761698559.141 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -12.0 (Local) 2025-10-29T00:42:39.143Z,1761698559.143 [DAT](INFO): DAT read: Range 11 to 50 : 116.6 m (Round-trip 155.5 ms) speed 0.3 m/s 2025-10-29T00:42:39.143Z,1761698559.143 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:39.144Z,1761698559.144 [DAT](INFO): direction in FSK: [0.971205,-0.218871,0.094108] 2025-10-29T00:42:39.145Z,1761698559.145 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:39.157Z,1761698559.157 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:39.157Z,1761698559.157 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:39.158Z,1761698559.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:39.171Z,1761698559.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 116.599998 m, deltaT: 3.795137 s, deltaX: -2.300003 m, approachRate: -0.606040 m/s, rangeRepo size: 4 2025-10-29T00:42:39.178Z,1761698559.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 115.963646 m, bearing: 20.713764 deg, lat: 36.779267 deg, lon: -121.859475 deg, deltaT: 3.795137 s, deltaX: -2.293854 m, approachRate: -0.604419 m/s, posRepo size: 4 2025-10-29T00:42:39.178Z,1761698559.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:39.189Z,1761698559.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 115.652580 m, bearing: 21.964239 deg, approach rate: 0.000000 m/s, LOS rate: -0.026037 deg/s, cmd heading: 32.332148 deg, new cmd heading: 32.307375 deg. 2025-10-29T00:42:39.190Z,1761698559.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563870 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:39.385Z,1761698559.385 [DAT](INFO): DAT read: user:544> 2025-10-29T00:42:39.386Z,1761698559.386 [DAT](INFO): DAT read: Tx time:00:42:39.1747 2025-10-29T00:42:39.386Z,1761698559.386 [DAT](INFO): Ping request sent. 2025-10-29T00:42:39.386Z,1761698559.386 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:39.386Z,1761698559.386 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:39.387Z,1761698559.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T00:42:39.533Z,1761698559.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842322,-0.530147,-0.097145],[0.538309,0.836458,0.102773],[0.026773,-0.138861,0.989950]] 2025-10-29T00:42:39.581Z,1761698559.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:39.583Z,1761698559.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 115.362991 m, bearing: 21.949815 deg, approach rate: -0.706215 m/s, LOS rate: -0.035264 deg/s, cmd heading: 32.307375 deg, new cmd heading: 32.278455 deg. 2025-10-29T00:42:39.584Z,1761698559.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.563365 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:39.638Z,1761698559.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251200 2025-10-29T00:42:39.889Z,1761698559.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502718 2025-10-29T00:42:39.918Z,1761698559.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.842199,-0.530487,-0.096353],[0.538453,0.836734,0.099718],[0.027722,-0.135864,0.990340]] 2025-10-29T00:42:39.947Z,1761698559.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:39.950Z,1761698559.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 115.124741 m, bearing: 21.937884 deg, approach rate: -0.649673 m/s, LOS rate: -0.032603 deg/s, cmd heading: 32.278456 deg, new cmd heading: 32.254543 deg. 2025-10-29T00:42:39.951Z,1761698559.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562948 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:40.141Z,1761698560.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755129 2025-10-29T00:42:40.345Z,1761698560.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841825,-0.531120,-0.096138],[0.538990,0.836648,0.097514],[0.028642,-0.133907,0.990580]] 2025-10-29T00:42:40.387Z,1761698560.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:40.390Z,1761698560.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:40.393Z,1761698560.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006813 2025-10-29T00:42:40.394Z,1761698560.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 114.840355 m, bearing: 21.924101 deg, approach rate: -0.642415 m/s, LOS rate: -0.031212 deg/s, cmd heading: 32.254544 deg, new cmd heading: 32.226910 deg. 2025-10-29T00:42:40.395Z,1761698560.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562466 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:40.645Z,1761698560.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258713 2025-10-29T00:42:40.774Z,1761698560.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:40.777Z,1761698560.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 114.595245 m, bearing: 21.912167 deg, approach rate: -0.638880 m/s, LOS rate: -0.031174 deg/s, cmd heading: 32.226909 deg, new cmd heading: 32.202989 deg. 2025-10-29T00:42:40.778Z,1761698560.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.562048 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:40.897Z,1761698560.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511146 2025-10-29T00:42:41.130Z,1761698561.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840925,-0.532578,-0.095946],[0.540338,0.836076,0.094932],[0.029659,-0.131674,0.990849]] 2025-10-29T00:42:41.149Z,1761698561.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762774 2025-10-29T00:42:41.151Z,1761698561.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:41.170Z,1761698561.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 114.351013 m, bearing: 21.900032 deg, approach rate: -0.647439 m/s, LOS rate: -0.032237 deg/s, cmd heading: 32.202990 deg, new cmd heading: 32.178669 deg. 2025-10-29T00:42:41.170Z,1761698561.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561624 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:41.401Z,1761698561.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014732 2025-10-29T00:42:41.545Z,1761698561.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840661,-0.532728,-0.097414],[0.540720,0.835687,0.096174],[0.030172,-0.133523,0.990586]] 2025-10-29T00:42:41.582Z,1761698561.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:41.585Z,1761698561.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 114.070229 m, bearing: 21.888344 deg, approach rate: -0.650935 m/s, LOS rate: -0.027163 deg/s, cmd heading: 32.178667 deg, new cmd heading: 32.155233 deg. 2025-10-29T00:42:41.586Z,1761698561.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.561215 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:41.654Z,1761698561.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267663 2025-10-29T00:42:41.905Z,1761698561.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518675 2025-10-29T00:42:41.944Z,1761698561.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840378,-0.532941,-0.098685],[0.541130,0.835318,0.097070],[0.030701,-0.134976,0.990373]] 2025-10-29T00:42:41.994Z,1761698561.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:42.001Z,1761698562.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 113.808411 m, bearing: 21.877322 deg, approach rate: -0.636032 m/s, LOS rate: -0.026836 deg/s, cmd heading: 32.155233 deg, new cmd heading: 32.133139 deg. 2025-10-29T00:42:42.002Z,1761698562.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560829 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:42.158Z,1761698562.158 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771298 2025-10-29T00:42:42.374Z,1761698562.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840343,-0.532912,-0.099137],[0.541162,0.835303,0.097017],[0.031108,-0.135177,0.990333]] 2025-10-29T00:42:42.409Z,1761698562.409 [DAT](INFO): DAT read: Rx Time:00:42:41.7310 2025-10-29T00:42:42.410Z,1761698562.410 [DAT](INFO): Rx dataTimestamp_ set to:1761698562.409230 2025-10-29T00:42:42.410Z,1761698562.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023839 2025-10-29T00:42:42.425Z,1761698562.425 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:42.427Z,1761698562.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:42.434Z,1761698562.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 113.535034 m, bearing: 21.866837 deg, approach rate: -0.630654 m/s, LOS rate: -0.024246 deg/s, cmd heading: 32.133137 deg, new cmd heading: 32.112117 deg. 2025-10-29T00:42:42.435Z,1761698562.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560462 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:42.661Z,1761698562.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274637 2025-10-29T00:42:42.758Z,1761698562.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840340,-0.533189,-0.097660],[0.541180,0.835506,0.095156],[0.030859,-0.132815,0.990660]] 2025-10-29T00:42:42.784Z,1761698562.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 115.96 m. 2025-10-29T00:42:42.787Z,1761698562.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 115.963646 m, nav range: 113.295616 m, bearing: 21.857621 deg, approach rate: -0.671551 m/s, LOS rate: -0.025905 deg/s, cmd heading: 32.112117 deg, new cmd heading: 32.093646 deg. 2025-10-29T00:42:42.787Z,1761698562.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.560140 target range: 115.963646 and range: 116.60 m. 2025-10-29T00:42:42.918Z,1761698562.918 [DAT](INFO): DAT read: 00:42:41.7310 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 403, 0.24,-1.937, 2.954,-1.327,-1.963, PHS= 0.129,-1.321, 0.592, RAW= 163.4, 7.0, CAL= 162.9, 6.8, ROT= 347.1, -6.8 2025-10-29T00:42:42.920Z,1761698562.920 [DAT](INFO): got valid direction response: 00:42:41.7310 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 403, 0.24,-1.937, 2.954,-1.327,-1.963, PHS= 0.129,-1.321, 0.592, RAW= 163.4, 7.0, CAL= 162.9, 6.8, ROT= 347.1, -6.8 2025-10-29T00:42:42.921Z,1761698562.921 [DAT](INFO): DAT read: Bearing 181.9, -12.2 (Local) 2025-10-29T00:42:42.921Z,1761698562.921 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, -12.2 (Local) 2025-10-29T00:42:42.922Z,1761698562.922 [DAT](INFO): DAT read: Range 11 to 50 : 114.1 m (Round-trip 152.2 ms) speed 0.8 m/s 2025-10-29T00:42:42.923Z,1761698562.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:42.924Z,1761698562.924 [DAT](INFO): direction in FSK: [0.967904,-0.221680,0.118404] 2025-10-29T00:42:42.925Z,1761698562.925 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:42.928Z,1761698562.928 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:42.928Z,1761698562.928 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:42.928Z,1761698562.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:43.152Z,1761698563.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840441,-0.533048,-0.097561],[0.540989,0.835763,0.093972],[0.031446,-0.131758,0.990783]] 2025-10-29T00:42:43.165Z,1761698563.165 [DAT](INFO): DAT read: user:545> 2025-10-29T00:42:43.166Z,1761698563.166 [DAT](INFO): DAT read: Tx time:00:42:42.9247 2025-10-29T00:42:43.166Z,1761698563.166 [DAT](INFO): Ping request sent. 2025-10-29T00:42:43.166Z,1761698563.166 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:43.166Z,1761698563.166 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:43.167Z,1761698563.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-29T00:42:43.185Z,1761698563.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 114.099998 m, deltaT: 3.780034 s, deltaX: -2.500000 m, approachRate: -0.661370 m/s, rangeRepo size: 4 2025-10-29T00:42:43.187Z,1761698563.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 113.479294 m, bearing: 20.798629 deg, lat: 36.779265 deg, lon: -121.859480 deg, deltaT: 3.780034 s, deltaX: -2.484352 m, approachRate: -0.657230 m/s, posRepo size: 4 2025-10-29T00:42:43.188Z,1761698563.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:43.190Z,1761698563.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 112.621956 m, bearing: 21.694761 deg, approach rate: 0.000000 m/s, LOS rate: -0.025905 deg/s, cmd heading: 32.093645 deg, new cmd heading: 32.072890 deg. 2025-10-29T00:42:43.191Z,1761698563.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559777 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:43.418Z,1761698563.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251635 2025-10-29T00:42:43.560Z,1761698563.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840464,-0.532989,-0.097686],[0.540933,0.835850,0.093521],[0.031805,-0.131443,0.990813]] 2025-10-29T00:42:43.664Z,1761698563.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:43.667Z,1761698563.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 112.315338 m, bearing: 21.684790 deg, approach rate: -0.639261 m/s, LOS rate: -0.020845 deg/s, cmd heading: 32.072888 deg, new cmd heading: 32.052892 deg. 2025-10-29T00:42:43.669Z,1761698563.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502991 2025-10-29T00:42:43.669Z,1761698563.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559429 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:43.921Z,1761698563.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754731 2025-10-29T00:42:44.038Z,1761698564.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841040,-0.532034,-0.097942],[0.540039,0.836350,0.094220],[0.031786,-0.132136,0.990722]] 2025-10-29T00:42:44.069Z,1761698564.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:44.071Z,1761698564.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 112.045448 m, bearing: 21.676112 deg, approach rate: -0.667078 m/s, LOS rate: -0.021502 deg/s, cmd heading: 32.052893 deg, new cmd heading: 32.035494 deg. 2025-10-29T00:42:44.072Z,1761698564.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.559125 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:44.173Z,1761698564.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006972 2025-10-29T00:42:44.425Z,1761698564.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258937 2025-10-29T00:42:44.433Z,1761698564.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841947,-0.530438,-0.098800],[0.538643,0.836977,0.096610],[0.031448,-0.134558,0.990407]] 2025-10-29T00:42:44.501Z,1761698564.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:44.503Z,1761698564.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:44.521Z,1761698564.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 111.755020 m, bearing: 21.667624 deg, approach rate: -0.669282 m/s, LOS rate: -0.019611 deg/s, cmd heading: 32.035493 deg, new cmd heading: 32.018473 deg. 2025-10-29T00:42:44.522Z,1761698564.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558828 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:44.677Z,1761698564.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-10-29T00:42:44.834Z,1761698564.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.843071,-0.528460,-0.099806],[0.536926,0.837662,0.100159],[0.030673,-0.138030,0.989953]] 2025-10-29T00:42:44.873Z,1761698564.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:44.875Z,1761698564.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 111.506935 m, bearing: 21.660584 deg, approach rate: -0.669758 m/s, LOS rate: -0.019049 deg/s, cmd heading: 32.018472 deg, new cmd heading: 32.004360 deg. 2025-10-29T00:42:44.877Z,1761698564.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558581 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:44.930Z,1761698564.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764014 2025-10-29T00:42:45.181Z,1761698565.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833 2025-10-29T00:42:45.250Z,1761698565.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844126,-0.526507,-0.101201],[0.535293,0.838273,0.103729],[0.030220,-0.141733,0.989443]] 2025-10-29T00:42:45.286Z,1761698565.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:45.290Z,1761698565.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 111.241898 m, bearing: 21.653274 deg, approach rate: -0.641334 m/s, LOS rate: -0.017729 deg/s, cmd heading: 32.004361 deg, new cmd heading: 31.989707 deg. 2025-10-29T00:42:45.290Z,1761698565.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.558326 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:45.433Z,1761698565.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266889 2025-10-29T00:42:45.644Z,1761698565.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845343,-0.524306,-0.102463],[0.533382,0.839104,0.106811],[0.029975,-0.144944,0.988986]] 2025-10-29T00:42:45.681Z,1761698565.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:45.683Z,1761698565.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 110.974670 m, bearing: 21.643760 deg, approach rate: -0.678745 m/s, LOS rate: -0.024223 deg/s, cmd heading: 31.989707 deg, new cmd heading: 31.970633 deg. 2025-10-29T00:42:45.685Z,1761698565.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518934 2025-10-29T00:42:45.686Z,1761698565.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557993 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:45.937Z,1761698565.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770917 2025-10-29T00:42:46.046Z,1761698566.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846205,-0.522857,-0.102746],[0.532040,0.839727,0.108592],[0.029501,-0.146556,0.988762]] 2025-10-29T00:42:46.095Z,1761698566.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:46.099Z,1761698566.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 110.706993 m, bearing: 21.634396 deg, approach rate: -0.644905 m/s, LOS rate: -0.022616 deg/s, cmd heading: 31.970633 deg, new cmd heading: 31.951859 deg. 2025-10-29T00:42:46.099Z,1761698566.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557665 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:46.189Z,1761698566.189 [DAT](INFO): DAT read: Rx Time:00:42:45.4776 2025-10-29T00:42:46.190Z,1761698566.190 [DAT](INFO): Rx dataTimestamp_ set to:1761698566.189855 2025-10-29T00:42:46.191Z,1761698566.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024611 2025-10-29T00:42:46.441Z,1761698566.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274783 2025-10-29T00:42:46.452Z,1761698566.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847138,-0.521157,-0.103696],[0.530595,0.840194,0.111996],[0.028757,-0.149897,0.988283]] 2025-10-29T00:42:46.503Z,1761698566.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:46.518Z,1761698566.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 113.48 m. 2025-10-29T00:42:46.525Z,1761698566.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 113.479294 m, nav range: 110.446419 m, bearing: 21.626560 deg, approach rate: -0.615893 m/s, LOS rate: -0.018564 deg/s, cmd heading: 31.951861 deg, new cmd heading: 31.936153 deg. 2025-10-29T00:42:46.526Z,1761698566.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557391 target range: 113.479294 and range: 114.10 m. 2025-10-29T00:42:46.699Z,1761698566.699 [DAT](INFO): DAT read: 00:42:45.4776 LVL= 31968, 32753, 27474, 32755, AGC= 71, IDX= 402,-0.13,-1.190,-2.578,-0.574,-1.243, PHS= 0.155,-1.290, 0.625, RAW= 163.6, 6.0, CAL= 162.9, 5.4, ROT= 347.1, -5.4 2025-10-29T00:42:46.700Z,1761698566.700 [DAT](INFO): got valid direction response: 00:42:45.4776 LVL= 31968, 32753, 27474, 32755, AGC= 71, IDX= 402,-0.13,-1.190,-2.578,-0.574,-1.243, PHS= 0.155,-1.290, 0.625, RAW= 163.6, 6.0, CAL= 162.9, 5.4, ROT= 347.1, -5.4 2025-10-29T00:42:46.701Z,1761698566.701 [DAT](INFO): DAT read: Bearing 179.5, -12.1 (Local) 2025-10-29T00:42:46.701Z,1761698566.701 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -12.1 (Local) 2025-10-29T00:42:46.703Z,1761698566.703 [DAT](INFO): DAT read: Range 11 to 50 : 111.6 m (Round-trip 148.9 ms) speed 0.6 m/s 2025-10-29T00:42:46.703Z,1761698566.703 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:46.704Z,1761698566.704 [DAT](INFO): direction in FSK: [0.970435,-0.222259,0.094108] 2025-10-29T00:42:46.705Z,1761698566.705 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:46.708Z,1761698566.708 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:46.708Z,1761698566.708 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:46.708Z,1761698566.708 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:46.855Z,1761698566.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848409,-0.519189,-0.103177],[0.528601,0.841280,0.113267],[0.027994,-0.150636,0.988193]] 2025-10-29T00:42:46.894Z,1761698566.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 111.599998 m, deltaT: 3.780377 s, deltaX: -2.500000 m, approachRate: -0.661310 m/s, rangeRepo size: 4 2025-10-29T00:42:46.900Z,1761698566.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 110.994644 m, bearing: 19.919221 deg, lat: 36.779265 deg, lon: -121.859502 deg, deltaT: 3.780377 s, deltaX: -2.484650 m, approachRate: -0.657249 m/s, posRepo size: 4 2025-10-29T00:42:46.901Z,1761698566.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:46.903Z,1761698566.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 109.494522 m, bearing: 20.659430 deg, approach rate: 0.000000 m/s, LOS rate: -0.018564 deg/s, cmd heading: 31.936151 deg, new cmd heading: 31.922213 deg. 2025-10-29T00:42:46.909Z,1761698566.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.557148 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:46.947Z,1761698566.947 [DAT](INFO): DAT read: user:546> 2025-10-29T00:42:46.948Z,1761698566.948 [DAT](INFO): DAT read: Tx time:00:42:46.7246 2025-10-29T00:42:46.949Z,1761698566.949 [DAT](INFO): Ping request sent. 2025-10-29T00:42:46.949Z,1761698566.949 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:46.949Z,1761698566.949 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:46.950Z,1761698566.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:42:47.197Z,1761698567.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248111 2025-10-29T00:42:47.260Z,1761698567.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849418,-0.517770,-0.101992],[0.527002,0.842346,0.112794],[0.027511,-0.149559,0.988370]] 2025-10-29T00:42:47.292Z,1761698567.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:47.295Z,1761698567.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 109.239517 m, bearing: 20.649965 deg, approach rate: -0.639788 m/s, LOS rate: -0.023804 deg/s, cmd heading: 31.922214 deg, new cmd heading: 31.903239 deg. 2025-10-29T00:42:47.296Z,1761698567.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556817 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:47.452Z,1761698567.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502159 2025-10-29T00:42:47.663Z,1761698567.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850387,-0.516345,-0.101141],[0.525455,0.843345,0.112543],[0.027186,-0.148850,0.988486]] 2025-10-29T00:42:47.701Z,1761698567.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752193 2025-10-29T00:42:47.723Z,1761698567.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:47.728Z,1761698567.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 108.956985 m, bearing: 20.638352 deg, approach rate: -0.656251 m/s, LOS rate: -0.027045 deg/s, cmd heading: 31.903240 deg, new cmd heading: 31.879953 deg. 2025-10-29T00:42:47.730Z,1761698567.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556410 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:47.956Z,1761698567.956 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006873 2025-10-29T00:42:48.071Z,1761698568.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851290,-0.514971,-0.100555],[0.524001,0.844266,0.112416],[0.027004,-0.148389,0.988560]] 2025-10-29T00:42:48.094Z,1761698568.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:48.097Z,1761698568.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 108.713348 m, bearing: 20.628512 deg, approach rate: -0.656336 m/s, LOS rate: -0.026566 deg/s, cmd heading: 31.879952 deg, new cmd heading: 31.860229 deg. 2025-10-29T00:42:48.098Z,1761698568.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.556066 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:48.206Z,1761698568.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257013 2025-10-29T00:42:48.465Z,1761698568.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510366 2025-10-29T00:42:48.481Z,1761698568.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852056,-0.513923,-0.099413],[0.522762,0.845185,0.111275],[0.026836,-0.146782,0.988805]] 2025-10-29T00:42:48.517Z,1761698568.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:48.519Z,1761698568.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:48.553Z,1761698568.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 108.434471 m, bearing: 20.619314 deg, approach rate: -0.656327 m/s, LOS rate: -0.021704 deg/s, cmd heading: 31.860230 deg, new cmd heading: 31.841786 deg. 2025-10-29T00:42:48.554Z,1761698568.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555744 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:48.709Z,1761698568.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760120 2025-10-29T00:42:48.878Z,1761698568.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852329,-0.513495,-0.099285],[0.522304,0.845537,0.110750],[0.027079,-0.146252,0.988877]] 2025-10-29T00:42:48.917Z,1761698568.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:48.920Z,1761698568.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 108.177673 m, bearing: 20.610878 deg, approach rate: -0.644790 m/s, LOS rate: -0.021232 deg/s, cmd heading: 31.841785 deg, new cmd heading: 31.824873 deg. 2025-10-29T00:42:48.921Z,1761698568.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555449 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:48.961Z,1761698568.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012164 2025-10-29T00:42:49.214Z,1761698569.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265454 2025-10-29T00:42:49.282Z,1761698569.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853147,-0.512453,-0.097637],[0.520970,0.846647,0.108533],[0.027046,-0.143461,0.989286]] 2025-10-29T00:42:49.301Z,1761698569.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:49.320Z,1761698569.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 107.919991 m, bearing: 20.602602 deg, approach rate: -0.670619 m/s, LOS rate: -0.021589 deg/s, cmd heading: 31.824874 deg, new cmd heading: 31.808283 deg. 2025-10-29T00:42:49.321Z,1761698569.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.555159 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:49.468Z,1761698569.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518448 2025-10-29T00:42:49.545Z,1761698569.545 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:42:49.718Z,1761698569.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769403 2025-10-29T00:42:49.791Z,1761698569.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:49.798Z,1761698569.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 107.609177 m, bearing: 20.591920 deg, approach rate: -0.634574 m/s, LOS rate: -0.021873 deg/s, cmd heading: 31.808283 deg, new cmd heading: 31.786857 deg. 2025-10-29T00:42:49.799Z,1761698569.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554785 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:49.969Z,1761698569.969 [DAT](INFO): DAT read: Rx Time:00:42:49.2745 2025-10-29T00:42:49.969Z,1761698569.969 [DAT](INFO): Rx dataTimestamp_ set to:1761698569.969085 2025-10-29T00:42:49.970Z,1761698569.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021148 2025-10-29T00:42:50.129Z,1761698570.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853706,-0.512081,-0.094654],[0.520038,0.847866,0.103362],[0.027324,-0.137465,0.990130]] 2025-10-29T00:42:50.179Z,1761698570.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 110.99 m. 2025-10-29T00:42:50.195Z,1761698570.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 110.994644 m, nav range: 107.358757 m, bearing: 20.583445 deg, approach rate: -0.645493 m/s, LOS rate: -0.021895 deg/s, cmd heading: 31.786857 deg, new cmd heading: 31.769869 deg. 2025-10-29T00:42:50.196Z,1761698570.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554489 target range: 110.994644 and range: 111.60 m. 2025-10-29T00:42:50.221Z,1761698570.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272434 2025-10-29T00:42:50.499Z,1761698570.499 [DAT](INFO): DAT read: 00:42:49.2745 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.10,-2.999, 1.889,-2.447,-3.033, PHS= 0.137,-1.316, 0.542, RAW= 162.0, 7.6, CAL= 161.5, 7.6, ROT= 348.5, -7.6 2025-10-29T00:42:50.500Z,1761698570.500 [DAT](INFO): got valid direction response: 00:42:49.2745 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.10,-2.999, 1.889,-2.447,-3.033, PHS= 0.137,-1.316, 0.542, RAW= 162.0, 7.6, CAL= 161.5, 7.6, ROT= 348.5, -7.6 2025-10-29T00:42:50.501Z,1761698570.501 [DAT](INFO): DAT read: Bearing 181.4, -11.1 (Local) 2025-10-29T00:42:50.501Z,1761698570.501 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -11.1 (Local) 2025-10-29T00:42:50.503Z,1761698570.503 [DAT](INFO): DAT read: Range 11 to 50 : 109.3 m (Round-trip 145.8 ms) speed 0.5 m/s 2025-10-29T00:42:50.503Z,1761698570.503 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:50.505Z,1761698570.505 [DAT](INFO): direction in FSK: [0.971317,-0.197617,0.132256] 2025-10-29T00:42:50.505Z,1761698570.505 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:50.508Z,1761698570.508 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:50.508Z,1761698570.508 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:50.509Z,1761698570.509 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:50.531Z,1761698570.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853891,-0.512039,-0.093198],[0.519719,0.848405,0.100503],[0.027608,-0.134256,0.990562]] 2025-10-29T00:42:50.552Z,1761698570.552 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:42:50.681Z,1761698570.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 109.300003 m, deltaT: 3.780969 s, deltaX: -2.299995 m, approachRate: -0.608308 m/s, rangeRepo size: 4 2025-10-29T00:42:50.683Z,1761698570.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 108.692520 m, bearing: 20.888847 deg, lat: 36.779263 deg, lon: -121.859502 deg, deltaT: 3.780969 s, deltaX: -2.302124 m, approachRate: -0.608871 m/s, posRepo size: 4 2025-10-29T00:42:50.684Z,1761698570.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:50.697Z,1761698570.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 106.823273 m, bearing: 20.620207 deg, approach rate: 0.000000 m/s, LOS rate: -0.021895 deg/s, cmd heading: 31.769870 deg, new cmd heading: 31.748102 deg. 2025-10-29T00:42:50.698Z,1761698570.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.554109 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:50.726Z,1761698570.726 [DAT](INFO): DAT read: user:547> 2025-10-29T00:42:50.727Z,1761698570.727 [DAT](INFO): DAT read: Tx time:00:42:50.5246 2025-10-29T00:42:50.727Z,1761698570.727 [DAT](INFO): Ping request sent. 2025-10-29T00:42:50.728Z,1761698570.728 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:50.728Z,1761698570.728 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:50.729Z,1761698570.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001764 2025-10-29T00:42:50.978Z,1761698570.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250885 2025-10-29T00:42:51.058Z,1761698571.058 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:51.060Z,1761698571.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:51.062Z,1761698571.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 106.568497 m, bearing: 20.614303 deg, approach rate: -0.664325 m/s, LOS rate: -0.015431 deg/s, cmd heading: 31.748102 deg, new cmd heading: 31.736267 deg. 2025-10-29T00:42:51.063Z,1761698571.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553902 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:51.230Z,1761698571.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502572 2025-10-29T00:42:51.462Z,1761698571.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:51.471Z,1761698571.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 106.310997 m, bearing: 20.608307 deg, approach rate: -0.641784 m/s, LOS rate: -0.014980 deg/s, cmd heading: 31.736266 deg, new cmd heading: 31.724245 deg. 2025-10-29T00:42:51.475Z,1761698571.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553693 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:51.487Z,1761698571.487 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759164 2025-10-29T00:42:51.738Z,1761698571.738 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010875 2025-10-29T00:42:51.827Z,1761698571.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853545,-0.513592,-0.087655],[0.520227,0.849372,0.089059],[0.028712,-0.121616,0.992162]] 2025-10-29T00:42:51.879Z,1761698571.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:51.881Z,1761698571.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 106.034538 m, bearing: 20.602799 deg, approach rate: -0.661970 m/s, LOS rate: -0.013224 deg/s, cmd heading: 31.724245 deg, new cmd heading: 31.713199 deg. 2025-10-29T00:42:51.882Z,1761698571.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553500 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:51.991Z,1761698571.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263445 2025-10-29T00:42:52.241Z,1761698572.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513724 2025-10-29T00:42:52.241Z,1761698572.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853294,-0.514202,-0.086524],[0.520615,0.849427,0.086222],[0.029161,-0.118618,0.992512]] 2025-10-29T00:42:52.261Z,1761698572.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:52.280Z,1761698572.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 105.785301 m, bearing: 20.597760 deg, approach rate: -0.651256 m/s, LOS rate: -0.013199 deg/s, cmd heading: 31.713200 deg, new cmd heading: 31.703098 deg. 2025-10-29T00:42:52.281Z,1761698572.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553323 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:52.497Z,1761698572.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768734 2025-10-29T00:42:52.635Z,1761698572.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852973,-0.514846,-0.085855],[0.521112,0.849340,0.084039],[0.029653,-0.116423,0.992757]] 2025-10-29T00:42:52.709Z,1761698572.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:52.718Z,1761698572.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 105.501534 m, bearing: 20.594228 deg, approach rate: -0.641222 m/s, LOS rate: -0.008002 deg/s, cmd heading: 31.703098 deg, new cmd heading: 31.696016 deg. 2025-10-29T00:42:52.728Z,1761698572.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553200 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:52.746Z,1761698572.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018670 2025-10-29T00:42:52.997Z,1761698572.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269515 2025-10-29T00:42:53.039Z,1761698573.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853020,-0.514792,-0.085705],[0.521019,0.849470,0.083301],[0.029921,-0.115712,0.992832]] 2025-10-29T00:42:53.071Z,1761698573.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:53.073Z,1761698573.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:53.076Z,1761698573.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 105.252846 m, bearing: 20.591136 deg, approach rate: -0.673403 m/s, LOS rate: -0.008392 deg/s, cmd heading: 31.696015 deg, new cmd heading: 31.689817 deg. 2025-10-29T00:42:53.077Z,1761698573.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.553092 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:53.249Z,1761698573.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521540 2025-10-29T00:42:53.504Z,1761698573.504 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776112 2025-10-29T00:42:53.533Z,1761698573.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:53.547Z,1761698573.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 104.982452 m, bearing: 20.587758 deg, approach rate: -0.593227 m/s, LOS rate: -0.007431 deg/s, cmd heading: 31.689817 deg, new cmd heading: 31.683043 deg. 2025-10-29T00:42:53.553Z,1761698573.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552973 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:53.753Z,1761698573.753 [DAT](INFO): DAT read: Rx Time:00:42:53.0711 2025-10-29T00:42:53.754Z,1761698573.754 [DAT](INFO): Rx dataTimestamp_ set to:1761698573.753673 2025-10-29T00:42:53.755Z,1761698573.755 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027523 2025-10-29T00:42:53.864Z,1761698573.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853717,-0.513516,-0.086427],[0.519842,0.850157,0.083642],[0.030525,-0.116335,0.992741]] 2025-10-29T00:42:53.916Z,1761698573.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 108.69 m. 2025-10-29T00:42:53.919Z,1761698573.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 108.692520 m, nav range: 104.705498 m, bearing: 20.580289 deg, approach rate: -0.715671 m/s, LOS rate: -0.019351 deg/s, cmd heading: 31.683041 deg, new cmd heading: 31.668065 deg. 2025-10-29T00:42:53.919Z,1761698573.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552712 target range: 108.692520 and range: 109.30 m. 2025-10-29T00:42:54.006Z,1761698574.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278286 2025-10-29T00:42:54.262Z,1761698574.262 [DAT](INFO): DAT read: 00:42:53.0711 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.09, 3.071, 1.673,-2.637, 3.087, PHS= 0.085,-1.369, 0.515, RAW= 162.6, 9.0, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-29T00:42:54.263Z,1761698574.263 [DAT](INFO): got valid direction response: 00:42:53.0711 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 415, 0.09, 3.071, 1.673,-2.637, 3.087, PHS= 0.085,-1.369, 0.515, RAW= 162.6, 9.0, CAL= 162.4, 9.6, ROT= 347.6, -9.6 2025-10-29T00:42:54.265Z,1761698574.265 [DAT](INFO): DAT read: Bearing 183.9, -12.0 (Local) 2025-10-29T00:42:54.265Z,1761698574.265 [DAT](INFO): Local bearing/azimuth received: Bearing 183.9, -12.0 (Local) 2025-10-29T00:42:54.266Z,1761698574.266 [DAT](INFO): DAT read: Range 11 to 50 : 106.8 m (Round-trip 142.4 ms) speed 0.7 m/s 2025-10-29T00:42:54.267Z,1761698574.267 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:54.268Z,1761698574.268 [DAT](INFO): direction in FSK: [0.962995,-0.211728,0.166769] 2025-10-29T00:42:54.268Z,1761698574.268 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:54.273Z,1761698574.273 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:54.273Z,1761698574.273 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:54.273Z,1761698574.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:54.286Z,1761698574.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853840,-0.513224,-0.086939],[0.519614,0.850292,0.083702],[0.030965,-0.116643,0.992691]] 2025-10-29T00:42:54.378Z,1761698574.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 106.800003 m, deltaT: 3.782584 s, deltaX: -2.500000 m, approachRate: -0.660924 m/s, rangeRepo size: 4 2025-10-29T00:42:54.381Z,1761698574.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 106.211960 m, bearing: 20.042376 deg, lat: 36.779263 deg, lon: -121.859505 deg, deltaT: 3.782584 s, deltaX: -2.480560 m, approachRate: -0.655785 m/s, posRepo size: 4 2025-10-29T00:42:54.382Z,1761698574.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:54.396Z,1761698574.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 104.327957 m, bearing: 20.423684 deg, approach rate: 0.000000 m/s, LOS rate: -0.019351 deg/s, cmd heading: 31.668066 deg, new cmd heading: 31.650201 deg. 2025-10-29T00:42:54.397Z,1761698574.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.552400 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:54.512Z,1761698574.512 [DAT](INFO): DAT read: user:548> 2025-10-29T00:42:54.515Z,1761698574.515 [DAT](INFO): DAT read: Tx time:00:42:54.2746 2025-10-29T00:42:54.517Z,1761698574.517 [DAT](INFO): Ping request sent. 2025-10-29T00:42:54.517Z,1761698574.517 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:54.518Z,1761698574.518 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:54.520Z,1761698574.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002931 2025-10-29T00:42:54.704Z,1761698574.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853928,-0.512867,-0.088171],[0.519445,0.850263,0.085030],[0.031359,-0.118410,0.992469]] 2025-10-29T00:42:54.761Z,1761698574.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244324 2025-10-29T00:42:54.791Z,1761698574.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:54.798Z,1761698574.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 104.040527 m, bearing: 20.408841 deg, approach rate: -0.695230 m/s, LOS rate: -0.036003 deg/s, cmd heading: 31.650202 deg, new cmd heading: 31.620432 deg. 2025-10-29T00:42:54.799Z,1761698574.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551881 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:55.013Z,1761698575.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496318 2025-10-29T00:42:55.102Z,1761698575.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853825,-0.512983,-0.088494],[0.519559,0.850318,0.083773],[0.032274,-0.117505,0.992548]] 2025-10-29T00:42:55.136Z,1761698575.136 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:55.138Z,1761698575.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:55.141Z,1761698575.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 103.809395 m, bearing: 20.396831 deg, approach rate: -0.665710 m/s, LOS rate: -0.034667 deg/s, cmd heading: 31.620432 deg, new cmd heading: 31.596360 deg. 2025-10-29T00:42:55.142Z,1761698575.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.551461 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:55.265Z,1761698575.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748103 2025-10-29T00:42:55.509Z,1761698575.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853832,-0.512846,-0.089217],[0.519530,0.850271,0.084426],[0.032562,-0.118436,0.992428]] 2025-10-29T00:42:55.520Z,1761698575.520 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002988 2025-10-29T00:42:55.593Z,1761698575.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:55.595Z,1761698575.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 103.529953 m, bearing: 20.382237 deg, approach rate: -0.614606 m/s, LOS rate: -0.032184 deg/s, cmd heading: 31.596359 deg, new cmd heading: 31.567093 deg. 2025-10-29T00:42:55.600Z,1761698575.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550950 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:55.770Z,1761698575.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252603 2025-10-29T00:42:55.908Z,1761698575.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853616,-0.513041,-0.090160],[0.519865,0.849979,0.085301],[0.032871,-0.119685,0.992268]] 2025-10-29T00:42:55.952Z,1761698575.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:55.955Z,1761698575.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 103.273796 m, bearing: 20.366668 deg, approach rate: -0.713040 m/s, LOS rate: -0.043447 deg/s, cmd heading: 31.567092 deg, new cmd heading: 31.535876 deg. 2025-10-29T00:42:55.956Z,1761698575.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.550405 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:56.022Z,1761698576.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505018 2025-10-29T00:42:56.273Z,1761698576.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756095 2025-10-29T00:42:56.313Z,1761698576.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853421,-0.513239,-0.090872],[0.520150,0.849797,0.085376],[0.033404,-0.120129,0.992196]] 2025-10-29T00:42:56.333Z,1761698576.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:56.335Z,1761698576.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 103.026352 m, bearing: 20.351504 deg, approach rate: -0.649444 m/s, LOS rate: -0.039895 deg/s, cmd heading: 31.535875 deg, new cmd heading: 31.505474 deg. 2025-10-29T00:42:56.337Z,1761698576.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549874 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:56.528Z,1761698576.528 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010451 2025-10-29T00:42:56.777Z,1761698576.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260371 2025-10-29T00:42:56.804Z,1761698576.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853105,-0.513576,-0.091934],[0.520650,0.849384,0.086429],[0.033700,-0.121598,0.992007]] 2025-10-29T00:42:56.907Z,1761698576.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:56.910Z,1761698576.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 102.654976 m, bearing: 20.329422 deg, approach rate: -0.646964 m/s, LOS rate: -0.038608 deg/s, cmd heading: 31.505474 deg, new cmd heading: 31.461150 deg. 2025-10-29T00:42:56.911Z,1761698576.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.549101 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:57.029Z,1761698577.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512190 2025-10-29T00:42:57.281Z,1761698577.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764146 2025-10-29T00:42:57.414Z,1761698577.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852809,-0.513999,-0.092310],[0.521112,0.849118,0.086260],[0.034045,-0.121668,0.991987]] 2025-10-29T00:42:57.444Z,1761698577.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:57.446Z,1761698577.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:57.449Z,1761698577.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 102.306709 m, bearing: 20.308459 deg, approach rate: -0.645891 m/s, LOS rate: -0.039011 deg/s, cmd heading: 31.461149 deg, new cmd heading: 31.419079 deg. 2025-10-29T00:42:57.450Z,1761698577.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.548366 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:57.533Z,1761698577.533 [DAT](INFO): DAT read: Rx Time:00:42:56.8179 2025-10-29T00:42:57.534Z,1761698577.534 [DAT](INFO): Rx dataTimestamp_ set to:1761698577.533439 2025-10-29T00:42:57.534Z,1761698577.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017489 2025-10-29T00:42:57.785Z,1761698577.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268034 2025-10-29T00:42:57.905Z,1761698577.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852162,-0.515062,-0.092359],[0.522136,0.848605,0.085110],[0.034539,-0.120751,0.992082]] 2025-10-29T00:42:58.015Z,1761698578.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 106.21 m. 2025-10-29T00:42:58.018Z,1761698578.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 106.211960 m, nav range: 101.933723 m, bearing: 20.283341 deg, approach rate: -0.655965 m/s, LOS rate: -0.044335 deg/s, cmd heading: 31.419079 deg, new cmd heading: 31.368660 deg. 2025-10-29T00:42:58.018Z,1761698578.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.547486 target range: 106.211960 and range: 106.80 m. 2025-10-29T00:42:58.043Z,1761698578.043 [DAT](INFO): DAT read: 00:42:56.8179 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.07, 2.968, 1.611,-2.744, 2.943, PHS= 0.127,-1.287, 0.552, RAW= 162.7, 7.4, CAL= 162.2, 7.3, ROT= 347.8, -7.3 2025-10-29T00:42:58.056Z,1761698578.056 [DAT](INFO): got valid direction response: 00:42:56.8179 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414,-0.07, 2.968, 1.611,-2.744, 2.943, PHS= 0.127,-1.287, 0.552, RAW= 162.7, 7.4, CAL= 162.2, 7.3, ROT= 347.8, -7.3 2025-10-29T00:42:58.058Z,1761698578.058 [DAT](INFO): DAT read: Bearing 181.7, -11.4 (Local) 2025-10-29T00:42:58.058Z,1761698578.058 [DAT](INFO): Local bearing/azimuth received: Bearing 181.7, -11.4 (Local) 2025-10-29T00:42:58.060Z,1761698578.060 [DAT](INFO): DAT read: Range 11 to 50 : 104.4 m (Round-trip 139.2 ms) speed 0.5 m/s 2025-10-29T00:42:58.061Z,1761698578.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:42:58.062Z,1761698578.062 [DAT](INFO): direction in FSK: [0.969493,-0.209612,0.127065] 2025-10-29T00:42:58.063Z,1761698578.063 [DAT](INFO): publishing direction and range info 2025-10-29T00:42:58.085Z,1761698578.085 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:42:58.085Z,1761698578.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:42:58.086Z,1761698578.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:42:58.289Z,1761698578.289 [DAT](INFO): DAT read: user:549> 2025-10-29T00:42:58.290Z,1761698578.290 [DAT](INFO): DAT read: Tx time:00:42:58.0746 2025-10-29T00:42:58.290Z,1761698578.290 [DAT](INFO): Ping request sent. 2025-10-29T00:42:58.290Z,1761698578.290 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:42:58.290Z,1761698578.290 [DAT](INFO): publishing transmit ping time 2025-10-29T00:42:58.291Z,1761698578.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T00:42:58.337Z,1761698578.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851880,-0.515540,-0.092302],[0.522589,0.848373,0.084643],[0.034669,-0.120342,0.992127]] 2025-10-29T00:42:58.401Z,1761698578.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.400002 m, deltaT: 3.780310 s, deltaX: -2.400002 m, approachRate: -0.634869 m/s, rangeRepo size: 4 2025-10-29T00:42:58.403Z,1761698578.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 103.820938 m, bearing: 20.214167 deg, lat: 36.779263 deg, lon: -121.859505 deg, deltaT: 3.780310 s, deltaX: -2.391022 m, approachRate: -0.632494 m/s, posRepo size: 4 2025-10-29T00:42:58.408Z,1761698578.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:42:58.410Z,1761698578.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 101.701324 m, bearing: 20.282286 deg, approach rate: 0.000000 m/s, LOS rate: -0.044335 deg/s, cmd heading: 31.368661 deg, new cmd heading: 31.334459 deg. 2025-10-29T00:42:58.411Z,1761698578.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546889 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:42:58.541Z,1761698578.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250990 2025-10-29T00:42:58.743Z,1761698578.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851654,-0.516056,-0.091497],[0.522957,0.848285,0.083237],[0.034661,-0.118738,0.992320]] 2025-10-29T00:42:58.793Z,1761698578.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502952 2025-10-29T00:42:58.802Z,1761698578.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:42:58.825Z,1761698578.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 101.435394 m, bearing: 20.266417 deg, approach rate: -0.662017 m/s, LOS rate: -0.039608 deg/s, cmd heading: 31.334459 deg, new cmd heading: 31.302639 deg. 2025-10-29T00:42:58.826Z,1761698578.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.546334 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:42:59.046Z,1761698579.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755426 2025-10-29T00:42:59.150Z,1761698579.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852056,-0.515291,-0.092065],[0.522309,0.848555,0.084546],[0.034557,-0.120125,0.992157]] 2025-10-29T00:42:59.180Z,1761698579.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:42:59.182Z,1761698579.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 101.194817 m, bearing: 20.252089 deg, approach rate: -0.637441 m/s, LOS rate: -0.038054 deg/s, cmd heading: 31.302637 deg, new cmd heading: 31.273914 deg. 2025-10-29T00:42:59.183Z,1761698579.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545833 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:42:59.298Z,1761698579.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007884 2025-10-29T00:42:59.549Z,1761698579.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258915 2025-10-29T00:42:59.563Z,1761698579.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852736,-0.513936,-0.093333],[0.521214,0.848938,0.087410],[0.034311,-0.123185,0.991790]] 2025-10-29T00:42:59.615Z,1761698579.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:42:59.631Z,1761698579.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:42:59.645Z,1761698579.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 100.936821 m, bearing: 20.236827 deg, approach rate: -0.573178 m/s, LOS rate: -0.033993 deg/s, cmd heading: 31.273913 deg, new cmd heading: 31.243311 deg. 2025-10-29T00:42:59.646Z,1761698579.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.545299 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:42:59.801Z,1761698579.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510698 2025-10-29T00:42:59.960Z,1761698579.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853459,-0.512571,-0.094221],[0.520048,0.849406,0.089778],[0.034014,-0.125621,0.991495]] 2025-10-29T00:43:00.018Z,1761698580.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:43:00.025Z,1761698580.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 100.673073 m, bearing: 20.225384 deg, approach rate: -0.679096 m/s, LOS rate: -0.029540 deg/s, cmd heading: 31.243310 deg, new cmd heading: 31.220365 deg. 2025-10-29T00:43:00.026Z,1761698580.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544898 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:43:00.053Z,1761698580.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763169 2025-10-29T00:43:00.306Z,1761698580.306 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015807 2025-10-29T00:43:00.362Z,1761698580.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854534,-0.510794,-0.094135],[0.518318,0.850308,0.091228],[0.033445,-0.126749,0.991371]] 2025-10-29T00:43:00.394Z,1761698580.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:43:00.396Z,1761698580.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 100.420486 m, bearing: 20.214659 deg, approach rate: -0.672753 m/s, LOS rate: -0.028637 deg/s, cmd heading: 31.220364 deg, new cmd heading: 31.198861 deg. 2025-10-29T00:43:00.397Z,1761698580.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544523 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:43:00.558Z,1761698580.558 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267234 2025-10-29T00:43:00.773Z,1761698580.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855431,-0.509277,-0.094201],[0.516872,0.851012,0.092858],[0.032876,-0.128124,0.991213]] 2025-10-29T00:43:00.809Z,1761698580.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518907 2025-10-29T00:43:00.818Z,1761698580.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:43:00.821Z,1761698580.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 100.141991 m, bearing: 20.204826 deg, approach rate: -0.655696 m/s, LOS rate: -0.023217 deg/s, cmd heading: 31.198860 deg, new cmd heading: 31.179138 deg. 2025-10-29T00:43:00.822Z,1761698580.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.544179 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:43:01.061Z,1761698581.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771336 2025-10-29T00:43:01.171Z,1761698581.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856356,-0.507761,-0.093987],[0.515359,0.851852,0.093564],[0.032555,-0.128561,0.991167]] 2025-10-29T00:43:01.230Z,1761698581.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:43:01.237Z,1761698581.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 99.879486 m, bearing: 20.195773 deg, approach rate: -0.637139 m/s, LOS rate: -0.022029 deg/s, cmd heading: 31.179137 deg, new cmd heading: 31.160985 deg. 2025-10-29T00:43:01.238Z,1761698581.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543862 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:43:01.314Z,1761698581.314 [DAT](INFO): DAT read: Rx Time:00:43:00.6147 2025-10-29T00:43:01.314Z,1761698581.314 [DAT](INFO): Rx dataTimestamp_ set to:1761698581.314158 2025-10-29T00:43:01.315Z,1761698581.315 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025206 2025-10-29T00:43:01.565Z,1761698581.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274839 2025-10-29T00:43:01.576Z,1761698581.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856748,-0.507116,-0.093893],[0.514714,0.852213,0.093824],[0.032437,-0.128711,0.991152]] 2025-10-29T00:43:01.633Z,1761698581.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:01.655Z,1761698581.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 103.82 m. 2025-10-29T00:43:01.670Z,1761698581.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 103.820938 m, nav range: 99.628670 m, bearing: 20.187188 deg, approach rate: -0.592244 m/s, LOS rate: -0.020324 deg/s, cmd heading: 31.160986 deg, new cmd heading: 31.143772 deg. 2025-10-29T00:43:01.671Z,1761698581.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543561 target range: 103.820938 and range: 104.40 m. 2025-10-29T00:43:01.822Z,1761698581.822 [DAT](INFO): DAT read: 00:43:00.6147 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.13, 2.020, 0.614, 2.626, 2.031, PHS= 0.091,-1.372, 0.551, RAW= 163.2, 8.4, CAL= 162.9, 8.7, ROT= 347.1, -8.7 2025-10-29T00:43:01.823Z,1761698581.823 [DAT](INFO): got valid direction response: 00:43:00.6147 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.13, 2.020, 0.614, 2.626, 2.031, PHS= 0.091,-1.372, 0.551, RAW= 163.2, 8.4, CAL= 162.9, 8.7, ROT= 347.1, -8.7 2025-10-29T00:43:01.825Z,1761698581.825 [DAT](INFO): DAT read: Bearing 182.4, -11.9 (Local) 2025-10-29T00:43:01.825Z,1761698581.825 [DAT](INFO): Local bearing/azimuth received: Bearing 182.4, -11.9 (Local) 2025-10-29T00:43:01.826Z,1761698581.826 [DAT](INFO): DAT read: Range 11 to 50 : 102.0 m (Round-trip 136.1 ms) speed 0.5 m/s 2025-10-29T00:43:01.827Z,1761698581.827 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:01.828Z,1761698581.828 [DAT](INFO): direction in FSK: [0.963545,-0.220681,0.151261] 2025-10-29T00:43:01.828Z,1761698581.828 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:01.832Z,1761698581.832 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:01.832Z,1761698581.832 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:01.832Z,1761698581.832 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:02.000Z,1761698582.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857780,-0.505568,-0.092820],[0.513026,0.853262,0.093534],[0.031912,-0.127851,0.991280]] 2025-10-29T00:43:02.058Z,1761698582.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.000000 m, deltaT: 3.779649 s, deltaX: -2.400002 m, approachRate: -0.634980 m/s, rangeRepo size: 4 2025-10-29T00:43:02.060Z,1761698582.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.431084 m, bearing: 19.110842 deg, lat: 36.779266 deg, lon: -121.859515 deg, deltaT: 3.779649 s, deltaX: -2.389854 m, approachRate: -0.632295 m/s, posRepo size: 4 2025-10-29T00:43:02.061Z,1761698582.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:02.063Z,1761698582.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 99.356300 m, bearing: 19.614719 deg, approach rate: 0.000000 m/s, LOS rate: -0.020324 deg/s, cmd heading: 31.143771 deg, new cmd heading: 31.127430 deg. 2025-10-29T00:43:02.069Z,1761698582.069 [DAT](INFO): DAT read: user:550> 2025-10-29T00:43:02.070Z,1761698582.070 [DAT](INFO): DAT read: Tx time:00:43:01.8245 2025-10-29T00:43:02.070Z,1761698582.070 [DAT](INFO): Ping request sent. 2025-10-29T00:43:02.070Z,1761698582.070 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:02.070Z,1761698582.070 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:02.071Z,1761698582.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-29T00:43:02.080Z,1761698582.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543276 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:02.321Z,1761698582.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250830 2025-10-29T00:43:02.383Z,1761698582.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858439,-0.504682,-0.091537],[0.511910,0.854171,0.091324],[0.032099,-0.125255,0.991605]] 2025-10-29T00:43:02.402Z,1761698582.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:02.405Z,1761698582.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 99.135994 m, bearing: 19.613293 deg, approach rate: -0.635908 m/s, LOS rate: -0.004125 deg/s, cmd heading: 31.127429 deg, new cmd heading: 31.124571 deg. 2025-10-29T00:43:02.406Z,1761698582.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543226 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:02.573Z,1761698582.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502812 2025-10-29T00:43:02.788Z,1761698582.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859144,-0.503648,-0.090605],[0.510701,0.855106,0.089322],[0.032490,-0.123013,0.991873]] 2025-10-29T00:43:02.825Z,1761698582.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754909 2025-10-29T00:43:02.833Z,1761698582.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:02.836Z,1761698582.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 98.857880 m, bearing: 19.611488 deg, approach rate: -0.645590 m/s, LOS rate: -0.004202 deg/s, cmd heading: 31.124571 deg, new cmd heading: 31.120950 deg. 2025-10-29T00:43:02.837Z,1761698582.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543163 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:03.077Z,1761698583.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006836 2025-10-29T00:43:03.197Z,1761698583.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859605,-0.503140,-0.089045],[0.509924,0.855821,0.086880],[0.032494,-0.120089,0.992231]] 2025-10-29T00:43:03.242Z,1761698583.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:03.249Z,1761698583.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 98.603233 m, bearing: 19.609981 deg, approach rate: -0.622572 m/s, LOS rate: -0.003694 deg/s, cmd heading: 31.120951 deg, new cmd heading: 31.117929 deg. 2025-10-29T00:43:03.253Z,1761698583.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543110 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:03.330Z,1761698583.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259586 2025-10-29T00:43:03.581Z,1761698583.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510736 2025-10-29T00:43:03.678Z,1761698583.678 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:03.705Z,1761698583.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:03.715Z,1761698583.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 98.334190 m, bearing: 19.608380 deg, approach rate: -0.595395 m/s, LOS rate: -0.003552 deg/s, cmd heading: 31.117929 deg, new cmd heading: 31.114718 deg. 2025-10-29T00:43:03.720Z,1761698583.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543054 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:03.834Z,1761698583.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763552 2025-10-29T00:43:04.045Z,1761698584.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861088,-0.500656,-0.088716],[0.507421,0.857280,0.087152],[0.032421,-0.120062,0.992237]] 2025-10-29T00:43:04.085Z,1761698584.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014980 2025-10-29T00:43:04.090Z,1761698584.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:04.093Z,1761698584.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 98.045273 m, bearing: 19.611819 deg, approach rate: -0.729010 m/s, LOS rate: 0.008703 deg/s, cmd heading: 31.114718 deg, new cmd heading: 31.121617 deg. 2025-10-29T00:43:04.094Z,1761698584.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543175 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:04.337Z,1761698584.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267372 2025-10-29T00:43:04.449Z,1761698584.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861593,-0.500078,-0.087057],[0.506569,0.858024,0.084744],[0.032318,-0.117115,0.992592]] 2025-10-29T00:43:04.468Z,1761698584.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:04.470Z,1761698584.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 97.801720 m, bearing: 19.614899 deg, approach rate: -0.645306 m/s, LOS rate: 0.008181 deg/s, cmd heading: 31.121617 deg, new cmd heading: 31.127792 deg. 2025-10-29T00:43:04.471Z,1761698584.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543282 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:04.589Z,1761698584.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519082 2025-10-29T00:43:04.841Z,1761698584.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770944 2025-10-29T00:43:04.852Z,1761698584.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862044,-0.499563,-0.085535],[0.505809,0.858684,0.082576],[0.032196,-0.114449,0.992907]] 2025-10-29T00:43:04.907Z,1761698584.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:04.909Z,1761698584.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 97.513382 m, bearing: 19.614235 deg, approach rate: -0.657144 m/s, LOS rate: -0.001517 deg/s, cmd heading: 31.127791 deg, new cmd heading: 31.126460 deg. 2025-10-29T00:43:04.910Z,1761698584.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543259 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:05.093Z,1761698585.093 [DAT](INFO): DAT read: Rx Time:00:43:04.3613 2025-10-29T00:43:05.093Z,1761698585.093 [DAT](INFO): Rx dataTimestamp_ set to:1761698585.093038 2025-10-29T00:43:05.094Z,1761698585.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023820 2025-10-29T00:43:05.265Z,1761698585.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862339,-0.499290,-0.084146],[0.505314,0.859169,0.080534],[0.032086,-0.111968,0.993194]] 2025-10-29T00:43:05.283Z,1761698585.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.43 m. 2025-10-29T00:43:05.286Z,1761698585.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.431084 m, nav range: 97.265709 m, bearing: 19.613765 deg, approach rate: -0.658175 m/s, LOS rate: -0.001251 deg/s, cmd heading: 31.126460 deg, new cmd heading: 31.125518 deg. 2025-10-29T00:43:05.286Z,1761698585.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543243 target range: 101.431084 and range: 102.00 m. 2025-10-29T00:43:05.345Z,1761698585.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275053 2025-10-29T00:43:05.603Z,1761698585.603 [DAT](INFO): DAT read: 00:43:04.3613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.39,-1.991, 2.841,-1.393,-2.045, PHS= 0.156,-1.353, 0.608, RAW= 162.7, 6.7, CAL= 162.1, 6.4, ROT= 347.9, -6.4 2025-10-29T00:43:05.604Z,1761698585.604 [DAT](INFO): got valid direction response: 00:43:04.3613 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 411, 0.39,-1.991, 2.841,-1.393,-2.045, PHS= 0.156,-1.353, 0.608, RAW= 162.7, 6.7, CAL= 162.1, 6.4, ROT= 347.9, -6.4 2025-10-29T00:43:05.605Z,1761698585.605 [DAT](INFO): DAT read: Bearing 179.8, -10.7 (Local) 2025-10-29T00:43:05.605Z,1761698585.605 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, -10.7 (Local) 2025-10-29T00:43:05.607Z,1761698585.607 [DAT](INFO): DAT read: Range 11 to 50 : 99.5 m (Round-trip 132.7 ms) speed 0.5 m/s 2025-10-29T00:43:05.607Z,1761698585.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:05.609Z,1761698585.609 [DAT](INFO): direction in FSK: [0.971690,-0.208312,0.111469] 2025-10-29T00:43:05.609Z,1761698585.609 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:05.613Z,1761698585.613 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:05.613Z,1761698585.613 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:05.614Z,1761698585.614 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:05.758Z,1761698585.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862447,-0.499283,-0.083077],[0.505125,0.859459,0.078608],[0.032154,-0.109760,0.993438]] 2025-10-29T00:43:05.849Z,1761698585.849 [DAT](INFO): DAT read: user:551> 2025-10-29T00:43:05.850Z,1761698585.850 [DAT](INFO): DAT read: Tx time:00:43:05.6245 2025-10-29T00:43:05.850Z,1761698585.850 [DAT](INFO): Ping request sent. 2025-10-29T00:43:05.850Z,1761698585.850 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:05.850Z,1761698585.850 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:05.851Z,1761698585.851 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T00:43:05.853Z,1761698585.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.500000 m, deltaT: 3.780322 s, deltaX: -2.500000 m, approachRate: -0.661319 m/s, rangeRepo size: 4 2025-10-29T00:43:05.855Z,1761698585.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 98.941109 m, bearing: 18.965455 deg, lat: 36.779266 deg, lon: -121.859515 deg, deltaT: 3.780322 s, deltaX: -2.489975 m, approachRate: -0.658667 m/s, posRepo size: 4 2025-10-29T00:43:05.855Z,1761698585.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:05.858Z,1761698585.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 96.898987 m, bearing: 19.610628 deg, approach rate: 0.000000 m/s, LOS rate: -0.001251 deg/s, cmd heading: 31.125517 deg, new cmd heading: 31.124093 deg. 2025-10-29T00:43:05.859Z,1761698585.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543218 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:06.101Z,1761698586.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250820 2025-10-29T00:43:06.168Z,1761698586.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862487,-0.499064,-0.083968],[0.505051,0.859375,0.079992],[0.032239,-0.111400,0.993253]] 2025-10-29T00:43:06.215Z,1761698586.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:06.225Z,1761698586.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:06.228Z,1761698586.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 96.670616 m, bearing: 19.608661 deg, approach rate: -0.611914 m/s, LOS rate: -0.005283 deg/s, cmd heading: 31.124093 deg, new cmd heading: 31.120150 deg. 2025-10-29T00:43:06.229Z,1761698586.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543149 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:06.354Z,1761698586.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503820 2025-10-29T00:43:06.574Z,1761698586.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862795,-0.498355,-0.085013],[0.504529,0.859486,0.082061],[0.032172,-0.113694,0.992995]] 2025-10-29T00:43:06.592Z,1761698586.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:06.594Z,1761698586.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 96.404312 m, bearing: 19.606430 deg, approach rate: -0.726562 m/s, LOS rate: -0.006104 deg/s, cmd heading: 31.120148 deg, new cmd heading: 31.115674 deg. 2025-10-29T00:43:06.595Z,1761698586.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.543071 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:06.605Z,1761698586.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 2025-10-29T00:43:06.857Z,1761698586.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007078 2025-10-29T00:43:07.064Z,1761698587.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:07.066Z,1761698587.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 96.095482 m, bearing: 19.602222 deg, approach rate: -0.654150 m/s, LOS rate: -0.008941 deg/s, cmd heading: 31.115675 deg, new cmd heading: 31.107232 deg. 2025-10-29T00:43:07.067Z,1761698587.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542924 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:07.110Z,1761698587.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259894 2025-10-29T00:43:07.361Z,1761698587.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510764 2025-10-29T00:43:07.379Z,1761698587.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862965,-0.498814,-0.080471],[0.504332,0.860044,0.077290],[0.030656,-0.107283,0.993756]] 2025-10-29T00:43:07.398Z,1761698587.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:07.401Z,1761698587.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 95.876419 m, bearing: 19.599293 deg, approach rate: -0.654452 m/s, LOS rate: -0.008770 deg/s, cmd heading: 31.107233 deg, new cmd heading: 31.101362 deg. 2025-10-29T00:43:07.402Z,1761698587.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542821 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:07.613Z,1761698587.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763306 2025-10-29T00:43:07.786Z,1761698587.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862380,-0.500296,-0.077487],[0.505372,0.859789,0.073231],[0.029986,-0.102313,0.994300]] 2025-10-29T00:43:07.830Z,1761698587.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:07.833Z,1761698587.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 95.588913 m, bearing: 19.589737 deg, approach rate: -0.666424 m/s, LOS rate: -0.022218 deg/s, cmd heading: 31.101362 deg, new cmd heading: 31.082192 deg. 2025-10-29T00:43:07.834Z,1761698587.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542487 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:07.868Z,1761698587.868 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017486 2025-10-29T00:43:08.117Z,1761698588.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266721 2025-10-29T00:43:08.194Z,1761698588.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861935,-0.501178,-0.076729],[0.506141,0.859433,0.072087],[0.029815,-0.100970,0.994443]] 2025-10-29T00:43:08.229Z,1761698588.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:08.231Z,1761698588.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:08.237Z,1761698588.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 95.321960 m, bearing: 19.580679 deg, approach rate: -0.666089 m/s, LOS rate: -0.022665 deg/s, cmd heading: 31.082193 deg, new cmd heading: 31.064026 deg. 2025-10-29T00:43:08.238Z,1761698588.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.542170 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:08.369Z,1761698588.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518778 2025-10-29T00:43:08.591Z,1761698588.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861665,-0.501667,-0.076577],[0.506642,0.859052,0.073093],[0.029115,-0.101779,0.994381]] 2025-10-29T00:43:08.617Z,1761698588.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:08.619Z,1761698588.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 95.064148 m, bearing: 19.571786 deg, approach rate: -0.667215 m/s, LOS rate: -0.023076 deg/s, cmd heading: 31.064025 deg, new cmd heading: 31.046192 deg. 2025-10-29T00:43:08.621Z,1761698588.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771117 2025-10-29T00:43:08.622Z,1761698588.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541858 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:08.873Z,1761698588.873 [DAT](INFO): DAT read: Rx Time:00:43:08.1579 2025-10-29T00:43:08.873Z,1761698588.873 [DAT](INFO): Rx dataTimestamp_ set to:1761698588.873124 2025-10-29T00:43:08.874Z,1761698588.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023859 2025-10-29T00:43:08.994Z,1761698588.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861912,-0.501089,-0.077568],[0.506264,0.858988,0.076394],[0.028350,-0.105115,0.994056]] 2025-10-29T00:43:09.049Z,1761698589.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 98.94 m. 2025-10-29T00:43:09.051Z,1761698589.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 98.941109 m, nav range: 94.780151 m, bearing: 19.556957 deg, approach rate: -0.658112 m/s, LOS rate: -0.034467 deg/s, cmd heading: 31.046191 deg, new cmd heading: 31.016444 deg. 2025-10-29T00:43:09.052Z,1761698589.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.541339 target range: 98.941109 and range: 99.50 m. 2025-10-29T00:43:09.125Z,1761698589.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275233 2025-10-29T00:43:09.382Z,1761698589.382 [DAT](INFO): DAT read: 00:43:08.1579 LVL= 32752, 32753, 31666, 32755, AGC= 70, IDX= 409,-0.48,-1.438,-2.843,-0.848,-1.456, PHS= 0.120,-1.342, 0.564, RAW= 162.8, 7.7, CAL= 162.4, 7.7, ROT= 347.6, -7.7 2025-10-29T00:43:09.383Z,1761698589.383 [DAT](INFO): got valid direction response: 00:43:08.1579 LVL= 32752, 32753, 31666, 32755, AGC= 70, IDX= 409,-0.48,-1.438,-2.843,-0.848,-1.456, PHS= 0.120,-1.342, 0.564, RAW= 162.8, 7.7, CAL= 162.4, 7.7, ROT= 347.6, -7.7 2025-10-29T00:43:09.388Z,1761698589.388 [DAT](INFO): DAT read: Bearing 181.6, -11.1 (Local) 2025-10-29T00:43:09.389Z,1761698589.389 [DAT](INFO): Local bearing/azimuth received: Bearing 181.6, -11.1 (Local) 2025-10-29T00:43:09.390Z,1761698589.390 [DAT](INFO): DAT read: Range 11 to 50 : 96.9 m (Round-trip 129.2 ms) speed 0.6 m/s 2025-10-29T00:43:09.391Z,1761698589.391 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:09.392Z,1761698589.392 [DAT](INFO): direction in FSK: [0.967866,-0.212799,0.133986] 2025-10-29T00:43:09.396Z,1761698589.396 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:09.399Z,1761698589.399 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:09.399Z,1761698589.399 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:09.400Z,1761698589.400 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:09.409Z,1761698589.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862203,-0.500476,-0.078293],[0.505802,0.859033,0.078907],[0.027765,-0.107634,0.993803]] 2025-10-29T00:43:09.483Z,1761698589.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 96.900002 m, deltaT: 3.779600 s, deltaX: -2.599998 m, approachRate: -0.687903 m/s, rangeRepo size: 4 2025-10-29T00:43:09.489Z,1761698589.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.350525 m, bearing: 18.830258 deg, lat: 36.779267 deg, lon: -121.859524 deg, deltaT: 3.779600 s, deltaX: -2.590584 m, approachRate: -0.685412 m/s, posRepo size: 4 2025-10-29T00:43:09.490Z,1761698589.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:09.497Z,1761698589.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 94.382797 m, bearing: 19.054559 deg, approach rate: 0.000000 m/s, LOS rate: -0.034467 deg/s, cmd heading: 31.016446 deg, new cmd heading: 30.986550 deg. 2025-10-29T00:43:09.498Z,1761698589.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540817 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:09.629Z,1761698589.629 [DAT](INFO): DAT read: user:552> 2025-10-29T00:43:09.630Z,1761698589.630 [DAT](INFO): DAT read: Tx time:00:43:09.4245 2025-10-29T00:43:09.630Z,1761698589.630 [DAT](INFO): Ping request sent. 2025-10-29T00:43:09.630Z,1761698589.630 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:09.630Z,1761698589.630 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:09.631Z,1761698589.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-29T00:43:09.817Z,1761698589.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862906,-0.499182,-0.078814],[0.504623,0.859544,0.080865],[0.027378,-0.109550,0.993604]] 2025-10-29T00:43:09.862Z,1761698589.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:09.865Z,1761698589.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 94.103844 m, bearing: 19.040919 deg, approach rate: -0.734046 m/s, LOS rate: -0.035998 deg/s, cmd heading: 30.986550 deg, new cmd heading: 30.959190 deg. 2025-10-29T00:43:09.866Z,1761698589.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.540340 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:09.884Z,1761698589.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253447 2025-10-29T00:43:10.133Z,1761698590.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502796 2025-10-29T00:43:10.217Z,1761698590.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863643,-0.497783,-0.079586],[0.503354,0.860155,0.082272],[0.027503,-0.111113,0.993427]] 2025-10-29T00:43:10.234Z,1761698590.234 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:10.237Z,1761698590.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:10.239Z,1761698590.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 93.856377 m, bearing: 19.028965 deg, approach rate: -0.662025 m/s, LOS rate: -0.032066 deg/s, cmd heading: 30.959188 deg, new cmd heading: 30.935215 deg. 2025-10-29T00:43:10.241Z,1761698590.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539921 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:10.385Z,1761698590.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754661 2025-10-29T00:43:10.614Z,1761698590.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864281,-0.496481,-0.080779],[0.502244,0.860620,0.084163],[0.027735,-0.113312,0.993172]] 2025-10-29T00:43:10.633Z,1761698590.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:10.635Z,1761698590.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 93.592659 m, bearing: 19.016348 deg, approach rate: -0.664943 m/s, LOS rate: -0.031902 deg/s, cmd heading: 30.935214 deg, new cmd heading: 30.909909 deg. 2025-10-29T00:43:10.637Z,1761698590.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007157 2025-10-29T00:43:10.638Z,1761698590.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.539480 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:10.889Z,1761698590.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258759 2025-10-29T00:43:11.075Z,1761698591.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:11.078Z,1761698591.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 93.307022 m, bearing: 18.999701 deg, approach rate: -0.645398 m/s, LOS rate: -0.037728 deg/s, cmd heading: 30.909908 deg, new cmd heading: 30.876514 deg. 2025-10-29T00:43:11.079Z,1761698591.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538897 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:11.141Z,1761698591.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511152 2025-10-29T00:43:11.393Z,1761698591.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762738 2025-10-29T00:43:11.422Z,1761698591.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865715,-0.493199,-0.085399],[0.499705,0.861437,0.090664],[0.028851,-0.121163,0.992213]] 2025-10-29T00:43:11.451Z,1761698591.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:11.454Z,1761698591.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 93.063828 m, bearing: 18.985846 deg, approach rate: -0.647295 m/s, LOS rate: -0.036975 deg/s, cmd heading: 30.876512 deg, new cmd heading: 30.848729 deg. 2025-10-29T00:43:11.455Z,1761698591.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.538412 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:11.645Z,1761698591.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015302 2025-10-29T00:43:11.835Z,1761698591.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866233,-0.492009,-0.086992],[0.498777,0.861760,0.092688],[0.029363,-0.123679,0.991888]] 2025-10-29T00:43:11.880Z,1761698591.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:11.882Z,1761698591.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 92.779335 m, bearing: 18.971229 deg, approach rate: -0.663795 m/s, LOS rate: -0.034210 deg/s, cmd heading: 30.848727 deg, new cmd heading: 30.819403 deg. 2025-10-29T00:43:11.883Z,1761698591.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537900 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:11.897Z,1761698591.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266801 2025-10-29T00:43:12.149Z,1761698592.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519019 2025-10-29T00:43:12.233Z,1761698592.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866507,-0.491367,-0.087883],[0.498291,0.861891,0.094074],[0.029521,-0.125307,0.991679]] 2025-10-29T00:43:12.250Z,1761698592.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:12.252Z,1761698592.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:12.254Z,1761698592.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 92.532578 m, bearing: 18.958556 deg, approach rate: -0.663173 m/s, LOS rate: -0.034150 deg/s, cmd heading: 30.819402 deg, new cmd heading: 30.793988 deg. 2025-10-29T00:43:12.255Z,1761698592.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.537456 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:12.401Z,1761698592.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771241 2025-10-29T00:43:12.634Z,1761698592.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866738,-0.491076,-0.087236],[0.497892,0.862226,0.093115],[0.029490,-0.124140,0.991826]] 2025-10-29T00:43:12.653Z,1761698592.653 [DAT](INFO): DAT read: Rx Time:00:43:11.9546 2025-10-29T00:43:12.654Z,1761698592.654 [DAT](INFO): Rx dataTimestamp_ set to:1761698592.653361 2025-10-29T00:43:12.654Z,1761698592.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024060 2025-10-29T00:43:12.657Z,1761698592.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:12.659Z,1761698592.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 92.265541 m, bearing: 18.944848 deg, approach rate: -0.659574 m/s, LOS rate: -0.033957 deg/s, cmd heading: 30.793986 deg, new cmd heading: 30.766491 deg. 2025-10-29T00:43:12.677Z,1761698592.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536977 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:12.905Z,1761698592.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274728 2025-10-29T00:43:13.041Z,1761698593.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866590,-0.491552,-0.086016],[0.498125,0.862413,0.090087],[0.029899,-0.120915,0.992212]] 2025-10-29T00:43:13.113Z,1761698593.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.35 m. 2025-10-29T00:43:13.139Z,1761698593.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.350525 m, nav range: 91.976898 m, bearing: 18.933469 deg, approach rate: -0.640866 m/s, LOS rate: -0.025344 deg/s, cmd heading: 30.766491 deg, new cmd heading: 30.743662 deg. 2025-10-29T00:43:13.145Z,1761698593.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536578 target range: 96.350525 and range: 96.90 m. 2025-10-29T00:43:13.163Z,1761698593.163 [DAT](INFO): DAT read: 00:43:11.9546 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 407, 0.16, 1.772, 0.317, 2.335, 1.772, PHS= 0.101,-1.411, 0.518, RAW= 161.9, 9.0, CAL= 161.6, 9.6, ROT= 348.4, -9.6 2025-10-29T00:43:13.164Z,1761698593.164 [DAT](INFO): got valid direction response: 00:43:11.9546 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 407, 0.16, 1.772, 0.317, 2.335, 1.772, PHS= 0.101,-1.411, 0.518, RAW= 161.9, 9.0, CAL= 161.6, 9.6, ROT= 348.4, -9.6 2025-10-29T00:43:13.165Z,1761698593.165 [DAT](INFO): DAT read: Bearing 183.2, -10.7 (Local) 2025-10-29T00:43:13.165Z,1761698593.165 [DAT](INFO): Local bearing/azimuth received: Bearing 183.2, -10.7 (Local) 2025-10-29T00:43:13.167Z,1761698593.167 [DAT](INFO): DAT read: Range 11 to 50 : 94.5 m (Round-trip 126.0 ms) speed 0.4 m/s 2025-10-29T00:43:13.167Z,1761698593.167 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:13.169Z,1761698593.169 [DAT](INFO): direction in FSK: [0.965857,-0.198262,0.166769] 2025-10-29T00:43:13.169Z,1761698593.169 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:13.175Z,1761698593.175 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:13.175Z,1761698593.175 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:13.196Z,1761698593.196 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:13.409Z,1761698593.409 [DAT](INFO): DAT read: user:553> 2025-10-29T00:43:13.410Z,1761698593.410 [DAT](INFO): DAT read: Tx time:00:43:13.1745 2025-10-29T00:43:13.410Z,1761698593.410 [DAT](INFO): Ping request sent. 2025-10-29T00:43:13.410Z,1761698593.410 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:13.410Z,1761698593.410 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:13.411Z,1761698593.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:43:13.497Z,1761698593.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866089,-0.492717,-0.084381],[0.498989,0.862256,0.086744],[0.030018,-0.117233,0.992651]] 2025-10-29T00:43:13.538Z,1761698593.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.500000 m, deltaT: 3.780272 s, deltaX: -2.400002 m, approachRate: -0.634875 m/s, rangeRepo size: 4 2025-10-29T00:43:13.540Z,1761698593.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.960327 m, bearing: 19.479471 deg, lat: 36.779267 deg, lon: -121.859524 deg, deltaT: 3.780272 s, deltaX: -2.390198 m, approachRate: -0.632282 m/s, posRepo size: 4 2025-10-29T00:43:13.541Z,1761698593.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:13.543Z,1761698593.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 91.667267 m, bearing: 18.921012 deg, approach rate: 0.000000 m/s, LOS rate: -0.025344 deg/s, cmd heading: 30.743662 deg, new cmd heading: 30.721854 deg. 2025-10-29T00:43:13.544Z,1761698593.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.536197 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:13.661Z,1761698593.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251276 2025-10-29T00:43:13.874Z,1761698593.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865742,-0.493368,-0.084132],[0.499580,0.862002,0.085860],[0.030161,-0.116363,0.992749]] 2025-10-29T00:43:13.916Z,1761698593.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.506172 2025-10-29T00:43:13.933Z,1761698593.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:13.935Z,1761698593.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 91.404724 m, bearing: 18.914787 deg, approach rate: -0.663858 m/s, LOS rate: -0.015784 deg/s, cmd heading: 30.721853 deg, new cmd heading: 30.709368 deg. 2025-10-29T00:43:13.936Z,1761698593.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535980 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:14.165Z,1761698594.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754745 2025-10-29T00:43:14.278Z,1761698594.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865952,-0.493135,-0.083333],[0.499221,0.862323,0.084716],[0.030083,-0.114962,0.992914]] 2025-10-29T00:43:14.319Z,1761698594.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:14.321Z,1761698594.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:14.324Z,1761698594.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 91.152992 m, bearing: 18.908859 deg, approach rate: -0.647598 m/s, LOS rate: -0.015292 deg/s, cmd heading: 30.709367 deg, new cmd heading: 30.697478 deg. 2025-10-29T00:43:14.325Z,1761698594.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535772 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:14.418Z,1761698594.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007429 2025-10-29T00:43:14.670Z,1761698594.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259910 2025-10-29T00:43:14.698Z,1761698594.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866148,-0.492931,-0.082506],[0.498896,0.862597,0.083840],[0.029842,-0.113779,0.993058]] 2025-10-29T00:43:14.734Z,1761698594.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:14.737Z,1761698594.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 90.877831 m, bearing: 18.902415 deg, approach rate: -0.666813 m/s, LOS rate: -0.015664 deg/s, cmd heading: 30.697479 deg, new cmd heading: 30.684552 deg. 2025-10-29T00:43:14.738Z,1761698594.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535546 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:14.921Z,1761698594.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510861 2025-10-29T00:43:15.174Z,1761698595.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764259 2025-10-29T00:43:15.220Z,1761698595.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867226,-0.490999,-0.082704],[0.497045,0.863500,0.085524],[0.029423,-0.115276,0.992898]] 2025-10-29T00:43:15.251Z,1761698595.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:15.258Z,1761698595.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 90.546219 m, bearing: 18.895035 deg, approach rate: -0.641351 m/s, LOS rate: -0.014326 deg/s, cmd heading: 30.684553 deg, new cmd heading: 30.669738 deg. 2025-10-29T00:43:15.259Z,1761698595.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535288 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:15.425Z,1761698595.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014884 2025-10-29T00:43:15.598Z,1761698595.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867868,-0.489724,-0.083521],[0.495926,0.863961,0.087347],[0.029383,-0.117226,0.992670]] 2025-10-29T00:43:15.636Z,1761698595.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:15.639Z,1761698595.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 90.284821 m, bearing: 18.889381 deg, approach rate: -0.679341 m/s, LOS rate: -0.014736 deg/s, cmd heading: 30.669738 deg, new cmd heading: 30.658399 deg. 2025-10-29T00:43:15.639Z,1761698595.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535090 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:15.678Z,1761698595.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267272 2025-10-29T00:43:15.929Z,1761698595.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518837 2025-10-29T00:43:16.004Z,1761698596.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868667,-0.488150,-0.084431],[0.494525,0.864561,0.089330],[0.029389,-0.119351,0.992417]] 2025-10-29T00:43:16.083Z,1761698596.083 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -119, +6 2025-10-29T00:43:16.119Z,1761698596.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:16.128Z,1761698596.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 89.980942 m, bearing: 18.883064 deg, approach rate: -0.629310 m/s, LOS rate: -0.013126 deg/s, cmd heading: 30.658397 deg, new cmd heading: 30.645721 deg. 2025-10-29T00:43:16.129Z,1761698596.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534869 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:16.183Z,1761698596.183 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772581 2025-10-29T00:43:16.430Z,1761698596.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869249,-0.487070,-0.084671],[0.493507,0.865044,0.090271],[0.029276,-0.120254,0.992311]] 2025-10-29T00:43:16.433Z,1761698596.433 [DAT](INFO): DAT read: Rx Time:00:43:15.7012 2025-10-29T00:43:16.433Z,1761698596.433 [DAT](INFO): Rx dataTimestamp_ set to:1761698596.433185 2025-10-29T00:43:16.434Z,1761698596.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023975 2025-10-29T00:43:16.450Z,1761698596.450 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:16.452Z,1761698596.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:16.454Z,1761698596.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 89.748657 m, bearing: 18.878376 deg, approach rate: -0.697407 m/s, LOS rate: -0.014113 deg/s, cmd heading: 30.645720 deg, new cmd heading: 30.636319 deg. 2025-10-29T00:43:16.455Z,1761698596.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534705 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:16.685Z,1761698596.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274991 2025-10-29T00:43:16.894Z,1761698596.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869536,-0.486632,-0.084240],[0.493012,0.865351,0.090033],[0.029085,-0.119818,0.992370]] 2025-10-29T00:43:16.932Z,1761698596.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.96 m. 2025-10-29T00:43:16.935Z,1761698596.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.960327 m, nav range: 89.424011 m, bearing: 18.885657 deg, approach rate: -0.676116 m/s, LOS rate: 0.015219 deg/s, cmd heading: 30.636318 deg, new cmd heading: 30.650934 deg. 2025-10-29T00:43:16.935Z,1761698596.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534960 target range: 93.960327 and range: 94.50 m. 2025-10-29T00:43:16.950Z,1761698596.950 [DAT](INFO): DAT read: 00:43:15.7012 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.15, 1.300,-0.096, 1.871, 1.345, PHS= 0.056,-1.397, 0.481, RAW= 162.5, 10.1, CAL= 162.4, 11.0, ROT= 347.6, -11.0 2025-10-29T00:43:16.952Z,1761698596.952 [DAT](INFO): got valid direction response: 00:43:15.7012 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405,-0.15, 1.300,-0.096, 1.871, 1.345, PHS= 0.056,-1.397, 0.481, RAW= 162.5, 10.1, CAL= 162.4, 11.0, ROT= 347.6, -11.0 2025-10-29T00:43:16.953Z,1761698596.953 [DAT](INFO): DAT read: Bearing 186.4, -11.4 (Local) 2025-10-29T00:43:16.953Z,1761698596.953 [DAT](INFO): Local bearing/azimuth received: Bearing 186.4, -11.4 (Local) 2025-10-29T00:43:16.954Z,1761698596.954 [DAT](INFO): DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.5 m/s 2025-10-29T00:43:16.955Z,1761698596.955 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:16.960Z,1761698596.960 [DAT](INFO): direction in FSK: [0.958728,-0.210790,0.190809] 2025-10-29T00:43:16.960Z,1761698596.960 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:16.964Z,1761698596.964 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:16.964Z,1761698596.964 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:16.972Z,1761698596.972 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:17.190Z,1761698597.190 [DAT](INFO): DAT read: user:554> 2025-10-29T00:43:17.191Z,1761698597.191 [DAT](INFO): DAT read: Tx time:00:43:16.9744 2025-10-29T00:43:17.194Z,1761698597.194 [DAT](INFO): Ping request sent. 2025-10-29T00:43:17.195Z,1761698597.195 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:17.196Z,1761698597.196 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:17.198Z,1761698597.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.006279 2025-10-29T00:43:17.291Z,1761698597.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869749,-0.486298,-0.083971],[0.492651,0.865543,0.090167],[0.028832,-0.119791,0.992380]] 2025-10-29T00:43:17.319Z,1761698597.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.779905 s, deltaX: -2.500000 m, approachRate: -0.661392 m/s, rangeRepo size: 4 2025-10-29T00:43:17.322Z,1761698597.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.473175 m, bearing: 18.451558 deg, lat: 36.779267 deg, lon: -121.859525 deg, deltaT: 3.779905 s, deltaX: -2.487152 m, approachRate: -0.657993 m/s, posRepo size: 4 2025-10-29T00:43:17.322Z,1761698597.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:17.325Z,1761698597.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 89.145409 m, bearing: 18.847892 deg, approach rate: 0.000000 m/s, LOS rate: 0.015219 deg/s, cmd heading: 30.650935 deg, new cmd heading: 30.662689 deg. 2025-10-29T00:43:17.326Z,1761698597.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535165 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:17.441Z,1761698597.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249251 2025-10-29T00:43:17.694Z,1761698597.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501682 2025-10-29T00:43:17.703Z,1761698597.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870032,-0.485651,-0.084777],[0.492138,0.865719,0.091276],[0.029065,-0.121135,0.992210]] 2025-10-29T00:43:17.722Z,1761698597.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:17.725Z,1761698597.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 88.867073 m, bearing: 18.854246 deg, approach rate: -0.689518 m/s, LOS rate: 0.015789 deg/s, cmd heading: 30.662690 deg, new cmd heading: 30.675437 deg. 2025-10-29T00:43:17.725Z,1761698597.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535387 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:17.945Z,1761698597.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753087 2025-10-29T00:43:18.087Z,1761698598.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869801,-0.485807,-0.086236],[0.492491,0.865447,0.091941],[0.029967,-0.122441,0.992023]] 2025-10-29T00:43:18.145Z,1761698598.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:18.152Z,1761698598.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 88.598305 m, bearing: 18.857000 deg, approach rate: -0.634359 m/s, LOS rate: 0.006521 deg/s, cmd heading: 30.675438 deg, new cmd heading: 30.680964 deg. 2025-10-29T00:43:18.153Z,1761698598.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535484 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:18.197Z,1761698598.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005467 2025-10-29T00:43:18.449Z,1761698598.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257138 2025-10-29T00:43:18.497Z,1761698598.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869616,-0.485999,-0.087022],[0.492765,0.865337,0.091512],[0.030829,-0.122461,0.991994]] 2025-10-29T00:43:18.514Z,1761698598.514 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:18.517Z,1761698598.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:18.520Z,1761698598.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 88.338089 m, bearing: 18.859629 deg, approach rate: -0.700049 m/s, LOS rate: 0.007094 deg/s, cmd heading: 30.680964 deg, new cmd heading: 30.686238 deg. 2025-10-29T00:43:18.521Z,1761698598.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535576 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:18.704Z,1761698598.704 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511849 2025-10-29T00:43:18.917Z,1761698598.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868804,-0.487363,-0.087502],[0.494163,0.864603,0.090911],[0.031348,-0.122224,0.992007]] 2025-10-29T00:43:18.953Z,1761698598.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761210 2025-10-29T00:43:18.962Z,1761698598.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:18.965Z,1761698598.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 88.040703 m, bearing: 18.863658 deg, approach rate: -0.668359 m/s, LOS rate: 0.009084 deg/s, cmd heading: 30.686237 deg, new cmd heading: 30.694321 deg. 2025-10-29T00:43:18.966Z,1761698598.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535717 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:19.205Z,1761698599.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013433 2025-10-29T00:43:19.298Z,1761698599.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868080,-0.488506,-0.088313],[0.495398,0.863902,0.090858],[0.031909,-0.122622,0.991940]] 2025-10-29T00:43:19.329Z,1761698599.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:19.332Z,1761698599.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 87.798851 m, bearing: 18.866726 deg, approach rate: -0.658401 m/s, LOS rate: 0.008376 deg/s, cmd heading: 30.694320 deg, new cmd heading: 30.700473 deg. 2025-10-29T00:43:19.333Z,1761698599.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535824 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:19.457Z,1761698599.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265017 2025-10-29T00:43:19.709Z,1761698599.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517101 2025-10-29T00:43:19.774Z,1761698599.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867142,-0.490482,-0.086553],[0.497002,0.863458,0.086199],[0.032456,-0.117764,0.992511]] 2025-10-29T00:43:19.800Z,1761698599.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:19.803Z,1761698599.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 87.481606 m, bearing: 18.870448 deg, approach rate: -0.674121 m/s, LOS rate: 0.007939 deg/s, cmd heading: 30.700474 deg, new cmd heading: 30.707947 deg. 2025-10-29T00:43:19.803Z,1761698599.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535955 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:19.961Z,1761698599.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769239 2025-10-29T00:43:20.201Z,1761698600.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865666,-0.493755,-0.082630],[0.499521,0.862856,0.077196],[0.033182,-0.108102,0.993586]] 2025-10-29T00:43:20.213Z,1761698600.213 [DAT](INFO): DAT read: Rx Time:00:43:19.4977 2025-10-29T00:43:20.213Z,1761698600.213 [DAT](INFO): Rx dataTimestamp_ set to:1761698600.213186 2025-10-29T00:43:20.214Z,1761698600.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022233 2025-10-29T00:43:20.240Z,1761698600.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.47 m. 2025-10-29T00:43:20.243Z,1761698600.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.473175 m, nav range: 87.190231 m, bearing: 18.870210 deg, approach rate: -0.662058 m/s, LOS rate: -0.000543 deg/s, cmd heading: 30.707947 deg, new cmd heading: 30.707468 deg. 2025-10-29T00:43:20.268Z,1761698600.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535946 target range: 91.473175 and range: 92.00 m. 2025-10-29T00:43:20.465Z,1761698600.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273156 2025-10-29T00:43:20.699Z,1761698600.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864361,-0.496363,-0.080644],[0.501771,0.861909,0.073068],[0.033240,-0.103622,0.994061]] 2025-10-29T00:43:20.700Z,1761698600.700 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:43:20.727Z,1761698600.727 [DAT](INFO): DAT read: 00:43:19.4977 LVL= 32752, 32753, 29362, 32755, AGC= 70, IDX= 402,-0.37,-2.522, 2.366,-1.950,-2.546, PHS= 0.126,-1.327, 0.551, RAW= 162.5, 7.7, CAL= 162.0, 7.7, ROT= 348.0, -7.7 2025-10-29T00:43:20.728Z,1761698600.728 [DAT](INFO): got valid direction response: 00:43:19.4977 LVL= 32752, 32753, 29362, 32755, AGC= 70, IDX= 402,-0.37,-2.522, 2.366,-1.950,-2.546, PHS= 0.126,-1.327, 0.551, RAW= 162.5, 7.7, CAL= 162.0, 7.7, ROT= 348.0, -7.7 2025-10-29T00:43:20.729Z,1761698600.729 [DAT](INFO): DAT read: Bearing 185.0, -10.4 (Local) 2025-10-29T00:43:20.730Z,1761698600.730 [DAT](INFO): Local bearing/azimuth received: Bearing 185.0, -10.4 (Local) 2025-10-29T00:43:20.731Z,1761698600.731 [DAT](INFO): DAT read: Range 11 to 50 : 89.4 m (Round-trip 119.2 ms) speed 1.0 m/s 2025-10-29T00:43:20.732Z,1761698600.732 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:20.733Z,1761698600.733 [DAT](INFO): direction in FSK: [0.969328,-0.206037,0.133986] 2025-10-29T00:43:20.733Z,1761698600.733 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:20.745Z,1761698600.745 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:20.745Z,1761698600.745 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:20.745Z,1761698600.745 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:20.785Z,1761698600.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.780375 s, deltaX: -2.599998 m, approachRate: -0.687762 m/s, rangeRepo size: 4 2025-10-29T00:43:20.787Z,1761698600.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.886597 m, bearing: 18.922666 deg, lat: 36.779271 deg, lon: -121.859524 deg, deltaT: 3.780375 s, deltaX: -2.586578 m, approachRate: -0.684212 m/s, posRepo size: 4 2025-10-29T00:43:20.792Z,1761698600.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:20.794Z,1761698600.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 87.274040 m, bearing: 18.829192 deg, approach rate: 0.000000 m/s, LOS rate: -0.000543 deg/s, cmd heading: 30.707468 deg, new cmd heading: 30.706886 deg. 2025-10-29T00:43:20.795Z,1761698600.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535936 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:20.969Z,1761698600.969 [DAT](INFO): DAT read: user:555> 2025-10-29T00:43:20.970Z,1761698600.970 [DAT](INFO): DAT read: Tx time:00:43:20.7744 2025-10-29T00:43:20.970Z,1761698600.970 [DAT](INFO): Ping request sent. 2025-10-29T00:43:20.970Z,1761698600.970 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:20.970Z,1761698600.970 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:20.971Z,1761698600.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-29T00:43:21.145Z,1761698601.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862840,-0.499371,-0.078332],[0.504472,0.860489,0.071183],[0.031857,-0.100936,0.994383]] 2025-10-29T00:43:21.217Z,1761698601.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:21.219Z,1761698601.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:21.221Z,1761698601.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873 2025-10-29T00:43:21.226Z,1761698601.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 86.945160 m, bearing: 18.818716 deg, approach rate: -0.742717 m/s, LOS rate: -0.023747 deg/s, cmd heading: 30.706888 deg, new cmd heading: 30.685858 deg. 2025-10-29T00:43:21.226Z,1761698601.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535569 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:21.473Z,1761698601.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502852 2025-10-29T00:43:21.540Z,1761698601.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862097,-0.500652,-0.078327],[0.505794,0.859595,0.072588],[0.030988,-0.102196,0.994282]] 2025-10-29T00:43:21.568Z,1761698601.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:21.571Z,1761698601.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 86.709236 m, bearing: 18.810907 deg, approach rate: -0.674677 m/s, LOS rate: -0.022395 deg/s, cmd heading: 30.685858 deg, new cmd heading: 30.670196 deg. 2025-10-29T00:43:21.572Z,1761698601.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.535296 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:21.707Z,1761698601.707 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:43:21.725Z,1761698601.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988 2025-10-29T00:43:21.973Z,1761698601.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861791,-0.501365,-0.077137],[0.506373,0.859282,0.072260],[0.030054,-0.101333,0.994399]] 2025-10-29T00:43:21.977Z,1761698601.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006840 2025-10-29T00:43:22.046Z,1761698602.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:22.050Z,1761698602.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 86.389320 m, bearing: 18.799874 deg, approach rate: -0.669388 m/s, LOS rate: -0.023170 deg/s, cmd heading: 30.670196 deg, new cmd heading: 30.648049 deg. 2025-10-29T00:43:22.051Z,1761698602.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534909 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:22.229Z,1761698602.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258823 2025-10-29T00:43:22.351Z,1761698602.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861422,-0.502309,-0.075089],[0.507074,0.858965,0.071103],[0.028783,-0.099326,0.994639]] 2025-10-29T00:43:22.371Z,1761698602.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:22.373Z,1761698602.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 86.172134 m, bearing: 18.792231 deg, approach rate: -0.669924 m/s, LOS rate: -0.023633 deg/s, cmd heading: 30.648049 deg, new cmd heading: 30.632726 deg. 2025-10-29T00:43:22.374Z,1761698602.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534642 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:22.481Z,1761698602.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511321 2025-10-29T00:43:22.733Z,1761698602.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762729 2025-10-29T00:43:22.756Z,1761698602.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861364,-0.502395,-0.075170],[0.507248,0.858625,0.073913],[0.027409,-0.101796,0.994428]] 2025-10-29T00:43:22.804Z,1761698602.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:22.806Z,1761698602.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 85.898293 m, bearing: 18.782488 deg, approach rate: -0.632350 m/s, LOS rate: -0.022571 deg/s, cmd heading: 30.632726 deg, new cmd heading: 30.613177 deg. 2025-10-29T00:43:22.807Z,1761698602.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.534301 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:22.985Z,1761698602.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015200 2025-10-29T00:43:23.158Z,1761698603.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861543,-0.501818,-0.076958],[0.507010,0.858268,0.079479],[0.026166,-0.107493,0.993861]] 2025-10-29T00:43:23.221Z,1761698603.221 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:23.223Z,1761698603.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:23.225Z,1761698603.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 85.604111 m, bearing: 18.766236 deg, approach rate: -0.702324 m/s, LOS rate: -0.038934 deg/s, cmd heading: 30.613178 deg, new cmd heading: 30.580561 deg. 2025-10-29T00:43:23.226Z,1761698603.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533731 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:23.237Z,1761698603.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266807 2025-10-29T00:43:23.489Z,1761698603.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518842 2025-10-29T00:43:23.558Z,1761698603.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861919,-0.501004,-0.078045],[0.506444,0.858134,0.084377],[0.024700,-0.112252,0.993373]] 2025-10-29T00:43:23.593Z,1761698603.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:23.598Z,1761698603.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 85.367836 m, bearing: 18.753182 deg, approach rate: -0.637161 m/s, LOS rate: -0.035299 deg/s, cmd heading: 30.580560 deg, new cmd heading: 30.554380 deg. 2025-10-29T00:43:23.599Z,1761698603.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.533275 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:23.742Z,1761698603.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771075 2025-10-29T00:43:23.996Z,1761698603.996 [DAT](INFO): DAT read: Rx Time:00:43:23.2944 2025-10-29T00:43:23.998Z,1761698603.998 [DAT](INFO): Rx dataTimestamp_ set to:1761698603.996766 2025-10-29T00:43:23.999Z,1761698603.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028931 2025-10-29T00:43:24.002Z,1761698604.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861618,-0.501492,-0.078227],[0.507004,0.857585,0.086568],[0.023674,-0.114250,0.993170]] 2025-10-29T00:43:24.075Z,1761698604.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:24.082Z,1761698604.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 85.045746 m, bearing: 18.731056 deg, approach rate: -0.668310 m/s, LOS rate: -0.046082 deg/s, cmd heading: 30.554380 deg, new cmd heading: 30.509962 deg. 2025-10-29T00:43:24.083Z,1761698604.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.532499 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:24.245Z,1761698604.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274672 2025-10-29T00:43:24.479Z,1761698604.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.89 m. 2025-10-29T00:43:24.483Z,1761698604.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.886597 m, nav range: 84.764832 m, bearing: 18.711622 deg, approach rate: -0.695016 m/s, LOS rate: -0.048243 deg/s, cmd heading: 30.509963 deg, new cmd heading: 30.470965 deg. 2025-10-29T00:43:24.484Z,1761698604.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531819 target range: 88.886597 and range: 89.40 m. 2025-10-29T00:43:24.502Z,1761698604.502 [DAT](INFO): DAT read: 00:43:23.2944 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.16,-2.652, 2.258,-2.061,-2.621, PHS= 0.071,-1.359, 0.517, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 2025-10-29T00:43:24.503Z,1761698604.503 [DAT](INFO): got valid direction response: 00:43:23.2944 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 415,-0.16,-2.652, 2.258,-2.061,-2.621, PHS= 0.071,-1.359, 0.517, RAW= 163.1, 9.1, CAL= 162.9, 9.7, ROT= 347.1, -9.7 2025-10-29T00:43:24.505Z,1761698604.505 [DAT](INFO): DAT read: Bearing 186.6, -12.2 (Local) 2025-10-29T00:43:24.505Z,1761698604.505 [DAT](INFO): Local bearing/azimuth received: Bearing 186.6, -12.2 (Local) 2025-10-29T00:43:24.506Z,1761698604.506 [DAT](INFO): DAT read: Range 11 to 50 : 86.9 m (Round-trip 115.9 ms) speed 0.1 m/s 2025-10-29T00:43:24.507Z,1761698604.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:24.510Z,1761698604.510 [DAT](INFO): direction in FSK: [0.960825,-0.220058,0.168489] 2025-10-29T00:43:24.510Z,1761698604.510 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:24.517Z,1761698604.517 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:24.517Z,1761698604.517 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:24.518Z,1761698604.518 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:24.750Z,1761698604.750 [DAT](INFO): DAT read: user:556> 2025-10-29T00:43:24.751Z,1761698604.751 [DAT](INFO): DAT read: Tx time:00:43:24.5244 2025-10-29T00:43:24.751Z,1761698604.751 [DAT](INFO): Ping request sent. 2025-10-29T00:43:24.751Z,1761698604.751 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:24.752Z,1761698604.752 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:24.753Z,1761698604.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001204 2025-10-29T00:43:24.823Z,1761698604.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861035,-0.502266,-0.079674],[0.508116,0.856129,0.094137],[0.020929,-0.121538,0.992366]] 2025-10-29T00:43:24.861Z,1761698604.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.900002 m, deltaT: 3.779572 s, deltaX: -2.500000 m, approachRate: -0.661451 m/s, rangeRepo size: 4 2025-10-29T00:43:24.863Z,1761698604.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.401581 m, bearing: 18.854352 deg, lat: 36.779269 deg, lon: -121.859523 deg, deltaT: 3.779572 s, deltaX: -2.485016 m, approachRate: -0.657486 m/s, posRepo size: 4 2025-10-29T00:43:24.867Z,1761698604.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:24.870Z,1761698604.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 84.386879 m, bearing: 18.830417 deg, approach rate: 0.000000 m/s, LOS rate: -0.048243 deg/s, cmd heading: 30.470966 deg, new cmd heading: 30.434166 deg. 2025-10-29T00:43:24.871Z,1761698604.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.531176 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:25.001Z,1761698605.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249610 2025-10-29T00:43:25.222Z,1761698605.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860983,-0.502286,-0.080105],[0.508251,0.855705,0.097213],[0.019717,-0.124412,0.992035]] 2025-10-29T00:43:25.253Z,1761698605.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501550 2025-10-29T00:43:25.273Z,1761698605.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:25.275Z,1761698605.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:25.282Z,1761698605.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 84.117683 m, bearing: 18.810478 deg, approach rate: -0.650088 m/s, LOS rate: -0.048304 deg/s, cmd heading: 30.434165 deg, new cmd heading: 30.394161 deg. 2025-10-29T00:43:25.283Z,1761698605.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.530478 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:25.505Z,1761698605.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753380 2025-10-29T00:43:25.624Z,1761698605.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861059,-0.502304,-0.079171],[0.508184,0.855550,0.098911],[0.018051,-0.125402,0.991942]] 2025-10-29T00:43:25.648Z,1761698605.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:25.652Z,1761698605.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 83.856560 m, bearing: 18.791026 deg, approach rate: -0.700505 m/s, LOS rate: -0.052347 deg/s, cmd heading: 30.394161 deg, new cmd heading: 30.355134 deg. 2025-10-29T00:43:25.654Z,1761698605.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529797 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:25.758Z,1761698605.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006437 2025-10-29T00:43:26.017Z,1761698606.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259984 2025-10-29T00:43:26.041Z,1761698606.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861391,-0.502190,-0.076227],[0.507673,0.856071,0.097012],[0.016537,-0.122264,0.992360]] 2025-10-29T00:43:26.090Z,1761698606.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:26.093Z,1761698606.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 83.557610 m, bearing: 18.770250 deg, approach rate: -0.675607 m/s, LOS rate: -0.047119 deg/s, cmd heading: 30.355133 deg, new cmd heading: 30.313433 deg. 2025-10-29T00:43:26.094Z,1761698606.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.529069 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:26.261Z,1761698606.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509328 2025-10-29T00:43:26.435Z,1761698606.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861535,-0.502336,-0.073597],[0.507476,0.856352,0.095550],[0.015027,-0.119669,0.992700]] 2025-10-29T00:43:26.453Z,1761698606.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:26.456Z,1761698606.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 83.312195 m, bearing: 18.753135 deg, approach rate: -0.676029 m/s, LOS rate: -0.047285 deg/s, cmd heading: 30.313435 deg, new cmd heading: 30.279103 deg. 2025-10-29T00:43:26.457Z,1761698606.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.528470 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:26.514Z,1761698606.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762215 2025-10-29T00:43:26.766Z,1761698606.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014058 2025-10-29T00:43:26.835Z,1761698606.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862117,-0.501540,-0.072191],[0.506517,0.856921,0.095539],[0.013945,-0.118932,0.992804]] 2025-10-29T00:43:26.866Z,1761698606.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:26.869Z,1761698606.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 83.032959 m, bearing: 18.733759 deg, approach rate: -0.675877 m/s, LOS rate: -0.047055 deg/s, cmd heading: 30.279103 deg, new cmd heading: 30.240221 deg. 2025-10-29T00:43:26.870Z,1761698606.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527791 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:27.021Z,1761698607.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267902 2025-10-29T00:43:27.238Z,1761698607.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863284,-0.499490,-0.072462],[0.504557,0.857701,0.098848],[0.012777,-0.121895,0.992461]] 2025-10-29T00:43:27.269Z,1761698607.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517736 2025-10-29T00:43:27.287Z,1761698607.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:27.289Z,1761698607.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:27.292Z,1761698607.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 82.750740 m, bearing: 18.720573 deg, approach rate: -0.667374 m/s, LOS rate: -0.031287 deg/s, cmd heading: 30.240222 deg, new cmd heading: 30.213760 deg. 2025-10-29T00:43:27.293Z,1761698607.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.527330 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:27.521Z,1761698607.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769435 2025-10-29T00:43:27.688Z,1761698607.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:27.691Z,1761698607.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 82.484779 m, bearing: 18.708065 deg, approach rate: -0.666821 m/s, LOS rate: -0.031463 deg/s, cmd heading: 30.213762 deg, new cmd heading: 30.188664 deg. 2025-10-29T00:43:27.692Z,1761698607.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526892 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:27.774Z,1761698607.774 [DAT](INFO): DAT read: Rx Time:00:43:27.0412 2025-10-29T00:43:27.775Z,1761698607.775 [DAT](INFO): Rx dataTimestamp_ set to:1761698607.774260 2025-10-29T00:43:27.775Z,1761698607.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023866 2025-10-29T00:43:28.028Z,1761698608.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275750 2025-10-29T00:43:28.071Z,1761698608.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865917,-0.494909,-0.072479],[0.500090,0.859481,0.105846],[0.009910,-0.127900,0.991738]] 2025-10-29T00:43:28.116Z,1761698608.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.40 m. 2025-10-29T00:43:28.118Z,1761698608.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.401581 m, nav range: 82.192505 m, bearing: 18.699700 deg, approach rate: -0.683429 m/s, LOS rate: -0.019629 deg/s, cmd heading: 30.188664 deg, new cmd heading: 30.171876 deg. 2025-10-29T00:43:28.119Z,1761698608.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526599 target range: 86.401581 and range: 86.90 m. 2025-10-29T00:43:28.282Z,1761698608.282 [DAT](INFO): DAT read: 00:43:27.0412 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.28,-1.480,-2.846,-0.934,-1.447, PHS= 0.069,-1.354, 0.469, RAW= 162.1, 9.9, CAL= 162.0, 10.7, ROT= 348.0, -10.7 2025-10-29T00:43:28.284Z,1761698608.284 [DAT](INFO): got valid direction response: 00:43:27.0412 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 414, 0.28,-1.480,-2.846,-0.934,-1.447, PHS= 0.069,-1.354, 0.469, RAW= 162.1, 9.9, CAL= 162.0, 10.7, ROT= 348.0, -10.7 2025-10-29T00:43:28.285Z,1761698608.285 [DAT](INFO): DAT read: Bearing 187.1, -12.3 (Local) 2025-10-29T00:43:28.285Z,1761698608.285 [DAT](INFO): Local bearing/azimuth received: Bearing 187.1, -12.3 (Local) 2025-10-29T00:43:28.286Z,1761698608.286 [DAT](INFO): DAT read: Range 11 to 50 : 84.4 m (Round-trip 112.6 ms) speed 0.5 m/s 2025-10-29T00:43:28.287Z,1761698608.287 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:28.288Z,1761698608.288 [DAT](INFO): direction in FSK: [0.961140,-0.204297,0.185667] 2025-10-29T00:43:28.288Z,1761698608.288 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:28.291Z,1761698608.291 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:28.292Z,1761698608.292 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:28.294Z,1761698608.294 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:28.494Z,1761698608.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.400002 m, deltaT: 3.779955 s, deltaX: -2.500000 m, approachRate: -0.661384 m/s, rangeRepo size: 4 2025-10-29T00:43:28.496Z,1761698608.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.914528 m, bearing: 19.442369 deg, lat: 36.779265 deg, lon: -121.859522 deg, deltaT: 3.779955 s, deltaX: -2.487053 m, approachRate: -0.657958 m/s, posRepo size: 4 2025-10-29T00:43:28.497Z,1761698608.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:28.499Z,1761698608.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 81.575821 m, bearing: 18.805826 deg, approach rate: 0.000000 m/s, LOS rate: -0.019629 deg/s, cmd heading: 30.171876 deg, new cmd heading: 30.157052 deg. 2025-10-29T00:43:28.500Z,1761698608.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526340 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:28.529Z,1761698608.529 [DAT](INFO): DAT read: user:557> 2025-10-29T00:43:28.530Z,1761698608.530 [DAT](INFO): DAT read: Tx time:00:43:28.2744 2025-10-29T00:43:28.531Z,1761698608.531 [DAT](INFO): Ping request sent. 2025-10-29T00:43:28.531Z,1761698608.531 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:28.531Z,1761698608.531 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:28.532Z,1761698608.532 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001163 2025-10-29T00:43:28.781Z,1761698608.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250070 2025-10-29T00:43:28.856Z,1761698608.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868401,-0.490475,-0.072895],[0.495808,0.861054,0.112963],[0.007361,-0.134239,0.990922]] 2025-10-29T00:43:28.880Z,1761698608.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:28.883Z,1761698608.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 81.309418 m, bearing: 18.799329 deg, approach rate: -0.688888 m/s, LOS rate: -0.016855 deg/s, cmd heading: 30.157051 deg, new cmd heading: 30.144015 deg. 2025-10-29T00:43:28.884Z,1761698608.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526112 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:29.036Z,1761698609.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504528 2025-10-29T00:43:29.259Z,1761698609.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869109,-0.489315,-0.072258],[0.494585,0.861500,0.114910],[0.006023,-0.135607,0.990744]] 2025-10-29T00:43:29.285Z,1761698609.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754075 2025-10-29T00:43:29.316Z,1761698609.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:29.318Z,1761698609.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:29.321Z,1761698609.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 81.036812 m, bearing: 18.801200 deg, approach rate: -0.622880 m/s, LOS rate: 0.004289 deg/s, cmd heading: 30.144015 deg, new cmd heading: 30.147770 deg. 2025-10-29T00:43:29.321Z,1761698609.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526178 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:29.538Z,1761698609.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006852 2025-10-29T00:43:29.677Z,1761698609.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869345,-0.489299,-0.069469],[0.494183,0.862028,0.112653],[0.004763,-0.132265,0.991203]] 2025-10-29T00:43:29.695Z,1761698609.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:29.698Z,1761698609.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 80.800797 m, bearing: 18.802949 deg, approach rate: -0.625006 m/s, LOS rate: 0.004644 deg/s, cmd heading: 30.147769 deg, new cmd heading: 30.151276 deg. 2025-10-29T00:43:29.699Z,1761698609.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526239 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:29.789Z,1761698609.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258216 2025-10-29T00:43:30.044Z,1761698610.044 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512361 2025-10-29T00:43:30.100Z,1761698610.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869487,-0.489211,-0.068307],[0.493942,0.862180,0.112546],[0.003835,-0.131597,0.991296]] 2025-10-29T00:43:30.136Z,1761698610.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:30.139Z,1761698610.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 80.498665 m, bearing: 18.804382 deg, approach rate: -0.685750 m/s, LOS rate: 0.003265 deg/s, cmd heading: 30.151276 deg, new cmd heading: 30.154153 deg. 2025-10-29T00:43:30.140Z,1761698610.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526289 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:30.293Z,1761698610.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762136 2025-10-29T00:43:30.493Z,1761698610.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869707,-0.488665,-0.069398],[0.493562,0.861745,0.117441],[0.002414,-0.136392,0.990652]] 2025-10-29T00:43:30.511Z,1761698610.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:30.514Z,1761698610.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 80.241165 m, bearing: 18.805649 deg, approach rate: -0.686026 m/s, LOS rate: 0.003387 deg/s, cmd heading: 30.154151 deg, new cmd heading: 30.156694 deg. 2025-10-29T00:43:30.515Z,1761698610.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526334 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:30.545Z,1761698610.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014151 2025-10-29T00:43:30.797Z,1761698610.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266057 2025-10-29T00:43:30.894Z,1761698610.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869879,-0.488191,-0.070565],[0.493263,0.861266,0.122116],[0.001159,-0.141033,0.990004]] 2025-10-29T00:43:30.937Z,1761698610.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:30.947Z,1761698610.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 79.965515 m, bearing: 18.807037 deg, approach rate: -0.647122 m/s, LOS rate: 0.003270 deg/s, cmd heading: 30.156696 deg, new cmd heading: 30.159481 deg. 2025-10-29T00:43:30.948Z,1761698610.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526382 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:31.052Z,1761698611.052 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520561 2025-10-29T00:43:31.298Z,1761698611.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869672,-0.488649,-0.069946],[0.493630,0.860940,0.122931],[0.000149,-0.141438,0.989947]] 2025-10-29T00:43:31.301Z,1761698611.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770123 2025-10-29T00:43:31.351Z,1761698611.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:31.357Z,1761698611.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:31.364Z,1761698611.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 79.668106 m, bearing: 18.808648 deg, approach rate: -0.708314 m/s, LOS rate: 0.003852 deg/s, cmd heading: 30.159482 deg, new cmd heading: 30.162717 deg. 2025-10-29T00:43:31.365Z,1761698611.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526439 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:31.553Z,1761698611.553 [DAT](INFO): DAT read: Rx Time:00:43:30.7877 2025-10-29T00:43:31.553Z,1761698611.553 [DAT](INFO): Rx dataTimestamp_ set to:1761698611.553109 2025-10-29T00:43:31.554Z,1761698611.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023070 2025-10-29T00:43:31.704Z,1761698611.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868644,-0.490804,-0.067589],[0.495436,0.860555,0.118268],[0.000118,-0.136219,0.990679]] 2025-10-29T00:43:31.722Z,1761698611.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.91 m. 2025-10-29T00:43:31.725Z,1761698611.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.914528 m, nav range: 79.417793 m, bearing: 18.809685 deg, approach rate: -0.685304 m/s, LOS rate: 0.002847 deg/s, cmd heading: 30.162716 deg, new cmd heading: 30.164796 deg. 2025-10-29T00:43:31.726Z,1761698611.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526475 target range: 83.914528 and range: 84.40 m. 2025-10-29T00:43:31.806Z,1761698611.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275010 2025-10-29T00:43:32.080Z,1761698612.080 [DAT](INFO): DAT read: 00:43:30.7877 LVL= 32752, 32753, 30434, 32755, AGC= 71, IDX= 411, 0.03,-1.952, 2.868,-1.355,-1.996, PHS= 0.146,-1.374, 0.596, RAW= 162.6, 7.1, CAL= 162.1, 7.0, ROT= 347.9, -7.0 2025-10-29T00:43:32.084Z,1761698612.084 [DAT](INFO): got valid direction response: 00:43:30.7877 LVL= 32752, 32753, 30434, 32755, AGC= 71, IDX= 411, 0.03,-1.952, 2.868,-1.355,-1.996, PHS= 0.146,-1.374, 0.596, RAW= 162.6, 7.1, CAL= 162.1, 7.0, ROT= 347.9, -7.0 2025-10-29T00:43:32.087Z,1761698612.087 [DAT](INFO): DAT read: Bearing 182.3, -12.7 (Local) 2025-10-29T00:43:32.089Z,1761698612.089 [DAT](INFO): Local bearing/azimuth received: Bearing 182.3, -12.7 (Local) 2025-10-29T00:43:32.128Z,1761698612.128 [DAT](INFO): DAT read: Range 11 to 50 : 81.9 m (Round-trip 109.2 ms) speed 0.6 m/s 2025-10-29T00:43:32.129Z,1761698612.129 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:32.130Z,1761698612.130 [DAT](INFO): direction in FSK: [0.970495,-0.208056,0.121869] 2025-10-29T00:43:32.130Z,1761698612.130 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:32.152Z,1761698612.152 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:32.156Z,1761698612.156 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:32.157Z,1761698612.157 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:32.298Z,1761698612.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.900002 m, deltaT: 3.781311 s, deltaX: -2.500000 m, approachRate: -0.661146 m/s, rangeRepo size: 4 2025-10-29T00:43:32.304Z,1761698612.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.430260 m, bearing: 18.648808 deg, lat: 36.779269 deg, lon: -121.859522 deg, deltaT: 3.781311 s, deltaX: -2.484268 m, approachRate: -0.656986 m/s, posRepo size: 4 2025-10-29T00:43:32.305Z,1761698612.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:32.307Z,1761698612.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 79.419968 m, bearing: 18.719172 deg, approach rate: 0.000000 m/s, LOS rate: 0.002847 deg/s, cmd heading: 30.164796 deg, new cmd heading: 30.168070 deg. 2025-10-29T00:43:32.309Z,1761698612.309 [DAT](INFO): DAT read: user:558> 2025-10-29T00:43:32.310Z,1761698612.310 [DAT](INFO): DAT read: Tx time:00:43:32.1744 2025-10-29T00:43:32.310Z,1761698612.310 [DAT](INFO): Ping request sent. 2025-10-29T00:43:32.310Z,1761698612.310 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:32.310Z,1761698612.310 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:32.311Z,1761698612.311 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-29T00:43:32.313Z,1761698612.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526532 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:32.561Z,1761698612.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866 2025-10-29T00:43:32.569Z,1761698612.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865877,-0.496106,-0.064310],[0.500256,0.858773,0.110688],[0.000315,-0.128014,0.991772]] 2025-10-29T00:43:32.587Z,1761698612.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:32.590Z,1761698612.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 79.207809 m, bearing: 18.718889 deg, approach rate: -0.731489 m/s, LOS rate: -0.000981 deg/s, cmd heading: 30.168071 deg, new cmd heading: 30.167502 deg. 2025-10-29T00:43:32.591Z,1761698612.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526522 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:32.813Z,1761698612.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502830 2025-10-29T00:43:32.971Z,1761698612.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865068,-0.497640,-0.063341],[0.501654,0.858108,0.109518],[-0.000147,-0.126516,0.991965]] 2025-10-29T00:43:33.023Z,1761698613.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:33.026Z,1761698613.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 78.926056 m, bearing: 18.718192 deg, approach rate: -0.646967 m/s, LOS rate: -0.001604 deg/s, cmd heading: 30.167501 deg, new cmd heading: 30.166104 deg. 2025-10-29T00:43:33.027Z,1761698613.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526498 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:33.068Z,1761698613.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757326 2025-10-29T00:43:33.317Z,1761698613.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006776 2025-10-29T00:43:33.375Z,1761698613.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864471,-0.498847,-0.061987],[0.502683,0.857748,0.107605],[-0.000509,-0.124181,0.992260]] 2025-10-29T00:43:33.430Z,1761698613.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:33.435Z,1761698613.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:33.438Z,1761698613.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 78.641220 m, bearing: 18.716298 deg, approach rate: -0.696730 m/s, LOS rate: -0.004652 deg/s, cmd heading: 30.166104 deg, new cmd heading: 30.162301 deg. 2025-10-29T00:43:33.439Z,1761698613.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526431 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:33.569Z,1761698613.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258798 2025-10-29T00:43:33.783Z,1761698613.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863821,-0.500381,-0.058585],[0.503798,0.857812,0.101711],[-0.000639,-0.117376,0.993087]] 2025-10-29T00:43:33.808Z,1761698613.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:33.811Z,1761698613.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 78.389565 m, bearing: 18.714437 deg, approach rate: -0.669062 m/s, LOS rate: -0.004964 deg/s, cmd heading: 30.162300 deg, new cmd heading: 30.158566 deg. 2025-10-29T00:43:33.812Z,1761698613.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526366 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:33.821Z,1761698613.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510739 2025-10-29T00:43:34.073Z,1761698614.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763051 2025-10-29T00:43:34.183Z,1761698614.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863507,-0.501151,-0.056602],[0.504337,0.857950,0.097808],[-0.000455,-0.113005,0.993594]] 2025-10-29T00:43:34.237Z,1761698614.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:34.239Z,1761698614.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 78.106064 m, bearing: 18.706214 deg, approach rate: -0.660970 m/s, LOS rate: -0.019240 deg/s, cmd heading: 30.158567 deg, new cmd heading: 30.142062 deg. 2025-10-29T00:43:34.240Z,1761698614.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.526078 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:34.326Z,1761698614.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016203 2025-10-29T00:43:34.577Z,1761698614.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266856 2025-10-29T00:43:34.593Z,1761698614.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863373,-0.501388,-0.056545],[0.504566,0.857777,0.098135],[-0.000701,-0.113258,0.993565]] 2025-10-29T00:43:34.613Z,1761698614.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:34.615Z,1761698614.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 77.858078 m, bearing: 18.698921 deg, approach rate: -0.659955 m/s, LOS rate: -0.019470 deg/s, cmd heading: 30.142062 deg, new cmd heading: 30.127430 deg. 2025-10-29T00:43:34.616Z,1761698614.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525823 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:34.829Z,1761698614.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519293 2025-10-29T00:43:34.992Z,1761698614.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863553,-0.500772,-0.059192],[0.504256,0.857248,0.104173],[-0.001424,-0.119807,0.992796]] 2025-10-29T00:43:35.011Z,1761698615.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:35.013Z,1761698615.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 77.594383 m, bearing: 18.691121 deg, approach rate: -0.662523 m/s, LOS rate: -0.019663 deg/s, cmd heading: 30.127428 deg, new cmd heading: 30.111776 deg. 2025-10-29T00:43:35.014Z,1761698615.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525550 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:35.083Z,1761698615.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772042 2025-10-29T00:43:35.333Z,1761698615.333 [DAT](INFO): DAT read: Rx Time:00:43:34.6840 2025-10-29T00:43:35.333Z,1761698615.333 [DAT](INFO): Rx dataTimestamp_ set to:1761698615.333105 2025-10-29T00:43:35.334Z,1761698615.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023837 2025-10-29T00:43:35.407Z,1761698615.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863946,-0.499696,-0.062466],[0.503579,0.856680,0.111833],[-0.002369,-0.128074,0.991762]] 2025-10-29T00:43:35.458Z,1761698615.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:35.460Z,1761698615.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:35.463Z,1761698615.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 77.295517 m, bearing: 18.675660 deg, approach rate: -0.665117 m/s, LOS rate: -0.034543 deg/s, cmd heading: 30.111777 deg, new cmd heading: 30.080734 deg. 2025-10-29T00:43:35.464Z,1761698615.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.525008 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:35.585Z,1761698615.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274794 2025-10-29T00:43:35.798Z,1761698615.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864426,-0.498612,-0.064451],[0.502750,0.856443,0.117250],[-0.003263,-0.133757,0.991009]] 2025-10-29T00:43:35.847Z,1761698615.847 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529136 2025-10-29T00:43:35.885Z,1761698615.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.43 m. 2025-10-29T00:43:35.893Z,1761698615.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.430260 m, nav range: 77.011650 m, bearing: 18.661020 deg, approach rate: -0.667084 m/s, LOS rate: -0.034529 deg/s, cmd heading: 30.080734 deg, new cmd heading: 30.051347 deg. 2025-10-29T00:43:35.894Z,1761698615.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.524495 target range: 81.430260 and range: 81.90 m. 2025-10-29T00:43:36.094Z,1761698616.094 [DAT](INFO): DAT read: 00:43:34.6840 LVL= 32752, 32753, 28130, 32755, AGC= 69, IDX= 406,-0.18, 2.968, 1.576,-2.693, 2.985, PHS= 0.085,-1.363, 0.562, RAW= 163.7, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6 2025-10-29T00:43:36.095Z,1761698616.095 [DAT](INFO): got valid direction response: 00:43:34.6840 LVL= 32752, 32753, 28130, 32755, AGC= 69, IDX= 406,-0.18, 2.968, 1.576,-2.693, 2.985, PHS= 0.085,-1.363, 0.562, RAW= 163.7, 8.3, CAL= 163.4, 8.6, ROT= 346.6, -8.6 2025-10-29T00:43:36.097Z,1761698616.097 [DAT](INFO): DAT read: Bearing 185.2, -14.1 (Local) 2025-10-29T00:43:36.098Z,1761698616.098 [DAT](INFO): Local bearing/azimuth received: Bearing 185.2, -14.1 (Local) 2025-10-29T00:43:36.106Z,1761698616.106 [DAT](INFO): DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.6 ms) speed 0.8 m/s 2025-10-29T00:43:36.108Z,1761698616.108 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:36.109Z,1761698616.109 [DAT](INFO): direction in FSK: [0.961838,-0.229142,0.149535] 2025-10-29T00:43:36.110Z,1761698616.110 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:36.120Z,1761698616.120 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:36.121Z,1761698616.121 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:36.121Z,1761698616.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:36.249Z,1761698616.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864411,-0.498484,-0.065622],[0.502769,0.855950,0.120716],[-0.004006,-0.137341,0.990516]] 2025-10-29T00:43:36.341Z,1761698616.341 [DAT](INFO): DAT read: user:559> 2025-10-29T00:43:36.342Z,1761698616.342 [DAT](INFO): DAT read: Tx time:00:43:36.1243 2025-10-29T00:43:36.342Z,1761698616.342 [DAT](INFO): Ping request sent. 2025-10-29T00:43:36.342Z,1761698616.342 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:36.342Z,1761698616.342 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:36.343Z,1761698616.343 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T00:43:36.359Z,1761698616.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 4.030639 s, deltaX: -2.700005 m, approachRate: -0.669870 m/s, rangeRepo size: 4 2025-10-29T00:43:36.365Z,1761698616.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.747849 m, bearing: 18.079068 deg, lat: 36.779271 deg, lon: -121.859522 deg, deltaT: 4.030639 s, deltaX: -2.682411 m, approachRate: -0.665505 m/s, posRepo size: 4 2025-10-29T00:43:36.366Z,1761698616.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:36.370Z,1761698616.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 76.896652 m, bearing: 18.597699 deg, approach rate: 0.000000 m/s, LOS rate: -0.034529 deg/s, cmd heading: 30.051347 deg, new cmd heading: 30.018714 deg. 2025-10-29T00:43:36.371Z,1761698616.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523925 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:36.594Z,1761698616.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251178 2025-10-29T00:43:36.684Z,1761698616.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864193,-0.498762,-0.066377],[0.503143,0.855519,0.122209],[-0.004167,-0.139010,0.990282]] 2025-10-29T00:43:36.704Z,1761698616.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:36.706Z,1761698616.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 76.644745 m, bearing: 18.580351 deg, approach rate: -0.729046 m/s, LOS rate: -0.050372 deg/s, cmd heading: 30.018716 deg, new cmd heading: 29.983905 deg. 2025-10-29T00:43:36.707Z,1761698616.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.523318 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:36.845Z,1761698616.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502620 2025-10-29T00:43:37.082Z,1761698617.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863950,-0.499260,-0.065797],[0.503554,0.855257,0.122349],[-0.004811,-0.138836,0.990304]] 2025-10-29T00:43:37.101Z,1761698617.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757798 2025-10-29T00:43:37.107Z,1761698617.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:37.111Z,1761698617.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 76.383759 m, bearing: 18.562164 deg, approach rate: -0.646091 m/s, LOS rate: -0.045178 deg/s, cmd heading: 29.983905 deg, new cmd heading: 29.947406 deg. 2025-10-29T00:43:37.137Z,1761698617.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.522681 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:37.349Z,1761698617.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006736 2025-10-29T00:43:37.553Z,1761698617.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:37.555Z,1761698617.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:37.558Z,1761698617.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 76.092041 m, bearing: 18.535866 deg, approach rate: -0.652126 m/s, LOS rate: -0.059014 deg/s, cmd heading: 29.947405 deg, new cmd heading: 29.894607 deg. 2025-10-29T00:43:37.558Z,1761698617.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.521759 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:37.601Z,1761698617.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258855 2025-10-29T00:43:37.853Z,1761698617.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510718 2025-10-29T00:43:37.887Z,1761698617.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862817,-0.501755,-0.061557],[0.505473,0.854731,0.118029],[-0.006607,-0.132953,0.991100]] 2025-10-29T00:43:37.922Z,1761698617.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:37.925Z,1761698617.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 75.855820 m, bearing: 18.514050 deg, approach rate: -0.643628 m/s, LOS rate: -0.059626 deg/s, cmd heading: 29.894608 deg, new cmd heading: 29.850841 deg. 2025-10-29T00:43:37.926Z,1761698617.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520995 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:38.108Z,1761698618.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765409 2025-10-29T00:43:38.290Z,1761698618.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862439,-0.502584,-0.060070],[0.506109,0.854550,0.116608],[-0.007273,-0.130970,0.991360]] 2025-10-29T00:43:38.347Z,1761698618.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:38.350Z,1761698618.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 75.572769 m, bearing: 18.493799 deg, approach rate: -0.665133 m/s, LOS rate: -0.047767 deg/s, cmd heading: 29.850840 deg, new cmd heading: 29.810185 deg. 2025-10-29T00:43:38.351Z,1761698618.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.520286 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:38.357Z,1761698618.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014807 2025-10-29T00:43:38.609Z,1761698618.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266718 2025-10-29T00:43:38.696Z,1761698618.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862069,-0.503302,-0.059371],[0.506734,0.854262,0.116007],[-0.007668,-0.130092,0.991472]] 2025-10-29T00:43:38.714Z,1761698618.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:38.717Z,1761698618.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 75.325874 m, bearing: 18.475877 deg, approach rate: -0.673173 m/s, LOS rate: -0.049025 deg/s, cmd heading: 29.810186 deg, new cmd heading: 29.774225 deg. 2025-10-29T00:43:38.718Z,1761698618.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.519658 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:38.861Z,1761698618.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518703 2025-10-29T00:43:39.099Z,1761698619.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861952,-0.503662,-0.057995],[0.506923,0.854324,0.114712],[-0.008230,-0.128275,0.991704]] 2025-10-29T00:43:39.113Z,1761698619.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770768 2025-10-29T00:43:39.119Z,1761698619.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:39.150Z,1761698619.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 75.056511 m, bearing: 18.456153 deg, approach rate: -0.665784 m/s, LOS rate: -0.048926 deg/s, cmd heading: 29.774226 deg, new cmd heading: 29.734636 deg. 2025-10-29T00:43:39.158Z,1761698619.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518967 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:39.365Z,1761698619.365 [DAT](INFO): DAT read: Rx Time:00:43:38.6306 2025-10-29T00:43:39.365Z,1761698619.365 [DAT](INFO): Rx dataTimestamp_ set to:1761698619.365050 2025-10-29T00:43:39.366Z,1761698619.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023699 2025-10-29T00:43:39.506Z,1761698619.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861773,-0.504047,-0.057302],[0.507221,0.854212,0.114232],[-0.008630,-0.127507,0.991800]] 2025-10-29T00:43:39.563Z,1761698619.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:39.565Z,1761698619.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.75 m. 2025-10-29T00:43:39.568Z,1761698619.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.747849 m, nav range: 74.750862 m, bearing: 18.436040 deg, approach rate: -0.684429 m/s, LOS rate: -0.045222 deg/s, cmd heading: 29.734638 deg, new cmd heading: 29.694248 deg. 2025-10-29T00:43:39.569Z,1761698619.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.518262 target range: 78.747849 and range: 79.20 m. 2025-10-29T00:43:39.618Z,1761698619.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275208 2025-10-29T00:43:39.874Z,1761698619.874 [DAT](INFO): DAT read: 00:43:38.6306 LVL= 32752, 32753, 26674, 32755, AGC= 70, IDX= 403, 0.33,-0.067,-1.493, 0.574,-0.090, PHS= 0.124,-1.359, 0.620, RAW= 163.9, 6.9, CAL= 163.4, 6.7, ROT= 346.6, -6.7 2025-10-29T00:43:39.875Z,1761698619.875 [DAT](INFO): got valid direction response: 00:43:38.6306 LVL= 32752, 32753, 26674, 32755, AGC= 70, IDX= 403, 0.33,-0.067,-1.493, 0.574,-0.090, PHS= 0.124,-1.359, 0.620, RAW= 163.9, 6.9, CAL= 163.4, 6.7, ROT= 346.6, -6.7 2025-10-29T00:43:39.876Z,1761698619.876 [DAT](INFO): DAT read: Bearing 183.7, -14.4 (Local) 2025-10-29T00:43:39.876Z,1761698619.876 [DAT](INFO): Local bearing/azimuth received: Bearing 183.7, -14.4 (Local) 2025-10-29T00:43:39.878Z,1761698619.878 [DAT](INFO): DAT read: Range 11 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.5 m/s 2025-10-29T00:43:39.878Z,1761698619.878 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:39.879Z,1761698619.879 [DAT](INFO): direction in FSK: [0.966132,-0.230165,0.116671] 2025-10-29T00:43:39.881Z,1761698619.881 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:39.885Z,1761698619.885 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:39.885Z,1761698619.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:39.885Z,1761698619.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:39.923Z,1761698619.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861672,-0.504268,-0.056872],[0.507386,0.854123,0.114162],[-0.008992,-0.127227,0.991833]] 2025-10-29T00:43:39.978Z,1761698619.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.779918 s, deltaX: -2.599998 m, approachRate: -0.687845 m/s, rangeRepo size: 4 2025-10-29T00:43:39.987Z,1761698619.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.166153 m, bearing: 18.048601 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.779918 s, deltaX: -2.581696 m, approachRate: -0.683003 m/s, posRepo size: 4 2025-10-29T00:43:39.992Z,1761698619.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:39.995Z,1761698619.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 75.255119 m, bearing: 18.222438 deg, approach rate: 0.000000 m/s, LOS rate: -0.045222 deg/s, cmd heading: 29.694247 deg, new cmd heading: 29.656944 deg. 2025-10-29T00:43:39.000Z,1761698620.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517611 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:40.121Z,1761698620.121 [DAT](INFO): DAT read: user:560> 2025-10-29T00:43:40.122Z,1761698620.122 [DAT](INFO): DAT read: Tx time:00:43:39.8743 2025-10-29T00:43:40.122Z,1761698620.122 [DAT](INFO): Ping request sent. 2025-10-29T00:43:40.122Z,1761698620.122 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:40.122Z,1761698620.122 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:40.123Z,1761698620.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-29T00:43:40.315Z,1761698620.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862126,-0.503516,-0.056653],[0.506606,0.854496,0.114837],[-0.009412,-0.127705,0.991768]] 2025-10-29T00:43:40.373Z,1761698620.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250902 2025-10-29T00:43:40.374Z,1761698620.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:40.377Z,1761698620.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 74.986176 m, bearing: 18.208193 deg, approach rate: -0.681946 m/s, LOS rate: -0.036249 deg/s, cmd heading: 29.656944 deg, new cmd heading: 29.628353 deg. 2025-10-29T00:43:40.378Z,1761698620.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.517112 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:40.625Z,1761698620.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502822 2025-10-29T00:43:40.715Z,1761698620.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862891,-0.502134,-0.057277],[0.505302,0.855065,0.116335],[-0.009440,-0.129326,0.991557]] 2025-10-29T00:43:40.754Z,1761698620.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:40.758Z,1761698620.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 74.745041 m, bearing: 18.195603 deg, approach rate: -0.632484 m/s, LOS rate: -0.033130 deg/s, cmd heading: 29.628353 deg, new cmd heading: 29.603092 deg. 2025-10-29T00:43:40.759Z,1761698620.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516671 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:40.878Z,1761698620.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755379 2025-10-29T00:43:41.118Z,1761698621.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863986,-0.500024,-0.059190],[0.503435,0.855759,0.119287],[-0.008994,-0.132860,0.991094]] 2025-10-29T00:43:41.131Z,1761698621.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008177 2025-10-29T00:43:41.171Z,1761698621.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:41.201Z,1761698621.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 74.484093 m, bearing: 18.182294 deg, approach rate: -0.625082 m/s, LOS rate: -0.031993 deg/s, cmd heading: 29.603092 deg, new cmd heading: 29.576380 deg. 2025-10-29T00:43:41.209Z,1761698621.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.516205 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:41.381Z,1761698621.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258744 2025-10-29T00:43:41.550Z,1761698621.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865424,-0.497328,-0.060881],[0.500966,0.856787,0.122271],[-0.008646,-0.136316,0.990628]] 2025-10-29T00:43:41.611Z,1761698621.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:41.614Z,1761698621.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:41.616Z,1761698621.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 74.170753 m, bearing: 18.169714 deg, approach rate: -0.707715 m/s, LOS rate: -0.028533 deg/s, cmd heading: 29.576379 deg, new cmd heading: 29.551113 deg. 2025-10-29T00:43:41.617Z,1761698621.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515764 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:41.634Z,1761698621.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511699 2025-10-29T00:43:41.885Z,1761698621.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762833 2025-10-29T00:43:41.961Z,1761698621.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:41.964Z,1761698621.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 73.938141 m, bearing: 18.160306 deg, approach rate: -0.669526 m/s, LOS rate: -0.027164 deg/s, cmd heading: 29.551114 deg, new cmd heading: 29.532239 deg. 2025-10-29T00:43:41.965Z,1761698621.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515435 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:42.137Z,1761698622.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014762 2025-10-29T00:43:42.330Z,1761698622.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865949,-0.496366,-0.061259],[0.500056,0.857177,0.123252],[-0.008668,-0.137362,0.990483]] 2025-10-29T00:43:42.379Z,1761698622.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:42.382Z,1761698622.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 73.652573 m, bearing: 18.149246 deg, approach rate: -0.683089 m/s, LOS rate: -0.026559 deg/s, cmd heading: 29.532239 deg, new cmd heading: 29.510032 deg. 2025-10-29T00:43:42.383Z,1761698622.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.515047 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:42.389Z,1761698622.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267129 2025-10-29T00:43:42.642Z,1761698622.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520196 2025-10-29T00:43:42.737Z,1761698622.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866346,-0.495630,-0.061616],[0.499367,0.857413,0.124404],[-0.008828,-0.138546,0.990317]] 2025-10-29T00:43:42.769Z,1761698622.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:42.773Z,1761698622.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 73.390289 m, bearing: 18.139167 deg, approach rate: -0.675574 m/s, LOS rate: -0.026054 deg/s, cmd heading: 29.510034 deg, new cmd heading: 29.489803 deg. 2025-10-29T00:43:42.774Z,1761698622.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514694 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:42.894Z,1761698622.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771353 2025-10-29T00:43:43.146Z,1761698623.146 [DAT](INFO): DAT read: Rx Time:00:43:42.3774 2025-10-29T00:43:43.147Z,1761698623.147 [DAT](INFO): Rx dataTimestamp_ set to:1761698623.146457 2025-10-29T00:43:43.148Z,1761698623.148 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025857 2025-10-29T00:43:43.171Z,1761698623.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866286,-0.495618,-0.062541],[0.499459,0.856944,0.127232],[-0.009464,-0.141456,0.989899]] 2025-10-29T00:43:43.247Z,1761698623.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.17 m. 2025-10-29T00:43:43.273Z,1761698623.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.166153 m, nav range: 73.089691 m, bearing: 18.127476 deg, approach rate: -0.637074 m/s, LOS rate: -0.024879 deg/s, cmd heading: 29.489803 deg, new cmd heading: 29.466325 deg. 2025-10-29T00:43:43.274Z,1761698623.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.514284 target range: 76.166153 and range: 76.60 m. 2025-10-29T00:43:43.398Z,1761698623.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275504 2025-10-29T00:43:43.620Z,1761698623.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865993,-0.496505,-0.059493],[0.499955,0.857269,0.123027],[-0.010082,-0.136284,0.990618]] 2025-10-29T00:43:43.657Z,1761698623.657 [DAT](INFO): DAT read: 00:43:42.3774 LVL= 32752, 32753, 30562, 32755, AGC= 70, IDX= 402, 0.33, 1.057,-0.392, 1.703, 1.052, PHS= 0.108,-1.399, 0.607, RAW= 163.8, 7.6, CAL= 163.4, 7.6, ROT= 346.6, -7.6 2025-10-29T00:43:43.658Z,1761698623.658 [DAT](INFO): got valid direction response: 00:43:42.3774 LVL= 32752, 32753, 30562, 32755, AGC= 70, IDX= 402, 0.33, 1.057,-0.392, 1.703, 1.052, PHS= 0.108,-1.399, 0.607, RAW= 163.8, 7.6, CAL= 163.4, 7.6, ROT= 346.6, -7.6 2025-10-29T00:43:43.659Z,1761698623.659 [DAT](INFO): DAT read: Bearing 183.7, -14.6 (Local) 2025-10-29T00:43:43.659Z,1761698623.659 [DAT](INFO): Local bearing/azimuth received: Bearing 183.7, -14.6 (Local) 2025-10-29T00:43:43.661Z,1761698623.661 [DAT](INFO): DAT read: Range 11 to 50 : 74.2 m (Round-trip 99.0 ms) speed 0.8 m/s 2025-10-29T00:43:43.662Z,1761698623.662 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:43.663Z,1761698623.663 [DAT](INFO): direction in FSK: [0.964231,-0.229712,0.132256] 2025-10-29T00:43:43.663Z,1761698623.663 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:43.667Z,1761698623.667 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:43.667Z,1761698623.667 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:43.668Z,1761698623.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:43.776Z,1761698623.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.199997 m, deltaT: 3.781109 s, deltaX: -2.400002 m, approachRate: -0.634735 m/s, rangeRepo size: 4 2025-10-29T00:43:43.778Z,1761698623.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 73.781471 m, bearing: 17.757561 deg, lat: 36.779279 deg, lon: -121.859524 deg, deltaT: 3.781109 s, deltaX: -2.384682 m, approachRate: -0.630683 m/s, posRepo size: 4 2025-10-29T00:43:43.779Z,1761698623.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:43.786Z,1761698623.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 72.763840 m, bearing: 17.981894 deg, approach rate: 0.000000 m/s, LOS rate: -0.024879 deg/s, cmd heading: 29.466324 deg, new cmd heading: 29.439881 deg. 2025-10-29T00:43:43.787Z,1761698623.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513823 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:43.901Z,1761698623.901 [DAT](INFO): DAT read: user:561> 2025-10-29T00:43:43.902Z,1761698623.902 [DAT](INFO): DAT read: Tx time:00:43:43.6743 2025-10-29T00:43:43.902Z,1761698623.902 [DAT](INFO): Ping request sent. 2025-10-29T00:43:43.903Z,1761698623.903 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:43.903Z,1761698623.903 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:43.903Z,1761698623.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:43:44.110Z,1761698624.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865914,-0.497084,-0.055682],[0.500076,0.857919,0.117894],[-0.010833,-0.129931,0.991464]] 2025-10-29T00:43:44.135Z,1761698624.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:44.138Z,1761698624.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:44.154Z,1761698624.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251114 2025-10-29T00:43:44.161Z,1761698624.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 72.503281 m, bearing: 17.973097 deg, approach rate: -0.709984 m/s, LOS rate: -0.024058 deg/s, cmd heading: 29.439881 deg, new cmd heading: 29.422223 deg. 2025-10-29T00:43:44.162Z,1761698624.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513515 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:44.405Z,1761698624.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502333 2025-10-29T00:43:44.511Z,1761698624.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866256,-0.496754,-0.053256],[0.499472,0.858684,0.114842],[-0.011318,-0.126083,0.991955]] 2025-10-29T00:43:44.559Z,1761698624.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:44.562Z,1761698624.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 72.223152 m, bearing: 17.964005 deg, approach rate: -0.664877 m/s, LOS rate: -0.021662 deg/s, cmd heading: 29.422221 deg, new cmd heading: 29.403968 deg. 2025-10-29T00:43:44.563Z,1761698624.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.513196 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:44.657Z,1761698624.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754437 2025-10-29T00:43:44.909Z,1761698624.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006450 2025-10-29T00:43:44.919Z,1761698624.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867428,-0.494859,-0.051803],[0.497416,0.859938,0.114383],[-0.012056,-0.124987,0.992085]] 2025-10-29T00:43:44.938Z,1761698624.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:44.940Z,1761698624.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 71.975739 m, bearing: 17.956394 deg, approach rate: -0.653274 m/s, LOS rate: -0.020166 deg/s, cmd heading: 29.403968 deg, new cmd heading: 29.388693 deg. 2025-10-29T00:43:44.941Z,1761698624.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512929 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:45.161Z,1761698625.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258652 2025-10-29T00:43:45.321Z,1761698625.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868693,-0.492703,-0.051154],[0.495195,0.861185,0.114637],[-0.012429,-0.124916,0.992089]] 2025-10-29T00:43:45.365Z,1761698625.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:45.367Z,1761698625.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 71.689476 m, bearing: 17.945954 deg, approach rate: -0.669922 m/s, LOS rate: -0.024530 deg/s, cmd heading: 29.388692 deg, new cmd heading: 29.367729 deg. 2025-10-29T00:43:45.369Z,1761698625.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512564 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:45.413Z,1761698625.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510439 2025-10-29T00:43:45.665Z,1761698625.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762366 2025-10-29T00:43:45.725Z,1761698625.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869905,-0.490647,-0.050304],[0.493054,0.862442,0.114416],[-0.012753,-0.124334,0.992158]] 2025-10-29T00:43:45.748Z,1761698625.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:45.752Z,1761698625.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 71.435707 m, bearing: 17.937136 deg, approach rate: -0.663323 m/s, LOS rate: -0.023132 deg/s, cmd heading: 29.367730 deg, new cmd heading: 29.350031 deg. 2025-10-29T00:43:45.754Z,1761698625.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.512255 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:45.917Z,1761698625.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014273 2025-10-29T00:43:46.135Z,1761698626.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870952,-0.488878,-0.049406],[0.491206,0.863673,0.113076],[-0.012609,-0.122752,0.992357]] 2025-10-29T00:43:46.166Z,1761698626.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:46.169Z,1761698626.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266437 2025-10-29T00:43:46.169Z,1761698626.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:46.172Z,1761698626.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 71.152084 m, bearing: 17.927707 deg, approach rate: -0.674971 m/s, LOS rate: -0.022528 deg/s, cmd heading: 29.350030 deg, new cmd heading: 29.331097 deg. 2025-10-29T00:43:46.173Z,1761698626.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511924 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:46.423Z,1761698626.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520236 2025-10-29T00:43:46.604Z,1761698626.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:46.606Z,1761698626.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 70.855026 m, bearing: 17.918719 deg, approach rate: -0.681407 m/s, LOS rate: -0.020704 deg/s, cmd heading: 29.331097 deg, new cmd heading: 29.313045 deg. 2025-10-29T00:43:46.607Z,1761698626.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511609 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:46.673Z,1761698626.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770461 2025-10-29T00:43:46.925Z,1761698626.925 [DAT](INFO): DAT read: Rx Time:00:43:46.1739 2025-10-29T00:43:46.925Z,1761698626.925 [DAT](INFO): Rx dataTimestamp_ set to:1761698626.925187 2025-10-29T00:43:46.926Z,1761698626.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023434 2025-10-29T00:43:46.937Z,1761698626.937 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872301,-0.486008,-0.053742],[0.488797,0.863791,0.122240],[-0.012987,-0.132899,0.991045]] 2025-10-29T00:43:46.976Z,1761698626.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:46.982Z,1761698626.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 70.615791 m, bearing: 17.911882 deg, approach rate: -0.643345 m/s, LOS rate: -0.018448 deg/s, cmd heading: 29.313044 deg, new cmd heading: 29.299324 deg. 2025-10-29T00:43:46.983Z,1761698626.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511370 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:47.177Z,1761698627.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274332 2025-10-29T00:43:47.360Z,1761698627.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872205,-0.486358,-0.052097],[0.488954,0.863972,0.120319],[-0.013508,-0.130416,0.991367]] 2025-10-29T00:43:47.413Z,1761698627.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 73.78 m. 2025-10-29T00:43:47.420Z,1761698627.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 73.781471 m, nav range: 70.324379 m, bearing: 17.901613 deg, approach rate: -0.665497 m/s, LOS rate: -0.023548 deg/s, cmd heading: 29.299326 deg, new cmd heading: 29.278703 deg. 2025-10-29T00:43:47.421Z,1761698627.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.511010 target range: 73.781471 and range: 74.20 m. 2025-10-29T00:43:47.434Z,1761698627.434 [DAT](INFO): DAT read: 00:43:46.1739 LVL= 32752, 32753, 26578, 32755, AGC= 69, IDX= 399,-0.47, 1.724, 0.311, 2.311, 1.748, PHS= 0.077,-1.393, 0.519, RAW= 162.7, 9.2, CAL= 162.6, 9.8, ROT= 347.4, -9.8 2025-10-29T00:43:47.435Z,1761698627.435 [DAT](INFO): got valid direction response: 00:43:46.1739 LVL= 32752, 32753, 26578, 32755, AGC= 69, IDX= 399,-0.47, 1.724, 0.311, 2.311, 1.748, PHS= 0.077,-1.393, 0.519, RAW= 162.7, 9.2, CAL= 162.6, 9.8, ROT= 347.4, -9.8 2025-10-29T00:43:47.437Z,1761698627.437 [DAT](INFO): DAT read: Bearing 185.7, -14.2 (Local) 2025-10-29T00:43:47.437Z,1761698627.437 [DAT](INFO): Local bearing/azimuth received: Bearing 185.7, -14.2 (Local) 2025-10-29T00:43:47.438Z,1761698627.438 [DAT](INFO): DAT read: Range 11 to 50 : 71.6 m (Round-trip 95.5 ms) speed 0.7 m/s 2025-10-29T00:43:47.439Z,1761698627.439 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:47.440Z,1761698627.440 [DAT](INFO): direction in FSK: [0.961676,-0.214960,0.170209] 2025-10-29T00:43:47.440Z,1761698627.440 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:47.443Z,1761698627.443 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:47.443Z,1761698627.443 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:47.448Z,1761698627.448 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:47.681Z,1761698627.681 [DAT](INFO): DAT read: user:562> 2025-10-29T00:43:47.683Z,1761698627.683 [DAT](INFO): DAT read: Tx time:00:43:47.4243 2025-10-29T00:43:47.683Z,1761698627.683 [DAT](INFO): Ping request sent. 2025-10-29T00:43:47.683Z,1761698627.683 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:47.683Z,1761698627.683 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:47.684Z,1761698627.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001179 2025-10-29T00:43:47.794Z,1761698627.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871727,-0.487500,-0.049348],[0.489796,0.864103,0.115875],[-0.013847,-0.125182,0.992037]] 2025-10-29T00:43:47.818Z,1761698627.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.599998 m, deltaT: 3.779105 s, deltaX: -2.599998 m, approachRate: -0.687993 m/s, rangeRepo size: 4 2025-10-29T00:43:47.820Z,1761698627.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.199402 m, bearing: 18.071686 deg, lat: 36.779279 deg, lon: -121.859524 deg, deltaT: 3.779105 s, deltaX: -2.582069 m, approachRate: -0.683249 m/s, posRepo size: 4 2025-10-29T00:43:47.821Z,1761698627.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:47.823Z,1761698627.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 70.049286 m, bearing: 17.891673 deg, approach rate: 0.000000 m/s, LOS rate: -0.023548 deg/s, cmd heading: 29.278702 deg, new cmd heading: 29.259670 deg. 2025-10-29T00:43:47.825Z,1761698627.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510678 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:47.933Z,1761698627.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250251 2025-10-29T00:43:48.166Z,1761698628.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871242,-0.488637,-0.046588],[0.490646,0.864185,0.111579],[-0.014262,-0.120071,0.992663]] 2025-10-29T00:43:48.183Z,1761698628.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:48.185Z,1761698628.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501985 2025-10-29T00:43:48.206Z,1761698628.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:48.213Z,1761698628.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 69.803406 m, bearing: 17.882567 deg, approach rate: -0.633201 m/s, LOS rate: -0.023532 deg/s, cmd heading: 29.259670 deg, new cmd heading: 29.241394 deg. 2025-10-29T00:43:48.214Z,1761698628.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510359 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:48.437Z,1761698628.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753918 2025-10-29T00:43:48.571Z,1761698628.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870905,-0.489391,-0.044954],[0.491219,0.864039,0.110184],[-0.015081,-0.118043,0.992894]] 2025-10-29T00:43:48.656Z,1761698628.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:48.659Z,1761698628.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 69.510574 m, bearing: 17.872348 deg, approach rate: -0.656325 m/s, LOS rate: -0.023001 deg/s, cmd heading: 29.241396 deg, new cmd heading: 29.220871 deg. 2025-10-29T00:43:48.664Z,1761698628.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.510000 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:48.689Z,1761698628.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006227 2025-10-29T00:43:48.941Z,1761698628.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258248 2025-10-29T00:43:48.993Z,1761698628.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870949,-0.489426,-0.043703],[0.491115,0.864157,0.109719],[-0.015933,-0.117022,0.993001]] 2025-10-29T00:43:49.011Z,1761698629.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:49.014Z,1761698629.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 69.263565 m, bearing: 17.863692 deg, approach rate: -0.687654 m/s, LOS rate: -0.024185 deg/s, cmd heading: 29.220871 deg, new cmd heading: 29.203496 deg. 2025-10-29T00:43:49.015Z,1761698629.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509697 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:49.193Z,1761698629.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509840 2025-10-29T00:43:49.395Z,1761698629.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871015,-0.489473,-0.041825],[0.490962,0.864388,0.108577],[-0.016992,-0.115107,0.993208]] 2025-10-29T00:43:49.441Z,1761698629.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:49.445Z,1761698629.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762064 2025-10-29T00:43:49.444Z,1761698629.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 68.991951 m, bearing: 17.855025 deg, approach rate: -0.631847 m/s, LOS rate: -0.020241 deg/s, cmd heading: 29.203495 deg, new cmd heading: 29.186093 deg. 2025-10-29T00:43:49.446Z,1761698629.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509393 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:49.698Z,1761698629.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015063 2025-10-29T00:43:49.800Z,1761698629.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871641,-0.488354,-0.041859],[0.489811,0.864709,0.111192],[-0.018105,-0.117423,0.992917]] 2025-10-29T00:43:49.820Z,1761698629.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:49.823Z,1761698629.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 68.753220 m, bearing: 17.847590 deg, approach rate: -0.630552 m/s, LOS rate: -0.019704 deg/s, cmd heading: 29.186092 deg, new cmd heading: 29.171172 deg. 2025-10-29T00:43:49.824Z,1761698629.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.509133 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:49.952Z,1761698629.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269002 2025-10-29T00:43:50.201Z,1761698630.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517835 2025-10-29T00:43:50.204Z,1761698630.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872406,-0.486820,-0.043754],[0.488424,0.864841,0.116157],[-0.018707,-0.122707,0.992267]] 2025-10-29T00:43:50.242Z,1761698630.242 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:50.245Z,1761698630.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:50.247Z,1761698630.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 68.495255 m, bearing: 17.839791 deg, approach rate: -0.607200 m/s, LOS rate: -0.018427 deg/s, cmd heading: 29.171171 deg, new cmd heading: 29.155513 deg. 2025-10-29T00:43:50.248Z,1761698630.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508860 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:50.454Z,1761698630.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770725 2025-10-29T00:43:50.613Z,1761698630.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873375,-0.484922,-0.045459],[0.486642,0.865024,0.122119],[-0.019895,-0.128778,0.991474]] 2025-10-29T00:43:50.691Z,1761698630.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:50.697Z,1761698630.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 68.208359 m, bearing: 17.827755 deg, approach rate: -0.643260 m/s, LOS rate: -0.027100 deg/s, cmd heading: 29.155513 deg, new cmd heading: 29.131340 deg. 2025-10-29T00:43:50.698Z,1761698630.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508438 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:50.705Z,1761698630.705 [DAT](INFO): DAT read: Rx Time:00:43:49.9208 2025-10-29T00:43:50.706Z,1761698630.706 [DAT](INFO): Rx dataTimestamp_ set to:1761698630.705273 2025-10-29T00:43:50.708Z,1761698630.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025391 2025-10-29T00:43:50.957Z,1761698630.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273878 2025-10-29T00:43:51.016Z,1761698631.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874243,-0.483228,-0.046810],[0.485055,0.865315,0.126295],[-0.020524,-0.133118,0.990888]] 2025-10-29T00:43:51.035Z,1761698631.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.20 m. 2025-10-29T00:43:51.037Z,1761698631.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.199402 m, nav range: 67.981514 m, bearing: 17.818478 deg, approach rate: -0.659086 m/s, LOS rate: -0.027045 deg/s, cmd heading: 29.131341 deg, new cmd heading: 29.112724 deg. 2025-10-29T00:43:51.038Z,1761698631.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.508113 target range: 71.199402 and range: 71.60 m. 2025-10-29T00:43:51.214Z,1761698631.214 [DAT](INFO): DAT read: 00:43:49.9208 LVL= 32752, 32753, 29842, 32755, AGC= 69, IDX= 414,-0.11,-2.293, 2.588,-1.712,-2.269, PHS= 0.078,-1.381, 0.513, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 2025-10-29T00:43:51.215Z,1761698631.215 [DAT](INFO): got valid direction response: 00:43:49.9208 LVL= 32752, 32753, 29842, 32755, AGC= 69, IDX= 414,-0.11,-2.293, 2.588,-1.712,-2.269, PHS= 0.078,-1.381, 0.513, RAW= 162.7, 9.2, CAL= 162.5, 9.8, ROT= 347.5, -9.8 2025-10-29T00:43:51.216Z,1761698631.216 [DAT](INFO): DAT read: Bearing 185.5, -14.2 (Local) 2025-10-29T00:43:51.217Z,1761698631.217 [DAT](INFO): Local bearing/azimuth received: Bearing 185.5, -14.2 (Local) 2025-10-29T00:43:51.218Z,1761698631.218 [DAT](INFO): DAT read: Range 11 to 50 : 69.2 m (Round-trip 92.3 ms) speed 0.5 m/s 2025-10-29T00:43:51.219Z,1761698631.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:51.220Z,1761698631.220 [DAT](INFO): direction in FSK: [0.962050,-0.213281,0.170209] 2025-10-29T00:43:51.220Z,1761698631.220 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:51.223Z,1761698631.223 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:51.223Z,1761698631.223 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:51.224Z,1761698631.224 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:51.461Z,1761698631.461 [DAT](INFO): DAT read: user:563> 2025-10-29T00:43:51.462Z,1761698631.462 [DAT](INFO): DAT read: Tx time:00:43:51.2243 2025-10-29T00:43:51.462Z,1761698631.462 [DAT](INFO): Ping request sent. 2025-10-29T00:43:51.462Z,1761698631.462 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:51.463Z,1761698631.463 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:51.463Z,1761698631.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T00:43:51.477Z,1761698631.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.199997 m, deltaT: 3.779875 s, deltaX: -2.400002 m, approachRate: -0.634942 m/s, rangeRepo size: 4 2025-10-29T00:43:51.479Z,1761698631.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.818710 m, bearing: 17.967409 deg, lat: 36.779278 deg, lon: -121.859524 deg, deltaT: 3.779875 s, deltaX: -2.380692 m, approachRate: -0.629833 m/s, posRepo size: 4 2025-10-29T00:43:51.480Z,1761698631.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:51.483Z,1761698631.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 67.669647 m, bearing: 17.813441 deg, approach rate: 0.000000 m/s, LOS rate: -0.027045 deg/s, cmd heading: 29.112725 deg, new cmd heading: 29.088859 deg. 2025-10-29T00:43:51.485Z,1761698631.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507696 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:51.713Z,1761698631.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250821 2025-10-29T00:43:51.824Z,1761698631.824 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:43:51.848Z,1761698631.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:51.851Z,1761698631.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 67.434593 m, bearing: 17.800059 deg, approach rate: -0.632076 m/s, LOS rate: -0.036109 deg/s, cmd heading: 29.088857 deg, new cmd heading: 29.062001 deg. 2025-10-29T00:43:51.851Z,1761698631.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.507228 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:51.966Z,1761698631.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920 2025-10-29T00:43:52.217Z,1761698632.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754605 2025-10-29T00:43:52.225Z,1761698632.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875170,-0.481356,-0.048717],[0.483334,0.865366,0.132404],[-0.021575,-0.139423,0.989998]] 2025-10-29T00:43:52.230Z,1761698632.230 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T00:43:52.274Z,1761698632.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:52.281Z,1761698632.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:52.289Z,1761698632.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 67.179619 m, bearing: 17.785792 deg, approach rate: -0.595320 m/s, LOS rate: -0.033438 deg/s, cmd heading: 29.062001 deg, new cmd heading: 29.033358 deg. 2025-10-29T00:43:52.290Z,1761698632.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506728 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:52.469Z,1761698632.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006509 2025-10-29T00:43:52.656Z,1761698632.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875253,-0.481304,-0.047725],[0.483158,0.865552,0.131826],[-0.022140,-0.138440,0.990123]] 2025-10-29T00:43:52.710Z,1761698632.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:52.717Z,1761698632.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 66.898926 m, bearing: 17.765356 deg, approach rate: -0.647398 m/s, LOS rate: -0.047332 deg/s, cmd heading: 29.033358 deg, new cmd heading: 28.992315 deg. 2025-10-29T00:43:52.717Z,1761698632.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.506011 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:52.721Z,1761698632.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258633 2025-10-29T00:43:52.829Z,1761698632.829 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:43:52.973Z,1761698632.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510905 2025-10-29T00:43:53.047Z,1761698633.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875440,-0.481065,-0.046708],[0.482784,0.865782,0.131684],[-0.022909,-0.137832,0.990191]] 2025-10-29T00:43:53.066Z,1761698633.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:53.068Z,1761698633.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 66.660515 m, bearing: 17.747954 deg, approach rate: -0.670032 m/s, LOS rate: -0.049083 deg/s, cmd heading: 28.992316 deg, new cmd heading: 28.957387 deg. 2025-10-29T00:43:53.069Z,1761698633.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.505402 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:53.225Z,1761698633.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762570 2025-10-29T00:43:53.451Z,1761698633.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875530,-0.481027,-0.045396],[0.482577,0.865965,0.131238],[-0.023818,-0.136810,0.990311]] 2025-10-29T00:43:53.477Z,1761698633.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014562 2025-10-29T00:43:53.498Z,1761698633.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:53.501Z,1761698633.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 66.387444 m, bearing: 17.727249 deg, approach rate: -0.630846 m/s, LOS rate: -0.048030 deg/s, cmd heading: 28.957386 deg, new cmd heading: 28.915805 deg. 2025-10-29T00:43:53.502Z,1761698633.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504676 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:53.731Z,1761698633.731 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268169 2025-10-29T00:43:53.901Z,1761698633.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:53.904Z,1761698633.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 66.140678 m, bearing: 17.708391 deg, approach rate: -0.633093 m/s, LOS rate: -0.048562 deg/s, cmd heading: 28.915804 deg, new cmd heading: 28.877948 deg. 2025-10-29T00:43:53.905Z,1761698633.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.504015 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:53.981Z,1761698633.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518733 2025-10-29T00:43:54.233Z,1761698634.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770476 2025-10-29T00:43:54.264Z,1761698634.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876519,-0.479231,-0.045295],[0.480687,0.866396,0.135273],[-0.025584,-0.140342,0.989772]] 2025-10-29T00:43:54.281Z,1761698634.281 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:54.283Z,1761698634.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:54.286Z,1761698634.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 65.891502 m, bearing: 17.689630 deg, approach rate: -0.630629 m/s, LOS rate: -0.047660 deg/s, cmd heading: 28.877948 deg, new cmd heading: 28.840284 deg. 2025-10-29T00:43:54.287Z,1761698634.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.503358 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:54.485Z,1761698634.485 [DAT](INFO): DAT read: Rx Time:00:43:53.7173 2025-10-29T00:43:54.486Z,1761698634.486 [DAT](INFO): Rx dataTimestamp_ set to:1761698634.485349 2025-10-29T00:43:54.486Z,1761698634.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023826 2025-10-29T00:43:54.669Z,1761698634.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877455,-0.477368,-0.046817],[0.478929,0.866561,0.140351],[-0.026429,-0.145574,0.988994]] 2025-10-29T00:43:54.706Z,1761698634.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.82 m. 2025-10-29T00:43:54.709Z,1761698634.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.818710 m, nav range: 65.616074 m, bearing: 17.668799 deg, approach rate: -0.652020 m/s, LOS rate: -0.049521 deg/s, cmd heading: 28.840286 deg, new cmd heading: 28.798448 deg. 2025-10-29T00:43:54.710Z,1761698634.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.502628 target range: 68.818710 and range: 69.20 m. 2025-10-29T00:43:54.737Z,1761698634.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274677 2025-10-29T00:43:54.994Z,1761698634.994 [DAT](INFO): DAT read: 00:43:53.7173 LVL= 32752, 32753, 29554, 32755, AGC= 70, IDX= 413,-0.38, 1.621, 0.208, 2.193, 1.626, PHS= 0.096,-1.373, 0.523, RAW= 162.4, 8.8, CAL= 162.1, 9.2, ROT= 347.9, -9.2 2025-10-29T00:43:54.995Z,1761698634.995 [DAT](INFO): got valid direction response: 00:43:53.7173 LVL= 32752, 32753, 29554, 32755, AGC= 70, IDX= 413,-0.38, 1.621, 0.208, 2.193, 1.626, PHS= 0.096,-1.373, 0.523, RAW= 162.4, 8.8, CAL= 162.1, 9.2, ROT= 347.9, -9.2 2025-10-29T00:43:54.996Z,1761698634.996 [DAT](INFO): DAT read: Bearing 183.4, -14.6 (Local) 2025-10-29T00:43:54.997Z,1761698634.997 [DAT](INFO): Local bearing/azimuth received: Bearing 183.4, -14.6 (Local) 2025-10-29T00:43:54.998Z,1761698634.998 [DAT](INFO): DAT read: Range 11 to 50 : 66.7 m (Round-trip 89.0 ms) speed 0.5 m/s 2025-10-29T00:43:54.999Z,1761698634.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:54.000Z,1761698635.000 [DAT](INFO): direction in FSK: [0.965205,-0.206922,0.159881] 2025-10-29T00:43:54.000Z,1761698635.000 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:55.003Z,1761698635.003 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:55.003Z,1761698635.003 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:55.003Z,1761698635.003 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:55.066Z,1761698635.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878901,-0.474595,-0.047882],[0.476236,0.867355,0.144550],[-0.027072,-0.149848,0.988338]] 2025-10-29T00:43:55.149Z,1761698635.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.699997 m, deltaT: 3.779952 s, deltaX: -2.500000 m, approachRate: -0.661384 m/s, rangeRepo size: 4 2025-10-29T00:43:55.157Z,1761698635.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 66.331749 m, bearing: 17.903023 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.779952 s, deltaX: -2.486961 m, approachRate: -0.657935 m/s, posRepo size: 4 2025-10-29T00:43:55.157Z,1761698635.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:55.164Z,1761698635.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 65.419945 m, bearing: 17.809468 deg, approach rate: 0.000000 m/s, LOS rate: -0.049521 deg/s, cmd heading: 28.798448 deg, new cmd heading: 28.755049 deg. 2025-10-29T00:43:55.165Z,1761698635.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501870 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:55.241Z,1761698635.241 [DAT](INFO): DAT read: user:564> 2025-10-29T00:43:55.242Z,1761698635.242 [DAT](INFO): DAT read: Tx time:00:43:55.0242 2025-10-29T00:43:55.242Z,1761698635.242 [DAT](INFO): Ping request sent. 2025-10-29T00:43:55.242Z,1761698635.242 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:55.242Z,1761698635.242 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:55.243Z,1761698635.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-29T00:43:55.472Z,1761698635.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879874,-0.472955,-0.046217],[0.474421,0.868660,0.142669],[-0.027329,-0.147457,0.988691]] 2025-10-29T00:43:55.493Z,1761698635.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250952 2025-10-29T00:43:55.511Z,1761698635.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:55.514Z,1761698635.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 65.148193 m, bearing: 17.792555 deg, approach rate: -0.739375 m/s, LOS rate: -0.046210 deg/s, cmd heading: 28.755049 deg, new cmd heading: 28.721081 deg. 2025-10-29T00:43:55.515Z,1761698635.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.501277 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:55.745Z,1761698635.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503070 2025-10-29T00:43:55.875Z,1761698635.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880528,-0.471840,-0.045125],[0.473205,0.869585,0.141064],[-0.027320,-0.145564,0.988972]] 2025-10-29T00:43:55.906Z,1761698635.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:55.909Z,1761698635.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 64.890114 m, bearing: 17.776694 deg, approach rate: -0.654245 m/s, LOS rate: -0.040366 deg/s, cmd heading: 28.721082 deg, new cmd heading: 28.689236 deg. 2025-10-29T00:43:55.910Z,1761698635.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500722 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:55.998Z,1761698635.998 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756186 2025-10-29T00:43:56.249Z,1761698636.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006859 2025-10-29T00:43:56.285Z,1761698636.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881178,-0.470776,-0.043537],[0.471999,0.870670,0.138388],[-0.027243,-0.142494,0.989421]] 2025-10-29T00:43:56.301Z,1761698636.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:56.303Z,1761698636.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:56.306Z,1761698636.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 64.630402 m, bearing: 17.760951 deg, approach rate: -0.653456 m/s, LOS rate: -0.039771 deg/s, cmd heading: 28.689236 deg, new cmd heading: 28.657623 deg. 2025-10-29T00:43:56.307Z,1761698636.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.500170 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:56.501Z,1761698636.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258926 2025-10-29T00:43:56.683Z,1761698636.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881652,-0.470087,-0.041330],[0.471129,0.871822,0.134029],[-0.026973,-0.137639,0.990115]] 2025-10-29T00:43:56.728Z,1761698636.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:56.731Z,1761698636.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 64.356247 m, bearing: 17.749161 deg, approach rate: -0.645067 m/s, LOS rate: -0.027859 deg/s, cmd heading: 28.657623 deg, new cmd heading: 28.633943 deg. 2025-10-29T00:43:56.732Z,1761698636.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499757 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:56.774Z,1761698636.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.532059 2025-10-29T00:43:57.026Z,1761698637.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.783676 2025-10-29T00:43:57.087Z,1761698637.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881905,-0.469745,-0.039799],[0.470662,0.872517,0.131114],[-0.026865,-0.134362,0.990568]] 2025-10-29T00:43:57.123Z,1761698637.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:57.128Z,1761698637.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 64.105621 m, bearing: 17.738452 deg, approach rate: -0.635560 m/s, LOS rate: -0.027263 deg/s, cmd heading: 28.633943 deg, new cmd heading: 28.612441 deg. 2025-10-29T00:43:57.130Z,1761698637.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.499381 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:57.277Z,1761698637.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.034816 2025-10-29T00:43:57.494Z,1761698637.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882273,-0.469122,-0.038961],[0.469943,0.872958,0.130756],[-0.027329,-0.133672,0.990649]] 2025-10-29T00:43:57.529Z,1761698637.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.287006 2025-10-29T00:43:57.566Z,1761698637.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:57.568Z,1761698637.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 63.815678 m, bearing: 17.727066 deg, approach rate: -0.654607 m/s, LOS rate: -0.025824 deg/s, cmd heading: 28.612441 deg, new cmd heading: 28.589565 deg. 2025-10-29T00:43:57.569Z,1761698637.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498982 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:57.781Z,1761698637.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.538885 2025-10-29T00:43:57.916Z,1761698637.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882201,-0.469358,-0.037736],[0.470079,0.873232,0.128416],[-0.027321,-0.131028,0.991002]] 2025-10-29T00:43:57.935Z,1761698637.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:57.938Z,1761698637.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 63.558353 m, bearing: 17.716865 deg, approach rate: -0.696452 m/s, LOS rate: -0.027722 deg/s, cmd heading: 28.589565 deg, new cmd heading: 28.569080 deg. 2025-10-29T00:43:57.939Z,1761698637.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498625 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:58.033Z,1761698638.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.790891 2025-10-29T00:43:58.285Z,1761698638.285 [DAT](INFO): DAT read: Rx Time:00:43:57.5141 2025-10-29T00:43:58.285Z,1761698638.285 [DAT](INFO): Rx dataTimestamp_ set to:1761698638.285160 2025-10-29T00:43:58.286Z,1761698638.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.043931 2025-10-29T00:43:58.318Z,1761698638.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881959,-0.469973,-0.035672],[0.470539,0.873593,0.124207],[-0.027212,-0.126331,0.991615]] 2025-10-29T00:43:58.369Z,1761698638.369 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:43:58.371Z,1761698638.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 66.33 m. 2025-10-29T00:43:58.378Z,1761698638.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 66.331749 m, nav range: 63.273380 m, bearing: 17.705389 deg, approach rate: -0.653529 m/s, LOS rate: -0.026435 deg/s, cmd heading: 28.569080 deg, new cmd heading: 28.546025 deg. 2025-10-29T00:43:58.379Z,1761698638.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.498222 target range: 66.331749 and range: 66.70 m. 2025-10-29T00:43:58.537Z,1761698638.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.294999 2025-10-29T00:43:58.724Z,1761698638.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881536,-0.470926,-0.033527],[0.471344,0.873803,0.119599],[-0.027026,-0.121233,0.992256]] 2025-10-29T00:43:58.794Z,1761698638.794 [DAT](INFO): DAT read: 00:43:57.5141 LVL= 32752, 32753, 27634, 32755, AGC= 70, IDX= 411,-0.02,-0.229,-1.690, 0.373,-0.235, PHS= 0.109,-1.410, 0.564, RAW= 162.7, 8.3, CAL= 162.4, 8.5, ROT= 347.6, -8.5 2025-10-29T00:43:58.795Z,1761698638.795 [DAT](INFO): got valid direction response: 00:43:57.5141 LVL= 32752, 32753, 27634, 32755, AGC= 70, IDX= 411,-0.02,-0.229,-1.690, 0.373,-0.235, PHS= 0.109,-1.410, 0.564, RAW= 162.7, 8.3, CAL= 162.4, 8.5, ROT= 347.6, -8.5 2025-10-29T00:43:58.796Z,1761698638.796 [DAT](INFO): DAT read: Bearing 182.2, -14.8 (Local) 2025-10-29T00:43:58.797Z,1761698638.797 [DAT](INFO): Local bearing/azimuth received: Bearing 182.2, -14.8 (Local) 2025-10-29T00:43:58.798Z,1761698638.798 [DAT](INFO): DAT read: Range 11 to 50 : 64.3 m (Round-trip 85.8 ms) speed 0.5 m/s 2025-10-29T00:43:58.799Z,1761698638.799 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:43:58.800Z,1761698638.800 [DAT](INFO): direction in FSK: [0.965944,-0.212377,0.147809] 2025-10-29T00:43:58.800Z,1761698638.800 [DAT](INFO): publishing direction and range info 2025-10-29T00:43:58.803Z,1761698638.803 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:43:58.803Z,1761698638.803 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:43:58.804Z,1761698638.804 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:43:58.835Z,1761698638.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 64.300003 m, deltaT: 3.800004 s, deltaX: -2.399994 m, approachRate: -0.631577 m/s, rangeRepo size: 4 2025-10-29T00:43:58.842Z,1761698638.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.938362 m, bearing: 16.889103 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.800004 s, deltaX: -2.393387 m, approachRate: -0.629838 m/s, posRepo size: 4 2025-10-29T00:43:58.842Z,1761698638.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:43:58.857Z,1761698638.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 62.997120 m, bearing: 17.699131 deg, approach rate: 0.000000 m/s, LOS rate: -0.026435 deg/s, cmd heading: 28.546026 deg, new cmd heading: 28.521511 deg. 2025-10-29T00:43:58.858Z,1761698638.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497794 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:43:59.041Z,1761698639.041 [DAT](INFO): DAT read: user:565> 2025-10-29T00:43:59.042Z,1761698639.042 [DAT](INFO): DAT read: Tx time:00:43:58.8242 2025-10-29T00:43:59.042Z,1761698639.042 [DAT](INFO): Ping request sent. 2025-10-29T00:43:59.042Z,1761698639.042 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:43:59.042Z,1761698639.042 [DAT](INFO): publishing transmit ping time 2025-10-29T00:43:59.043Z,1761698639.043 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:43:59.198Z,1761698639.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881458,-0.471247,-0.030972],[0.471472,0.874293,0.115434],[-0.027320,-0.116352,0.992832]] 2025-10-29T00:43:59.217Z,1761698639.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:43:59.220Z,1761698639.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 62.707054 m, bearing: 17.692529 deg, approach rate: -0.758382 m/s, LOS rate: -0.017341 deg/s, cmd heading: 28.521511 deg, new cmd heading: 28.508246 deg. 2025-10-29T00:43:59.221Z,1761698639.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497563 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:43:59.294Z,1761698639.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251425 2025-10-29T00:43:59.545Z,1761698639.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502611 2025-10-29T00:43:59.603Z,1761698639.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881591,-0.471011,-0.030738],[0.471216,0.874449,0.115306],[-0.027432,-0.116137,0.992854]] 2025-10-29T00:43:59.720Z,1761698639.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:43:59.722Z,1761698639.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 62.368546 m, bearing: 17.688733 deg, approach rate: -0.673872 m/s, LOS rate: -0.007598 deg/s, cmd heading: 28.508247 deg, new cmd heading: 28.500614 deg. 2025-10-29T00:43:59.723Z,1761698639.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497430 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:43:59.797Z,1761698639.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803 2025-10-29T00:44:00.049Z,1761698640.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006703 2025-10-29T00:44:00.073Z,1761698640.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881623,-0.470969,-0.030490],[0.471161,0.874556,0.114709],[-0.027359,-0.115496,0.992931]] 2025-10-29T00:44:00.154Z,1761698640.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:00.161Z,1761698640.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 62.080173 m, bearing: 17.685492 deg, approach rate: -0.664286 m/s, LOS rate: -0.007501 deg/s, cmd heading: 28.500614 deg, new cmd heading: 28.494101 deg. 2025-10-29T00:44:00.161Z,1761698640.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497316 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:00.301Z,1761698640.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258626 2025-10-29T00:44:00.551Z,1761698640.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881668,-0.470913,-0.030044],[0.471095,0.874788,0.113203],[-0.027026,-0.113962,0.993118]] 2025-10-29T00:44:00.553Z,1761698640.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510738 2025-10-29T00:44:00.642Z,1761698640.642 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:00.649Z,1761698640.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:00.656Z,1761698640.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 61.755943 m, bearing: 17.682171 deg, approach rate: -0.654560 m/s, LOS rate: -0.006740 deg/s, cmd heading: 28.494101 deg, new cmd heading: 28.487424 deg. 2025-10-29T00:44:00.657Z,1761698640.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497199 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:00.805Z,1761698640.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762764 2025-10-29T00:44:00.965Z,1761698640.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881587,-0.471093,-0.029593],[0.471263,0.874886,0.111742],[-0.026750,-0.112457,0.993296]] 2025-10-29T00:44:01.004Z,1761698641.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:01.007Z,1761698641.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 61.516735 m, bearing: 17.679675 deg, approach rate: -0.674409 m/s, LOS rate: -0.007065 deg/s, cmd heading: 28.487425 deg, new cmd heading: 28.482413 deg. 2025-10-29T00:44:01.008Z,1761698641.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497112 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:01.058Z,1761698641.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015446 2025-10-29T00:44:01.309Z,1761698641.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266513 2025-10-29T00:44:01.369Z,1761698641.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881537,-0.471085,-0.031168],[0.471395,0.874631,0.113171],[-0.026052,-0.114457,0.993086]] 2025-10-29T00:44:01.388Z,1761698641.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:01.390Z,1761698641.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 61.264774 m, bearing: 17.676968 deg, approach rate: -0.656242 m/s, LOS rate: -0.007080 deg/s, cmd heading: 28.482413 deg, new cmd heading: 28.476976 deg. 2025-10-29T00:44:01.391Z,1761698641.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.497017 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:01.564Z,1761698641.564 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521426 2025-10-29T00:44:01.778Z,1761698641.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881389,-0.471250,-0.032811],[0.471693,0.874189,0.115319],[-0.025661,-0.117117,0.992786]] 2025-10-29T00:44:01.813Z,1761698641.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770696 2025-10-29T00:44:01.834Z,1761698641.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:01.841Z,1761698641.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 60.984123 m, bearing: 17.670815 deg, approach rate: -0.629121 m/s, LOS rate: -0.013855 deg/s, cmd heading: 28.476976 deg, new cmd heading: 28.464615 deg. 2025-10-29T00:44:01.842Z,1761698641.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496801 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:02.065Z,1761698642.065 [DAT](INFO): DAT read: Rx Time:00:44:01.3108 2025-10-29T00:44:02.065Z,1761698642.065 [DAT](INFO): Rx dataTimestamp_ set to:1761698642.065081 2025-10-29T00:44:02.066Z,1761698642.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023673 2025-10-29T00:44:02.175Z,1761698642.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880891,-0.472164,-0.033035],[0.472622,0.873663,0.115504],[-0.025675,-0.117360,0.992757]] 2025-10-29T00:44:02.211Z,1761698642.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.94 m. 2025-10-29T00:44:02.213Z,1761698642.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.938362 m, nav range: 60.725716 m, bearing: 17.664840 deg, approach rate: -0.685686 m/s, LOS rate: -0.015923 deg/s, cmd heading: 28.464615 deg, new cmd heading: 28.452614 deg. 2025-10-29T00:44:02.214Z,1761698642.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496592 target range: 63.938362 and range: 64.30 m. 2025-10-29T00:44:02.317Z,1761698642.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274781 2025-10-29T00:44:02.576Z,1761698642.576 [DAT](INFO): DAT read: 00:44:01.3107 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.15,-1.486,-2.927,-0.935,-1.484, PHS= 0.100,-1.398, 0.505, RAW= 161.7, 9.2, CAL= 161.5, 9.7, ROT= 348.5, -9.7 2025-10-29T00:44:02.577Z,1761698642.577 [DAT](INFO): got valid direction response: 00:44:01.3107 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 409,-0.15,-1.486,-2.927,-0.935,-1.484, PHS= 0.100,-1.398, 0.505, RAW= 161.7, 9.2, CAL= 161.5, 9.7, ROT= 348.5, -9.7 2025-10-29T00:44:02.578Z,1761698642.578 [DAT](INFO): DAT read: Bearing 184.1, -13.6 (Local) 2025-10-29T00:44:02.578Z,1761698642.578 [DAT](INFO): Local bearing/azimuth received: Bearing 184.1, -13.6 (Local) 2025-10-29T00:44:02.580Z,1761698642.580 [DAT](INFO): DAT read: Range 11 to 50 : 61.8 m (Round-trip 82.5 ms) speed 0.6 m/s 2025-10-29T00:44:02.580Z,1761698642.580 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:02.581Z,1761698642.581 [DAT](INFO): direction in FSK: [0.965915,-0.196518,0.168489] 2025-10-29T00:44:02.582Z,1761698642.582 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:02.585Z,1761698642.585 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:02.585Z,1761698642.585 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:02.585Z,1761698642.585 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:02.653Z,1761698642.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879985,-0.473740,-0.034596],[0.474304,0.872415,0.118020],[-0.025729,-0.120265,0.992408]] 2025-10-29T00:44:02.776Z,1761698642.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.799999 m, deltaT: 3.781588 s, deltaX: -2.500004 m, approachRate: -0.661099 m/s, rangeRepo size: 4 2025-10-29T00:44:02.778Z,1761698642.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.455498 m, bearing: 18.112893 deg, lat: 36.779278 deg, lon: -121.859522 deg, deltaT: 3.781588 s, deltaX: -2.482864 m, approachRate: -0.656567 m/s, posRepo size: 4 2025-10-29T00:44:02.779Z,1761698642.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:02.786Z,1761698642.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 60.381706 m, bearing: 17.658039 deg, approach rate: 0.000000 m/s, LOS rate: -0.015923 deg/s, cmd heading: 28.452615 deg, new cmd heading: 28.434782 deg. 2025-10-29T00:44:02.787Z,1761698642.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.496281 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:02.821Z,1761698642.821 [DAT](INFO): DAT read: user:566> 2025-10-29T00:44:02.822Z,1761698642.822 [DAT](INFO): DAT read: Tx time:00:44:02.5741 2025-10-29T00:44:02.822Z,1761698642.822 [DAT](INFO): Ping request sent. 2025-10-29T00:44:02.822Z,1761698642.822 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:02.822Z,1761698642.822 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:02.823Z,1761698642.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000751 2025-10-29T00:44:03.073Z,1761698643.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250895 2025-10-29T00:44:03.148Z,1761698643.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:03.150Z,1761698643.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:03.154Z,1761698643.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 60.121422 m, bearing: 17.649966 deg, approach rate: -0.685661 m/s, LOS rate: -0.021358 deg/s, cmd heading: 28.434783 deg, new cmd heading: 28.418567 deg. 2025-10-29T00:44:03.155Z,1761698643.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495998 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:03.325Z,1761698643.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502758 2025-10-29T00:44:03.495Z,1761698643.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877838,-0.477563,-0.036528],[0.478299,0.870076,0.119160],[-0.025124,-0.122075,0.992203]] 2025-10-29T00:44:03.577Z,1761698643.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754869 2025-10-29T00:44:03.594Z,1761698643.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:03.599Z,1761698643.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 59.840332 m, bearing: 17.639923 deg, approach rate: -0.634019 m/s, LOS rate: -0.022759 deg/s, cmd heading: 28.418568 deg, new cmd heading: 28.398388 deg. 2025-10-29T00:44:03.601Z,1761698643.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495645 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:03.829Z,1761698643.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006902 2025-10-29T00:44:04.009Z,1761698644.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:04.012Z,1761698644.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 59.553898 m, bearing: 17.623511 deg, approach rate: -0.688953 m/s, LOS rate: -0.039666 deg/s, cmd heading: 28.398388 deg, new cmd heading: 28.365406 deg. 2025-10-29T00:44:04.013Z,1761698644.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.495070 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:04.082Z,1761698644.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259760 2025-10-29T00:44:04.333Z,1761698644.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510805 2025-10-29T00:44:04.377Z,1761698644.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873730,-0.485071,-0.036086],[0.485757,0.866300,0.116469],[-0.025234,-0.119292,0.992539]] 2025-10-29T00:44:04.396Z,1761698644.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:04.399Z,1761698644.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 59.302731 m, bearing: 17.606941 deg, approach rate: -0.649777 m/s, LOS rate: -0.043049 deg/s, cmd heading: 28.365405 deg, new cmd heading: 28.332125 deg. 2025-10-29T00:44:04.400Z,1761698644.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.494489 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:04.591Z,1761698644.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765455 2025-10-29T00:44:04.772Z,1761698644.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872289,-0.487710,-0.035371],[0.488323,0.865040,0.115093],[-0.025535,-0.117667,0.992725]] 2025-10-29T00:44:04.817Z,1761698644.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:04.819Z,1761698644.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 59.031834 m, bearing: 17.588016 deg, approach rate: -0.644154 m/s, LOS rate: -0.045206 deg/s, cmd heading: 28.332125 deg, new cmd heading: 28.294102 deg. 2025-10-29T00:44:04.820Z,1761698644.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493825 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:04.837Z,1761698644.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014745 2025-10-29T00:44:05.090Z,1761698645.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267925 2025-10-29T00:44:05.173Z,1761698645.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870919,-0.490133,-0.035638],[0.490757,0.863652,0.115166],[-0.025668,-0.117790,0.992707]] 2025-10-29T00:44:05.189Z,1761698645.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:05.191Z,1761698645.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:05.194Z,1761698645.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 58.790604 m, bearing: 17.570355 deg, approach rate: -0.643407 m/s, LOS rate: -0.047299 deg/s, cmd heading: 28.294103 deg, new cmd heading: 28.258636 deg. 2025-10-29T00:44:05.195Z,1761698645.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.493206 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:05.341Z,1761698645.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945 2025-10-29T00:44:05.597Z,1761698645.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773579 2025-10-29T00:44:05.618Z,1761698645.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869990,-0.491691,-0.036849],[0.492387,0.862426,0.117373],[-0.025931,-0.120257,0.992404]] 2025-10-29T00:44:05.666Z,1761698645.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:05.669Z,1761698645.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 58.495361 m, bearing: 17.544769 deg, approach rate: -0.621936 m/s, LOS rate: -0.054170 deg/s, cmd heading: 28.258636 deg, new cmd heading: 28.207205 deg. 2025-10-29T00:44:05.670Z,1761698645.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.492309 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:05.845Z,1761698645.845 [DAT](INFO): DAT read: Rx Time:00:44:05.0574 2025-10-29T00:44:05.845Z,1761698645.845 [DAT](INFO): Rx dataTimestamp_ set to:1761698645.845170 2025-10-29T00:44:05.846Z,1761698645.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023902 2025-10-29T00:44:05.980Z,1761698645.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869320,-0.492779,-0.038108],[0.493564,0.861468,0.119443],[-0.026030,-0.122643,0.992109]] 2025-10-29T00:44:06.007Z,1761698646.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.46 m. 2025-10-29T00:44:06.009Z,1761698646.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.455498 m, nav range: 58.283772 m, bearing: 17.525969 deg, approach rate: -0.621583 m/s, LOS rate: -0.055429 deg/s, cmd heading: 28.207206 deg, new cmd heading: 28.169470 deg. 2025-10-29T00:44:06.010Z,1761698646.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.491650 target range: 61.455498 and range: 61.80 m. 2025-10-29T00:44:06.098Z,1761698646.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275658 2025-10-29T00:44:06.354Z,1761698646.354 [DAT](INFO): DAT read: 00:44:05.0574 LVL= 32752, 32753, 25010, 32755, AGC= 69, IDX= 407, 0.25, 2.277, 0.828, 2.935, 2.257, PHS= 0.122,-1.384, 0.634, RAW= 164.1, 7.0, CAL= 163.6, 6.8, ROT= 346.4, -6.8 2025-10-29T00:44:06.355Z,1761698646.355 [DAT](INFO): got valid direction response: 00:44:05.0574 LVL= 32752, 32753, 25010, 32755, AGC= 69, IDX= 407, 0.25, 2.277, 0.828, 2.935, 2.257, PHS= 0.122,-1.384, 0.634, RAW= 164.1, 7.0, CAL= 163.6, 6.8, ROT= 346.4, -6.8 2025-10-29T00:44:06.391Z,1761698646.391 [DAT](INFO): DAT read: Bearing 182.6, -15.5 (Local) 2025-10-29T00:44:06.392Z,1761698646.392 [DAT](INFO): Local bearing/azimuth received: Bearing 182.6, -15.5 (Local) 2025-10-29T00:44:06.393Z,1761698646.393 [DAT](INFO): DAT read: Range 11 to 50 : 59.3 m (Round-trip 79.1 ms) speed 0.6 m/s 2025-10-29T00:44:06.394Z,1761698646.394 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:06.395Z,1761698646.395 [DAT](INFO): direction in FSK: [0.965124,-0.233488,0.118404] 2025-10-29T00:44:06.395Z,1761698646.395 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:06.402Z,1761698646.402 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:06.403Z,1761698646.403 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:06.403Z,1761698646.403 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:06.410Z,1761698646.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869016,-0.493250,-0.038927],[0.494087,0.860927,0.121177],[-0.026257,-0.124538,0.991867]] 2025-10-29T00:44:06.485Z,1761698646.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.299999 m, deltaT: 3.778415 s, deltaX: -2.500000 m, approachRate: -0.661653 m/s, rangeRepo size: 4 2025-10-29T00:44:06.487Z,1761698646.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.976852 m, bearing: 16.998135 deg, lat: 36.779279 deg, lon: -121.859522 deg, deltaT: 3.778415 s, deltaX: -2.478645 m, approachRate: -0.656001 m/s, posRepo size: 4 2025-10-29T00:44:06.492Z,1761698646.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:06.493Z,1761698646.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:06.500Z,1761698646.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 58.055912 m, bearing: 17.477384 deg, approach rate: 0.000000 m/s, LOS rate: -0.055429 deg/s, cmd heading: 28.169469 deg, new cmd heading: 28.117430 deg. 2025-10-29T00:44:06.501Z,1761698646.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.490742 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:06.526Z,1761698646.526 [DockingStepper](INFO): Changing to mode: 2 2025-10-29T00:44:06.615Z,1761698646.615 [DAT](INFO): DAT read: user:567> 2025-10-29T00:44:06.619Z,1761698646.619 [DAT](INFO): DAT read: Tx time:00:44:06.4241 2025-10-29T00:44:06.621Z,1761698646.621 [DAT](INFO): Ping request sent. 2025-10-29T00:44:06.621Z,1761698646.621 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:06.621Z,1761698646.621 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:06.623Z,1761698646.623 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002707 2025-10-29T00:44:06.850Z,1761698646.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869244,-0.492779,-0.039808],[0.493682,0.860900,0.123000],[-0.026341,-0.126569,0.991608]] 2025-10-29T00:44:06.861Z,1761698646.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.240714 2025-10-29T00:44:06.890Z,1761698646.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:06.890Z,1761698646.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:06.913Z,1761698646.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 57.783833 m, bearing: 17.449673 deg, approach rate: -0.657667 m/s, LOS rate: -0.067299 deg/s, cmd heading: 28.117430 deg, new cmd heading: 28.061746 deg. 2025-10-29T00:44:06.914Z,1761698646.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.489770 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:07.113Z,1761698647.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.492639 2025-10-29T00:44:07.251Z,1761698647.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868679,-0.493693,-0.040801],[0.494671,0.860104,0.124583],[-0.026412,-0.128405,0.991370]] 2025-10-29T00:44:07.277Z,1761698647.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:07.279Z,1761698647.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:07.279Z,1761698647.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:07.282Z,1761698647.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 57.531929 m, bearing: 17.423482 deg, approach rate: -0.647191 m/s, LOS rate: -0.067584 deg/s, cmd heading: 28.061745 deg, new cmd heading: 28.009134 deg. 2025-10-29T00:44:07.283Z,1761698647.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.488852 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:07.365Z,1761698647.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745122 2025-10-29T00:44:07.620Z,1761698647.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.998816 2025-10-29T00:44:07.660Z,1761698647.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868763,-0.493494,-0.041401],[0.494512,0.859974,0.126106],[-0.026629,-0.130030,0.991152]] 2025-10-29T00:44:07.712Z,1761698647.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:07.713Z,1761698647.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:07.715Z,1761698647.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 57.270222 m, bearing: 17.397409 deg, approach rate: -0.603822 m/s, LOS rate: -0.060433 deg/s, cmd heading: 28.009134 deg, new cmd heading: 27.956748 deg. 2025-10-29T00:44:07.721Z,1761698647.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487937 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:07.869Z,1761698647.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248530 2025-10-29T00:44:08.063Z,1761698648.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869172,-0.492712,-0.042128],[0.493793,0.860173,0.127556],[-0.026611,-0.131671,0.990936]] 2025-10-29T00:44:08.098Z,1761698648.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:08.098Z,1761698648.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:08.104Z,1761698648.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 57.023853 m, bearing: 17.372836 deg, approach rate: -0.639410 m/s, LOS rate: -0.064051 deg/s, cmd heading: 27.956748 deg, new cmd heading: 27.907390 deg. 2025-10-29T00:44:08.105Z,1761698648.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.487076 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:08.137Z,1761698648.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516625 2025-10-29T00:44:08.389Z,1761698648.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.768630 2025-10-29T00:44:08.462Z,1761698648.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870019,-0.491040,-0.044120],[0.492303,0.860453,0.131368],[-0.026544,-0.136013,0.990351]] 2025-10-29T00:44:08.504Z,1761698648.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:08.505Z,1761698648.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:08.508Z,1761698648.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 56.774441 m, bearing: 17.348136 deg, approach rate: -0.613142 m/s, LOS rate: -0.060987 deg/s, cmd heading: 27.907390 deg, new cmd heading: 27.857773 deg. 2025-10-29T00:44:08.520Z,1761698648.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.486210 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:08.643Z,1761698648.643 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022856 2025-10-29T00:44:08.868Z,1761698648.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870920,-0.489293,-0.045717],[0.490705,0.860841,0.134768],[-0.026586,-0.139806,0.989822]] 2025-10-29T00:44:08.893Z,1761698648.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272810 2025-10-29T00:44:08.907Z,1761698648.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:08.908Z,1761698648.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:08.910Z,1761698648.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 56.505829 m, bearing: 17.322519 deg, approach rate: -0.666958 m/s, LOS rate: -0.063908 deg/s, cmd heading: 27.857773 deg, new cmd heading: 27.806297 deg. 2025-10-29T00:44:08.911Z,1761698648.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.485311 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:09.145Z,1761698649.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524707 2025-10-29T00:44:09.271Z,1761698649.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872009,-0.487215,-0.047143],[0.488750,0.861352,0.138550],[-0.026897,-0.143858,0.989233]] 2025-10-29T00:44:09.301Z,1761698649.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:09.303Z,1761698649.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:09.304Z,1761698649.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:09.307Z,1761698649.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 56.252438 m, bearing: 17.298677 deg, approach rate: -0.639483 m/s, LOS rate: -0.060443 deg/s, cmd heading: 27.806296 deg, new cmd heading: 27.758396 deg. 2025-10-29T00:44:09.308Z,1761698649.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.484475 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:09.398Z,1761698649.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.777485 2025-10-29T00:44:09.652Z,1761698649.652 [DAT](INFO): DAT read: Rx Time:00:44:08.9041 2025-10-29T00:44:09.654Z,1761698649.654 [DAT](INFO): Rx dataTimestamp_ set to:1761698649.652480 2025-10-29T00:44:09.655Z,1761698649.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034629 2025-10-29T00:44:09.692Z,1761698649.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873249,-0.484848,-0.048560],[0.486526,0.862048,0.142006],[-0.026990,-0.147632,0.988674]] 2025-10-29T00:44:09.746Z,1761698649.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:09.747Z,1761698649.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:09.751Z,1761698649.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 55.964397 m, bearing: 17.270631 deg, approach rate: -0.651240 m/s, LOS rate: -0.063735 deg/s, cmd heading: 27.758396 deg, new cmd heading: 27.702017 deg. 2025-10-29T00:44:09.758Z,1761698649.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.483491 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:09.901Z,1761698649.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280676 2025-10-29T00:44:10.112Z,1761698650.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874330,-0.482815,-0.049365],[0.484587,0.862827,0.143892],[-0.026879,-0.149731,0.988361]] 2025-10-29T00:44:10.131Z,1761698650.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.98 m. 2025-10-29T00:44:10.131Z,1761698650.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.30 m. 2025-10-29T00:44:10.134Z,1761698650.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.976852 m, nav range: 55.711208 m, bearing: 17.246301 deg, approach rate: -0.657122 m/s, LOS rate: -0.063434 deg/s, cmd heading: 27.702018 deg, new cmd heading: 27.653136 deg. 2025-10-29T00:44:10.135Z,1761698650.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.482638 target range: 58.976852 and range: 59.30 m. 2025-10-29T00:44:10.158Z,1761698650.158 [DAT](INFO): DAT read: 00:44:08.9041 LVL= 28832, 32753, 32754, 32755, AGC= 62, IDX= 406, 0.27, 0.326,-1.098, 0.969, 0.299, PHS= 0.129,-1.352, 0.627, RAW= 164.0, 6.7, CAL= 163.4, 6.4, ROT= 346.6, -6.4 2025-10-29T00:44:10.159Z,1761698650.159 [DAT](INFO): got valid direction response: 00:44:08.9041 LVL= 28832, 32753, 32754, 32755, AGC= 62, IDX= 406, 0.27, 0.326,-1.098, 0.969, 0.299, PHS= 0.129,-1.352, 0.627, RAW= 164.0, 6.7, CAL= 163.4, 6.4, ROT= 346.6, -6.4 2025-10-29T00:44:10.160Z,1761698650.160 [DAT](INFO): DAT read: Bearing 181.2, -15.6 (Local) 2025-10-29T00:44:10.161Z,1761698650.161 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, -15.6 (Local) 2025-10-29T00:44:10.162Z,1761698650.162 [DAT](INFO): DAT read: Range 11 to 50 : 56.9 m (Round-trip 75.9 ms) speed 0.5 m/s 2025-10-29T00:44:10.163Z,1761698650.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:10.164Z,1761698650.164 [DAT](INFO): direction in FSK: [0.966713,-0.230304,0.111469] 2025-10-29T00:44:10.164Z,1761698650.164 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:10.168Z,1761698650.168 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:10.168Z,1761698650.168 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:10.168Z,1761698650.168 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:10.405Z,1761698650.405 [DAT](INFO): DAT read: user:568> 2025-10-29T00:44:10.406Z,1761698650.406 [DAT](INFO): DAT read: Tx time:00:44:10.1741 2025-10-29T00:44:10.407Z,1761698650.407 [DAT](INFO): Ping request sent. 2025-10-29T00:44:10.407Z,1761698650.407 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:10.407Z,1761698650.407 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:10.408Z,1761698650.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001193 2025-10-29T00:44:10.499Z,1761698650.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874837,-0.481928,-0.049040],[0.483674,0.863402,0.143514],[-0.026822,-0.149271,0.988432]] 2025-10-29T00:44:10.533Z,1761698650.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 56.900002 m, deltaT: 3.804101 s, deltaX: -2.399998 m, approachRate: -0.630897 m/s, rangeRepo size: 4 2025-10-29T00:44:10.535Z,1761698650.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 56.587891 m, bearing: 16.663591 deg, lat: 36.779283 deg, lon: -121.859525 deg, deltaT: 3.804101 s, deltaX: -2.388962 m, approachRate: -0.627996 m/s, posRepo size: 4 2025-10-29T00:44:10.535Z,1761698650.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:10.536Z,1761698650.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:10.538Z,1761698650.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 55.786686 m, bearing: 16.786988 deg, approach rate: 0.000000 m/s, LOS rate: -0.063434 deg/s, cmd heading: 27.653136 deg, new cmd heading: 27.602290 deg. 2025-10-29T00:44:10.539Z,1761698650.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.481751 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:10.660Z,1761698650.660 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252196 2025-10-29T00:44:10.906Z,1761698650.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875119,-0.481541,-0.047802],[0.483192,0.864178,0.140438],[-0.026317,-0.145998,0.988935]] 2025-10-29T00:44:10.909Z,1761698650.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501858 2025-10-29T00:44:10.944Z,1761698650.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:10.945Z,1761698650.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:10.947Z,1761698650.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 55.520164 m, bearing: 16.760032 deg, approach rate: -0.646432 m/s, LOS rate: -0.065696 deg/s, cmd heading: 27.602290 deg, new cmd heading: 27.548118 deg. 2025-10-29T00:44:10.969Z,1761698650.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.480805 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:11.161Z,1761698651.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753836 2025-10-29T00:44:11.306Z,1761698651.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875194,-0.481416,-0.047682],[0.483060,0.864308,0.140089],[-0.026230,-0.145638,0.988990]] 2025-10-29T00:44:11.337Z,1761698651.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:11.339Z,1761698651.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:11.339Z,1761698651.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:11.342Z,1761698651.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 55.267609 m, bearing: 16.734292 deg, approach rate: -0.640226 m/s, LOS rate: -0.065549 deg/s, cmd heading: 27.548118 deg, new cmd heading: 27.496403 deg. 2025-10-29T00:44:11.343Z,1761698651.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.479903 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:11.413Z,1761698651.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006059 2025-10-29T00:44:11.668Z,1761698651.668 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260280 2025-10-29T00:44:11.710Z,1761698651.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875717,-0.480530,-0.047028],[0.482145,0.865154,0.138003],[-0.025628,-0.143526,0.989315]] 2025-10-29T00:44:11.762Z,1761698651.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:11.763Z,1761698651.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:11.767Z,1761698651.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 54.989376 m, bearing: 16.705156 deg, approach rate: -0.657858 m/s, LOS rate: -0.069238 deg/s, cmd heading: 27.496404 deg, new cmd heading: 27.437837 deg. 2025-10-29T00:44:11.774Z,1761698651.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.478881 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:11.917Z,1761698651.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509829 2025-10-29T00:44:12.139Z,1761698652.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875709,-0.480718,-0.045221],[0.482184,0.865793,0.133798],[-0.025168,-0.138973,0.989976]] 2025-10-29T00:44:12.159Z,1761698652.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:12.159Z,1761698652.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:12.162Z,1761698652.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 54.723549 m, bearing: 16.677096 deg, approach rate: -0.669091 m/s, LOS rate: -0.070971 deg/s, cmd heading: 27.437836 deg, new cmd heading: 27.381444 deg. 2025-10-29T00:44:12.163Z,1761698652.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.477896 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:12.169Z,1761698652.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761969 2025-10-29T00:44:12.421Z,1761698652.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093 2025-10-29T00:44:12.542Z,1761698652.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876617,-0.479217,-0.043513],[0.480549,0.867206,0.130485],[-0.024796,-0.135295,0.990495]] 2025-10-29T00:44:12.583Z,1761698652.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:12.583Z,1761698652.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 56.90 m. 2025-10-29T00:44:12.583Z,1761698652.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 56.90 m. 2025-10-29T00:44:12.584Z,1761698652.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-29T00:44:12.589Z,1761698652.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 54.456371 m, bearing: 16.649201 deg, approach rate: -0.631424 m/s, LOS rate: -0.066249 deg/s, cmd heading: 27.381443 deg, new cmd heading: 27.325379 deg. 2025-10-29T00:44:12.590Z,1761698652.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.476918 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:12.629Z,1761698652.629 [HorizontalControl](DEBUG): kpHeading = 0.700000 2025-10-29T00:44:12.630Z,1761698652.630 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-29T00:44:12.678Z,1761698652.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269797 2025-10-29T00:44:12.925Z,1761698652.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517810 2025-10-29T00:44:12.947Z,1761698652.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877266,-0.478114,-0.042563],[0.479377,0.868132,0.128628],[-0.024549,-0.133245,0.990779]] 2025-10-29T00:44:13.131Z,1761698653.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:13.150Z,1761698653.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 54.084621 m, bearing: 16.605138 deg, approach rate: -0.677476 m/s, LOS rate: -0.080852 deg/s, cmd heading: 27.325379 deg, new cmd heading: 27.236648 deg. 2025-10-29T00:44:13.151Z,1761698653.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.475369 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:13.177Z,1761698653.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769991 2025-10-29T00:44:13.429Z,1761698653.429 [DAT](INFO): DAT read: Rx Time:00:44:12.6510 2025-10-29T00:44:13.429Z,1761698653.429 [DAT](INFO): Rx dataTimestamp_ set to:1761698653.429012 2025-10-29T00:44:13.430Z,1761698653.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022796 2025-10-29T00:44:13.501Z,1761698653.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878114,-0.476420,-0.044045],[0.477859,0.868722,0.130282],[-0.023806,-0.135449,0.990498]] 2025-10-29T00:44:13.541Z,1761698653.541 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:13.543Z,1761698653.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 56.59 m. 2025-10-29T00:44:13.550Z,1761698653.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 56.587891 m, nav range: 53.820656 m, bearing: 16.573944 deg, approach rate: -0.639540 m/s, LOS rate: -0.075949 deg/s, cmd heading: 27.236648 deg, new cmd heading: 27.173953 deg. 2025-10-29T00:44:13.551Z,1761698653.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.474275 target range: 56.587891 and range: 56.90 m. 2025-10-29T00:44:13.684Z,1761698653.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276561 2025-10-29T00:44:13.889Z,1761698653.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879063,-0.474411,-0.046711],[0.476145,0.869057,0.134262],[-0.023101,-0.140266,0.989844]] 2025-10-29T00:44:13.938Z,1761698653.938 [DAT](INFO): DAT read: 00:44:12.6510 LVL= 32752, 32753, 30066, 32755, AGC= 66, IDX= 406,-0.19,-1.374,-2.769,-0.723,-1.379, PHS= 0.108,-1.345, 0.612, RAW= 164.4, 7.2, CAL= 163.9, 7.0, ROT= 346.1, -7.0 2025-10-29T00:44:13.939Z,1761698653.939 [DAT](INFO): got valid direction response: 00:44:12.6510 LVL= 32752, 32753, 30066, 32755, AGC= 66, IDX= 406,-0.19,-1.374,-2.769,-0.723,-1.379, PHS= 0.108,-1.345, 0.612, RAW= 164.4, 7.2, CAL= 163.9, 7.0, ROT= 346.1, -7.0 2025-10-29T00:44:13.940Z,1761698653.940 [DAT](INFO): DAT read: Bearing 180.7, -15.9 (Local) 2025-10-29T00:44:13.941Z,1761698653.941 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, -15.9 (Local) 2025-10-29T00:44:13.942Z,1761698653.942 [DAT](INFO): DAT read: Range 11 to 50 : 54.6 m (Round-trip 72.8 ms) speed 0.5 m/s 2025-10-29T00:44:13.943Z,1761698653.943 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:13.944Z,1761698653.944 [DAT](INFO): direction in FSK: [0.963481,-0.238437,0.121869] 2025-10-29T00:44:13.944Z,1761698653.944 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:13.947Z,1761698653.947 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:13.947Z,1761698653.947 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:13.952Z,1761698653.952 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:14.045Z,1761698654.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.599998 m, deltaT: 3.779975 s, deltaX: -2.300003 m, approachRate: -0.608470 m/s, rangeRepo size: 4 2025-10-29T00:44:14.047Z,1761698654.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.301525 m, bearing: 15.679860 deg, lat: 36.779284 deg, lon: -121.859525 deg, deltaT: 3.779975 s, deltaX: -2.286366 m, approachRate: -0.604863 m/s, posRepo size: 4 2025-10-29T00:44:14.047Z,1761698654.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:14.054Z,1761698654.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 53.656628 m, bearing: 16.471360 deg, approach rate: 0.000000 m/s, LOS rate: -0.075949 deg/s, cmd heading: 27.173954 deg, new cmd heading: 27.099780 deg. 2025-10-29T00:44:14.055Z,1761698654.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.472980 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:14.185Z,1761698654.185 [DAT](INFO): DAT read: user:569> 2025-10-29T00:44:14.186Z,1761698654.186 [DAT](INFO): DAT read: Tx time:00:44:13.9241 2025-10-29T00:44:14.186Z,1761698654.186 [DAT](INFO): Ping request sent. 2025-10-29T00:44:14.186Z,1761698654.186 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:14.186Z,1761698654.186 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:14.187Z,1761698654.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-29T00:44:14.383Z,1761698654.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880467,-0.471320,-0.051329],[0.473616,0.869461,0.140449],[-0.021567,-0.147971,0.988757]] 2025-10-29T00:44:14.437Z,1761698654.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250883 2025-10-29T00:44:14.438Z,1761698654.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:14.441Z,1761698654.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 53.377781 m, bearing: 16.440379 deg, approach rate: -0.685798 m/s, LOS rate: -0.076593 deg/s, cmd heading: 27.099780 deg, new cmd heading: 27.037494 deg. 2025-10-29T00:44:14.442Z,1761698654.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.471893 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:14.692Z,1761698654.692 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505364 2025-10-29T00:44:14.788Z,1761698654.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880577,-0.470989,-0.052475],[0.473442,0.869433,0.141205],[-0.020883,-0.149186,0.988589]] 2025-10-29T00:44:14.829Z,1761698654.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:14.831Z,1761698654.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 53.128899 m, bearing: 16.411831 deg, approach rate: -0.637370 m/s, LOS rate: -0.073453 deg/s, cmd heading: 27.037495 deg, new cmd heading: 26.980131 deg. 2025-10-29T00:44:14.833Z,1761698654.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.470892 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:14.941Z,1761698654.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755225 2025-10-29T00:44:15.190Z,1761698655.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880195,-0.471702,-0.052475],[0.474174,0.869244,0.139908],[-0.020382,-0.148028,0.988773]] 2025-10-29T00:44:15.193Z,1761698655.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006843 2025-10-29T00:44:15.210Z,1761698655.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:15.213Z,1761698655.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 52.886734 m, bearing: 16.383586 deg, approach rate: -0.634843 m/s, LOS rate: -0.074383 deg/s, cmd heading: 26.980130 deg, new cmd heading: 26.923382 deg. 2025-10-29T00:44:15.214Z,1761698655.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.469902 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:15.445Z,1761698655.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258811 2025-10-29T00:44:15.599Z,1761698655.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879500,-0.473007,-0.052393],[0.475470,0.868687,0.138961],[-0.020217,-0.147128,0.988911]] 2025-10-29T00:44:15.625Z,1761698655.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:15.627Z,1761698655.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:15.630Z,1761698655.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 52.622356 m, bearing: 16.352034 deg, approach rate: -0.634352 m/s, LOS rate: -0.076086 deg/s, cmd heading: 26.923381 deg, new cmd heading: 26.859961 deg. 2025-10-29T00:44:15.631Z,1761698655.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.468795 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:15.699Z,1761698655.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512734 2025-10-29T00:44:15.949Z,1761698655.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762769 2025-10-29T00:44:15.998Z,1761698655.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878635,-0.474639,-0.052142],[0.477070,0.868001,0.137764],[-0.020129,-0.145920,0.989092]] 2025-10-29T00:44:16.035Z,1761698656.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:16.038Z,1761698656.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 52.363831 m, bearing: 16.322045 deg, approach rate: -0.633789 m/s, LOS rate: -0.073883 deg/s, cmd heading: 26.859961 deg, new cmd heading: 26.799687 deg. 2025-10-29T00:44:16.039Z,1761698656.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.467743 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:16.201Z,1761698656.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014658 2025-10-29T00:44:16.395Z,1761698656.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877292,-0.477285,-0.050572],[0.479532,0.867208,0.134164],[-0.020178,-0.141952,0.989668]] 2025-10-29T00:44:16.431Z,1761698656.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:16.434Z,1761698656.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 52.113056 m, bearing: 16.291923 deg, approach rate: -0.633259 m/s, LOS rate: -0.076429 deg/s, cmd heading: 26.799687 deg, new cmd heading: 26.739154 deg. 2025-10-29T00:44:16.435Z,1761698656.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.466686 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:16.466Z,1761698656.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.279636 2025-10-29T00:44:16.725Z,1761698656.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.537579 2025-10-29T00:44:16.798Z,1761698656.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875721,-0.480381,-0.048437],[0.482390,0.866317,0.129591],[-0.020292,-0.136851,0.990384]] 2025-10-29T00:44:16.863Z,1761698656.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:16.870Z,1761698656.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 51.852657 m, bearing: 16.265193 deg, approach rate: -0.602947 m/s, LOS rate: -0.062205 deg/s, cmd heading: 26.739154 deg, new cmd heading: 26.685424 deg. 2025-10-29T00:44:16.871Z,1761698656.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.465749 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:16.969Z,1761698656.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782764 2025-10-29T00:44:17.203Z,1761698657.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874577,-0.482662,-0.046402],[0.484431,0.865595,0.126775],[-0.021024,-0.133353,0.990846]] 2025-10-29T00:44:17.221Z,1761698657.221 [DAT](INFO): DAT read: Rx Time:00:44:16.3978 2025-10-29T00:44:17.222Z,1761698657.222 [DAT](INFO): Rx dataTimestamp_ set to:1761698657.221361 2025-10-29T00:44:17.222Z,1761698657.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036039 2025-10-29T00:44:17.224Z,1761698657.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:17.226Z,1761698657.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 51.627514 m, bearing: 16.241302 deg, approach rate: -0.623905 m/s, LOS rate: -0.066493 deg/s, cmd heading: 26.685424 deg, new cmd heading: 26.637435 deg. 2025-10-29T00:44:17.227Z,1761698657.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.464911 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:17.474Z,1761698657.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.287592 2025-10-29T00:44:17.610Z,1761698657.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873826,-0.484292,-0.043473],[0.485756,0.865477,0.122440],[-0.021671,-0.128109,0.991523]] 2025-10-29T00:44:17.627Z,1761698657.627 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:17.629Z,1761698657.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.30 m. 2025-10-29T00:44:17.631Z,1761698657.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.301525 m, nav range: 51.377491 m, bearing: 16.214145 deg, approach rate: -0.617113 m/s, LOS rate: -0.067355 deg/s, cmd heading: 26.637434 deg, new cmd heading: 26.582856 deg. 2025-10-29T00:44:17.649Z,1761698657.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.463958 target range: 54.301525 and range: 54.60 m. 2025-10-29T00:44:17.746Z,1761698657.746 [DAT](INFO): DAT read: 00:44:16.3978 LVL= 32752, 32753, 28466, 32755, AGC= 68, IDX= 405,-0.08, 1.203,-0.170, 1.860, 1.213, PHS= 0.092,-1.339, 0.602, RAW= 164.7, 7.4, CAL= 164.2, 7.4, ROT= 345.8, -7.4 2025-10-29T00:44:17.759Z,1761698657.759 [DAT](INFO): got valid direction response: 00:44:16.3978 LVL= 32752, 32753, 28466, 32755, AGC= 68, IDX= 405,-0.08, 1.203,-0.170, 1.860, 1.213, PHS= 0.092,-1.339, 0.602, RAW= 164.7, 7.4, CAL= 164.2, 7.4, ROT= 345.8, -7.4 2025-10-29T00:44:17.777Z,1761698657.777 [DAT](INFO): DAT read: Bearing 181.9, -16.2 (Local) 2025-10-29T00:44:17.778Z,1761698657.778 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, -16.2 (Local) 2025-10-29T00:44:17.780Z,1761698657.780 [DAT](INFO): DAT read: Range 11 to 50 : 52.2 m (Round-trip 69.6 ms) speed 0.4 m/s 2025-10-29T00:44:17.784Z,1761698657.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:17.785Z,1761698657.785 [DAT](INFO): direction in FSK: [0.961371,-0.243264,0.128796] 2025-10-29T00:44:17.786Z,1761698657.786 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:17.793Z,1761698657.793 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:17.793Z,1761698657.793 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:17.794Z,1761698657.794 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:17.980Z,1761698657.980 [DAT](INFO): DAT read: user:570> 2025-10-29T00:44:17.980Z,1761698657.980 [DAT](INFO): DAT read: Tx time:00:44:17.7741 2025-10-29T00:44:17.981Z,1761698657.981 [DAT](INFO): Ping request sent. 2025-10-29T00:44:17.981Z,1761698657.981 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:17.981Z,1761698657.981 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:17.982Z,1761698657.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:44:18.020Z,1761698658.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873635,-0.484952,-0.039798],[0.486066,0.866017,0.117279],[-0.022409,-0.121803,0.992301]] 2025-10-29T00:44:18.102Z,1761698658.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.200001 m, deltaT: 3.793895 s, deltaX: -2.399998 m, approachRate: -0.632595 m/s, rangeRepo size: 4 2025-10-29T00:44:18.108Z,1761698658.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.913113 m, bearing: 15.918367 deg, lat: 36.779286 deg, lon: -121.859525 deg, deltaT: 3.793895 s, deltaX: -2.388412 m, approachRate: -0.629541 m/s, posRepo size: 4 2025-10-29T00:44:18.109Z,1761698658.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:18.116Z,1761698658.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 51.349716 m, bearing: 16.104396 deg, approach rate: 0.000000 m/s, LOS rate: -0.067355 deg/s, cmd heading: 26.582857 deg, new cmd heading: 26.519165 deg. 2025-10-29T00:44:18.117Z,1761698658.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.462847 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:18.230Z,1761698658.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248948 2025-10-29T00:44:18.419Z,1761698658.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873473,-0.485522,-0.036232],[0.486326,0.866551,0.112141],[-0.023051,-0.115573,0.993032]] 2025-10-29T00:44:18.438Z,1761698658.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:18.441Z,1761698658.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 51.128902 m, bearing: 16.079037 deg, approach rate: -0.657033 m/s, LOS rate: -0.075781 deg/s, cmd heading: 26.519166 deg, new cmd heading: 26.468229 deg. 2025-10-29T00:44:18.441Z,1761698658.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.461958 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:18.482Z,1761698658.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500708 2025-10-29T00:44:18.733Z,1761698658.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751974 2025-10-29T00:44:18.822Z,1761698658.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873347,-0.485861,-0.034694],[0.486550,0.866772,0.109430],[-0.023096,-0.112451,0.993389]] 2025-10-29T00:44:18.882Z,1761698658.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:18.897Z,1761698658.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 50.860928 m, bearing: 16.049501 deg, approach rate: -0.602776 m/s, LOS rate: -0.066788 deg/s, cmd heading: 26.468230 deg, new cmd heading: 26.408846 deg. 2025-10-29T00:44:18.898Z,1761698658.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460921 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:18.990Z,1761698658.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008809 2025-10-29T00:44:19.224Z,1761698659.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873509,-0.485540,-0.035116],[0.486233,0.866695,0.111434],[-0.023671,-0.114413,0.993151]] 2025-10-29T00:44:19.241Z,1761698659.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260176 2025-10-29T00:44:19.245Z,1761698659.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:19.248Z,1761698659.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 50.643257 m, bearing: 16.025344 deg, approach rate: -0.599863 m/s, LOS rate: -0.066857 deg/s, cmd heading: 26.408846 deg, new cmd heading: 26.360326 deg. 2025-10-29T00:44:19.249Z,1761698659.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.460074 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:19.493Z,1761698659.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511958 2025-10-29T00:44:19.626Z,1761698659.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874247,-0.484056,-0.037169],[0.484844,0.866621,0.117873],[-0.024846,-0.121071,0.992333]] 2025-10-29T00:44:19.645Z,1761698659.645 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:19.647Z,1761698659.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:19.665Z,1761698659.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 50.400452 m, bearing: 15.998507 deg, approach rate: -0.604812 m/s, LOS rate: -0.067172 deg/s, cmd heading: 26.360326 deg, new cmd heading: 26.306393 deg. 2025-10-29T00:44:19.666Z,1761698659.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.459133 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:19.751Z,1761698659.751 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.769261 2025-10-29T00:44:19.997Z,1761698659.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016077 2025-10-29T00:44:20.035Z,1761698660.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875510,-0.481533,-0.040093],[0.482485,0.866688,0.126728],[-0.026275,-0.130296,0.991127]] 2025-10-29T00:44:20.108Z,1761698660.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:20.111Z,1761698660.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 50.132912 m, bearing: 15.965035 deg, approach rate: -0.579313 m/s, LOS rate: -0.072865 deg/s, cmd heading: 26.306393 deg, new cmd heading: 26.239092 deg. 2025-10-29T00:44:20.116Z,1761698660.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.457959 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:20.249Z,1761698660.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267967 2025-10-29T00:44:20.478Z,1761698660.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:20.481Z,1761698660.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 49.914864 m, bearing: 15.937487 deg, approach rate: -0.590561 m/s, LOS rate: -0.074936 deg/s, cmd heading: 26.239092 deg, new cmd heading: 26.183756 deg. 2025-10-29T00:44:20.482Z,1761698660.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.456993 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:20.501Z,1761698660.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520163 2025-10-29T00:44:20.754Z,1761698660.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772646 2025-10-29T00:44:20.908Z,1761698660.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876337,-0.479802,-0.042708],[0.480895,0.866310,0.135082],[-0.027814,-0.138915,0.989914]] 2025-10-29T00:44:20.953Z,1761698660.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:20.956Z,1761698660.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 49.630821 m, bearing: 15.894173 deg, approach rate: -0.597620 m/s, LOS rate: -0.091653 deg/s, cmd heading: 26.183756 deg, new cmd heading: 26.096632 deg. 2025-10-29T00:44:20.957Z,1761698660.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.455472 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:21.006Z,1761698661.006 [DAT](INFO): DAT read: Rx Time:00:44:20.2448 2025-10-29T00:44:21.006Z,1761698661.006 [DAT](INFO): Rx dataTimestamp_ set to:1761698661.006022 2025-10-29T00:44:21.007Z,1761698661.007 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026352 2025-10-29T00:44:21.257Z,1761698661.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275970 2025-10-29T00:44:21.450Z,1761698661.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876422,-0.479547,-0.043810],[0.480716,0.865956,0.137958],[-0.028219,-0.141970,0.989469]] 2025-10-29T00:44:21.477Z,1761698661.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.91 m. 2025-10-29T00:44:21.481Z,1761698661.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.913113 m, nav range: 49.317543 m, bearing: 15.845837 deg, approach rate: -0.597381 m/s, LOS rate: -0.092757 deg/s, cmd heading: 26.096631 deg, new cmd heading: 25.999344 deg. 2025-10-29T00:44:21.482Z,1761698661.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.453774 target range: 51.913113 and range: 52.20 m. 2025-10-29T00:44:21.514Z,1761698661.514 [DAT](INFO): DAT read: 00:44:20.2448 LVL= 32752, 32753, 27698, 32755, AGC= 67, IDX= 406,-0.22, 0.027,-1.331, 0.668, 0.054, PHS= 0.075,-1.340, 0.570, RAW= 164.5, 8.1, CAL= 164.1, 8.4, ROT= 345.9, -8.4 2025-10-29T00:44:21.515Z,1761698661.515 [DAT](INFO): got valid direction response: 00:44:20.2448 LVL= 32752, 32753, 27698, 32755, AGC= 67, IDX= 406,-0.22, 0.027,-1.331, 0.668, 0.054, PHS= 0.075,-1.340, 0.570, RAW= 164.5, 8.1, CAL= 164.1, 8.4, ROT= 345.9, -8.4 2025-10-29T00:44:21.516Z,1761698661.516 [DAT](INFO): DAT read: Bearing 182.8, -16.8 (Local) 2025-10-29T00:44:21.517Z,1761698661.517 [DAT](INFO): Local bearing/azimuth received: Bearing 182.8, -16.8 (Local) 2025-10-29T00:44:21.518Z,1761698661.518 [DAT](INFO): DAT read: Range 11 to 50 : 49.9 m (Round-trip 66.6 ms) speed 0.5 m/s 2025-10-29T00:44:21.519Z,1761698661.519 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:21.520Z,1761698661.520 [DAT](INFO): direction in FSK: [0.959467,-0.241002,0.146083] 2025-10-29T00:44:21.520Z,1761698661.520 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:21.523Z,1761698661.523 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:21.523Z,1761698661.523 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:21.524Z,1761698661.524 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:21.762Z,1761698661.762 [DAT](INFO): DAT read: user:571> 2025-10-29T00:44:21.763Z,1761698661.763 [DAT](INFO): DAT read: Tx time:00:44:21.5241 2025-10-29T00:44:21.763Z,1761698661.763 [DAT](INFO): Ping request sent. 2025-10-29T00:44:21.764Z,1761698661.764 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:21.764Z,1761698661.764 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:21.765Z,1761698661.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001393 2025-10-29T00:44:21.900Z,1761698661.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876143,-0.479995,-0.044468],[0.481217,0.865479,0.139199],[-0.028329,-0.143357,0.989266]] 2025-10-29T00:44:21.966Z,1761698661.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.900002 m, deltaT: 3.782084 s, deltaX: -2.299999 m, approachRate: -0.608130 m/s, rangeRepo size: 4 2025-10-29T00:44:21.970Z,1761698661.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.628151 m, bearing: 16.061864 deg, lat: 36.779286 deg, lon: -121.859525 deg, deltaT: 3.782084 s, deltaX: -2.284962 m, approachRate: -0.604154 m/s, posRepo size: 4 2025-10-29T00:44:21.970Z,1761698661.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:21.973Z,1761698661.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 49.040268 m, bearing: 15.798409 deg, approach rate: 0.000000 m/s, LOS rate: -0.092757 deg/s, cmd heading: 25.999344 deg, new cmd heading: 25.908816 deg. 2025-10-29T00:44:21.974Z,1761698661.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.452194 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:22.013Z,1761698662.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249853 2025-10-29T00:44:22.265Z,1761698662.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501951 2025-10-29T00:44:22.298Z,1761698662.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875505,-0.481009,-0.046057],[0.482385,0.864470,0.141410],[-0.028204,-0.146022,0.988879]] 2025-10-29T00:44:22.321Z,1761698662.321 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:22.323Z,1761698662.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:22.326Z,1761698662.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 48.815224 m, bearing: 15.759127 deg, approach rate: -0.629127 m/s, LOS rate: -0.110322 deg/s, cmd heading: 25.908817 deg, new cmd heading: 25.829890 deg. 2025-10-29T00:44:22.327Z,1761698662.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.450817 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:22.517Z,1761698662.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753381 2025-10-29T00:44:22.695Z,1761698662.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875101,-0.481625,-0.047274],[0.483110,0.863703,0.143607],[-0.028334,-0.148509,0.988505]] 2025-10-29T00:44:22.715Z,1761698662.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:22.718Z,1761698662.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 48.582993 m, bearing: 15.717945 deg, approach rate: -0.591835 m/s, LOS rate: -0.105452 deg/s, cmd heading: 25.829890 deg, new cmd heading: 25.747133 deg. 2025-10-29T00:44:22.719Z,1761698662.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.449372 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:22.770Z,1761698662.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005949 2025-10-29T00:44:22.948Z,1761698662.948 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:44:23.021Z,1761698663.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257543 2025-10-29T00:44:23.101Z,1761698663.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874062,-0.483544,-0.046916],[0.485004,0.862948,0.141743],[-0.028053,-0.146646,0.988791]] 2025-10-29T00:44:23.160Z,1761698663.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:23.163Z,1761698663.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 48.328091 m, bearing: 15.665214 deg, approach rate: -0.578556 m/s, LOS rate: -0.120316 deg/s, cmd heading: 25.747132 deg, new cmd heading: 25.641114 deg. 2025-10-29T00:44:23.169Z,1761698663.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.447522 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:23.273Z,1761698663.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510044 2025-10-29T00:44:23.503Z,1761698663.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873162,-0.485183,-0.046751],[0.486660,0.862376,0.139534],[-0.027383,-0.144587,0.989113]] 2025-10-29T00:44:23.525Z,1761698663.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761587 2025-10-29T00:44:23.531Z,1761698663.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:23.534Z,1761698663.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 48.096043 m, bearing: 15.616195 deg, approach rate: -0.618198 m/s, LOS rate: -0.131223 deg/s, cmd heading: 25.641114 deg, new cmd heading: 25.542602 deg. 2025-10-29T00:44:23.535Z,1761698663.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.445803 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:23.779Z,1761698663.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015839 2025-10-29T00:44:23.910Z,1761698663.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872746,-0.485942,-0.046639],[0.487420,0.862098,0.138599],[-0.027143,-0.143695,0.989250]] 2025-10-29T00:44:23.952Z,1761698663.952 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:44:23.968Z,1761698663.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:23.971Z,1761698663.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 47.829609 m, bearing: 15.567393 deg, approach rate: -0.609556 m/s, LOS rate: -0.112273 deg/s, cmd heading: 25.542602 deg, new cmd heading: 25.444455 deg. 2025-10-29T00:44:23.972Z,1761698663.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.444090 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:24.030Z,1761698664.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266218 2025-10-29T00:44:24.281Z,1761698664.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517447 2025-10-29T00:44:24.310Z,1761698664.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872479,-0.486477,-0.046047],[0.487905,0.862060,0.137118],[-0.027010,-0.142099,0.989484]] 2025-10-29T00:44:24.347Z,1761698664.347 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:24.349Z,1761698664.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:24.352Z,1761698664.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 47.599480 m, bearing: 15.524647 deg, approach rate: -0.604618 m/s, LOS rate: -0.112850 deg/s, cmd heading: 25.444454 deg, new cmd heading: 25.358548 deg. 2025-10-29T00:44:24.353Z,1761698664.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.442590 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:24.533Z,1761698664.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769561 2025-10-29T00:44:24.716Z,1761698664.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872222,-0.486965,-0.045762],[0.488371,0.861944,0.136187],[-0.026874,-0.141134,0.989626]] 2025-10-29T00:44:24.751Z,1761698664.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:24.755Z,1761698664.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 47.366329 m, bearing: 15.480761 deg, approach rate: -0.580362 m/s, LOS rate: -0.109778 deg/s, cmd heading: 25.358547 deg, new cmd heading: 25.270345 deg. 2025-10-29T00:44:24.777Z,1761698664.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.441051 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:24.787Z,1761698664.787 [DAT](INFO): DAT read: Rx Time:00:44:23.9916 2025-10-29T00:44:24.787Z,1761698664.787 [DAT](INFO): Rx dataTimestamp_ set to:1761698664.786980 2025-10-29T00:44:24.788Z,1761698664.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024612 2025-10-29T00:44:25.037Z,1761698665.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273728 2025-10-29T00:44:25.173Z,1761698665.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872746,-0.485951,-0.046550],[0.487440,0.862229,0.137707],[-0.026782,-0.142873,0.989379]] 2025-10-29T00:44:25.228Z,1761698665.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.63 m. 2025-10-29T00:44:25.231Z,1761698665.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.628151 m, nav range: 47.075748 m, bearing: 15.433950 deg, approach rate: -0.609220 m/s, LOS rate: -0.098749 deg/s, cmd heading: 25.270344 deg, new cmd heading: 25.176143 deg. 2025-10-29T00:44:25.232Z,1761698665.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.439407 target range: 49.628151 and range: 49.90 m. 2025-10-29T00:44:25.295Z,1761698665.295 [DAT](INFO): DAT read: 00:44:23.9916 LVL= 32752, 32753, 28114, 32755, AGC= 68, IDX= 407, 0.07,-0.968,-2.345,-0.258,-0.938, PHS= 0.071,-1.362, 0.635, RAW= 165.9, 7.4, CAL= 165.4, 7.3, ROT= 344.6, -7.3 2025-10-29T00:44:25.297Z,1761698665.297 [DAT](INFO): got valid direction response: 00:44:23.9916 LVL= 32752, 32753, 28114, 32755, AGC= 68, IDX= 407, 0.07,-0.968,-2.345,-0.258,-0.938, PHS= 0.071,-1.362, 0.635, RAW= 165.9, 7.4, CAL= 165.4, 7.3, ROT= 344.6, -7.3 2025-10-29T00:44:25.299Z,1761698665.299 [DAT](INFO): DAT read: Bearing 182.1, -17.9 (Local) 2025-10-29T00:44:25.299Z,1761698665.299 [DAT](INFO): Local bearing/azimuth received: Bearing 182.1, -17.9 (Local) 2025-10-29T00:44:25.301Z,1761698665.301 [DAT](INFO): DAT read: Range 11 to 50 : 47.6 m (Round-trip 63.5 ms) speed 0.4 m/s 2025-10-29T00:44:25.302Z,1761698665.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:25.304Z,1761698665.304 [DAT](INFO): direction in FSK: [0.956281,-0.263403,0.127065] 2025-10-29T00:44:25.306Z,1761698665.306 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:25.311Z,1761698665.311 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:25.311Z,1761698665.311 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:25.311Z,1761698665.311 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:25.541Z,1761698665.541 [DAT](INFO): DAT read: user:572> 2025-10-29T00:44:25.542Z,1761698665.542 [DAT](INFO): DAT read: Tx time:00:44:25.3240 2025-10-29T00:44:25.542Z,1761698665.542 [DAT](INFO): Ping request sent. 2025-10-29T00:44:25.542Z,1761698665.542 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:25.542Z,1761698665.542 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:25.543Z,1761698665.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-29T00:44:25.608Z,1761698665.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874501,-0.482365,-0.050717],[0.484360,0.863046,0.143340],[-0.025371,-0.149917,0.988373]] 2025-10-29T00:44:25.645Z,1761698665.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.599998 m, deltaT: 3.780145 s, deltaX: -2.300003 m, approachRate: -0.608443 m/s, rangeRepo size: 4 2025-10-29T00:44:25.647Z,1761698665.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.342915 m, bearing: 14.869936 deg, lat: 36.779288 deg, lon: -121.859527 deg, deltaT: 3.780145 s, deltaX: -2.285236 m, approachRate: -0.604537 m/s, posRepo size: 4 2025-10-29T00:44:25.647Z,1761698665.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:25.650Z,1761698665.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 46.908237 m, bearing: 15.195549 deg, approach rate: 0.000000 m/s, LOS rate: -0.098749 deg/s, cmd heading: 25.176144 deg, new cmd heading: 25.094001 deg. 2025-10-29T00:44:25.651Z,1761698665.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.437973 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:25.793Z,1761698665.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250995 2025-10-29T00:44:26.035Z,1761698666.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:26.038Z,1761698666.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 46.668381 m, bearing: 15.162661 deg, approach rate: -0.613498 m/s, LOS rate: -0.084552 deg/s, cmd heading: 25.094001 deg, new cmd heading: 25.027887 deg. 2025-10-29T00:44:26.039Z,1761698666.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.436819 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:26.045Z,1761698666.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503075 2025-10-29T00:44:26.297Z,1761698666.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754883 2025-10-29T00:44:26.375Z,1761698666.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875688,-0.479848,-0.054002],[0.482256,0.863405,0.148194],[-0.024485,-0.155815,0.987483]] 2025-10-29T00:44:26.470Z,1761698666.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:26.472Z,1761698666.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:26.475Z,1761698666.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 46.402843 m, bearing: 15.126590 deg, approach rate: -0.607444 m/s, LOS rate: -0.082989 deg/s, cmd heading: 25.027886 deg, new cmd heading: 24.955331 deg. 2025-10-29T00:44:26.476Z,1761698666.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.435553 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:26.550Z,1761698666.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007466 2025-10-29T00:44:26.790Z,1761698666.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876673,-0.477655,-0.057355],[0.480510,0.863548,0.152954],[-0.023531,-0.161650,0.986567]] 2025-10-29T00:44:26.801Z,1761698666.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259058 2025-10-29T00:44:26.818Z,1761698666.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:26.821Z,1761698666.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 46.192715 m, bearing: 15.098225 deg, approach rate: -0.607518 m/s, LOS rate: -0.082379 deg/s, cmd heading: 24.955331 deg, new cmd heading: 24.898344 deg. 2025-10-29T00:44:26.822Z,1761698666.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.434558 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:27.057Z,1761698667.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514334 2025-10-29T00:44:27.184Z,1761698667.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877569,-0.475460,-0.061737],[0.478931,0.863326,0.159036],[-0.022316,-0.169133,0.985341]] 2025-10-29T00:44:27.243Z,1761698667.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:27.246Z,1761698667.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 45.928913 m, bearing: 15.070151 deg, approach rate: -0.619886 m/s, LOS rate: -0.066348 deg/s, cmd heading: 24.898345 deg, new cmd heading: 24.841874 deg. 2025-10-29T00:44:27.247Z,1761698667.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.433573 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:27.309Z,1761698667.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767024 2025-10-29T00:44:27.562Z,1761698667.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019965 2025-10-29T00:44:27.603Z,1761698667.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879319,-0.471617,-0.066146],[0.475815,0.864217,0.163492],[-0.019941,-0.175234,0.984325]] 2025-10-29T00:44:27.645Z,1761698667.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:27.648Z,1761698667.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 45.679142 m, bearing: 15.044329 deg, approach rate: -0.621386 m/s, LOS rate: -0.064592 deg/s, cmd heading: 24.841874 deg, new cmd heading: 24.789948 deg. 2025-10-29T00:44:27.649Z,1761698667.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.432666 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:27.813Z,1761698667.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270944 2025-10-29T00:44:27.997Z,1761698667.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880271,-0.469748,-0.066784],[0.474105,0.865304,0.162710],[-0.018644,-0.174891,0.984411]] 2025-10-29T00:44:28.035Z,1761698668.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:28.060Z,1761698668.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 45.438381 m, bearing: 15.021830 deg, approach rate: -0.618137 m/s, LOS rate: -0.058071 deg/s, cmd heading: 24.789948 deg, new cmd heading: 24.744711 deg. 2025-10-29T00:44:28.061Z,1761698668.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431877 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:28.068Z,1761698668.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525543 2025-10-29T00:44:28.317Z,1761698668.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774922 2025-10-29T00:44:28.406Z,1761698668.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881185,-0.467910,-0.067618],[0.472451,0.866275,0.162351],[-0.017390,-0.175008,0.984413]] 2025-10-29T00:44:28.435Z,1761698668.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:28.438Z,1761698668.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 45.190693 m, bearing: 14.999030 deg, approach rate: -0.618063 m/s, LOS rate: -0.057205 deg/s, cmd heading: 24.744712 deg, new cmd heading: 24.698862 deg. 2025-10-29T00:44:28.439Z,1761698668.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.431076 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:28.571Z,1761698668.571 [DAT](INFO): DAT read: Rx Time:00:44:27.7887 2025-10-29T00:44:28.572Z,1761698668.572 [DAT](INFO): Rx dataTimestamp_ set to:1761698668.571032 2025-10-29T00:44:28.573Z,1761698668.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030888 2025-10-29T00:44:28.821Z,1761698668.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279297 2025-10-29T00:44:28.827Z,1761698668.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882099,-0.466267,-0.067062],[0.470793,0.867772,0.159139],[-0.016007,-0.171949,0.984976]] 2025-10-29T00:44:28.870Z,1761698668.870 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:28.872Z,1761698668.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.34 m. 2025-10-29T00:44:28.875Z,1761698668.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.342915 m, nav range: 44.920998 m, bearing: 14.974637 deg, approach rate: -0.617078 m/s, LOS rate: -0.056149 deg/s, cmd heading: 24.698862 deg, new cmd heading: 24.649782 deg. 2025-10-29T00:44:28.878Z,1761698668.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.430220 target range: 47.342915 and range: 47.60 m. 2025-10-29T00:44:29.081Z,1761698669.081 [DAT](INFO): DAT read: 00:44:27.7887 LVL= 32752, 32753, 27026, 32755, AGC= 66, IDX= 409,-0.24,-1.042,-2.410,-0.343,-1.034, PHS= 0.094,-1.331, 0.647, RAW= 165.7, 6.7, CAL= 165.2, 6.4, ROT= 344.8, -6.4 2025-10-29T00:44:29.082Z,1761698669.082 [DAT](INFO): got valid direction response: 00:44:27.7887 LVL= 32752, 32753, 27026, 32755, AGC= 66, IDX= 409,-0.24,-1.042,-2.410,-0.343,-1.034, PHS= 0.094,-1.331, 0.647, RAW= 165.7, 6.7, CAL= 165.2, 6.4, ROT= 344.8, -6.4 2025-10-29T00:44:29.083Z,1761698669.083 [DAT](INFO): DAT read: Bearing 179.0, -17.1 (Local) 2025-10-29T00:44:29.084Z,1761698669.084 [DAT](INFO): Local bearing/azimuth received: Bearing 179.0, -17.1 (Local) 2025-10-29T00:44:29.085Z,1761698669.085 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.5 m/s 2025-10-29T00:44:29.086Z,1761698669.086 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:29.087Z,1761698669.087 [DAT](INFO): direction in FSK: [0.959002,-0.260555,0.111469] 2025-10-29T00:44:29.087Z,1761698669.087 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:29.090Z,1761698669.090 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:29.090Z,1761698669.090 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:29.091Z,1761698669.091 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:29.213Z,1761698669.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882976,-0.464465,-0.068010],[0.469181,0.868622,0.159262],[-0.014897,-0.172534,0.984891]] 2025-10-29T00:44:29.294Z,1761698669.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.784298 s, deltaX: -2.199997 m, approachRate: -0.581349 m/s, rangeRepo size: 4 2025-10-29T00:44:29.300Z,1761698669.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.154919 m, bearing: 14.110402 deg, lat: 36.779288 deg, lon: -121.859530 deg, deltaT: 3.784298 s, deltaX: -2.187996 m, approachRate: -0.578178 m/s, posRepo size: 4 2025-10-29T00:44:29.301Z,1761698669.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:29.308Z,1761698669.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 44.611301 m, bearing: 14.618094 deg, approach rate: 0.000000 m/s, LOS rate: -0.056149 deg/s, cmd heading: 24.649782 deg, new cmd heading: 24.602488 deg. 2025-10-29T00:44:29.309Z,1761698669.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.429394 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:29.325Z,1761698669.325 [DAT](INFO): DAT read: user:573> 2025-10-29T00:44:29.326Z,1761698669.326 [DAT](INFO): DAT read: Tx time:00:44:29.0740 2025-10-29T00:44:29.326Z,1761698669.326 [DAT](INFO): Ping request sent. 2025-10-29T00:44:29.326Z,1761698669.326 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:29.326Z,1761698669.326 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:29.327Z,1761698669.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:44:29.596Z,1761698669.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.269974 2025-10-29T00:44:29.630Z,1761698669.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.884345,-0.461712,-0.068957],[0.466618,0.869762,0.160567],[-0.014159,-0.174173,0.984613]] 2025-10-29T00:44:29.649Z,1761698669.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:29.652Z,1761698669.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 44.383995 m, bearing: 14.596823 deg, approach rate: -0.638995 m/s, LOS rate: -0.060104 deg/s, cmd heading: 24.602488 deg, new cmd heading: 24.559728 deg. 2025-10-29T00:44:29.653Z,1761698669.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.428648 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:29.829Z,1761698669.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502699 2025-10-29T00:44:30.032Z,1761698670.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.885750,-0.458922,-0.069546],[0.463962,0.870983,0.161643],[-0.013608,-0.175442,0.984396]] 2025-10-29T00:44:30.096Z,1761698670.096 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.769553 2025-10-29T00:44:30.107Z,1761698670.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:30.110Z,1761698670.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 44.106110 m, bearing: 14.565803 deg, approach rate: -0.607032 m/s, LOS rate: -0.068189 deg/s, cmd heading: 24.559728 deg, new cmd heading: 24.497297 deg. 2025-10-29T00:44:30.111Z,1761698670.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.427558 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:30.351Z,1761698670.351 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.024249 2025-10-29T00:44:30.439Z,1761698670.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887157,-0.456150,-0.069853],[0.461278,0.872228,0.162610],[-0.013247,-0.176482,0.984215]] 2025-10-29T00:44:30.499Z,1761698670.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:30.505Z,1761698670.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 43.874027 m, bearing: 14.540498 deg, approach rate: -0.592965 m/s, LOS rate: -0.064995 deg/s, cmd heading: 24.497296 deg, new cmd heading: 24.446419 deg. 2025-10-29T00:44:30.506Z,1761698670.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.426670 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:30.601Z,1761698670.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.274769 2025-10-29T00:44:30.841Z,1761698670.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888317,-0.453793,-0.070465],[0.459050,0.873136,0.164031],[-0.012910,-0.178058,0.983935]] 2025-10-29T00:44:30.853Z,1761698670.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.526768 2025-10-29T00:44:30.862Z,1761698670.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:30.865Z,1761698670.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 43.650623 m, bearing: 14.516594 deg, approach rate: -0.615423 m/s, LOS rate: -0.066186 deg/s, cmd heading: 24.446418 deg, new cmd heading: 24.398366 deg. 2025-10-29T00:44:30.865Z,1761698670.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.425832 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:31.105Z,1761698671.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.778977 2025-10-29T00:44:31.242Z,1761698671.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889570,-0.451316,-0.070558],[0.456616,0.874172,0.165302],[-0.012924,-0.179266,0.983716]] 2025-10-29T00:44:31.287Z,1761698671.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:31.290Z,1761698671.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:31.293Z,1761698671.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 43.390400 m, bearing: 14.477888 deg, approach rate: -0.607767 m/s, LOS rate: -0.090944 deg/s, cmd heading: 24.398366 deg, new cmd heading: 24.320489 deg. 2025-10-29T00:44:31.294Z,1761698671.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.424473 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:31.357Z,1761698671.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.030872 2025-10-29T00:44:31.609Z,1761698671.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.282536 2025-10-29T00:44:31.653Z,1761698671.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890428,-0.449750,-0.069734],[0.454937,0.875172,0.164640],[-0.013018,-0.178324,0.983886]] 2025-10-29T00:44:31.672Z,1761698671.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:31.675Z,1761698671.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 43.158897 m, bearing: 14.443666 deg, approach rate: -0.606113 m/s, LOS rate: -0.090079 deg/s, cmd heading: 24.320489 deg, new cmd heading: 24.251678 deg. 2025-10-29T00:44:31.676Z,1761698671.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.423272 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:31.861Z,1761698671.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535117 2025-10-29T00:44:32.113Z,1761698672.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786786 2025-10-29T00:44:32.160Z,1761698672.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:32.163Z,1761698672.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 42.865162 m, bearing: 14.389618 deg, approach rate: -0.601590 m/s, LOS rate: -0.111452 deg/s, cmd heading: 24.251678 deg, new cmd heading: 24.142842 deg. 2025-10-29T00:44:32.164Z,1761698672.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.421372 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:32.366Z,1761698672.366 [DAT](INFO): DAT read: Rx Time:00:44:31.5356 2025-10-29T00:44:32.366Z,1761698672.366 [DAT](INFO): Rx dataTimestamp_ set to:1761698672.365790 2025-10-29T00:44:32.367Z,1761698672.367 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.040726 2025-10-29T00:44:32.466Z,1761698672.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890583,-0.449569,-0.068922],[0.454641,0.875674,0.162777],[-0.012826,-0.176301,0.984253]] 2025-10-29T00:44:32.486Z,1761698672.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.15 m. 2025-10-29T00:44:32.489Z,1761698672.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.154919 m, nav range: 42.668453 m, bearing: 14.353130 deg, approach rate: -0.603582 m/s, LOS rate: -0.112477 deg/s, cmd heading: 24.142842 deg, new cmd heading: 24.069529 deg. 2025-10-29T00:44:32.490Z,1761698672.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.420093 target range: 45.154919 and range: 45.40 m. 2025-10-29T00:44:32.617Z,1761698672.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.290669 2025-10-29T00:44:32.858Z,1761698672.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890437,-0.449960,-0.068248],[0.454925,0.875783,0.161393],[-0.012850,-0.174758,0.984527]] 2025-10-29T00:44:32.875Z,1761698672.875 [DAT](INFO): DAT read: 00:44:31.5356 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 409,-0.12,-1.751,-3.123,-1.078,-1.717, PHS= 0.068,-1.360, 0.595, RAW= 165.1, 8.0, CAL= 164.7, 8.2, ROT= 345.3, -8.2 2025-10-29T00:44:32.876Z,1761698672.876 [DAT](INFO): got valid direction response: 00:44:31.5356 LVL= 32752, 32753, 32738, 32755, AGC= 67, IDX= 409,-0.12,-1.751,-3.123,-1.078,-1.717, PHS= 0.068,-1.360, 0.595, RAW= 165.1, 8.0, CAL= 164.7, 8.2, ROT= 345.3, -8.2 2025-10-29T00:44:32.877Z,1761698672.877 [DAT](INFO): DAT read: Bearing 179.5, -16.9 (Local) 2025-10-29T00:44:32.877Z,1761698672.877 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -16.9 (Local) 2025-10-29T00:44:32.879Z,1761698672.879 [DAT](INFO): DAT read: Range 11 to 50 : 43.1 m (Round-trip 57.5 ms) speed 0.5 m/s 2025-10-29T00:44:32.879Z,1761698672.879 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:32.881Z,1761698672.881 [DAT](INFO): direction in FSK: [0.957379,-0.251164,0.142629] 2025-10-29T00:44:32.881Z,1761698672.881 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:32.893Z,1761698672.893 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:32.893Z,1761698672.893 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:32.893Z,1761698672.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:32.922Z,1761698672.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.099998 m, deltaT: 3.795674 s, deltaX: -2.300003 m, approachRate: -0.605954 m/s, rangeRepo size: 4 2025-10-29T00:44:32.946Z,1761698672.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.866909 m, bearing: 14.016401 deg, lat: 36.779288 deg, lon: -121.859530 deg, deltaT: 3.795674 s, deltaX: -2.288010 m, approachRate: -0.602794 m/s, posRepo size: 4 2025-10-29T00:44:32.957Z,1761698672.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:32.995Z,1761698672.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 42.415775 m, bearing: 14.305683 deg, approach rate: 0.000000 m/s, LOS rate: -0.112477 deg/s, cmd heading: 24.069529 deg, new cmd heading: 23.971492 deg. 2025-10-29T00:44:33.002Z,1761698673.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.418381 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:33.121Z,1761698673.121 [DAT](INFO): DAT read: user:574> 2025-10-29T00:44:33.122Z,1761698673.122 [DAT](INFO): DAT read: Tx time:00:44:32.8740 2025-10-29T00:44:33.122Z,1761698673.122 [DAT](INFO): Ping request sent. 2025-10-29T00:44:33.122Z,1761698673.122 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:33.122Z,1761698673.122 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:33.123Z,1761698673.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:44:33.343Z,1761698673.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890251,-0.450400,-0.067778],[0.455297,0.875888,0.159766],[-0.012592,-0.173091,0.984825]] 2025-10-29T00:44:33.373Z,1761698673.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250873 2025-10-29T00:44:33.379Z,1761698673.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:33.381Z,1761698673.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:33.384Z,1761698673.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 42.133781 m, bearing: 14.235689 deg, approach rate: -0.613498 m/s, LOS rate: -0.153295 deg/s, cmd heading: 23.971491 deg, new cmd heading: 23.830568 deg. 2025-10-29T00:44:33.385Z,1761698673.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.415922 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:33.626Z,1761698673.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503529 2025-10-29T00:44:33.746Z,1761698673.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890147,-0.450673,-0.067316],[0.455508,0.876086,0.158069],[-0.012263,-0.171367,0.985131]] 2025-10-29T00:44:33.784Z,1761698673.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:33.787Z,1761698673.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 41.893353 m, bearing: 14.175209 deg, approach rate: -0.596320 m/s, LOS rate: -0.150867 deg/s, cmd heading: 23.830568 deg, new cmd heading: 23.708912 deg. 2025-10-29T00:44:33.788Z,1761698673.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.413799 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:33.877Z,1761698673.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754741 2025-10-29T00:44:34.129Z,1761698674.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007288 2025-10-29T00:44:34.224Z,1761698674.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889886,-0.451364,-0.066131],[0.456022,0.876329,0.155215],[-0.012106,-0.168281,0.985665]] 2025-10-29T00:44:34.266Z,1761698674.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:34.269Z,1761698674.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 41.606510 m, bearing: 14.091989 deg, approach rate: -0.595675 m/s, LOS rate: -0.174011 deg/s, cmd heading: 23.708912 deg, new cmd heading: 23.541325 deg. 2025-10-29T00:44:34.270Z,1761698674.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.410874 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:34.382Z,1761698674.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259521 2025-10-29T00:44:34.624Z,1761698674.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889603,-0.451963,-0.065845],[0.456582,0.876290,0.153783],[-0.011805,-0.166869,0.985908]] 2025-10-29T00:44:34.633Z,1761698674.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510845 2025-10-29T00:44:34.644Z,1761698674.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:34.647Z,1761698674.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 41.381302 m, bearing: 14.025632 deg, approach rate: -0.595218 m/s, LOS rate: -0.176333 deg/s, cmd heading: 23.541324 deg, new cmd heading: 23.407889 deg. 2025-10-29T00:44:34.649Z,1761698674.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.408545 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:34.885Z,1761698674.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762802 2025-10-29T00:44:35.089Z,1761698675.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889586,-0.452064,-0.065384],[0.456619,0.876479,0.152591],[-0.011673,-0.165598,0.986124]] 2025-10-29T00:44:35.137Z,1761698675.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014901 2025-10-29T00:44:35.147Z,1761698675.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:35.154Z,1761698675.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 41.088974 m, bearing: 13.935487 deg, approach rate: -0.581635 m/s, LOS rate: -0.180634 deg/s, cmd heading: 23.407888 deg, new cmd heading: 23.226317 deg. 2025-10-29T00:44:35.155Z,1761698675.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.405376 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:35.390Z,1761698675.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267341 2025-10-29T00:44:35.493Z,1761698675.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889651,-0.451946,-0.065317],[0.456504,0.876739,0.151432],[-0.011174,-0.164539,0.986307]] 2025-10-29T00:44:35.534Z,1761698675.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:35.541Z,1761698675.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:35.550Z,1761698675.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 40.854805 m, bearing: 13.862371 deg, approach rate: -0.602542 m/s, LOS rate: -0.189213 deg/s, cmd heading: 23.226316 deg, new cmd heading: 23.079247 deg. 2025-10-29T00:44:35.559Z,1761698675.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.402809 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:35.641Z,1761698675.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519330 2025-10-29T00:44:35.893Z,1761698675.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807 2025-10-29T00:44:35.898Z,1761698675.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.889733,-0.451748,-0.065571],[0.456358,0.876920,0.150829],[-0.010636,-0.164121,0.986383]] 2025-10-29T00:44:35.917Z,1761698675.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:35.920Z,1761698675.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 40.622494 m, bearing: 13.789041 deg, approach rate: -0.609352 m/s, LOS rate: -0.193445 deg/s, cmd heading: 23.079247 deg, new cmd heading: 22.931748 deg. 2025-10-29T00:44:35.921Z,1761698675.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.400235 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:36.146Z,1761698676.146 [DAT](INFO): DAT read: Rx Time:00:44:35.3326 2025-10-29T00:44:36.146Z,1761698676.146 [DAT](INFO): Rx dataTimestamp_ set to:1761698676.145778 2025-10-29T00:44:36.147Z,1761698676.147 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024829 2025-10-29T00:44:36.298Z,1761698676.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890230,-0.450451,-0.067706],[0.455406,0.876935,0.153593],[-0.009813,-0.167567,0.985812]] 2025-10-29T00:44:36.342Z,1761698676.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.87 m. 2025-10-29T00:44:36.345Z,1761698676.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.866909 m, nav range: 40.377575 m, bearing: 13.721830 deg, approach rate: -0.575648 m/s, LOS rate: -0.158928 deg/s, cmd heading: 22.931749 deg, new cmd heading: 22.796512 deg. 2025-10-29T00:44:36.346Z,1761698676.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.397874 target range: 42.866909 and range: 43.10 m. 2025-10-29T00:44:36.399Z,1761698676.399 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276247 2025-10-29T00:44:36.654Z,1761698676.654 [DAT](INFO): DAT read: 00:44:35.3326 LVL= 29984, 32753, 28578, 32755, AGC= 67, IDX= 410, 0.45, 1.224,-0.163, 1.905, 1.192, PHS= 0.134,-1.309, 0.669, RAW= 165.1, 5.8, CAL= 164.4, 5.1, ROT= 345.6, -5.1 2025-10-29T00:44:36.655Z,1761698676.655 [DAT](INFO): got valid direction response: 00:44:35.3326 LVL= 29984, 32753, 28578, 32755, AGC= 67, IDX= 410, 0.45, 1.224,-0.163, 1.905, 1.192, PHS= 0.134,-1.309, 0.669, RAW= 165.1, 5.8, CAL= 164.4, 5.1, ROT= 345.6, -5.1 2025-10-29T00:44:36.656Z,1761698676.656 [DAT](INFO): DAT read: Bearing 176.2, -15.8 (Local) 2025-10-29T00:44:36.657Z,1761698676.657 [DAT](INFO): Local bearing/azimuth received: Bearing 176.2, -15.8 (Local) 2025-10-29T00:44:36.658Z,1761698676.658 [DAT](INFO): DAT read: Range 11 to 50 : 40.8 m (Round-trip 54.4 ms) speed 0.4 m/s 2025-10-29T00:44:36.659Z,1761698676.659 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:36.660Z,1761698676.660 [DAT](INFO): direction in FSK: [0.964749,-0.247705,0.088894] 2025-10-29T00:44:36.660Z,1761698676.660 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:36.663Z,1761698676.663 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:36.663Z,1761698676.663 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:36.664Z,1761698676.664 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:36.711Z,1761698676.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890730,-0.449266,-0.068996],[0.454445,0.877248,0.154646],[-0.008951,-0.169103,0.985558]] 2025-10-29T00:44:36.774Z,1761698676.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.799999 m, deltaT: 3.779870 s, deltaX: -2.299999 m, approachRate: -0.608486 m/s, rangeRepo size: 4 2025-10-29T00:44:36.781Z,1761698676.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.578331 m, bearing: 13.686425 deg, lat: 36.779288 deg, lon: -121.859530 deg, deltaT: 3.779870 s, deltaX: -2.288578 m, approachRate: -0.605465 m/s, posRepo size: 4 2025-10-29T00:44:36.781Z,1761698676.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:36.788Z,1761698676.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 40.170715 m, bearing: 13.650043 deg, approach rate: 0.000000 m/s, LOS rate: -0.158928 deg/s, cmd heading: 22.796511 deg, new cmd heading: 22.659744 deg. 2025-10-29T00:44:36.789Z,1761698676.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.395487 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:36.901Z,1761698676.901 [DAT](INFO): DAT read: user:575> 2025-10-29T00:44:36.902Z,1761698676.902 [DAT](INFO): DAT read: Tx time:00:44:36.6740 2025-10-29T00:44:36.902Z,1761698676.902 [DAT](INFO): Ping request sent. 2025-10-29T00:44:36.902Z,1761698676.902 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:36.902Z,1761698676.902 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:36.903Z,1761698676.903 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000750 2025-10-29T00:44:37.106Z,1761698677.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.890880,-0.448806,-0.070045],[0.454169,0.877389,0.154655],[-0.007953,-0.169591,0.985482]] 2025-10-29T00:44:37.140Z,1761698677.140 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-29T00:44:37.140Z,1761698677.140 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-29T00:44:37.140Z,1761698677.140 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-29T00:44:37.153Z,1761698677.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250752 2025-10-29T00:44:37.164Z,1761698677.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:37.167Z,1761698677.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 39.928482 m, bearing: 13.582441 deg, approach rate: -0.619443 m/s, LOS rate: -0.173922 deg/s, cmd heading: 22.659743 deg, new cmd heading: 22.523719 deg. 2025-10-29T00:44:37.167Z,1761698677.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.393113 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:37.375Z,1761698677.375 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-29T00:44:37.405Z,1761698677.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502741 2025-10-29T00:44:37.520Z,1761698677.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891300,-0.447718,-0.071643],[0.453365,0.877684,0.155342],[-0.006670,-0.170937,0.985259]] 2025-10-29T00:44:37.592Z,1761698677.592 [RDI_Pathfinder](INFO): Powering down 2025-10-29T00:44:37.619Z,1761698677.619 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:37.621Z,1761698677.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:37.624Z,1761698677.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 39.665058 m, bearing: 13.508322 deg, approach rate: -0.575743 m/s, LOS rate: -0.163072 deg/s, cmd heading: 22.523720 deg, new cmd heading: 22.374497 deg. 2025-10-29T00:44:37.625Z,1761698677.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.390509 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:37.657Z,1761698677.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755179 2025-10-29T00:44:37.909Z,1761698677.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006791 2025-10-29T00:44:37.925Z,1761698677.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891433,-0.447180,-0.073327],[0.453122,0.877769,0.155568],[-0.005202,-0.171905,0.985100]] 2025-10-29T00:44:37.956Z,1761698677.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:37.958Z,1761698677.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 39.472363 m, bearing: 13.453541 deg, approach rate: -0.576233 m/s, LOS rate: -0.164615 deg/s, cmd heading: 22.374498 deg, new cmd heading: 22.264401 deg. 2025-10-29T00:44:37.959Z,1761698677.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.388587 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:38.162Z,1761698678.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259374 2025-10-29T00:44:38.328Z,1761698678.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891926,-0.445977,-0.074654],[0.452165,0.878233,0.155734],[-0.003891,-0.172659,0.984974]] 2025-10-29T00:44:38.347Z,1761698678.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:38.350Z,1761698678.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 39.247429 m, bearing: 13.389267 deg, approach rate: -0.575131 m/s, LOS rate: -0.165284 deg/s, cmd heading: 22.264402 deg, new cmd heading: 22.135117 deg. 2025-10-29T00:44:38.350Z,1761698678.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.386331 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:38.413Z,1761698678.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510951 2025-10-29T00:44:38.627Z,1761698678.627 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-29T00:44:38.627Z,1761698678.627 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-29T00:44:38.665Z,1761698678.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762745 2025-10-29T00:44:38.730Z,1761698678.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892567,-0.444496,-0.075818],[0.450909,0.878959,0.155278],[-0.002379,-0.172784,0.984957]] 2025-10-29T00:44:38.742Z,1761698678.742 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-29T00:44:38.790Z,1761698678.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:38.808Z,1761698678.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 38.994621 m, bearing: 13.316670 deg, approach rate: -0.570404 m/s, LOS rate: -0.164861 deg/s, cmd heading: 22.135117 deg, new cmd heading: 21.988981 deg. 2025-10-29T00:44:38.809Z,1761698678.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.383780 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:38.917Z,1761698678.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014869 2025-10-29T00:44:39.137Z,1761698679.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.893538,-0.442255,-0.077462],[0.448987,0.879827,0.155935],[-0.000810,-0.174113,0.984725]] 2025-10-29T00:44:39.156Z,1761698679.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:39.159Z,1761698679.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 38.781635 m, bearing: 13.255456 deg, approach rate: -0.582338 m/s, LOS rate: -0.168286 deg/s, cmd heading: 21.988981 deg, new cmd heading: 21.865883 deg. 2025-10-29T00:44:39.159Z,1761698679.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.381632 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:39.169Z,1761698679.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266787 2025-10-29T00:44:39.421Z,1761698679.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518779 2025-10-29T00:44:39.547Z,1761698679.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.894817,-0.439279,-0.079598],[0.446432,0.880709,0.158271],[0.000578,-0.177159,0.984182]] 2025-10-29T00:44:39.632Z,1761698679.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:39.634Z,1761698679.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:39.637Z,1761698679.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 38.506344 m, bearing: 13.176513 deg, approach rate: -0.575337 m/s, LOS rate: -0.166165 deg/s, cmd heading: 21.865882 deg, new cmd heading: 21.706867 deg. 2025-10-29T00:44:39.638Z,1761698679.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.378856 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:39.674Z,1761698679.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771535 2025-10-29T00:44:39.925Z,1761698679.925 [DAT](INFO): DAT read: Rx Time:00:44:39.1298 2025-10-29T00:44:39.925Z,1761698679.925 [DAT](INFO): Rx dataTimestamp_ set to:1761698679.925119 2025-10-29T00:44:39.926Z,1761698679.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023780 2025-10-29T00:44:39.959Z,1761698679.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895861,-0.436827,-0.081340],[0.444329,0.881649,0.158953],[0.002278,-0.178541,0.983930]] 2025-10-29T00:44:39.985Z,1761698679.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:40.004Z,1761698680.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 38.303749 m, bearing: 13.118411 deg, approach rate: -0.576602 m/s, LOS rate: -0.166238 deg/s, cmd heading: 21.706867 deg, new cmd heading: 21.590048 deg. 2025-10-29T00:44:40.005Z,1761698680.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.376817 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:40.177Z,1761698680.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274972 2025-10-29T00:44:40.346Z,1761698680.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896933,-0.434133,-0.083902],[0.442150,0.882225,0.161809],[0.003774,-0.182229,0.983249]] 2025-10-29T00:44:40.397Z,1761698680.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.58 m. 2025-10-29T00:44:40.403Z,1761698680.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.578331 m, nav range: 38.074379 m, bearing: 13.052722 deg, approach rate: -0.559321 m/s, LOS rate: -0.161147 deg/s, cmd heading: 21.590049 deg, new cmd heading: 21.457880 deg. 2025-10-29T00:44:40.404Z,1761698680.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.374511 target range: 40.578331 and range: 40.80 m. 2025-10-29T00:44:40.454Z,1761698680.454 [DAT](INFO): DAT read: 00:44:39.1298 LVL= 32752, 32753, 25762, 32755, AGC= 65, IDX= 414,-0.18,-2.642, 2.254,-1.945,-2.636, PHS= 0.096,-1.348, 0.647, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 2025-10-29T00:44:40.455Z,1761698680.455 [DAT](INFO): got valid direction response: 00:44:39.1298 LVL= 32752, 32753, 25762, 32755, AGC= 65, IDX= 414,-0.18,-2.642, 2.254,-1.945,-2.636, PHS= 0.096,-1.348, 0.647, RAW= 165.5, 6.8, CAL= 164.9, 6.6, ROT= 345.1, -6.6 2025-10-29T00:44:40.475Z,1761698680.475 [DAT](INFO): DAT read: Bearing 177.0, -15.9 (Local) 2025-10-29T00:44:40.475Z,1761698680.475 [DAT](INFO): Local bearing/azimuth received: Bearing 177.0, -15.9 (Local) 2025-10-29T00:44:40.476Z,1761698680.476 [DAT](INFO): DAT read: Range 11 to 50 : 38.7 m (Round-trip 51.7 ms) speed 0.5 m/s 2025-10-29T00:44:40.477Z,1761698680.477 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:40.478Z,1761698680.478 [DAT](INFO): direction in FSK: [0.959972,-0.255429,0.114937] 2025-10-29T00:44:40.478Z,1761698680.478 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:40.514Z,1761698680.514 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:40.515Z,1761698680.515 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:40.515Z,1761698680.515 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:44:40.697Z,1761698680.697 [DAT](INFO): DAT read: user:576> 2025-10-29T00:44:40.698Z,1761698680.698 [DAT](INFO): DAT read: Tx time:00:44:40.5240 2025-10-29T00:44:40.698Z,1761698680.698 [DAT](INFO): Ping request sent. 2025-10-29T00:44:40.698Z,1761698680.698 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:40.698Z,1761698680.698 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:40.699Z,1761698680.699 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-29T00:44:40.755Z,1761698680.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898012,-0.431397,-0.086437],[0.439941,0.882770,0.164829],[0.005198,-0.186045,0.982527]] 2025-10-29T00:44:40.837Z,1761698680.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.700001 m, deltaT: 3.797152 s, deltaX: -2.099998 m, approachRate: -0.553046 m/s, rangeRepo size: 4 2025-10-29T00:44:40.839Z,1761698680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.489403 m, bearing: 12.638915 deg, lat: 36.779289 deg, lon: -121.859532 deg, deltaT: 3.797152 s, deltaX: -2.088928 m, approachRate: -0.550130 m/s, posRepo size: 4 2025-10-29T00:44:40.839Z,1761698680.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:40.846Z,1761698680.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 37.881447 m, bearing: 12.665167 deg, approach rate: 0.000000 m/s, LOS rate: -0.161147 deg/s, cmd heading: 21.457879 deg, new cmd heading: 21.317312 deg. 2025-10-29T00:44:40.847Z,1761698680.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.372057 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:40.949Z,1761698680.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251016 2025-10-29T00:44:41.156Z,1761698681.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898691,-0.429932,-0.086673],[0.438544,0.883486,0.164717],[0.005757,-0.186040,0.982525]] 2025-10-29T00:44:41.173Z,1761698681.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-29T00:44:41.173Z,1761698681.173 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T00:44:41.174Z,1761698681.174 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-29T00:44:41.175Z,1761698681.175 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.700001 m (mode 2.000000 count ). 2025-10-29T00:44:41.175Z,1761698681.175 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-29T00:44:41.175Z,1761698681.175 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-29T00:44:41.177Z,1761698681.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:41.197Z,1761698681.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 37.674732 m, bearing: 12.604053 deg, approach rate: -0.598179 m/s, LOS rate: -0.177821 deg/s, cmd heading: 21.317312 deg, new cmd heading: 21.194412 deg. 2025-10-29T00:44:41.203Z,1761698681.203 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504828 2025-10-29T00:44:41.204Z,1761698681.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.369912 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:41.453Z,1761698681.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754887 2025-10-29T00:44:41.578Z,1761698681.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899549,-0.428119,-0.086747],[0.436769,0.884553,0.163702],[0.006648,-0.185147,0.982688]] 2025-10-29T00:44:41.594Z,1761698681.594 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-29T00:44:41.595Z,1761698681.595 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-29T00:44:41.598Z,1761698681.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:41.610Z,1761698681.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 37.432026 m, bearing: 12.532183 deg, approach rate: -0.578451 m/s, LOS rate: -0.172400 deg/s, cmd heading: 21.194412 deg, new cmd heading: 21.049741 deg. 2025-10-29T00:44:41.611Z,1761698681.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.367387 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:41.706Z,1761698681.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007282 2025-10-29T00:44:41.957Z,1761698681.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259031 2025-10-29T00:44:41.964Z,1761698681.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900154,-0.426915,-0.086403],[0.435504,0.885615,0.161314],[0.007653,-0.182836,0.983114]] 2025-10-29T00:44:41.986Z,1761698681.986 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-29T00:44:41.987Z,1761698681.987 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-29T00:44:41.987Z,1761698681.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:41.989Z,1761698681.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:41.992Z,1761698681.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 37.206680 m, bearing: 12.465116 deg, approach rate: -0.574166 m/s, LOS rate: -0.171917 deg/s, cmd heading: 21.049741 deg, new cmd heading: 20.914796 deg. 2025-10-29T00:44:41.993Z,1761698681.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.365032 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:42.210Z,1761698682.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511502 2025-10-29T00:44:42.367Z,1761698682.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900455,-0.426408,-0.085774],[0.434855,0.886697,0.157063],[0.009082,-0.178728,0.983857]] 2025-10-29T00:44:42.384Z,1761698682.384 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-29T00:44:42.384Z,1761698682.384 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T00:44:42.384Z,1761698682.384 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-29T00:44:42.384Z,1761698682.384 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T00:44:42.386Z,1761698682.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:42.389Z,1761698682.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 36.977791 m, bearing: 12.396424 deg, approach rate: -0.576657 m/s, LOS rate: -0.174132 deg/s, cmd heading: 20.914796 deg, new cmd heading: 20.776562 deg. 2025-10-29T00:44:42.390Z,1761698682.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.362619 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:42.463Z,1761698682.463 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764660 2025-10-29T00:44:42.713Z,1761698682.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014866 2025-10-29T00:44:42.779Z,1761698682.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900437,-0.426621,-0.084900],[0.434858,0.887610,0.151812],[0.010592,-0.173617,0.984756]] 2025-10-29T00:44:42.797Z,1761698682.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:42.805Z,1761698682.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 36.740871 m, bearing: 12.324426 deg, approach rate: -0.576400 m/s, LOS rate: -0.176294 deg/s, cmd heading: 20.776561 deg, new cmd heading: 20.631636 deg. 2025-10-29T00:44:42.806Z,1761698682.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.360090 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:42.965Z,1761698682.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266848 2025-10-29T00:44:43.174Z,1761698683.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900360,-0.427254,-0.082492],[0.434972,0.889024,0.142951],[0.012261,-0.164590,0.986286]] 2025-10-29T00:44:43.194Z,1761698683.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:43.212Z,1761698683.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 36.513222 m, bearing: 12.254338 deg, approach rate: -0.574493 m/s, LOS rate: -0.177975 deg/s, cmd heading: 20.631637 deg, new cmd heading: 20.490588 deg. 2025-10-29T00:44:43.213Z,1761698683.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.357628 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:43.217Z,1761698683.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519008 2025-10-29T00:44:43.469Z,1761698683.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770932 2025-10-29T00:44:43.578Z,1761698683.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900516,-0.427139,-0.081385],[0.434622,0.889884,0.138599],[0.013222,-0.160182,0.986999]] 2025-10-29T00:44:43.615Z,1761698683.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:43.618Z,1761698683.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 36.270374 m, bearing: 12.178758 deg, approach rate: -0.575940 m/s, LOS rate: -0.180448 deg/s, cmd heading: 20.490588 deg, new cmd heading: 20.338415 deg. 2025-10-29T00:44:43.619Z,1761698683.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.354972 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:43.721Z,1761698683.721 [DAT](INFO): DAT read: Rx Time:00:44:42.9765 2025-10-29T00:44:43.721Z,1761698683.721 [DAT](INFO): Rx dataTimestamp_ set to:1761698683.721073 2025-10-29T00:44:43.722Z,1761698683.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023909 2025-10-29T00:44:43.973Z,1761698683.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274951 2025-10-29T00:44:43.984Z,1761698683.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.900879,-0.426031,-0.083155],[0.433847,0.889889,0.140977],[0.013938,-0.163080,0.986514]] 2025-10-29T00:44:44.017Z,1761698684.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:44.019Z,1761698684.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.49 m. 2025-10-29T00:44:44.030Z,1761698684.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.489403 m, nav range: 36.047668 m, bearing: 12.108834 deg, approach rate: -0.550943 m/s, LOS rate: -0.174049 deg/s, cmd heading: 20.338415 deg, new cmd heading: 20.197705 deg. 2025-10-29T00:44:44.031Z,1761698684.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.352516 target range: 38.489403 and range: 38.70 m. 2025-10-29T00:44:44.230Z,1761698684.230 [DAT](INFO): DAT read: 00:44:42.9765 LVL= 32752, 32753, 27570, 32755, AGC= 62, IDX= 413,-0.25, 1.854, 0.505, 2.514, 1.847, PHS= 0.109,-1.297, 0.623, RAW= 165.0, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2 2025-10-29T00:44:44.231Z,1761698684.231 [DAT](INFO): got valid direction response: 00:44:42.9765 LVL= 32752, 32753, 27570, 32755, AGC= 62, IDX= 413,-0.25, 1.854, 0.505, 2.514, 1.847, PHS= 0.109,-1.297, 0.623, RAW= 165.0, 6.6, CAL= 164.4, 6.2, ROT= 345.6, -6.2 2025-10-29T00:44:44.233Z,1761698684.233 [DAT](INFO): DAT read: Bearing 176.7, -14.4 (Local) 2025-10-29T00:44:44.233Z,1761698684.233 [DAT](INFO): Local bearing/azimuth received: Bearing 176.7, -14.4 (Local) 2025-10-29T00:44:44.235Z,1761698684.235 [DAT](INFO): DAT read: Range 11 to 50 : 36.3 m (Round-trip 48.5 ms) speed 0.4 m/s 2025-10-29T00:44:44.235Z,1761698684.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:44.237Z,1761698684.237 [DAT](INFO): direction in FSK: [0.962918,-0.247235,0.107999] 2025-10-29T00:44:44.237Z,1761698684.237 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:44.240Z,1761698684.240 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:44:44.240Z,1761698684.240 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:44:44.241Z,1761698684.241 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:44:44.386Z,1761698684.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.901643,-0.424343,-0.083506],[0.432254,0.890475,0.142164],[0.014034,-0.164277,0.986314]] 2025-10-29T00:44:44.442Z,1761698684.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.299999 m, deltaT: 3.778856 s, deltaX: -2.400002 m, approachRate: -0.635113 m/s, rangeRepo size: 4 2025-10-29T00:44:44.445Z,1761698684.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.103340 m, bearing: 12.368814 deg, lat: 36.779289 deg, lon: -121.859532 deg, deltaT: 3.778856 s, deltaX: -2.386063 m, approachRate: -0.631425 m/s, posRepo size: 4 2025-10-29T00:44:44.445Z,1761698684.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:44.464Z,1761698684.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 35.809250 m, bearing: 12.033691 deg, approach rate: 0.000000 m/s, LOS rate: -0.174049 deg/s, cmd heading: 20.197704 deg, new cmd heading: 20.050823 deg. 2025-10-29T00:44:44.465Z,1761698684.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.349953 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:44.477Z,1761698684.477 [DAT](INFO): DAT read: user:577> 2025-10-29T00:44:44.478Z,1761698684.478 [DAT](INFO): DAT read: Tx time:00:44:44.2239 2025-10-29T00:44:44.478Z,1761698684.478 [DAT](INFO): Ping request sent. 2025-10-29T00:44:44.478Z,1761698684.478 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:44:44.478Z,1761698684.478 [DAT](INFO): publishing transmit ping time 2025-10-29T00:44:44.479Z,1761698684.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T00:44:44.733Z,1761698684.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254659 2025-10-29T00:44:44.795Z,1761698684.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902536,-0.422620,-0.082589],[0.430382,0.891604,0.140764],[0.014147,-0.162590,0.986592]] 2025-10-29T00:44:44.819Z,1761698684.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:44.821Z,1761698684.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 35.578152 m, bearing: 11.960683 deg, approach rate: -0.612721 m/s, LOS rate: -0.194826 deg/s, cmd heading: 20.050823 deg, new cmd heading: 19.903859 deg. 2025-10-29T00:44:44.822Z,1761698684.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.347388 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:44.981Z,1761698684.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502948 2025-10-29T00:44:45.233Z,1761698685.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754934 2025-10-29T00:44:45.233Z,1761698685.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:45.236Z,1761698685.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 35.340439 m, bearing: 11.884571 deg, approach rate: -0.575299 m/s, LOS rate: -0.185440 deg/s, cmd heading: 19.903859 deg, new cmd heading: 19.750612 deg. 2025-10-29T00:44:45.237Z,1761698685.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.344713 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:45.485Z,1761698685.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006941 2025-10-29T00:44:45.595Z,1761698685.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904883,-0.417105,-0.084911],[0.425425,0.892836,0.147846],[0.014144,-0.169906,0.985359]] 2025-10-29T00:44:45.627Z,1761698685.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:45.638Z,1761698685.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 35.113144 m, bearing: 11.812891 deg, approach rate: -0.575341 m/s, LOS rate: -0.182616 deg/s, cmd heading: 19.750612 deg, new cmd heading: 19.606323 deg. 2025-10-29T00:44:45.639Z,1761698685.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.342195 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:45.737Z,1761698685.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258865 2025-10-29T00:44:45.989Z,1761698685.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510865 2025-10-29T00:44:46.014Z,1761698686.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.906325,-0.413727,-0.086049],[0.422354,0.893531,0.152379],[0.013844,-0.174448,0.984569]] 2025-10-29T00:44:46.045Z,1761698686.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:46.049Z,1761698686.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:46.069Z,1761698686.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 34.876560 m, bearing: 11.738613 deg, approach rate: -0.561594 m/s, LOS rate: -0.177513 deg/s, cmd heading: 19.606323 deg, new cmd heading: 19.456761 deg. 2025-10-29T00:44:46.070Z,1761698686.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.339585 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:46.241Z,1761698686.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763068 2025-10-29T00:44:46.408Z,1761698686.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907711,-0.410409,-0.087324],[0.419385,0.894002,0.157725],[0.013336,-0.179791,0.983614]] 2025-10-29T00:44:46.435Z,1761698686.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:46.438Z,1761698686.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 34.647800 m, bearing: 11.667070 deg, approach rate: -0.591786 m/s, LOS rate: -0.186300 deg/s, cmd heading: 19.456760 deg, new cmd heading: 19.312729 deg. 2025-10-29T00:44:46.438Z,1761698686.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.337071 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:46.494Z,1761698686.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015669 2025-10-29T00:44:46.745Z,1761698686.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267121 2025-10-29T00:44:46.814Z,1761698686.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909847,-0.405166,-0.089551],[0.414722,0.894995,0.164285],[0.013585,-0.186613,0.982340]] 2025-10-29T00:44:46.847Z,1761698686.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.10 m. 2025-10-29T00:44:46.878Z,1761698686.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.103340 m, nav range: 34.418251 m, bearing: 11.596300 deg, approach rate: -0.558461 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.312729 deg, new cmd heading: 19.170245 deg. 2025-10-29T00:44:46.886Z,1761698686.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.334584 target range: 36.103340 and range: 36.30 m. 2025-10-29T00:44:46.998Z,1761698686.998 [DAT](INFO): DAT read: Rx Time:00:44:46.3988 2025-10-29T00:44:46.998Z,1761698686.998 [DAT](INFO): Rx dataTimestamp_ set to:1761698686.997710 2025-10-29T00:44:46.999Z,1761698686.999 [DAT](INFO): DAT read: Bearing 176.1, -14.7 (Local) 2025-10-29T00:44:46.000Z,1761698687.000 [DAT](INFO): Local bearing/azimuth received: Bearing 176.1, -14.7 (Local) 2025-10-29T00:44:47.002Z,1761698687.002 [DAT](INFO): DAT read: Range 11 to 50 : 34.4 m (trip time 22.9 ms) speed 0.4 2025-10-29T00:44:47.006Z,1761698687.006 [DAT](INFO): DAT read: 00:44:46.3988 LVL= 32752, 32753, 27986, 32755, AGC= 66, IDX= 417,-0.24,-0.437,-1.797, 0.220,-0.412, PHS= 0.077,-1.340, 0.589, RAW= 164.8, 7.8, CAL= 164.4, 7.9, ROT= 345.6, -7.9 2025-10-29T00:44:47.007Z,1761698687.007 [DAT](INFO): got valid direction response: 00:44:46.3988 LVL= 32752, 32753, 27986, 32755, AGC= 66, IDX= 417,-0.24,-0.437,-1.797, 0.220,-0.412, PHS= 0.077,-1.340, 0.589, RAW= 164.8, 7.8, CAL= 164.4, 7.9, ROT= 345.6, -7.9 2025-10-29T00:44:47.008Z,1761698687.008 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:44:47.009Z,1761698687.009 [DAT](INFO): direction in FSK: [0.959391,-0.246330,0.137445] 2025-10-29T00:44:47.009Z,1761698687.009 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:47.047Z,1761698687.047 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.569185 2025-10-29T00:44:47.217Z,1761698687.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910515,-0.403402,-0.090712],[0.413229,0.895368,0.166006],[0.014253,-0.188636,0.981944]] 2025-10-29T00:44:47.240Z,1761698687.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.400002 m, deltaT: 2.773340 s, deltaX: -1.899998 m, approachRate: -0.685094 m/s, rangeRepo size: 4 2025-10-29T00:44:47.242Z,1761698687.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.212997 m, bearing: 11.689206 deg, lat: 36.779287 deg, lon: -121.859532 deg, deltaT: 2.773340 s, deltaX: -1.890343 m, approachRate: -0.681612 m/s, posRepo size: 4 2025-10-29T00:44:47.243Z,1761698687.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.21 m. 2025-10-29T00:44:47.246Z,1761698687.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.212997 m, nav range: 33.975548 m, bearing: 11.596888 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.170246 deg, new cmd heading: 19.033783 deg. 2025-10-29T00:44:47.246Z,1761698687.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.332202 target range: 34.212997 and range: 34.40 m. 2025-10-29T00:44:47.249Z,1761698687.249 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771001 2025-10-29T00:44:47.501Z,1761698687.501 [DAT](INFO): DAT read: Rx Time:00:44:46.8985 2025-10-29T00:44:47.502Z,1761698687.502 [DAT](INFO): Rx dataTimestamp_ set to:1761698687.501687 2025-10-29T00:44:47.503Z,1761698687.503 [DAT](INFO): DAT read: Bearing 175.2, -14.1 (Local) 2025-10-29T00:44:47.504Z,1761698687.504 [DAT](INFO): Local bearing/azimuth received: Bearing 175.2, -14.1 (Local) 2025-10-29T00:44:47.506Z,1761698687.506 [DAT](INFO): DAT read: Range 11 to 50 : 33.9 m (trip time 22.6 ms) speed 0.4 2025-10-29T00:44:47.510Z,1761698687.510 [DAT](INFO): DAT read: 00:44:46.8985 LVL= 31792, 32753, 25154, 32755, AGC= 64, IDX= 510, 0.04,-0.722,-2.105,-0.073,-0.722, PHS= 0.102,-1.338, 0.605, RAW= 164.5, 7.3, CAL= 164.0, 7.2, ROT= 346.0, -7.2 2025-10-29T00:44:47.511Z,1761698687.511 [DAT](INFO): got valid direction response: 00:44:46.8985 LVL= 31792, 32753, 25154, 32755, AGC= 64, IDX= 510, 0.04,-0.722,-2.105,-0.073,-0.722, PHS= 0.102,-1.338, 0.605, RAW= 164.5, 7.3, CAL= 164.0, 7.2, ROT= 346.0, -7.2 2025-10-29T00:44:47.512Z,1761698687.512 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T00:44:47.513Z,1761698687.513 [DAT](INFO): direction in FSK: [0.962645,-0.240014,0.125333] 2025-10-29T00:44:47.513Z,1761698687.513 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:47.519Z,1761698687.519 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.040544 2025-10-29T00:44:47.627Z,1761698687.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.911184,-0.401410,-0.092807],[0.411718,0.895474,0.169156],[0.015205,-0.192342,0.981210]] 2025-10-29T00:44:47.694Z,1761698687.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.900002 m, deltaT: 0.503977 s, deltaX: -0.500000 m, approachRate: -0.992109 m/s, rangeRepo size: 4 2025-10-29T00:44:47.700Z,1761698687.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.714119 m, bearing: 11.895284 deg, lat: 36.779287 deg, lon: -121.859531 deg, deltaT: 0.503977 s, deltaX: -0.498878 m, approachRate: -0.989883 m/s, posRepo size: 4 2025-10-29T00:44:47.701Z,1761698687.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.71 m. 2025-10-29T00:44:47.708Z,1761698687.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.714119 m, nav range: 33.740364 m, bearing: 11.680523 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 19.033782 deg, new cmd heading: 18.876364 deg. 2025-10-29T00:44:47.709Z,1761698687.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.329455 target range: 33.714119 and range: 33.90 m. 2025-10-29T00:44:47.754Z,1761698687.754 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275555 2025-10-29T00:44:48.009Z,1761698688.009 [DAT](INFO): DAT read: Rx Time:00:44:47.3984 2025-10-29T00:44:48.010Z,1761698688.010 [DAT](INFO): Rx dataTimestamp_ set to:1761698688.009595 2025-10-29T00:44:48.011Z,1761698688.011 [DAT](INFO): DAT read: Bearing 176.6, -14.5 (Local) 2025-10-29T00:44:48.011Z,1761698688.011 [DAT](INFO): Local bearing/azimuth received: Bearing 176.6, -14.5 (Local) 2025-10-29T00:44:48.014Z,1761698688.014 [DAT](INFO): DAT read: Range 11 to 50 : 33.8 m (trip time 22.5 ms) speed 0.4 2025-10-29T00:44:48.022Z,1761698688.022 [DAT](INFO): DAT read: 00:44:47.3984 LVL= 32752, 32753, 27154, 32755, AGC= 65, IDX= 509, 0.25, 1.455, 0.053, 2.106, 1.486, PHS= 0.071,-1.387, 0.577, RAW= 164.3, 8.4, CAL= 164.0, 8.7, ROT= 346.0, -8.7 2025-10-29T00:44:48.024Z,1761698688.024 [DAT](INFO): got valid direction response: 00:44:47.3984 LVL= 32752, 32753, 27154, 32755, AGC= 65, IDX= 509, 0.25, 1.455, 0.053, 2.106, 1.486, PHS= 0.071,-1.387, 0.577, RAW= 164.3, 8.4, CAL= 164.0, 8.7, ROT= 346.0, -8.7 2025-10-29T00:44:48.025Z,1761698688.025 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T00:44:48.026Z,1761698688.026 [DAT](INFO): direction in FSK: [0.959131,-0.239138,0.151261] 2025-10-29T00:44:48.026Z,1761698688.026 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:48.046Z,1761698688.046 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.567459 2025-10-29T00:44:48.074Z,1761698688.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912010,-0.399094,-0.094662],[0.409856,0.895707,0.172414],[0.015980,-0.196042,0.980465]] 2025-10-29T00:44:48.154Z,1761698688.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.799999 m, deltaT: 0.507908 s, deltaX: -0.100002 m, approachRate: -0.196891 m/s, rangeRepo size: 4 2025-10-29T00:44:48.161Z,1761698688.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.614662 m, bearing: 12.103964 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.507908 s, deltaX: -0.099457 m, approachRate: -0.195817 m/s, posRepo size: 4 2025-10-29T00:44:48.161Z,1761698688.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m. 2025-10-29T00:44:48.170Z,1761698688.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.614662 m, nav range: 33.068169 m, bearing: 11.748229 deg, approach rate: 0.000000 m/s, LOS rate: -0.173322 deg/s, cmd heading: 18.876363 deg, new cmd heading: 18.716815 deg. 2025-10-29T00:44:48.171Z,1761698688.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.326670 target range: 33.614662 and range: 33.80 m. 2025-10-29T00:44:48.259Z,1761698688.259 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.780759 2025-10-29T00:44:48.478Z,1761698688.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913002,-0.396808,-0.094720],[0.407604,0.896933,0.171378],[0.016953,-0.195077,0.980641]] 2025-10-29T00:44:48.495Z,1761698688.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:48.498Z,1761698688.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.61 m. 2025-10-29T00:44:48.501Z,1761698688.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.614662 m, nav range: 32.853710 m, bearing: 11.682477 deg, approach rate: -0.623125 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.716815 deg, new cmd heading: 18.584452 deg. 2025-10-29T00:44:48.502Z,1761698688.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.324360 target range: 33.614662 and range: 33.80 m. 2025-10-29T00:44:48.510Z,1761698688.510 [DAT](INFO): DAT read: Rx Time:00:44:47.8981 2025-10-29T00:44:48.510Z,1761698688.510 [DAT](INFO): Rx dataTimestamp_ set to:1761698688.509793 2025-10-29T00:44:48.511Z,1761698688.511 [DAT](INFO): DAT read: Bearing 174.3, -13.7 (Local) 2025-10-29T00:44:48.512Z,1761698688.512 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, -13.7 (Local) 2025-10-29T00:44:48.514Z,1761698688.514 [DAT](INFO): DAT read: Range 11 to 50 : 33.3 m (trip time 22.2 ms) speed 0.5 2025-10-29T00:44:48.523Z,1761698688.523 [DAT](INFO): DAT read: 00:44:47.8981 LVL= 32752, 32753, 26402, 32755, AGC= 65, IDX= 507,-0.34,-2.375, 2.521,-1.729,-2.392, PHS= 0.119,-1.326, 0.619, RAW= 164.3, 6.8, CAL= 163.7, 6.5, ROT= 346.3, -6.5 2025-10-29T00:44:48.549Z,1761698688.549 [DAT](INFO): got valid direction response: 00:44:47.8981 LVL= 32752, 32753, 26402, 32755, AGC= 65, IDX= 507,-0.34,-2.375, 2.521,-1.729,-2.392, PHS= 0.119,-1.326, 0.619, RAW= 164.3, 6.8, CAL= 163.7, 6.5, ROT= 346.3, -6.5 2025-10-29T00:44:48.549Z,1761698688.549 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T00:44:48.550Z,1761698688.550 [DAT](INFO): direction in FSK: [0.965304,-0.235316,0.113203] 2025-10-29T00:44:48.550Z,1761698688.550 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:48.555Z,1761698688.555 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.077187 2025-10-29T00:44:48.763Z,1761698688.763 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.284903 2025-10-29T00:44:48.899Z,1761698688.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.914155,-0.394039,-0.095155],[0.404942,0.898402,0.169984],[0.018507,-0.193924,0.980842]] 2025-10-29T00:44:48.922Z,1761698688.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.299999 m, deltaT: 0.500198 s, deltaX: -0.500000 m, approachRate: -0.999604 m/s, rangeRepo size: 4 2025-10-29T00:44:48.924Z,1761698688.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.117809 m, bearing: 11.643676 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.500198 s, deltaX: -0.496853 m, approachRate: -0.993312 m/s, posRepo size: 4 2025-10-29T00:44:48.925Z,1761698688.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.12 m. 2025-10-29T00:44:48.927Z,1761698688.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.117809 m, nav range: 32.609493 m, bearing: 11.643633 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.584453 deg, new cmd heading: 18.421559 deg. 2025-10-29T00:44:48.929Z,1761698688.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.321517 target range: 33.117809 and range: 33.30 m. 2025-10-29T00:44:49.015Z,1761698689.015 [DAT](INFO): DAT read: Rx Time:00:44:48.3980 2025-10-29T00:44:49.017Z,1761698689.017 [DAT](INFO): Rx dataTimestamp_ set to:1761698689.015096 2025-10-29T00:44:49.020Z,1761698689.020 [DAT](INFO): DAT read: Bearing 175.9, -14.2 (Local) 2025-10-29T00:44:49.021Z,1761698689.021 [DAT](INFO): Local bearing/azimuth received: Bearing 175.9, -14.2 (Local) 2025-10-29T00:44:49.024Z,1761698689.024 [DAT](INFO): DAT read: Range 11 to 50 : 33.2 m (trip time 22.1 ms) speed 0.4 2025-10-29T00:44:49.037Z,1761698689.037 [DAT](INFO): DAT read: 00:44:48.3980 LVL= 32752, 32753, 24930, 32755, AGC= 65, IDX= 505,-0.12,-2.342, 2.570,-1.702,-2.325, PHS= 0.085,-1.343, 0.579, RAW= 164.3, 7.9, CAL= 163.9, 8.0, ROT= 346.1, -8.0 2025-10-29T00:44:49.039Z,1761698689.039 [DAT](INFO): got valid direction response: 00:44:48.3980 LVL= 32752, 32753, 24930, 32755, AGC= 65, IDX= 505,-0.12,-2.342, 2.570,-1.702,-2.325, PHS= 0.085,-1.343, 0.579, RAW= 164.3, 7.9, CAL= 163.9, 8.0, ROT= 346.1, -8.0 2025-10-29T00:44:49.058Z,1761698689.058 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T00:44:49.059Z,1761698689.059 [DAT](INFO): direction in FSK: [0.961270,-0.237890,0.139173] 2025-10-29T00:44:49.059Z,1761698689.059 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:49.075Z,1761698689.075 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.597094 2025-10-29T00:44:49.265Z,1761698689.265 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786831 2025-10-29T00:44:49.286Z,1761698689.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915415,-0.390914,-0.095932],[0.402009,0.899842,0.169334],[0.020128,-0.193576,0.980879]] 2025-10-29T00:44:49.391Z,1761698689.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 33.200001 m, deltaT: 0.505303 s, deltaX: -0.099998 m, approachRate: -0.197898 m/s, rangeRepo size: 4 2025-10-29T00:44:49.397Z,1761698689.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 33.018356 m, bearing: 11.540629 deg, lat: 36.779283 deg, lon: -121.859531 deg, deltaT: 0.505303 s, deltaX: -0.099453 m, approachRate: -0.196818 m/s, posRepo size: 4 2025-10-29T00:44:49.398Z,1761698689.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 33.02 m. 2025-10-29T00:44:49.413Z,1761698689.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 33.018356 m, nav range: 32.339512 m, bearing: 11.551023 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.421558 deg, new cmd heading: 18.245534 deg. 2025-10-29T00:44:49.414Z,1761698689.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.318445 target range: 33.018356 and range: 33.20 m. 2025-10-29T00:44:49.520Z,1761698689.520 [DAT](INFO): DAT read: Rx Time:00:44:48.8977 2025-10-29T00:44:49.521Z,1761698689.521 [DAT](INFO): Rx dataTimestamp_ set to:1761698689.520183 2025-10-29T00:44:49.523Z,1761698689.523 [DAT](INFO): DAT read: Bearing 178.7, -14.6 (Local) 2025-10-29T00:44:49.523Z,1761698689.523 [DAT](INFO): Local bearing/azimuth received: Bearing 178.7, -14.6 (Local) 2025-10-29T00:44:49.526Z,1761698689.526 [DAT](INFO): DAT read: Range 11 to 50 : 32.7 m (trip time 21.8 ms) speed 0.4 2025-10-29T00:44:49.543Z,1761698689.543 [DAT](INFO): DAT read: 00:44:48.8977 LVL= 32752, 32753, 28370, 32755, AGC= 64, IDX= 502,-0.03,-1.743,-3.069,-1.131,-1.672, PHS= 0.031,-1.352, 0.497, RAW= 164.0, 9.9, CAL= 163.9, 10.8, ROT= 346.1, -10.8 2025-10-29T00:44:49.545Z,1761698689.545 [DAT](INFO): got valid direction response: 00:44:48.8977 LVL= 32752, 32753, 28370, 32755, AGC= 64, IDX= 502,-0.03,-1.743,-3.069,-1.131,-1.672, PHS= 0.031,-1.352, 0.497, RAW= 164.0, 9.9, CAL= 163.9, 10.8, ROT= 346.1, -10.8 2025-10-29T00:44:49.545Z,1761698689.545 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T00:44:49.547Z,1761698689.547 [DAT](INFO): direction in FSK: [0.953522,-0.235973,0.187381] 2025-10-29T00:44:49.547Z,1761698689.547 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:49.567Z,1761698689.567 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.088788 2025-10-29T00:44:49.686Z,1761698689.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917093,-0.386870,-0.096290],[0.398095,0.901654,0.168939],[0.021463,-0.193266,0.980912]] 2025-10-29T00:44:49.734Z,1761698689.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.700001 m, deltaT: 0.505087 s, deltaX: -0.500000 m, approachRate: -0.989928 m/s, rangeRepo size: 4 2025-10-29T00:44:49.736Z,1761698689.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.522606 m, bearing: 11.828636 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.505087 s, deltaX: -0.495750 m, approachRate: -0.981515 m/s, posRepo size: 4 2025-10-29T00:44:49.737Z,1761698689.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.52 m. 2025-10-29T00:44:49.740Z,1761698689.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.522606 m, nav range: 31.968361 m, bearing: 11.571323 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.245534 deg, new cmd heading: 18.109401 deg. 2025-10-29T00:44:49.742Z,1761698689.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.316069 target range: 32.522606 and range: 32.70 m. 2025-10-29T00:44:49.769Z,1761698689.769 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291021 2025-10-29T00:44:50.022Z,1761698690.022 [DAT](INFO): DAT read: Rx Time:00:44:49.3976 2025-10-29T00:44:50.023Z,1761698690.023 [DAT](INFO): Rx dataTimestamp_ set to:1761698690.022563 2025-10-29T00:44:50.025Z,1761698690.025 [DAT](INFO): DAT read: Bearing 176.9, -13.9 (Local) 2025-10-29T00:44:50.026Z,1761698690.026 [DAT](INFO): Local bearing/azimuth received: Bearing 176.9, -13.9 (Local) 2025-10-29T00:44:50.029Z,1761698690.029 [DAT](INFO): DAT read: Range 11 to 50 : 32.6 m (trip time 21.7 ms) speed 0.4 2025-10-29T00:44:50.036Z,1761698690.036 [DAT](INFO): DAT read: 00:44:49.3976 LVL= 32752, 32753, 26018, 32755, AGC= 64, IDX= 501, 0.13, 0.000,-1.383, 0.630, 0.034, PHS= 0.069,-1.372, 0.552, RAW= 164.0, 8.7, CAL= 163.7, 9.1, ROT= 346.3, -9.1 2025-10-29T00:44:50.037Z,1761698690.037 [DAT](INFO): got valid direction response: 00:44:49.3976 LVL= 32752, 32753, 26018, 32755, AGC= 64, IDX= 501, 0.13, 0.000,-1.383, 0.630, 0.034, PHS= 0.069,-1.372, 0.552, RAW= 164.0, 8.7, CAL= 163.7, 9.1, ROT= 346.3, -9.1 2025-10-29T00:44:50.038Z,1761698690.038 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T00:44:50.039Z,1761698690.039 [DAT](INFO): direction in FSK: [0.959321,-0.233857,0.158158] 2025-10-29T00:44:50.040Z,1761698690.040 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:50.050Z,1761698690.050 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.572015 2025-10-29T00:44:50.091Z,1761698690.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918867,-0.382316,-0.097557],[0.393920,0.903032,0.171350],[0.022587,-0.195878,0.980368]] 2025-10-29T00:44:50.149Z,1761698690.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.599998 m, deltaT: 0.502380 s, deltaX: -0.100002 m, approachRate: -0.199057 m/s, rangeRepo size: 4 2025-10-29T00:44:50.151Z,1761698690.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 32.423145 m, bearing: 11.466821 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.502380 s, deltaX: -0.099461 m, approachRate: -0.197979 m/s, posRepo size: 4 2025-10-29T00:44:50.156Z,1761698690.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m. 2025-10-29T00:44:50.159Z,1761698690.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.423145 m, nav range: 31.677589 m, bearing: 11.520209 deg, approach rate: 0.000000 m/s, LOS rate: -0.192296 deg/s, cmd heading: 18.109401 deg, new cmd heading: 17.951318 deg. 2025-10-29T00:44:50.159Z,1761698690.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.313310 target range: 32.423145 and range: 32.60 m. 2025-10-29T00:44:50.273Z,1761698690.273 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795133 2025-10-29T00:44:50.495Z,1761698690.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.920886,-0.377049,-0.099012],[0.389123,0.904386,0.175127],[0.023513,-0.199799,0.979555]] 2025-10-29T00:44:50.527Z,1761698690.527 [DAT](INFO): DAT read: Rx Time:00:44:49.8973 2025-10-29T00:44:50.528Z,1761698690.528 [DAT](INFO): Rx dataTimestamp_ set to:1761698690.527448 2025-10-29T00:44:50.530Z,1761698690.530 [DAT](INFO): DAT read: Bearing 176.4, -13.9 (Local) 2025-10-29T00:44:50.531Z,1761698690.531 [DAT](INFO): Local bearing/azimuth received: Bearing 176.4, -13.9 (Local) 2025-10-29T00:44:50.543Z,1761698690.543 [DAT](INFO): DAT read: Range 11 to 50 : 32.1 m (trip time 21.4 ms) speed 0.5 2025-10-29T00:44:50.565Z,1761698690.565 [DAT](INFO): DAT read: 00:44:49.8973 LVL= 32752, 32753, 27250, 32755, AGC= 64, IDX= 498, 0.21,-0.540,-1.919, 0.090,-0.512, PHS= 0.073,-1.362, 0.557, RAW= 164.0, 8.5, CAL= 163.7, 8.9, ROT= 346.3, -8.9 2025-10-29T00:44:50.566Z,1761698690.566 [DAT](INFO): got valid direction response: 00:44:49.8973 LVL= 32752, 32753, 27250, 32755, AGC= 64, IDX= 498, 0.21,-0.540,-1.919, 0.090,-0.512, PHS= 0.073,-1.362, 0.557, RAW= 164.0, 8.5, CAL= 163.7, 8.9, ROT= 346.3, -8.9 2025-10-29T00:44:50.566Z,1761698690.566 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T00:44:50.567Z,1761698690.567 [DAT](INFO): direction in FSK: [0.959851,-0.233987,0.154710] 2025-10-29T00:44:50.568Z,1761698690.568 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:50.580Z,1761698690.580 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:50.582Z,1761698690.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 32.42 m. 2025-10-29T00:44:50.607Z,1761698690.607 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.129043 2025-10-29T00:44:50.613Z,1761698690.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 32.423145 m, nav range: 31.422249 m, bearing: 11.446043 deg, approach rate: -0.582601 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.951318 deg, new cmd heading: 17.801783 deg. 2025-10-29T00:44:50.614Z,1761698690.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.310700 target range: 32.423145 and range: 32.60 m. 2025-10-29T00:44:50.777Z,1761698690.777 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299145 2025-10-29T00:44:50.905Z,1761698690.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922786,-0.372107,-0.100014],[0.384534,0.905855,0.177651],[0.024493,-0.202393,0.978998]] 2025-10-29T00:44:50.951Z,1761698690.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.099998 m, deltaT: 0.504885 s, deltaX: -0.500000 m, approachRate: -0.990325 m/s, rangeRepo size: 4 2025-10-29T00:44:50.957Z,1761698690.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.925987 m, bearing: 10.915499 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.504885 s, deltaX: -0.497158 m, approachRate: -0.984696 m/s, posRepo size: 4 2025-10-29T00:44:50.957Z,1761698690.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.93 m. 2025-10-29T00:44:50.964Z,1761698690.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.925987 m, nav range: 31.173502 m, bearing: 11.350665 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.801783 deg, new cmd heading: 17.676436 deg. 2025-10-29T00:44:50.965Z,1761698690.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.308512 target range: 31.925987 and range: 32.10 m. 2025-10-29T00:44:51.031Z,1761698691.031 [DAT](INFO): DAT read: Rx Time:00:44:50.3972 2025-10-29T00:44:51.033Z,1761698691.033 [DAT](INFO): Rx dataTimestamp_ set to:1761698691.032476 2025-10-29T00:44:51.035Z,1761698691.035 [DAT](INFO): DAT read: Bearing 176.8, -13.6 (Local) 2025-10-29T00:44:51.036Z,1761698691.036 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, -13.6 (Local) 2025-10-29T00:44:51.040Z,1761698691.040 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 2025-10-29T00:44:51.050Z,1761698691.050 [DAT](INFO): DAT read: 00:44:50.3972 LVL= 32752, 32753, 31410, 32755, AGC= 63, IDX= 497, 0.17, 2.070, 0.689, 2.687, 2.105, PHS= 0.067,-1.371, 0.539, RAW= 163.7, 8.9, CAL= 163.5, 9.4, ROT= 346.5, -9.4 2025-10-29T00:44:51.051Z,1761698691.051 [DAT](INFO): got valid direction response: 00:44:50.3972 LVL= 32752, 32753, 31410, 32755, AGC= 63, IDX= 497, 0.17, 2.070, 0.689, 2.687, 2.105, PHS= 0.067,-1.371, 0.539, RAW= 163.7, 8.9, CAL= 163.5, 9.4, ROT= 346.5, -9.4 2025-10-29T00:44:51.052Z,1761698691.052 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T00:44:51.053Z,1761698691.053 [DAT](INFO): direction in FSK: [0.959313,-0.230311,0.163326] 2025-10-29T00:44:51.053Z,1761698691.053 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:51.058Z,1761698691.058 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.579821 2025-10-29T00:44:51.281Z,1761698691.281 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.802885 2025-10-29T00:44:51.414Z,1761698691.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924869,-0.366820,-0.100302],[0.379447,0.907662,0.179357],[0.025248,-0.203940,0.978658]] 2025-10-29T00:44:51.457Z,1761698691.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 0.505028 s, deltaX: -0.099998 m, approachRate: -0.198006 m/s, rangeRepo size: 4 2025-10-29T00:44:51.459Z,1761698691.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.826530 m, bearing: 10.916679 deg, lat: 36.779281 deg, lon: -121.859531 deg, deltaT: 0.505028 s, deltaX: -0.099457 m, approachRate: -0.196933 m/s, posRepo size: 4 2025-10-29T00:44:51.459Z,1761698691.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m. 2025-10-29T00:44:51.463Z,1761698691.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.826530 m, nav range: 30.879110 m, bearing: 11.237849 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.676436 deg, new cmd heading: 17.509248 deg. 2025-10-29T00:44:51.464Z,1761698691.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.305594 target range: 31.826530 and range: 32.00 m. 2025-10-29T00:44:51.535Z,1761698691.535 [DAT](INFO): DAT read: Rx Time:00:44:50.8969 2025-10-29T00:44:51.544Z,1761698691.544 [DAT](INFO): Rx dataTimestamp_ set to:1761698691.535360 2025-10-29T00:44:51.546Z,1761698691.546 [DAT](INFO): DAT read: Bearing 173.5, -12.5 (Local) 2025-10-29T00:44:51.547Z,1761698691.547 [DAT](INFO): Local bearing/azimuth received: Bearing 173.5, -12.5 (Local) 2025-10-29T00:44:51.550Z,1761698691.550 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5 2025-10-29T00:44:51.557Z,1761698691.557 [DAT](INFO): DAT read: 00:44:50.8969 LVL= 31296, 32753, 26034, 32755, AGC= 62, IDX= 510, 0.19, 0.558,-0.865, 1.188, 0.520, PHS= 0.141,-1.339, 0.624, RAW= 163.7, 6.5, CAL= 163.0, 6.2, ROT= 347.0, -6.2 2025-10-29T00:44:51.558Z,1761698691.558 [DAT](INFO): got valid direction response: 00:44:50.8969 LVL= 31296, 32753, 26034, 32755, AGC= 62, IDX= 510, 0.19, 0.558,-0.865, 1.188, 0.520, PHS= 0.141,-1.339, 0.624, RAW= 163.7, 6.5, CAL= 163.0, 6.2, ROT= 347.0, -6.2 2025-10-29T00:44:51.559Z,1761698691.559 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T00:44:51.561Z,1761698691.561 [DAT](INFO): direction in FSK: [0.968671,-0.223635,0.107999] 2025-10-29T00:44:51.561Z,1761698691.561 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:51.568Z,1761698691.568 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.089482 2025-10-29T00:44:51.785Z,1761698691.785 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.306877 2025-10-29T00:44:51.816Z,1761698691.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926653,-0.362433,-0.099780],[0.375024,0.909583,0.178931],[0.025907,-0.203227,0.978789]] 2025-10-29T00:44:51.920Z,1761698691.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502884 s, deltaX: -0.500000 m, approachRate: -0.994265 m/s, rangeRepo size: 4 2025-10-29T00:44:51.922Z,1761698691.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.328865 m, bearing: 10.488249 deg, lat: 36.779281 deg, lon: -121.859533 deg, deltaT: 0.502884 s, deltaX: -0.497665 m, approachRate: -0.989623 m/s, posRepo size: 4 2025-10-29T00:44:51.924Z,1761698691.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m. 2025-10-29T00:44:51.927Z,1761698691.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.328865 m, nav range: 30.582518 m, bearing: 10.881245 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.509248 deg, new cmd heading: 17.346941 deg. 2025-10-29T00:44:51.928Z,1761698691.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.302761 target range: 31.328865 and range: 31.50 m. 2025-10-29T00:44:52.039Z,1761698692.039 [DAT](INFO): DAT read: Rx Time:00:44:51.3968 2025-10-29T00:44:52.040Z,1761698692.040 [DAT](INFO): Rx dataTimestamp_ set to:1761698692.039448 2025-10-29T00:44:52.043Z,1761698692.043 [DAT](INFO): DAT read: Bearing 173.8, -12.5 (Local) 2025-10-29T00:44:52.043Z,1761698692.043 [DAT](INFO): Local bearing/azimuth received: Bearing 173.8, -12.5 (Local) 2025-10-29T00:44:52.045Z,1761698692.045 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 2025-10-29T00:44:52.050Z,1761698692.050 [DAT](INFO): DAT read: 00:44:51.3968 LVL= 32752, 32753, 25970, 32755, AGC= 63, IDX= 509, 0.13, 2.503, 1.071, 3.131, 2.471, PHS= 0.134,-1.355, 0.616, RAW= 163.6, 6.9, CAL= 163.0, 6.6, ROT= 347.0, -6.6 2025-10-29T00:44:52.051Z,1761698692.051 [DAT](INFO): got valid direction response: 00:44:51.3968 LVL= 32752, 32753, 25970, 32755, AGC= 63, IDX= 509, 0.13, 2.503, 1.071, 3.131, 2.471, PHS= 0.134,-1.355, 0.616, RAW= 163.6, 6.9, CAL= 163.0, 6.6, ROT= 347.0, -6.6 2025-10-29T00:44:52.051Z,1761698692.051 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T00:44:52.053Z,1761698692.053 [DAT](INFO): direction in FSK: [0.967913,-0.223460,0.114937] 2025-10-29T00:44:52.054Z,1761698692.054 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:52.098Z,1761698692.098 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.588849 2025-10-29T00:44:52.291Z,1761698692.291 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.812346 2025-10-29T00:44:52.405Z,1761698692.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928412,-0.358007,-0.099407],[0.370583,0.911542,0.178210],[0.026813,-0.202290,0.978958]] 2025-10-29T00:44:52.479Z,1761698692.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.504088 s, deltaX: -0.100000 m, approachRate: -0.198379 m/s, rangeRepo size: 4 2025-10-29T00:44:52.482Z,1761698692.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.229408 m, bearing: 10.283506 deg, lat: 36.779282 deg, lon: -121.859534 deg, deltaT: 0.504088 s, deltaX: -0.099457 m, approachRate: -0.197300 m/s, posRepo size: 4 2025-10-29T00:44:52.483Z,1761698692.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.23 m. 2025-10-29T00:44:52.485Z,1761698692.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.229408 m, nav range: 30.342430 m, bearing: 10.715007 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.346941 deg, new cmd heading: 17.154847 deg. 2025-10-29T00:44:52.486Z,1761698692.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.299409 target range: 31.229408 and range: 31.40 m. 2025-10-29T00:44:52.543Z,1761698692.543 [DAT](INFO): DAT read: Rx Time:00:44:51.8965 2025-10-29T00:44:52.543Z,1761698692.543 [DAT](INFO): Rx dataTimestamp_ set to:1761698692.543063 2025-10-29T00:44:52.545Z,1761698692.545 [DAT](INFO): DAT read: Bearing 174.9, -12.6 (Local) 2025-10-29T00:44:52.545Z,1761698692.545 [DAT](INFO): Local bearing/azimuth received: Bearing 174.9, -12.6 (Local) 2025-10-29T00:44:52.547Z,1761698692.547 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.5 2025-10-29T00:44:52.553Z,1761698692.553 [DAT](INFO): DAT read: 00:44:51.8965 LVL= 32752, 32753, 27858, 32755, AGC= 63, IDX= 506, 0.05, 2.496, 1.075, 3.110, 2.489, PHS= 0.109,-1.369, 0.576, RAW= 163.3, 7.8, CAL= 162.9, 7.9, ROT= 347.1, -7.9 2025-10-29T00:44:52.554Z,1761698692.554 [DAT](INFO): got valid direction response: 00:44:51.8965 LVL= 32752, 32753, 27858, 32755, AGC= 63, IDX= 506, 0.05, 2.496, 1.075, 3.110, 2.489, PHS= 0.109,-1.369, 0.576, RAW= 163.3, 7.8, CAL= 162.9, 7.9, ROT= 347.1, -7.9 2025-10-29T00:44:52.554Z,1761698692.554 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T00:44:52.555Z,1761698692.555 [DAT](INFO): direction in FSK: [0.965510,-0.221131,0.137445] 2025-10-29T00:44:52.555Z,1761698692.555 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:52.559Z,1761698692.559 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.081113 2025-10-29T00:44:52.793Z,1761698692.793 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.314888 2025-10-29T00:44:52.799Z,1761698692.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930184,-0.353445,-0.099173],[0.366044,0.913461,0.177769],[0.027759,-0.201659,0.979062]] 2025-10-29T00:44:52.933Z,1761698692.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.503615 s, deltaX: -0.299999 m, approachRate: -0.595692 m/s, rangeRepo size: 4 2025-10-29T00:44:52.935Z,1761698692.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.930368 m, bearing: 10.352891 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.503615 s, deltaX: -0.299040 m, approachRate: -0.593787 m/s, posRepo size: 4 2025-10-29T00:44:52.935Z,1761698692.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m. 2025-10-29T00:44:52.938Z,1761698692.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.930368 m, nav range: 30.196356 m, bearing: 10.495536 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.154847 deg, new cmd heading: 17.000115 deg. 2025-10-29T00:44:52.939Z,1761698692.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.296708 target range: 30.930368 and range: 31.10 m. 2025-10-29T00:44:53.046Z,1761698693.046 [DAT](INFO): DAT read: Rx Time:00:44:52.3963 2025-10-29T00:44:53.046Z,1761698693.046 [DAT](INFO): Rx dataTimestamp_ set to:1761698693.045892 2025-10-29T00:44:53.047Z,1761698693.047 [DAT](INFO): DAT read: Bearing 176.5, -12.3 (Local) 2025-10-29T00:44:53.048Z,1761698693.048 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -12.3 (Local) 2025-10-29T00:44:53.050Z,1761698693.050 [DAT](INFO): DAT read: Range 11 to 50 : 30.8 m (trip time 20.5 ms) speed 0.7 2025-10-29T00:44:53.055Z,1761698693.055 [DAT](INFO): DAT read: 00:44:52.3963 LVL= 32752, 32753, 28386, 32755, AGC= 62, IDX= 504,-0.05, 1.901, 0.506, 2.473, 1.916, PHS= 0.087,-1.364, 0.513, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 2025-10-29T00:44:53.056Z,1761698693.056 [DAT](INFO): got valid direction response: 00:44:52.3963 LVL= 32752, 32753, 28386, 32755, AGC= 62, IDX= 504,-0.05, 1.901, 0.506, 2.473, 1.916, PHS= 0.087,-1.364, 0.513, RAW= 162.5, 9.0, CAL= 162.3, 9.5, ROT= 347.7, -9.5 2025-10-29T00:44:53.056Z,1761698693.056 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T00:44:53.057Z,1761698693.057 [DAT](INFO): direction in FSK: [0.963646,-0.210109,0.165048] 2025-10-29T00:44:53.058Z,1761698693.058 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:53.061Z,1761698693.061 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583285 2025-10-29T00:44:53.250Z,1761698693.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933825,-0.343504,-0.099883],[0.356380,0.917546,0.176361],[0.031067,-0.200286,0.979245]] 2025-10-29T00:44:53.297Z,1761698693.297 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.819054 2025-10-29T00:44:53.449Z,1761698693.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.799999 m, deltaT: 0.502829 s, deltaX: -0.300001 m, approachRate: -0.596627 m/s, rangeRepo size: 4 2025-10-29T00:44:53.451Z,1761698693.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.632004 m, bearing: 10.653209 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.502829 s, deltaX: -0.298365 m, approachRate: -0.593372 m/s, posRepo size: 4 2025-10-29T00:44:53.456Z,1761698693.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.63 m. 2025-10-29T00:44:53.459Z,1761698693.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.632004 m, nav range: 29.909981 m, bearing: 10.510490 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 17.000114 deg, new cmd heading: 16.823906 deg. 2025-10-29T00:44:53.460Z,1761698693.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.293633 target range: 30.632004 and range: 30.80 m. 2025-10-29T00:44:53.550Z,1761698693.550 [DAT](INFO): DAT read: Rx Time:00:44:52.8960 2025-10-29T00:44:53.550Z,1761698693.550 [DAT](INFO): Rx dataTimestamp_ set to:1761698693.549929 2025-10-29T00:44:53.551Z,1761698693.551 [DAT](INFO): DAT read: Bearing 175.4, -11.8 (Local) 2025-10-29T00:44:53.552Z,1761698693.552 [DAT](INFO): Local bearing/azimuth received: Bearing 175.4, -11.8 (Local) 2025-10-29T00:44:53.554Z,1761698693.554 [DAT](INFO): DAT read: Range 11 to 50 : 30.3 m (trip time 20.2 ms) speed 0.5 2025-10-29T00:44:53.561Z,1761698693.561 [DAT](INFO): DAT read: 00:44:52.8960 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.07, 0.746,-0.661, 1.317, 0.738, PHS= 0.111,-1.354, 0.535, RAW= 162.4, 8.3, CAL= 162.0, 8.6, ROT= 348.0, -8.6 2025-10-29T00:44:53.563Z,1761698693.563 [DAT](INFO): got valid direction response: 00:44:52.8960 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 501,-0.07, 0.746,-0.661, 1.317, 0.738, PHS= 0.111,-1.354, 0.535, RAW= 162.4, 8.3, CAL= 162.0, 8.6, ROT= 348.0, -8.6 2025-10-29T00:44:53.563Z,1761698693.563 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T00:44:53.569Z,1761698693.569 [DAT](INFO): direction in FSK: [0.967150,-0.205574,0.149535] 2025-10-29T00:44:53.569Z,1761698693.569 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:53.573Z,1761698693.573 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.095321 2025-10-29T00:44:53.801Z,1761698693.801 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.322953 2025-10-29T00:44:53.901Z,1761698693.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.299999 m, deltaT: 0.504037 s, deltaX: -0.500000 m, approachRate: -0.991991 m/s, rangeRepo size: 4 2025-10-29T00:44:53.903Z,1761698693.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.134771 m, bearing: 10.772028 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.504037 s, deltaX: -0.497232 m, approachRate: -0.986500 m/s, posRepo size: 4 2025-10-29T00:44:53.908Z,1761698693.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.13 m. 2025-10-29T00:44:53.911Z,1761698693.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.134771 m, nav range: 29.649273 m, bearing: 10.524355 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.823905 deg, new cmd heading: 16.669626 deg. 2025-10-29T00:44:53.916Z,1761698693.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.290940 target range: 30.134771 and range: 30.30 m. 2025-10-29T00:44:54.055Z,1761698694.055 [DAT](INFO): DAT read: Rx Time:00:44:53.3959 2025-10-29T00:44:54.055Z,1761698694.055 [DAT](INFO): Rx dataTimestamp_ set to:1761698694.055202 2025-10-29T00:44:54.058Z,1761698694.058 [DAT](INFO): DAT read: Bearing 175.4, -11.4 (Local) 2025-10-29T00:44:54.058Z,1761698694.058 [DAT](INFO): Local bearing/azimuth received: Bearing 175.4, -11.4 (Local) 2025-10-29T00:44:54.061Z,1761698694.061 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.5 2025-10-29T00:44:54.065Z,1761698694.065 [DAT](INFO): DAT read: 00:44:53.3959 LVL= 32752, 32753, 32066, 32755, AGC= 60, IDX= 500,-0.06, 1.430, 0.019, 1.991, 1.421, PHS= 0.111,-1.357, 0.526, RAW= 162.1, 8.4, CAL= 161.8, 8.8, ROT= 348.2, -8.8 2025-10-29T00:44:54.066Z,1761698694.066 [DAT](INFO): got valid direction response: 00:44:53.3959 LVL= 32752, 32753, 32066, 32755, AGC= 60, IDX= 500,-0.06, 1.430, 0.019, 1.991, 1.421, PHS= 0.111,-1.357, 0.526, RAW= 162.1, 8.4, CAL= 161.8, 8.8, ROT= 348.2, -8.8 2025-10-29T00:44:54.067Z,1761698694.067 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T00:44:54.068Z,1761698694.068 [DAT](INFO): direction in FSK: [0.967345,-0.202089,0.152986] 2025-10-29T00:44:54.068Z,1761698694.068 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:54.072Z,1761698694.072 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:44:54.073Z,1761698694.073 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.593544 2025-10-29T00:44:54.225Z,1761698694.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937005,-0.334387,-0.101027],[0.347625,0.921039,0.175626],[0.034323,-0.199682,0.979259]] 2025-10-29T00:44:54.305Z,1761698694.305 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.826883 2025-10-29T00:44:54.394Z,1761698694.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.505273 s, deltaX: -0.099998 m, approachRate: -0.197910 m/s, rangeRepo size: 4 2025-10-29T00:44:54.401Z,1761698694.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.035318 m, bearing: 10.462872 deg, lat: 36.779283 deg, lon: -121.859535 deg, deltaT: 0.505273 s, deltaX: -0.099453 m, approachRate: -0.196830 m/s, posRepo size: 4 2025-10-29T00:44:54.401Z,1761698694.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.04 m. 2025-10-29T00:44:54.408Z,1761698694.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.035318 m, nav range: 29.276449 m, bearing: 10.462837 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.669626 deg, new cmd heading: 16.501381 deg. 2025-10-29T00:44:54.409Z,1761698694.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288003 target range: 30.035318 and range: 30.20 m. 2025-10-29T00:44:54.558Z,1761698694.558 [DAT](INFO): DAT read: Rx Time:00:44:53.8957 2025-10-29T00:44:54.558Z,1761698694.558 [DAT](INFO): Rx dataTimestamp_ set to:1761698694.557739 2025-10-29T00:44:54.559Z,1761698694.559 [DAT](INFO): DAT read: Bearing 174.8, -10.8 (Local) 2025-10-29T00:44:54.560Z,1761698694.560 [DAT](INFO): Local bearing/azimuth received: Bearing 174.8, -10.8 (Local) 2025-10-29T00:44:54.562Z,1761698694.562 [DAT](INFO): DAT read: Range 11 to 50 : 29.7 m (trip time 19.8 ms) speed 0.4 2025-10-29T00:44:54.567Z,1761698694.567 [DAT](INFO): DAT read: 00:44:53.8957 LVL= 32752, 32753, 32018, 32755, AGC= 60, IDX= 497,-0.03,-0.554,-1.988, 0.001,-0.582, PHS= 0.130,-1.361, 0.538, RAW= 161.8, 8.1, CAL= 161.4, 8.2, ROT= 348.6, -8.2 2025-10-29T00:44:54.568Z,1761698694.568 [DAT](INFO): got valid direction response: 00:44:53.8957 LVL= 32752, 32753, 32018, 32755, AGC= 60, IDX= 497,-0.03,-0.554,-1.988, 0.001,-0.582, PHS= 0.130,-1.361, 0.538, RAW= 161.8, 8.1, CAL= 161.4, 8.2, ROT= 348.6, -8.2 2025-10-29T00:44:54.572Z,1761698694.572 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T00:44:54.573Z,1761698694.573 [DAT](INFO): direction in FSK: [0.970249,-0.195636,0.142629] 2025-10-29T00:44:54.573Z,1761698694.573 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:54.579Z,1761698694.579 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.100801 2025-10-29T00:44:54.717Z,1761698694.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938513,-0.329820,-0.102043],[0.343355,0.922559,0.176046],[0.036077,-0.200258,0.979079]] 2025-10-29T00:44:54.776Z,1761698694.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.700001 m, deltaT: 0.502537 s, deltaX: -0.500000 m, approachRate: -0.994952 m/s, rangeRepo size: 4 2025-10-29T00:44:54.778Z,1761698694.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.537966 m, bearing: 10.484609 deg, lat: 36.779282 deg, lon: -121.859535 deg, deltaT: 0.502537 s, deltaX: -0.497353 m, approachRate: -0.989684 m/s, posRepo size: 4 2025-10-29T00:44:54.779Z,1761698694.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.54 m. 2025-10-29T00:44:54.786Z,1761698694.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.537966 m, nav range: 28.951174 m, bearing: 10.492558 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.501382 deg, new cmd heading: 16.372745 deg. 2025-10-29T00:44:54.787Z,1761698694.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.285758 target range: 29.537966 and range: 29.70 m. 2025-10-29T00:44:54.809Z,1761698694.809 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.331135 2025-10-29T00:44:55.062Z,1761698695.062 [DAT](INFO): DAT read: Rx Time:00:44:54.3956 2025-10-29T00:44:55.063Z,1761698695.063 [DAT](INFO): Rx dataTimestamp_ set to:1761698695.062281 2025-10-29T00:44:55.064Z,1761698695.064 [DAT](INFO): DAT read: Bearing 183.8, -7.4 (Local) 2025-10-29T00:44:55.064Z,1761698695.064 [DAT](INFO): Local bearing/azimuth received: Bearing 183.8, -7.4 (Local) 2025-10-29T00:44:55.066Z,1761698695.066 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.5 2025-10-29T00:44:55.076Z,1761698695.076 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:44:55.076Z,1761698695.076 [DAT](INFO): DAT read: 00:44:54.3956 LVL= 32752, 32753, 31698, 32755, AGC= 61, IDX= 512, 0.00, 1.908, 0.410, 2.244, 1.961, PHS= 0.048,-1.506, 0.239, RAW= 155.7, 14.6, CAL= 156.3, 16.6, ROT= 353.7, -16.6 2025-10-29T00:44:55.082Z,1761698695.082 [DAT](INFO): got valid direction response: 00:44:54.3956 LVL= 32752, 32753, 31698, 32755, AGC= 61, IDX= 512, 0.00, 1.908, 0.410, 2.244, 1.961, PHS= 0.048,-1.506, 0.239, RAW= 155.7, 14.6, CAL= 156.3, 16.6, ROT= 353.7, -16.6 2025-10-29T00:44:55.083Z,1761698695.083 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T00:44:55.084Z,1761698695.084 [DAT](INFO): direction in FSK: [0.952535,-0.105161,0.285688] 2025-10-29T00:44:55.085Z,1761698695.085 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:55.095Z,1761698695.095 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.617247 2025-10-29T00:44:55.215Z,1761698695.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939860,-0.325828,-0.102465],[0.339473,0.924206,0.174935],[0.037700,-0.199199,0.979234]] 2025-10-29T00:44:55.308Z,1761698695.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.504542 s, deltaX: -0.100000 m, approachRate: -0.198200 m/s, rangeRepo size: 4 2025-10-29T00:44:55.313Z,1761698695.313 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.834940 2025-10-29T00:44:55.318Z,1761698695.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.438511 m, bearing: 17.053261 deg, lat: 36.779281 deg, lon: -121.859534 deg, deltaT: 0.504542 s, deltaX: -0.099455 m, approachRate: -0.197119 m/s, posRepo size: 4 2025-10-29T00:44:55.318Z,1761698695.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m. 2025-10-29T00:44:55.334Z,1761698695.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.438511 m, nav range: 28.539310 m, bearing: 10.698612 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.372745 deg, new cmd heading: 16.189862 deg. 2025-10-29T00:44:55.342Z,1761698695.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282566 target range: 29.438511 and range: 29.60 m. 2025-10-29T00:44:55.566Z,1761698695.566 [DAT](INFO): DAT read: Rx Time:00:44:54.8953 2025-10-29T00:44:55.566Z,1761698695.566 [DAT](INFO): Rx dataTimestamp_ set to:1761698695.565715 2025-10-29T00:44:55.567Z,1761698695.567 [DAT](INFO): DAT read: Bearing 177.2, -10.9 (Local) 2025-10-29T00:44:55.568Z,1761698695.568 [DAT](INFO): Local bearing/azimuth received: Bearing 177.2, -10.9 (Local) 2025-10-29T00:44:55.570Z,1761698695.570 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-29T00:44:55.580Z,1761698695.580 [DAT](INFO): DAT read: 00:44:54.8953 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.00,-0.135,-1.565, 0.395,-0.110, PHS= 0.078,-1.410, 0.462, RAW= 161.2, 10.2, CAL= 161.2, 11.1, ROT= 348.8, -11.1 2025-10-29T00:44:55.581Z,1761698695.581 [DAT](INFO): got valid direction response: 00:44:54.8953 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.00,-0.135,-1.565, 0.395,-0.110, PHS= 0.078,-1.410, 0.462, RAW= 161.2, 10.2, CAL= 161.2, 11.1, ROT= 348.8, -11.1 2025-10-29T00:44:55.581Z,1761698695.581 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T00:44:55.582Z,1761698695.582 [DAT](INFO): direction in FSK: [0.962604,-0.190601,0.192522] 2025-10-29T00:44:55.583Z,1761698695.583 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:55.594Z,1761698695.594 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.115758 2025-10-29T00:44:55.679Z,1761698695.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942022,-0.319217,-0.103415],[0.333006,0.927255,0.171185],[0.041247,-0.195698,0.979796]] 2025-10-29T00:44:55.742Z,1761698695.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503434 s, deltaX: -0.500000 m, approachRate: -0.993179 m/s, rangeRepo size: 4 2025-10-29T00:44:55.749Z,1761698695.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.940109 m, bearing: 10.565628 deg, lat: 36.779281 deg, lon: -121.859535 deg, deltaT: 0.503434 s, deltaX: -0.498402 m, approachRate: -0.990004 m/s, posRepo size: 4 2025-10-29T00:44:55.750Z,1761698695.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.94 m. 2025-10-29T00:44:55.758Z,1761698695.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.940109 m, nav range: 28.230434 m, bearing: 10.506634 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.189862 deg, new cmd heading: 16.041857 deg. 2025-10-29T00:44:55.760Z,1761698695.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279983 target range: 28.940109 and range: 29.10 m. 2025-10-29T00:44:55.818Z,1761698695.818 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.339331 2025-10-29T00:44:56.069Z,1761698696.069 [DAT](INFO): DAT read: Rx Time:00:44:55.3952 2025-10-29T00:44:56.070Z,1761698696.070 [DAT](INFO): Rx dataTimestamp_ set to:1761698696.069537 2025-10-29T00:44:56.071Z,1761698696.071 [DAT](INFO): DAT read: Bearing 175.6, -10.1 (Local) 2025-10-29T00:44:56.071Z,1761698696.071 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, -10.1 (Local) 2025-10-29T00:44:56.074Z,1761698696.074 [DAT](INFO): DAT read: Range 11 to 50 : 29.0 m (trip time 19.3 ms) speed 0.4 2025-10-29T00:44:56.078Z,1761698696.078 [DAT](INFO): DAT read: 00:44:55.3952 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.05, 1.485, 0.014, 2.021, 1.471, PHS= 0.116,-1.411, 0.506, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 2025-10-29T00:44:56.079Z,1761698696.079 [DAT](INFO): got valid direction response: 00:44:55.3952 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 508, 0.05, 1.485, 0.014, 2.021, 1.471, PHS= 0.116,-1.411, 0.506, RAW= 161.1, 9.0, CAL= 160.9, 9.5, ROT= 349.1, -9.5 2025-10-29T00:44:56.081Z,1761698696.081 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T00:44:56.082Z,1761698696.082 [DAT](INFO): direction in FSK: [0.968492,-0.186502,0.165048] 2025-10-29T00:44:56.082Z,1761698696.082 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:56.086Z,1761698696.086 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.607467 2025-10-29T00:44:56.238Z,1761698696.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.000000 m, deltaT: 0.503822 s, deltaX: -0.100000 m, approachRate: -0.198484 m/s, rangeRepo size: 4 2025-10-29T00:44:56.245Z,1761698696.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.840658 m, bearing: 10.550439 deg, lat: 36.779281 deg, lon: -121.859535 deg, deltaT: 0.503822 s, deltaX: -0.099451 m, approachRate: -0.197393 m/s, posRepo size: 4 2025-10-29T00:44:56.246Z,1761698696.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m. 2025-10-29T00:44:56.261Z,1761698696.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.840658 m, nav range: 28.003481 m, bearing: 10.486875 deg, approach rate: 0.000000 m/s, LOS rate: -0.170595 deg/s, cmd heading: 16.041857 deg, new cmd heading: 15.872250 deg. 2025-10-29T00:44:56.262Z,1761698696.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.277023 target range: 28.840658 and range: 29.00 m. 2025-10-29T00:44:56.322Z,1761698696.322 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.843912 2025-10-29T00:44:56.571Z,1761698696.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:56.574Z,1761698696.574 [DAT](INFO): DAT read: Rx Time:00:44:55.8949 2025-10-29T00:44:56.574Z,1761698696.574 [DAT](INFO): Rx dataTimestamp_ set to:1761698696.573778 2025-10-29T00:44:56.575Z,1761698696.575 [DAT](INFO): DAT read: Bearing 177.5, -10.3 (Local) 2025-10-29T00:44:56.579Z,1761698696.579 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, -10.3 (Local) 2025-10-29T00:44:56.582Z,1761698696.582 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.5 2025-10-29T00:44:56.586Z,1761698696.586 [DAT](INFO): DAT read: 00:44:55.8949 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505, 0.09, 0.202,-1.238, 0.716, 0.228, PHS= 0.076,-1.421, 0.444, RAW= 160.7, 10.5, CAL= 160.8, 11.5, ROT= 349.2, -11.5 2025-10-29T00:44:56.587Z,1761698696.587 [DAT](INFO): got valid direction response: 00:44:55.8949 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505, 0.09, 0.202,-1.238, 0.716, 0.228, PHS= 0.076,-1.421, 0.444, RAW= 160.7, 10.5, CAL= 160.8, 11.5, ROT= 349.2, -11.5 2025-10-29T00:44:56.588Z,1761698696.588 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T00:44:56.589Z,1761698696.589 [DAT](INFO): direction in FSK: [0.962568,-0.183619,0.199368] 2025-10-29T00:44:56.589Z,1761698696.589 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:56.594Z,1761698696.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.504241 s, deltaX: -0.500000 m, approachRate: -0.991589 m/s, rangeRepo size: 4 2025-10-29T00:44:56.595Z,1761698696.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m. 2025-10-29T00:44:56.617Z,1761698696.617 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.139069 2025-10-29T00:44:56.619Z,1761698696.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.840658 m, nav range: 27.744490 m, bearing: 10.462313 deg, approach rate: -0.728318 m/s, LOS rate: -0.069717 deg/s, cmd heading: 15.872250 deg, new cmd heading: 15.822667 deg. 2025-10-29T00:44:56.641Z,1761698696.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276158 target range: 28.840658 and range: 28.50 m. 2025-10-29T00:44:56.829Z,1761698696.829 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.350279 2025-10-29T00:44:56.976Z,1761698696.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943617,-0.313617,-0.105975],[0.327816,0.929815,0.167276],[0.046076,-0.192585,0.980198]] 2025-10-29T00:44:57.010Z,1761698697.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.84 m. 2025-10-29T00:44:57.014Z,1761698697.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.840658 m, nav range: 27.489674 m, bearing: 10.440731 deg, approach rate: -0.613178 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.822668 deg, new cmd heading: 15.779105 deg. 2025-10-29T00:44:57.016Z,1761698697.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.275397 target range: 28.840658 and range: 28.50 m. 2025-10-29T00:44:57.079Z,1761698697.079 [DAT](INFO): DAT read: Rx Time:00:44:56.3948 2025-10-29T00:44:57.079Z,1761698697.079 [DAT](INFO): Rx dataTimestamp_ set to:1761698697.078994 2025-10-29T00:44:57.081Z,1761698697.081 [DAT](INFO): DAT read: Bearing 174.5, -9.0 (Local) 2025-10-29T00:44:57.082Z,1761698697.082 [DAT](INFO): Local bearing/azimuth received: Bearing 174.5, -9.0 (Local) 2025-10-29T00:44:57.086Z,1761698697.086 [DAT](INFO): DAT read: Range 11 to 50 : 28.4 m (trip time 18.9 ms) speed 0.4 2025-10-29T00:44:57.099Z,1761698697.099 [DAT](INFO): DAT read: 00:44:56.3948 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.16, 1.551, 0.084, 2.062, 1.507, PHS= 0.146,-1.378, 0.511, RAW= 160.5, 8.3, CAL= 160.2, 8.6, ROT= 349.8, -8.6 2025-10-29T00:44:57.111Z,1761698697.111 [DAT](INFO): got valid direction response: 00:44:56.3948 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.16, 1.551, 0.084, 2.062, 1.507, PHS= 0.146,-1.378, 0.511, RAW= 160.5, 8.3, CAL= 160.2, 8.6, ROT= 349.8, -8.6 2025-10-29T00:44:57.111Z,1761698697.111 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T00:44:57.112Z,1761698697.112 [DAT](INFO): direction in FSK: [0.973130,-0.175094,0.149535] 2025-10-29T00:44:57.113Z,1761698697.113 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:57.121Z,1761698697.121 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.642976 2025-10-29T00:44:57.332Z,1761698697.332 [DAT](INFO): DAT read: Rx Time:00:44:56.8945 2025-10-29T00:44:57.334Z,1761698697.334 [DAT](INFO): Rx dataTimestamp_ set to:1761698697.332947 2025-10-29T00:44:57.336Z,1761698697.336 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.857471 2025-10-29T00:44:57.401Z,1761698697.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943817,-0.312621,-0.107134],[0.327036,0.930174,0.166804],[0.047507,-0.192469,0.980152]] 2025-10-29T00:44:57.504Z,1761698697.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.400000 m, deltaT: 0.505216 s, deltaX: -0.100000 m, approachRate: -0.197936 m/s, rangeRepo size: 4 2025-10-29T00:44:57.513Z,1761698697.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.243441 m, bearing: 10.669010 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 1.009457 s, deltaX: -0.597218 m, approachRate: -0.591623 m/s, posRepo size: 4 2025-10-29T00:44:57.514Z,1761698697.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.24 m. 2025-10-29T00:44:57.524Z,1761698697.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.243441 m, nav range: 26.972914 m, bearing: 10.635048 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.779105 deg, new cmd heading: 15.727746 deg. 2025-10-29T00:44:57.530Z,1761698697.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.274501 target range: 28.243441 and range: 28.40 m. 2025-10-29T00:44:57.583Z,1761698697.583 [DAT](INFO): DAT read: Bearing 176.2, -9.6 (Local) 2025-10-29T00:44:57.583Z,1761698697.583 [DAT](INFO): Local bearing/azimuth received: Bearing 176.2, -9.6 (Local) 2025-10-29T00:44:57.586Z,1761698697.586 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.7 2025-10-29T00:44:57.593Z,1761698697.593 [DAT](INFO): DAT read: 00:44:56.8945 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.22, 0.928,-0.511, 1.440, 0.929, PHS= 0.101,-1.396, 0.467, RAW= 160.7, 9.7, CAL= 160.6, 10.4, ROT= 349.4, -10.4 2025-10-29T00:44:57.594Z,1761698697.594 [DAT](INFO): got valid direction response: 00:44:56.8945 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.22, 0.928,-0.511, 1.440, 0.929, PHS= 0.101,-1.396, 0.467, RAW= 160.7, 9.7, CAL= 160.6, 10.4, ROT= 349.4, -10.4 2025-10-29T00:44:57.595Z,1761698697.595 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-29T00:44:57.601Z,1761698697.601 [DAT](INFO): direction in FSK: [0.966787,-0.180929,0.180519] 2025-10-29T00:44:57.602Z,1761698697.602 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:57.605Z,1761698697.605 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.127278 2025-10-29T00:44:57.845Z,1761698697.845 [DAT](INFO): DAT read: Rx Time:00:44:57.3943 2025-10-29T00:44:57.847Z,1761698697.847 [DAT](INFO): Rx dataTimestamp_ set to:1761698697.845764 2025-10-29T00:44:57.850Z,1761698697.850 [DAT](INFO): DAT read: Bearing 174.3, -8.9 (Local) 2025-10-29T00:44:57.852Z,1761698697.852 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, -8.9 (Local) 2025-10-29T00:44:57.857Z,1761698697.857 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.5 2025-10-29T00:44:57.860Z,1761698697.860 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-29T00:44:57.863Z,1761698697.863 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.384689 2025-10-29T00:44:57.909Z,1761698697.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943800,-0.312407,-0.107907],[0.326930,0.930377,0.165880],[0.048572,-0.191836,0.980224]] 2025-10-29T00:44:57.986Z,1761698697.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.766770 s, deltaX: -0.799999 m, approachRate: -1.043337 m/s, rangeRepo size: 4 2025-10-29T00:44:57.993Z,1761698697.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.447664 m, bearing: 10.599412 deg, lat: 36.779279 deg, lon: -121.859535 deg, deltaT: 0.766770 s, deltaX: -0.795776 m, approachRate: -1.037829 m/s, posRepo size: 4 2025-10-29T00:44:57.994Z,1761698697.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-29T00:44:58.001Z,1761698698.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.447664 m, nav range: 26.666155 m, bearing: 10.538163 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.727747 deg, new cmd heading: 15.676734 deg. 2025-10-29T00:44:58.003Z,1761698698.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.273611 target range: 27.447664 and range: 27.60 m. 2025-10-29T00:44:58.097Z,1761698698.097 [DAT](INFO): DAT read: 00:44:57.3943 LVL= 31664, 32753, 30450, 32755, AGC= 62, IDX= 500,-0.49,-1.726, 3.108,-1.213,-1.769, PHS= 0.145,-1.361, 0.512, RAW= 160.6, 8.2, CAL= 160.3, 8.5, ROT= 349.7, -8.5 2025-10-29T00:44:58.099Z,1761698698.099 [DAT](INFO): got valid direction response: 00:44:57.3943 LVL= 31664, 32753, 30450, 32755, AGC= 62, IDX= 500,-0.49,-1.726, 3.108,-1.213,-1.769, PHS= 0.145,-1.361, 0.512, RAW= 160.6, 8.2, CAL= 160.3, 8.5, ROT= 349.7, -8.5 2025-10-29T00:44:58.099Z,1761698698.099 [DAT](INFO): #Rx 24: Read direction message, but no range. 2025-10-29T00:44:58.100Z,1761698698.100 [DAT](INFO): direction in FSK: [0.973078,-0.176838,0.147809] 2025-10-29T00:44:58.103Z,1761698698.103 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.625303 2025-10-29T00:44:58.333Z,1761698698.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943660,-0.312499,-0.108861],[0.327135,0.930547,0.164512],[0.049891,-0.190856,0.980349]] 2025-10-29T00:44:58.349Z,1761698698.349 [DAT](INFO): DAT read: Rx Time:00:44:57.8941 2025-10-29T00:44:58.351Z,1761698698.351 [DAT](INFO): Rx dataTimestamp_ set to:1761698698.349800 2025-10-29T00:44:58.359Z,1761698698.359 [DAT](INFO): DAT read: Bearing 174.3, -9.2 (Local) 2025-10-29T00:44:58.360Z,1761698698.360 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, -9.2 (Local) 2025-10-29T00:44:58.374Z,1761698698.374 [DAT](INFO): DAT read: Range 11 to 50 : 27.3 m (trip time 18.2 ms) speed 0.5 2025-10-29T00:44:58.388Z,1761698698.388 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-29T00:44:58.389Z,1761698698.389 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.910867 2025-10-29T00:44:58.518Z,1761698698.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.299999 m, deltaT: 0.504036 s, deltaX: -0.300001 m, approachRate: -0.595198 m/s, rangeRepo size: 4 2025-10-29T00:44:58.525Z,1761698698.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.149319 m, bearing: 10.537007 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 0.504036 s, deltaX: -0.298346 m, approachRate: -0.591913 m/s, posRepo size: 4 2025-10-29T00:44:58.527Z,1761698698.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.15 m. 2025-10-29T00:44:58.534Z,1761698698.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.149319 m, nav range: 26.436098 m, bearing: 10.499680 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.676734 deg, new cmd heading: 15.621601 deg. 2025-10-29T00:44:58.535Z,1761698698.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.272648 target range: 27.149319 and range: 27.30 m. 2025-10-29T00:44:58.606Z,1761698698.606 [DAT](INFO): DAT read: 00:44:57.8941 LVL= 30320, 32753, 30578, 32755, AGC= 61, IDX= 497,-0.22, 2.295, 0.832, 2.828, 2.258, PHS= 0.138,-1.381, 0.526, RAW= 161.1, 8.3, CAL= 160.7, 8.5, ROT= 349.3, -8.5 2025-10-29T00:44:58.608Z,1761698698.608 [DAT](INFO): got valid direction response: 00:44:57.8941 LVL= 30320, 32753, 30578, 32755, AGC= 61, IDX= 497,-0.22, 2.295, 0.832, 2.828, 2.258, PHS= 0.138,-1.381, 0.526, RAW= 161.1, 8.3, CAL= 160.7, 8.5, ROT= 349.3, -8.5 2025-10-29T00:44:58.608Z,1761698698.608 [DAT](INFO): #Rx 26: Read direction message, but no range. 2025-10-29T00:44:58.609Z,1761698698.609 [DAT](INFO): direction in FSK: [0.971820,-0.183627,0.147809] 2025-10-29T00:44:58.613Z,1761698698.613 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.134608 2025-10-29T00:44:58.853Z,1761698698.853 [DAT](INFO): DAT read: Rx Time:00:44:58.3939 2025-10-29T00:44:58.855Z,1761698698.855 [DAT](INFO): Rx dataTimestamp_ set to:1761698698.853694 2025-10-29T00:44:58.871Z,1761698698.871 [DAT](INFO): DAT read: Bearing 178.4, -12.2 (Local) 2025-10-29T00:44:58.872Z,1761698698.872 [DAT](INFO): Local bearing/azimuth received: Bearing 178.4, -12.2 (Local) 2025-10-29T00:44:58.876Z,1761698698.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942710,-0.315258,-0.109138],[0.329426,0.931331,0.155247],[0.052701,-0.182306,0.981829]] 2025-10-29T00:44:58.889Z,1761698698.889 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-29T00:44:58.906Z,1761698698.906 [DAT](INFO): DAT read: 00:44:58.3939 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.06,-1.918, 2.963,-1.322,-1.824, PHS= 0.008,-1.451, 0.458, RAW= 163.0, 11.4, CAL= 163.2, 12.8, ROT= 346.8, -12.8 2025-10-29T00:44:58.907Z,1761698698.907 [DAT](INFO): got valid direction response: 00:44:58.3939 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 512,-0.06,-1.918, 2.963,-1.322,-1.824, PHS= 0.008,-1.451, 0.458, RAW= 163.0, 11.4, CAL= 163.2, 12.8, ROT= 346.8, -12.8 2025-10-29T00:44:58.907Z,1761698698.907 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-29T00:44:58.921Z,1761698698.921 [DAT](INFO): direction in FSK: [0.949385,-0.222676,0.221548] 2025-10-29T00:44:58.921Z,1761698698.921 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:58.937Z,1761698698.937 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.458620 2025-10-29T00:44:58.991Z,1761698698.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503894 s, deltaX: -0.299999 m, approachRate: -0.595362 m/s, rangeRepo size: 4 2025-10-29T00:44:58.997Z,1761698698.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.850481 m, bearing: 8.447901 deg, lat: 36.779279 deg, lon: -121.859534 deg, deltaT: 0.503894 s, deltaX: -0.298838 m, approachRate: -0.593057 m/s, posRepo size: 4 2025-10-29T00:44:58.998Z,1761698698.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-29T00:44:59.012Z,1761698699.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.850481 m, nav range: 26.100912 m, bearing: 10.472841 deg, approach rate: 0.000000 m/s, LOS rate: -0.052413 deg/s, cmd heading: 15.621602 deg, new cmd heading: 15.571414 deg. 2025-10-29T00:44:59.014Z,1761698699.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.271772 target range: 26.850481 and range: 27.00 m. 2025-10-29T00:44:59.101Z,1761698699.101 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.623116 2025-10-29T00:44:59.303Z,1761698699.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942457,-0.316245,-0.108460],[0.330018,0.931911,0.150430],[0.053502,-0.177568,0.982653]] 2025-10-29T00:44:59.358Z,1761698699.358 [DAT](INFO): DAT read: Rx Time:00:44:58.8936 2025-10-29T00:44:59.359Z,1761698699.359 [DAT](INFO): Rx dataTimestamp_ set to:1761698699.358186 2025-10-29T00:44:59.362Z,1761698699.362 [DAT](INFO): DAT read: Bearing 178.4, -9.7 (Local) 2025-10-29T00:44:59.366Z,1761698699.366 [DAT](INFO): Local bearing/azimuth received: Bearing 178.4, -9.7 (Local) 2025-10-29T00:44:59.392Z,1761698699.392 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.5 2025-10-29T00:44:59.405Z,1761698699.405 [DAT](INFO): DAT read: 00:44:58.8936 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.18, 2.978, 1.569,-2.803, 3.021, PHS= 0.059,-1.407, 0.415, RAW= 160.6, 11.2, CAL= 160.8, 12.4, ROT= 349.2, -12.4 2025-10-29T00:44:59.406Z,1761698699.406 [DAT](INFO): got valid direction response: 00:44:58.8936 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.18, 2.978, 1.569,-2.803, 3.021, PHS= 0.059,-1.407, 0.415, RAW= 160.6, 11.2, CAL= 160.8, 12.4, ROT= 349.2, -12.4 2025-10-29T00:44:59.406Z,1761698699.406 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-29T00:44:59.407Z,1761698699.407 [DAT](INFO): direction in FSK: [0.959373,-0.183010,0.214735] 2025-10-29T00:44:59.408Z,1761698699.408 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:59.418Z,1761698699.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:44:59.424Z,1761698699.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-29T00:44:59.426Z,1761698699.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.850481 m, nav range: 25.828485 m, bearing: 10.418665 deg, approach rate: -0.634435 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.571414 deg, new cmd heading: 15.461921 deg. 2025-10-29T00:44:59.427Z,1761698699.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.269861 target range: 26.850481 and range: 27.00 m. 2025-10-29T00:44:59.428Z,1761698699.428 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.945237 2025-10-29T00:44:59.605Z,1761698699.605 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=15.126936 2025-10-29T00:44:59.706Z,1761698699.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942098,-0.317461,-0.108023],[0.330890,0.932336,0.145812],[0.054424,-0.173114,0.983397]] 2025-10-29T00:44:59.736Z,1761698699.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.504492 s, deltaX: -0.400000 m, approachRate: -0.792876 m/s, rangeRepo size: 4 2025-10-29T00:44:59.738Z,1761698699.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.453676 m, bearing: 10.744620 deg, lat: 36.779277 deg, lon: -121.859534 deg, deltaT: 0.504492 s, deltaX: -0.396805 m, approachRate: -0.786543 m/s, posRepo size: 4 2025-10-29T00:44:59.739Z,1761698699.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-29T00:44:59.743Z,1761698699.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.453676 m, nav range: 25.479687 m, bearing: 10.479296 deg, approach rate: 0.000000 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.461921 deg, new cmd heading: 15.381501 deg. 2025-10-29T00:44:59.745Z,1761698699.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268458 target range: 26.453676 and range: 26.60 m. 2025-10-29T00:44:59.862Z,1761698699.862 [DAT](INFO): DAT read: Rx Time:00:44:59.3935 2025-10-29T00:44:59.865Z,1761698699.865 [DAT](INFO): Rx dataTimestamp_ set to:1761698699.863088 2025-10-29T00:44:59.869Z,1761698699.869 [DAT](INFO): DAT read: Bearing 178.4, -9.5 (Local) 2025-10-29T00:44:59.870Z,1761698699.870 [DAT](INFO): Local bearing/azimuth received: Bearing 178.4, -9.5 (Local) 2025-10-29T00:44:59.893Z,1761698699.893 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.4 2025-10-29T00:44:59.907Z,1761698699.907 [DAT](INFO): DAT read: 00:44:59.3935 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.39,-2.753, 2.132,-2.255,-2.711, PHS= 0.060,-1.396, 0.412, RAW= 160.6, 11.1, CAL= 160.7, 12.3, ROT= 349.3, -12.3 2025-10-29T00:44:59.908Z,1761698699.908 [DAT](INFO): got valid direction response: 00:44:59.3935 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508, 0.39,-2.753, 2.132,-2.255,-2.711, PHS= 0.060,-1.396, 0.412, RAW= 160.6, 11.1, CAL= 160.7, 12.3, ROT= 349.3, -12.3 2025-10-29T00:44:59.909Z,1761698699.909 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-29T00:44:59.910Z,1761698699.910 [DAT](INFO): direction in FSK: [0.960057,-0.181405,0.213030] 2025-10-29T00:44:59.910Z,1761698699.910 [DAT](INFO): publishing direction and range info 2025-10-29T00:44:59.923Z,1761698699.923 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.444883 2025-10-29T00:45:00.109Z,1761698700.109 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.630765 2025-10-29T00:45:00.156Z,1761698700.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.504902 s, deltaX: -0.200001 m, approachRate: -0.396118 m/s, rangeRepo size: 4 2025-10-29T00:45:00.158Z,1761698700.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.254776 m, bearing: 10.827873 deg, lat: 36.779276 deg, lon: -121.859534 deg, deltaT: 0.504902 s, deltaX: -0.198900 m, approachRate: -0.393938 m/s, posRepo size: 4 2025-10-29T00:45:00.159Z,1761698700.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-29T00:45:00.162Z,1761698700.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.254776 m, nav range: 25.073730 m, bearing: 10.493001 deg, approach rate: 0.000000 m/s, LOS rate: -0.127496 deg/s, cmd heading: 15.381501 deg, new cmd heading: 15.275189 deg. 2025-10-29T00:45:00.163Z,1761698700.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.266602 target range: 26.254776 and range: 26.40 m. 2025-10-29T00:45:00.365Z,1761698700.365 [DAT](INFO): DAT read: Rx Time:00:44:59.8932 2025-10-29T00:45:00.367Z,1761698700.367 [DAT](INFO): Rx dataTimestamp_ set to:1761698700.365838 2025-10-29T00:45:00.371Z,1761698700.371 [DAT](INFO): DAT read: Bearing 177.8, -9.5 (Local) 2025-10-29T00:45:00.372Z,1761698700.372 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, -9.5 (Local) 2025-10-29T00:45:00.381Z,1761698700.381 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 2025-10-29T00:45:00.383Z,1761698700.383 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-29T00:45:00.386Z,1761698700.386 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.907607 2025-10-29T00:45:00.525Z,1761698700.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941991,-0.317421,-0.109071],[0.330872,0.932783,0.142970],[0.056358,-0.170765,0.983699]] 2025-10-29T00:45:00.577Z,1761698700.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.502750 s, deltaX: -0.400000 m, approachRate: -0.795623 m/s, rangeRepo size: 4 2025-10-29T00:45:00.578Z,1761698700.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-29T00:45:00.581Z,1761698700.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.254776 m, nav range: 24.821613 m, bearing: 10.455003 deg, approach rate: -0.593305 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.275189 deg, new cmd heading: 15.198422 deg. 2025-10-29T00:45:00.582Z,1761698700.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.265263 target range: 26.254776 and range: 26.00 m. 2025-10-29T00:45:00.618Z,1761698700.618 [DAT](INFO): DAT read: 00:44:59.8932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.36, 0.898,-0.502, 1.406, 0.931, PHS= 0.070,-1.387, 0.432, RAW= 160.8, 10.6, CAL= 160.9, 11.7, ROT= 349.1, -11.7 2025-10-29T00:45:00.619Z,1761698700.619 [DAT](INFO): got valid direction response: 00:44:59.8932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.36, 0.898,-0.502, 1.406, 0.931, PHS= 0.070,-1.387, 0.432, RAW= 160.8, 10.6, CAL= 160.9, 11.7, ROT= 349.1, -11.7 2025-10-29T00:45:00.619Z,1761698700.619 [DAT](INFO): #Rx 31: Read direction message, but no range. 2025-10-29T00:45:00.620Z,1761698700.620 [DAT](INFO): direction in FSK: [0.961556,-0.185166,0.202787] 2025-10-29T00:45:00.624Z,1761698700.624 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=16.145554 2025-10-29T00:45:00.869Z,1761698700.869 [DAT](INFO): DAT read: Rx Time:00:45:00.3932 2025-10-29T00:45:00.870Z,1761698700.870 [DAT](INFO): Rx dataTimestamp_ set to:1761698700.869426 2025-10-29T00:45:00.875Z,1761698700.875 [DAT](INFO): DAT read: Bearing 175.0, -8.9 (Local) 2025-10-29T00:45:00.876Z,1761698700.876 [DAT](INFO): Local bearing/azimuth received: Bearing 175.0, -8.9 (Local) 2025-10-29T00:45:00.887Z,1761698700.887 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 2025-10-29T00:45:00.891Z,1761698700.891 [DAT](INFO): DAT read: 00:45:00.3932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.15, 1.703, 0.260, 2.231, 1.677, PHS= 0.128,-1.372, 0.510, RAW= 161.1, 8.6, CAL= 160.8, 8.9, ROT= 349.2, -8.9 2025-10-29T00:45:00.893Z,1761698700.893 [DAT](INFO): got valid direction response: 00:45:00.3932 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505,-0.15, 1.703, 0.260, 2.231, 1.677, PHS= 0.128,-1.372, 0.510, RAW= 161.1, 8.6, CAL= 160.8, 8.9, ROT= 349.2, -8.9 2025-10-29T00:45:00.893Z,1761698700.893 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-29T00:45:00.894Z,1761698700.894 [DAT](INFO): direction in FSK: [0.970460,-0.185125,0.154710] 2025-10-29T00:45:00.894Z,1761698700.894 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:00.898Z,1761698700.898 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.420031 2025-10-29T00:45:00.957Z,1761698700.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942185,-0.316492,-0.110090],[0.330122,0.933064,0.142865],[0.057505,-0.170949,0.983600]] 2025-10-29T00:45:01.002Z,1761698701.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503588 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:01.011Z,1761698701.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.857336 m, bearing: 10.068933 deg, lat: 36.779276 deg, lon: -121.859534 deg, deltaT: 1.006338 s, deltaX: -0.397440 m, approachRate: -0.394937 m/s, posRepo size: 4 2025-10-29T00:45:01.011Z,1761698701.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.86 m. 2025-10-29T00:45:01.024Z,1761698701.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.857336 m, nav range: 24.587481 m, bearing: 10.419442 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.198423 deg, new cmd heading: 15.123445 deg. 2025-10-29T00:45:01.026Z,1761698701.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.263954 target range: 25.857336 and range: 26.00 m. 2025-10-29T00:45:01.118Z,1761698701.118 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.639324 2025-10-29T00:45:01.375Z,1761698701.375 [DAT](INFO): DAT read: Rx Time:00:45:00.8929 2025-10-29T00:45:01.377Z,1761698701.377 [DAT](INFO): Rx dataTimestamp_ set to:1761698701.375541 2025-10-29T00:45:01.381Z,1761698701.381 [DAT](INFO): DAT read: Bearing 177.4, -9.5 (Local) 2025-10-29T00:45:01.382Z,1761698701.382 [DAT](INFO): Local bearing/azimuth received: Bearing 177.4, -9.5 (Local) 2025-10-29T00:45:01.390Z,1761698701.390 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.5 2025-10-29T00:45:01.429Z,1761698701.429 [DAT](INFO): DAT read: 00:45:00.8929 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.09, 1.433, 0.033, 1.950, 1.464, PHS= 0.071,-1.385, 0.443, RAW= 161.1, 10.4, CAL= 161.1, 11.4, ROT= 348.9, -11.4 2025-10-29T00:45:01.430Z,1761698701.430 [DAT](INFO): got valid direction response: 00:45:00.8929 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502,-0.09, 1.433, 0.033, 1.950, 1.464, PHS= 0.071,-1.385, 0.443, RAW= 161.1, 10.4, CAL= 161.1, 11.4, ROT= 348.9, -11.4 2025-10-29T00:45:01.430Z,1761698701.430 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T00:45:01.431Z,1761698701.431 [DAT](INFO): direction in FSK: [0.961933,-0.188724,0.197657] 2025-10-29T00:45:01.432Z,1761698701.432 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:01.443Z,1761698701.443 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.965298 2025-10-29T00:45:01.458Z,1761698701.458 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504332152,35.0, +10.6, 0.0,10 2025-10-29T00:45:01.535Z,1761698701.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.506115 s, deltaX: -0.500000 m, approachRate: -0.987918 m/s, rangeRepo size: 4 2025-10-29T00:45:01.541Z,1761698701.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.360081 m, bearing: 10.188102 deg, lat: 36.779276 deg, lon: -121.859535 deg, deltaT: 0.506115 s, deltaX: -0.497255 m, approachRate: -0.982495 m/s, posRepo size: 4 2025-10-29T00:45:01.542Z,1761698701.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-29T00:45:01.555Z,1761698701.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.360081 m, nav range: 24.267609 m, bearing: 10.237305 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.123446 deg, new cmd heading: 15.025485 deg. 2025-10-29T00:45:01.569Z,1761698701.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.262244 target range: 25.360081 and range: 25.50 m. 2025-10-29T00:45:01.623Z,1761698701.623 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=17.144958 2025-10-29T00:45:01.878Z,1761698701.878 [DAT](INFO): DAT read: Rx Time:00:45:01.3927 2025-10-29T00:45:01.879Z,1761698701.879 [DAT](INFO): Rx dataTimestamp_ set to:1761698701.878322 2025-10-29T00:45:01.884Z,1761698701.884 [DAT](INFO): DAT read: Bearing 178.1, -9.2 (Local) 2025-10-29T00:45:01.885Z,1761698701.885 [DAT](INFO): Local bearing/azimuth received: Bearing 178.1, -9.2 (Local) 2025-10-29T00:45:01.892Z,1761698701.892 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-29T00:45:01.906Z,1761698701.906 [DAT](INFO): DAT read: 00:45:01.3927 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.02, 2.142, 0.752, 2.638, 2.181, PHS= 0.064,-1.383, 0.413, RAW= 160.6, 11.0, CAL= 160.7, 12.2, ROT= 349.3, -12.2 2025-10-29T00:45:01.908Z,1761698701.908 [DAT](INFO): got valid direction response: 00:45:01.3927 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 500,-0.02, 2.142, 0.752, 2.638, 2.181, PHS= 0.064,-1.383, 0.413, RAW= 160.6, 11.0, CAL= 160.7, 12.2, ROT= 349.3, -12.2 2025-10-29T00:45:01.916Z,1761698701.916 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T00:45:01.917Z,1761698701.917 [DAT](INFO): direction in FSK: [0.960421,-0.181474,0.211325] 2025-10-29T00:45:01.917Z,1761698701.917 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:01.926Z,1761698701.926 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.447725 2025-10-29T00:45:01.929Z,1761698701.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.942935,-0.313706,-0.111636],[0.327600,0.934025,0.142389],[0.059603,-0.170836,0.983495]] 2025-10-29T00:45:02.025Z,1761698702.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.502781 s, deltaX: -0.299999 m, approachRate: -0.596680 m/s, rangeRepo size: 4 2025-10-29T00:45:02.028Z,1761698702.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.061663 m, bearing: 10.570717 deg, lat: 36.779276 deg, lon: -121.859533 deg, deltaT: 0.502781 s, deltaX: -0.298418 m, approachRate: -0.593535 m/s, posRepo size: 4 2025-10-29T00:45:02.033Z,1761698702.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-29T00:45:02.035Z,1761698702.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.061663 m, nav range: 24.009068 m, bearing: 10.511181 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 15.025486 deg, new cmd heading: 14.938204 deg. 2025-10-29T00:45:02.040Z,1761698702.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260721 target range: 25.061663 and range: 25.20 m. 2025-10-29T00:45:02.126Z,1761698702.126 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.647758 2025-10-29T00:45:02.381Z,1761698702.381 [DAT](INFO): DAT read: Rx Time:00:45:01.8924 2025-10-29T00:45:02.383Z,1761698702.383 [DAT](INFO): Rx dataTimestamp_ set to:1761698702.382086 2025-10-29T00:45:02.386Z,1761698702.386 [DAT](INFO): DAT read: Bearing 176.8, -9.1 (Local) 2025-10-29T00:45:02.387Z,1761698702.387 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, -9.1 (Local) 2025-10-29T00:45:02.390Z,1761698702.390 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.4 2025-10-29T00:45:02.394Z,1761698702.394 [DAT](INFO): DAT read: 00:45:01.8924 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.00, 2.005, 0.601, 2.519, 2.026, PHS= 0.081,-1.380, 0.449, RAW= 161.0, 10.2, CAL= 161.0, 11.0, ROT= 349.0, -11.0 2025-10-29T00:45:02.395Z,1761698702.395 [DAT](INFO): got valid direction response: 00:45:01.8924 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497, 0.00, 2.005, 0.601, 2.519, 2.026, PHS= 0.081,-1.380, 0.449, RAW= 161.0, 10.2, CAL= 161.0, 11.0, ROT= 349.0, -11.0 2025-10-29T00:45:02.416Z,1761698702.416 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T00:45:02.419Z,1761698702.419 [DAT](INFO): direction in FSK: [0.963592,-0.187303,0.190809] 2025-10-29T00:45:02.436Z,1761698702.436 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:02.441Z,1761698702.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943451,-0.311411,-0.113683],[0.325827,0.934284,0.144743],[0.061138,-0.173599,0.982917]] 2025-10-29T00:45:02.448Z,1761698702.448 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.961601 2025-10-29T00:45:02.555Z,1761698702.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503764 s, deltaX: -0.300001 m, approachRate: -0.595519 m/s, rangeRepo size: 4 2025-10-29T00:45:02.561Z,1761698702.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.763309 m, bearing: 9.989915 deg, lat: 36.779277 deg, lon: -121.859535 deg, deltaT: 0.503764 s, deltaX: -0.298353 m, approachRate: -0.592248 m/s, posRepo size: 4 2025-10-29T00:45:02.562Z,1761698702.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-29T00:45:02.569Z,1761698702.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.763309 m, nav range: 23.708740 m, bearing: 10.156566 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.938204 deg, new cmd heading: 14.841194 deg. 2025-10-29T00:45:02.570Z,1761698702.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.259028 target range: 24.763309 and range: 24.90 m. 2025-10-29T00:45:02.630Z,1761698702.630 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.151772 2025-10-29T00:45:02.886Z,1761698702.886 [DAT](INFO): DAT read: Rx Time:00:45:02.3923 2025-10-29T00:45:02.886Z,1761698702.886 [DAT](INFO): Rx dataTimestamp_ set to:1761698702.886185 2025-10-29T00:45:02.888Z,1761698702.888 [DAT](INFO): DAT read: Bearing 199.6, -21.7 (Local) 2025-10-29T00:45:02.888Z,1761698702.888 [DAT](INFO): Local bearing/azimuth received: Bearing 199.6, -21.7 (Local) 2025-10-29T00:45:02.890Z,1761698702.890 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed 0.5 2025-10-29T00:45:02.895Z,1761698702.895 [DAT](INFO): DAT read: 00:45:02.3923 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512, 0.03,-1.323,-2.323,-0.539,-0.760, PHS=-0.461,-1.517, 0.177, RAW= 171.9, 23.2, CAL= 172.7, 34.2, ROT= 337.3, -34.2 2025-10-29T00:45:02.900Z,1761698702.900 [DAT](INFO): got valid direction response: 00:45:02.3923 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 512, 0.03,-1.323,-2.323,-0.539,-0.760, PHS=-0.461,-1.517, 0.177, RAW= 171.9, 23.2, CAL= 172.7, 34.2, ROT= 337.3, -34.2 2025-10-29T00:45:02.901Z,1761698702.901 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T00:45:02.902Z,1761698702.902 [DAT](INFO): direction in FSK: [0.763013,-0.319176,0.562083] 2025-10-29T00:45:02.902Z,1761698702.902 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:02.910Z,1761698702.910 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.432222 2025-10-29T00:45:03.041Z,1761698703.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.504099 s, deltaX: -0.100000 m, approachRate: -0.198374 m/s, rangeRepo size: 4 2025-10-29T00:45:03.043Z,1761698703.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.664658 m, bearing: 2.408172 deg, lat: 36.779277 deg, lon: -121.859535 deg, deltaT: 0.504099 s, deltaX: -0.098652 m, approachRate: -0.195699 m/s, posRepo size: 4 2025-10-29T00:45:03.044Z,1761698703.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.66 m. 2025-10-29T00:45:03.047Z,1761698703.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.664658 m, nav range: 23.400854 m, bearing: 10.126596 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.841195 deg, new cmd heading: 14.753299 deg. 2025-10-29T00:45:03.048Z,1761698703.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.257494 target range: 24.664658 and range: 24.80 m. 2025-10-29T00:45:03.134Z,1761698703.134 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.655424 2025-10-29T00:45:03.337Z,1761698703.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945277,-0.303886,-0.118765],[0.319540,0.935817,0.148796],[0.065925,-0.178604,0.981710]] 2025-10-29T00:45:03.387Z,1761698703.387 [DAT](INFO): DAT read: Rx Time:00:45:02.8920 2025-10-29T00:45:03.388Z,1761698703.388 [DAT](INFO): Rx dataTimestamp_ set to:1761698703.387405 2025-10-29T00:45:03.389Z,1761698703.389 [DAT](INFO): DAT read: Bearing 175.4, -9.6 (Local) 2025-10-29T00:45:03.389Z,1761698703.389 [DAT](INFO): Local bearing/azimuth received: Bearing 175.4, -9.6 (Local) 2025-10-29T00:45:03.391Z,1761698703.391 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.5 2025-10-29T00:45:03.396Z,1761698703.396 [DAT](INFO): DAT read: 00:45:02.8920 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.04,-2.668, 2.156,-2.093,-2.654, PHS= 0.088,-1.428, 0.517, RAW= 162.1, 9.3, CAL= 161.9, 10.0, ROT= 348.1, -10.0 2025-10-29T00:45:03.397Z,1761698703.397 [DAT](INFO): got valid direction response: 00:45:02.8920 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509, 0.04,-2.668, 2.156,-2.093,-2.654, PHS= 0.088,-1.428, 0.517, RAW= 162.1, 9.3, CAL= 161.9, 10.0, ROT= 348.1, -10.0 2025-10-29T00:45:03.398Z,1761698703.398 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T00:45:03.399Z,1761698703.399 [DAT](INFO): direction in FSK: [0.963643,-0.203071,0.173648] 2025-10-29T00:45:03.399Z,1761698703.399 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:03.407Z,1761698703.407 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.928619 2025-10-29T00:45:03.495Z,1761698703.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.501220 s, deltaX: -0.500000 m, approachRate: -0.997566 m/s, rangeRepo size: 4 2025-10-29T00:45:03.503Z,1761698703.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.167385 m, bearing: 8.585144 deg, lat: 36.779277 deg, lon: -121.859536 deg, deltaT: 0.501220 s, deltaX: -0.497272 m, approachRate: -0.992124 m/s, posRepo size: 4 2025-10-29T00:45:03.517Z,1761698703.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-29T00:45:03.530Z,1761698703.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.167385 m, nav range: 23.125492 m, bearing: 10.019402 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.753299 deg, new cmd heading: 14.671559 deg. 2025-10-29T00:45:03.531Z,1761698703.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256067 target range: 24.167385 and range: 24.30 m. 2025-10-29T00:45:03.637Z,1761698703.637 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.159021 2025-10-29T00:45:03.891Z,1761698703.891 [DAT](INFO): DAT read: Rx Time:00:45:03.3919 2025-10-29T00:45:03.892Z,1761698703.892 [DAT](INFO): Rx dataTimestamp_ set to:1761698703.891360 2025-10-29T00:45:03.894Z,1761698703.894 [DAT](INFO): DAT read: Bearing 174.9, -8.7 (Local) 2025-10-29T00:45:03.894Z,1761698703.894 [DAT](INFO): Local bearing/azimuth received: Bearing 174.9, -8.7 (Local) 2025-10-29T00:45:03.896Z,1761698703.896 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5 2025-10-29T00:45:03.901Z,1761698703.901 [DAT](INFO): DAT read: 00:45:03.3919 LVL= 31856, 32753, 32290, 32755, AGC= 61, IDX= 508, 0.07,-1.556,-3.007,-1.007,-1.564, PHS= 0.111,-1.398, 0.513, RAW= 161.5, 8.9, CAL= 161.3, 9.4, ROT= 348.7, -9.4 2025-10-29T00:45:03.902Z,1761698703.902 [DAT](INFO): got valid direction response: 00:45:03.3919 LVL= 31856, 32753, 32290, 32755, AGC= 61, IDX= 508, 0.07,-1.556,-3.007,-1.007,-1.564, PHS= 0.111,-1.398, 0.513, RAW= 161.5, 8.9, CAL= 161.3, 9.4, ROT= 348.7, -9.4 2025-10-29T00:45:03.902Z,1761698703.902 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T00:45:03.903Z,1761698703.903 [DAT](INFO): direction in FSK: [0.967447,-0.193315,0.163326] 2025-10-29T00:45:03.903Z,1761698703.903 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:03.919Z,1761698703.919 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.441076 2025-10-29T00:45:03.985Z,1761698703.985 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.945679,-0.301854,-0.120726],[0.317917,0.936289,0.149304],[0.067967,-0.179575,0.981394]] 2025-10-29T00:45:04.065Z,1761698704.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503955 s, deltaX: -0.099998 m, approachRate: -0.198427 m/s, rangeRepo size: 4 2025-10-29T00:45:04.067Z,1761698704.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.068310 m, bearing: 8.995887 deg, lat: 36.779277 deg, lon: -121.859539 deg, deltaT: 0.503955 s, deltaX: -0.099075 m, approachRate: -0.196596 m/s, posRepo size: 4 2025-10-29T00:45:04.067Z,1761698704.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.07 m. 2025-10-29T00:45:04.074Z,1761698704.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.068310 m, nav range: 22.809290 m, bearing: 9.165457 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.671559 deg, new cmd heading: 14.569225 deg. 2025-10-29T00:45:04.075Z,1761698704.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254281 target range: 24.068310 and range: 24.20 m. 2025-10-29T00:45:04.141Z,1761698704.141 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.662977 2025-10-29T00:45:04.394Z,1761698704.394 [DAT](INFO): DAT read: Rx Time:00:45:03.8916 2025-10-29T00:45:04.394Z,1761698704.394 [DAT](INFO): Rx dataTimestamp_ set to:1761698704.393965 2025-10-29T00:45:04.396Z,1761698704.396 [DAT](INFO): DAT read: Bearing 172.1, -7.8 (Local) 2025-10-29T00:45:04.396Z,1761698704.396 [DAT](INFO): Local bearing/azimuth received: Bearing 172.1, -7.8 (Local) 2025-10-29T00:45:04.398Z,1761698704.398 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5 2025-10-29T00:45:04.403Z,1761698704.403 [DAT](INFO): DAT read: 00:45:03.8916 LVL= 30576, 32753, 31218, 32755, AGC= 62, IDX= 505, 0.07,-2.402, 2.422,-1.848,-2.472, PHS= 0.172,-1.344, 0.581, RAW= 161.6, 6.8, CAL= 161.0, 6.5, ROT= 349.0, -6.5 2025-10-29T00:45:04.404Z,1761698704.404 [DAT](INFO): got valid direction response: 00:45:03.8916 LVL= 30576, 32753, 31218, 32755, AGC= 62, IDX= 505, 0.07,-2.402, 2.422,-1.848,-2.472, PHS= 0.172,-1.344, 0.581, RAW= 161.6, 6.8, CAL= 161.0, 6.5, ROT= 349.0, -6.5 2025-10-29T00:45:04.404Z,1761698704.404 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T00:45:04.405Z,1761698704.405 [DAT](INFO): direction in FSK: [0.975317,-0.189583,0.113203] 2025-10-29T00:45:04.406Z,1761698704.406 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:04.433Z,1761698704.433 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.955198 2025-10-29T00:45:04.517Z,1761698704.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946495,-0.298193,-0.123403],[0.314658,0.937651,0.147652],[0.071680,-0.178582,0.981310]] 2025-10-29T00:45:04.603Z,1761698704.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.502605 s, deltaX: -0.500000 m, approachRate: -0.994817 m/s, rangeRepo size: 4 2025-10-29T00:45:04.609Z,1761698704.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.571030 m, bearing: 8.588172 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 0.502605 s, deltaX: -0.497280 m, approachRate: -0.989405 m/s, posRepo size: 4 2025-10-29T00:45:04.610Z,1761698704.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-29T00:45:04.617Z,1761698704.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.571030 m, nav range: 22.605705 m, bearing: 8.746979 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.569224 deg, new cmd heading: 14.471191 deg. 2025-10-29T00:45:04.618Z,1761698704.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.252570 target range: 23.571030 and range: 23.70 m. 2025-10-29T00:45:04.645Z,1761698704.645 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=20.167063 2025-10-29T00:45:04.897Z,1761698704.897 [DAT](INFO): DAT read: Rx Time:00:45:04.3916 2025-10-29T00:45:04.898Z,1761698704.898 [DAT](INFO): Rx dataTimestamp_ set to:1761698704.897694 2025-10-29T00:45:04.899Z,1761698704.899 [DAT](INFO): DAT read: Bearing 172.7, -7.9 (Local) 2025-10-29T00:45:04.900Z,1761698704.900 [DAT](INFO): Local bearing/azimuth received: Bearing 172.7, -7.9 (Local) 2025-10-29T00:45:04.902Z,1761698704.902 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.5 2025-10-29T00:45:04.927Z,1761698704.927 [DAT](INFO): DAT read: 00:45:04.3916 LVL= 31072, 32753, 30706, 32755, AGC= 60, IDX= 504, 0.02,-0.497,-1.947, 0.059,-0.550, PHS= 0.155,-1.353, 0.565, RAW= 161.7, 7.3, CAL= 161.2, 7.2, ROT= 348.8, -7.2 2025-10-29T00:45:04.949Z,1761698704.949 [DAT](INFO): got valid direction response: 00:45:04.3916 LVL= 31072, 32753, 30706, 32755, AGC= 60, IDX= 504, 0.02,-0.497,-1.947, 0.059,-0.550, PHS= 0.155,-1.353, 0.565, RAW= 161.7, 7.3, CAL= 161.2, 7.2, ROT= 348.8, -7.2 2025-10-29T00:45:04.949Z,1761698704.949 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T00:45:04.951Z,1761698704.951 [DAT](INFO): direction in FSK: [0.973220,-0.192703,0.125333] 2025-10-29T00:45:04.951Z,1761698704.951 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:04.989Z,1761698704.989 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.510929 2025-10-29T00:45:05.013Z,1761698705.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946897,-0.296300,-0.124868],[0.312942,0.938442,0.146265],[0.073843,-0.177574,0.981333]] 2025-10-29T00:45:05.070Z,1761698705.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503729 s, deltaX: -0.100000 m, approachRate: -0.198520 m/s, rangeRepo size: 4 2025-10-29T00:45:05.077Z,1761698705.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.471729 m, bearing: 8.391341 deg, lat: 36.779281 deg, lon: -121.859542 deg, deltaT: 0.503729 s, deltaX: -0.099300 m, approachRate: -0.197131 m/s, posRepo size: 4 2025-10-29T00:45:05.077Z,1761698705.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-29T00:45:05.084Z,1761698705.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.471729 m, nav range: 22.592897 m, bearing: 8.486603 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.471192 deg, new cmd heading: 14.386747 deg. 2025-10-29T00:45:05.085Z,1761698705.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.251096 target range: 23.471729 and range: 23.60 m. 2025-10-29T00:45:05.150Z,1761698705.150 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.671633 2025-10-29T00:45:05.402Z,1761698705.402 [DAT](INFO): DAT read: Rx Time:00:45:04.8913 2025-10-29T00:45:05.402Z,1761698705.402 [DAT](INFO): Rx dataTimestamp_ set to:1761698705.401776 2025-10-29T00:45:05.403Z,1761698705.403 [DAT](INFO): DAT read: Bearing 175.8, -8.8 (Local) 2025-10-29T00:45:05.404Z,1761698705.404 [DAT](INFO): Local bearing/azimuth received: Bearing 175.8, -8.8 (Local) 2025-10-29T00:45:05.406Z,1761698705.406 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-29T00:45:05.410Z,1761698705.410 [DAT](INFO): DAT read: 00:45:04.8913 LVL= 32752, 32753, 32114, 32755, AGC= 59, IDX= 501,-0.05,-1.735, 3.130,-1.185,-1.712, PHS= 0.079,-1.396, 0.483, RAW= 161.8, 9.8, CAL= 161.7, 10.5, ROT= 348.3, -10.5 2025-10-29T00:45:05.411Z,1761698705.411 [DAT](INFO): got valid direction response: 00:45:04.8913 LVL= 32752, 32753, 32114, 32755, AGC= 59, IDX= 501,-0.05,-1.735, 3.130,-1.185,-1.712, PHS= 0.079,-1.396, 0.483, RAW= 161.8, 9.8, CAL= 161.7, 10.5, ROT= 348.3, -10.5 2025-10-29T00:45:05.412Z,1761698705.412 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T00:45:05.413Z,1761698705.413 [DAT](INFO): direction in FSK: [0.962826,-0.199392,0.182236] 2025-10-29T00:45:05.413Z,1761698705.413 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:05.429Z,1761698705.429 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.950706 2025-10-29T00:45:05.445Z,1761698705.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.947488,-0.293697,-0.126524],[0.310597,0.939347,0.145453],[0.076131,-0.177113,0.981242]] 2025-10-29T00:45:05.580Z,1761698705.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.504082 s, deltaX: -0.500000 m, approachRate: -0.991902 m/s, rangeRepo size: 4 2025-10-29T00:45:05.582Z,1761698705.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.974447 m, bearing: 8.299653 deg, lat: 36.779281 deg, lon: -121.859542 deg, deltaT: 0.504082 s, deltaX: -0.497282 m, approachRate: -0.986510 m/s, posRepo size: 4 2025-10-29T00:45:05.583Z,1761698705.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-29T00:45:05.590Z,1761698705.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.974447 m, nav range: 22.285383 m, bearing: 8.474385 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.386747 deg, new cmd heading: 14.295398 deg. 2025-10-29T00:45:05.591Z,1761698705.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249502 target range: 22.974447 and range: 23.10 m. 2025-10-29T00:45:05.654Z,1761698705.654 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=21.175411 2025-10-29T00:45:05.905Z,1761698705.905 [DAT](INFO): DAT read: Rx Time:00:45:05.3911 2025-10-29T00:45:05.906Z,1761698705.906 [DAT](INFO): Rx dataTimestamp_ set to:1761698705.905690 2025-10-29T00:45:05.907Z,1761698705.907 [DAT](INFO): DAT read: Bearing 173.7, -7.1 (Local) 2025-10-29T00:45:05.908Z,1761698705.908 [DAT](INFO): Local bearing/azimuth received: Bearing 173.7, -7.1 (Local) 2025-10-29T00:45:05.910Z,1761698705.910 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.5 2025-10-29T00:45:05.915Z,1761698705.915 [DAT](INFO): DAT read: 00:45:05.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.01,-1.786, 3.045,-1.265,-1.829, PHS= 0.145,-1.364, 0.520, RAW= 160.9, 8.1, CAL= 160.5, 8.3, ROT= 349.5, -8.3 2025-10-29T00:45:05.916Z,1761698705.916 [DAT](INFO): got valid direction response: 00:45:05.3911 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499, 0.01,-1.786, 3.045,-1.265,-1.829, PHS= 0.145,-1.364, 0.520, RAW= 160.9, 8.1, CAL= 160.5, 8.3, ROT= 349.5, -8.3 2025-10-29T00:45:05.916Z,1761698705.916 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T00:45:05.917Z,1761698705.917 [DAT](INFO): direction in FSK: [0.972956,-0.180327,0.144356] 2025-10-29T00:45:05.917Z,1761698705.917 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:05.953Z,1761698705.953 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.475149 2025-10-29T00:45:06.031Z,1761698706.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503914 s, deltaX: -0.300001 m, approachRate: -0.595342 m/s, rangeRepo size: 4 2025-10-29T00:45:06.037Z,1761698706.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.677212 m, bearing: 9.134332 deg, lat: 36.779281 deg, lon: -121.859541 deg, deltaT: 0.503914 s, deltaX: -0.297235 m, approachRate: -0.589854 m/s, posRepo size: 4 2025-10-29T00:45:06.037Z,1761698706.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.68 m. 2025-10-29T00:45:06.044Z,1761698706.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.677212 m, nav range: 22.031366 m, bearing: 8.610602 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.295398 deg, new cmd heading: 14.213302 deg. 2025-10-29T00:45:06.045Z,1761698706.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.248069 target range: 22.677212 and range: 22.80 m. 2025-10-29T00:45:06.157Z,1761698706.157 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.679020 2025-10-29T00:45:06.397Z,1761698706.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.948830,-0.287837,-0.129894],[0.305534,0.940731,0.147219],[0.079820,-0.179373,0.980538]] 2025-10-29T00:45:06.409Z,1761698706.409 [DAT](INFO): DAT read: Rx Time:00:45:05.8908 2025-10-29T00:45:06.410Z,1761698706.410 [DAT](INFO): Rx dataTimestamp_ set to:1761698706.409668 2025-10-29T00:45:06.411Z,1761698706.411 [DAT](INFO): DAT read: Bearing 174.1, -7.3 (Local) 2025-10-29T00:45:06.412Z,1761698706.412 [DAT](INFO): Local bearing/azimuth received: Bearing 174.1, -7.3 (Local) 2025-10-29T00:45:06.414Z,1761698706.414 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.5 2025-10-29T00:45:06.418Z,1761698706.418 [DAT](INFO): DAT read: 00:45:05.8908 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.03,-3.060, 1.757,-2.531,-3.088, PHS= 0.130,-1.393, 0.513, RAW= 160.9, 8.6, CAL= 160.7, 9.0, ROT= 349.3, -9.0 2025-10-29T00:45:06.419Z,1761698706.419 [DAT](INFO): got valid direction response: 00:45:05.8908 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 496, 0.03,-3.060, 1.757,-2.531,-3.088, PHS= 0.130,-1.393, 0.513, RAW= 160.9, 8.6, CAL= 160.7, 9.0, ROT= 349.3, -9.0 2025-10-29T00:45:06.420Z,1761698706.420 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-29T00:45:06.421Z,1761698706.421 [DAT](INFO): direction in FSK: [0.970515,-0.183381,0.156434] 2025-10-29T00:45:06.422Z,1761698706.422 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:06.431Z,1761698706.431 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.953318 2025-10-29T00:45:06.629Z,1761698706.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.503978 s, deltaX: -0.400000 m, approachRate: -0.793685 m/s, rangeRepo size: 4 2025-10-29T00:45:06.631Z,1761698706.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.279366 m, bearing: 8.768453 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.503978 s, deltaX: -0.397846 m, approachRate: -0.789412 m/s, posRepo size: 4 2025-10-29T00:45:06.632Z,1761698706.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.28 m. 2025-10-29T00:45:06.638Z,1761698706.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.279366 m, nav range: 21.561148 m, bearing: 8.589295 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.213303 deg, new cmd heading: 14.105955 deg. 2025-10-29T00:45:06.639Z,1761698706.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.246195 target range: 22.279366 and range: 22.40 m. 2025-10-29T00:45:06.661Z,1761698706.661 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.182962 2025-10-29T00:45:06.915Z,1761698706.915 [DAT](INFO): DAT read: Rx Time:00:45:06.3907 2025-10-29T00:45:06.915Z,1761698706.915 [DAT](INFO): Rx dataTimestamp_ set to:1761698706.915193 2025-10-29T00:45:06.917Z,1761698706.917 [DAT](INFO): DAT read: Bearing 174.0, -7.6 (Local) 2025-10-29T00:45:06.918Z,1761698706.918 [DAT](INFO): Local bearing/azimuth received: Bearing 174.0, -7.6 (Local) 2025-10-29T00:45:06.920Z,1761698706.920 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.6 2025-10-29T00:45:06.925Z,1761698706.925 [DAT](INFO): DAT read: 00:45:06.3907 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-1.970, 2.853,-1.432,-1.987, PHS= 0.119,-1.398, 0.511, RAW= 161.2, 8.8, CAL= 161.0, 9.3, ROT= 349.0, -9.3 2025-10-29T00:45:06.926Z,1761698706.926 [DAT](INFO): got valid direction response: 00:45:06.3907 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 511, 0.00,-1.970, 2.853,-1.432,-1.987, PHS= 0.119,-1.398, 0.511, RAW= 161.2, 8.8, CAL= 161.0, 9.3, ROT= 349.0, -9.3 2025-10-29T00:45:06.927Z,1761698706.927 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-29T00:45:06.928Z,1761698706.928 [DAT](INFO): direction in FSK: [0.968724,-0.188301,0.161604] 2025-10-29T00:45:06.928Z,1761698706.928 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:06.938Z,1761698706.938 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.458858 2025-10-29T00:45:07.141Z,1761698707.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.505525 s, deltaX: -0.199999 m, approachRate: -0.395626 m/s, rangeRepo size: 4 2025-10-29T00:45:07.143Z,1761698707.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.080757 m, bearing: 8.517502 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.505525 s, deltaX: -0.198608 m, approachRate: -0.392876 m/s, posRepo size: 4 2025-10-29T00:45:07.148Z,1761698707.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-29T00:45:07.151Z,1761698707.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.080757 m, nav range: 21.259066 m, bearing: 8.519238 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.105955 deg, new cmd heading: 14.012651 deg. 2025-10-29T00:45:07.151Z,1761698707.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.244567 target range: 22.080757 and range: 22.20 m. 2025-10-29T00:45:07.165Z,1761698707.165 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.686687 2025-10-29T00:45:07.418Z,1761698707.418 [DAT](INFO): DAT read: Rx Time:00:45:06.8904 2025-10-29T00:45:07.418Z,1761698707.418 [DAT](INFO): Rx dataTimestamp_ set to:1761698707.417750 2025-10-29T00:45:07.419Z,1761698707.419 [DAT](INFO): DAT read: Bearing 177.2, -8.1 (Local) 2025-10-29T00:45:07.420Z,1761698707.420 [DAT](INFO): Local bearing/azimuth received: Bearing 177.2, -8.1 (Local) 2025-10-29T00:45:07.426Z,1761698707.426 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5 2025-10-29T00:45:07.433Z,1761698707.433 [DAT](INFO): DAT read: 00:45:06.8904 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.06,-3.133, 1.747,-2.630,-3.079, PHS= 0.049,-1.412, 0.405, RAW= 160.7, 11.5, CAL= 160.9, 12.8, ROT= 349.1, -12.8 2025-10-29T00:45:07.435Z,1761698707.435 [DAT](INFO): got valid direction response: 00:45:06.8904 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.06,-3.133, 1.747,-2.630,-3.079, PHS= 0.049,-1.412, 0.405, RAW= 160.7, 11.5, CAL= 160.9, 12.8, ROT= 349.1, -12.8 2025-10-29T00:45:07.435Z,1761698707.435 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T00:45:07.441Z,1761698707.441 [DAT](INFO): direction in FSK: [0.957556,-0.184396,0.221548] 2025-10-29T00:45:07.441Z,1761698707.441 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:07.445Z,1761698707.445 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.967031 2025-10-29T00:45:07.480Z,1761698707.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952392,-0.274013,-0.133667],[0.293435,0.942836,0.157973],[0.082740,-0.189675,0.978355]] 2025-10-29T00:45:07.641Z,1761698707.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.502557 s, deltaX: -0.400002 m, approachRate: -0.795933 m/s, rangeRepo size: 4 2025-10-29T00:45:07.642Z,1761698707.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.682903 m, bearing: 8.662355 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.502557 s, deltaX: -0.397854 m, approachRate: -0.791659 m/s, posRepo size: 4 2025-10-29T00:45:07.643Z,1761698707.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T00:45:07.650Z,1761698707.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.682903 m, nav range: 20.881916 m, bearing: 8.516368 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 14.012651 deg, new cmd heading: 13.923322 deg. 2025-10-29T00:45:07.651Z,1761698707.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.243008 target range: 21.682903 and range: 21.80 m. 2025-10-29T00:45:07.669Z,1761698707.669 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.190987 2025-10-29T00:45:07.921Z,1761698707.921 [DAT](INFO): DAT read: Rx Time:00:45:07.3903 2025-10-29T00:45:07.922Z,1761698707.922 [DAT](INFO): Rx dataTimestamp_ set to:1761698707.921598 2025-10-29T00:45:07.923Z,1761698707.923 [DAT](INFO): DAT read: Bearing 177.5, -8.4 (Local) 2025-10-29T00:45:07.923Z,1761698707.923 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, -8.4 (Local) 2025-10-29T00:45:07.926Z,1761698707.926 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.5 2025-10-29T00:45:07.931Z,1761698707.931 [DAT](INFO): DAT read: 00:45:07.3903 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 507,-0.07,-1.175,-2.588,-0.666,-1.105, PHS= 0.032,-1.438, 0.395, RAW= 160.8, 12.0, CAL= 161.1, 13.5, ROT= 348.9, -13.5 2025-10-29T00:45:07.932Z,1761698707.932 [DAT](INFO): got valid direction response: 00:45:07.3903 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 507,-0.07,-1.175,-2.588,-0.666,-1.105, PHS= 0.032,-1.438, 0.395, RAW= 160.8, 12.0, CAL= 161.1, 13.5, ROT= 348.9, -13.5 2025-10-29T00:45:07.932Z,1761698707.932 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-29T00:45:07.933Z,1761698707.933 [DAT](INFO): direction in FSK: [0.954179,-0.187203,0.233445] 2025-10-29T00:45:07.933Z,1761698707.933 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:07.937Z,1761698707.937 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.458937 2025-10-29T00:45:07.998Z,1761698707.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953939,-0.268579,-0.133662],[0.288251,0.944046,0.160278],[0.083135,-0.191424,0.977980]] 2025-10-29T00:45:08.073Z,1761698708.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503848 s, deltaX: -0.199999 m, approachRate: -0.396943 m/s, rangeRepo size: 4 2025-10-29T00:45:08.075Z,1761698708.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.483887 m, bearing: 8.309671 deg, lat: 36.779280 deg, lon: -121.859541 deg, deltaT: 0.503848 s, deltaX: -0.199017 m, approachRate: -0.394993 m/s, posRepo size: 4 2025-10-29T00:45:08.080Z,1761698708.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m. 2025-10-29T00:45:08.083Z,1761698708.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.483887 m, nav range: 20.627586 m, bearing: 8.489527 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 13.923323 deg, new cmd heading: 13.844258 deg. 2025-10-29T00:45:08.088Z,1761698708.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.241628 target range: 21.483887 and range: 21.60 m. 2025-10-29T00:45:08.173Z,1761698708.173 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.695007 2025-10-29T00:45:08.405Z,1761698708.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955373,-0.263769,-0.132999],[0.283363,0.945525,0.160277],[0.083478,-0.190811,0.978071]] 2025-10-29T00:45:08.430Z,1761698708.430 [DAT](INFO): DAT read: Rx Time:00:45:07.8900 2025-10-29T00:45:08.430Z,1761698708.430 [DAT](INFO): Rx dataTimestamp_ set to:1761698708.429859 2025-10-29T00:45:08.431Z,1761698708.431 [DAT](INFO): DAT read: Bearing 173.6, -6.9 (Local) 2025-10-29T00:45:08.433Z,1761698708.433 [DAT](INFO): Local bearing/azimuth received: Bearing 173.6, -6.9 (Local) 2025-10-29T00:45:08.435Z,1761698708.435 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 2025-10-29T00:45:08.439Z,1761698708.439 [DAT](INFO): DAT read: 00:45:07.8900 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.01,-2.850, 1.953,-2.344,-2.872, PHS= 0.125,-1.413, 0.485, RAW= 160.3, 9.2, CAL= 160.1, 9.8, ROT= 349.9, -9.8 2025-10-29T00:45:08.461Z,1761698708.461 [DAT](INFO): got valid direction response: 00:45:07.8900 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 504, 0.01,-2.850, 1.953,-2.344,-2.872, PHS= 0.125,-1.413, 0.485, RAW= 160.3, 9.2, CAL= 160.1, 9.8, ROT= 349.9, -9.8 2025-10-29T00:45:08.461Z,1761698708.461 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-29T00:45:08.462Z,1761698708.462 [DAT](INFO): direction in FSK: [0.970137,-0.172808,0.170209] 2025-10-29T00:45:08.462Z,1761698708.462 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:08.478Z,1761698708.478 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.000065 2025-10-29T00:45:08.533Z,1761698708.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.508261 s, deltaX: -0.400000 m, approachRate: -0.786996 m/s, rangeRepo size: 4 2025-10-29T00:45:08.535Z,1761698708.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.086037 m, bearing: 8.313488 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 0.508261 s, deltaX: -0.397850 m, approachRate: -0.782767 m/s, posRepo size: 4 2025-10-29T00:45:08.535Z,1761698708.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-29T00:45:08.546Z,1761698708.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.086037 m, nav range: 20.247608 m, bearing: 8.461171 deg, approach rate: 0.000000 m/s, LOS rate: -0.090327 deg/s, cmd heading: 13.844258 deg, new cmd heading: 13.762079 deg. 2025-10-29T00:45:08.547Z,1761698708.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.240194 target range: 21.086037 and range: 21.20 m. 2025-10-29T00:45:08.677Z,1761698708.677 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=24.198950 2025-10-29T00:45:08.799Z,1761698708.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956870,-0.259010,-0.131579],[0.278127,0.947572,0.157328],[0.083931,-0.187138,0.978741]] 2025-10-29T00:45:08.839Z,1761698708.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:08.858Z,1761698708.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-29T00:45:08.880Z,1761698708.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.086037 m, nav range: 20.060581 m, bearing: 8.433678 deg, approach rate: -0.568065 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.762079 deg, new cmd heading: 13.706580 deg. 2025-10-29T00:45:08.881Z,1761698708.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239225 target range: 21.086037 and range: 21.20 m. 2025-10-29T00:45:08.931Z,1761698708.931 [DAT](INFO): DAT read: Rx Time:00:45:08.3899 2025-10-29T00:45:08.931Z,1761698708.931 [DAT](INFO): Rx dataTimestamp_ set to:1761698708.930949 2025-10-29T00:45:08.933Z,1761698708.933 [DAT](INFO): DAT read: Bearing 179.0, -8.6 (Local) 2025-10-29T00:45:08.934Z,1761698708.934 [DAT](INFO): Local bearing/azimuth received: Bearing 179.0, -8.6 (Local) 2025-10-29T00:45:08.937Z,1761698708.937 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.5 2025-10-29T00:45:08.944Z,1761698708.944 [DAT](INFO): DAT read: 00:45:08.3899 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.01,-1.262,-2.677,-0.770,-1.152, PHS=-0.008,-1.481, 0.337, RAW= 160.3, 13.7, CAL= 160.9, 15.8, ROT= 349.1, -15.8 2025-10-29T00:45:08.947Z,1761698708.947 [DAT](INFO): got valid direction response: 00:45:08.3899 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.01,-1.262,-2.677,-0.770,-1.152, PHS=-0.008,-1.481, 0.337, RAW= 160.3, 13.7, CAL= 160.9, 15.8, ROT= 349.1, -15.8 2025-10-29T00:45:08.947Z,1761698708.947 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T00:45:08.949Z,1761698708.949 [DAT](INFO): direction in FSK: [0.944858,-0.181951,0.272280] 2025-10-29T00:45:08.950Z,1761698708.950 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:08.977Z,1761698708.977 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.499245 2025-10-29T00:45:09.181Z,1761698709.181 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.702925 2025-10-29T00:45:09.203Z,1761698709.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958412,-0.254024,-0.130073],[0.272833,0.949252,0.156473],[0.083724,-0.185453,0.979080]] 2025-10-29T00:45:09.267Z,1761698709.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.501090 s, deltaX: -0.200001 m, approachRate: -0.399131 m/s, rangeRepo size: 4 2025-10-29T00:45:09.273Z,1761698709.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886318 m, bearing: 7.931832 deg, lat: 36.779276 deg, lon: -121.859542 deg, deltaT: 0.501090 s, deltaX: -0.199718 m, approachRate: -0.398568 m/s, posRepo size: 4 2025-10-29T00:45:09.274Z,1761698709.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-29T00:45:09.281Z,1761698709.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.886318 m, nav range: 19.495958 m, bearing: 8.383065 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.706580 deg, new cmd heading: 13.637540 deg. 2025-10-29T00:45:09.282Z,1761698709.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.238020 target range: 20.886318 and range: 21.00 m. 2025-10-29T00:45:09.434Z,1761698709.434 [DAT](INFO): DAT read: Rx Time:00:45:08.8896 2025-10-29T00:45:09.434Z,1761698709.434 [DAT](INFO): Rx dataTimestamp_ set to:1761698709.433810 2025-10-29T00:45:09.435Z,1761698709.435 [DAT](INFO): DAT read: Bearing 179.7, -8.5 (Local) 2025-10-29T00:45:09.436Z,1761698709.436 [DAT](INFO): Local bearing/azimuth received: Bearing 179.7, -8.5 (Local) 2025-10-29T00:45:09.438Z,1761698709.438 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.5 2025-10-29T00:45:09.443Z,1761698709.443 [DAT](INFO): DAT read: 00:45:08.8896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.07,-2.457, 2.419,-1.981,-2.330, PHS=-0.025,-1.490, 0.305, RAW= 159.9, 14.5, CAL= 160.7, 16.8, ROT= 349.3, -16.8 2025-10-29T00:45:09.444Z,1761698709.444 [DAT](INFO): got valid direction response: 00:45:08.8896 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.07,-2.457, 2.419,-1.981,-2.330, PHS=-0.025,-1.490, 0.305, RAW= 159.9, 14.5, CAL= 160.7, 16.8, ROT= 349.3, -16.8 2025-10-29T00:45:09.444Z,1761698709.444 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T00:45:09.445Z,1761698709.445 [DAT](INFO): direction in FSK: [0.940674,-0.177742,0.289032] 2025-10-29T00:45:09.445Z,1761698709.445 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:09.453Z,1761698709.453 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.975351 2025-10-29T00:45:09.616Z,1761698709.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959926,-0.249182,-0.128256],[0.267588,0.950954,0.155187],[0.083296,-0.183288,0.979524]] 2025-10-29T00:45:09.685Z,1761698709.685 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=25.206713 2025-10-29T00:45:09.694Z,1761698709.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502861 s, deltaX: -0.400000 m, approachRate: -0.795448 m/s, rangeRepo size: 4 2025-10-29T00:45:09.700Z,1761698709.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488605 m, bearing: 7.976673 deg, lat: 36.779276 deg, lon: -121.859542 deg, deltaT: 0.502861 s, deltaX: -0.397713 m, approachRate: -0.790900 m/s, posRepo size: 4 2025-10-29T00:45:09.701Z,1761698709.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T00:45:09.703Z,1761698709.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.488605 m, nav range: 19.208164 m, bearing: 8.161623 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.637540 deg, new cmd heading: 13.565612 deg. 2025-10-29T00:45:09.710Z,1761698709.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236765 target range: 20.488605 and range: 20.60 m. 2025-10-29T00:45:09.938Z,1761698709.938 [DAT](INFO): DAT read: Rx Time:00:45:09.3894 2025-10-29T00:45:09.938Z,1761698709.938 [DAT](INFO): Rx dataTimestamp_ set to:1761698709.937738 2025-10-29T00:45:09.939Z,1761698709.939 [DAT](INFO): DAT read: Bearing 178.3, -8.1 (Local) 2025-10-29T00:45:09.940Z,1761698709.940 [DAT](INFO): Local bearing/azimuth received: Bearing 178.3, -8.1 (Local) 2025-10-29T00:45:09.942Z,1761698709.942 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.5 2025-10-29T00:45:09.946Z,1761698709.946 [DAT](INFO): DAT read: 00:45:09.3894 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.889, 1.945,-2.410,-2.789, PHS= 0.002,-1.505, 0.335, RAW= 159.8, 13.7, CAL= 160.4, 15.7, ROT= 349.6, -15.7 2025-10-29T00:45:09.947Z,1761698709.947 [DAT](INFO): got valid direction response: 00:45:09.3894 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.21,-2.889, 1.945,-2.410,-2.789, PHS= 0.002,-1.505, 0.335, RAW= 159.8, 13.7, CAL= 160.4, 15.7, ROT= 349.6, -15.7 2025-10-29T00:45:09.948Z,1761698709.948 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T00:45:09.949Z,1761698709.949 [DAT](INFO): direction in FSK: [0.946876,-0.173784,0.270600] 2025-10-29T00:45:09.949Z,1761698709.949 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:09.953Z,1761698709.953 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.474779 2025-10-29T00:45:10.075Z,1761698710.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962186,-0.240640,-0.127636],[0.259512,0.952213,0.161070],[0.082777,-0.188102,0.978655]] 2025-10-29T00:45:10.129Z,1761698710.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.503928 s, deltaX: -0.300001 m, approachRate: -0.595325 m/s, rangeRepo size: 4 2025-10-29T00:45:10.131Z,1761698710.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.190226 m, bearing: 7.679496 deg, lat: 36.779274 deg, lon: -121.859544 deg, deltaT: 0.503928 s, deltaX: -0.298380 m, approachRate: -0.592108 m/s, posRepo size: 4 2025-10-29T00:45:10.137Z,1761698710.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-29T00:45:10.139Z,1761698710.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.190226 m, nav range: 18.791380 m, bearing: 7.857974 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.565612 deg, new cmd heading: 13.492236 deg. 2025-10-29T00:45:10.144Z,1761698710.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.235484 target range: 20.190226 and range: 20.30 m. 2025-10-29T00:45:10.190Z,1761698710.190 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.711649 2025-10-29T00:45:10.441Z,1761698710.441 [DAT](INFO): DAT read: Rx Time:00:45:09.8891 2025-10-29T00:45:10.442Z,1761698710.442 [DAT](INFO): Rx dataTimestamp_ set to:1761698710.441670 2025-10-29T00:45:10.443Z,1761698710.443 [DAT](INFO): DAT read: Bearing 178.9, -8.2 (Local) 2025-10-29T00:45:10.444Z,1761698710.444 [DAT](INFO): Local bearing/azimuth received: Bearing 178.9, -8.2 (Local) 2025-10-29T00:45:10.446Z,1761698710.446 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-29T00:45:10.462Z,1761698710.462 [DAT](INFO): DAT read: 00:45:09.8891 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.32, 2.015, 0.575, 2.480, 2.130, PHS=-0.013,-1.510, 0.306, RAW= 159.5, 14.4, CAL= 160.2, 16.6, ROT= 349.8, -16.6 2025-10-29T00:45:10.463Z,1761698710.463 [DAT](INFO): got valid direction response: 00:45:09.8891 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 495, 0.32, 2.015, 0.575, 2.480, 2.130, PHS=-0.013,-1.510, 0.306, RAW= 159.5, 14.4, CAL= 160.2, 16.6, ROT= 349.8, -16.6 2025-10-29T00:45:10.470Z,1761698710.470 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T00:45:10.471Z,1761698710.471 [DAT](INFO): direction in FSK: [0.943177,-0.169704,0.285688] 2025-10-29T00:45:10.471Z,1761698710.471 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:10.475Z,1761698710.475 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.997261 2025-10-29T00:45:10.603Z,1761698710.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503932 s, deltaX: -0.500000 m, approachRate: -0.992197 m/s, rangeRepo size: 4 2025-10-29T00:45:10.614Z,1761698710.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.692930 m, bearing: 8.063414 deg, lat: 36.779274 deg, lon: -121.859544 deg, deltaT: 0.503932 s, deltaX: -0.497295 m, approachRate: -0.986830 m/s, posRepo size: 4 2025-10-29T00:45:10.614Z,1761698710.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:45:10.621Z,1761698710.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.692930 m, nav range: 18.439720 m, bearing: 7.860102 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.492236 deg, new cmd heading: 13.412306 deg. 2025-10-29T00:45:10.622Z,1761698710.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.234089 target range: 19.692930 and range: 19.80 m. 2025-10-29T00:45:10.693Z,1761698710.693 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=26.215189 2025-10-29T00:45:10.918Z,1761698710.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963840,-0.233441,-0.128525],[0.253603,0.951649,0.173346],[0.081844,-0.199672,0.976439]] 2025-10-29T00:45:10.946Z,1761698710.946 [DAT](INFO): DAT read: Rx Time:00:45:10.3890 2025-10-29T00:45:10.946Z,1761698710.946 [DAT](INFO): Rx dataTimestamp_ set to:1761698710.945698 2025-10-29T00:45:10.947Z,1761698710.947 [DAT](INFO): DAT read: Bearing 177.8, -7.9 (Local) 2025-10-29T00:45:10.948Z,1761698710.948 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, -7.9 (Local) 2025-10-29T00:45:10.950Z,1761698710.950 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.5 2025-10-29T00:45:10.954Z,1761698710.954 [DAT](INFO): DAT read: 00:45:10.3890 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.40, 1.201,-0.253, 1.662, 1.295, PHS= 0.008,-1.503, 0.323, RAW= 159.3, 13.8, CAL= 159.9, 15.8, ROT= 350.1, -15.8 2025-10-29T00:45:10.955Z,1761698710.955 [DAT](INFO): got valid direction response: 00:45:10.3890 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.40, 1.201,-0.253, 1.662, 1.295, PHS= 0.008,-1.503, 0.323, RAW= 159.3, 13.8, CAL= 159.9, 15.8, ROT= 350.1, -15.8 2025-10-29T00:45:10.956Z,1761698710.956 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T00:45:10.957Z,1761698710.957 [DAT](INFO): direction in FSK: [0.947890,-0.165433,0.272280] 2025-10-29T00:45:10.957Z,1761698710.957 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:10.961Z,1761698710.961 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.482683 2025-10-29T00:45:11.002Z,1761698711.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504028 s, deltaX: -0.099998 m, approachRate: -0.198399 m/s, rangeRepo size: 4 2025-10-29T00:45:11.010Z,1761698711.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.593277 m, bearing: 8.076103 deg, lat: 36.779273 deg, lon: -121.859544 deg, deltaT: 0.504028 s, deltaX: -0.099653 m, approachRate: -0.197714 m/s, posRepo size: 4 2025-10-29T00:45:11.011Z,1761698711.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m. 2025-10-29T00:45:11.018Z,1761698711.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.593277 m, nav range: 18.142509 m, bearing: 7.868415 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.412306 deg, new cmd heading: 13.345214 deg. 2025-10-29T00:45:11.019Z,1761698711.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.232918 target range: 19.593277 and range: 19.70 m. 2025-10-29T00:45:11.197Z,1761698711.197 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.719051 2025-10-29T00:45:11.414Z,1761698711.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964312,-0.231646,-0.128230],[0.251955,0.951685,0.175539],[0.081372,-0.201583,0.976086]] 2025-10-29T00:45:11.450Z,1761698711.450 [DAT](INFO): DAT read: Rx Time:00:45:10.8888 2025-10-29T00:45:11.450Z,1761698711.450 [DAT](INFO): Rx dataTimestamp_ set to:1761698711.449912 2025-10-29T00:45:11.451Z,1761698711.451 [DAT](INFO): DAT read: Bearing 178.3, -8.1 (Local) 2025-10-29T00:45:11.452Z,1761698711.452 [DAT](INFO): Local bearing/azimuth received: Bearing 178.3, -8.1 (Local) 2025-10-29T00:45:11.454Z,1761698711.454 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.5 2025-10-29T00:45:11.459Z,1761698711.459 [DAT](INFO): DAT read: 00:45:10.8888 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.25, 0.272,-1.171, 0.725, 0.379, PHS=-0.005,-1.505, 0.301, RAW= 159.1, 14.3, CAL= 159.8, 16.5, ROT= 350.2, -16.5 2025-10-29T00:45:11.460Z,1761698711.460 [DAT](INFO): got valid direction response: 00:45:10.8888 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.25, 0.272,-1.171, 0.725, 0.379, PHS=-0.005,-1.505, 0.301, RAW= 159.1, 14.3, CAL= 159.8, 16.5, ROT= 350.2, -16.5 2025-10-29T00:45:11.461Z,1761698711.461 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T00:45:11.462Z,1761698711.462 [DAT](INFO): direction in FSK: [0.944829,-0.163200,0.284015] 2025-10-29T00:45:11.462Z,1761698711.462 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:11.487Z,1761698711.487 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.009325 2025-10-29T00:45:11.567Z,1761698711.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504214 s, deltaX: -0.300001 m, approachRate: -0.594988 m/s, rangeRepo size: 4 2025-10-29T00:45:11.581Z,1761698711.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.294901 m, bearing: 8.267828 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.504214 s, deltaX: -0.298376 m, approachRate: -0.591765 m/s, posRepo size: 4 2025-10-29T00:45:11.582Z,1761698711.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T00:45:11.589Z,1761698711.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.294901 m, nav range: 17.775883 m, bearing: 7.916081 deg, approach rate: 0.000000 m/s, LOS rate: -0.084284 deg/s, cmd heading: 13.345215 deg, new cmd heading: 13.249844 deg. 2025-10-29T00:45:11.590Z,1761698711.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.231253 target range: 19.294901 and range: 19.40 m. 2025-10-29T00:45:11.702Z,1761698711.702 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=27.223442 2025-10-29T00:45:11.903Z,1761698711.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964685,-0.231060,-0.126464],[0.250707,0.952704,0.171761],[0.080795,-0.197400,0.976988]] 2025-10-29T00:45:11.919Z,1761698711.919 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:11.922Z,1761698711.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T00:45:11.925Z,1761698711.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.294901 m, nav range: 17.548071 m, bearing: 7.893477 deg, approach rate: -0.641257 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.249844 deg, new cmd heading: 13.204049 deg. 2025-10-29T00:45:11.925Z,1761698711.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230454 target range: 19.294901 and range: 19.40 m. 2025-10-29T00:45:11.955Z,1761698711.955 [DAT](INFO): DAT read: Rx Time:00:45:11.3887 2025-10-29T00:45:11.956Z,1761698711.956 [DAT](INFO): Rx dataTimestamp_ set to:1761698711.955389 2025-10-29T00:45:11.958Z,1761698711.958 [DAT](INFO): DAT read: Bearing 177.6, -8.0 (Local) 2025-10-29T00:45:11.959Z,1761698711.959 [DAT](INFO): Local bearing/azimuth received: Bearing 177.6, -8.0 (Local) 2025-10-29T00:45:11.962Z,1761698711.962 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-29T00:45:11.968Z,1761698711.968 [DAT](INFO): DAT read: 00:45:11.3887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.07, 1.206,-0.247, 1.669, 1.302, PHS= 0.006,-1.504, 0.324, RAW= 159.3, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 2025-10-29T00:45:11.973Z,1761698711.973 [DAT](INFO): got valid direction response: 00:45:11.3887 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 507,-0.07, 1.206,-0.247, 1.669, 1.302, PHS= 0.006,-1.504, 0.324, RAW= 159.3, 13.8, CAL= 160.0, 15.8, ROT= 350.0, -15.8 2025-10-29T00:45:11.974Z,1761698711.974 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T00:45:11.975Z,1761698711.975 [DAT](INFO): direction in FSK: [0.947600,-0.167087,0.272280] 2025-10-29T00:45:11.975Z,1761698711.975 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:11.987Z,1761698711.987 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.508846 2025-10-29T00:45:12.205Z,1761698712.205 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.727112 2025-10-29T00:45:12.390Z,1761698712.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964919,-0.231015,-0.124756],[0.249912,0.953805,0.166732],[0.080475,-0.192061,0.978078]] 2025-10-29T00:45:12.460Z,1761698712.460 [DAT](INFO): DAT read: Rx Time:00:45:11.8884 2025-10-29T00:45:12.460Z,1761698712.460 [DAT](INFO): Rx dataTimestamp_ set to:1761698712.460005 2025-10-29T00:45:12.462Z,1761698712.462 [DAT](INFO): DAT read: Bearing 178.5, -7.7 (Local) 2025-10-29T00:45:12.462Z,1761698712.462 [DAT](INFO): Local bearing/azimuth received: Bearing 178.5, -7.7 (Local) 2025-10-29T00:45:12.464Z,1761698712.464 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-29T00:45:12.469Z,1761698712.469 [DAT](INFO): DAT read: 00:45:11.8884 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.02, 1.309,-0.142, 1.752, 1.411, PHS= 0.000,-1.508, 0.297, RAW= 158.8, 14.3, CAL= 159.5, 16.5, ROT= 350.5, -16.5 2025-10-29T00:45:12.470Z,1761698712.470 [DAT](INFO): got valid direction response: 00:45:11.8884 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 504, 0.02, 1.309,-0.142, 1.752, 1.411, PHS= 0.000,-1.508, 0.297, RAW= 158.8, 14.3, CAL= 159.5, 16.5, ROT= 350.5, -16.5 2025-10-29T00:45:12.470Z,1761698712.470 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T00:45:12.471Z,1761698712.471 [DAT](INFO): direction in FSK: [0.945670,-0.158251,0.284015] 2025-10-29T00:45:12.471Z,1761698712.471 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:12.475Z,1761698712.475 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.997202 2025-10-29T00:45:12.558Z,1761698712.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 1.010093 s, deltaX: -0.600000 m, approachRate: -0.594005 m/s, rangeRepo size: 4 2025-10-29T00:45:12.568Z,1761698712.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.697525 m, bearing: 8.267182 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 1.010093 s, deltaX: -0.597376 m, approachRate: -0.591407 m/s, posRepo size: 4 2025-10-29T00:45:12.569Z,1761698712.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-29T00:45:12.572Z,1761698712.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.697525 m, nav range: 17.230675 m, bearing: 7.991103 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.204049 deg, new cmd heading: 13.122083 deg. 2025-10-29T00:45:12.585Z,1761698712.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229024 target range: 18.697525 and range: 18.80 m. 2025-10-29T00:45:12.709Z,1761698712.709 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=28.230968 2025-10-29T00:45:12.963Z,1761698712.963 [DAT](INFO): DAT read: Rx Time:00:45:12.3883 2025-10-29T00:45:12.963Z,1761698712.963 [DAT](INFO): Rx dataTimestamp_ set to:1761698712.962694 2025-10-29T00:45:12.964Z,1761698712.964 [DAT](INFO): DAT read: Bearing 178.2, -7.9 (Local) 2025-10-29T00:45:12.965Z,1761698712.965 [DAT](INFO): Local bearing/azimuth received: Bearing 178.2, -7.9 (Local) 2025-10-29T00:45:12.967Z,1761698712.967 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-29T00:45:12.971Z,1761698712.971 [DAT](INFO): DAT read: 00:45:12.3883 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 503, 0.16, 3.081, 1.622,-2.743,-3.101, PHS= 0.001,-1.515, 0.314, RAW= 159.2, 14.1, CAL= 159.9, 16.2, ROT= 350.1, -16.2 2025-10-29T00:45:12.973Z,1761698712.973 [DAT](INFO): got valid direction response: 00:45:12.3883 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 503, 0.16, 3.081, 1.622,-2.743,-3.101, PHS= 0.001,-1.515, 0.314, RAW= 159.2, 14.1, CAL= 159.9, 16.2, ROT= 350.1, -16.2 2025-10-29T00:45:12.973Z,1761698712.973 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T00:45:12.974Z,1761698712.974 [DAT](INFO): direction in FSK: [0.945994,-0.165102,0.278991] 2025-10-29T00:45:12.975Z,1761698712.975 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:13.005Z,1761698713.005 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.526836 2025-10-29T00:45:13.061Z,1761698713.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965227,-0.231911,-0.120639],[0.248987,0.956183,0.154008],[0.079637,-0.178691,0.980677]] 2025-10-29T00:45:13.143Z,1761698713.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502689 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:13.150Z,1761698713.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.697947 m, bearing: 7.488827 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.502689 s, deltaX: 0.000422 m, approachRate: 0.000839 m/s, posRepo size: 4 2025-10-29T00:45:13.151Z,1761698713.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.70 m. 2025-10-29T00:45:13.157Z,1761698713.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.697947 m, nav range: 16.858524 m, bearing: 8.000391 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.122083 deg, new cmd heading: 13.046685 deg. 2025-10-29T00:45:13.158Z,1761698713.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227708 target range: 18.697947 and range: 18.80 m. 2025-10-29T00:45:13.213Z,1761698713.213 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.735048 2025-10-29T00:45:13.465Z,1761698713.465 [DAT](INFO): DAT read: Rx Time:00:45:12.8880 2025-10-29T00:45:13.466Z,1761698713.466 [DAT](INFO): Rx dataTimestamp_ set to:1761698713.465615 2025-10-29T00:45:13.467Z,1761698713.467 [DAT](INFO): DAT read: Bearing 179.1, -8.1 (Local) 2025-10-29T00:45:13.467Z,1761698713.467 [DAT](INFO): Local bearing/azimuth received: Bearing 179.1, -8.1 (Local) 2025-10-29T00:45:13.470Z,1761698713.470 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-29T00:45:13.475Z,1761698713.475 [DAT](INFO): DAT read: 00:45:12.8880 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.31, 2.473, 1.020, 2.938, 2.593, PHS=-0.018,-1.528, 0.301, RAW= 159.4, 14.6, CAL= 160.1, 16.9, ROT= 349.9, -16.9 2025-10-29T00:45:13.477Z,1761698713.477 [DAT](INFO): got valid direction response: 00:45:12.8880 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500, 0.31, 2.473, 1.020, 2.938, 2.593, PHS=-0.018,-1.528, 0.301, RAW= 159.4, 14.6, CAL= 160.1, 16.9, ROT= 349.9, -16.9 2025-10-29T00:45:13.478Z,1761698713.478 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T00:45:13.480Z,1761698713.480 [DAT](INFO): direction in FSK: [0.941986,-0.167793,0.290702] 2025-10-29T00:45:13.482Z,1761698713.482 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:13.514Z,1761698713.514 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.035709 2025-10-29T00:45:13.616Z,1761698713.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965328,-0.232672,-0.118345],[0.248766,0.957348,0.146972],[0.079101,-0.171317,0.982035]] 2025-10-29T00:45:13.711Z,1761698713.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.502921 s, deltaX: -0.500000 m, approachRate: -0.994192 m/s, rangeRepo size: 4 2025-10-29T00:45:13.717Z,1761698713.717 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=29.238970 2025-10-29T00:45:13.719Z,1761698713.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.200689 m, bearing: 7.259386 deg, lat: 36.779273 deg, lon: -121.859543 deg, deltaT: 0.502921 s, deltaX: -0.497257 m, approachRate: -0.988738 m/s, posRepo size: 4 2025-10-29T00:45:13.724Z,1761698713.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-29T00:45:13.727Z,1761698713.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.200689 m, nav range: 16.540329 m, bearing: 8.015723 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 13.046685 deg, new cmd heading: 12.973430 deg. 2025-10-29T00:45:13.727Z,1761698713.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226429 target range: 18.200689 and range: 18.30 m. 2025-10-29T00:45:13.970Z,1761698713.970 [DAT](INFO): DAT read: Rx Time:00:45:13.3878 2025-10-29T00:45:13.971Z,1761698713.971 [DAT](INFO): Rx dataTimestamp_ set to:1761698713.970326 2025-10-29T00:45:13.973Z,1761698713.973 [DAT](INFO): DAT read: Bearing 178.8, -7.8 (Local) 2025-10-29T00:45:13.973Z,1761698713.973 [DAT](INFO): Local bearing/azimuth received: Bearing 178.8, -7.8 (Local) 2025-10-29T00:45:13.977Z,1761698713.977 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.5 2025-10-29T00:45:13.985Z,1761698713.985 [DAT](INFO): DAT read: 00:45:13.3878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.41, 0.173,-1.281, 0.633, 0.278, PHS=-0.004,-1.515, 0.311, RAW= 159.3, 14.2, CAL= 160.0, 16.4, ROT= 350.0, -16.4 2025-10-29T00:45:13.987Z,1761698713.987 [DAT](INFO): got valid direction response: 00:45:13.3878 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.41, 0.173,-1.281, 0.633, 0.278, PHS=-0.004,-1.515, 0.311, RAW= 159.3, 14.2, CAL= 160.0, 16.4, ROT= 350.0, -16.4 2025-10-29T00:45:13.987Z,1761698713.987 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T00:45:13.989Z,1761698713.989 [DAT](INFO): direction in FSK: [0.944740,-0.166583,0.282341] 2025-10-29T00:45:13.990Z,1761698713.990 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:14.001Z,1761698714.001 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.522856 2025-10-29T00:45:14.125Z,1761698714.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965727,-0.233385,-0.113587],[0.247934,0.958954,0.137611],[0.076808,-0.161056,0.983952]] 2025-10-29T00:45:14.181Z,1761698714.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504711 s, deltaX: -0.299999 m, approachRate: -0.594398 m/s, rangeRepo size: 4 2025-10-29T00:45:14.182Z,1761698714.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.902319 m, bearing: 7.029527 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.504711 s, deltaX: -0.298370 m, approachRate: -0.591171 m/s, posRepo size: 4 2025-10-29T00:45:14.183Z,1761698714.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T00:45:14.190Z,1761698714.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.902319 m, nav range: 16.505962 m, bearing: 7.601855 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.973430 deg, new cmd heading: 12.913502 deg. 2025-10-29T00:45:14.191Z,1761698714.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225383 target range: 17.902319 and range: 18.00 m. 2025-10-29T00:45:14.221Z,1761698714.221 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.742966 2025-10-29T00:45:14.480Z,1761698714.480 [DAT](INFO): DAT read: Rx Time:00:45:13.8876 2025-10-29T00:45:14.486Z,1761698714.486 [DAT](INFO): Rx dataTimestamp_ set to:1761698714.484715 2025-10-29T00:45:14.498Z,1761698714.498 [DAT](INFO): DAT read: Bearing 180.8, -7.9 (Local) 2025-10-29T00:45:14.499Z,1761698714.499 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -7.9 (Local) 2025-10-29T00:45:14.509Z,1761698714.509 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.4 2025-10-29T00:45:14.530Z,1761698714.530 [DAT](INFO): DAT read: 00:45:13.8876 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.32, 0.106,-1.314, 0.542, 0.246, PHS=-0.038,-1.515, 0.252, RAW= 158.8, 15.7, CAL= 159.8, 18.3, ROT= 350.2, -18.3 2025-10-29T00:45:14.531Z,1761698714.531 [DAT](INFO): got valid direction response: 00:45:13.8876 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.32, 0.106,-1.314, 0.542, 0.246, PHS=-0.038,-1.515, 0.252, RAW= 158.8, 15.7, CAL= 159.8, 18.3, ROT= 350.2, -18.3 2025-10-29T00:45:14.531Z,1761698714.531 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T00:45:14.540Z,1761698714.540 [DAT](INFO): direction in FSK: [0.935571,-0.161601,0.313992] 2025-10-29T00:45:14.541Z,1761698714.541 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:14.546Z,1761698714.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965896,-0.233079,-0.112777],[0.247548,0.958960,0.138256],[0.075924,-0.161459,0.983955]] 2025-10-29T00:45:14.557Z,1761698714.557 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.078423 2025-10-29T00:45:14.644Z,1761698714.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.514389 s, deltaX: -0.299999 m, approachRate: -0.583215 m/s, rangeRepo size: 4 2025-10-29T00:45:14.650Z,1761698714.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.603947 m, bearing: 7.548157 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.514389 s, deltaX: -0.298372 m, approachRate: -0.580052 m/s, posRepo size: 4 2025-10-29T00:45:14.650Z,1761698714.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T00:45:14.658Z,1761698714.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.603947 m, nav range: 16.232883 m, bearing: 7.479993 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.913501 deg, new cmd heading: 12.853269 deg. 2025-10-29T00:45:14.659Z,1761698714.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224332 target range: 17.603947 and range: 17.70 m. 2025-10-29T00:45:14.726Z,1761698714.726 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=30.248348 2025-10-29T00:45:14.973Z,1761698714.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966265,-0.232254,-0.111312],[0.246542,0.959121,0.138939],[0.074492,-0.161695,0.984025]] 2025-10-29T00:45:14.979Z,1761698714.979 [DAT](INFO): DAT read: Rx Time:00:45:14.3875 2025-10-29T00:45:14.981Z,1761698714.981 [DAT](INFO): Rx dataTimestamp_ set to:1761698714.979950 2025-10-29T00:45:14.982Z,1761698714.982 [DAT](INFO): DAT read: Bearing 179.5, -8.0 (Local) 2025-10-29T00:45:14.983Z,1761698714.983 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -8.0 (Local) 2025-10-29T00:45:14.986Z,1761698714.986 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.4 2025-10-29T00:45:15.002Z,1761698715.002 [DAT](INFO): DAT read: 00:45:14.3875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.16, 0.745,-0.700, 1.203, 0.863, PHS=-0.016,-1.518, 0.295, RAW= 159.2, 14.6, CAL= 160.0, 16.9, ROT= 350.0, -16.9 2025-10-29T00:45:15.012Z,1761698715.012 [DAT](INFO): got valid direction response: 00:45:14.3875 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 511,-0.16, 0.745,-0.700, 1.203, 0.863, PHS=-0.016,-1.518, 0.295, RAW= 159.2, 14.6, CAL= 160.0, 16.9, ROT= 350.0, -16.9 2025-10-29T00:45:15.013Z,1761698715.013 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T00:45:15.014Z,1761698715.014 [DAT](INFO): direction in FSK: [0.942277,-0.166149,0.290702] 2025-10-29T00:45:15.014Z,1761698715.014 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:15.019Z,1761698715.019 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.541233 2025-10-29T00:45:15.074Z,1761698715.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.495235 s, deltaX: -0.100000 m, approachRate: -0.201925 m/s, rangeRepo size: 4 2025-10-29T00:45:15.080Z,1761698715.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.504030 m, bearing: 7.048331 deg, lat: 36.779277 deg, lon: -121.859545 deg, deltaT: 0.495235 s, deltaX: -0.099916 m, approachRate: -0.201756 m/s, posRepo size: 4 2025-10-29T00:45:15.081Z,1761698715.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-29T00:45:15.084Z,1761698715.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.504030 m, nav range: 16.059427 m, bearing: 7.274079 deg, approach rate: 0.000000 m/s, LOS rate: -0.064452 deg/s, cmd heading: 12.853269 deg, new cmd heading: 12.797772 deg. 2025-10-29T00:45:15.093Z,1761698715.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.223363 target range: 17.504030 and range: 17.60 m. 2025-10-29T00:45:15.229Z,1761698715.229 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.751059 2025-10-29T00:45:15.399Z,1761698715.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966560,-0.231950,-0.109370],[0.245850,0.959444,0.137932],[0.072941,-0.160209,0.984384]] 2025-10-29T00:45:15.420Z,1761698715.420 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:15.446Z,1761698715.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-29T00:45:15.468Z,1761698715.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.504030 m, nav range: 15.838245 m, bearing: 7.295714 deg, approach rate: -0.595130 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.797772 deg, new cmd heading: 12.841645 deg. 2025-10-29T00:45:15.477Z,1761698715.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224129 target range: 17.504030 and range: 17.60 m. 2025-10-29T00:45:15.489Z,1761698715.489 [DAT](INFO): DAT read: Rx Time:00:45:14.8873 2025-10-29T00:45:15.490Z,1761698715.490 [DAT](INFO): Rx dataTimestamp_ set to:1761698715.488995 2025-10-29T00:45:15.491Z,1761698715.491 [DAT](INFO): DAT read: Bearing 181.0, -7.7 (Local) 2025-10-29T00:45:15.492Z,1761698715.492 [DAT](INFO): Local bearing/azimuth received: Bearing 181.0, -7.7 (Local) 2025-10-29T00:45:15.495Z,1761698715.495 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-29T00:45:15.514Z,1761698715.514 [DAT](INFO): DAT read: 00:45:14.8873 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.10, 0.436,-0.990, 0.862, 0.572, PHS=-0.034,-1.517, 0.246, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 2025-10-29T00:45:15.515Z,1761698715.515 [DAT](INFO): got valid direction response: 00:45:14.8873 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.10, 0.436,-0.990, 0.862, 0.572, PHS=-0.034,-1.517, 0.246, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 2025-10-29T00:45:15.515Z,1761698715.515 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T00:45:15.525Z,1761698715.525 [DAT](INFO): direction in FSK: [0.936677,-0.155066,0.313992] 2025-10-29T00:45:15.525Z,1761698715.525 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:15.541Z,1761698715.541 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.063192 2025-10-29T00:45:15.737Z,1761698715.737 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=31.259224 2025-10-29T00:45:15.811Z,1761698715.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966823,-0.231834,-0.107267],[0.245251,0.959883,0.135925],[0.071452,-0.157723,0.984895]] 2025-10-29T00:45:15.913Z,1761698715.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.509045 s, deltaX: -0.500000 m, approachRate: -0.982231 m/s, rangeRepo size: 4 2025-10-29T00:45:15.915Z,1761698715.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.006338 m, bearing: 7.749992 deg, lat: 36.779277 deg, lon: -121.859545 deg, deltaT: 0.509045 s, deltaX: -0.497692 m, approachRate: -0.977698 m/s, posRepo size: 4 2025-10-29T00:45:15.915Z,1761698715.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-29T00:45:15.918Z,1761698715.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.006338 m, nav range: 15.549843 m, bearing: 7.296198 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.841645 deg, new cmd heading: 12.896743 deg. 2025-10-29T00:45:15.919Z,1761698715.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225091 target range: 17.006338 and range: 17.10 m. 2025-10-29T00:45:15.991Z,1761698715.991 [DAT](INFO): DAT read: Rx Time:00:45:15.3872 2025-10-29T00:45:15.992Z,1761698715.992 [DAT](INFO): Rx dataTimestamp_ set to:1761698715.991360 2025-10-29T00:45:15.994Z,1761698715.994 [DAT](INFO): DAT read: Bearing 178.6, -8.2 (Local) 2025-10-29T00:45:15.994Z,1761698715.994 [DAT](INFO): Local bearing/azimuth received: Bearing 178.6, -8.2 (Local) 2025-10-29T00:45:15.998Z,1761698715.998 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.5 2025-10-29T00:45:16.006Z,1761698716.006 [DAT](INFO): DAT read: 00:45:15.3872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.04, 2.124, 0.647, 2.604, 2.227, PHS=-0.001,-1.535, 0.333, RAW= 159.7, 13.8, CAL= 160.3, 15.9, ROT= 349.7, -15.9 2025-10-29T00:45:16.008Z,1761698716.008 [DAT](INFO): got valid direction response: 00:45:15.3872 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507, 0.04, 2.124, 0.647, 2.604, 2.227, PHS=-0.001,-1.535, 0.333, RAW= 159.7, 13.8, CAL= 160.3, 15.9, ROT= 349.7, -15.9 2025-10-29T00:45:16.017Z,1761698716.017 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T00:45:16.018Z,1761698716.018 [DAT](INFO): direction in FSK: [0.946243,-0.171961,0.273959] 2025-10-29T00:45:16.019Z,1761698716.019 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:16.045Z,1761698716.045 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.553179 2025-10-29T00:45:16.219Z,1761698716.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966993,-0.231971,-0.105421],[0.245064,0.959991,0.135503],[0.069771,-0.156865,0.985152]] 2025-10-29T00:45:16.241Z,1761698716.241 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.762880 2025-10-29T00:45:16.263Z,1761698716.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502365 s, deltaX: -0.100000 m, approachRate: -0.199059 m/s, rangeRepo size: 4 2025-10-29T00:45:16.265Z,1761698716.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.906885 m, bearing: 6.403715 deg, lat: 36.779277 deg, lon: -121.859546 deg, deltaT: 0.502365 s, deltaX: -0.099453 m, approachRate: -0.197970 m/s, posRepo size: 4 2025-10-29T00:45:16.266Z,1761698716.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-29T00:45:16.269Z,1761698716.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.906885 m, nav range: 15.355461 m, bearing: 7.106505 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.896744 deg, new cmd heading: 12.938122 deg. 2025-10-29T00:45:16.270Z,1761698716.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225813 target range: 16.906885 and range: 17.00 m. 2025-10-29T00:45:16.501Z,1761698716.501 [DAT](INFO): DAT read: Rx Time:00:45:15.8869 2025-10-29T00:45:16.503Z,1761698716.503 [DAT](INFO): Rx dataTimestamp_ set to:1761698716.501677 2025-10-29T00:45:16.507Z,1761698716.507 [DAT](INFO): DAT read: Bearing 181.2, -7.8 (Local) 2025-10-29T00:45:16.510Z,1761698716.510 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, -7.8 (Local) 2025-10-29T00:45:16.517Z,1761698716.517 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.5 2025-10-29T00:45:16.523Z,1761698716.523 [DAT](INFO): DAT read: 00:45:15.8869 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.03, 2.150, 0.709, 2.579, 2.287, PHS=-0.034,-1.532, 0.248, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 2025-10-29T00:45:16.550Z,1761698716.550 [DAT](INFO): got valid direction response: 00:45:15.8869 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 504, 0.03, 2.150, 0.709, 2.579, 2.287, PHS=-0.034,-1.532, 0.248, RAW= 158.5, 15.7, CAL= 159.4, 18.3, ROT= 350.6, -18.3 2025-10-29T00:45:16.551Z,1761698716.551 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T00:45:16.552Z,1761698716.552 [DAT](INFO): direction in FSK: [0.936677,-0.155066,0.313992] 2025-10-29T00:45:16.552Z,1761698716.552 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:16.577Z,1761698716.577 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.077568 2025-10-29T00:45:16.619Z,1761698716.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967193,-0.231773,-0.104013],[0.244677,0.960024,0.135968],[0.068341,-0.156957,0.985238]] 2025-10-29T00:45:16.671Z,1761698716.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.510317 s, deltaX: -0.500000 m, approachRate: -0.979783 m/s, rangeRepo size: 4 2025-10-29T00:45:16.677Z,1761698716.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.409624 m, bearing: 7.704738 deg, lat: 36.779277 deg, lon: -121.859544 deg, deltaT: 0.510317 s, deltaX: -0.497261 m, approachRate: -0.974416 m/s, posRepo size: 4 2025-10-29T00:45:16.678Z,1761698716.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T00:45:16.680Z,1761698716.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.409624 m, nav range: 15.117811 m, bearing: 7.501365 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.938123 deg, new cmd heading: 12.986255 deg. 2025-10-29T00:45:16.681Z,1761698716.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226653 target range: 16.409624 and range: 16.50 m. 2025-10-29T00:45:16.746Z,1761698716.746 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=32.267952 2025-10-29T00:45:16.999Z,1761698716.999 [DAT](INFO): DAT read: Rx Time:00:45:16.3868 2025-10-29T00:45:16.999Z,1761698716.999 [DAT](INFO): Rx dataTimestamp_ set to:1761698716.998883 2025-10-29T00:45:17.002Z,1761698717.002 [DAT](INFO): DAT read: Bearing 174.3, -6.1 (Local) 2025-10-29T00:45:17.002Z,1761698717.002 [DAT](INFO): Local bearing/azimuth received: Bearing 174.3, -6.1 (Local) 2025-10-29T00:45:17.005Z,1761698717.005 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.5 2025-10-29T00:45:17.018Z,1761698717.018 [DAT](INFO): DAT read: 00:45:16.3868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.23, 2.119, 0.618, 2.563, 2.099, PHS= 0.122,-1.436, 0.420, RAW= 158.6, 10.4, CAL= 158.6, 11.3, ROT= 351.4, -11.3 2025-10-29T00:45:17.019Z,1761698717.019 [DAT](INFO): got valid direction response: 00:45:16.3868 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 503, 0.23, 2.119, 0.618, 2.563, 2.099, PHS= 0.122,-1.436, 0.420, RAW= 158.6, 10.4, CAL= 158.6, 11.3, ROT= 351.4, -11.3 2025-10-29T00:45:17.019Z,1761698717.019 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T00:45:17.030Z,1761698717.030 [DAT](INFO): direction in FSK: [0.969589,-0.146637,0.195946] 2025-10-29T00:45:17.030Z,1761698717.030 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:17.042Z,1761698717.042 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.564018 2025-10-29T00:45:17.144Z,1761698717.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.497206 s, deltaX: -0.100000 m, approachRate: -0.201125 m/s, rangeRepo size: 4 2025-10-29T00:45:17.146Z,1761698717.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.309757 m, bearing: 7.372751 deg, lat: 36.779278 deg, lon: -121.859544 deg, deltaT: 0.497206 s, deltaX: -0.099867 m, approachRate: -0.200856 m/s, posRepo size: 4 2025-10-29T00:45:17.147Z,1761698717.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T00:45:17.153Z,1761698717.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.309757 m, nav range: 14.949892 m, bearing: 7.636938 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 12.986255 deg, new cmd heading: 13.041612 deg. 2025-10-29T00:45:17.154Z,1761698717.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227619 target range: 16.309757 and range: 16.40 m. 2025-10-29T00:45:17.249Z,1761698717.249 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.770912 2025-10-29T00:45:17.506Z,1761698717.506 [DAT](INFO): DAT read: Rx Time:00:45:16.8865 2025-10-29T00:45:17.507Z,1761698717.507 [DAT](INFO): Rx dataTimestamp_ set to:1761698717.506343 2025-10-29T00:45:17.511Z,1761698717.511 [DAT](INFO): DAT read: Bearing 181.3, -7.2 (Local) 2025-10-29T00:45:17.513Z,1761698717.513 [DAT](INFO): Local bearing/azimuth received: Bearing 181.3, -7.2 (Local) 2025-10-29T00:45:17.521Z,1761698717.521 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.5 2025-10-29T00:45:17.538Z,1761698717.538 [DAT](INFO): DAT read: 00:45:16.8865 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.12,-3.104, 1.735,-2.703,-2.980, PHS=-0.021,-1.523, 0.233, RAW= 157.7, 15.8, CAL= 158.6, 18.3, ROT= 351.4, -18.3 2025-10-29T00:45:17.539Z,1761698717.539 [DAT](INFO): got valid direction response: 00:45:16.8865 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500, 0.12,-3.104, 1.735,-2.703,-2.980, PHS=-0.021,-1.523, 0.233, RAW= 157.7, 15.8, CAL= 158.6, 18.3, ROT= 351.4, -18.3 2025-10-29T00:45:17.539Z,1761698717.539 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T00:45:17.546Z,1761698717.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967573,-0.231252,-0.101608],[0.243935,0.959882,0.138281],[0.065554,-0.158583,0.985167]] 2025-10-29T00:45:17.548Z,1761698717.548 [DAT](INFO): direction in FSK: [0.938750,-0.141973,0.313992] 2025-10-29T00:45:17.549Z,1761698717.549 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:17.560Z,1761698717.560 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.082291 2025-10-29T00:45:17.675Z,1761698717.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.507460 s, deltaX: -0.500000 m, approachRate: -0.985299 m/s, rangeRepo size: 4 2025-10-29T00:45:17.682Z,1761698717.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.812509 m, bearing: 8.515393 deg, lat: 36.779277 deg, lon: -121.859544 deg, deltaT: 0.507460 s, deltaX: -0.497249 m, approachRate: -0.979878 m/s, posRepo size: 4 2025-10-29T00:45:17.682Z,1761698717.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T00:45:17.693Z,1761698717.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.812509 m, nav range: 14.535659 m, bearing: 7.765402 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.041612 deg, new cmd heading: 13.104805 deg. 2025-10-29T00:45:17.694Z,1761698717.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228722 target range: 15.812509 and range: 15.90 m. 2025-10-29T00:45:17.754Z,1761698717.754 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=33.275822 2025-10-29T00:45:18.006Z,1761698718.006 [DAT](INFO): DAT read: Rx Time:00:45:17.3863 2025-10-29T00:45:18.006Z,1761698718.006 [DAT](INFO): Rx dataTimestamp_ set to:1761698718.006027 2025-10-29T00:45:18.008Z,1761698718.008 [DAT](INFO): DAT read: Bearing 179.3, -8.3 (Local) 2025-10-29T00:45:18.008Z,1761698718.008 [DAT](INFO): Local bearing/azimuth received: Bearing 179.3, -8.3 (Local) 2025-10-29T00:45:18.010Z,1761698718.010 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.6 2025-10-29T00:45:18.015Z,1761698718.015 [DAT](INFO): DAT read: 00:45:17.3863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.26, 1.687, 0.205, 2.153, 1.794, PHS=-0.005,-1.544, 0.315, RAW= 159.2, 14.2, CAL= 159.9, 16.4, ROT= 350.1, -16.4 2025-10-29T00:45:18.016Z,1761698718.016 [DAT](INFO): got valid direction response: 00:45:17.3863 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498, 0.26, 1.687, 0.205, 2.153, 1.794, PHS=-0.005,-1.544, 0.315, RAW= 159.2, 14.2, CAL= 159.9, 16.4, ROT= 350.1, -16.4 2025-10-29T00:45:18.016Z,1761698718.016 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T00:45:18.017Z,1761698718.017 [DAT](INFO): direction in FSK: [0.945029,-0.164934,0.282341] 2025-10-29T00:45:18.017Z,1761698718.017 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:18.041Z,1761698718.041 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.563183 2025-10-29T00:45:18.054Z,1761698718.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967667,-0.231717,-0.099634],[0.244141,0.959699,0.139190],[0.063366,-0.159014,0.985241]] 2025-10-29T00:45:18.133Z,1761698718.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.499684 s, deltaX: -0.299999 m, approachRate: -0.600378 m/s, rangeRepo size: 4 2025-10-29T00:45:18.135Z,1761698718.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.514173 m, bearing: 6.890717 deg, lat: 36.779279 deg, lon: -121.859544 deg, deltaT: 0.499684 s, deltaX: -0.298336 m, approachRate: -0.597049 m/s, posRepo size: 4 2025-10-29T00:45:18.135Z,1761698718.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-29T00:45:18.142Z,1761698718.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.514173 m, nav range: 14.469477 m, bearing: 7.557109 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.104805 deg, new cmd heading: 13.158373 deg. 2025-10-29T00:45:18.143Z,1761698718.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229657 target range: 15.514173 and range: 15.60 m. 2025-10-29T00:45:18.258Z,1761698718.258 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.779572 2025-10-29T00:45:18.462Z,1761698718.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967651,-0.232287,-0.098460],[0.244489,0.959674,0.138750],[0.062259,-0.158334,0.985421]] 2025-10-29T00:45:18.513Z,1761698718.513 [DAT](INFO): DAT read: Rx Time:00:45:17.8860 2025-10-29T00:45:18.515Z,1761698718.515 [DAT](INFO): Rx dataTimestamp_ set to:1761698718.513785 2025-10-29T00:45:18.519Z,1761698718.519 [DAT](INFO): DAT read: Bearing 181.1, -8.6 (Local) 2025-10-29T00:45:18.520Z,1761698718.520 [DAT](INFO): Local bearing/azimuth received: Bearing 181.1, -8.6 (Local) 2025-10-29T00:45:18.526Z,1761698718.526 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-29T00:45:18.558Z,1761698718.558 [DAT](INFO): DAT read: 00:45:17.8860 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495, 0.26, 1.082,-0.368, 1.529, 1.222, PHS=-0.038,-1.546, 0.263, RAW= 158.9, 15.6, CAL= 159.9, 18.2, ROT= 350.1, -18.2 2025-10-29T00:45:18.559Z,1761698718.559 [DAT](INFO): got valid direction response: 00:45:17.8860 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 495, 0.26, 1.082,-0.368, 1.529, 1.222, PHS=-0.038,-1.546, 0.263, RAW= 158.9, 15.6, CAL= 159.9, 18.2, ROT= 350.1, -18.2 2025-10-29T00:45:18.559Z,1761698718.559 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T00:45:18.568Z,1761698718.568 [DAT](INFO): direction in FSK: [0.935826,-0.163328,0.312335] 2025-10-29T00:45:18.569Z,1761698718.569 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:18.581Z,1761698718.581 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.102459 2025-10-29T00:45:18.590Z,1761698718.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.507758 s, deltaX: -0.400001 m, approachRate: -0.787778 m/s, rangeRepo size: 4 2025-10-29T00:45:18.592Z,1761698718.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.116373 m, bearing: 7.205492 deg, lat: 36.779276 deg, lon: -121.859544 deg, deltaT: 0.507758 s, deltaX: -0.397799 m, approachRate: -0.783443 m/s, posRepo size: 4 2025-10-29T00:45:18.601Z,1761698718.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-29T00:45:18.603Z,1761698718.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.116373 m, nav range: 13.939179 m, bearing: 7.686367 deg, approach rate: 0.000000 m/s, LOS rate: 0.059025 deg/s, cmd heading: 13.158372 deg, new cmd heading: 13.212787 deg. 2025-10-29T00:45:18.620Z,1761698718.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230607 target range: 15.116373 and range: 15.20 m. 2025-10-29T00:45:18.762Z,1761698718.762 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=34.283737 2025-10-29T00:45:18.909Z,1761698718.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967463,-0.233464,-0.097519],[0.245511,0.959405,0.138802],[0.061155,-0.158227,0.985507]] 2025-10-29T00:45:18.970Z,1761698718.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:18.974Z,1761698718.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-29T00:45:18.978Z,1761698718.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.116373 m, nav range: 13.691477 m, bearing: 7.672284 deg, approach rate: -0.644156 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.212787 deg, new cmd heading: 13.184112 deg. 2025-10-29T00:45:18.982Z,1761698718.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230106 target range: 15.116373 and range: 15.20 m. 2025-10-29T00:45:19.014Z,1761698719.014 [DAT](INFO): DAT read: Rx Time:00:45:18.3858 2025-10-29T00:45:19.014Z,1761698719.014 [DAT](INFO): Rx dataTimestamp_ set to:1761698719.013854 2025-10-29T00:45:19.015Z,1761698719.015 [DAT](INFO): DAT read: Bearing 179.4, -9.1 (Local) 2025-10-29T00:45:19.016Z,1761698719.016 [DAT](INFO): Local bearing/azimuth received: Bearing 179.4, -9.1 (Local) 2025-10-29T00:45:19.018Z,1761698719.018 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.5 2025-10-29T00:45:19.022Z,1761698719.022 [DAT](INFO): DAT read: 00:45:18.3858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.42, 1.287,-0.208, 1.776, 1.405, PHS=-0.016,-1.569, 0.327, RAW= 159.8, 14.3, CAL= 160.5, 16.5, ROT= 349.5, -16.5 2025-10-29T00:45:19.024Z,1761698719.024 [DAT](INFO): got valid direction response: 00:45:18.3858 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510, 0.42, 1.287,-0.208, 1.776, 1.405, PHS=-0.016,-1.569, 0.327, RAW= 159.8, 14.3, CAL= 160.5, 16.5, ROT= 349.5, -16.5 2025-10-29T00:45:19.024Z,1761698719.024 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T00:45:19.025Z,1761698719.025 [DAT](INFO): direction in FSK: [0.942764,-0.174731,0.284015] 2025-10-29T00:45:19.025Z,1761698719.025 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:19.037Z,1761698719.037 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.558990 2025-10-29T00:45:19.266Z,1761698719.266 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.787727 2025-10-29T00:45:19.307Z,1761698719.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967292,-0.234507,-0.096703],[0.246394,0.959228,0.138460],[0.060291,-0.157758,0.985636]] 2025-10-29T00:45:19.394Z,1761698719.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.500069 s, deltaX: -0.300000 m, approachRate: -0.599918 m/s, rangeRepo size: 4 2025-10-29T00:45:19.400Z,1761698719.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.817989 m, bearing: 6.412524 deg, lat: 36.779279 deg, lon: -121.859545 deg, deltaT: 0.500069 s, deltaX: -0.298384 m, approachRate: -0.596685 m/s, posRepo size: 4 2025-10-29T00:45:19.401Z,1761698719.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T00:45:19.403Z,1761698719.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.817989 m, nav range: 13.706653 m, bearing: 7.019773 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.184113 deg, new cmd heading: 13.152808 deg. 2025-10-29T00:45:19.409Z,1761698719.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229560 target range: 14.817989 and range: 14.90 m. 2025-10-29T00:45:19.522Z,1761698719.522 [DAT](INFO): DAT read: Rx Time:00:45:18.8855 2025-10-29T00:45:19.524Z,1761698719.524 [DAT](INFO): Rx dataTimestamp_ set to:1761698719.522687 2025-10-29T00:45:19.528Z,1761698719.528 [DAT](INFO): DAT read: Bearing 181.4, -8.6 (Local) 2025-10-29T00:45:19.529Z,1761698719.529 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -8.6 (Local) 2025-10-29T00:45:19.548Z,1761698719.548 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5 2025-10-29T00:45:19.557Z,1761698719.557 [DAT](INFO): DAT read: 00:45:18.8855 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.344,-1.115, 0.784, 0.484, PHS=-0.038,-1.554, 0.257, RAW= 158.7, 15.7, CAL= 159.7, 18.3, ROT= 350.3, -18.3 2025-10-29T00:45:19.558Z,1761698719.558 [DAT](INFO): got valid direction response: 00:45:18.8855 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 507, 0.39, 0.344,-1.115, 0.784, 0.484, PHS=-0.038,-1.554, 0.257, RAW= 158.7, 15.7, CAL= 159.7, 18.3, ROT= 350.3, -18.3 2025-10-29T00:45:19.559Z,1761698719.559 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T00:45:19.564Z,1761698719.564 [DAT](INFO): direction in FSK: [0.935852,-0.159968,0.313992] 2025-10-29T00:45:19.564Z,1761698719.564 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:19.580Z,1761698719.580 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.102242 2025-10-29T00:45:19.709Z,1761698719.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967163,-0.235447,-0.095708],[0.247129,0.959132,0.137816],[0.059348,-0.156943,0.985823]] 2025-10-29T00:45:19.770Z,1761698719.770 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=35.291836 2025-10-29T00:45:19.817Z,1761698719.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.508833 s, deltaX: -0.500000 m, approachRate: -0.982641 m/s, rangeRepo size: 4 2025-10-29T00:45:19.819Z,1761698719.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.320666 m, bearing: 7.558941 deg, lat: 36.779276 deg, lon: -121.859545 deg, deltaT: 0.508833 s, deltaX: -0.497323 m, approachRate: -0.977380 m/s, posRepo size: 4 2025-10-29T00:45:19.819Z,1761698719.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-29T00:45:19.843Z,1761698719.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.320666 m, nav range: 13.174453 m, bearing: 7.085629 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.152808 deg, new cmd heading: 13.121906 deg. 2025-10-29T00:45:19.851Z,1761698719.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.229020 target range: 14.320666 and range: 14.40 m. 2025-10-29T00:45:20.021Z,1761698720.021 [DAT](INFO): DAT read: Rx Time:00:45:19.3854 2025-10-29T00:45:20.022Z,1761698720.022 [DAT](INFO): Rx dataTimestamp_ set to:1761698720.021628 2025-10-29T00:45:20.023Z,1761698720.023 [DAT](INFO): DAT read: Bearing 180.8, -9.3 (Local) 2025-10-29T00:45:20.023Z,1761698720.023 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -9.3 (Local) 2025-10-29T00:45:20.026Z,1761698720.026 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.5 2025-10-29T00:45:20.030Z,1761698720.030 [DAT](INFO): DAT read: 00:45:19.3854 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.49, 0.833,-0.617, 1.306, 0.975, PHS=-0.040,-1.547, 0.287, RAW= 159.6, 15.2, CAL= 160.5, 17.7, ROT= 349.5, -17.7 2025-10-29T00:45:20.031Z,1761698720.031 [DAT](INFO): got valid direction response: 00:45:19.3854 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.49, 0.833,-0.617, 1.306, 0.975, PHS=-0.040,-1.547, 0.287, RAW= 159.6, 15.2, CAL= 160.5, 17.7, ROT= 349.5, -17.7 2025-10-29T00:45:20.031Z,1761698720.031 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T00:45:20.033Z,1761698720.033 [DAT](INFO): direction in FSK: [0.936709,-0.173609,0.304033] 2025-10-29T00:45:20.033Z,1761698720.033 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:20.041Z,1761698720.041 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.563297 2025-10-29T00:45:20.127Z,1761698720.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966960,-0.236481,-0.095206],[0.248019,0.959040,0.136856],[0.058942,-0.155948,0.986005]] 2025-10-29T00:45:20.253Z,1761698720.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.498941 s, deltaX: -0.099999 m, approachRate: -0.200423 m/s, rangeRepo size: 4 2025-10-29T00:45:20.255Z,1761698720.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.221217 m, bearing: 6.675822 deg, lat: 36.779279 deg, lon: -121.859546 deg, deltaT: 0.498941 s, deltaX: -0.099449 m, approachRate: -0.199320 m/s, posRepo size: 4 2025-10-29T00:45:20.256Z,1761698720.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T00:45:20.259Z,1761698720.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.221217 m, nav range: 13.138875 m, bearing: 6.677580 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.121906 deg, new cmd heading: 13.088724 deg. 2025-10-29T00:45:20.260Z,1761698720.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228441 target range: 14.221217 and range: 14.30 m. 2025-10-29T00:45:20.273Z,1761698720.273 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.794888 2025-10-29T00:45:20.530Z,1761698720.530 [DAT](INFO): DAT read: Rx Time:00:45:19.8851 2025-10-29T00:45:20.531Z,1761698720.531 [DAT](INFO): Rx dataTimestamp_ set to:1761698720.530463 2025-10-29T00:45:20.536Z,1761698720.536 [DAT](INFO): DAT read: Bearing 180.3, -8.7 (Local) 2025-10-29T00:45:20.538Z,1761698720.537 [DAT](INFO): Local bearing/azimuth received: Bearing 180.3, -8.7 (Local) 2025-10-29T00:45:20.543Z,1761698720.543 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.5 2025-10-29T00:45:20.579Z,1761698720.579 [DAT](INFO): DAT read: 00:45:19.8851 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.44,-1.740, 3.096,-1.288,-1.621, PHS=-0.017,-1.521, 0.288, RAW= 159.1, 14.8, CAL= 159.9, 17.1, ROT= 350.1, -17.1 2025-10-29T00:45:20.588Z,1761698720.588 [DAT](INFO): got valid direction response: 00:45:19.8851 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 504,-0.44,-1.740, 3.096,-1.288,-1.621, PHS=-0.017,-1.521, 0.288, RAW= 159.1, 14.8, CAL= 159.9, 17.1, ROT= 350.1, -17.1 2025-10-29T00:45:20.588Z,1761698720.588 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T00:45:20.589Z,1761698720.589 [DAT](INFO): direction in FSK: [0.941561,-0.164329,0.294040] 2025-10-29T00:45:20.590Z,1761698720.590 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:20.601Z,1761698720.601 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.123379 2025-10-29T00:45:20.611Z,1761698720.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966671,-0.237835,-0.094770],[0.249231,0.958873,0.135819],[0.058570,-0.154912,0.986191]] 2025-10-29T00:45:20.749Z,1761698720.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.508835 s, deltaX: -0.500000 m, approachRate: -0.982637 m/s, rangeRepo size: 4 2025-10-29T00:45:20.756Z,1761698720.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.723845 m, bearing: 7.238741 deg, lat: 36.779278 deg, lon: -121.859545 deg, deltaT: 0.508835 s, deltaX: -0.497372 m, approachRate: -0.977471 m/s, posRepo size: 4 2025-10-29T00:45:20.757Z,1761698720.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T00:45:20.765Z,1761698720.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.723845 m, nav range: 12.736258 m, bearing: 6.859112 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.088724 deg, new cmd heading: 13.052130 deg. 2025-10-29T00:45:20.767Z,1761698720.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227803 target range: 13.723845 and range: 13.80 m. 2025-10-29T00:45:20.777Z,1761698720.777 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=36.299191 2025-10-29T00:45:21.030Z,1761698721.030 [DAT](INFO): DAT read: Rx Time:00:45:20.3850 2025-10-29T00:45:21.031Z,1761698721.031 [DAT](INFO): Rx dataTimestamp_ set to:1761698721.030805 2025-10-29T00:45:21.033Z,1761698721.033 [DAT](INFO): DAT read: Bearing 180.7, -8.2 (Local) 2025-10-29T00:45:21.033Z,1761698721.033 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, -8.2 (Local) 2025-10-29T00:45:21.035Z,1761698721.035 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time speed 0.5 2025-10-29T00:45:21.040Z,1761698721.040 [DAT](INFO): DAT read: 00:45:20.3850 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.45,-0.553,-2.000,-0.126,-0.440, PHS=-0.011,-1.515, 0.270, RAW= 158.4, 14.9, CAL= 159.2, 17.3, ROT= 350.8, -17.3 2025-10-29T00:45:21.041Z,1761698721.041 [DAT](INFO): got valid direction response: 00:45:20.3850 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 503,-0.45,-0.553,-2.000,-0.126,-0.440, PHS=-0.011,-1.515, 0.270, RAW= 158.4, 14.9, CAL= 159.2, 17.3, ROT= 350.8, -17.3 2025-10-29T00:45:21.041Z,1761698721.041 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T00:45:21.042Z,1761698721.042 [DAT](INFO): direction in FSK: [0.942479,-0.152648,0.297375] 2025-10-29T00:45:21.042Z,1761698721.042 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:21.046Z,1761698721.046 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.567909 2025-10-29T00:45:21.097Z,1761698721.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966406,-0.238888,-0.094829],[0.250313,0.958524,0.136288],[0.058339,-0.155447,0.986120]] 2025-10-29T00:45:21.170Z,1761698721.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.500342 s, deltaX: -0.100000 m, approachRate: -0.199864 m/s, rangeRepo size: 4 2025-10-29T00:45:21.177Z,1761698721.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.624396 m, bearing: 8.058531 deg, lat: 36.779279 deg, lon: -121.859544 deg, deltaT: 0.500342 s, deltaX: -0.099449 m, approachRate: -0.198762 m/s, posRepo size: 4 2025-10-29T00:45:21.177Z,1761698721.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T00:45:21.185Z,1761698721.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.624396 m, nav range: 12.594643 m, bearing: 7.106509 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.052130 deg, new cmd heading: 13.020355 deg. 2025-10-29T00:45:21.186Z,1761698721.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227248 target range: 13.624396 and range: 13.70 m. 2025-10-29T00:45:21.281Z,1761698721.281 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.803211 2025-10-29T00:45:21.537Z,1761698721.537 [DAT](INFO): DAT read: Rx Time:00:45:20.8847 2025-10-29T00:45:21.539Z,1761698721.539 [DAT](INFO): Rx dataTimestamp_ set to:1761698721.537735 2025-10-29T00:45:21.543Z,1761698721.543 [DAT](INFO): DAT read: Bearing 180.8, -8.4 (Local) 2025-10-29T00:45:21.545Z,1761698721.545 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -8.4 (Local) 2025-10-29T00:45:21.559Z,1761698721.559 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5 2025-10-29T00:45:21.614Z,1761698721.614 [DAT](INFO): DAT read: 00:45:20.8847 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.42,-2.547, 2.296,-2.114,-2.430, PHS=-0.015,-1.513, 0.272, RAW= 158.6, 15.0, CAL= 159.4, 17.3, ROT= 350.6, -17.3 2025-10-29T00:45:21.615Z,1761698721.615 [DAT](INFO): got valid direction response: 00:45:20.8847 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 500,-0.42,-2.547, 2.296,-2.114,-2.430, PHS=-0.015,-1.513, 0.272, RAW= 158.6, 15.0, CAL= 159.4, 17.3, ROT= 350.6, -17.3 2025-10-29T00:45:21.624Z,1761698721.624 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T00:45:21.625Z,1761698721.625 [DAT](INFO): direction in FSK: [0.941940,-0.155937,0.297375] 2025-10-29T00:45:21.625Z,1761698721.625 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:21.658Z,1761698721.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.506930 s, deltaX: -0.500000 m, approachRate: -0.986329 m/s, rangeRepo size: 4 2025-10-29T00:45:21.661Z,1761698721.661 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.183018 2025-10-29T00:45:21.665Z,1761698721.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.127156 m, bearing: 7.855300 deg, lat: 36.779278 deg, lon: -121.859544 deg, deltaT: 0.506930 s, deltaX: -0.497240 m, approachRate: -0.980885 m/s, posRepo size: 4 2025-10-29T00:45:21.665Z,1761698721.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-29T00:45:21.676Z,1761698721.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.127156 m, nav range: 12.193799 m, bearing: 7.208465 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 13.020355 deg, new cmd heading: 12.983952 deg. 2025-10-29T00:45:21.677Z,1761698721.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226613 target range: 13.127156 and range: 13.20 m. 2025-10-29T00:45:21.786Z,1761698721.786 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=37.307564 2025-10-29T00:45:22.042Z,1761698722.042 [DAT](INFO): DAT read: Rx Time:00:45:21.3845 2025-10-29T00:45:22.043Z,1761698722.043 [DAT](INFO): Rx dataTimestamp_ set to:1761698722.042752 2025-10-29T00:45:22.049Z,1761698722.049 [DAT](INFO): DAT read: Bearing 180.6, -8.5 (Local) 2025-10-29T00:45:22.049Z,1761698722.049 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, -8.5 (Local) 2025-10-29T00:45:22.051Z,1761698722.051 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 2025-10-29T00:45:22.061Z,1761698722.061 [DAT](INFO): DAT read: 00:45:21.3845 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.47,-1.993, 2.851,-1.555,-1.879, PHS=-0.012,-1.508, 0.280, RAW= 158.8, 14.8, CAL= 159.6, 17.1, ROT= 350.4, -17.1 2025-10-29T00:45:22.062Z,1761698722.062 [DAT](INFO): got valid direction response: 00:45:21.3845 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 498,-0.47,-1.993, 2.851,-1.555,-1.879, PHS=-0.012,-1.508, 0.280, RAW= 158.8, 14.8, CAL= 159.6, 17.1, ROT= 350.4, -17.1 2025-10-29T00:45:22.062Z,1761698722.062 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T00:45:22.063Z,1761698722.063 [DAT](INFO): direction in FSK: [0.942408,-0.159397,0.294040] 2025-10-29T00:45:22.070Z,1761698722.070 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:22.114Z,1761698722.114 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.636005 2025-10-29T00:45:22.194Z,1761698722.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.505017 s, deltaX: -0.300000 m, approachRate: -0.594040 m/s, rangeRepo size: 4 2025-10-29T00:45:22.200Z,1761698722.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.828871 m, bearing: 7.618691 deg, lat: 36.779278 deg, lon: -121.859543 deg, deltaT: 0.505017 s, deltaX: -0.298285 m, approachRate: -0.590644 m/s, posRepo size: 4 2025-10-29T00:45:22.201Z,1761698722.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-29T00:45:22.203Z,1761698722.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.828871 m, nav range: 11.919882 m, bearing: 7.618680 deg, approach rate: 0.000000 m/s, LOS rate: -0.037284 deg/s, cmd heading: 12.983951 deg, new cmd heading: 12.944024 deg. 2025-10-29T00:45:22.209Z,1761698722.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225916 target range: 12.828871 and range: 12.90 m. 2025-10-29T00:45:22.289Z,1761698722.289 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.810955 2025-10-29T00:45:22.517Z,1761698722.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965698,-0.241926,-0.094334],[0.253173,0.957956,0.134997],[0.057709,-0.154249,0.986345]] 2025-10-29T00:45:22.545Z,1761698722.545 [DAT](INFO): DAT read: Rx Time:00:45:21.8842 2025-10-29T00:45:22.547Z,1761698722.547 [DAT](INFO): Rx dataTimestamp_ set to:1761698722.545301 2025-10-29T00:45:22.553Z,1761698722.553 [DAT](INFO): DAT read: Bearing 180.0, -8.7 (Local) 2025-10-29T00:45:22.554Z,1761698722.554 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, -8.7 (Local) 2025-10-29T00:45:22.570Z,1761698722.570 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 2025-10-29T00:45:22.637Z,1761698722.637 [DAT](INFO): DAT read: 00:45:21.8842 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.48, 2.909, 1.474,-2.920, 3.016, PHS=-0.005,-1.497, 0.303, RAW= 159.2, 14.3, CAL= 159.9, 16.5, ROT= 350.1, -16.5 2025-10-29T00:45:22.638Z,1761698722.638 [DAT](INFO): got valid direction response: 00:45:21.8842 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511,-0.48, 2.909, 1.474,-2.920, 3.016, PHS=-0.005,-1.497, 0.303, RAW= 159.2, 14.3, CAL= 159.9, 16.5, ROT= 350.1, -16.5 2025-10-29T00:45:22.638Z,1761698722.638 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T00:45:22.639Z,1761698722.639 [DAT](INFO): direction in FSK: [0.944542,-0.164849,0.284015] 2025-10-29T00:45:22.639Z,1761698722.639 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:22.643Z,1761698722.643 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:22.647Z,1761698722.647 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.169098 2025-10-29T00:45:22.655Z,1761698722.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502549 s, deltaX: -0.400000 m, approachRate: -0.795942 m/s, rangeRepo size: 4 2025-10-29T00:45:22.655Z,1761698722.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-29T00:45:22.674Z,1761698722.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.828871 m, nav range: 11.634885 m, bearing: 7.587314 deg, approach rate: -0.618580 m/s, LOS rate: -0.069748 deg/s, cmd heading: 12.944024 deg, new cmd heading: 12.879754 deg. 2025-10-29T00:45:22.675Z,1761698722.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224794 target range: 12.828871 and range: 12.50 m. 2025-10-29T00:45:22.793Z,1761698722.793 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=38.315037 2025-10-29T00:45:23.001Z,1761698723.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965661,-0.242036,-0.094431],[0.253345,0.957796,0.135808],[0.057575,-0.155068,0.986225]] 2025-10-29T00:45:23.046Z,1761698723.046 [DAT](INFO): DAT read: Rx Time:00:45:22.3841 2025-10-29T00:45:23.046Z,1761698723.046 [DAT](INFO): Rx dataTimestamp_ set to:1761698723.045757 2025-10-29T00:45:23.047Z,1761698723.047 [DAT](INFO): DAT read: Bearing 179.8, -9.6 (Local) 2025-10-29T00:45:23.048Z,1761698723.048 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, -9.6 (Local) 2025-10-29T00:45:23.050Z,1761698723.050 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.6 2025-10-29T00:45:23.054Z,1761698723.054 [DAT](INFO): DAT read: 00:45:22.3841 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.47,-0.995,-2.427,-0.503,-0.875, PHS=-0.018,-1.507, 0.328, RAW= 160.2, 14.1, CAL= 160.9, 16.3, ROT= 349.1, -16.3 2025-10-29T00:45:23.055Z,1761698723.055 [DAT](INFO): got valid direction response: 00:45:22.3841 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509, 0.47,-0.995,-2.427,-0.503,-0.875, PHS=-0.018,-1.507, 0.328, RAW= 160.2, 14.1, CAL= 160.9, 16.3, ROT= 349.1, -16.3 2025-10-29T00:45:23.056Z,1761698723.056 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T00:45:23.057Z,1761698723.057 [DAT](INFO): direction in FSK: [0.942489,-0.181495,0.280667] 2025-10-29T00:45:23.058Z,1761698723.058 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:23.061Z,1761698723.061 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.583313 2025-10-29T00:45:23.063Z,1761698723.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.500456 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:23.064Z,1761698723.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-29T00:45:23.067Z,1761698723.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.828871 m, nav range: 11.365947 m, bearing: 7.592163 deg, approach rate: -0.657742 m/s, LOS rate: 0.012140 deg/s, cmd heading: 12.879754 deg, new cmd heading: 12.889682 deg. 2025-10-29T00:45:23.096Z,1761698723.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.224967 target range: 12.828871 and range: 12.50 m. 2025-10-29T00:45:23.297Z,1761698723.297 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.819279 2025-10-29T00:45:23.405Z,1761698723.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965612,-0.242196,-0.094525],[0.253598,0.957536,0.137162],[0.057291,-0.156417,0.986028]] 2025-10-29T00:45:23.437Z,1761698723.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-29T00:45:23.440Z,1761698723.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.828871 m, nav range: 11.123620 m, bearing: 7.596347 deg, approach rate: -0.647581 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.889682 deg, new cmd heading: 12.898233 deg. 2025-10-29T00:45:23.441Z,1761698723.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225117 target range: 12.828871 and range: 12.50 m. 2025-10-29T00:45:23.554Z,1761698723.554 [DAT](INFO): DAT read: Rx Time:00:45:22.8838 2025-10-29T00:45:23.555Z,1761698723.555 [DAT](INFO): Rx dataTimestamp_ set to:1761698723.554278 2025-10-29T00:45:23.559Z,1761698723.559 [DAT](INFO): DAT read: Bearing 178.5, -9.6 (Local) 2025-10-29T00:45:23.561Z,1761698723.561 [DAT](INFO): Local bearing/azimuth received: Bearing 178.5, -9.6 (Local) 2025-10-29T00:45:23.573Z,1761698723.573 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-29T00:45:23.620Z,1761698723.620 [DAT](INFO): DAT read: 00:45:22.8838 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.39,-1.637,-3.064,-1.135,-1.540, PHS= 0.005,-1.479, 0.361, RAW= 160.5, 13.1, CAL= 161.0, 15.0, ROT= 349.0, -15.0 2025-10-29T00:45:23.621Z,1761698723.621 [DAT](INFO): got valid direction response: 00:45:22.8838 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506, 0.39,-1.637,-3.064,-1.135,-1.540, PHS= 0.005,-1.479, 0.361, RAW= 160.5, 13.1, CAL= 161.0, 15.0, ROT= 349.0, -15.0 2025-10-29T00:45:23.622Z,1761698723.622 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T00:45:23.623Z,1761698723.623 [DAT](INFO): direction in FSK: [0.948179,-0.184307,0.258819] 2025-10-29T00:45:23.623Z,1761698723.623 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:23.637Z,1761698723.637 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.153690 2025-10-29T00:45:23.801Z,1761698723.801 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=39.322815 2025-10-29T00:45:23.809Z,1761698723.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965751,-0.241541,-0.094782],[0.253136,0.957293,0.139687],[0.056994,-0.158896,0.985649]] 2025-10-29T00:45:23.933Z,1761698723.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.508521 s, deltaX: -0.500000 m, approachRate: -0.983244 m/s, rangeRepo size: 4 2025-10-29T00:45:23.935Z,1761698723.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.933821 m, bearing: 6.084182 deg, lat: 36.779279 deg, lon: -121.859543 deg, deltaT: 1.511526 s, deltaX: -0.895050 m, approachRate: -0.592150 m/s, posRepo size: 4 2025-10-29T00:45:23.936Z,1761698723.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-29T00:45:23.942Z,1761698723.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.933821 m, nav range: 10.906930 m, bearing: 7.601591 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.898233 deg, new cmd heading: 12.909270 deg. 2025-10-29T00:45:23.943Z,1761698723.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225309 target range: 11.933821 and range: 12.00 m. 2025-10-29T00:45:24.055Z,1761698724.055 [DAT](INFO): DAT read: Rx Time:00:45:23.3837 2025-10-29T00:45:24.055Z,1761698724.055 [DAT](INFO): Rx dataTimestamp_ set to:1761698724.054991 2025-10-29T00:45:24.057Z,1761698724.057 [DAT](INFO): DAT read: Bearing 180.1, -10.8 (Local) 2025-10-29T00:45:24.057Z,1761698724.057 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, -10.8 (Local) 2025-10-29T00:45:24.059Z,1761698724.059 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed 0.5 2025-10-29T00:45:24.065Z,1761698724.065 [DAT](INFO): DAT read: 00:45:23.3837 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.35, 0.188,-1.240, 0.720, 0.336, PHS=-0.046,-1.531, 0.340, RAW= 161.3, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 2025-10-29T00:45:24.067Z,1761698724.067 [DAT](INFO): got valid direction response: 00:45:23.3837 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505, 0.35, 0.188,-1.240, 0.720, 0.336, PHS=-0.046,-1.531, 0.340, RAW= 161.3, 14.3, CAL= 161.9, 16.7, ROT= 348.1, -16.7 2025-10-29T00:45:24.067Z,1761698724.067 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T00:45:24.069Z,1761698724.069 [DAT](INFO): direction in FSK: [0.937238,-0.197507,0.287361] 2025-10-29T00:45:24.069Z,1761698724.069 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:24.090Z,1761698724.090 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.611965 2025-10-29T00:45:24.275Z,1761698724.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965749,-0.241624,-0.094589],[0.253233,0.957149,0.140495],[0.056589,-0.159636,0.985553]] 2025-10-29T00:45:24.305Z,1761698724.305 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.827000 2025-10-29T00:45:24.306Z,1761698724.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.500713 s, deltaX: -0.100000 m, approachRate: -0.199716 m/s, rangeRepo size: 4 2025-10-29T00:45:24.308Z,1761698724.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.834372 m, bearing: 5.471552 deg, lat: 36.779282 deg, lon: -121.859545 deg, deltaT: 0.500713 s, deltaX: -0.099449 m, approachRate: -0.198615 m/s, posRepo size: 4 2025-10-29T00:45:24.309Z,1761698724.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-29T00:45:24.311Z,1761698724.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.834372 m, nav range: 10.995702 m, bearing: 6.473221 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.909270 deg, new cmd heading: 12.918037 deg. 2025-10-29T00:45:24.314Z,1761698724.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225462 target range: 11.834372 and range: 11.90 m. 2025-10-29T00:45:24.561Z,1761698724.561 [DAT](INFO): DAT read: Rx Time:00:45:23.8834 2025-10-29T00:45:24.562Z,1761698724.562 [DAT](INFO): Rx dataTimestamp_ set to:1761698724.561288 2025-10-29T00:45:24.563Z,1761698724.563 [DAT](INFO): DAT read: Bearing 179.5, -10.6 (Local) 2025-10-29T00:45:24.563Z,1761698724.563 [DAT](INFO): Local bearing/azimuth received: Bearing 179.5, -10.6 (Local) 2025-10-29T00:45:24.565Z,1761698724.565 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-29T00:45:24.574Z,1761698724.574 [DAT](INFO): DAT read: 00:45:23.8834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.30,-0.182,-1.607, 0.344,-0.051, PHS=-0.029,-1.512, 0.351, RAW= 161.1, 13.9, CAL= 161.7, 16.1, ROT= 348.3, -16.1 2025-10-29T00:45:24.578Z,1761698724.578 [DAT](INFO): got valid direction response: 00:45:23.8834 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 502, 0.30,-0.182,-1.607, 0.344,-0.051, PHS=-0.029,-1.512, 0.351, RAW= 161.1, 13.9, CAL= 161.7, 16.1, ROT= 348.3, -16.1 2025-10-29T00:45:24.579Z,1761698724.579 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T00:45:24.588Z,1761698724.588 [DAT](INFO): direction in FSK: [0.940817,-0.194834,0.277315] 2025-10-29T00:45:24.589Z,1761698724.589 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:24.652Z,1761698724.652 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.161560 2025-10-29T00:45:24.691Z,1761698724.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965949,-0.240975,-0.094198],[0.252532,0.957322,0.140578],[0.056302,-0.159580,0.985578]] 2025-10-29T00:45:24.797Z,1761698724.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.506297 s, deltaX: -0.500000 m, approachRate: -0.987563 m/s, rangeRepo size: 4 2025-10-29T00:45:24.799Z,1761698724.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.337157 m, bearing: 5.533025 deg, lat: 36.779282 deg, lon: -121.859546 deg, deltaT: 0.506297 s, deltaX: -0.497214 m, approachRate: -0.982061 m/s, posRepo size: 4 2025-10-29T00:45:24.804Z,1761698724.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-29T00:45:24.806Z,1761698724.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.337157 m, nav range: 10.698674 m, bearing: 6.151254 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.918037 deg, new cmd heading: 12.929297 deg. 2025-10-29T00:45:24.807Z,1761698724.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225659 target range: 11.337157 and range: 11.40 m. 2025-10-29T00:45:24.809Z,1761698724.809 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=40.330940 2025-10-29T00:45:25.064Z,1761698725.064 [DAT](INFO): DAT read: Rx Time:00:45:24.3833 2025-10-29T00:45:25.065Z,1761698725.065 [DAT](INFO): Rx dataTimestamp_ set to:1761698725.064625 2025-10-29T00:45:25.066Z,1761698725.066 [DAT](INFO): DAT read: Bearing 180.3, -10.6 (Local) 2025-10-29T00:45:25.066Z,1761698725.066 [DAT](INFO): Local bearing/azimuth received: Bearing 180.3, -10.6 (Local) 2025-10-29T00:45:25.069Z,1761698725.069 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed 0.5 2025-10-29T00:45:25.074Z,1761698725.074 [DAT](INFO): DAT read: 00:45:24.3833 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.24, 1.843, 0.417, 2.363, 1.988, PHS=-0.042,-1.525, 0.332, RAW= 161.0, 14.4, CAL= 161.7, 16.8, ROT= 348.3, -16.8 2025-10-29T00:45:25.076Z,1761698725.076 [DAT](INFO): got valid direction response: 00:45:24.3833 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501, 0.24, 1.843, 0.417, 2.363, 1.988, PHS=-0.042,-1.525, 0.332, RAW= 161.0, 14.4, CAL= 161.7, 16.8, ROT= 348.3, -16.8 2025-10-29T00:45:25.077Z,1761698725.077 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T00:45:25.078Z,1761698725.078 [DAT](INFO): direction in FSK: [0.937429,-0.194133,0.289032] 2025-10-29T00:45:25.078Z,1761698725.078 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:25.082Z,1761698725.082 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.604099 2025-10-29T00:45:25.196Z,1761698725.196 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:45:25.247Z,1761698725.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503337 s, deltaX: -0.099999 m, approachRate: -0.198673 m/s, rangeRepo size: 4 2025-10-29T00:45:25.253Z,1761698725.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.237709 m, bearing: 5.649809 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.503337 s, deltaX: -0.099448 m, approachRate: -0.197578 m/s, posRepo size: 4 2025-10-29T00:45:25.254Z,1761698725.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-29T00:45:25.261Z,1761698725.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.237709 m, nav range: 10.439720 m, bearing: 5.653396 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.929297 deg, new cmd heading: 12.939554 deg. 2025-10-29T00:45:25.262Z,1761698725.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.225838 target range: 11.237709 and range: 11.30 m. 2025-10-29T00:45:25.314Z,1761698725.314 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.835365 2025-10-29T00:45:25.567Z,1761698725.567 [DAT](INFO): DAT read: Rx Time:00:45:24.8831 2025-10-29T00:45:25.568Z,1761698725.568 [DAT](INFO): Rx dataTimestamp_ set to:1761698725.567258 2025-10-29T00:45:25.570Z,1761698725.569 [DAT](INFO): DAT read: Bearing 180.1, -10.0 (Local) 2025-10-29T00:45:25.570Z,1761698725.570 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, -10.0 (Local) 2025-10-29T00:45:25.581Z,1761698725.581 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.5 2025-10-29T00:45:25.647Z,1761698725.647 [DAT](INFO): DAT read: 00:45:24.8831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.23, 0.994,-0.434, 1.491, 1.121, PHS=-0.025,-1.510, 0.327, RAW= 160.4, 14.2, CAL= 161.1, 16.5, ROT= 348.9, -16.5 2025-10-29T00:45:25.652Z,1761698725.652 [DAT](INFO): got valid direction response: 00:45:24.8831 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 498, 0.23, 0.994,-0.434, 1.491, 1.121, PHS=-0.025,-1.510, 0.327, RAW= 160.4, 14.2, CAL= 161.1, 16.5, ROT= 348.9, -16.5 2025-10-29T00:45:25.653Z,1761698725.653 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T00:45:25.654Z,1761698725.654 [DAT](INFO): direction in FSK: [0.940883,-0.184594,0.284015] 2025-10-29T00:45:25.654Z,1761698725.654 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:25.678Z,1761698725.678 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.200314 2025-10-29T00:45:25.706Z,1761698725.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966481,-0.239659,-0.092073],[0.250648,0.958435,0.136299],[0.055580,-0.154808,0.986380]] 2025-10-29T00:45:25.823Z,1761698725.823 [DAT](INFO): DAT read: Rx Time:00:45:25.3829 2025-10-29T00:45:25.824Z,1761698725.824 [DAT](INFO): Rx dataTimestamp_ set to:1761698725.823122 2025-10-29T00:45:25.827Z,1761698725.827 [DAT](INFO): DAT read: Bearing 180.4, -9.9 (Local) 2025-10-29T00:45:25.828Z,1761698725.828 [DAT](INFO): Local bearing/azimuth received: Bearing 180.4, -9.9 (Local) 2025-10-29T00:45:25.830Z,1761698725.830 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=41.351749 2025-10-29T00:45:25.880Z,1761698725.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.502633 s, deltaX: -0.500000 m, approachRate: -0.994762 m/s, rangeRepo size: 4 2025-10-29T00:45:25.882Z,1761698725.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.740352 m, bearing: 6.008711 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.502633 s, deltaX: -0.497357 m, approachRate: -0.989504 m/s, posRepo size: 4 2025-10-29T00:45:25.883Z,1761698725.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-29T00:45:25.889Z,1761698725.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.740352 m, nav range: 10.060687 m, bearing: 5.763299 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.939554 deg, new cmd heading: 12.953946 deg. 2025-10-29T00:45:25.890Z,1761698725.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226089 target range: 10.740352 and range: 10.80 m. 2025-10-29T00:45:26.071Z,1761698726.071 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.5 2025-10-29T00:45:26.075Z,1761698726.075 [DAT](INFO): DAT read: 00:45:25.3829 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.29, 0.875,-0.558, 1.368, 1.004, PHS=-0.027,-1.517, 0.320, RAW= 160.2, 14.3, CAL= 160.9, 16.7, ROT= 349.1, -16.7 2025-10-29T00:45:26.076Z,1761698726.076 [DAT](INFO): got valid direction response: 00:45:25.3829 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 496, 0.29, 0.875,-0.558, 1.368, 1.004, PHS=-0.027,-1.517, 0.320, RAW= 160.2, 14.3, CAL= 160.9, 16.7, ROT= 349.1, -16.7 2025-10-29T00:45:26.077Z,1761698726.077 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T00:45:26.078Z,1761698726.078 [DAT](INFO): direction in FSK: [0.940542,-0.181120,0.287361] 2025-10-29T00:45:26.078Z,1761698726.078 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:26.082Z,1761698726.082 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.603477 2025-10-29T00:45:26.200Z,1761698726.200 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:45:26.214Z,1761698726.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966699,-0.239144,-0.091122],[0.249864,0.958958,0.134045],[0.055326,-0.152349,0.986777]] 2025-10-29T00:45:26.253Z,1761698726.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.501247 s, deltaX: -0.300000 m, approachRate: -0.598508 m/s, rangeRepo size: 4 2025-10-29T00:45:26.255Z,1761698726.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.442008 m, bearing: 6.151522 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.501247 s, deltaX: -0.298344 m, approachRate: -0.595203 m/s, posRepo size: 4 2025-10-29T00:45:26.260Z,1761698726.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-29T00:45:26.263Z,1761698726.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.442008 m, nav range: 9.753468 m, bearing: 5.867764 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.953946 deg, new cmd heading: 12.962575 deg. 2025-10-29T00:45:26.264Z,1761698726.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226240 target range: 10.442008 and range: 10.50 m. 2025-10-29T00:45:26.325Z,1761698726.325 [DAT](INFO): DAT read: Rx Time:00:45:25.8826 2025-10-29T00:45:26.327Z,1761698726.327 [DAT](INFO): Rx dataTimestamp_ set to:1761698726.325634 2025-10-29T00:45:26.331Z,1761698726.331 [DAT](INFO): DAT read: Bearing 177.8, -10.1 (Local) 2025-10-29T00:45:26.332Z,1761698726.332 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, -10.1 (Local) 2025-10-29T00:45:26.335Z,1761698726.335 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.855972 2025-10-29T00:45:26.575Z,1761698726.575 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 2025-10-29T00:45:26.579Z,1761698726.579 [DAT](INFO): DAT read: 00:45:25.8826 LVL= 32752, 32753, 30818, 32755, AGC= 53, IDX= 510,-0.46,-2.989, 1.870,-2.461,-2.901, PHS= 0.014,-1.467, 0.396, RAW= 161.2, 12.4, CAL= 161.6, 14.1, ROT= 348.4, -14.1 2025-10-29T00:45:26.581Z,1761698726.581 [DAT](INFO): got valid direction response: 00:45:25.8826 LVL= 32752, 32753, 30818, 32755, AGC= 53, IDX= 510,-0.46,-2.989, 1.870,-2.461,-2.901, PHS= 0.014,-1.467, 0.396, RAW= 161.2, 12.4, CAL= 161.6, 14.1, ROT= 348.4, -14.1 2025-10-29T00:45:26.581Z,1761698726.581 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T00:45:26.582Z,1761698726.582 [DAT](INFO): direction in FSK: [0.950063,-0.195020,0.243615] 2025-10-29T00:45:26.582Z,1761698726.582 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:26.598Z,1761698726.598 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.119495 2025-10-29T00:45:26.705Z,1761698726.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966843,-0.238947,-0.090107],[0.249383,0.959407,0.131704],[0.054979,-0.149808,0.987185]] 2025-10-29T00:45:26.810Z,1761698726.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504026 s, deltaX: -0.400000 m, approachRate: -0.793609 m/s, rangeRepo size: 4 2025-10-29T00:45:26.812Z,1761698726.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.044152 m, bearing: 4.963296 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.504026 s, deltaX: -0.397856 m, approachRate: -0.789356 m/s, posRepo size: 4 2025-10-29T00:45:26.813Z,1761698726.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-29T00:45:26.828Z,1761698726.828 [DAT](INFO): DAT read: Rx Time:00:45:26.3826 2025-10-29T00:45:26.830Z,1761698726.830 [DAT](INFO): Rx dataTimestamp_ set to:1761698726.828871 2025-10-29T00:45:26.833Z,1761698726.833 [DAT](INFO): DAT read: Bearing 180.2, -10.1 (Local) 2025-10-29T00:45:26.834Z,1761698726.834 [DAT](INFO): Local bearing/azimuth received: Bearing 180.2, -10.1 (Local) 2025-10-29T00:45:26.837Z,1761698726.837 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=42.357700 2025-10-29T00:45:26.850Z,1761698726.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.044152 m, nav range: 9.414357 m, bearing: 5.965987 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.962575 deg, new cmd heading: 12.975294 deg. 2025-10-29T00:45:26.854Z,1761698726.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226462 target range: 10.044152 and range: 10.10 m. 2025-10-29T00:45:27.079Z,1761698727.079 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.4 2025-10-29T00:45:27.113Z,1761698727.113 [DAT](INFO): DAT read: 00:45:26.3826 LVL= 32752, 32753, 32322, 32755, AGC= 54, IDX= 509,-0.34,-1.933, 2.936,-1.428,-1.805, PHS=-0.026,-1.497, 0.333, RAW= 160.6, 14.1, CAL= 161.3, 16.3, ROT= 348.7, -16.3 2025-10-29T00:45:27.118Z,1761698727.118 [DAT](INFO): got valid direction response: 00:45:26.3826 LVL= 32752, 32753, 32322, 32755, AGC= 54, IDX= 509,-0.34,-1.933, 2.936,-1.428,-1.805, PHS=-0.026,-1.497, 0.333, RAW= 160.6, 14.1, CAL= 161.3, 16.3, ROT= 348.7, -16.3 2025-10-29T00:45:27.118Z,1761698727.118 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-29T00:45:27.119Z,1761698727.119 [DAT](INFO): direction in FSK: [0.941199,-0.188070,0.280667] 2025-10-29T00:45:27.119Z,1761698727.119 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:27.153Z,1761698727.153 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.674889 2025-10-29T00:45:27.200Z,1761698727.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967007,-0.238501,-0.089525],[0.248838,0.959587,0.131426],[0.054562,-0.149367,0.987275]] 2025-10-29T00:45:27.250Z,1761698727.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:27.256Z,1761698727.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.044152 m, bearing: 5.566352 deg, lat: 36.779282 deg, lon: -121.859547 deg, deltaT: 0.504115 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:45:27.257Z,1761698727.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-29T00:45:27.259Z,1761698727.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.044152 m, nav range: 9.240928 m, bearing: 5.991118 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.975294 deg, new cmd heading: 12.985347 deg. 2025-10-29T00:45:27.264Z,1761698727.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226637 target range: 10.044152 and range: 10.10 m. 2025-10-29T00:45:27.334Z,1761698727.334 [DAT](INFO): DAT read: Rx Time:00:45:26.8823 2025-10-29T00:45:27.336Z,1761698727.336 [DAT](INFO): Rx dataTimestamp_ set to:1761698727.334713 2025-10-29T00:45:27.339Z,1761698727.339 [DAT](INFO): DAT read: Bearing 179.1, -10.1 (Local) 2025-10-29T00:45:27.340Z,1761698727.340 [DAT](INFO): Local bearing/azimuth received: Bearing 179.1, -10.1 (Local) 2025-10-29T00:45:27.346Z,1761698727.346 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.5 2025-10-29T00:45:27.350Z,1761698727.350 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-29T00:45:27.354Z,1761698727.354 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.874901 2025-10-29T00:45:27.590Z,1761698727.590 [DAT](INFO): DAT read: 00:45:26.8823 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.19,-3.107, 1.756,-2.588,-2.998, PHS=-0.007,-1.484, 0.366, RAW= 161.0, 13.2, CAL= 161.5, 15.2, ROT= 348.5, -15.2 2025-10-29T00:45:27.593Z,1761698727.593 [DAT](INFO): got valid direction response: 00:45:26.8823 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 506,-0.19,-3.107, 1.756,-2.588,-2.998, PHS=-0.007,-1.484, 0.366, RAW= 161.0, 13.2, CAL= 161.5, 15.2, ROT= 348.5, -15.2 2025-10-29T00:45:27.593Z,1761698727.593 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-29T00:45:27.594Z,1761698727.594 [DAT](INFO): direction in FSK: [0.945643,-0.192393,0.262189] 2025-10-29T00:45:27.598Z,1761698727.598 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.119583 2025-10-29T00:45:27.704Z,1761698727.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967209,-0.237992,-0.088693],[0.248245,0.959648,0.132099],[0.053676,-0.149785,0.987261]] 2025-10-29T00:45:27.805Z,1761698727.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.258067 s, deltaX: -0.500000 m, approachRate: -1.937481 m/s, rangeRepo size: 4 2025-10-29T00:45:27.807Z,1761698727.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.547073 m, bearing: 5.167711 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 0.258067 s, deltaX: -0.497079 m, approachRate: -1.926162 m/s, posRepo size: 4 2025-10-29T00:45:27.807Z,1761698727.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m. 2025-10-29T00:45:27.812Z,1761698727.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m. 2025-10-29T00:45:27.812Z,1761698727.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-29T00:45:27.831Z,1761698727.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 8.938220 m, bearing: 5.667095 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.985347 deg, new cmd heading: 12.997469 deg. 2025-10-29T00:45:27.837Z,1761698727.837 [DAT](INFO): DAT read: Rx Time:00:45:27.3822 2025-10-29T00:45:27.839Z,1761698727.839 [DAT](INFO): Rx dataTimestamp_ set to:1761698727.838013 2025-10-29T00:45:27.845Z,1761698727.845 [DAT](INFO): DAT read: Bearing 180.7, -9.2 (Local) 2025-10-29T00:45:27.846Z,1761698727.846 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, -9.2 (Local) 2025-10-29T00:45:27.851Z,1761698727.851 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.4 2025-10-29T00:45:27.858Z,1761698727.858 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-29T00:45:27.863Z,1761698727.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.226849 target range: 9.547073 and range: 9.60 m. 2025-10-29T00:45:27.869Z,1761698727.869 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.390751 2025-10-29T00:45:28.089Z,1761698728.089 [DAT](INFO): DAT read: 00:45:27.3822 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.11,-1.696,-3.113,-1.229,-1.579, PHS=-0.014,-1.489, 0.307, RAW= 159.6, 14.3, CAL= 160.3, 16.6, ROT= 349.7, -16.6 2025-10-29T00:45:28.090Z,1761698728.090 [DAT](INFO): got valid direction response: 00:45:27.3822 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 505,-0.11,-1.696,-3.113,-1.229,-1.579, PHS=-0.014,-1.489, 0.307, RAW= 159.6, 14.3, CAL= 160.3, 16.6, ROT= 349.7, -16.6 2025-10-29T00:45:28.090Z,1761698728.090 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-29T00:45:28.091Z,1761698728.091 [DAT](INFO): direction in FSK: [0.942879,-0.171350,0.285688] 2025-10-29T00:45:28.095Z,1761698728.095 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.616913 2025-10-29T00:45:28.225Z,1761698728.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967219,-0.238197,-0.088030],[0.248322,0.959695,0.131612],[0.053132,-0.149157,0.987385]] 2025-10-29T00:45:28.250Z,1761698728.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.503300 s, deltaX: -0.100000 m, approachRate: -0.198689 m/s, rangeRepo size: 4 2025-10-29T00:45:28.252Z,1761698728.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.447624 m, bearing: 6.597740 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 0.503300 s, deltaX: -0.099449 m, approachRate: -0.197594 m/s, posRepo size: 4 2025-10-29T00:45:28.253Z,1761698728.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.55 m. 2025-10-29T00:45:28.255Z,1761698728.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 8.656436 m, bearing: 5.691791 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.997469 deg, new cmd heading: 13.008199 deg. 2025-10-29T00:45:28.272Z,1761698728.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227036 target range: 9.547073 and range: 9.50 m. 2025-10-29T00:45:28.341Z,1761698728.341 [DAT](INFO): DAT read: Rx Time:00:45:27.8819 2025-10-29T00:45:28.343Z,1761698728.343 [DAT](INFO): Rx dataTimestamp_ set to:1761698728.342086 2025-10-29T00:45:28.347Z,1761698728.347 [DAT](INFO): DAT read: Bearing 180.1, -10.0 (Local) 2025-10-29T00:45:28.348Z,1761698728.348 [DAT](INFO): Local bearing/azimuth received: Bearing 180.1, -10.0 (Local) 2025-10-29T00:45:28.360Z,1761698728.360 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.4 2025-10-29T00:45:28.363Z,1761698728.363 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-29T00:45:28.377Z,1761698728.377 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.898613 2025-10-29T00:45:28.593Z,1761698728.593 [DAT](INFO): DAT read: 00:45:27.8819 LVL= 32752, 32753, 31170, 32755, AGC= 52, IDX= 502, 0.03,-1.975, 2.879,-1.468,-1.854, PHS=-0.019,-1.505, 0.342, RAW= 160.6, 13.8, CAL= 161.2, 16.0, ROT= 348.8, -16.0 2025-10-29T00:45:28.594Z,1761698728.594 [DAT](INFO): got valid direction response: 00:45:27.8819 LVL= 32752, 32753, 31170, 32755, AGC= 52, IDX= 502, 0.03,-1.975, 2.879,-1.468,-1.854, PHS=-0.019,-1.505, 0.342, RAW= 160.6, 13.8, CAL= 161.2, 16.0, ROT= 348.8, -16.0 2025-10-29T00:45:28.594Z,1761698728.594 [DAT](INFO): #Rx 90: Read direction message, but no range. 2025-10-29T00:45:28.595Z,1761698728.595 [DAT](INFO): direction in FSK: [0.942955,-0.186710,0.275637] 2025-10-29T00:45:28.611Z,1761698728.611 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.132603 2025-10-29T00:45:28.700Z,1761698728.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967243,-0.238310,-0.087466],[0.248366,0.959642,0.131917],[0.052499,-0.149320,0.987394]] 2025-10-29T00:45:28.802Z,1761698728.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504073 s, deltaX: -0.500000 m, approachRate: -0.991920 m/s, rangeRepo size: 4 2025-10-29T00:45:28.808Z,1761698728.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.950652 m, bearing: 5.597354 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 1.007373 s, deltaX: -0.596421 m, approachRate: -0.592056 m/s, posRepo size: 4 2025-10-29T00:45:28.809Z,1761698728.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.55 m. 2025-10-29T00:45:28.816Z,1761698728.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 8.337895 m, bearing: 5.634018 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.008199 deg, new cmd heading: 13.020823 deg. 2025-10-29T00:45:28.827Z,1761698728.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227256 target range: 9.547073 and range: 9.00 m. 2025-10-29T00:45:28.846Z,1761698728.846 [DAT](INFO): DAT read: Rx Time:00:45:28.3818 2025-10-29T00:45:28.849Z,1761698728.849 [DAT](INFO): Rx dataTimestamp_ set to:1761698728.846927 2025-10-29T00:45:28.853Z,1761698728.853 [DAT](INFO): DAT read: Bearing 180.6, -9.6 (Local) 2025-10-29T00:45:28.854Z,1761698728.854 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, -9.6 (Local) 2025-10-29T00:45:28.874Z,1761698728.874 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 2025-10-29T00:45:28.899Z,1761698728.899 [DAT](INFO): DAT read: 00:45:28.3818 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.14,-0.417,-1.857, 0.073,-0.296, PHS=-0.019,-1.516, 0.324, RAW= 160.1, 14.2, CAL= 160.8, 16.4, ROT= 349.2, -16.4 2025-10-29T00:45:28.913Z,1761698728.913 [DAT](INFO): got valid direction response: 00:45:28.3818 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.14,-0.417,-1.857, 0.073,-0.296, PHS=-0.019,-1.516, 0.324, RAW= 160.1, 14.2, CAL= 160.8, 16.4, ROT= 349.2, -16.4 2025-10-29T00:45:28.913Z,1761698728.913 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T00:45:28.914Z,1761698728.914 [DAT](INFO): direction in FSK: [0.942322,-0.179757,0.282341] 2025-10-29T00:45:28.915Z,1761698728.915 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:28.935Z,1761698728.935 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.456795 2025-10-29T00:45:29.093Z,1761698729.093 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.614925 2025-10-29T00:45:29.311Z,1761698729.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967433,-0.238018,-0.086144],[0.247935,0.959603,0.133003],[0.051007,-0.150029,0.987365]] 2025-10-29T00:45:29.350Z,1761698729.350 [DAT](INFO): DAT read: Rx Time:00:45:28.8815 2025-10-29T00:45:29.352Z,1761698729.352 [DAT](INFO): Rx dataTimestamp_ set to:1761698729.350643 2025-10-29T00:45:29.356Z,1761698729.356 [DAT](INFO): DAT read: Bearing 181.5, -11.3 (Local) 2025-10-29T00:45:29.357Z,1761698729.357 [DAT](INFO): Local bearing/azimuth received: Bearing 181.5, -11.3 (Local) 2025-10-29T00:45:29.375Z,1761698729.375 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.4 2025-10-29T00:45:29.418Z,1761698729.418 [DAT](INFO): DAT read: 00:45:28.8815 LVL= 32752, 32753, 30770, 32755, AGC= 53, IDX= 498, 0.27,-1.187,-2.600,-0.646,-1.019, PHS=-0.066,-1.536, 0.330, RAW= 161.6, 14.8, CAL= 162.3, 17.4, ROT= 347.7, -17.4 2025-10-29T00:45:29.419Z,1761698729.419 [DAT](INFO): got valid direction response: 00:45:28.8815 LVL= 32752, 32753, 30770, 32755, AGC= 53, IDX= 498, 0.27,-1.187,-2.600,-0.646,-1.019, PHS=-0.066,-1.536, 0.330, RAW= 161.6, 14.8, CAL= 162.3, 17.4, ROT= 347.7, -17.4 2025-10-29T00:45:29.424Z,1761698729.424 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-29T00:45:29.425Z,1761698729.425 [DAT](INFO): direction in FSK: [0.932336,-0.203282,0.299041] 2025-10-29T00:45:29.425Z,1761698729.425 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:29.428Z,1761698729.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504841 s, deltaX: -0.100000 m, approachRate: -0.198083 m/s, rangeRepo size: 4 2025-10-29T00:45:29.430Z,1761698729.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.851200 m, bearing: 6.056866 deg, lat: 36.779284 deg, lon: -121.859547 deg, deltaT: 1.512214 s, deltaX: -0.695873 m, approachRate: -0.460169 m/s, posRepo size: 4 2025-10-29T00:45:29.431Z,1761698729.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.55 m. 2025-10-29T00:45:29.438Z,1761698729.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 8.006255 m, bearing: 5.569920 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.020822 deg, new cmd heading: 13.034768 deg. 2025-10-29T00:45:29.438Z,1761698729.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227500 target range: 9.547073 and range: 8.90 m. 2025-10-29T00:45:29.441Z,1761698729.441 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.962902 2025-10-29T00:45:29.597Z,1761698729.597 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.119061 2025-10-29T00:45:29.854Z,1761698729.854 [DAT](INFO): DAT read: Rx Time:00:45:29.3814 2025-10-29T00:45:29.856Z,1761698729.856 [DAT](INFO): Rx dataTimestamp_ set to:1761698729.854365 2025-10-29T00:45:29.866Z,1761698729.866 [DAT](INFO): DAT read: Bearing 181.3, -8.9 (Local) 2025-10-29T00:45:29.868Z,1761698729.868 [DAT](INFO): Local bearing/azimuth received: Bearing 181.3, -8.9 (Local) 2025-10-29T00:45:29.885Z,1761698729.885 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.5 2025-10-29T00:45:29.914Z,1761698729.914 [DAT](INFO): DAT read: 00:45:29.3814 LVL= 32752, 32753, 30882, 32755, AGC= 51, IDX= 497,-0.44, 2.940, 1.506,-2.896, 3.054, PHS=-0.012,-1.503, 0.289, RAW= 159.0, 14.6, CAL= 159.8, 16.9, ROT= 350.2, -16.9 2025-10-29T00:45:29.915Z,1761698729.915 [DAT](INFO): got valid direction response: 00:45:29.3814 LVL= 32752, 32753, 30882, 32755, AGC= 51, IDX= 497,-0.44, 2.940, 1.506,-2.896, 3.054, PHS=-0.012,-1.503, 0.289, RAW= 159.0, 14.6, CAL= 159.8, 16.9, ROT= 350.2, -16.9 2025-10-29T00:45:29.915Z,1761698729.915 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-29T00:45:29.925Z,1761698729.925 [DAT](INFO): direction in FSK: [0.942852,-0.162859,0.290702] 2025-10-29T00:45:29.925Z,1761698729.925 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:29.937Z,1761698729.937 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.458778 2025-10-29T00:45:30.054Z,1761698730.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 1.007438 s, deltaX: -0.599999 m, approachRate: -0.595570 m/s, rangeRepo size: 4 2025-10-29T00:45:30.060Z,1761698730.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.254424 m, bearing: 7.150395 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 2.519652 s, deltaX: -1.292649 m, approachRate: -0.513027 m/s, posRepo size: 4 2025-10-29T00:45:30.061Z,1761698730.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.55 m. 2025-10-29T00:45:30.063Z,1761698730.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 7.595507 m, bearing: 5.332646 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.034768 deg, new cmd heading: 13.049424 deg. 2025-10-29T00:45:30.077Z,1761698730.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227755 target range: 9.547073 and range: 8.30 m. 2025-10-29T00:45:30.101Z,1761698730.101 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.622925 2025-10-29T00:45:30.357Z,1761698730.357 [DAT](INFO): DAT read: Rx Time:00:45:29.8811 2025-10-29T00:45:30.359Z,1761698730.359 [DAT](INFO): Rx dataTimestamp_ set to:1761698730.358109 2025-10-29T00:45:30.363Z,1761698730.363 [DAT](INFO): DAT read: Bearing 180.6, -9.4 (Local) 2025-10-29T00:45:30.364Z,1761698730.364 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, -9.4 (Local) 2025-10-29T00:45:30.385Z,1761698730.385 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed 0.5 2025-10-29T00:45:30.401Z,1761698730.401 [DAT](INFO): DAT read: 00:45:29.8811 LVL= 32752, 32753, 30898, 32755, AGC= 51, IDX= 510,-0.20, 1.386,-0.059, 1.862, 1.500, PHS=-0.012,-1.515, 0.318, RAW= 159.7, 14.2, CAL= 160.4, 16.4, ROT= 349.6, -16.4 2025-10-29T00:45:30.402Z,1761698730.402 [DAT](INFO): got valid direction response: 00:45:29.8811 LVL= 32752, 32753, 30898, 32755, AGC= 51, IDX= 510,-0.20, 1.386,-0.059, 1.862, 1.500, PHS=-0.012,-1.515, 0.318, RAW= 159.7, 14.2, CAL= 160.4, 16.4, ROT= 349.6, -16.4 2025-10-29T00:45:30.403Z,1761698730.403 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-29T00:45:30.416Z,1761698730.416 [DAT](INFO): direction in FSK: [0.943554,-0.173174,0.282341] 2025-10-29T00:45:30.416Z,1761698730.416 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:30.453Z,1761698730.453 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.941750 2025-10-29T00:45:30.454Z,1761698730.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967664,-0.237590,-0.084724],[0.247372,0.959539,0.134503],[0.049339,-0.151112,0.987284]] 2025-10-29T00:45:30.515Z,1761698730.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.503744 s, deltaX: -0.500000 m, approachRate: -0.992568 m/s, rangeRepo size: 4 2025-10-29T00:45:30.529Z,1761698730.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.757169 m, bearing: 6.452975 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 3.023396 s, deltaX: -1.789904 m, approachRate: -0.592018 m/s, posRepo size: 4 2025-10-29T00:45:30.530Z,1761698730.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.76 m. 9.55 m. 2025-10-29T00:45:30.541Z,1761698730.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 7.310961 m, bearing: 5.153798 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.049424 deg, new cmd heading: 13.059961 deg. 2025-10-29T00:45:30.542Z,1761698730.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227939 target range: 9.547073 and range: 7.80 m. 2025-10-29T00:45:30.606Z,1761698730.606 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.127537 2025-10-29T00:45:30.862Z,1761698730.862 [DAT](INFO): DAT read: Rx Time:00:45:30.3810 2025-10-29T00:45:30.863Z,1761698730.863 [DAT](INFO): Rx dataTimestamp_ set to:1761698730.862510 2025-10-29T00:45:30.868Z,1761698730.868 [DAT](INFO): DAT read: Bearing 178.7, -10.9 (Local) 2025-10-29T00:45:30.869Z,1761698730.869 [DAT](INFO): Local bearing/azimuth received: Bearing 178.7, -10.9 (Local) 2025-10-29T00:45:30.879Z,1761698730.879 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.5 2025-10-29T00:45:30.883Z,1761698730.883 [DAT](INFO): DAT read: 00:45:30.3810 LVL= 32752, 32753, 27058, 32755, AGC= 50, IDX= 509,-0.01, 2.058, 0.618, 2.607, 2.168, PHS=-0.008,-1.505, 0.395, RAW= 161.6, 12.8, CAL= 162.0, 14.7, ROT= 348.0, -14.7 2025-10-29T00:45:30.909Z,1761698730.909 [DAT](INFO): got valid direction response: 00:45:30.3810 LVL= 32752, 32753, 27058, 32755, AGC= 50, IDX= 509,-0.01, 2.058, 0.618, 2.607, 2.168, PHS=-0.008,-1.505, 0.395, RAW= 161.6, 12.8, CAL= 162.0, 14.7, ROT= 348.0, -14.7 2025-10-29T00:45:30.909Z,1761698730.909 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-29T00:45:30.910Z,1761698730.910 [DAT](INFO): direction in FSK: [0.946131,-0.201106,0.253758] 2025-10-29T00:45:30.911Z,1761698730.911 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:30.914Z,1761698730.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967969,-0.237118,-0.082534],[0.246698,0.959340,0.137139],[0.046660,-0.153107,0.987107]] 2025-10-29T00:45:30.922Z,1761698730.922 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.444344 2025-10-29T00:45:31.047Z,1761698731.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504401 s, deltaX: -0.100000 m, approachRate: -0.198256 m/s, rangeRepo size: 4 2025-10-29T00:45:31.049Z,1761698731.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.657642 m, bearing: 4.566303 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 3.527797 s, deltaX: -1.889431 m, approachRate: -0.535584 m/s, posRepo size: 4 2025-10-29T00:45:31.050Z,1761698731.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.55 m. 2025-10-29T00:45:31.057Z,1761698731.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 6.982520 m, bearing: 4.840035 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.059961 deg, new cmd heading: 13.072113 deg. 2025-10-29T00:45:31.058Z,1761698731.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228151 target range: 9.547073 and range: 7.70 m. 2025-10-29T00:45:31.110Z,1761698731.110 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.631695 2025-10-29T00:45:31.309Z,1761698731.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968094,-0.236932,-0.081596],[0.246450,0.959150,0.138902],[0.045352,-0.154580,0.986939]] 2025-10-29T00:45:31.365Z,1761698731.365 [DAT](INFO): DAT read: Rx Time:00:45:30.8807 2025-10-29T00:45:31.367Z,1761698731.367 [DAT](INFO): Rx dataTimestamp_ set to:1761698731.366157 2025-10-29T00:45:31.371Z,1761698731.371 [DAT](INFO): DAT read: Bearing 178.2, -11.4 (Local) 2025-10-29T00:45:31.373Z,1761698731.373 [DAT](INFO): Local bearing/azimuth received: Bearing 178.2, -11.4 (Local) 2025-10-29T00:45:31.377Z,1761698731.377 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.5 2025-10-29T00:45:31.381Z,1761698731.381 [DAT](INFO): DAT read: 00:45:30.8807 LVL= 32752, 32753, 27314, 32755, AGC= 50, IDX= 506, 0.13, 1.060,-0.383, 1.626, 1.169, PHS=-0.007,-1.507, 0.413, RAW= 162.0, 12.5, CAL= 162.4, 14.4, ROT= 347.6, -14.4 2025-10-29T00:45:31.382Z,1761698731.382 [DAT](INFO): got valid direction response: 00:45:30.8807 LVL= 32752, 32753, 27314, 32755, AGC= 50, IDX= 506, 0.13, 1.060,-0.383, 1.626, 1.169, PHS=-0.007,-1.507, 0.413, RAW= 162.0, 12.5, CAL= 162.4, 14.4, ROT= 347.6, -14.4 2025-10-29T00:45:31.383Z,1761698731.383 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-29T00:45:31.384Z,1761698731.384 [DAT](INFO): direction in FSK: [0.945988,-0.207989,0.248690] 2025-10-29T00:45:31.384Z,1761698731.384 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:31.388Z,1761698731.388 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.909573 2025-10-29T00:45:31.411Z,1761698731.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503647 s, deltaX: -0.500000 m, approachRate: -0.992759 m/s, rangeRepo size: 4 2025-10-29T00:45:31.417Z,1761698731.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.160393 m, bearing: 4.128140 deg, lat: 36.779283 deg, lon: -121.859546 deg, deltaT: 4.031444 s, deltaX: -2.386681 m, approachRate: -0.592016 m/s, posRepo size: 4 2025-10-29T00:45:31.418Z,1761698731.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.55 m. 2025-10-29T00:45:31.426Z,1761698731.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 6.786902 m, bearing: 4.638985 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.072114 deg, new cmd heading: 13.080424 deg. 2025-10-29T00:45:31.427Z,1761698731.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228296 target range: 9.547073 and range: 7.20 m. 2025-10-29T00:45:31.613Z,1761698731.613 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.134991 2025-10-29T00:45:31.870Z,1761698731.870 [DAT](INFO): DAT read: Rx Time:00:45:31.3806 2025-10-29T00:45:31.874Z,1761698731.874 [DAT](INFO): Rx dataTimestamp_ set to:1761698731.870646 2025-10-29T00:45:31.876Z,1761698731.876 [DAT](INFO): DAT read: Bearing 178.9, -11.5 (Local) 2025-10-29T00:45:31.877Z,1761698731.877 [DAT](INFO): Local bearing/azimuth received: Bearing 178.9, -11.5 (Local) 2025-10-29T00:45:31.879Z,1761698731.879 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-29T00:45:31.888Z,1761698731.888 [DAT](INFO): DAT read: 00:45:31.3806 LVL= 32752, 32753, 30450, 32755, AGC= 49, IDX= 505, 0.28, 2.422, 0.982, 2.980, 2.544, PHS=-0.020,-1.518, 0.391, RAW= 161.8, 13.1, CAL= 162.3, 15.1, ROT= 347.7, -15.1 2025-10-29T00:45:31.897Z,1761698731.897 [DAT](INFO): got valid direction response: 00:45:31.3806 LVL= 32752, 32753, 30450, 32755, AGC= 49, IDX= 505, 0.28, 2.422, 0.982, 2.980, 2.544, PHS=-0.020,-1.518, 0.391, RAW= 161.8, 13.1, CAL= 162.3, 15.1, ROT= 347.7, -15.1 2025-10-29T00:45:31.897Z,1761698731.897 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T00:45:31.898Z,1761698731.898 [DAT](INFO): direction in FSK: [0.943311,-0.205675,0.260505] 2025-10-29T00:45:31.899Z,1761698731.899 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:31.914Z,1761698731.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.504489 s, deltaX: -0.100000 m, approachRate: -0.198220 m/s, rangeRepo size: 4 2025-10-29T00:45:31.926Z,1761698731.926 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.448147 2025-10-29T00:45:31.928Z,1761698731.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.060797 m, bearing: 4.339992 deg, lat: 36.779283 deg, lon: -121.859547 deg, deltaT: 4.535933 s, deltaX: -2.486276 m, approachRate: -0.548129 m/s, posRepo size: 4 2025-10-29T00:45:31.931Z,1761698731.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.06 m. 9.55 m. 2025-10-29T00:45:31.942Z,1761698731.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 6.493487 m, bearing: 4.310488 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 13.080424 deg, new cmd heading: 13.091938 deg. 2025-10-29T00:45:31.943Z,1761698731.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.228497 target range: 9.547073 and range: 7.10 m. 2025-10-29T00:45:32.117Z,1761698732.117 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.638908 2025-10-29T00:45:32.306Z,1761698732.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T00:45:32.309Z,1761698732.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 6.211381 m, bearing: 3.965118 deg, approach rate: -0.719839 m/s, LOS rate: -0.921287 deg/s, cmd heading: 13.091938 deg, new cmd heading: 12.369867 deg. 2025-10-29T00:45:32.310Z,1761698732.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.215895 target range: 9.547073 and range: 7.10 m. 2025-10-29T00:45:32.374Z,1761698732.374 [DAT](INFO): DAT read: Rx Time:00:45:31.8804 2025-10-29T00:45:32.376Z,1761698732.376 [DAT](INFO): Rx dataTimestamp_ set to:1761698732.374680 2025-10-29T00:45:32.377Z,1761698732.377 [DAT](INFO): DAT read: Bearing 177.3, -12.6 (Local) 2025-10-29T00:45:32.377Z,1761698732.377 [DAT](INFO): Local bearing/azimuth received: Bearing 177.3, -12.6 (Local) 2025-10-29T00:45:32.379Z,1761698732.379 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.4 2025-10-29T00:45:32.388Z,1761698732.388 [DAT](INFO): DAT read: 00:45:31.8804 LVL= 32752, 32753, 28450, 32755, AGC= 50, IDX= 503,-0.49,-0.744,-2.163,-0.139,-0.631, PHS=-0.011,-1.487, 0.449, RAW= 163.1, 12.0, CAL= 163.4, 13.6, ROT= 346.6, -13.6 2025-10-29T00:45:32.389Z,1761698732.389 [DAT](INFO): got valid direction response: 00:45:31.8804 LVL= 32752, 32753, 28450, 32755, AGC= 50, IDX= 503,-0.49,-0.744,-2.163,-0.139,-0.631, PHS=-0.011,-1.487, 0.449, RAW= 163.1, 12.0, CAL= 163.4, 13.6, ROT= 346.6, -13.6 2025-10-29T00:45:32.390Z,1761698732.390 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-29T00:45:32.391Z,1761698732.391 [DAT](INFO): direction in FSK: [0.945500,-0.225250,0.235142] 2025-10-29T00:45:32.391Z,1761698732.391 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:32.403Z,1761698732.403 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.924686 2025-10-29T00:45:32.621Z,1761698732.621 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.142921 2025-10-29T00:45:32.695Z,1761698732.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967898,-0.238171,-0.080293],[0.247702,0.958070,0.144037],[0.042621,-0.159302,0.986309]] 2025-10-29T00:45:32.791Z,1761698732.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.504034 s, deltaX: -0.300000 m, approachRate: -0.595197 m/s, rangeRepo size: 4 2025-10-29T00:45:32.797Z,1761698732.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.762454 m, bearing: 3.149336 deg, lat: 36.779285 deg, lon: -121.859548 deg, deltaT: 5.039967 s, deltaX: -2.784619 m, approachRate: -0.552507 m/s, posRepo size: 4 2025-10-29T00:45:32.798Z,1761698732.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.55 m. 2025-10-29T00:45:32.805Z,1761698732.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 5.947485 m, bearing: 3.608414 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.369867 deg, new cmd heading: 12.380950 deg. 2025-10-29T00:45:32.806Z,1761698732.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216088 target range: 9.547073 and range: 6.80 m. 2025-10-29T00:45:32.877Z,1761698732.877 [DAT](INFO): DAT read: Rx Time:00:45:32.3802 2025-10-29T00:45:32.877Z,1761698732.877 [DAT](INFO): Rx dataTimestamp_ set to:1761698732.876813 2025-10-29T00:45:32.878Z,1761698732.878 [DAT](INFO): DAT read: Bearing 176.6, -13.4 (Local) 2025-10-29T00:45:32.879Z,1761698732.879 [DAT](INFO): Local bearing/azimuth received: Bearing 176.6, -13.4 (Local) 2025-10-29T00:45:32.881Z,1761698732.881 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.5 2025-10-29T00:45:32.886Z,1761698732.886 [DAT](INFO): DAT read: 00:45:32.3802 LVL= 32752, 32753, 26946, 32755, AGC= 50, IDX= 501,-0.34,-0.795,-2.196,-0.157,-0.675, PHS=-0.017,-1.476, 0.474, RAW= 164.0, 11.6, CAL= 164.2, 13.2, ROT= 345.8, -13.2 2025-10-29T00:45:32.887Z,1761698732.887 [DAT](INFO): got valid direction response: 00:45:32.3802 LVL= 32752, 32753, 26946, 32755, AGC= 50, IDX= 501,-0.34,-0.795,-2.196,-0.157,-0.675, PHS=-0.017,-1.476, 0.474, RAW= 164.0, 11.6, CAL= 164.2, 13.2, ROT= 345.8, -13.2 2025-10-29T00:45:32.887Z,1761698732.887 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-29T00:45:32.889Z,1761698732.889 [DAT](INFO): direction in FSK: [0.943832,-0.238826,0.228351] 2025-10-29T00:45:32.889Z,1761698732.889 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:32.893Z,1761698732.893 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.414673 2025-10-29T00:45:33.091Z,1761698733.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967707,-0.238911,-0.080399],[0.248548,0.957505,0.146311],[0.042027,-0.161569,0.985966]] 2025-10-29T00:45:33.125Z,1761698733.125 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.646935 2025-10-29T00:45:33.201Z,1761698733.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.502133 s, deltaX: -0.300000 m, approachRate: -0.597452 m/s, rangeRepo size: 4 2025-10-29T00:45:33.203Z,1761698733.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.464129 m, bearing: 2.365028 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 5.542100 s, deltaX: -3.082944 m, approachRate: -0.556277 m/s, posRepo size: 4 2025-10-29T00:45:33.204Z,1761698733.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.55 m. 2025-10-29T00:45:33.210Z,1761698733.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 5.683878 m, bearing: 3.229519 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.380950 deg, new cmd heading: 12.390207 deg. 2025-10-29T00:45:33.211Z,1761698733.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216250 target range: 9.547073 and range: 6.50 m. 2025-10-29T00:45:33.378Z,1761698733.378 [DAT](INFO): DAT read: Rx Time:00:45:32.8799 2025-10-29T00:45:33.378Z,1761698733.378 [DAT](INFO): Rx dataTimestamp_ set to:1761698733.378029 2025-10-29T00:45:33.380Z,1761698733.380 [DAT](INFO): DAT read: Bearing 176.5, -14.4 (Local) 2025-10-29T00:45:33.380Z,1761698733.380 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -14.4 (Local) 2025-10-29T00:45:33.382Z,1761698733.382 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-29T00:45:33.387Z,1761698733.387 [DAT](INFO): DAT read: 00:45:32.8799 LVL= 32752, 32753, 26450, 32755, AGC= 49, IDX= 498,-0.26,-1.346,-2.725,-0.675,-1.209, PHS=-0.035,-1.471, 0.490, RAW= 165.0, 11.5, CAL= 165.1, 13.2, ROT= 344.9, -13.2 2025-10-29T00:45:33.388Z,1761698733.388 [DAT](INFO): got valid direction response: 00:45:32.8799 LVL= 32752, 32753, 26450, 32755, AGC= 49, IDX= 498,-0.26,-1.346,-2.725,-0.675,-1.209, PHS=-0.035,-1.471, 0.490, RAW= 165.0, 11.5, CAL= 165.1, 13.2, ROT= 344.9, -13.2 2025-10-29T00:45:33.388Z,1761698733.388 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-29T00:45:33.389Z,1761698733.389 [DAT](INFO): direction in FSK: [0.939964,-0.253622,0.228351] 2025-10-29T00:45:33.390Z,1761698733.390 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:33.394Z,1761698733.394 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.915474 2025-10-29T00:45:33.545Z,1761698733.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967408,-0.240056,-0.080588],[0.249814,0.956803,0.148732],[0.041403,-0.164016,0.985588]] 2025-10-29T00:45:33.629Z,1761698733.629 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.150936 2025-10-29T00:45:33.659Z,1761698733.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.501216 s, deltaX: -0.300000 m, approachRate: -0.598545 m/s, rangeRepo size: 4 2025-10-29T00:45:33.661Z,1761698733.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165785 m, bearing: 1.571542 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 6.043316 s, deltaX: -3.381289 m, approachRate: -0.559509 m/s, posRepo size: 4 2025-10-29T00:45:33.662Z,1761698733.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.55 m. 2025-10-29T00:45:33.665Z,1761698733.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 5.396042 m, bearing: 2.768815 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.390206 deg, new cmd heading: 12.400776 deg. 2025-10-29T00:45:33.665Z,1761698733.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216434 target range: 9.547073 and range: 6.20 m. 2025-10-29T00:45:33.882Z,1761698733.882 [DAT](INFO): DAT read: Rx Time:00:45:33.3798 2025-10-29T00:45:33.882Z,1761698733.882 [DAT](INFO): Rx dataTimestamp_ set to:1761698733.881974 2025-10-29T00:45:33.884Z,1761698733.884 [DAT](INFO): DAT read: Bearing 174.4, -16.3 (Local) 2025-10-29T00:45:33.884Z,1761698733.884 [DAT](INFO): Local bearing/azimuth received: Bearing 174.4, -16.3 (Local) 2025-10-29T00:45:33.887Z,1761698733.887 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.5 2025-10-29T00:45:33.897Z,1761698733.897 [DAT](INFO): DAT read: 00:45:33.3798 LVL= 32752, 32753, 24306, 32755, AGC= 48, IDX= 497,-0.13,-0.542,-1.905, 0.228,-0.398, PHS=-0.042,-1.462, 0.582, RAW= 167.3, 10.2, CAL= 167.3, 11.3, ROT= 342.7, -11.3 2025-10-29T00:45:33.899Z,1761698733.899 [DAT](INFO): got valid direction response: 00:45:33.3798 LVL= 32752, 32753, 24306, 32755, AGC= 48, IDX= 497,-0.13,-0.542,-1.905, 0.228,-0.398, PHS=-0.042,-1.462, 0.582, RAW= 167.3, 10.2, CAL= 167.3, 11.3, ROT= 342.7, -11.3 2025-10-29T00:45:33.900Z,1761698733.900 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-29T00:45:33.906Z,1761698733.906 [DAT](INFO): direction in FSK: [0.936253,-0.291610,0.195946] 2025-10-29T00:45:33.906Z,1761698733.906 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:33.919Z,1761698733.919 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.440750 2025-10-29T00:45:34.008Z,1761698734.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967154,-0.241368,-0.079720],[0.250908,0.956742,0.147272],[0.040725,-0.162437,0.985878]] 2025-10-29T00:45:34.125Z,1761698734.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.503945 s, deltaX: -0.200000 m, approachRate: -0.396868 m/s, rangeRepo size: 4 2025-10-29T00:45:34.127Z,1761698734.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967002 m, bearing: 359.091680 deg, lat: 36.779287 deg, lon: -121.859548 deg, deltaT: 6.547261 s, deltaX: -3.580071 m, approachRate: -0.546804 m/s, posRepo size: 4 2025-10-29T00:45:34.133Z,1761698734.133 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.654984 2025-10-29T00:45:34.134Z,1761698734.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.97 m. 9.55 m. 2025-10-29T00:45:34.140Z,1761698734.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 5.118457 m, bearing: 2.387177 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.400776 deg, new cmd heading: 12.411327 deg. 2025-10-29T00:45:34.141Z,1761698734.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216619 target range: 9.547073 and range: 6.00 m. 2025-10-29T00:45:34.386Z,1761698734.386 [DAT](INFO): DAT read: Rx Time:00:45:33.8795 2025-10-29T00:45:34.386Z,1761698734.386 [DAT](INFO): Rx dataTimestamp_ set to:1761698734.385956 2025-10-29T00:45:34.388Z,1761698734.388 [DAT](INFO): DAT read: Bearing 175.2, -17.6 (Local) 2025-10-29T00:45:34.388Z,1761698734.388 [DAT](INFO): Local bearing/azimuth received: Bearing 175.2, -17.6 (Local) 2025-10-29T00:45:34.390Z,1761698734.390 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 2025-10-29T00:45:34.395Z,1761698734.395 [DAT](INFO): DAT read: 00:45:33.8795 LVL= 32752, 32753, 28818, 32755, AGC= 48, IDX= 510,-0.10,-1.336,-2.671,-0.526,-1.155, PHS=-0.079,-1.471, 0.585, RAW= 168.4, 10.6, CAL= 168.5, 12.0, ROT= 341.5, -12.0 2025-10-29T00:45:34.396Z,1761698734.396 [DAT](INFO): got valid direction response: 00:45:33.8795 LVL= 32752, 32753, 28818, 32755, AGC= 48, IDX= 510,-0.10,-1.336,-2.671,-0.526,-1.155, PHS=-0.079,-1.471, 0.585, RAW= 168.4, 10.6, CAL= 168.5, 12.0, ROT= 341.5, -12.0 2025-10-29T00:45:34.396Z,1761698734.396 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-29T00:45:34.397Z,1761698734.397 [DAT](INFO): direction in FSK: [0.927601,-0.310371,0.207912] 2025-10-29T00:45:34.397Z,1761698734.397 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:34.410Z,1761698734.410 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.931915 2025-10-29T00:45:34.499Z,1761698734.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966869,-0.243823,-0.075593],[0.252487,0.957052,0.142483],[0.037606,-0.156849,0.986906]] 2025-10-29T00:45:34.570Z,1761698734.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503982 s, deltaX: -0.400000 m, approachRate: -0.793679 m/s, rangeRepo size: 4 2025-10-29T00:45:34.577Z,1761698734.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.569202 m, bearing: 358.012176 deg, lat: 36.779287 deg, lon: -121.859549 deg, deltaT: 7.051243 s, deltaX: -3.977871 m, approachRate: -0.564138 m/s, posRepo size: 4 2025-10-29T00:45:34.578Z,1761698734.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.55 m. 2025-10-29T00:45:34.584Z,1761698734.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 4.843705 m, bearing: 1.960881 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.411327 deg, new cmd heading: 12.421592 deg. 2025-10-29T00:45:34.585Z,1761698734.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216798 target range: 9.547073 and range: 5.60 m. 2025-10-29T00:45:34.638Z,1761698734.638 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.159649 2025-10-29T00:45:34.885Z,1761698734.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967151,-0.243297,-0.073660],[0.251740,0.956928,0.144620],[0.035301,-0.158412,0.986742]] 2025-10-29T00:45:34.890Z,1761698734.890 [DAT](INFO): DAT read: Rx Time:00:45:34.3794 2025-10-29T00:45:34.890Z,1761698734.890 [DAT](INFO): Rx dataTimestamp_ set to:1761698734.889701 2025-10-29T00:45:34.891Z,1761698734.891 [DAT](INFO): DAT read: Bearing 176.2, -18.9 (Local) 2025-10-29T00:45:34.892Z,1761698734.892 [DAT](INFO): Local bearing/azimuth received: Bearing 176.2, -18.9 (Local) 2025-10-29T00:45:34.894Z,1761698734.894 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.5 2025-10-29T00:45:34.898Z,1761698734.898 [DAT](INFO): DAT read: 00:45:34.3794 LVL= 32752, 32753, 32338, 32755, AGC= 47, IDX= 509,-0.06, 0.895,-0.426, 1.749, 1.119, PHS=-0.122,-1.500, 0.587, RAW= 169.5, 11.3, CAL= 169.6, 13.0, ROT= 340.4, -13.0 2025-10-29T00:45:34.899Z,1761698734.899 [DAT](INFO): got valid direction response: 00:45:34.3794 LVL= 32752, 32753, 32338, 32755, AGC= 47, IDX= 509,-0.06, 0.895,-0.426, 1.749, 1.119, PHS=-0.122,-1.500, 0.587, RAW= 169.5, 11.3, CAL= 169.6, 13.0, ROT= 340.4, -13.0 2025-10-29T00:45:34.900Z,1761698734.900 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-29T00:45:34.901Z,1761698734.901 [DAT](INFO): direction in FSK: [0.917913,-0.326854,0.224951] 2025-10-29T00:45:34.901Z,1761698734.901 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:34.905Z,1761698734.905 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.426517 2025-10-29T00:45:35.057Z,1761698735.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503745 s, deltaX: -0.200000 m, approachRate: -0.397026 m/s, rangeRepo size: 4 2025-10-29T00:45:35.059Z,1761698735.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.370283 m, bearing: 357.039449 deg, lat: 36.779287 deg, lon: -121.859551 deg, deltaT: 7.554988 s, deltaX: -4.176791 m, approachRate: -0.552852 m/s, posRepo size: 4 2025-10-29T00:45:35.064Z,1761698735.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.55 m. 2025-10-29T00:45:35.066Z,1761698735.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 4.549062 m, bearing: 1.608813 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.421592 deg, new cmd heading: 12.432537 deg. 2025-10-29T00:45:35.067Z,1761698735.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216989 target range: 9.547073 and range: 5.40 m. 2025-10-29T00:45:35.142Z,1761698735.142 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.663414 2025-10-29T00:45:35.379Z,1761698735.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967749,-0.241528,-0.071592],[0.249797,0.956816,0.148673],[0.032591,-0.161762,0.986292]] 2025-10-29T00:45:35.398Z,1761698735.398 [DAT](INFO): DAT read: Rx Time:00:45:34.8791 2025-10-29T00:45:35.398Z,1761698735.398 [DAT](INFO): Rx dataTimestamp_ set to:1761698735.397784 2025-10-29T00:45:35.399Z,1761698735.399 [DAT](INFO): DAT read: Bearing 177.1, -21.0 (Local) 2025-10-29T00:45:35.403Z,1761698735.403 [DAT](INFO): Local bearing/azimuth received: Bearing 177.1, -21.0 (Local) 2025-10-29T00:45:35.412Z,1761698735.412 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 2025-10-29T00:45:35.417Z,1761698735.417 [DAT](INFO): DAT read: 00:45:34.8791 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 506,-0.03,-0.017,-1.308, 0.908, 0.266, PHS=-0.182,-1.529, 0.598, RAW= 171.2, 11.9, CAL= 171.3, 14.1, ROT= 338.7, -14.1 2025-10-29T00:45:35.418Z,1761698735.418 [DAT](INFO): got valid direction response: 00:45:34.8791 LVL= 32752, 32753, 32754, 32755, AGC= 44, IDX= 506,-0.03,-0.017,-1.308, 0.908, 0.266, PHS=-0.182,-1.529, 0.598, RAW= 171.2, 11.9, CAL= 171.3, 14.1, ROT= 338.7, -14.1 2025-10-29T00:45:35.418Z,1761698735.418 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T00:45:35.419Z,1761698735.419 [DAT](INFO): direction in FSK: [0.903621,-0.352307,0.243615] 2025-10-29T00:45:35.420Z,1761698735.420 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:35.423Z,1761698735.423 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.945160 2025-10-29T00:45:35.506Z,1761698735.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.508083 s, deltaX: -0.400000 m, approachRate: -0.787273 m/s, rangeRepo size: 4 2025-10-29T00:45:35.521Z,1761698735.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.972484 m, bearing: 355.439287 deg, lat: 36.779287 deg, lon: -121.859551 deg, deltaT: 8.063071 s, deltaX: -4.574590 m, approachRate: -0.567351 m/s, posRepo size: 4 2025-10-29T00:45:35.522Z,1761698735.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.55 m. 2025-10-29T00:45:35.530Z,1761698735.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 4.289954 m, bearing: 1.265707 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.432537 deg, new cmd heading: 12.442990 deg. 2025-10-29T00:45:35.531Z,1761698735.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217171 target range: 9.547073 and range: 5.00 m. 2025-10-29T00:45:35.649Z,1761698735.649 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.171066 2025-10-29T00:45:35.892Z,1761698735.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968396,-0.239655,-0.069099],[0.247623,0.956973,0.151280],[0.029871,-0.163610,0.986073]] 2025-10-29T00:45:35.902Z,1761698735.902 [DAT](INFO): DAT read: Rx Time:00:45:35.3791 2025-10-29T00:45:35.902Z,1761698735.902 [DAT](INFO): Rx dataTimestamp_ set to:1761698735.901813 2025-10-29T00:45:35.903Z,1761698735.903 [DAT](INFO): DAT read: Bearing 175.0, -22.7 (Local) 2025-10-29T00:45:35.904Z,1761698735.904 [DAT](INFO): Local bearing/azimuth received: Bearing 175.0, -22.7 (Local) 2025-10-29T00:45:35.906Z,1761698735.906 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.5 2025-10-29T00:45:35.910Z,1761698735.910 [DAT](INFO): DAT read: 00:45:35.3791 LVL= 32752, 32753, 30562, 32755, AGC= 43, IDX= 505, 0.08, 1.505, 0.225, 2.529, 1.801, PHS=-0.194,-1.530, 0.685, RAW= 173.2, 10.8, CAL= 173.2, 12.5, ROT= 336.8, -12.5 2025-10-29T00:45:35.912Z,1761698735.912 [DAT](INFO): got valid direction response: 00:45:35.3791 LVL= 32752, 32753, 30562, 32755, AGC= 43, IDX= 505, 0.08, 1.505, 0.225, 2.529, 1.801, PHS=-0.194,-1.530, 0.685, RAW= 173.2, 10.8, CAL= 173.2, 12.5, ROT= 336.8, -12.5 2025-10-29T00:45:35.912Z,1761698735.912 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T00:45:35.913Z,1761698735.913 [DAT](INFO): direction in FSK: [0.897348,-0.384604,0.216440] 2025-10-29T00:45:35.913Z,1761698735.913 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:35.922Z,1761698735.922 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.443462 2025-10-29T00:45:36.010Z,1761698736.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504029 s, deltaX: -0.200000 m, approachRate: -0.396802 m/s, rangeRepo size: 4 2025-10-29T00:45:36.016Z,1761698736.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.773509 m, bearing: 353.183240 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 8.567100 s, deltaX: -4.773564 m, approachRate: -0.557197 m/s, posRepo size: 4 2025-10-29T00:45:36.017Z,1761698736.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.55 m. 2025-10-29T00:45:36.020Z,1761698736.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 3.952392 m, bearing: 0.907559 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.442989 deg, new cmd heading: 12.454500 deg. 2025-10-29T00:45:36.025Z,1761698736.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217372 target range: 9.547073 and range: 4.80 m. 2025-10-29T00:45:36.153Z,1761698736.153 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.675320 2025-10-29T00:45:36.371Z,1761698736.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969021,-0.237990,-0.066023],[0.245479,0.957495,0.151468],[0.027169,-0.162983,0.986255]] 2025-10-29T00:45:36.405Z,1761698736.405 [DAT](INFO): DAT read: Rx Time:00:45:35.8788 2025-10-29T00:45:36.406Z,1761698736.406 [DAT](INFO): Rx dataTimestamp_ set to:1761698736.405682 2025-10-29T00:45:36.407Z,1761698736.407 [DAT](INFO): DAT read: Bearing 176.7, -24.8 (Local) 2025-10-29T00:45:36.408Z,1761698736.408 [DAT](INFO): Local bearing/azimuth received: Bearing 176.7, -24.8 (Local) 2025-10-29T00:45:36.410Z,1761698736.410 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.5 2025-10-29T00:45:36.414Z,1761698736.414 [DAT](INFO): DAT read: 00:45:35.8788 LVL= 32752, 32753, 30450, 32755, AGC= 44, IDX= 502, 0.13, 0.822,-0.422, 1.924, 1.197, PHS=-0.273,-1.574, 0.683, RAW= 175.0, 11.8, CAL= 175.0, 14.2, ROT= 335.0, -14.2 2025-10-29T00:45:36.415Z,1761698736.415 [DAT](INFO): got valid direction response: 00:45:35.8788 LVL= 32752, 32753, 30450, 32755, AGC= 44, IDX= 502, 0.13, 0.822,-0.422, 1.924, 1.197, PHS=-0.273,-1.574, 0.683, RAW= 175.0, 11.8, CAL= 175.0, 14.2, ROT= 335.0, -14.2 2025-10-29T00:45:36.416Z,1761698736.416 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T00:45:36.417Z,1761698736.417 [DAT](INFO): direction in FSK: [0.878616,-0.409705,0.245307] 2025-10-29T00:45:36.417Z,1761698736.417 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:36.421Z,1761698736.421 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.942757 2025-10-29T00:45:36.473Z,1761698736.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503869 s, deltaX: -0.400000 m, approachRate: -0.793857 m/s, rangeRepo size: 4 2025-10-29T00:45:36.475Z,1761698736.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.375717 m, bearing: 351.496450 deg, lat: 36.779287 deg, lon: -121.859553 deg, deltaT: 9.070969 s, deltaX: -5.171357 m, approachRate: -0.570100 m/s, posRepo size: 4 2025-10-29T00:45:36.494Z,1761698736.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.38 m. 9.55 m. 2025-10-29T00:45:36.500Z,1761698736.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 3.680436 m, bearing: 0.580579 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.454500 deg, new cmd heading: 12.464246 deg. 2025-10-29T00:45:36.501Z,1761698736.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217542 target range: 9.547073 and range: 4.40 m. 2025-10-29T00:45:36.657Z,1761698736.657 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.179092 2025-10-29T00:45:36.877Z,1761698736.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970403,-0.233656,-0.061012],[0.240512,0.957836,0.157176],[0.021715,-0.167198,0.985684]] 2025-10-29T00:45:36.909Z,1761698736.909 [DAT](INFO): DAT read: Rx Time:00:45:36.3786 2025-10-29T00:45:36.910Z,1761698736.910 [DAT](INFO): Rx dataTimestamp_ set to:1761698736.909680 2025-10-29T00:45:36.911Z,1761698736.911 [DAT](INFO): DAT read: Bearing 178.4, -26.4 (Local) 2025-10-29T00:45:36.912Z,1761698736.912 [DAT](INFO): Local bearing/azimuth received: Bearing 178.4, -26.4 (Local) 2025-10-29T00:45:36.914Z,1761698736.914 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.5 2025-10-29T00:45:36.918Z,1761698736.918 [DAT](INFO): DAT read: 00:45:36.3786 LVL= 32752, 32753, 26050, 32755, AGC= 46, IDX= 500, 0.13, 1.991, 0.778,-3.137, 2.432, PHS=-0.340,-1.609, 0.669, RAW= 176.2, 12.9, CAL= 176.3, 15.9, ROT= 333.7, -15.9 2025-10-29T00:45:36.919Z,1761698736.919 [DAT](INFO): got valid direction response: 00:45:36.3786 LVL= 32752, 32753, 26050, 32755, AGC= 46, IDX= 500, 0.13, 1.991, 0.778,-3.137, 2.432, PHS=-0.340,-1.609, 0.669, RAW= 176.2, 12.9, CAL= 176.3, 15.9, ROT= 333.7, -15.9 2025-10-29T00:45:36.920Z,1761698736.920 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-29T00:45:36.921Z,1761698736.921 [DAT](INFO): direction in FSK: [0.862188,-0.426120,0.273959] 2025-10-29T00:45:36.921Z,1761698736.921 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:36.925Z,1761698736.925 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.446587 2025-10-29T00:45:36.989Z,1761698736.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503998 s, deltaX: -0.300000 m, approachRate: -0.595241 m/s, rangeRepo size: 4 2025-10-29T00:45:36.991Z,1761698736.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.077091 m, bearing: 350.266733 deg, lat: 36.779286 deg, lon: -121.859554 deg, deltaT: 9.574967 s, deltaX: -5.469983 m, approachRate: -0.571280 m/s, posRepo size: 4 2025-10-29T00:45:36.993Z,1761698736.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.55 m. 2025-10-29T00:45:36.996Z,1761698736.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 3.354445 m, bearing: 0.385535 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.464246 deg, new cmd heading: 12.476882 deg. 2025-10-29T00:45:37.009Z,1761698737.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.217763 target range: 9.547073 and range: 4.10 m. 2025-10-29T00:45:37.161Z,1761698737.161 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.683022 2025-10-29T00:45:37.373Z,1761698737.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971089,-0.231483,-0.058319],[0.237964,0.958081,0.159542],[0.018943,-0.168808,0.985467]] 2025-10-29T00:45:37.391Z,1761698737.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:37.410Z,1761698737.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T00:45:37.414Z,1761698737.414 [DAT](INFO): DAT read: Rx Time:00:45:36.8783 2025-10-29T00:45:37.414Z,1761698737.414 [DAT](INFO): Rx dataTimestamp_ set to:1761698737.413801 2025-10-29T00:45:37.415Z,1761698737.415 [DAT](INFO): DAT read: Bearing 178.7, -28.4 (Local) 2025-10-29T00:45:37.416Z,1761698737.416 [DAT](INFO): Local bearing/azimuth received: Bearing 178.7, -28.4 (Local) 2025-10-29T00:45:37.418Z,1761698737.418 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed 0.5 2025-10-29T00:45:37.422Z,1761698737.422 [DAT](INFO): DAT read: 00:45:36.8783 LVL= 32752, 32753, 29170, 32755, AGC= 44, IDX= 497, 0.29, 0.726,-0.434, 1.961, 1.223, PHS=-0.395,-1.612, 0.694, RAW= 178.2, 13.1, CAL= 178.2, 16.4, ROT= 331.8, -16.4 2025-10-29T00:45:37.424Z,1761698737.424 [DAT](INFO): got valid direction response: 00:45:36.8783 LVL= 32752, 32753, 29170, 32755, AGC= 44, IDX= 497, 0.29, 0.726,-0.434, 1.961, 1.223, PHS=-0.395,-1.612, 0.694, RAW= 178.2, 13.1, CAL= 178.2, 16.4, ROT= 331.8, -16.4 2025-10-29T00:45:37.424Z,1761698737.424 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-29T00:45:37.425Z,1761698737.425 [DAT](INFO): direction in FSK: [0.845447,-0.453325,0.282341] 2025-10-29T00:45:37.425Z,1761698737.425 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:37.429Z,1761698737.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 3.074478 m, bearing: 0.197894 deg, approach rate: -0.665326 m/s, LOS rate: -0.486525 deg/s, cmd heading: 12.476882 deg, new cmd heading: 12.067432 deg. 2025-10-29T00:45:37.430Z,1761698737.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210616 target range: 9.547073 and range: 4.10 m. 2025-10-29T00:45:37.438Z,1761698737.438 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.960083 2025-10-29T00:45:37.665Z,1761698737.665 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.187096 2025-10-29T00:45:37.838Z,1761698737.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971484,-0.230548,-0.055369],[0.236532,0.958550,0.158853],[0.016450,-0.167419,0.985749]] 2025-10-29T00:45:37.917Z,1761698737.917 [DAT](INFO): DAT read: Rx Time:00:45:37.3782 2025-10-29T00:45:37.918Z,1761698737.918 [DAT](INFO): Rx dataTimestamp_ set to:1761698737.917376 2025-10-29T00:45:37.919Z,1761698737.919 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed 0.4 2025-10-29T00:45:37.919Z,1761698737.919 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-29T00:45:37.943Z,1761698737.943 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.464661 2025-10-29T00:45:38.010Z,1761698738.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 1.007696 s, deltaX: -0.600000 m, approachRate: -0.595418 m/s, rangeRepo size: 4 2025-10-29T00:45:38.013Z,1761698738.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480347 m, bearing: 348.226913 deg, lat: 36.779286 deg, lon: -121.859555 deg, deltaT: 10.582663 s, deltaX: -6.066726 m, approachRate: -0.573270 m/s, posRepo size: 4 2025-10-29T00:45:38.014Z,1761698738.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.48 m. 9.55 m. 2025-10-29T00:45:38.016Z,1761698738.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 2.684242 m, bearing: 359.784989 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 12.067432 deg, new cmd heading: 12.081148 deg. 2025-10-29T00:45:38.017Z,1761698738.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210856 target range: 9.547073 and range: 3.50 m. 2025-10-29T00:45:38.169Z,1761698738.169 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.690845 2025-10-29T00:45:38.372Z,1761698738.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971643,-0.230486,-0.052777],[0.236006,0.959036,0.156685],[0.014501,-0.164698,0.986237]] 2025-10-29T00:45:38.399Z,1761698738.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T00:45:38.402Z,1761698738.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 2.434479 m, bearing: 359.455218 deg, approach rate: -0.642791 m/s, LOS rate: -0.935771 deg/s, cmd heading: 12.081148 deg, new cmd heading: 11.353983 deg. 2025-10-29T00:45:38.403Z,1761698738.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198164 target range: 9.547073 and range: 3.50 m. 2025-10-29T00:45:38.443Z,1761698738.443 [DAT](INFO): DAT read: Rx Time:00:45:37.8780 2025-10-29T00:45:38.444Z,1761698738.444 [DAT](INFO): Rx dataTimestamp_ set to:1761698738.443845 2025-10-29T00:45:38.446Z,1761698738.446 [DAT](INFO): DAT read: Bearing 182.7, -34.4 (Local) 2025-10-29T00:45:38.447Z,1761698738.447 [DAT](INFO): Local bearing/azimuth received: Bearing 182.7, -34.4 (Local) 2025-10-29T00:45:38.452Z,1761698738.452 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.4 2025-10-29T00:45:38.480Z,1761698738.480 [DAT](INFO): DAT read: 00:45:37.8780 LVL= 30064, 27105, 19346, 32755, AGC= 41, IDX= 510,-0.08,-2.940, 2.369,-1.469,-2.223, PHS=-0.615,-1.646, 0.710, RAW= 184.1, 15.0, CAL= 184.1, 19.7, ROT= 325.9, -19.7 2025-10-29T00:45:38.481Z,1761698738.481 [DAT](INFO): got valid direction response: 00:45:37.8780 LVL= 30064, 27105, 19346, 32755, AGC= 41, IDX= 510,-0.08,-2.940, 2.369,-1.469,-2.223, PHS=-0.615,-1.646, 0.710, RAW= 184.1, 15.0, CAL= 184.1, 19.7, ROT= 325.9, -19.7 2025-10-29T00:45:38.482Z,1761698738.482 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-29T00:45:38.483Z,1761698738.483 [DAT](INFO): direction in FSK: [0.779594,-0.527825,0.337095] 2025-10-29T00:45:38.483Z,1761698738.483 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:38.497Z,1761698738.497 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.018822 2025-10-29T00:45:38.693Z,1761698738.693 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.214893 2025-10-29T00:45:38.730Z,1761698738.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971589,-0.231483,-0.049294],[0.236356,0.959788,0.151472],[0.012249,-0.158819,0.987232]] 2025-10-29T00:45:38.877Z,1761698738.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.526469 s, deltaX: -0.300000 m, approachRate: -0.569834 m/s, rangeRepo size: 4 2025-10-29T00:45:38.879Z,1761698738.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.182134 m, bearing: 342.550032 deg, lat: 36.779287 deg, lon: -121.859555 deg, deltaT: 11.109132 s, deltaX: -6.364939 m, approachRate: -0.572947 m/s, posRepo size: 4 2025-10-29T00:45:38.884Z,1761698738.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.18 m. 9.55 m. 2025-10-29T00:45:38.887Z,1761698738.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547073 m, nav range: 2.189129 m, bearing: 359.057757 deg, approach rate: 0.000000 m/s, LOS rate: 0.011426 deg/s, cmd heading: 11.353983 deg, new cmd heading: 11.364909 deg. 2025-10-29T00:45:38.887Z,1761698738.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198355 target range: 9.547073 and range: 3.20 m. 2025-10-29T00:45:38.949Z,1761698738.949 [DAT](INFO): DAT read: Rx Time:00:45:38.3779 2025-10-29T00:45:38.950Z,1761698738.950 [DAT](INFO): Rx dataTimestamp_ set to:1761698738.949307 2025-10-29T00:45:38.952Z,1761698738.952 [DAT](INFO): DAT read: Bearing 190.2, -38.3 (Local) 2025-10-29T00:45:38.953Z,1761698738.953 [DAT](INFO): Local bearing/azimuth received: Bearing 190.2, -38.3 (Local) 2025-10-29T00:45:38.956Z,1761698738.956 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed 0.4 2025-10-29T00:45:38.975Z,1761698738.975 [DAT](INFO): DAT read: 00:45:38.3779 LVL= 32352, 29553, 21042, 32755, AGC= 40, IDX= 509, 0.20,-1.568,-2.315, 0.022,-0.645, PHS=-0.821,-1.625, 0.623, RAW= 189.3, 18.1, CAL= 188.8, 25.0, ROT= 321.2, -25.0 2025-10-29T00:45:38.978Z,1761698738.978 [DAT](INFO): got valid direction response: 00:45:38.3779 LVL= 32352, 29553, 21042, 32755, AGC= 40, IDX= 509, 0.20,-1.568,-2.315, 0.022,-0.645, PHS=-0.821,-1.625, 0.623, RAW= 189.3, 18.1, CAL= 188.8, 25.0, ROT= 321.2, -25.0 2025-10-29T00:45:38.979Z,1761698738.979 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-29T00:45:38.994Z,1761698738.994 [DAT](INFO): direction in FSK: [0.706320,-0.567896,0.422618] 2025-10-29T00:45:38.994Z,1761698738.994 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:39.008Z,1761698739.008 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.525738 2025-10-29T00:45:39.147Z,1761698739.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971518,-0.232471,-0.045943],[0.236746,0.960582,0.145715],[0.010257,-0.152442,0.988259]] 2025-10-29T00:45:39.197Z,1761698739.197 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.718945 2025-10-29T00:45:39.245Z,1761698739.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.505462 s, deltaX: -0.200000 m, approachRate: -0.395678 m/s, rangeRepo size: 4 2025-10-29T00:45:39.247Z,1761698739.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983251 m, bearing: 338.372639 deg, lat: 36.779287 deg, lon: -121.859555 deg, deltaT: 11.614594 s, deltaX: -6.563822 m, approachRate: -0.565136 m/s, posRepo size: 4 2025-10-29T00:45:39.248Z,1761698739.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 3.00 m. 2025-10-29T00:45:39.248Z,1761698739.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-29T00:45:39.451Z,1761698739.451 [DAT](INFO): DAT read: Rx Time:00:45:38.8777 2025-10-29T00:45:39.452Z,1761698739.452 [DAT](INFO): Rx dataTimestamp_ set to:1761698739.451263 2025-10-29T00:45:39.454Z,1761698739.454 [DAT](INFO): DAT read: Bearing 197.9, -41.6 (Local) 2025-10-29T00:45:39.454Z,1761698739.454 [DAT](INFO): Local bearing/azimuth received: Bearing 197.9, -41.6 (Local) 2025-10-29T00:45:39.458Z,1761698739.458 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.4 2025-10-29T00:45:39.483Z,1761698739.483 [DAT](INFO): DAT read: 00:45:38.8777 LVL= 32752, 32049, 20578, 32755, AGC= 41, IDX= 507,-0.21, 0.679, 0.167, 2.385, 1.799, PHS=-1.018,-1.587, 0.542, RAW= 195.0, 20.9, CAL= 193.7, 29.8, ROT= 316.3, -29.8 2025-10-29T00:45:39.484Z,1761698739.484 [DAT](INFO): got valid direction response: 00:45:38.8777 LVL= 32752, 32049, 20578, 32755, AGC= 41, IDX= 507,-0.21, 0.679, 0.167, 2.385, 1.799, PHS=-1.018,-1.587, 0.542, RAW= 195.0, 20.9, CAL= 193.7, 29.8, ROT= 316.3, -29.8 2025-10-29T00:45:39.485Z,1761698739.485 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-29T00:45:39.486Z,1761698739.486 [DAT](INFO): direction in FSK: [0.627366,-0.599524,0.496974] 2025-10-29T00:45:39.486Z,1761698739.486 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:39.525Z,1761698739.525 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.046974 2025-10-29T00:45:39.557Z,1761698739.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971460,-0.233286,-0.042939],[0.237067,0.961025,0.142234],[0.008084,-0.148354,0.988901]] 2025-10-29T00:45:39.607Z,1761698739.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.501956 s, deltaX: -0.300000 m, approachRate: -0.597662 m/s, rangeRepo size: 4 2025-10-29T00:45:39.613Z,1761698739.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.684926 m, bearing: 333.893094 deg, lat: 36.779287 deg, lon: -121.859557 deg, deltaT: 0.501956 s, deltaX: -0.298325 m, approachRate: -0.594325 m/s, posRepo size: 4 2025-10-29T00:45:39.701Z,1761698739.701 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.223030 2025-10-29T00:45:39.955Z,1761698739.955 [DAT](INFO): DAT read: Rx Time:00:45:39.3776 2025-10-29T00:45:39.956Z,1761698739.956 [DAT](INFO): Rx dataTimestamp_ set to:1761698739.955081 2025-10-29T00:45:39.958Z,1761698739.958 [DAT](INFO): DAT read: Bearing 215.2, -41.5 (Local) 2025-10-29T00:45:39.958Z,1761698739.958 [DAT](INFO): Local bearing/azimuth received: Bearing 215.2, -41.5 (Local) 2025-10-29T00:45:39.966Z,1761698739.966 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.4 2025-10-29T00:45:39.970Z,1761698739.970 [DAT](INFO): DAT read: 00:45:39.3776 LVL= 32752, 23729, 19522, 32755, AGC= 42, IDX= 507,-0.30, 2.897, 2.758,-1.879,-2.134, PHS=-1.150,-1.347, 0.210, RAW= 203.4, 28.8, CAL= 199.8, 41.5, ROT= 310.2, -41.5 2025-10-29T00:45:39.971Z,1761698739.971 [DAT](INFO): got valid direction response: 00:45:39.3776 LVL= 32752, 23729, 19522, 32755, AGC= 42, IDX= 507,-0.30, 2.897, 2.758,-1.879,-2.134, PHS=-1.150,-1.347, 0.210, RAW= 203.4, 28.8, CAL= 199.8, 41.5, ROT= 310.2, -41.5 2025-10-29T00:45:39.972Z,1761698739.972 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-29T00:45:39.985Z,1761698739.985 [DAT](INFO): direction in FSK: [0.483419,-0.572049,0.662620] 2025-10-29T00:45:39.986Z,1761698739.986 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:40.018Z,1761698740.018 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.540047 2025-10-29T00:45:40.027Z,1761698740.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971483,-0.233669,-0.040237],[0.237034,0.961338,0.140160],[0.005931,-0.145700,0.989311]] 2025-10-29T00:45:40.135Z,1761698740.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.503818 s, deltaX: -0.100000 m, approachRate: -0.198485 m/s, rangeRepo size: 4 2025-10-29T00:45:40.141Z,1761698740.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585561 m, bearing: 329.293495 deg, lat: 36.779287 deg, lon: -121.859557 deg, deltaT: 0.503818 s, deltaX: -0.099365 m, approachRate: -0.197224 m/s, posRepo size: 4 2025-10-29T00:45:40.206Z,1761698740.206 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.727699 2025-10-29T00:45:40.462Z,1761698740.462 [DAT](INFO): DAT read: Rx Time:00:45:39.8773 2025-10-29T00:45:40.463Z,1761698740.463 [DAT](INFO): Rx dataTimestamp_ set to:1761698740.462376 2025-10-29T00:45:40.465Z,1761698740.465 [DAT](INFO): DAT read: Bearing 212.9, -48.8 (Local) 2025-10-29T00:45:40.465Z,1761698740.465 [DAT](INFO): Local bearing/azimuth received: Bearing 212.9, -48.8 (Local) 2025-10-29T00:45:40.467Z,1761698740.467 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 2025-10-29T00:45:40.489Z,1761698740.489 [DAT](INFO): DAT read: 00:45:39.8773 LVL= 32752, 32753, 19122, 32755, AGC= 42, IDX= 504,-0.04,-0.592,-0.572, 1.284, 0.837, PHS=-1.326,-1.364, 0.403, RAW= 208.9, 24.8, CAL= 206.5, 36.2, ROT= 303.5, -36.2 2025-10-29T00:45:40.490Z,1761698740.490 [DAT](INFO): got valid direction response: 00:45:39.8773 LVL= 32752, 32753, 19122, 32755, AGC= 42, IDX= 504,-0.04,-0.592,-0.572, 1.284, 0.837, PHS=-1.326,-1.364, 0.403, RAW= 208.9, 24.8, CAL= 206.5, 36.2, ROT= 303.5, -36.2 2025-10-29T00:45:40.490Z,1761698740.490 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-29T00:45:40.491Z,1761698740.491 [DAT](INFO): direction in FSK: [0.445391,-0.672913,0.590606] 2025-10-29T00:45:40.491Z,1761698740.491 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:40.499Z,1761698740.499 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.021053 2025-10-29T00:45:40.575Z,1761698740.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.507295 s, deltaX: -0.500000 m, approachRate: -0.985620 m/s, rangeRepo size: 4 2025-10-29T00:45:40.581Z,1761698740.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088338 m, bearing: 320.995498 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.507295 s, deltaX: -0.497223 m, approachRate: -0.980146 m/s, posRepo size: 4 2025-10-29T00:45:40.709Z,1761698740.709 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.231201 2025-10-29T00:45:40.899Z,1761698740.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971763,-0.233529,-0.033786],[0.235960,0.961736,0.139234],[-0.000022,-0.143275,0.989683]] 2025-10-29T00:45:40.940Z,1761698740.940 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:40.963Z,1761698740.963 [DAT](INFO): DAT read: Rx Time:00:45:40.3774 2025-10-29T00:45:40.963Z,1761698740.963 [DAT](INFO): Rx dataTimestamp_ set to:1761698740.962847 2025-10-29T00:45:40.964Z,1761698740.964 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.3 2025-10-29T00:45:40.965Z,1761698740.965 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-29T00:45:40.966Z,1761698740.966 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.487862 2025-10-29T00:45:41.213Z,1761698741.213 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.735218 2025-10-29T00:45:41.299Z,1761698741.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972174,-0.231955,-0.032795],[0.234256,0.961534,0.143447],[-0.001739,-0.147138,0.989115]] 2025-10-29T00:45:41.377Z,1761698741.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.500471 s, deltaX: 0.200000 m, approachRate: 0.399624 m/s, rangeRepo size: 4 2025-10-29T00:45:41.466Z,1761698741.466 [DAT](INFO): DAT read: Rx Time:00:45:40.8772 2025-10-29T00:45:41.466Z,1761698741.466 [DAT](INFO): Rx dataTimestamp_ set to:1761698741.465732 2025-10-29T00:45:41.467Z,1761698741.467 [DAT](INFO): DAT read: Bearing 223.9, -35.8 (Local) 2025-10-29T00:45:41.468Z,1761698741.468 [DAT](INFO): Local bearing/azimuth received: Bearing 223.9, -35.8 (Local) 2025-10-29T00:45:41.470Z,1761698741.470 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.2 2025-10-29T00:45:41.477Z,1761698741.477 [DAT](INFO): DAT read: 00:45:40.8772 LVL= 28784, 17633, 26978, 31779, AGC= 39, IDX= 501, 0.09,-2.355,-2.609,-0.731,-0.557, PHS=-1.696,-2.006,-0.218, RAW= 200.6, 39.9, CAL= 197.9, 50.3, ROT= 312.1, -50.3 2025-10-29T00:45:41.478Z,1761698741.478 [DAT](INFO): got valid direction response: 00:45:40.8772 LVL= 28784, 17633, 26978, 31779, AGC= 39, IDX= 501, 0.09,-2.355,-2.609,-0.731,-0.557, PHS=-1.696,-2.006,-0.218, RAW= 200.6, 39.9, CAL= 197.9, 50.3, ROT= 312.1, -50.3 2025-10-29T00:45:41.479Z,1761698741.479 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-29T00:45:41.480Z,1761698741.480 [DAT](INFO): direction in FSK: [0.428247,-0.473950,0.769400] 2025-10-29T00:45:41.522Z,1761698741.522 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:41.554Z,1761698741.554 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.075462 2025-10-29T00:45:41.715Z,1761698741.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972613,-0.230362,-0.030948],[0.232406,0.961862,0.144251],[-0.003462,-0.147493,0.989057]] 2025-10-29T00:45:41.717Z,1761698741.717 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.238995 2025-10-29T00:45:41.742Z,1761698741.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.502885 s, deltaX: -0.300000 m, approachRate: -0.596558 m/s, rangeRepo size: 4 2025-10-29T00:45:41.745Z,1761698741.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.988954 m, bearing: 333.947079 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 1.003356 s, deltaX: -0.099384 m, approachRate: -0.099052 m/s, posRepo size: 4 2025-10-29T00:45:41.970Z,1761698741.970 [DAT](INFO): DAT read: Rx Time:00:45:41.3770 2025-10-29T00:45:41.971Z,1761698741.971 [DAT](INFO): Rx dataTimestamp_ set to:1761698741.970539 2025-10-29T00:45:41.975Z,1761698741.975 [DAT](INFO): DAT read: Bearing 255.7, -45.8 (Local) 2025-10-29T00:45:41.977Z,1761698741.977 [DAT](INFO): Local bearing/azimuth received: Bearing 255.7, -45.8 (Local) 2025-10-29T00:45:41.980Z,1761698741.980 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T00:45:41.993Z,1761698741.993 [DAT](INFO): DAT read: 00:45:41.3770 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 501, 0.34, 1.045, 1.835, 2.805,-3.016, PHS=-2.120,-1.387,-0.506, RAW= 237.0, 45.4, CAL= 240.0, 53.0, ROT= 270.0, -53.0 2025-10-29T00:45:41.994Z,1761698741.994 [DAT](INFO): got valid direction response: 00:45:41.3770 LVL= 32752, 32753, 32754, 32755, AGC= 43, IDX= 501, 0.34, 1.045, 1.835, 2.805,-3.016, PHS=-2.120,-1.387,-0.506, RAW= 237.0, 45.4, CAL= 240.0, 53.0, ROT= 270.0, -53.0 2025-10-29T00:45:41.994Z,1761698741.994 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T00:45:41.995Z,1761698741.995 [DAT](INFO): direction in FSK: [0.000000,-0.601815,0.798636] 2025-10-29T00:45:41.995Z,1761698741.995 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:42.007Z,1761698742.007 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.529148 2025-10-29T00:45:42.141Z,1761698742.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972999,-0.228978,-0.029003],[0.230751,0.962264,0.144232],[-0.005117,-0.147030,0.989119]] 2025-10-29T00:45:42.196Z,1761698742.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504807 s, deltaX: -0.300000 m, approachRate: -0.594286 m/s, rangeRepo size: 4 2025-10-29T00:45:42.198Z,1761698742.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.690603 m, bearing: 283.880449 deg, lat: 36.779284 deg, lon: -121.859556 deg, deltaT: 0.504807 s, deltaX: -0.298351 m, approachRate: -0.591019 m/s, posRepo size: 4 2025-10-29T00:45:42.234Z,1761698742.234 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.755783 2025-10-29T00:45:42.486Z,1761698742.486 [DAT](INFO): DAT read: Rx Time:00:45:41.8770 2025-10-29T00:45:42.486Z,1761698742.486 [DAT](INFO): Rx dataTimestamp_ set to:1761698742.485782 2025-10-29T00:45:42.487Z,1761698742.487 [DAT](INFO): DAT read: Bearing 250.2, -50.2 (Local) 2025-10-29T00:45:42.488Z,1761698742.488 [DAT](INFO): Local bearing/azimuth received: Bearing 250.2, -50.2 (Local) 2025-10-29T00:45:42.490Z,1761698742.490 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T00:45:42.497Z,1761698742.497 [DAT](INFO): DAT read: 00:45:41.8770 LVL= 32688, 24097, 24290, 32755, AGC= 42, IDX= 501, 0.17, 2.665,-2.842,-1.558,-1.338, PHS=-2.178,-1.459,-0.263, RAW= 231.8, 39.5, CAL= 234.7, 48.5, ROT= 275.3, -48.5 2025-10-29T00:45:42.498Z,1761698742.498 [DAT](INFO): got valid direction response: 00:45:41.8770 LVL= 32688, 24097, 24290, 32755, AGC= 42, IDX= 501, 0.17, 2.665,-2.842,-1.558,-1.338, PHS=-2.178,-1.459,-0.263, RAW= 231.8, 39.5, CAL= 234.7, 48.5, ROT= 275.3, -48.5 2025-10-29T00:45:42.499Z,1761698742.499 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-29T00:45:42.500Z,1761698742.500 [DAT](INFO): direction in FSK: [0.061206,-0.659787,0.748956] 2025-10-29T00:45:42.500Z,1761698742.500 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:42.504Z,1761698742.504 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.025410 2025-10-29T00:45:42.539Z,1761698742.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973257,-0.227991,-0.028132],[0.229632,0.962178,0.146569],[-0.006348,-0.149109,0.988800]] 2025-10-29T00:45:42.600Z,1761698742.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.515243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:42.602Z,1761698742.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.690603 m, bearing: 290.290068 deg, lat: 36.779284 deg, lon: -121.859554 deg, deltaT: 0.515243 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:45:42.603Z,1761698742.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.70 m. 2025-10-29T00:45:42.737Z,1761698742.737 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.258991 2025-10-29T00:45:42.990Z,1761698742.990 [DAT](INFO): DAT read: Rx Time:00:45:42.3772 2025-10-29T00:45:42.990Z,1761698742.990 [DAT](INFO): Rx dataTimestamp_ set to:1761698742.989788 2025-10-29T00:45:42.991Z,1761698742.991 [DAT](INFO): DAT read: Bearing 261.7, -56.8 (Local) 2025-10-29T00:45:42.992Z,1761698742.992 [DAT](INFO): Local bearing/azimuth received: Bearing 261.7, -56.8 (Local) 2025-10-29T00:45:42.994Z,1761698742.994 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed -0.2 2025-10-29T00:45:43.002Z,1761698743.002 [DAT](INFO): DAT read: 00:45:42.3772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 503,-0.23, 1.625, 2.726,-2.463,-2.457, PHS=-2.099,-1.056,-0.050, RAW= 240.6, 32.6, CAL= 244.4, 42.0, ROT= 265.6, -42.0 2025-10-29T00:45:43.003Z,1761698743.003 [DAT](INFO): got valid direction response: 00:45:42.3772 LVL= 32752, 32753, 32754, 32755, AGC= 46, IDX= 503,-0.23, 1.625, 2.726,-2.463,-2.457, PHS=-2.099,-1.056,-0.050, RAW= 240.6, 32.6, CAL= 244.4, 42.0, ROT= 265.6, -42.0 2025-10-29T00:45:43.003Z,1761698743.003 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T00:45:43.004Z,1761698743.004 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:43.006Z,1761698743.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.70 m. 2025-10-29T00:45:43.009Z,1761698743.009 [DAT](INFO): direction in FSK: [-0.057013,-0.740955,0.669131] 2025-10-29T00:45:43.009Z,1761698743.009 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:43.045Z,1761698743.045 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.566719 2025-10-29T00:45:43.241Z,1761698743.241 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.763348 2025-10-29T00:45:43.347Z,1761698743.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973885,-0.225412,-0.027152],[0.226870,0.961535,0.154858],[-0.008800,-0.156974,0.987563]] 2025-10-29T00:45:43.370Z,1761698743.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504006 s, deltaX: 0.300000 m, approachRate: 0.595231 m/s, rangeRepo size: 4 2025-10-29T00:45:43.372Z,1761698743.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.988913 m, bearing: 278.536370 deg, lat: 36.779287 deg, lon: -121.859554 deg, deltaT: 0.504006 s, deltaX: 0.298310 m, approachRate: 0.591878 m/s, posRepo size: 4 2025-10-29T00:45:43.373Z,1761698743.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.00 m. 2025-10-29T00:45:43.493Z,1761698743.493 [DAT](INFO): DAT read: Rx Time:00:45:42.8771 2025-10-29T00:45:43.494Z,1761698743.494 [DAT](INFO): Rx dataTimestamp_ set to:1761698743.493369 2025-10-29T00:45:43.495Z,1761698743.495 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed -0.4 2025-10-29T00:45:43.495Z,1761698743.495 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-29T00:45:43.496Z,1761698743.496 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:45:43.496Z,1761698743.496 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:45:43.497Z,1761698743.497 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:43.745Z,1761698743.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:43.752Z,1761698743.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974132,-0.224401,-0.026669],[0.225761,0.961194,0.158547],[-0.009944,-0.160467,0.986991]] 2025-10-29T00:45:43.789Z,1761698743.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.503581 s, deltaX: -0.200000 m, approachRate: -0.397156 m/s, rangeRepo size: 4 2025-10-29T00:45:43.999Z,1761698743.999 [DAT](INFO): DAT read: Rx Time:00:45:43.3773 2025-10-29T00:45:43.000Z,1761698744.000 [DAT](INFO): Rx dataTimestamp_ set to:1761698743.999395 2025-10-29T00:45:44.002Z,1761698744.002 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed -0.4 2025-10-29T00:45:44.003Z,1761698744.003 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:45:44.003Z,1761698744.003 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:44.005Z,1761698744.005 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:44.176Z,1761698744.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974312,-0.223752,-0.025523],[0.224923,0.961176,0.159846],[-0.011234,-0.161480,0.986812]] 2025-10-29T00:45:44.249Z,1761698744.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:44.292Z,1761698744.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506026 s, deltaX: 0.300000 m, approachRate: 0.592855 m/s, rangeRepo size: 4 2025-10-29T00:45:44.292Z,1761698744.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.10 m. 2025-10-29T00:45:44.502Z,1761698744.502 [DAT](INFO): DAT read: Rx Time:00:45:43.8775 2025-10-29T00:45:44.502Z,1761698744.502 [DAT](INFO): Rx dataTimestamp_ set to:1761698744.501699 2025-10-29T00:45:44.503Z,1761698744.503 [DAT](INFO): DAT read: Bearing 319.3, -42.9 (Local) 2025-10-29T00:45:44.504Z,1761698744.504 [DAT](INFO): Local bearing/azimuth received: Bearing 319.3, -42.9 (Local) 2025-10-29T00:45:44.506Z,1761698744.506 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.5 2025-10-29T00:45:44.510Z,1761698744.510 [DAT](INFO): DAT read: 00:45:43.8775 LVL= 32752, 18033, 22354, 32755, AGC= 41, IDX= 506, 0.06, 1.790,-2.303,-2.856,-2.585, PHS=-1.807, 0.327,-0.316, RAW= 287.1, 18.5, CAL= 286.4, 25.6, ROT= 223.6, -25.6 2025-10-29T00:45:44.511Z,1761698744.511 [DAT](INFO): got valid direction response: 00:45:43.8775 LVL= 32752, 18033, 22354, 32755, AGC= 41, IDX= 506, 0.06, 1.790,-2.303,-2.856,-2.585, PHS=-1.807, 0.327,-0.316, RAW= 287.1, 18.5, CAL= 286.4, 25.6, ROT= 223.6, -25.6 2025-10-29T00:45:44.515Z,1761698744.515 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:44.527Z,1761698744.527 [DAT](INFO): direction in FSK: [-0.653082,-0.621921,0.432086] 2025-10-29T00:45:44.527Z,1761698744.527 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:44.539Z,1761698744.539 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:44.539Z,1761698744.539 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:44.652Z,1761698744.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974419,-0.223431,-0.024228],[0.224409,0.961445,0.158947],[-0.012220,-0.160318,0.986990]] 2025-10-29T00:45:44.695Z,1761698744.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.502304 s, deltaX: 0.300000 m, approachRate: 0.597248 m/s, rangeRepo size: 4 2025-10-29T00:45:44.701Z,1761698744.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.386548 m, bearing: 233.074783 deg, lat: 36.779287 deg, lon: -121.859554 deg, deltaT: 1.511911 s, deltaX: 0.397635 m, approachRate: 0.263002 m/s, posRepo size: 4 2025-10-29T00:45:44.754Z,1761698744.754 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:45.005Z,1761698745.005 [DAT](INFO): DAT read: Rx Time:00:45:44.3777 2025-10-29T00:45:45.006Z,1761698745.006 [DAT](INFO): Rx dataTimestamp_ set to:1761698745.005655 2025-10-29T00:45:45.007Z,1761698745.007 [DAT](INFO): DAT read: Bearing 316.8, -30.4 (Local) 2025-10-29T00:45:45.008Z,1761698745.008 [DAT](INFO): Local bearing/azimuth received: Bearing 316.8, -30.4 (Local) 2025-10-29T00:45:45.010Z,1761698745.010 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.5 2025-10-29T00:45:45.050Z,1761698745.050 [DAT](INFO): DAT read: 00:45:44.3777 LVL= 23408, 13585, 10450, 22803, AGC= 39, IDX= 508,-0.06,-0.381, 1.580, 0.722, 1.346, PHS=-1.625, 0.279,-0.668, RAW= 299.8, 23.4, CAL= 299.8, 29.4, ROT= 210.2, -29.4 2025-10-29T00:45:45.051Z,1761698745.051 [DAT](INFO): got valid direction response: 00:45:44.3777 LVL= 23408, 13585, 10450, 22803, AGC= 39, IDX= 508,-0.06,-0.381, 1.580, 0.722, 1.346, PHS=-1.625, 0.279,-0.668, RAW= 299.8, 23.4, CAL= 299.8, 29.4, ROT= 210.2, -29.4 2025-10-29T00:45:45.052Z,1761698745.052 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:45.053Z,1761698745.053 [DAT](INFO): direction in FSK: [-0.752968,-0.438238,0.490904] 2025-10-29T00:45:45.053Z,1761698745.053 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:45.071Z,1761698745.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974333,-0.223952,-0.022808],[0.224736,0.961873,0.155863],[-0.012967,-0.156988,0.987515]] 2025-10-29T00:45:45.077Z,1761698745.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:45.077Z,1761698745.077 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:45.166Z,1761698745.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.503956 s, deltaX: 0.300000 m, approachRate: 0.595290 m/s, rangeRepo size: 4 2025-10-29T00:45:45.173Z,1761698745.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.684831 m, bearing: 218.490838 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.503956 s, deltaX: 0.298283 m, approachRate: 0.591883 m/s, posRepo size: 4 2025-10-29T00:45:45.257Z,1761698745.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:45.462Z,1761698745.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974114,-0.225007,-0.021757],[0.225644,0.962010,0.153694],[-0.013652,-0.154624,0.987879]] 2025-10-29T00:45:45.479Z,1761698745.479 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:45:45.510Z,1761698745.510 [DAT](INFO): DAT read: Rx Time:00:45:44.8778 2025-10-29T00:45:45.510Z,1761698745.510 [DAT](INFO): Rx dataTimestamp_ set to:1761698745.509989 2025-10-29T00:45:45.512Z,1761698745.512 [DAT](INFO): DAT read: Bearing 324.2, -26.5 (Local) 2025-10-29T00:45:45.512Z,1761698745.512 [DAT](INFO): Local bearing/azimuth received: Bearing 324.2, -26.5 (Local) 2025-10-29T00:45:45.514Z,1761698745.514 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.5 2025-10-29T00:45:45.519Z,1761698745.519 [DAT](INFO): DAT read: 00:45:44.8778 LVL= 26224, 15249, 12018, 22067, AGC= 41, IDX= 509,-0.17,-2.541,-0.432,-1.551,-0.950, PHS=-1.489, 0.563,-0.645, RAW= 305.9, 17.3, CAL= 304.4, 23.0, ROT= 205.6, -23.0 2025-10-29T00:45:45.520Z,1761698745.520 [DAT](INFO): got valid direction response: 00:45:44.8778 LVL= 26224, 15249, 12018, 22067, AGC= 41, IDX= 509,-0.17,-2.541,-0.432,-1.551,-0.950, PHS=-1.489, 0.563,-0.645, RAW= 305.9, 17.3, CAL= 304.4, 23.0, ROT= 205.6, -23.0 2025-10-29T00:45:45.520Z,1761698745.520 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:45.521Z,1761698745.521 [DAT](INFO): direction in FSK: [-0.830141,-0.397737,0.390731] 2025-10-29T00:45:45.522Z,1761698745.522 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:45.528Z,1761698745.528 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:45.528Z,1761698745.528 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:45.761Z,1761698745.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:45.931Z,1761698745.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973985,-0.225637,-0.020995],[0.226153,0.961940,0.153385],[-0.014413,-0.154143,0.987943]] 2025-10-29T00:45:45.993Z,1761698745.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504334 s, deltaX: 0.200000 m, approachRate: 0.396563 m/s, rangeRepo size: 4 2025-10-29T00:45:45.995Z,1761698745.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.883691 m, bearing: 215.071412 deg, lat: 36.779285 deg, lon: -121.859557 deg, deltaT: 0.504334 s, deltaX: 0.198860 m, approachRate: 0.394302 m/s, posRepo size: 4 2025-10-29T00:45:45.996Z,1761698745.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 2.90 m. Rolling out. 2025-10-29T00:45:45.996Z,1761698745.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-29T00:45:46.007Z,1761698746.007 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-29T00:45:46.007Z,1761698746.007 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-29T00:45:46.013Z,1761698746.013 [DAT](INFO): DAT read: Rx Time:00:45:45.3781 2025-10-29T00:45:46.014Z,1761698746.014 [DAT](INFO): Rx dataTimestamp_ set to:1761698746.013662 2025-10-29T00:45:46.015Z,1761698746.015 [DAT](INFO): DAT read: Bearing 324.7, -27.0 (Local) 2025-10-29T00:45:46.016Z,1761698746.016 [DAT](INFO): Local bearing/azimuth received: Bearing 324.7, -27.0 (Local) 2025-10-29T00:45:46.018Z,1761698746.018 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed -0.5 2025-10-29T00:45:46.022Z,1761698746.022 [DAT](INFO): DAT read: 00:45:45.3781 LVL= 26288, 13697, 15410, 23011, AGC= 43, IDX= 512,-0.28, 2.035,-1.828,-3.113,-2.446, PHS=-1.701, 0.663,-0.711, RAW= 305.4, 16.7, CAL= 303.8, 22.6, ROT= 206.2, -22.6 2025-10-29T00:45:46.023Z,1761698746.023 [DAT](INFO): got valid direction response: 00:45:45.3781 LVL= 26288, 13697, 15410, 23011, AGC= 43, IDX= 512,-0.28, 2.035,-1.828,-3.113,-2.446, PHS=-1.701, 0.663,-0.711, RAW= 305.4, 16.7, CAL= 303.8, 22.6, ROT= 206.2, -22.6 2025-10-29T00:45:46.025Z,1761698746.025 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:46.026Z,1761698746.026 [DAT](INFO): direction in FSK: [-0.828358,-0.407603,0.384295] 2025-10-29T00:45:46.026Z,1761698746.026 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:46.033Z,1761698746.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:46.034Z,1761698746.034 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:46.050Z,1761698746.050 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T00:45:46.265Z,1761698746.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:46.382Z,1761698746.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974040,-0.225466,-0.020296],[0.225861,0.961855,0.154345],[-0.015278,-0.154923,0.987809]] 2025-10-29T00:45:46.401Z,1761698746.401 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position -24.00 mm. 2025-10-29T00:45:46.402Z,1761698746.402 [ElevatorOffsetCalculator](INFO): Removing expired estimator for commanded vars: speed 1.00 m/s, pitch 30.00 deg, mass-position 22.43 mm. 2025-10-29T00:45:46.409Z,1761698746.409 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-29T00:45:46.409Z,1761698746.409 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T00:45:46.409Z,1761698746.409 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-29T00:45:46.410Z,1761698746.410 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 2.900000 m (mode 5.000000 count ). 2025-10-29T00:45:46.410Z,1761698746.410 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-29T00:45:46.410Z,1761698746.410 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-29T00:45:46.411Z,1761698746.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-29T00:45:46.411Z,1761698746.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T00:45:46.411Z,1761698746.411 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-29T00:45:46.413Z,1761698746.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 2.900000 m (mode 5.000000 count ). 2025-10-29T00:45:46.413Z,1761698746.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-29T00:45:46.413Z,1761698746.413 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-29T00:45:46.420Z,1761698746.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503673 s, deltaX: 0.400000 m, approachRate: 0.794166 m/s, rangeRepo size: 4 2025-10-29T00:45:46.424Z,1761698746.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.281441 m, bearing: 215.725274 deg, lat: 36.779284 deg, lon: -121.859557 deg, deltaT: 0.503673 s, deltaX: 0.397750 m, approachRate: 0.789700 m/s, posRepo size: 4 2025-10-29T00:45:46.425Z,1761698746.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.28 m. 2025-10-29T00:45:46.431Z,1761698746.431 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-29T00:45:46.431Z,1761698746.431 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T00:45:46.431Z,1761698746.431 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-29T00:45:46.431Z,1761698746.431 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-29T00:45:46.519Z,1761698746.519 [DAT](INFO): DAT read: Rx Time:00:45:45.8782 2025-10-29T00:45:46.519Z,1761698746.519 [DAT](INFO): Rx dataTimestamp_ set to:1761698746.519198 2025-10-29T00:45:46.521Z,1761698746.521 [DAT](INFO): DAT read: Bearing 335.5, -16.4 (Local) 2025-10-29T00:45:46.522Z,1761698746.522 [DAT](INFO): Local bearing/azimuth received: Bearing 335.5, -16.4 (Local) 2025-10-29T00:45:46.525Z,1761698746.525 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.5 2025-10-29T00:45:46.538Z,1761698746.538 [DAT](INFO): DAT read: 00:45:45.8782 LVL= 27056, 12961, 22594, 29939, AGC= 42, IDX= 513,-0.43, 2.559,-1.560,-3.042,-2.418, PHS=-1.204, 0.903,-0.668, RAW= 315.8, 10.2, CAL= 314.3, 12.0, ROT= 195.7, -12.0 2025-10-29T00:45:46.539Z,1761698746.539 [DAT](INFO): got valid direction response: 00:45:45.8782 LVL= 27056, 12961, 22594, 29939, AGC= 42, IDX= 513,-0.43, 2.559,-1.560,-3.042,-2.418, PHS=-1.204, 0.903,-0.668, RAW= 315.8, 10.2, CAL= 314.3, 12.0, ROT= 195.7, -12.0 2025-10-29T00:45:46.548Z,1761698746.548 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:46.549Z,1761698746.549 [DAT](INFO): direction in FSK: [-0.941655,-0.264687,0.207912] 2025-10-29T00:45:46.549Z,1761698746.549 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:46.558Z,1761698746.558 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:46.558Z,1761698746.558 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T00:45:46.769Z,1761698746.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:45:46.821Z,1761698746.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973878,-0.226213,-0.019719],[0.226475,0.961367,0.156466],[-0.016438,-0.156844,0.987487]] 2025-10-29T00:45:46.855Z,1761698746.855 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-29T00:45:46.855Z,1761698746.855 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-29T00:45:46.856Z,1761698746.856 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-29T00:45:46.860Z,1761698746.860 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-29T00:45:46.877Z,1761698746.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.505536 s, deltaX: 0.200000 m, approachRate: 0.395620 m/s, rangeRepo size: 4 2025-10-29T00:45:46.879Z,1761698746.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480412 m, bearing: 206.806764 deg, lat: 36.779284 deg, lon: -121.859557 deg, deltaT: 0.505536 s, deltaX: 0.198971 m, approachRate: 0.393584 m/s, posRepo size: 4 2025-10-29T00:45:46.879Z,1761698746.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:47.022Z,1761698747.022 [DAT](INFO): DAT read: user:578> 2025-10-29T00:45:47.023Z,1761698747.023 [DAT](INFO): DAT read: 20 2025-10-29T00:45:47.023Z,1761698747.023 [DAT](INFO): unknown deviceResponse_: 20 2025-10-29T00:45:47.023Z,1761698747.023 [DAT](INFO): DAT read: Ok 2025-10-29T00:45:47.024Z,1761698747.024 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-29T00:45:47.024Z,1761698747.024 [DAT](INFO): DAT read: user:579> 2025-10-29T00:45:47.025Z,1761698747.025 [DAT](INFO): DAT read: Tx time:00:45:46.8236 2025-10-29T00:45:47.025Z,1761698747.025 [DAT](INFO): Ping request sent. 2025-10-29T00:45:47.025Z,1761698747.025 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:45:47.026Z,1761698747.026 [DAT](INFO): publishing transmit ping time 2025-10-29T00:45:47.026Z,1761698747.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-29T00:45:47.273Z,1761698747.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247523 2025-10-29T00:45:47.345Z,1761698747.345 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-29T00:45:47.345Z,1761698747.345 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-29T00:45:47.346Z,1761698747.346 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-29T00:45:47.346Z,1761698747.346 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-29T00:45:47.348Z,1761698747.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:47.526Z,1761698747.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500875 2025-10-29T00:45:47.697Z,1761698747.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973841,-0.226502,-0.018159],[0.226741,0.963411,0.142928],[-0.014879,-0.143306,0.989567]] 2025-10-29T00:45:47.719Z,1761698747.719 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-29T00:45:47.719Z,1761698747.719 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T00:45:47.719Z,1761698747.719 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-29T00:45:47.719Z,1761698747.719 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T00:45:47.720Z,1761698747.720 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-29T00:45:47.721Z,1761698747.721 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T00:45:47.721Z,1761698747.721 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-29T00:45:47.721Z,1761698747.721 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T00:45:47.723Z,1761698747.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:47.777Z,1761698747.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752025 2025-10-29T00:45:48.029Z,1761698748.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003489 2025-10-29T00:45:48.095Z,1761698748.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974081,-0.225558,-0.017048],[0.225692,0.964070,0.140116],[-0.015168,-0.140332,0.989988]] 2025-10-29T00:45:48.150Z,1761698748.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:48.281Z,1761698748.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256063 2025-10-29T00:45:48.527Z,1761698748.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974475,-0.223948,-0.015696],[0.223961,0.964937,0.136889],[-0.015510,-0.136910,0.990462]] 2025-10-29T00:45:48.533Z,1761698748.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507595 2025-10-29T00:45:48.567Z,1761698748.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:48.785Z,1761698748.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759576 2025-10-29T00:45:49.037Z,1761698749.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011465 2025-10-29T00:45:49.085Z,1761698749.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974709,-0.223020,-0.014310],[0.222922,0.965770,0.132640],[-0.015762,-0.132475,0.991061]] 2025-10-29T00:45:49.135Z,1761698749.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:49.289Z,1761698749.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263695 2025-10-29T00:45:49.501Z,1761698749.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974955,-0.221984,-0.013656],[0.221852,0.966378,0.129979],[-0.015656,-0.129753,0.991423]] 2025-10-29T00:45:49.528Z,1761698749.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 3.48 m. 2025-10-29T00:45:49.542Z,1761698749.542 [DAT](INFO): DAT read: Rx Time:00:45:48.9583 2025-10-29T00:45:49.542Z,1761698749.542 [DAT](INFO): Rx dataTimestamp_ set to:1761698749.541760 2025-10-29T00:45:49.543Z,1761698749.543 [DAT](INFO): DAT read: Bearing 340.7, -26.8 (Local) 2025-10-29T00:45:49.544Z,1761698749.544 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, -26.8 (Local) 2025-10-29T00:45:49.546Z,1761698749.546 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed -0.5 2025-10-29T00:45:49.550Z,1761698749.550 [DAT](INFO): DAT read: 00:45:48.9583 LVL= 25568, 21137, 24466, 31043, AGC= 62, IDX= 23,-0.08,-2.545,-0.539,-1.574,-1.313, PHS=-1.130, 0.818,-0.306, RAW= 305.1, 7.3, CAL= 302.7, 7.2, ROT= 207.3, -7.2 2025-10-29T00:45:49.552Z,1761698749.552 [DAT](INFO): got valid direction response: 00:45:48.9583 LVL= 25568, 21137, 24466, 31043, AGC= 62, IDX= 23,-0.08,-2.545,-0.539,-1.574,-1.313, PHS=-1.130, 0.818,-0.306, RAW= 305.1, 7.3, CAL= 302.7, 7.2, ROT= 207.3, -7.2 2025-10-29T00:45:49.552Z,1761698749.552 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:45:49.553Z,1761698749.553 [DAT](INFO): direction in FSK: [-0.881610,-0.455033,0.125333] 2025-10-29T00:45:49.553Z,1761698749.553 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:49.577Z,1761698749.577 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.551475 2025-10-29T00:45:49.793Z,1761698749.793 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.767560 2025-10-29T00:45:49.989Z,1761698749.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975264,-0.220675,-0.012735],[0.220503,0.967248,0.125732],[-0.015428,-0.125430,0.991983]] 2025-10-29T00:45:50.014Z,1761698750.014 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V 2025-10-29T00:45:50.046Z,1761698750.046 [DAT](INFO): DAT read: Rx Time:00:45:49.4584 2025-10-29T00:45:50.046Z,1761698750.046 [DAT](INFO): Rx dataTimestamp_ set to:1761698750.045711 2025-10-29T00:45:50.047Z,1761698750.047 [DAT](INFO): DAT read: Bearing 352.3, -38.5 (Local) 2025-10-29T00:45:50.048Z,1761698750.048 [DAT](INFO): Local bearing/azimuth received: Bearing 352.3, -38.5 (Local) 2025-10-29T00:45:50.050Z,1761698750.050 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed -0.6 2025-10-29T00:45:50.054Z,1761698750.054 [DAT](INFO): DAT read: 00:45:49.4584 LVL= 29264, 31665, 29842, 32147, AGC= 62, IDX= 504, 0.10, 1.147,-2.803, 2.720, 2.602, PHS=-1.354, 0.923, 0.074, RAW= 291.7, 3.6,9.9, -1.2, ROT= 220.1, 1.2 2025-10-29T00:45:50.055Z,1761698750.055 [DAT](INFO): unknown deviceResponse_: 00:45:49.4584 LVL= 29264, 31665, 29842, 32147, AGC= 62, IDX= 504, 0.10, 1.147,-2.803, 2.720, 2.602, PHS=-1.354, 0.923, 0.074, RAW= 291.7, 3.6,9.9, -1.2, ROT= 220.1, 1.2 2025-10-29T00:45:50.055Z,1761698750.055 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-29T00:45:50.057Z,1761698750.057 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.031590 2025-10-29T00:45:50.077Z,1761698750.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 3.526513 s, deltaX: 0.900000 m, approachRate: 0.255210 m/s, rangeRepo size: 4 2025-10-29T00:45:50.079Z,1761698750.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.176033 m, bearing: 219.115160 deg, lat: 36.779284 deg, lon: -121.859557 deg, deltaT: 3.022562 s, deltaX: 0.695621 m, approachRate: 0.230143 m/s, posRepo size: 4 2025-10-29T00:45:50.079Z,1761698750.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.18 m. 2025-10-29T00:45:50.297Z,1761698750.297 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.271600 2025-10-29T00:45:50.356Z,1761698750.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975559,-0.219421,-0.011773],[0.219226,0.968241,0.120205],[-0.014976,-0.119848,0.992679]] 2025-10-29T00:45:50.397Z,1761698750.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.18 m. 2025-10-29T00:45:50.550Z,1761698750.550 [DAT](INFO): DAT read: Rx Time:00:45:49.9587 2025-10-29T00:45:50.551Z,1761698750.551 [DAT](INFO): Rx dataTimestamp_ set to:1761698750.550586 2025-10-29T00:45:50.553Z,1761698750.553 [DAT](INFO): DAT read: Bearing 347.9, -28.3 (Local) 2025-10-29T00:45:50.553Z,1761698750.553 [DAT](INFO): Local bearing/azimuth received: Bearing 347.9, -28.3 (Local) 2025-10-29T00:45:50.556Z,1761698750.556 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed -0.5 2025-10-29T00:45:50.563Z,1761698750.563 [DAT](INFO): DAT read: 00:45:49.9587 LVL= 30832, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.09,-2.380,-0.181,-1.259,-1.113, PHS=-1.165, 0.977,-0.190, RAW= 302.9, 4.1, CAL= 300.5, 0.7, ROT= 209.5, -0.7 2025-10-29T00:45:50.595Z,1761698750.595 [DAT](INFO): got valid direction response: 00:45:49.9587 LVL= 30832, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.09,-2.380,-0.181,-1.259,-1.113, PHS=-1.165, 0.977,-0.190, RAW= 302.9, 4.1, CAL= 300.5, 0.7, ROT= 209.5, -0.7 2025-10-29T00:45:50.595Z,1761698750.595 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T00:45:50.597Z,1761698750.597 [DAT](INFO): direction in FSK: [-0.870291,-0.492387,0.012217] 2025-10-29T00:45:50.597Z,1761698750.597 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:50.613Z,1761698750.613 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.587776 2025-10-29T00:45:50.765Z,1761698750.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975809,-0.218355,-0.010825],[0.218155,0.969288,0.113534],[-0.014298,-0.113149,0.993475]] 2025-10-29T00:45:50.801Z,1761698750.801 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.775829 2025-10-29T00:45:50.804Z,1761698750.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.504875 s, deltaX: 0.400000 m, approachRate: 0.792275 m/s, rangeRepo size: 4 2025-10-29T00:45:50.806Z,1761698750.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.772610 m, bearing: 221.904599 deg, lat: 36.779284 deg, lon: -121.859560 deg, deltaT: 1.008826 s, deltaX: 0.596577 m, approachRate: 0.591357 m/s, posRepo size: 4 2025-10-29T00:45:50.807Z,1761698750.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.77 m. 2025-10-29T00:45:51.057Z,1761698751.057 [DAT](INFO): DAT read: Rx Time:00:45:50.4588 2025-10-29T00:45:51.057Z,1761698751.057 [DAT](INFO): Rx dataTimestamp_ set to:1761698751.056806 2025-10-29T00:45:51.058Z,1761698751.058 [DAT](INFO): DAT read: Bearing 346.7, -15.9 (Local) 2025-10-29T00:45:51.059Z,1761698751.059 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, -15.9 (Local) 2025-10-29T00:45:51.061Z,1761698751.061 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed -0.6 2025-10-29T00:45:51.067Z,1761698751.067 [DAT](INFO): DAT read: 00:45:50.4588 LVL= 27888, 29089, 32562, 32755, AGC= 62, IDX= 508,-0.24,-2.391,-0.368,-1.727,-1.372, PHS=-0.916, 1.050,-0.398, RAW= 315.3, 3.0, CAL= 313.0, 0.2, ROT= 197.0, -0.2 2025-10-29T00:45:51.079Z,1761698751.079 [DAT](INFO): got valid direction response: 00:45:50.4588 LVL= 27888, 29089, 32562, 32755, AGC= 62, IDX= 508,-0.24,-2.391,-0.368,-1.727,-1.372, PHS=-0.916, 1.050,-0.398, RAW= 315.3, 3.0, CAL= 313.0, 0.2, ROT= 197.0, -0.2 2025-10-29T00:45:51.080Z,1761698751.080 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T00:45:51.081Z,1761698751.081 [DAT](INFO): direction in FSK: [-0.956299,-0.292370,0.003491] 2025-10-29T00:45:51.081Z,1761698751.081 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:51.085Z,1761698751.085 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.059256 2025-10-29T00:45:51.163Z,1761698751.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976035,-0.217379,-0.010124],[0.217181,0.970097,0.108371],[-0.013736,-0.107973,0.994059]] 2025-10-29T00:45:51.265Z,1761698751.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.506220 s, deltaX: 0.200000 m, approachRate: 0.395085 m/s, rangeRepo size: 4 2025-10-29T00:45:51.273Z,1761698751.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.971356 m, bearing: 209.439823 deg, lat: 36.779292 deg, lon: -121.859567 deg, deltaT: 0.506220 s, deltaX: 0.198746 m, approachRate: 0.392608 m/s, posRepo size: 4 2025-10-29T00:45:51.273Z,1761698751.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 4.97 m. 2025-10-29T00:45:51.305Z,1761698751.305 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.279800 2025-10-29T00:45:51.558Z,1761698751.558 [DAT](INFO): DAT read: Rx Time:00:45:50.9590 2025-10-29T00:45:51.558Z,1761698751.558 [DAT](INFO): Rx dataTimestamp_ set to:1761698751.557709 2025-10-29T00:45:51.559Z,1761698751.559 [DAT](INFO): DAT read: Bearing 347.7, -9.4 (Local) 2025-10-29T00:45:51.560Z,1761698751.560 [DAT](INFO): Local bearing/azimuth received: Bearing 347.7, -9.4 (Local) 2025-10-29T00:45:51.562Z,1761698751.562 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.4 2025-10-29T00:45:51.566Z,1761698751.566 [DAT](INFO): DAT read: 00:45:50.9590 LVL= 24880, 28529, 32754, 32755, AGC= 60, IDX= 510,-0.36,-1.911, 0.106,-1.438,-1.007, PHS=-0.802, 1.158,-0.476, RAW= 321.1, 1.3, CAL= 319.4, -1.6, ROT= 190.6, 1.6 2025-10-29T00:45:51.567Z,1761698751.567 [DAT](INFO): got valid direction response: 00:45:50.9590 LVL= 24880, 28529, 32754, 32755, AGC= 60, IDX= 510,-0.36,-1.911, 0.106,-1.438,-1.007, PHS=-0.802, 1.158,-0.476, RAW= 321.1, 1.3, CAL= 319.4, -1.6, ROT= 190.6, 1.6 2025-10-29T00:45:51.568Z,1761698751.568 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T00:45:51.569Z,1761698751.569 [DAT](INFO): direction in FSK: [-0.982552,-0.183880,-0.027922] 2025-10-29T00:45:51.569Z,1761698751.569 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:51.576Z,1761698751.576 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.551005 2025-10-29T00:45:51.693Z,1761698751.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976326,-0.216118,-0.008946],[0.215930,0.971385,0.098922],[-0.012689,-0.098512,0.995055]] 2025-10-29T00:45:51.738Z,1761698751.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.500903 s, deltaX: 0.300000 m, approachRate: 0.598919 m/s, rangeRepo size: 4 2025-10-29T00:45:51.745Z,1761698751.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.269638 m, bearing: 203.175224 deg, lat: 36.779292 deg, lon: -121.859567 deg, deltaT: 0.500903 s, deltaX: 0.298282 m, approachRate: 0.595488 m/s, posRepo size: 4 2025-10-29T00:45:51.745Z,1761698751.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T00:45:51.809Z,1761698751.809 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.783647 2025-10-29T00:45:52.061Z,1761698752.061 [DAT](INFO): DAT read: Rx Time:00:45:51.4591 2025-10-29T00:45:52.062Z,1761698752.062 [DAT](INFO): Rx dataTimestamp_ set to:1761698752.061688 2025-10-29T00:45:52.063Z,1761698752.063 [DAT](INFO): DAT read: Bearing 347.4, -5.8 (Local) 2025-10-29T00:45:52.064Z,1761698752.064 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, -5.8 (Local) 2025-10-29T00:45:52.066Z,1761698752.066 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed -0.4 2025-10-29T00:45:52.075Z,1761698752.075 [DAT](INFO): DAT read: 00:45:51.4591 LVL= 31600, 17969, 32754, 32755, AGC= 61, IDX= 510, 0.45,-1.653, 0.316,-1.307,-0.814, PHS=-0.736, 1.175,-0.536, RAW= 324.5, 1.1, CAL= 323.1, -1.9, ROT= 186.9, 1.9 2025-10-29T00:45:52.101Z,1761698752.101 [DAT](INFO): got valid direction response: 00:45:51.4591 LVL= 31600, 17969, 32754, 32755, AGC= 61, IDX= 510, 0.45,-1.653, 0.316,-1.307,-0.814, PHS=-0.736, 1.175,-0.536, RAW= 324.5, 1.1, CAL= 323.1, -1.9, ROT= 186.9, 1.9 2025-10-29T00:45:52.102Z,1761698752.102 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T00:45:52.103Z,1761698752.103 [DAT](INFO): direction in FSK: [-0.992212,-0.120071,-0.033155] 2025-10-29T00:45:52.103Z,1761698752.103 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:52.146Z,1761698752.146 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.120555 2025-10-29T00:45:52.175Z,1761698752.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976821,-0.213897,-0.008294],[0.213728,0.972440,0.093166],[-0.011863,-0.092779,0.995616]] 2025-10-29T00:45:52.313Z,1761698752.313 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.287637 2025-10-29T00:45:52.341Z,1761698752.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.503979 s, deltaX: 0.100000 m, approachRate: 0.198421 m/s, rangeRepo size: 4 2025-10-29T00:45:52.343Z,1761698752.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.368994 m, bearing: 199.386047 deg, lat: 36.779292 deg, lon: -121.859567 deg, deltaT: 0.503979 s, deltaX: 0.099356 m, approachRate: 0.197143 m/s, posRepo size: 4 2025-10-29T00:45:52.343Z,1761698752.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.37 m. 2025-10-29T00:45:52.566Z,1761698752.566 [DAT](INFO): DAT read: Rx Time:00:45:51.9594 2025-10-29T00:45:52.566Z,1761698752.566 [DAT](INFO): Rx dataTimestamp_ set to:1761698752.565777 2025-10-29T00:45:52.567Z,1761698752.567 [DAT](INFO): DAT read: Bearing 343.3, -7.5 (Local) 2025-10-29T00:45:52.568Z,1761698752.568 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, -7.5 (Local) 2025-10-29T00:45:52.570Z,1761698752.570 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-29T00:45:52.574Z,1761698752.574 [DAT](INFO): DAT read: 00:45:51.9594 LVL= 28592, 18193, 32754, 32755, AGC= 61, IDX= 513, 0.26, 2.434,-1.652, 2.850,-2.799, PHS=-0.948, 1.192,-0.678, RAW= 323.3, 4.3, CAL= 321.7, 2.3, ROT= 188.3, -2.3 2025-10-29T00:45:52.575Z,1761698752.575 [DAT](INFO): got valid direction response: 00:45:51.9594 LVL= 28592, 18193, 32754, 32755, AGC= 61, IDX= 513, 0.26, 2.434,-1.652, 2.850,-2.799, PHS=-0.948, 1.192,-0.678, RAW= 323.3, 4.3, CAL= 321.7, 2.3, ROT= 188.3, -2.3 2025-10-29T00:45:52.576Z,1761698752.576 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T00:45:52.577Z,1761698752.577 [DAT](INFO): direction in FSK: [-0.988729,-0.144240,0.040132] 2025-10-29T00:45:52.577Z,1761698752.577 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:52.589Z,1761698752.589 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.562947 2025-10-29T00:45:52.662Z,1761698752.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977220,-0.212093,-0.007637],[0.211931,0.973303,0.088122],[-0.011257,-0.087733,0.996080]] 2025-10-29T00:45:52.746Z,1761698752.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.504089 s, deltaX: 0.500000 m, approachRate: 0.991888 m/s, rangeRepo size: 4 2025-10-29T00:45:52.754Z,1761698752.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.866123 m, bearing: 200.310123 deg, lat: 36.779290 deg, lon: -121.859563 deg, deltaT: 0.504089 s, deltaX: 0.497129 m, approachRate: 0.986193 m/s, posRepo size: 4 2025-10-29T00:45:52.754Z,1761698752.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.87 m. 2025-10-29T00:45:52.819Z,1761698752.819 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.793163 2025-10-29T00:45:53.066Z,1761698753.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977494,-0.210829,-0.007549],[0.210713,0.973960,0.083674],[-0.010288,-0.083381,0.996465]] 2025-10-29T00:45:53.070Z,1761698753.070 [DAT](INFO): DAT read: Rx Time:00:45:52.4595 2025-10-29T00:45:53.070Z,1761698753.070 [DAT](INFO): Rx dataTimestamp_ set to:1761698753.069790 2025-10-29T00:45:53.071Z,1761698753.071 [DAT](INFO): DAT read: Bearing 348.0, -1.8 (Local) 2025-10-29T00:45:53.072Z,1761698753.072 [DAT](INFO): Local bearing/azimuth received: Bearing 348.0, -1.8 (Local) 2025-10-29T00:45:53.075Z,1761698753.075 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-29T00:45:53.079Z,1761698753.079 [DAT](INFO): DAT read: 00:45:52.4595 LVL= 26416, 15137, 28818, 32755, AGC= 64, IDX= 2, 0.10,-1.622, 0.312,-1.408,-0.871, PHS=-0.649, 1.228,-0.581, RAW= 328.2, 0.0, CAL= 327.0, -2.9, ROT= 183.0, 2.9 2025-10-29T00:45:53.081Z,1761698753.081 [DAT](INFO): got valid direction response: 00:45:52.4595 LVL= 26416, 15137, 28818, 32755, AGC= 64, IDX= 2, 0.10,-1.622, 0.312,-1.408,-0.871, PHS=-0.649, 1.228,-0.581, RAW= 328.2, 0.0, CAL= 327.0, -2.9, ROT= 183.0, 2.9 2025-10-29T00:45:53.081Z,1761698753.081 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T00:45:53.082Z,1761698753.082 [DAT](INFO): direction in FSK: [-0.997351,-0.052269,-0.050593] 2025-10-29T00:45:53.083Z,1761698753.083 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:53.106Z,1761698753.106 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.081069 2025-10-29T00:45:53.221Z,1761698753.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.504013 s, deltaX: 0.100000 m, approachRate: 0.198407 m/s, rangeRepo size: 4 2025-10-29T00:45:53.223Z,1761698753.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.965552 m, bearing: 195.394669 deg, lat: 36.779290 deg, lon: -121.859562 deg, deltaT: 0.504013 s, deltaX: 0.099429 m, approachRate: 0.197275 m/s, posRepo size: 4 2025-10-29T00:45:53.223Z,1761698753.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-29T00:45:53.322Z,1761698753.322 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.296060 2025-10-29T00:45:53.492Z,1761698753.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977691,-0.209910,-0.007689],[0.209814,0.974196,0.083187],[-0.009972,-0.082944,0.996504]] 2025-10-29T00:45:53.528Z,1761698753.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-29T00:45:53.574Z,1761698753.574 [DAT](INFO): DAT read: Rx Time:00:45:52.9598 2025-10-29T00:45:53.574Z,1761698753.574 [DAT](INFO): Rx dataTimestamp_ set to:1761698753.573786 2025-10-29T00:45:53.575Z,1761698753.575 [DAT](INFO): DAT read: Bearing 347.9, -0.4 (Local) 2025-10-29T00:45:53.576Z,1761698753.576 [DAT](INFO): Local bearing/azimuth received: Bearing 347.9, -0.4 (Local) 2025-10-29T00:45:53.578Z,1761698753.578 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-29T00:45:53.585Z,1761698753.585 [DAT](INFO): DAT read: 00:45:52.9598 LVL= 32480, 18785, 32754, 32755, AGC= 62, IDX= 501,-0.06,-2.523,-0.615,-2.359,-1.802, PHS=-0.620, 1.231,-0.601, RAW= 329.5, -0.1, CAL= 328.5, -3.0, ROT= 181.5, 3.0 2025-10-29T00:45:53.586Z,1761698753.586 [DAT](INFO): got valid direction response: 00:45:52.9598 LVL= 32480, 18785, 32754, 32755, AGC= 62, IDX= 501,-0.06,-2.523,-0.615,-2.359,-1.802, PHS=-0.620, 1.231,-0.601, RAW= 329.5, -0.1, CAL= 328.5, -3.0, ROT= 181.5, 3.0 2025-10-29T00:45:53.587Z,1761698753.587 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T00:45:53.600Z,1761698753.600 [DAT](INFO): direction in FSK: [-0.998287,-0.026141,-0.052336] 2025-10-29T00:45:53.600Z,1761698753.600 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:53.610Z,1761698753.610 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.584286 2025-10-29T00:45:53.825Z,1761698753.825 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.799572 2025-10-29T00:45:53.969Z,1761698753.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503996 s, deltaX: 0.300000 m, approachRate: 0.595243 m/s, rangeRepo size: 4 2025-10-29T00:45:53.971Z,1761698753.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.263822 m, bearing: 193.855061 deg, lat: 36.779288 deg, lon: -121.859559 deg, deltaT: 0.503996 s, deltaX: 0.298270 m, approachRate: 0.591811 m/s, posRepo size: 4 2025-10-29T00:45:53.971Z,1761698753.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m. 2025-10-29T00:45:54.078Z,1761698754.078 [DAT](INFO): DAT read: Rx Time:00:45:53.4598 2025-10-29T00:45:54.078Z,1761698754.078 [DAT](INFO): Rx dataTimestamp_ set to:1761698754.077690 2025-10-29T00:45:54.079Z,1761698754.079 [DAT](INFO): DAT read: Bearing 348.2, 0.4 (Local) 2025-10-29T00:45:54.080Z,1761698754.080 [DAT](INFO): Local bearing/azimuth received: Bearing 348.2, 0.4 (Local) 2025-10-29T00:45:54.082Z,1761698754.082 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-29T00:45:54.086Z,1761698754.086 [DAT](INFO): DAT read: 00:45:53.4598 LVL= 32752, 20065, 31186, 32755, AGC= 63, IDX= 502,-0.27, 1.945,-2.466, 2.080, 2.634, PHS=-0.586, 1.228,-0.598, RAW= 330.3, -0.5, CAL= 329.4, -3.4, ROT= 180.6, 3.4 2025-10-29T00:45:54.088Z,1761698754.088 [DAT](INFO): got valid direction response: 00:45:53.4598 LVL= 32752, 20065, 31186, 32755, AGC= 63, IDX= 502,-0.27, 1.945,-2.466, 2.080, 2.634, PHS=-0.586, 1.228,-0.598, RAW= 330.3, -0.5, CAL= 329.4, -3.4, ROT= 180.6, 3.4 2025-10-29T00:45:54.088Z,1761698754.088 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T00:45:54.089Z,1761698754.089 [DAT](INFO): direction in FSK: [-0.998185,-0.010454,-0.059306] 2025-10-29T00:45:54.089Z,1761698754.089 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:54.117Z,1761698754.117 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.091279 2025-10-29T00:45:54.330Z,1761698754.330 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.304207 2025-10-29T00:45:54.479Z,1761698754.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978358,-0.206705,-0.009371],[0.206768,0.974929,0.082219],[-0.007859,-0.082377,0.996570]] 2025-10-29T00:45:54.532Z,1761698754.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:54.534Z,1761698754.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.263822 m, bearing: 192.811391 deg, lat: 36.779288 deg, lon: -121.859557 deg, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:45:54.535Z,1761698754.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.26 m. 2025-10-29T00:45:54.583Z,1761698754.583 [DAT](INFO): DAT read: Rx Time:00:45:53.9601 2025-10-29T00:45:54.583Z,1761698754.583 [DAT](INFO): Rx dataTimestamp_ set to:1761698754.582773 2025-10-29T00:45:54.585Z,1761698754.585 [DAT](INFO): DAT read: Bearing 347.8, 2.1 (Local) 2025-10-29T00:45:54.586Z,1761698754.586 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, 2.1 (Local) 2025-10-29T00:45:54.589Z,1761698754.589 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-29T00:45:54.594Z,1761698754.594 [DAT](INFO): DAT read: 00:45:53.9601 LVL= 32752, 20273, 32754, 32755, AGC= 65, IDX= 504, 0.32,-2.403,-0.575,-2.327,-1.743, PHS=-0.558, 1.213,-0.628, RAW= 331.9, -0.3, CAL= 331.1, -3.2, ROT= 178.9, 3.2 2025-10-29T00:45:54.595Z,1761698754.595 [DAT](INFO): got valid direction response: 00:45:53.9601 LVL= 32752, 20273, 32754, 32755, AGC= 65, IDX= 504, 0.32,-2.403,-0.575,-2.327,-1.743, PHS=-0.558, 1.213,-0.628, RAW= 331.9, -0.3, CAL= 331.1, -3.2, ROT= 178.9, 3.2 2025-10-29T00:45:54.595Z,1761698754.595 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T00:45:54.600Z,1761698754.600 [DAT](INFO): direction in FSK: [-0.998257,0.019168,-0.055822] 2025-10-29T00:45:54.600Z,1761698754.600 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:54.617Z,1761698754.617 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.578355 2025-10-29T00:45:54.833Z,1761698754.833 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.807478 2025-10-29T00:45:54.977Z,1761698754.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.505083 s, deltaX: 0.500000 m, approachRate: 0.989936 m/s, rangeRepo size: 4 2025-10-29T00:45:54.979Z,1761698754.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.760889 m, bearing: 191.101347 deg, lat: 36.779288 deg, lon: -121.859556 deg, deltaT: 0.505083 s, deltaX: 0.497066 m, approachRate: 0.984128 m/s, posRepo size: 4 2025-10-29T00:45:54.996Z,1761698754.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-29T00:45:55.088Z,1761698755.088 [DAT](INFO): DAT read: Rx Time:00:45:54.4602 2025-10-29T00:45:55.089Z,1761698755.089 [DAT](INFO): Rx dataTimestamp_ set to:1761698755.088428 2025-10-29T00:45:55.090Z,1761698755.090 [DAT](INFO): DAT read: Bearing 347.9, 1.9 (Local) 2025-10-29T00:45:55.090Z,1761698755.090 [DAT](INFO): Local bearing/azimuth received: Bearing 347.9, 1.9 (Local) 2025-10-29T00:45:55.093Z,1761698755.093 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed -0.4 2025-10-29T00:45:55.097Z,1761698755.097 [DAT](INFO): DAT read: 00:45:54.4602 LVL= 31296, 21121, 30882, 32755, AGC= 64, IDX= 505, 0.01, 1.464,-2.982, 1.543, 2.121, PHS=-0.555, 1.225,-0.622, RAW= 331.8, -0.5, CAL= 331.0, -3.4, ROT= 179.0, 3.4 2025-10-29T00:45:55.098Z,1761698755.098 [DAT](INFO): got valid direction response: 00:45:54.4602 LVL= 31296, 21121, 30882, 32755, AGC= 64, IDX= 505, 0.01, 1.464,-2.982, 1.543, 2.121, PHS=-0.555, 1.225,-0.622, RAW= 331.8, -0.5, CAL= 331.0, -3.4, ROT= 179.0, 3.4 2025-10-29T00:45:55.099Z,1761698755.099 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T00:45:55.100Z,1761698755.100 [DAT](INFO): direction in FSK: [-0.998088,0.017422,-0.059306] 2025-10-29T00:45:55.104Z,1761698755.104 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:55.108Z,1761698755.108 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.082433 2025-10-29T00:45:55.337Z,1761698755.337 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.311542 2025-10-29T00:45:55.426Z,1761698755.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978794,-0.204572,-0.010619],[0.204763,0.975587,0.079385],[-0.005880,-0.079876,0.996787]] 2025-10-29T00:45:55.517Z,1761698755.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.505655 s, deltaX: 0.100000 m, approachRate: 0.197763 m/s, rangeRepo size: 4 2025-10-29T00:45:55.519Z,1761698755.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.860313 m, bearing: 191.091163 deg, lat: 36.779288 deg, lon: -121.859554 deg, deltaT: 0.505655 s, deltaX: 0.099425 m, approachRate: 0.196626 m/s, posRepo size: 4 2025-10-29T00:45:55.524Z,1761698755.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.86 m. 2025-10-29T00:45:55.590Z,1761698755.590 [DAT](INFO): DAT read: Rx Time:00:45:54.9603 2025-10-29T00:45:55.590Z,1761698755.590 [DAT](INFO): Rx dataTimestamp_ set to:1761698755.589946 2025-10-29T00:45:55.591Z,1761698755.591 [DAT](INFO): DAT read: Bearing 345.3, 2.8 (Local) 2025-10-29T00:45:55.592Z,1761698755.592 [DAT](INFO): Local bearing/azimuth received: Bearing 345.3, 2.8 (Local) 2025-10-29T00:45:55.594Z,1761698755.594 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.5 2025-10-29T00:45:55.599Z,1761698755.599 [DAT](INFO): DAT read: 00:45:54.9603 LVL= 32752, 28577, 32754, 32755, AGC= 65, IDX= 507,-0.49, 1.086, 2.902, 1.119, 1.790, PHS=-0.602, 1.157,-0.715, RAW= 333.1, 1.8, CAL= 332.1, -1.0, ROT= 177.9, 1.0 2025-10-29T00:45:55.600Z,1761698755.600 [DAT](INFO): got valid direction response: 00:45:54.9603 LVL= 32752, 28577, 32754, 32755, AGC= 65, IDX= 507,-0.49, 1.086, 2.902, 1.119, 1.790, PHS=-0.602, 1.157,-0.715, RAW= 333.1, 1.8, CAL= 332.1, -1.0, ROT= 177.9, 1.0 2025-10-29T00:45:55.600Z,1761698755.600 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T00:45:55.601Z,1761698755.601 [DAT](INFO): direction in FSK: [-0.999176,0.036638,-0.017452] 2025-10-29T00:45:55.602Z,1761698755.602 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:55.609Z,1761698755.609 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.583219 2025-10-29T00:45:55.841Z,1761698755.841 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.815517 2025-10-29T00:45:55.960Z,1761698755.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979008,-0.203517,-0.011149],[0.203765,0.975980,0.077092],[-0.004808,-0.077746,0.996962]] 2025-10-29T00:45:55.991Z,1761698755.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.501518 s, deltaX: 0.200000 m, approachRate: 0.398789 m/s, rangeRepo size: 4 2025-10-29T00:45:55.993Z,1761698755.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.059105 m, bearing: 189.741604 deg, lat: 36.779289 deg, lon: -121.859553 deg, deltaT: 0.501518 s, deltaX: 0.198792 m, approachRate: 0.396380 m/s, posRepo size: 4 2025-10-29T00:45:55.993Z,1761698755.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m. 2025-10-29T00:45:56.094Z,1761698756.094 [DAT](INFO): DAT read: Rx Time:00:45:55.4604 2025-10-29T00:45:56.094Z,1761698756.094 [DAT](INFO): Rx dataTimestamp_ set to:1761698756.093826 2025-10-29T00:45:56.095Z,1761698756.095 [DAT](INFO): DAT read: Bearing 347.2, 3.3 (Local) 2025-10-29T00:45:56.096Z,1761698756.096 [DAT](INFO): Local bearing/azimuth received: Bearing 347.2, 3.3 (Local) 2025-10-29T00:45:56.098Z,1761698756.098 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.3 2025-10-29T00:45:56.103Z,1761698756.103 [DAT](INFO): DAT read: 00:45:55.4604 LVL= 32752, 19121, 32754, 32755, AGC= 65, IDX= 507, 0.04, 0.396, 2.205, 0.415, 1.036, PHS=-0.539, 1.214,-0.665, RAW= 333.5, -0.1, CAL= 332.6, -3.0, ROT= 177.4, 3.0 2025-10-29T00:45:56.104Z,1761698756.104 [DAT](INFO): got valid direction response: 00:45:55.4604 LVL= 32752, 19121, 32754, 32755, AGC= 65, IDX= 507, 0.04, 0.396, 2.205, 0.415, 1.036, PHS=-0.539, 1.214,-0.665, RAW= 333.5, -0.1, CAL= 332.6, -3.0, ROT= 177.4, 3.0 2025-10-29T00:45:56.104Z,1761698756.104 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T00:45:56.105Z,1761698756.105 [DAT](INFO): direction in FSK: [-0.997602,0.045301,-0.052336] 2025-10-29T00:45:56.105Z,1761698756.105 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:56.113Z,1761698756.113 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.087676 2025-10-29T00:45:56.320Z,1761698756.320 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:45:56.345Z,1761698756.345 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.319390 2025-10-29T00:45:56.377Z,1761698756.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.503880 s, deltaX: 0.100000 m, approachRate: 0.198460 m/s, rangeRepo size: 4 2025-10-29T00:45:56.379Z,1761698756.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.158529 m, bearing: 189.399098 deg, lat: 36.779289 deg, lon: -121.859553 deg, deltaT: 0.503880 s, deltaX: 0.099424 m, approachRate: 0.197317 m/s, posRepo size: 4 2025-10-29T00:45:56.403Z,1761698756.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m. 2025-10-29T00:45:56.598Z,1761698756.598 [DAT](INFO): DAT read: Rx Time:00:45:55.9606 2025-10-29T00:45:56.598Z,1761698756.598 [DAT](INFO): Rx dataTimestamp_ set to:1761698756.597777 2025-10-29T00:45:56.599Z,1761698756.599 [DAT](INFO): DAT read: Bearing 345.0, 2.8 (Local) 2025-10-29T00:45:56.600Z,1761698756.600 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, 2.8 (Local) 2025-10-29T00:45:56.602Z,1761698756.602 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.3 2025-10-29T00:45:56.606Z,1761698756.606 [DAT](INFO): DAT read: 00:45:55.9606 LVL= 32752, 24737, 32754, 32755, AGC= 67, IDX= 509, 0.38, 2.432,-2.075, 2.458, 3.123, PHS=-0.588, 1.131,-0.709, RAW= 333.4, 1.9, CAL= 332.4, -0.9, ROT= 177.6, 0.9 2025-10-29T00:45:56.607Z,1761698756.607 [DAT](INFO): got valid direction response: 00:45:55.9606 LVL= 32752, 24737, 32754, 32755, AGC= 67, IDX= 509, 0.38, 2.432,-2.075, 2.458, 3.123, PHS=-0.588, 1.131,-0.709, RAW= 333.4, 1.9, CAL= 332.4, -0.9, ROT= 177.6, 0.9 2025-10-29T00:45:56.611Z,1761698756.611 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T00:45:56.627Z,1761698756.627 [DAT](INFO): direction in FSK: [-0.999000,0.041870,-0.015707] 2025-10-29T00:45:56.627Z,1761698756.627 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:56.646Z,1761698756.646 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.620869 2025-10-29T00:45:56.727Z,1761698756.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979442,-0.201321,-0.012783],[0.201706,0.976479,0.076176],[-0.002854,-0.077189,0.997012]] 2025-10-29T00:45:56.792Z,1761698756.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503951 s, deltaX: 0.300000 m, approachRate: 0.595296 m/s, rangeRepo size: 4 2025-10-29T00:45:56.794Z,1761698756.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.456801 m, bearing: 189.313471 deg, lat: 36.779289 deg, lon: -121.859552 deg, deltaT: 0.503951 s, deltaX: 0.298272 m, approachRate: 0.591867 m/s, posRepo size: 4 2025-10-29T00:45:56.794Z,1761698756.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-29T00:45:56.849Z,1761698756.849 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.823756 2025-10-29T00:45:57.105Z,1761698757.105 [DAT](INFO): DAT read: Rx Time:00:45:56.4607 2025-10-29T00:45:57.107Z,1761698757.107 [DAT](INFO): Rx dataTimestamp_ set to:1761698757.106007 2025-10-29T00:45:57.148Z,1761698757.148 [DAT](INFO): DAT read: Bearing 347.5, 3.1 (Local) 2025-10-29T00:45:57.149Z,1761698757.149 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, 3.1 (Local) 2025-10-29T00:45:57.151Z,1761698757.151 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed -0.4 2025-10-29T00:45:57.163Z,1761698757.163 [DAT](INFO): DAT read: 00:45:56.4607 LVL= 32752, 19137, 32754, 32755, AGC= 66, IDX= 510,-0.06,-1.039, 0.778,-1.018,-0.409, PHS=-0.527, 1.233,-0.653, RAW= 333.4, -0.6, CAL= 332.6, -3.5, ROT= 177.4, 3.5 2025-10-29T00:45:57.173Z,1761698757.173 [DAT](INFO): got valid direction response: 00:45:56.4607 LVL= 32752, 19137, 32754, 32755, AGC= 66, IDX= 510,-0.06,-1.039, 0.778,-1.018,-0.409, PHS=-0.527, 1.233,-0.653, RAW= 333.4, -0.6, CAL= 332.6, -3.5, ROT= 177.4, 3.5 2025-10-29T00:45:57.173Z,1761698757.173 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T00:45:57.174Z,1761698757.174 [DAT](INFO): direction in FSK: [-0.997107,0.045278,-0.061049] 2025-10-29T00:45:57.174Z,1761698757.174 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:57.178Z,1761698757.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979798,-0.199506,-0.013918],[0.199984,0.976823,0.076311],[-0.001630,-0.077553,0.996987]] 2025-10-29T00:45:57.186Z,1761698757.186 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.160922 2025-10-29T00:45:57.308Z,1761698757.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.508230 s, deltaX: 0.200000 m, approachRate: 0.393522 m/s, rangeRepo size: 4 2025-10-29T00:45:57.310Z,1761698757.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.655710 m, bearing: 189.215638 deg, lat: 36.779289 deg, lon: -121.859552 deg, deltaT: 0.508230 s, deltaX: 0.198909 m, approachRate: 0.391376 m/s, posRepo size: 4 2025-10-29T00:45:57.310Z,1761698757.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.66 m. 2025-10-29T00:45:57.324Z,1761698757.324 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:45:57.353Z,1761698757.353 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.327557 2025-10-29T00:45:57.606Z,1761698757.606 [DAT](INFO): DAT read: Rx Time:00:45:56.9609 2025-10-29T00:45:57.606Z,1761698757.606 [DAT](INFO): Rx dataTimestamp_ set to:1761698757.605712 2025-10-29T00:45:57.607Z,1761698757.607 [DAT](INFO): DAT read: Bearing 351.1, 8.9 (Local) 2025-10-29T00:45:57.608Z,1761698757.608 [DAT](INFO): Local bearing/azimuth received: Bearing 351.1, 8.9 (Local) 2025-10-29T00:45:57.610Z,1761698757.610 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.3 2025-10-29T00:45:57.615Z,1761698757.615 [DAT](INFO): DAT read: 00:45:56.9609 LVL= 32752, 23201, 32754, 32755, AGC= 68, IDX= 512, 0.20,-0.140, 1.678,-0.330, 0.288, PHS=-0.326, 1.435,-0.662, RAW= 338.6, -4.6, CAL= 338.2, -7.6, ROT= 171.8, 7.6 2025-10-29T00:45:57.616Z,1761698757.616 [DAT](INFO): got valid direction response: 00:45:56.9609 LVL= 32752, 23201, 32754, 32755, AGC= 68, IDX= 512, 0.20,-0.140, 1.678,-0.330, 0.288, PHS=-0.326, 1.435,-0.662, RAW= 338.6, -4.6, CAL= 338.2, -7.6, ROT= 171.8, 7.6 2025-10-29T00:45:57.617Z,1761698757.617 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T00:45:57.617Z,1761698757.617 [DAT](INFO): direction in FSK: [-0.981082,0.141376,-0.132256] 2025-10-29T00:45:57.618Z,1761698757.618 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:57.647Z,1761698757.647 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.621450 2025-10-29T00:45:57.771Z,1761698757.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.499705 s, deltaX: 0.300000 m, approachRate: 0.600355 m/s, rangeRepo size: 4 2025-10-29T00:45:57.778Z,1761698757.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.953985 m, bearing: 183.949904 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 0.499705 s, deltaX: 0.298275 m, approachRate: 0.596902 m/s, posRepo size: 4 2025-10-29T00:45:57.778Z,1761698757.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-29T00:45:57.857Z,1761698757.857 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.831683 2025-10-29T00:45:58.112Z,1761698758.112 [DAT](INFO): DAT read: Rx Time:00:45:57.4610 2025-10-29T00:45:58.114Z,1761698758.114 [DAT](INFO): Rx dataTimestamp_ set to:1761698758.112839 2025-10-29T00:45:58.118Z,1761698758.118 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.3 2025-10-29T00:45:58.118Z,1761698758.118 [DAT](ERROR): #Rx 18: Read range message, but no direction. 2025-10-29T00:45:58.119Z,1761698758.119 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.093703 2025-10-29T00:45:58.200Z,1761698758.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.507127 s, deltaX: 0.100000 m, approachRate: 0.197190 m/s, rangeRepo size: 4 2025-10-29T00:45:58.201Z,1761698758.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-29T00:45:58.361Z,1761698758.361 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.335583 2025-10-29T00:45:58.495Z,1761698758.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980842,-0.194019,-0.017460],[0.194785,0.978042,0.074107],[0.002698,-0.076088,0.997097]] 2025-10-29T00:45:58.514Z,1761698758.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-29T00:45:58.613Z,1761698758.613 [DAT](INFO): DAT read: Rx Time:00:45:57.9612 2025-10-29T00:45:58.614Z,1761698758.614 [DAT](INFO): Rx dataTimestamp_ set to:1761698758.613688 2025-10-29T00:45:58.615Z,1761698758.615 [DAT](INFO): DAT read: Bearing 345.4, 3.5 (Local) 2025-10-29T00:45:58.616Z,1761698758.616 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 3.5 (Local) 2025-10-29T00:45:58.618Z,1761698758.618 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-29T00:45:58.622Z,1761698758.622 [DAT](INFO): DAT read: 00:45:57.9612 LVL= 30448, 26817, 26290, 32755, AGC= 71, IDX= 3,-0.01, 1.811,-2.677, 1.802, 2.476, PHS=-0.563, 1.176,-0.718, RAW= 334.2, 1.2, CAL= 333.4, -1.7, ROT= 176.6, 1.7 2025-10-29T00:45:58.623Z,1761698758.623 [DAT](INFO): got valid direction response: 00:45:57.9612 LVL= 30448, 26817, 26290, 32755, AGC= 71, IDX= 3,-0.01, 1.811,-2.677, 1.802, 2.476, PHS=-0.563, 1.176,-0.718, RAW= 334.2, 1.2, CAL= 333.4, -1.7, ROT= 176.6, 1.7 2025-10-29T00:45:58.624Z,1761698758.624 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T00:45:58.625Z,1761698758.625 [DAT](INFO): direction in FSK: [-0.997800,0.059280,-0.029666] 2025-10-29T00:45:58.625Z,1761698758.625 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:58.632Z,1761698758.632 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.606401 2025-10-29T00:45:58.865Z,1761698758.865 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.839797 2025-10-29T00:45:58.891Z,1761698758.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981012,-0.193088,-0.018239],[0.193906,0.978401,0.071641],[0.004012,-0.073817,0.997264]] 2025-10-29T00:45:58.988Z,1761698758.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.500849 s, deltaX: 0.299999 m, approachRate: 0.598981 m/s, rangeRepo size: 4 2025-10-29T00:45:58.990Z,1761698758.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.351712 m, bearing: 187.915023 deg, lat: 36.779288 deg, lon: -121.859552 deg, deltaT: 1.007976 s, deltaX: 0.397727 m, approachRate: 0.394580 m/s, posRepo size: 4 2025-10-29T00:45:58.991Z,1761698758.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-29T00:45:59.122Z,1761698759.122 [DAT](INFO): DAT read: Rx Time:00:45:58.4612 2025-10-29T00:45:59.124Z,1761698759.124 [DAT](INFO): Rx dataTimestamp_ set to:1761698759.122655 2025-10-29T00:45:59.128Z,1761698759.128 [DAT](INFO): DAT read: Bearing 346.9, 3.9 (Local) 2025-10-29T00:45:59.129Z,1761698759.129 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, 3.9 (Local) 2025-10-29T00:45:59.149Z,1761698759.149 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.3 2025-10-29T00:45:59.157Z,1761698759.157 [DAT](INFO): DAT read: 00:45:58.4612 LVL= 32752, 24817, 32754, 32755, AGC= 65, IDX= 499, 0.37, 1.375,-3.094, 1.355, 1.999, PHS=-0.522, 1.235,-0.689, RAW= 334.5, -0.3, CAL= 333.7, -3.2, ROT= 176.3, 3.2 2025-10-29T00:45:59.158Z,1761698759.158 [DAT](INFO): got valid direction response: 00:45:58.4612 LVL= 32752, 24817, 32754, 32755, AGC= 65, IDX= 499, 0.37, 1.375,-3.094, 1.355, 1.999, PHS=-0.522, 1.235,-0.689, RAW= 334.5, -0.3, CAL= 333.7, -3.2, ROT= 176.3, 3.2 2025-10-29T00:45:59.159Z,1761698759.159 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T00:45:59.177Z,1761698759.177 [DAT](INFO): direction in FSK: [-0.996360,0.064432,-0.055822] 2025-10-29T00:45:59.178Z,1761698759.178 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:59.187Z,1761698759.187 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.161825 2025-10-29T00:45:59.294Z,1761698759.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981244,-0.191812,-0.019193],[0.192699,0.978708,0.070699],[0.005224,-0.073072,0.997313]] 2025-10-29T00:45:59.369Z,1761698759.369 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.343609 2025-10-29T00:45:59.371Z,1761698759.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.508967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:45:59.378Z,1761698759.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.351712 m, bearing: 187.652893 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.508967 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:45:59.378Z,1761698759.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-29T00:45:59.622Z,1761698759.622 [DAT](INFO): DAT read: Rx Time:00:45:58.9614 2025-10-29T00:45:59.623Z,1761698759.623 [DAT](INFO): Rx dataTimestamp_ set to:1761698759.622439 2025-10-29T00:45:59.625Z,1761698759.625 [DAT](INFO): DAT read: Bearing 346.1, 3.8 (Local) 2025-10-29T00:45:59.625Z,1761698759.625 [DAT](INFO): Local bearing/azimuth received: Bearing 346.1, 3.8 (Local) 2025-10-29T00:45:59.628Z,1761698759.628 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.3 2025-10-29T00:45:59.634Z,1761698759.634 [DAT](INFO): DAT read: 00:45:58.9614 LVL= 32752, 23745, 32754, 32755, AGC= 69, IDX= 501,-0.20, 0.081, 1.871, 0.059, 0.719, PHS=-0.536, 1.197,-0.704, RAW= 334.6, 0.5, CAL= 333.8, -2.4, ROT= 176.2, 2.4 2025-10-29T00:45:59.635Z,1761698759.635 [DAT](INFO): got valid direction response: 00:45:58.9614 LVL= 32752, 23745, 32754, 32755, AGC= 69, IDX= 501,-0.20, 0.081, 1.871, 0.059, 0.719, PHS=-0.536, 1.197,-0.704, RAW= 334.6, 0.5, CAL= 333.8, -2.4, ROT= 176.2, 2.4 2025-10-29T00:45:59.639Z,1761698759.639 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T00:45:59.640Z,1761698759.640 [DAT](INFO): direction in FSK: [-0.996926,0.066216,-0.041876] 2025-10-29T00:45:59.640Z,1761698759.640 [DAT](INFO): publishing direction and range info 2025-10-29T00:45:59.655Z,1761698759.655 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.628898 2025-10-29T00:45:59.811Z,1761698759.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981460,-0.190609,-0.020125],[0.191561,0.978999,0.069750],[0.006407,-0.072312,0.997362]] 2025-10-29T00:45:59.835Z,1761698759.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.499784 s, deltaX: 0.300000 m, approachRate: 0.600260 m/s, rangeRepo size: 4 2025-10-29T00:45:59.837Z,1761698759.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.649988 m, bearing: 187.426220 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.499784 s, deltaX: 0.298276 m, approachRate: 0.596810 m/s, posRepo size: 4 2025-10-29T00:45:59.838Z,1761698759.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-29T00:45:59.874Z,1761698759.874 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.848164 2025-10-29T00:46:00.130Z,1761698760.130 [DAT](INFO): DAT read: Rx Time:00:45:59.4614 2025-10-29T00:46:00.131Z,1761698760.131 [DAT](INFO): Rx dataTimestamp_ set to:1761698760.130350 2025-10-29T00:46:00.136Z,1761698760.136 [DAT](INFO): DAT read: Bearing 346.7, 4.3 (Local) 2025-10-29T00:46:00.137Z,1761698760.137 [DAT](INFO): Local bearing/azimuth received: Bearing 346.7, 4.3 (Local) 2025-10-29T00:46:00.150Z,1761698760.150 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.4 2025-10-29T00:46:00.155Z,1761698760.155 [DAT](INFO): DAT read: 00:45:59.4614 LVL= 32752, 21137, 32754, 32755, AGC= 66, IDX= 501, 0.10, 0.425, 2.219, 0.382, 1.038, PHS=-0.511, 1.226,-0.700, RAW= 335.1, -0.2, CAL= 334.4, -3.1, ROT= 175.6, 3.1 2025-10-29T00:46:00.156Z,1761698760.156 [DAT](INFO): got valid direction response: 00:45:59.4614 LVL= 32752, 21137, 32754, 32755, AGC= 66, IDX= 501, 0.10, 0.425, 2.219, 0.382, 1.038, PHS=-0.511, 1.226,-0.700, RAW= 335.1, -0.2, CAL= 334.4, -3.1, ROT= 175.6, 3.1 2025-10-29T00:46:00.156Z,1761698760.156 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-29T00:46:00.157Z,1761698760.157 [DAT](INFO): direction in FSK: [-0.995594,0.076607,-0.054079] 2025-10-29T00:46:00.158Z,1761698760.158 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:00.161Z,1761698760.161 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.136037 2025-10-29T00:46:00.215Z,1761698760.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981544,-0.190094,-0.020880],[0.191089,0.979211,0.068044],[0.007511,-0.070778,0.997464]] 2025-10-29T00:46:00.329Z,1761698760.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.507911 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:00.331Z,1761698760.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.650054 m, bearing: 186.844763 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.507911 s, deltaX: 0.000066 m, approachRate: 0.000130 m/s, posRepo size: 4 2025-10-29T00:46:00.331Z,1761698760.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-29T00:46:00.377Z,1761698760.377 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.351642 2025-10-29T00:46:00.615Z,1761698760.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981620,-0.189629,-0.021535],[0.190656,0.979426,0.066142],[0.008549,-0.069032,0.997578]] 2025-10-29T00:46:00.630Z,1761698760.630 [DAT](INFO): DAT read: Rx Time:00:45:59.9616 2025-10-29T00:46:00.630Z,1761698760.630 [DAT](INFO): Rx dataTimestamp_ set to:1761698760.629854 2025-10-29T00:46:00.631Z,1761698760.631 [DAT](INFO): DAT read: Bearing 346.4, 5.0 (Local) 2025-10-29T00:46:00.632Z,1761698760.632 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, 5.0 (Local) 2025-10-29T00:46:00.634Z,1761698760.634 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-29T00:46:00.639Z,1761698760.639 [DAT](INFO): DAT read: 00:45:59.9616 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 503, 0.47, 1.894,-2.635, 1.825, 2.494, PHS=-0.498, 1.199,-0.712, RAW= 335.9, 0.1, CAL= 335.2, -2.8, ROT= 174.8, 2.8 2025-10-29T00:46:00.640Z,1761698760.640 [DAT](INFO): got valid direction response: 00:45:59.9616 LVL= 32752, 27025, 32754, 32755, AGC= 67, IDX= 503, 0.47, 1.894,-2.635, 1.825, 2.494, PHS=-0.498, 1.199,-0.712, RAW= 335.9, 0.1, CAL= 335.2, -2.8, ROT= 174.8, 2.8 2025-10-29T00:46:00.640Z,1761698760.640 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-29T00:46:00.641Z,1761698760.641 [DAT](INFO): direction in FSK: [-0.994695,0.090524,-0.048850] 2025-10-29T00:46:00.641Z,1761698760.641 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:00.657Z,1761698760.657 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.631411 2025-10-29T00:46:00.766Z,1761698760.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.499504 s, deltaX: 0.300000 m, approachRate: 0.600596 m/s, rangeRepo size: 4 2025-10-29T00:46:00.774Z,1761698760.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.948332 m, bearing: 185.994028 deg, lat: 36.779288 deg, lon: -121.859551 deg, deltaT: 0.499504 s, deltaX: 0.298278 m, approachRate: 0.597148 m/s, posRepo size: 4 2025-10-29T00:46:00.775Z,1761698760.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-29T00:46:00.882Z,1761698760.882 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.856365 2025-10-29T00:46:01.019Z,1761698761.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981699,-0.189148,-0.022131],[0.190203,0.979622,0.064530],[0.009474,-0.067559,0.997670]] 2025-10-29T00:46:01.117Z,1761698761.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-29T00:46:01.138Z,1761698761.138 [DAT](INFO): DAT read: Rx Time:00:46:00.4616 2025-10-29T00:46:01.139Z,1761698761.139 [DAT](INFO): Rx dataTimestamp_ set to:1761698761.137983 2025-10-29T00:46:01.160Z,1761698761.160 [DAT](INFO): DAT read: Bearing 347.1, 5.0 (Local) 2025-10-29T00:46:01.162Z,1761698761.162 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 5.0 (Local) 2025-10-29T00:46:01.179Z,1761698761.179 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.3 2025-10-29T00:46:01.191Z,1761698761.191 [DAT](INFO): DAT read: 00:46:00.4616 LVL= 32752, 21009, 32754, 32755, AGC= 66, IDX= 504,-0.16, 0.247, 2.033, 0.173, 0.836, PHS=-0.487, 1.243,-0.707, RAW= 335.9, -0.5, CAL= 335.2, -3.4, ROT= 174.8, 3.4 2025-10-29T00:46:01.201Z,1761698761.201 [DAT](INFO): got valid direction response: 00:46:00.4616 LVL= 32752, 21009, 32754, 32755, AGC= 66, IDX= 504,-0.16, 0.247, 2.033, 0.173, 0.836, PHS=-0.487, 1.243,-0.707, RAW= 335.9, -0.5, CAL= 335.2, -3.4, ROT= 174.8, 3.4 2025-10-29T00:46:01.202Z,1761698761.202 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-29T00:46:01.203Z,1761698761.203 [DAT](INFO): direction in FSK: [-0.994131,0.090473,-0.059306] 2025-10-29T00:46:01.203Z,1761698761.203 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:01.219Z,1761698761.219 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.193287 2025-10-29T00:46:01.385Z,1761698761.385 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.360046 2025-10-29T00:46:01.467Z,1761698761.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981887,-0.188076,-0.022907],[0.189175,0.979888,0.063508],[0.010502,-0.066691,0.997718]] 2025-10-29T00:46:01.537Z,1761698761.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.508129 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:01.539Z,1761698761.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.948345 m, bearing: 185.939268 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.508129 s, deltaX: 0.000013 m, approachRate: 0.000026 m/s, posRepo size: 4 2025-10-29T00:46:01.540Z,1761698761.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-29T00:46:01.638Z,1761698761.638 [DAT](INFO): DAT read: Rx Time:00:46:00.9618 2025-10-29T00:46:01.638Z,1761698761.638 [DAT](INFO): Rx dataTimestamp_ set to:1761698761.637719 2025-10-29T00:46:01.639Z,1761698761.639 [DAT](INFO): DAT read: Bearing 346.5, 5.8 (Local) 2025-10-29T00:46:01.640Z,1761698761.640 [DAT](INFO): Local bearing/azimuth received: Bearing 346.5, 5.8 (Local) 2025-10-29T00:46:01.642Z,1761698761.642 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-29T00:46:01.647Z,1761698761.647 [DAT](INFO): DAT read: 00:46:00.9618 LVL= 32752, 27025, 32754, 32755, AGC= 66, IDX= 506, 0.09,-2.442,-0.697,-2.548,-1.862, PHS=-0.478, 1.210,-0.731, RAW= 336.9, -0.0, CAL= 336.2, -2.9, ROT= 173.8, 2.9 2025-10-29T00:46:01.648Z,1761698761.648 [DAT](INFO): got valid direction response: 00:46:00.9618 LVL= 32752, 27025, 32754, 32755, AGC= 66, IDX= 506, 0.09,-2.442,-0.697,-2.548,-1.862, PHS=-0.478, 1.210,-0.731, RAW= 336.9, -0.0, CAL= 336.2, -2.9, ROT= 173.8, 2.9 2025-10-29T00:46:01.649Z,1761698761.649 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-29T00:46:01.650Z,1761698761.650 [DAT](INFO): direction in FSK: [-0.992878,0.107861,-0.050593] 2025-10-29T00:46:01.650Z,1761698761.650 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:01.658Z,1761698761.658 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.632256 2025-10-29T00:46:01.889Z,1761698761.889 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.863482 2025-10-29T00:46:01.970Z,1761698761.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982029,-0.187236,-0.023690],[0.188376,0.980112,0.062412],[0.011533,-0.065753,0.997769]] 2025-10-29T00:46:02.033Z,1761698762.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499736 s, deltaX: 0.300000 m, approachRate: 0.600317 m/s, rangeRepo size: 4 2025-10-29T00:46:02.035Z,1761698762.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.246644 m, bearing: 184.857494 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.499736 s, deltaX: 0.298299 m, approachRate: 0.596913 m/s, posRepo size: 4 2025-10-29T00:46:02.035Z,1761698762.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m. 2025-10-29T00:46:02.146Z,1761698762.146 [DAT](INFO): DAT read: Rx Time:00:46:01.4619 2025-10-29T00:46:02.148Z,1761698762.148 [DAT](INFO): Rx dataTimestamp_ set to:1761698762.146852 2025-10-29T00:46:02.153Z,1761698762.153 [DAT](INFO): DAT read: Bearing 347.1, 7.5 (Local) 2025-10-29T00:46:02.154Z,1761698762.154 [DAT](INFO): Local bearing/azimuth received: Bearing 347.1, 7.5 (Local) 2025-10-29T00:46:02.178Z,1761698762.178 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.5 2025-10-29T00:46:02.190Z,1761698762.190 [DAT](INFO): DAT read: 00:46:01.4619 LVL= 32752, 24497, 32754, 32755, AGC= 66, IDX= 506, 0.49, 2.940,-1.628, 2.776,-2.811, PHS=-0.430, 1.228,-0.740, RAW= 338.4, -0.6, CAL= 337.9, -3.5, ROT= 172.1, 3.5 2025-10-29T00:46:02.194Z,1761698762.194 [DAT](INFO): got valid direction response: 00:46:01.4619 LVL= 32752, 24497, 32754, 32755, AGC= 66, IDX= 506, 0.49, 2.940,-1.628, 2.776,-2.811, PHS=-0.430, 1.228,-0.740, RAW= 338.4, -0.6, CAL= 337.9, -3.5, ROT= 172.1, 3.5 2025-10-29T00:46:02.195Z,1761698762.195 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-29T00:46:02.197Z,1761698762.197 [DAT](INFO): direction in FSK: [-0.988662,0.137188,-0.061049] 2025-10-29T00:46:02.197Z,1761698762.197 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:02.213Z,1761698762.213 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.187377 2025-10-29T00:46:02.393Z,1761698762.393 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.367602 2025-10-29T00:46:02.464Z,1761698762.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982113,-0.186726,-0.024231],[0.187905,0.980189,0.062619],[0.012059,-0.066053,0.997743]] 2025-10-29T00:46:02.491Z,1761698762.491 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504342242,35.0, +10.6, 0.0,1492.2RA, 0.00, 80.50, 74.73, 77.79, 77.45 2025-10-29T00:46:02.511Z,1761698762.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.509133 s, deltaX: 0.200000 m, approachRate: 0.392824 m/s, rangeRepo size: 4 2025-10-29T00:46:02.540Z,1761698762.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.445497 m, bearing: 183.170835 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.509133 s, deltaX: 0.198853 m, approachRate: 0.390571 m/s, posRepo size: 4 2025-10-29T00:46:02.540Z,1761698762.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.45 m. 2025-10-29T00:46:02.646Z,1761698762.646 [DAT](INFO): DAT read: Rx Time:00:46:01.9621 2025-10-29T00:46:02.646Z,1761698762.646 [DAT](INFO): Rx dataTimestamp_ set to:1761698762.646137 2025-10-29T00:46:02.648Z,1761698762.648 [DAT](INFO): DAT read: Bearing 347.2, 7.9 (Local) 2025-10-29T00:46:02.648Z,1761698762.648 [DAT](INFO): Local bearing/azimuth received: Bearing 347.2, 7.9 (Local) 2025-10-29T00:46:02.650Z,1761698762.650 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-29T00:46:02.655Z,1761698762.655 [DAT](INFO): DAT read: 00:46:01.9621 LVL= 32752, 23537, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.587,-0.856,-2.771,-2.059, PHS=-0.426, 1.247,-0.756, RAW= 338.8, -0.7, CAL= 338.3, -3.6, ROT= 171.7, 3.6 2025-10-29T00:46:02.656Z,1761698762.656 [DAT](INFO): got valid direction response: 00:46:01.9621 LVL= 32752, 23537, 32754, 32755, AGC= 65, IDX= 509,-0.13,-2.587,-0.856,-2.771,-2.059, PHS=-0.426, 1.247,-0.756, RAW= 338.8, -0.7, CAL= 338.3, -3.6, ROT= 171.7, 3.6 2025-10-29T00:46:02.657Z,1761698762.657 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-29T00:46:02.658Z,1761698762.658 [DAT](INFO): direction in FSK: [-0.987573,0.144071,-0.062791] 2025-10-29T00:46:02.658Z,1761698762.658 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:02.669Z,1761698762.669 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.643451 2025-10-29T00:46:02.816Z,1761698762.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982226,-0.186045,-0.024866],[0.187261,0.980344,0.062124],[0.012820,-0.065677,0.997759]] 2025-10-29T00:46:02.845Z,1761698762.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.499285 s, deltaX: 0.300000 m, approachRate: 0.600860 m/s, rangeRepo size: 4 2025-10-29T00:46:02.847Z,1761698762.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.743775 m, bearing: 182.737908 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.499285 s, deltaX: 0.298279 m, approachRate: 0.597412 m/s, posRepo size: 4 2025-10-29T00:46:02.847Z,1761698762.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-29T00:46:02.901Z,1761698762.901 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.875026 2025-10-29T00:46:03.154Z,1761698763.154 [DAT](INFO): DAT read: Rx Time:00:46:02.4621 2025-10-29T00:46:03.156Z,1761698763.156 [DAT](INFO): Rx dataTimestamp_ set to:1761698763.154522 2025-10-29T00:46:03.160Z,1761698763.160 [DAT](INFO): DAT read: Bearing 347.8, 9.3 (Local) 2025-10-29T00:46:03.161Z,1761698763.161 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, 9.3 (Local) 2025-10-29T00:46:03.180Z,1761698763.180 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.4 2025-10-29T00:46:03.223Z,1761698763.223 [DAT](INFO): DAT read: 00:46:02.4621 LVL= 32752, 28241, 32754, 32755, AGC= 65, IDX= 509, 0.19,-2.133,-0.426,-2.371,-1.651, PHS=-0.381, 1.270,-0.764, RAW= 340.2, -1.4, CAL= 339.8, -4.3, ROT= 170.2, 4.3 2025-10-29T00:46:03.237Z,1761698763.237 [DAT](INFO): got valid direction response: 00:46:02.4621 LVL= 32752, 28241, 32754, 32755, AGC= 65, IDX= 509, 0.19,-2.133,-0.426,-2.371,-1.651, PHS=-0.381, 1.270,-0.764, RAW= 340.2, -1.4, CAL= 339.8, -4.3, ROT= 170.2, 4.3 2025-10-29T00:46:03.237Z,1761698763.237 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-29T00:46:03.238Z,1761698763.238 [DAT](INFO): direction in FSK: [-0.982634,0.169730,-0.074979] 2025-10-29T00:46:03.238Z,1761698763.238 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:03.246Z,1761698763.246 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.220814 2025-10-29T00:46:03.253Z,1761698763.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982207,-0.186100,-0.025246],[0.187324,0.980412,0.060853],[0.013426,-0.064499,0.997827]] 2025-10-29T00:46:03.350Z,1761698763.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.508385 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:03.356Z,1761698763.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.743883 m, bearing: 181.279939 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.508385 s, deltaX: 0.000108 m, approachRate: 0.000212 m/s, posRepo size: 4 2025-10-29T00:46:03.357Z,1761698763.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-29T00:46:03.405Z,1761698763.405 [DAT](INFO): DAT read: Rx Time:00:46:02.9624 2025-10-29T00:46:03.407Z,1761698763.407 [DAT](INFO): Rx dataTimestamp_ set to:1761698763.405638 2025-10-29T00:46:03.410Z,1761698763.410 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.384268 2025-10-29T00:46:03.625Z,1761698763.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982166,-0.186264,-0.025605],[0.187505,0.980403,0.060428],[0.013847,-0.064151,0.997844]] 2025-10-29T00:46:03.645Z,1761698763.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.74 m. 2025-10-29T00:46:03.654Z,1761698763.654 [DAT](INFO): DAT read: Bearing 355.6, -2.2 (Local) 2025-10-29T00:46:03.654Z,1761698763.654 [DAT](INFO): Local bearing/azimuth received: Bearing 355.6, -2.2 (Local) 2025-10-29T00:46:03.656Z,1761698763.656 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 2025-10-29T00:46:03.661Z,1761698763.661 [DAT](INFO): DAT read: 00:46:02.9624 LVL= 32752, 22417, 32754, 32755, AGC= 65, IDX= 512,-0.33, 0.507, 1.900, 0.705, 0.896, PHS=-0.287, 1.049,-0.235, RAW= 328.1, -8.1, CAL= 327.7, -11.3, ROT= 182.3, 11.3 2025-10-29T00:46:03.662Z,1761698763.662 [DAT](INFO): got valid direction response: 00:46:02.9624 LVL= 32752, 22417, 32754, 32755, AGC= 65, IDX= 512,-0.33, 0.507, 1.900, 0.705, 0.896, PHS=-0.287, 1.049,-0.235, RAW= 328.1, -8.1, CAL= 327.7, -11.3, ROT= 182.3, 11.3 2025-10-29T00:46:03.662Z,1761698763.662 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-29T00:46:03.663Z,1761698763.663 [DAT](INFO): direction in FSK: [-0.979825,-0.039354,-0.195946] 2025-10-29T00:46:03.664Z,1761698763.664 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:03.667Z,1761698763.667 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.641891 2025-10-29T00:46:03.906Z,1761698763.906 [DAT](INFO): DAT read: Rx Time:00:46:03.4624 2025-10-29T00:46:03.907Z,1761698763.907 [DAT](INFO): Rx dataTimestamp_ set to:1761698763.906315 2025-10-29T00:46:03.909Z,1761698763.909 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.0 2025-10-29T00:46:03.910Z,1761698763.910 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-29T00:46:03.912Z,1761698763.912 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=16.885845 2025-10-29T00:46:04.036Z,1761698764.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982232,-0.185864,-0.025975],[0.187124,0.980499,0.060058],[0.014306,-0.063851,0.997857]] 2025-10-29T00:46:04.068Z,1761698764.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.751793 s, deltaX: 0.400000 m, approachRate: 0.532061 m/s, rangeRepo size: 4 2025-10-29T00:46:04.070Z,1761698764.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.141802 m, bearing: 193.820356 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.751793 s, deltaX: 0.397919 m, approachRate: 0.529293 m/s, posRepo size: 4 2025-10-29T00:46:04.071Z,1761698764.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T00:46:04.160Z,1761698764.160 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.133629 2025-10-29T00:46:04.412Z,1761698764.412 [DAT](INFO): DAT read: Rx Time:00:46:03.9625 2025-10-29T00:46:04.414Z,1761698764.414 [DAT](INFO): Rx dataTimestamp_ set to:1761698764.412981 2025-10-29T00:46:04.417Z,1761698764.417 [DAT](INFO): DAT read: Bearing 347.5, 11.7 (Local) 2025-10-29T00:46:04.418Z,1761698764.418 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, 11.7 (Local) 2025-10-29T00:46:04.421Z,1761698764.421 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.394787 2025-10-29T00:46:04.489Z,1761698764.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982275,-0.185556,-0.026544],[0.186846,0.980580,0.059587],[0.014972,-0.063491,0.997870]] 2025-10-29T00:46:04.543Z,1761698764.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T00:46:04.662Z,1761698764.662 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-29T00:46:04.667Z,1761698764.667 [DAT](INFO): DAT read: 00:46:03.9625 LVL= 32128, 24145, 24866, 32755, AGC= 71, IDX= 1, 0.31,-2.454,-0.823,-2.774,-2.015, PHS=-0.337, 1.237,-0.803, RAW= 342.6, -1.1, CAL= 342.2, -4.0, ROT= 167.8, 4.0 2025-10-29T00:46:04.668Z,1761698764.668 [DAT](INFO): got valid direction response: 00:46:03.9625 LVL= 32128, 24145, 24866, 32755, AGC= 71, IDX= 1, 0.31,-2.454,-0.823,-2.774,-2.015, PHS=-0.337, 1.237,-0.803, RAW= 342.6, -1.1, CAL= 342.2, -4.0, ROT= 167.8, 4.0 2025-10-29T00:46:04.669Z,1761698764.669 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-29T00:46:04.670Z,1761698764.670 [DAT](INFO): direction in FSK: [-0.975035,0.210810,-0.069756] 2025-10-29T00:46:04.670Z,1761698764.670 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:04.674Z,1761698764.674 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.648973 2025-10-29T00:46:04.843Z,1761698764.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982328,-0.185227,-0.026882],[0.186535,0.980656,0.059310],[0.015376,-0.063277,0.997878]] 2025-10-29T00:46:04.917Z,1761698764.917 [DAT](INFO): DAT read: Rx Time:00:46:04.4625 2025-10-29T00:46:04.919Z,1761698764.919 [DAT](INFO): Rx dataTimestamp_ set to:1761698764.918034 2025-10-29T00:46:04.923Z,1761698764.923 [DAT](INFO): DAT read: Bearing 347.4, 11.0 (Local) 2025-10-29T00:46:04.924Z,1761698764.924 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 11.0 (Local) 2025-10-29T00:46:04.928Z,1761698764.928 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed -0.4 2025-10-29T00:46:04.931Z,1761698764.931 [DAT](ERROR): #Rx 32: Read range message, but no direction. 2025-10-29T00:46:04.946Z,1761698764.946 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=17.920429 2025-10-29T00:46:04.987Z,1761698764.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 1.011719 s, deltaX: 0.300000 m, approachRate: 0.296525 m/s, rangeRepo size: 4 2025-10-29T00:46:05.001Z,1761698765.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.440653 m, bearing: 178.807220 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.754047 s, deltaX: 0.298851 m, approachRate: 0.396329 m/s, posRepo size: 4 2025-10-29T00:46:05.002Z,1761698765.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-29T00:46:05.169Z,1761698765.169 [DAT](INFO): DAT read: 00:46:04.4625 LVL= 32752, 20609, 32754, 32755, AGC= 66, IDX= 498,-0.24, 1.030, 2.696, 0.727, 1.494, PHS=-0.362, 1.247,-0.811, RAW= 342.0, -0.8, CAL= 341.5, -3.7, ROT= 168.5, 3.7 2025-10-29T00:46:05.170Z,1761698765.170 [DAT](INFO): got valid direction response: 00:46:04.4625 LVL= 32752, 20609, 32754, 32755, AGC= 66, IDX= 498,-0.24, 1.030, 2.696, 0.727, 1.494, PHS=-0.362, 1.247,-0.811, RAW= 342.0, -0.8, CAL= 341.5, -3.7, ROT= 168.5, 3.7 2025-10-29T00:46:05.172Z,1761698765.172 [DAT](INFO): #Rx 33: Read direction message, but no range. 2025-10-29T00:46:05.175Z,1761698765.175 [DAT](INFO): direction in FSK: [-0.977882,0.198952,-0.064532] 2025-10-29T00:46:05.203Z,1761698765.203 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.177338 2025-10-29T00:46:05.294Z,1761698765.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981886,-0.187574,-0.026772],[0.188807,0.980461,0.055202],[0.015895,-0.059257,0.998116]] 2025-10-29T00:46:05.356Z,1761698765.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-29T00:46:05.423Z,1761698765.423 [DAT](INFO): DAT read: Rx Time:00:46:04.9627 2025-10-29T00:46:05.425Z,1761698765.425 [DAT](INFO): Rx dataTimestamp_ set to:1761698765.423317 2025-10-29T00:46:05.428Z,1761698765.428 [DAT](INFO): DAT read: Bearing 347.5, 12.6 (Local) 2025-10-29T00:46:05.431Z,1761698765.431 [DAT](INFO): Local bearing/azimuth received: Bearing 347.5, 12.6 (Local) 2025-10-29T00:46:05.464Z,1761698765.464 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed -0.3 2025-10-29T00:46:05.477Z,1761698765.477 [DAT](INFO): DAT read: 00:46:04.9627 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 500, 0.03,-2.433,-0.822,-2.794,-2.009, PHS=-0.322, 1.233,-0.829, RAW= 343.7, -0.9, CAL= 343.2, -3.8, ROT= 166.8, 3.8 2025-10-29T00:46:05.478Z,1761698765.478 [DAT](INFO): got valid direction response: 00:46:04.9627 LVL= 32752, 23953, 32754, 32755, AGC= 68, IDX= 500, 0.03,-2.433,-0.822,-2.794,-2.009, PHS=-0.322, 1.233,-0.829, RAW= 343.7, -0.9, CAL= 343.2, -3.8, ROT= 166.8, 3.8 2025-10-29T00:46:05.479Z,1761698765.479 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T00:46:05.479Z,1761698765.479 [DAT](INFO): direction in FSK: [-0.971438,0.227849,-0.066274] 2025-10-29T00:46:05.484Z,1761698765.484 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:05.493Z,1761698765.493 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.467653 2025-10-29T00:46:05.669Z,1761698765.669 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=18.643593 2025-10-29T00:46:05.697Z,1761698765.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981635,-0.188862,-0.026915],[0.190078,0.980298,0.053730],[0.016237,-0.057859,0.998193]] 2025-10-29T00:46:05.722Z,1761698765.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.505283 s, deltaX: 0.300000 m, approachRate: 0.593727 m/s, rangeRepo size: 4 2025-10-29T00:46:05.724Z,1761698765.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.738957 m, bearing: 177.976510 deg, lat: 36.779289 deg, lon: -121.859540 deg, deltaT: 0.762955 s, deltaX: 0.298305 m, approachRate: 0.390986 m/s, posRepo size: 4 2025-10-29T00:46:05.725Z,1761698765.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-29T00:46:05.927Z,1761698765.927 [DAT](INFO): DAT read: Rx Time:00:46:05.4628 2025-10-29T00:46:05.929Z,1761698765.929 [DAT](INFO): Rx dataTimestamp_ set to:1761698765.928081 2025-10-29T00:46:05.932Z,1761698765.932 [DAT](INFO): DAT read: Bearing 346.4, 12.1 (Local) 2025-10-29T00:46:05.938Z,1761698765.938 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, 12.1 (Local) 2025-10-29T00:46:05.944Z,1761698765.944 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-29T00:46:05.946Z,1761698765.946 [DAT](ERROR): #Rx 35: Read range message, but no direction. 2025-10-29T00:46:05.958Z,1761698765.958 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=18.931837 2025-10-29T00:46:06.120Z,1761698766.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504764 s, deltaX: 0.200000 m, approachRate: 0.396224 m/s, rangeRepo size: 4 2025-10-29T00:46:06.120Z,1761698766.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-29T00:46:06.241Z,1761698766.241 [DAT](INFO): DAT read: 00:46:05.4628 LVL= 32752, 22545, 32754, 32755, AGC= 67, IDX= 500, 0.28,-3.022,-1.413, 2.919,-2.556, PHS=-0.364, 1.188,-0.852, RAW= 343.2, 0.3, CAL= 342.8, -2.6, ROT= 167.2, 2.6 2025-10-29T00:46:06.242Z,1761698766.242 [DAT](INFO): got valid direction response: 00:46:05.4628 LVL= 32752, 22545, 32754, 32755, AGC= 67, IDX= 500, 0.28,-3.022,-1.413, 2.919,-2.556, PHS=-0.364, 1.188,-0.852, RAW= 343.2, 0.3, CAL= 342.8, -2.6, ROT= 167.2, 2.6 2025-10-29T00:46:06.242Z,1761698766.242 [DAT](INFO): #Rx 36: Read direction message, but no range. 2025-10-29T00:46:06.243Z,1761698766.243 [DAT](INFO): direction in FSK: [-0.974145,0.221320,-0.045363] 2025-10-29T00:46:06.255Z,1761698766.255 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=19.229242 2025-10-29T00:46:06.428Z,1761698766.428 [DAT](INFO): DAT read: Rx Time:00:46:05.9630 2025-10-29T00:46:06.430Z,1761698766.430 [DAT](INFO): Rx dataTimestamp_ set to:1761698766.428827 2025-10-29T00:46:06.433Z,1761698766.433 [DAT](INFO): DAT read: Bearing 347.4, 12.8 (Local) 2025-10-29T00:46:06.434Z,1761698766.434 [DAT](INFO): Local bearing/azimuth received: Bearing 347.4, 12.8 (Local) 2025-10-29T00:46:06.439Z,1761698766.439 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 2025-10-29T00:46:06.453Z,1761698766.453 [DAT](ERROR): #Rx 37: Read range message, but no direction. 2025-10-29T00:46:06.500Z,1761698766.500 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=19.429972 2025-10-29T00:46:06.513Z,1761698766.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981345,-0.190216,-0.027913],[0.191462,0.980108,0.052247],[0.017420,-0.056616,0.998244]] 2025-10-29T00:46:06.635Z,1761698766.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.500746 s, deltaX: 0.300000 m, approachRate: 0.599106 m/s, rangeRepo size: 4 2025-10-29T00:46:06.637Z,1761698766.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.235945 m, bearing: 178.388938 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 1.005510 s, deltaX: 0.496987 m, approachRate: 0.494264 m/s, posRepo size: 4 2025-10-29T00:46:06.637Z,1761698766.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-29T00:46:06.682Z,1761698766.682 [DAT](INFO): DAT read: 00:46:05.9630 LVL= 31216, 21489, 32754, 32755, AGC= 69, IDX= 503,-0.28, 1.933,-2.772, 1.572, 2.357, PHS=-0.322, 1.200,-0.829, RAW= 343.9, -0.5, CAL= 343.4, -3.5, ROT= 166.6, 3.5 2025-10-29T00:46:06.684Z,1761698766.684 [DAT](INFO): got valid direction response: 00:46:05.9630 LVL= 31216, 21489, 32754, 32755, AGC= 69, IDX= 503,-0.28, 1.933,-2.772, 1.572, 2.357, PHS=-0.322, 1.200,-0.829, RAW= 343.9, -0.5, CAL= 343.4, -3.5, ROT= 166.6, 3.5 2025-10-29T00:46:06.685Z,1761698766.685 [DAT](INFO): #Rx 38: Read direction message, but no range. 2025-10-29T00:46:06.686Z,1761698766.686 [DAT](INFO): direction in FSK: [-0.970961,0.231316,-0.061049] 2025-10-29T00:46:06.691Z,1761698766.691 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.665220 2025-10-29T00:46:06.921Z,1761698766.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981028,-0.191750,-0.028571],[0.193052,0.979735,0.053388],[0.017755,-0.057891,0.998165]] 2025-10-29T00:46:06.933Z,1761698766.933 [DAT](INFO): DAT read: Rx Time:00:46:06.4630 2025-10-29T00:46:06.934Z,1761698766.934 [DAT](INFO): Rx dataTimestamp_ set to:1761698766.933126 2025-10-29T00:46:06.938Z,1761698766.938 [DAT](INFO): DAT read: Bearing 346.6, 12.8 (Local) 2025-10-29T00:46:06.939Z,1761698766.939 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 12.8 (Local) 2025-10-29T00:46:06.948Z,1761698766.948 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.1 2025-10-29T00:46:06.950Z,1761698766.950 [DAT](ERROR): #Rx 39: Read range message, but no direction. 2025-10-29T00:46:06.953Z,1761698766.953 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.927271 2025-10-29T00:46:07.038Z,1761698767.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.504299 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:07.040Z,1761698767.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.235612 m, bearing: 177.932673 deg, lat: 36.779288 deg, lon: -121.859537 deg, deltaT: 0.504299 s, deltaX: -0.000333 m, approachRate: -0.000660 m/s, posRepo size: 4 2025-10-29T00:46:07.041Z,1761698767.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-29T00:46:07.186Z,1761698767.186 [DAT](INFO): DAT read: 00:46:06.4630 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 503,-0.09, 1.386, 2.970, 1.017, 1.833, PHS=-0.346, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.6, -2.7, ROT= 166.4, 2.7 2025-10-29T00:46:07.190Z,1761698767.190 [DAT](INFO): got valid direction response: 00:46:06.4630 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 503,-0.09, 1.386, 2.970, 1.017, 1.833, PHS=-0.346, 1.181,-0.860, RAW= 344.0, 0.3, CAL= 343.6, -2.7, ROT= 166.4, 2.7 2025-10-29T00:46:07.190Z,1761698767.190 [DAT](INFO): #Rx 40: Read direction message, but no range. 2025-10-29T00:46:07.191Z,1761698767.191 [DAT](INFO): direction in FSK: [-0.970882,0.234881,-0.047106] 2025-10-29T00:46:07.195Z,1761698767.195 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.169266 2025-10-29T00:46:07.303Z,1761698767.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980815,-0.192732,-0.029270],[0.194083,0.979505,0.053872],[0.018287,-0.058519,0.998119]] 2025-10-29T00:46:07.410Z,1761698767.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.24 m. 2025-10-29T00:46:07.436Z,1761698767.436 [DAT](INFO): DAT read: Rx Time:00:46:06.9632 2025-10-29T00:46:07.438Z,1761698767.438 [DAT](INFO): Rx dataTimestamp_ set to:1761698767.436933 2025-10-29T00:46:07.442Z,1761698767.442 [DAT](INFO): DAT read: Bearing 346.6, 12.5 (Local) 2025-10-29T00:46:07.442Z,1761698767.442 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 12.5 (Local) 2025-10-29T00:46:07.447Z,1761698767.447 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.1 2025-10-29T00:46:07.464Z,1761698767.464 [DAT](INFO): DAT read: 00:46:06.9632 LVL= 32752, 26465, 32754, 32755, AGC= 65, IDX= 505, 0.07,-2.831,-1.244, 3.095,-2.375, PHS=-0.354, 1.177,-0.857, RAW= 343.7, 0.4, CAL= 343.3, -2.6, ROT= 166.7, 2.6 2025-10-29T00:46:07.465Z,1761698767.465 [DAT](INFO): got valid direction response: 00:46:06.9632 LVL= 32752, 26465, 32754, 32755, AGC= 65, IDX= 505, 0.07,-2.831,-1.244, 3.095,-2.375, PHS=-0.354, 1.177,-0.857, RAW= 343.7, 0.4, CAL= 343.3, -2.6, ROT= 166.7, 2.6 2025-10-29T00:46:07.466Z,1761698767.466 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T00:46:07.467Z,1761698767.467 [DAT](INFO): direction in FSK: [-0.972177,0.229813,-0.045363] 2025-10-29T00:46:07.467Z,1761698767.467 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:07.487Z,1761698767.487 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.461792 2025-10-29T00:46:07.688Z,1761698767.688 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.662609 2025-10-29T00:46:07.716Z,1761698767.716 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980695,-0.193259,-0.029807],[0.194626,0.979436,0.053150],[0.018922,-0.057925,0.998142]] 2025-10-29T00:46:07.795Z,1761698767.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503807 s, deltaX: 0.300000 m, approachRate: 0.595466 m/s, rangeRepo size: 4 2025-10-29T00:46:07.801Z,1761698767.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.533903 m, bearing: 178.076532 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503807 s, deltaX: 0.298291 m, approachRate: 0.592074 m/s, posRepo size: 4 2025-10-29T00:46:07.802Z,1761698767.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-29T00:46:07.941Z,1761698767.941 [DAT](INFO): DAT read: Rx Time:00:46:07.4633 2025-10-29T00:46:07.943Z,1761698767.943 [DAT](INFO): Rx dataTimestamp_ set to:1761698767.941879 2025-10-29T00:46:07.948Z,1761698767.948 [DAT](INFO): DAT read: Bearing 346.6, 13.3 (Local) 2025-10-29T00:46:07.949Z,1761698767.949 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 13.3 (Local) 2025-10-29T00:46:07.955Z,1761698767.955 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.4 2025-10-29T00:46:07.976Z,1761698767.976 [DAT](INFO): DAT read: 00:46:07.4633 LVL= 29424, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.23, 2.857,-1.864, 2.467,-2.991, PHS=-0.334, 1.171,-0.869, RAW= 344.7, 0.4, CAL= 344.2, -2.6, ROT= 165.8, 2.6 2025-10-29T00:46:07.978Z,1761698767.978 [DAT](INFO): got valid direction response: 00:46:07.4633 LVL= 29424, 23857, 32754, 32755, AGC= 69, IDX= 505, 0.23, 2.857,-1.864, 2.467,-2.991, PHS=-0.334, 1.171,-0.869, RAW= 344.7, 0.4, CAL= 344.2, -2.6, ROT= 165.8, 2.6 2025-10-29T00:46:07.978Z,1761698767.978 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T00:46:07.979Z,1761698767.979 [DAT](INFO): direction in FSK: [-0.968447,0.245055,-0.045363] 2025-10-29T00:46:07.979Z,1761698767.979 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:07.991Z,1761698767.991 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.965572 2025-10-29T00:46:08.111Z,1761698768.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980504,-0.194147,-0.030304],[0.195525,0.979304,0.052294],[0.019524,-0.057200,0.998172]] 2025-10-29T00:46:08.143Z,1761698768.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.504946 s, deltaX: 0.099999 m, approachRate: 0.198040 m/s, rangeRepo size: 4 2025-10-29T00:46:08.145Z,1761698768.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.633220 m, bearing: 177.225603 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 0.504946 s, deltaX: 0.099317 m, approachRate: 0.196688 m/s, posRepo size: 4 2025-10-29T00:46:08.146Z,1761698768.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T00:46:08.191Z,1761698768.191 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.165344 2025-10-29T00:46:08.444Z,1761698768.444 [DAT](INFO): DAT read: Rx Time:00:46:07.9634 2025-10-29T00:46:08.446Z,1761698768.446 [DAT](INFO): Rx dataTimestamp_ set to:1761698768.445072 2025-10-29T00:46:08.449Z,1761698768.449 [DAT](INFO): DAT read: Bearing 346.3, 13.4 (Local) 2025-10-29T00:46:08.450Z,1761698768.450 [DAT](INFO): Local bearing/azimuth received: Bearing 346.3, 13.4 (Local) 2025-10-29T00:46:08.457Z,1761698768.457 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.1 2025-10-29T00:46:08.459Z,1761698768.459 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-29T00:46:08.460Z,1761698768.460 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.434315 2025-10-29T00:46:08.515Z,1761698768.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980341,-0.194875,-0.030906],[0.196277,0.979178,0.051818],[0.020165,-0.056866,0.998178]] 2025-10-29T00:46:08.577Z,1761698768.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503193 s, deltaX: 0.200000 m, approachRate: 0.397461 m/s, rangeRepo size: 4 2025-10-29T00:46:08.577Z,1761698768.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T00:46:08.697Z,1761698768.697 [DAT](INFO): DAT read: 00:46:07.9634 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 506, 0.37, 3.121,-1.620, 2.730,-2.724, PHS=-0.336, 1.149,-0.873, RAW= 344.9, 0.7, CAL= 344.4, -2.3, ROT= 165.6, 2.3 2025-10-29T00:46:08.698Z,1761698768.698 [DAT](INFO): got valid direction response: 00:46:07.9634 LVL= 32752, 22113, 32754, 32755, AGC= 69, IDX= 506, 0.37, 3.121,-1.620, 2.730,-2.724, PHS=-0.336, 1.149,-0.873, RAW= 344.9, 0.7, CAL= 344.4, -2.3, ROT= 165.6, 2.3 2025-10-29T00:46:08.698Z,1761698768.698 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-29T00:46:08.699Z,1761698768.699 [DAT](INFO): direction in FSK: [-0.967803,0.248489,-0.040132] 2025-10-29T00:46:08.702Z,1761698768.702 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.676937 2025-10-29T00:46:08.949Z,1761698768.949 [DAT](INFO): DAT read: Rx Time:00:46:08.4634 2025-10-29T00:46:08.950Z,1761698768.950 [DAT](INFO): Rx dataTimestamp_ set to:1761698768.949604 2025-10-29T00:46:08.954Z,1761698768.954 [DAT](INFO): DAT read: Bearing 346.9, 12.5 (Local) 2025-10-29T00:46:08.955Z,1761698768.955 [DAT](INFO): Local bearing/azimuth received: Bearing 346.9, 12.5 (Local) 2025-10-29T00:46:08.964Z,1761698768.964 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 2025-10-29T00:46:08.981Z,1761698768.981 [DAT](INFO): DAT read: 00:46:08.4634 LVL= 32752, 20929, 32754, 32755, AGC= 68, IDX= 507,-0.48, 0.318, 1.917,-0.052, 0.768, PHS=-0.348, 1.194,-0.864, RAW= 343.9, 0.2, CAL= 343.5, -2.7, ROT= 166.5, 2.7 2025-10-29T00:46:08.982Z,1761698768.982 [DAT](INFO): got valid direction response: 00:46:08.4634 LVL= 32752, 20929, 32754, 32755, AGC= 68, IDX= 507,-0.48, 0.318, 1.917,-0.052, 0.768, PHS=-0.348, 1.194,-0.864, RAW= 343.9, 0.2, CAL= 343.5, -2.7, ROT= 166.5, 2.7 2025-10-29T00:46:08.982Z,1761698768.982 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T00:46:08.983Z,1761698768.983 [DAT](INFO): direction in FSK: [-0.971290,0.233186,-0.047106] 2025-10-29T00:46:08.983Z,1761698768.983 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:08.989Z,1761698768.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980236,-0.195298,-0.031559],[0.196735,0.979090,0.051745],[0.020793,-0.056931,0.998162]] 2025-10-29T00:46:08.995Z,1761698768.995 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.969711 2025-10-29T00:46:09.073Z,1761698769.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.504532 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:09.075Z,1761698769.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.832015 m, bearing: 178.000037 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 1.007725 s, deltaX: 0.198795 m, approachRate: 0.197271 m/s, posRepo size: 4 2025-10-29T00:46:09.084Z,1761698769.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-29T00:46:09.198Z,1761698769.198 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.172239 2025-10-29T00:46:09.332Z,1761698769.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980073,-0.196008,-0.032221],[0.197476,0.978958,0.051434],[0.021461,-0.056772,0.998156]] 2025-10-29T00:46:09.394Z,1761698769.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-29T00:46:09.454Z,1761698769.454 [DAT](INFO): DAT read: Rx Time:00:46:08.9636 2025-10-29T00:46:09.455Z,1761698769.455 [DAT](INFO): Rx dataTimestamp_ set to:1761698769.454414 2025-10-29T00:46:09.459Z,1761698769.459 [DAT](INFO): DAT read: Bearing 346.5, 12.3 (Local) 2025-10-29T00:46:09.459Z,1761698769.459 [DAT](INFO): Local bearing/azimuth received: Bearing 346.5, 12.3 (Local) 2025-10-29T00:46:09.462Z,1761698769.462 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0 2025-10-29T00:46:09.467Z,1761698769.467 [DAT](INFO): DAT read: 00:46:08.9636 LVL= 32752, 22065, 32754, 32755, AGC= 70, IDX= 509,-0.39, 1.645,-3.056, 1.286, 2.107, PHS=-0.360, 1.165,-0.866, RAW= 343.8, 0.7, CAL= 343.4, -2.3, ROT= 166.6, 2.3 2025-10-29T00:46:09.484Z,1761698769.484 [DAT](INFO): got valid direction response: 00:46:08.9636 LVL= 32752, 22065, 32754, 32755, AGC= 70, IDX= 509,-0.39, 1.645,-3.056, 1.286, 2.107, PHS=-0.360, 1.165,-0.866, RAW= 343.8, 0.7, CAL= 343.4, -2.3, ROT= 166.6, 2.3 2025-10-29T00:46:09.486Z,1761698769.486 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-29T00:46:09.487Z,1761698769.487 [DAT](INFO): direction in FSK: [-0.971992,0.231561,-0.040132] 2025-10-29T00:46:09.487Z,1761698769.487 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:09.495Z,1761698769.495 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.469431 2025-10-29T00:46:09.701Z,1761698769.701 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.675598 2025-10-29T00:46:09.729Z,1761698769.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979966,-0.196399,-0.033067],[0.197912,0.978876,0.051312],[0.022291,-0.056829,0.998135]] 2025-10-29T00:46:09.778Z,1761698769.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504810 s, deltaX: 0.300000 m, approachRate: 0.594283 m/s, rangeRepo size: 4 2025-10-29T00:46:09.784Z,1761698769.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.130301 m, bearing: 178.147203 deg, lat: 36.779287 deg, lon: -121.859536 deg, deltaT: 0.504810 s, deltaX: 0.298286 m, approachRate: 0.590889 m/s, posRepo size: 4 2025-10-29T00:46:09.785Z,1761698769.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T00:46:09.957Z,1761698769.957 [DAT](INFO): DAT read: Rx Time:00:46:09.4636 2025-10-29T00:46:09.958Z,1761698769.958 [DAT](INFO): Rx dataTimestamp_ set to:1761698769.957515 2025-10-29T00:46:09.960Z,1761698769.960 [DAT](INFO): DAT read: Bearing 346.5, 12.0 (Local) 2025-10-29T00:46:09.961Z,1761698769.961 [DAT](INFO): Local bearing/azimuth received: Bearing 346.5, 12.0 (Local) 2025-10-29T00:46:09.963Z,1761698769.963 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 2025-10-29T00:46:09.968Z,1761698769.968 [DAT](INFO): DAT read: 00:46:09.4636 LVL= 30624, 20961, 32754, 32755, AGC= 69, IDX= 509,-0.32, 0.163, 1.767,-0.192, 0.634, PHS=-0.369, 1.177,-0.870, RAW= 343.6, 0.7, CAL= 343.1, -2.3, ROT= 166.9, 2.3 2025-10-29T00:46:09.969Z,1761698769.969 [DAT](INFO): got valid direction response: 00:46:09.4636 LVL= 30624, 20961, 32754, 32755, AGC= 69, IDX= 509,-0.32, 0.163, 1.767,-0.192, 0.634, PHS=-0.369, 1.177,-0.870, RAW= 343.6, 0.7, CAL= 343.1, -2.3, ROT= 166.9, 2.3 2025-10-29T00:46:09.969Z,1761698769.969 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-29T00:46:09.970Z,1761698769.970 [DAT](INFO): direction in FSK: [-0.973191,0.226469,-0.040132] 2025-10-29T00:46:09.970Z,1761698769.970 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:09.986Z,1761698769.986 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.960163 2025-10-29T00:46:10.130Z,1761698770.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979830,-0.196939,-0.033887],[0.198495,0.978765,0.051173],[0.023089,-0.056867,0.998115]] 2025-10-29T00:46:10.165Z,1761698770.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.503101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:10.167Z,1761698770.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.130446 m, bearing: 178.481033 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503101 s, deltaX: 0.000145 m, approachRate: 0.000288 m/s, posRepo size: 4 2025-10-29T00:46:10.168Z,1761698770.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T00:46:10.205Z,1761698770.205 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.179676 2025-10-29T00:46:10.460Z,1761698770.460 [DAT](INFO): DAT read: Rx Time:00:46:09.9638 2025-10-29T00:46:10.460Z,1761698770.460 [DAT](INFO): Rx dataTimestamp_ set to:1761698770.460057 2025-10-29T00:46:10.462Z,1761698770.462 [DAT](INFO): DAT read: Bearing 346.6, 12.1 (Local) 2025-10-29T00:46:10.462Z,1761698770.462 [DAT](INFO): Local bearing/azimuth received: Bearing 346.6, 12.1 (Local) 2025-10-29T00:46:10.464Z,1761698770.464 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.6 2025-10-29T00:46:10.469Z,1761698770.469 [DAT](INFO): DAT read: 00:46:09.9638 LVL= 30896, 22433, 32754, 32755, AGC= 69, IDX= 511,-0.30, 0.855, 2.450, 0.498, 1.322, PHS=-0.365, 1.174,-0.868, RAW= 343.7, 0.6, CAL= 343.2, -2.3, ROT= 166.8, 2.3 2025-10-29T00:46:10.470Z,1761698770.470 [DAT](INFO): got valid direction response: 00:46:09.9638 LVL= 30896, 22433, 32754, 32755, AGC= 69, IDX= 511,-0.30, 0.855, 2.450, 0.498, 1.322, PHS=-0.365, 1.174,-0.868, RAW= 343.7, 0.6, CAL= 343.2, -2.3, ROT= 166.8, 2.3 2025-10-29T00:46:10.470Z,1761698770.470 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T00:46:10.471Z,1761698770.471 [DAT](INFO): direction in FSK: [-0.972795,0.228167,-0.040132] 2025-10-29T00:46:10.471Z,1761698770.471 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:10.517Z,1761698770.517 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.491926 2025-10-29T00:46:10.535Z,1761698770.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979769,-0.197126,-0.034557],[0.198719,0.978720,0.051163],[0.023736,-0.056995,0.998092]] 2025-10-29T00:46:10.643Z,1761698770.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.502542 s, deltaX: 0.300000 m, approachRate: 0.596965 m/s, rangeRepo size: 4 2025-10-29T00:46:10.650Z,1761698770.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428737 m, bearing: 178.393989 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.502542 s, deltaX: 0.298290 m, approachRate: 0.593563 m/s, posRepo size: 4 2025-10-29T00:46:10.650Z,1761698770.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T00:46:10.710Z,1761698770.710 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.684217 2025-10-29T00:46:10.962Z,1761698770.962 [DAT](INFO): DAT read: Rx Time:00:46:10.4638 2025-10-29T00:46:10.962Z,1761698770.962 [DAT](INFO): Rx dataTimestamp_ set to:1761698770.961795 2025-10-29T00:46:10.963Z,1761698770.963 [DAT](INFO): DAT read: Bearing 346.4, 11.1 (Local) 2025-10-29T00:46:10.964Z,1761698770.964 [DAT](INFO): Local bearing/azimuth received: Bearing 346.4, 11.1 (Local) 2025-10-29T00:46:10.966Z,1761698770.966 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.1 2025-10-29T00:46:10.970Z,1761698770.970 [DAT](INFO): DAT read: 00:46:10.4638 LVL= 32400, 21041, 32754, 32755, AGC= 68, IDX= 511,-0.24,-1.135, 0.466,-1.455,-0.649, PHS=-0.383, 1.160,-0.850, RAW= 342.8, 0.8, CAL= 342.3, -2.1, ROT= 167.7, 2.1 2025-10-29T00:46:10.972Z,1761698770.972 [DAT](INFO): got valid direction response: 00:46:10.4638 LVL= 32400, 21041, 32754, 32755, AGC= 68, IDX= 511,-0.24,-1.135, 0.466,-1.455,-0.649, PHS=-0.383, 1.160,-0.850, RAW= 342.8, 0.8, CAL= 342.3, -2.1, ROT= 167.7, 2.1 2025-10-29T00:46:10.972Z,1761698770.972 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T00:46:10.973Z,1761698770.973 [DAT](INFO): direction in FSK: [-0.976389,0.212887,-0.036644] 2025-10-29T00:46:10.973Z,1761698770.973 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:10.981Z,1761698770.981 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.955738 2025-10-29T00:46:10.997Z,1761698770.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979702,-0.197345,-0.035203],[0.198973,0.978673,0.051079],[0.024372,-0.057047,0.998074]] 2025-10-29T00:46:11.117Z,1761698771.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.501738 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:11.119Z,1761698771.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428442 m, bearing: 179.299093 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.501738 s, deltaX: -0.000295 m, approachRate: -0.000587 m/s, posRepo size: 4 2025-10-29T00:46:11.119Z,1761698771.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T00:46:11.214Z,1761698771.214 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.188402 2025-10-29T00:46:11.351Z,1761698771.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979736,-0.197086,-0.035690],[0.198744,0.978716,0.051155],[0.024848,-0.057211,0.998053]] 2025-10-29T00:46:11.466Z,1761698771.466 [DAT](INFO): DAT read: Rx Time:00:46:10.9640 2025-10-29T00:46:11.466Z,1761698771.466 [DAT](INFO): Rx dataTimestamp_ set to:1761698771.465765 2025-10-29T00:46:11.467Z,1761698771.467 [DAT](INFO): DAT read: Bearing 19.5, 38.6 (Local) 2025-10-29T00:46:11.468Z,1761698771.468 [DAT](INFO): Local bearing/azimuth received: Bearing 19.5, 38.6 (Local) 2025-10-29T00:46:11.470Z,1761698771.470 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.2 2025-10-29T00:46:11.474Z,1761698771.474 [DAT](INFO): DAT read: 00:46:10.9640 LVL= 30672, 22465, 32754, 32755, AGC= 71, IDX= 513,-0.22,-2.414,-1.778, 2.629, 2.829, PHS= 1.143, 1.722,-0.244, RAW= 13.3, -27.9, CAL= 14.2, -28.7, ROT= 135.8, 28.7 2025-10-29T00:46:11.476Z,1761698771.476 [DAT](INFO): got valid direction response: 00:46:10.9640 LVL= 30672, 22465, 32754, 32755, AGC= 71, IDX= 513,-0.22,-2.414,-1.778, 2.629, 2.829, PHS= 1.143, 1.722,-0.244, RAW= 13.3, -27.9, CAL= 14.2, -28.7, ROT= 135.8, 28.7 2025-10-29T00:46:11.476Z,1761698771.476 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T00:46:11.477Z,1761698771.477 [DAT](INFO): direction in FSK: [-0.628835,0.611516,-0.480224] 2025-10-29T00:46:11.477Z,1761698771.477 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:11.489Z,1761698771.489 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.464041 2025-10-29T00:46:11.510Z,1761698771.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503970 s, deltaX: 0.100000 m, approachRate: 0.198425 m/s, rangeRepo size: 4 2025-10-29T00:46:11.521Z,1761698771.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.527870 m, bearing: 148.035575 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503970 s, deltaX: 0.099428 m, approachRate: 0.197290 m/s, posRepo size: 4 2025-10-29T00:46:11.521Z,1761698771.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T00:46:11.717Z,1761698771.717 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.691578 2025-10-29T00:46:11.816Z,1761698771.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T00:46:11.969Z,1761698771.969 [DAT](INFO): DAT read: Rx Time:00:46:11.4640 2025-10-29T00:46:11.970Z,1761698771.970 [DAT](INFO): Rx dataTimestamp_ set to:1761698771.969669 2025-10-29T00:46:11.971Z,1761698771.971 [DAT](INFO): DAT read: Bearing 335.8, 10.4 (Local) 2025-10-29T00:46:11.972Z,1761698771.972 [DAT](INFO): Local bearing/azimuth received: Bearing 335.8, 10.4 (Local) 2025-10-29T00:46:11.974Z,1761698771.974 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.3 2025-10-29T00:46:11.978Z,1761698771.978 [DAT](INFO): DAT read: 00:46:11.4640 LVL= 32752, 25585, 32754, 32755, AGC= 70, IDX= 513,-0.26, 2.868,-1.796, 2.548,-2.699, PHS=-0.614, 0.949,-1.079, RAW= 342.7, 8.1, CAL= 342.6, 8.3, ROT= 167.4, -8.3 2025-10-29T00:46:11.979Z,1761698771.979 [DAT](INFO): got valid direction response: 00:46:11.4640 LVL= 32752, 25585, 32754, 32755, AGC= 70, IDX= 513,-0.26, 2.868,-1.796, 2.548,-2.699, PHS=-0.614, 0.949,-1.079, RAW= 342.7, 8.1, CAL= 342.6, 8.3, ROT= 167.4, -8.3 2025-10-29T00:46:11.980Z,1761698771.980 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T00:46:11.981Z,1761698771.981 [DAT](INFO): direction in FSK: [-0.965695,0.215858,0.144356] 2025-10-29T00:46:11.981Z,1761698771.981 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:11.985Z,1761698771.985 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.959377 2025-10-29T00:46:12.174Z,1761698772.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979931,-0.196006,-0.036282],[0.197706,0.978912,0.051410],[0.025440,-0.057552,0.998018]] 2025-10-29T00:46:12.221Z,1761698772.221 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.195429 2025-10-29T00:46:12.223Z,1761698772.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.503904 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:12.229Z,1761698772.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.527473 m, bearing: 178.397511 deg, lat: 36.779287 deg, lon: -121.859537 deg, deltaT: 0.503904 s, deltaX: -0.000397 m, approachRate: -0.000787 m/s, posRepo size: 4 2025-10-29T00:46:12.230Z,1761698772.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T00:46:12.473Z,1761698772.473 [DAT](INFO): DAT read: Rx Time:00:46:11.9641 2025-10-29T00:46:12.474Z,1761698772.474 [DAT](INFO): Rx dataTimestamp_ set to:1761698772.473671 2025-10-29T00:46:12.475Z,1761698772.475 [DAT](INFO): DAT read: Bearing 345.4, 11.3 (Local) 2025-10-29T00:46:12.476Z,1761698772.476 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 11.3 (Local) 2025-10-29T00:46:12.478Z,1761698772.478 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1 2025-10-29T00:46:12.483Z,1761698772.483 [DAT](INFO): DAT read: 00:46:11.9641 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.25,-1.454, 0.118,-1.783,-0.957, PHS=-0.395, 1.120,-0.870, RAW= 343.2, 1.6, CAL= 342.7, -1.3, ROT= 167.3, 1.3 2025-10-29T00:46:12.484Z,1761698772.484 [DAT](INFO): got valid direction response: 00:46:11.9641 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2,-0.25,-1.454, 0.118,-1.783,-0.957, PHS=-0.395, 1.120,-0.870, RAW= 343.2, 1.6, CAL= 342.7, -1.3, ROT= 167.3, 1.3 2025-10-29T00:46:12.485Z,1761698772.485 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T00:46:12.486Z,1761698772.486 [DAT](INFO): direction in FSK: [-0.975283,0.219790,-0.022687] 2025-10-29T00:46:12.486Z,1761698772.486 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:12.523Z,1761698772.523 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.497141 2025-10-29T00:46:12.583Z,1761698772.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980087,-0.195170,-0.036583],[0.196888,0.979077,0.051417],[0.025783,-0.057596,0.998007]] 2025-10-29T00:46:12.656Z,1761698772.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504002 s, deltaX: 0.200000 m, approachRate: 0.396823 m/s, rangeRepo size: 4 2025-10-29T00:46:12.658Z,1761698772.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.726322 m, bearing: 178.736941 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.504002 s, deltaX: 0.198849 m, approachRate: 0.394540 m/s, posRepo size: 4 2025-10-29T00:46:12.658Z,1761698772.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T00:46:12.726Z,1761698772.726 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.700489 2025-10-29T00:46:12.977Z,1761698772.977 [DAT](INFO): DAT read: Rx Time:00:46:12.4641 2025-10-29T00:46:12.978Z,1761698772.978 [DAT](INFO): Rx dataTimestamp_ set to:1761698772.977569 2025-10-29T00:46:12.979Z,1761698772.979 [DAT](INFO): DAT read: Bearing 346.0, 10.9 (Local) 2025-10-29T00:46:12.979Z,1761698772.979 [DAT](INFO): Local bearing/azimuth received: Bearing 346.0, 10.9 (Local) 2025-10-29T00:46:12.982Z,1761698772.982 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1 2025-10-29T00:46:12.986Z,1761698772.986 [DAT](INFO): DAT read: 00:46:12.4641 LVL= 26032, 23969, 32754, 32755, AGC= 70, IDX= 498,-0.27,-2.892,-1.290, 3.067,-2.401, PHS=-0.389, 1.157,-0.859, RAW= 342.9, 1.0, CAL= 342.4, -1.9, ROT= 167.6, 1.9 2025-10-29T00:46:12.987Z,1761698772.987 [DAT](INFO): got valid direction response: 00:46:12.4641 LVL= 26032, 23969, 32754, 32755, AGC= 70, IDX= 498,-0.27,-2.892,-1.290, 3.067,-2.401, PHS=-0.389, 1.157,-0.859, RAW= 342.9, 1.0, CAL= 342.4, -1.9, ROT= 167.6, 1.9 2025-10-29T00:46:12.988Z,1761698772.988 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T00:46:12.989Z,1761698772.989 [DAT](INFO): direction in FSK: [-0.976135,0.214617,-0.033155] 2025-10-29T00:46:12.989Z,1761698772.989 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:12.992Z,1761698772.992 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.967014 2025-10-29T00:46:13.034Z,1761698773.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980141,-0.194865,-0.036760],[0.196572,0.979182,0.050619],[0.026131,-0.056839,0.998041]] 2025-10-29T00:46:13.094Z,1761698773.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503898 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:13.101Z,1761698773.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.726178 m, bearing: 179.047042 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503898 s, deltaX: -0.000144 m, approachRate: -0.000286 m/s, posRepo size: 4 2025-10-29T00:46:13.101Z,1761698773.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T00:46:13.229Z,1761698773.229 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.203585 2025-10-29T00:46:13.406Z,1761698773.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980319,-0.193887,-0.037173],[0.195637,0.979334,0.051293],[0.026460,-0.057556,0.997992]] 2025-10-29T00:46:13.482Z,1761698773.482 [DAT](INFO): DAT read: Rx Time:00:46:12.9643 2025-10-29T00:46:13.483Z,1761698773.483 [DAT](INFO): Rx dataTimestamp_ set to:1761698773.482310 2025-10-29T00:46:13.484Z,1761698773.484 [DAT](INFO): DAT read: Bearing 345.2, 10.8 (Local) 2025-10-29T00:46:13.484Z,1761698773.484 [DAT](INFO): Local bearing/azimuth received: Bearing 345.2, 10.8 (Local) 2025-10-29T00:46:13.486Z,1761698773.486 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.1 2025-10-29T00:46:13.491Z,1761698773.491 [DAT](INFO): DAT read: 00:46:12.9643 LVL= 30704, 23457, 32754, 32755, AGC= 71, IDX= 500,-0.31,-1.270, 0.327,-1.594,-0.759, PHS=-0.409, 1.131,-0.878, RAW= 342.9, 1.7, CAL= 342.4, -1.2, ROT= 167.6, 1.2 2025-10-29T00:46:13.492Z,1761698773.492 [DAT](INFO): got valid direction response: 00:46:12.9643 LVL= 30704, 23457, 32754, 32755, AGC= 71, IDX= 500,-0.31,-1.270, 0.327,-1.594,-0.759, PHS=-0.409, 1.131,-0.878, RAW= 342.9, 1.7, CAL= 342.4, -1.2, ROT= 167.6, 1.2 2025-10-29T00:46:13.493Z,1761698773.493 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T00:46:13.493Z,1761698773.493 [DAT](INFO): direction in FSK: [-0.976458,0.214688,-0.020942] 2025-10-29T00:46:13.494Z,1761698773.494 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:13.526Z,1761698773.526 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.500179 2025-10-29T00:46:13.538Z,1761698773.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504741 s, deltaX: 0.300000 m, approachRate: 0.594365 m/s, rangeRepo size: 4 2025-10-29T00:46:13.546Z,1761698773.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.024448 m, bearing: 178.958426 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.504741 s, deltaX: 0.298270 m, approachRate: 0.590937 m/s, posRepo size: 4 2025-10-29T00:46:13.546Z,1761698773.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-29T00:46:13.736Z,1761698773.736 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.710581 2025-10-29T00:46:13.802Z,1761698773.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980577,-0.192398,-0.038113],[0.194289,0.979433,0.054431],[0.026857,-0.060778,0.997790]] 2025-10-29T00:46:13.821Z,1761698773.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-29T00:46:13.986Z,1761698773.986 [DAT](INFO): DAT read: Rx Time:00:46:13.4643 2025-10-29T00:46:13.987Z,1761698773.987 [DAT](INFO): Rx dataTimestamp_ set to:1761698773.986255 2025-10-29T00:46:13.989Z,1761698773.989 [DAT](INFO): DAT read: Bearing 345.0, 11.4 (Local) 2025-10-29T00:46:13.989Z,1761698773.989 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, 11.4 (Local) 2025-10-29T00:46:13.991Z,1761698773.991 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.1 2025-10-29T00:46:13.995Z,1761698773.995 [DAT](INFO): DAT read: 00:46:13.4643 LVL= 32752, 29553, 32754, 32755, AGC= 72, IDX= 500,-0.33,-2.585,-1.016,-2.928,-2.087, PHS=-0.396, 1.116,-0.885, RAW= 343.6, 1.8, CAL= 343.1, -1.1, ROT= 166.9, 1.1 2025-10-29T00:46:13.997Z,1761698773.997 [DAT](INFO): got valid direction response: 00:46:13.4643 LVL= 32752, 29553, 32754, 32755, AGC= 72, IDX= 500,-0.33,-2.585,-1.016,-2.928,-2.087, PHS=-0.396, 1.116,-0.885, RAW= 343.6, 1.8, CAL= 343.1, -1.1, ROT= 166.9, 1.1 2025-10-29T00:46:13.997Z,1761698773.997 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T00:46:13.998Z,1761698773.998 [DAT](INFO): direction in FSK: [-0.973796,0.226610,-0.019197] 2025-10-29T00:46:13.998Z,1761698773.998 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:14.002Z,1761698774.002 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.976511 2025-10-29T00:46:14.199Z,1761698774.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980845,-0.190931,-0.038594],[0.192896,0.979620,0.056001],[0.027115,-0.062373,0.997685]] 2025-10-29T00:46:14.231Z,1761698774.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.503945 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:14.233Z,1761698774.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.024453 m, bearing: 178.101204 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503945 s, deltaX: 0.000005 m, approachRate: 0.000009 m/s, posRepo size: 4 2025-10-29T00:46:14.234Z,1761698774.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.02 m. 2025-10-29T00:46:14.237Z,1761698774.237 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.211689 2025-10-29T00:46:14.493Z,1761698774.493 [DAT](INFO): DAT read: Rx Time:00:46:13.9645 2025-10-29T00:46:14.495Z,1761698774.495 [DAT](INFO): Rx dataTimestamp_ set to:1761698774.494260 2025-10-29T00:46:14.496Z,1761698774.496 [DAT](INFO): DAT read: Bearing 344.8, 11.8 (Local) 2025-10-29T00:46:14.496Z,1761698774.496 [DAT](INFO): Local bearing/azimuth received: Bearing 344.8, 11.8 (Local) 2025-10-29T00:46:14.498Z,1761698774.498 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.1 2025-10-29T00:46:14.503Z,1761698774.503 [DAT](INFO): DAT read: 00:46:13.9645 LVL= 32752, 24145, 32754, 32755, AGC= 72, IDX= 502,-0.31,-1.270, 0.280,-1.623,-0.780, PHS=-0.388, 1.105,-0.888, RAW= 343.9, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0 2025-10-29T00:46:14.504Z,1761698774.504 [DAT](INFO): got valid direction response: 00:46:13.9645 LVL= 32752, 24145, 32754, 32755, AGC= 72, IDX= 502,-0.31,-1.270, 0.280,-1.623,-0.780, PHS=-0.388, 1.105,-0.888, RAW= 343.9, 1.9, CAL= 343.5, -1.0, ROT= 166.5, 1.0 2025-10-29T00:46:14.505Z,1761698774.505 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T00:46:14.506Z,1761698774.506 [DAT](INFO): direction in FSK: [-0.972222,0.233410,-0.017452] 2025-10-29T00:46:14.506Z,1761698774.506 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:14.510Z,1761698774.510 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.484207 2025-10-29T00:46:14.603Z,1761698774.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980988,-0.190199,-0.038552],[0.192133,0.979831,0.054911],[0.027331,-0.061274,0.997747]] 2025-10-29T00:46:14.716Z,1761698774.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.508005 s, deltaX: 0.299999 m, approachRate: 0.590544 m/s, rangeRepo size: 4 2025-10-29T00:46:14.718Z,1761698774.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.322722 m, bearing: 177.649177 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.508005 s, deltaX: 0.298269 m, approachRate: 0.587138 m/s, posRepo size: 4 2025-10-29T00:46:14.719Z,1761698774.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-29T00:46:14.758Z,1761698774.758 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.732254 2025-10-29T00:46:15.007Z,1761698775.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981169,-0.189363,-0.038071],[0.191197,0.980157,0.052298],[0.027412,-0.058593,0.997906]] 2025-10-29T00:46:15.010Z,1761698775.010 [DAT](INFO): DAT read: Rx Time:00:46:14.4645 2025-10-29T00:46:15.010Z,1761698775.010 [DAT](INFO): Rx dataTimestamp_ set to:1761698775.009768 2025-10-29T00:46:15.011Z,1761698775.011 [DAT](INFO): DAT read: Bearing 345.9, 11.2 (Local) 2025-10-29T00:46:15.012Z,1761698775.012 [DAT](INFO): Local bearing/azimuth received: Bearing 345.9, 11.2 (Local) 2025-10-29T00:46:15.014Z,1761698775.014 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-29T00:46:15.019Z,1761698775.019 [DAT](INFO): DAT read: 00:46:14.4645 LVL= 30192, 32481, 32754, 32755, AGC= 70, IDX= 502,-0.26,-2.767,-1.177,-3.106,-2.290, PHS=-0.375, 1.158,-0.861, RAW= 343.3, 0.9, CAL= 342.9, -2.1, ROT= 167.1, 2.1 2025-10-29T00:46:15.024Z,1761698775.024 [DAT](INFO): got valid direction response: 00:46:14.4645 LVL= 30192, 32481, 32754, 32755, AGC= 70, IDX= 502,-0.26,-2.767,-1.177,-3.106,-2.290, PHS=-0.375, 1.158,-0.861, RAW= 343.3, 0.9, CAL= 342.9, -2.1, ROT= 167.1, 2.1 2025-10-29T00:46:15.024Z,1761698775.024 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T00:46:15.025Z,1761698775.025 [DAT](INFO): direction in FSK: [-0.974107,0.223100,-0.036644] 2025-10-29T00:46:15.026Z,1761698775.026 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:15.051Z,1761698775.051 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.025976 2025-10-29T00:46:15.138Z,1761698775.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.515508 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:15.140Z,1761698775.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.322938 m, bearing: 178.246488 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.515508 s, deltaX: 0.000216 m, approachRate: 0.000418 m/s, posRepo size: 4 2025-10-29T00:46:15.144Z,1761698775.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-29T00:46:15.261Z,1761698775.261 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.235563 2025-10-29T00:46:15.449Z,1761698775.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981436,-0.188044,-0.037710],[0.189802,0.980535,0.050258],[0.027525,-0.056483,0.998024]] 2025-10-29T00:46:15.502Z,1761698775.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.32 m. 2025-10-29T00:46:15.514Z,1761698775.514 [DAT](INFO): DAT read: Rx Time:00:46:14.9646 2025-10-29T00:46:15.514Z,1761698775.514 [DAT](INFO): Rx dataTimestamp_ set to:1761698775.513762 2025-10-29T00:46:15.515Z,1761698775.515 [DAT](INFO): DAT read: Bearing 345.6, 11.0 (Local) 2025-10-29T00:46:15.516Z,1761698775.516 [DAT](INFO): Local bearing/azimuth received: Bearing 345.6, 11.0 (Local) 2025-10-29T00:46:15.518Z,1761698775.518 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.1 2025-10-29T00:46:15.523Z,1761698775.523 [DAT](INFO): DAT read: 00:46:14.9646 LVL= 32752, 23281, 32754, 32755, AGC= 70, IDX= 503,-0.25,-2.951,-1.379, 3.006,-2.467, PHS=-0.382, 1.132,-0.855, RAW= 343.1, 1.2, CAL= 342.7, -1.7, ROT= 167.3, 1.7 2025-10-29T00:46:15.524Z,1761698775.524 [DAT](INFO): got valid direction response: 00:46:14.9646 LVL= 32752, 23281, 32754, 32755, AGC= 70, IDX= 503,-0.25,-2.951,-1.379, 3.006,-2.467, PHS=-0.382, 1.132,-0.855, RAW= 343.1, 1.2, CAL= 342.7, -1.7, ROT= 167.3, 1.7 2025-10-29T00:46:15.524Z,1761698775.524 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T00:46:15.525Z,1761698775.525 [DAT](INFO): direction in FSK: [-0.975105,0.219749,-0.029666] 2025-10-29T00:46:15.526Z,1761698775.526 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:15.537Z,1761698775.537 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.512096 2025-10-29T00:46:15.766Z,1761698775.766 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.739922 2025-10-29T00:46:15.814Z,1761698775.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981480,-0.187761,-0.037992],[0.189508,0.980641,0.049287],[0.028003,-0.055574,0.998062]] 2025-10-29T00:46:15.854Z,1761698775.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503994 s, deltaX: 0.100000 m, approachRate: 0.198416 m/s, rangeRepo size: 4 2025-10-29T00:46:15.856Z,1761698775.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.422363 m, bearing: 178.320274 deg, lat: 36.779288 deg, lon: -121.859538 deg, deltaT: 0.503994 s, deltaX: 0.099425 m, approachRate: 0.197275 m/s, posRepo size: 4 2025-10-29T00:46:15.857Z,1761698775.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-29T00:46:16.018Z,1761698776.018 [DAT](INFO): DAT read: Rx Time:00:46:15.4646 2025-10-29T00:46:16.018Z,1761698776.018 [DAT](INFO): Rx dataTimestamp_ set to:1761698776.017714 2025-10-29T00:46:16.019Z,1761698776.019 [DAT](INFO): DAT read: Bearing 345.2, 11.6 (Local) 2025-10-29T00:46:16.020Z,1761698776.020 [DAT](INFO): Local bearing/azimuth received: Bearing 345.2, 11.6 (Local) 2025-10-29T00:46:16.022Z,1761698776.022 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 2025-10-29T00:46:16.026Z,1761698776.026 [DAT](INFO): DAT read: 00:46:15.4646 LVL= 31888, 27313, 32754, 32755, AGC= 71, IDX= 503,-0.22, 2.916,-1.787, 2.558,-2.883, PHS=-0.382, 1.141,-0.887, RAW= 343.8, 1.4, CAL= 343.4, -1.5, ROT= 166.6, 1.5 2025-10-29T00:46:16.028Z,1761698776.028 [DAT](INFO): got valid direction response: 00:46:15.4646 LVL= 31888, 27313, 32754, 32755, AGC= 71, IDX= 503,-0.22, 2.916,-1.787, 2.558,-2.883, PHS=-0.382, 1.141,-0.887, RAW= 343.8, 1.4, CAL= 343.4, -1.5, ROT= 166.6, 1.5 2025-10-29T00:46:16.028Z,1761698776.028 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T00:46:16.029Z,1761698776.029 [DAT](INFO): direction in FSK: [-0.972443,0.231668,-0.026177] 2025-10-29T00:46:16.029Z,1761698776.029 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:16.065Z,1761698776.065 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.039268 2025-10-29T00:46:16.218Z,1761698776.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981652,-0.186795,-0.038311],[0.188558,0.980831,0.049157],[0.028394,-0.055479,0.998056]] 2025-10-29T00:46:16.254Z,1761698776.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.503952 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:16.256Z,1761698776.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.422358 m, bearing: 177.554219 deg, lat: 36.779289 deg, lon: -121.859537 deg, deltaT: 0.503952 s, deltaX: -0.000006 m, approachRate: -0.000011 m/s, posRepo size: 4 2025-10-29T00:46:16.257Z,1761698776.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-29T00:46:16.269Z,1761698776.269 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.243608 2025-10-29T00:46:16.522Z,1761698776.522 [DAT](INFO): DAT read: Rx Time:00:46:15.9648 2025-10-29T00:46:16.522Z,1761698776.522 [DAT](INFO): Rx dataTimestamp_ set to:1761698776.521703 2025-10-29T00:46:16.523Z,1761698776.523 [DAT](INFO): DAT read: Bearing 345.8, 11.9 (Local) 2025-10-29T00:46:16.524Z,1761698776.524 [DAT](INFO): Local bearing/azimuth received: Bearing 345.8, 11.9 (Local) 2025-10-29T00:46:16.526Z,1761698776.526 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.1 2025-10-29T00:46:16.530Z,1761698776.530 [DAT](INFO): DAT read: 00:46:15.9648 LVL= 29632, 22657, 32754, 32755, AGC= 71, IDX= 505,-0.14,-1.946,-0.386,-2.309,-1.488, PHS=-0.356, 1.147,-0.865, RAW= 344.1, 0.8, CAL= 343.6, -2.1, ROT= 166.4, 2.1 2025-10-29T00:46:16.531Z,1761698776.531 [DAT](INFO): got valid direction response: 00:46:15.9648 LVL= 29632, 22657, 32754, 32755, AGC= 71, IDX= 505,-0.14,-1.946,-0.386,-2.309,-1.488, PHS=-0.356, 1.147,-0.865, RAW= 344.1, 0.8, CAL= 343.6, -2.1, ROT= 166.4, 2.1 2025-10-29T00:46:16.532Z,1761698776.532 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T00:46:16.533Z,1761698776.533 [DAT](INFO): direction in FSK: [-0.971308,0.234984,-0.036644] 2025-10-29T00:46:16.533Z,1761698776.533 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:16.551Z,1761698776.551 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.525187 2025-10-29T00:46:16.623Z,1761698776.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981912,-0.185360,-0.038616],[0.187186,0.981012,0.050770],[0.028472,-0.057080,0.997964]] 2025-10-29T00:46:16.680Z,1761698776.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.503989 s, deltaX: 0.300000 m, approachRate: 0.595251 m/s, rangeRepo size: 4 2025-10-29T00:46:16.682Z,1761698776.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.720633 m, bearing: 177.306794 deg, lat: 36.779289 deg, lon: -121.859536 deg, deltaT: 0.503989 s, deltaX: 0.298275 m, approachRate: 0.591828 m/s, posRepo size: 4 2025-10-29T00:46:16.682Z,1761698776.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T00:46:16.774Z,1761698776.774 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.748146 2025-10-29T00:46:17.025Z,1761698777.025 [DAT](INFO): DAT read: Rx Time:00:46:16.4647 2025-10-29T00:46:17.026Z,1761698777.026 [DAT](INFO): Rx dataTimestamp_ set to:1761698777.025579 2025-10-29T00:46:17.027Z,1761698777.027 [DAT](INFO): DAT read: Bearing 346.0, 11.9 (Local) 2025-10-29T00:46:17.027Z,1761698777.027 [DAT](INFO): Local bearing/azimuth received: Bearing 346.0, 11.9 (Local) 2025-10-29T00:46:17.030Z,1761698777.030 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.4 2025-10-29T00:46:17.037Z,1761698777.037 [DAT](INFO): DAT read: 00:46:16.4647 LVL= 30640, 23857, 32754, 32755, AGC= 70, IDX= 505,-0.11,-2.712,-1.145,-3.076,-2.260, PHS=-0.350, 1.160,-0.860, RAW= 344.0, 0.6, CAL= 343.6, -2.4, ROT= 166.4, 2.4 2025-10-29T00:46:17.038Z,1761698777.038 [DAT](INFO): got valid direction response: 00:46:16.4647 LVL= 30640, 23857, 32754, 32755, AGC= 70, IDX= 505,-0.11,-2.712,-1.145,-3.076,-2.260, PHS=-0.350, 1.160,-0.860, RAW= 344.0, 0.6, CAL= 343.6, -2.4, ROT= 166.4, 2.4 2025-10-29T00:46:17.038Z,1761698777.038 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T00:46:17.039Z,1761698777.039 [DAT](INFO): direction in FSK: [-0.971108,0.234936,-0.041876] 2025-10-29T00:46:17.039Z,1761698777.039 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:17.043Z,1761698777.043 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.017508 2025-10-29T00:46:17.051Z,1761698777.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982150,-0.184039,-0.038860],[0.185935,0.981148,0.052687],[0.028431,-0.058972,0.997855]] 2025-10-29T00:46:17.118Z,1761698777.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503876 s, deltaX: -0.100000 m, approachRate: -0.198462 m/s, rangeRepo size: 4 2025-10-29T00:46:17.121Z,1761698777.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.621161 m, bearing: 177.254279 deg, lat: 36.779289 deg, lon: -121.859536 deg, deltaT: 0.503876 s, deltaX: -0.099472 m, approachRate: -0.197414 m/s, posRepo size: 4 2025-10-29T00:46:17.122Z,1761698777.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T00:46:17.277Z,1761698777.277 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.251822 2025-10-29T00:46:17.462Z,1761698777.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982257,-0.183378,-0.039288],[0.185299,0.981273,0.052611],[0.028905,-0.058957,0.997842]] 2025-10-29T00:46:17.508Z,1761698777.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T00:46:17.530Z,1761698777.530 [DAT](INFO): DAT read: Rx Time:00:46:16.9649 2025-10-29T00:46:17.530Z,1761698777.530 [DAT](INFO): Rx dataTimestamp_ set to:1761698777.529724 2025-10-29T00:46:17.531Z,1761698777.531 [DAT](INFO): DAT read: Bearing 345.4, 11.3 (Local) 2025-10-29T00:46:17.532Z,1761698777.532 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 11.3 (Local) 2025-10-29T00:46:17.534Z,1761698777.534 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.3 2025-10-29T00:46:17.547Z,1761698777.547 [DAT](INFO): DAT read: 00:46:16.9649 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 507,-0.08,-0.292, 1.293,-0.639, 0.188, PHS=-0.378, 1.150,-0.871, RAW= 343.5, 1.1, CAL= 343.1, -1.8, ROT= 166.9, 1.8 2025-10-29T00:46:17.558Z,1761698777.558 [DAT](INFO): got valid direction response: 00:46:16.9649 LVL= 32752, 24801, 32754, 32755, AGC= 70, IDX= 507,-0.08,-0.292, 1.293,-0.639, 0.188, PHS=-0.378, 1.150,-0.871, RAW= 343.5, 1.1, CAL= 343.1, -1.8, ROT= 166.9, 1.8 2025-10-29T00:46:17.558Z,1761698777.558 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T00:46:17.560Z,1761698777.560 [DAT](INFO): direction in FSK: [-0.973495,0.226540,-0.031411] 2025-10-29T00:46:17.560Z,1761698777.560 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:17.566Z,1761698777.566 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.540104 2025-10-29T00:46:17.781Z,1761698777.781 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.755554 2025-10-29T00:46:17.834Z,1761698777.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982432,-0.182390,-0.039523],[0.184332,0.981444,0.052808],[0.029158,-0.059166,0.997822]] 2025-10-29T00:46:17.896Z,1761698777.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504145 s, deltaX: 0.300000 m, approachRate: 0.595067 m/s, rangeRepo size: 4 2025-10-29T00:46:17.900Z,1761698777.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.919434 m, bearing: 177.630597 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.504145 s, deltaX: 0.298273 m, approachRate: 0.591641 m/s, posRepo size: 4 2025-10-29T00:46:17.902Z,1761698777.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-29T00:46:18.035Z,1761698778.035 [DAT](INFO): DAT read: Rx Time:00:46:17.4649 2025-10-29T00:46:18.035Z,1761698778.035 [DAT](INFO): Rx dataTimestamp_ set to:1761698778.034873 2025-10-29T00:46:18.037Z,1761698778.037 [DAT](INFO): DAT read: Bearing 345.3, 12.1 (Local) 2025-10-29T00:46:18.037Z,1761698778.037 [DAT](INFO): Local bearing/azimuth received: Bearing 345.3, 12.1 (Local) 2025-10-29T00:46:18.039Z,1761698778.039 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.2 2025-10-29T00:46:18.045Z,1761698778.045 [DAT](INFO): DAT read: 00:46:17.4649 LVL= 29856, 23393, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.939, 0.609,-1.308,-0.477, PHS=-0.360, 1.131,-0.875, RAW= 344.3, 1.2, CAL= 343.9, -1.8, ROT= 166.1, 1.8 2025-10-29T00:46:18.046Z,1761698778.046 [DAT](INFO): got valid direction response: 00:46:17.4649 LVL= 29856, 23393, 32754, 32755, AGC= 70, IDX= 507,-0.03,-0.939, 0.609,-1.308,-0.477, PHS=-0.360, 1.131,-0.875, RAW= 344.3, 1.2, CAL= 343.9, -1.8, ROT= 166.1, 1.8 2025-10-29T00:46:18.047Z,1761698778.047 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T00:46:18.049Z,1761698778.049 [DAT](INFO): direction in FSK: [-0.970238,0.240109,-0.031411] 2025-10-29T00:46:18.049Z,1761698778.049 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:18.061Z,1761698778.061 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.036066 2025-10-29T00:46:18.239Z,1761698778.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982533,-0.181812,-0.039657],[0.183758,0.981559,0.052672],[0.029349,-0.059040,0.997824]] 2025-10-29T00:46:18.271Z,1761698778.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.505149 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:18.273Z,1761698778.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.919465 m, bearing: 176.795968 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.505149 s, deltaX: 0.000031 m, approachRate: 0.000062 m/s, posRepo size: 4 2025-10-29T00:46:18.273Z,1761698778.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-29T00:46:18.285Z,1761698778.285 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.259638 2025-10-29T00:46:18.537Z,1761698778.537 [DAT](INFO): DAT read: Rx Time:00:46:17.9651 2025-10-29T00:46:18.538Z,1761698778.538 [DAT](INFO): Rx dataTimestamp_ set to:1761698778.537661 2025-10-29T00:46:18.539Z,1761698778.539 [DAT](INFO): DAT read: Bearing 344.3, 11.3 (Local) 2025-10-29T00:46:18.540Z,1761698778.540 [DAT](INFO): Local bearing/azimuth received: Bearing 344.3, 11.3 (Local) 2025-10-29T00:46:18.542Z,1761698778.542 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 2025-10-29T00:46:18.547Z,1761698778.547 [DAT](INFO): DAT read: 00:46:17.9651 LVL= 32752, 32657, 32754, 32755, AGC= 68, IDX= 509,-0.02, 1.300, 2.872, 0.951, 1.805, PHS=-0.404, 1.112,-0.898, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8 2025-10-29T00:46:18.548Z,1761698778.548 [DAT](INFO): got valid direction response: 00:46:17.9651 LVL= 32752, 32657, 32754, 32755, AGC= 68, IDX= 509,-0.02, 1.300, 2.872, 0.951, 1.805, PHS=-0.404, 1.112,-0.898, RAW= 343.7, 2.1, CAL= 343.2, -0.8, ROT= 166.8, 0.8 2025-10-29T00:46:18.549Z,1761698778.549 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T00:46:18.550Z,1761698778.550 [DAT](INFO): direction in FSK: [-0.973484,0.228328,-0.013962] 2025-10-29T00:46:18.550Z,1761698778.550 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:18.553Z,1761698778.553 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.528019 2025-10-29T00:46:18.643Z,1761698778.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982562,-0.181670,-0.039599],[0.183601,0.981610,0.052279],[0.029373,-0.058638,0.997847]] 2025-10-29T00:46:18.733Z,1761698778.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.502788 s, deltaX: 0.300000 m, approachRate: 0.596673 m/s, rangeRepo size: 4 2025-10-29T00:46:18.735Z,1761698778.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.217739 m, bearing: 177.435911 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.502788 s, deltaX: 0.298274 m, approachRate: 0.593240 m/s, posRepo size: 4 2025-10-29T00:46:18.735Z,1761698778.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T00:46:18.790Z,1761698778.790 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.764297 2025-10-29T00:46:19.042Z,1761698779.042 [DAT](INFO): DAT read: Rx Time:00:46:18.4651 2025-10-29T00:46:19.042Z,1761698779.042 [DAT](INFO): Rx dataTimestamp_ set to:1761698779.041746 2025-10-29T00:46:19.043Z,1761698779.043 [DAT](INFO): DAT read: Bearing 344.3, 11.9 (Local) 2025-10-29T00:46:19.044Z,1761698779.044 [DAT](INFO): Local bearing/azimuth received: Bearing 344.3, 11.9 (Local) 2025-10-29T00:46:19.046Z,1761698779.046 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-29T00:46:19.050Z,1761698779.050 [DAT](INFO): DAT read: 00:46:18.4651 LVL= 32752, 22001, 32754, 32755, AGC= 68, IDX= 509, 0.05, 1.092, 2.633, 0.729, 1.583, PHS=-0.389, 1.095,-0.898, RAW= 344.2, 2.2, CAL= 343.8, -0.8, ROT= 166.2, 0.8 2025-10-29T00:46:19.052Z,1761698779.052 [DAT](INFO): got valid direction response: 00:46:18.4651 LVL= 32752, 22001, 32754, 32755, AGC= 68, IDX= 509, 0.05, 1.092, 2.633, 0.729, 1.583, PHS=-0.389, 1.095,-0.898, RAW= 344.2, 2.2, CAL= 343.8, -0.8, ROT= 166.2, 0.8 2025-10-29T00:46:19.052Z,1761698779.052 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T00:46:19.053Z,1761698779.053 [DAT](INFO): direction in FSK: [-0.971040,0.238510,-0.013962] 2025-10-29T00:46:19.053Z,1761698779.053 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:19.062Z,1761698779.062 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.036144 2025-10-29T00:46:19.065Z,1761698779.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982609,-0.181533,-0.039053],[0.183379,0.981747,0.050453],[0.029182,-0.056737,0.997963]] 2025-10-29T00:46:19.111Z,1761698779.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504085 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:19.121Z,1761698779.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.217675 m, bearing: 176.820143 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.504085 s, deltaX: -0.000064 m, approachRate: -0.000127 m/s, posRepo size: 4 2025-10-29T00:46:19.122Z,1761698779.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T00:46:19.294Z,1761698779.294 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.267624 2025-10-29T00:46:19.470Z,1761698779.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982619,-0.181593,-0.038532],[0.183334,0.981885,0.047855],[0.029144,-0.054087,0.998111]] 2025-10-29T00:46:19.527Z,1761698779.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T00:46:19.546Z,1761698779.546 [DAT](INFO): DAT read: Rx Time:00:46:18.9653 2025-10-29T00:46:19.546Z,1761698779.546 [DAT](INFO): Rx dataTimestamp_ set to:1761698779.545874 2025-10-29T00:46:19.547Z,1761698779.547 [DAT](INFO): DAT read: Bearing 344.1, 12.4 (Local) 2025-10-29T00:46:19.548Z,1761698779.548 [DAT](INFO): Local bearing/azimuth received: Bearing 344.1, 12.4 (Local) 2025-10-29T00:46:19.550Z,1761698779.550 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-29T00:46:19.555Z,1761698779.555 [DAT](INFO): DAT read: 00:46:18.9653 LVL= 32752, 30129, 32754, 32755, AGC= 70, IDX= 511, 0.07, 2.350,-2.380, 1.957, 2.845, PHS=-0.392, 1.104,-0.931, RAW= 344.8, 2.4, CAL= 344.3, -0.5, ROT= 165.7, 0.5 2025-10-29T00:46:19.556Z,1761698779.556 [DAT](INFO): got valid direction response: 00:46:18.9653 LVL= 32752, 30129, 32754, 32755, AGC= 70, IDX= 511, 0.07, 2.350,-2.380, 1.957, 2.845, PHS=-0.392, 1.104,-0.931, RAW= 344.8, 2.4, CAL= 344.3, -0.5, ROT= 165.7, 0.5 2025-10-29T00:46:19.556Z,1761698779.556 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T00:46:19.557Z,1761698779.557 [DAT](INFO): direction in FSK: [-0.968979,0.246990,-0.008727] 2025-10-29T00:46:19.557Z,1761698779.557 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:19.574Z,1761698779.574 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.548389 2025-10-29T00:46:19.797Z,1761698779.797 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.771549 2025-10-29T00:46:19.854Z,1761698779.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982658,-0.181422,-0.038332],[0.183116,0.981985,0.046623],[0.029183,-0.052834,0.998177]] 2025-10-29T00:46:19.914Z,1761698779.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.504128 s, deltaX: 0.300000 m, approachRate: 0.595087 m/s, rangeRepo size: 4 2025-10-29T00:46:19.931Z,1761698779.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.515948 m, bearing: 176.285844 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.504128 s, deltaX: 0.298273 m, approachRate: 0.591661 m/s, posRepo size: 4 2025-10-29T00:46:19.964Z,1761698779.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T00:46:20.052Z,1761698780.052 [DAT](INFO): DAT read: Rx Time:00:46:19.4653 2025-10-29T00:46:20.053Z,1761698780.053 [DAT](INFO): Rx dataTimestamp_ set to:1761698780.052372 2025-10-29T00:46:20.054Z,1761698780.054 [DAT](INFO): DAT read: Bearing 341.8, 12.0 (Local) 2025-10-29T00:46:20.054Z,1761698780.054 [DAT](INFO): Local bearing/azimuth received: Bearing 341.8, 12.0 (Local) 2025-10-29T00:46:20.056Z,1761698780.056 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.1 2025-10-29T00:46:20.062Z,1761698780.062 [DAT](INFO): DAT read: 00:46:19.4653 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 511, 0.09, 1.653,-3.122, 1.290, 2.186, PHS=-0.430, 1.021,-0.939, RAW= 344.5, 4.0, CAL= 344.1, 1.7, ROT= 165.9, -1.7 2025-10-29T00:46:20.064Z,1761698780.064 [DAT](INFO): got valid direction response: 00:46:19.4653 LVL= 32752, 28897, 32754, 32755, AGC= 71, IDX= 511, 0.09, 1.653,-3.122, 1.290, 2.186, PHS=-0.430, 1.021,-0.939, RAW= 344.5, 4.0, CAL= 344.1, 1.7, ROT= 165.9, -1.7 2025-10-29T00:46:20.065Z,1761698780.065 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T00:46:20.066Z,1761698780.066 [DAT](INFO): direction in FSK: [-0.969445,0.243508,0.029666] 2025-10-29T00:46:20.066Z,1761698780.066 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:20.071Z,1761698780.071 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.045391 2025-10-29T00:46:20.260Z,1761698780.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982791,-0.180669,-0.038490],[0.182364,0.982139,0.046337],[0.029431,-0.052559,0.998184]] 2025-10-29T00:46:20.289Z,1761698780.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.506498 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:20.291Z,1761698780.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.515990 m, bearing: 176.345145 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.506498 s, deltaX: 0.000042 m, approachRate: 0.000083 m/s, posRepo size: 4 2025-10-29T00:46:20.292Z,1761698780.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T00:46:20.305Z,1761698780.305 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.279804 2025-10-29T00:46:20.557Z,1761698780.557 [DAT](INFO): DAT read: Rx Time:00:46:19.9654 2025-10-29T00:46:20.558Z,1761698780.558 [DAT](INFO): Rx dataTimestamp_ set to:1761698780.557233 2025-10-29T00:46:20.559Z,1761698780.559 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 2025-10-29T00:46:20.559Z,1761698780.559 [DAT](ERROR): #Rx 68: Read range message, but no direction. 2025-10-29T00:46:20.560Z,1761698780.560 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.534920 2025-10-29T00:46:20.663Z,1761698780.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982857,-0.180355,-0.038252],[0.182027,0.982219,0.045966],[0.029282,-0.052141,0.998210]] 2025-10-29T00:46:20.709Z,1761698780.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504861 s, deltaX: 0.099999 m, approachRate: 0.198073 m/s, rangeRepo size: 4 2025-10-29T00:46:20.710Z,1761698780.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T00:46:20.809Z,1761698780.809 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.783566 2025-10-29T00:46:21.062Z,1761698781.062 [DAT](INFO): DAT read: Rx Time:00:46:20.4654 2025-10-29T00:46:21.062Z,1761698781.062 [DAT](INFO): Rx dataTimestamp_ set to:1761698781.061803 2025-10-29T00:46:21.063Z,1761698781.063 [DAT](INFO): DAT read: Bearing 325.6, 9.5 (Local) 2025-10-29T00:46:21.064Z,1761698781.064 [DAT](INFO): Local bearing/azimuth received: Bearing 325.6, 9.5 (Local) 2025-10-29T00:46:21.066Z,1761698781.066 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-29T00:46:21.070Z,1761698781.070 [DAT](INFO): DAT read: 00:46:20.4654 LVL= 32752, 25473, 32754, 32755, AGC= 70, IDX= 512, 0.06,-2.044,-0.832,-2.240,-1.345, PHS=-0.597, 0.558,-0.939, RAW= 342.6, 14.3, CAL= 343.0, 17.9, ROT= 167.0, -17.9 2025-10-29T00:46:21.072Z,1761698781.072 [DAT](INFO): got valid direction response: 00:46:20.4654 LVL= 32752, 25473, 32754, 32755, AGC= 70, IDX= 512, 0.06,-2.044,-0.832,-2.240,-1.345, PHS=-0.597, 0.558,-0.939, RAW= 342.6, 14.3, CAL= 343.0, 17.9, ROT= 167.0, -17.9 2025-10-29T00:46:21.072Z,1761698781.072 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T00:46:21.073Z,1761698781.073 [DAT](INFO): direction in FSK: [-0.927205,0.214062,0.307357] 2025-10-29T00:46:21.073Z,1761698781.073 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:21.082Z,1761698781.082 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.056431 2025-10-29T00:46:21.084Z,1761698781.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982935,-0.179948,-0.038170],[0.181613,0.982299,0.045877],[0.029239,-0.052026,0.998218]] 2025-10-29T00:46:21.246Z,1761698781.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.504570 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:21.248Z,1761698781.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.615423 m, bearing: 176.668302 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 1.009431 s, deltaX: 0.099433 m, approachRate: 0.098504 m/s, posRepo size: 4 2025-10-29T00:46:21.249Z,1761698781.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-29T00:46:21.314Z,1761698781.314 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.288357 2025-10-29T00:46:21.496Z,1761698781.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982958,-0.179767,-0.038445],[0.181506,0.982223,0.047895],[0.029152,-0.054057,0.998112]] 2025-10-29T00:46:21.566Z,1761698781.566 [DAT](INFO): DAT read: Rx Time:00:46:20.9656 2025-10-29T00:46:21.566Z,1761698781.566 [DAT](INFO): Rx dataTimestamp_ set to:1761698781.565800 2025-10-29T00:46:21.567Z,1761698781.567 [DAT](INFO): DAT read: Bearing 340.7, 11.2 (Local) 2025-10-29T00:46:21.568Z,1761698781.568 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 11.2 (Local) 2025-10-29T00:46:21.570Z,1761698781.570 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 2025-10-29T00:46:21.575Z,1761698781.575 [DAT](INFO): DAT read: 00:46:20.9656 LVL= 32752, 26881, 32754, 32755, AGC= 73, IDX= 2,-0.00, 1.450, 3.004, 1.107, 2.029, PHS=-0.477, 1.020,-0.966, RAW= 343.7, 4.8, CAL= 343.3, 2.9, ROT= 166.7, -2.9 2025-10-29T00:46:21.576Z,1761698781.576 [DAT](INFO): got valid direction response: 00:46:20.9656 LVL= 32752, 26881, 32754, 32755, AGC= 73, IDX= 2,-0.00, 1.450, 3.004, 1.107, 2.029, PHS=-0.477, 1.020,-0.966, RAW= 343.7, 4.8, CAL= 343.3, 2.9, ROT= 166.7, -2.9 2025-10-29T00:46:21.576Z,1761698781.576 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T00:46:21.577Z,1761698781.577 [DAT](INFO): direction in FSK: [-0.971933,0.229755,0.050593] 2025-10-29T00:46:21.577Z,1761698781.577 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:21.581Z,1761698781.581 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.555805 2025-10-29T00:46:21.601Z,1761698781.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.503997 s, deltaX: 0.300000 m, approachRate: 0.595242 m/s, rangeRepo size: 4 2025-10-29T00:46:21.602Z,1761698781.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.913697 m, bearing: 177.037340 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.503997 s, deltaX: 0.298274 m, approachRate: 0.591817 m/s, posRepo size: 4 2025-10-29T00:46:21.603Z,1761698781.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-29T00:46:21.822Z,1761698781.822 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.796520 2025-10-29T00:46:21.911Z,1761698781.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983049,-0.179200,-0.038762],[0.181027,0.982192,0.050288],[0.029060,-0.056452,0.997982]] 2025-10-29T00:46:21.985Z,1761698781.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-29T00:46:22.073Z,1761698782.073 [DAT](INFO): DAT read: Rx Time:00:46:21.4656 2025-10-29T00:46:22.074Z,1761698782.074 [DAT](INFO): Rx dataTimestamp_ set to:1761698782.073542 2025-10-29T00:46:22.075Z,1761698782.075 [DAT](INFO): DAT read: Bearing 341.7, 12.2 (Local) 2025-10-29T00:46:22.075Z,1761698782.075 [DAT](INFO): Local bearing/azimuth received: Bearing 341.7, 12.2 (Local) 2025-10-29T00:46:22.078Z,1761698782.078 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.0 2025-10-29T00:46:22.082Z,1761698782.082 [DAT](INFO): DAT read: 00:46:21.4656 LVL= 32752, 29137, 32754, 32755, AGC= 70, IDX= 498,-0.06,-0.774, 0.745,-1.147,-0.237, PHS=-0.435, 1.027,-0.954, RAW= 344.6, 4.1, CAL= 344.2, 1.9, ROT= 165.8, -1.9 2025-10-29T00:46:22.083Z,1761698782.083 [DAT](INFO): got valid direction response: 00:46:21.4656 LVL= 32752, 29137, 32754, 32755, AGC= 70, IDX= 498,-0.06,-0.774, 0.745,-1.147,-0.237, PHS=-0.435, 1.027,-0.954, RAW= 344.6, 4.1, CAL= 344.2, 1.9, ROT= 165.8, -1.9 2025-10-29T00:46:22.083Z,1761698782.083 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T00:46:22.084Z,1761698782.084 [DAT](INFO): direction in FSK: [-0.968912,0.245173,0.033155] 2025-10-29T00:46:22.085Z,1761698782.085 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:22.088Z,1761698782.088 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.062893 2025-10-29T00:46:22.302Z,1761698782.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983128,-0.178774,-0.038707],[0.180621,0.982226,0.051072],[0.028889,-0.057202,0.997945]] 2025-10-29T00:46:22.325Z,1761698782.325 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.299358 2025-10-29T00:46:22.393Z,1761698782.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.507742 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:22.409Z,1761698782.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.913876 m, bearing: 176.129314 deg, lat: 36.779290 deg, lon: -121.859535 deg, deltaT: 0.507742 s, deltaX: 0.000178 m, approachRate: 0.000351 m/s, posRepo size: 4 2025-10-29T00:46:22.411Z,1761698782.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.91 m. 2025-10-29T00:46:22.578Z,1761698782.578 [DAT](INFO): DAT read: Rx Time:00:46:21.9658 2025-10-29T00:46:22.578Z,1761698782.578 [DAT](INFO): Rx dataTimestamp_ set to:1761698782.578127 2025-10-29T00:46:22.580Z,1761698782.580 [DAT](INFO): DAT read: Bearing 340.8, 11.7 (Local) 2025-10-29T00:46:22.580Z,1761698782.580 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 11.7 (Local) 2025-10-29T00:46:22.582Z,1761698782.582 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 2025-10-29T00:46:22.587Z,1761698782.587 [DAT](INFO): DAT read: 00:46:21.9658 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 500,-0.19, 0.925, 2.452, 0.570, 1.486, PHS=-0.459, 1.011,-0.960, RAW= 344.2, 4.6, CAL= 343.8, 2.7, ROT= 166.2, -2.7 2025-10-29T00:46:22.588Z,1761698782.588 [DAT](INFO): got valid direction response: 00:46:21.9658 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 500,-0.19, 0.925, 2.452, 0.570, 1.486, PHS=-0.459, 1.011,-0.960, RAW= 344.2, 4.6, CAL= 343.8, 2.7, ROT= 166.2, -2.7 2025-10-29T00:46:22.589Z,1761698782.589 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T00:46:22.589Z,1761698782.589 [DAT](INFO): direction in FSK: [-0.970056,0.238269,0.047106] 2025-10-29T00:46:22.590Z,1761698782.590 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:22.593Z,1761698782.593 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.567905 2025-10-29T00:46:22.707Z,1761698782.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983170,-0.178570,-0.038592],[0.180405,0.982276,0.050874],[0.028823,-0.056980,0.997959]] 2025-10-29T00:46:22.797Z,1761698782.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504585 s, deltaX: 0.300000 m, approachRate: 0.594548 m/s, rangeRepo size: 4 2025-10-29T00:46:22.799Z,1761698782.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.212153 m, bearing: 176.477508 deg, lat: 36.779290 deg, lon: -121.859536 deg, deltaT: 0.504585 s, deltaX: 0.298278 m, approachRate: 0.591135 m/s, posRepo size: 4 2025-10-29T00:46:22.804Z,1761698782.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T00:46:22.829Z,1761698782.829 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.803539 2025-10-29T00:46:23.081Z,1761698783.081 [DAT](INFO): DAT read: Rx Time:00:46:22.4658 2025-10-29T00:46:23.082Z,1761698783.082 [DAT](INFO): Rx dataTimestamp_ set to:1761698783.081672 2025-10-29T00:46:23.083Z,1761698783.083 [DAT](INFO): DAT read: Bearing 340.7, 10.9 (Local) 2025-10-29T00:46:23.084Z,1761698783.084 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 10.9 (Local) 2025-10-29T00:46:23.086Z,1761698783.086 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-29T00:46:23.090Z,1761698783.090 [DAT](INFO): DAT read: 00:46:22.4658 LVL= 32752, 31665, 32754, 32755, AGC= 70, IDX= 500,-0.33,-0.815, 0.727,-1.141,-0.238, PHS=-0.475, 1.009,-0.947, RAW= 343.4, 4.7, CAL= 343.0, 2.9, ROT= 167.0, -2.9 2025-10-29T00:46:23.091Z,1761698783.091 [DAT](INFO): got valid direction response: 00:46:22.4658 LVL= 32752, 31665, 32754, 32755, AGC= 70, IDX= 500,-0.33,-0.815, 0.727,-1.141,-0.238, PHS=-0.475, 1.009,-0.947, RAW= 343.4, 4.7, CAL= 343.0, 2.9, ROT= 167.0, -2.9 2025-10-29T00:46:23.092Z,1761698783.092 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T00:46:23.093Z,1761698783.093 [DAT](INFO): direction in FSK: [-0.973122,0.224663,0.050593] 2025-10-29T00:46:23.093Z,1761698783.093 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:23.101Z,1761698783.101 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.075321 2025-10-29T00:46:23.112Z,1761698783.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983131,-0.178791,-0.038570],[0.180599,0.982284,0.050011],[0.028946,-0.056133,0.998004]] 2025-10-29T00:46:23.174Z,1761698783.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503545 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:23.196Z,1761698783.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.212243 m, bearing: 177.279124 deg, lat: 36.779289 deg, lon: -121.859536 deg, deltaT: 0.503545 s, deltaX: 0.000090 m, approachRate: 0.000178 m/s, posRepo size: 4 2025-10-29T00:46:23.197Z,1761698783.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T00:46:23.333Z,1761698783.333 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.307652 2025-10-29T00:46:23.520Z,1761698783.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983012,-0.179462,-0.038486],[0.181228,0.982233,0.048742],[0.029055,-0.054888,0.998070]] 2025-10-29T00:46:23.577Z,1761698783.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T00:46:23.585Z,1761698783.585 [DAT](INFO): DAT read: Rx Time:00:46:22.9658 2025-10-29T00:46:23.586Z,1761698783.586 [DAT](INFO): Rx dataTimestamp_ set to:1761698783.585659 2025-10-29T00:46:23.587Z,1761698783.587 [DAT](INFO): DAT read: Bearing 341.4, 11.0 (Local) 2025-10-29T00:46:23.588Z,1761698783.588 [DAT](INFO): Local bearing/azimuth received: Bearing 341.4, 11.0 (Local) 2025-10-29T00:46:23.590Z,1761698783.590 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-29T00:46:23.594Z,1761698783.594 [DAT](INFO): DAT read: 00:46:22.9658 LVL= 32752, 27169, 32754, 32755, AGC= 72, IDX= 500, 0.36, 1.136, 2.682, 0.802, 1.701, PHS=-0.463, 1.026,-0.944, RAW= 343.5, 4.3, CAL= 343.2, 2.2, ROT= 166.8, -2.2 2025-10-29T00:46:23.595Z,1761698783.595 [DAT](INFO): got valid direction response: 00:46:22.9658 LVL= 32752, 27169, 32754, 32755, AGC= 72, IDX= 500, 0.36, 1.136, 2.682, 0.802, 1.701, PHS=-0.463, 1.026,-0.944, RAW= 343.5, 4.3, CAL= 343.2, 2.2, ROT= 166.8, -2.2 2025-10-29T00:46:23.596Z,1761698783.596 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T00:46:23.597Z,1761698783.597 [DAT](INFO): direction in FSK: [-0.972861,0.228182,0.038388] 2025-10-29T00:46:23.597Z,1761698783.597 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:23.621Z,1761698783.621 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.595520 2025-10-29T00:46:23.837Z,1761698783.837 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.811520 2025-10-29T00:46:23.940Z,1761698783.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982904,-0.180050,-0.038488],[0.181780,0.982191,0.047498],[0.029251,-0.053683,0.998129]] 2025-10-29T00:46:24.008Z,1761698784.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503987 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:24.010Z,1761698784.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.212142 m, bearing: 177.185885 deg, lat: 36.779289 deg, lon: -121.859537 deg, deltaT: 0.503987 s, deltaX: -0.000101 m, approachRate: -0.000201 m/s, posRepo size: 4 2025-10-29T00:46:24.011Z,1761698784.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T00:46:24.090Z,1761698784.090 [DAT](INFO): DAT read: Rx Time:00:46:23.4658 2025-10-29T00:46:24.091Z,1761698784.091 [DAT](INFO): Rx dataTimestamp_ set to:1761698784.090383 2025-10-29T00:46:24.093Z,1761698784.093 [DAT](INFO): DAT read: Bearing 342.6, 10.1 (Local) 2025-10-29T00:46:24.093Z,1761698784.093 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 10.1 (Local) 2025-10-29T00:46:24.096Z,1761698784.096 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 2025-10-29T00:46:24.112Z,1761698784.112 [DAT](INFO): DAT read: 00:46:23.4658 LVL= 32752, 30417, 32754, 32755, AGC= 71, IDX= 500, 0.15,-0.479, 1.126,-0.791, 0.093, PHS=-0.470, 1.078,-0.928, RAW= 342.6, 3.6, CAL= 342.1, 1.0, ROT= 167.9, -1.0 2025-10-29T00:46:24.113Z,1761698784.113 [DAT](INFO): got valid direction response: 00:46:23.4658 LVL= 32752, 30417, 32754, 32755, AGC= 71, IDX= 500, 0.15,-0.479, 1.126,-0.791, 0.093, PHS=-0.470, 1.078,-0.928, RAW= 342.6, 3.6, CAL= 342.1, 1.0, ROT= 167.9, -1.0 2025-10-29T00:46:24.114Z,1761698784.114 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T00:46:24.114Z,1761698784.114 [DAT](INFO): direction in FSK: [-0.977634,0.209587,0.017452] 2025-10-29T00:46:24.115Z,1761698784.115 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:24.133Z,1761698784.133 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.107143 2025-10-29T00:46:24.322Z,1761698784.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982899,-0.180055,-0.038608],[0.181771,0.982226,0.046812],[0.029493,-0.053029,0.998157]] 2025-10-29T00:46:24.341Z,1761698784.341 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.315571 2025-10-29T00:46:24.369Z,1761698784.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:24.373Z,1761698784.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.212142 m, bearing: 178.339316 deg, lat: 36.779290 deg, lon: -121.859538 deg, deltaT: 0.504724 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:24.374Z,1761698784.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T00:46:24.594Z,1761698784.594 [DAT](INFO): DAT read: Rx Time:00:46:23.9660 2025-10-29T00:46:24.594Z,1761698784.594 [DAT](INFO): Rx dataTimestamp_ set to:1761698784.594001 2025-10-29T00:46:24.596Z,1761698784.596 [DAT](INFO): DAT read: Bearing 344.5, 10.2 (Local) 2025-10-29T00:46:24.597Z,1761698784.597 [DAT](INFO): Local bearing/azimuth received: Bearing 344.5, 10.2 (Local) 2025-10-29T00:46:24.599Z,1761698784.599 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.1 2025-10-29T00:46:24.603Z,1761698784.603 [DAT](INFO): DAT read: 00:46:23.9660 LVL= 32752, 24929, 32754, 32755, AGC= 71, IDX= 502, 0.04,-0.419, 1.199,-0.738, 0.112, PHS=-0.430, 1.132,-0.895, RAW= 342.7, 2.1, CAL= 342.2, -0.8, ROT= 167.8, 0.8 2025-10-29T00:46:24.605Z,1761698784.605 [DAT](INFO): got valid direction response: 00:46:23.9660 LVL= 32752, 24929, 32754, 32755, AGC= 71, IDX= 502, 0.04,-0.419, 1.199,-0.738, 0.112, PHS=-0.430, 1.132,-0.895, RAW= 342.7, 2.1, CAL= 342.2, -0.8, ROT= 167.8, 0.8 2025-10-29T00:46:24.605Z,1761698784.605 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T00:46:24.606Z,1761698784.606 [DAT](INFO): direction in FSK: [-0.977321,0.211304,-0.013962] 2025-10-29T00:46:24.606Z,1761698784.606 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:24.610Z,1761698784.610 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.584568 2025-10-29T00:46:24.728Z,1761698784.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982861,-0.180196,-0.038900],[0.181913,0.982221,0.046363],[0.029854,-0.052645,0.998167]] 2025-10-29T00:46:24.810Z,1761698784.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.503618 s, deltaX: 0.300000 m, approachRate: 0.595690 m/s, rangeRepo size: 4 2025-10-29T00:46:24.816Z,1761698784.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.510420 m, bearing: 178.329288 deg, lat: 36.779289 deg, lon: -121.859538 deg, deltaT: 0.503618 s, deltaX: 0.298278 m, approachRate: 0.592270 m/s, posRepo size: 4 2025-10-29T00:46:24.817Z,1761698784.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-29T00:46:24.848Z,1761698784.848 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.822865 2025-10-29T00:46:25.101Z,1761698785.101 [DAT](INFO): DAT read: Rx Time:00:46:24.4660 2025-10-29T00:46:25.102Z,1761698785.102 [DAT](INFO): Rx dataTimestamp_ set to:1761698785.101656 2025-10-29T00:46:25.103Z,1761698785.103 [DAT](INFO): DAT read: Bearing 342.7, 9.8 (Local) 2025-10-29T00:46:25.103Z,1761698785.103 [DAT](INFO): Local bearing/azimuth received: Bearing 342.7, 9.8 (Local) 2025-10-29T00:46:25.106Z,1761698785.106 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-29T00:46:25.110Z,1761698785.110 [DAT](INFO): DAT read: 00:46:24.4660 LVL= 32752, 24481, 32754, 32755, AGC= 70, IDX= 502,-0.07, 2.647,-2.049, 2.347,-3.069, PHS=-0.465, 1.065,-0.911, RAW= 342.4, 3.5, CAL= 342.0, 1.0, ROT= 168.0, -1.0 2025-10-29T00:46:25.111Z,1761698785.111 [DAT](INFO): got valid direction response: 00:46:24.4660 LVL= 32752, 24481, 32754, 32755, AGC= 70, IDX= 502,-0.07, 2.647,-2.049, 2.347,-3.069, PHS=-0.465, 1.065,-0.911, RAW= 342.4, 3.5, CAL= 342.0, 1.0, ROT= 168.0, -1.0 2025-10-29T00:46:25.112Z,1761698785.112 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T00:46:25.113Z,1761698785.113 [DAT](INFO): direction in FSK: [-0.977999,0.207880,0.017452] 2025-10-29T00:46:25.113Z,1761698785.113 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:25.121Z,1761698785.121 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.095901 2025-10-29T00:46:25.142Z,1761698785.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982890,-0.179958,-0.039282],[0.181693,0.982267,0.046254],[0.030262,-0.052600,0.998157]] 2025-10-29T00:46:25.239Z,1761698785.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507655 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:25.245Z,1761698785.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.510497 m, bearing: 178.434890 deg, lat: 36.779290 deg, lon: -121.859542 deg, deltaT: 0.507655 s, deltaX: 0.000077 m, approachRate: 0.000152 m/s, posRepo size: 4 2025-10-29T00:46:25.245Z,1761698785.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-29T00:46:25.354Z,1761698785.354 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.328285 2025-10-29T00:46:25.547Z,1761698785.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982849,-0.180048,-0.039890],[0.181809,0.982253,0.046085],[0.030884,-0.052547,0.998141]] 2025-10-29T00:46:25.590Z,1761698785.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-29T00:46:25.606Z,1761698785.606 [DAT](INFO): DAT read: Rx Time:00:46:24.9662 2025-10-29T00:46:25.606Z,1761698785.606 [DAT](INFO): Rx dataTimestamp_ set to:1761698785.605830 2025-10-29T00:46:25.607Z,1761698785.607 [DAT](INFO): DAT read: Bearing 344.1, 9.1 (Local) 2025-10-29T00:46:25.608Z,1761698785.608 [DAT](INFO): Local bearing/azimuth received: Bearing 344.1, 9.1 (Local) 2025-10-29T00:46:25.610Z,1761698785.610 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-29T00:46:25.615Z,1761698785.615 [DAT](INFO): DAT read: 00:46:24.9662 LVL= 31296, 24641, 32754, 32755, AGC= 72, IDX= 504,-0.15, 1.754,-2.881, 1.467, 2.319, PHS=-0.463, 1.128,-0.897, RAW= 341.7, 2.5, CAL= 341.2, -0.3, ROT= 168.8, 0.3 2025-10-29T00:46:25.616Z,1761698785.616 [DAT](INFO): got valid direction response: 00:46:24.9662 LVL= 31296, 24641, 32754, 32755, AGC= 72, IDX= 504,-0.15, 1.754,-2.881, 1.467, 2.319, PHS=-0.463, 1.128,-0.897, RAW= 341.7, 2.5, CAL= 341.2, -0.3, ROT= 168.8, 0.3 2025-10-29T00:46:25.616Z,1761698785.616 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T00:46:25.617Z,1761698785.617 [DAT](INFO): direction in FSK: [-0.980942,0.194232,-0.005236] 2025-10-29T00:46:25.617Z,1761698785.617 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:25.653Z,1761698785.653 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.627541 2025-10-29T00:46:25.858Z,1761698785.858 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.832661 2025-10-29T00:46:25.968Z,1761698785.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982762,-0.180397,-0.040445],[0.182177,0.982201,0.045746],[0.031473,-0.052326,0.998134]] 2025-10-29T00:46:25.996Z,1761698785.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504174 s, deltaX: 0.299999 m, approachRate: 0.595031 m/s, rangeRepo size: 4 2025-10-29T00:46:25.998Z,1761698785.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.808869 m, bearing: 179.321421 deg, lat: 36.779290 deg, lon: -121.859542 deg, deltaT: 0.504174 s, deltaX: 0.298372 m, approachRate: 0.591804 m/s, posRepo size: 4 2025-10-29T00:46:25.998Z,1761698785.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T00:46:26.110Z,1761698786.110 [DAT](INFO): DAT read: Rx Time:00:46:25.4662 2025-10-29T00:46:26.110Z,1761698786.110 [DAT](INFO): Rx dataTimestamp_ set to:1761698786.109912 2025-10-29T00:46:26.111Z,1761698786.111 [DAT](INFO): DAT read: Bearing 344.0, 8.5 (Local) 2025-10-29T00:46:26.112Z,1761698786.112 [DAT](INFO): Local bearing/azimuth received: Bearing 344.0, 8.5 (Local) 2025-10-29T00:46:26.114Z,1761698786.114 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-29T00:46:26.119Z,1761698786.119 [DAT](INFO): DAT read: 00:46:25.4662 LVL= 30640, 24625, 32754, 32755, AGC= 71, IDX= 504,-0.25,-0.704, 0.960,-0.976,-0.125, PHS=-0.477, 1.130,-0.894, RAW= 341.3, 2.6, CAL= 340.8, -0.2, ROT= 169.2, 0.2 2025-10-29T00:46:26.120Z,1761698786.120 [DAT](INFO): got valid direction response: 00:46:25.4662 LVL= 30640, 24625, 32754, 32755, AGC= 71, IDX= 504,-0.25,-0.704, 0.960,-0.976,-0.125, PHS=-0.477, 1.130,-0.894, RAW= 341.3, 2.6, CAL= 340.8, -0.2, ROT= 169.2, 0.2 2025-10-29T00:46:26.120Z,1761698786.120 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T00:46:26.121Z,1761698786.121 [DAT](INFO): direction in FSK: [-0.982281,0.187380,-0.003491] 2025-10-29T00:46:26.121Z,1761698786.121 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:26.125Z,1761698786.125 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.099930 2025-10-29T00:46:26.342Z,1761698786.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982666,-0.180754,-0.041169],[0.182562,0.982144,0.045427],[0.032223,-0.052156,0.998119]] 2025-10-29T00:46:26.362Z,1761698786.362 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.336708 2025-10-29T00:46:26.503Z,1761698786.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:26.523Z,1761698786.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.808869 m, bearing: 179.739099 deg, lat: 36.779289 deg, lon: -121.859542 deg, deltaT: 0.504082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:26.529Z,1761698786.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T00:46:26.615Z,1761698786.615 [DAT](INFO): DAT read: Rx Time:00:46:25.9664 2025-10-29T00:46:26.615Z,1761698786.615 [DAT](INFO): Rx dataTimestamp_ set to:1761698786.614709 2025-10-29T00:46:26.617Z,1761698786.617 [DAT](INFO): DAT read: Bearing 344.6, 8.1 (Local) 2025-10-29T00:46:26.617Z,1761698786.617 [DAT](INFO): Local bearing/azimuth received: Bearing 344.6, 8.1 (Local) 2025-10-29T00:46:26.620Z,1761698786.620 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-29T00:46:26.625Z,1761698786.625 [DAT](INFO): DAT read: 00:46:25.9664 LVL= 27952, 24689, 32754, 32755, AGC= 71, IDX= 505, 0.49, 1.394, 3.070, 1.133, 1.966, PHS=-0.470, 1.149,-0.877, RAW= 340.9, 2.2, CAL= 340.4, -0.7, ROT= 169.6, 0.7 2025-10-29T00:46:26.626Z,1761698786.626 [DAT](INFO): got valid direction response: 00:46:25.9664 LVL= 27952, 24689, 32754, 32755, AGC= 71, IDX= 505, 0.49, 1.394, 3.070, 1.133, 1.966, PHS=-0.470, 1.149,-0.877, RAW= 340.9, 2.2, CAL= 340.4, -0.7, ROT= 169.6, 0.7 2025-10-29T00:46:26.626Z,1761698786.626 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T00:46:26.627Z,1761698786.627 [DAT](INFO): direction in FSK: [-0.983498,0.180506,-0.012217] 2025-10-29T00:46:26.627Z,1761698786.627 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:26.640Z,1761698786.640 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.614853 2025-10-29T00:46:26.790Z,1761698786.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982617,-0.180866,-0.041848],[0.182711,0.982114,0.045496],[0.032871,-0.052352,0.998088]] 2025-10-29T00:46:26.861Z,1761698786.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504797 s, deltaX: 0.300001 m, approachRate: 0.594301 m/s, rangeRepo size: 4 2025-10-29T00:46:26.865Z,1761698786.865 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.839783 2025-10-29T00:46:26.870Z,1761698786.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.107151 m, bearing: 180.170662 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.504797 s, deltaX: 0.298282 m, approachRate: 0.590894 m/s, posRepo size: 4 2025-10-29T00:46:26.871Z,1761698786.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T00:46:27.118Z,1761698787.118 [DAT](INFO): DAT read: Rx Time:00:46:26.4664 2025-10-29T00:46:27.118Z,1761698787.118 [DAT](INFO): Rx dataTimestamp_ set to:1761698787.117709 2025-10-29T00:46:27.119Z,1761698787.119 [DAT](INFO): DAT read: Bearing 344.0, 7.8 (Local) 2025-10-29T00:46:27.120Z,1761698787.120 [DAT](INFO): Local bearing/azimuth received: Bearing 344.0, 7.8 (Local) 2025-10-29T00:46:27.122Z,1761698787.122 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-29T00:46:27.126Z,1761698787.126 [DAT](INFO): DAT read: 00:46:26.4664 LVL= 31072, 21393, 32754, 32755, AGC= 70, IDX= 505, 0.23, 0.620, 2.289, 0.373, 1.211, PHS=-0.489, 1.123,-0.882, RAW= 340.7, 2.7, CAL= 340.2, -0.1, ROT= 169.8, 0.1 2025-10-29T00:46:27.127Z,1761698787.127 [DAT](INFO): got valid direction response: 00:46:26.4664 LVL= 31072, 21393, 32754, 32755, AGC= 70, IDX= 505, 0.23, 0.620, 2.289, 0.373, 1.211, PHS=-0.489, 1.123,-0.882, RAW= 340.7, 2.7, CAL= 340.2, -0.1, ROT= 169.8, 0.1 2025-10-29T00:46:27.128Z,1761698787.128 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T00:46:27.129Z,1761698787.129 [DAT](INFO): direction in FSK: [-0.984194,0.177084,-0.001745] 2025-10-29T00:46:27.129Z,1761698787.129 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:27.142Z,1761698787.142 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.113068 2025-10-29T00:46:27.235Z,1761698787.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982570,-0.180963,-0.042528],[0.182854,0.982072,0.045821],[0.033473,-0.052799,0.998044]] 2025-10-29T00:46:27.298Z,1761698787.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503000 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:27.312Z,1761698787.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.107149 m, bearing: 180.351836 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.503000 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-29T00:46:27.312Z,1761698787.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T00:46:27.370Z,1761698787.370 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.344856 2025-10-29T00:46:27.446Z,1761698787.446 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:46:27.600Z,1761698787.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982544,-0.180945,-0.043204],[0.182888,0.982044,0.046268],[0.034057,-0.053362,0.997994]] 2025-10-29T00:46:27.621Z,1761698787.621 [DAT](INFO): DAT read: Rx Time:00:46:26.9664 2025-10-29T00:46:27.622Z,1761698787.622 [DAT](INFO): Rx dataTimestamp_ set to:1761698787.621662 2025-10-29T00:46:27.623Z,1761698787.623 [DAT](INFO): DAT read: Bearing 344.3, 8.0 (Local) 2025-10-29T00:46:27.624Z,1761698787.624 [DAT](INFO): Local bearing/azimuth received: Bearing 344.3, 8.0 (Local) 2025-10-29T00:46:27.626Z,1761698787.626 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-29T00:46:27.631Z,1761698787.631 [DAT](INFO): DAT read: 00:46:26.9664 LVL= 28224, 22737, 32754, 32755, AGC= 70, IDX= 506, 0.07, 0.108, 1.787,-0.151, 0.693, PHS=-0.483, 1.139,-0.887, RAW= 340.9, 2.5, CAL= 340.4, -0.3, ROT= 169.6, 0.3 2025-10-29T00:46:27.632Z,1761698787.632 [DAT](INFO): got valid direction response: 00:46:26.9664 LVL= 28224, 22737, 32754, 32755, AGC= 70, IDX= 506, 0.07, 0.108, 1.787,-0.151, 0.693, PHS=-0.483, 1.139,-0.887, RAW= 340.9, 2.5, CAL= 340.4, -0.3, ROT= 169.6, 0.3 2025-10-29T00:46:27.633Z,1761698787.633 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T00:46:27.634Z,1761698787.634 [DAT](INFO): direction in FSK: [-0.983558,0.180517,-0.005236] 2025-10-29T00:46:27.634Z,1761698787.634 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:27.638Z,1761698787.638 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.612259 2025-10-29T00:46:27.832Z,1761698787.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:27.834Z,1761698787.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.107149 m, bearing: 180.163354 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503953 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:27.835Z,1761698787.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T00:46:27.874Z,1761698787.874 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.848499 2025-10-29T00:46:28.111Z,1761698788.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982374,-0.181544,-0.044540],[0.183534,0.981956,0.045590],[0.035459,-0.052961,0.997967]] 2025-10-29T00:46:28.126Z,1761698788.126 [DAT](INFO): DAT read: Rx Time:00:46:27.4664 2025-10-29T00:46:28.126Z,1761698788.126 [DAT](INFO): Rx dataTimestamp_ set to:1761698788.125772 2025-10-29T00:46:28.127Z,1761698788.127 [DAT](INFO): DAT read: Bearing 345.0, 8.2 (Local) 2025-10-29T00:46:28.128Z,1761698788.128 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, 8.2 (Local) 2025-10-29T00:46:28.130Z,1761698788.130 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.2 2025-10-29T00:46:28.134Z,1761698788.134 [DAT](INFO): DAT read: 00:46:27.4664 LVL= 28208, 22209, 32754, 32755, AGC= 70, IDX= 506,-0.04,-2.010,-0.319,-2.277,-1.444, PHS=-0.464, 1.170,-0.877, RAW= 341.0, 1.9, CAL= 340.5, -1.0, ROT= 169.5, 1.0 2025-10-29T00:46:28.136Z,1761698788.136 [DAT](INFO): got valid direction response: 00:46:27.4664 LVL= 28208, 22209, 32754, 32755, AGC= 70, IDX= 506,-0.04,-2.010,-0.319,-2.277,-1.444, PHS=-0.464, 1.170,-0.877, RAW= 341.0, 1.9, CAL= 340.5, -1.0, ROT= 169.5, 1.0 2025-10-29T00:46:28.152Z,1761698788.152 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T00:46:28.153Z,1761698788.153 [DAT](INFO): direction in FSK: [-0.983105,0.182208,-0.017452] 2025-10-29T00:46:28.153Z,1761698788.153 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:28.157Z,1761698788.157 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.131561 2025-10-29T00:46:28.234Z,1761698788.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504110 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:28.235Z,1761698788.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.107384 m, bearing: 180.132533 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.504110 s, deltaX: 0.000235 m, approachRate: 0.000465 m/s, posRepo size: 4 2025-10-29T00:46:28.244Z,1761698788.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T00:46:28.378Z,1761698788.378 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.352306 2025-10-29T00:46:28.462Z,1761698788.462 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:46:28.533Z,1761698788.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982180,-0.182458,-0.045070],[0.184442,0.981828,0.044672],[0.036100,-0.052189,0.997985]] 2025-10-29T00:46:28.607Z,1761698788.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T00:46:28.630Z,1761698788.630 [DAT](INFO): DAT read: Rx Time:00:46:27.9666 2025-10-29T00:46:28.630Z,1761698788.630 [DAT](INFO): Rx dataTimestamp_ set to:1761698788.629833 2025-10-29T00:46:28.631Z,1761698788.631 [DAT](INFO): DAT read: Bearing 344.4, 7.9 (Local) 2025-10-29T00:46:28.632Z,1761698788.632 [DAT](INFO): Local bearing/azimuth received: Bearing 344.4, 7.9 (Local) 2025-10-29T00:46:28.634Z,1761698788.634 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-29T00:46:28.639Z,1761698788.639 [DAT](INFO): DAT read: 00:46:27.9666 LVL= 27312, 22801, 32754, 32755, AGC= 70, IDX= 508,-0.11,-1.387, 0.281,-1.639,-0.808, PHS=-0.477, 1.134,-0.876, RAW= 340.8, 2.4, CAL= 340.3, -0.5, ROT= 169.7, 0.5 2025-10-29T00:46:28.640Z,1761698788.640 [DAT](INFO): got valid direction response: 00:46:27.9666 LVL= 27312, 22801, 32754, 32755, AGC= 70, IDX= 508,-0.11,-1.387, 0.281,-1.639,-0.808, PHS=-0.477, 1.134,-0.876, RAW= 340.8, 2.4, CAL= 340.3, -0.5, ROT= 169.7, 0.5 2025-10-29T00:46:28.640Z,1761698788.640 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-29T00:46:28.641Z,1761698788.641 [DAT](INFO): direction in FSK: [-0.983848,0.178795,-0.008727] 2025-10-29T00:46:28.641Z,1761698788.641 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:28.649Z,1761698788.649 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.623608 2025-10-29T00:46:28.882Z,1761698788.882 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.856270 2025-10-29T00:46:28.961Z,1761698788.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982098,-0.182759,-0.045640],[0.184756,0.981789,0.044226],[0.036726,-0.051867,0.997979]] 2025-10-29T00:46:29.013Z,1761698789.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504061 s, deltaX: 0.299999 m, approachRate: 0.595165 m/s, rangeRepo size: 4 2025-10-29T00:46:29.015Z,1761698789.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.405928 m, bearing: 180.379776 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.504061 s, deltaX: 0.298544 m, approachRate: 0.592277 m/s, posRepo size: 4 2025-10-29T00:46:29.015Z,1761698789.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T00:46:29.133Z,1761698789.133 [DAT](INFO): DAT read: Rx Time:00:46:28.4666 2025-10-29T00:46:29.134Z,1761698789.134 [DAT](INFO): Rx dataTimestamp_ set to:1761698789.133675 2025-10-29T00:46:29.135Z,1761698789.135 [DAT](INFO): DAT read: Bearing 344.4, 8.2 (Local) 2025-10-29T00:46:29.136Z,1761698789.136 [DAT](INFO): Local bearing/azimuth received: Bearing 344.4, 8.2 (Local) 2025-10-29T00:46:29.138Z,1761698789.138 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-29T00:46:29.143Z,1761698789.143 [DAT](INFO): DAT read: 00:46:28.4666 LVL= 26656, 21905, 32754, 32755, AGC= 71, IDX= 508,-0.15,-2.790,-1.139,-3.052,-2.216, PHS=-0.472, 1.122,-0.880, RAW= 341.1, 2.5, CAL= 340.6, -0.3, ROT= 169.4, 0.3 2025-10-29T00:46:29.144Z,1761698789.144 [DAT](INFO): got valid direction response: 00:46:28.4666 LVL= 26656, 21905, 32754, 32755, AGC= 71, IDX= 508,-0.15,-2.790,-1.139,-3.052,-2.216, PHS=-0.472, 1.122,-0.880, RAW= 341.1, 2.5, CAL= 340.6, -0.3, ROT= 169.4, 0.3 2025-10-29T00:46:29.144Z,1761698789.144 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-29T00:46:29.145Z,1761698789.145 [DAT](INFO): direction in FSK: [-0.982922,0.183949,-0.005236] 2025-10-29T00:46:29.145Z,1761698789.145 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:29.150Z,1761698789.150 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.124283 2025-10-29T00:46:29.321Z,1761698789.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982192,-0.182111,-0.046209],[0.184163,0.981870,0.044883],[0.037198,-0.052594,0.997923]] 2025-10-29T00:46:29.385Z,1761698789.385 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.359699 2025-10-29T00:46:29.411Z,1761698789.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.503842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:29.426Z,1761698789.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.405928 m, bearing: 180.036643 deg, lat: 36.779289 deg, lon: -121.859549 deg, deltaT: 0.503842 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:29.432Z,1761698789.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T00:46:29.637Z,1761698789.637 [DAT](INFO): DAT read: Rx Time:00:46:28.9667 2025-10-29T00:46:29.638Z,1761698789.638 [DAT](INFO): Rx dataTimestamp_ set to:1761698789.637654 2025-10-29T00:46:29.639Z,1761698789.639 [DAT](INFO): DAT read: Bearing 343.4, 8.6 (Local) 2025-10-29T00:46:29.639Z,1761698789.639 [DAT](INFO): Local bearing/azimuth received: Bearing 343.4, 8.6 (Local) 2025-10-29T00:46:29.642Z,1761698789.642 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.2 2025-10-29T00:46:29.646Z,1761698789.646 [DAT](INFO): DAT read: 00:46:28.9667 LVL= 32752, 28033, 32754, 32755, AGC= 72, IDX= 510,-0.24,-1.486, 0.148,-1.765,-0.902, PHS=-0.483, 1.095,-0.907, RAW= 341.6, 3.3, CAL= 341.1, 0.6, ROT= 168.9, -0.6 2025-10-29T00:46:29.647Z,1761698789.647 [DAT](INFO): got valid direction response: 00:46:28.9667 LVL= 32752, 28033, 32754, 32755, AGC= 72, IDX= 510,-0.24,-1.486, 0.148,-1.765,-0.902, PHS=-0.483, 1.095,-0.907, RAW= 341.6, 3.3, CAL= 341.1, 0.6, ROT= 168.9, -0.6 2025-10-29T00:46:29.648Z,1761698789.648 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-29T00:46:29.649Z,1761698789.649 [DAT](INFO): direction in FSK: [-0.981239,0.192512,0.010472] 2025-10-29T00:46:29.649Z,1761698789.649 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:29.653Z,1761698789.653 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.627438 2025-10-29T00:46:29.766Z,1761698789.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982212,-0.181804,-0.046974],[0.183955,0.981838,0.046424],[0.037681,-0.054240,0.997817]] 2025-10-29T00:46:29.834Z,1761698789.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503979 s, deltaX: 0.299999 m, approachRate: 0.595261 m/s, rangeRepo size: 4 2025-10-29T00:46:29.836Z,1761698789.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.704216 m, bearing: 179.484147 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503979 s, deltaX: 0.298288 m, approachRate: 0.591867 m/s, posRepo size: 4 2025-10-29T00:46:29.837Z,1761698789.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-29T00:46:29.889Z,1761698789.889 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.863712 2025-10-29T00:46:30.126Z,1761698790.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982247,-0.181437,-0.047671],[0.183644,0.981874,0.046892],[0.038299,-0.054814,0.997762]] 2025-10-29T00:46:30.142Z,1761698790.142 [DAT](INFO): DAT read: Rx Time:00:46:29.4667 2025-10-29T00:46:30.142Z,1761698790.142 [DAT](INFO): Rx dataTimestamp_ set to:1761698790.141809 2025-10-29T00:46:30.143Z,1761698790.143 [DAT](INFO): DAT read: Bearing 343.9, 9.7 (Local) 2025-10-29T00:46:30.144Z,1761698790.144 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 9.7 (Local) 2025-10-29T00:46:30.146Z,1761698790.146 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed -0.3 2025-10-29T00:46:30.151Z,1761698790.151 [DAT](INFO): DAT read: 00:46:29.4667 LVL= 25280, 21889, 32754, 32755, AGC= 72, IDX= 510,-0.47,-0.327, 1.285,-0.649, 0.224, PHS=-0.450, 1.105,-0.918, RAW= 342.8, 2.9, CAL= 342.3, 0.0, ROT= 167.7, -0.0 2025-10-29T00:46:30.152Z,1761698790.152 [DAT](INFO): got valid direction response: 00:46:29.4667 LVL= 25280, 21889, 32754, 32755, AGC= 72, IDX= 510,-0.47,-0.327, 1.285,-0.649, 0.224, PHS=-0.450, 1.105,-0.918, RAW= 342.8, 2.9, CAL= 342.3, 0.0, ROT= 167.7, -0.0 2025-10-29T00:46:30.152Z,1761698790.152 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-29T00:46:30.153Z,1761698790.153 [DAT](INFO): direction in FSK: [-0.977046,0.213030,0.000000] 2025-10-29T00:46:30.153Z,1761698790.153 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:30.161Z,1761698790.161 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.135597 2025-10-29T00:46:30.168Z,1761698790.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504155 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:30.170Z,1761698790.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.703835 m, bearing: 178.293677 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.504155 s, deltaX: -0.000381 m, approachRate: -0.000757 m/s, posRepo size: 4 2025-10-29T00:46:30.171Z,1761698790.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-29T00:46:30.393Z,1761698790.393 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.367504 2025-10-29T00:46:30.535Z,1761698790.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982250,-0.181290,-0.048163],[0.183535,0.981880,0.047183],[0.038736,-0.055185,0.997724]] 2025-10-29T00:46:30.609Z,1761698790.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-29T00:46:30.646Z,1761698790.646 [DAT](INFO): DAT read: Rx Time:00:46:29.9668 2025-10-29T00:46:30.647Z,1761698790.647 [DAT](INFO): Rx dataTimestamp_ set to:1761698790.646645 2025-10-29T00:46:30.649Z,1761698790.649 [DAT](INFO): DAT read: Bearing 341.9, 9.5 (Local) 2025-10-29T00:46:30.649Z,1761698790.649 [DAT](INFO): Local bearing/azimuth received: Bearing 341.9, 9.5 (Local) 2025-10-29T00:46:30.652Z,1761698790.652 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-29T00:46:30.658Z,1761698790.658 [DAT](INFO): DAT read: 00:46:29.9668 LVL= 32752, 24721, 32754, 32755, AGC= 71, IDX= 511, 0.21,-1.749,-0.135,-2.064,-1.156, PHS=-0.490, 1.067,-0.952, RAW= 342.6, 4.1, CAL= 342.2, 2.0, ROT= 167.8, -2.0 2025-10-29T00:46:30.660Z,1761698790.660 [DAT](INFO): got valid direction response: 00:46:29.9668 LVL= 32752, 24721, 32754, 32755, AGC= 71, IDX= 511, 0.21,-1.749,-0.135,-2.064,-1.156, PHS=-0.490, 1.067,-0.952, RAW= 342.6, 4.1, CAL= 342.2, 2.0, ROT= 167.8, -2.0 2025-10-29T00:46:30.660Z,1761698790.660 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-29T00:46:30.662Z,1761698790.662 [DAT](INFO): direction in FSK: [-0.976820,0.211196,0.034899] 2025-10-29T00:46:30.662Z,1761698790.662 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:30.667Z,1761698790.667 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.641556 2025-10-29T00:46:30.899Z,1761698790.899 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.873394 2025-10-29T00:46:30.967Z,1761698790.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982235,-0.181309,-0.048396],[0.183559,0.981885,0.046983],[0.039001,-0.055032,0.997723]] 2025-10-29T00:46:31.035Z,1761698791.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504836 s, deltaX: 0.200001 m, approachRate: 0.396170 m/s, rangeRepo size: 4 2025-10-29T00:46:31.041Z,1761698791.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.902744 m, bearing: 178.297561 deg, lat: 36.779289 deg, lon: -121.859547 deg, deltaT: 0.504836 s, deltaX: 0.198910 m, approachRate: 0.394009 m/s, posRepo size: 4 2025-10-29T00:46:31.042Z,1761698791.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-29T00:46:31.150Z,1761698791.150 [DAT](INFO): DAT read: Rx Time:00:46:30.4668 2025-10-29T00:46:31.150Z,1761698791.150 [DAT](INFO): Rx dataTimestamp_ set to:1761698791.150119 2025-10-29T00:46:31.152Z,1761698791.152 [DAT](INFO): DAT read: Bearing 340.9, 10.1 (Local) 2025-10-29T00:46:31.152Z,1761698791.152 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 10.1 (Local) 2025-10-29T00:46:31.154Z,1761698791.154 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-29T00:46:31.159Z,1761698791.159 [DAT](INFO): DAT read: 00:46:30.4668 LVL= 32752, 28529, 32754, 32755, AGC= 72, IDX= 511, 0.14,-2.570,-0.994,-2.900,-1.978, PHS=-0.490, 1.030,-0.965, RAW= 343.2, 4.8, CAL= 342.8, 2.9, ROT= 167.2, -2.9 2025-10-29T00:46:31.160Z,1761698791.160 [DAT](INFO): got valid direction response: 00:46:30.4668 LVL= 32752, 28529, 32754, 32755, AGC= 72, IDX= 511, 0.14,-2.570,-0.994,-2.900,-1.978, PHS=-0.490, 1.030,-0.965, RAW= 343.2, 4.8, CAL= 342.8, 2.9, ROT= 167.2, -2.9 2025-10-29T00:46:31.161Z,1761698791.161 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-29T00:46:31.162Z,1761698791.162 [DAT](INFO): direction in FSK: [-0.973901,0.221265,0.050593] 2025-10-29T00:46:31.162Z,1761698791.162 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:31.166Z,1761698791.166 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.140263 2025-10-29T00:46:31.335Z,1761698791.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982225,-0.181307,-0.048594],[0.183558,0.981897,0.046735],[0.039241,-0.054824,0.997725]] 2025-10-29T00:46:31.385Z,1761698791.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:31.387Z,1761698791.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.902744 m, bearing: 177.658467 deg, lat: 36.779289 deg, lon: -121.859544 deg, deltaT: 0.503474 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:31.388Z,1761698791.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-29T00:46:31.404Z,1761698791.404 [DAT](INFO): DAT read: Rx Time:00:46:30.9669 2025-10-29T00:46:31.405Z,1761698791.405 [DAT](INFO): Rx dataTimestamp_ set to:1761698791.404459 2025-10-29T00:46:31.407Z,1761698791.407 [DAT](INFO): DAT read: Bearing 309.1, -0.3 (Local) 2025-10-29T00:46:31.411Z,1761698791.411 [DAT](INFO): Local bearing/azimuth received: Bearing 309.1, -0.3 (Local) 2025-10-29T00:46:31.425Z,1761698791.425 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.398403 2025-10-29T00:46:31.655Z,1761698791.655 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 2025-10-29T00:46:31.659Z,1761698791.659 [DAT](INFO): DAT read: 00:46:30.9669 LVL= 32752, 30849, 32754, 32755, AGC= 70, IDX= 512, 0.06, 1.890,-2.774, 1.856,-2.921, PHS=-1.370, 0.192,-1.550, RAW= 335.4, 30.2, CAL= 334.7, 35.3, ROT= 175.3, -35.3 2025-10-29T00:46:31.661Z,1761698791.661 [DAT](INFO): got valid direction response: 00:46:30.9669 LVL= 32752, 30849, 32754, 32755, AGC= 70, IDX= 512, 0.06, 1.890,-2.774, 1.856,-2.921, PHS=-1.370, 0.192,-1.550, RAW= 335.4, 30.2, CAL= 334.7, 35.3, ROT= 175.3, -35.3 2025-10-29T00:46:31.661Z,1761698791.661 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-29T00:46:31.662Z,1761698791.662 [DAT](INFO): direction in FSK: [-0.813393,0.066873,0.577858] 2025-10-29T00:46:31.662Z,1761698791.662 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:31.666Z,1761698791.666 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.640297 2025-10-29T00:46:31.740Z,1761698791.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982194,-0.181421,-0.048800],[0.183667,0.981896,0.046320],[0.039513,-0.054458,0.997734]] 2025-10-29T00:46:31.820Z,1761698791.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.502352 s, deltaX: 0.100000 m, approachRate: 0.199064 m/s, rangeRepo size: 4 2025-10-29T00:46:31.822Z,1761698791.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.002172 m, bearing: 183.883090 deg, lat: 36.779289 deg, lon: -121.859544 deg, deltaT: 0.502352 s, deltaX: 0.099428 m, approachRate: 0.197925 m/s, posRepo size: 4 2025-10-29T00:46:31.822Z,1761698791.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-29T00:46:31.909Z,1761698791.909 [DAT](INFO): DAT read: Rx Time:00:46:31.4669 2025-10-29T00:46:31.911Z,1761698791.911 [DAT](INFO): Rx dataTimestamp_ set to:1761698791.910251 2025-10-29T00:46:31.914Z,1761698791.914 [DAT](INFO): DAT read: Bearing 312.1, 5.5 (Local) 2025-10-29T00:46:31.915Z,1761698791.915 [DAT](INFO): Local bearing/azimuth received: Bearing 312.1, 5.5 (Local) 2025-10-29T00:46:31.931Z,1761698791.931 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.905392 2025-10-29T00:46:32.159Z,1761698792.159 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.4 2025-10-29T00:46:32.168Z,1761698792.168 [DAT](INFO): DAT read: 00:46:31.4669 LVL= 32752, 29233, 32754, 32755, AGC= 70, IDX= 512, 0.04, 0.051, 1.826,-0.269, 1.523, PHS=-1.370, 0.348,-1.836, RAW= 341.7, 26.9, CAL= 341.1, 31.8, ROT= 168.9, -31.8 2025-10-29T00:46:32.169Z,1761698792.169 [DAT](INFO): got valid direction response: 00:46:31.4669 LVL= 32752, 29233, 32754, 32755, AGC= 70, IDX= 512, 0.04, 0.051, 1.826,-0.269, 1.523, PHS=-1.370, 0.348,-1.836, RAW= 341.7, 26.9, CAL= 341.1, 31.8, ROT= 168.9, -31.8 2025-10-29T00:46:32.169Z,1761698792.169 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T00:46:32.170Z,1761698792.170 [DAT](INFO): direction in FSK: [-0.833993,0.163623,0.526956] 2025-10-29T00:46:32.171Z,1761698792.171 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:32.179Z,1761698792.179 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.153175 2025-10-29T00:46:32.217Z,1761698792.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982155,-0.181646,-0.048756],[0.183870,0.981881,0.045830],[0.039547,-0.053976,0.997759]] 2025-10-29T00:46:32.265Z,1761698792.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504249 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:32.267Z,1761698792.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.001974 m, bearing: 177.939613 deg, lat: 36.779289 deg, lon: -121.859544 deg, deltaT: 0.504249 s, deltaX: -0.000198 m, approachRate: -0.000393 m/s, posRepo size: 4 2025-10-29T00:46:32.268Z,1761698792.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-29T00:46:32.411Z,1761698792.411 [DAT](INFO): DAT read: Rx Time:00:46:31.9671 2025-10-29T00:46:32.415Z,1761698792.415 [DAT](INFO): Rx dataTimestamp_ set to:1761698792.413724 2025-10-29T00:46:32.417Z,1761698792.417 [DAT](INFO): DAT read: Bearing 342.3, 9.7 (Local) 2025-10-29T00:46:32.418Z,1761698792.418 [DAT](INFO): Local bearing/azimuth received: Bearing 342.3, 9.7 (Local) 2025-10-29T00:46:32.431Z,1761698792.431 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.393993 2025-10-29T00:46:32.551Z,1761698792.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982113,-0.181907,-0.048617],[0.184099,0.981868,0.045189],[0.039515,-0.053331,0.997795]] 2025-10-29T00:46:32.663Z,1761698792.663 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-29T00:46:32.668Z,1761698792.668 [DAT](INFO): DAT read: 00:46:31.9671 LVL= 32752, 28769, 32754, 32755, AGC= 72, IDX= 2,-0.03,-2.725,-1.101,-3.046,-2.137, PHS=-0.487, 1.080,-0.954, RAW= 342.7, 3.9, CAL= 342.2, 1.7, ROT= 167.8, -1.7 2025-10-29T00:46:32.669Z,1761698792.669 [DAT](INFO): got valid direction response: 00:46:31.9671 LVL= 32752, 28769, 32754, 32755, AGC= 72, IDX= 2,-0.03,-2.725,-1.101,-3.046,-2.137, PHS=-0.487, 1.080,-0.954, RAW= 342.7, 3.9, CAL= 342.2, 1.7, ROT= 167.8, -1.7 2025-10-29T00:46:32.669Z,1761698792.669 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-29T00:46:32.670Z,1761698792.670 [DAT](INFO): direction in FSK: [-0.976986,0.211232,0.029666] 2025-10-29T00:46:32.671Z,1761698792.671 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:32.687Z,1761698792.687 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.661114 2025-10-29T00:46:32.718Z,1761698792.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503729 s, deltaX: 0.299999 m, approachRate: 0.595557 m/s, rangeRepo size: 4 2025-10-29T00:46:32.724Z,1761698792.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.300253 m, bearing: 178.344701 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.503729 s, deltaX: 0.298279 m, approachRate: 0.592141 m/s, posRepo size: 4 2025-10-29T00:46:32.725Z,1761698792.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T00:46:32.916Z,1761698792.916 [DAT](INFO): DAT read: Rx Time:00:46:32.4671 2025-10-29T00:46:32.917Z,1761698792.917 [DAT](INFO): Rx dataTimestamp_ set to:1761698792.916606 2025-10-29T00:46:32.920Z,1761698792.920 [DAT](INFO): DAT read: Bearing 340.0, 9.4 (Local) 2025-10-29T00:46:32.921Z,1761698792.921 [DAT](INFO): Local bearing/azimuth received: Bearing 340.0, 9.4 (Local) 2025-10-29T00:46:32.922Z,1761698792.922 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.896614 2025-10-29T00:46:33.018Z,1761698793.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982100,-0.182038,-0.048394],[0.184197,0.981874,0.044671],[0.039385,-0.052786,0.997829]] 2025-10-29T00:46:33.069Z,1761698793.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T00:46:33.167Z,1761698793.167 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.4 2025-10-29T00:46:33.171Z,1761698793.171 [DAT](INFO): DAT read: 00:46:32.4671 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 498,-0.11, 1.904,-2.748, 1.592, 2.542, PHS=-0.536, 1.038,-0.994, RAW= 342.4, 5.4, CAL= 342.1, 3.9, ROT= 167.9, -3.9 2025-10-29T00:46:33.173Z,1761698793.173 [DAT](INFO): got valid direction response: 00:46:32.4671 LVL= 32752, 26145, 32754, 32755, AGC= 69, IDX= 498,-0.11, 1.904,-2.748, 1.592, 2.542, PHS=-0.536, 1.038,-0.994, RAW= 342.4, 5.4, CAL= 342.1, 3.9, ROT= 167.9, -3.9 2025-10-29T00:46:33.173Z,1761698793.173 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-29T00:46:33.174Z,1761698793.174 [DAT](INFO): direction in FSK: [-0.975519,0.209133,0.068015] 2025-10-29T00:46:33.174Z,1761698793.174 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:33.178Z,1761698793.178 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.152332 2025-10-29T00:46:33.389Z,1761698793.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982155,-0.181807,-0.048145],[0.183948,0.981926,0.044539],[0.039178,-0.052601,0.997847]] 2025-10-29T00:46:33.420Z,1761698793.420 [DAT](INFO): DAT read: Rx Time:00:46:32.9673 2025-10-29T00:46:33.421Z,1761698793.421 [DAT](INFO): Rx dataTimestamp_ set to:1761698793.420538 2025-10-29T00:46:33.424Z,1761698793.424 [DAT](INFO): DAT read: Bearing 341.0, 10.0 (Local) 2025-10-29T00:46:33.425Z,1761698793.425 [DAT](INFO): Local bearing/azimuth received: Bearing 341.0, 10.0 (Local) 2025-10-29T00:46:33.427Z,1761698793.427 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=46.400890 2025-10-29T00:46:33.478Z,1761698793.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503954 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:33.484Z,1761698793.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.300251 m, bearing: 178.341459 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.503954 s, deltaX: -0.000002 m, approachRate: -0.000004 m/s, posRepo size: 4 2025-10-29T00:46:33.485Z,1761698793.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T00:46:33.670Z,1761698793.670 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.1 2025-10-29T00:46:33.675Z,1761698793.675 [DAT](INFO): DAT read: 00:46:32.9673 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 500,-0.22, 2.938,-1.729, 2.605,-2.739, PHS=-0.505, 1.055,-0.983, RAW= 343.0, 4.7, CAL= 342.6, 2.9, ROT= 167.4, -2.9 2025-10-29T00:46:33.676Z,1761698793.676 [DAT](INFO): got valid direction response: 00:46:32.9673 LVL= 32752, 26289, 32754, 32755, AGC= 70, IDX= 500,-0.22, 2.938,-1.729, 2.605,-2.739, PHS=-0.505, 1.055,-0.983, RAW= 343.0, 4.7, CAL= 342.6, 2.9, ROT= 167.4, -2.9 2025-10-29T00:46:33.677Z,1761698793.677 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-29T00:46:33.678Z,1761698793.678 [DAT](INFO): direction in FSK: [-0.974667,0.217864,0.050593] 2025-10-29T00:46:33.678Z,1761698793.678 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:33.682Z,1761698793.682 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.656170 2025-10-29T00:46:33.851Z,1761698793.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503989 s, deltaX: 0.300001 m, approachRate: 0.595253 m/s, rangeRepo size: 4 2025-10-29T00:46:33.858Z,1761698793.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.598532 m, bearing: 177.885789 deg, lat: 36.779289 deg, lon: -121.859546 deg, deltaT: 0.503989 s, deltaX: 0.298281 m, approachRate: 0.591840 m/s, posRepo size: 4 2025-10-29T00:46:33.859Z,1761698793.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T00:46:33.925Z,1761698793.925 [DAT](INFO): DAT read: Rx Time:00:46:33.4672 2025-10-29T00:46:33.926Z,1761698793.926 [DAT](INFO): Rx dataTimestamp_ set to:1761698793.925402 2025-10-29T00:46:33.929Z,1761698793.929 [DAT](INFO): DAT read: Bearing 342.0, 10.0 (Local) 2025-10-29T00:46:33.931Z,1761698793.931 [DAT](INFO): Local bearing/azimuth received: Bearing 342.0, 10.0 (Local) 2025-10-29T00:46:33.954Z,1761698793.954 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed -0.2 2025-10-29T00:46:33.965Z,1761698793.965 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-29T00:46:33.966Z,1761698793.966 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.940620 2025-10-29T00:46:34.177Z,1761698794.177 [DAT](INFO): DAT read: 00:46:33.4672 LVL= 32752, 25713, 32754, 32755, AGC= 69, IDX= 500,-0.46, 2.606,-2.051, 2.275,-3.087, PHS=-0.488, 1.081,-0.965, RAW= 342.9, 4.1, CAL= 342.5, 1.8, ROT= 167.5, -1.8 2025-10-29T00:46:34.178Z,1761698794.178 [DAT](INFO): got valid direction response: 00:46:33.4672 LVL= 32752, 25713, 32754, 32755, AGC= 69, IDX= 500,-0.46, 2.606,-2.051, 2.275,-3.087, PHS=-0.488, 1.081,-0.965, RAW= 342.9, 4.1, CAL= 342.5, 1.8, ROT= 167.5, -1.8 2025-10-29T00:46:34.178Z,1761698794.178 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-29T00:46:34.179Z,1761698794.179 [DAT](INFO): direction in FSK: [-0.975814,0.216333,0.031411] 2025-10-29T00:46:34.186Z,1761698794.186 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.160938 2025-10-29T00:46:34.213Z,1761698794.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982302,-0.181202,-0.047419],[0.183344,0.981992,0.045569],[0.038308,-0.053456,0.997835]] 2025-10-29T00:46:34.270Z,1761698794.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.257010 s, deltaX: -0.100000 m, approachRate: -0.389091 m/s, rangeRepo size: 4 2025-10-29T00:46:34.276Z,1761698794.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.499006 m, bearing: 177.996314 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.257010 s, deltaX: -0.099525 m, approachRate: -0.387244 m/s, posRepo size: 4 2025-10-29T00:46:34.277Z,1761698794.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-29T00:46:34.428Z,1761698794.428 [DAT](INFO): DAT read: Rx Time:00:46:33.9674 2025-10-29T00:46:34.430Z,1761698794.430 [DAT](INFO): Rx dataTimestamp_ set to:1761698794.428751 2025-10-29T00:46:34.434Z,1761698794.434 [DAT](INFO): DAT read: Bearing 341.2, 10.3 (Local) 2025-10-29T00:46:34.435Z,1761698794.435 [DAT](INFO): Local bearing/azimuth received: Bearing 341.2, 10.3 (Local) 2025-10-29T00:46:34.451Z,1761698794.451 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed -0.2 2025-10-29T00:46:34.453Z,1761698794.453 [DAT](ERROR): #Rx 97: Read range message, but no direction. 2025-10-29T00:46:34.457Z,1761698794.457 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.430309 2025-10-29T00:46:34.623Z,1761698794.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982322,-0.181202,-0.047010],[0.183332,0.981984,0.045794],[0.037865,-0.053603,0.997844]] 2025-10-29T00:46:34.681Z,1761698794.681 [DAT](INFO): DAT read: 00:46:33.9674 LVL= 32752, 27889, 32754, 32755, AGC= 70, IDX= 501, 0.27,-1.223, 0.384,-1.560,-0.627, PHS=-0.494, 1.056,-0.977, RAW= 343.1, 4.6, CAL= 342.8, 2.6, ROT= 167.2, -2.6 2025-10-29T00:46:34.682Z,1761698794.682 [DAT](INFO): got valid direction response: 00:46:33.9674 LVL= 32752, 27889, 32754, 32755, AGC= 70, IDX= 501, 0.27,-1.223, 0.384,-1.560,-0.627, PHS=-0.494, 1.056,-0.977, RAW= 343.1, 4.6, CAL= 342.8, 2.6, ROT= 167.2, -2.6 2025-10-29T00:46:34.682Z,1761698794.682 [DAT](INFO): #Rx 98: Read direction message, but no range. 2025-10-29T00:46:34.683Z,1761698794.683 [DAT](INFO): direction in FSK: [-0.974145,0.221320,0.045363] 2025-10-29T00:46:34.687Z,1761698794.687 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.661175 2025-10-29T00:46:34.763Z,1761698794.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503349 s, deltaX: 0.299999 m, approachRate: 0.596006 m/s, rangeRepo size: 4 2025-10-29T00:46:34.770Z,1761698794.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797285 m, bearing: 177.660591 deg, lat: 36.779288 deg, lon: -121.859545 deg, deltaT: 0.503349 s, deltaX: 0.298279 m, approachRate: 0.592588 m/s, posRepo size: 4 2025-10-29T00:46:34.771Z,1761698794.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-29T00:46:34.932Z,1761698794.932 [DAT](INFO): DAT read: Rx Time:00:46:34.4673 2025-10-29T00:46:34.934Z,1761698794.934 [DAT](INFO): Rx dataTimestamp_ set to:1761698794.932751 2025-10-29T00:46:34.937Z,1761698794.937 [DAT](INFO): DAT read: Bearing 340.7, 10.4 (Local) 2025-10-29T00:46:34.937Z,1761698794.937 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 10.4 (Local) 2025-10-29T00:46:34.952Z,1761698794.952 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-29T00:46:34.955Z,1761698794.955 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-29T00:46:34.980Z,1761698794.980 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.953804 2025-10-29T00:46:35.053Z,1761698795.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982303,-0.181447,-0.046445],[0.183550,0.981939,0.045893],[0.037279,-0.053606,0.997866]] 2025-10-29T00:46:35.110Z,1761698795.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504000 s, deltaX: -0.199999 m, approachRate: -0.396823 m/s, rangeRepo size: 4 2025-10-29T00:46:35.111Z,1761698795.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-29T00:46:35.185Z,1761698795.185 [DAT](INFO): DAT read: 00:46:34.4673 LVL= 32752, 29937, 32754, 32755, AGC= 71, IDX= 501, 0.04,-2.146,-0.548,-2.480,-1.542, PHS=-0.502, 1.039,-0.982, RAW= 343.2, 4.9, CAL= 342.8, 3.2, ROT= 167.2, -3.2 2025-10-29T00:46:35.186Z,1761698795.186 [DAT](INFO): got valid direction response: 00:46:34.4673 LVL= 32752, 29937, 32754, 32755, AGC= 71, IDX= 501, 0.04,-2.146,-0.548,-2.480,-1.542, PHS=-0.502, 1.039,-0.982, RAW= 343.2, 4.9, CAL= 342.8, 3.2, ROT= 167.2, -3.2 2025-10-29T00:46:35.187Z,1761698795.187 [DAT](INFO): #Rx 100: Read direction message, but no range. 2025-10-29T00:46:35.188Z,1761698795.188 [DAT](INFO): direction in FSK: [-0.973629,0.221203,0.055822] 2025-10-29T00:46:35.191Z,1761698795.191 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.165802 2025-10-29T00:46:35.436Z,1761698795.436 [DAT](INFO): DAT read: Rx Time:00:46:34.9674 2025-10-29T00:46:35.437Z,1761698795.437 [DAT](INFO): Rx dataTimestamp_ set to:1761698795.436615 2025-10-29T00:46:35.441Z,1761698795.441 [DAT](INFO): DAT read: Bearing 339.8, 10.4 (Local) 2025-10-29T00:46:35.442Z,1761698795.442 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 10.4 (Local) 2025-10-29T00:46:35.458Z,1761698795.458 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.0 2025-10-29T00:46:35.463Z,1761698795.463 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-29T00:46:35.482Z,1761698795.482 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.456768 2025-10-29T00:46:35.508Z,1761698795.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982292,-0.181671,-0.045808],[0.183738,0.981905,0.045861],[0.036647,-0.053465,0.997897]] 2025-10-29T00:46:35.656Z,1761698795.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.503864 s, deltaX: 0.199999 m, approachRate: 0.396930 m/s, rangeRepo size: 4 2025-10-29T00:46:35.667Z,1761698795.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.797106 m, bearing: 177.657698 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 1.007864 s, deltaX: -0.000179 m, approachRate: -0.000178 m/s, posRepo size: 4 2025-10-29T00:46:35.673Z,1761698795.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-29T00:46:35.691Z,1761698795.691 [DAT](INFO): DAT read: 00:46:34.9674 LVL= 32752, 31361, 32754, 32755, AGC= 71, IDX= 502,-0.14, 2.696,-2.000, 2.363,-2.972, PHS=-0.513, 1.017,-0.992, RAW= 343.2, 5.4, CAL= 342.9, 4.0, ROT= 167.1, -4.0 2025-10-29T00:46:35.693Z,1761698795.693 [DAT](INFO): got valid direction response: 00:46:34.9674 LVL= 32752, 31361, 32754, 32755, AGC= 71, IDX= 502,-0.14, 2.696,-2.000, 2.363,-2.972, PHS=-0.513, 1.017,-0.992, RAW= 343.2, 5.4, CAL= 342.9, 4.0, ROT= 167.1, -4.0 2025-10-29T00:46:35.694Z,1761698795.694 [DAT](INFO): #Rx 102: Read direction message, but no range. 2025-10-29T00:46:35.695Z,1761698795.695 [DAT](INFO): direction in FSK: [-0.972387,0.222706,0.069756] 2025-10-29T00:46:35.698Z,1761698795.698 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.672585 2025-10-29T00:46:35.941Z,1761698795.941 [DAT](INFO): DAT read: Rx Time:00:46:35.4673 2025-10-29T00:46:35.942Z,1761698795.942 [DAT](INFO): Rx dataTimestamp_ set to:1761698795.941483 2025-10-29T00:46:35.963Z,1761698795.963 [DAT](INFO): DAT read: Bearing 340.0, 9.7 (Local) 2025-10-29T00:46:35.963Z,1761698795.963 [DAT](INFO): Local bearing/azimuth received: Bearing 340.0, 9.7 (Local) 2025-10-29T00:46:35.965Z,1761698795.965 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.2 2025-10-29T00:46:35.990Z,1761698795.990 [DAT](INFO): DAT read: 00:46:35.4673 LVL= 32752, 31377, 32754, 32755, AGC= 69, IDX= 502,-0.45, 1.861,-2.796, 1.549, 2.496, PHS=-0.533, 1.036,-0.991, RAW= 342.4, 5.3, CAL= 342.1, 3.9, ROT= 167.9, -3.9 2025-10-29T00:46:35.991Z,1761698795.991 [DAT](INFO): got valid direction response: 00:46:35.4673 LVL= 32752, 31377, 32754, 32755, AGC= 69, IDX= 502,-0.45, 1.861,-2.796, 1.549, 2.496, PHS=-0.533, 1.036,-0.991, RAW= 342.4, 5.3, CAL= 342.1, 3.9, ROT= 167.9, -3.9 2025-10-29T00:46:35.992Z,1761698795.992 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-29T00:46:35.997Z,1761698795.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982325,-0.181688,-0.045016],[0.183714,0.981907,0.045898],[0.035863,-0.053357,0.997931]] 2025-10-29T00:46:36.001Z,1761698796.001 [DAT](INFO): direction in FSK: [-0.975519,0.209133,0.068015] 2025-10-29T00:46:36.001Z,1761698796.001 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:36.033Z,1761698796.033 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.007439 2025-10-29T00:46:36.136Z,1761698796.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504868 s, deltaX: -0.199999 m, approachRate: -0.396141 m/s, rangeRepo size: 4 2025-10-29T00:46:36.138Z,1761698796.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.598223 m, bearing: 178.323212 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.504868 s, deltaX: -0.198883 m, approachRate: -0.393931 m/s, posRepo size: 4 2025-10-29T00:46:36.139Z,1761698796.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T00:46:36.190Z,1761698796.190 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.164265 2025-10-29T00:46:36.390Z,1761698796.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982305,-0.181978,-0.044289],[0.183959,0.981870,0.045712],[0.035168,-0.053051,0.997972]] 2025-10-29T00:46:36.445Z,1761698796.445 [DAT](INFO): DAT read: Rx Time:00:46:35.9675 2025-10-29T00:46:36.446Z,1761698796.446 [DAT](INFO): Rx dataTimestamp_ set to:1761698796.445343 2025-10-29T00:46:36.469Z,1761698796.469 [DAT](INFO): DAT read: Bearing 340.9, 10.5 (Local) 2025-10-29T00:46:36.469Z,1761698796.469 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 10.5 (Local) 2025-10-29T00:46:36.471Z,1761698796.471 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-29T00:46:36.476Z,1761698796.476 [DAT](INFO): DAT read: 00:46:35.9675 LVL= 32752, 26449, 32754, 32755, AGC= 71, IDX= 503, 0.21,-2.302,-0.690,-2.641,-1.700, PHS=-0.500, 1.055,-0.986, RAW= 343.2, 4.7, CAL= 342.8, 2.9, ROT= 167.2, -2.9 2025-10-29T00:46:36.483Z,1761698796.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T00:46:36.490Z,1761698796.490 [DAT](INFO): got valid direction response: 00:46:35.9675 LVL= 32752, 26449, 32754, 32755, AGC= 71, IDX= 503, 0.21,-2.302,-0.690,-2.641,-1.700, PHS=-0.500, 1.055,-0.986, RAW= 343.2, 4.7, CAL= 342.8, 2.9, ROT= 167.2, -2.9 2025-10-29T00:46:36.490Z,1761698796.490 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T00:46:36.491Z,1761698796.491 [DAT](INFO): direction in FSK: [-0.973901,0.221265,0.050593] 2025-10-29T00:46:36.491Z,1761698796.491 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:36.503Z,1761698796.503 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.478077 2025-10-29T00:46:36.697Z,1761698796.697 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.671120 2025-10-29T00:46:36.791Z,1761698796.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982336,-0.182041,-0.043329],[0.183970,0.981869,0.045689],[0.034227,-0.052853,0.998016]] 2025-10-29T00:46:36.875Z,1761698796.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.503860 s, deltaX: 0.299999 m, approachRate: 0.595402 m/s, rangeRepo size: 4 2025-10-29T00:46:36.877Z,1761698796.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896498 m, bearing: 177.684823 deg, lat: 36.779289 deg, lon: -121.859545 deg, deltaT: 0.503860 s, deltaX: 0.298275 m, approachRate: 0.591980 m/s, posRepo size: 4 2025-10-29T00:46:36.877Z,1761698796.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T00:46:36.949Z,1761698796.949 [DAT](INFO): DAT read: Rx Time:00:46:36.4675 2025-10-29T00:46:36.951Z,1761698796.951 [DAT](INFO): Rx dataTimestamp_ set to:1761698796.949760 2025-10-29T00:46:36.955Z,1761698796.955 [DAT](INFO): DAT read: Bearing 340.8, 10.0 (Local) 2025-10-29T00:46:36.956Z,1761698796.956 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 10.0 (Local) 2025-10-29T00:46:36.963Z,1761698796.963 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed 0.0 2025-10-29T00:46:36.967Z,1761698796.967 [DAT](INFO): DAT read: 00:46:36.4675 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 503, 0.03, 1.499, 3.118, 1.180, 2.112, PHS=-0.512, 1.051,-0.976, RAW= 342.6, 4.8, CAL= 342.3, 3.0, ROT= 167.7, -3.0 2025-10-29T00:46:36.989Z,1761698796.989 [DAT](INFO): got valid direction response: 00:46:36.4675 LVL= 32752, 32609, 32754, 32755, AGC= 71, IDX= 503, 0.03, 1.499, 3.118, 1.180, 2.112, PHS=-0.512, 1.051,-0.976, RAW= 342.6, 4.8, CAL= 342.3, 3.0, ROT= 167.7, -3.0 2025-10-29T00:46:36.989Z,1761698796.989 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T00:46:36.990Z,1761698796.990 [DAT](INFO): direction in FSK: [-0.975707,0.212739,0.052336] 2025-10-29T00:46:36.990Z,1761698796.990 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:36.999Z,1761698796.999 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=49.973663 2025-10-29T00:46:37.197Z,1761698797.197 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.171585 2025-10-29T00:46:37.209Z,1761698797.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982400,-0.181910,-0.042421],[0.183796,0.981896,0.045819],[0.033318,-0.052810,0.998049]] 2025-10-29T00:46:37.256Z,1761698797.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.504417 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:37.258Z,1761698797.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.896191 m, bearing: 178.168764 deg, lat: 36.779290 deg, lon: -121.859546 deg, deltaT: 0.504417 s, deltaX: -0.000307 m, approachRate: -0.000609 m/s, posRepo size: 4 2025-10-29T00:46:37.259Z,1761698797.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T00:46:37.453Z,1761698797.453 [DAT](INFO): DAT read: Rx Time:00:46:36.9677 2025-10-29T00:46:37.454Z,1761698797.454 [DAT](INFO): Rx dataTimestamp_ set to:1761698797.453581 2025-10-29T00:46:37.458Z,1761698797.458 [DAT](INFO): DAT read: Bearing 342.6, 10.2 (Local) 2025-10-29T00:46:37.458Z,1761698797.458 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 10.2 (Local) 2025-10-29T00:46:37.466Z,1761698797.466 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.0 2025-10-29T00:46:37.514Z,1761698797.514 [DAT](INFO): DAT read: 00:46:36.9677 LVL= 32752, 25505, 32754, 32755, AGC= 72, IDX= 505,-0.13, 0.448, 2.092, 0.121, 1.032, PHS=-0.482, 1.104,-0.955, RAW= 342.7, 3.6, CAL= 342.2, 1.1, ROT= 167.8, -1.1 2025-10-29T00:46:37.515Z,1761698797.515 [DAT](INFO): got valid direction response: 00:46:36.9677 LVL= 32752, 25505, 32754, 32755, AGC= 72, IDX= 505,-0.13, 0.448, 2.092, 0.121, 1.032, PHS=-0.482, 1.104,-0.955, RAW= 342.7, 3.6, CAL= 342.2, 1.1, ROT= 167.8, -1.1 2025-10-29T00:46:37.515Z,1761698797.515 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T00:46:37.520Z,1761698797.520 [DAT](INFO): direction in FSK: [-0.977236,0.211286,0.019197] 2025-10-29T00:46:37.521Z,1761698797.521 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:37.533Z,1761698797.533 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.507416 2025-10-29T00:46:37.596Z,1761698797.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982504,-0.181556,-0.041502],[0.183402,0.981956,0.046117],[0.032380,-0.052922,0.998074]] 2025-10-29T00:46:37.619Z,1761698797.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503821 s, deltaX: 0.299999 m, approachRate: 0.595448 m/s, rangeRepo size: 4 2025-10-29T00:46:37.621Z,1761698797.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.194460 m, bearing: 178.330186 deg, lat: 36.779290 deg, lon: -121.859547 deg, deltaT: 0.503821 s, deltaX: 0.298269 m, approachRate: 0.592014 m/s, posRepo size: 4 2025-10-29T00:46:37.622Z,1761698797.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m. 2025-10-29T00:46:37.704Z,1761698797.704 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.678017 2025-10-29T00:46:37.957Z,1761698797.957 [DAT](INFO): DAT read: Rx Time:00:46:37.4677 2025-10-29T00:46:37.957Z,1761698797.957 [DAT](INFO): Rx dataTimestamp_ set to:1761698797.957189 2025-10-29T00:46:37.959Z,1761698797.959 [DAT](INFO): DAT read: Bearing 342.8, 10.3 (Local) 2025-10-29T00:46:37.959Z,1761698797.959 [DAT](INFO): Local bearing/azimuth received: Bearing 342.8, 10.3 (Local) 2025-10-29T00:46:37.961Z,1761698797.961 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed -0.2 2025-10-29T00:46:37.969Z,1761698797.969 [DAT](INFO): DAT read: 00:46:37.4677 LVL= 31376, 26081, 32754, 32755, AGC= 72, IDX= 505,-0.36,-2.319,-0.683,-2.648,-1.743, PHS=-0.474, 1.105,-0.949, RAW= 342.7, 3.5, CAL= 342.3, 0.9, ROT= 167.7, -0.9 2025-10-29T00:46:37.970Z,1761698797.970 [DAT](INFO): got valid direction response: 00:46:37.4677 LVL= 31376, 26081, 32754, 32755, AGC= 72, IDX= 505,-0.36,-2.319,-0.683,-2.648,-1.743, PHS=-0.474, 1.105,-0.949, RAW= 342.7, 3.5, CAL= 342.3, 0.9, ROT= 167.7, -0.9 2025-10-29T00:46:37.971Z,1761698797.971 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-29T00:46:37.971Z,1761698797.971 [DAT](INFO): direction in FSK: [-0.976925,0.213004,0.015707] 2025-10-29T00:46:37.972Z,1761698797.972 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:37.975Z,1761698797.975 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=50.950104 2025-10-29T00:46:38.013Z,1761698798.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982603,-0.181223,-0.040605],[0.183030,0.982014,0.046348],[0.031475,-0.052973,0.998100]] 2025-10-29T00:46:38.183Z,1761698798.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503608 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:38.205Z,1761698798.205 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.179619 2025-10-29T00:46:38.205Z,1761698798.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.194300 m, bearing: 178.217498 deg, lat: 36.779290 deg, lon: -121.859548 deg, deltaT: 0.503608 s, deltaX: -0.000160 m, approachRate: -0.000318 m/s, posRepo size: 4 2025-10-29T00:46:38.206Z,1761698798.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.19 m. 2025-10-29T00:46:38.458Z,1761698798.458 [DAT](INFO): DAT read: Rx Time:00:46:37.9678 2025-10-29T00:46:38.459Z,1761698798.459 [DAT](INFO): Rx dataTimestamp_ set to:1761698798.458671 2025-10-29T00:46:38.460Z,1761698798.460 [DAT](INFO): DAT read: Bearing 342.7, 10.5 (Local) 2025-10-29T00:46:38.461Z,1761698798.461 [DAT](INFO): Local bearing/azimuth received: Bearing 342.7, 10.5 (Local) 2025-10-29T00:46:38.463Z,1761698798.463 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 2025-10-29T00:46:38.467Z,1761698798.467 [DAT](INFO): DAT read: 00:46:37.9678 LVL= 31264, 27073, 32754, 32755, AGC= 72, IDX= 506, 0.27,-0.101, 1.527,-0.431, 0.473, PHS=-0.472, 1.099,-0.948, RAW= 342.8, 3.5, CAL= 342.4, 0.9, ROT= 167.6, -0.9 2025-10-29T00:46:38.485Z,1761698798.485 [DAT](INFO): got valid direction response: 00:46:37.9678 LVL= 31264, 27073, 32754, 32755, AGC= 72, IDX= 506, 0.27,-0.101, 1.527,-0.431, 0.473, PHS=-0.472, 1.099,-0.948, RAW= 342.8, 3.5, CAL= 342.4, 0.9, ROT= 167.6, -0.9 2025-10-29T00:46:38.485Z,1761698798.485 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-29T00:46:38.486Z,1761698798.486 [DAT](INFO): direction in FSK: [-0.976552,0.214709,0.015707] 2025-10-29T00:46:38.486Z,1761698798.486 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:38.490Z,1761698798.490 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.464752 2025-10-29T00:46:38.506Z,1761698798.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982750,-0.180620,-0.039729],[0.182391,0.982116,0.046698],[0.030584,-0.053138,0.998119]] 2025-10-29T00:46:38.574Z,1761698798.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.501482 s, deltaX: 0.200001 m, approachRate: 0.398819 m/s, rangeRepo size: 4 2025-10-29T00:46:38.581Z,1761698798.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.393145 m, bearing: 178.080277 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.501482 s, deltaX: 0.198845 m, approachRate: 0.396515 m/s, posRepo size: 4 2025-10-29T00:46:38.581Z,1761698798.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T00:46:38.712Z,1761698798.712 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.685993 2025-10-29T00:46:38.842Z,1761698798.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982844,-0.180303,-0.038846],[0.182034,0.982174,0.046891],[0.029699,-0.053158,0.998144]] 2025-10-29T00:46:38.899Z,1761698798.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T00:46:38.962Z,1761698798.962 [DAT](INFO): DAT read: Rx Time:00:46:38.4678 2025-10-29T00:46:38.962Z,1761698798.962 [DAT](INFO): Rx dataTimestamp_ set to:1761698798.961872 2025-10-29T00:46:38.963Z,1761698798.963 [DAT](INFO): DAT read: Bearing 342.6, 10.1 (Local) 2025-10-29T00:46:38.964Z,1761698798.964 [DAT](INFO): Local bearing/azimuth received: Bearing 342.6, 10.1 (Local) 2025-10-29T00:46:38.966Z,1761698798.966 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed 0.0 2025-10-29T00:46:38.970Z,1761698798.970 [DAT](INFO): DAT read: 00:46:38.4678 LVL= 30640, 24881, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.438,-0.803,-2.751,-1.855, PHS=-0.481, 1.098,-0.940, RAW= 342.4, 3.5, CAL= 341.9, 1.0, ROT= 168.1, -1.0 2025-10-29T00:46:38.972Z,1761698798.972 [DAT](INFO): got valid direction response: 00:46:38.4678 LVL= 30640, 24881, 32754, 32755, AGC= 72, IDX= 506, 0.03,-2.438,-0.803,-2.751,-1.855, PHS=-0.481, 1.098,-0.940, RAW= 342.4, 3.5, CAL= 341.9, 1.0, ROT= 168.1, -1.0 2025-10-29T00:46:38.975Z,1761698798.975 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-29T00:46:38.976Z,1761698798.976 [DAT](INFO): direction in FSK: [-0.978360,0.206173,0.017452] 2025-10-29T00:46:38.976Z,1761698798.976 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:38.981Z,1761698798.981 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=51.954262 2025-10-29T00:46:39.213Z,1761698799.213 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.187511 2025-10-29T00:46:39.243Z,1761698799.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982937,-0.179950,-0.038112],[0.181647,0.982236,0.047076],[0.028963,-0.053195,0.998164]] 2025-10-29T00:46:39.292Z,1761698799.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503201 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:39.294Z,1761698799.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.393639 m, bearing: 178.531806 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503201 s, deltaX: 0.000494 m, approachRate: 0.000982 m/s, posRepo size: 4 2025-10-29T00:46:39.295Z,1761698799.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T00:46:39.466Z,1761698799.466 [DAT](INFO): DAT read: Rx Time:00:46:38.9679 2025-10-29T00:46:39.466Z,1761698799.466 [DAT](INFO): Rx dataTimestamp_ set to:1761698799.465770 2025-10-29T00:46:39.467Z,1761698799.467 [DAT](INFO): DAT read: Bearing 343.7, 10.2 (Local) 2025-10-29T00:46:39.468Z,1761698799.468 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, 10.2 (Local) 2025-10-29T00:46:39.470Z,1761698799.470 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.2 2025-10-29T00:46:39.475Z,1761698799.475 [DAT](INFO): DAT read: 00:46:38.9679 LVL= 29680, 24369, 32754, 32755, AGC= 72, IDX= 507,-0.24, 2.000,-2.629, 1.681, 2.564, PHS=-0.462, 1.135,-0.927, RAW= 342.4, 2.7, CAL= 341.9, -0.1, ROT= 168.1, 0.1 2025-10-29T00:46:39.479Z,1761698799.479 [DAT](INFO): got valid direction response: 00:46:38.9679 LVL= 29680, 24369, 32754, 32755, AGC= 72, IDX= 507,-0.24, 2.000,-2.629, 1.681, 2.564, PHS=-0.462, 1.135,-0.927, RAW= 342.4, 2.7, CAL= 341.9, -0.1, ROT= 168.1, 0.1 2025-10-29T00:46:39.480Z,1761698799.480 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-29T00:46:39.481Z,1761698799.481 [DAT](INFO): direction in FSK: [-0.978508,0.206204,-0.001745] 2025-10-29T00:46:39.482Z,1761698799.482 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:39.486Z,1761698799.486 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.460247 2025-10-29T00:46:39.647Z,1761698799.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983056,-0.179467,-0.037312],[0.181129,0.982321,0.047312],[0.028161,-0.053268,0.998183]] 2025-10-29T00:46:39.688Z,1761698799.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503898 s, deltaX: 0.100000 m, approachRate: 0.198454 m/s, rangeRepo size: 4 2025-10-29T00:46:39.695Z,1761698799.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.493065 m, bearing: 178.552540 deg, lat: 36.779289 deg, lon: -121.859548 deg, deltaT: 0.503898 s, deltaX: 0.099426 m, approachRate: 0.197314 m/s, posRepo size: 4 2025-10-29T00:46:39.713Z,1761698799.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m. 2025-10-29T00:46:39.721Z,1761698799.721 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.695232 2025-10-29T00:46:39.969Z,1761698799.969 [DAT](INFO): DAT read: Rx Time:00:46:39.4678 2025-10-29T00:46:39.970Z,1761698799.970 [DAT](INFO): Rx dataTimestamp_ set to:1761698799.969685 2025-10-29T00:46:39.971Z,1761698799.971 [DAT](INFO): DAT read: Bearing 343.1, 10.2 (Local) 2025-10-29T00:46:39.972Z,1761698799.972 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 10.2 (Local) 2025-10-29T00:46:39.974Z,1761698799.974 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 2025-10-29T00:46:39.978Z,1761698799.978 [DAT](INFO): DAT read: 00:46:39.4678 LVL= 31120, 22833, 32754, 32755, AGC= 72, IDX= 506, 0.26, 2.952,-1.682, 2.633,-2.756, PHS=-0.473, 1.120,-0.938, RAW= 342.4, 3.2, CAL= 342.0, 0.4, ROT= 168.0, -0.4 2025-10-29T00:46:39.979Z,1761698799.979 [DAT](INFO): got valid direction response: 00:46:39.4678 LVL= 31120, 22833, 32754, 32755, AGC= 72, IDX= 506, 0.26, 2.952,-1.682, 2.633,-2.756, PHS=-0.473, 1.120,-0.938, RAW= 342.4, 3.2, CAL= 342.0, 0.4, ROT= 168.0, -0.4 2025-10-29T00:46:39.983Z,1761698799.983 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-29T00:46:39.984Z,1761698799.984 [DAT](INFO): direction in FSK: [-0.978124,0.207907,0.006981] 2025-10-29T00:46:39.984Z,1761698799.984 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:39.988Z,1761698799.988 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=52.962185 2025-10-29T00:46:40.145Z,1761698800.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.503915 s, deltaX: -0.100000 m, approachRate: -0.198447 m/s, rangeRepo size: 4 2025-10-29T00:46:40.147Z,1761698800.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.393473 m, bearing: 178.429404 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.503915 s, deltaX: -0.099592 m, approachRate: -0.197637 m/s, posRepo size: 4 2025-10-29T00:46:40.147Z,1761698800.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T00:46:40.221Z,1761698800.221 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.195679 2025-10-29T00:46:40.468Z,1761698800.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983267,-0.178542,-0.036166],[0.180144,0.982501,0.047327],[0.027084,-0.053050,0.998225]] 2025-10-29T00:46:40.474Z,1761698800.474 [DAT](INFO): DAT read: Rx Time:00:46:39.9680 2025-10-29T00:46:40.474Z,1761698800.474 [DAT](INFO): Rx dataTimestamp_ set to:1761698800.473774 2025-10-29T00:46:40.475Z,1761698800.475 [DAT](INFO): DAT read: Bearing 343.5, 10.6 (Local) 2025-10-29T00:46:40.476Z,1761698800.476 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, 10.6 (Local) 2025-10-29T00:46:40.478Z,1761698800.478 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-29T00:46:40.483Z,1761698800.483 [DAT](INFO): DAT read: 00:46:39.9680 LVL= 30816, 23905, 32754, 32755, AGC= 72, IDX= 508,-0.05, 2.862,-1.760, 2.526,-2.857, PHS=-0.463, 1.141,-0.944, RAW= 342.7, 2.8, CAL= 342.2, -0.0, ROT= 167.8, 0.0 2025-10-29T00:46:40.488Z,1761698800.488 [DAT](INFO): got valid direction response: 00:46:39.9680 LVL= 30816, 23905, 32754, 32755, AGC= 72, IDX= 508,-0.05, 2.862,-1.760, 2.526,-2.857, PHS=-0.463, 1.141,-0.944, RAW= 342.7, 2.8, CAL= 342.2, -0.0, ROT= 167.8, 0.0 2025-10-29T00:46:40.489Z,1761698800.489 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-29T00:46:40.489Z,1761698800.489 [DAT](INFO): direction in FSK: [-0.977416,0.211325,-0.000000] 2025-10-29T00:46:40.490Z,1761698800.490 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:40.498Z,1761698800.498 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.472218 2025-10-29T00:46:40.554Z,1761698800.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504089 s, deltaX: 0.299999 m, approachRate: 0.595132 m/s, rangeRepo size: 4 2025-10-29T00:46:40.572Z,1761698800.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.691744 m, bearing: 178.190637 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.504089 s, deltaX: 0.298271 m, approachRate: 0.591703 m/s, posRepo size: 4 2025-10-29T00:46:40.572Z,1761698800.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:40.728Z,1761698800.728 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.701988 2025-10-29T00:46:40.868Z,1761698800.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983353,-0.178166,-0.035680],[0.179734,0.982591,0.047012],[0.026683,-0.052642,0.998257]] 2025-10-29T00:46:40.965Z,1761698800.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:40.977Z,1761698800.977 [DAT](INFO): DAT read: Rx Time:00:46:40.4679 2025-10-29T00:46:40.978Z,1761698800.978 [DAT](INFO): Rx dataTimestamp_ set to:1761698800.977546 2025-10-29T00:46:40.979Z,1761698800.979 [DAT](INFO): DAT read: Bearing 343.3, 10.8 (Local) 2025-10-29T00:46:40.979Z,1761698800.979 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, 10.8 (Local) 2025-10-29T00:46:40.982Z,1761698800.982 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-29T00:46:40.986Z,1761698800.986 [DAT](INFO): DAT read: 00:46:40.4679 LVL= 32752, 23313, 32754, 32755, AGC= 72, IDX= 508,-0.44, 1.760,-2.881, 1.421, 2.319, PHS=-0.457, 1.128,-0.942, RAW= 342.9, 2.9, CAL= 342.5, 0.0, ROT= 167.5, -0.0 2025-10-29T00:46:40.987Z,1761698800.987 [DAT](INFO): got valid direction response: 00:46:40.4679 LVL= 32752, 23313, 32754, 32755, AGC= 72, IDX= 508,-0.44, 1.760,-2.881, 1.421, 2.319, PHS=-0.457, 1.128,-0.942, RAW= 342.9, 2.9, CAL= 342.5, 0.0, ROT= 167.5, -0.0 2025-10-29T00:46:40.987Z,1761698800.987 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-29T00:46:40.991Z,1761698800.991 [DAT](INFO): direction in FSK: [-0.976296,0.216440,0.000000] 2025-10-29T00:46:40.992Z,1761698800.992 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:40.995Z,1761698800.995 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.969780 2025-10-29T00:46:41.229Z,1761698801.229 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.203941 2025-10-29T00:46:41.263Z,1761698801.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983465,-0.177629,-0.035267],[0.179169,0.982704,0.046800],[0.026344,-0.052345,0.998281]] 2025-10-29T00:46:41.375Z,1761698801.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.503772 s, deltaX: -0.199999 m, approachRate: -0.397003 m/s, rangeRepo size: 4 2025-10-29T00:46:41.377Z,1761698801.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.492632 m, bearing: 177.833710 deg, lat: 36.779289 deg, lon: -121.859550 deg, deltaT: 0.503772 s, deltaX: -0.199112 m, approachRate: -0.395242 m/s, posRepo size: 4 2025-10-29T00:46:41.378Z,1761698801.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m. 2025-10-29T00:46:41.482Z,1761698801.482 [DAT](INFO): DAT read: Rx Time:00:46:40.9681 2025-10-29T00:46:41.483Z,1761698801.483 [DAT](INFO): Rx dataTimestamp_ set to:1761698801.482344 2025-10-29T00:46:41.484Z,1761698801.484 [DAT](INFO): DAT read: Bearing 342.4, 11.0 (Local) 2025-10-29T00:46:41.484Z,1761698801.484 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, 11.0 (Local) 2025-10-29T00:46:41.486Z,1761698801.486 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-29T00:46:41.491Z,1761698801.491 [DAT](INFO): DAT read: 00:46:40.9681 LVL= 32752, 24465, 32754, 32755, AGC= 72, IDX= 509, 0.09,-1.096, 0.515,-1.437,-0.534, PHS=-0.460, 1.094,-0.947, RAW= 343.2, 3.4, CAL= 342.7, 0.8, ROT= 167.3, -0.8 2025-10-29T00:46:41.496Z,1761698801.496 [DAT](INFO): got valid direction response: 00:46:40.9681 LVL= 32752, 24465, 32754, 32755, AGC= 72, IDX= 509, 0.09,-1.096, 0.515,-1.437,-0.534, PHS=-0.460, 1.094,-0.947, RAW= 343.2, 3.4, CAL= 342.7, 0.8, ROT= 167.3, -0.8 2025-10-29T00:46:41.496Z,1761698801.496 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-29T00:46:41.497Z,1761698801.497 [DAT](INFO): direction in FSK: [-0.975439,0.219825,0.013962] 2025-10-29T00:46:41.497Z,1761698801.497 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:41.513Z,1761698801.513 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.488018 2025-10-29T00:46:41.666Z,1761698801.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983644,-0.176720,-0.034860],[0.178243,0.982868,0.046907],[0.025973,-0.052353,0.998291]] 2025-10-29T00:46:41.736Z,1761698801.736 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.709942 2025-10-29T00:46:41.785Z,1761698801.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504798 s, deltaX: 0.199999 m, approachRate: 0.396196 m/s, rangeRepo size: 4 2025-10-29T00:46:41.787Z,1761698801.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.691475 m, bearing: 177.543604 deg, lat: 36.779290 deg, lon: -121.859549 deg, deltaT: 0.504798 s, deltaX: 0.198843 m, approachRate: 0.393906 m/s, posRepo size: 4 2025-10-29T00:46:41.787Z,1761698801.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:41.985Z,1761698801.985 [DAT](INFO): DAT read: Rx Time:00:46:41.4681 2025-10-29T00:46:41.986Z,1761698801.986 [DAT](INFO): Rx dataTimestamp_ set to:1761698801.985629 2025-10-29T00:46:41.987Z,1761698801.987 [DAT](INFO): DAT read: Bearing 343.2, 10.7 (Local) 2025-10-29T00:46:41.987Z,1761698801.987 [DAT](INFO): Local bearing/azimuth received: Bearing 343.2, 10.7 (Local) 2025-10-29T00:46:41.990Z,1761698801.990 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-29T00:46:41.995Z,1761698801.995 [DAT](INFO): DAT read: 00:46:41.4681 LVL= 32752, 24385, 32754, 32755, AGC= 71, IDX= 509,-0.22, 2.810,-1.848, 2.479,-2.918, PHS=-0.453, 1.115,-0.930, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0 2025-10-29T00:46:42.001Z,1761698802.001 [DAT](INFO): got valid direction response: 00:46:41.4681 LVL= 32752, 24385, 32754, 32755, AGC= 71, IDX= 509,-0.22, 2.810,-1.848, 2.479,-2.918, PHS=-0.453, 1.115,-0.930, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0 2025-10-29T00:46:42.001Z,1761698802.001 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-29T00:46:42.002Z,1761698802.002 [DAT](INFO): direction in FSK: [-0.976672,0.214735,0.000000] 2025-10-29T00:46:42.002Z,1761698802.002 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:42.006Z,1761698802.006 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.980518 2025-10-29T00:46:42.222Z,1761698802.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503285 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:42.234Z,1761698802.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.691908 m, bearing: 177.879814 deg, lat: 36.779290 deg, lon: -121.859549 deg, deltaT: 0.503285 s, deltaX: 0.000433 m, approachRate: 0.000860 m/s, posRepo size: 4 2025-10-29T00:46:42.234Z,1761698802.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:42.237Z,1761698802.237 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.211693 2025-10-29T00:46:42.481Z,1761698802.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983912,-0.175303,-0.034446],[0.176813,0.983114,0.047168],[0.025596,-0.052500,0.998293]] 2025-10-29T00:46:42.489Z,1761698802.489 [DAT](INFO): DAT read: Rx Time:00:46:41.9681 2025-10-29T00:46:42.490Z,1761698802.490 [DAT](INFO): Rx dataTimestamp_ set to:1761698802.489670 2025-10-29T00:46:42.491Z,1761698802.491 [DAT](INFO): DAT read: Bearing 341.6, 10.9 (Local) 2025-10-29T00:46:42.492Z,1761698802.492 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, 10.9 (Local) 2025-10-29T00:46:42.494Z,1761698802.494 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.0 2025-10-29T00:46:42.498Z,1761698802.498 [DAT](INFO): DAT read: 00:46:41.9681 LVL= 32752, 23249, 32754, 32755, AGC= 73, IDX= 509, 0.26,-0.951, 0.671,-1.287,-0.370, PHS=-0.479, 1.086,-0.961, RAW= 343.0, 3.9, CAL= 342.6, 1.5, ROT= 167.4, -1.5 2025-10-29T00:46:42.499Z,1761698802.499 [DAT](INFO): got valid direction response: 00:46:41.9681 LVL= 32752, 23249, 32754, 32755, AGC= 73, IDX= 509, 0.26,-0.951, 0.671,-1.287,-0.370, PHS=-0.479, 1.086,-0.961, RAW= 343.0, 3.9, CAL= 342.6, 1.5, ROT= 167.4, -1.5 2025-10-29T00:46:42.504Z,1761698802.504 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-29T00:46:42.505Z,1761698802.505 [DAT](INFO): direction in FSK: [-0.975582,0.218068,0.026177] 2025-10-29T00:46:42.505Z,1761698802.505 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:42.509Z,1761698802.509 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.483292 2025-10-29T00:46:42.598Z,1761698802.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504041 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:42.612Z,1761698802.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.691908 m, bearing: 177.528185 deg, lat: 36.779290 deg, lon: -121.859548 deg, deltaT: 0.504041 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T00:46:42.613Z,1761698802.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:42.746Z,1761698802.746 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.720139 2025-10-29T00:46:42.879Z,1761698802.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984043,-0.174604,-0.034252],[0.176106,0.983234,0.047293],[0.025420,-0.052570,0.998294]] 2025-10-29T00:46:42.976Z,1761698802.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:42.994Z,1761698802.994 [DAT](INFO): DAT read: Rx Time:00:46:42.4681 2025-10-29T00:46:42.994Z,1761698802.994 [DAT](INFO): Rx dataTimestamp_ set to:1761698802.993826 2025-10-29T00:46:42.995Z,1761698802.995 [DAT](INFO): DAT read: Bearing 342.4, 10.4 (Local) 2025-10-29T00:46:42.996Z,1761698802.996 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, 10.4 (Local) 2025-10-29T00:46:42.998Z,1761698802.998 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.1 2025-10-29T00:46:43.003Z,1761698803.003 [DAT](INFO): DAT read: 00:46:42.4681 LVL= 32752, 26817, 32754, 32755, AGC= 70, IDX= 509,-0.07,-2.292,-0.620,-2.622,-1.705, PHS=-0.485, 1.130,-0.961, RAW= 342.5, 3.4, CAL= 342.1, 0.7, ROT= 167.9, -0.7 2025-10-29T00:46:43.007Z,1761698803.007 [DAT](INFO): got valid direction response: 00:46:42.4681 LVL= 32752, 26817, 32754, 32755, AGC= 70, IDX= 509,-0.07,-2.292,-0.620,-2.622,-1.705, PHS=-0.485, 1.130,-0.961, RAW= 342.5, 3.4, CAL= 342.1, 0.7, ROT= 167.9, -0.7 2025-10-29T00:46:43.007Z,1761698803.007 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T00:46:43.008Z,1761698803.008 [DAT](INFO): direction in FSK: [-0.977710,0.209603,0.012217] 2025-10-29T00:46:43.008Z,1761698803.008 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:43.024Z,1761698803.024 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=55.986366 2025-10-29T00:46:43.245Z,1761698803.245 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.219486 2025-10-29T00:46:43.289Z,1761698803.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984104,-0.174286,-0.034104],[0.175775,0.983304,0.047078],[0.025329,-0.052325,0.998309]] 2025-10-29T00:46:43.312Z,1761698803.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504156 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:43.314Z,1761698803.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.691742 m, bearing: 178.003936 deg, lat: 36.779291 deg, lon: -121.859548 deg, deltaT: 0.504156 s, deltaX: -0.000166 m, approachRate: -0.000329 m/s, posRepo size: 4 2025-10-29T00:46:43.314Z,1761698803.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T00:46:43.497Z,1761698803.497 [DAT](INFO): DAT read: Rx Time:00:46:42.9682 2025-10-29T00:46:43.498Z,1761698803.498 [DAT](INFO): Rx dataTimestamp_ set to:1761698803.497677 2025-10-29T00:46:43.499Z,1761698803.499 [DAT](INFO): DAT read: Bearing 339.8, 10.4 (Local) 2025-10-29T00:46:43.500Z,1761698803.500 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 10.4 (Local) 2025-10-29T00:46:43.502Z,1761698803.502 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-29T00:46:43.506Z,1761698803.506 [DAT](INFO): DAT read: 00:46:42.9682 LVL= 32752, 27857, 32754, 32755, AGC= 71, IDX= 511,-0.48,-0.548, 1.066,-0.866, 0.067, PHS=-0.513, 1.045,-0.976, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 2025-10-29T00:46:43.508Z,1761698803.508 [DAT](INFO): got valid direction response: 00:46:42.9682 LVL= 32752, 27857, 32754, 32755, AGC= 71, IDX= 511,-0.48,-0.548, 1.066,-0.866, 0.067, PHS=-0.513, 1.045,-0.976, RAW= 342.6, 4.9, CAL= 342.3, 3.2, ROT= 167.7, -3.2 2025-10-29T00:46:43.512Z,1761698803.512 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-29T00:46:43.513Z,1761698803.513 [DAT](INFO): direction in FSK: [-0.975522,0.212698,0.055822] 2025-10-29T00:46:43.513Z,1761698803.513 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:43.518Z,1761698803.518 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.492138 2025-10-29T00:46:43.687Z,1761698803.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984170,-0.173925,-0.034040],[0.175405,0.983381,0.046839],[0.025327,-0.052068,0.998322]] 2025-10-29T00:46:43.717Z,1761698803.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503851 s, deltaX: 0.100000 m, approachRate: 0.198472 m/s, rangeRepo size: 4 2025-10-29T00:46:43.724Z,1761698803.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.791166 m, bearing: 177.668869 deg, lat: 36.779291 deg, lon: -121.859549 deg, deltaT: 0.503851 s, deltaX: 0.099424 m, approachRate: 0.197329 m/s, posRepo size: 4 2025-10-29T00:46:43.726Z,1761698803.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-29T00:46:43.751Z,1761698803.751 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.725468 2025-10-29T00:46:44.001Z,1761698804.001 [DAT](INFO): DAT read: Rx Time:00:46:43.4682 2025-10-29T00:46:44.002Z,1761698804.002 [DAT](INFO): Rx dataTimestamp_ set to:1761698804.001645 2025-10-29T00:46:44.003Z,1761698804.003 [DAT](INFO): DAT read: Bearing 339.2, 10.6 (Local) 2025-10-29T00:46:44.003Z,1761698804.003 [DAT](INFO): Local bearing/azimuth received: Bearing 339.2, 10.6 (Local) 2025-10-29T00:46:44.006Z,1761698804.006 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.2 2025-10-29T00:46:44.010Z,1761698804.010 [DAT](INFO): DAT read: 00:46:43.4682 LVL= 32752, 30033, 32754, 32755, AGC= 71, IDX= 510, 0.13,-0.189, 1.425,-0.513, 0.433, PHS=-0.521, 1.036,-0.991, RAW= 342.8, 5.2, CAL= 342.5, 3.7, ROT= 167.5, -3.7 2025-10-29T00:46:44.011Z,1761698804.011 [DAT](INFO): got valid direction response: 00:46:43.4682 LVL= 32752, 30033, 32754, 32755, AGC= 71, IDX= 510, 0.13,-0.189, 1.425,-0.513, 0.433, PHS=-0.521, 1.036,-0.991, RAW= 342.8, 5.2, CAL= 342.5, 3.7, ROT= 167.5, -3.7 2025-10-29T00:46:44.015Z,1761698804.015 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T00:46:44.016Z,1761698804.016 [DAT](INFO): direction in FSK: [-0.974261,0.215989,0.064532] 2025-10-29T00:46:44.016Z,1761698804.016 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:44.031Z,1761698804.031 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=56.994286 2025-10-29T00:46:44.099Z,1761698804.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984370,-0.172744,-0.034271],[0.174242,0.983579,0.047024],[0.025586,-0.052260,0.998306]] 2025-10-29T00:46:44.185Z,1761698804.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.503968 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:44.187Z,1761698804.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.791056 m, bearing: 177.378543 deg, lat: 36.779291 deg, lon: -121.859549 deg, deltaT: 0.503968 s, deltaX: -0.000111 m, approachRate: -0.000220 m/s, posRepo size: 4 2025-10-29T00:46:44.187Z,1761698804.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-29T00:46:44.254Z,1761698804.254 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.228539 2025-10-29T00:46:44.495Z,1761698804.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984524,-0.171844,-0.034387],[0.173349,0.983737,0.047018],[0.025748,-0.052251,0.998302]] 2025-10-29T00:46:44.506Z,1761698804.506 [DAT](INFO): DAT read: Rx Time:00:46:43.9684 2025-10-29T00:46:44.506Z,1761698804.506 [DAT](INFO): Rx dataTimestamp_ set to:1761698804.505837 2025-10-29T00:46:44.507Z,1761698804.507 [DAT](INFO): DAT read: Bearing 349.4, 0.3 (Local) 2025-10-29T00:46:44.509Z,1761698804.509 [DAT](INFO): Local bearing/azimuth received: Bearing 349.4, 0.3 (Local) 2025-10-29T00:46:44.511Z,1761698804.511 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.1 2025-10-29T00:46:44.515Z,1761698804.515 [DAT](INFO): DAT read: 00:46:43.9684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 512,-0.08,-2.937,-0.808,-2.889,-2.277, PHS=-0.558, 1.514,-0.655, RAW= 332.3, -2.9, CAL= 331.6, -5.8, ROT= 178.4, 5.8 2025-10-29T00:46:44.543Z,1761698804.543 [DAT](INFO): got valid direction response: 00:46:43.9684 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 512,-0.08,-2.937,-0.808,-2.889,-2.277, PHS=-0.558, 1.514,-0.655, RAW= 332.3, -2.9, CAL= 331.6, -5.8, ROT= 178.4, 5.8 2025-10-29T00:46:44.543Z,1761698804.543 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-29T00:46:44.553Z,1761698804.553 [DAT](INFO): direction in FSK: [-0.994493,0.027779,-0.101056] 2025-10-29T00:46:44.553Z,1761698804.553 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:44.600Z,1761698804.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.504192 s, deltaX: 0.300001 m, approachRate: 0.595014 m/s, rangeRepo size: 4 2025-10-29T00:46:44.602Z,1761698804.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.089327 m, bearing: 188.688385 deg, lat: 36.779292 deg, lon: -121.859549 deg, deltaT: 0.504192 s, deltaX: 0.298271 m, approachRate: 0.591583 m/s, posRepo size: 4 2025-10-29T00:46:44.603Z,1761698804.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m. 2025-10-29T00:46:44.902Z,1761698804.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984667,-0.170987,-0.034557],[0.172498,0.983892,0.046907],[0.025980,-0.052149,0.998301]] 2025-10-29T00:46:44.959Z,1761698804.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m. 2025-10-29T00:46:45.010Z,1761698805.010 [DAT](INFO): DAT read: Rx Time:00:46:44.4683 2025-10-29T00:46:45.011Z,1761698805.011 [DAT](INFO): Rx dataTimestamp_ set to:1761698805.010138 2025-10-29T00:46:45.012Z,1761698805.012 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed -0.1 2025-10-29T00:46:45.013Z,1761698805.013 [DAT](ERROR): #Rx 121: Read range message, but no direction. 2025-10-29T00:46:45.304Z,1761698805.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984890,-0.169649,-0.034803],[0.171174,0.984123,0.046912],[0.026292,-0.052160,0.998293]] 2025-10-29T00:46:45.333Z,1761698805.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.504301 s, deltaX: -0.100000 m, approachRate: -0.198295 m/s, rangeRepo size: 4 2025-10-29T00:46:45.334Z,1761698805.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.09 m. 2025-10-29T00:46:45.513Z,1761698805.513 [DAT](INFO): DAT read: Rx Time:00:46:44.9685 2025-10-29T00:46:45.514Z,1761698805.514 [DAT](INFO): Rx dataTimestamp_ set to:1761698805.513675 2025-10-29T00:46:45.515Z,1761698805.515 [DAT](INFO): DAT read: Bearing 347.8, 7.6 (Local) 2025-10-29T00:46:45.516Z,1761698805.516 [DAT](INFO): Local bearing/azimuth received: Bearing 347.8, 7.6 (Local) 2025-10-29T00:46:45.518Z,1761698805.518 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-29T00:46:45.531Z,1761698805.531 [DAT](INFO): DAT read: 00:46:44.9685 LVL= 32752, 29217, 32754, 32755, AGC= 72, IDX= 513, 0.25,-0.762, 1.164,-1.018,-0.232, PHS=-0.428, 1.441,-0.830, RAW= 339.5, -1.8, CAL= 339.1, -4.7, ROT= 170.9, 4.7 2025-10-29T00:46:45.533Z,1761698805.533 [DAT](INFO): got valid direction response: 00:46:44.9685 LVL= 32752, 29217, 32754, 32755, AGC= 72, IDX= 513, 0.25,-0.762, 1.164,-1.018,-0.232, PHS=-0.428, 1.441,-0.830, RAW= 339.5, -1.8, CAL= 339.1, -4.7, ROT= 170.9, 4.7 2025-10-29T00:46:45.533Z,1761698805.533 [DAT](INFO): #Rx 122: Read range and direction messages. 2025-10-29T00:46:45.534Z,1761698805.534 [DAT](INFO): direction in FSK: [-0.984093,0.157626,-0.081939] 2025-10-29T00:46:45.534Z,1761698805.534 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:45.706Z,1761698805.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985102,-0.168337,-0.035159],[0.169881,0.984349,0.046868],[0.026719,-0.052143,0.998282]] 2025-10-29T00:46:45.787Z,1761698805.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503537 s, deltaX: 0.299999 m, approachRate: 0.595784 m/s, rangeRepo size: 4 2025-10-29T00:46:45.803Z,1761698805.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.288198 m, bearing: 180.914952 deg, lat: 36.779292 deg, lon: -121.859550 deg, deltaT: 1.007838 s, deltaX: 0.198872 m, approachRate: 0.197325 m/s, posRepo size: 4 2025-10-29T00:46:45.809Z,1761698805.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T00:46:46.018Z,1761698806.018 [DAT](INFO): DAT read: Rx Time:00:46:45.4685 2025-10-29T00:46:46.018Z,1761698806.018 [DAT](INFO): Rx dataTimestamp_ set to:1761698806.017731 2025-10-29T00:46:46.019Z,1761698806.019 [DAT](INFO): DAT read: Bearing 213.2, -0.9 (Local) 2025-10-29T00:46:46.020Z,1761698806.020 [DAT](INFO): Local bearing/azimuth received: Bearing 213.2, -0.9 (Local) 2025-10-29T00:46:46.022Z,1761698806.022 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-29T00:46:46.026Z,1761698806.026 [DAT](INFO): DAT read: 00:46:45.4685 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.03, 2.851, 1.125, 2.783,-2.696, PHS=-0.635,-2.417,-0.848, RAW= 143.7, 39.3, CAL= 149.0, 49.8, ROT= 1.0, -49.8 2025-10-29T00:46:46.028Z,1761698806.028 [DAT](INFO): got valid direction response: 00:46:45.4685 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 513, 0.03, 2.851, 1.125, 2.783,-2.696, PHS=-0.635,-2.417,-0.848, RAW= 143.7, 39.3, CAL= 149.0, 49.8, ROT= 1.0, -49.8 2025-10-29T00:46:46.031Z,1761698806.031 [DAT](INFO): #Rx 123: Read range and direction messages. 2025-10-29T00:46:46.032Z,1761698806.032 [DAT](INFO): direction in FSK: [0.645359,0.011265,0.763796] 2025-10-29T00:46:46.032Z,1761698806.032 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:46.136Z,1761698806.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985610,-0.165175,-0.035924],[0.166767,0.984872,0.047077],[0.027604,-0.052390,0.998245]] 2025-10-29T00:46:46.218Z,1761698806.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504056 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:46.224Z,1761698806.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.288452 m, bearing: 14.301023 deg, lat: 36.779292 deg, lon: -121.859549 deg, deltaT: 0.504056 s, deltaX: 0.000254 m, approachRate: 0.000503 m/s, posRepo size: 4 2025-10-29T00:46:46.225Z,1761698806.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T00:46:46.526Z,1761698806.526 [DAT](INFO): DAT read: Rx Time:00:46:45.9686 2025-10-29T00:46:46.527Z,1761698806.527 [DAT](INFO): Rx dataTimestamp_ set to:1761698806.526274 2025-10-29T00:46:46.529Z,1761698806.529 [DAT](INFO): DAT read: Bearing 338.2, 10.8 (Local) 2025-10-29T00:46:46.529Z,1761698806.529 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, 10.8 (Local) 2025-10-29T00:46:46.531Z,1761698806.531 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-29T00:46:46.544Z,1761698806.544 [DAT](INFO): DAT read: 00:46:45.9686 LVL= 32752, 31649, 32754, 32755, AGC= 74, IDX= 2,-0.15,-1.559, 0.035,-1.894,-0.935, PHS=-0.523, 1.014,-1.004, RAW= 343.2, 5.7, CAL= 342.9, 4.3, ROT= 167.1, -4.3 2025-10-29T00:46:46.545Z,1761698806.545 [DAT](INFO): got valid direction response: 00:46:45.9686 LVL= 32752, 31649, 32754, 32755, AGC= 74, IDX= 2,-0.15,-1.559, 0.035,-1.894,-0.935, PHS=-0.523, 1.014,-1.004, RAW= 343.2, 5.7, CAL= 342.9, 4.3, ROT= 167.1, -4.3 2025-10-29T00:46:46.546Z,1761698806.546 [DAT](INFO): #Rx 124: Read range and direction messages. 2025-10-29T00:46:46.547Z,1761698806.547 [DAT](INFO): direction in FSK: [-0.972017,0.222622,0.074979] 2025-10-29T00:46:46.547Z,1761698806.547 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:46.637Z,1761698806.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.508543 s, deltaX: 0.100000 m, approachRate: 0.196641 m/s, rangeRepo size: 4 2025-10-29T00:46:46.639Z,1761698806.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.387877 m, bearing: 176.518682 deg, lat: 36.779292 deg, lon: -121.859548 deg, deltaT: 0.508543 s, deltaX: 0.099424 m, approachRate: 0.195508 m/s, posRepo size: 4 2025-10-29T00:46:46.648Z,1761698806.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-29T00:46:46.959Z,1761698806.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986053,-0.162367,-0.036569],[0.163996,0.985337,0.047088],[0.028387,-0.052429,0.998221]] 2025-10-29T00:46:46.994Z,1761698806.994 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:46:47.016Z,1761698807.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.39 m. 2025-10-29T00:46:47.030Z,1761698807.030 [DAT](INFO): DAT read: Rx Time:00:46:46.4685 2025-10-29T00:46:47.030Z,1761698807.030 [DAT](INFO): Rx dataTimestamp_ set to:1761698807.029767 2025-10-29T00:46:47.031Z,1761698807.031 [DAT](INFO): DAT read: Bearing 338.5, 11.2 (Local) 2025-10-29T00:46:47.033Z,1761698807.033 [DAT](INFO): Local bearing/azimuth received: Bearing 338.5, 11.2 (Local) 2025-10-29T00:46:47.035Z,1761698807.035 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.0 2025-10-29T00:46:47.044Z,1761698807.044 [DAT](INFO): DAT read: 00:46:46.4685 LVL= 32752, 29153, 32754, 32755, AGC= 71, IDX= 498,-0.45,-2.168,-0.590,-2.517,-1.559, PHS=-0.507, 1.014,-1.002, RAW= 343.6, 5.5, CAL= 343.3, 4.1, ROT= 166.7, -4.1 2025-10-29T00:46:47.045Z,1761698807.045 [DAT](INFO): got valid direction response: 00:46:46.4685 LVL= 32752, 29153, 32754, 32755, AGC= 71, IDX= 498,-0.45,-2.168,-0.590,-2.517,-1.559, PHS=-0.507, 1.014,-1.002, RAW= 343.6, 5.5, CAL= 343.3, 4.1, ROT= 166.7, -4.1 2025-10-29T00:46:47.046Z,1761698807.046 [DAT](INFO): #Rx 125: Read range and direction messages. 2025-10-29T00:46:47.047Z,1761698807.047 [DAT](INFO): direction in FSK: [-0.970688,0.229461,0.071497] 2025-10-29T00:46:47.047Z,1761698807.047 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:47.050Z,1761698807.050 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:46:47.050Z,1761698807.050 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:46:47.051Z,1761698807.051 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:46:47.281Z,1761698807.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:47.369Z,1761698807.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503493 s, deltaX: -0.100000 m, approachRate: -0.198613 m/s, rangeRepo size: 4 2025-10-29T00:46:47.371Z,1761698807.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.288179 m, bearing: 175.968218 deg, lat: 36.779292 deg, lon: -121.859547 deg, deltaT: 0.503493 s, deltaX: -0.099697 m, approachRate: -0.198011 m/s, posRepo size: 4 2025-10-29T00:46:47.371Z,1761698807.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T00:46:47.534Z,1761698807.534 [DAT](INFO): DAT read: Rx Time:00:46:46.9687 2025-10-29T00:46:47.534Z,1761698807.534 [DAT](INFO): Rx dataTimestamp_ set to:1761698807.533698 2025-10-29T00:46:47.535Z,1761698807.535 [DAT](INFO): DAT read: Bearing 339.4, 11.2 (Local) 2025-10-29T00:46:47.536Z,1761698807.536 [DAT](INFO): Local bearing/azimuth received: Bearing 339.4, 11.2 (Local) 2025-10-29T00:46:47.538Z,1761698807.538 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.2 2025-10-29T00:46:47.546Z,1761698807.546 [DAT](INFO): DAT read: 00:46:46.9687 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 3, 0.17, 0.871, 2.463, 0.518, 1.466, PHS=-0.493, 1.042,-0.992, RAW= 343.6, 4.9, CAL= 343.3, 3.1, ROT= 166.7, -3.1 2025-10-29T00:46:47.547Z,1761698807.547 [DAT](INFO): got valid direction response: 00:46:46.9687 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 3, 0.17, 0.871, 2.463, 0.518, 1.466, PHS=-0.493, 1.042,-0.992, RAW= 343.6, 4.9, CAL= 343.3, 3.1, ROT= 166.7, -3.1 2025-10-29T00:46:47.547Z,1761698807.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:46:47.548Z,1761698807.548 [DAT](INFO): direction in FSK: [-0.971755,0.229713,0.054079] 2025-10-29T00:46:47.549Z,1761698807.549 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:47.552Z,1761698807.552 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:47.553Z,1761698807.553 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:46:47.735Z,1761698807.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986451,-0.159788,-0.037175],[0.161446,0.985764,0.046947],[0.029144,-0.052313,0.998205]] 2025-10-29T00:46:47.769Z,1761698807.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.503931 s, deltaX: 0.300001 m, approachRate: 0.595322 m/s, rangeRepo size: 4 2025-10-29T00:46:47.773Z,1761698807.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.586452 m, bearing: 175.865213 deg, lat: 36.779291 deg, lon: -121.859545 deg, deltaT: 0.503931 s, deltaX: 0.298273 m, approachRate: 0.591893 m/s, posRepo size: 4 2025-10-29T00:46:47.773Z,1761698807.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m. 2025-10-29T00:46:47.791Z,1761698807.791 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:48.045Z,1761698808.045 [DAT](INFO): DAT read: Rx Time:00:46:47.4687 2025-10-29T00:46:48.046Z,1761698808.046 [DAT](INFO): Rx dataTimestamp_ set to:1761698808.045632 2025-10-29T00:46:48.047Z,1761698808.047 [DAT](INFO): DAT read: Bearing 338.9, 11.4 (Local) 2025-10-29T00:46:48.048Z,1761698808.048 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 11.4 (Local) 2025-10-29T00:46:48.050Z,1761698808.050 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed -0.3 2025-10-29T00:46:48.055Z,1761698808.055 [DAT](INFO): DAT read: 00:46:47.4687 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 499,-0.06,-2.153,-0.568,-2.513,-1.555, PHS=-0.496, 1.032,-1.002, RAW= 343.8, 5.1, CAL= 343.5, 3.5, ROT= 166.5, -3.5 2025-10-29T00:46:48.056Z,1761698808.056 [DAT](INFO): got valid direction response: 00:46:47.4687 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 499,-0.06,-2.153,-0.568,-2.513,-1.555, PHS=-0.496, 1.032,-1.002, RAW= 343.8, 5.1, CAL= 343.5, 3.5, ROT= 166.5, -3.5 2025-10-29T00:46:48.056Z,1761698808.056 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:46:48.057Z,1761698808.057 [DAT](INFO): direction in FSK: [-0.970556,0.233010,0.061049] 2025-10-29T00:46:48.058Z,1761698808.058 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:48.061Z,1761698808.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:48.061Z,1761698808.061 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:46:48.143Z,1761698808.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986694,-0.158203,-0.037512],[0.159885,0.986010,0.047132],[0.029531,-0.052503,0.998184]] 2025-10-29T00:46:48.245Z,1761698808.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.511934 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T00:46:48.247Z,1761698808.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.586206 m, bearing: 175.557079 deg, lat: 36.779291 deg, lon: -121.859545 deg, deltaT: 0.511934 s, deltaX: -0.000246 m, approachRate: -0.000481 m/s, posRepo size: 4 2025-10-29T00:46:48.247Z,1761698808.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m. 2025-10-29T00:46:48.297Z,1761698808.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:48.542Z,1761698808.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986978,-0.156354,-0.037794],[0.158063,0.986286,0.047505],[0.029848,-0.052860,0.998156]] 2025-10-29T00:46:48.550Z,1761698808.550 [DAT](INFO): DAT read: Rx Time:00:46:47.9689 2025-10-29T00:46:48.550Z,1761698808.550 [DAT](INFO): Rx dataTimestamp_ set to:1761698808.549746 2025-10-29T00:46:48.551Z,1761698808.551 [DAT](INFO): DAT read: Bearing 337.6, 10.9 (Local) 2025-10-29T00:46:48.552Z,1761698808.552 [DAT](INFO): Local bearing/azimuth received: Bearing 337.6, 10.9 (Local) 2025-10-29T00:46:48.554Z,1761698808.554 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.2 2025-10-29T00:46:48.559Z,1761698808.559 [DAT](INFO): DAT read: 00:46:47.9689 LVL= 32752, 28657, 32754, 32755, AGC= 71, IDX= 501,-0.33,-0.845, 0.754,-1.193,-0.214, PHS=-0.529, 1.014,-1.023, RAW= 343.5, 5.9, CAL= 343.2, 4.7, ROT= 166.8, -4.7 2025-10-29T00:46:48.560Z,1761698808.560 [DAT](INFO): got valid direction response: 00:46:47.9689 LVL= 32752, 28657, 32754, 32755, AGC= 71, IDX= 501,-0.33,-0.845, 0.754,-1.193,-0.214, PHS=-0.529, 1.014,-1.023, RAW= 343.5, 5.9, CAL= 343.2, 4.7, ROT= 166.8, -4.7 2025-10-29T00:46:48.561Z,1761698808.561 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:46:48.562Z,1761698808.562 [DAT](INFO): direction in FSK: [-0.970305,0.227583,0.081939] 2025-10-29T00:46:48.562Z,1761698808.562 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:48.569Z,1761698808.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:48.570Z,1761698808.570 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:46:48.630Z,1761698808.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.504114 s, deltaX: 0.299999 m, approachRate: 0.595102 m/s, rangeRepo size: 4 2025-10-29T00:46:48.640Z,1761698808.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.884472 m, bearing: 175.696064 deg, lat: 36.779290 deg, lon: -121.859545 deg, deltaT: 0.504114 s, deltaX: 0.298265 m, approachRate: 0.591663 m/s, posRepo size: 4 2025-10-29T00:46:48.640Z,1761698808.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-29T00:46:48.804Z,1761698808.804 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:48.965Z,1761698808.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987175,-0.154997,-0.038218],[0.156734,0.986490,0.047654],[0.030315,-0.053033,0.998133]] 2025-10-29T00:46:49.003Z,1761698809.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-29T00:46:49.054Z,1761698809.054 [DAT](INFO): DAT read: Rx Time:00:46:48.4688 2025-10-29T00:46:49.055Z,1761698809.055 [DAT](INFO): Rx dataTimestamp_ set to:1761698809.054148 2025-10-29T00:46:49.057Z,1761698809.057 [DAT](INFO): DAT read: Bearing 338.8, 10.6 (Local) 2025-10-29T00:46:49.057Z,1761698809.057 [DAT](INFO): Local bearing/azimuth received: Bearing 338.8, 10.6 (Local) 2025-10-29T00:46:49.060Z,1761698809.060 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.1 2025-10-29T00:46:49.066Z,1761698809.066 [DAT](INFO): DAT read: 00:46:48.4688 LVL= 32752, 32401, 32754, 32755, AGC= 71, IDX= 500, 0.23,-0.095, 1.522,-0.433, 0.522, PHS=-0.515, 1.045,-0.999, RAW= 343.1, 5.1, CAL= 342.8, 3.5, ROT= 167.2, -3.5 2025-10-29T00:46:49.067Z,1761698809.067 [DAT](INFO): got valid direction response: 00:46:48.4688 LVL= 32752, 32401, 32754, 32755, AGC= 71, IDX= 500, 0.23,-0.095, 1.522,-0.433, 0.522, PHS=-0.515, 1.045,-0.999, RAW= 343.1, 5.1, CAL= 342.8, 3.5, ROT= 167.2, -3.5 2025-10-29T00:46:49.079Z,1761698809.079 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:46:49.081Z,1761698809.081 [DAT](INFO): direction in FSK: [-0.973330,0.221135,0.061049] 2025-10-29T00:46:49.082Z,1761698809.082 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:49.086Z,1761698809.086 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:49.086Z,1761698809.086 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:46:49.305Z,1761698809.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:46:49.357Z,1761698809.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987386,-0.153583,-0.038493],[0.155347,0.986692,0.048022],[0.030606,-0.053396,0.998104]] 2025-10-29T00:46:49.380Z,1761698809.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504402 s, deltaX: -0.200001 m, approachRate: -0.396511 m/s, rangeRepo size: 4 2025-10-29T00:46:49.382Z,1761698809.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.685760 m, bearing: 175.989861 deg, lat: 36.779291 deg, lon: -121.859545 deg, deltaT: 0.504402 s, deltaX: -0.198711 m, approachRate: -0.393954 m/s, posRepo size: 4 2025-10-29T00:46:49.383Z,1761698809.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:49.564Z,1761698809.564 [DAT](INFO): DAT read: user:580> 2025-10-29T00:46:49.564Z,1761698809.565 [DAT](INFO): DAT read: user:580> 2025-10-29T00:46:49.565Z,1761698809.565 [DAT](INFO): DAT read: Tx time:00:46:49.3733 2025-10-29T00:46:49.566Z,1761698809.566 [DAT](INFO): Ping request sent. 2025-10-29T00:46:49.566Z,1761698809.566 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:46:49.566Z,1761698809.566 [DAT](INFO): publishing transmit ping time 2025-10-29T00:46:49.566Z,1761698809.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-29T00:46:49.755Z,1761698809.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987600,-0.152128,-0.038782],[0.153921,0.986895,0.048439],[0.030905,-0.053808,0.998073]] 2025-10-29T00:46:49.809Z,1761698809.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243310 2025-10-29T00:46:49.932Z,1761698809.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:50.061Z,1761698810.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495147 2025-10-29T00:46:50.160Z,1761698810.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987769,-0.150904,-0.039245],[0.152732,0.987067,0.048705],[0.031388,-0.054103,0.998042]] 2025-10-29T00:46:50.225Z,1761698810.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:50.313Z,1761698810.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747282 2025-10-29T00:46:50.559Z,1761698810.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987868,-0.150214,-0.039392],[0.152051,0.987171,0.048718],[0.031569,-0.054117,0.998035]] 2025-10-29T00:46:50.566Z,1761698810.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000043 2025-10-29T00:46:50.609Z,1761698810.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:50.820Z,1761698810.820 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254432 2025-10-29T00:46:50.962Z,1761698810.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987971,-0.149470,-0.039656],[0.151320,0.987285,0.048690],[0.031874,-0.054105,0.998026]] 2025-10-29T00:46:51.017Z,1761698811.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:51.070Z,1761698811.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504009 2025-10-29T00:46:51.322Z,1761698811.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756394 2025-10-29T00:46:51.367Z,1761698811.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988079,-0.148701,-0.039846],[0.150562,0.987402,0.048672],[0.032106,-0.054091,0.998020]] 2025-10-29T00:46:51.385Z,1761698811.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:51.573Z,1761698811.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007276 2025-10-29T00:46:51.777Z,1761698811.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988156,-0.148132,-0.040058],[0.150000,0.987493,0.048547],[0.032365,-0.053981,0.998017]] 2025-10-29T00:46:51.795Z,1761698811.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:51.825Z,1761698811.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259387 2025-10-29T00:46:52.077Z,1761698812.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511264 2025-10-29T00:46:52.191Z,1761698812.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988240,-0.147486,-0.040374],[0.149369,0.987593,0.048459],[0.032726,-0.053919,0.998009]] 2025-10-29T00:46:52.235Z,1761698812.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:52.330Z,1761698812.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763985 2025-10-29T00:46:52.579Z,1761698812.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988328,-0.146858,-0.040506],[0.148749,0.987687,0.048451],[0.032892,-0.053911,0.998004]] 2025-10-29T00:46:52.581Z,1761698812.581 [DAT](INFO): DAT read: Rx Time:00:46:51.8052 2025-10-29T00:46:52.581Z,1761698812.581 [DAT](INFO): Rx dataTimestamp_ set to:1761698812.581123 2025-10-29T00:46:52.582Z,1761698812.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016299 2025-10-29T00:46:52.604Z,1761698812.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:52.834Z,1761698812.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267988 2025-10-29T00:46:52.994Z,1761698812.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988411,-0.146248,-0.040688],[0.148148,0.987778,0.048434],[0.033107,-0.053901,0.997997]] 2025-10-29T00:46:53.030Z,1761698813.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T00:46:53.093Z,1761698813.093 [DAT](INFO): DAT read: 00:46:51.8051 LVL= 22592, 19857, 25186, 26099, AGC= 71, IDX= 73,-0.29, 0.418, 2.166, 0.020, 0.928, PHS=-0.408, 1.283,-0.951, RAW= 343.5, 0.8, CAL= 343.0, -2.2, ROT= 167.0, 2.2 2025-10-29T00:46:53.094Z,1761698813.094 [DAT](INFO): got valid direction response: 00:46:51.8051 LVL= 22592, 19857, 25186, 26099, AGC= 71, IDX= 73,-0.29, 0.418, 2.166, 0.020, 0.928, PHS=-0.408, 1.283,-0.951, RAW= 343.5, 0.8, CAL= 343.0, -2.2, ROT= 167.0, 2.2 2025-10-29T00:46:53.096Z,1761698813.096 [DAT](INFO): DAT read: Bearing 343.7, 11.0 (Local) 2025-10-29T00:46:53.096Z,1761698813.096 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, 11.0 (Local) 2025-10-29T00:46:53.098Z,1761698813.098 [DAT](INFO): DAT read: Range 11 to 50 : 20.8 m (Round-trip 27.8 ms) speed -0.2 m/s 2025-10-29T00:46:53.099Z,1761698813.099 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:46:53.110Z,1761698813.110 [DAT](INFO): direction in FSK: [-0.973652,0.224785,-0.038388] 2025-10-29T00:46:53.110Z,1761698813.110 [DAT](INFO): publishing direction and range info 2025-10-29T00:46:53.386Z,1761698813.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988510,-0.145509,-0.040936],[0.147427,0.987880,0.048572],[0.033372,-0.054049,0.997980]] 2025-10-29T00:46:53.410Z,1761698813.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.799999 m, deltaT: 4.030807 s, deltaX: 1.000000 m, approachRate: 0.248089 m/s, rangeRepo size: 4 2025-10-29T00:46:53.412Z,1761698813.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.680092 m, bearing: 175.588545 deg, lat: 36.779290 deg, lon: -121.859545 deg, deltaT: 4.030807 s, deltaX: 0.994331 m, approachRate: 0.246683 m/s, posRepo size: 4 2025-10-29T00:46:53.412Z,1761698813.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:53.791Z,1761698813.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988561,-0.145132,-0.041033],[0.147051,0.987944,0.048399],[0.033514,-0.053879,0.997985]] 2025-10-29T00:46:53.820Z,1761698813.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:54.195Z,1761698814.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988584,-0.144937,-0.041160],[0.146853,0.987988,0.048106],[0.033693,-0.053601,0.997994]] 2025-10-29T00:46:54.238Z,1761698814.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:54.600Z,1761698814.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988719,-0.143987,-0.041265],[0.145915,0.988118,0.048291],[0.033821,-0.053768,0.997981]] 2025-10-29T00:46:54.691Z,1761698814.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:55.077Z,1761698815.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:55.406Z,1761698815.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988907,-0.142572,-0.041671],[0.144534,0.988304,0.048640],[0.034249,-0.054123,0.997947]] 2025-10-29T00:46:55.444Z,1761698815.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:55.814Z,1761698815.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989013,-0.141763,-0.041902],[0.143742,0.988415,0.048722],[0.034509,-0.054210,0.997933]] 2025-10-29T00:46:55.858Z,1761698815.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:56.214Z,1761698816.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989073,-0.141356,-0.041870],[0.143326,0.988485,0.048524],[0.034528,-0.053994,0.997944]] 2025-10-29T00:46:56.271Z,1761698816.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:56.621Z,1761698816.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989162,-0.140719,-0.041915],[0.142683,0.988590,0.048289],[0.034642,-0.053746,0.997954]] 2025-10-29T00:46:56.642Z,1761698816.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:57.023Z,1761698817.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989273,-0.139913,-0.041979],[0.141879,0.988710,0.048205],[0.034760,-0.053644,0.997955]] 2025-10-29T00:46:57.126Z,1761698817.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:57.426Z,1761698817.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989389,-0.139101,-0.041968],[0.141064,0.988829,0.048140],[0.034803,-0.053550,0.997958]] 2025-10-29T00:46:57.445Z,1761698817.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:57.840Z,1761698817.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989524,-0.138162,-0.041876],[0.140124,0.988958,0.048241],[0.034748,-0.053604,0.997958]] 2025-10-29T00:46:57.859Z,1761698817.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:58.234Z,1761698818.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989684,-0.137051,-0.041738],[0.139015,0.989103,0.048475],[0.034640,-0.053777,0.997952]] 2025-10-29T00:46:58.279Z,1761698818.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:58.596Z,1761698818.596 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:46:58.639Z,1761698818.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989799,-0.136264,-0.041601],[0.138224,0.989210,0.048563],[0.034535,-0.053817,0.997953]] 2025-10-29T00:46:58.661Z,1761698818.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:59.044Z,1761698819.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989943,-0.135279,-0.041386],[0.137237,0.989334,0.048827],[0.034339,-0.054016,0.997949]] 2025-10-29T00:46:59.080Z,1761698819.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:59.446Z,1761698819.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989981,-0.135080,-0.041114],[0.137016,0.989375,0.048625],[0.034109,-0.053771,0.997971]] 2025-10-29T00:46:59.471Z,1761698819.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:46:59.602Z,1761698819.602 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:46:59.850Z,1761698819.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990049,-0.134690,-0.040757],[0.136602,0.989440,0.048457],[0.033800,-0.053542,0.997993]] 2025-10-29T00:46:59.886Z,1761698819.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:00.255Z,1761698820.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990146,-0.134092,-0.040382],[0.135985,0.989523,0.048495],[0.033456,-0.053509,0.998007]] 2025-10-29T00:47:00.310Z,1761698820.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:00.662Z,1761698820.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990278,-0.133235,-0.039969],[0.135116,0.989628,0.048776],[0.033056,-0.053702,0.998010]] 2025-10-29T00:47:00.683Z,1761698820.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:01.063Z,1761698821.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990392,-0.132498,-0.039608],[0.134373,0.989710,0.049167],[0.032686,-0.054017,0.998005]] 2025-10-29T00:47:01.106Z,1761698821.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:01.467Z,1761698821.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990509,-0.131750,-0.039165],[0.133615,0.989793,0.049571],[0.032234,-0.054333,0.998002]] 2025-10-29T00:47:01.501Z,1761698821.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:01.871Z,1761698821.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990540,-0.131659,-0.038697],[0.133496,0.989812,0.049501],[0.031785,-0.054199,0.998024]] 2025-10-29T00:47:01.890Z,1761698821.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:02.275Z,1761698822.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.131832,-0.038187],[0.133632,0.989809,0.049205],[0.031311,-0.053842,0.998058]] 2025-10-29T00:47:02.343Z,1761698822.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:02.680Z,1761698822.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.131943,-0.037799],[0.133712,0.989814,0.048886],[0.030964,-0.053477,0.998089]] 2025-10-29T00:47:02.710Z,1761698822.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:03.147Z,1761698823.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:03.488Z,1761698823.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990522,-0.132337,-0.036788],[0.134040,0.989789,0.048495],[0.029995,-0.052967,0.998146]] 2025-10-29T00:47:03.507Z,1761698823.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:03.892Z,1761698823.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990554,-0.132169,-0.036516],[0.133864,0.989802,0.048708],[0.029706,-0.053136,0.998145]] 2025-10-29T00:47:03.911Z,1761698823.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:04.302Z,1761698824.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990591,-0.131984,-0.036177],[0.133670,0.989813,0.049009],[0.029340,-0.053384,0.998143]] 2025-10-29T00:47:04.422Z,1761698824.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:04.702Z,1761698824.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990617,-0.131871,-0.035887],[0.133548,0.989820,0.049202],[0.029034,-0.053533,0.998144]] 2025-10-29T00:47:04.770Z,1761698824.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:05.115Z,1761698825.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990536,-0.132563,-0.035586],[0.134216,0.989742,0.048969],[0.028729,-0.053281,0.998166]] 2025-10-29T00:47:05.175Z,1761698825.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:05.504Z,1761698825.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990496,-0.132902,-0.035427],[0.134545,0.989699,0.048920],[0.028560,-0.053221,0.998174]] 2025-10-29T00:47:05.562Z,1761698825.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:05.906Z,1761698825.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990487,-0.133031,-0.035191],[0.134664,0.989680,0.048991],[0.028311,-0.053264,0.998179]] 2025-10-29T00:47:05.931Z,1761698825.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:06.321Z,1761698826.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990478,-0.133150,-0.035004],[0.134772,0.989664,0.049001],[0.028118,-0.053252,0.998185]] 2025-10-29T00:47:06.365Z,1761698826.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:06.718Z,1761698826.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990480,-0.133159,-0.034887],[0.134776,0.989662,0.049036],[0.027996,-0.053271,0.998188]] 2025-10-29T00:47:06.737Z,1761698826.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:07.145Z,1761698827.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990487,-0.133111,-0.034894],[0.134729,0.989669,0.049020],[0.028008,-0.053255,0.998188]] 2025-10-29T00:47:07.245Z,1761698827.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:07.629Z,1761698827.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990487,-0.133121,-0.034838],[0.134736,0.989666,0.049058],[0.027947,-0.053286,0.998188]] 2025-10-29T00:47:07.657Z,1761698827.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:08.031Z,1761698828.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990611,-0.132208,-0.034787],[0.133835,0.989764,0.049546],[0.027880,-0.053737,0.998166]] 2025-10-29T00:47:08.187Z,1761698828.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:08.609Z,1761698828.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:09.002Z,1761698829.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:09.338Z,1761698829.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990748,-0.131179,-0.034789],[0.132805,0.989906,0.049488],[0.027946,-0.053650,0.998169]] 2025-10-29T00:47:09.399Z,1761698829.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:09.803Z,1761698829.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990844,-0.130477,-0.034686],[0.132087,0.990022,0.049094],[0.027934,-0.053226,0.998192]] 2025-10-29T00:47:09.839Z,1761698829.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:10.277Z,1761698830.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:10.595Z,1761698830.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991008,-0.129308,-0.034383],[0.130905,0.990176,0.049156],[0.027689,-0.053214,0.998199]] 2025-10-29T00:47:10.629Z,1761698830.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:10.999Z,1761698830.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991113,-0.128589,-0.034050],[0.130176,0.990260,0.049392],[0.027367,-0.053385,0.998199]] 2025-10-29T00:47:11.018Z,1761698831.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:11.405Z,1761698831.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991185,-0.128186,-0.033485],[0.129745,0.990313,0.049468],[0.026819,-0.053376,0.998214]] 2025-10-29T00:47:11.441Z,1761698831.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:11.824Z,1761698831.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991224,-0.128072,-0.032748],[0.129588,0.990339,0.049343],[0.026113,-0.053154,0.998245]] 2025-10-29T00:47:11.843Z,1761698831.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:12.287Z,1761698832.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:12.624Z,1761698832.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991404,-0.127115,-0.030997],[0.128538,0.990477,0.049329],[0.024432,-0.052889,0.998301]] 2025-10-29T00:47:12.643Z,1761698832.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:13.027Z,1761698833.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991513,-0.126515,-0.029948],[0.127886,0.990554,0.049472],[0.023406,-0.052882,0.998326]] 2025-10-29T00:47:13.051Z,1761698833.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:13.430Z,1761698833.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991614,-0.125952,-0.028958],[0.127276,0.990625,0.049626],[0.022436,-0.052895,0.998348]] 2025-10-29T00:47:13.487Z,1761698833.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:13.836Z,1761698833.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991639,-0.125998,-0.027868],[0.127264,0.990626,0.049633],[0.021353,-0.052765,0.998379]] 2025-10-29T00:47:13.854Z,1761698833.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:14.269Z,1761698834.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991753,-0.125360,-0.026653],[0.126573,0.990690,0.050122],[0.020122,-0.053082,0.998387]] 2025-10-29T00:47:14.334Z,1761698834.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:14.723Z,1761698834.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991823,-0.125062,-0.025438],[0.126217,0.990719,0.050447],[0.018893,-0.053245,0.998403]] 2025-10-29T00:47:14.743Z,1761698834.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:15.124Z,1761698835.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991917,-0.124569,-0.024133],[0.125663,0.990765,0.050928],[0.017566,-0.053549,0.998411]] 2025-10-29T00:47:15.143Z,1761698835.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:15.579Z,1761698835.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:15.931Z,1761698835.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992008,-0.124278,-0.021814],[0.125255,0.990797,0.051309],[0.015237,-0.053631,0.998445]] 2025-10-29T00:47:15.949Z,1761698835.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:16.334Z,1761698836.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992024,-0.124360,-0.020576],[0.125268,0.990801,0.051203],[0.014020,-0.053372,0.998476]] 2025-10-29T00:47:16.388Z,1761698836.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:16.745Z,1761698836.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992048,-0.124364,-0.019328],[0.125204,0.990817,0.051048],[0.012802,-0.053062,0.998509]] 2025-10-29T00:47:16.773Z,1761698836.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:17.143Z,1761698837.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992104,-0.124110,-0.018051],[0.124885,0.990849,0.051198],[0.011532,-0.053048,0.998525]] 2025-10-29T00:47:17.169Z,1761698837.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:17.548Z,1761698837.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992163,-0.123791,-0.016981],[0.124511,0.990888,0.051371],[0.010467,-0.053083,0.998535]] 2025-10-29T00:47:17.597Z,1761698837.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:17.953Z,1761698837.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992192,-0.123704,-0.015904],[0.124366,0.990907,0.051335],[0.009409,-0.052912,0.998555]] 2025-10-29T00:47:17.976Z,1761698837.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:18.354Z,1761698838.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992202,-0.123742,-0.014920],[0.124352,0.990916,0.051212],[0.008448,-0.052668,0.998576]] 2025-10-29T00:47:18.407Z,1761698838.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:18.764Z,1761698838.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992229,-0.123645,-0.013895],[0.124200,0.990944,0.051038],[0.007459,-0.052368,0.998600]] 2025-10-29T00:47:18.873Z,1761698838.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:19.162Z,1761698839.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992293,-0.123219,-0.013079],[0.123732,0.990998,0.051126],[0.006662,-0.052351,0.998607]] 2025-10-29T00:47:19.189Z,1761698839.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:19.569Z,1761698839.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992298,-0.123269,-0.012252],[0.123739,0.990997,0.051126],[0.005839,-0.052248,0.998617]] 2025-10-29T00:47:19.637Z,1761698839.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:19.971Z,1761698839.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992317,-0.123190,-0.011476],[0.123621,0.990998,0.051386],[0.005042,-0.052410,0.998613]] 2025-10-29T00:47:20.001Z,1761698840.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:20.374Z,1761698840.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992319,-0.123221,-0.010982],[0.123627,0.990983,0.051662],[0.004517,-0.052623,0.998604]] 2025-10-29T00:47:20.425Z,1761698840.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:20.790Z,1761698840.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992331,-0.123167,-0.010444],[0.123546,0.990982,0.051882],[0.003960,-0.052774,0.998599]] 2025-10-29T00:47:20.830Z,1761698840.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:21.185Z,1761698841.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992290,-0.123537,-0.010003],[0.123891,0.990947,0.051722],[0.003523,-0.052562,0.998611]] 2025-10-29T00:47:21.305Z,1761698841.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:21.718Z,1761698841.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992288,-0.123578,-0.009680],[0.123915,0.990952,0.051574],[0.003219,-0.052376,0.998622]] 2025-10-29T00:47:21.810Z,1761698841.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:22.125Z,1761698842.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992289,-0.123596,-0.009282],[0.123912,0.990961,0.051406],[0.002845,-0.052160,0.998635]] 2025-10-29T00:47:22.194Z,1761698842.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:22.527Z,1761698842.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992283,-0.123653,-0.009133],[0.123960,0.990963,0.051254],[0.002713,-0.051990,0.998644]] 2025-10-29T00:47:22.579Z,1761698842.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:22.931Z,1761698842.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992330,-0.123290,-0.008945],[0.123588,0.991000,0.051435],[0.002523,-0.052146,0.998636]] 2025-10-29T00:47:22.949Z,1761698842.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:23.463Z,1761698843.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:23.809Z,1761698843.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992474,-0.122118,-0.009108],[0.122428,0.991123,0.051827],[0.002698,-0.052552,0.998615]] 2025-10-29T00:47:23.828Z,1761698843.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:24.207Z,1761698844.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992544,-0.121544,-0.009139],[0.121855,0.991194,0.051821],[0.002760,-0.052548,0.998615]] 2025-10-29T00:47:24.239Z,1761698844.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:24.611Z,1761698844.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992642,-0.120730,-0.009297],[0.121051,0.991300,0.051680],[0.002977,-0.052425,0.998620]] 2025-10-29T00:47:24.659Z,1761698844.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:25.014Z,1761698845.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992743,-0.119891,-0.009373],[0.120216,0.991418,0.051367],[0.003135,-0.052121,0.998636]] 2025-10-29T00:47:25.033Z,1761698845.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:25.428Z,1761698845.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992841,-0.119062,-0.009510],[0.119394,0.991539,0.050952],[0.003363,-0.051723,0.998656]] 2025-10-29T00:47:25.494Z,1761698845.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:25.857Z,1761698845.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992955,-0.118101,-0.009615],[0.118438,0.991668,0.050674],[0.003550,-0.051456,0.998669]] 2025-10-29T00:47:25.899Z,1761698845.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:26.278Z,1761698846.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993120,-0.116681,-0.009890],[0.117036,0.991825,0.050847],[0.003876,-0.051655,0.998657]] 2025-10-29T00:47:26.315Z,1761698846.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:26.665Z,1761698846.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993220,-0.115804,-0.010176],[0.116174,0.991924,0.050898],[0.004200,-0.051735,0.998652]] 2025-10-29T00:47:26.704Z,1761698846.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:27.067Z,1761698847.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993389,-0.114316,-0.010499],[0.114707,0.992073,0.051315],[0.004549,-0.052180,0.998627]] 2025-10-29T00:47:27.096Z,1761698847.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:27.471Z,1761698847.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993501,-0.113303,-0.010854],[0.113715,0.992182,0.051420],[0.004943,-0.052320,0.998618]] 2025-10-29T00:47:27.525Z,1761698847.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:27.876Z,1761698847.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993577,-0.112600,-0.011260],[0.113032,0.992273,0.051174],[0.005410,-0.052118,0.998626]] 2025-10-29T00:47:27.900Z,1761698847.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:28.295Z,1761698848.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993667,-0.111769,-0.011570],[0.112217,0.992379,0.050905],[0.005792,-0.051881,0.998636]] 2025-10-29T00:47:28.313Z,1761698848.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:28.680Z,1761698848.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993736,-0.111106,-0.012002],[0.111574,0.992471,0.050518],[0.006299,-0.051541,0.998651]] 2025-10-29T00:47:28.725Z,1761698848.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:29.083Z,1761698849.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993780,-0.110692,-0.012217],[0.111170,0.992532,0.050207],[0.006568,-0.051252,0.998664]] 2025-10-29T00:47:29.104Z,1761698849.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:29.489Z,1761698849.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993831,-0.110199,-0.012500],[0.110691,0.992591,0.050098],[0.006887,-0.051172,0.998666]] 2025-10-29T00:47:29.529Z,1761698849.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:29.720Z,1761698849.720 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:47:29.919Z,1761698849.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993864,-0.109858,-0.012847],[0.110370,0.992621,0.050230],[0.007234,-0.051340,0.998655]] 2025-10-29T00:47:29.938Z,1761698849.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:30.321Z,1761698850.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993867,-0.109801,-0.013130],[0.110328,0.992615,0.050426],[0.007496,-0.051566,0.998641]] 2025-10-29T00:47:30.341Z,1761698850.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:30.724Z,1761698850.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:47:30.726Z,1761698850.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993842,-0.110007,-0.013296],[0.110544,0.992584,0.050564],[0.007635,-0.051723,0.998632]] 2025-10-29T00:47:30.801Z,1761698850.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:31.169Z,1761698851.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:31.547Z,1761698851.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993650,-0.111689,-0.013609],[0.112235,0.992426,0.049942],[0.007928,-0.051153,0.998659]] 2025-10-29T00:47:31.632Z,1761698851.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:31.997Z,1761698851.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993567,-0.112402,-0.013828],[0.112958,0.992350,0.049822],[0.008122,-0.051064,0.998662]] 2025-10-29T00:47:32.016Z,1761698852.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:32.400Z,1761698852.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993509,-0.112913,-0.013834],[0.113470,0.992281,0.050036],[0.008078,-0.051281,0.998652]] 2025-10-29T00:47:32.420Z,1761698852.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:32.803Z,1761698852.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993463,-0.113314,-0.013853],[0.113875,0.992216,0.050395],[0.008035,-0.051643,0.998633]] 2025-10-29T00:47:32.905Z,1761698852.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:33.206Z,1761698853.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993376,-0.114063,-0.013905],[0.114626,0.992120,0.050576],[0.008026,-0.051834,0.998623]] 2025-10-29T00:47:33.251Z,1761698853.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:33.611Z,1761698853.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993288,-0.114845,-0.013775],[0.115401,0.992027,0.050644],[0.007849,-0.051894,0.998622]] 2025-10-29T00:47:33.673Z,1761698853.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:34.023Z,1761698854.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993170,-0.115878,-0.013630],[0.116424,0.991922,0.050362],[0.007684,-0.051605,0.998638]] 2025-10-29T00:47:34.060Z,1761698854.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:34.422Z,1761698854.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993123,-0.116306,-0.013384],[0.116839,0.991871,0.050396],[0.007414,-0.051614,0.998640]] 2025-10-29T00:47:34.565Z,1761698854.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:34.957Z,1761698854.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993066,-0.116829,-0.013111],[0.117346,0.991811,0.050409],[0.007114,-0.051598,0.998643]] 2025-10-29T00:47:35.026Z,1761698855.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:35.410Z,1761698855.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993096,-0.116612,-0.012753],[0.117118,0.991796,0.051225],[0.006675,-0.052365,0.998606]] 2025-10-29T00:47:35.454Z,1761698855.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:35.810Z,1761698855.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993103,-0.116603,-0.012267],[0.117084,0.991789,0.051433],[0.006169,-0.052515,0.998601]] 2025-10-29T00:47:35.874Z,1761698855.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:36.216Z,1761698856.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993105,-0.116644,-0.011732],[0.117096,0.991792,0.051346],[0.005646,-0.052366,0.998612]] 2025-10-29T00:47:36.234Z,1761698856.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:36.619Z,1761698856.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993129,-0.116490,-0.011161],[0.116912,0.991824,0.051147],[0.005112,-0.052101,0.998629]] 2025-10-29T00:47:36.663Z,1761698856.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:37.023Z,1761698857.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993165,-0.116250,-0.010441],[0.116634,0.991871,0.050883],[0.004441,-0.051753,0.998650]] 2025-10-29T00:47:37.061Z,1761698857.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:37.428Z,1761698857.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993265,-0.115459,-0.009670],[0.115803,0.991965,0.050942],[0.003711,-0.051719,0.998655]] 2025-10-29T00:47:37.446Z,1761698857.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:37.833Z,1761698857.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993355,-0.114761,-0.008715],[0.115057,0.992049,0.050988],[0.002795,-0.051652,0.998661]] 2025-10-29T00:47:37.870Z,1761698857.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:38.234Z,1761698858.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993463,-0.113888,-0.007733],[0.114135,0.992148,0.051144],[0.001847,-0.051693,0.998661]] 2025-10-29T00:47:38.278Z,1761698858.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:38.638Z,1761698858.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993555,-0.113156,-0.006664],[0.113349,0.992232,0.051257],[0.000813,-0.051682,0.998663]] 2025-10-29T00:47:38.685Z,1761698858.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:39.044Z,1761698859.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993612,-0.112720,-0.005460],[0.112852,0.992290,0.051231],[-0.000357,-0.051520,0.998672]] 2025-10-29T00:47:39.063Z,1761698859.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:39.448Z,1761698859.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993626,-0.112655,-0.004114],[0.112718,0.992310,0.051135],[-0.001679,-0.051273,0.998683]] 2025-10-29T00:47:39.467Z,1761698859.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:39.850Z,1761698859.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993633,-0.112627,-0.002854],[0.112625,0.992320,0.051160],[-0.002930,-0.051156,0.998686]] 2025-10-29T00:47:39.894Z,1761698859.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:40.264Z,1761698860.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993618,-0.112788,-0.001434],[0.112713,0.992301,0.051319],[-0.004365,-0.051153,0.998681]] 2025-10-29T00:47:40.301Z,1761698860.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:40.661Z,1761698860.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993545,-0.113438,0.000023],[0.113287,0.992230,0.051434],[-0.005858,-0.051099,0.998676]] 2025-10-29T00:47:40.718Z,1761698860.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:41.065Z,1761698861.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993437,-0.114373,0.001416],[0.114149,0.992130,0.051458],[-0.007290,-0.050959,0.998674]] 2025-10-29T00:47:41.088Z,1761698861.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:41.467Z,1761698861.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993325,-0.115315,0.002792],[0.115019,0.992025,0.051541],[-0.008714,-0.050876,0.998667]] 2025-10-29T00:47:41.500Z,1761698861.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:41.870Z,1761698861.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993166,-0.116635,0.004165],[0.116268,0.991880,0.051542],[-0.010143,-0.050706,0.998662]] 2025-10-29T00:47:41.914Z,1761698861.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:42.277Z,1761698862.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992968,-0.118249,0.005549],[0.117810,0.991700,0.051500],[-0.011593,-0.050484,0.998658]] 2025-10-29T00:47:42.295Z,1761698862.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:42.689Z,1761698862.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992759,-0.119927,0.006856],[0.119418,0.991503,0.051594],[-0.012985,-0.050402,0.998645]] 2025-10-29T00:47:42.746Z,1761698862.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:43.116Z,1761698863.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:43.487Z,1761698863.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992352,-0.123077,0.009437],[0.122427,0.991106,0.052154],[-0.015772,-0.050600,0.998594]] 2025-10-29T00:47:43.521Z,1761698863.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:43.891Z,1761698863.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992165,-0.124492,0.010529],[0.123780,0.990924,0.052417],[-0.016959,-0.050703,0.998570]] 2025-10-29T00:47:43.948Z,1761698863.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:44.297Z,1761698864.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991960,-0.126026,0.011558],[0.125259,0.990734,0.052509],[-0.018068,-0.050639,0.998554]] 2025-10-29T00:47:44.319Z,1761698864.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:44.717Z,1761698864.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991796,-0.127221,0.012432],[0.126407,0.990584,0.052576],[-0.019004,-0.050573,0.998540]] 2025-10-29T00:47:44.794Z,1761698864.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:45.103Z,1761698865.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991637,-0.128370,0.013341],[0.127507,0.990441,0.052619],[-0.019968,-0.050478,0.998526]] 2025-10-29T00:47:45.134Z,1761698865.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:45.517Z,1761698865.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991560,-0.128869,0.014188],[0.127958,0.990369,0.052869],[-0.020864,-0.050607,0.998501]] 2025-10-29T00:47:45.556Z,1761698865.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:45.919Z,1761698865.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991492,-0.129319,0.014817],[0.128371,0.990305,0.053074],[-0.021537,-0.050721,0.998481]] 2025-10-29T00:47:45.971Z,1761698865.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:46.327Z,1761698866.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991462,-0.129501,0.015246],[0.128525,0.990270,0.053356],[-0.022008,-0.050940,0.998459]] 2025-10-29T00:47:46.359Z,1761698866.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:46.750Z,1761698866.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991479,-0.129327,0.015588],[0.128326,0.990277,0.053707],[-0.022382,-0.051249,0.998435]] 2025-10-29T00:47:46.821Z,1761698866.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:47.131Z,1761698867.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991442,-0.129591,0.015794],[0.128580,0.990248,0.053635],[-0.022590,-0.051145,0.998436]] 2025-10-29T00:47:47.255Z,1761698867.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:47:47.259Z,1761698867.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:47.285Z,1761698867.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:47:47.285Z,1761698867.285 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:47:47.537Z,1761698867.537 [DAT](INFO): DAT read: user:581> 2025-10-29T00:47:47.538Z,1761698867.538 [DAT](INFO): DAT read: Tx time:00:47:47.2729 2025-10-29T00:47:47.538Z,1761698867.538 [DAT](INFO): Ping request sent. 2025-10-29T00:47:47.538Z,1761698867.538 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:47:47.538Z,1761698867.538 [DAT](INFO): publishing transmit ping time 2025-10-29T00:47:47.539Z,1761698867.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:47:47.541Z,1761698867.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991400,-0.129884,0.016012],[0.128868,0.990224,0.053385],[-0.022789,-0.050862,0.998446]] 2025-10-29T00:47:47.744Z,1761698867.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:47.789Z,1761698867.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250994 2025-10-29T00:47:48.041Z,1761698868.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502864 2025-10-29T00:47:48.123Z,1761698868.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991362,-0.130133,0.016325],[0.129111,0.990216,0.052943],[-0.023055,-0.050378,0.998464]] 2025-10-29T00:47:48.223Z,1761698868.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:48.293Z,1761698868.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754888 2025-10-29T00:47:48.522Z,1761698868.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991335,-0.130315,0.016492],[0.129296,0.990217,0.052468],[-0.023168,-0.049881,0.998486]] 2025-10-29T00:47:48.545Z,1761698868.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006832 2025-10-29T00:47:48.578Z,1761698868.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:48.798Z,1761698868.798 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259147 2025-10-29T00:47:48.926Z,1761698868.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991377,-0.130000,0.016477],[0.128983,0.990262,0.052396],[-0.023128,-0.049819,0.998490]] 2025-10-29T00:47:48.970Z,1761698868.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:49.049Z,1761698869.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510767 2025-10-29T00:47:49.301Z,1761698869.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762755 2025-10-29T00:47:49.354Z,1761698869.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991451,-0.129437,0.016486],[0.128414,0.990322,0.052660],[-0.023142,-0.050092,0.998476]] 2025-10-29T00:47:49.404Z,1761698869.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:49.553Z,1761698869.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877 2025-10-29T00:47:49.773Z,1761698869.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991483,-0.129174,0.016595],[0.128138,0.990339,0.052994],[-0.023281,-0.050416,0.998457]] 2025-10-29T00:47:49.805Z,1761698869.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266897 2025-10-29T00:47:49.824Z,1761698869.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:50.057Z,1761698870.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518816 2025-10-29T00:47:50.139Z,1761698870.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991489,-0.129142,0.016482],[0.128107,0.990333,0.053198],[-0.023193,-0.050634,0.998448]] 2025-10-29T00:47:50.165Z,1761698870.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:50.309Z,1761698870.309 [DAT](INFO): DAT read: Rx Time:00:47:49.7128 2025-10-29T00:47:50.309Z,1761698870.309 [DAT](INFO): Rx dataTimestamp_ set to:1761698870.309168 2025-10-29T00:47:50.310Z,1761698870.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772291 2025-10-29T00:47:50.542Z,1761698870.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991455,-0.129419,0.016352],[0.128391,0.990297,0.053182],[-0.023077,-0.050628,0.998451]] 2025-10-29T00:47:50.561Z,1761698870.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022932 2025-10-29T00:47:50.579Z,1761698870.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:50.813Z,1761698870.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274802 2025-10-29T00:47:50.958Z,1761698870.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991383,-0.129989,0.016192],[0.128974,0.990235,0.052918],[-0.022913,-0.050374,0.998468]] 2025-10-29T00:47:51.016Z,1761698871.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.68 m. 2025-10-29T00:47:51.077Z,1761698871.077 [DAT](INFO): DAT read: 00:47:49.7128 LVL= 32752, 26529, 32754, 32755, AGC= 67, IDX= 507,-0.19,-2.954,-1.346, 2.893,-2.394, PHS=-0.458, 1.093,-1.040, RAW= 345.3, 4.3, CAL= 344.9, 2.1, ROT= 165.1, -2.1 2025-10-29T00:47:51.078Z,1761698871.078 [DAT](INFO): got valid direction response: 00:47:49.7128 LVL= 32752, 26529, 32754, 32755, AGC= 67, IDX= 507,-0.19,-2.954,-1.346, 2.893,-2.394, PHS=-0.458, 1.093,-1.040, RAW= 345.3, 4.3, CAL= 344.9, 2.1, ROT= 165.1, -2.1 2025-10-29T00:47:51.079Z,1761698871.079 [DAT](INFO): DAT read: Bearing 339.3, 16.0 (Local) 2025-10-29T00:47:51.079Z,1761698871.079 [DAT](INFO): Local bearing/azimuth received: Bearing 339.3, 16.0 (Local) 2025-10-29T00:47:51.086Z,1761698871.086 [DAT](INFO): DAT read: Range 11 to 50 : 26.8 m (Round-trip 35.8 ms) speed -0.1 m/s 2025-10-29T00:47:51.086Z,1761698871.086 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:47:51.087Z,1761698871.087 [DAT](INFO): direction in FSK: [-0.965727,0.256960,0.036644] 2025-10-29T00:47:51.096Z,1761698871.096 [DAT](INFO): publishing direction and range info 2025-10-29T00:47:51.351Z,1761698871.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991331,-0.130416,0.015944],[0.129419,0.990191,0.052649],[-0.022654,-0.050129,0.998486]] 2025-10-29T00:47:51.393Z,1761698871.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.799999 m, deltaT: 57.980232 s, deltaX: 6.000000 m, approachRate: 0.103484 m/s, rangeRepo size: 4 2025-10-29T00:47:51.395Z,1761698871.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.647020 m, bearing: 172.442465 deg, lat: 36.779288 deg, lon: -121.859546 deg, deltaT: 57.980232 s, deltaX: 5.966928 m, approachRate: 0.102913 m/s, posRepo size: 4 2025-10-29T00:47:51.396Z,1761698871.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:51.804Z,1761698871.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991227,-0.131257,0.015521],[0.130288,0.990094,0.052339],[-0.022237,-0.049858,0.998509]] 2025-10-29T00:47:51.843Z,1761698871.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:52.198Z,1761698872.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:52.609Z,1761698872.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991206,-0.131473,0.015007],[0.130516,0.990033,0.052909],[-0.021814,-0.050486,0.998487]] 2025-10-29T00:47:52.627Z,1761698872.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:53.010Z,1761698873.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991147,-0.131957,0.014659],[0.131018,0.989966,0.052922],[-0.021495,-0.050533,0.998491]] 2025-10-29T00:47:53.067Z,1761698873.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:53.416Z,1761698873.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991093,-0.132375,0.014515],[0.131443,0.989911,0.052899],[-0.021371,-0.050520,0.998494]] 2025-10-29T00:47:53.434Z,1761698873.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:53.838Z,1761698873.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990969,-0.133326,0.014273],[0.132413,0.989803,0.052504],[-0.021128,-0.050139,0.998519]] 2025-10-29T00:47:53.874Z,1761698873.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:54.230Z,1761698874.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990883,-0.133994,0.014032],[0.133099,0.989728,0.052180],[-0.020879,-0.049837,0.998539]] 2025-10-29T00:47:54.263Z,1761698874.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:54.627Z,1761698874.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990825,-0.134437,0.013892],[0.133551,0.989674,0.052054],[-0.020746,-0.049721,0.998548]] 2025-10-29T00:47:54.645Z,1761698874.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:55.031Z,1761698875.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990787,-0.134734,0.013730],[0.133854,0.989628,0.052142],[-0.020613,-0.049824,0.998545]] 2025-10-29T00:47:55.069Z,1761698875.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:55.435Z,1761698875.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990810,-0.134573,0.013650],[0.133689,0.989628,0.052567],[-0.020582,-0.050259,0.998524]] 2025-10-29T00:47:55.459Z,1761698875.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:55.864Z,1761698875.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990767,-0.134884,0.013686],[0.133992,0.989574,0.052819],[-0.020668,-0.050498,0.998510]] 2025-10-29T00:47:55.901Z,1761698875.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:56.274Z,1761698876.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990729,-0.135165,0.013627],[0.134270,0.989521,0.053103],[-0.020662,-0.050781,0.998496]] 2025-10-29T00:47:56.293Z,1761698876.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:56.660Z,1761698876.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990618,-0.135976,0.013684],[0.135079,0.989415,0.053031],[-0.020750,-0.050685,0.998499]] 2025-10-29T00:47:56.679Z,1761698876.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:57.061Z,1761698877.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990526,-0.136646,0.013632],[0.135752,0.989328,0.052933],[-0.020720,-0.050581,0.998505]] 2025-10-29T00:47:57.097Z,1761698877.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:57.463Z,1761698877.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990381,-0.137674,0.013808],[0.136778,0.989207,0.052556],[-0.020895,-0.050161,0.998523]] 2025-10-29T00:47:57.488Z,1761698877.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:57.894Z,1761698877.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990295,-0.138294,0.013836],[0.137399,0.989127,0.052427],[-0.020936,-0.050017,0.998529]] 2025-10-29T00:47:57.930Z,1761698877.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:58.272Z,1761698878.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990245,-0.138639,0.013941],[0.137736,0.989075,0.052522],[-0.021070,-0.050089,0.998523]] 2025-10-29T00:47:58.290Z,1761698878.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:58.683Z,1761698878.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990223,-0.138764,0.014284],[0.137836,0.989043,0.052864],[-0.021463,-0.050378,0.998500]] 2025-10-29T00:47:58.702Z,1761698878.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:59.081Z,1761698879.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990215,-0.138803,0.014398],[0.137863,0.989024,0.053158],[-0.021618,-0.050653,0.998482]] 2025-10-29T00:47:59.118Z,1761698879.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:59.483Z,1761698879.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990231,-0.138679,0.014521],[0.137726,0.989025,0.053488],[-0.021780,-0.050965,0.998463]] 2025-10-29T00:47:59.511Z,1761698879.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:47:59.921Z,1761698879.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990185,-0.138990,0.014652],[0.138031,0.988985,0.053443],[-0.021919,-0.050896,0.998463]] 2025-10-29T00:47:59.959Z,1761698879.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:00.292Z,1761698880.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990164,-0.139128,0.014755],[0.138165,0.988969,0.053386],[-0.022020,-0.050823,0.998465]] 2025-10-29T00:48:00.317Z,1761698880.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:00.695Z,1761698880.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990096,-0.139589,0.014960],[0.138620,0.988918,0.053158],[-0.022214,-0.050558,0.998474]] 2025-10-29T00:48:00.745Z,1761698880.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:00.845Z,1761698880.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:48:01.098Z,1761698881.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990104,-0.139517,0.015116],[0.138540,0.988930,0.053148],[-0.022364,-0.050528,0.998472]] 2025-10-29T00:48:01.206Z,1761698881.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:01.503Z,1761698881.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990161,-0.139108,0.015189],[0.138124,0.988978,0.053332],[-0.022441,-0.050709,0.998461]] 2025-10-29T00:48:01.606Z,1761698881.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:01.848Z,1761698881.848 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:48:01.950Z,1761698881.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990238,-0.138551,0.015254],[0.137558,0.989043,0.053599],[-0.022513,-0.050977,0.998446]] 2025-10-29T00:48:02.055Z,1761698882.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:02.313Z,1761698882.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990321,-0.137939,0.015410],[0.136935,0.989121,0.053747],[-0.022656,-0.051116,0.998436]] 2025-10-29T00:48:02.385Z,1761698882.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:02.730Z,1761698882.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990403,-0.137329,0.015596],[0.136316,0.989204,0.053799],[-0.022816,-0.051156,0.998430]] 2025-10-29T00:48:02.792Z,1761698882.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:03.119Z,1761698883.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990443,-0.137028,0.015680],[0.136017,0.989259,0.053538],[-0.022848,-0.050894,0.998443]] 2025-10-29T00:48:03.167Z,1761698883.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:03.522Z,1761698883.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990483,-0.136729,0.015762],[0.135722,0.989317,0.053220],[-0.022870,-0.050574,0.998458]] 2025-10-29T00:48:03.541Z,1761698883.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:04.019Z,1761698884.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:04.330Z,1761698884.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990604,-0.135803,0.016145],[0.134785,0.989464,0.052854],[-0.023153,-0.050181,0.998472]] 2025-10-29T00:48:04.359Z,1761698884.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:04.739Z,1761698884.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990691,-0.135144,0.016332],[0.134116,0.989550,0.052944],[-0.023316,-0.050261,0.998464]] 2025-10-29T00:48:04.783Z,1761698884.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:05.217Z,1761698885.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:05.543Z,1761698885.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990785,-0.134388,0.016855],[0.133327,0.989641,0.053236],[-0.023834,-0.050498,0.998440]] 2025-10-29T00:48:05.574Z,1761698885.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:05.991Z,1761698885.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990765,-0.134519,0.017005],[0.133453,0.989630,0.053129],[-0.023975,-0.050369,0.998443]] 2025-10-29T00:48:06.043Z,1761698886.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:06.351Z,1761698886.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990696,-0.134978,0.017395],[0.133896,0.989578,0.052980],[-0.024365,-0.050157,0.998444]] 2025-10-29T00:48:06.376Z,1761698886.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:06.773Z,1761698886.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990606,-0.135591,0.017738],[0.134496,0.989507,0.052789],[-0.024710,-0.049907,0.998448]] 2025-10-29T00:48:06.792Z,1761698886.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:07.159Z,1761698887.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990484,-0.136444,0.018034],[0.135339,0.989405,0.052550],[-0.025013,-0.049609,0.998455]] 2025-10-29T00:48:07.209Z,1761698887.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:07.562Z,1761698887.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990415,-0.136909,0.018302],[0.135788,0.989340,0.052605],[-0.025309,-0.049616,0.998448]] 2025-10-29T00:48:07.581Z,1761698887.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:07.982Z,1761698887.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990355,-0.137306,0.018570],[0.136165,0.989274,0.052870],[-0.025630,-0.049832,0.998429]] 2025-10-29T00:48:08.054Z,1761698888.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:08.372Z,1761698888.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990267,-0.137913,0.018757],[0.136756,0.989181,0.053101],[-0.025878,-0.050019,0.998413]] 2025-10-29T00:48:08.414Z,1761698888.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:08.794Z,1761698888.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990169,-0.138577,0.019000],[0.137402,0.989080,0.053303],[-0.026179,-0.050169,0.998398]] 2025-10-29T00:48:08.812Z,1761698888.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:09.193Z,1761698889.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990027,-0.139563,0.019213],[0.138374,0.988940,0.053390],[-0.026452,-0.050199,0.998389]] 2025-10-29T00:48:09.266Z,1761698889.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:09.595Z,1761698889.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989840,-0.140847,0.019485],[0.139643,0.988763,0.053356],[-0.026781,-0.050093,0.998385]] 2025-10-29T00:48:09.614Z,1761698889.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:10.015Z,1761698890.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989714,-0.141714,0.019601],[0.140501,0.988636,0.053460],[-0.026955,-0.050157,0.998378]] 2025-10-29T00:48:10.086Z,1761698890.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:10.403Z,1761698890.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989595,-0.142524,0.019707],[0.141302,0.988517,0.053552],[-0.027113,-0.050210,0.998371]] 2025-10-29T00:48:10.455Z,1761698890.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:10.820Z,1761698890.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989496,-0.143195,0.019814],[0.141964,0.988416,0.053667],[-0.027269,-0.050291,0.998362]] 2025-10-29T00:48:10.850Z,1761698890.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:11.227Z,1761698891.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989414,-0.143746,0.019945],[0.142503,0.988330,0.053818],[-0.027448,-0.050406,0.998352]] 2025-10-29T00:48:11.315Z,1761698891.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:11.627Z,1761698891.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989412,-0.143766,0.019894],[0.142518,0.988312,0.054104],[-0.027440,-0.050696,0.998337]] 2025-10-29T00:48:11.645Z,1761698891.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:12.053Z,1761698892.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989400,-0.143856,0.019811],[0.142611,0.988295,0.054180],[-0.027373,-0.050781,0.998335]] 2025-10-29T00:48:12.111Z,1761698892.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:12.435Z,1761698892.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989452,-0.143487,0.019926],[0.142232,0.988342,0.054309],[-0.027486,-0.050902,0.998325]] 2025-10-29T00:48:12.491Z,1761698892.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:12.838Z,1761698892.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989502,-0.143126,0.019998],[0.141868,0.988395,0.054300],[-0.027537,-0.050893,0.998324]] 2025-10-29T00:48:12.876Z,1761698892.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:13.256Z,1761698893.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989552,-0.142779,0.020040],[0.141525,0.988454,0.054124],[-0.027536,-0.050722,0.998333]] 2025-10-29T00:48:13.307Z,1761698893.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:13.655Z,1761698893.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989632,-0.142202,0.020172],[0.140944,0.988541,0.054040],[-0.027626,-0.050637,0.998335]] 2025-10-29T00:48:13.673Z,1761698893.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:14.077Z,1761698894.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989758,-0.141316,0.020227],[0.140056,0.988666,0.054069],[-0.027639,-0.050683,0.998332]] 2025-10-29T00:48:14.238Z,1761698894.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:14.468Z,1761698894.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989868,-0.140528,0.020318],[0.139264,0.988779,0.054042],[-0.027684,-0.050665,0.998332]] 2025-10-29T00:48:14.519Z,1761698894.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:14.871Z,1761698894.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989970,-0.139788,0.020474],[0.138520,0.988888,0.053965],[-0.027790,-0.050587,0.998333]] 2025-10-29T00:48:14.921Z,1761698894.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:15.284Z,1761698895.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990015,-0.139426,0.020748],[0.138153,0.988956,0.053656],[-0.028000,-0.050254,0.998344]] 2025-10-29T00:48:15.345Z,1761698895.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:15.695Z,1761698895.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990090,-0.138851,0.021012],[0.137570,0.989048,0.053472],[-0.028207,-0.050052,0.998348]] 2025-10-29T00:48:15.721Z,1761698895.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:16.099Z,1761698896.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990177,-0.138164,0.021439],[0.136863,0.989147,0.053454],[-0.028592,-0.049995,0.998340]] 2025-10-29T00:48:16.285Z,1761698896.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:16.513Z,1761698896.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990259,-0.137498,0.021923],[0.136171,0.989237,0.053560],[-0.029051,-0.050053,0.998324]] 2025-10-29T00:48:16.549Z,1761698896.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:16.914Z,1761698896.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990331,-0.136899,0.022424],[0.135542,0.989315,0.053700],[-0.029536,-0.050142,0.998305]] 2025-10-29T00:48:16.959Z,1761698896.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:17.325Z,1761698897.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990350,-0.136678,0.022932],[0.135295,0.989347,0.053728],[-0.030031,-0.050107,0.998292]] 2025-10-29T00:48:17.389Z,1761698897.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:17.728Z,1761698897.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990354,-0.136545,0.023530],[0.135130,0.989367,0.053789],[-0.030624,-0.050091,0.998275]] 2025-10-29T00:48:17.760Z,1761698897.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:18.168Z,1761698898.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990298,-0.136831,0.024222],[0.135384,0.989337,0.053695],[-0.031311,-0.049894,0.998264]] 2025-10-29T00:48:18.238Z,1761698898.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:18.642Z,1761698898.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990178,-0.137429,0.025692],[0.135912,0.989268,0.053628],[-0.032786,-0.049609,0.998230]] 2025-10-29T00:48:18.660Z,1761698898.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:19.080Z,1761698899.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:19.455Z,1761698899.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990099,-0.137716,0.027167],[0.136112,0.989221,0.053990],[-0.034310,-0.049758,0.998172]] 2025-10-29T00:48:19.491Z,1761698899.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:19.850Z,1761698899.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990103,-0.137561,0.027812],[0.135911,0.989225,0.054419],[-0.034998,-0.050100,0.998131]] 2025-10-29T00:48:19.885Z,1761698899.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:20.255Z,1761698900.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990070,-0.137662,0.028475],[0.135970,0.989204,0.054659],[-0.035692,-0.050245,0.998099]] 2025-10-29T00:48:20.309Z,1761698900.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:20.666Z,1761698900.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990067,-0.137546,0.029135],[0.135811,0.989211,0.054929],[-0.036376,-0.050426,0.998065]] 2025-10-29T00:48:20.694Z,1761698900.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:21.070Z,1761698901.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990020,-0.137727,0.029855],[0.135954,0.989189,0.054974],[-0.037103,-0.050366,0.998041]] 2025-10-29T00:48:21.089Z,1761698901.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:21.471Z,1761698901.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990006,-0.137699,0.030460],[0.135893,0.989195,0.055016],[-0.037706,-0.050327,0.998021]] 2025-10-29T00:48:21.521Z,1761698901.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:21.875Z,1761698901.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990045,-0.137292,0.031027],[0.135453,0.989248,0.055153],[-0.038265,-0.050401,0.997996]] 2025-10-29T00:48:21.905Z,1761698901.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:22.285Z,1761698902.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990023,-0.137305,0.031639],[0.135440,0.989256,0.055033],[-0.038855,-0.050199,0.997983]] 2025-10-29T00:48:22.354Z,1761698902.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:22.694Z,1761698902.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990057,-0.136915,0.032258],[0.135014,0.989307,0.055164],[-0.039465,-0.050260,0.997956]] 2025-10-29T00:48:22.716Z,1761698902.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:23.087Z,1761698903.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990081,-0.136632,0.032734],[0.134707,0.989349,0.055165],[-0.039923,-0.050209,0.997941]] 2025-10-29T00:48:23.112Z,1761698903.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:23.491Z,1761698903.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990110,-0.136318,0.033161],[0.134372,0.989395,0.055155],[-0.040328,-0.050154,0.997927]] 2025-10-29T00:48:23.539Z,1761698903.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:23.895Z,1761698903.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990146,-0.135945,0.033609],[0.133975,0.989447,0.055186],[-0.040757,-0.050140,0.997910]] 2025-10-29T00:48:23.914Z,1761698903.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:24.300Z,1761698904.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990166,-0.135702,0.033990],[0.133717,0.989486,0.055115],[-0.041112,-0.050028,0.997901]] 2025-10-29T00:48:24.357Z,1761698904.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:24.709Z,1761698904.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990204,-0.135350,0.034302],[0.133348,0.989534,0.055148],[-0.041407,-0.050034,0.997889]] 2025-10-29T00:48:24.729Z,1761698904.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:25.107Z,1761698905.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990216,-0.135226,0.034428],[0.133221,0.989555,0.055075],[-0.041516,-0.049950,0.997888]] 2025-10-29T00:48:25.142Z,1761698905.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:25.510Z,1761698905.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990203,-0.135240,0.034771],[0.133220,0.989558,0.055022],[-0.041849,-0.049851,0.997880]] 2025-10-29T00:48:25.563Z,1761698905.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:25.922Z,1761698905.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990206,-0.135171,0.034949],[0.133144,0.989570,0.054988],[-0.042017,-0.049796,0.997875]] 2025-10-29T00:48:25.941Z,1761698905.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:26.322Z,1761698906.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990161,-0.135463,0.035089],[0.133435,0.989540,0.054826],[-0.042149,-0.049605,0.997879]] 2025-10-29T00:48:26.363Z,1761698906.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:26.723Z,1761698906.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990155,-0.135528,0.035010],[0.133506,0.989533,0.054775],[-0.042067,-0.049562,0.997885]] 2025-10-29T00:48:26.758Z,1761698906.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:27.127Z,1761698907.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990134,-0.135686,0.034981],[0.133667,0.989514,0.054736],[-0.042042,-0.049520,0.997888]] 2025-10-29T00:48:27.218Z,1761698907.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:27.536Z,1761698907.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990176,-0.135441,0.034753],[0.133427,0.989536,0.054911],[-0.041827,-0.049735,0.997886]] 2025-10-29T00:48:27.551Z,1761698907.551 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504364758,35.0 0.0,1492.2, 0 2025-10-29T00:48:27.566Z,1761698907.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:27.935Z,1761698907.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990203,-0.135261,0.034681],[0.133238,0.989546,0.055196],[-0.041784,-0.050035,0.997873]] 2025-10-29T00:48:27.967Z,1761698907.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:28.347Z,1761698908.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990198,-0.135330,0.034555],[0.133308,0.989529,0.055328],[-0.041680,-0.050179,0.997870]] 2025-10-29T00:48:28.413Z,1761698908.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:28.745Z,1761698908.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990200,-0.135393,0.034255],[0.133384,0.989516,0.055369],[-0.041392,-0.050257,0.997878]] 2025-10-29T00:48:28.771Z,1761698908.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:29.149Z,1761698909.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990219,-0.135290,0.034103],[0.133286,0.989526,0.055435],[-0.041246,-0.050348,0.997880]] 2025-10-29T00:48:29.184Z,1761698909.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:29.551Z,1761698909.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990250,-0.135156,0.033736],[0.133171,0.989542,0.055418],[-0.040874,-0.050385,0.997893]] 2025-10-29T00:48:29.600Z,1761698909.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:29.955Z,1761698909.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990285,-0.134949,0.033541],[0.132976,0.989570,0.055387],[-0.040666,-0.050388,0.997901]] 2025-10-29T00:48:29.974Z,1761698909.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:30.374Z,1761698910.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990377,-0.134356,0.033196],[0.132400,0.989647,0.055392],[-0.040295,-0.050464,0.997913]] 2025-10-29T00:48:30.484Z,1761698910.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:30.774Z,1761698910.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990451,-0.133906,0.032808],[0.131975,0.989711,0.055274],[-0.039872,-0.050416,0.997932]] 2025-10-29T00:48:30.801Z,1761698910.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:31.179Z,1761698911.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990570,-0.133079,0.032568],[0.131159,0.989817,0.055309],[-0.039597,-0.050516,0.997938]] 2025-10-29T00:48:31.220Z,1761698911.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:31.570Z,1761698911.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990705,-0.132147,0.032270],[0.130244,0.989940,0.055273],[-0.039250,-0.050557,0.997950]] 2025-10-29T00:48:31.629Z,1761698911.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:31.992Z,1761698911.992 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:48:32.027Z,1761698912.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:32.406Z,1761698912.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991075,-0.129478,0.031701],[0.127615,0.990295,0.055041],[-0.038520,-0.050505,0.997981]] 2025-10-29T00:48:32.454Z,1761698912.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:32.785Z,1761698912.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991272,-0.128002,0.031554],[0.126163,0.990503,0.054647],[-0.038250,-0.050189,0.998007]] 2025-10-29T00:48:32.810Z,1761698912.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:32.996Z,1761698912.996 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:48:33.191Z,1761698913.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991494,-0.126316,0.031359],[0.124499,0.990728,0.054379],[-0.037938,-0.050013,0.998028]] 2025-10-29T00:48:33.209Z,1761698913.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:33.592Z,1761698913.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991711,-0.124662,0.031109],[0.122866,0.990943,0.054176],[-0.037581,-0.049905,0.998047]] 2025-10-29T00:48:33.652Z,1761698913.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:33.996Z,1761698913.996 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991912,-0.123140,0.030766],[0.121367,0.991136,0.054027],[-0.037147,-0.049856,0.998065]] 2025-10-29T00:48:34.015Z,1761698914.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:34.434Z,1761698914.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992064,-0.121998,0.030435],[0.120247,0.991278,0.053929],[-0.036749,-0.049841,0.998081]] 2025-10-29T00:48:34.490Z,1761698914.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:34.802Z,1761698914.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992154,-0.121315,0.030205],[0.119581,0.991366,0.053786],[-0.036469,-0.049752,0.998096]] 2025-10-29T00:48:34.821Z,1761698914.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:35.208Z,1761698915.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992181,-0.121158,0.029965],[0.119445,0.991396,0.053542],[-0.036194,-0.049544,0.998116]] 2025-10-29T00:48:35.227Z,1761698915.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:35.610Z,1761698915.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992201,-0.121093,0.029569],[0.119404,0.991407,0.053425],[-0.035784,-0.049478,0.998134]] 2025-10-29T00:48:35.662Z,1761698915.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:36.016Z,1761698916.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992167,-0.121439,0.029265],[0.119765,0.991364,0.053412],[-0.035499,-0.049488,0.998144]] 2025-10-29T00:48:36.046Z,1761698916.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:36.465Z,1761698916.465 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992104,-0.122031,0.028954],[0.120370,0.991289,0.053459],[-0.035226,-0.049552,0.998150]] 2025-10-29T00:48:36.526Z,1761698916.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:36.824Z,1761698916.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992041,-0.122642,0.028523],[0.120992,0.991196,0.053776],[-0.034867,-0.049897,0.998146]] 2025-10-29T00:48:36.842Z,1761698916.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:37.227Z,1761698917.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991885,-0.124023,0.027967],[0.122397,0.991020,0.053834],[-0.034393,-0.049974,0.998158]] 2025-10-29T00:48:37.251Z,1761698917.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:37.631Z,1761698917.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991758,-0.125139,0.027497],[0.123530,0.990870,0.054010],[-0.034004,-0.050169,0.998162]] 2025-10-29T00:48:37.688Z,1761698917.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:38.035Z,1761698918.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991613,-0.126374,0.027074],[0.124786,0.990716,0.053953],[-0.033641,-0.050122,0.998176]] 2025-10-29T00:48:38.054Z,1761698918.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:38.494Z,1761698918.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991504,-0.127311,0.026688],[0.125742,0.990596,0.053937],[-0.033304,-0.050123,0.998188]] 2025-10-29T00:48:38.550Z,1761698918.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:38.843Z,1761698918.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991400,-0.128174,0.026408],[0.126623,0.990490,0.053813],[-0.033054,-0.050006,0.998202]] 2025-10-29T00:48:38.867Z,1761698918.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:39.247Z,1761698919.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991415,-0.128132,0.026038],[0.126594,0.990485,0.053970],[-0.032706,-0.050210,0.998203]] 2025-10-29T00:48:39.281Z,1761698919.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:39.658Z,1761698919.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991491,-0.127592,0.025799],[0.126060,0.990542,0.054180],[-0.032467,-0.050467,0.998198]] 2025-10-29T00:48:39.707Z,1761698919.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:40.055Z,1761698920.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991545,-0.127170,0.025800],[0.125637,0.990593,0.054229],[-0.032454,-0.050529,0.998195]] 2025-10-29T00:48:40.129Z,1761698920.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:40.520Z,1761698920.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991691,-0.126038,0.025758],[0.124504,0.990730,0.054341],[-0.032368,-0.050683,0.998190]] 2025-10-29T00:48:40.593Z,1761698920.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:40.863Z,1761698920.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991875,-0.124539,0.025956],[0.122997,0.990918,0.054336],[-0.032487,-0.050702,0.998185]] 2025-10-29T00:48:40.900Z,1761698920.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:41.266Z,1761698921.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992099,-0.122693,0.026196],[0.121154,0.991167,0.053937],[-0.032582,-0.050337,0.998201]] 2025-10-29T00:48:41.309Z,1761698921.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:41.675Z,1761698921.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992349,-0.120629,0.026302],[0.119091,0.991425,0.053792],[-0.032565,-0.050248,0.998206]] 2025-10-29T00:48:41.729Z,1761698921.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:42.076Z,1761698922.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992580,-0.118636,0.026672],[0.117088,0.991676,0.053556],[-0.032803,-0.050036,0.998209]] 2025-10-29T00:48:42.094Z,1761698922.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:42.525Z,1761698922.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992845,-0.116312,0.027018],[0.114751,0.991952,0.053508],[-0.033024,-0.050025,0.998202]] 2025-10-29T00:48:42.591Z,1761698922.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:42.929Z,1761698922.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:43.286Z,1761698923.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993288,-0.112233,0.027986],[0.110625,0.992417,0.053587],[-0.033788,-0.050132,0.998171]] 2025-10-29T00:48:43.316Z,1761698923.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:43.690Z,1761698923.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993413,-0.110996,0.028457],[0.109370,0.992563,0.053441],[-0.034177,-0.049977,0.998165]] 2025-10-29T00:48:43.742Z,1761698923.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:44.095Z,1761698924.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993538,-0.109717,0.029060],[0.108060,0.992704,0.053497],[-0.034717,-0.050011,0.998145]] 2025-10-29T00:48:44.114Z,1761698924.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:44.510Z,1761698924.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993617,-0.108851,0.029615],[0.107169,0.992803,0.053460],[-0.035221,-0.049945,0.998131]] 2025-10-29T00:48:44.597Z,1761698924.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:44.902Z,1761698924.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993656,-0.108338,0.030181],[0.106629,0.992864,0.053405],[-0.035751,-0.049848,0.998117]] 2025-10-29T00:48:45.046Z,1761698925.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:45.353Z,1761698925.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:45.710Z,1761698925.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993682,-0.107740,0.031425],[0.105967,0.992930,0.053489],[-0.036966,-0.049821,0.998074]] 2025-10-29T00:48:45.785Z,1761698925.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:46.115Z,1761698926.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993670,-0.107679,0.032007],[0.105871,0.992933,0.053622],[-0.037555,-0.049894,0.998048]] 2025-10-29T00:48:46.179Z,1761698926.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:46.531Z,1761698926.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993635,-0.107798,0.032691],[0.105951,0.992916,0.053777],[-0.038256,-0.049971,0.998018]] 2025-10-29T00:48:46.618Z,1761698926.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:46.923Z,1761698926.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993592,-0.108063,0.033133],[0.106191,0.992886,0.053855],[-0.038717,-0.049991,0.997999]] 2025-10-29T00:48:46.966Z,1761698926.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:47.327Z,1761698927.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993575,-0.108071,0.033602],[0.106163,0.992873,0.054159],[-0.039215,-0.050244,0.997967]] 2025-10-29T00:48:47.345Z,1761698927.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:48:47.347Z,1761698927.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:47.549Z,1761698927.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:48:47.549Z,1761698927.549 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:48:47.731Z,1761698927.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993502,-0.108612,0.034010],[0.106683,0.992817,0.054151],[-0.039647,-0.050171,0.997953]] 2025-10-29T00:48:47.796Z,1761698927.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:47.801Z,1761698927.801 [DAT](INFO): DAT read: user:582> 2025-10-29T00:48:47.802Z,1761698927.802 [DAT](INFO): DAT read: Tx time:00:48:47.5226 2025-10-29T00:48:47.802Z,1761698927.802 [DAT](INFO): Ping request sent. 2025-10-29T00:48:47.802Z,1761698927.802 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:48:47.802Z,1761698927.802 [DAT](INFO): publishing transmit ping time 2025-10-29T00:48:47.803Z,1761698927.803 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-29T00:48:48.053Z,1761698928.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250724 2025-10-29T00:48:48.141Z,1761698928.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993395,-0.109442,0.034489],[0.107493,0.992735,0.054055],[-0.040154,-0.049990,0.997942]] 2025-10-29T00:48:48.184Z,1761698928.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:48.305Z,1761698928.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502627 2025-10-29T00:48:48.547Z,1761698928.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993323,-0.109980,0.034844],[0.108014,0.992681,0.054023],[-0.040530,-0.049899,0.997932]] 2025-10-29T00:48:48.559Z,1761698928.559 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756933 2025-10-29T00:48:48.615Z,1761698928.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:48.809Z,1761698928.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006724 2025-10-29T00:48:48.943Z,1761698928.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993287,-0.110150,0.035319],[0.108153,0.992657,0.054170],[-0.041027,-0.049987,0.997907]] 2025-10-29T00:48:48.995Z,1761698928.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:49.061Z,1761698929.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258732 2025-10-29T00:48:49.313Z,1761698929.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510779 2025-10-29T00:48:49.352Z,1761698929.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993298,-0.109952,0.035625],[0.107930,0.992668,0.054424],[-0.041348,-0.050215,0.997882]] 2025-10-29T00:48:49.370Z,1761698929.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:49.565Z,1761698929.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762772 2025-10-29T00:48:49.757Z,1761698929.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993283,-0.110023,0.035820],[0.107990,0.992659,0.054464],[-0.041549,-0.050230,0.997873]] 2025-10-29T00:48:49.799Z,1761698929.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:49.817Z,1761698929.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014696 2025-10-29T00:48:50.069Z,1761698930.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266791 2025-10-29T00:48:50.196Z,1761698930.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:50.321Z,1761698930.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518699 2025-10-29T00:48:50.562Z,1761698930.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993364,-0.109190,0.036144],[0.107125,0.992731,0.054860],[-0.041871,-0.050624,0.997840]] 2025-10-29T00:48:50.573Z,1761698930.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770859 2025-10-29T00:48:50.621Z,1761698930.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:50.825Z,1761698930.825 [DAT](INFO): DAT read: Rx Time:00:48:49.9682 2025-10-29T00:48:50.825Z,1761698930.825 [DAT](INFO): Rx dataTimestamp_ set to:1761698930.825103 2025-10-29T00:48:50.826Z,1761698930.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023797 2025-10-29T00:48:51.025Z,1761698931.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.65 m. 2025-10-29T00:48:51.078Z,1761698931.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275631 2025-10-29T00:48:51.334Z,1761698931.334 [DAT](INFO): DAT read: 00:48:49.9682 LVL= 29088, 29425, 32754, 32755, AGC= 68, IDX= 485,-0.32,-2.621,-1.065,-3.127,-2.101, PHS=-0.418, 1.080,-1.070, RAW= 347.2, 4.3, CAL= 346.9, 2.1, ROT= 163.1, -2.1 2025-10-29T00:48:51.335Z,1761698931.335 [DAT](INFO): got valid direction response: 00:48:49.9682 LVL= 29088, 29425, 32754, 32755, AGC= 68, IDX= 485,-0.32,-2.621,-1.065,-3.127,-2.101, PHS=-0.418, 1.080,-1.070, RAW= 347.2, 4.3, CAL= 346.9, 2.1, ROT= 163.1, -2.1 2025-10-29T00:48:51.336Z,1761698931.336 [DAT](INFO): DAT read: Bearing 338.2, 19.3 (Local) 2025-10-29T00:48:51.337Z,1761698931.337 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, 19.3 (Local) 2025-10-29T00:48:51.338Z,1761698931.338 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (Round-trip 41.5 ms) speed -0.1 m/s 2025-10-29T00:48:51.339Z,1761698931.339 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:48:51.340Z,1761698931.340 [DAT](INFO): direction in FSK: [-0.956171,0.290507,0.036644] 2025-10-29T00:48:51.340Z,1761698931.340 [DAT](INFO): publishing direction and range info 2025-10-29T00:48:51.367Z,1761698931.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993381,-0.109006,0.036233],[0.106955,0.992774,0.054414],[-0.041902,-0.050179,0.997861]] 2025-10-29T00:48:51.438Z,1761698931.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 60.263166 s, deltaX: 4.300001 m, approachRate: 0.071354 m/s, rangeRepo size: 4 2025-10-29T00:48:51.449Z,1761698931.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.919340 m, bearing: 169.134877 deg, lat: 36.779287 deg, lon: -121.859547 deg, deltaT: 60.263166 s, deltaX: 4.272320 m, approachRate: 0.070894 m/s, posRepo size: 4 2025-10-29T00:48:51.449Z,1761698931.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:51.777Z,1761698931.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993339,-0.109392,0.036222],[0.107364,0.992760,0.053847],[-0.041851,-0.049600,0.997892]] 2025-10-29T00:48:51.821Z,1761698931.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:52.176Z,1761698932.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993358,-0.109255,0.036111],[0.107246,0.992789,0.053551],[-0.041701,-0.049322,0.997912]] 2025-10-29T00:48:52.194Z,1761698932.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:52.595Z,1761698932.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993392,-0.109022,0.035862],[0.107032,0.992821,0.053386],[-0.041425,-0.049194,0.997930]] 2025-10-29T00:48:52.615Z,1761698932.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:53.034Z,1761698933.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:53.386Z,1761698933.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993515,-0.108071,0.035328],[0.106091,0.992899,0.053808],[-0.040893,-0.049711,0.997926]] 2025-10-29T00:48:53.405Z,1761698933.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:53.847Z,1761698933.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:54.196Z,1761698934.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993555,-0.107899,0.034740],[0.105932,0.992896,0.054189],[-0.040340,-0.050160,0.997926]] 2025-10-29T00:48:54.220Z,1761698934.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:54.602Z,1761698934.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993546,-0.108121,0.034296],[0.106182,0.992875,0.054078],[-0.039899,-0.050088,0.997948]] 2025-10-29T00:48:54.674Z,1761698934.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:55.063Z,1761698935.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:55.407Z,1761698935.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993455,-0.109298,0.033178],[0.107447,0.992785,0.053223],[-0.038756,-0.049309,0.998031]] 2025-10-29T00:48:55.425Z,1761698935.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:55.812Z,1761698935.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993414,-0.109863,0.032547],[0.108055,0.992737,0.052885],[-0.038120,-0.049020,0.998070]] 2025-10-29T00:48:55.854Z,1761698935.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:56.215Z,1761698936.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993390,-0.110237,0.031996],[0.108460,0.992698,0.052787],[-0.037581,-0.048968,0.998093]] 2025-10-29T00:48:56.244Z,1761698936.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:56.624Z,1761698936.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993431,-0.110055,0.031351],[0.108301,0.992703,0.053027],[-0.036958,-0.049284,0.998101]] 2025-10-29T00:48:56.670Z,1761698936.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:57.024Z,1761698937.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993451,-0.110073,0.030631],[0.108347,0.992687,0.053241],[-0.036268,-0.049574,0.998112]] 2025-10-29T00:48:57.087Z,1761698937.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:57.428Z,1761698937.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993458,-0.110186,0.030014],[0.108485,0.992663,0.053402],[-0.035678,-0.049796,0.998122]] 2025-10-29T00:48:57.447Z,1761698937.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:57.831Z,1761698937.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993445,-0.110447,0.029460],[0.108772,0.992631,0.053414],[-0.035142,-0.049859,0.998138]] 2025-10-29T00:48:57.879Z,1761698937.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:58.235Z,1761698938.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993393,-0.111050,0.028946],[0.109412,0.992578,0.053083],[-0.034626,-0.049566,0.998170]] 2025-10-29T00:48:58.271Z,1761698938.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:58.664Z,1761698938.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993349,-0.111715,0.027885],[0.110153,0.992534,0.052368],[-0.033527,-0.048948,0.998238]] 2025-10-29T00:48:58.691Z,1761698938.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:59.171Z,1761698939.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:59.446Z,1761698939.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993318,-0.112087,0.027492],[0.110550,0.992499,0.052203],[-0.033137,-0.048815,0.998258]] 2025-10-29T00:48:59.491Z,1761698939.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:48:59.854Z,1761698939.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993319,-0.112186,0.027055],[0.110666,0.992480,0.052320],[-0.032721,-0.048977,0.998264]] 2025-10-29T00:48:59.917Z,1761698939.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:00.263Z,1761698940.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993252,-0.112951,0.026302],[0.111460,0.992378,0.052564],[-0.032038,-0.049278,0.998271]] 2025-10-29T00:49:00.300Z,1761698940.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:00.667Z,1761698940.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993182,-0.113637,0.025986],[0.112163,0.992302,0.052506],[-0.031752,-0.049233,0.998282]] 2025-10-29T00:49:00.701Z,1761698940.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:01.067Z,1761698941.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993090,-0.114502,0.025714],[0.113049,0.992216,0.052220],[-0.031494,-0.048953,0.998304]] 2025-10-29T00:49:01.131Z,1761698941.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:01.473Z,1761698941.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992991,-0.115409,0.025504],[0.113977,0.992129,0.051860],[-0.031288,-0.048590,0.998329]] 2025-10-29T00:49:01.492Z,1761698941.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:01.874Z,1761698941.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992942,-0.115880,0.025270],[0.114462,0.992079,0.051754],[-0.031067,-0.048497,0.998340]] 2025-10-29T00:49:01.911Z,1761698941.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:02.275Z,1761698942.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992845,-0.116757,0.025013],[0.115354,0.991981,0.051650],[-0.030843,-0.048396,0.998352]] 2025-10-29T00:49:02.326Z,1761698942.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:02.679Z,1761698942.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992774,-0.117445,0.024614],[0.116057,0.991892,0.051776],[-0.030495,-0.048546,0.998355]] 2025-10-29T00:49:02.717Z,1761698942.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:03.083Z,1761698943.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992718,-0.117992,0.024254],[0.116612,0.991813,0.052041],[-0.030196,-0.048834,0.998350]] 2025-10-29T00:49:03.125Z,1761698943.125 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:49:03.164Z,1761698943.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:03.489Z,1761698943.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992617,-0.118914,0.023903],[0.117551,0.991702,0.052039],[-0.029893,-0.048845,0.998359]] 2025-10-29T00:49:03.512Z,1761698943.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:03.891Z,1761698943.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992572,-0.119315,0.023770],[0.117954,0.991647,0.052182],[-0.029797,-0.048991,0.998355]] 2025-10-29T00:49:03.934Z,1761698943.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:04.130Z,1761698944.130 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:49:04.295Z,1761698944.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992482,-0.120109,0.023507],[0.118766,0.991561,0.051980],[-0.029552,-0.048798,0.998371]] 2025-10-29T00:49:04.313Z,1761698944.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:04.706Z,1761698944.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992395,-0.120871,0.023294],[0.119544,0.991476,0.051805],[-0.029357,-0.048626,0.998386]] 2025-10-29T00:49:04.725Z,1761698944.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:05.109Z,1761698945.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992319,-0.121556,0.022964],[0.120248,0.991399,0.051649],[-0.029045,-0.048490,0.998401]] 2025-10-29T00:49:05.174Z,1761698945.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:05.507Z,1761698945.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992296,-0.121781,0.022759],[0.120476,0.991359,0.051887],[-0.028881,-0.048745,0.998394]] 2025-10-29T00:49:05.533Z,1761698945.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:05.918Z,1761698945.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992232,-0.122348,0.022493],[0.121055,0.991287,0.051930],[-0.028650,-0.048804,0.998397]] 2025-10-29T00:49:05.963Z,1761698945.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:06.315Z,1761698946.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992170,-0.122860,0.022471],[0.121562,0.991216,0.052084],[-0.028673,-0.048944,0.998390]] 2025-10-29T00:49:06.340Z,1761698946.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:06.731Z,1761698946.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992154,-0.123015,0.022289],[0.121720,0.991185,0.052306],[-0.028527,-0.049182,0.998382]] 2025-10-29T00:49:06.780Z,1761698946.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:07.134Z,1761698947.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992059,-0.123792,0.022239],[0.122501,0.991095,0.052196],[-0.028502,-0.049057,0.998389]] 2025-10-29T00:49:07.173Z,1761698947.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:07.527Z,1761698947.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991995,-0.124313,0.022179],[0.123026,0.991032,0.052161],[-0.028464,-0.049015,0.998392]] 2025-10-29T00:49:07.563Z,1761698947.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:07.947Z,1761698947.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991920,-0.124908,0.022181],[0.123624,0.990963,0.052046],[-0.028481,-0.048884,0.998398]] 2025-10-29T00:49:07.993Z,1761698947.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:08.339Z,1761698948.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991876,-0.125239,0.022309],[0.123946,0.990920,0.052109],[-0.028632,-0.048921,0.998392]] 2025-10-29T00:49:08.358Z,1761698948.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:08.754Z,1761698948.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991761,-0.126128,0.022396],[0.124834,0.990815,0.051984],[-0.028747,-0.048760,0.998397]] 2025-10-29T00:49:08.791Z,1761698948.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:09.160Z,1761698949.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991671,-0.126825,0.022464],[0.125526,0.990724,0.052042],[-0.028856,-0.048789,0.998392]] 2025-10-29T00:49:09.197Z,1761698949.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:09.551Z,1761698949.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991535,-0.127852,0.022632],[0.126541,0.990593,0.052084],[-0.029078,-0.048779,0.998386]] 2025-10-29T00:49:09.569Z,1761698949.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:09.977Z,1761698949.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991450,-0.128483,0.022778],[0.127158,0.990501,0.052334],[-0.029285,-0.048990,0.998370]] 2025-10-29T00:49:10.023Z,1761698950.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:10.371Z,1761698950.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991343,-0.129252,0.023068],[0.127907,0.990396,0.052491],[-0.029631,-0.049086,0.998355]] 2025-10-29T00:49:10.389Z,1761698950.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:10.787Z,1761698950.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991252,-0.129916,0.023281],[0.128558,0.990307,0.052577],[-0.029886,-0.049125,0.998345]] 2025-10-29T00:49:10.806Z,1761698950.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:11.179Z,1761698951.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991146,-0.130653,0.023636],[0.129276,0.990214,0.052576],[-0.030274,-0.049055,0.998337]] 2025-10-29T00:49:11.223Z,1761698951.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:11.583Z,1761698951.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991031,-0.131477,0.023890],[0.130090,0.990114,0.052456],[-0.030551,-0.048878,0.998337]] 2025-10-29T00:49:11.634Z,1761698951.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:12.003Z,1761698952.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991007,-0.131607,0.024162],[0.130201,0.990087,0.052677],[-0.030856,-0.049058,0.998319]] 2025-10-29T00:49:12.048Z,1761698952.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:12.392Z,1761698952.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990920,-0.132154,0.024740],[0.130715,0.990012,0.052819],[-0.031473,-0.049106,0.998298]] 2025-10-29T00:49:12.411Z,1761698952.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:12.831Z,1761698952.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:13.199Z,1761698953.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990856,-0.132534,0.025272],[0.131054,0.989944,0.053254],[-0.032076,-0.049455,0.998261]] 2025-10-29T00:49:13.244Z,1761698953.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:13.614Z,1761698953.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990835,-0.132619,0.025655],[0.131114,0.989926,0.053448],[-0.032485,-0.049595,0.998241]] 2025-10-29T00:49:13.709Z,1761698953.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:14.033Z,1761698954.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990771,-0.133006,0.026116],[0.131478,0.989880,0.053398],[-0.032954,-0.049471,0.998232]] 2025-10-29T00:49:14.121Z,1761698954.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:14.411Z,1761698954.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990733,-0.133248,0.026311],[0.131713,0.989852,0.053331],[-0.033150,-0.049372,0.998230]] 2025-10-29T00:49:14.441Z,1761698954.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:14.815Z,1761698954.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990723,-0.133265,0.026622],[0.131714,0.989851,0.053353],[-0.033461,-0.049352,0.998221]] 2025-10-29T00:49:14.861Z,1761698954.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:15.219Z,1761698955.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990743,-0.133067,0.026872],[0.131499,0.989871,0.053518],[-0.033721,-0.049489,0.998205]] 2025-10-29T00:49:15.283Z,1761698955.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:15.653Z,1761698955.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990758,-0.132919,0.027041],[0.131337,0.989884,0.053672],[-0.033901,-0.049624,0.998192]] 2025-10-29T00:49:15.684Z,1761698955.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:16.066Z,1761698956.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990770,-0.132796,0.027194],[0.131203,0.989896,0.053768],[-0.034059,-0.049704,0.998183]] 2025-10-29T00:49:16.126Z,1761698956.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:16.518Z,1761698956.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990763,-0.132822,0.027318],[0.131221,0.989891,0.053828],[-0.034192,-0.049746,0.998176]] 2025-10-29T00:49:16.537Z,1761698956.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:16.926Z,1761698956.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990784,-0.132637,0.027488],[0.131024,0.989912,0.053914],[-0.034361,-0.049816,0.998167]] 2025-10-29T00:49:16.945Z,1761698956.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:17.338Z,1761698957.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990756,-0.132816,0.027605],[0.131205,0.989900,0.053700],[-0.034458,-0.049582,0.998176]] 2025-10-29T00:49:17.382Z,1761698957.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:17.737Z,1761698957.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990759,-0.132767,0.027739],[0.131154,0.989913,0.053573],[-0.034572,-0.049439,0.998179]] 2025-10-29T00:49:17.764Z,1761698957.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:18.134Z,1761698958.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990737,-0.132930,0.027757],[0.131325,0.989905,0.053312],[-0.034564,-0.049173,0.998192]] 2025-10-29T00:49:18.179Z,1761698958.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:18.538Z,1761698958.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990739,-0.132886,0.027882],[0.131275,0.989912,0.053300],[-0.034683,-0.049146,0.998189]] 2025-10-29T00:49:18.577Z,1761698958.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:18.942Z,1761698958.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990760,-0.132722,0.027930],[0.131106,0.989930,0.053382],[-0.034734,-0.049227,0.998183]] 2025-10-29T00:49:18.960Z,1761698958.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:19.352Z,1761698959.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990813,-0.132320,0.027935],[0.130695,0.989969,0.053661],[-0.034755,-0.049517,0.998168]] 2025-10-29T00:49:19.411Z,1761698959.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:19.797Z,1761698959.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:20.185Z,1761698960.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990847,-0.132090,0.027842],[0.130462,0.989989,0.053874],[-0.034679,-0.049748,0.998160]] 2025-10-29T00:49:20.243Z,1761698960.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:20.603Z,1761698960.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990856,-0.132023,0.027831],[0.130394,0.989995,0.053917],[-0.034671,-0.049795,0.998158]] 2025-10-29T00:49:20.624Z,1761698960.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:20.991Z,1761698960.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990826,-0.132260,0.027783],[0.130638,0.989969,0.053799],[-0.034620,-0.049676,0.998165]] 2025-10-29T00:49:21.038Z,1761698961.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:21.511Z,1761698961.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:21.894Z,1761698961.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990792,-0.132601,0.027345],[0.131000,0.989921,0.053800],[-0.034203,-0.049723,0.998177]] 2025-10-29T00:49:21.913Z,1761698961.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:22.291Z,1761698962.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990799,-0.132633,0.026956],[0.131050,0.989914,0.053815],[-0.033821,-0.049787,0.998187]] 2025-10-29T00:49:22.385Z,1761698962.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:22.763Z,1761698962.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990762,-0.133006,0.026461],[0.131454,0.989869,0.053653],[-0.033329,-0.049679,0.998209]] 2025-10-29T00:49:22.798Z,1761698962.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:23.160Z,1761698963.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990795,-0.132879,0.025853],[0.131356,0.989881,0.053668],[-0.032723,-0.049778,0.998224]] 2025-10-29T00:49:23.210Z,1761698963.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:23.565Z,1761698963.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990834,-0.132705,0.025233],[0.131213,0.989900,0.053678],[-0.032101,-0.049875,0.998239]] 2025-10-29T00:49:23.595Z,1761698963.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:23.967Z,1761698963.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990914,-0.132246,0.024488],[0.130790,0.989953,0.053724],[-0.031347,-0.050033,0.998255]] 2025-10-29T00:49:23.999Z,1761698963.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:24.371Z,1761698964.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990979,-0.131910,0.023675],[0.130496,0.989993,0.053706],[-0.030522,-0.050132,0.998276]] 2025-10-29T00:49:24.421Z,1761698964.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:24.782Z,1761698964.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991040,-0.131600,0.022822],[0.130233,0.990035,0.053569],[-0.029645,-0.050117,0.998303]] 2025-10-29T00:49:24.800Z,1761698964.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:25.188Z,1761698965.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991168,-0.130808,0.021819],[0.129490,0.990129,0.053632],[-0.028619,-0.050333,0.998322]] 2025-10-29T00:49:25.225Z,1761698965.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:25.600Z,1761698965.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991315,-0.129858,0.020777],[0.128595,0.990248,0.053600],[-0.027534,-0.050463,0.998346]] 2025-10-29T00:49:25.620Z,1761698965.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:25.987Z,1761698965.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991471,-0.128841,0.019651],[0.127639,0.990378,0.053474],[-0.026351,-0.050509,0.998376]] 2025-10-29T00:49:26.005Z,1761698966.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:26.527Z,1761698966.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:26.889Z,1761698966.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991906,-0.125808,0.017188],[0.124743,0.990765,0.053135],[-0.023714,-0.050561,0.998439]] 2025-10-29T00:49:26.909Z,1761698966.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:27.292Z,1761698967.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992145,-0.124076,0.015908],[0.123084,0.990987,0.052866],[-0.022324,-0.050493,0.998475]] 2025-10-29T00:49:27.362Z,1761698967.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:27.717Z,1761698967.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992404,-0.122167,0.014512],[0.121252,0.991226,0.052617],[-0.020813,-0.050458,0.998509]] 2025-10-29T00:49:27.823Z,1761698967.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:28.237Z,1761698968.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992674,-0.120109,0.013090],[0.119273,0.991477,0.052411],[-0.019273,-0.050465,0.998540]] 2025-10-29T00:49:28.329Z,1761698968.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:28.698Z,1761698968.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993155,-0.116348,0.010290],[0.115666,0.991929,0.051952],[-0.016252,-0.050406,0.998597]] 2025-10-29T00:49:28.762Z,1761698968.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:29.161Z,1761698969.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993372,-0.114592,0.009011],[0.113980,0.992133,0.051784],[-0.014874,-0.050414,0.998618]] 2025-10-29T00:49:29.266Z,1761698969.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:29.624Z,1761698969.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993555,-0.113094,0.007591],[0.112558,0.992305,0.051583],[-0.013367,-0.050396,0.998640]] 2025-10-29T00:49:29.738Z,1761698969.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:30.103Z,1761698970.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993686,-0.112015,0.006337],[0.111546,0.992433,0.051316],[-0.012037,-0.050285,0.998662]] 2025-10-29T00:49:30.122Z,1761698970.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:30.499Z,1761698970.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993799,-0.111077,0.005031],[0.110677,0.992539,0.051150],[-0.010675,-0.050276,0.998678]] 2025-10-29T00:49:30.543Z,1761698970.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:30.933Z,1761698970.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993901,-0.110216,0.003724],[0.109884,0.992632,0.051059],[-0.009324,-0.050339,0.998689]] 2025-10-29T00:49:30.957Z,1761698970.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:31.378Z,1761698971.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:31.730Z,1761698971.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994040,-0.109007,0.001497],[0.108790,0.992761,0.050902],[-0.007035,-0.050436,0.998703]] 2025-10-29T00:49:31.767Z,1761698971.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:32.135Z,1761698972.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994088,-0.108573,0.000369],[0.108414,0.992806,0.050821],[-0.005884,-0.050481,0.998708]] 2025-10-29T00:49:32.154Z,1761698972.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:32.606Z,1761698972.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:32.977Z,1761698972.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994220,-0.107350,-0.001639],[0.107294,0.992921,0.050953],[-0.003843,-0.050834,0.998700]] 2025-10-29T00:49:32.996Z,1761698972.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:33.380Z,1761698973.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994249,-0.107057,-0.002593],[0.107050,0.992953,0.050837],[-0.002868,-0.050822,0.998704]] 2025-10-29T00:49:33.436Z,1761698973.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:33.809Z,1761698973.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994305,-0.106511,-0.003606],[0.106557,0.993007,0.050825],[-0.001832,-0.050920,0.998701]] 2025-10-29T00:49:33.827Z,1761698973.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:34.212Z,1761698974.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994335,-0.106198,-0.004367],[0.106283,0.993043,0.050681],[-0.001046,-0.050858,0.998705]] 2025-10-29T00:49:34.231Z,1761698974.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:34.256Z,1761698974.256 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:49:34.666Z,1761698974.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:35.019Z,1761698975.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994495,-0.104624,-0.005867],[0.104787,0.993198,0.050760],[0.000516,-0.051095,0.998694]] 2025-10-29T00:49:35.054Z,1761698975.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:35.262Z,1761698975.262 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:49:35.423Z,1761698975.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994580,-0.103774,-0.006498],[0.103971,0.993280,0.050835],[0.001179,-0.051235,0.998686]] 2025-10-29T00:49:35.477Z,1761698975.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:35.877Z,1761698975.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:36.232Z,1761698976.232 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994752,-0.101992,-0.008057],[0.102271,0.993466,0.050657],[0.002838,-0.051215,0.998684]] 2025-10-29T00:49:36.251Z,1761698976.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:36.634Z,1761698976.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994861,-0.100888,-0.008600],[0.101196,0.993577,0.050646],[0.003436,-0.051256,0.998680]] 2025-10-29T00:49:36.684Z,1761698976.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:37.082Z,1761698977.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994981,-0.099634,-0.009225],[0.099975,0.993704,0.050571],[0.004128,-0.051239,0.998678]] 2025-10-29T00:49:37.105Z,1761698977.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:37.515Z,1761698977.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995263,-0.096641,-0.010602],[0.097056,0.993997,0.050492],[0.005658,-0.051282,0.998668]] 2025-10-29T00:49:37.527Z,1761698977.527 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3276,-3 2025-10-29T00:49:37.571Z,1761698977.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:37.970Z,1761698977.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995385,-0.095295,-0.011254],[0.095745,0.994132,0.050348],[0.006390,-0.051193,0.998668]] 2025-10-29T00:49:37.990Z,1761698977.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:38.430Z,1761698978.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995551,-0.093464,-0.011922],[0.093949,0.994303,0.050344],[0.007148,-0.051240,0.998661]] 2025-10-29T00:49:38.491Z,1761698978.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:38.905Z,1761698978.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:39.269Z,1761698979.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995902,-0.089474,-0.013147],[0.090026,0.994670,0.050259],[0.008580,-0.051237,0.998650]] 2025-10-29T00:49:39.289Z,1761698979.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:39.723Z,1761698979.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:40.113Z,1761698980.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996248,-0.085361,-0.014292],[0.085978,0.995027,0.050290],[0.009928,-0.051330,0.998632]] 2025-10-29T00:49:40.132Z,1761698980.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:40.522Z,1761698980.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996370,-0.083831,-0.014813],[0.084474,0.995167,0.050060],[0.010545,-0.051130,0.998636]] 2025-10-29T00:49:40.592Z,1761698980.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:40.918Z,1761698980.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996529,-0.081807,-0.015438],[0.082486,0.995329,0.050152],[0.011263,-0.051251,0.998622]] 2025-10-29T00:49:40.947Z,1761698980.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:41.323Z,1761698981.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996632,-0.080438,-0.015949],[0.081142,0.995450,0.049952],[0.011859,-0.051078,0.998624]] 2025-10-29T00:49:41.345Z,1761698981.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:41.728Z,1761698981.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996769,-0.078631,-0.016421],[0.079362,0.995590,0.050013],[0.012416,-0.051155,0.998614]] 2025-10-29T00:49:41.812Z,1761698981.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:42.131Z,1761698982.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996901,-0.076856,-0.016796],[0.077610,0.995721,0.050158],[0.012869,-0.051306,0.998600]] 2025-10-29T00:49:42.338Z,1761698982.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:42.721Z,1761698982.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997106,-0.073919,-0.017751],[0.074725,0.995945,0.050101],[0.013975,-0.051283,0.998586]] 2025-10-29T00:49:42.809Z,1761698982.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:43.194Z,1761698983.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997192,-0.072662,-0.018129],[0.073489,0.996037,0.050098],[0.014417,-0.051289,0.998580]] 2025-10-29T00:49:43.249Z,1761698983.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:43.633Z,1761698983.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997293,-0.071150,-0.018581],[0.072004,0.996137,0.050270],[0.014932,-0.051472,0.998563]] 2025-10-29T00:49:43.714Z,1761698983.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:44.037Z,1761698984.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997367,-0.069953,-0.019100],[0.070835,0.996219,0.050294],[0.015510,-0.051515,0.998552]] 2025-10-29T00:49:44.090Z,1761698984.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:44.484Z,1761698984.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997417,-0.069125,-0.019504],[0.070028,0.996281,0.050202],[0.015961,-0.051438,0.998549]] 2025-10-29T00:49:44.526Z,1761698984.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:44.843Z,1761698984.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997470,-0.068245,-0.019885],[0.069168,0.996344,0.050144],[0.016390,-0.051393,0.998544]] 2025-10-29T00:49:44.870Z,1761698984.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:45.247Z,1761698985.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997498,-0.067716,-0.020295],[0.068657,0.996390,0.049924],[0.016841,-0.051192,0.998547]] 2025-10-29T00:49:45.285Z,1761698985.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:45.651Z,1761698985.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997548,-0.066786,-0.020899],[0.067759,0.996449,0.049979],[0.017487,-0.051272,0.998532]] 2025-10-29T00:49:45.711Z,1761698985.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:46.067Z,1761698986.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997615,-0.065623,-0.021407],[0.066628,0.996513,0.050236],[0.018036,-0.051542,0.998508]] 2025-10-29T00:49:46.091Z,1761698986.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:46.506Z,1761698986.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997642,-0.065044,-0.021903],[0.066075,0.996551,0.050204],[0.018562,-0.051533,0.998499]] 2025-10-29T00:49:46.583Z,1761698986.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:46.863Z,1761698986.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997659,-0.064577,-0.022503],[0.065638,0.996582,0.050162],[0.019186,-0.051522,0.998488]] 2025-10-29T00:49:46.894Z,1761698986.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:47.267Z,1761698987.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997701,-0.063719,-0.023095],[0.064814,0.996631,0.050248],[0.019815,-0.051630,0.998470]] 2025-10-29T00:49:47.285Z,1761698987.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:47.672Z,1761698987.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997716,-0.063255,-0.023683],[0.064378,0.996665,0.050135],[0.020433,-0.051545,0.998462]] 2025-10-29T00:49:47.709Z,1761698987.709 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:49:47.710Z,1761698987.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:47.797Z,1761698987.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:49:47.798Z,1761698987.798 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:49:48.051Z,1761698988.051 [DAT](INFO): DAT read: user:583> 2025-10-29T00:49:48.052Z,1761698988.052 [DAT](INFO): DAT read: Tx time:00:49:47.7723 2025-10-29T00:49:48.053Z,1761698988.053 [DAT](INFO): Ping request sent. 2025-10-29T00:49:48.053Z,1761698988.053 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:49:48.053Z,1761698988.053 [DAT](INFO): publishing transmit ping time 2025-10-29T00:49:48.054Z,1761698988.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001611 2025-10-29T00:49:48.095Z,1761698988.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997741,-0.062665,-0.024197],[0.063814,0.996703,0.050098],[0.020978,-0.051529,0.998451]] 2025-10-29T00:49:48.139Z,1761698988.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:48.305Z,1761698988.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251459 2025-10-29T00:49:48.554Z,1761698988.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501410 2025-10-29T00:49:48.559Z,1761698988.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997774,-0.061912,-0.024775],[0.063091,0.996752,0.050058],[0.021595,-0.051510,0.998439]] 2025-10-29T00:49:48.624Z,1761698988.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:48.805Z,1761698988.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752082 2025-10-29T00:49:48.924Z,1761698988.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997799,-0.061216,-0.025493],[0.062430,0.996800,0.049929],[0.022355,-0.051411,0.998427]] 2025-10-29T00:49:48.942Z,1761698988.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:49.060Z,1761698989.060 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006846 2025-10-29T00:49:49.309Z,1761698989.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256022 2025-10-29T00:49:49.336Z,1761698989.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997854,-0.060045,-0.026103],[0.061293,0.996866,0.050008],[0.023019,-0.051501,0.998408]] 2025-10-29T00:49:49.355Z,1761698989.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:49.561Z,1761698989.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508019 2025-10-29T00:49:49.807Z,1761698989.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:49.813Z,1761698989.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760353 2025-10-29T00:49:50.065Z,1761698990.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011994 2025-10-29T00:49:50.136Z,1761698990.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997978,-0.057551,-0.026981],[0.058849,0.997011,0.050054],[0.024020,-0.051540,0.998382]] 2025-10-29T00:49:50.170Z,1761698990.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:50.317Z,1761698990.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264576 2025-10-29T00:49:50.572Z,1761698990.572 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519172 2025-10-29T00:49:50.582Z,1761698990.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998046,-0.056127,-0.027446],[0.057451,0.997091,0.050084],[0.024555,-0.051563,0.998368]] 2025-10-29T00:49:50.619Z,1761698990.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:50.821Z,1761698990.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768045 2025-10-29T00:49:50.963Z,1761698990.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998115,-0.054713,-0.027817],[0.056057,0.997170,0.050100],[0.024997,-0.051564,0.998357]] 2025-10-29T00:49:50.981Z,1761698990.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:51.073Z,1761698991.073 [DAT](INFO): DAT read: Rx Time:00:49:50.2229 2025-10-29T00:49:51.073Z,1761698991.073 [DAT](INFO): Rx dataTimestamp_ set to:1761698991.073129 2025-10-29T00:49:51.074Z,1761698991.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021141 2025-10-29T00:49:51.325Z,1761698991.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272040 2025-10-29T00:49:51.406Z,1761698991.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998181,-0.053219,-0.028326],[0.054590,0.997252,0.050090],[0.025582,-0.051545,0.998343]] 2025-10-29T00:49:51.423Z,1761698991.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.92 m. 2025-10-29T00:49:51.586Z,1761698991.586 [DAT](INFO): DAT read: 00:49:50.2229 LVL= 29024, 21553, 32754, 32755, AGC= 63, IDX= 472,-0.26,-3.085,-1.701, 2.671,-2.563, PHS=-0.420, 0.907,-1.093, RAW= 349.3, 6.9, CAL= 349.2, 6.2, ROT= 160.8, -6.2 2025-10-29T00:49:51.587Z,1761698991.587 [DAT](INFO): got valid direction response: 00:49:50.2229 LVL= 29024, 21553, 32754, 32755, AGC= 63, IDX= 472,-0.26,-3.085,-1.701, 2.671,-2.563, PHS=-0.420, 0.907,-1.093, RAW= 349.3, 6.9, CAL= 349.2, 6.2, ROT= 160.8, -6.2 2025-10-29T00:49:51.588Z,1761698991.588 [DAT](INFO): DAT read: Bearing 331.0, 17.1 (Local) 2025-10-29T00:49:51.588Z,1761698991.588 [DAT](INFO): Local bearing/azimuth received: Bearing 331.0, 17.1 (Local) 2025-10-29T00:49:51.589Z,1761698991.589 [DAT](INFO): DAT read: Range 11 to 50 : 34.8 m (Round-trip 46.4 ms) speed 0.0 m/s 2025-10-29T00:49:51.590Z,1761698991.590 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:49:51.591Z,1761698991.591 [DAT](INFO): direction in FSK: [-0.938853,0.326943,0.107999] 2025-10-29T00:49:51.591Z,1761698991.591 [DAT](INFO): publishing direction and range info 2025-10-29T00:49:51.861Z,1761698991.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.799999 m, deltaT: 60.248070 s, deltaX: 3.699999 m, approachRate: 0.061413 m/s, rangeRepo size: 4 2025-10-29T00:49:51.863Z,1761698991.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.596176 m, bearing: 163.690140 deg, lat: 36.779286 deg, lon: -121.859567 deg, deltaT: 60.248070 s, deltaX: 3.676836 m, approachRate: 0.061028 m/s, posRepo size: 4 2025-10-29T00:49:51.864Z,1761698991.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:52.218Z,1761698992.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:52.605Z,1761698992.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998380,-0.048964,-0.028990],[0.050373,0.997476,0.050050],[0.026466,-0.051429,0.998326]] 2025-10-29T00:49:52.654Z,1761698992.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:52.982Z,1761698992.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998440,-0.047620,-0.029139],[0.049037,0.997544,0.050019],[0.026686,-0.051370,0.998323]] 2025-10-29T00:49:53.012Z,1761698993.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:53.386Z,1761698993.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998522,-0.045935,-0.029040],[0.047354,0.997615,0.050224],[0.026663,-0.051525,0.998316]] 2025-10-29T00:49:53.424Z,1761698993.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:53.791Z,1761698993.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998588,-0.044543,-0.028957],[0.045960,0.997679,0.050244],[0.026652,-0.051504,0.998317]] 2025-10-29T00:49:53.856Z,1761698993.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:54.197Z,1761698994.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998641,-0.043390,-0.028857],[0.044801,0.997734,0.050188],[0.026614,-0.051413,0.998323]] 2025-10-29T00:49:54.215Z,1761698994.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:54.641Z,1761698994.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998697,-0.042080,-0.028859],[0.043493,0.997790,0.050225],[0.026682,-0.051415,0.998321]] 2025-10-29T00:49:54.693Z,1761698994.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:55.002Z,1761698995.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998750,-0.040918,-0.028691],[0.042325,0.997839,0.050265],[0.026572,-0.051417,0.998324]] 2025-10-29T00:49:55.026Z,1761698995.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:55.408Z,1761698995.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998806,-0.039682,-0.028506],[0.041084,0.997883,0.050405],[0.026446,-0.051516,0.998322]] 2025-10-29T00:49:55.427Z,1761698995.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:55.821Z,1761698995.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998858,-0.038646,-0.028100],[0.040030,0.997922,0.050499],[0.026090,-0.051566,0.998329]] 2025-10-29T00:49:55.894Z,1761698995.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:56.214Z,1761698996.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998913,-0.037569,-0.027611],[0.038932,0.997960,0.050600],[0.025654,-0.051620,0.998337]] 2025-10-29T00:49:56.249Z,1761698996.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:56.669Z,1761698996.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998964,-0.036554,-0.027111],[0.037894,0.997996,0.050668],[0.025204,-0.051642,0.998348]] 2025-10-29T00:49:56.789Z,1761698996.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:57.029Z,1761698997.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999002,-0.035762,-0.026770],[0.037083,0.998032,0.050562],[0.024909,-0.051504,0.998362]] 2025-10-29T00:49:57.089Z,1761698997.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:57.431Z,1761698997.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999043,-0.034873,-0.026395],[0.036175,0.998067,0.050543],[0.024581,-0.051449,0.998373]] 2025-10-29T00:49:57.461Z,1761698997.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:57.847Z,1761698997.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999090,-0.033847,-0.025965],[0.035129,0.998100,0.050615],[0.024203,-0.051482,0.998381]] 2025-10-29T00:49:57.924Z,1761698997.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:58.234Z,1761698998.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999140,-0.032751,-0.025411],[0.034009,0.998130,0.050783],[0.023700,-0.051604,0.998386]] 2025-10-29T00:49:58.253Z,1761698998.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:58.697Z,1761698998.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999188,-0.031710,-0.024863],[0.032943,0.998162,0.050862],[0.023205,-0.051640,0.998396]] 2025-10-29T00:49:58.746Z,1761698998.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:59.045Z,1761698999.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999232,-0.030730,-0.024328],[0.031939,0.998190,0.050955],[0.022718,-0.051693,0.998405]] 2025-10-29T00:49:59.080Z,1761698999.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:59.446Z,1761698999.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999276,-0.029750,-0.023705],[0.030928,0.998221,0.050966],[0.022146,-0.051662,0.998419]] 2025-10-29T00:49:59.465Z,1761698999.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:49:59.847Z,1761698999.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999318,-0.028704,-0.023243],[0.029859,0.998253,0.050981],[0.021739,-0.051640,0.998429]] 2025-10-29T00:49:59.900Z,1761698999.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:00.251Z,1761699000.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999361,-0.027641,-0.022671],[0.028768,0.998285,0.050993],[0.021223,-0.051613,0.998442]] 2025-10-29T00:50:00.270Z,1761699000.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:00.713Z,1761699000.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999401,-0.026547,-0.022183],[0.027649,0.998318,0.050964],[0.020793,-0.051547,0.998454]] 2025-10-29T00:50:00.784Z,1761699000.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:01.060Z,1761699001.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999446,-0.025289,-0.021616],[0.026364,0.998349,0.051028],[0.020290,-0.051570,0.998463]] 2025-10-29T00:50:01.078Z,1761699001.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:01.519Z,1761699001.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:01.868Z,1761699001.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999524,-0.023065,-0.020498],[0.024088,0.998401,0.051130],[0.019286,-0.051599,0.998482]] 2025-10-29T00:50:01.978Z,1761699001.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:02.271Z,1761699002.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999557,-0.022154,-0.019857],[0.023143,0.998426,0.051091],[0.018694,-0.051527,0.998497]] 2025-10-29T00:50:02.319Z,1761699002.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:02.722Z,1761699002.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999589,-0.021253,-0.019223],[0.022209,0.998453,0.050973],[0.018110,-0.051379,0.998515]] 2025-10-29T00:50:02.844Z,1761699002.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:03.119Z,1761699003.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999627,-0.020065,-0.018527],[0.020988,0.998475,0.051070],[0.017474,-0.051439,0.998523]] 2025-10-29T00:50:03.163Z,1761699003.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:03.521Z,1761699003.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999659,-0.019100,-0.017817],[0.019987,0.998498,0.051022],[0.016816,-0.051360,0.998539]] 2025-10-29T00:50:03.576Z,1761699003.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:03.926Z,1761699003.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999713,-0.017277,-0.016608],[0.018104,0.998535,0.050990],[0.015703,-0.051276,0.998561]] 2025-10-29T00:50:04.037Z,1761699004.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:04.323Z,1761699004.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999738,-0.016335,-0.016044],[0.017134,0.998550,0.051030],[0.015187,-0.051291,0.998568]] 2025-10-29T00:50:04.363Z,1761699004.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:04.772Z,1761699004.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999762,-0.015345,-0.015482],[0.016118,0.998562,0.051133],[0.014675,-0.051370,0.998572]] 2025-10-29T00:50:04.825Z,1761699004.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:05.134Z,1761699005.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999779,-0.014725,-0.015004],[0.015473,0.998578,0.051009],[0.014231,-0.051229,0.998585]] 2025-10-29T00:50:05.153Z,1761699005.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:05.380Z,1761699005.380 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:50:05.542Z,1761699005.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999797,-0.013803,-0.014648],[0.014534,0.998593,0.050998],[0.013924,-0.051201,0.998591]] 2025-10-29T00:50:05.568Z,1761699005.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:05.936Z,1761699005.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999814,-0.012986,-0.014229],[0.013695,0.998610,0.050899],[0.013548,-0.051085,0.998602]] 2025-10-29T00:50:05.981Z,1761699005.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:06.338Z,1761699006.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999837,-0.011551,-0.013889],[0.012247,0.998619,0.051096],[0.013280,-0.051258,0.998597]] 2025-10-29T00:50:06.357Z,1761699006.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:06.384Z,1761699006.384 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:50:06.793Z,1761699006.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999854,-0.010282,-0.013671],[0.010968,0.998631,0.051142],[0.013126,-0.051284,0.998598]] 2025-10-29T00:50:06.857Z,1761699006.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:07.151Z,1761699007.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999871,-0.008792,-0.013447],[0.009470,0.998641,0.051242],[0.012978,-0.051363,0.998596]] 2025-10-29T00:50:07.179Z,1761699007.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:07.550Z,1761699007.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999886,-0.007089,-0.013362],[0.007766,0.998652,0.051321],[0.012981,-0.051419,0.998593]] 2025-10-29T00:50:07.584Z,1761699007.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:07.955Z,1761699007.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999897,-0.005384,-0.013310],[0.006061,0.998662,0.051348],[0.013015,-0.051424,0.998592]] 2025-10-29T00:50:08.016Z,1761699008.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:08.359Z,1761699008.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999904,-0.003496,-0.013429],[0.004181,0.998675,0.051299],[0.013232,-0.051350,0.998593]] 2025-10-29T00:50:08.384Z,1761699008.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:08.807Z,1761699008.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999908,-0.001589,-0.013504],[0.002279,0.998684,0.051233],[0.013405,-0.051259,0.998595]] 2025-10-29T00:50:08.887Z,1761699008.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:09.166Z,1761699009.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999905,0.000694,-0.013763],[0.000013,0.998685,0.051271],[0.013780,-0.051267,0.998590]] 2025-10-29T00:50:09.196Z,1761699009.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:09.570Z,1761699009.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999896,0.003082,-0.014124],[-0.002354,0.998682,0.051268],[0.014263,-0.051230,0.998585]] 2025-10-29T00:50:09.589Z,1761699009.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:09.975Z,1761699009.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999881,0.005344,-0.014503],[-0.004596,0.998680,0.051165],[0.014758,-0.051092,0.998585]] 2025-10-29T00:50:10.050Z,1761699010.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:10.381Z,1761699010.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999859,0.007758,-0.014883],[-0.006987,0.998665,0.051172],[0.015260,-0.051061,0.998579]] 2025-10-29T00:50:10.405Z,1761699010.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:10.813Z,1761699010.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999832,0.010021,-0.015323],[-0.009226,0.998650,0.051124],[0.015814,-0.050974,0.998575]] 2025-10-29T00:50:10.890Z,1761699010.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:11.187Z,1761699011.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999800,0.012295,-0.015771],[-0.011474,0.998626,0.051136],[0.016378,-0.050945,0.998567]] 2025-10-29T00:50:11.303Z,1761699011.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:11.625Z,1761699011.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:12.002Z,1761699012.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999724,0.016515,-0.016690],[-0.015638,0.998559,0.051330],[0.017514,-0.051055,0.998542]] 2025-10-29T00:50:12.068Z,1761699012.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:12.398Z,1761699012.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999691,0.017907,-0.017222],[-0.017004,0.998542,0.051229],[0.018114,-0.050921,0.998538]] 2025-10-29T00:50:12.442Z,1761699012.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:12.804Z,1761699012.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999662,0.019054,-0.017682],[-0.018127,0.998525,0.051172],[0.018631,-0.050835,0.998533]] 2025-10-29T00:50:12.826Z,1761699012.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:13.208Z,1761699013.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999632,0.020234,-0.018052],[-0.019285,0.998497,0.051294],[0.019063,-0.050927,0.998520]] 2025-10-29T00:50:13.244Z,1761699013.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:13.611Z,1761699013.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999618,0.020608,-0.018437],[-0.019642,0.998500,0.051115],[0.019462,-0.050733,0.998523]] 2025-10-29T00:50:13.645Z,1761699013.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:14.022Z,1761699014.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999600,0.021184,-0.018715],[-0.020200,0.998481,0.051263],[0.019773,-0.050864,0.998510]] 2025-10-29T00:50:14.066Z,1761699014.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:14.420Z,1761699014.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999589,0.021547,-0.018903],[-0.020550,0.998464,0.051451],[0.019982,-0.051042,0.998497]] 2025-10-29T00:50:14.438Z,1761699014.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:14.829Z,1761699014.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999579,0.021818,-0.019132],[-0.020805,0.998447,0.051671],[0.020229,-0.051251,0.998481]] 2025-10-29T00:50:14.852Z,1761699014.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:15.226Z,1761699015.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999578,0.021587,-0.019428],[-0.020558,0.998452,0.051672],[0.020513,-0.051251,0.998475]] 2025-10-29T00:50:15.277Z,1761699015.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:15.631Z,1761699015.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999577,0.021475,-0.019594],[-0.020436,0.998448,0.051804],[0.020676,-0.051381,0.998465]] 2025-10-29T00:50:15.649Z,1761699015.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:16.035Z,1761699016.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999579,0.021168,-0.019856],[-0.020114,0.998453,0.051831],[0.020922,-0.051410,0.998458]] 2025-10-29T00:50:16.094Z,1761699016.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:16.439Z,1761699016.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999578,0.020982,-0.020079],[-0.019915,0.998452,0.051927],[0.021137,-0.051505,0.998449]] 2025-10-29T00:50:16.463Z,1761699016.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:16.842Z,1761699016.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999568,0.021119,-0.020440],[-0.020029,0.998438,0.052166],[0.021509,-0.051734,0.998429]] 2025-10-29T00:50:16.878Z,1761699016.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:17.246Z,1761699017.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999568,0.020958,-0.020611],[-0.019860,0.998443,0.052127],[0.021672,-0.051695,0.998428]] 2025-10-29T00:50:17.299Z,1761699017.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:17.684Z,1761699017.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:18.055Z,1761699018.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999561,0.020993,-0.020907],[-0.019879,0.998442,0.052140],[0.021969,-0.051702,0.998421]] 2025-10-29T00:50:18.099Z,1761699018.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:18.459Z,1761699018.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999551,0.021165,-0.021211],[-0.020036,0.998442,0.052077],[0.022280,-0.051629,0.998418]] 2025-10-29T00:50:18.495Z,1761699018.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:18.865Z,1761699018.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999535,0.021573,-0.021547],[-0.020425,0.998432,0.052126],[0.022638,-0.051662,0.998408]] 2025-10-29T00:50:18.884Z,1761699018.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:19.266Z,1761699019.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999520,0.021949,-0.021851],[-0.020787,0.998427,0.052069],[0.022960,-0.051590,0.998404]] 2025-10-29T00:50:19.313Z,1761699019.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:19.670Z,1761699019.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999505,0.022359,-0.022144],[-0.021181,0.998419,0.052067],[0.023273,-0.051572,0.998398]] 2025-10-29T00:50:19.689Z,1761699019.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:20.076Z,1761699020.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999481,0.023122,-0.022412],[-0.021927,0.998397,0.052175],[0.023583,-0.051657,0.998386]] 2025-10-29T00:50:20.113Z,1761699020.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:20.488Z,1761699020.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999461,0.023543,-0.022883],[-0.022326,0.998393,0.052085],[0.024072,-0.051546,0.998380]] 2025-10-29T00:50:20.515Z,1761699020.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:20.917Z,1761699020.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:21.295Z,1761699021.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999423,0.024521,-0.023483],[-0.023271,0.998369,0.052124],[0.024723,-0.051548,0.998364]] 2025-10-29T00:50:21.346Z,1761699021.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:21.712Z,1761699021.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999398,0.025285,-0.023768],[-0.024014,0.998343,0.052290],[0.025051,-0.051687,0.998349]] 2025-10-29T00:50:21.731Z,1761699021.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:22.114Z,1761699022.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,0.025534,-0.024029],[-0.024252,0.998343,0.052188],[0.025321,-0.051573,0.998348]] 2025-10-29T00:50:22.174Z,1761699022.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:22.522Z,1761699022.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,0.025405,-0.024188],[-0.024121,0.998358,0.051961],[0.025468,-0.051345,0.998356]] 2025-10-29T00:50:22.541Z,1761699022.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:22.922Z,1761699022.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,0.025478,-0.024115],[-0.024199,0.998358,0.051923],[0.025399,-0.051307,0.998360]] 2025-10-29T00:50:22.954Z,1761699022.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:23.326Z,1761699023.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999403,0.025035,-0.023818],[-0.023774,0.998374,0.051816],[0.025077,-0.051219,0.998373]] 2025-10-29T00:50:23.374Z,1761699023.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:23.736Z,1761699023.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999427,0.024333,-0.023541],[-0.023088,0.998392,0.051770],[0.024763,-0.051197,0.998382]] 2025-10-29T00:50:23.775Z,1761699023.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:24.138Z,1761699024.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999464,0.023376,-0.022909],[-0.022163,0.998409,0.051842],[0.024085,-0.051307,0.998392]] 2025-10-29T00:50:24.189Z,1761699024.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:24.544Z,1761699024.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999527,0.021703,-0.021797],[-0.020548,0.998443,0.051863],[0.022889,-0.051391,0.998416]] 2025-10-29T00:50:24.563Z,1761699024.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:24.946Z,1761699024.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999598,0.019554,-0.020523],[-0.018470,0.998491,0.051718],[0.021504,-0.051318,0.998451]] 2025-10-29T00:50:25.126Z,1761699025.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:25.350Z,1761699025.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999659,0.017449,-0.019423],[-0.016428,0.998538,0.051494],[0.020294,-0.051158,0.998484]] 2025-10-29T00:50:25.403Z,1761699025.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:25.773Z,1761699025.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999724,0.015097,-0.017979],[-0.014154,0.998573,0.051485],[0.018731,-0.051216,0.998512]] 2025-10-29T00:50:25.812Z,1761699025.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:26.170Z,1761699026.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999785,0.012569,-0.016476],[-0.011705,0.998602,0.051538],[0.017101,-0.051334,0.998535]] 2025-10-29T00:50:26.233Z,1761699026.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:26.576Z,1761699026.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999840,0.009831,-0.014911],[-0.009049,0.998623,0.051670],[0.015399,-0.051526,0.998553]] 2025-10-29T00:50:26.594Z,1761699026.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:27.000Z,1761699027.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999886,0.006990,-0.013397],[-0.006286,0.998634,0.051875],[0.013741,-0.051785,0.998564]] 2025-10-29T00:50:27.019Z,1761699027.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:27.385Z,1761699027.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999922,0.003987,-0.011858],[-0.003366,0.998644,0.051945],[0.012049,-0.051901,0.998580]] 2025-10-29T00:50:27.443Z,1761699027.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:27.794Z,1761699027.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999948,0.000633,-0.010213],[-0.000102,0.998652,0.051910],[0.010233,-0.051906,0.998600]] 2025-10-29T00:50:27.813Z,1761699027.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:28.197Z,1761699028.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999960,-0.002688,-0.008564],[0.003128,0.998651,0.051827],[0.008413,-0.051851,0.998619]] 2025-10-29T00:50:28.234Z,1761699028.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:28.598Z,1761699028.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999957,-0.006076,-0.006969],[0.006429,0.998639,0.051758],[0.006645,-0.051800,0.998635]] 2025-10-29T00:50:28.634Z,1761699028.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:29.010Z,1761699029.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999940,-0.009577,-0.005351],[0.009841,0.998616,0.051665],[0.004848,-0.051714,0.998650]] 2025-10-29T00:50:29.044Z,1761699029.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:29.412Z,1761699029.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999910,-0.012878,-0.003876],[0.013061,0.998576,0.051728],[0.003205,-0.051774,0.998654]] 2025-10-29T00:50:29.479Z,1761699029.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:29.882Z,1761699029.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:30.258Z,1761699030.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999810,-0.019467,-0.001252],[0.019506,0.998459,0.051950],[0.000239,-0.051965,0.998649]] 2025-10-29T00:50:30.315Z,1761699030.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:30.681Z,1761699030.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999737,-0.022940,-0.000228],[0.022921,0.998392,0.051852],[-0.000961,-0.051844,0.998655]] 2025-10-29T00:50:30.731Z,1761699030.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:31.085Z,1761699031.085 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999663,-0.025936,0.000896],[0.025855,0.998318,0.051897],[-0.002241,-0.051856,0.998652]] 2025-10-29T00:50:31.183Z,1761699031.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:31.569Z,1761699031.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:31.890Z,1761699031.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999474,-0.032342,0.002541],[0.032169,0.998167,0.051265],[-0.004195,-0.051156,0.998682]] 2025-10-29T00:50:31.920Z,1761699031.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:32.295Z,1761699032.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999361,-0.035588,0.003419],[0.035369,0.998078,0.050889],[-0.005223,-0.050736,0.998698]] 2025-10-29T00:50:32.391Z,1761699032.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:32.699Z,1761699032.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999241,-0.038723,0.004153],[0.038463,0.997976,0.050645],[-0.006106,-0.050447,0.998708]] 2025-10-29T00:50:32.718Z,1761699032.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:33.106Z,1761699033.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999121,-0.041621,0.004939],[0.041318,0.997858,0.050708],[-0.007039,-0.050460,0.998701]] 2025-10-29T00:50:33.134Z,1761699033.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:33.580Z,1761699033.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:33.911Z,1761699033.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998877,-0.047005,0.005998],[0.046636,0.997592,0.051335],[-0.008396,-0.050997,0.998664]] 2025-10-29T00:50:33.953Z,1761699033.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:34.314Z,1761699034.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998712,-0.050327,0.006493],[0.049930,0.997438,0.051224],[-0.009054,-0.050834,0.998666]] 2025-10-29T00:50:34.376Z,1761699034.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:34.720Z,1761699034.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998551,-0.053335,0.007107],[0.052903,0.997283,0.051272],[-0.009822,-0.050822,0.998659]] 2025-10-29T00:50:34.742Z,1761699034.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:35.122Z,1761699035.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998378,-0.056420,0.007667],[0.055957,0.997125,0.051085],[-0.010527,-0.050573,0.998665]] 2025-10-29T00:50:35.180Z,1761699035.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:35.526Z,1761699035.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998182,-0.059732,0.008022],[0.059249,0.996943,0.050930],[-0.011040,-0.050362,0.998670]] 2025-10-29T00:50:35.575Z,1761699035.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:35.931Z,1761699035.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997973,-0.063090,0.008377],[0.062583,0.996732,0.051071],[-0.011572,-0.050444,0.998660]] 2025-10-29T00:50:35.967Z,1761699035.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:36.402Z,1761699036.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:36.509Z,1761699036.509 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:50:36.739Z,1761699036.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997545,-0.069446,0.008966],[0.068895,0.996289,0.051583],[-0.012515,-0.050838,0.998628]] 2025-10-29T00:50:36.781Z,1761699036.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:37.143Z,1761699037.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997295,-0.072927,0.009195],[0.072357,0.996032,0.051805],[-0.012936,-0.050999,0.998615]] 2025-10-29T00:50:37.197Z,1761699037.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:37.512Z,1761699037.512 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:50:37.547Z,1761699037.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997033,-0.076424,0.009176],[0.075848,0.995761,0.052040],[-0.013114,-0.051189,0.998603]] 2025-10-29T00:50:37.595Z,1761699037.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:37.960Z,1761699037.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996420,-0.084036,0.009189],[0.083450,0.995156,0.051969],[-0.013512,-0.051016,0.998606]] 2025-10-29T00:50:38.006Z,1761699038.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:38.361Z,1761699038.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996072,-0.088098,0.008887],[0.087524,0.994810,0.051901],[-0.013413,-0.050920,0.998613]] 2025-10-29T00:50:38.445Z,1761699038.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:38.768Z,1761699038.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995679,-0.092448,0.008696],[0.091879,0.994420,0.051837],[-0.013440,-0.050814,0.998618]] 2025-10-29T00:50:38.795Z,1761699038.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:39.168Z,1761699039.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995304,-0.096430,0.008386],[0.095870,0.994039,0.051925],[-0.013343,-0.050877,0.998616]] 2025-10-29T00:50:39.186Z,1761699039.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:39.634Z,1761699039.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:39.978Z,1761699039.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994576,-0.103738,0.007566],[0.103206,0.993285,0.052278],[-0.012938,-0.051214,0.998604]] 2025-10-29T00:50:40.008Z,1761699040.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:40.374Z,1761699040.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994231,-0.107024,0.007121],[0.106510,0.992935,0.052307],[-0.012669,-0.051246,0.998606]] 2025-10-29T00:50:40.426Z,1761699040.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:40.782Z,1761699040.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993907,-0.110025,0.006590],[0.109536,0.992613,0.052173],[-0.012282,-0.051134,0.998616]] 2025-10-29T00:50:40.808Z,1761699040.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:41.184Z,1761699041.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993579,-0.112985,0.006007],[0.112522,0.992281,0.052126],[-0.011850,-0.051116,0.998622]] 2025-10-29T00:50:41.202Z,1761699041.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:41.586Z,1761699041.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993158,-0.116651,0.005437],[0.116212,0.991852,0.052189],[-0.011481,-0.051200,0.998622]] 2025-10-29T00:50:41.636Z,1761699041.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:41.991Z,1761699041.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992672,-0.120746,0.004817],[0.120333,0.991360,0.052211],[-0.011080,-0.051249,0.998624]] 2025-10-29T00:50:42.029Z,1761699042.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:42.407Z,1761699042.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992110,-0.125302,0.004119],[0.124918,0.990790,0.052249],[-0.010628,-0.051322,0.998626]] 2025-10-29T00:50:42.483Z,1761699042.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:42.811Z,1761699042.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991576,-0.129475,0.003502],[0.129116,0.990242,0.052436],[-0.010257,-0.051542,0.998618]] 2025-10-29T00:50:42.830Z,1761699042.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:43.216Z,1761699043.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991099,-0.133098,0.002848],[0.132769,0.989763,0.052355],[-0.009787,-0.051511,0.998624]] 2025-10-29T00:50:43.355Z,1761699043.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:43.618Z,1761699043.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990643,-0.136461,0.002133],[0.136166,0.989314,0.052131],[-0.009224,-0.051353,0.998638]] 2025-10-29T00:50:43.692Z,1761699043.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:44.027Z,1761699044.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990201,-0.139641,0.001589],[0.139373,0.988885,0.051787],[-0.008803,-0.051058,0.998657]] 2025-10-29T00:50:44.076Z,1761699044.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:44.427Z,1761699044.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989771,-0.142663,0.001111],[0.142416,0.988460,0.051619],[-0.008462,-0.050933,0.998666]] 2025-10-29T00:50:44.499Z,1761699044.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:44.832Z,1761699044.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989279,-0.146035,0.000583],[0.145813,0.987977,0.051383],[-0.008079,-0.050747,0.998679]] 2025-10-29T00:50:44.850Z,1761699044.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:45.235Z,1761699045.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988810,-0.149183,0.000134],[0.148978,0.987498,0.051507],[-0.007817,-0.050910,0.998673]] 2025-10-29T00:50:45.266Z,1761699045.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:45.640Z,1761699045.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988290,-0.152589,-0.000366],[0.152404,0.986971,0.051592],[-0.007511,-0.051044,0.998668]] 2025-10-29T00:50:45.677Z,1761699045.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:46.053Z,1761699046.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987708,-0.156306,-0.000908],[0.156144,0.986387,0.051565],[-0.007164,-0.051073,0.998669]] 2025-10-29T00:50:46.071Z,1761699046.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:46.076Z,1761699046.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 34.80 m and bearing: 151.180894 deg. Not drifting fast enough. 2025-10-29T00:50:46.511Z,1761699046.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:46.529Z,1761699046.529 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-29T00:50:46.529Z,1761699046.529 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T00:50:46.529Z,1761699046.529 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-29T00:50:46.529Z,1761699046.529 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-29T00:50:46.850Z,1761699046.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986527,-0.163589,-0.001609],[0.163455,0.985216,0.051298],[-0.006806,-0.050870,0.998682]] 2025-10-29T00:50:46.870Z,1761699046.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:47.255Z,1761699047.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985908,-0.167276,-0.001984],[0.167157,0.984604,0.051120],[-0.006598,-0.050731,0.998691]] 2025-10-29T00:50:47.273Z,1761699047.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:47.658Z,1761699047.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985301,-0.170812,-0.002385],[0.170709,0.983992,0.051171],[-0.006394,-0.050826,0.998687]] 2025-10-29T00:50:47.689Z,1761699047.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:48.066Z,1761699048.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984686,-0.174316,-0.002687],[0.174225,0.983381,0.051066],[-0.006259,-0.050752,0.998692]] 2025-10-29T00:50:48.107Z,1761699048.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:50:48.113Z,1761699048.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:48.309Z,1761699048.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:50:48.309Z,1761699048.309 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:50:48.472Z,1761699048.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984145,-0.177340,-0.003012],[0.177260,0.982831,0.051208],[-0.006120,-0.050930,0.998683]] 2025-10-29T00:50:48.536Z,1761699048.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:48.561Z,1761699048.561 [DAT](INFO): DAT read: user:584> 2025-10-29T00:50:48.562Z,1761699048.562 [DAT](INFO): DAT read: Tx time:00:50:48.3220 2025-10-29T00:50:48.563Z,1761699048.563 [DAT](INFO): Ping request sent. 2025-10-29T00:50:48.563Z,1761699048.563 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:50:48.563Z,1761699048.563 [DAT](INFO): publishing transmit ping time 2025-10-29T00:50:48.565Z,1761699048.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001492 2025-10-29T00:50:48.813Z,1761699048.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249860 2025-10-29T00:50:48.888Z,1761699048.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983581,-0.180437,-0.003246],[0.180364,0.982260,0.051316],[-0.006071,-0.051059,0.998677]] 2025-10-29T00:50:48.906Z,1761699048.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:49.066Z,1761699049.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502270 2025-10-29T00:50:49.292Z,1761699049.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982947,-0.183862,-0.003312],[0.183788,0.981627,0.051289],[-0.006179,-0.051023,0.998678]] 2025-10-29T00:50:49.310Z,1761699049.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:49.317Z,1761699049.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754015 2025-10-29T00:50:49.569Z,1761699049.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005810 2025-10-29T00:50:49.695Z,1761699049.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982341,-0.187070,-0.003438],[0.186998,0.981018,0.051344],[-0.006232,-0.051080,0.998675]] 2025-10-29T00:50:49.747Z,1761699049.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:49.822Z,1761699049.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258480 2025-10-29T00:50:50.073Z,1761699050.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509713 2025-10-29T00:50:50.103Z,1761699050.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981712,-0.190341,-0.003554],[0.190270,0.980390,0.051314],[-0.006283,-0.051052,0.998676]] 2025-10-29T00:50:50.137Z,1761699050.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:50.325Z,1761699050.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762115 2025-10-29T00:50:50.503Z,1761699050.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981018,-0.193882,-0.003771],[0.193819,0.979709,0.051026],[-0.006198,-0.050789,0.998690]] 2025-10-29T00:50:50.555Z,1761699050.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:50.577Z,1761699050.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013748 2025-10-29T00:50:50.829Z,1761699050.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265643 2025-10-29T00:50:50.908Z,1761699050.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980336,-0.197299,-0.003721],[0.197226,0.978997,0.051633],[-0.006544,-0.051351,0.998659]] 2025-10-29T00:50:50.928Z,1761699050.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:51.081Z,1761699051.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517755 2025-10-29T00:50:51.310Z,1761699051.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979514,-0.201350,-0.003317],[0.201212,0.977915,0.056538],[-0.008140,-0.056048,0.998395]] 2025-10-29T00:50:51.333Z,1761699051.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769694 2025-10-29T00:50:51.338Z,1761699051.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:51.586Z,1761699051.586 [DAT](INFO): DAT read: Rx Time:00:50:50.7777 2025-10-29T00:50:51.586Z,1761699051.586 [DAT](INFO): Rx dataTimestamp_ set to:1761699051.585948 2025-10-29T00:50:51.587Z,1761699051.587 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023887 2025-10-29T00:50:51.714Z,1761699051.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978878,-0.204387,-0.004849],[0.204206,0.976310,0.071547],[-0.009889,-0.071026,0.997425]] 2025-10-29T00:50:51.779Z,1761699051.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.60 m. 2025-10-29T00:50:51.838Z,1761699051.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274048 2025-10-29T00:50:52.094Z,1761699052.094 [DAT](INFO): DAT read: 00:50:50.7777 LVL= 27120, 20817, 32754, 32755, AGC= 59, IDX= 492,-0.19, 1.782, 2.850, 1.012, 2.307, PHS=-0.423, 0.588,-1.339, RAW= 358.4, 14.0, CAL= 358.8, 17.2, ROT= 151.2, -17.2 2025-10-29T00:50:52.108Z,1761699052.108 [DAT](INFO): got valid direction response: 00:50:50.7777 LVL= 27120, 20817, 32754, 32755, AGC= 59, IDX= 492,-0.19, 1.782, 2.850, 1.012, 2.307, PHS=-0.423, 0.588,-1.339, RAW= 358.4, 14.0, CAL= 358.8, 17.2, ROT= 151.2, -17.2 2025-10-29T00:50:52.109Z,1761699052.109 [DAT](INFO): DAT read: Bearing 328.4, 26.9 (Local) 2025-10-29T00:50:52.109Z,1761699052.109 [DAT](INFO): Local bearing/azimuth received: Bearing 328.4, 26.9 (Local) 2025-10-29T00:50:52.110Z,1761699052.110 [DAT](INFO): DAT read: Range 11 to 50 : 38.6 m (Round-trip 51.5 ms) speed -0.1 m/s 2025-10-29T00:50:52.111Z,1761699052.111 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:50:52.116Z,1761699052.116 [DAT](INFO): direction in FSK: [-0.837117,0.460209,0.295708] 2025-10-29T00:50:52.117Z,1761699052.117 [DAT](INFO): publishing direction and range info 2025-10-29T00:50:52.165Z,1761699052.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978484,-0.206196,-0.007257],[0.206028,0.974594,0.087853],[-0.011042,-0.087457,0.996107]] 2025-10-29T00:50:52.221Z,1761699052.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.599998 m, deltaT: 60.512323 s, deltaX: 3.799999 m, approachRate: 0.062797 m/s, rangeRepo size: 4 2025-10-29T00:50:52.223Z,1761699052.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.375889 m, bearing: 161.754118 deg, lat: 36.779277 deg, lon: -121.859589 deg, deltaT: 60.512323 s, deltaX: 3.779713 m, approachRate: 0.062462 m/s, posRepo size: 4 2025-10-29T00:50:52.223Z,1761699052.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:52.550Z,1761699052.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978119,-0.207865,-0.008719],[0.207733,0.973479,0.095846],[-0.011435,-0.095560,0.995358]] 2025-10-29T00:50:52.587Z,1761699052.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:52.961Z,1761699052.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977791,-0.209417,-0.008353],[0.209280,0.973459,0.092626],[-0.011266,-0.092317,0.995666]] 2025-10-29T00:50:52.980Z,1761699052.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:53.356Z,1761699053.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977283,-0.211829,-0.006843],[0.211661,0.973840,0.082672],[-0.010848,-0.082242,0.996553]] 2025-10-29T00:50:53.389Z,1761699053.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:53.765Z,1761699053.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976935,-0.213458,-0.005890],[0.213290,0.974094,0.075155],[-0.010305,-0.074677,0.997154]] 2025-10-29T00:50:53.813Z,1761699053.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:54.176Z,1761699054.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976684,-0.214583,-0.006480],[0.214463,0.973892,0.074435],[-0.009662,-0.074089,0.997205]] 2025-10-29T00:50:54.195Z,1761699054.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:54.566Z,1761699054.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976669,-0.214572,-0.008722],[0.214577,0.973449,0.079706],[-0.008612,-0.079718,0.996780]] 2025-10-29T00:50:54.610Z,1761699054.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:54.971Z,1761699054.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976951,-0.213149,-0.011553],[0.213340,0.973140,0.086512],[-0.007197,-0.086983,0.996184]] 2025-10-29T00:50:55.009Z,1761699055.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:55.376Z,1761699055.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977269,-0.211559,-0.013751],[0.211929,0.973115,0.090185],[-0.005698,-0.091049,0.995830]] 2025-10-29T00:50:55.394Z,1761699055.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:55.784Z,1761699055.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977700,-0.209439,-0.015434],[0.209971,0.973520,0.090395],[-0.003907,-0.091620,0.995786]] 2025-10-29T00:50:55.821Z,1761699055.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:56.182Z,1761699056.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978265,-0.206650,-0.017135],[0.207351,0.974122,0.089955],[-0.001898,-0.091553,0.995798]] 2025-10-29T00:50:56.260Z,1761699056.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:56.586Z,1761699056.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978943,-0.203259,-0.018898],[0.204135,0.974814,0.089814],[0.000166,-0.091781,0.995779]] 2025-10-29T00:50:56.654Z,1761699056.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:57.233Z,1761699057.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980820,-0.193564,-0.022921],[0.194862,0.976512,0.091939],[0.004586,-0.094642,0.995501]] 2025-10-29T00:50:57.272Z,1761699057.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:57.630Z,1761699057.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981914,-0.187623,-0.025336],[0.189199,0.977328,0.095046],[0.006928,-0.098121,0.995150]] 2025-10-29T00:50:57.694Z,1761699057.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:58.187Z,1761699058.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:58.562Z,1761699058.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984547,-0.172449,-0.030464],[0.174743,0.978846,0.106425],[0.011466,-0.110104,0.993854]] 2025-10-29T00:50:58.610Z,1761699058.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:58.944Z,1761699058.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985953,-0.163670,-0.033291],[0.166450,0.979344,0.114801],[0.013814,-0.118729,0.992831]] 2025-10-29T00:50:58.970Z,1761699058.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:59.338Z,1761699059.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987482,-0.153631,-0.035724],[0.156930,0.979721,0.124579],[0.015860,-0.128626,0.991566]] 2025-10-29T00:50:59.357Z,1761699059.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:50:59.805Z,1761699059.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:00.146Z,1761699060.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990743,-0.129887,-0.039480],[0.134305,0.980186,0.145594],[0.019787,-0.149548,0.988556]] 2025-10-29T00:51:00.179Z,1761699060.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:00.603Z,1761699060.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992321,-0.116953,-0.040274],[0.121798,0.980648,0.153279],[0.021568,-0.157007,0.987362]] 2025-10-29T00:51:00.649Z,1761699060.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:01.006Z,1761699061.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993780,-0.103796,-0.040355],[0.108954,0.981180,0.159418],[0.023049,-0.162823,0.986386]] 2025-10-29T00:51:01.025Z,1761699061.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:01.421Z,1761699061.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995121,-0.090342,-0.039654],[0.095674,0.981779,0.164187],[0.024098,-0.167180,0.985632]] 2025-10-29T00:51:01.466Z,1761699061.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:01.833Z,1761699061.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996381,-0.075907,-0.038245],[0.081309,0.982314,0.168664],[0.024766,-0.171164,0.984931]] 2025-10-29T00:51:01.889Z,1761699061.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:02.236Z,1761699062.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997497,-0.060614,-0.036400],[0.066023,0.982745,0.172783],[0.025299,-0.174753,0.984287]] 2025-10-29T00:51:02.260Z,1761699062.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:02.638Z,1761699062.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998398,-0.045310,-0.033882],[0.050612,0.982923,0.176922],[0.025287,-0.178354,0.983641]] 2025-10-29T00:51:02.688Z,1761699062.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:03.042Z,1761699063.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999098,-0.029235,-0.030790],[0.034366,0.982678,0.182107],[0.024933,-0.183001,0.982796]] 2025-10-29T00:51:03.060Z,1761699063.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:03.453Z,1761699063.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999537,-0.012869,-0.027576],[0.017816,0.982113,0.187448],[0.024670,-0.187852,0.981887]] 2025-10-29T00:51:03.471Z,1761699063.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:03.851Z,1761699063.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999699,0.003558,-0.024260],[0.001163,0.981426,0.191836],[0.024492,-0.191807,0.981127]] 2025-10-29T00:51:03.894Z,1761699063.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:04.254Z,1761699064.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999586,0.019810,-0.020864],[-0.015335,0.980441,0.196216],[0.024343,-0.195815,0.980339]] 2025-10-29T00:51:04.273Z,1761699064.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:04.659Z,1761699064.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999199,0.036054,-0.017370],[-0.031832,0.979058,0.201076],[0.024256,-0.200362,0.979422]] 2025-10-29T00:51:04.713Z,1761699064.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:05.064Z,1761699065.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998513,0.052699,-0.013945],[-0.048712,0.977397,0.205723],[0.024471,-0.204738,0.978511]] 2025-10-29T00:51:05.082Z,1761699065.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:05.466Z,1761699065.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997556,0.069129,-0.010201],[-0.065452,0.975493,0.210070],[0.024473,-0.208889,0.977633]] 2025-10-29T00:51:05.491Z,1761699065.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:05.867Z,1761699065.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996328,0.085362,-0.006586],[-0.081988,0.973437,0.213770],[0.024659,-0.212445,0.976862]] 2025-10-29T00:51:05.926Z,1761699065.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:06.270Z,1761699066.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994782,0.101984,-0.002782],[-0.098940,0.971024,0.217540],[0.024887,-0.216130,0.976048]] 2025-10-29T00:51:06.289Z,1761699066.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:06.690Z,1761699066.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992994,0.118156,0.001256],[-0.115538,0.968651,0.219924],[0.024769,-0.218529,0.975516]] 2025-10-29T00:51:06.753Z,1761699066.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:07.203Z,1761699067.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988466,0.151062,0.010740],[-0.149549,0.962457,0.226520],[0.023882,-0.225514,0.973947]] 2025-10-29T00:51:07.226Z,1761699067.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:07.595Z,1761699067.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985755,0.167429,0.015967],[-0.166591,0.958929,0.229572],[0.023126,-0.228962,0.973161]] 2025-10-29T00:51:07.628Z,1761699067.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:07.632Z,1761699067.632 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:51:07.997Z,1761699067.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982585,0.184594,0.021277],[-0.184461,0.955202,0.231436],[0.022398,-0.231331,0.972617]] 2025-10-29T00:51:08.054Z,1761699068.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:08.406Z,1761699068.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979055,0.201802,0.026968],[-0.202452,0.950956,0.233871],[0.021550,-0.234432,0.971894]] 2025-10-29T00:51:08.437Z,1761699068.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:08.636Z,1761699068.636 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:51:08.802Z,1761699068.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975226,0.218825,0.032413],[-0.220222,0.946525,0.235782],[0.020915,-0.237079,0.971265]] 2025-10-29T00:51:08.849Z,1761699068.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:09.206Z,1761699069.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971132,0.235523,0.037844],[-0.237691,0.942010,0.236897],[0.020145,-0.239053,0.970797]] 2025-10-29T00:51:09.252Z,1761699069.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:09.611Z,1761699069.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966435,0.253178,0.043629],[-0.256197,0.937111,0.237038],[0.019127,-0.240260,0.970520]] 2025-10-29T00:51:09.779Z,1761699069.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:10.080Z,1761699070.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.961726,0.269505,0.049491],[-0.273428,0.932108,0.237513],[0.017880,-0.241955,0.970123]] 2025-10-29T00:51:10.164Z,1761699070.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:10.489Z,1761699070.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.956435,0.286551,0.055859],[-0.291469,0.926320,0.238699],[0.016656,-0.244581,0.969486]] 2025-10-29T00:51:10.547Z,1761699070.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:10.887Z,1761699070.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950592,0.304202,0.061942],[-0.310068,0.920532,0.237653],[0.015275,-0.245117,0.969373]] 2025-10-29T00:51:11.015Z,1761699071.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:11.456Z,1761699071.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944523,0.321420,0.067574],[-0.328153,0.914802,0.235484],[0.013872,-0.244595,0.969526]] 2025-10-29T00:51:11.485Z,1761699071.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:11.858Z,1761699071.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938006,0.338684,0.073744],[-0.346415,0.908684,0.233001],[0.011903,-0.244103,0.969676]] 2025-10-29T00:51:11.917Z,1761699071.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:12.263Z,1761699072.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.931246,0.355408,0.080408],[-0.364273,0.902397,0.230184],[0.009249,-0.243648,0.969819]] 2025-10-29T00:51:12.287Z,1761699072.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:12.669Z,1761699072.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.924481,0.371242,0.086686],[-0.381175,0.896332,0.226482],[0.006380,-0.242421,0.970150]] 2025-10-29T00:51:12.691Z,1761699072.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:13.070Z,1761699073.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917708,0.386111,0.093434],[-0.397241,0.889968,0.223956],[0.003319,-0.242642,0.970110]] 2025-10-29T00:51:13.114Z,1761699073.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:13.474Z,1761699073.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910748,0.400528,0.100579],[-0.412964,0.883241,0.222139],[0.000138,-0.243848,0.969813]] 2025-10-29T00:51:13.510Z,1761699073.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:13.878Z,1761699073.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.904060,0.413792,0.107012],[-0.427393,0.877185,0.218820],[-0.003323,-0.243562,0.969880]] 2025-10-29T00:51:13.947Z,1761699073.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:14.289Z,1761699074.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897526,0.426137,0.113372],[-0.440911,0.871111,0.216247],[-0.006609,-0.244075,0.969734]] 2025-10-29T00:51:14.307Z,1761699074.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:14.687Z,1761699074.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.891341,0.437638,0.118256],[-0.453219,0.866126,0.210754],[-0.010191,-0.241449,0.970360]] 2025-10-29T00:51:14.721Z,1761699074.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:15.145Z,1761699075.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:15.495Z,1761699075.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880642,0.456854,0.125516],[-0.473437,0.858662,0.196359],[-0.018068,-0.232346,0.972465]] 2025-10-29T00:51:15.514Z,1761699075.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:15.910Z,1761699075.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875988,0.464949,0.128325],[-0.481825,0.855729,0.188608],[-0.022119,-0.227048,0.973632]] 2025-10-29T00:51:15.972Z,1761699075.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:16.306Z,1761699076.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872151,0.471470,0.130647],[-0.488514,0.853750,0.180182],[-0.026589,-0.220968,0.974918]] 2025-10-29T00:51:16.349Z,1761699076.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:16.707Z,1761699076.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868940,0.476761,0.132825],[-0.493929,0.852348,0.171866],[-0.031274,-0.214947,0.976125]] 2025-10-29T00:51:16.732Z,1761699076.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:17.172Z,1761699077.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:17.515Z,1761699077.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863794,0.485324,0.135352],[-0.502259,0.850718,0.154967],[-0.039937,-0.201841,0.978604]] 2025-10-29T00:51:17.545Z,1761699077.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:17.923Z,1761699077.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862411,0.487765,0.135398],[-0.504243,0.851313,0.144935],[-0.044572,-0.193267,0.980133]] 2025-10-29T00:51:17.966Z,1761699077.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:18.327Z,1761699078.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861368,0.489344,0.136336],[-0.505568,0.851953,0.136295],[-0.049456,-0.186327,0.981242]] 2025-10-29T00:51:18.346Z,1761699078.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:18.761Z,1761699078.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:19.186Z,1761699079.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:19.540Z,1761699079.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860363,0.490302,0.139210],[-0.505595,0.855531,0.111537],[-0.064411,-0.166346,0.983961]] 2025-10-29T00:51:19.559Z,1761699079.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:19.942Z,1761699079.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860189,0.490462,0.139723],[-0.505289,0.856730,0.103421],[-0.068981,-0.159562,0.984775]] 2025-10-29T00:51:20.012Z,1761699080.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:20.350Z,1761699080.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860693,0.489238,0.140899],[-0.503674,0.858607,0.095429],[-0.074289,-0.153103,0.985414]] 2025-10-29T00:51:20.402Z,1761699080.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:20.756Z,1761699080.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860660,0.488958,0.142071],[-0.503024,0.859744,0.088359],[-0.078941,-0.147512,0.985905]] 2025-10-29T00:51:20.806Z,1761699080.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:21.155Z,1761699081.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860422,0.488971,0.143463],[-0.502701,0.860580,0.081810],[-0.083459,-0.142510,0.986268]] 2025-10-29T00:51:21.202Z,1761699081.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:21.559Z,1761699081.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860539,0.488050,0.145875],[-0.501658,0.861682,0.076448],[-0.088387,-0.138966,0.986345]] 2025-10-29T00:51:21.597Z,1761699081.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:21.963Z,1761699081.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860209,0.487737,0.148838],[-0.501416,0.862146,0.072711],[-0.092856,-0.137176,0.986185]] 2025-10-29T00:51:22.019Z,1761699082.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:22.376Z,1761699082.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859899,0.487188,0.152389],[-0.501104,0.862547,0.070058],[-0.097312,-0.136605,0.985834]] 2025-10-29T00:51:22.441Z,1761699082.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:22.778Z,1761699082.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859688,0.486404,0.156038],[-0.500596,0.863023,0.067792],[-0.101690,-0.136392,0.985422]] 2025-10-29T00:51:22.933Z,1761699082.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:23.229Z,1761699083.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858705,0.486071,0.162361],[-0.500576,0.863429,0.062570],[-0.109774,-0.135003,0.984746]] 2025-10-29T00:51:23.303Z,1761699083.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:23.674Z,1761699083.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:24.033Z,1761699084.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858266,0.484882,0.168136],[-0.499572,0.864369,0.057384],[-0.117507,-0.133247,0.984092]] 2025-10-29T00:51:24.120Z,1761699084.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:24.503Z,1761699084.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858033,0.483902,0.172102],[-0.499000,0.864769,0.056337],[-0.121567,-0.134218,0.983467]] 2025-10-29T00:51:24.522Z,1761699084.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:24.951Z,1761699084.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857509,0.483721,0.175196],[-0.499071,0.864817,0.054955],[-0.124930,-0.134559,0.982999]] 2025-10-29T00:51:24.995Z,1761699084.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:25.428Z,1761699085.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857070,0.483450,0.178067],[-0.498965,0.864989,0.053173],[-0.128319,-0.134422,0.982581]] 2025-10-29T00:51:25.461Z,1761699085.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:25.882Z,1761699085.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856887,0.482949,0.180293],[-0.498481,0.865398,0.051020],[-0.131385,-0.133591,0.982289]] 2025-10-29T00:51:25.981Z,1761699085.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:26.297Z,1761699086.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856915,0.481950,0.182814],[-0.497559,0.866038,0.049119],[-0.134651,-0.133051,0.981920]] 2025-10-29T00:51:26.346Z,1761699086.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:26.699Z,1761699086.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856917,0.481041,0.185182],[-0.496730,0.866609,0.047421],[-0.137669,-0.132622,0.981559]] 2025-10-29T00:51:26.718Z,1761699086.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:27.100Z,1761699087.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856551,0.480911,0.187204],[-0.496630,0.866759,0.045700],[-0.140283,-0.132115,0.981257]] 2025-10-29T00:51:27.146Z,1761699087.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:27.504Z,1761699087.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856608,0.479784,0.189813],[-0.495602,0.867434,0.044020],[-0.143530,-0.131780,0.980833]] 2025-10-29T00:51:27.528Z,1761699087.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:27.917Z,1761699087.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856266,0.479392,0.192333],[-0.495365,0.867631,0.042783],[-0.146365,-0.131909,0.980397]] 2025-10-29T00:51:27.945Z,1761699087.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:28.389Z,1761699088.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:28.717Z,1761699088.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855322,0.479111,0.197171],[-0.495255,0.867844,0.039608],[-0.152137,-0.131527,0.979569]] 2025-10-29T00:51:28.758Z,1761699088.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:29.174Z,1761699089.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:29.624Z,1761699089.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854826,0.477352,0.203488],[-0.493587,0.868993,0.034966],[-0.160138,-0.130329,0.978453]] 2025-10-29T00:51:29.644Z,1761699089.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:30.043Z,1761699090.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854776,0.476459,0.205781],[-0.492800,0.869485,0.033823],[-0.162808,-0.130319,0.978013]] 2025-10-29T00:51:30.079Z,1761699090.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:30.528Z,1761699090.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854716,0.475661,0.207863],[-0.492153,0.869878,0.033117],[-0.165063,-0.130606,0.977597]] 2025-10-29T00:51:30.546Z,1761699090.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:31.009Z,1761699091.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854672,0.474766,0.210079],[-0.491511,0.870249,0.032919],[-0.167192,-0.131391,0.977130]] 2025-10-29T00:51:31.090Z,1761699091.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:31.392Z,1761699091.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854787,0.473878,0.211610],[-0.490676,0.870751,0.032105],[-0.169046,-0.131275,0.976827]] 2025-10-29T00:51:31.412Z,1761699091.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:31.785Z,1761699091.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854943,0.473148,0.212609],[-0.490024,0.871127,0.031845],[-0.170142,-0.131409,0.976618]] 2025-10-29T00:51:31.819Z,1761699091.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:32.237Z,1761699092.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:32.624Z,1761699092.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:33.016Z,1761699093.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855567,0.470211,0.216579],[-0.487867,0.872276,0.033472],[-0.173178,-0.134299,0.975691]] 2025-10-29T00:51:33.076Z,1761699093.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:33.401Z,1761699093.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855355,0.469654,0.218618],[-0.487886,0.872200,0.035147],[-0.174172,-0.136724,0.975177]] 2025-10-29T00:51:33.452Z,1761699093.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:33.849Z,1761699093.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:34.208Z,1761699094.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854997,0.468769,0.221892],[-0.487936,0.872060,0.037808],[-0.175780,-0.140595,0.974338]] 2025-10-29T00:51:34.250Z,1761699094.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:34.647Z,1761699094.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854811,0.468950,0.222223],[-0.488066,0.872012,0.037235],[-0.176320,-0.140289,0.974284]] 2025-10-29T00:51:34.667Z,1761699094.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:35.097Z,1761699095.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854694,0.468878,0.222828],[-0.488368,0.871774,0.038818],[-0.176055,-0.142000,0.974085]] 2025-10-29T00:51:35.134Z,1761699095.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:35.466Z,1761699095.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854436,0.468989,0.223582],[-0.488769,0.871505,0.039789],[-0.176192,-0.143277,0.973873]] 2025-10-29T00:51:35.485Z,1761699095.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:35.950Z,1761699095.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:36.263Z,1761699096.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854253,0.469661,0.222868],[-0.489763,0.870839,0.042099],[-0.174309,-0.145116,0.973939]] 2025-10-29T00:51:36.346Z,1761699096.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:36.724Z,1761699096.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:37.119Z,1761699097.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855151,0.469436,0.219880],[-0.489142,0.871171,0.042437],[-0.171631,-0.143842,0.974604]] 2025-10-29T00:51:37.180Z,1761699097.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:37.665Z,1761699097.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856661,0.468668,0.215598],[-0.487503,0.872151,0.041164],[-0.168741,-0.140368,0.975614]] 2025-10-29T00:51:37.683Z,1761699097.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:38.063Z,1761699098.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857526,0.468262,0.213028],[-0.486510,0.872760,0.039969],[-0.167206,-0.137915,0.976228]] 2025-10-29T00:51:38.140Z,1761699098.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:38.606Z,1761699098.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858409,0.467656,0.210787],[-0.485622,0.873241,0.040258],[-0.165241,-0.136920,0.976703]] 2025-10-29T00:51:38.662Z,1761699098.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:38.757Z,1761699098.757 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:51:39.081Z,1761699099.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859364,0.467270,0.207731],[-0.484728,0.873757,0.039847],[-0.162887,-0.134936,0.977374]] 2025-10-29T00:51:39.161Z,1761699099.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:39.482Z,1761699099.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860519,0.466298,0.205119],[-0.483455,0.874439,0.040336],[-0.160555,-0.133876,0.977906]] 2025-10-29T00:51:39.540Z,1761699099.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:39.761Z,1761699099.761 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:51:39.887Z,1761699099.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861215,0.465849,0.203210],[-0.483105,0.874525,0.042617],[-0.157859,-0.134874,0.978207]] 2025-10-29T00:51:39.911Z,1761699099.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:40.287Z,1761699100.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862077,0.464960,0.201583],[-0.482436,0.874748,0.045506],[-0.155176,-0.136481,0.978414]] 2025-10-29T00:51:40.338Z,1761699100.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:40.690Z,1761699100.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862411,0.464948,0.200177],[-0.482827,0.874324,0.049355],[-0.152072,-0.139215,0.978516]] 2025-10-29T00:51:40.708Z,1761699100.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:41.096Z,1761699101.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863139,0.463918,0.199428],[-0.482368,0.874311,0.053865],[-0.149373,-0.142690,0.978431]] 2025-10-29T00:51:41.126Z,1761699101.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:41.499Z,1761699101.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863639,0.463634,0.197918],[-0.482372,0.874092,0.057276],[-0.146444,-0.144936,0.978544]] 2025-10-29T00:51:41.572Z,1761699101.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:41.902Z,1761699101.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864295,0.463063,0.196382],[-0.482035,0.874063,0.060465],[-0.143651,-0.146923,0.978661]] 2025-10-29T00:51:41.937Z,1761699101.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:42.311Z,1761699102.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864980,0.462711,0.194186],[-0.481582,0.874198,0.062095],[-0.141026,-0.147227,0.978997]] 2025-10-29T00:51:42.396Z,1761699102.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:42.774Z,1761699102.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:43.114Z,1761699103.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866062,0.462256,0.190410],[-0.481091,0.874187,0.065943],[-0.135971,-0.148716,0.979487]] 2025-10-29T00:51:43.144Z,1761699103.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:43.579Z,1761699103.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:43.969Z,1761699103.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:44.393Z,1761699104.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866484,0.463714,0.184865],[-0.482431,0.873026,0.071321],[-0.128320,-0.150983,0.980173]] 2025-10-29T00:51:44.448Z,1761699104.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:44.798Z,1761699104.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866790,0.463654,0.183578],[-0.482525,0.872745,0.074065],[-0.125876,-0.152780,0.980211]] 2025-10-29T00:51:44.823Z,1761699104.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:45.307Z,1761699105.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:45.651Z,1761699105.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:46.025Z,1761699106.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868351,0.464786,0.173033],[-0.482832,0.871974,0.080834],[-0.113310,-0.153738,0.981593]] 2025-10-29T00:51:46.065Z,1761699106.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:46.429Z,1761699106.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868592,0.465527,0.169800],[-0.483193,0.871673,0.081925],[-0.109872,-0.153206,0.982067]] 2025-10-29T00:51:46.487Z,1761699106.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:46.834Z,1761699106.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868629,0.466813,0.166043],[-0.483810,0.871406,0.081112],[-0.106827,-0.150790,0.982777]] 2025-10-29T00:51:46.869Z,1761699106.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:47.275Z,1761699107.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868852,0.467311,0.163451],[-0.484020,0.871195,0.082124],[-0.104020,-0.150467,0.983127]] 2025-10-29T00:51:47.336Z,1761699107.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:47.667Z,1761699107.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868942,0.467241,0.163176],[-0.484434,0.870474,0.087170],[-0.101310,-0.154794,0.982739]] 2025-10-29T00:51:47.686Z,1761699107.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:48.071Z,1761699108.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868990,0.467575,0.161957],[-0.484927,0.869845,0.090635],[-0.098498,-0.157298,0.982627]] 2025-10-29T00:51:48.101Z,1761699108.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:48.472Z,1761699108.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869400,0.467083,0.161175],[-0.484718,0.869520,0.094782],[-0.095873,-0.160528,0.982364]] 2025-10-29T00:51:48.517Z,1761699108.517 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:51:48.519Z,1761699108.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:48.566Z,1761699108.566 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:51:48.567Z,1761699108.567 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:51:48.817Z,1761699108.817 [DAT](INFO): DAT read: user:585> 2025-10-29T00:51:48.821Z,1761699108.821 [DAT](INFO): DAT read: Tx time:00:51:48.5717 2025-10-29T00:51:48.823Z,1761699108.823 [DAT](INFO): Ping request sent. 2025-10-29T00:51:48.823Z,1761699108.823 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:51:48.823Z,1761699108.823 [DAT](INFO): publishing transmit ping time 2025-10-29T00:51:48.824Z,1761699108.824 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-29T00:51:48.905Z,1761699108.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869798,0.466832,0.159748],[-0.484564,0.869223,0.098229],[-0.093000,-0.162847,0.982258]] 2025-10-29T00:51:48.941Z,1761699108.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:49.069Z,1761699109.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246294 2025-10-29T00:51:49.311Z,1761699109.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870468,0.466660,0.156567],[-0.483911,0.869534,0.098692],[-0.090085,-0.161673,0.982724]] 2025-10-29T00:51:49.321Z,1761699109.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498150 2025-10-29T00:51:49.466Z,1761699109.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:49.573Z,1761699109.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750178 2025-10-29T00:51:49.796Z,1761699109.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871512,0.465723,0.153522],[-0.482564,0.870172,0.099663],[-0.087175,-0.160942,0.983106]] 2025-10-29T00:51:49.825Z,1761699109.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.001969 2025-10-29T00:51:49.870Z,1761699109.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:50.077Z,1761699110.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254323 2025-10-29T00:51:50.244Z,1761699110.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:50.333Z,1761699110.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508996 2025-10-29T00:51:50.581Z,1761699110.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758178 2025-10-29T00:51:50.592Z,1761699110.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873180,0.465013,0.146013],[-0.480654,0.871212,0.099803],[-0.080799,-0.157328,0.984235]] 2025-10-29T00:51:50.670Z,1761699110.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:50.834Z,1761699110.834 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011380 2025-10-29T00:51:50.990Z,1761699110.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874108,0.464572,0.141801],[-0.479481,0.871954,0.098964],[-0.077668,-0.154496,0.984936]] 2025-10-29T00:51:51.009Z,1761699111.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:51.086Z,1761699111.086 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262823 2025-10-29T00:51:51.338Z,1761699111.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515042 2025-10-29T00:51:51.403Z,1761699111.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874952,0.463897,0.138773],[-0.478401,0.872451,0.099808],[-0.074772,-0.153717,0.985282]] 2025-10-29T00:51:51.450Z,1761699111.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:51.589Z,1761699111.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766212 2025-10-29T00:51:51.801Z,1761699111.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875780,0.463339,0.135377],[-0.477380,0.872914,0.100645],[-0.071540,-0.152769,0.985669]] 2025-10-29T00:51:51.825Z,1761699111.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:51.842Z,1761699111.842 [DAT](INFO): DAT read: Rx Time:00:51:51.1255 2025-10-29T00:51:51.843Z,1761699111.843 [DAT](INFO): Rx dataTimestamp_ set to:1761699111.842111 2025-10-29T00:51:51.844Z,1761699111.844 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020738 2025-10-29T00:51:52.093Z,1761699112.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270157 2025-10-29T00:51:52.202Z,1761699112.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876123,0.463462,0.132707],[-0.477221,0.872787,0.102487],[-0.068326,-0.153122,0.985842]] 2025-10-29T00:51:52.234Z,1761699112.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:52.385Z,1761699112.385 [DAT](INFO): DAT read: 00:51:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.24,-1.975,-1.445,-1.945,-2.856, PHS= 0.983, 1.456, 0.867, RAW= 340.8, -65.2, CAL= 341.7, -66.7, ROT= 168.3, 66.7 2025-10-29T00:51:52.387Z,1761699112.387 [DAT](INFO): got valid direction response: 00:51:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 408,-0.24,-1.975,-1.445,-1.945,-2.856, PHS= 0.983, 1.456, 0.867, RAW= 340.8, -65.2, CAL= 341.7, -66.7, ROT= 168.3, 66.7 2025-10-29T00:51:52.388Z,1761699112.388 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:51:52.389Z,1761699112.389 [DAT](INFO): Received a bad header 2025-10-29T00:51:52.400Z,1761699112.400 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:51:52.401Z,1761699112.401 [DAT](INFO): direction in FSK: [-0.387327,0.080212,-0.918446] 2025-10-29T00:51:52.611Z,1761699112.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876477,0.463381,0.130632],[-0.476982,0.872631,0.104897],[-0.065386,-0.154249,0.985866]] 2025-10-29T00:51:52.672Z,1761699112.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:53.013Z,1761699113.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876684,0.463274,0.129625],[-0.476968,0.872164,0.108773],[-0.062662,-0.157187,0.985579]] 2025-10-29T00:51:53.032Z,1761699113.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:53.414Z,1761699113.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876928,0.463379,0.127587],[-0.476898,0.871896,0.111199],[-0.059715,-0.158359,0.985574]] 2025-10-29T00:51:53.464Z,1761699113.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:53.818Z,1761699113.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876918,0.463697,0.126493],[-0.477275,0.871170,0.115202],[-0.056778,-0.161394,0.985255]] 2025-10-29T00:51:53.869Z,1761699113.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:54.222Z,1761699114.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876971,0.464103,0.124620],[-0.477490,0.870774,0.117285],[-0.054084,-0.162360,0.985248]] 2025-10-29T00:51:54.244Z,1761699114.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:54.695Z,1761699114.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876781,0.464752,0.123535],[-0.478139,0.869949,0.120714],[-0.051367,-0.164906,0.984971]] 2025-10-29T00:51:54.756Z,1761699114.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:55.088Z,1761699115.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876702,0.465310,0.121985],[-0.478540,0.869437,0.122796],[-0.048920,-0.166030,0.984906]] 2025-10-29T00:51:55.114Z,1761699115.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:55.491Z,1761699115.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876813,0.465730,0.119556],[-0.478647,0.869089,0.124820],[-0.045772,-0.166669,0.984950]] 2025-10-29T00:51:55.535Z,1761699115.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:55.896Z,1761699115.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876926,0.466425,0.115968],[-0.478789,0.868837,0.126031],[-0.041973,-0.166044,0.985225]] 2025-10-29T00:51:55.914Z,1761699115.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:56.300Z,1761699116.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877141,0.466791,0.112825],[-0.478698,0.868635,0.127754],[-0.038369,-0.166067,0.985368]] 2025-10-29T00:51:56.318Z,1761699116.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:56.702Z,1761699116.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877081,0.467698,0.109482],[-0.479127,0.868035,0.130203],[-0.034139,-0.166654,0.985424]] 2025-10-29T00:51:56.762Z,1761699116.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:57.107Z,1761699117.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876999,0.468717,0.105724],[-0.479572,0.867484,0.132221],[-0.029740,-0.166660,0.985566]] 2025-10-29T00:51:57.126Z,1761699117.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:57.511Z,1761699117.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877045,0.469639,0.101153],[-0.479728,0.867373,0.132384],[-0.025565,-0.164633,0.986024]] 2025-10-29T00:51:57.555Z,1761699117.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:57.915Z,1761699117.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877188,0.470258,0.096942],[-0.479650,0.867415,0.132391],[-0.021831,-0.162631,0.986445]] 2025-10-29T00:51:57.950Z,1761699117.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:58.322Z,1761699118.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877104,0.471090,0.093608],[-0.479968,0.866939,0.134338],[-0.017867,-0.162757,0.986504]] 2025-10-29T00:51:58.363Z,1761699118.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:58.723Z,1761699118.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877008,0.472082,0.089414],[-0.480272,0.866732,0.134591],[-0.013960,-0.160980,0.986859]] 2025-10-29T00:51:58.785Z,1761699118.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:58.913Z,1761699118.913 [DAT](INFO): Reached modem response timeout 2025-10-29T00:51:59.128Z,1761699119.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877212,0.472377,0.085786],[-0.479997,0.866664,0.136003],[-0.010103,-0.160481,0.986987]] 2025-10-29T00:51:59.147Z,1761699119.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:59.531Z,1761699119.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877224,0.473131,0.081392],[-0.480046,0.866520,0.136748],[-0.005828,-0.159031,0.987256]] 2025-10-29T00:51:59.574Z,1761699119.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:51:59.935Z,1761699119.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877295,0.473645,0.077551],[-0.479949,0.866310,0.138402],[-0.001630,-0.158639,0.987335]] 2025-10-29T00:51:59.955Z,1761699119.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:00.348Z,1761699120.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877680,0.473370,0.074822],[-0.479242,0.866215,0.141416],[0.002130,-0.159976,0.987119]] 2025-10-29T00:52:00.367Z,1761699120.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:00.825Z,1761699120.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:01.147Z,1761699121.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878136,0.473534,0.068130],[-0.478299,0.865914,0.146368],[0.010315,-0.161117,0.986881]] 2025-10-29T00:52:01.186Z,1761699121.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:01.201Z,1761699121.201 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:52:01.201Z,1761699121.201 [DAT](INFO): response not received 2025-10-29T00:52:01.202Z,1761699121.202 [DAT](ERROR): No response from remote modem. 2025-10-29T00:52:01.550Z,1761699121.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878610,0.473304,0.063468],[-0.477316,0.866340,0.147054],[0.014616,-0.159497,0.987090]] 2025-10-29T00:52:01.608Z,1761699121.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:01.958Z,1761699121.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878827,0.473388,0.059720],[-0.476763,0.866244,0.149394],[0.018989,-0.159763,0.986973]] 2025-10-29T00:52:01.976Z,1761699121.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:02.359Z,1761699122.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879217,0.473087,0.056265],[-0.475868,0.866360,0.151557],[0.022954,-0.160026,0.986846]] 2025-10-29T00:52:02.389Z,1761699122.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:02.881Z,1761699122.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:03.215Z,1761699123.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879749,0.472925,0.048826],[-0.474469,0.866760,0.153643],[0.030341,-0.158334,0.986919]] 2025-10-29T00:52:03.246Z,1761699123.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:03.610Z,1761699123.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879990,0.472851,0.045057],[-0.473791,0.867064,0.154022],[0.033762,-0.156885,0.987040]] 2025-10-29T00:52:03.686Z,1761699123.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:04.015Z,1761699124.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880305,0.472486,0.042670],[-0.472966,0.867062,0.156546],[0.036969,-0.157989,0.986749]] 2025-10-29T00:52:04.059Z,1761699124.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:04.423Z,1761699124.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880412,0.472455,0.040762],[-0.472544,0.866875,0.158836],[0.039707,-0.159103,0.986463]] 2025-10-29T00:52:04.447Z,1761699124.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:04.840Z,1761699124.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880175,0.473088,0.038475],[-0.472725,0.866426,0.160740],[0.042708,-0.159667,0.986247]] 2025-10-29T00:52:04.893Z,1761699124.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:05.226Z,1761699125.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880045,0.473435,0.037153],[-0.472737,0.865927,0.163372],[0.045174,-0.161338,0.985865]] 2025-10-29T00:52:05.273Z,1761699125.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:05.630Z,1761699125.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879886,0.473895,0.034984],[-0.472784,0.865675,0.164564],[0.047701,-0.161338,0.985746]] 2025-10-29T00:52:05.679Z,1761699125.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:06.040Z,1761699126.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879918,0.474018,0.032415],[-0.472467,0.865749,0.165088],[0.050191,-0.160579,0.985746]] 2025-10-29T00:52:06.058Z,1761699126.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:06.452Z,1761699126.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879231,0.475522,0.028844],[-0.473156,0.864600,0.169085],[0.055465,-0.162312,0.985179]] 2025-10-29T00:52:06.470Z,1761699126.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:06.850Z,1761699126.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878640,0.476707,0.027242],[-0.473911,0.863676,0.171678],[0.058312,-0.163753,0.984776]] 2025-10-29T00:52:06.893Z,1761699126.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:07.253Z,1761699127.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878097,0.477832,0.024943],[-0.474560,0.863053,0.173009],[0.061142,-0.163756,0.984604]] 2025-10-29T00:52:07.287Z,1761699127.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:07.656Z,1761699127.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877652,0.478771,0.022495],[-0.475002,0.862555,0.174277],[0.064036,-0.163639,0.984440]] 2025-10-29T00:52:07.712Z,1761699127.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:08.058Z,1761699128.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877187,0.479697,0.020854],[-0.475467,0.861760,0.176923],[0.066898,-0.165109,0.984004]] 2025-10-29T00:52:08.077Z,1761699128.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:08.459Z,1761699128.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876566,0.480932,0.018323],[-0.476222,0.861218,0.177526],[0.069598,-0.164339,0.983946]] 2025-10-29T00:52:08.492Z,1761699128.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:08.863Z,1761699128.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876005,0.482039,0.015925],[-0.476867,0.860719,0.178216],[0.072200,-0.163712,0.983863]] 2025-10-29T00:52:08.909Z,1761699128.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:09.270Z,1761699129.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875396,0.483206,0.013937],[-0.477611,0.860091,0.179251],[0.074628,-0.163572,0.983705]] 2025-10-29T00:52:09.289Z,1761699129.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:09.672Z,1761699129.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875113,0.483763,0.012306],[-0.477819,0.859777,0.180201],[0.076594,-0.163576,0.983553]] 2025-10-29T00:52:09.709Z,1761699129.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:09.884Z,1761699129.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:52:10.074Z,1761699130.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874542,0.484846,0.010054],[-0.478459,0.859270,0.180918],[0.079078,-0.163031,0.983447]] 2025-10-29T00:52:10.100Z,1761699130.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:10.478Z,1761699130.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874170,0.485556,0.007873],[-0.478769,0.859011,0.181328],[0.081282,-0.162281,0.983391]] 2025-10-29T00:52:10.515Z,1761699130.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:10.883Z,1761699130.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874069,0.485758,0.006518],[-0.478654,0.858838,0.182447],[0.083027,-0.162591,0.983194]] 2025-10-29T00:52:10.888Z,1761699130.888 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:52:10.938Z,1761699130.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:11.344Z,1761699131.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:11.690Z,1761699131.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874118,0.485700,0.003624],[-0.477970,0.858832,0.184262],[0.086384,-0.162799,0.982870]] 2025-10-29T00:52:11.733Z,1761699131.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:12.095Z,1761699132.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874131,0.485685,0.002247],[-0.477632,0.858778,0.185388],[0.088110,-0.163126,0.982663]] 2025-10-29T00:52:12.129Z,1761699132.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:12.544Z,1761699132.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:12.905Z,1761699132.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874631,0.484785,-0.001917],[-0.476180,0.859835,0.184220],[0.090956,-0.160212,0.982883]] 2025-10-29T00:52:12.942Z,1761699132.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:13.329Z,1761699133.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874727,0.484600,-0.003910],[-0.475741,0.860217,0.183570],[0.092321,-0.158714,0.982999]] 2025-10-29T00:52:13.347Z,1761699133.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:13.711Z,1761699133.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874665,0.484702,-0.004972],[-0.475539,0.860029,0.184967],[0.093930,-0.159420,0.982732]] 2025-10-29T00:52:13.773Z,1761699133.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:14.115Z,1761699134.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874896,0.484285,-0.005056],[-0.474914,0.859921,0.187062],[0.094939,-0.161259,0.982335]] 2025-10-29T00:52:14.134Z,1761699134.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:14.521Z,1761699134.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874673,0.484689,-0.004898],[-0.475087,0.859261,0.189638],[0.096124,-0.163545,0.981842]] 2025-10-29T00:52:14.539Z,1761699134.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:14.923Z,1761699134.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874732,0.484586,-0.004477],[-0.474797,0.858837,0.192266],[0.097014,-0.166056,0.981333]] 2025-10-29T00:52:14.966Z,1761699134.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:15.334Z,1761699135.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874800,0.484472,-0.003402],[-0.474495,0.858161,0.195995],[0.097873,-0.169842,0.980599]] 2025-10-29T00:52:15.368Z,1761699135.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:15.731Z,1761699135.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874811,0.484450,-0.003710],[-0.474391,0.858149,0.196302],[0.098282,-0.169968,0.980536]] 2025-10-29T00:52:15.802Z,1761699135.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:16.215Z,1761699136.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:16.539Z,1761699136.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874546,0.484914,-0.005200],[-0.474615,0.858074,0.196085],[0.099546,-0.169017,0.980573]] 2025-10-29T00:52:16.570Z,1761699136.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:16.942Z,1761699136.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874209,0.485511,-0.006111],[-0.475033,0.857811,0.196225],[0.100511,-0.168639,0.980540]] 2025-10-29T00:52:17.003Z,1761699137.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:17.349Z,1761699137.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873626,0.486560,-0.006096],[-0.475855,0.856889,0.198253],[0.101685,-0.170298,0.980132]] 2025-10-29T00:52:17.403Z,1761699137.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:17.759Z,1761699137.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872841,0.487963,-0.006372],[-0.477033,0.855898,0.199694],[0.102897,-0.171261,0.979838]] 2025-10-29T00:52:17.843Z,1761699137.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:18.154Z,1761699138.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872112,0.489252,-0.007275],[-0.478106,0.855218,0.200040],[0.104091,-0.170979,0.979761]] 2025-10-29T00:52:18.185Z,1761699138.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:18.558Z,1761699138.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871383,0.490523,-0.008884],[-0.479143,0.854778,0.199440],[0.105423,-0.169532,0.979870]] 2025-10-29T00:52:18.603Z,1761699138.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:18.962Z,1761699138.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870904,0.491363,-0.009411],[-0.479786,0.854221,0.200279],[0.106449,-0.169909,0.979694]] 2025-10-29T00:52:19.022Z,1761699139.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:19.373Z,1761699139.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870145,0.492704,-0.009546],[-0.480931,0.853259,0.201630],[0.107489,-0.170857,0.979415]] 2025-10-29T00:52:19.391Z,1761699139.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:19.780Z,1761699139.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869289,0.494204,-0.009944],[-0.482237,0.852313,0.202509],[0.108556,-0.171243,0.979230]] 2025-10-29T00:52:19.855Z,1761699139.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:20.174Z,1761699140.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869099,0.494504,-0.011517],[-0.482426,0.852553,0.201042],[0.109235,-0.169169,0.979515]] 2025-10-29T00:52:20.193Z,1761699140.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:20.579Z,1761699140.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868725,0.495117,-0.013281],[-0.482943,0.852705,0.199149],[0.109927,-0.166591,0.979879]] 2025-10-29T00:52:20.597Z,1761699140.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:20.984Z,1761699140.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868649,0.495200,-0.014988],[-0.482881,0.853029,0.197909],[0.110790,-0.164676,0.980106]] 2025-10-29T00:52:21.021Z,1761699141.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:21.387Z,1761699141.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868793,0.494893,-0.016734],[-0.482424,0.853556,0.196748],[0.111653,-0.162860,0.980311]] 2025-10-29T00:52:21.425Z,1761699141.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:21.860Z,1761699141.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868846,0.494700,-0.019431],[-0.482117,0.854365,0.193966],[0.112556,-0.159158,0.980816]] 2025-10-29T00:52:21.915Z,1761699141.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:22.264Z,1761699142.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869310,0.493796,-0.021579],[-0.481121,0.855383,0.191945],[0.113241,-0.156478,0.981168]] 2025-10-29T00:52:22.310Z,1761699142.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:22.736Z,1761699142.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869478,0.493448,-0.022761],[-0.480668,0.855782,0.191299],[0.113874,-0.155389,0.981268]] 2025-10-29T00:52:22.825Z,1761699142.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:23.139Z,1761699143.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869993,0.492423,-0.025129],[-0.479447,0.856762,0.189972],[0.115076,-0.153226,0.981468]] 2025-10-29T00:52:23.191Z,1761699143.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:23.543Z,1761699143.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870719,0.490981,-0.028052],[-0.477783,0.858069,0.188258],[0.116502,-0.150517,0.981719]] 2025-10-29T00:52:23.562Z,1761699143.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:23.943Z,1761699143.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871603,0.489265,-0.030458],[-0.475801,0.859300,0.187660],[0.117988,-0.149073,0.981762]] 2025-10-29T00:52:23.991Z,1761699143.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:24.346Z,1761699144.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872295,0.487905,-0.032402],[-0.474085,0.860097,0.188355],[0.119768,-0.148940,0.981566]] 2025-10-29T00:52:24.365Z,1761699144.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:24.757Z,1761699144.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872968,0.486479,-0.035552],[-0.472358,0.861306,0.187164],[0.121673,-0.146595,0.981685]] 2025-10-29T00:52:24.850Z,1761699144.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:25.164Z,1761699145.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873554,0.485272,-0.037610],[-0.470803,0.862050,0.187655],[0.123485,-0.146220,0.981515]] 2025-10-29T00:52:25.201Z,1761699145.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:25.563Z,1761699145.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874150,0.484071,-0.039206],[-0.469249,0.862668,0.188704],[0.125168,-0.146558,0.981251]] 2025-10-29T00:52:25.588Z,1761699145.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:25.967Z,1761699145.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874538,0.483250,-0.040655],[-0.468067,0.863041,0.189929],[0.126870,-0.147070,0.980956]] 2025-10-29T00:52:26.012Z,1761699146.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:26.371Z,1761699146.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874440,0.483434,-0.040563],[-0.467663,0.862235,0.194528],[0.129016,-0.151134,0.980058]] 2025-10-29T00:52:26.389Z,1761699146.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:26.787Z,1761699146.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873858,0.484475,-0.040687],[-0.468062,0.860974,0.199101],[0.131490,-0.154942,0.979134]] 2025-10-29T00:52:26.876Z,1761699146.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:27.213Z,1761699147.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873360,0.485362,-0.040822],[-0.468298,0.859782,0.203644],[0.133939,-0.158737,0.978194]] 2025-10-29T00:52:27.277Z,1761699147.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:27.617Z,1761699147.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872637,0.486670,-0.040716],[-0.468821,0.858142,0.209280],[0.136791,-0.163537,0.977008]] 2025-10-29T00:52:27.635Z,1761699147.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:28.019Z,1761699148.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871818,0.488205,-0.039867],[-0.469552,0.856130,0.215782],[0.139477,-0.169403,0.975627]] 2025-10-29T00:52:28.067Z,1761699148.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:28.422Z,1761699148.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870830,0.489937,-0.040204],[-0.470494,0.854376,0.220628],[0.142443,-0.173213,0.974529]] 2025-10-29T00:52:28.474Z,1761699148.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:28.831Z,1761699148.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869824,0.491743,-0.039938],[-0.471493,0.852374,0.226171],[0.145261,-0.177899,0.973268]] 2025-10-29T00:52:28.912Z,1761699148.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:29.231Z,1761699149.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868934,0.493244,-0.040799],[-0.472365,0.851104,0.229115],[0.147734,-0.179813,0.972544]] 2025-10-29T00:52:29.353Z,1761699149.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:29.643Z,1761699149.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868270,0.494227,-0.042970],[-0.472934,0.850783,0.229131],[0.149801,-0.178626,0.972447]] 2025-10-29T00:52:29.674Z,1761699149.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:30.043Z,1761699150.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867409,0.495661,-0.043832],[-0.473881,0.849729,0.231079],[0.151782,-0.179669,0.971947]] 2025-10-29T00:52:30.104Z,1761699150.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:30.457Z,1761699150.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866540,0.497004,-0.045782],[-0.474810,0.849150,0.231301],[0.153833,-0.178693,0.971804]] 2025-10-29T00:52:30.494Z,1761699150.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:30.852Z,1761699150.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865793,0.498129,-0.047638],[-0.475612,0.848758,0.231091],[0.155546,-0.177420,0.971765]] 2025-10-29T00:52:30.961Z,1761699150.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:31.255Z,1761699151.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865323,0.498660,-0.050530],[-0.475918,0.849088,0.229241],[0.157218,-0.174319,0.972057]] 2025-10-29T00:52:31.320Z,1761699151.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:31.665Z,1761699151.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864873,0.499077,-0.054006],[-0.476167,0.849682,0.226508],[0.158932,-0.170185,0.972511]] 2025-10-29T00:52:31.683Z,1761699151.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:32.070Z,1761699152.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864316,0.499401,-0.059631],[-0.476063,0.850589,0.223301],[0.162238,-0.164614,0.972924]] 2025-10-29T00:52:32.106Z,1761699152.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:32.503Z,1761699152.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864234,0.499171,-0.062672],[-0.475669,0.851330,0.221308],[0.163825,-0.161451,0.973188]] 2025-10-29T00:52:32.522Z,1761699152.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:32.876Z,1761699152.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864269,0.498727,-0.065650],[-0.475114,0.852197,0.219153],[0.165245,-0.158216,0.973479]] 2025-10-29T00:52:32.930Z,1761699152.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:33.349Z,1761699153.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:33.681Z,1761699153.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864409,0.497790,-0.070728],[-0.473982,0.853711,0.215680],[0.167744,-0.152912,0.973899]] 2025-10-29T00:52:33.706Z,1761699153.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:34.083Z,1761699154.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864836,0.496853,-0.072086],[-0.472954,0.854438,0.215058],[0.168445,-0.151897,0.973937]] 2025-10-29T00:52:34.126Z,1761699154.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:34.491Z,1761699154.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865174,0.496073,-0.073383],[-0.472066,0.855048,0.214587],[0.169196,-0.151013,0.973944]] 2025-10-29T00:52:34.509Z,1761699154.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:34.892Z,1761699154.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865196,0.495876,-0.074450],[-0.471687,0.855227,0.214704],[0.170138,-0.150644,0.973837]] 2025-10-29T00:52:34.910Z,1761699154.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:35.352Z,1761699155.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:35.708Z,1761699155.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864909,0.496326,-0.074788],[-0.471636,0.854616,0.217235],[0.171734,-0.152616,0.973250]] 2025-10-29T00:52:35.727Z,1761699155.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:36.102Z,1761699156.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864154,0.497822,-0.073559],[-0.472636,0.853092,0.221020],[0.172781,-0.156228,0.972491]] 2025-10-29T00:52:36.145Z,1761699156.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:36.510Z,1761699156.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863841,0.498316,-0.073888],[-0.472923,0.852716,0.221853],[0.173559,-0.156702,0.972277]] 2025-10-29T00:52:36.548Z,1761699156.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:37.043Z,1761699157.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863313,0.499251,-0.073751],[-0.473547,0.851903,0.223640],[0.174481,-0.158146,0.971878]] 2025-10-29T00:52:37.081Z,1761699157.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:37.583Z,1761699157.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:38.045Z,1761699158.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861796,0.502113,-0.072044],[-0.475747,0.849348,0.228632],[0.175990,-0.162759,0.970843]] 2025-10-29T00:52:38.106Z,1761699158.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:38.418Z,1761699158.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861035,0.503367,-0.072397],[-0.476688,0.848469,0.229931],[0.177166,-0.163468,0.970510]] 2025-10-29T00:52:38.436Z,1761699158.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:38.818Z,1761699158.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860350,0.504577,-0.072109],[-0.477621,0.847487,0.231613],[0.177978,-0.164828,0.970132]] 2025-10-29T00:52:38.845Z,1761699158.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:39.222Z,1761699159.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859489,0.506084,-0.071814],[-0.478812,0.846303,0.233476],[0.178935,-0.166285,0.969707]] 2025-10-29T00:52:39.286Z,1761699159.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:39.626Z,1761699159.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858768,0.507205,-0.072534],[-0.479686,0.845646,0.234062],[0.180055,-0.166211,0.969512]] 2025-10-29T00:52:39.652Z,1761699159.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:40.117Z,1761699160.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:40.477Z,1761699160.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:40.840Z,1761699160.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857719,0.508184,-0.077899],[-0.480760,0.846495,0.228728],[0.182177,-0.158733,0.970369]] 2025-10-29T00:52:40.859Z,1761699160.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:41.008Z,1761699161.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:52:41.323Z,1761699161.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:41.647Z,1761699161.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857224,0.508611,-0.080504],[-0.481224,0.846885,0.226295],[0.183274,-0.155245,0.970726]] 2025-10-29T00:52:41.682Z,1761699161.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:42.012Z,1761699162.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:52:42.151Z,1761699162.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:42.574Z,1761699162.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:42.856Z,1761699162.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856446,0.509425,-0.083589],[-0.482112,0.847170,0.223319],[0.184578,-0.150961,0.971155]] 2025-10-29T00:52:42.901Z,1761699162.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:43.270Z,1761699163.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856134,0.509852,-0.084179],[-0.482468,0.847001,0.223189],[0.185094,-0.150466,0.971133]] 2025-10-29T00:52:43.348Z,1761699163.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:43.663Z,1761699163.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855940,0.510087,-0.084719],[-0.482672,0.846959,0.222907],[0.185456,-0.149903,0.971151]] 2025-10-29T00:52:43.717Z,1761699163.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:44.126Z,1761699164.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854807,0.512114,-0.083935],[-0.484311,0.845350,0.225445],[0.186408,-0.152061,0.970634]] 2025-10-29T00:52:44.168Z,1761699164.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:44.501Z,1761699164.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854350,0.513046,-0.082880],[-0.484998,0.844399,0.227526],[0.186715,-0.154190,0.970239]] 2025-10-29T00:52:44.519Z,1761699164.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:44.898Z,1761699164.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853968,0.513878,-0.081657],[-0.485552,0.843431,0.229921],[0.187023,-0.156696,0.969778]] 2025-10-29T00:52:44.926Z,1761699164.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:45.303Z,1761699165.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853667,0.514353,-0.081818],[-0.485937,0.843126,0.230227],[0.187401,-0.156778,0.969691]] 2025-10-29T00:52:45.347Z,1761699165.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:45.707Z,1761699165.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853560,0.514397,-0.082646],[-0.486010,0.843311,0.229390],[0.187694,-0.155631,0.969819]] 2025-10-29T00:52:45.725Z,1761699165.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:46.153Z,1761699166.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853290,0.514832,-0.082725],[-0.486372,0.843025,0.229676],[0.187983,-0.155745,0.969745]] 2025-10-29T00:52:46.196Z,1761699166.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:46.514Z,1761699166.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853390,0.514612,-0.083072],[-0.486190,0.843257,0.229208],[0.188004,-0.155214,0.969826]] 2025-10-29T00:52:46.542Z,1761699166.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:46.919Z,1761699166.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853356,0.514635,-0.083272],[-0.486190,0.843270,0.229160],[0.188154,-0.155069,0.969820]] 2025-10-29T00:52:46.954Z,1761699166.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:47.322Z,1761699167.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853472,0.514431,-0.083341],[-0.486016,0.843424,0.228963],[0.188077,-0.154908,0.969861]] 2025-10-29T00:52:47.383Z,1761699167.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:47.728Z,1761699167.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853470,0.514390,-0.083617],[-0.485938,0.843477,0.228935],[0.188291,-0.154757,0.969844]] 2025-10-29T00:52:47.759Z,1761699167.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:48.180Z,1761699168.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853637,0.514060,-0.083942],[-0.485645,0.843764,0.228497],[0.188288,-0.154288,0.969919]] 2025-10-29T00:52:48.225Z,1761699168.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:48.534Z,1761699168.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853959,0.513450,-0.084401],[-0.485245,0.844377,0.227079],[0.187860,-0.152961,0.970212]] 2025-10-29T00:52:48.551Z,1761699168.551 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:52:48.570Z,1761699168.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:48.613Z,1761699168.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:52:48.613Z,1761699168.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:52:48.865Z,1761699168.865 [DAT](INFO): DAT read: 2025-10-29T00:52:48.866Z,1761699168.866 [DAT](INFO): DAT read: Tx time:00:52:48.6214 2025-10-29T00:52:48.866Z,1761699168.866 [DAT](INFO): Ping request sent. 2025-10-29T00:52:48.866Z,1761699168.866 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:52:48.866Z,1761699168.866 [DAT](INFO): publishing transmit ping time 2025-10-29T00:52:48.867Z,1761699168.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000730 2025-10-29T00:52:48.939Z,1761699168.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854214,0.513063,-0.084164],[-0.484981,0.844641,0.226659],[0.187379,-0.152797,0.970331]] 2025-10-29T00:52:48.961Z,1761699168.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:49.117Z,1761699169.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250747 2025-10-29T00:52:49.344Z,1761699169.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853926,0.513617,-0.083718],[-0.485455,0.844170,0.227398],[0.187467,-0.153539,0.970197]] 2025-10-29T00:52:49.369Z,1761699169.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502668 2025-10-29T00:52:49.404Z,1761699169.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:49.621Z,1761699169.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754591 2025-10-29T00:52:49.766Z,1761699169.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854154,0.513323,-0.083189],[-0.485202,0.844252,0.227635],[0.187083,-0.154072,0.970186]] 2025-10-29T00:52:49.788Z,1761699169.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:49.873Z,1761699169.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007059 2025-10-29T00:52:50.127Z,1761699170.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260473 2025-10-29T00:52:50.193Z,1761699170.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854228,0.513281,-0.082694],[-0.485227,0.844223,0.227689],[0.186680,-0.154372,0.970216]] 2025-10-29T00:52:50.255Z,1761699170.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:50.381Z,1761699170.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514682 2025-10-29T00:52:50.568Z,1761699170.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854226,0.513268,-0.082790],[-0.485272,0.844298,0.227313],[0.186572,-0.154001,0.970296]] 2025-10-29T00:52:50.587Z,1761699170.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:50.629Z,1761699170.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762820 2025-10-29T00:52:50.884Z,1761699170.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017514 2025-10-29T00:52:50.970Z,1761699170.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854460,0.512908,-0.082610],[-0.484973,0.844510,0.227163],[0.186278,-0.154038,0.970347]] 2025-10-29T00:52:50.990Z,1761699170.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:51.133Z,1761699171.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266562 2025-10-29T00:52:51.376Z,1761699171.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854470,0.512928,-0.082373],[-0.484984,0.844439,0.227404],[0.186201,-0.154361,0.970310]] 2025-10-29T00:52:51.385Z,1761699171.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518715 2025-10-29T00:52:51.414Z,1761699171.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:51.637Z,1761699171.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770525 2025-10-29T00:52:51.872Z,1761699171.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854984,0.512027,-0.082647],[-0.484244,0.845135,0.226395],[0.185768,-0.153543,0.970523]] 2025-10-29T00:52:51.889Z,1761699171.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023152 2025-10-29T00:52:51.912Z,1761699171.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:52.141Z,1761699172.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274621 2025-10-29T00:52:52.277Z,1761699172.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855436,0.511172,-0.083259],[-0.483559,0.845884,0.225059],[0.185471,-0.152263,0.970781]] 2025-10-29T00:52:52.335Z,1761699172.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:52.393Z,1761699172.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526727 2025-10-29T00:52:52.648Z,1761699172.648 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.781647 2025-10-29T00:52:52.766Z,1761699172.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855881,0.510208,-0.084588],[-0.482902,0.846952,0.222434],[0.185130,-0.149529,0.971271]] 2025-10-29T00:52:52.797Z,1761699172.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:52.897Z,1761699172.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030630 2025-10-29T00:52:53.149Z,1761699173.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282913 2025-10-29T00:52:53.171Z,1761699173.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.856567,0.508912,-0.085446],[-0.482028,0.848188,0.219604],[0.184233,-0.146918,0.971840]] 2025-10-29T00:52:53.220Z,1761699173.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:53.401Z,1761699173.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534913 2025-10-29T00:52:53.645Z,1761699173.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857021,0.508166,-0.085337],[-0.481552,0.848796,0.218297],[0.183365,-0.145991,0.972144]] 2025-10-29T00:52:53.653Z,1761699173.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786756 2025-10-29T00:52:53.701Z,1761699173.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:53.905Z,1761699173.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.038674 2025-10-29T00:52:54.041Z,1761699174.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857519,0.507575,-0.083839],[-0.481074,0.848907,0.218919],[0.182290,-0.147394,0.972134]] 2025-10-29T00:52:54.059Z,1761699174.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:54.157Z,1761699174.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290712 2025-10-29T00:52:54.409Z,1761699174.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542670 2025-10-29T00:52:54.442Z,1761699174.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857947,0.507298,-0.081094],[-0.480804,0.848488,0.221122],[0.180982,-0.150721,0.971869]] 2025-10-29T00:52:54.496Z,1761699174.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:54.661Z,1761699174.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794579 2025-10-29T00:52:54.846Z,1761699174.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.858466,0.506856,-0.078315],[-0.480470,0.848215,0.222889],[0.179400,-0.153714,0.971693]] 2025-10-29T00:52:54.866Z,1761699174.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:54.914Z,1761699174.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047566 2025-10-29T00:52:55.165Z,1761699175.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298679 2025-10-29T00:52:55.334Z,1761699175.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:55.418Z,1761699175.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551589 2025-10-29T00:52:55.669Z,1761699175.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802616 2025-10-29T00:52:55.680Z,1761699175.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.859431,0.505501,-0.076472],[-0.479653,0.849011,0.221614],[0.176951,-0.153782,0.972131]] 2025-10-29T00:52:55.722Z,1761699175.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:55.921Z,1761699175.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.054671 2025-10-29T00:52:56.077Z,1761699176.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860009,0.504546,-0.076277],[-0.478956,0.849715,0.220423],[0.176027,-0.153032,0.972417]] 2025-10-29T00:52:56.101Z,1761699176.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:56.174Z,1761699176.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307871 2025-10-29T00:52:56.425Z,1761699176.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558664 2025-10-29T00:52:56.478Z,1761699176.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.860566,0.503813,-0.074819],[-0.478520,0.850047,0.220090],[0.174484,-0.153599,0.972606]] 2025-10-29T00:52:56.529Z,1761699176.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:56.677Z,1761699176.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810672 2025-10-29T00:52:56.882Z,1761699176.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861015,0.503214,-0.073679],[-0.478203,0.850366,0.219544],[0.173132,-0.153797,0.972816]] 2025-10-29T00:52:56.922Z,1761699176.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:56.929Z,1761699176.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.062724 2025-10-29T00:52:57.181Z,1761699177.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314568 2025-10-29T00:52:57.327Z,1761699177.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861867,0.502067,-0.071511],[-0.477746,0.851114,0.217633],[0.170131,-0.153407,0.973407]] 2025-10-29T00:52:57.364Z,1761699177.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:57.434Z,1761699177.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567625 2025-10-29T00:52:57.688Z,1761699177.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.821107 2025-10-29T00:52:57.698Z,1761699177.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862441,0.501200,-0.070668],[-0.477200,0.851684,0.216598],[0.168746,-0.153080,0.973700]] 2025-10-29T00:52:57.768Z,1761699177.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:57.937Z,1761699177.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070577 2025-10-29T00:52:58.100Z,1761699178.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862667,0.500947,-0.069695],[-0.477294,0.851914,0.215480],[0.167319,-0.152623,0.974018]] 2025-10-29T00:52:58.135Z,1761699178.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:58.191Z,1761699178.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.324002 2025-10-29T00:52:58.441Z,1761699178.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574635 2025-10-29T00:52:58.507Z,1761699178.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863160,0.500187,-0.069046],[-0.476865,0.852480,0.214191],[0.165996,-0.151955,0.974348]] 2025-10-29T00:52:58.557Z,1761699178.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:58.693Z,1761699178.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826509 2025-10-29T00:52:58.907Z,1761699178.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863548,0.499625,-0.068266],[-0.476608,0.852887,0.213140],[0.164713,-0.151520,0.974634]] 2025-10-29T00:52:58.925Z,1761699178.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:58.945Z,1761699178.945 [DAT](INFO): Reached modem response timeout 2025-10-29T00:52:59.347Z,1761699179.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863834,0.499256,-0.067336],[-0.476548,0.853161,0.212175],[0.163378,-0.151196,0.974909]] 2025-10-29T00:52:59.395Z,1761699179.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:52:59.712Z,1761699179.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863815,0.499420,-0.066353],[-0.476946,0.853065,0.211669],[0.162315,-0.151196,0.975086]] 2025-10-29T00:52:59.774Z,1761699179.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:00.117Z,1761699180.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863875,0.499462,-0.065252],[-0.477238,0.853025,0.211168],[0.161132,-0.151282,0.975269]] 2025-10-29T00:53:00.135Z,1761699180.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:00.520Z,1761699180.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863709,0.499910,-0.064008],[-0.477889,0.852687,0.211063],[0.160091,-0.151708,0.975375]] 2025-10-29T00:53:00.557Z,1761699180.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:00.922Z,1761699180.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863516,0.500380,-0.062926],[-0.478526,0.852339,0.211024],[0.159227,-0.152111,0.975453]] 2025-10-29T00:53:00.952Z,1761699180.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:01.214Z,1761699181.214 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:53:01.214Z,1761699181.214 [DAT](INFO): response not received 2025-10-29T00:53:01.214Z,1761699181.214 [DAT](ERROR): No response from remote modem. 2025-10-29T00:53:01.365Z,1761699181.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863422,0.500739,-0.061346],[-0.479042,0.851924,0.211529],[0.158183,-0.153251,0.975445]] 2025-10-29T00:53:01.423Z,1761699181.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:01.755Z,1761699181.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863412,0.500942,-0.059803],[-0.479440,0.851635,0.211790],[0.157025,-0.154190,0.975484]] 2025-10-29T00:53:01.791Z,1761699181.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:02.136Z,1761699182.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863208,0.501450,-0.058471],[-0.480123,0.851210,0.211953],[0.156055,-0.154886,0.975529]] 2025-10-29T00:53:02.162Z,1761699182.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:02.538Z,1761699182.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863335,0.501260,-0.058230],[-0.480335,0.851654,0.209675],[0.154693,-0.153050,0.976036]] 2025-10-29T00:53:02.583Z,1761699182.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:02.943Z,1761699182.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863293,0.501387,-0.057764],[-0.480725,0.851732,0.208461],[0.153719,-0.152194,0.976323]] 2025-10-29T00:53:02.978Z,1761699182.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:03.360Z,1761699183.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863512,0.501004,-0.057813],[-0.480647,0.852255,0.206494],[0.152726,-0.150522,0.976738]] 2025-10-29T00:53:03.427Z,1761699183.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:03.767Z,1761699183.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863433,0.501236,-0.056967],[-0.481094,0.852140,0.205924],[0.151761,-0.150395,0.976908]] 2025-10-29T00:53:03.826Z,1761699183.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:04.155Z,1761699184.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863674,0.500897,-0.056294],[-0.481015,0.852424,0.204932],[0.150636,-0.149917,0.977156]] 2025-10-29T00:53:04.180Z,1761699184.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:04.559Z,1761699184.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863649,0.501106,-0.054793],[-0.481434,0.852163,0.205034],[0.149436,-0.150698,0.977220]] 2025-10-29T00:53:04.603Z,1761699184.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:05.009Z,1761699185.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:05.372Z,1761699185.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863806,0.501057,-0.052741],[-0.481857,0.852176,0.203985],[0.147153,-0.150790,0.977552]] 2025-10-29T00:53:05.447Z,1761699185.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:05.890Z,1761699185.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864057,0.500795,-0.051081],[-0.481790,0.852115,0.204398],[0.145888,-0.152001,0.977554]] 2025-10-29T00:53:05.928Z,1761699185.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:06.290Z,1761699186.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864079,0.500886,-0.049815],[-0.482075,0.851956,0.204390],[0.144817,-0.152594,0.977621]] 2025-10-29T00:53:06.322Z,1761699186.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:06.751Z,1761699186.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864465,0.500376,-0.048200],[-0.481805,0.852081,0.204507],[0.143400,-0.153566,0.977678]] 2025-10-29T00:53:06.812Z,1761699186.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:07.173Z,1761699187.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:07.543Z,1761699187.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865245,0.499266,-0.045654],[-0.481337,0.852728,0.202903],[0.140233,-0.153586,0.978134]] 2025-10-29T00:53:07.588Z,1761699187.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:07.947Z,1761699187.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865671,0.498676,-0.043997],[-0.481098,0.853006,0.202299],[0.138411,-0.153958,0.978335]] 2025-10-29T00:53:07.981Z,1761699187.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:08.350Z,1761699188.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.866216,0.497893,-0.042100],[-0.480728,0.853395,0.201538],[0.136272,-0.154337,0.978576]] 2025-10-29T00:53:08.369Z,1761699188.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:08.826Z,1761699188.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:09.158Z,1761699189.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867324,0.496215,-0.038977],[-0.480016,0.854578,0.198194],[0.131656,-0.153188,0.979388]] 2025-10-29T00:53:09.185Z,1761699189.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:09.563Z,1761699189.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867873,0.495379,-0.037365],[-0.479576,0.855061,0.197176],[0.129626,-0.153204,0.979656]] 2025-10-29T00:53:09.607Z,1761699189.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:09.966Z,1761699189.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868327,0.494696,-0.035845],[-0.479271,0.855465,0.196161],[0.127704,-0.153152,0.979916]] 2025-10-29T00:53:09.986Z,1761699189.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:10.372Z,1761699190.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868775,0.493895,-0.036029],[-0.478885,0.856439,0.192822],[0.126091,-0.150265,0.980572]] 2025-10-29T00:53:10.391Z,1761699190.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:10.835Z,1761699190.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:11.178Z,1761699191.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869275,0.493047,-0.035576],[-0.478667,0.857523,0.188500],[0.123446,-0.146829,0.981429]] 2025-10-29T00:53:11.197Z,1761699191.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:11.583Z,1761699191.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869204,0.493325,-0.033397],[-0.479145,0.857044,0.189460],[0.122088,-0.148678,0.981320]] 2025-10-29T00:53:11.640Z,1761699191.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:11.988Z,1761699191.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868836,0.494143,-0.030779],[-0.480124,0.856099,0.191246],[0.120853,-0.151383,0.981059]] 2025-10-29T00:53:12.007Z,1761699192.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:12.136Z,1761699192.136 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:53:12.390Z,1761699192.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868468,0.494949,-0.028101],[-0.481132,0.855174,0.192846],[0.119480,-0.153960,0.980827]] 2025-10-29T00:53:12.419Z,1761699192.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:12.843Z,1761699192.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:13.141Z,1761699193.141 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:53:13.208Z,1761699193.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868139,0.495739,-0.024023],[-0.482530,0.854358,0.192969],[0.116187,-0.155932,0.980911]] 2025-10-29T00:53:13.261Z,1761699193.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:13.603Z,1761699193.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867949,0.496156,-0.022224],[-0.483245,0.853998,0.192775],[0.114625,-0.156579,0.980991]] 2025-10-29T00:53:13.660Z,1761699193.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:14.006Z,1761699194.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867833,0.496458,-0.019879],[-0.483880,0.853577,0.193043],[0.112806,-0.157910,0.980989]] 2025-10-29T00:53:14.031Z,1761699194.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:14.410Z,1761699194.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867688,0.496779,-0.018132],[-0.484514,0.853298,0.192691],[0.111197,-0.158410,0.981092]] 2025-10-29T00:53:14.442Z,1761699194.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:14.818Z,1761699194.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.867819,0.496613,-0.016295],[-0.484745,0.853373,0.191771],[0.109142,-0.158524,0.981304]] 2025-10-29T00:53:14.870Z,1761699194.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:15.228Z,1761699195.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868342,0.495707,-0.016052],[-0.484311,0.854467,0.187958],[0.106888,-0.155438,0.982046]] 2025-10-29T00:53:15.246Z,1761699195.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:15.624Z,1761699195.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869141,0.494323,-0.015438],[-0.483332,0.855603,0.185292],[0.104803,-0.153583,0.982562]] 2025-10-29T00:53:15.661Z,1761699195.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:16.026Z,1761699196.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869765,0.493253,-0.014502],[-0.482628,0.856421,0.183338],[0.102852,-0.152462,0.982943]] 2025-10-29T00:53:16.057Z,1761699196.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:16.431Z,1761699196.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870529,0.491901,-0.014563],[-0.481634,0.857687,0.180003],[0.101034,-0.149684,0.983558]] 2025-10-29T00:53:16.450Z,1761699196.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:16.841Z,1761699196.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871165,0.490772,-0.014663],[-0.480820,0.858785,0.176921],[0.099420,-0.147077,0.984116]] 2025-10-29T00:53:16.894Z,1761699196.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:17.272Z,1761699197.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:17.643Z,1761699197.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872004,0.489237,-0.016000],[-0.479968,0.860988,0.168318],[0.096123,-0.139094,0.985603]] 2025-10-29T00:53:17.687Z,1761699197.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:18.047Z,1761699198.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872222,0.488888,-0.014737],[-0.479910,0.861244,0.167168],[0.094418,-0.138736,0.985818]] 2025-10-29T00:53:18.065Z,1761699198.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:18.452Z,1761699198.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872215,0.488962,-0.012530],[-0.480141,0.860805,0.168761],[0.093304,-0.141180,0.985577]] 2025-10-29T00:53:18.470Z,1761699198.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:18.922Z,1761699198.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871903,0.489623,-0.007441],[-0.481132,0.859411,0.172987],[0.091093,-0.147247,0.984896]] 2025-10-29T00:53:18.974Z,1761699198.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:19.327Z,1761699199.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871825,0.489789,-0.005265],[-0.481515,0.858968,0.174118],[0.089804,-0.149265,0.984711]] 2025-10-29T00:53:19.350Z,1761699199.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:19.771Z,1761699199.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871521,0.490348,-0.003021],[-0.482316,0.858324,0.175073],[0.088440,-0.151123,0.984551]] 2025-10-29T00:53:19.818Z,1761699199.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:20.169Z,1761699200.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871427,0.490524,-0.001226],[-0.482778,0.858102,0.174888],[0.086839,-0.151811,0.984587]] 2025-10-29T00:53:20.193Z,1761699200.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:20.578Z,1761699200.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871223,0.490887,0.001005],[-0.483446,0.857659,0.175215],[0.085149,-0.153137,0.984530]] 2025-10-29T00:53:20.655Z,1761699200.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:20.974Z,1761699200.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871176,0.490961,0.003024],[-0.483847,0.857474,0.175013],[0.083331,-0.153930,0.984561]] 2025-10-29T00:53:21.019Z,1761699201.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:21.380Z,1761699201.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870880,0.491469,0.005139],[-0.484673,0.857006,0.175022],[0.081614,-0.154914,0.984551]] 2025-10-29T00:53:21.398Z,1761699201.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:21.850Z,1761699201.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:22.200Z,1761699202.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870746,0.491653,0.008906],[-0.485555,0.856802,0.173568],[0.077704,-0.155458,0.984782]] 2025-10-29T00:53:22.225Z,1761699202.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:22.713Z,1761699202.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:23.035Z,1761699203.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870779,0.491505,0.012925],[-0.486140,0.856744,0.172214],[0.073571,-0.156244,0.984975]] 2025-10-29T00:53:23.072Z,1761699203.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:23.435Z,1761699203.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870803,0.491400,0.015131],[-0.486435,0.856725,0.171474],[0.071299,-0.156680,0.985072]] 2025-10-29T00:53:23.460Z,1761699203.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:23.840Z,1761699203.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870780,0.491365,0.017404],[-0.486800,0.856639,0.170867],[0.069049,-0.157260,0.985140]] 2025-10-29T00:53:23.897Z,1761699203.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:24.243Z,1761699204.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870576,0.491635,0.019824],[-0.487471,0.856325,0.170529],[0.066862,-0.158122,0.985153]] 2025-10-29T00:53:24.262Z,1761699204.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:24.673Z,1761699204.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870673,0.491361,0.022206],[-0.487619,0.856362,0.169919],[0.064475,-0.158772,0.985208]] 2025-10-29T00:53:24.734Z,1761699204.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:25.105Z,1761699205.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:25.455Z,1761699205.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870770,0.490939,0.027167],[-0.488039,0.856265,0.169199],[0.059804,-0.160591,0.985207]] 2025-10-29T00:53:25.491Z,1761699205.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:25.927Z,1761699205.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:26.265Z,1761699206.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871468,0.489433,0.031599],[-0.487388,0.857035,0.167166],[0.054735,-0.161081,0.985422]] 2025-10-29T00:53:26.288Z,1761699206.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:26.689Z,1761699206.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872127,0.488158,0.033100],[-0.486501,0.857991,0.164827],[0.052062,-0.159853,0.985767]] 2025-10-29T00:53:26.774Z,1761699206.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:27.077Z,1761699207.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872452,0.487541,0.033634],[-0.486168,0.858878,0.161150],[0.049680,-0.156947,0.986357]] 2025-10-29T00:53:27.133Z,1761699207.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:27.480Z,1761699207.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873017,0.486541,0.033447],[-0.485401,0.860241,0.156110],[0.047181,-0.152522,0.987173]] 2025-10-29T00:53:27.550Z,1761699207.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:27.884Z,1761699207.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873383,0.485776,0.034981],[-0.484962,0.860804,0.154366],[0.044875,-0.151785,0.987394]] 2025-10-29T00:53:27.977Z,1761699207.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:28.287Z,1761699208.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873691,0.485145,0.036039],[-0.484593,0.861386,0.152261],[0.042826,-0.150493,0.987683]] 2025-10-29T00:53:28.316Z,1761699208.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:28.705Z,1761699208.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874000,0.484563,0.036362],[-0.484186,0.862106,0.149454],[0.041072,-0.148229,0.988100]] 2025-10-29T00:53:28.810Z,1761699208.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:29.120Z,1761699209.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874209,0.484069,0.037891],[-0.483950,0.862340,0.148869],[0.039388,-0.148480,0.988131]] 2025-10-29T00:53:29.182Z,1761699209.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:29.523Z,1761699209.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874143,0.484023,0.039950],[-0.484226,0.862255,0.148467],[0.037415,-0.149127,0.988110]] 2025-10-29T00:53:29.541Z,1761699209.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:29.933Z,1761699209.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873976,0.484159,0.041908],[-0.484643,0.861975,0.148726],[0.035884,-0.150293,0.987990]] 2025-10-29T00:53:30.002Z,1761699210.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:30.334Z,1761699210.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873542,0.484758,0.043972],[-0.485511,0.861319,0.149699],[0.034695,-0.152117,0.987753]] 2025-10-29T00:53:30.356Z,1761699210.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:30.789Z,1761699210.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873296,0.485066,0.045457],[-0.486047,0.861057,0.149464],[0.033359,-0.152621,0.987722]] 2025-10-29T00:53:30.844Z,1761699210.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:31.191Z,1761699211.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873155,0.485173,0.046972],[-0.486396,0.860917,0.149134],[0.031917,-0.153064,0.987701]] 2025-10-29T00:53:31.214Z,1761699211.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:31.584Z,1761699211.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872872,0.485515,0.048673],[-0.486984,0.860534,0.149423],[0.030662,-0.154131,0.987575]] 2025-10-29T00:53:31.603Z,1761699211.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:31.988Z,1761699211.988 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872574,0.485848,0.050666],[-0.487609,0.860112,0.149814],[0.029209,-0.155429,0.987415]] 2025-10-29T00:53:32.031Z,1761699212.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:32.391Z,1761699212.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872309,0.486170,0.052107],[-0.488163,0.859875,0.149371],[0.027814,-0.155734,0.987407]] 2025-10-29T00:53:32.409Z,1761699212.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:32.843Z,1761699212.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872273,0.486075,0.053582],[-0.488313,0.859881,0.148846],[0.026276,-0.155999,0.987408]] 2025-10-29T00:53:32.885Z,1761699212.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:33.203Z,1761699213.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872562,0.485553,0.053606],[-0.487876,0.860623,0.145961],[0.024738,-0.153513,0.987837]] 2025-10-29T00:53:33.241Z,1761699213.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:33.602Z,1761699213.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872795,0.485044,0.054420],[-0.487539,0.861097,0.144280],[0.023121,-0.152459,0.988039]] 2025-10-29T00:53:33.621Z,1761699213.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:34.015Z,1761699214.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873054,0.484561,0.054562],[-0.487143,0.861746,0.141722],[0.021654,-0.150311,0.988402]] 2025-10-29T00:53:34.071Z,1761699214.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:34.444Z,1761699214.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:34.865Z,1761699214.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873386,0.483807,0.055924],[-0.486671,0.862572,0.138279],[0.018662,-0.147987,0.988813]] 2025-10-29T00:53:34.909Z,1761699214.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:35.219Z,1761699215.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873340,0.483759,0.057044],[-0.486803,0.862624,0.137488],[0.017304,-0.147843,0.988860]] 2025-10-29T00:53:35.237Z,1761699215.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:35.624Z,1761699215.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872998,0.484246,0.058138],[-0.487454,0.862333,0.137004],[0.016209,-0.147944,0.988863]] 2025-10-29T00:53:35.642Z,1761699215.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:36.035Z,1761699216.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873160,0.483841,0.059076],[-0.487202,0.862578,0.136355],[0.015016,-0.147842,0.988897]] 2025-10-29T00:53:36.071Z,1761699216.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:36.433Z,1761699216.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873067,0.483762,0.061059],[-0.487407,0.862329,0.137200],[0.013719,-0.149545,0.988660]] 2025-10-29T00:53:36.459Z,1761699216.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:36.894Z,1761699216.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873095,0.483529,0.062496],[-0.487396,0.862385,0.136884],[0.012292,-0.149973,0.988614]] 2025-10-29T00:53:36.979Z,1761699216.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:37.292Z,1761699217.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872763,0.483993,0.063528],[-0.488010,0.862042,0.136860],[0.011476,-0.150448,0.988551]] 2025-10-29T00:53:37.310Z,1761699217.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:37.737Z,1761699217.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:38.099Z,1761699218.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872483,0.484184,0.065870],[-0.488555,0.861782,0.136551],[0.009350,-0.151319,0.988441]] 2025-10-29T00:53:38.146Z,1761699218.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:38.506Z,1761699218.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872556,0.483897,0.067010],[-0.488445,0.861883,0.136301],[0.008201,-0.151661,0.988399]] 2025-10-29T00:53:38.540Z,1761699218.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:38.934Z,1761699218.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873053,0.482724,0.068963],[-0.487590,0.862519,0.135338],[0.005849,-0.151783,0.988397]] 2025-10-29T00:53:38.977Z,1761699218.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:39.347Z,1761699219.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:39.715Z,1761699219.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873362,0.481991,0.070164],[-0.487051,0.862880,0.134981],[0.004516,-0.152061,0.988361]] 2025-10-29T00:53:39.751Z,1761699219.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:40.119Z,1761699220.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873452,0.481681,0.071167],[-0.486897,0.862983,0.134878],[0.003552,-0.152460,0.988303]] 2025-10-29T00:53:40.182Z,1761699220.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:40.537Z,1761699220.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874288,0.480116,0.071484],[-0.485402,0.864030,0.133553],[0.002357,-0.151462,0.988460]] 2025-10-29T00:53:40.577Z,1761699220.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:40.958Z,1761699220.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874690,0.479319,0.071904],[-0.484679,0.864492,0.133194],[0.001681,-0.151354,0.988478]] 2025-10-29T00:53:41.002Z,1761699221.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:41.335Z,1761699221.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875277,0.478143,0.072589],[-0.483620,0.864916,0.134282],[0.001423,-0.152639,0.988281]] 2025-10-29T00:53:41.361Z,1761699221.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:41.740Z,1761699221.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875636,0.477365,0.073379],[-0.482972,0.865199,0.134795],[0.000859,-0.153471,0.988153]] 2025-10-29T00:53:41.831Z,1761699221.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:42.160Z,1761699222.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876019,0.476570,0.073979],[-0.482277,0.865497,0.135363],[0.000482,-0.154259,0.988030]] 2025-10-29T00:53:42.243Z,1761699222.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:42.566Z,1761699222.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876462,0.475869,0.073235],[-0.481472,0.866124,0.134218],[0.000439,-0.152897,0.988242]] 2025-10-29T00:53:42.610Z,1761699222.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:42.989Z,1761699222.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876949,0.474940,0.073432],[-0.480584,0.866654,0.133978],[-0.000009,-0.152782,0.988260]] 2025-10-29T00:53:43.053Z,1761699223.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:43.267Z,1761699223.267 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:53:43.392Z,1761699223.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877498,0.474065,0.072531],[-0.479581,0.867357,0.133019],[0.000150,-0.151509,0.988456]] 2025-10-29T00:53:43.410Z,1761699223.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:43.796Z,1761699223.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878070,0.473074,0.072064],[-0.478531,0.868054,0.132250],[0.000008,-0.150610,0.988593]] 2025-10-29T00:53:43.820Z,1761699223.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:44.199Z,1761699224.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878596,0.472223,0.071230],[-0.477565,0.868740,0.131235],[0.000092,-0.149319,0.988789]] 2025-10-29T00:53:44.247Z,1761699224.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:44.268Z,1761699224.268 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:53:44.603Z,1761699224.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879160,0.471105,0.071674],[-0.476526,0.869366,0.130869],[-0.000658,-0.149209,0.988805]] 2025-10-29T00:53:44.621Z,1761699224.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:45.023Z,1761699225.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879570,0.470273,0.072110],[-0.475768,0.869782,0.130859],[-0.001180,-0.149407,0.988775]] 2025-10-29T00:53:45.092Z,1761699225.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:45.412Z,1761699225.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879877,0.469642,0.072481],[-0.475199,0.870077,0.130962],[-0.001559,-0.149673,0.988734]] 2025-10-29T00:53:45.431Z,1761699225.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:45.814Z,1761699225.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880107,0.469210,0.072483],[-0.474773,0.870265,0.131259],[-0.001492,-0.149935,0.988695]] 2025-10-29T00:53:45.849Z,1761699225.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:46.218Z,1761699226.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880326,0.468780,0.072613],[-0.474368,0.870413,0.131742],[-0.001446,-0.150421,0.988621]] 2025-10-29T00:53:46.266Z,1761699226.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:46.624Z,1761699226.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880464,0.468450,0.073058],[-0.474110,0.870484,0.132200],[-0.001666,-0.151035,0.988527]] 2025-10-29T00:53:46.647Z,1761699226.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:47.050Z,1761699227.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880372,0.468614,0.073108],[-0.474281,0.870294,0.132835],[-0.001377,-0.151618,0.988438]] 2025-10-29T00:53:47.104Z,1761699227.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:47.430Z,1761699227.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880119,0.469058,0.073314],[-0.474752,0.869894,0.133771],[-0.001029,-0.152540,0.988297]] 2025-10-29T00:53:47.455Z,1761699227.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:47.834Z,1761699227.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880139,0.468967,0.073658],[-0.474716,0.869791,0.134566],[-0.000960,-0.153403,0.988163]] 2025-10-29T00:53:47.869Z,1761699227.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:48.239Z,1761699228.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880014,0.469178,0.073808],[-0.474947,0.869566,0.135202],[-0.000747,-0.154035,0.988065]] 2025-10-29T00:53:48.296Z,1761699228.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:48.662Z,1761699228.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879714,0.469417,0.075836],[-0.475502,0.868784,0.138244],[-0.000992,-0.157675,0.987491]] 2025-10-29T00:53:48.682Z,1761699228.682 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:53:48.700Z,1761699228.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:48.865Z,1761699228.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:53:48.865Z,1761699228.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:53:49.077Z,1761699229.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879190,0.470173,0.077220],[-0.476471,0.867886,0.140534],[-0.000943,-0.160349,0.987060]] 2025-10-29T00:53:49.117Z,1761699229.117 [DAT](INFO): DAT read: user:587> 2025-10-29T00:53:49.118Z,1761699229.118 [DAT](INFO): DAT read: Tx time:00:53:48.8712 2025-10-29T00:53:49.118Z,1761699229.118 [DAT](INFO): Ping request sent. 2025-10-29T00:53:49.118Z,1761699229.118 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:53:49.118Z,1761699229.118 [DAT](INFO): publishing transmit ping time 2025-10-29T00:53:49.119Z,1761699229.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T00:53:49.132Z,1761699229.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:49.370Z,1761699229.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251693 2025-10-29T00:53:49.483Z,1761699229.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:49.621Z,1761699229.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503371 2025-10-29T00:53:49.854Z,1761699229.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878758,0.470835,0.078088],[-0.477265,0.867382,0.140947],[-0.001370,-0.161127,0.986933]] 2025-10-29T00:53:49.873Z,1761699229.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754988 2025-10-29T00:53:49.878Z,1761699229.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:50.125Z,1761699230.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006984 2025-10-29T00:53:50.260Z,1761699230.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878843,0.470631,0.078368],[-0.477107,0.867558,0.140399],[-0.001913,-0.160778,0.986989]] 2025-10-29T00:53:50.298Z,1761699230.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:50.378Z,1761699230.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260123 2025-10-29T00:53:50.629Z,1761699230.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510929 2025-10-29T00:53:50.676Z,1761699230.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878555,0.470835,0.080346],[-0.477634,0.866949,0.142355],[-0.002630,-0.163442,0.986549]] 2025-10-29T00:53:50.695Z,1761699230.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:50.881Z,1761699230.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763174 2025-10-29T00:53:51.134Z,1761699231.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015796 2025-10-29T00:53:51.184Z,1761699231.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:51.385Z,1761699231.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266940 2025-10-29T00:53:51.512Z,1761699231.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878527,0.470687,0.081513],[-0.477676,0.867034,0.141692],[-0.003982,-0.163417,0.986549]] 2025-10-29T00:53:51.530Z,1761699231.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:51.638Z,1761699231.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520007 2025-10-29T00:53:51.889Z,1761699231.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770958 2025-10-29T00:53:51.911Z,1761699231.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878197,0.470786,0.084444],[-0.478271,0.866269,0.144347],[-0.005195,-0.167152,0.985918]] 2025-10-29T00:53:51.952Z,1761699231.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:52.144Z,1761699232.144 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025804 2025-10-29T00:53:52.316Z,1761699232.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877578,0.471614,0.086235],[-0.479397,0.865414,0.145727],[-0.005902,-0.169228,0.985559]] 2025-10-29T00:53:52.347Z,1761699232.347 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T00:53:52.373Z,1761699232.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:52.400Z,1761699232.400 [DAT](INFO): DAT read: 00:53:51.5564 LVL= 30784, 27505, 32754, 26531, AGC= 70, IDX= 202, 0.02, 2.877,-2.292, 2.844, 2.675, PHS= 0.304, 1.361, 0.124, RAW= 337.7, -28.7, CAL= 337.6, -31.5, ROT= 172.4, 31.5 2025-10-29T00:53:52.402Z,1761699232.402 [DAT](INFO): got valid direction response: 00:53:51.5564 LVL= 30784, 27505, 32754, 26531, AGC= 70, IDX= 202, 0.02, 2.877,-2.292, 2.844, 2.675, PHS= 0.304, 1.361, 0.124, RAW= 337.7, -28.7, CAL= 337.6, -31.5, ROT= 172.4, 31.5 2025-10-29T00:53:52.403Z,1761699232.403 [DAT](INFO): DAT read: Rx Time:00:53:51.5564 2025-10-29T00:53:52.405Z,1761699232.405 [DAT](INFO): Rx dataTimestamp_ set to:1761699232.403181 2025-10-29T00:53:52.406Z,1761699232.406 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-29T00:53:52.406Z,1761699232.406 [DAT](INFO): Received low SNR in chirp 2025-10-29T00:53:52.420Z,1761699232.420 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:53:52.422Z,1761699232.422 [DAT](INFO): direction in FSK: [-0.845150,0.112767,-0.522499] 2025-10-29T00:53:52.720Z,1761699232.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877335,0.471945,0.086891],[-0.479830,0.865300,0.144982],[-0.006763,-0.168891,0.985612]] 2025-10-29T00:53:52.740Z,1761699232.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:53.167Z,1761699233.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877342,0.471803,0.087601],[-0.479807,0.865361,0.144688],[-0.007543,-0.168973,0.985592]] 2025-10-29T00:53:53.210Z,1761699233.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:53.523Z,1761699233.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877400,0.471321,0.089590],[-0.479684,0.865157,0.146311],[-0.008550,-0.171349,0.985173]] 2025-10-29T00:53:53.542Z,1761699233.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:53.930Z,1761699233.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877165,0.471199,0.092484],[-0.480102,0.864251,0.150237],[-0.009138,-0.176185,0.984315]] 2025-10-29T00:53:53.949Z,1761699233.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:54.398Z,1761699234.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:54.734Z,1761699234.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877021,0.471375,0.092949],[-0.480330,0.864600,0.147477],[-0.010847,-0.173987,0.984688]] 2025-10-29T00:53:54.772Z,1761699234.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:55.175Z,1761699235.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877220,0.471491,0.090453],[-0.479960,0.865644,0.142472],[-0.011126,-0.168393,0.985657]] 2025-10-29T00:53:55.281Z,1761699235.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:55.568Z,1761699235.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877422,0.471325,0.089349],[-0.479578,0.866328,0.139572],[-0.011622,-0.165313,0.986173]] 2025-10-29T00:53:55.613Z,1761699235.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:55.970Z,1761699235.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877258,0.471478,0.090148],[-0.479869,0.866080,0.140110],[-0.012017,-0.166172,0.986024]] 2025-10-29T00:53:56.017Z,1761699236.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:56.441Z,1761699236.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:56.786Z,1761699236.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876932,0.471832,0.091459],[-0.480432,0.865825,0.139757],[-0.013245,-0.166497,0.985953]] 2025-10-29T00:53:56.805Z,1761699236.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:57.211Z,1761699237.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876543,0.472187,0.093332],[-0.481117,0.865215,0.141174],[-0.014092,-0.168649,0.985575]] 2025-10-29T00:53:57.263Z,1761699237.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:57.586Z,1761699237.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876524,0.472077,0.094065],[-0.481125,0.865281,0.140737],[-0.014954,-0.168617,0.985568]] 2025-10-29T00:53:57.605Z,1761699237.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:57.992Z,1761699237.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876472,0.471880,0.095529],[-0.481199,0.865030,0.142025],[-0.015617,-0.170450,0.985243]] 2025-10-29T00:53:58.010Z,1761699238.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:58.443Z,1761699238.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:58.798Z,1761699238.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876332,0.471936,0.096533],[-0.481416,0.865011,0.141404],[-0.016768,-0.170389,0.985234]] 2025-10-29T00:53:58.829Z,1761699238.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:59.199Z,1761699239.199 [DAT](INFO): Reached modem response timeout 2025-10-29T00:53:59.239Z,1761699239.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876440,0.471963,0.095413],[-0.481203,0.865592,0.138545],[-0.017200,-0.167340,0.985749]] 2025-10-29T00:53:59.276Z,1761699239.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:53:59.608Z,1761699239.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876787,0.471263,0.095685],[-0.480541,0.866117,0.137556],[-0.018050,-0.166588,0.985861]] 2025-10-29T00:53:59.635Z,1761699239.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:00.011Z,1761699240.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877118,0.470460,0.096595],[-0.479911,0.866366,0.138189],[-0.018674,-0.167565,0.985684]] 2025-10-29T00:54:00.037Z,1761699240.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:00.415Z,1761699240.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877447,0.469440,0.098558],[-0.479290,0.866258,0.140991],[-0.019190,-0.170950,0.985093]] 2025-10-29T00:54:00.467Z,1761699240.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:00.819Z,1761699240.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877530,0.469231,0.098811],[-0.479119,0.866426,0.140538],[-0.019668,-0.170669,0.985132]] 2025-10-29T00:54:00.837Z,1761699240.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:01.264Z,1761699241.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877522,0.469226,0.098908],[-0.479119,0.866517,0.139974],[-0.020026,-0.170219,0.985203]] 2025-10-29T00:54:01.307Z,1761699241.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:01.469Z,1761699241.469 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:54:01.469Z,1761699241.469 [DAT](INFO): response not received 2025-10-29T00:54:01.470Z,1761699241.470 [DAT](ERROR): No response from remote modem. 2025-10-29T00:54:01.635Z,1761699241.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877942,0.468983,0.096297],[-0.478344,0.867695,0.135250],[-0.020127,-0.164805,0.986121]] 2025-10-29T00:54:01.665Z,1761699241.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:02.030Z,1761699242.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878401,0.468531,0.094283],[-0.477498,0.868698,0.131757],[-0.020171,-0.160755,0.986788]] 2025-10-29T00:54:02.049Z,1761699242.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:02.435Z,1761699242.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878516,0.468808,0.091804],[-0.477302,0.869366,0.128004],[-0.019802,-0.156272,0.987516]] 2025-10-29T00:54:02.491Z,1761699242.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:02.841Z,1761699242.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878488,0.469247,0.089816],[-0.477370,0.869759,0.125049],[-0.019439,-0.152729,0.988077]] 2025-10-29T00:54:02.860Z,1761699242.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:03.285Z,1761699243.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878656,0.468957,0.089683],[-0.477059,0.869948,0.124922],[-0.019437,-0.152548,0.988105]] 2025-10-29T00:54:03.326Z,1761699243.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:03.653Z,1761699243.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878405,0.469277,0.090466],[-0.477528,0.869462,0.126500],[-0.019293,-0.154318,0.987833]] 2025-10-29T00:54:03.687Z,1761699243.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:04.051Z,1761699244.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878085,0.469838,0.090661],[-0.478120,0.869086,0.126847],[-0.019195,-0.154729,0.987770]] 2025-10-29T00:54:04.070Z,1761699244.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:04.456Z,1761699244.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877732,0.470533,0.090474],[-0.478786,0.868665,0.127221],[-0.018730,-0.154983,0.987740]] 2025-10-29T00:54:04.494Z,1761699244.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:04.859Z,1761699244.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877281,0.471508,0.089764],[-0.479646,0.868152,0.127486],[-0.017818,-0.154896,0.987770]] 2025-10-29T00:54:04.889Z,1761699244.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:05.304Z,1761699245.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876880,0.472143,0.090346],[-0.480411,0.867339,0.130111],[-0.016930,-0.157495,0.987375]] 2025-10-29T00:54:05.365Z,1761699245.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:05.667Z,1761699245.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876542,0.472488,0.091814],[-0.481054,0.866367,0.134148],[-0.016161,-0.161754,0.986699]] 2025-10-29T00:54:05.685Z,1761699245.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:06.071Z,1761699246.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876129,0.473279,0.091676],[-0.481823,0.865860,0.134660],[-0.015646,-0.162151,0.986642]] 2025-10-29T00:54:06.105Z,1761699246.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:06.475Z,1761699246.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876366,0.472962,0.091052],[-0.481377,0.866401,0.132759],[-0.016098,-0.160176,0.986957]] 2025-10-29T00:54:06.526Z,1761699246.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:06.879Z,1761699246.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876360,0.473024,0.090790],[-0.481392,0.866433,0.132500],[-0.015988,-0.159823,0.987016]] 2025-10-29T00:54:06.898Z,1761699246.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:07.342Z,1761699247.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876523,0.472654,0.091138],[-0.481078,0.866647,0.132240],[-0.016481,-0.159756,0.987019]] 2025-10-29T00:54:07.403Z,1761699247.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:07.717Z,1761699247.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876351,0.472917,0.091422],[-0.481361,0.866687,0.130939],[-0.017311,-0.158755,0.987166]] 2025-10-29T00:54:07.739Z,1761699247.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:08.134Z,1761699248.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876001,0.473569,0.091406],[-0.481959,0.866719,0.128502],[-0.018369,-0.156622,0.987488]] 2025-10-29T00:54:08.157Z,1761699248.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:08.523Z,1761699248.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875738,0.474082,0.091262],[-0.482388,0.866917,0.125527],[-0.019607,-0.153952,0.987884]] 2025-10-29T00:54:08.655Z,1761699248.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:08.978Z,1761699248.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874033,0.476600,0.094443],[-0.485420,0.864905,0.127697],[-0.020824,-0.157456,0.987306]] 2025-10-29T00:54:09.019Z,1761699249.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:09.386Z,1761699249.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873155,0.477466,0.098118],[-0.487001,0.863082,0.133868],[-0.020767,-0.164671,0.986130]] 2025-10-29T00:54:09.449Z,1761699249.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:09.850Z,1761699249.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:10.186Z,1761699250.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871652,0.479319,0.102354],[-0.489673,0.860617,0.139855],[-0.021053,-0.172025,0.984868]] 2025-10-29T00:54:10.216Z,1761699250.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:10.590Z,1761699250.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871382,0.479810,0.102352],[-0.490124,0.860611,0.138302],[-0.021726,-0.170679,0.985087]] 2025-10-29T00:54:10.649Z,1761699250.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:11.001Z,1761699251.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871249,0.480037,0.102418],[-0.490337,0.860648,0.137310],[-0.022232,-0.169851,0.985219]] 2025-10-29T00:54:11.019Z,1761699251.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:11.415Z,1761699251.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871293,0.480089,0.101799],[-0.490218,0.861174,0.134410],[-0.023138,-0.167014,0.985683]] 2025-10-29T00:54:11.468Z,1761699251.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:11.807Z,1761699251.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871695,0.479931,0.099064],[-0.489447,0.862664,0.127486],[-0.024274,-0.159616,0.986881]] 2025-10-29T00:54:11.840Z,1761699251.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:12.210Z,1761699252.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872180,0.479474,0.096991],[-0.488540,0.863917,0.122375],[-0.025117,-0.154117,0.987733]] 2025-10-29T00:54:12.229Z,1761699252.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:12.626Z,1761699252.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872952,0.478385,0.095407],[-0.487098,0.865387,0.117652],[-0.026281,-0.149177,0.988461]] 2025-10-29T00:54:12.671Z,1761699252.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:13.020Z,1761699253.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873603,0.477305,0.094852],[-0.485879,0.866396,0.115234],[-0.027178,-0.146755,0.988799]] 2025-10-29T00:54:13.040Z,1761699253.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:13.442Z,1761699253.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874364,0.476074,0.094023],[-0.484451,0.867598,0.112164],[-0.028175,-0.143622,0.989231]] 2025-10-29T00:54:13.479Z,1761699253.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:13.826Z,1761699253.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874458,0.475832,0.094381],[-0.484258,0.867727,0.112004],[-0.028602,-0.143647,0.989216]] 2025-10-29T00:54:13.862Z,1761699253.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:14.231Z,1761699254.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875055,0.474348,0.096290],[-0.483135,0.868032,0.114456],[-0.029291,-0.146677,0.988751]] 2025-10-29T00:54:14.249Z,1761699254.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:14.421Z,1761699254.421 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:54:14.639Z,1761699254.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874687,0.474811,0.097347],[-0.483804,0.867423,0.116237],[-0.029251,-0.148768,0.988439]] 2025-10-29T00:54:14.675Z,1761699254.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:15.039Z,1761699255.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874610,0.475052,0.096867],[-0.483963,0.867375,0.115934],[-0.028946,-0.148277,0.988522]] 2025-10-29T00:54:15.063Z,1761699255.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:15.421Z,1761699255.421 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:54:15.470Z,1761699255.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.873797,0.476357,0.097787],[-0.485471,0.866174,0.118577],[-0.028215,-0.151085,0.988118]] 2025-10-29T00:54:15.507Z,1761699255.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:15.847Z,1761699255.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872888,0.477894,0.098404],[-0.487165,0.864845,0.121300],[-0.027135,-0.153820,0.987726]] 2025-10-29T00:54:15.867Z,1761699255.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:16.252Z,1761699256.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872036,0.479181,0.099695],[-0.488744,0.863412,0.125095],[-0.026135,-0.157813,0.987123]] 2025-10-29T00:54:16.271Z,1761699256.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:16.655Z,1761699256.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871446,0.479960,0.101094],[-0.489845,0.862191,0.129147],[-0.025177,-0.162065,0.986459]] 2025-10-29T00:54:16.697Z,1761699256.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:17.059Z,1761699257.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870949,0.480613,0.102267],[-0.490766,0.861168,0.132432],[-0.024421,-0.165531,0.985902]] 2025-10-29T00:54:17.086Z,1761699257.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:17.499Z,1761699257.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.870601,0.480938,0.103690],[-0.491423,0.860177,0.136380],[-0.023602,-0.169688,0.985215]] 2025-10-29T00:54:17.578Z,1761699257.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:17.941Z,1761699257.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:18.377Z,1761699258.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871111,0.479774,0.104800],[-0.490567,0.859959,0.140763],[-0.022589,-0.174032,0.984481]] 2025-10-29T00:54:18.415Z,1761699258.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:18.843Z,1761699258.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.871836,0.478387,0.105109],[-0.489267,0.860592,0.141420],[-0.022802,-0.174722,0.984354]] 2025-10-29T00:54:18.900Z,1761699258.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:19.347Z,1761699259.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872787,0.477723,0.100120],[-0.487571,0.862863,0.133203],[-0.022755,-0.165073,0.986019]] 2025-10-29T00:54:19.371Z,1761699259.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:19.818Z,1761699259.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:20.149Z,1761699260.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874410,0.476361,0.092130],[-0.484654,0.866459,0.119830],[-0.022744,-0.149432,0.988510]] 2025-10-29T00:54:20.184Z,1761699260.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:20.561Z,1761699260.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874880,0.475811,0.090491],[-0.483813,0.867247,0.117502],[-0.022569,-0.146581,0.988941]] 2025-10-29T00:54:20.625Z,1761699260.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:20.954Z,1761699260.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875403,0.474642,0.091564],[-0.482863,0.867484,0.119646],[-0.022641,-0.148952,0.988585]] 2025-10-29T00:54:20.985Z,1761699260.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:21.367Z,1761699261.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875923,0.473036,0.094843],[-0.481895,0.867272,0.124963],[-0.023143,-0.155162,0.987618]] 2025-10-29T00:54:21.390Z,1761699261.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:21.766Z,1761699261.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876584,0.471407,0.096828],[-0.480681,0.867416,0.128590],[-0.023372,-0.159263,0.986959]] 2025-10-29T00:54:21.815Z,1761699261.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:22.164Z,1761699262.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877150,0.470479,0.096217],[-0.479682,0.867864,0.129298],[-0.022671,-0.159567,0.986927]] 2025-10-29T00:54:22.257Z,1761699262.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:22.640Z,1761699262.640 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for water mass range. Device response is::WD, +0 ,+0.00,571.45 2025-10-29T00:54:22.655Z,1761699262.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:22.995Z,1761699262.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879301,0.468231,0.087114],[-0.475903,0.870950,0.122322],[-0.018597,-0.149016,0.988660]] 2025-10-29T00:54:23.052Z,1761699263.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:23.391Z,1761699263.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880048,0.467215,0.085009],[-0.474574,0.871740,0.121852],[-0.017175,-0.147578,0.988901]] 2025-10-29T00:54:23.440Z,1761699263.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:23.794Z,1761699263.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880636,0.466511,0.082751],[-0.473532,0.872427,0.120990],[-0.015751,-0.145733,0.989199]] 2025-10-29T00:54:23.846Z,1761699263.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:24.199Z,1761699264.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881066,0.465650,0.083022],[-0.472767,0.872406,0.124091],[-0.014646,-0.148583,0.988792]] 2025-10-29T00:54:24.217Z,1761699264.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:24.621Z,1761699264.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881210,0.465111,0.084500],[-0.472528,0.871818,0.129038],[-0.013652,-0.153638,0.988033]] 2025-10-29T00:54:24.666Z,1761699264.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:25.016Z,1761699265.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881367,0.464657,0.085364],[-0.472259,0.871448,0.132476],[-0.012834,-0.157074,0.987503]] 2025-10-29T00:54:25.034Z,1761699265.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:25.410Z,1761699265.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881508,0.464671,0.083815],[-0.472013,0.871793,0.131075],[-0.012162,-0.155105,0.987823]] 2025-10-29T00:54:25.449Z,1761699265.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:25.814Z,1761699265.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881990,0.463848,0.083306],[-0.471128,0.872170,0.131749],[-0.011545,-0.155449,0.987777]] 2025-10-29T00:54:25.858Z,1761699265.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:26.218Z,1761699266.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882174,0.463246,0.084687],[-0.470799,0.871686,0.136055],[-0.010794,-0.159895,0.987075]] 2025-10-29T00:54:26.237Z,1761699266.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:26.647Z,1761699266.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882119,0.463025,0.086453],[-0.470926,0.870746,0.141530],[-0.009746,-0.165559,0.986152]] 2025-10-29T00:54:26.689Z,1761699266.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:27.033Z,1761699267.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881981,0.463175,0.087050],[-0.471200,0.870150,0.144257],[-0.008930,-0.168250,0.985704]] 2025-10-29T00:54:27.053Z,1761699267.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:27.431Z,1761699267.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881817,0.463802,0.085362],[-0.471518,0.870331,0.142111],[-0.008382,-0.165565,0.986163]] 2025-10-29T00:54:27.464Z,1761699267.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:27.835Z,1761699267.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881952,0.463755,0.084213],[-0.471264,0.870806,0.140027],[-0.008395,-0.163184,0.986560]] 2025-10-29T00:54:27.879Z,1761699267.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:28.238Z,1761699268.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881853,0.463704,0.085521],[-0.471449,0.870334,0.142322],[-0.008437,-0.165826,0.986119]] 2025-10-29T00:54:28.258Z,1761699268.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:28.675Z,1761699268.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881374,0.464205,0.087712],[-0.472346,0.869171,0.146394],[-0.008280,-0.170458,0.985330]] 2025-10-29T00:54:28.720Z,1761699268.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:29.046Z,1761699269.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881031,0.464585,0.089139],[-0.472989,0.868364,0.149081],[-0.008144,-0.173506,0.984799]] 2025-10-29T00:54:29.105Z,1761699269.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:29.451Z,1761699269.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880580,0.465219,0.090278],[-0.473827,0.867605,0.150832],[-0.008155,-0.175596,0.984429]] 2025-10-29T00:54:29.491Z,1761699269.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:29.854Z,1761699269.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880199,0.465935,0.090303],[-0.474540,0.867165,0.151120],[-0.007895,-0.175868,0.984382]] 2025-10-29T00:54:29.908Z,1761699269.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:30.260Z,1761699270.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879876,0.466593,0.090053],[-0.475141,0.866896,0.150769],[-0.007719,-0.175446,0.984459]] 2025-10-29T00:54:30.278Z,1761699270.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:30.759Z,1761699270.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:31.202Z,1761699271.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879953,0.467057,0.086833],[-0.475023,0.867348,0.148527],[-0.005944,-0.171945,0.985089]] 2025-10-29T00:54:31.221Z,1761699271.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:31.612Z,1761699271.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880514,0.466211,0.085689],[-0.474000,0.867677,0.149871],[-0.004478,-0.172580,0.984985]] 2025-10-29T00:54:31.634Z,1761699271.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:32.115Z,1761699272.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881044,0.465489,0.084145],[-0.473026,0.867990,0.151130],[-0.002688,-0.172955,0.984926]] 2025-10-29T00:54:32.163Z,1761699272.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:32.664Z,1761699272.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:33.089Z,1761699273.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:33.440Z,1761699273.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882969,0.464070,0.070741],[-0.469404,0.871218,0.143665],[0.005040,-0.160058,0.987095]] 2025-10-29T00:54:33.475Z,1761699273.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:33.828Z,1761699273.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883338,0.464041,0.066187],[-0.468691,0.872402,0.138722],[0.006631,-0.153560,0.988117]] 2025-10-29T00:54:33.877Z,1761699273.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:34.228Z,1761699274.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883691,0.463643,0.064231],[-0.468008,0.872960,0.137512],[0.007686,-0.151579,0.988415]] 2025-10-29T00:54:34.246Z,1761699274.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:34.631Z,1761699274.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883728,0.463572,0.064229],[-0.467913,0.872542,0.140454],[0.009068,-0.154177,0.988002]] 2025-10-29T00:54:34.655Z,1761699274.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:35.040Z,1761699275.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883576,0.463835,0.064419],[-0.468188,0.872160,0.141904],[0.009636,-0.155543,0.987782]] 2025-10-29T00:54:35.107Z,1761699275.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:35.438Z,1761699275.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883718,0.463630,0.063954],[-0.467909,0.872245,0.142300],[0.010191,-0.155678,0.987755]] 2025-10-29T00:54:35.527Z,1761699275.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:35.842Z,1761699275.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.883358,0.464142,0.065206],[-0.468567,0.871215,0.146387],[0.011136,-0.159866,0.987076]] 2025-10-29T00:54:35.907Z,1761699275.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:36.246Z,1761699276.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882843,0.464811,0.067365],[-0.469510,0.869707,0.152219],[0.012166,-0.166014,0.986048]] 2025-10-29T00:54:36.296Z,1761699276.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:36.652Z,1761699276.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.882110,0.466179,0.067520],[-0.470845,0.868468,0.155140],[0.013684,-0.168642,0.985582]] 2025-10-29T00:54:36.688Z,1761699276.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:37.116Z,1761699277.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881233,0.468057,0.065959],[-0.472424,0.867525,0.155617],[0.015617,-0.168296,0.985613]] 2025-10-29T00:54:37.164Z,1761699277.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:37.511Z,1761699277.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880441,0.469750,0.064479],[-0.473824,0.866574,0.156653],[0.017712,-0.168475,0.985547]] 2025-10-29T00:54:37.530Z,1761699277.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:37.917Z,1761699277.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879520,0.471538,0.064006],[-0.475448,0.865166,0.159487],[0.019829,-0.170704,0.985123]] 2025-10-29T00:54:37.953Z,1761699277.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:38.352Z,1761699278.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:38.723Z,1761699278.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878060,0.474291,0.063712],[-0.477968,0.862618,0.165638],[0.023601,-0.175892,0.984127]] 2025-10-29T00:54:38.807Z,1761699278.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:39.137Z,1761699279.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877928,0.474450,0.064341],[-0.478134,0.861722,0.169770],[0.025104,-0.179809,0.983381]] 2025-10-29T00:54:39.193Z,1761699279.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:39.545Z,1761699279.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878036,0.474423,0.063052],[-0.477864,0.861782,0.170228],[0.026423,-0.179597,0.983385]] 2025-10-29T00:54:39.578Z,1761699279.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:39.943Z,1761699279.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878524,0.473913,0.060016],[-0.476891,0.862793,0.167820],[0.027751,-0.176055,0.983989]] 2025-10-29T00:54:39.986Z,1761699279.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:40.346Z,1761699280.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879173,0.473129,0.056604],[-0.475618,0.864087,0.164747],[0.029036,-0.171763,0.984710]] 2025-10-29T00:54:40.364Z,1761699280.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:40.758Z,1761699280.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879962,0.472039,0.053341],[-0.474105,0.865613,0.161058],[0.029853,-0.167014,0.985502]] 2025-10-29T00:54:40.786Z,1761699280.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:41.155Z,1761699281.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880334,0.471579,0.051243],[-0.473373,0.866428,0.158807],[0.030492,-0.164061,0.985979]] 2025-10-29T00:54:41.204Z,1761699281.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:41.566Z,1761699281.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.880087,0.472253,0.049241],[-0.473761,0.866501,0.157250],[0.031595,-0.161721,0.986331]] 2025-10-29T00:54:41.602Z,1761699281.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:41.963Z,1761699281.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879832,0.472991,0.046639],[-0.474155,0.866742,0.154712],[0.032753,-0.158235,0.986858]] 2025-10-29T00:54:42.016Z,1761699282.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:42.368Z,1761699282.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879344,0.474099,0.044532],[-0.474955,0.866505,0.153580],[0.034225,-0.156200,0.987132]] 2025-10-29T00:54:42.387Z,1761699282.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:42.777Z,1761699282.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878587,0.475554,0.043961],[-0.476221,0.865420,0.155760],[0.036027,-0.157784,0.986816]] 2025-10-29T00:54:42.806Z,1761699282.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:43.175Z,1761699283.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877719,0.477162,0.043881],[-0.477695,0.864135,0.158361],[0.037644,-0.159958,0.986406]] 2025-10-29T00:54:43.222Z,1761699283.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:43.591Z,1761699283.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877043,0.478313,0.044859],[-0.478850,0.862848,0.161855],[0.038711,-0.163434,0.985794]] 2025-10-29T00:54:43.610Z,1761699283.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:43.984Z,1761699283.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876204,0.479696,0.046457],[-0.480312,0.861261,0.165920],[0.039579,-0.167694,0.985044]] 2025-10-29T00:54:44.026Z,1761699284.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:44.387Z,1761699284.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875825,0.480151,0.048845],[-0.480984,0.860009,0.170411],[0.039816,-0.172744,0.984162]] 2025-10-29T00:54:44.418Z,1761699284.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:44.791Z,1761699284.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875415,0.480796,0.049836],[-0.481712,0.859219,0.172327],[0.040034,-0.174864,0.983778]] 2025-10-29T00:54:44.810Z,1761699284.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:45.196Z,1761699285.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875350,0.480931,0.049678],[-0.481815,0.859155,0.172357],[0.040211,-0.174808,0.983781]] 2025-10-29T00:54:45.252Z,1761699285.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:45.542Z,1761699285.542 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:54:45.615Z,1761699285.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875174,0.481264,0.049554],[-0.482126,0.859007,0.172228],[0.040320,-0.174621,0.983810]] 2025-10-29T00:54:45.633Z,1761699285.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:46.003Z,1761699286.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875251,0.481201,0.048802],[-0.482028,0.859523,0.169906],[0.039812,-0.172234,0.984251]] 2025-10-29T00:54:46.055Z,1761699286.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:46.406Z,1761699286.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875604,0.480666,0.047720],[-0.481449,0.860484,0.166657],[0.039044,-0.168900,0.984860]] 2025-10-29T00:54:46.441Z,1761699286.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:46.546Z,1761699286.546 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:54:46.810Z,1761699286.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876016,0.480041,0.046444],[-0.480757,0.861533,0.163198],[0.038329,-0.165293,0.985500]] 2025-10-29T00:54:46.830Z,1761699286.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:47.216Z,1761699287.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876544,0.479179,0.045366],[-0.479812,0.862446,0.161144],[0.038091,-0.163017,0.985888]] 2025-10-29T00:54:47.255Z,1761699287.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:47.619Z,1761699287.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877027,0.478399,0.044247],[-0.478939,0.863291,0.159207],[0.037967,-0.160820,0.986253]] 2025-10-29T00:54:47.644Z,1761699287.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:48.022Z,1761699288.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877514,0.477559,0.043672],[-0.478061,0.863978,0.158110],[0.037775,-0.159621,0.986455]] 2025-10-29T00:54:48.086Z,1761699288.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:48.427Z,1761699288.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878197,0.476489,0.041574],[-0.476770,0.865130,0.155694],[0.038219,-0.156551,0.986930]] 2025-10-29T00:54:48.446Z,1761699288.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:48.832Z,1761699288.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878748,0.475537,0.040833],[-0.475745,0.865829,0.154940],[0.038325,-0.155579,0.987080]] 2025-10-29T00:54:48.922Z,1761699288.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:54:48.954Z,1761699288.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:49.141Z,1761699289.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:54:49.141Z,1761699289.141 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:54:49.284Z,1761699289.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879017,0.475064,0.040536],[-0.475196,0.865958,0.155903],[0.038962,-0.156304,0.986940]] 2025-10-29T00:54:49.361Z,1761699289.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:49.393Z,1761699289.393 [DAT](INFO): DAT read: 2025-10-29T00:54:49.397Z,1761699289.397 [DAT](INFO): DAT read: Tx time:00:54:49.1210 2025-10-29T00:54:49.399Z,1761699289.399 [DAT](INFO): Ping request sent. 2025-10-29T00:54:49.399Z,1761699289.399 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:54:49.399Z,1761699289.399 [DAT](INFO): publishing transmit ping time 2025-10-29T00:54:49.400Z,1761699289.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001400 2025-10-29T00:54:49.645Z,1761699289.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246196 2025-10-29T00:54:49.687Z,1761699289.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879285,0.474607,0.040077],[-0.474674,0.866243,0.155912],[0.039281,-0.156114,0.986958]] 2025-10-29T00:54:49.734Z,1761699289.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:49.897Z,1761699289.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498379 2025-10-29T00:54:50.095Z,1761699290.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879331,0.474605,0.039078],[-0.474515,0.866326,0.155928],[0.040150,-0.155656,0.986995]] 2025-10-29T00:54:50.149Z,1761699290.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750341 2025-10-29T00:54:50.169Z,1761699290.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:50.401Z,1761699290.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002212 2025-10-29T00:54:50.496Z,1761699290.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879483,0.474474,0.037205],[-0.474155,0.866775,0.154525],[0.041070,-0.153543,0.987288]] 2025-10-29T00:54:50.522Z,1761699290.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:50.653Z,1761699290.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254208 2025-10-29T00:54:50.899Z,1761699290.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879605,0.474401,0.035180],[-0.473829,0.867181,0.153244],[0.042192,-0.151464,0.987562]] 2025-10-29T00:54:50.905Z,1761699290.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506309 2025-10-29T00:54:50.962Z,1761699290.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:51.157Z,1761699291.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758192 2025-10-29T00:54:51.308Z,1761699291.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.879425,0.474714,0.035483],[-0.474074,0.866596,0.155770],[0.043197,-0.153810,0.987156]] 2025-10-29T00:54:51.359Z,1761699291.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:51.410Z,1761699291.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011163 2025-10-29T00:54:51.661Z,1761699291.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262242 2025-10-29T00:54:51.715Z,1761699291.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878820,0.475830,0.035517],[-0.475098,0.865703,0.157609],[0.044248,-0.155384,0.986863]] 2025-10-29T00:54:51.734Z,1761699291.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:51.913Z,1761699291.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514149 2025-10-29T00:54:52.131Z,1761699292.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878541,0.476289,0.036248],[-0.475534,0.864935,0.160484],[0.045085,-0.158228,0.986373]] 2025-10-29T00:54:52.165Z,1761699292.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766171 2025-10-29T00:54:52.200Z,1761699292.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:52.417Z,1761699292.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018259 2025-10-29T00:54:52.518Z,1761699292.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878138,0.476909,0.037837],[-0.476201,0.863761,0.164775],[0.045900,-0.162713,0.985605]] 2025-10-29T00:54:52.578Z,1761699292.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:52.670Z,1761699292.670 [DAT](INFO): DAT read: Rx Time:00:54:51.8549 2025-10-29T00:54:52.671Z,1761699292.671 [DAT](INFO): Rx dataTimestamp_ set to:1761699292.670372 2025-10-29T00:54:52.672Z,1761699292.672 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272860 2025-10-29T00:54:52.921Z,1761699292.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522194 2025-10-29T00:54:52.924Z,1761699292.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.877749,0.477460,0.039856],[-0.476904,0.862666,0.168436],[0.046039,-0.166852,0.984906]] 2025-10-29T00:54:52.943Z,1761699292.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.38 m. 2025-10-29T00:54:53.178Z,1761699293.178 [DAT](INFO): DAT read: 00:54:51.8549 LVL= 32752, 31473, 32754, 32755, AGC= 69, IDX= 429,-0.41, 0.647, 2.024, 0.606, 0.700, PHS= 0.049, 1.369,-0.138, RAW= 336.5, -17.7, CAL= 336.5, -20.9, ROT= 173.5, 20.9 2025-10-29T00:54:53.179Z,1761699293.179 [DAT](INFO): got valid direction response: 00:54:51.8549 LVL= 32752, 31473, 32754, 32755, AGC= 69, IDX= 429,-0.41, 0.647, 2.024, 0.606, 0.700, PHS= 0.049, 1.369,-0.138, RAW= 336.5, -17.7, CAL= 336.5, -20.9, ROT= 173.5, 20.9 2025-10-29T00:54:53.181Z,1761699293.181 [DAT](INFO): DAT read: Bearing 339.1, 6.6 (Local) 2025-10-29T00:54:53.181Z,1761699293.181 [DAT](INFO): Local bearing/azimuth received: Bearing 339.1, 6.6 (Local) 2025-10-29T00:54:53.182Z,1761699293.182 [DAT](INFO): DAT read: Range 11 to 50 : 247.2 m (Round-trip 329.7 ms) speed -0.5 m/s 2025-10-29T00:54:53.183Z,1761699293.183 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:54:53.194Z,1761699293.194 [DAT](INFO): direction in FSK: [-0.928199,0.105755,-0.356738] 2025-10-29T00:54:53.195Z,1761699293.195 [DAT](INFO): publishing direction and range info 2025-10-29T00:54:53.409Z,1761699293.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.199997 m, deltaT: 241.083577 s, deltaX: 208.600006 m, approachRate: 0.865260 m/s, rangeRepo size: 4 2025-10-29T00:54:53.411Z,1761699293.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 245.680008 m, bearing: 148.673129 deg, lat: 36.779269 deg, lon: -121.859589 deg, deltaT: 241.083577 s, deltaX: 207.304123 m, approachRate: 0.859885 m/s, posRepo size: 4 2025-10-29T00:54:53.411Z,1761699293.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 245.68 m. 2025-10-29T00:54:53.412Z,1761699293.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 247.20 m. Resuming terminal guidance. 2025-10-29T00:54:53.412Z,1761699293.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-29T00:54:53.731Z,1761699293.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876684,0.479374,0.040313],[-0.478791,0.861329,0.169917],[0.046731,-0.168265,0.984633]] 2025-10-29T00:54:53.751Z,1761699293.751 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-29T00:54:53.751Z,1761699293.751 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:54:53.752Z,1761699293.752 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-29T00:54:53.754Z,1761699293.754 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 247.199997 m (mode 1.000000 count ). 2025-10-29T00:54:53.754Z,1761699293.754 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-29T00:54:53.754Z,1761699293.754 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-29T00:54:54.134Z,1761699294.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876611,0.479534,0.040008],[-0.478921,0.861354,0.169420],[0.046782,-0.167676,0.984731]] 2025-10-29T00:54:54.205Z,1761699294.205 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-29T00:54:54.205Z,1761699294.205 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-29T00:54:54.206Z,1761699294.206 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:54:54.434Z,1761699294.434 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:54:54.434Z,1761699294.434 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:54:54.434Z,1761699294.434 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:54:54.547Z,1761699294.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876307,0.480159,0.039158],[-0.479482,0.861404,0.167571],[0.046730,-0.165619,0.985082]] 2025-10-29T00:54:54.578Z,1761699294.578 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-29T00:54:54.578Z,1761699294.578 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-29T00:54:54.685Z,1761699294.685 [DAT](INFO): DAT read: user:589> 2025-10-29T00:54:54.686Z,1761699294.686 [DAT](INFO): DAT read: Tx time:00:54:54.4210 2025-10-29T00:54:54.687Z,1761699294.687 [DAT](INFO): Ping request sent. 2025-10-29T00:54:54.687Z,1761699294.687 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:54:54.687Z,1761699294.687 [DAT](INFO): publishing transmit ping time 2025-10-29T00:54:54.688Z,1761699294.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-29T00:54:54.937Z,1761699294.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249938 2025-10-29T00:54:54.944Z,1761699294.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876058,0.480624,0.039028],[-0.479923,0.861182,0.167451],[0.046871,-0.165427,0.985108]] 2025-10-29T00:54:54.959Z,1761699294.959 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-29T00:54:54.960Z,1761699294.960 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:54:54.960Z,1761699294.960 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-29T00:54:54.960Z,1761699294.960 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T00:54:55.189Z,1761699295.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502080 2025-10-29T00:54:55.442Z,1761699295.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754803 2025-10-29T00:54:55.693Z,1761699295.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006017 2025-10-29T00:54:55.759Z,1761699295.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876198,0.480542,0.036840],[-0.479787,0.862475,0.161061],[0.045623,-0.158797,0.986257]] 2025-10-29T00:54:55.945Z,1761699295.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258057 2025-10-29T00:54:56.154Z,1761699296.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878257,0.477218,0.030450],[-0.476090,0.866667,0.149088],[0.044757,-0.145435,0.988355]] 2025-10-29T00:54:56.197Z,1761699296.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510181 2025-10-29T00:54:56.213Z,1761699296.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:54:56.449Z,1761699296.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762024 2025-10-29T00:54:56.564Z,1761699296.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881830,0.471042,0.022249],[-0.469524,0.872645,0.134306],[0.043848,-0.128881,0.990690]] 2025-10-29T00:54:56.701Z,1761699296.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014008 2025-10-29T00:54:56.953Z,1761699296.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266160 2025-10-29T00:54:56.965Z,1761699296.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886275,0.462949,0.013938],[-0.461170,0.879284,0.119088],[0.042876,-0.111972,0.992786]] 2025-10-29T00:54:57.205Z,1761699297.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518022 2025-10-29T00:54:57.366Z,1761699297.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.892046,0.451910,0.005664],[-0.450025,0.887031,0.103213],[0.041619,-0.094620,0.994643]] 2025-10-29T00:54:57.457Z,1761699297.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770163 2025-10-29T00:54:57.709Z,1761699297.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022244 2025-10-29T00:54:57.777Z,1761699297.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.899269,0.437372,-0.004667],[-0.435553,0.896405,0.082167],[0.040121,-0.071857,0.996608]] 2025-10-29T00:54:57.961Z,1761699297.961 [DAT](INFO): DAT read: Rx Time:00:54:57.1612 2025-10-29T00:54:57.961Z,1761699297.961 [DAT](INFO): Rx dataTimestamp_ set to:1761699297.961088 2025-10-29T00:54:57.962Z,1761699297.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275092 2025-10-29T00:54:58.175Z,1761699298.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908316,0.417887,-0.018255],[-0.416482,0.907586,0.053206],[0.038802,-0.040725,0.998417]] 2025-10-29T00:54:58.213Z,1761699298.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526128 2025-10-29T00:54:58.238Z,1761699298.238 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:54:58.470Z,1761699298.470 [DAT](INFO): DAT read: 00:54:57.1612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 486, 0.39,-2.236,-1.082,-2.255,-2.124, PHS=-0.010, 1.086,-0.175, RAW= 336.9, -15.0, CAL= 336.8, -18.2, ROT= 173.2, 18.2 2025-10-29T00:54:58.471Z,1761699298.471 [DAT](INFO): got valid direction response: 00:54:57.1612 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 486, 0.39,-2.236,-1.082,-2.255,-2.124, PHS=-0.010, 1.086,-0.175, RAW= 336.9, -15.0, CAL= 336.8, -18.2, ROT= 173.2, 18.2 2025-10-29T00:54:58.472Z,1761699298.472 [DAT](INFO): DAT read: Bearing 340.1, 5.4 (Local) 2025-10-29T00:54:58.473Z,1761699298.473 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, 5.4 (Local) 2025-10-29T00:54:58.474Z,1761699298.474 [DAT](INFO): DAT read: Range 11 to 50 : 252.0 m (Round-trip 336.0 ms) speed -0.4 m/s 2025-10-29T00:54:58.474Z,1761699298.474 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:54:58.475Z,1761699298.475 [DAT](INFO): direction in FSK: [-0.943289,0.112481,-0.312335] 2025-10-29T00:54:58.476Z,1761699298.476 [DAT](INFO): publishing direction and range info 2025-10-29T00:54:58.479Z,1761699298.479 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:54:58.479Z,1761699298.479 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:54:58.479Z,1761699298.479 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:54:58.579Z,1761699298.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918856,0.393194,-0.033189],[-0.392812,0.919450,0.017625],[0.037446,-0.003158,0.999294]] 2025-10-29T00:54:58.633Z,1761699298.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 252.000000 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-29T00:54:58.635Z,1761699298.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 250.449448 m, bearing: 150.023670 deg, lat: 36.779264 deg, lon: -121.859589 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-29T00:54:58.640Z,1761699298.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:54:58.643Z,1761699298.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.094574 m, bearing: 146.866741 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 151.180894 deg, new cmd heading: 146.866741 deg. 2025-10-29T00:54:58.644Z,1761699298.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563308 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:54:58.718Z,1761699298.718 [DAT](INFO): DAT read: user:590> 2025-10-29T00:54:58.719Z,1761699298.719 [DAT](INFO): DAT read: Tx time:00:54:58.4710 2025-10-29T00:54:58.719Z,1761699298.719 [DAT](INFO): Ping request sent. 2025-10-29T00:54:58.719Z,1761699298.719 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:54:58.720Z,1761699298.720 [DAT](INFO): publishing transmit ping time 2025-10-29T00:54:58.721Z,1761699298.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001467 2025-10-29T00:54:58.969Z,1761699298.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249685 2025-10-29T00:54:58.984Z,1761699298.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929703,0.365438,-0.045911],[-0.366549,0.930217,-0.018399],[0.035983,0.033934,0.998776]] 2025-10-29T00:54:59.005Z,1761699299.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:54:59.023Z,1761699299.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.388306 m, bearing: 146.872956 deg, approach rate: 0.775208 m/s, LOS rate: 0.016378 deg/s, cmd heading: 146.866744 deg, new cmd heading: 146.872956 deg. 2025-10-29T00:54:59.030Z,1761699299.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563417 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:54:59.221Z,1761699299.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501764 2025-10-29T00:54:59.452Z,1761699299.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:54:59.454Z,1761699299.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.705078 m, bearing: 146.878639 deg, approach rate: 0.705997 m/s, LOS rate: 0.012648 deg/s, cmd heading: 146.872959 deg, new cmd heading: 146.878639 deg. 2025-10-29T00:54:59.455Z,1761699299.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563516 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:54:59.474Z,1761699299.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755026 2025-10-29T00:54:59.725Z,1761699299.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005728 2025-10-29T00:54:59.791Z,1761699299.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949917,0.306863,-0.059110],[-0.310631,0.947856,-0.071251],[0.034163,0.086044,0.995705]] 2025-10-29T00:54:59.831Z,1761699299.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:54:59.834Z,1761699299.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 209.956360 m, bearing: 146.887180 deg, approach rate: 0.662427 m/s, LOS rate: 0.022489 deg/s, cmd heading: 146.878642 deg, new cmd heading: 146.887180 deg. 2025-10-29T00:54:59.834Z,1761699299.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563665 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:54:59.977Z,1761699299.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257717 2025-10-29T00:55:00.197Z,1761699300.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958605,0.278533,-0.059118],[-0.282781,0.955572,-0.083169],[0.033326,0.096444,0.994780]] 2025-10-29T00:55:00.229Z,1761699300.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509838 2025-10-29T00:55:00.254Z,1761699300.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:00.256Z,1761699300.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:00.259Z,1761699300.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.265717 m, bearing: 146.901047 deg, approach rate: 0.727354 m/s, LOS rate: 0.032555 deg/s, cmd heading: 146.887180 deg, new cmd heading: 146.901047 deg. 2025-10-29T00:55:00.259Z,1761699300.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563907 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:00.482Z,1761699300.482 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762504 2025-10-29T00:55:00.601Z,1761699300.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966283,0.251097,-0.056980],[-0.255427,0.962703,-0.089220],[0.032452,0.100766,0.994381]] 2025-10-29T00:55:00.625Z,1761699300.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:00.627Z,1761699300.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.519669 m, bearing: 146.914431 deg, approach rate: 0.689371 m/s, LOS rate: 0.036290 deg/s, cmd heading: 146.901045 deg, new cmd heading: 146.914431 deg. 2025-10-29T00:55:00.628Z,1761699300.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564141 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:00.733Z,1761699300.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013863 2025-10-29T00:55:00.985Z,1761699300.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265713 2025-10-29T00:55:01.002Z,1761699301.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972937,0.224770,-0.053587],[-0.228862,0.969349,-0.089354],[0.031860,0.099200,0.994557]] 2025-10-29T00:55:01.054Z,1761699301.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:01.061Z,1761699301.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 210.795731 m, bearing: 146.931087 deg, approach rate: 0.643224 m/s, LOS rate: 0.038756 deg/s, cmd heading: 146.914432 deg, new cmd heading: 146.931087 deg. 2025-10-29T00:55:01.061Z,1761699301.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564431 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:01.237Z,1761699301.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518150 2025-10-29T00:55:01.444Z,1761699301.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983768,0.173200,-0.046920],[-0.176754,0.980410,-0.086917],[0.030947,0.093800,0.995110]] 2025-10-29T00:55:01.482Z,1761699301.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:01.489Z,1761699301.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769907 2025-10-29T00:55:01.501Z,1761699301.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.101105 m, bearing: 146.952330 deg, approach rate: 0.713426 m/s, LOS rate: 0.049557 deg/s, cmd heading: 146.931084 deg, new cmd heading: 146.952330 deg. 2025-10-29T00:55:01.501Z,1761699301.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564802 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:01.741Z,1761699301.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022210 2025-10-29T00:55:01.842Z,1761699301.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987938,0.148514,-0.043846],[-0.151747,0.984923,-0.083061],[0.030849,0.088713,0.995579]] 2025-10-29T00:55:01.879Z,1761699301.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:01.882Z,1761699301.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.355377 m, bearing: 146.971835 deg, approach rate: 0.640104 m/s, LOS rate: 0.049043 deg/s, cmd heading: 146.952326 deg, new cmd heading: 146.971835 deg. 2025-10-29T00:55:01.883Z,1761699301.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565142 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:01.993Z,1761699301.993 [DAT](INFO): DAT read: Rx Time:00:55:01.2124 2025-10-29T00:55:01.993Z,1761699301.993 [DAT](INFO): Rx dataTimestamp_ set to:1761699301.993084 2025-10-29T00:55:01.994Z,1761699301.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274766 2025-10-29T00:55:02.245Z,1761699302.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525693 2025-10-29T00:55:02.248Z,1761699302.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991448,0.123952,-0.040816],[-0.126925,0.988615,-0.080808],[0.030335,0.085298,0.995894]] 2025-10-29T00:55:02.409Z,1761699302.409 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:02.410Z,1761699302.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 250.45 m. 2025-10-29T00:55:02.413Z,1761699302.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 250.449448 m, nav range: 211.685486 m, bearing: 146.998525 deg, approach rate: 0.621251 m/s, LOS rate: 0.050151 deg/s, cmd heading: 146.971833 deg, new cmd heading: 146.998525 deg. 2025-10-29T00:55:02.414Z,1761699302.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565608 target range: 250.449448 and range: 252.00 m. 2025-10-29T00:55:02.502Z,1761699302.502 [DAT](INFO): DAT read: 00:55:01.2124 LVL= 32752, 30337, 32754, 32755, AGC= 71, IDX= 441,-0.18, 1.164, 2.272, 0.984, 1.055, PHS= 0.212, 1.262,-0.115, RAW= 343.1, -21.1, CAL= 343.0, -24.0, ROT= 167.0, 24.0 2025-10-29T00:55:02.503Z,1761699302.503 [DAT](INFO): got valid direction response: 00:55:01.2124 LVL= 32752, 30337, 32754, 32755, AGC= 71, IDX= 441,-0.18, 1.164, 2.272, 0.984, 1.055, PHS= 0.212, 1.262,-0.115, RAW= 343.1, -21.1, CAL= 343.0, -24.0, ROT= 167.0, 24.0 2025-10-29T00:55:02.504Z,1761699302.504 [DAT](INFO): DAT read: Bearing 3.4, 7.9 (Local) 2025-10-29T00:55:02.505Z,1761699302.505 [DAT](INFO): Local bearing/azimuth received: Bearing 3.4, 7.9 (Local) 2025-10-29T00:55:02.506Z,1761699302.506 [DAT](INFO): DAT read: Range 11 to 50 : 252.9 m (Round-trip 337.2 ms) speed -0.7 m/s 2025-10-29T00:55:02.507Z,1761699302.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:02.508Z,1761699302.508 [DAT](INFO): direction in FSK: [-0.890131,0.205503,-0.406737] 2025-10-29T00:55:02.508Z,1761699302.508 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:02.511Z,1761699302.511 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:02.511Z,1761699302.511 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:02.512Z,1761699302.512 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:02.736Z,1761699302.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994201,0.100455,-0.038381],[-0.103169,0.991689,-0.076874],[0.030340,0.080388,0.996302]] 2025-10-29T00:55:02.749Z,1761699302.749 [DAT](INFO): DAT read: user:591> 2025-10-29T00:55:02.751Z,1761699302.751 [DAT](INFO): DAT read: Tx time:00:55:02.5210 2025-10-29T00:55:02.751Z,1761699302.751 [DAT](INFO): Ping request sent. 2025-10-29T00:55:02.751Z,1761699302.751 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:02.751Z,1761699302.751 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:02.752Z,1761699302.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001154 2025-10-29T00:55:02.829Z,1761699302.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 252.899994 m, deltaT: 4.032047 s, deltaX: 0.899994 m, approachRate: 0.223210 m/s, rangeRepo size: 2 2025-10-29T00:55:02.831Z,1761699302.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 251.342865 m, bearing: 158.934974 deg, lat: 36.779090 deg, lon: -121.859611 deg, deltaT: 4.032047 s, deltaX: 0.893417 m, approachRate: 0.221579 m/s, posRepo size: 2 2025-10-29T00:55:02.836Z,1761699302.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:02.839Z,1761699302.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 227.531555 m, bearing: 150.104681 deg, approach rate: 0.000000 m/s, LOS rate: 0.050151 deg/s, cmd heading: 146.998525 deg, new cmd heading: 147.040479 deg. 2025-10-29T00:55:02.844Z,1761699302.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566340 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:03.001Z,1761699303.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249922 2025-10-29T00:55:03.212Z,1761699303.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996438,0.075979,-0.036584],[-0.078619,0.993916,-0.077132],[0.030501,0.079733,0.996349]] 2025-10-29T00:55:03.257Z,1761699303.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505934 2025-10-29T00:55:03.279Z,1761699303.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:03.282Z,1761699303.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 227.843964 m, bearing: 150.124299 deg, approach rate: 0.693681 m/s, LOS rate: 0.043501 deg/s, cmd heading: 147.040476 deg, new cmd heading: 147.079658 deg. 2025-10-29T00:55:03.283Z,1761699303.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567024 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:03.509Z,1761699303.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757955 2025-10-29T00:55:03.595Z,1761699303.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998044,0.052013,-0.034679],[-0.054471,0.995757,-0.074174],[0.030674,0.075918,0.996642]] 2025-10-29T00:55:03.640Z,1761699303.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:03.642Z,1761699303.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 228.077393 m, bearing: 150.140432 deg, approach rate: 0.647581 m/s, LOS rate: 0.044711 deg/s, cmd heading: 147.079654 deg, new cmd heading: 147.111887 deg. 2025-10-29T00:55:03.643Z,1761699303.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567587 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:03.762Z,1761699303.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010374 2025-10-29T00:55:03.000Z,1761699304.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999048,0.028483,-0.033041],[-0.030783,0.996977,-0.071338],[0.030909,0.072288,0.996905]] 2025-10-29T00:55:04.014Z,1761699304.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262534 2025-10-29T00:55:04.028Z,1761699304.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:04.035Z,1761699304.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 228.321030 m, bearing: 150.158801 deg, approach rate: 0.628481 m/s, LOS rate: 0.047332 deg/s, cmd heading: 147.111893 deg, new cmd heading: 147.148590 deg. 2025-10-29T00:55:04.036Z,1761699304.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568227 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:04.265Z,1761699304.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513865 2025-10-29T00:55:04.403Z,1761699304.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999482,0.004931,-0.031814],[-0.007160,0.997498,-0.070337],[0.031387,0.070528,0.997016]] 2025-10-29T00:55:04.445Z,1761699304.445 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:04.447Z,1761699304.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:04.451Z,1761699304.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 228.599091 m, bearing: 150.179761 deg, approach rate: 0.661763 m/s, LOS rate: 0.049823 deg/s, cmd heading: 147.148585 deg, new cmd heading: 147.190454 deg. 2025-10-29T00:55:04.468Z,1761699304.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568958 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:04.519Z,1761699304.519 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767293 2025-10-29T00:55:04.769Z,1761699304.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018406 2025-10-29T00:55:04.806Z,1761699304.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999366,-0.017779,-0.030855],[0.015592,0.997445,-0.069720],[0.032016,0.069195,0.997089]] 2025-10-29T00:55:04.849Z,1761699304.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:04.852Z,1761699304.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 228.847122 m, bearing: 150.199963 deg, approach rate: 0.617530 m/s, LOS rate: 0.050242 deg/s, cmd heading: 147.190454 deg, new cmd heading: 147.230813 deg. 2025-10-29T00:55:04.853Z,1761699304.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569663 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:05.022Z,1761699305.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270581 2025-10-29T00:55:05.237Z,1761699305.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998714,-0.041009,-0.029812],[0.038812,0.996731,-0.070853],[0.032620,0.069604,0.997041]] 2025-10-29T00:55:05.273Z,1761699305.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522113 2025-10-29T00:55:05.285Z,1761699305.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:05.287Z,1761699305.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 229.139923 m, bearing: 150.224739 deg, approach rate: 0.672103 m/s, LOS rate: 0.056799 deg/s, cmd heading: 147.230820 deg, new cmd heading: 147.280309 deg. 2025-10-29T00:55:05.288Z,1761699305.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570526 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:05.526Z,1761699305.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774708 2025-10-29T00:55:05.614Z,1761699305.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997496,-0.064746,-0.028469],[0.062540,0.995404,-0.072528],[0.033034,0.070566,0.996960]] 2025-10-29T00:55:05.644Z,1761699305.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:05.646Z,1761699305.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 229.370850 m, bearing: 150.245774 deg, approach rate: 0.643665 m/s, LOS rate: 0.058572 deg/s, cmd heading: 147.280312 deg, new cmd heading: 147.322339 deg. 2025-10-29T00:55:05.647Z,1761699305.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571260 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:05.782Z,1761699305.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031457 2025-10-29T00:55:06.026Z,1761699306.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995732,-0.088361,-0.026635],[0.086211,0.993581,-0.073240],[0.032936,0.070631,0.996959]] 2025-10-29T00:55:06.034Z,1761699306.034 [DAT](INFO): DAT read: Rx Time:00:55:05.2135 2025-10-29T00:55:06.035Z,1761699306.035 [DAT](INFO): Rx dataTimestamp_ set to:1761699306.033967 2025-10-29T00:55:06.036Z,1761699306.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284312 2025-10-29T00:55:06.079Z,1761699306.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:06.082Z,1761699306.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 229.647781 m, bearing: 150.272815 deg, approach rate: 0.636268 m/s, LOS rate: 0.062054 deg/s, cmd heading: 147.322345 deg, new cmd heading: 147.376362 deg. 2025-10-29T00:55:06.082Z,1761699306.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572203 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:06.285Z,1761699306.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533847 2025-10-29T00:55:06.422Z,1761699306.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993348,-0.112534,-0.024402],[0.110421,0.991027,-0.075312],[0.032659,0.072117,0.996861]] 2025-10-29T00:55:06.471Z,1761699306.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:06.473Z,1761699306.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:06.475Z,1761699306.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 229.890976 m, bearing: 150.297694 deg, approach rate: 0.617184 m/s, LOS rate: 0.063071 deg/s, cmd heading: 147.376358 deg, new cmd heading: 147.426062 deg. 2025-10-29T00:55:06.477Z,1761699306.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573070 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:06.546Z,1761699306.546 [DAT](INFO): DAT read: 00:55:05.2135 LVL= 32752, 29249, 32754, 32755, AGC= 64, IDX= 437, 0.06, 0.628, 1.838,-0.088, 1.075, PHS=-0.345, 0.808,-1.207, RAW= 355.3, 8.5, CAL= 355.3, 8.8, ROT= 154.7, -8.8 2025-10-29T00:55:06.547Z,1761699306.547 [DAT](INFO): got valid direction response: 00:55:05.2135 LVL= 32752, 29249, 32754, 32755, AGC= 64, IDX= 437, 0.06, 0.628, 1.838,-0.088, 1.075, PHS=-0.345, 0.808,-1.207, RAW= 355.3, 8.5, CAL= 355.3, 8.8, ROT= 154.7, -8.8 2025-10-29T00:55:06.548Z,1761699306.548 [DAT](INFO): DAT read: Bearing 343.9, 23.7 (Local) 2025-10-29T00:55:06.548Z,1761699306.548 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 23.7 (Local) 2025-10-29T00:55:06.549Z,1761699306.549 [DAT](INFO): DAT read: Range 11 to 50 : 216.2 m (Round-trip 288.3 ms) speed -0.3 m/s 2025-10-29T00:55:06.550Z,1761699306.550 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:06.551Z,1761699306.551 [DAT](INFO): direction in FSK: [-0.893440,0.422327,0.152986] 2025-10-29T00:55:06.551Z,1761699306.551 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:06.555Z,1761699306.555 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:06.555Z,1761699306.555 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:06.555Z,1761699306.555 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:06.789Z,1761699306.789 [DAT](INFO): DAT read: user:592> 2025-10-29T00:55:06.790Z,1761699306.790 [DAT](INFO): DAT read: Tx time:00:55:06.5710 2025-10-29T00:55:06.790Z,1761699306.790 [DAT](INFO): Ping request sent. 2025-10-29T00:55:06.790Z,1761699306.790 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:06.790Z,1761699306.790 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:06.791Z,1761699306.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-29T00:55:06.826Z,1761699306.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990406,-0.136377,-0.022291],[0.134380,0.988112,-0.074677],[0.032210,0.070965,0.996959]] 2025-10-29T00:55:06.891Z,1761699306.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 216.199997 m, deltaT: 4.041238 s, deltaX: -36.699997 m, approachRate: -9.081375 m/s, rangeRepo size: 2 2025-10-29T00:55:06.891Z,1761699306.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:06.898Z,1761699306.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 230.133774 m, bearing: 150.324197 deg, approach rate: 0.581665 m/s, LOS rate: 0.063425 deg/s, cmd heading: 147.426068 deg, new cmd heading: 147.479018 deg. 2025-10-29T00:55:06.899Z,1761699306.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573994 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:07.042Z,1761699307.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251597 2025-10-29T00:55:07.262Z,1761699307.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986778,-0.160930,-0.019225],[0.159066,0.984373,-0.075553],[0.031083,0.071496,0.996956]] 2025-10-29T00:55:07.293Z,1761699307.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502871 2025-10-29T00:55:07.308Z,1761699307.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:07.311Z,1761699307.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 230.385880 m, bearing: 150.356160 deg, approach rate: 0.603752 m/s, LOS rate: 0.076463 deg/s, cmd heading: 147.479016 deg, new cmd heading: 147.542872 deg. 2025-10-29T00:55:07.312Z,1761699307.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575109 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:07.545Z,1761699307.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755101 2025-10-29T00:55:07.635Z,1761699307.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982439,-0.185896,-0.015997],[0.184230,0.980051,-0.074557],[0.029538,0.070301,0.997088]] 2025-10-29T00:55:07.654Z,1761699307.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:07.677Z,1761699307.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 230.582565 m, bearing: 150.382635 deg, approach rate: 0.568607 m/s, LOS rate: 0.076470 deg/s, cmd heading: 147.542878 deg, new cmd heading: 147.595781 deg. 2025-10-29T00:55:07.678Z,1761699307.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576032 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:07.797Z,1761699307.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006870 2025-10-29T00:55:08.045Z,1761699308.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977513,-0.210563,-0.011436],[0.209100,0.974884,-0.076677],[0.027294,0.072562,0.996990]] 2025-10-29T00:55:08.049Z,1761699308.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258963 2025-10-29T00:55:08.065Z,1761699308.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:08.068Z,1761699308.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 230.813385 m, bearing: 150.415544 deg, approach rate: 0.560676 m/s, LOS rate: 0.079860 deg/s, cmd heading: 147.595784 deg, new cmd heading: 147.661538 deg. 2025-10-29T00:55:08.069Z,1761699308.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577180 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:08.301Z,1761699308.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894 2025-10-29T00:55:08.442Z,1761699308.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971735,-0.235985,-0.006570],[0.234690,0.968665,-0.081295],[0.025549,0.077455,0.996668]] 2025-10-29T00:55:08.493Z,1761699308.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:08.495Z,1761699308.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:08.497Z,1761699308.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 231.041351 m, bearing: 150.449564 deg, approach rate: 0.531066 m/s, LOS rate: 0.079173 deg/s, cmd heading: 147.661532 deg, new cmd heading: 147.729504 deg. 2025-10-29T00:55:08.498Z,1761699308.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578366 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:08.553Z,1761699308.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762912 2025-10-29T00:55:08.805Z,1761699308.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014847 2025-10-29T00:55:08.847Z,1761699308.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965292,-0.261163,-0.002144],[0.260127,0.962131,-0.081474],[0.023341,0.078089,0.996673]] 2025-10-29T00:55:08.866Z,1761699308.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:08.869Z,1761699308.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 231.236084 m, bearing: 150.480315 deg, approach rate: 0.524377 m/s, LOS rate: 0.082736 deg/s, cmd heading: 147.729506 deg, new cmd heading: 147.790956 deg. 2025-10-29T00:55:08.870Z,1761699308.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579439 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:09.057Z,1761699309.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266898 2025-10-29T00:55:09.282Z,1761699309.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958542,-0.284945,0.001918],[0.284130,0.955246,-0.082310],[0.021621,0.079443,0.996605]] 2025-10-29T00:55:09.309Z,1761699309.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518937 2025-10-29T00:55:09.337Z,1761699309.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:09.340Z,1761699309.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 231.478897 m, bearing: 150.521451 deg, approach rate: 0.515491 m/s, LOS rate: 0.087242 deg/s, cmd heading: 147.790950 deg, new cmd heading: 147.873138 deg. 2025-10-29T00:55:09.341Z,1761699309.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580873 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:09.561Z,1761699309.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771005 2025-10-29T00:55:09.654Z,1761699309.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951148,-0.308692,0.005190],[0.308028,0.947697,-0.083604],[0.020889,0.081118,0.996486]] 2025-10-29T00:55:09.676Z,1761699309.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:09.679Z,1761699309.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 231.650711 m, bearing: 150.552083 deg, approach rate: 0.507007 m/s, LOS rate: 0.090323 deg/s, cmd heading: 147.873131 deg, new cmd heading: 147.934348 deg. 2025-10-29T00:55:09.680Z,1761699309.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581941 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:09.813Z,1761699309.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022885 2025-10-29T00:55:10.060Z,1761699310.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943163,-0.332243,0.007588],[0.331704,0.939741,-0.082817],[0.020385,0.080626,0.996536]] 2025-10-29T00:55:10.069Z,1761699310.069 [DAT](INFO): DAT read: Rx Time:00:55:09.2666 2025-10-29T00:55:10.069Z,1761699310.069 [DAT](INFO): Rx dataTimestamp_ set to:1761699310.069214 2025-10-29T00:55:10.070Z,1761699310.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280008 2025-10-29T00:55:10.087Z,1761699310.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:10.090Z,1761699310.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 231.855286 m, bearing: 150.590434 deg, approach rate: 0.497983 m/s, LOS rate: 0.093274 deg/s, cmd heading: 147.934343 deg, new cmd heading: 148.010978 deg. 2025-10-29T00:55:10.090Z,1761699310.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583279 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:10.321Z,1761699310.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530862 2025-10-29T00:55:10.462Z,1761699310.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934871,-0.354868,0.009222],[0.354426,0.931618,-0.080438],[0.019954,0.078467,0.996717]] 2025-10-29T00:55:10.519Z,1761699310.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:10.523Z,1761699310.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.34 m. 2025-10-29T00:55:10.546Z,1761699310.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.342865 m, nav range: 232.061035 m, bearing: 150.631945 deg, approach rate: 0.471967 m/s, LOS rate: 0.095137 deg/s, cmd heading: 148.010978 deg, new cmd heading: 148.093926 deg. 2025-10-29T00:55:10.547Z,1761699310.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584727 target range: 251.342865 and range: 252.90 m. 2025-10-29T00:55:10.578Z,1761699310.578 [DAT](INFO): DAT read: 00:55:09.2666 LVL= 32752, 31073, 32754, 32755, AGC= 65, IDX= 453,-0.17,-0.464, 0.239,-1.534,-0.275, PHS=-0.088, 0.559,-1.304, RAW= 10.0, 10.2, CAL= 9.9, 11.4, ROT= 140.1, -11.4 2025-10-29T00:55:10.580Z,1761699310.580 [DAT](INFO): got valid direction response: 00:55:09.2666 LVL= 32752, 31073, 32754, 32755, AGC= 65, IDX= 453,-0.17,-0.464, 0.239,-1.534,-0.275, PHS=-0.088, 0.559,-1.304, RAW= 10.0, 10.2, CAL= 9.9, 11.4, ROT= 140.1, -11.4 2025-10-29T00:55:10.581Z,1761699310.581 [DAT](INFO): DAT read: Bearing 355.0, 38.8 (Local) 2025-10-29T00:55:10.581Z,1761699310.581 [DAT](INFO): Local bearing/azimuth received: Bearing 355.0, 38.8 (Local) 2025-10-29T00:55:10.582Z,1761699310.582 [DAT](INFO): DAT read: Range 11 to 50 : 218.6 m (Round-trip 291.5 ms) speed -0.6 m/s 2025-10-29T00:55:10.583Z,1761699310.583 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:10.584Z,1761699310.584 [DAT](INFO): direction in FSK: [-0.752030,0.628794,0.197657] 2025-10-29T00:55:10.584Z,1761699310.584 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:10.587Z,1761699310.587 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:10.588Z,1761699310.588 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:10.605Z,1761699310.605 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:10.825Z,1761699310.825 [DAT](INFO): DAT read: user:593> 2025-10-29T00:55:10.826Z,1761699310.826 [DAT](INFO): DAT read: Tx time:00:55:10.6209 2025-10-29T00:55:10.826Z,1761699310.826 [DAT](INFO): Ping request sent. 2025-10-29T00:55:10.826Z,1761699310.826 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:10.826Z,1761699310.826 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:10.827Z,1761699310.827 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:55:10.866Z,1761699310.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926468,-0.376257,0.009352],[0.375840,0.923551,-0.076144],[0.020012,0.074060,0.997053]] 2025-10-29T00:55:10.911Z,1761699310.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.600006 m, deltaT: 8.076195 s, deltaX: -34.299988 m, approachRate: -4.247048 m/s, rangeRepo size: 3 2025-10-29T00:55:10.913Z,1761699310.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 217.247330 m, bearing: 163.098459 deg, lat: 36.779060 deg, lon: -121.859962 deg, deltaT: 8.076195 s, deltaX: -34.095535 m, approachRate: -4.221733 m/s, posRepo size: 3 2025-10-29T00:55:10.913Z,1761699310.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:10.916Z,1761699310.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 221.694427 m, bearing: 158.147293 deg, approach rate: 0.000000 m/s, LOS rate: 0.095137 deg/s, cmd heading: 148.093924 deg, new cmd heading: 148.167604 deg. 2025-10-29T00:55:10.917Z,1761699310.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586013 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:11.077Z,1761699311.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251385 2025-10-29T00:55:11.319Z,1761699311.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.917520,-0.397610,0.007925],[0.397150,0.915056,-0.070319],[0.020708,0.067667,0.997493]] 2025-10-29T00:55:11.329Z,1761699311.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503041 2025-10-29T00:55:11.358Z,1761699311.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:11.361Z,1761699311.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 221.917557 m, bearing: 158.188289 deg, approach rate: 0.498045 m/s, LOS rate: 0.091416 deg/s, cmd heading: 148.167608 deg, new cmd heading: 148.249519 deg. 2025-10-29T00:55:11.362Z,1761699311.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587442 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:11.581Z,1761699311.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755040 2025-10-29T00:55:11.675Z,1761699311.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907943,-0.419067,0.004817],[0.418551,0.906120,-0.061332],[0.021338,0.057702,0.998106]] 2025-10-29T00:55:11.694Z,1761699311.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:11.696Z,1761699311.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 222.081024 m, bearing: 158.219761 deg, approach rate: 0.486949 m/s, LOS rate: 0.093681 deg/s, cmd heading: 148.249515 deg, new cmd heading: 148.312412 deg. 2025-10-29T00:55:11.697Z,1761699311.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588540 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:11.833Z,1761699311.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007172 2025-10-29T00:55:12.078Z,1761699312.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897860,-0.440275,0.002290],[0.439724,0.896451,-0.054938],[0.022135,0.050334,0.998487]] 2025-10-29T00:55:12.085Z,1761699312.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259089 2025-10-29T00:55:12.111Z,1761699312.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:12.118Z,1761699312.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 222.278381 m, bearing: 158.259549 deg, approach rate: 0.472633 m/s, LOS rate: 0.095200 deg/s, cmd heading: 148.312408 deg, new cmd heading: 148.391913 deg. 2025-10-29T00:55:12.119Z,1761699312.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589927 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:12.337Z,1761699312.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510894 2025-10-29T00:55:12.483Z,1761699312.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.886787,-0.462176,0.001710],[0.461615,0.885516,-0.052665],[0.022827,0.047492,0.998611]] 2025-10-29T00:55:12.556Z,1761699312.556 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:12.558Z,1761699312.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:12.561Z,1761699312.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 222.488174 m, bearing: 158.303307 deg, approach rate: 0.469137 m/s, LOS rate: 0.097759 deg/s, cmd heading: 148.391911 deg, new cmd heading: 148.479344 deg. 2025-10-29T00:55:12.562Z,1761699312.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591453 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:12.593Z,1761699312.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767196 2025-10-29T00:55:12.845Z,1761699312.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018969 2025-10-29T00:55:12.937Z,1761699312.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:12.940Z,1761699312.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 222.658630 m, bearing: 158.338779 deg, approach rate: 0.450209 m/s, LOS rate: 0.093618 deg/s, cmd heading: 148.479338 deg, new cmd heading: 148.550228 deg. 2025-10-29T00:55:12.941Z,1761699312.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592690 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:13.097Z,1761699313.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270912 2025-10-29T00:55:13.343Z,1761699313.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.862834,-0.505462,0.004936],[0.504946,0.861418,-0.054665],[0.023379,0.049659,0.998493]] 2025-10-29T00:55:13.353Z,1761699313.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527027 2025-10-29T00:55:13.393Z,1761699313.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:13.396Z,1761699313.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 222.863342 m, bearing: 158.383588 deg, approach rate: 0.448858 m/s, LOS rate: 0.098160 deg/s, cmd heading: 148.550221 deg, new cmd heading: 148.639758 deg. 2025-10-29T00:55:13.397Z,1761699313.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594253 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:13.605Z,1761699313.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778977 2025-10-29T00:55:13.695Z,1761699313.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849729,-0.527173,0.007109],[0.526682,0.848175,-0.056613],[0.023815,0.051850,0.998371]] 2025-10-29T00:55:13.714Z,1761699313.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:13.717Z,1761699313.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 223.001923 m, bearing: 158.415452 deg, approach rate: 0.432237 m/s, LOS rate: 0.099322 deg/s, cmd heading: 148.639752 deg, new cmd heading: 148.703439 deg. 2025-10-29T00:55:13.717Z,1761699313.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595365 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:13.858Z,1761699313.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031777 2025-10-29T00:55:14.098Z,1761699314.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.836275,-0.548241,0.008699],[0.547777,0.834658,-0.057325],[0.024167,0.052705,0.998318]] 2025-10-29T00:55:14.109Z,1761699314.109 [DAT](INFO): DAT read: Rx Time:00:55:13.3187 2025-10-29T00:55:14.110Z,1761699314.110 [DAT](INFO): Rx dataTimestamp_ set to:1761699314.109256 2025-10-29T00:55:14.110Z,1761699314.110 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.284111 2025-10-29T00:55:14.132Z,1761699314.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:14.135Z,1761699314.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 223.172287 m, bearing: 158.456565 deg, approach rate: 0.411543 m/s, LOS rate: 0.099238 deg/s, cmd heading: 148.703436 deg, new cmd heading: 148.785599 deg. 2025-10-29T00:55:14.136Z,1761699314.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596799 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:14.361Z,1761699314.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534996 2025-10-29T00:55:14.517Z,1761699314.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.822182,-0.569083,0.012658],[0.568707,0.820284,-0.060879],[0.024262,0.057252,0.998065]] 2025-10-29T00:55:14.563Z,1761699314.563 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:14.565Z,1761699314.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 217.25 m. 2025-10-29T00:55:14.569Z,1761699314.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 217.247330 m, nav range: 223.361267 m, bearing: 158.503467 deg, approach rate: 0.431685 m/s, LOS rate: 0.107048 deg/s, cmd heading: 148.785603 deg, new cmd heading: 148.879329 deg. 2025-10-29T00:55:14.569Z,1761699314.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598434 target range: 217.247330 and range: 218.60 m. 2025-10-29T00:55:14.626Z,1761699314.626 [DAT](INFO): DAT read: 00:55:13.3187 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 443, 0.03, 0.106,-0.034,-1.481,-0.129, PHS= 0.337, 0.141,-1.396, RAW= 36.0, 11.2, CAL= 34.0, 12.0, ROT= 116.0, -12.0 2025-10-29T00:55:14.627Z,1761699314.627 [DAT](INFO): got valid direction response: 00:55:13.3187 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 443, 0.03, 0.106,-0.034,-1.481,-0.129, PHS= 0.337, 0.141,-1.396, RAW= 36.0, 11.2, CAL= 34.0, 12.0, ROT= 116.0, -12.0 2025-10-29T00:55:14.628Z,1761699314.628 [DAT](INFO): DAT read: Bearing 359.7, 61.4 (Local) 2025-10-29T00:55:14.629Z,1761699314.629 [DAT](INFO): Local bearing/azimuth received: Bearing 359.7, 61.4 (Local) 2025-10-29T00:55:14.630Z,1761699314.630 [DAT](INFO): DAT read: Range 11 to 50 : 220.2 m (Round-trip 293.6 ms) speed -0.4 m/s 2025-10-29T00:55:14.631Z,1761699314.631 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:14.648Z,1761699314.648 [DAT](INFO): direction in FSK: [-0.428792,0.879153,0.207912] 2025-10-29T00:55:14.649Z,1761699314.649 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:14.658Z,1761699314.658 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:14.658Z,1761699314.658 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:14.658Z,1761699314.658 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:14.865Z,1761699314.865 [DAT](INFO): DAT read: user:594> 2025-10-29T00:55:14.866Z,1761699314.866 [DAT](INFO): DAT read: Tx time:00:55:14.6709 2025-10-29T00:55:14.866Z,1761699314.866 [DAT](INFO): Ping request sent. 2025-10-29T00:55:14.866Z,1761699314.866 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:14.866Z,1761699314.866 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:14.867Z,1761699314.867 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000732 2025-10-29T00:55:14.907Z,1761699314.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.807445,-0.589700,0.016921],[0.589449,0.805264,-0.064037],[0.024137,0.061681,0.997804]] 2025-10-29T00:55:14.969Z,1761699314.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 220.199997 m, deltaT: 4.040183 s, deltaX: 1.599991 m, approachRate: 0.396019 m/s, rangeRepo size: 4 2025-10-29T00:55:14.971Z,1761699314.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 218.832306 m, bearing: 152.835942 deg, lat: 36.779060 deg, lon: -121.859962 deg, deltaT: 4.040183 s, deltaX: 1.584976 m, approachRate: 0.392303 m/s, posRepo size: 4 2025-10-29T00:55:14.972Z,1761699314.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:14.975Z,1761699314.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 223.521637 m, bearing: 158.545262 deg, approach rate: 0.000000 m/s, LOS rate: 0.107048 deg/s, cmd heading: 148.879327 deg, new cmd heading: 148.965690 deg. 2025-10-29T00:55:14.984Z,1761699314.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599942 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:15.118Z,1761699315.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252112 2025-10-29T00:55:15.369Z,1761699315.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502968 2025-10-29T00:55:15.374Z,1761699315.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.792363,-0.609675,0.021370],[0.609579,0.789892,-0.066963],[0.023945,0.066086,0.997527]] 2025-10-29T00:55:15.449Z,1761699315.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:15.451Z,1761699315.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 223.701019 m, bearing: 158.595461 deg, approach rate: 0.374290 m/s, LOS rate: 0.104659 deg/s, cmd heading: 148.965688 deg, new cmd heading: 149.066005 deg. 2025-10-29T00:55:15.453Z,1761699315.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601693 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:15.621Z,1761699315.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880 2025-10-29T00:55:15.714Z,1761699315.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.776937,-0.629112,0.024206],[0.629128,0.774356,-0.067606],[0.023787,0.067754,0.997418]] 2025-10-29T00:55:15.806Z,1761699315.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:15.811Z,1761699315.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 223.843262 m, bearing: 158.637218 deg, approach rate: 0.397590 m/s, LOS rate: 0.116644 deg/s, cmd heading: 149.066010 deg, new cmd heading: 149.149471 deg. 2025-10-29T00:55:15.813Z,1761699315.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603149 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:15.875Z,1761699315.875 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008895 2025-10-29T00:55:16.120Z,1761699316.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.761393,-0.647732,0.026911],[0.647857,0.758711,-0.068109],[0.023698,0.069292,0.997315]] 2025-10-29T00:55:16.125Z,1761699316.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258982 2025-10-29T00:55:16.147Z,1761699316.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:16.150Z,1761699316.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 223.969543 m, bearing: 158.676095 deg, approach rate: 0.369670 m/s, LOS rate: 0.113743 deg/s, cmd heading: 149.149475 deg, new cmd heading: 149.227186 deg. 2025-10-29T00:55:16.151Z,1761699316.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604506 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:16.377Z,1761699316.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510900 2025-10-29T00:55:16.529Z,1761699316.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.745485,-0.665957,0.027443],[0.666109,0.742942,-0.065850],[0.023465,0.067370,0.997452]] 2025-10-29T00:55:16.592Z,1761699316.592 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:16.594Z,1761699316.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:16.597Z,1761699316.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.127213 m, bearing: 158.727249 deg, approach rate: 0.352843 m/s, LOS rate: 0.114396 deg/s, cmd heading: 149.227189 deg, new cmd heading: 149.329425 deg. 2025-10-29T00:55:16.598Z,1761699316.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606290 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:16.630Z,1761699316.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764260 2025-10-29T00:55:16.665Z,1761699316.665 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:55:16.881Z,1761699316.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014855 2025-10-29T00:55:16.926Z,1761699316.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729148,-0.683764,0.028463],[0.683962,0.726685,-0.064224],[0.023230,0.066296,0.997530]] 2025-10-29T00:55:16.974Z,1761699316.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:16.976Z,1761699316.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.257568 m, bearing: 158.771606 deg, approach rate: 0.343685 m/s, LOS rate: 0.116879 deg/s, cmd heading: 149.329423 deg, new cmd heading: 149.418085 deg. 2025-10-29T00:55:16.977Z,1761699316.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607837 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:17.133Z,1761699317.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267150 2025-10-29T00:55:17.387Z,1761699317.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521239 2025-10-29T00:55:17.390Z,1761699317.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712588,-0.700938,0.030076],[0.701223,0.710194,-0.062537],[0.022475,0.065654,0.997589]] 2025-10-29T00:55:17.470Z,1761699317.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:17.481Z,1761699317.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.418121 m, bearing: 158.829073 deg, approach rate: 0.323534 m/s, LOS rate: 0.115721 deg/s, cmd heading: 149.418079 deg, new cmd heading: 149.532931 deg. 2025-10-29T00:55:17.482Z,1761699317.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609842 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:17.637Z,1761699317.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770930 2025-10-29T00:55:17.668Z,1761699317.668 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:55:17.734Z,1761699317.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695237,-0.718115,0.030924],[0.718450,0.692968,-0.060216],[0.021813,0.064081,0.997706]] 2025-10-29T00:55:17.782Z,1761699317.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:17.785Z,1761699317.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.513794 m, bearing: 158.865064 deg, approach rate: 0.306750 m/s, LOS rate: 0.115347 deg/s, cmd heading: 149.532935 deg, new cmd heading: 149.604886 deg. 2025-10-29T00:55:17.785Z,1761699317.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611098 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:17.889Z,1761699317.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022952 2025-10-29T00:55:18.139Z,1761699318.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678120,-0.734322,0.030416],[0.734657,0.676096,-0.056341],[0.020808,0.060551,0.997948]] 2025-10-29T00:55:18.141Z,1761699318.141 [DAT](INFO): DAT read: Rx Time:00:55:17.3706 2025-10-29T00:55:18.142Z,1761699318.142 [DAT](INFO): Rx dataTimestamp_ set to:1761699318.141232 2025-10-29T00:55:18.142Z,1761699318.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276072 2025-10-29T00:55:18.165Z,1761699318.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:18.167Z,1761699318.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.636734 m, bearing: 158.913631 deg, approach rate: 0.321007 m/s, LOS rate: 0.126743 deg/s, cmd heading: 149.604885 deg, new cmd heading: 149.701965 deg. 2025-10-29T00:55:18.169Z,1761699318.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612792 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:18.393Z,1761699318.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527355 2025-10-29T00:55:18.561Z,1761699318.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660775,-0.749977,0.030177],[0.750325,0.658958,-0.052785],[0.019703,0.057522,0.998150]] 2025-10-29T00:55:18.614Z,1761699318.614 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:18.620Z,1761699318.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.83 m. 2025-10-29T00:55:18.629Z,1761699318.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.832306 m, nav range: 224.760269 m, bearing: 158.966717 deg, approach rate: 0.273877 m/s, LOS rate: 0.117625 deg/s, cmd heading: 149.701969 deg, new cmd heading: 149.808081 deg. 2025-10-29T00:55:18.630Z,1761699318.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614644 target range: 218.832306 and range: 220.20 m. 2025-10-29T00:55:18.650Z,1761699318.650 [DAT](INFO): DAT read: 00:55:17.3706 LVL= 20464, 21201, 31218, 24707, AGC= 64, IDX= 462, 0.23,-2.368, 3.064, 2.176,-2.994, PHS= 0.728,-0.180,-1.157, RAW= 58.8, 7.5, CAL= 57.1, 8.1, ROT= 92.9, -8.1 2025-10-29T00:55:18.651Z,1761699318.651 [DAT](INFO): got valid direction response: 00:55:17.3706 LVL= 20464, 21201, 31218, 24707, AGC= 64, IDX= 462, 0.23,-2.368, 3.064, 2.176,-2.994, PHS= 0.728,-0.180,-1.157, RAW= 58.8, 7.5, CAL= 57.1, 8.1, ROT= 92.9, -8.1 2025-10-29T00:55:18.653Z,1761699318.653 [DAT](INFO): DAT read: Bearing 343.6, 83.7 (Local) 2025-10-29T00:55:18.653Z,1761699318.653 [DAT](INFO): Local bearing/azimuth received: Bearing 343.6, 83.7 (Local) 2025-10-29T00:55:18.654Z,1761699318.654 [DAT](INFO): DAT read: Range 11 to 50 : 221.6 m (Round-trip 295.5 ms) speed -0.3 m/s 2025-10-29T00:55:18.655Z,1761699318.655 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:18.656Z,1761699318.656 [DAT](INFO): direction in FSK: [-0.050088,0.988756,0.140901] 2025-10-29T00:55:18.656Z,1761699318.656 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:18.659Z,1761699318.659 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:18.659Z,1761699318.659 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:18.660Z,1761699318.660 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:18.897Z,1761699318.897 [DAT](INFO): DAT read: user:595> 2025-10-29T00:55:18.897Z,1761699318.897 [DAT](INFO): DAT read: Tx time:00:55:18.6709 2025-10-29T00:55:18.898Z,1761699318.898 [DAT](INFO): Ping request sent. 2025-10-29T00:55:18.898Z,1761699318.898 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:18.898Z,1761699318.898 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:18.899Z,1761699318.899 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T00:55:18.946Z,1761699318.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643237,-0.765083,0.029903],[0.765442,0.641610,-0.049338],[0.018561,0.054625,0.998334]] 2025-10-29T00:55:19.002Z,1761699319.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.600006 m, deltaT: 4.031687 s, deltaX: 1.400009 m, approachRate: 0.347251 m/s, rangeRepo size: 4 2025-10-29T00:55:19.010Z,1761699319.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.221024 m, bearing: 143.095517 deg, lat: 36.779091 deg, lon: -121.859962 deg, deltaT: 4.031687 s, deltaX: 1.388718 m, approachRate: 0.344451 m/s, posRepo size: 4 2025-10-29T00:55:19.011Z,1761699319.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:19.024Z,1761699319.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 221.687927 m, bearing: 158.698313 deg, approach rate: 0.000000 m/s, LOS rate: 0.117625 deg/s, cmd heading: 149.808083 deg, new cmd heading: 149.898672 deg. 2025-10-29T00:55:19.045Z,1761699319.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616225 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:19.150Z,1761699319.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251589 2025-10-29T00:55:19.398Z,1761699319.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625475,-0.779648,0.030506],[0.780052,0.623972,-0.046667],[0.017349,0.052985,0.998445]] 2025-10-29T00:55:19.404Z,1761699319.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505157 2025-10-29T00:55:19.524Z,1761699319.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:19.527Z,1761699319.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 221.815063 m, bearing: 158.760166 deg, approach rate: 0.250585 m/s, LOS rate: 0.121842 deg/s, cmd heading: 149.898678 deg, new cmd heading: 150.022313 deg. 2025-10-29T00:55:19.536Z,1761699319.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618383 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:19.655Z,1761699319.655 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756977 2025-10-29T00:55:19.763Z,1761699319.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.607379,-0.793682,0.034040],[0.794247,0.605820,-0.046414],[0.016216,0.055227,0.998342]] 2025-10-29T00:55:19.786Z,1761699319.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:19.789Z,1761699319.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 221.891159 m, bearing: 158.799235 deg, approach rate: 0.273428 m/s, LOS rate: 0.140333 deg/s, cmd heading: 150.022318 deg, new cmd heading: 150.100428 deg. 2025-10-29T00:55:19.790Z,1761699319.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619747 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:19.906Z,1761699319.906 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008074 2025-10-29T00:55:20.157Z,1761699320.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259268 2025-10-29T00:55:20.237Z,1761699320.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.571000,-0.819922,0.041087],[0.820832,0.569352,-0.045533],[0.013941,0.059725,0.998118]] 2025-10-29T00:55:20.257Z,1761699320.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:20.259Z,1761699320.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 221.995941 m, bearing: 158.859535 deg, approach rate: 0.222885 m/s, LOS rate: 0.128206 deg/s, cmd heading: 150.100428 deg, new cmd heading: 150.220972 deg. 2025-10-29T00:55:20.260Z,1761699320.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621850 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:20.412Z,1761699320.412 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514121 2025-10-29T00:55:20.616Z,1761699320.616 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:20.618Z,1761699320.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:20.621Z,1761699320.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 222.072708 m, bearing: 158.905655 deg, approach rate: 0.212273 m/s, LOS rate: 0.127485 deg/s, cmd heading: 150.220968 deg, new cmd heading: 150.313176 deg. 2025-10-29T00:55:20.622Z,1761699320.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623460 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:20.661Z,1761699320.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763460 2025-10-29T00:55:20.913Z,1761699320.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014914 2025-10-29T00:55:20.966Z,1761699320.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552438,-0.832371,0.044390],[0.833455,0.550767,-0.044809],[0.012849,0.061751,0.998009]] 2025-10-29T00:55:21.005Z,1761699321.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:21.011Z,1761699321.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 222.149307 m, bearing: 158.954554 deg, approach rate: 0.197924 m/s, LOS rate: 0.126306 deg/s, cmd heading: 150.313175 deg, new cmd heading: 150.410939 deg. 2025-10-29T00:55:21.014Z,1761699321.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625166 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:21.165Z,1761699321.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267356 2025-10-29T00:55:21.379Z,1761699321.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533740,-0.844350,0.046856],[0.845567,0.532096,-0.043491],[0.011789,0.062833,0.997954]] 2025-10-29T00:55:21.420Z,1761699321.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521250 2025-10-29T00:55:21.469Z,1761699321.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:21.480Z,1761699321.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 222.236755 m, bearing: 159.013995 deg, approach rate: 0.188634 m/s, LOS rate: 0.128170 deg/s, cmd heading: 150.410943 deg, new cmd heading: 150.529777 deg. 2025-10-29T00:55:21.481Z,1761699321.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627240 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:21.669Z,1761699321.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771280 2025-10-29T00:55:21.842Z,1761699321.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.494407,-0.867620,0.052891],[0.869177,0.492784,-0.041174],[0.009660,0.066329,0.997751]] 2025-10-29T00:55:21.909Z,1761699321.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:21.912Z,1761699321.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 222.303513 m, bearing: 159.068319 deg, approach rate: 0.151748 m/s, LOS rate: 0.123450 deg/s, cmd heading: 150.529774 deg, new cmd heading: 150.638390 deg. 2025-10-29T00:55:21.917Z,1761699321.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.629136 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:21.921Z,1761699321.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023140 2025-10-29T00:55:22.173Z,1761699322.173 [DAT](INFO): DAT read: Rx Time:00:55:21.3716 2025-10-29T00:55:22.173Z,1761699322.173 [DAT](INFO): Rx dataTimestamp_ set to:1761699322.173159 2025-10-29T00:55:22.174Z,1761699322.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276072 2025-10-29T00:55:22.245Z,1761699322.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.474646,-0.878708,0.050821],[0.880137,0.473284,-0.036898],[0.008370,0.062243,0.998026]] 2025-10-29T00:55:22.276Z,1761699322.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.22 m. 2025-10-29T00:55:22.278Z,1761699322.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.221024 m, nav range: 222.360992 m, bearing: 159.118836 deg, approach rate: 0.156671 m/s, LOS rate: 0.137656 deg/s, cmd heading: 150.638388 deg, new cmd heading: 150.739395 deg. 2025-10-29T00:55:22.279Z,1761699322.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630899 target range: 220.221024 and range: 221.60 m. 2025-10-29T00:55:22.428Z,1761699322.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529534 2025-10-29T00:55:22.644Z,1761699322.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.454824,-0.889278,0.048161],[0.890549,0.453681,-0.033102],[0.007587,0.057945,0.998291]] 2025-10-29T00:55:22.682Z,1761699322.682 [DAT](INFO): DAT read: 00:55:21.3716 LVL= 32752, 30993, 32754, 32755, AGC= 69, IDX= 441,-0.32,-1.323,-2.106,-3.126,-1.994, PHS= 0.774,-0.067,-1.176, RAW= 55.5, 5.6, CAL= 54.4, 4.8, ROT= 95.6, -4.8 2025-10-29T00:55:22.683Z,1761699322.683 [DAT](INFO): got valid direction response: 00:55:21.3716 LVL= 32752, 30993, 32754, 32755, AGC= 69, IDX= 441,-0.32,-1.323,-2.106,-3.126,-1.994, PHS= 0.774,-0.067,-1.176, RAW= 55.5, 5.6, CAL= 54.4, 4.8, ROT= 95.6, -4.8 2025-10-29T00:55:22.684Z,1761699322.684 [DAT](INFO): DAT read: Bearing 35.7, 83.8 (Local) 2025-10-29T00:55:22.685Z,1761699322.685 [DAT](INFO): Local bearing/azimuth received: Bearing 35.7, 83.8 (Local) 2025-10-29T00:55:22.686Z,1761699322.686 [DAT](INFO): DAT read: Range 11 to 50 : 222.3 m (Round-trip 296.5 ms) speed -0.1 m/s 2025-10-29T00:55:22.686Z,1761699322.686 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:22.687Z,1761699322.687 [DAT](INFO): direction in FSK: [-0.097241,0.991737,0.083678] 2025-10-29T00:55:22.688Z,1761699322.688 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:22.691Z,1761699322.691 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:22.691Z,1761699322.691 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:22.691Z,1761699322.691 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:22.791Z,1761699322.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 222.300003 m, deltaT: 4.031851 s, deltaX: 0.699997 m, approachRate: 0.173617 m/s, rangeRepo size: 4 2025-10-29T00:55:22.798Z,1761699322.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.923218 m, bearing: 158.643806 deg, lat: 36.779128 deg, lon: -121.859955 deg, deltaT: 4.031851 s, deltaX: 0.702194 m, approachRate: 0.174162 m/s, posRepo size: 4 2025-10-29T00:55:22.798Z,1761699322.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:22.805Z,1761699322.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.739578 m, bearing: 158.643306 deg, approach rate: 0.000000 m/s, LOS rate: 0.137656 deg/s, cmd heading: 150.739393 deg, new cmd heading: 150.881181 deg. 2025-10-29T00:55:22.806Z,1761699322.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633373 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:22.929Z,1761699322.929 [DAT](INFO): DAT read: user:596> 2025-10-29T00:55:22.930Z,1761699322.930 [DAT](INFO): DAT read: Tx time:00:55:22.6709 2025-10-29T00:55:22.930Z,1761699322.930 [DAT](INFO): Ping request sent. 2025-10-29T00:55:22.930Z,1761699322.930 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:22.930Z,1761699322.930 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:22.931Z,1761699322.931 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T00:55:23.100Z,1761699323.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.434645,-0.899194,0.050337],[0.900576,0.433531,-0.031835],[0.006804,0.059169,0.998225]] 2025-10-29T00:55:23.181Z,1761699323.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250836 2025-10-29T00:55:23.185Z,1761699323.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:23.187Z,1761699323.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:23.190Z,1761699323.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.789963 m, bearing: 158.699150 deg, approach rate: 0.127039 m/s, LOS rate: 0.140774 deg/s, cmd heading: 150.881187 deg, new cmd heading: 150.992851 deg. 2025-10-29T00:55:23.191Z,1761699323.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635322 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:23.436Z,1761699323.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505451 2025-10-29T00:55:23.518Z,1761699323.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.413571,-0.908716,0.056525],[0.910449,0.412323,-0.032738],[0.006443,0.065002,0.997864]] 2025-10-29T00:55:23.582Z,1761699323.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:23.588Z,1761699323.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.825729 m, bearing: 158.750331 deg, approach rate: 0.090695 m/s, LOS rate: 0.129759 deg/s, cmd heading: 150.992847 deg, new cmd heading: 151.095191 deg. 2025-10-29T00:55:23.589Z,1761699323.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637109 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:23.685Z,1761699323.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754885 2025-10-29T00:55:23.907Z,1761699323.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.392894,-0.917495,0.061952],[0.919565,0.391562,-0.032855],[0.005886,0.069878,0.997538]] 2025-10-29T00:55:23.937Z,1761699323.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830 2025-10-29T00:55:23.957Z,1761699323.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:23.960Z,1761699323.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.858856 m, bearing: 158.804362 deg, approach rate: 0.088218 m/s, LOS rate: 0.143864 deg/s, cmd heading: 151.095191 deg, new cmd heading: 151.203237 deg. 2025-10-29T00:55:23.961Z,1761699323.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638994 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:24.189Z,1761699324.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258773 2025-10-29T00:55:24.313Z,1761699324.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.372014,-0.926005,0.064189],[0.928211,0.370702,-0.031704],[0.005563,0.071375,0.997434]] 2025-10-29T00:55:24.353Z,1761699324.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:24.356Z,1761699324.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.887512 m, bearing: 158.858567 deg, approach rate: 0.072426 m/s, LOS rate: 0.136981 deg/s, cmd heading: 151.203231 deg, new cmd heading: 151.311627 deg. 2025-10-29T00:55:24.357Z,1761699324.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640886 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:24.444Z,1761699324.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513342 2025-10-29T00:55:24.693Z,1761699324.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762717 2025-10-29T00:55:24.722Z,1761699324.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.351753,-0.933864,0.064564],[0.936080,0.350551,-0.029455],[0.004874,0.070798,0.997479]] 2025-10-29T00:55:24.783Z,1761699324.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:24.790Z,1761699324.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.911423 m, bearing: 158.912811 deg, approach rate: 0.055537 m/s, LOS rate: 0.125978 deg/s, cmd heading: 151.311626 deg, new cmd heading: 151.420101 deg. 2025-10-29T00:55:24.791Z,1761699324.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642779 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:24.946Z,1761699324.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016270 2025-10-29T00:55:25.118Z,1761699325.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.330974,-0.941494,0.063609],[0.943628,0.329880,-0.027300],[0.004719,0.069059,0.997601]] 2025-10-29T00:55:25.139Z,1761699325.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:25.142Z,1761699325.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.929108 m, bearing: 158.962039 deg, approach rate: 0.049769 m/s, LOS rate: 0.138525 deg/s, cmd heading: 151.420103 deg, new cmd heading: 151.518551 deg. 2025-10-29T00:55:25.143Z,1761699325.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644498 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:25.199Z,1761699325.199 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268891 2025-10-29T00:55:25.455Z,1761699325.455 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524874 2025-10-29T00:55:25.527Z,1761699325.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.310040,-0.948672,0.062419],[0.950712,0.309042,-0.025299],[0.004711,0.067186,0.997729]] 2025-10-29T00:55:25.565Z,1761699325.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:25.567Z,1761699325.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:25.590Z,1761699325.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.939590 m, bearing: 159.022305 deg, approach rate: 0.024481 m/s, LOS rate: 0.140738 deg/s, cmd heading: 151.518553 deg, new cmd heading: 151.639080 deg. 2025-10-29T00:55:25.591Z,1761699325.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646601 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:25.705Z,1761699325.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774803 2025-10-29T00:55:25.926Z,1761699325.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.288326,-0.955446,0.063174],[0.957520,0.287360,-0.024078],[0.004851,0.067432,0.997712]] 2025-10-29T00:55:25.957Z,1761699325.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026863 2025-10-29T00:55:25.961Z,1761699325.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:25.964Z,1761699325.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.944626 m, bearing: 159.077813 deg, approach rate: 0.012782 m/s, LOS rate: 0.140902 deg/s, cmd heading: 151.639079 deg, new cmd heading: 151.750092 deg. 2025-10-29T00:55:25.965Z,1761699325.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648539 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:26.209Z,1761699326.209 [DAT](INFO): DAT read: Rx Time:00:55:25.3719 2025-10-29T00:55:26.209Z,1761699326.209 [DAT](INFO): Rx dataTimestamp_ set to:1761699326.209127 2025-10-29T00:55:26.210Z,1761699326.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279829 2025-10-29T00:55:26.331Z,1761699326.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.265933,-0.961788,0.065150],[0.963977,0.264948,-0.023472],[0.005313,0.069045,0.997599]] 2025-10-29T00:55:26.354Z,1761699326.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.92 m. 2025-10-29T00:55:26.357Z,1761699326.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.923218 m, nav range: 218.944916 m, bearing: 159.133561 deg, approach rate: 0.000738 m/s, LOS rate: 0.141861 deg/s, cmd heading: 151.750097 deg, new cmd heading: 151.861591 deg. 2025-10-29T00:55:26.358Z,1761699326.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650485 target range: 220.923218 and range: 222.30 m. 2025-10-29T00:55:26.465Z,1761699326.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533412 2025-10-29T00:55:26.718Z,1761699326.718 [DAT](INFO): DAT read: 00:55:25.3719 LVL= 31328, 32753, 32754, 32755, AGC= 67, IDX= 428,-0.32, 2.866, 1.748, 1.241, 2.241, PHS= 0.727,-0.447,-1.044, RAW= 70.7, 9.8, CAL= 69.4, 12.5, ROT= 80.6, -12.5 2025-10-29T00:55:26.719Z,1761699326.719 [DAT](INFO): got valid direction response: 00:55:25.3719 LVL= 31328, 32753, 32754, 32755, AGC= 67, IDX= 428,-0.32, 2.866, 1.748, 1.241, 2.241, PHS= 0.727,-0.447,-1.044, RAW= 70.7, 9.8, CAL= 69.4, 12.5, ROT= 80.6, -12.5 2025-10-29T00:55:26.728Z,1761699326.728 [DAT](INFO): DAT read: Bearing 285.7, 77.5 (Local) 2025-10-29T00:55:26.729Z,1761699326.729 [DAT](INFO): Local bearing/azimuth received: Bearing 285.7, 77.5 (Local) 2025-10-29T00:55:26.730Z,1761699326.730 [DAT](INFO): DAT read: Range 11 to 50 : 222.6 m (Round-trip 296.8 ms) speed 0.2 m/s 2025-10-29T00:55:26.731Z,1761699326.731 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:26.732Z,1761699326.732 [DAT](INFO): direction in FSK: [0.159455,0.963186,0.216440] 2025-10-29T00:55:26.743Z,1761699326.743 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:26.748Z,1761699326.748 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:26.748Z,1761699326.748 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:26.749Z,1761699326.749 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:26.740Z,1761699326.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.244398,-0.967256,0.068457],[0.969658,0.243362,-0.023201],[0.005782,0.072050,0.997384]] 2025-10-29T00:55:26.868Z,1761699326.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 222.600006 m, deltaT: 4.036066 s, deltaX: 0.300003 m, approachRate: 0.074331 m/s, rangeRepo size: 4 2025-10-29T00:55:26.870Z,1761699326.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 221.213593 m, bearing: 156.374229 deg, lat: 36.779223 deg, lon: -121.859874 deg, deltaT: 4.036066 s, deltaX: 0.290375 m, approachRate: 0.071945 m/s, posRepo size: 4 2025-10-29T00:55:26.871Z,1761699326.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:26.882Z,1761699326.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.961075 m, bearing: 156.373704 deg, approach rate: 0.000000 m/s, LOS rate: 0.141861 deg/s, cmd heading: 151.861593 deg, new cmd heading: 152.006095 deg. 2025-10-29T00:55:26.883Z,1761699326.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653007 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:26.965Z,1761699326.965 [DAT](INFO): DAT read: user:597> 2025-10-29T00:55:26.966Z,1761699326.966 [DAT](INFO): DAT read: Tx time:00:55:26.7209 2025-10-29T00:55:26.967Z,1761699326.967 [DAT](INFO): Ping request sent. 2025-10-29T00:55:26.967Z,1761699326.967 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:26.967Z,1761699326.967 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:26.968Z,1761699326.968 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001134 2025-10-29T00:55:27.139Z,1761699327.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.222138,-0.972426,0.071003],[0.974993,0.221056,-0.022859],[0.006533,0.074305,0.997214]] 2025-10-29T00:55:27.198Z,1761699327.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:27.205Z,1761699327.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.948517 m, bearing: 156.421284 deg, approach rate: -0.037527 m/s, LOS rate: 0.142194 deg/s, cmd heading: 152.006092 deg, new cmd heading: 152.101258 deg. 2025-10-29T00:55:27.206Z,1761699327.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.654668 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:27.217Z,1761699327.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249970 2025-10-29T00:55:27.469Z,1761699327.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501881 2025-10-29T00:55:27.557Z,1761699327.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.199936,-0.977075,0.073152],[0.979782,0.198816,-0.022356],[0.007300,0.076142,0.997070]] 2025-10-29T00:55:27.630Z,1761699327.630 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:27.637Z,1761699327.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:27.639Z,1761699327.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.921967 m, bearing: 156.478877 deg, approach rate: -0.060480 m/s, LOS rate: 0.131209 deg/s, cmd heading: 152.101264 deg, new cmd heading: 152.216464 deg. 2025-10-29T00:55:27.645Z,1761699327.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656678 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:27.721Z,1761699327.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754365 2025-10-29T00:55:27.947Z,1761699327.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177030,-0.981408,0.074149],[0.984168,0.175859,-0.022089],[0.008639,0.076885,0.997003]] 2025-10-29T00:55:27.973Z,1761699327.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005997 2025-10-29T00:55:27.993Z,1761699327.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:27.998Z,1761699327.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.891785 m, bearing: 156.534219 deg, approach rate: -0.084727 m/s, LOS rate: 0.155376 deg/s, cmd heading: 152.216462 deg, new cmd heading: 152.327160 deg. 2025-10-29T00:55:27.000Z,1761699328.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658611 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:28.225Z,1761699328.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257812 2025-10-29T00:55:28.350Z,1761699328.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.154374,-0.985350,0.072486],[0.987962,0.153210,-0.021390],[0.009971,0.074915,0.997140]] 2025-10-29T00:55:28.375Z,1761699328.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:28.394Z,1761699328.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.857666 m, bearing: 156.588516 deg, approach rate: -0.089296 m/s, LOS rate: 0.142132 deg/s, cmd heading: 152.327166 deg, new cmd heading: 152.435778 deg. 2025-10-29T00:55:28.395Z,1761699328.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660506 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:28.485Z,1761699328.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.516721 2025-10-29T00:55:28.729Z,1761699328.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761837 2025-10-29T00:55:28.771Z,1761699328.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.131878,-0.988781,0.070149],[0.991203,0.130743,-0.020553],[0.011151,0.072243,0.997325]] 2025-10-29T00:55:28.826Z,1761699328.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:28.829Z,1761699328.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.810272 m, bearing: 156.650919 deg, approach rate: -0.105084 m/s, LOS rate: 0.138396 deg/s, cmd heading: 152.435779 deg, new cmd heading: 152.560614 deg. 2025-10-29T00:55:28.830Z,1761699328.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662685 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:28.982Z,1761699328.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014611 2025-10-29T00:55:29.159Z,1761699329.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.110066,-0.991601,0.067912],[0.993852,0.108974,-0.019586],[0.012020,0.069650,0.997499]] 2025-10-29T00:55:29.233Z,1761699329.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265904 2025-10-29T00:55:29.239Z,1761699329.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:29.242Z,1761699329.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.759094 m, bearing: 156.711859 deg, approach rate: -0.124000 m/s, LOS rate: 0.147688 deg/s, cmd heading: 152.560608 deg, new cmd heading: 152.682516 deg. 2025-10-29T00:55:29.243Z,1761699329.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664813 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:29.486Z,1761699329.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518508 2025-10-29T00:55:29.587Z,1761699329.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.087567,-0.994017,0.065282],[0.996072,0.086507,-0.018903],[0.013143,0.066681,0.997688]] 2025-10-29T00:55:29.650Z,1761699329.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:29.652Z,1761699329.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:29.658Z,1761699329.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.704224 m, bearing: 156.767898 deg, approach rate: -0.132917 m/s, LOS rate: 0.135783 deg/s, cmd heading: 152.682513 deg, new cmd heading: 152.794620 deg. 2025-10-29T00:55:29.659Z,1761699329.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666769 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:29.737Z,1761699329.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769870 2025-10-29T00:55:29.966Z,1761699329.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.065103,-0.995850,0.063594],[0.997779,0.064065,-0.018240],[0.014090,0.064640,0.997809]] 2025-10-29T00:55:29.990Z,1761699329.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022775 2025-10-29T00:55:30.050Z,1761699330.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:30.061Z,1761699330.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.648926 m, bearing: 156.819853 deg, approach rate: -0.138856 m/s, LOS rate: 0.130496 deg/s, cmd heading: 152.794624 deg, new cmd heading: 152.898561 deg. 2025-10-29T00:55:30.062Z,1761699330.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668583 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:30.241Z,1761699330.241 [DAT](INFO): DAT read: Rx Time:00:55:29.4209 2025-10-29T00:55:30.241Z,1761699330.241 [DAT](INFO): Rx dataTimestamp_ set to:1761699330.241116 2025-10-29T00:55:30.242Z,1761699330.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274873 2025-10-29T00:55:30.370Z,1761699330.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.041960,-0.997142,0.062826],[0.999002,0.040911,-0.017900],[0.015278,0.063514,0.997864]] 2025-10-29T00:55:30.424Z,1761699330.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 221.21 m. 2025-10-29T00:55:30.427Z,1761699330.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 221.213593 m, nav range: 211.587341 m, bearing: 156.873218 deg, approach rate: -0.164634 m/s, LOS rate: 0.142702 deg/s, cmd heading: 152.898566 deg, new cmd heading: 153.005327 deg. 2025-10-29T00:55:30.428Z,1761699330.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670447 target range: 221.213593 and range: 222.60 m. 2025-10-29T00:55:30.496Z,1761699330.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528186 2025-10-29T00:55:30.753Z,1761699330.753 [DAT](INFO): DAT read: 00:55:29.4209 LVL= 18016, 25937, 24562, 27379, AGC= 65, IDX= 434, 0.44,-0.754,-2.540,-2.369,-1.636, PHS= 0.984,-0.859,-0.777, RAW= 92.3, 7.3, CAL= 92.0, 6.5, ROT= 58.0, -6.5 2025-10-29T00:55:30.755Z,1761699330.755 [DAT](INFO): got valid direction response: 00:55:29.4209 LVL= 18016, 25937, 24562, 27379, AGC= 65, IDX= 434, 0.44,-0.754,-2.540,-2.369,-1.636, PHS= 0.984,-0.859,-0.777, RAW= 92.3, 7.3, CAL= 92.0, 6.5, ROT= 58.0, -6.5 2025-10-29T00:55:30.756Z,1761699330.756 [DAT](INFO): DAT read: Bearing 261.2, 58.7 (Local) 2025-10-29T00:55:30.756Z,1761699330.756 [DAT](INFO): Local bearing/azimuth received: Bearing 261.2, 58.7 (Local) 2025-10-29T00:55:30.758Z,1761699330.758 [DAT](INFO): DAT read: Range 11 to 50 : 221.8 m (Round-trip 295.8 ms) speed 0.1 m/s 2025-10-29T00:55:30.759Z,1761699330.759 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:30.767Z,1761699330.767 [DAT](INFO): direction in FSK: [0.526513,0.842597,0.113203] 2025-10-29T00:55:30.768Z,1761699330.768 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:30.773Z,1761699330.773 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:30.773Z,1761699330.773 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:30.773Z,1761699330.773 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:30.811Z,1761699330.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.018646,-0.997783,0.063889],[0.999691,0.017554,-0.017601],[0.016441,0.064197,0.997802]] 2025-10-29T00:55:30.911Z,1761699330.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 221.800003 m, deltaT: 4.032813 s, deltaX: -0.800003 m, approachRate: -0.198373 m/s, rangeRepo size: 4 2025-10-29T00:55:30.921Z,1761699330.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 220.417526 m, bearing: 146.792778 deg, lat: 36.779236 deg, lon: -121.859794 deg, deltaT: 4.032813 s, deltaX: -0.796066 m, approachRate: -0.197397 m/s, posRepo size: 4 2025-10-29T00:55:30.922Z,1761699330.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:30.929Z,1761699330.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 213.026947 m, bearing: 155.009406 deg, approach rate: 0.000000 m/s, LOS rate: 0.142702 deg/s, cmd heading: 153.005322 deg, new cmd heading: 153.143347 deg. 2025-10-29T00:55:30.930Z,1761699330.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672856 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:30.998Z,1761699330.998 [DAT](INFO): DAT read: user:598> 2025-10-29T00:55:30.999Z,1761699330.999 [DAT](INFO): DAT read: Tx time:00:55:30.7709 2025-10-29T00:55:30.000Z,1761699331.000 [DAT](INFO): Ping request sent. 2025-10-29T00:55:31.000Z,1761699331.000 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:31.001Z,1761699331.001 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:31.002Z,1761699331.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001617 2025-10-29T00:55:31.179Z,1761699331.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.004630,-0.997870,0.065064],[0.999838,-0.005752,-0.017068],[0.017406,0.064974,0.997735]] 2025-10-29T00:55:31.202Z,1761699331.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:31.205Z,1761699331.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.964218 m, bearing: 155.051056 deg, approach rate: -0.212785 m/s, LOS rate: 0.141323 deg/s, cmd heading: 153.143346 deg, new cmd heading: 153.226670 deg. 2025-10-29T00:55:31.206Z,1761699331.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674310 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:31.250Z,1761699331.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249208 2025-10-29T00:55:31.502Z,1761699331.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501475 2025-10-29T00:55:31.615Z,1761699331.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.028422,-0.997457,0.065364],[0.999425,-0.029565,-0.016574],[0.018464,0.064855,0.997724]] 2025-10-29T00:55:31.650Z,1761699331.650 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:31.653Z,1761699331.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:31.655Z,1761699331.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.865662 m, bearing: 155.110863 deg, approach rate: -0.218860 m/s, LOS rate: 0.132872 deg/s, cmd heading: 153.226674 deg, new cmd heading: 153.346343 deg. 2025-10-29T00:55:31.657Z,1761699331.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676399 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:31.754Z,1761699331.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753656 2025-10-29T00:55:32.005Z,1761699332.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005044 2025-10-29T00:55:32.010Z,1761699332.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.052141,-0.996450,0.066104],[0.998451,-0.053303,-0.015938],[0.019404,0.065170,0.997685]] 2025-10-29T00:55:32.035Z,1761699332.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:32.038Z,1761699332.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.777420 m, bearing: 155.161306 deg, approach rate: -0.230488 m/s, LOS rate: 0.131811 deg/s, cmd heading: 153.346339 deg, new cmd heading: 153.447266 deg. 2025-10-29T00:55:32.039Z,1761699332.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678160 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:32.257Z,1761699332.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256778 2025-10-29T00:55:32.390Z,1761699332.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.076108,-0.994845,0.067017],[0.996890,-0.077298,-0.015337],[0.020438,0.065641,0.997634]] 2025-10-29T00:55:32.433Z,1761699332.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:32.437Z,1761699332.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.684937 m, bearing: 155.211155 deg, approach rate: -0.232613 m/s, LOS rate: 0.125435 deg/s, cmd heading: 153.447262 deg, new cmd heading: 153.547004 deg. 2025-10-29T00:55:32.437Z,1761699332.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679901 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:32.510Z,1761699332.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509739 2025-10-29T00:55:32.761Z,1761699332.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761165 2025-10-29T00:55:32.794Z,1761699332.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099706,-0.992678,0.068182],[0.994788,-0.100919,-0.014569],[0.021343,0.066374,0.997566]] 2025-10-29T00:55:32.869Z,1761699332.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:32.877Z,1761699332.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.577835 m, bearing: 155.264564 deg, approach rate: -0.245408 m/s, LOS rate: 0.122442 deg/s, cmd heading: 153.547010 deg, new cmd heading: 153.653883 deg. 2025-10-29T00:55:32.878Z,1761699332.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681766 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:33.013Z,1761699333.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012883 2025-10-29T00:55:33.199Z,1761699333.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.123970,-0.989907,0.068663],[0.992030,-0.125213,-0.014079],[0.022534,0.066371,0.997541]] 2025-10-29T00:55:33.231Z,1761699333.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:33.250Z,1761699333.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.481049 m, bearing: 155.310248 deg, approach rate: -0.267977 m/s, LOS rate: 0.126544 deg/s, cmd heading: 153.653889 deg, new cmd heading: 153.745298 deg. 2025-10-29T00:55:33.251Z,1761699333.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683362 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:33.265Z,1761699333.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265008 2025-10-29T00:55:33.517Z,1761699333.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516815 2025-10-29T00:55:33.653Z,1761699333.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147308,-0.986694,0.068807],[0.988801,-0.148591,-0.013880],[0.023920,0.065992,0.997533]] 2025-10-29T00:55:33.734Z,1761699333.734 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:33.736Z,1761699333.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:33.739Z,1761699333.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.343918 m, bearing: 155.368539 deg, approach rate: -0.271600 m/s, LOS rate: 0.115526 deg/s, cmd heading: 153.745304 deg, new cmd heading: 153.861962 deg. 2025-10-29T00:55:33.740Z,1761699333.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685398 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:33.770Z,1761699333.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769451 2025-10-29T00:55:34.010Z,1761699334.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.170348,-0.982907,0.069818],[0.985056,-0.171692,-0.013681],[0.025435,0.066444,0.997466]] 2025-10-29T00:55:34.021Z,1761699334.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020925 2025-10-29T00:55:34.035Z,1761699334.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:34.058Z,1761699334.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.252609 m, bearing: 155.405506 deg, approach rate: -0.305083 m/s, LOS rate: 0.123570 deg/s, cmd heading: 153.861964 deg, new cmd heading: 153.935930 deg. 2025-10-29T00:55:34.059Z,1761699334.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686689 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:34.273Z,1761699334.273 [DAT](INFO): DAT read: Rx Time:00:55:33.4697 2025-10-29T00:55:34.273Z,1761699334.273 [DAT](INFO): Rx dataTimestamp_ set to:1761699334.273090 2025-10-29T00:55:34.274Z,1761699334.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273862 2025-10-29T00:55:34.410Z,1761699334.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.193779,-0.978609,0.069091],[0.980672,-0.195166,-0.013851],[0.027039,0.065071,0.997514]] 2025-10-29T00:55:34.451Z,1761699334.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 220.42 m. 2025-10-29T00:55:34.454Z,1761699334.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 220.417526 m, nav range: 212.127609 m, bearing: 155.453695 deg, approach rate: -0.300109 m/s, LOS rate: 0.115761 deg/s, cmd heading: 153.935935 deg, new cmd heading: 154.032368 deg. 2025-10-29T00:55:34.455Z,1761699334.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688372 target range: 220.417526 and range: 221.80 m. 2025-10-29T00:55:34.525Z,1761699334.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525025 2025-10-29T00:55:34.782Z,1761699334.782 [DAT](INFO): DAT read: 00:55:33.4697 LVL= 23024, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.27, 2.395, 0.426, 1.192, 1.670, PHS= 0.827,-1.199,-0.522, RAW= 109.2, 10.0, CAL= 110.8, 11.4, ROT= 39.2, -11.4 2025-10-29T00:55:34.784Z,1761699334.784 [DAT](INFO): got valid direction response: 00:55:33.4697 LVL= 23024, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.27, 2.395, 0.426, 1.192, 1.670, PHS= 0.827,-1.199,-0.522, RAW= 109.2, 10.0, CAL= 110.8, 11.4, ROT= 39.2, -11.4 2025-10-29T00:55:34.785Z,1761699334.785 [DAT](INFO): DAT read: Bearing 279.9, 40.4 (Local) 2025-10-29T00:55:34.785Z,1761699334.785 [DAT](INFO): Local bearing/azimuth received: Bearing 279.9, 40.4 (Local) 2025-10-29T00:55:34.786Z,1761699334.786 [DAT](INFO): DAT read: Range 11 to 50 : 220.9 m (Round-trip 294.6 ms) speed -0.4 m/s 2025-10-29T00:55:34.787Z,1761699334.787 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:34.788Z,1761699334.788 [DAT](INFO): direction in FSK: [0.759656,0.619560,0.197657] 2025-10-29T00:55:34.788Z,1761699334.788 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:34.791Z,1761699334.791 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:34.791Z,1761699334.791 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:34.792Z,1761699334.792 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:34.815Z,1761699334.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.217071,-0.973608,0.070485],[0.975746,-0.218506,-0.013239],[0.028291,0.065901,0.997425]] 2025-10-29T00:55:34.958Z,1761699334.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 220.899994 m, deltaT: 4.031464 s, deltaX: -0.900009 m, approachRate: -0.223246 m/s, rangeRepo size: 4 2025-10-29T00:55:34.965Z,1761699334.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 219.525360 m, bearing: 141.345046 deg, lat: 36.779340 deg, lon: -121.859470 deg, deltaT: 4.031464 s, deltaX: -0.892166 m, approachRate: -0.221301 m/s, posRepo size: 4 2025-10-29T00:55:34.967Z,1761699334.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:34.975Z,1761699334.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 215.687149 m, bearing: 147.236888 deg, approach rate: 0.000000 m/s, LOS rate: 0.115761 deg/s, cmd heading: 154.032363 deg, new cmd heading: 154.149613 deg. 2025-10-29T00:55:34.982Z,1761699334.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690418 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:35.029Z,1761699335.029 [DAT](INFO): DAT read: user:599> 2025-10-29T00:55:35.030Z,1761699335.030 [DAT](INFO): DAT read: Tx time:00:55:34.7709 2025-10-29T00:55:35.030Z,1761699335.030 [DAT](INFO): Ping request sent. 2025-10-29T00:55:35.030Z,1761699335.030 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:35.030Z,1761699335.030 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:35.031Z,1761699335.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:55:35.218Z,1761699335.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.240567,-0.967907,0.072693],[0.970187,-0.242051,-0.012213],[0.029417,0.067588,0.997280]] 2025-10-29T00:55:35.281Z,1761699335.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250824 2025-10-29T00:55:35.295Z,1761699335.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:35.298Z,1761699335.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 215.558334 m, bearing: 147.269799 deg, approach rate: -0.381955 m/s, LOS rate: 0.097644 deg/s, cmd heading: 154.149610 deg, new cmd heading: 154.215472 deg. 2025-10-29T00:55:35.299Z,1761699335.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691568 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:35.533Z,1761699335.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502782 2025-10-29T00:55:35.672Z,1761699335.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.263637,-0.961986,0.071264],[0.964153,-0.265092,-0.011613],[0.030063,0.065648,0.997390]] 2025-10-29T00:55:35.713Z,1761699335.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:35.716Z,1761699335.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 215.399567 m, bearing: 147.307010 deg, approach rate: -0.379910 m/s, LOS rate: 0.089105 deg/s, cmd heading: 154.215467 deg, new cmd heading: 154.289943 deg. 2025-10-29T00:55:35.717Z,1761699335.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692868 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:35.786Z,1761699335.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755319 2025-10-29T00:55:36.031Z,1761699336.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286656,-0.955461,0.070159],[0.957551,-0.288066,-0.010663],[0.030398,0.064125,0.997479]] 2025-10-29T00:55:36.045Z,1761699336.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014577 2025-10-29T00:55:36.093Z,1761699336.093 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:36.095Z,1761699336.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:36.097Z,1761699336.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 215.253265 m, bearing: 147.339744 deg, approach rate: -0.383385 m/s, LOS rate: 0.085839 deg/s, cmd heading: 154.289944 deg, new cmd heading: 154.355457 deg. 2025-10-29T00:55:36.098Z,1761699336.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694011 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:36.297Z,1761699336.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266676 2025-10-29T00:55:36.430Z,1761699336.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309025,-0.948455,0.070263],[0.950570,-0.310381,-0.009009],[0.030353,0.064006,0.997488]] 2025-10-29T00:55:36.486Z,1761699336.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:36.490Z,1761699336.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 215.100708 m, bearing: 147.372341 deg, approach rate: -0.390407 m/s, LOS rate: 0.083476 deg/s, cmd heading: 154.355459 deg, new cmd heading: 154.420698 deg. 2025-10-29T00:55:36.493Z,1761699336.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695150 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:36.549Z,1761699336.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.518880 2025-10-29T00:55:36.801Z,1761699336.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770717 2025-10-29T00:55:36.896Z,1761699336.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:36.899Z,1761699336.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 214.940186 m, bearing: 147.406637 deg, approach rate: -0.391055 m/s, LOS rate: 0.083613 deg/s, cmd heading: 154.420701 deg, new cmd heading: 154.489344 deg. 2025-10-29T00:55:36.900Z,1761699336.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696348 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:37.053Z,1761699337.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022714 2025-10-29T00:55:37.238Z,1761699337.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353443,-0.933043,0.067145],[0.934978,-0.354646,-0.006543],[0.029918,0.060466,0.997722]] 2025-10-29T00:55:37.276Z,1761699337.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:37.279Z,1761699337.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 214.789185 m, bearing: 147.435946 deg, approach rate: -0.397237 m/s, LOS rate: 0.077158 deg/s, cmd heading: 154.489344 deg, new cmd heading: 154.548004 deg. 2025-10-29T00:55:37.280Z,1761699337.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697371 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:37.305Z,1761699337.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274760 2025-10-29T00:55:37.557Z,1761699337.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526760 2025-10-29T00:55:37.695Z,1761699337.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.375221,-0.924373,0.068876],[0.926460,-0.376370,-0.004056],[0.029673,0.062289,0.997617]] 2025-10-29T00:55:37.809Z,1761699337.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778863 2025-10-29T00:55:37.813Z,1761699337.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:37.816Z,1761699337.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 214.558075 m, bearing: 147.476875 deg, approach rate: -0.430227 m/s, LOS rate: 0.076274 deg/s, cmd heading: 154.548002 deg, new cmd heading: 154.629948 deg. 2025-10-29T00:55:37.817Z,1761699337.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698802 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:38.046Z,1761699338.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396657,-0.915085,0.072677],[0.917488,-0.397763,-0.000812],[0.029652,0.066358,0.997355]] 2025-10-29T00:55:38.061Z,1761699338.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030606 2025-10-29T00:55:38.106Z,1761699338.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:38.116Z,1761699338.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:38.119Z,1761699338.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 214.432358 m, bearing: 147.498079 deg, approach rate: -0.426549 m/s, LOS rate: 0.071985 deg/s, cmd heading: 154.629950 deg, new cmd heading: 154.672383 deg. 2025-10-29T00:55:38.120Z,1761699338.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699542 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:38.313Z,1761699338.313 [DAT](INFO): DAT read: Rx Time:00:55:37.4936 2025-10-29T00:55:38.313Z,1761699338.313 [DAT](INFO): Rx dataTimestamp_ set to:1761699338.313111 2025-10-29T00:55:38.314Z,1761699338.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283776 2025-10-29T00:55:38.509Z,1761699338.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 219.53 m. 2025-10-29T00:55:38.511Z,1761699338.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 219.525360 m, nav range: 214.252686 m, bearing: 147.528433 deg, approach rate: -0.448280 m/s, LOS rate: 0.075798 deg/s, cmd heading: 154.672379 deg, new cmd heading: 154.733140 deg. 2025-10-29T00:55:38.512Z,1761699338.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700603 target range: 219.525360 and range: 220.90 m. 2025-10-29T00:55:38.566Z,1761699338.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.535408 2025-10-29T00:55:38.822Z,1761699338.822 [DAT](INFO): DAT read: 00:55:37.4936 LVL= 18000, 24433, 25842, 29299, AGC= 67, IDX= 151,-0.03, 1.934,-0.079, 0.933, 1.202, PHS= 0.834,-1.236,-0.313, RAW= 116.4, 8.0, CAL= 117.7, 9.1, ROT= 32.3, -9.1 2025-10-29T00:55:38.823Z,1761699338.823 [DAT](INFO): got valid direction response: 00:55:37.4936 LVL= 18000, 24433, 25842, 29299, AGC= 67, IDX= 151,-0.03, 1.934,-0.079, 0.933, 1.202, PHS= 0.834,-1.236,-0.313, RAW= 116.4, 8.0, CAL= 117.7, 9.1, ROT= 32.3, -9.1 2025-10-29T00:55:38.824Z,1761699338.824 [DAT](INFO): DAT read: Bearing 289.9, 34.0 (Local) 2025-10-29T00:55:38.825Z,1761699338.825 [DAT](INFO): Local bearing/azimuth received: Bearing 289.9, 34.0 (Local) 2025-10-29T00:55:38.826Z,1761699338.826 [DAT](INFO): DAT read: Range 11 to 50 : 238.8 m (Round-trip 318.5 ms) speed 0.3 m/s 2025-10-29T00:55:38.827Z,1761699338.827 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:38.827Z,1761699338.827 [DAT](INFO): direction in FSK: [0.834623,0.527627,0.158158] 2025-10-29T00:55:38.828Z,1761699338.828 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:38.831Z,1761699338.831 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:38.831Z,1761699338.831 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:38.831Z,1761699338.831 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:38.983Z,1761699338.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 238.800003 m, deltaT: 4.039668 s, deltaX: 17.900009 m, approachRate: 4.431059 m/s, rangeRepo size: 4 2025-10-29T00:55:38.990Z,1761699338.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 237.316864 m, bearing: 145.292405 deg, lat: 36.779252 deg, lon: -121.859470 deg, deltaT: 4.039668 s, deltaX: 17.791504 m, approachRate: 4.404200 m/s, posRepo size: 4 2025-10-29T00:55:38.991Z,1761699338.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:38.998Z,1761699338.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 222.362061 m, bearing: 148.909106 deg, approach rate: 0.000000 m/s, LOS rate: 0.075798 deg/s, cmd heading: 154.733141 deg, new cmd heading: 154.804846 deg. 2025-10-29T00:55:38.999Z,1761699338.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701854 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:39.070Z,1761699339.070 [DAT](INFO): DAT read: user:600> 2025-10-29T00:55:39.071Z,1761699339.071 [DAT](INFO): DAT read: Tx time:00:55:38.8209 2025-10-29T00:55:39.071Z,1761699339.071 [DAT](INFO): Ping request sent. 2025-10-29T00:55:39.071Z,1761699339.071 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:39.071Z,1761699339.071 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:39.072Z,1761699339.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001050 2025-10-29T00:55:39.259Z,1761699339.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.458268,-0.885933,0.071513],[0.888329,-0.459191,0.003924],[0.029362,0.065325,0.997432]] 2025-10-29T00:55:39.310Z,1761699339.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:39.317Z,1761699339.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 222.216583 m, bearing: 148.930813 deg, approach rate: -0.443157 m/s, LOS rate: 0.066169 deg/s, cmd heading: 154.804844 deg, new cmd heading: 154.848287 deg. 2025-10-29T00:55:39.318Z,1761699339.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702612 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:39.321Z,1761699339.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249944 2025-10-29T00:55:39.573Z,1761699339.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501726 2025-10-29T00:55:39.693Z,1761699339.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478515,-0.875106,0.072200],[0.877578,-0.479401,0.005645],[0.029673,0.066062,0.997374]] 2025-10-29T00:55:39.732Z,1761699339.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:39.752Z,1761699339.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 222.020538 m, bearing: 148.958590 deg, approach rate: -0.464899 m/s, LOS rate: 0.065927 deg/s, cmd heading: 154.848284 deg, new cmd heading: 154.903886 deg. 2025-10-29T00:55:39.757Z,1761699339.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703583 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:39.826Z,1761699339.826 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754431 2025-10-29T00:55:40.067Z,1761699340.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499158,-0.863402,0.073339],[0.865991,-0.500000,0.007719],[0.030005,0.067364,0.997277]] 2025-10-29T00:55:40.077Z,1761699340.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005874 2025-10-29T00:55:40.117Z,1761699340.117 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:40.119Z,1761699340.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:40.122Z,1761699340.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 221.840317 m, bearing: 148.981809 deg, approach rate: -0.464733 m/s, LOS rate: 0.059923 deg/s, cmd heading: 154.903882 deg, new cmd heading: 154.950357 deg. 2025-10-29T00:55:40.123Z,1761699340.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704394 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:40.329Z,1761699340.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257739 2025-10-29T00:55:40.487Z,1761699340.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519942,-0.851168,0.071930],[0.853669,-0.520745,0.008577],[0.030156,0.065864,0.997373]] 2025-10-29T00:55:40.506Z,1761699340.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:40.509Z,1761699340.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 221.658188 m, bearing: 149.003909 deg, approach rate: -0.471436 m/s, LOS rate: 0.057254 deg/s, cmd heading: 154.950355 deg, new cmd heading: 154.994592 deg. 2025-10-29T00:55:40.510Z,1761699340.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705166 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:40.581Z,1761699340.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509993 2025-10-29T00:55:40.833Z,1761699340.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761793 2025-10-29T00:55:40.875Z,1761699340.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540900,-0.838011,0.071869],[0.840541,-0.541649,0.010311],[0.030287,0.065986,0.997361]] 2025-10-29T00:55:40.927Z,1761699340.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:40.930Z,1761699340.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 221.456696 m, bearing: 149.027953 deg, approach rate: -0.478157 m/s, LOS rate: 0.057111 deg/s, cmd heading: 154.994587 deg, new cmd heading: 155.042719 deg. 2025-10-29T00:55:40.931Z,1761699340.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706006 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:41.085Z,1761699341.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014131 2025-10-29T00:55:41.279Z,1761699341.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561479,-0.824162,0.074148],[0.826938,-0.562123,0.013858],[0.030259,0.069096,0.997151]] 2025-10-29T00:55:41.304Z,1761699341.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:41.307Z,1761699341.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 221.276505 m, bearing: 149.048118 deg, approach rate: -0.483542 m/s, LOS rate: 0.054156 deg/s, cmd heading: 155.042712 deg, new cmd heading: 155.083074 deg. 2025-10-29T00:55:41.308Z,1761699341.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706710 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:41.337Z,1761699341.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265847 2025-10-29T00:55:41.589Z,1761699341.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517807 2025-10-29T00:55:41.691Z,1761699341.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581564,-0.809978,0.075620],[0.812945,-0.582086,0.017219],[0.030070,0.071489,0.996988]] 2025-10-29T00:55:41.779Z,1761699341.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:41.786Z,1761699341.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 221.050049 m, bearing: 149.071823 deg, approach rate: -0.472824 m/s, LOS rate: 0.049545 deg/s, cmd heading: 155.083079 deg, new cmd heading: 155.130537 deg. 2025-10-29T00:55:41.787Z,1761699341.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707539 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:41.841Z,1761699341.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769863 2025-10-29T00:55:42.087Z,1761699342.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601190,-0.795399,0.076885],[0.798546,-0.601584,0.020532],[0.029922,0.073739,0.996829]] 2025-10-29T00:55:42.093Z,1761699342.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021898 2025-10-29T00:55:42.139Z,1761699342.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:42.153Z,1761699342.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:42.155Z,1761699342.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 220.861435 m, bearing: 149.087888 deg, approach rate: -0.504023 m/s, LOS rate: 0.042966 deg/s, cmd heading: 155.130535 deg, new cmd heading: 155.162692 deg. 2025-10-29T00:55:42.162Z,1761699342.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708100 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:42.345Z,1761699342.345 [DAT](INFO): DAT read: Rx Time:00:55:41.5423 2025-10-29T00:55:42.345Z,1761699342.345 [DAT](INFO): Rx dataTimestamp_ set to:1761699342.345103 2025-10-29T00:55:42.346Z,1761699342.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274814 2025-10-29T00:55:42.494Z,1761699342.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620542,-0.780321,0.077637],[0.783590,-0.620851,0.023017],[0.030240,0.075118,0.996716]] 2025-10-29T00:55:42.525Z,1761699342.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 237.32 m. 2025-10-29T00:55:42.531Z,1761699342.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 237.316864 m, nav range: 220.662979 m, bearing: 149.103436 deg, approach rate: -0.533205 m/s, LOS rate: 0.041812 deg/s, cmd heading: 155.162691 deg, new cmd heading: 155.193815 deg. 2025-10-29T00:55:42.533Z,1761699342.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708643 target range: 237.316864 and range: 238.80 m. 2025-10-29T00:55:42.597Z,1761699342.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525911 2025-10-29T00:55:42.854Z,1761699342.854 [DAT](INFO): DAT read: 00:55:41.5423 LVL= 25232, 32753, 32754, 32755, AGC= 68, IDX= 156,-0.26, 1.225,-0.615, 0.546, 0.643, PHS= 0.684,-1.213,-0.141, RAW= 124.3, 8.2, CAL= 125.0, 9.4, ROT= 25.0, -9.4 2025-10-29T00:55:42.856Z,1761699342.856 [DAT](INFO): got valid direction response: 00:55:41.5423 LVL= 25232, 32753, 32754, 32755, AGC= 68, IDX= 156,-0.26, 1.225,-0.615, 0.546, 0.643, PHS= 0.684,-1.213,-0.141, RAW= 124.3, 8.2, CAL= 125.0, 9.4, ROT= 25.0, -9.4 2025-10-29T00:55:42.857Z,1761699342.857 [DAT](INFO): DAT read: Bearing 303.9, 27.0 (Local) 2025-10-29T00:55:42.857Z,1761699342.857 [DAT](INFO): Local bearing/azimuth received: Bearing 303.9, 27.0 (Local) 2025-10-29T00:55:42.859Z,1761699342.859 [DAT](INFO): DAT read: Range 11 to 50 : 237.9 m (Round-trip 317.2 ms) speed 0.3 m/s 2025-10-29T00:55:42.859Z,1761699342.859 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:42.860Z,1761699342.860 [DAT](INFO): direction in FSK: [0.894138,0.416943,0.163326] 2025-10-29T00:55:42.861Z,1761699342.861 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:42.865Z,1761699342.865 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:42.865Z,1761699342.865 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:42.865Z,1761699342.865 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:42.895Z,1761699342.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639076,-0.765324,0.076553],[0.768536,-0.639355,0.024027],[0.030556,0.074189,0.996776]] 2025-10-29T00:55:43.101Z,1761699343.101 [DAT](INFO): DAT read: user:601> 2025-10-29T00:55:43.102Z,1761699343.102 [DAT](INFO): DAT read: Tx time:00:55:42.8709 2025-10-29T00:55:43.102Z,1761699343.102 [DAT](INFO): Ping request sent. 2025-10-29T00:55:43.102Z,1761699343.102 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:43.102Z,1761699343.102 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:43.103Z,1761699343.103 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000738 2025-10-29T00:55:43.108Z,1761699343.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 237.899994 m, deltaT: 4.032288 s, deltaX: -0.900009 m, approachRate: -0.223201 m/s, rangeRepo size: 4 2025-10-29T00:55:43.110Z,1761699343.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 236.426651 m, bearing: 154.195894 deg, lat: 36.779252 deg, lon: -121.859470 deg, deltaT: 4.032288 s, deltaX: -0.890213 m, approachRate: -0.220771 m/s, posRepo size: 4 2025-10-29T00:55:43.111Z,1761699343.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:43.118Z,1761699343.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 220.383926 m, bearing: 149.124651 deg, approach rate: 0.000000 m/s, LOS rate: 0.041812 deg/s, cmd heading: 155.193810 deg, new cmd heading: 155.240886 deg. 2025-10-29T00:55:43.119Z,1761699343.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709465 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:43.300Z,1761699343.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657512,-0.749705,0.074971],[0.752793,-0.657819,0.024021],[0.031309,0.072232,0.996896]] 2025-10-29T00:55:43.353Z,1761699343.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250838 2025-10-29T00:55:43.361Z,1761699343.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:43.364Z,1761699343.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 220.251617 m, bearing: 149.133829 deg, approach rate: -0.484897 m/s, LOS rate: 0.033656 deg/s, cmd heading: 155.240883 deg, new cmd heading: 155.259250 deg. 2025-10-29T00:55:43.369Z,1761699343.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709785 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:43.605Z,1761699343.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502766 2025-10-29T00:55:43.703Z,1761699343.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675624,-0.733437,0.074855],[0.736538,-0.675936,0.024932],[0.032311,0.071978,0.996883]] 2025-10-29T00:55:43.801Z,1761699343.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:43.803Z,1761699343.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 220.024872 m, bearing: 149.148053 deg, approach rate: -0.517292 m/s, LOS rate: 0.032484 deg/s, cmd heading: 155.259257 deg, new cmd heading: 155.287735 deg. 2025-10-29T00:55:43.805Z,1761699343.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710282 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:43.858Z,1761699343.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755726 2025-10-29T00:55:44.102Z,1761699344.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693533,-0.716609,0.074044],[0.719663,-0.693856,0.025475],[0.033120,0.070955,0.996929]] 2025-10-29T00:55:44.109Z,1761699344.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006752 2025-10-29T00:55:44.208Z,1761699344.208 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:44.210Z,1761699344.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:44.213Z,1761699344.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 219.813904 m, bearing: 149.160198 deg, approach rate: -0.513894 m/s, LOS rate: 0.029611 deg/s, cmd heading: 155.287739 deg, new cmd heading: 155.312051 deg. 2025-10-29T00:55:44.214Z,1761699344.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710707 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:44.361Z,1761699344.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258823 2025-10-29T00:55:44.506Z,1761699344.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710353,-0.699987,0.073604],[0.703027,-0.710678,0.026249],[0.033935,0.070392,0.996942]] 2025-10-29T00:55:44.557Z,1761699344.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:44.560Z,1761699344.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 219.635727 m, bearing: 149.169324 deg, approach rate: -0.512848 m/s, LOS rate: 0.026289 deg/s, cmd heading: 155.312054 deg, new cmd heading: 155.330321 deg. 2025-10-29T00:55:44.561Z,1761699344.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711025 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:44.614Z,1761699344.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511904 2025-10-29T00:55:44.865Z,1761699344.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762736 2025-10-29T00:55:44.912Z,1761699344.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726830,-0.683065,0.071701],[0.685952,-0.727187,0.025858],[0.034477,0.067978,0.997091]] 2025-10-29T00:55:44.984Z,1761699344.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:44.987Z,1761699344.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 219.421494 m, bearing: 149.177655 deg, approach rate: -0.507016 m/s, LOS rate: 0.019735 deg/s, cmd heading: 155.330318 deg, new cmd heading: 155.346996 deg. 2025-10-29T00:55:44.988Z,1761699344.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711317 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:45.117Z,1761699345.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014770 2025-10-29T00:55:45.320Z,1761699345.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743220,-0.665436,0.069417],[0.668136,-0.743615,0.025114],[0.034908,0.065045,0.997272]] 2025-10-29T00:55:45.342Z,1761699345.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:45.345Z,1761699345.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 219.231552 m, bearing: 149.183828 deg, approach rate: -0.524066 m/s, LOS rate: 0.017047 deg/s, cmd heading: 155.346997 deg, new cmd heading: 155.359354 deg. 2025-10-29T00:55:45.346Z,1761699345.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711532 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:45.369Z,1761699345.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266920 2025-10-29T00:55:45.621Z,1761699345.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518746 2025-10-29T00:55:45.718Z,1761699345.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758878,-0.647755,0.067208],[0.650296,-0.759273,0.024892],[0.034905,0.062596,0.997428]] 2025-10-29T00:55:45.822Z,1761699345.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:45.829Z,1761699345.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 218.995102 m, bearing: 149.190038 deg, approach rate: -0.492480 m/s, LOS rate: 0.012947 deg/s, cmd heading: 155.359360 deg, new cmd heading: 155.371793 deg. 2025-10-29T00:55:45.833Z,1761699345.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711749 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:45.873Z,1761699345.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771028 2025-10-29T00:55:46.122Z,1761699346.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774119,-0.629477,0.067066],[0.632087,-0.774413,0.027374],[0.034705,0.063583,0.997373]] 2025-10-29T00:55:46.125Z,1761699346.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022900 2025-10-29T00:55:46.174Z,1761699346.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:46.177Z,1761699346.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 218.797043 m, bearing: 149.193206 deg, approach rate: -0.562425 m/s, LOS rate: 0.009007 deg/s, cmd heading: 155.371791 deg, new cmd heading: 155.378134 deg. 2025-10-29T00:55:46.178Z,1761699346.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711860 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:46.377Z,1761699346.377 [DAT](INFO): DAT read: Rx Time:00:55:45.6170 2025-10-29T00:55:46.377Z,1761699346.377 [DAT](INFO): Rx dataTimestamp_ set to:1761699346.377144 2025-10-29T00:55:46.378Z,1761699346.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275856 2025-10-29T00:55:46.528Z,1761699346.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789098,-0.610726,0.065860],[0.613316,-0.789299,0.029165],[0.034172,0.063407,0.997403]] 2025-10-29T00:55:46.547Z,1761699346.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:46.550Z,1761699346.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.43 m. 2025-10-29T00:55:46.552Z,1761699346.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.426651 m, nav range: 218.599808 m, bearing: 149.195122 deg, approach rate: -0.525688 m/s, LOS rate: 0.005110 deg/s, cmd heading: 155.378129 deg, new cmd heading: 155.381964 deg. 2025-10-29T00:55:46.553Z,1761699346.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711927 target range: 236.426651 and range: 237.90 m. 2025-10-29T00:55:46.631Z,1761699346.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528596 2025-10-29T00:55:46.886Z,1761699346.886 [DAT](INFO): DAT read: 00:55:45.6170 LVL= 25584, 31665, 28130, 28659, AGC= 73, IDX= 186,-0.23, 2.094, 0.603, 2.125, 1.387, PHS= 0.809,-0.739, 0.694, RAW= 146.2, -10.2, CAL= 146.6, -12.1, ROT= 3.4, 12.1 2025-10-29T00:55:46.887Z,1761699346.887 [DAT](INFO): got valid direction response: 00:55:45.6170 LVL= 25584, 31665, 28130, 28659, AGC= 73, IDX= 186,-0.23, 2.094, 0.603, 2.125, 1.387, PHS= 0.809,-0.739, 0.694, RAW= 146.2, -10.2, CAL= 146.6, -12.1, ROT= 3.4, 12.1 2025-10-29T00:55:46.888Z,1761699346.888 [DAT](INFO): DAT read: Bearing 296.7, 4.5 (Local) 2025-10-29T00:55:46.889Z,1761699346.889 [DAT](INFO): Local bearing/azimuth received: Bearing 296.7, 4.5 (Local) 2025-10-29T00:55:46.890Z,1761699346.890 [DAT](INFO): DAT read: Range 11 to 50 : 256.4 m (Round-trip 341.9 ms) speed 0.8 m/s 2025-10-29T00:55:46.891Z,1761699346.891 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:46.892Z,1761699346.892 [DAT](INFO): direction in FSK: [0.976062,0.057989,-0.209619] 2025-10-29T00:55:46.892Z,1761699346.892 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:46.895Z,1761699346.895 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:46.895Z,1761699346.895 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:46.896Z,1761699346.896 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:46.962Z,1761699346.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803709,-0.591288,0.066557],[0.594067,-0.803719,0.033469],[0.033703,0.066439,0.997221]] 2025-10-29T00:55:47.084Z,1761699347.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 256.399994 m, deltaT: 4.031774 s, deltaX: 18.500000 m, approachRate: 4.588551 m/s, rangeRepo size: 4 2025-10-29T00:55:47.086Z,1761699347.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 254.813080 m, bearing: 147.709487 deg, lat: 36.779252 deg, lon: -121.859294 deg, deltaT: 4.031774 s, deltaX: 18.386429 m, approachRate: 4.560382 m/s, posRepo size: 4 2025-10-29T00:55:47.087Z,1761699347.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:47.094Z,1761699347.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 226.774155 m, bearing: 145.784670 deg, approach rate: 0.000000 m/s, LOS rate: 0.005110 deg/s, cmd heading: 155.381968 deg, new cmd heading: 155.387382 deg. 2025-10-29T00:55:47.095Z,1761699347.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.712021 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:47.133Z,1761699347.133 [DAT](INFO): DAT read: user:602> 2025-10-29T00:55:47.134Z,1761699347.134 [DAT](INFO): DAT read: Tx time:00:55:46.8709 2025-10-29T00:55:47.134Z,1761699347.134 [DAT](INFO): Ping request sent. 2025-10-29T00:55:47.134Z,1761699347.134 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:47.134Z,1761699347.134 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:47.135Z,1761699347.135 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000729 2025-10-29T00:55:47.343Z,1761699347.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817487,-0.571942,0.067808],[0.574992,-0.817233,0.038915],[0.033157,0.070802,0.996939]] 2025-10-29T00:55:47.375Z,1761699347.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:47.378Z,1761699347.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 226.604340 m, bearing: 145.781027 deg, approach rate: -0.573626 m/s, LOS rate: -0.012317 deg/s, cmd heading: 155.387377 deg, new cmd heading: 155.380085 deg. 2025-10-29T00:55:47.379Z,1761699347.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711894 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:47.385Z,1761699347.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250870 2025-10-29T00:55:47.637Z,1761699347.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502837 2025-10-29T00:55:47.810Z,1761699347.810 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:55:47.877Z,1761699347.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:47.884Z,1761699347.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 226.342560 m, bearing: 145.775399 deg, approach rate: -0.521671 m/s, LOS rate: -0.011227 deg/s, cmd heading: 155.380083 deg, new cmd heading: 155.368815 deg. 2025-10-29T00:55:47.885Z,1761699347.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711697 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:47.889Z,1761699347.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754880 2025-10-29T00:55:48.142Z,1761699348.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007149 2025-10-29T00:55:48.227Z,1761699348.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841253,-0.537254,0.060428],[0.539705,-0.841111,0.035374],[0.031822,0.062372,0.997546]] 2025-10-29T00:55:48.284Z,1761699348.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:48.287Z,1761699348.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 226.138214 m, bearing: 145.768136 deg, approach rate: -0.522785 m/s, LOS rate: -0.018598 deg/s, cmd heading: 155.368813 deg, new cmd heading: 155.354274 deg. 2025-10-29T00:55:48.292Z,1761699348.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711444 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:48.395Z,1761699348.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260471 2025-10-29T00:55:48.634Z,1761699348.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851817,-0.521162,0.052898],[0.522893,-0.852000,0.026071],[0.031482,0.049868,0.998259]] 2025-10-29T00:55:48.645Z,1761699348.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510852 2025-10-29T00:55:48.658Z,1761699348.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:48.660Z,1761699348.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:48.663Z,1761699348.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 225.940811 m, bearing: 145.760071 deg, approach rate: -0.503824 m/s, LOS rate: -0.020603 deg/s, cmd heading: 155.354278 deg, new cmd heading: 155.338133 deg. 2025-10-29T00:55:48.684Z,1761699348.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.711162 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:48.815Z,1761699348.815 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:55:48.897Z,1761699348.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762688 2025-10-29T00:55:49.031Z,1761699349.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861993,-0.504894,0.045275],[0.505917,-0.862465,0.014215],[0.031871,0.035158,0.998873]] 2025-10-29T00:55:49.089Z,1761699349.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:49.091Z,1761699349.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 225.710205 m, bearing: 145.750250 deg, approach rate: -0.537758 m/s, LOS rate: -0.022926 deg/s, cmd heading: 155.338132 deg, new cmd heading: 155.318469 deg. 2025-10-29T00:55:49.093Z,1761699349.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710819 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:49.150Z,1761699349.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016111 2025-10-29T00:55:49.401Z,1761699349.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266753 2025-10-29T00:55:49.435Z,1761699349.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871139,-0.489288,0.041405],[0.489931,-0.871737,0.006462],[0.032932,0.025915,0.999122]] 2025-10-29T00:55:49.487Z,1761699349.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:49.490Z,1761699349.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 225.496841 m, bearing: 145.740108 deg, approach rate: -0.536242 m/s, LOS rate: -0.025514 deg/s, cmd heading: 155.318474 deg, new cmd heading: 155.298171 deg. 2025-10-29T00:55:49.490Z,1761699349.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710464 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:49.653Z,1761699349.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518725 2025-10-29T00:55:49.877Z,1761699349.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886800,-0.460415,0.040042],[0.460729,-0.887540,-0.001566],[0.036260,0.017060,0.999197]] 2025-10-29T00:55:49.905Z,1761699349.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770912 2025-10-29T00:55:49.931Z,1761699349.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:49.940Z,1761699349.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 225.264969 m, bearing: 145.727252 deg, approach rate: -0.521389 m/s, LOS rate: -0.028938 deg/s, cmd heading: 155.298175 deg, new cmd heading: 155.272437 deg. 2025-10-29T00:55:49.946Z,1761699349.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.710015 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:50.157Z,1761699350.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022712 2025-10-29T00:55:50.277Z,1761699350.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:50.280Z,1761699350.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 225.069733 m, bearing: 145.716405 deg, approach rate: -0.564799 m/s, LOS rate: -0.031405 deg/s, cmd heading: 155.272439 deg, new cmd heading: 155.250727 deg. 2025-10-29T00:55:50.281Z,1761699350.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709636 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:50.409Z,1761699350.409 [DAT](INFO): DAT read: Rx Time:00:55:49.6128 2025-10-29T00:55:50.410Z,1761699350.410 [DAT](INFO): Rx dataTimestamp_ set to:1761699350.409419 2025-10-29T00:55:50.410Z,1761699350.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276122 2025-10-29T00:55:50.647Z,1761699350.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893119,-0.448127,0.038994],[0.448223,-0.893896,-0.006736],[0.037875,0.011461,0.999217]] 2025-10-29T00:55:50.661Z,1761699350.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526939 2025-10-29T00:55:50.683Z,1761699350.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:50.685Z,1761699350.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 254.81 m. 2025-10-29T00:55:50.688Z,1761699350.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 254.813080 m, nav range: 224.850021 m, bearing: 145.703348 deg, approach rate: -0.538478 m/s, LOS rate: -0.032033 deg/s, cmd heading: 155.250733 deg, new cmd heading: 155.224592 deg. 2025-10-29T00:55:50.689Z,1761699350.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.709180 target range: 254.813080 and range: 256.40 m. 2025-10-29T00:55:50.919Z,1761699350.919 [DAT](INFO): DAT read: 00:55:49.6128 LVL= 27312, 32753, 27618, 32755, AGC= 70, IDX= 399, 0.29, 1.426, 0.122, 1.608, 0.510, PHS= 1.018,-0.343, 1.054, RAW= 151.3, -23.9, CAL= 153.0, -25.4, ROT= 357.0, 25.4 2025-10-29T00:55:50.920Z,1761699350.920 [DAT](INFO): got valid direction response: 00:55:49.6128 LVL= 27312, 32753, 27618, 32755, AGC= 70, IDX= 399, 0.29, 1.426, 0.122, 1.608, 0.510, PHS= 1.018,-0.343, 1.054, RAW= 151.3, -23.9, CAL= 153.0, -25.4, ROT= 357.0, 25.4 2025-10-29T00:55:50.921Z,1761699350.921 [DAT](INFO): DAT read: Bearing 295.3, -1.1 (Local) 2025-10-29T00:55:50.921Z,1761699350.921 [DAT](INFO): Local bearing/azimuth received: Bearing 295.3, -1.1 (Local) 2025-10-29T00:55:50.923Z,1761699350.923 [DAT](INFO): DAT read: Range 11 to 50 : 253.2 m (Round-trip 337.7 ms) speed 0.4 m/s 2025-10-29T00:55:50.923Z,1761699350.923 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:50.924Z,1761699350.924 [DAT](INFO): direction in FSK: [0.902097,-0.047277,-0.428935] 2025-10-29T00:55:50.925Z,1761699350.925 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:50.928Z,1761699350.928 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:50.928Z,1761699350.928 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:50.928Z,1761699350.928 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:51.051Z,1761699351.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898542,-0.437353,0.036668],[0.437073,-0.899288,-0.015775],[0.039875,0.001852,0.999203]] 2025-10-29T00:55:51.120Z,1761699351.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 253.199997 m, deltaT: 4.031955 s, deltaX: -3.199997 m, approachRate: -0.793659 m/s, rangeRepo size: 4 2025-10-29T00:55:51.130Z,1761699351.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 251.632248 m, bearing: 151.163492 deg, lat: 36.779098 deg, lon: -121.859294 deg, deltaT: 4.031955 s, deltaX: -3.180832 m, approachRate: -0.788906 m/s, posRepo size: 4 2025-10-29T00:55:51.130Z,1761699351.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:51.137Z,1761699351.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 239.013550 m, bearing: 148.011312 deg, approach rate: 0.000000 m/s, LOS rate: -0.032033 deg/s, cmd heading: 155.224587 deg, new cmd heading: 155.196794 deg. 2025-10-29T00:55:51.138Z,1761699351.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708695 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:51.165Z,1761699351.165 [DAT](INFO): DAT read: user:603> 2025-10-29T00:55:51.166Z,1761699351.166 [DAT](INFO): DAT read: Tx time:00:55:50.9209 2025-10-29T00:55:51.166Z,1761699351.166 [DAT](INFO): Ping request sent. 2025-10-29T00:55:51.166Z,1761699351.166 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:51.166Z,1761699351.166 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:51.167Z,1761699351.167 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000733 2025-10-29T00:55:51.417Z,1761699351.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250764 2025-10-29T00:55:51.471Z,1761699351.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906786,-0.420504,0.030261],[0.419333,-0.907021,-0.038369],[0.043582,-0.022103,0.998805]] 2025-10-29T00:55:51.497Z,1761699351.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:51.500Z,1761699351.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 238.794754 m, bearing: 147.999806 deg, approach rate: -0.577932 m/s, LOS rate: -0.030420 deg/s, cmd heading: 155.196788 deg, new cmd heading: 155.173755 deg. 2025-10-29T00:55:51.501Z,1761699351.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.708293 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:51.670Z,1761699351.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503601 2025-10-29T00:55:51.921Z,1761699351.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768 2025-10-29T00:55:52.045Z,1761699352.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:52.048Z,1761699352.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 238.489227 m, bearing: 147.984586 deg, approach rate: -0.558019 m/s, LOS rate: -0.027833 deg/s, cmd heading: 155.173756 deg, new cmd heading: 155.143278 deg. 2025-10-29T00:55:52.049Z,1761699352.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707761 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:52.173Z,1761699352.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006947 2025-10-29T00:55:52.401Z,1761699352.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912237,-0.408920,0.024643],[0.406923,-0.911442,-0.060724],[0.047292,-0.045367,0.997850]] 2025-10-29T00:55:52.425Z,1761699352.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258852 2025-10-29T00:55:52.429Z,1761699352.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:52.432Z,1761699352.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 238.275436 m, bearing: 147.973172 deg, approach rate: -0.556657 m/s, LOS rate: -0.029746 deg/s, cmd heading: 155.143280 deg, new cmd heading: 155.120431 deg. 2025-10-29T00:55:52.433Z,1761699352.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.707362 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:52.677Z,1761699352.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745 2025-10-29T00:55:52.818Z,1761699352.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913844,-0.405450,0.022345],[0.403115,-0.912451,-0.070225],[0.048861,-0.055167,0.997281]] 2025-10-29T00:55:52.915Z,1761699352.915 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:52.918Z,1761699352.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:52.920Z,1761699352.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 238.006180 m, bearing: 147.958481 deg, approach rate: -0.551209 m/s, LOS rate: -0.030108 deg/s, cmd heading: 155.120426 deg, new cmd heading: 155.091011 deg. 2025-10-29T00:55:52.921Z,1761699352.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706849 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:52.929Z,1761699352.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762925 2025-10-29T00:55:53.181Z,1761699353.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014759 2025-10-29T00:55:53.218Z,1761699353.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915111,-0.402722,0.019659],[0.400031,-0.912939,-0.080733],[0.050461,-0.066016,0.996542]] 2025-10-29T00:55:53.272Z,1761699353.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:53.275Z,1761699353.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 237.801620 m, bearing: 147.947787 deg, approach rate: -0.577354 m/s, LOS rate: -0.030210 deg/s, cmd heading: 155.091015 deg, new cmd heading: 155.069608 deg. 2025-10-29T00:55:53.276Z,1761699353.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706475 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:53.435Z,1761699353.435 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268590 2025-10-29T00:55:53.627Z,1761699353.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915823,-0.401271,0.015820],[0.398221,-0.912538,-0.093240],[0.051851,-0.079092,0.995518]] 2025-10-29T00:55:53.645Z,1761699353.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:53.648Z,1761699353.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 237.590103 m, bearing: 147.936597 deg, approach rate: -0.566785 m/s, LOS rate: -0.030012 deg/s, cmd heading: 155.069610 deg, new cmd heading: 155.047209 deg. 2025-10-29T00:55:53.649Z,1761699353.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.706084 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:53.685Z,1761699353.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518974 2025-10-29T00:55:53.940Z,1761699353.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773626 2025-10-29T00:55:54.027Z,1761699354.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916370,-0.400166,0.011516],[0.396767,-0.911664,-0.106979],[0.053308,-0.093463,0.994195]] 2025-10-29T00:55:54.071Z,1761699354.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:54.074Z,1761699354.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 237.343063 m, bearing: 147.922421 deg, approach rate: -0.579862 m/s, LOS rate: -0.033309 deg/s, cmd heading: 155.047207 deg, new cmd heading: 155.018825 deg. 2025-10-29T00:55:54.075Z,1761699354.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705589 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:54.191Z,1761699354.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024931 2025-10-29T00:55:54.435Z,1761699354.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916893,-0.399049,0.008131],[0.395312,-0.910741,-0.119500],[0.055091,-0.106355,0.992801]] 2025-10-29T00:55:54.442Z,1761699354.442 [DAT](INFO): DAT read: Rx Time:00:55:53.6067 2025-10-29T00:55:54.443Z,1761699354.443 [DAT](INFO): Rx dataTimestamp_ set to:1761699354.442178 2025-10-29T00:55:54.444Z,1761699354.444 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277466 2025-10-29T00:55:54.470Z,1761699354.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:54.473Z,1761699354.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 237.112961 m, bearing: 147.909100 deg, approach rate: -0.576616 m/s, LOS rate: -0.033413 deg/s, cmd heading: 155.018820 deg, new cmd heading: 154.992153 deg. 2025-10-29T00:55:54.474Z,1761699354.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.705123 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:54.693Z,1761699354.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527368 2025-10-29T00:55:54.835Z,1761699354.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917133,-0.398548,0.005236],[0.394550,-0.909640,-0.129942],[0.056551,-0.117108,0.991508]] 2025-10-29T00:55:54.859Z,1761699354.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:54.861Z,1761699354.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 236.889099 m, bearing: 147.896072 deg, approach rate: -0.576206 m/s, LOS rate: -0.033564 deg/s, cmd heading: 154.992155 deg, new cmd heading: 154.966075 deg. 2025-10-29T00:55:54.862Z,1761699354.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704668 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:54.955Z,1761699354.955 [DAT](INFO): DAT read: 00:55:53.6067 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 384,-0.12,-0.097,-1.591, 0.278,-0.254, PHS= 0.259,-1.292, 0.487, RAW= 156.8, 6.6, CAL= 156.1, 6.5, ROT= 353.9, -6.5 2025-10-29T00:55:54.959Z,1761699354.959 [DAT](INFO): got valid direction response: 00:55:53.6067 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 384,-0.12,-0.097,-1.591, 0.278,-0.254, PHS= 0.259,-1.292, 0.487, RAW= 156.8, 6.6, CAL= 156.1, 6.5, ROT= 353.9, -6.5 2025-10-29T00:55:54.961Z,1761699354.961 [DAT](INFO): DAT read: Bearing 330.5, -3.8 (Local) 2025-10-29T00:55:54.961Z,1761699354.961 [DAT](INFO): Local bearing/azimuth received: Bearing 330.5, -3.8 (Local) 2025-10-29T00:55:54.964Z,1761699354.964 [DAT](INFO): DAT read: Range 11 to 50 : 211.2 m (Round-trip 281.6 ms) speed 0.4 m/s 2025-10-29T00:55:54.965Z,1761699354.965 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:54.965Z,1761699354.965 [DAT](INFO): direction in FSK: [0.987946,-0.105581,0.113203] 2025-10-29T00:55:54.966Z,1761699354.966 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:54.969Z,1761699354.969 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:54.969Z,1761699354.969 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:54.969Z,1761699354.969 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:55.197Z,1761699355.197 [DAT](INFO): DAT read: user:604> 2025-10-29T00:55:55.198Z,1761699355.198 [DAT](INFO): DAT read: Tx time:00:55:54.9709 2025-10-29T00:55:55.199Z,1761699355.199 [DAT](INFO): Ping request sent. 2025-10-29T00:55:55.199Z,1761699355.199 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:55.199Z,1761699355.199 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:55.200Z,1761699355.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001319 2025-10-29T00:55:55.238Z,1761699355.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917116,-0.398601,0.003833],[0.394399,-0.908759,-0.136408],[0.057856,-0.123591,0.990645]] 2025-10-29T00:55:55.321Z,1761699355.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 211.199997 m, deltaT: 4.033508 s, deltaX: -42.000000 m, approachRate: -10.412772 m/s, rangeRepo size: 4 2025-10-29T00:55:55.321Z,1761699355.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:55.324Z,1761699355.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 236.625900 m, bearing: 147.880443 deg, approach rate: -0.570917 m/s, LOS rate: -0.033939 deg/s, cmd heading: 154.966078 deg, new cmd heading: 154.934785 deg. 2025-10-29T00:55:55.325Z,1761699355.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.704122 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:55.450Z,1761699355.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250894 2025-10-29T00:55:55.646Z,1761699355.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917081,-0.398689,0.003241],[0.394278,-0.908082,-0.141181],[0.059231,-0.128197,0.989978]] 2025-10-29T00:55:55.663Z,1761699355.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:55.665Z,1761699355.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:55.668Z,1761699355.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 236.426682 m, bearing: 147.868584 deg, approach rate: -0.576126 m/s, LOS rate: -0.034324 deg/s, cmd heading: 154.934782 deg, new cmd heading: 154.911044 deg. 2025-10-29T00:55:55.669Z,1761699355.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703708 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:55.701Z,1761699355.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502308 2025-10-29T00:55:55.958Z,1761699355.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759015 2025-10-29T00:55:56.046Z,1761699356.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916784,-0.399373,0.003004],[0.394731,-0.907222,-0.145379],[0.060786,-0.132096,0.989371]] 2025-10-29T00:55:56.135Z,1761699356.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:56.141Z,1761699356.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 236.150711 m, bearing: 147.852047 deg, approach rate: -0.587237 m/s, LOS rate: -0.035231 deg/s, cmd heading: 154.911040 deg, new cmd heading: 154.877927 deg. 2025-10-29T00:55:56.142Z,1761699356.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.703130 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:56.205Z,1761699356.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006315 2025-10-29T00:55:56.458Z,1761699356.458 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259041 2025-10-29T00:55:56.477Z,1761699356.477 [BPC1](ERROR): BPC1A got IPBS message with 6 sticks (min is 7). 2025-10-29T00:55:56.521Z,1761699356.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:56.523Z,1761699356.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 235.934418 m, bearing: 147.839058 deg, approach rate: -0.562517 m/s, LOS rate: -0.033812 deg/s, cmd heading: 154.877927 deg, new cmd heading: 154.851925 deg. 2025-10-29T00:55:56.529Z,1761699356.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702676 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:56.709Z,1761699356.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510174 2025-10-29T00:55:56.855Z,1761699356.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915329,-0.402700,0.002297],[0.397689,-0.904806,-0.152218],[0.063377,-0.138416,0.988344]] 2025-10-29T00:55:56.890Z,1761699356.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:56.892Z,1761699356.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 235.710480 m, bearing: 147.825776 deg, approach rate: -0.605817 m/s, LOS rate: -0.035966 deg/s, cmd heading: 154.851932 deg, new cmd heading: 154.825342 deg. 2025-10-29T00:55:56.893Z,1761699356.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.702212 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:56.962Z,1761699356.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763759 2025-10-29T00:55:57.213Z,1761699357.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014743 2025-10-29T00:55:57.259Z,1761699357.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914560,-0.404447,0.001473],[0.399227,-0.903328,-0.156896],[0.064787,-0.142903,0.987614]] 2025-10-29T00:55:57.321Z,1761699357.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:57.324Z,1761699357.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 235.452606 m, bearing: 147.810139 deg, approach rate: -0.597142 m/s, LOS rate: -0.036248 deg/s, cmd heading: 154.825348 deg, new cmd heading: 154.794042 deg. 2025-10-29T00:55:57.325Z,1761699357.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701666 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:57.468Z,1761699357.468 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268959 2025-10-29T00:55:57.667Z,1761699357.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913563,-0.406697,0.000132],[0.401296,-0.901484,-0.162134],[0.066059,-0.148067,0.986769]] 2025-10-29T00:55:57.705Z,1761699357.705 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:57.707Z,1761699357.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:57.710Z,1761699357.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 235.224442 m, bearing: 147.796416 deg, approach rate: -0.591970 m/s, LOS rate: -0.035641 deg/s, cmd heading: 154.794039 deg, new cmd heading: 154.766565 deg. 2025-10-29T00:55:57.711Z,1761699357.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.701186 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:57.721Z,1761699357.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522403 2025-10-29T00:55:57.976Z,1761699357.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776500 2025-10-29T00:55:58.183Z,1761699358.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912555,-0.408951,-0.001239],[0.403392,-0.899644,-0.167082],[0.067214,-0.152972,0.985942]] 2025-10-29T00:55:58.225Z,1761699358.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026483 2025-10-29T00:55:58.235Z,1761699358.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:58.238Z,1761699358.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 234.914459 m, bearing: 147.776435 deg, approach rate: -0.587082 m/s, LOS rate: -0.037892 deg/s, cmd heading: 154.766568 deg, new cmd heading: 154.726553 deg. 2025-10-29T00:55:58.239Z,1761699358.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.700488 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:58.478Z,1761699358.478 [DAT](INFO): DAT read: Rx Time:00:55:57.7082 2025-10-29T00:55:58.479Z,1761699358.479 [DAT](INFO): Rx dataTimestamp_ set to:1761699358.478513 2025-10-29T00:55:58.481Z,1761699358.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280994 2025-10-29T00:55:58.582Z,1761699358.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911574,-0.411126,-0.002955],[0.405420,-0.897681,-0.172636],[0.068322,-0.158569,0.984981]] 2025-10-29T00:55:58.610Z,1761699358.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 251.63 m. 2025-10-29T00:55:58.613Z,1761699358.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 251.632248 m, nav range: 234.694458 m, bearing: 147.762355 deg, approach rate: -0.586823 m/s, LOS rate: -0.037590 deg/s, cmd heading: 154.726557 deg, new cmd heading: 154.698371 deg. 2025-10-29T00:55:58.614Z,1761699358.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699996 target range: 251.632248 and range: 253.20 m. 2025-10-29T00:55:58.729Z,1761699358.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530194 2025-10-29T00:55:58.995Z,1761699358.995 [DAT](INFO): DAT read: 00:55:57.7082 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 464, 0.09,-0.214,-1.496,-0.113,-1.117, PHS= 1.006,-0.334, 0.961, RAW= 148.3, -23.6, CAL= 149.9, -25.4, ROT= 0.1, 25.4 2025-10-29T00:55:58.996Z,1761699358.996 [DAT](INFO): got valid direction response: 00:55:57.7082 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 464, 0.09,-0.214,-1.496,-0.113,-1.117, PHS= 1.006,-0.334, 0.961, RAW= 148.3, -23.6, CAL= 149.9, -25.4, ROT= 0.1, 25.4 2025-10-29T00:55:58.997Z,1761699358.997 [DAT](INFO): DAT read: Bearing 298.4, 7.8 (Local) 2025-10-29T00:55:58.997Z,1761699358.997 [DAT](INFO): Local bearing/azimuth received: Bearing 298.4, 7.8 (Local) 2025-10-29T00:55:58.998Z,1761699358.998 [DAT](INFO): DAT read: Range 11 to 50 : 249.9 m (Round-trip 333.2 ms) speed 0.4 m/s 2025-10-29T00:55:58.999Z,1761699358.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:55:59.028Z,1761699359.028 [DAT](INFO): direction in FSK: [0.903334,0.001577,-0.428935] 2025-10-29T00:55:59.029Z,1761699359.029 [DAT](INFO): publishing direction and range info 2025-10-29T00:55:59.036Z,1761699359.036 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:55:59.036Z,1761699359.036 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:55:59.036Z,1761699359.036 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:55:59.154Z,1761699359.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 249.899994 m, deltaT: 8.069641 s, deltaX: -3.300003 m, approachRate: -0.408940 m/s, rangeRepo size: 4 2025-10-29T00:55:59.163Z,1761699359.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 248.353317 m, bearing: 151.926544 deg, lat: 36.779086 deg, lon: -121.859474 deg, deltaT: 8.069641 s, deltaX: -3.278931 m, approachRate: -0.406329 m/s, posRepo size: 4 2025-10-29T00:55:59.168Z,1761699359.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:55:59.171Z,1761699359.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 227.304703 m, bearing: 151.346320 deg, approach rate: 0.000000 m/s, LOS rate: -0.037590 deg/s, cmd heading: 154.698375 deg, new cmd heading: 154.657499 deg. 2025-10-29T00:55:59.172Z,1761699359.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.699283 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:55:59.234Z,1761699359.234 [DAT](INFO): DAT read: user:605> 2025-10-29T00:55:59.235Z,1761699359.235 [DAT](INFO): DAT read: Tx time:00:55:59.0208 2025-10-29T00:55:59.235Z,1761699359.235 [DAT](INFO): Ping request sent. 2025-10-29T00:55:59.235Z,1761699359.235 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:55:59.236Z,1761699359.236 [DAT](INFO): publishing transmit ping time 2025-10-29T00:55:59.237Z,1761699359.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001175 2025-10-29T00:55:59.485Z,1761699359.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249489 2025-10-29T00:55:59.546Z,1761699359.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:55:59.549Z,1761699359.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 227.073746 m, bearing: 151.334500 deg, approach rate: -0.588469 m/s, LOS rate: -0.030147 deg/s, cmd heading: 154.657503 deg, new cmd heading: 154.633839 deg. 2025-10-29T00:55:59.550Z,1761699359.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698870 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:55:59.737Z,1761699359.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501925 2025-10-29T00:55:59.899Z,1761699359.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908879,-0.417026,-0.005316],[0.411168,-0.893831,-0.178903],[0.069856,-0.164787,0.983852]] 2025-10-29T00:55:59.924Z,1761699359.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:55:59.928Z,1761699359.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:55:59.934Z,1761699359.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 226.839478 m, bearing: 151.322888 deg, approach rate: -0.613801 m/s, LOS rate: -0.030455 deg/s, cmd heading: 154.633844 deg, new cmd heading: 154.610596 deg. 2025-10-29T00:55:59.935Z,1761699359.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.698464 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:55:59.992Z,1761699359.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755749 2025-10-29T00:56:00.241Z,1761699360.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005300 2025-10-29T00:56:00.312Z,1761699360.312 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908717,-0.417376,-0.005593],[0.411551,-0.893637,-0.178994],[0.069710,-0.164956,0.983834]] 2025-10-29T00:56:00.356Z,1761699360.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:00.359Z,1761699360.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 226.577896 m, bearing: 151.309542 deg, approach rate: -0.610269 m/s, LOS rate: -0.031172 deg/s, cmd heading: 154.610594 deg, new cmd heading: 154.583871 deg. 2025-10-29T00:56:00.360Z,1761699360.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697998 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:00.497Z,1761699360.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261303 2025-10-29T00:56:00.715Z,1761699360.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908458,-0.417935,-0.005909],[0.412124,-0.893291,-0.179402],[0.069700,-0.165415,0.983758]] 2025-10-29T00:56:00.746Z,1761699360.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510032 2025-10-29T00:56:00.754Z,1761699360.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:00.762Z,1761699360.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 226.349548 m, bearing: 151.297905 deg, approach rate: -0.575069 m/s, LOS rate: -0.029338 deg/s, cmd heading: 154.583874 deg, new cmd heading: 154.560575 deg. 2025-10-29T00:56:00.763Z,1761699360.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697591 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:01.001Z,1761699361.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765321 2025-10-29T00:56:01.173Z,1761699361.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:01.179Z,1761699361.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 226.081772 m, bearing: 151.282449 deg, approach rate: -0.637671 m/s, LOS rate: -0.036849 deg/s, cmd heading: 154.560569 deg, new cmd heading: 154.529621 deg. 2025-10-29T00:56:01.180Z,1761699361.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.697051 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:01.251Z,1761699361.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015770 2025-10-29T00:56:01.505Z,1761699361.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269446 2025-10-29T00:56:01.527Z,1761699361.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907536,-0.419924,-0.006549],[0.414405,-0.892859,-0.176270],[0.068173,-0.162685,0.984320]] 2025-10-29T00:56:01.570Z,1761699361.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:01.573Z,1761699361.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 225.839661 m, bearing: 151.268595 deg, approach rate: -0.609921 m/s, LOS rate: -0.034937 deg/s, cmd heading: 154.529615 deg, new cmd heading: 154.501878 deg. 2025-10-29T00:56:01.574Z,1761699361.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.696567 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:01.758Z,1761699361.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521732 2025-10-29T00:56:01.962Z,1761699361.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907033,-0.421005,-0.006783],[0.415598,-0.892566,-0.174938],[0.067596,-0.161494,0.984556]] 2025-10-29T00:56:02.012Z,1761699362.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.776182 2025-10-29T00:56:02.072Z,1761699362.072 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:02.078Z,1761699362.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:02.081Z,1761699362.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 225.537506 m, bearing: 151.251365 deg, approach rate: -0.595262 m/s, LOS rate: -0.033990 deg/s, cmd heading: 154.501884 deg, new cmd heading: 154.467377 deg. 2025-10-29T00:56:02.082Z,1761699362.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695964 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:02.261Z,1761699362.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025333 2025-10-29T00:56:02.337Z,1761699362.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906467,-0.422201,-0.007962],[0.416927,-0.891833,-0.175518],[0.067003,-0.162421,0.984444]] 2025-10-29T00:56:02.407Z,1761699362.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:02.410Z,1761699362.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 225.334106 m, bearing: 151.239690 deg, approach rate: -0.618527 m/s, LOS rate: -0.035534 deg/s, cmd heading: 154.467378 deg, new cmd heading: 154.444008 deg. 2025-10-29T00:56:02.411Z,1761699362.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695556 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:02.514Z,1761699362.514 [DAT](INFO): DAT read: Rx Time:00:56:01.7554 2025-10-29T00:56:02.514Z,1761699362.514 [DAT](INFO): Rx dataTimestamp_ set to:1761699362.514154 2025-10-29T00:56:02.515Z,1761699362.515 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279499 2025-10-29T00:56:02.749Z,1761699362.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905882,-0.423418,-0.009739],[0.418330,-0.890930,-0.176759],[0.066166,-0.164197,0.984206]] 2025-10-29T00:56:02.765Z,1761699362.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529832 2025-10-29T00:56:02.810Z,1761699362.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 248.35 m. 2025-10-29T00:56:02.818Z,1761699362.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 248.353317 m, nav range: 225.105164 m, bearing: 151.226619 deg, approach rate: -0.567694 m/s, LOS rate: -0.032443 deg/s, cmd heading: 154.444005 deg, new cmd heading: 154.417837 deg. 2025-10-29T00:56:02.819Z,1761699362.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.695100 target range: 248.353317 and range: 249.90 m. 2025-10-29T00:56:03.039Z,1761699363.039 [DAT](INFO): DAT read: 00:56:01.7554 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 135,-0.22,-2.513, 2.321,-2.185,-2.676, PHS= 0.265,-1.241, 0.447, RAW= 155.6, 6.7, CAL= 155.0, 6.7, ROT= 355.0, -6.7 2025-10-29T00:56:03.061Z,1761699363.061 [DAT](INFO): got valid direction response: 00:56:01.7554 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 135,-0.22,-2.513, 2.321,-2.185,-2.676, PHS= 0.265,-1.241, 0.447, RAW= 155.6, 6.7, CAL= 155.0, 6.7, ROT= 355.0, -6.7 2025-10-29T00:56:03.062Z,1761699363.062 [DAT](INFO): DAT read: Bearing 328.6, -2.2 (Local) 2025-10-29T00:56:03.062Z,1761699363.062 [DAT](INFO): Local bearing/azimuth received: Bearing 328.6, -2.2 (Local) 2025-10-29T00:56:03.063Z,1761699363.063 [DAT](INFO): DAT read: Range 11 to 50 : 247.8 m (Round-trip 330.4 ms) speed 0.4 m/s 2025-10-29T00:56:03.064Z,1761699363.064 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:03.065Z,1761699363.065 [DAT](INFO): direction in FSK: [0.989391,-0.086560,0.116671] 2025-10-29T00:56:03.066Z,1761699363.066 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:03.074Z,1761699363.074 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:03.074Z,1761699363.074 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:03.075Z,1761699363.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:03.236Z,1761699363.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905644,-0.423903,-0.010754],[0.418914,-0.890478,-0.177650],[0.065731,-0.165392,0.984035]] 2025-10-29T00:56:03.269Z,1761699363.269 [DAT](INFO): DAT read: user:606> 2025-10-29T00:56:03.270Z,1761699363.270 [DAT](INFO): DAT read: Tx time:00:56:03.0708 2025-10-29T00:56:03.270Z,1761699363.270 [DAT](INFO): Ping request sent. 2025-10-29T00:56:03.270Z,1761699363.270 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:03.270Z,1761699363.270 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:03.271Z,1761699363.271 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000725 2025-10-29T00:56:03.290Z,1761699363.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 247.800003 m, deltaT: 4.036356 s, deltaX: -2.099991 m, approachRate: -0.520269 m/s, rangeRepo size: 4 2025-10-29T00:56:03.292Z,1761699363.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 246.270569 m, bearing: 151.317438 deg, lat: 36.779042 deg, lon: -121.859462 deg, deltaT: 4.036356 s, deltaX: -2.082748 m, approachRate: -0.515997 m/s, posRepo size: 4 2025-10-29T00:56:03.293Z,1761699363.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:03.295Z,1761699363.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 229.627823 m, bearing: 151.556042 deg, approach rate: 0.000000 m/s, LOS rate: -0.032443 deg/s, cmd heading: 154.417832 deg, new cmd heading: 154.386732 deg. 2025-10-29T00:56:03.296Z,1761699363.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694557 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:03.521Z,1761699363.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251374 2025-10-29T00:56:03.630Z,1761699363.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904924,-0.425411,-0.011714],[0.420585,-0.889780,-0.177202],[0.064961,-0.165281,0.984105]] 2025-10-29T00:56:03.656Z,1761699363.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:03.658Z,1761699363.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 229.405304 m, bearing: 151.544380 deg, approach rate: -0.607308 m/s, LOS rate: -0.031858 deg/s, cmd heading: 154.386727 deg, new cmd heading: 154.363381 deg. 2025-10-29T00:56:03.659Z,1761699363.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.694149 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:03.774Z,1761699363.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503510 2025-10-29T00:56:04.028Z,1761699364.028 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757198 2025-10-29T00:56:04.104Z,1761699364.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904302,-0.426704,-0.012698],[0.422014,-0.889085,-0.177294],[0.064363,-0.165686,0.984076]] 2025-10-29T00:56:04.145Z,1761699364.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:04.147Z,1761699364.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:04.150Z,1761699364.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 229.109192 m, bearing: 151.530200 deg, approach rate: -0.602058 m/s, LOS rate: -0.028868 deg/s, cmd heading: 154.363382 deg, new cmd heading: 154.334985 deg. 2025-10-29T00:56:04.151Z,1761699364.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693654 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:04.278Z,1761699364.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007457 2025-10-29T00:56:04.503Z,1761699364.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903993,-0.427333,-0.013539],[0.422754,-0.888680,-0.177561],[0.063846,-0.166237,0.984017]] 2025-10-29T00:56:04.529Z,1761699364.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258913 2025-10-29T00:56:04.531Z,1761699364.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:04.533Z,1761699364.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 228.879059 m, bearing: 151.519203 deg, approach rate: -0.600464 m/s, LOS rate: -0.028723 deg/s, cmd heading: 154.334982 deg, new cmd heading: 154.312965 deg. 2025-10-29T00:56:04.534Z,1761699364.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.693269 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:04.781Z,1761699364.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510877 2025-10-29T00:56:05.006Z,1761699365.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:05.009Z,1761699365.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 228.594254 m, bearing: 151.505561 deg, approach rate: -0.599762 m/s, LOS rate: -0.028764 deg/s, cmd heading: 154.312961 deg, new cmd heading: 154.285644 deg. 2025-10-29T00:56:05.010Z,1761699365.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692792 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:05.035Z,1761699365.035 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764890 2025-10-29T00:56:05.285Z,1761699365.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015213 2025-10-29T00:56:05.519Z,1761699365.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:05.522Z,1761699365.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 228.292847 m, bearing: 151.492041 deg, approach rate: -0.587280 m/s, LOS rate: -0.026379 deg/s, cmd heading: 154.285641 deg, new cmd heading: 154.258564 deg. 2025-10-29T00:56:05.523Z,1761699365.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.692320 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:05.537Z,1761699365.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266883 2025-10-29T00:56:05.789Z,1761699365.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518861 2025-10-29T00:56:05.839Z,1761699365.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903134,-0.429083,-0.015382],[0.425111,-0.888600,-0.172248],[0.060240,-0.162102,0.984933]] 2025-10-29T00:56:05.858Z,1761699365.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:05.877Z,1761699365.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 228.077698 m, bearing: 151.482505 deg, approach rate: -0.634454 m/s, LOS rate: -0.028147 deg/s, cmd heading: 154.258566 deg, new cmd heading: 154.239476 deg. 2025-10-29T00:56:05.878Z,1761699365.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691987 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:06.041Z,1761699366.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770835 2025-10-29T00:56:06.235Z,1761699366.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903048,-0.429246,-0.015903],[0.425537,-0.888976,-0.169234],[0.058505,-0.159594,0.985448]] 2025-10-29T00:56:06.293Z,1761699366.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023267 2025-10-29T00:56:06.370Z,1761699366.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:06.373Z,1761699366.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:06.375Z,1761699366.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 227.758575 m, bearing: 151.468514 deg, approach rate: -0.620050 m/s, LOS rate: -0.027222 deg/s, cmd heading: 154.239482 deg, new cmd heading: 154.211462 deg. 2025-10-29T00:56:06.377Z,1761699366.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691498 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:06.545Z,1761699366.545 [DAT](INFO): DAT read: Rx Time:00:56:05.7468 2025-10-29T00:56:06.545Z,1761699366.545 [DAT](INFO): Rx dataTimestamp_ set to:1761699366.545147 2025-10-29T00:56:06.546Z,1761699366.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275914 2025-10-29T00:56:06.659Z,1761699366.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.903012,-0.429293,-0.016607],[0.425851,-0.889327,-0.166580],[0.056742,-0.157496,0.985888]] 2025-10-29T00:56:06.715Z,1761699366.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:06.719Z,1761699366.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 227.545273 m, bearing: 151.459154 deg, approach rate: -0.621988 m/s, LOS rate: -0.027318 deg/s, cmd heading: 154.211465 deg, new cmd heading: 154.192728 deg. 2025-10-29T00:56:06.724Z,1761699366.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.691171 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:06.797Z,1761699366.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527023 2025-10-29T00:56:07.078Z,1761699367.078 [DAT](INFO): DAT read: 00:56:05.7468 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 348, 0.24,-1.551,-3.111,-1.242,-1.754, PHS= 0.305,-1.313, 0.467, RAW= 154.7, 6.4, CAL= 154.1, 6.5, ROT= 355.9, -6.5 2025-10-29T00:56:07.082Z,1761699367.082 [DAT](INFO): got valid direction response: 00:56:05.7468 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 348, 0.24,-1.551,-3.111,-1.242,-1.754, PHS= 0.305,-1.313, 0.467, RAW= 154.7, 6.4, CAL= 154.1, 6.5, ROT= 355.9, -6.5 2025-10-29T00:56:07.085Z,1761699367.085 [DAT](INFO): DAT read: Bearing 327.1, -1.7 (Local) 2025-10-29T00:56:07.086Z,1761699367.086 [DAT](INFO): Local bearing/azimuth received: Bearing 327.1, -1.7 (Local) 2025-10-29T00:56:07.113Z,1761699367.113 [DAT](INFO): DAT read: Range 11 to 50 : 203.8 m (Round-trip 271.8 ms) speed 0.4 m/s 2025-10-29T00:56:07.113Z,1761699367.113 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:07.114Z,1761699367.114 [DAT](INFO): direction in FSK: [0.991029,-0.071038,0.113203] 2025-10-29T00:56:07.115Z,1761699367.115 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:07.130Z,1761699367.130 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:07.130Z,1761699367.130 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:07.131Z,1761699367.131 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:07.159Z,1761699367.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902719,-0.429815,-0.018926],[0.426975,-0.889616,-0.162101],[0.052837,-0.154412,0.986593]] 2025-10-29T00:56:07.285Z,1761699367.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 203.800003 m, deltaT: 4.032369 s, deltaX: -44.000000 m, approachRate: -10.911700 m/s, rangeRepo size: 4 2025-10-29T00:56:07.286Z,1761699367.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:07.293Z,1761699367.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 227.191010 m, bearing: 151.445318 deg, approach rate: -0.622258 m/s, LOS rate: -0.024342 deg/s, cmd heading: 154.192723 deg, new cmd heading: 154.165006 deg. 2025-10-29T00:56:07.294Z,1761699367.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690687 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:07.301Z,1761699367.301 [DAT](INFO): DAT read: user:607> 2025-10-29T00:56:07.302Z,1761699367.302 [DAT](INFO): DAT read: Tx time:00:56:07.1208 2025-10-29T00:56:07.302Z,1761699367.302 [DAT](INFO): Ping request sent. 2025-10-29T00:56:07.302Z,1761699367.302 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:07.302Z,1761699367.302 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:07.303Z,1761699367.303 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T00:56:07.553Z,1761699367.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250561 2025-10-29T00:56:07.588Z,1761699367.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902281,-0.430646,-0.020803],[0.428150,-0.889284,-0.160814],[0.050754,-0.154007,0.986765]] 2025-10-29T00:56:07.675Z,1761699367.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:07.678Z,1761699367.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 226.930481 m, bearing: 151.435198 deg, approach rate: -0.667083 m/s, LOS rate: -0.025940 deg/s, cmd heading: 154.165006 deg, new cmd heading: 154.144744 deg. 2025-10-29T00:56:07.679Z,1761699367.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690333 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:07.805Z,1761699367.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502619 2025-10-29T00:56:07.993Z,1761699367.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902191,-0.430731,-0.022827],[0.428585,-0.889214,-0.160041],[0.048637,-0.154171,0.986846]] 2025-10-29T00:56:08.011Z,1761699368.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:08.014Z,1761699368.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 226.715515 m, bearing: 151.426855 deg, approach rate: -0.640639 m/s, LOS rate: -0.024888 deg/s, cmd heading: 154.144747 deg, new cmd heading: 154.128045 deg. 2025-10-29T00:56:08.015Z,1761699368.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.690042 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:08.058Z,1761699368.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755629 2025-10-29T00:56:08.309Z,1761699368.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006627 2025-10-29T00:56:08.397Z,1761699368.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901988,-0.431049,-0.024796],[0.429204,-0.888925,-0.159989],[0.046922,-0.154951,0.986807]] 2025-10-29T00:56:08.470Z,1761699368.470 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:08.472Z,1761699368.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:08.475Z,1761699368.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 226.435928 m, bearing: 151.414496 deg, approach rate: -0.606340 m/s, LOS rate: -0.026836 deg/s, cmd heading: 154.128041 deg, new cmd heading: 154.103292 deg. 2025-10-29T00:56:08.476Z,1761699368.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689610 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:08.562Z,1761699368.562 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259419 2025-10-29T00:56:08.799Z,1761699368.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901609,-0.431749,-0.026345],[0.430191,-0.888667,-0.158764],[0.045134,-0.154477,0.986965]] 2025-10-29T00:56:08.813Z,1761699368.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510908 2025-10-29T00:56:08.842Z,1761699368.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:08.845Z,1761699368.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 226.210739 m, bearing: 151.404581 deg, approach rate: -0.608117 m/s, LOS rate: -0.026802 deg/s, cmd heading: 154.103288 deg, new cmd heading: 154.083438 deg. 2025-10-29T00:56:08.846Z,1761699368.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.689263 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:09.066Z,1761699369.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763665 2025-10-29T00:56:09.202Z,1761699369.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901145,-0.432587,-0.028381],[0.431381,-0.888291,-0.157637],[0.042982,-0.154297,0.987089]] 2025-10-29T00:56:09.249Z,1761699369.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:09.252Z,1761699369.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 225.963699 m, bearing: 151.393658 deg, approach rate: -0.606734 m/s, LOS rate: -0.026857 deg/s, cmd heading: 154.083440 deg, new cmd heading: 154.061569 deg. 2025-10-29T00:56:09.253Z,1761699369.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688882 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:09.318Z,1761699369.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015329 2025-10-29T00:56:09.569Z,1761699369.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266657 2025-10-29T00:56:09.612Z,1761699369.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900562,-0.433654,-0.030521],[0.432748,-0.887559,-0.158017],[0.041436,-0.155511,0.986965]] 2025-10-29T00:56:09.631Z,1761699369.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:09.635Z,1761699369.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 225.728485 m, bearing: 151.383329 deg, approach rate: -0.615783 m/s, LOS rate: -0.027070 deg/s, cmd heading: 154.061569 deg, new cmd heading: 154.040889 deg. 2025-10-29T00:56:09.636Z,1761699369.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688521 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:09.821Z,1761699369.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518596 2025-10-29T00:56:10.014Z,1761699370.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900108,-0.434473,-0.032240],[0.433811,-0.886990,-0.158293],[0.040178,-0.156466,0.986866]] 2025-10-29T00:56:10.040Z,1761699370.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:10.043Z,1761699370.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 225.478836 m, bearing: 151.372418 deg, approach rate: -0.611717 m/s, LOS rate: -0.026763 deg/s, cmd heading: 154.040888 deg, new cmd heading: 154.019043 deg. 2025-10-29T00:56:10.044Z,1761699370.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.688139 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:10.081Z,1761699370.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778906 2025-10-29T00:56:10.335Z,1761699370.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.032646 2025-10-29T00:56:10.435Z,1761699370.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899716,-0.435082,-0.034840],[0.434768,-0.886288,-0.159593],[0.038558,-0.158736,0.986568]] 2025-10-29T00:56:10.486Z,1761699370.486 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:10.504Z,1761699370.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:10.507Z,1761699370.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 225.207825 m, bearing: 151.359354 deg, approach rate: -0.604469 m/s, LOS rate: -0.029175 deg/s, cmd heading: 154.019045 deg, new cmd heading: 153.992884 deg. 2025-10-29T00:56:10.512Z,1761699370.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687683 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:10.589Z,1761699370.589 [DAT](INFO): DAT read: Rx Time:00:56:09.8499 2025-10-29T00:56:10.590Z,1761699370.590 [DAT](INFO): Rx dataTimestamp_ set to:1761699370.589949 2025-10-29T00:56:10.591Z,1761699370.591 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.288849 2025-10-29T00:56:10.830Z,1761699370.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899189,-0.436042,-0.036421],[0.435970,-0.885725,-0.159439],[0.037263,-0.159245,0.986536]] 2025-10-29T00:56:10.841Z,1761699370.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.538735 2025-10-29T00:56:10.851Z,1761699370.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 246.27 m. 2025-10-29T00:56:10.854Z,1761699370.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 246.270569 m, nav range: 224.987778 m, bearing: 151.348800 deg, approach rate: -0.606396 m/s, LOS rate: -0.029112 deg/s, cmd heading: 153.992885 deg, new cmd heading: 153.971757 deg. 2025-10-29T00:56:10.855Z,1761699370.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.687314 target range: 246.270569 and range: 247.80 m. 2025-10-29T00:56:11.100Z,1761699371.100 [DAT](INFO): DAT read: 00:56:09.8499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 185, 0.12, 2.150, 0.509, 2.474, 1.947, PHS= 0.305,-1.393, 0.483, RAW= 154.9, 6.8, CAL= 154.3, 6.9, ROT= 355.7, -6.9 2025-10-29T00:56:11.101Z,1761699371.101 [DAT](INFO): got valid direction response: 00:56:09.8499 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 185, 0.12, 2.150, 0.509, 2.474, 1.947, PHS= 0.305,-1.393, 0.483, RAW= 154.9, 6.8, CAL= 154.3, 6.9, ROT= 355.7, -6.9 2025-10-29T00:56:11.102Z,1761699371.102 [DAT](INFO): DAT read: Bearing 326.6, -3.2 (Local) 2025-10-29T00:56:11.103Z,1761699371.103 [DAT](INFO): Local bearing/azimuth received: Bearing 326.6, -3.2 (Local) 2025-10-29T00:56:11.105Z,1761699371.105 [DAT](INFO): DAT read: Range 11 to 50 : 243.6 m (Round-trip 324.9 ms) speed 0.8 m/s 2025-10-29T00:56:11.107Z,1761699371.107 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:11.110Z,1761699371.110 [DAT](INFO): direction in FSK: [0.989963,-0.074435,0.120137] 2025-10-29T00:56:11.111Z,1761699371.111 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:11.127Z,1761699371.127 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:11.127Z,1761699371.127 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:11.173Z,1761699371.173 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:11.231Z,1761699371.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898401,-0.437547,-0.037786],[0.437754,-0.885256,-0.157141],[0.035307,-0.157717,0.986853]] 2025-10-29T00:56:11.328Z,1761699371.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 243.600006 m, deltaT: 8.076000 s, deltaX: -4.199997 m, approachRate: -0.520059 m/s, rangeRepo size: 4 2025-10-29T00:56:11.330Z,1761699371.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 242.091187 m, bearing: 150.851685 deg, lat: 36.779042 deg, lon: -121.859474 deg, deltaT: 8.076000 s, deltaX: -4.179382 m, approachRate: -0.517506 m/s, posRepo size: 4 2025-10-29T00:56:11.331Z,1761699371.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:11.334Z,1761699371.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 224.169052 m, bearing: 151.581114 deg, approach rate: 0.000000 m/s, LOS rate: -0.029112 deg/s, cmd heading: 153.971752 deg, new cmd heading: 153.943999 deg. 2025-10-29T00:56:11.335Z,1761699371.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686830 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:11.345Z,1761699371.345 [DAT](INFO): DAT read: user:608> 2025-10-29T00:56:11.346Z,1761699371.346 [DAT](INFO): DAT read: Tx time:00:56:11.1708 2025-10-29T00:56:11.346Z,1761699371.346 [DAT](INFO): Ping request sent. 2025-10-29T00:56:11.346Z,1761699371.346 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:11.346Z,1761699371.346 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:11.347Z,1761699371.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T00:56:11.599Z,1761699371.599 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253296 2025-10-29T00:56:11.674Z,1761699371.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:11.677Z,1761699371.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 223.951981 m, bearing: 151.570019 deg, approach rate: -0.627068 m/s, LOS rate: -0.032082 deg/s, cmd heading: 153.943994 deg, new cmd heading: 153.921783 deg. 2025-10-29T00:56:11.678Z,1761699371.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686442 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:11.854Z,1761699371.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.508003 2025-10-29T00:56:12.039Z,1761699372.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897350,-0.439482,-0.040221],[0.440141,-0.884578,-0.154262],[0.032217,-0.156129,0.987211]] 2025-10-29T00:56:12.081Z,1761699372.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:12.088Z,1761699372.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 223.710037 m, bearing: 151.557790 deg, approach rate: -0.593674 m/s, LOS rate: -0.030039 deg/s, cmd heading: 153.921783 deg, new cmd heading: 153.897299 deg. 2025-10-29T00:56:12.089Z,1761699372.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.686015 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:12.105Z,1761699372.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758900 2025-10-29T00:56:12.357Z,1761699372.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010768 2025-10-29T00:56:12.521Z,1761699372.521 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:12.523Z,1761699372.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:12.526Z,1761699372.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 223.428070 m, bearing: 151.542201 deg, approach rate: -0.637528 m/s, LOS rate: -0.035292 deg/s, cmd heading: 153.897303 deg, new cmd heading: 153.866086 deg. 2025-10-29T00:56:12.527Z,1761699372.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685470 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:12.610Z,1761699372.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.263732 2025-10-29T00:56:12.848Z,1761699372.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896545,-0.440879,-0.042813],[0.442020,-0.884197,-0.151043],[0.028737,-0.154341,0.987600]] 2025-10-29T00:56:12.861Z,1761699372.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514848 2025-10-29T00:56:12.869Z,1761699372.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:12.872Z,1761699372.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 223.216125 m, bearing: 151.530567 deg, approach rate: -0.613773 m/s, LOS rate: -0.033725 deg/s, cmd heading: 153.866089 deg, new cmd heading: 153.842798 deg. 2025-10-29T00:56:12.873Z,1761699372.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.685063 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:13.114Z,1761699373.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767332 2025-10-29T00:56:13.251Z,1761699373.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896390,-0.441123,-0.043538],[0.442449,-0.884446,-0.148308],[0.026915,-0.152205,0.987982]] 2025-10-29T00:56:13.309Z,1761699373.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:13.312Z,1761699373.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 222.952042 m, bearing: 151.515146 deg, approach rate: -0.600080 m/s, LOS rate: -0.035081 deg/s, cmd heading: 153.842798 deg, new cmd heading: 153.811922 deg. 2025-10-29T00:56:13.313Z,1761699373.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684525 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:13.366Z,1761699373.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019691 2025-10-29T00:56:13.617Z,1761699373.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270816 2025-10-29T00:56:13.663Z,1761699373.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896477,-0.440889,-0.044117],[0.442370,-0.884897,-0.145828],[0.025255,-0.150248,0.988326]] 2025-10-29T00:56:13.682Z,1761699373.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:13.685Z,1761699373.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 222.728363 m, bearing: 151.502044 deg, approach rate: -0.599904 m/s, LOS rate: -0.035176 deg/s, cmd heading: 153.811926 deg, new cmd heading: 153.785694 deg. 2025-10-29T00:56:13.686Z,1761699373.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.684067 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:13.869Z,1761699373.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522776 2025-10-29T00:56:14.097Z,1761699374.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:14.100Z,1761699374.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 222.479523 m, bearing: 151.487435 deg, approach rate: -0.598938 m/s, LOS rate: -0.035200 deg/s, cmd heading: 153.785698 deg, new cmd heading: 153.756449 deg. 2025-10-29T00:56:14.101Z,1761699374.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683556 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:14.121Z,1761699374.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774883 2025-10-29T00:56:14.373Z,1761699374.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026774 2025-10-29T00:56:14.467Z,1761699374.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896062,-0.441539,-0.046002],[0.443410,-0.885192,-0.140794],[0.021445,-0.146558,0.988970]] 2025-10-29T00:56:14.562Z,1761699374.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:14.564Z,1761699374.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:14.567Z,1761699374.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 222.200714 m, bearing: 151.471831 deg, approach rate: -0.597256 m/s, LOS rate: -0.033470 deg/s, cmd heading: 153.756451 deg, new cmd heading: 153.725203 deg. 2025-10-29T00:56:14.568Z,1761699374.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.683011 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:14.626Z,1761699374.626 [DAT](INFO): DAT read: Rx Time:00:56:13.8404 2025-10-29T00:56:14.626Z,1761699374.626 [DAT](INFO): Rx dataTimestamp_ set to:1761699374.625923 2025-10-29T00:56:14.627Z,1761699374.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280637 2025-10-29T00:56:14.867Z,1761699374.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895893,-0.441838,-0.046420],[0.443828,-0.885442,-0.137876],[0.019817,-0.144125,0.989361]] 2025-10-29T00:56:14.877Z,1761699374.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530947 2025-10-29T00:56:14.941Z,1761699374.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:14.944Z,1761699374.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 221.974945 m, bearing: 151.459186 deg, approach rate: -0.598692 m/s, LOS rate: -0.033566 deg/s, cmd heading: 153.725196 deg, new cmd heading: 153.699880 deg. 2025-10-29T00:56:14.945Z,1761699374.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682569 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:15.138Z,1761699375.138 [DAT](INFO): DAT read: 00:56:13.8404 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 347,-0.20,-0.674,-2.191,-0.390,-0.857, PHS= 0.285,-1.290, 0.423, RAW= 154.2, 7.1, CAL= 153.6, 7.4, ROT= 356.4, -7.4 2025-10-29T00:56:15.139Z,1761699375.139 [DAT](INFO): got valid direction response: 00:56:13.8404 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 347,-0.20,-0.674,-2.191,-0.390,-0.857, PHS= 0.285,-1.290, 0.423, RAW= 154.2, 7.1, CAL= 153.6, 7.4, ROT= 356.4, -7.4 2025-10-29T00:56:15.150Z,1761699375.150 [DAT](INFO): DAT read: Bearing 326.8, -3.5 (Local) 2025-10-29T00:56:15.152Z,1761699375.152 [DAT](INFO): Local bearing/azimuth received: Bearing 326.8, -3.5 (Local) 2025-10-29T00:56:15.155Z,1761699375.155 [DAT](INFO): DAT read: Range 11 to 50 : 199.0 m (Round-trip 265.4 ms) speed 0.4 m/s 2025-10-29T00:56:15.155Z,1761699375.155 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:15.182Z,1761699375.182 [DAT](INFO): direction in FSK: [0.989714,-0.062268,0.128796] 2025-10-29T00:56:15.183Z,1761699375.183 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:15.233Z,1761699375.233 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:15.233Z,1761699375.233 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:15.233Z,1761699375.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:15.276Z,1761699375.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895729,-0.442061,-0.047462],[0.444223,-0.885452,-0.136528],[0.018328,-0.143375,0.989499]] 2025-10-29T00:56:15.376Z,1761699375.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 199.000000 m, deltaT: 4.036322 s, deltaX: -44.600006 m, approachRate: -11.049665 m/s, rangeRepo size: 4 2025-10-29T00:56:15.377Z,1761699375.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:15.381Z,1761699375.381 [DAT](INFO): DAT read: user:609> 2025-10-29T00:56:15.382Z,1761699375.382 [DAT](INFO): DAT read: Tx time:00:56:15.2208 2025-10-29T00:56:15.382Z,1761699375.382 [DAT](INFO): Ping request sent. 2025-10-29T00:56:15.382Z,1761699375.382 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:15.382Z,1761699375.382 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:15.383Z,1761699375.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-29T00:56:15.388Z,1761699375.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 221.731049 m, bearing: 151.445761 deg, approach rate: -0.566625 m/s, LOS rate: -0.031223 deg/s, cmd heading: 153.699883 deg, new cmd heading: 153.673004 deg. 2025-10-29T00:56:15.389Z,1761699375.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.682100 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:15.633Z,1761699375.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251143 2025-10-29T00:56:15.675Z,1761699375.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895224,-0.442913,-0.049002],[0.445305,-0.885066,-0.135503],[0.016646,-0.143127,0.989564]] 2025-10-29T00:56:15.721Z,1761699375.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:15.724Z,1761699375.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 221.510880 m, bearing: 151.433686 deg, approach rate: -0.629744 m/s, LOS rate: -0.034571 deg/s, cmd heading: 153.673000 deg, new cmd heading: 153.648826 deg. 2025-10-29T00:56:15.725Z,1761699375.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681678 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:15.885Z,1761699375.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503002 2025-10-29T00:56:16.093Z,1761699376.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894932,-0.443402,-0.049921],[0.445946,-0.885006,-0.133774],[0.015135,-0.141981,0.989754]] 2025-10-29T00:56:16.137Z,1761699376.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754815 2025-10-29T00:56:16.145Z,1761699376.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:16.155Z,1761699376.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 221.276169 m, bearing: 151.420830 deg, approach rate: -0.553421 m/s, LOS rate: -0.030346 deg/s, cmd heading: 153.648821 deg, new cmd heading: 153.623081 deg. 2025-10-29T00:56:16.156Z,1761699376.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.681229 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:16.390Z,1761699376.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007980 2025-10-29T00:56:16.483Z,1761699376.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894590,-0.443920,-0.051411],[0.446679,-0.884730,-0.133156],[0.013626,-0.142084,0.989761]] 2025-10-29T00:56:16.527Z,1761699376.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:16.530Z,1761699376.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 221.028503 m, bearing: 151.408039 deg, approach rate: -0.648770 m/s, LOS rate: -0.033544 deg/s, cmd heading: 153.623085 deg, new cmd heading: 153.597474 deg. 2025-10-29T00:56:16.531Z,1761699376.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680782 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:16.641Z,1761699376.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258814 2025-10-29T00:56:16.887Z,1761699376.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894637,-0.443589,-0.053423],[0.446623,-0.884560,-0.134468],[0.012392,-0.144160,0.989477]] 2025-10-29T00:56:16.893Z,1761699376.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961 2025-10-29T00:56:16.918Z,1761699376.918 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:16.921Z,1761699376.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:16.942Z,1761699376.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 220.794556 m, bearing: 151.395927 deg, approach rate: -0.593491 m/s, LOS rate: -0.030757 deg/s, cmd heading: 153.597472 deg, new cmd heading: 153.573223 deg. 2025-10-29T00:56:16.943Z,1761699376.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.680358 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:17.145Z,1761699377.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762902 2025-10-29T00:56:17.292Z,1761699377.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894777,-0.443047,-0.055531],[0.446372,-0.884426,-0.136174],[0.011219,-0.146633,0.989127]] 2025-10-29T00:56:17.332Z,1761699377.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:17.335Z,1761699377.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 220.533875 m, bearing: 151.383037 deg, approach rate: -0.634818 m/s, LOS rate: -0.031427 deg/s, cmd heading: 153.573224 deg, new cmd heading: 153.547414 deg. 2025-10-29T00:56:17.336Z,1761699377.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679908 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:17.398Z,1761699377.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016120 2025-10-29T00:56:17.649Z,1761699377.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266728 2025-10-29T00:56:17.703Z,1761699377.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895036,-0.442431,-0.056261],[0.445874,-0.884715,-0.135927],[0.010364,-0.146745,0.989120]] 2025-10-29T00:56:17.734Z,1761699377.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:17.738Z,1761699377.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 220.285507 m, bearing: 151.370690 deg, approach rate: -0.618126 m/s, LOS rate: -0.030766 deg/s, cmd heading: 153.547420 deg, new cmd heading: 153.522696 deg. 2025-10-29T00:56:17.738Z,1761699377.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679476 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:17.902Z,1761699377.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519912 2025-10-29T00:56:18.101Z,1761699378.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895525,-0.441485,-0.055917],[0.444901,-0.885392,-0.134700],[0.009959,-0.145504,0.989308]] 2025-10-29T00:56:18.119Z,1761699378.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:18.122Z,1761699378.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 220.042374 m, bearing: 151.358501 deg, approach rate: -0.630265 m/s, LOS rate: -0.031632 deg/s, cmd heading: 153.522695 deg, new cmd heading: 153.498290 deg. 2025-10-29T00:56:18.123Z,1761699378.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.679050 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:18.154Z,1761699378.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771350 2025-10-29T00:56:18.405Z,1761699378.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023216 2025-10-29T00:56:18.506Z,1761699378.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896102,-0.440385,-0.055338],[0.443738,-0.886107,-0.133835],[0.009904,-0.144485,0.989457]] 2025-10-29T00:56:18.553Z,1761699378.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:18.556Z,1761699378.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 219.778366 m, bearing: 151.345455 deg, approach rate: -0.608764 m/s, LOS rate: -0.030117 deg/s, cmd heading: 153.498284 deg, new cmd heading: 153.472161 deg. 2025-10-29T00:56:18.557Z,1761699378.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678595 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:18.658Z,1761699378.658 [DAT](INFO): DAT read: Rx Time:00:56:17.9160 2025-10-29T00:56:18.658Z,1761699378.658 [DAT](INFO): Rx dataTimestamp_ set to:1761699378.657902 2025-10-29T00:56:18.659Z,1761699378.659 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277000 2025-10-29T00:56:18.910Z,1761699378.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527757 2025-10-29T00:56:18.924Z,1761699378.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896653,-0.439357,-0.054574],[0.442622,-0.886821,-0.132794],[0.009946,-0.143226,0.989640]] 2025-10-29T00:56:18.940Z,1761699378.940 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:56:18.942Z,1761699378.942 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:18.964Z,1761699378.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:18.967Z,1761699378.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 219.541077 m, bearing: 151.333622 deg, approach rate: -0.606763 m/s, LOS rate: -0.030290 deg/s, cmd heading: 153.472165 deg, new cmd heading: 153.448474 deg. 2025-10-29T00:56:18.980Z,1761699378.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.678181 target range: 242.091187 and range: 243.60 m. 2025-10-29T00:56:19.162Z,1761699379.162 [DAT](INFO): DAT read: Range 11 to 50 : 218.2 m (Round-trip 291.0 ms) speed 0.4 m/s 2025-10-29T00:56:19.162Z,1761699379.162 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T00:56:19.163Z,1761699379.163 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:19.163Z,1761699379.163 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:19.163Z,1761699379.163 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:19.309Z,1761699379.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896944,-0.438831,-0.054020],[0.442034,-0.887291,-0.131607],[0.009822,-0.141923,0.989829]] 2025-10-29T00:56:19.375Z,1761699379.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 218.199997 m, deltaT: 8.065981 s, deltaX: -25.400009 m, approachRate: -3.149029 m/s, rangeRepo size: 4 2025-10-29T00:56:19.375Z,1761699379.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:19.382Z,1761699379.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 219.280914 m, bearing: 151.323048 deg, approach rate: -0.605367 m/s, LOS rate: -0.024633 deg/s, cmd heading: 153.448478 deg, new cmd heading: 153.427305 deg. 2025-10-29T00:56:19.383Z,1761699379.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677812 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:19.414Z,1761699379.414 [DAT](INFO): DAT read: user:610> 2025-10-29T00:56:19.415Z,1761699379.415 [DAT](INFO): DAT read: Tx time:00:56:19.1708 2025-10-29T00:56:19.417Z,1761699379.417 [DAT](INFO): Ping request sent. 2025-10-29T00:56:19.417Z,1761699379.417 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:19.417Z,1761699379.417 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:19.419Z,1761699379.419 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001411 2025-10-29T00:56:19.665Z,1761699379.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247937 2025-10-29T00:56:19.754Z,1761699379.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:19.775Z,1761699379.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 219.025452 m, bearing: 151.312641 deg, approach rate: -0.671788 m/s, LOS rate: -0.027399 deg/s, cmd heading: 153.427304 deg, new cmd heading: 153.406466 deg. 2025-10-29T00:56:19.784Z,1761699379.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677448 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:19.918Z,1761699379.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500996 2025-10-29T00:56:19.944Z,1761699379.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:56:20.115Z,1761699380.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897479,-0.438036,-0.051540],[0.440941,-0.888406,-0.127693],[0.010145,-0.137328,0.990474]] 2025-10-29T00:56:20.133Z,1761699380.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:20.152Z,1761699380.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 218.779968 m, bearing: 151.302529 deg, approach rate: -0.647637 m/s, LOS rate: -0.026709 deg/s, cmd heading: 153.406472 deg, new cmd heading: 153.386224 deg. 2025-10-29T00:56:20.153Z,1761699380.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.677095 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:20.169Z,1761699380.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752314 2025-10-29T00:56:20.422Z,1761699380.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005019 2025-10-29T00:56:20.518Z,1761699380.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897371,-0.438329,-0.050915],[0.441161,-0.888508,-0.126216],[0.010086,-0.135725,0.990695]] 2025-10-29T00:56:20.620Z,1761699380.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:20.623Z,1761699380.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 218.466339 m, bearing: 151.288862 deg, approach rate: -0.644148 m/s, LOS rate: -0.028109 deg/s, cmd heading: 153.386228 deg, new cmd heading: 153.358855 deg. 2025-10-29T00:56:20.641Z,1761699380.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676617 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:20.676Z,1761699380.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258746 2025-10-29T00:56:20.925Z,1761699380.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508087 2025-10-29T00:56:20.953Z,1761699380.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897329,-0.438303,-0.051871],[0.441265,-0.888448,-0.126275],[0.009262,-0.136199,0.990638]] 2025-10-29T00:56:20.991Z,1761699380.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:20.993Z,1761699380.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:20.997Z,1761699380.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 218.226013 m, bearing: 151.278372 deg, approach rate: -0.643689 m/s, LOS rate: -0.028129 deg/s, cmd heading: 153.358852 deg, new cmd heading: 153.337848 deg. 2025-10-29T00:56:20.997Z,1761699380.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.676250 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:21.177Z,1761699381.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759917 2025-10-29T00:56:21.363Z,1761699381.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896974,-0.438814,-0.053674],[0.442001,-0.887816,-0.128133],[0.008574,-0.138656,0.990304]] 2025-10-29T00:56:21.429Z,1761699381.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012061 2025-10-29T00:56:21.436Z,1761699381.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:21.439Z,1761699381.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 217.956314 m, bearing: 151.266616 deg, approach rate: -0.609641 m/s, LOS rate: -0.026605 deg/s, cmd heading: 153.337842 deg, new cmd heading: 153.314303 deg. 2025-10-29T00:56:21.440Z,1761699381.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675839 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:21.681Z,1761699381.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264301 2025-10-29T00:56:21.764Z,1761699381.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.896595,-0.439414,-0.055076],[0.442787,-0.887371,-0.128500],[0.007592,-0.139599,0.990179]] 2025-10-29T00:56:21.811Z,1761699381.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:21.814Z,1761699381.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 217.726089 m, bearing: 151.256615 deg, approach rate: -0.613924 m/s, LOS rate: -0.026699 deg/s, cmd heading: 153.314306 deg, new cmd heading: 153.294281 deg. 2025-10-29T00:56:21.815Z,1761699381.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675490 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:21.933Z,1761699381.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516063 2025-10-29T00:56:22.159Z,1761699382.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895762,-0.440821,-0.057337],[0.444483,-0.886228,-0.130518],[0.006721,-0.142399,0.989787]] 2025-10-29T00:56:22.185Z,1761699382.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768044 2025-10-29T00:56:22.233Z,1761699382.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:22.236Z,1761699382.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 217.467896 m, bearing: 151.245508 deg, approach rate: -0.611418 m/s, LOS rate: -0.026332 deg/s, cmd heading: 153.294280 deg, new cmd heading: 153.272040 deg. 2025-10-29T00:56:22.237Z,1761699382.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.675102 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:22.438Z,1761699382.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020462 2025-10-29T00:56:22.607Z,1761699382.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:22.610Z,1761699382.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 217.240082 m, bearing: 151.236284 deg, approach rate: -0.608784 m/s, LOS rate: -0.024675 deg/s, cmd heading: 153.272040 deg, new cmd heading: 153.253573 deg. 2025-10-29T00:56:22.611Z,1761699382.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674779 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:22.693Z,1761699382.693 [DAT](INFO): DAT read: Rx Time:00:56:21.8927 2025-10-29T00:56:22.693Z,1761699382.693 [DAT](INFO): Rx dataTimestamp_ set to:1761699382.692858 2025-10-29T00:56:22.694Z,1761699382.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277059 2025-10-29T00:56:22.945Z,1761699382.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528051 2025-10-29T00:56:22.967Z,1761699382.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894042,-0.443545,-0.062908],[0.447960,-0.883688,-0.135752],[0.004621,-0.149548,0.988744]] 2025-10-29T00:56:22.993Z,1761699382.993 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:22.995Z,1761699382.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 242.09 m. 2025-10-29T00:56:23.003Z,1761699383.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 242.091187 m, nav range: 217.009430 m, bearing: 151.227184 deg, approach rate: -0.594315 m/s, LOS rate: -0.023473 deg/s, cmd heading: 153.253572 deg, new cmd heading: 153.235352 deg. 2025-10-29T00:56:23.003Z,1761699383.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674461 target range: 242.091187 and range: 218.20 m. 2025-10-29T00:56:23.203Z,1761699383.203 [DAT](INFO): DAT read: 00:56:21.8927 LVL= 32016, 30321, 25906, 23075, AGC= 73, IDX= 202, 0.11, 0.251,-1.033, 0.265,-0.615, PHS= 0.968,-0.373, 0.836, RAW= 144.9, -21.6, CAL= 146.0, -23.8, ROT= 4.0, 23.8 2025-10-29T00:56:23.204Z,1761699383.204 [DAT](INFO): got valid direction response: 00:56:21.8927 LVL= 32016, 30321, 25906, 23075, AGC= 73, IDX= 202, 0.11, 0.251,-1.033, 0.265,-0.615, PHS= 0.968,-0.373, 0.836, RAW= 144.9, -21.6, CAL= 146.0, -23.8, ROT= 4.0, 23.8 2025-10-29T00:56:23.205Z,1761699383.205 [DAT](INFO): DAT read: Bearing 295.9, 7.3 (Local) 2025-10-29T00:56:23.205Z,1761699383.205 [DAT](INFO): Local bearing/azimuth received: Bearing 295.9, 7.3 (Local) 2025-10-29T00:56:23.206Z,1761699383.206 [DAT](INFO): DAT read: Range 11 to 50 : 238.2 m (Round-trip 317.7 ms) speed 0.8 m/s 2025-10-29T00:56:23.207Z,1761699383.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:23.214Z,1761699383.214 [DAT](INFO): direction in FSK: [0.912731,0.063824,-0.403545] 2025-10-29T00:56:23.214Z,1761699383.214 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:23.218Z,1761699383.218 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:23.218Z,1761699383.218 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:23.218Z,1761699383.218 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:23.374Z,1761699383.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.893270,-0.444397,-0.067672],[0.449507,-0.881952,-0.141791],[0.003328,-0.157077,0.987581]] 2025-10-29T00:56:23.449Z,1761699383.449 [DAT](INFO): DAT read: user:611> 2025-10-29T00:56:23.450Z,1761699383.450 [DAT](INFO): DAT read: Tx time:00:56:23.2208 2025-10-29T00:56:23.450Z,1761699383.450 [DAT](INFO): Ping request sent. 2025-10-29T00:56:23.450Z,1761699383.450 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:23.450Z,1761699383.450 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:23.451Z,1761699383.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000739 2025-10-29T00:56:23.454Z,1761699383.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 238.199997 m, deltaT: 4.036439 s, deltaX: 20.000000 m, approachRate: 4.954863 m/s, rangeRepo size: 4 2025-10-29T00:56:23.461Z,1761699383.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 236.734879 m, bearing: 153.265453 deg, lat: 36.779013 deg, lon: -121.859553 deg, deltaT: 12.102420 s, deltaX: -5.356308 m, approachRate: -0.442582 m/s, posRepo size: 4 2025-10-29T00:56:23.461Z,1761699383.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:23.476Z,1761699383.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 216.396393 m, bearing: 153.264865 deg, approach rate: 0.000000 m/s, LOS rate: -0.023473 deg/s, cmd heading: 153.235349 deg, new cmd heading: 153.213838 deg. 2025-10-29T00:56:23.477Z,1761699383.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.674086 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:23.701Z,1761699383.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250732 2025-10-29T00:56:23.779Z,1761699383.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892409,-0.445458,-0.071926],[0.451223,-0.880306,-0.146491],[0.001939,-0.163185,0.986594]] 2025-10-29T00:56:23.797Z,1761699383.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:23.800Z,1761699383.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 216.173843 m, bearing: 153.257297 deg, approach rate: -0.647349 m/s, LOS rate: -0.022036 deg/s, cmd heading: 153.213834 deg, new cmd heading: 153.198682 deg. 2025-10-29T00:56:23.801Z,1761699383.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673821 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:23.953Z,1761699383.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502854 2025-10-29T00:56:24.205Z,1761699384.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754850 2025-10-29T00:56:24.217Z,1761699384.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:24.220Z,1761699384.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 215.914246 m, bearing: 153.248449 deg, approach rate: -0.618203 m/s, LOS rate: -0.021095 deg/s, cmd heading: 153.198684 deg, new cmd heading: 153.180968 deg. 2025-10-29T00:56:24.221Z,1761699384.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673512 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:24.457Z,1761699384.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006786 2025-10-29T00:56:24.583Z,1761699384.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891324,-0.447093,-0.075161],[0.453367,-0.879087,-0.147190],[-0.000266,-0.165270,0.986248]] 2025-10-29T00:56:24.628Z,1761699384.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:24.631Z,1761699384.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 215.656540 m, bearing: 153.238580 deg, approach rate: -0.628089 m/s, LOS rate: -0.024083 deg/s, cmd heading: 153.180967 deg, new cmd heading: 153.161204 deg. 2025-10-29T00:56:24.631Z,1761699384.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.673167 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:24.709Z,1761699384.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258967 2025-10-29T00:56:24.961Z,1761699384.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510790 2025-10-29T00:56:24.993Z,1761699384.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890973,-0.447668,-0.075902],[0.454056,-0.878821,-0.146654],[-0.001052,-0.165129,0.986272]] 2025-10-29T00:56:25.009Z,1761699385.009 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:25.011Z,1761699385.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:25.014Z,1761699385.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 215.415695 m, bearing: 153.229385 deg, approach rate: -0.627761 m/s, LOS rate: -0.023993 deg/s, cmd heading: 153.161200 deg, new cmd heading: 153.142790 deg. 2025-10-29T00:56:25.015Z,1761699385.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672846 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:25.213Z,1761699385.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762799 2025-10-29T00:56:25.410Z,1761699385.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890974,-0.447824,-0.074955],[0.454053,-0.879118,-0.144874],[-0.001016,-0.163113,0.986607]] 2025-10-29T00:56:25.460Z,1761699385.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:25.462Z,1761699385.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 215.141037 m, bearing: 153.219329 deg, approach rate: -0.612801 m/s, LOS rate: -0.022464 deg/s, cmd heading: 153.142786 deg, new cmd heading: 153.122649 deg. 2025-10-29T00:56:25.463Z,1761699385.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672494 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:25.465Z,1761699385.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014958 2025-10-29T00:56:25.717Z,1761699385.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266811 2025-10-29T00:56:25.836Z,1761699385.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:25.839Z,1761699385.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 214.910568 m, bearing: 153.210872 deg, approach rate: -0.612546 m/s, LOS rate: -0.022504 deg/s, cmd heading: 153.122651 deg, new cmd heading: 153.105717 deg. 2025-10-29T00:56:25.840Z,1761699385.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.672199 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:25.969Z,1761699385.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518722 2025-10-29T00:56:26.208Z,1761699386.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891177,-0.448143,-0.070504],[0.453655,-0.880493,-0.137586],[-0.000420,-0.154598,0.987977]] 2025-10-29T00:56:26.221Z,1761699386.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770936 2025-10-29T00:56:26.229Z,1761699386.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:26.231Z,1761699386.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 214.671204 m, bearing: 153.202015 deg, approach rate: -0.609391 m/s, LOS rate: -0.022574 deg/s, cmd heading: 153.105712 deg, new cmd heading: 153.087978 deg. 2025-10-29T00:56:26.232Z,1761699386.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671889 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:26.473Z,1761699386.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023026 2025-10-29T00:56:26.611Z,1761699386.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891454,-0.447995,-0.067900],[0.453112,-0.881377,-0.133659],[0.000033,-0.149918,0.988698]] 2025-10-29T00:56:26.670Z,1761699386.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:26.673Z,1761699386.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 214.403122 m, bearing: 153.190725 deg, approach rate: -0.607564 m/s, LOS rate: -0.025618 deg/s, cmd heading: 153.087981 deg, new cmd heading: 153.065373 deg. 2025-10-29T00:56:26.674Z,1761699386.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671495 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:26.726Z,1761699386.726 [DAT](INFO): DAT read: Rx Time:00:56:25.8804 2025-10-29T00:56:26.727Z,1761699386.727 [DAT](INFO): Rx dataTimestamp_ set to:1761699386.726757 2025-10-29T00:56:26.728Z,1761699386.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277489 2025-10-29T00:56:26.977Z,1761699386.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526904 2025-10-29T00:56:27.067Z,1761699387.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891806,-0.447835,-0.064232],[0.452418,-0.882581,-0.127945],[0.000609,-0.143162,0.989699]] 2025-10-29T00:56:27.084Z,1761699387.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:27.086Z,1761699387.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:27.092Z,1761699387.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 214.151474 m, bearing: 153.180027 deg, approach rate: -0.604626 m/s, LOS rate: -0.025734 deg/s, cmd heading: 153.065373 deg, new cmd heading: 153.043951 deg. 2025-10-29T00:56:27.095Z,1761699387.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.671121 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:27.234Z,1761699387.234 [DAT](INFO): DAT read: 00:56:25.8804 LVL= 32752, 32753, 32194, 32755, AGC= 71, IDX= 308, 0.13,-0.906,-2.456,-0.554,-0.990, PHS= 0.186,-1.421, 0.391, RAW= 155.9, 9.8, CAL= 155.8, 10.6, ROT= 354.2, -10.6 2025-10-29T00:56:27.235Z,1761699387.235 [DAT](INFO): got valid direction response: 00:56:25.8804 LVL= 32752, 32753, 32194, 32755, AGC= 71, IDX= 308, 0.13,-0.906,-2.456,-0.554,-0.990, PHS= 0.186,-1.421, 0.391, RAW= 155.9, 9.8, CAL= 155.8, 10.6, ROT= 354.2, -10.6 2025-10-29T00:56:27.239Z,1761699387.239 [DAT](INFO): DAT read: Bearing 328.4, -7.2 (Local) 2025-10-29T00:56:27.240Z,1761699387.240 [DAT](INFO): Local bearing/azimuth received: Bearing 328.4, -7.2 (Local) 2025-10-29T00:56:27.241Z,1761699387.241 [DAT](INFO): DAT read: Range 11 to 50 : 191.5 m (Round-trip 255.4 ms) speed 0.7 m/s 2025-10-29T00:56:27.242Z,1761699387.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:27.243Z,1761699387.243 [DAT](INFO): direction in FSK: [0.977903,-0.099332,0.183951] 2025-10-29T00:56:27.243Z,1761699387.243 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:27.288Z,1761699387.288 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:27.289Z,1761699387.289 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:27.289Z,1761699387.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:27.427Z,1761699387.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891662,-0.448459,-0.061841],[0.452702,-0.883009,-0.123919],[0.000967,-0.138490,0.990363]] 2025-10-29T00:56:27.481Z,1761699387.481 [DAT](INFO): DAT read: user:612> 2025-10-29T00:56:27.482Z,1761699387.482 [DAT](INFO): DAT read: Tx time:00:56:27.2708 2025-10-29T00:56:27.482Z,1761699387.482 [DAT](INFO): Ping request sent. 2025-10-29T00:56:27.482Z,1761699387.482 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:27.483Z,1761699387.483 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:27.483Z,1761699387.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:56:27.578Z,1761699387.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 191.500000 m, deltaT: 4.031575 s, deltaX: -46.699997 m, approachRate: -11.583562 m/s, rangeRepo size: 4 2025-10-29T00:56:27.579Z,1761699387.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:27.582Z,1761699387.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 213.849197 m, bearing: 153.167229 deg, approach rate: -0.614799 m/s, LOS rate: -0.026065 deg/s, cmd heading: 153.043953 deg, new cmd heading: 153.018322 deg. 2025-10-29T00:56:27.583Z,1761699387.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670674 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:27.733Z,1761699387.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250400 2025-10-29T00:56:27.822Z,1761699387.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891572,-0.448782,-0.060779],[0.452877,-0.883079,-0.122776],[0.001427,-0.136989,0.990571]] 2025-10-29T00:56:27.869Z,1761699387.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:27.873Z,1761699387.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 213.665497 m, bearing: 153.159441 deg, approach rate: -0.630193 m/s, LOS rate: -0.026741 deg/s, cmd heading: 153.018326 deg, new cmd heading: 153.002737 deg. 2025-10-29T00:56:27.874Z,1761699387.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670402 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:27.986Z,1761699387.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503702 2025-10-29T00:56:28.227Z,1761699388.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891381,-0.449105,-0.061198],[0.453254,-0.882823,-0.123227],[0.001315,-0.137580,0.990490]] 2025-10-29T00:56:28.237Z,1761699388.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754393 2025-10-29T00:56:28.280Z,1761699388.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:28.286Z,1761699388.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 213.420715 m, bearing: 153.149073 deg, approach rate: -0.620278 m/s, LOS rate: -0.026304 deg/s, cmd heading: 153.002740 deg, new cmd heading: 152.981979 deg. 2025-10-29T00:56:28.287Z,1761699388.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.670039 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:28.489Z,1761699388.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006487 2025-10-29T00:56:28.628Z,1761699388.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891358,-0.448977,-0.062457],[0.453300,-0.882526,-0.125170],[0.001078,-0.139883,0.990167]] 2025-10-29T00:56:28.689Z,1761699388.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:28.697Z,1761699388.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 213.153763 m, bearing: 153.138039 deg, approach rate: -0.628014 m/s, LOS rate: -0.025990 deg/s, cmd heading: 152.981976 deg, new cmd heading: 152.959881 deg. 2025-10-29T00:56:28.698Z,1761699388.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669654 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:28.742Z,1761699388.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259598 2025-10-29T00:56:28.993Z,1761699388.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510961 2025-10-29T00:56:29.032Z,1761699389.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891058,-0.449492,-0.063024],[0.453889,-0.882272,-0.124822],[0.000502,-0.139830,0.990175]] 2025-10-29T00:56:29.063Z,1761699389.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:29.066Z,1761699389.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 212.918655 m, bearing: 153.128340 deg, approach rate: -0.628433 m/s, LOS rate: -0.025952 deg/s, cmd heading: 152.959887 deg, new cmd heading: 152.940469 deg. 2025-10-29T00:56:29.067Z,1761699389.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.669315 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:29.246Z,1761699389.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763128 2025-10-29T00:56:29.498Z,1761699389.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015117 2025-10-29T00:56:29.586Z,1761699389.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:29.589Z,1761699389.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:29.591Z,1761699389.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 212.593094 m, bearing: 153.116681 deg, approach rate: -0.619317 m/s, LOS rate: -0.022213 deg/s, cmd heading: 152.940476 deg, new cmd heading: 152.917122 deg. 2025-10-29T00:56:29.593Z,1761699389.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668907 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:29.750Z,1761699389.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267081 2025-10-29T00:56:29.971Z,1761699389.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:29.974Z,1761699389.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 212.355835 m, bearing: 153.108161 deg, approach rate: -0.621344 m/s, LOS rate: -0.022337 deg/s, cmd heading: 152.917116 deg, new cmd heading: 152.900058 deg. 2025-10-29T00:56:29.974Z,1761699389.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668609 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:30.018Z,1761699390.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.535493 2025-10-29T00:56:30.269Z,1761699390.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.786655 2025-10-29T00:56:30.395Z,1761699390.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.889141,-0.451893,-0.072257],[0.457618,-0.879254,-0.132278],[-0.003757,-0.150680,0.988575]] 2025-10-29T00:56:30.481Z,1761699390.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:30.488Z,1761699390.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 212.050674 m, bearing: 153.097538 deg, approach rate: -0.597629 m/s, LOS rate: -0.020835 deg/s, cmd heading: 152.900055 deg, new cmd heading: 152.878777 deg. 2025-10-29T00:56:30.489Z,1761699390.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.668238 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:30.521Z,1761699390.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.038524 2025-10-29T00:56:30.774Z,1761699390.774 [DAT](INFO): DAT read: Rx Time:00:56:29.9568 2025-10-29T00:56:30.774Z,1761699390.774 [DAT](INFO): Rx dataTimestamp_ set to:1761699390.773866 2025-10-29T00:56:30.775Z,1761699390.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.292525 2025-10-29T00:56:30.815Z,1761699390.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888662,-0.452202,-0.076108],[0.458530,-0.878249,-0.135752],[-0.005455,-0.155536,0.987815]] 2025-10-29T00:56:30.877Z,1761699390.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:30.886Z,1761699390.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 211.789276 m, bearing: 153.088913 deg, approach rate: -0.669445 m/s, LOS rate: -0.022115 deg/s, cmd heading: 152.878772 deg, new cmd heading: 152.861502 deg. 2025-10-29T00:56:30.894Z,1761699390.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667937 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:31.026Z,1761699391.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.542765 2025-10-29T00:56:31.238Z,1761699391.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888173,-0.452586,-0.079467],[0.459456,-0.877340,-0.138474],[-0.007048,-0.159501,0.987173]] 2025-10-29T00:56:31.257Z,1761699391.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 236.73 m. 2025-10-29T00:56:31.259Z,1761699391.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 236.734879 m, nav range: 211.532944 m, bearing: 153.080516 deg, approach rate: -0.667095 m/s, LOS rate: -0.021879 deg/s, cmd heading: 152.861505 deg, new cmd heading: 152.844691 deg. 2025-10-29T00:56:31.260Z,1761699391.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667643 target range: 236.734879 and range: 238.20 m. 2025-10-29T00:56:31.286Z,1761699391.286 [DAT](INFO): DAT read: 00:56:29.9568 LVL= 22464, 26897, 25202, 21283, AGC= 71, IDX= 194, 0.19,-0.390,-1.594,-0.296,-1.140, PHS= 0.853,-0.409, 0.800, RAW= 147.9, -19.6, CAL= 149.6, -22.0, ROT= 0.4, 22.0 2025-10-29T00:56:31.287Z,1761699391.287 [DAT](INFO): got valid direction response: 00:56:29.9568 LVL= 22464, 26897, 25202, 21283, AGC= 71, IDX= 194, 0.19,-0.390,-1.594,-0.296,-1.140, PHS= 0.853,-0.409, 0.800, RAW= 147.9, -19.6, CAL= 149.6, -22.0, ROT= 0.4, 22.0 2025-10-29T00:56:31.289Z,1761699391.289 [DAT](INFO): DAT read: Bearing 295.9, 3.7 (Local) 2025-10-29T00:56:31.289Z,1761699391.289 [DAT](INFO): Local bearing/azimuth received: Bearing 295.9, 3.7 (Local) 2025-10-29T00:56:31.290Z,1761699391.290 [DAT](INFO): DAT read: Range 11 to 50 : 211.3 m (Round-trip 281.8 ms) speed 0.2 m/s 2025-10-29T00:56:31.291Z,1761699391.291 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:56:31.292Z,1761699391.292 [DAT](INFO): direction in FSK: [0.927161,0.006473,-0.374607] 2025-10-29T00:56:31.292Z,1761699391.292 [DAT](INFO): publishing direction and range info 2025-10-29T00:56:31.296Z,1761699391.296 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:31.296Z,1761699391.296 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:31.296Z,1761699391.296 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:31.534Z,1761699391.534 [DAT](INFO): DAT read: user:613> 2025-10-29T00:56:31.535Z,1761699391.535 [DAT](INFO): DAT read: Tx time:00:56:31.2708 2025-10-29T00:56:31.535Z,1761699391.535 [DAT](INFO): Ping request sent. 2025-10-29T00:56:31.536Z,1761699391.536 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:56:31.536Z,1761699391.536 [DAT](INFO): publishing transmit ping time 2025-10-29T00:56:31.537Z,1761699391.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001186 2025-10-29T00:56:31.639Z,1761699391.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887913,-0.452621,-0.082127],[0.459932,-0.876816,-0.140199],[-0.008553,-0.162257,0.986711]] 2025-10-29T00:56:31.718Z,1761699391.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 211.300003 m, deltaT: 8.083702 s, deltaX: -26.899994 m, approachRate: -3.327682 m/s, rangeRepo size: 4 2025-10-29T00:56:31.725Z,1761699391.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 210.000061 m, bearing: 149.246814 deg, lat: 36.779204 deg, lon: -121.859552 deg, deltaT: 8.083702 s, deltaX: -26.734818 m, approachRate: -3.307249 m/s, posRepo size: 4 2025-10-29T00:56:31.726Z,1761699391.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:31.733Z,1761699391.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 192.537094 m, bearing: 150.174336 deg, approach rate: 0.000000 m/s, LOS rate: -0.021879 deg/s, cmd heading: 152.844689 deg, new cmd heading: 152.824479 deg. 2025-10-29T00:56:31.734Z,1761699391.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.667290 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:31.786Z,1761699391.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250666 2025-10-29T00:56:32.037Z,1761699392.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501393 2025-10-29T00:56:32.054Z,1761699392.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887647,-0.452912,-0.083382],[0.460416,-0.876692,-0.139386],[-0.009971,-0.162116,0.986721]] 2025-10-29T00:56:32.071Z,1761699392.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:32.074Z,1761699392.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:32.077Z,1761699392.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 192.302475 m, bearing: 150.160666 deg, approach rate: -0.658939 m/s, LOS rate: -0.038439 deg/s, cmd heading: 152.824485 deg, new cmd heading: 152.797113 deg. 2025-10-29T00:56:32.078Z,1761699392.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666813 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:32.289Z,1761699392.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753735 2025-10-29T00:56:32.510Z,1761699392.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887100,-0.453762,-0.084579],[0.461416,-0.876617,-0.136518],[-0.012197,-0.160131,0.987020]] 2025-10-29T00:56:32.541Z,1761699392.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005363 2025-10-29T00:56:32.558Z,1761699392.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:32.562Z,1761699392.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 191.995529 m, bearing: 150.144440 deg, approach rate: -0.633544 m/s, LOS rate: -0.033544 deg/s, cmd heading: 152.797110 deg, new cmd heading: 152.764606 deg. 2025-10-29T00:56:32.563Z,1761699392.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.666245 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:32.793Z,1761699392.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257609 2025-10-29T00:56:32.860Z,1761699392.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886568,-0.454595,-0.085683],[0.462375,-0.876568,-0.133559],[-0.014392,-0.158027,0.987330]] 2025-10-29T00:56:32.902Z,1761699392.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:32.909Z,1761699392.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 191.789459 m, bearing: 150.133580 deg, approach rate: -0.598814 m/s, LOS rate: -0.031593 deg/s, cmd heading: 152.764612 deg, new cmd heading: 152.742868 deg. 2025-10-29T00:56:32.910Z,1761699392.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665866 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:33.045Z,1761699393.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509841 2025-10-29T00:56:33.264Z,1761699393.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886228,-0.454919,-0.087453],[0.462955,-0.876468,-0.132201],[-0.016509,-0.157647,0.987358]] 2025-10-29T00:56:33.283Z,1761699393.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:33.286Z,1761699393.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 191.536942 m, bearing: 150.120289 deg, approach rate: -0.663171 m/s, LOS rate: -0.034950 deg/s, cmd heading: 152.742865 deg, new cmd heading: 152.716249 deg. 2025-10-29T00:56:33.287Z,1761699393.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.665401 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:33.297Z,1761699393.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761366 2025-10-29T00:56:33.550Z,1761699393.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013801 2025-10-29T00:56:33.716Z,1761699393.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:33.718Z,1761699393.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 191.271667 m, bearing: 150.105776 deg, approach rate: -0.613583 m/s, LOS rate: -0.033615 deg/s, cmd heading: 152.716254 deg, new cmd heading: 152.687188 deg. 2025-10-29T00:56:33.719Z,1761699393.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664894 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:33.802Z,1761699393.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266602 2025-10-29T00:56:34.053Z,1761699394.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517272 2025-10-29T00:56:34.075Z,1761699394.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885505,-0.455565,-0.091331],[0.464113,-0.876532,-0.127632],[-0.021910,-0.155407,0.987608]] 2025-10-29T00:56:34.098Z,1761699394.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:34.101Z,1761699394.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:34.103Z,1761699394.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 191.035065 m, bearing: 150.092886 deg, approach rate: -0.614457 m/s, LOS rate: -0.033517 deg/s, cmd heading: 152.687185 deg, new cmd heading: 152.661373 deg. 2025-10-29T00:56:34.104Z,1761699394.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.664443 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:34.305Z,1761699394.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769704 2025-10-29T00:56:34.539Z,1761699394.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885183,-0.455924,-0.092652],[0.464600,-0.876720,-0.124533],[-0.024453,-0.153281,0.987880]] 2025-10-29T00:56:34.557Z,1761699394.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021536 2025-10-29T00:56:34.594Z,1761699394.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:34.616Z,1761699394.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 190.730560 m, bearing: 150.074696 deg, approach rate: -0.617212 m/s, LOS rate: -0.036929 deg/s, cmd heading: 152.661367 deg, new cmd heading: 152.624929 deg. 2025-10-29T00:56:34.624Z,1761699394.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663808 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:34.814Z,1761699394.814 [DAT](INFO): DAT read: 00:56:33.9838 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 199,-0.12, 2.496, 1.200, 2.553, 1.657, PHS= 0.942,-0.412, 0.852, RAW= 146.6, -20.4, CAL= 148.0, -22.8, ROT= 2.0, 22.8 2025-10-29T00:56:34.815Z,1761699394.815 [DAT](INFO): got valid direction response: 00:56:33.9838 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 199,-0.12, 2.496, 1.200, 2.553, 1.657, PHS= 0.942,-0.412, 0.852, RAW= 146.6, -20.4, CAL= 148.0, -22.8, ROT= 2.0, 22.8 2025-10-29T00:56:34.816Z,1761699394.816 [DAT](INFO): DAT read: Rx Time:00:56:33.9838 2025-10-29T00:56:34.817Z,1761699394.817 [DAT](INFO): Rx dataTimestamp_ set to:1761699394.816472 2025-10-29T00:56:34.817Z,1761699394.817 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-29T00:56:34.818Z,1761699394.818 [DAT](INFO): Received low SNR in chirp 2025-10-29T00:56:34.832Z,1761699394.832 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:56:34.833Z,1761699394.833 [DAT](INFO): direction in FSK: [0.921302,0.032173,-0.387516] 2025-10-29T00:56:34.836Z,1761699394.836 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:34.836Z,1761699394.836 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:34.837Z,1761699394.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:34.973Z,1761699394.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884802,-0.456112,-0.095325],[0.465173,-0.876549,-0.123597],[-0.027183,-0.153702,0.987743]] 2025-10-29T00:56:35.061Z,1761699395.061 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:35.061Z,1761699395.061 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:35.061Z,1761699395.061 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:35.070Z,1761699395.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:35.073Z,1761699395.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 190.438431 m, bearing: 150.057252 deg, approach rate: -0.613641 m/s, LOS rate: -0.036700 deg/s, cmd heading: 152.624935 deg, new cmd heading: 152.589992 deg. 2025-10-29T00:56:35.074Z,1761699395.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.663198 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:35.314Z,1761699395.314 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:35.314Z,1761699395.314 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:35.315Z,1761699395.315 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:35.400Z,1761699395.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884433,-0.456352,-0.097579],[0.465759,-0.876240,-0.123577],[-0.029108,-0.154744,0.987526]] 2025-10-29T00:56:35.457Z,1761699395.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:35.468Z,1761699395.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 190.207626 m, bearing: 150.043482 deg, approach rate: -0.596212 m/s, LOS rate: -0.035612 deg/s, cmd heading: 152.589991 deg, new cmd heading: 152.562420 deg. 2025-10-29T00:56:35.472Z,1761699395.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662717 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:35.565Z,1761699395.565 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:35.565Z,1761699395.565 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:35.565Z,1761699395.565 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:35.817Z,1761699395.817 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:35.817Z,1761699395.817 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:35.817Z,1761699395.817 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:35.933Z,1761699395.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:35.935Z,1761699395.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 189.906708 m, bearing: 150.025668 deg, approach rate: -0.632756 m/s, LOS rate: -0.037519 deg/s, cmd heading: 152.562425 deg, new cmd heading: 152.526739 deg. 2025-10-29T00:56:35.937Z,1761699395.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.662094 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:36.069Z,1761699396.069 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:36.069Z,1761699396.069 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:36.069Z,1761699396.069 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:36.243Z,1761699396.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884328,-0.456736,-0.096729],[0.465786,-0.877223,-0.116285],[-0.031741,-0.147889,0.988494]] 2025-10-29T00:56:36.292Z,1761699396.292 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:36.294Z,1761699396.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:36.297Z,1761699396.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 189.685379 m, bearing: 150.012500 deg, approach rate: -0.612731 m/s, LOS rate: -0.036497 deg/s, cmd heading: 152.526744 deg, new cmd heading: 152.500377 deg. 2025-10-29T00:56:36.300Z,1761699396.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661634 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:36.321Z,1761699396.321 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:36.322Z,1761699396.322 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:36.322Z,1761699396.322 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:36.573Z,1761699396.573 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:36.573Z,1761699396.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:36.573Z,1761699396.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:36.700Z,1761699396.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:36.718Z,1761699396.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 189.444931 m, bearing: 149.997476 deg, approach rate: -0.594709 m/s, LOS rate: -0.037205 deg/s, cmd heading: 152.500379 deg, new cmd heading: 152.470294 deg. 2025-10-29T00:56:36.719Z,1761699396.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.661109 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:36.825Z,1761699396.825 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:36.825Z,1761699396.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:36.825Z,1761699396.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:37.056Z,1761699397.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.883390,-0.458249,-0.098132],[0.467414,-0.876676,-0.113855],[-0.033856,-0.146446,0.988639]] 2025-10-29T00:56:37.075Z,1761699397.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:37.077Z,1761699397.077 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:37.077Z,1761699397.077 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:37.077Z,1761699397.077 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:37.079Z,1761699397.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 189.221130 m, bearing: 149.983583 deg, approach rate: -0.594482 m/s, LOS rate: -0.036949 deg/s, cmd heading: 152.470299 deg, new cmd heading: 152.442480 deg. 2025-10-29T00:56:37.080Z,1761699397.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660623 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:37.329Z,1761699397.329 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:37.329Z,1761699397.329 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:37.329Z,1761699397.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:37.454Z,1761699397.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882785,-0.459184,-0.099203],[0.468466,-0.876235,-0.112921],[-0.035073,-0.146158,0.988639]] 2025-10-29T00:56:37.522Z,1761699397.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:37.557Z,1761699397.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 188.979401 m, bearing: 149.968628 deg, approach rate: -0.541714 m/s, LOS rate: -0.033557 deg/s, cmd heading: 152.442473 deg, new cmd heading: 152.412525 deg. 2025-10-29T00:56:37.564Z,1761699397.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.660100 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:37.581Z,1761699397.581 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:37.581Z,1761699397.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:37.581Z,1761699397.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:37.833Z,1761699397.833 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:37.833Z,1761699397.833 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:37.833Z,1761699397.833 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:37.936Z,1761699397.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:37.939Z,1761699397.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 188.698288 m, bearing: 149.952176 deg, approach rate: -0.677289 m/s, LOS rate: -0.039696 deg/s, cmd heading: 152.412529 deg, new cmd heading: 152.379577 deg. 2025-10-29T00:56:37.940Z,1761699397.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659525 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:38.085Z,1761699398.085 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:38.085Z,1761699398.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:38.085Z,1761699398.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:38.262Z,1761699398.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881814,-0.460764,-0.100500],[0.470100,-0.875791,-0.109529],[-0.037550,-0.143829,0.988890]] 2025-10-29T00:56:38.283Z,1761699398.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:38.286Z,1761699398.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 188.484879 m, bearing: 149.939770 deg, approach rate: -0.615181 m/s, LOS rate: -0.035804 deg/s, cmd heading: 152.379581 deg, new cmd heading: 152.354739 deg. 2025-10-29T00:56:38.287Z,1761699398.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.659092 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:38.337Z,1761699398.337 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:38.337Z,1761699398.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:38.337Z,1761699398.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:38.591Z,1761699398.591 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:38.591Z,1761699398.591 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:38.591Z,1761699398.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:38.666Z,1761699398.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881166,-0.461682,-0.101957],[0.471195,-0.875291,-0.108815],[-0.039004,-0.143926,0.988820]] 2025-10-29T00:56:38.722Z,1761699398.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:38.725Z,1761699398.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:38.727Z,1761699398.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 188.218948 m, bearing: 149.925401 deg, approach rate: -0.601888 m/s, LOS rate: -0.032568 deg/s, cmd heading: 152.354732 deg, new cmd heading: 152.325954 deg. 2025-10-29T00:56:38.729Z,1761699398.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658589 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:38.841Z,1761699398.841 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:38.841Z,1761699398.841 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:38.841Z,1761699398.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:39.071Z,1761699399.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880622,-0.462492,-0.102989],[0.472075,-0.875039,-0.107016],[-0.040626,-0.142860,0.988909]] 2025-10-29T00:56:39.091Z,1761699399.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:39.093Z,1761699399.093 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:39.093Z,1761699399.093 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:39.093Z,1761699399.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:39.095Z,1761699399.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 187.998825 m, bearing: 149.913543 deg, approach rate: -0.600678 m/s, LOS rate: -0.032396 deg/s, cmd heading: 152.325950 deg, new cmd heading: 152.302206 deg. 2025-10-29T00:56:39.113Z,1761699399.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.658175 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:39.345Z,1761699399.345 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:39.345Z,1761699399.345 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:39.345Z,1761699399.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:39.476Z,1761699399.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880422,-0.462570,-0.104338],[0.472332,-0.874943,-0.106662],[-0.041952,-0.143190,0.988806]] 2025-10-29T00:56:39.498Z,1761699399.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:39.500Z,1761699399.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 187.754532 m, bearing: 149.900374 deg, approach rate: -0.601089 m/s, LOS rate: -0.032444 deg/s, cmd heading: 152.302208 deg, new cmd heading: 152.275837 deg. 2025-10-29T00:56:39.513Z,1761699399.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.657715 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:39.598Z,1761699399.598 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:39.598Z,1761699399.598 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:39.598Z,1761699399.598 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:39.849Z,1761699399.849 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:39.849Z,1761699399.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:39.849Z,1761699399.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:39.915Z,1761699399.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879269,-0.463779,-0.108604],[0.474178,-0.873876,-0.107223],[-0.045178,-0.145776,0.988286]] 2025-10-29T00:56:39.952Z,1761699399.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:39.955Z,1761699399.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 187.466385 m, bearing: 149.886056 deg, approach rate: -0.634047 m/s, LOS rate: -0.031554 deg/s, cmd heading: 152.275844 deg, new cmd heading: 152.247163 deg. 2025-10-29T00:56:39.956Z,1761699399.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.657214 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:40.101Z,1761699400.101 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:40.101Z,1761699400.101 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:40.101Z,1761699400.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:40.358Z,1761699400.358 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:40.358Z,1761699400.358 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:40.358Z,1761699400.358 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:40.386Z,1761699400.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:40.391Z,1761699400.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 187.211334 m, bearing: 149.873345 deg, approach rate: -0.587447 m/s, LOS rate: -0.029316 deg/s, cmd heading: 152.247157 deg, new cmd heading: 152.221701 deg. 2025-10-29T00:56:40.392Z,1761699400.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656770 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:40.615Z,1761699400.615 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:40.616Z,1761699400.616 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:40.616Z,1761699400.616 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:40.711Z,1761699400.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879425,-0.462617,-0.112236],[0.473658,-0.873904,-0.109270],[-0.047533,-0.149257,0.987655]] 2025-10-29T00:56:40.853Z,1761699400.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:40.865Z,1761699400.865 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:40.865Z,1761699400.865 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:40.865Z,1761699400.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:40.874Z,1761699400.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:40.883Z,1761699400.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 186.907303 m, bearing: 149.858875 deg, approach rate: -0.623676 m/s, LOS rate: -0.029732 deg/s, cmd heading: 152.221694 deg, new cmd heading: 152.192707 deg. 2025-10-29T00:56:40.889Z,1761699400.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.656264 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:41.117Z,1761699401.117 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:41.117Z,1761699401.117 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:41.117Z,1761699401.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:41.204Z,1761699401.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879283,-0.462566,-0.113554],[0.473781,-0.873898,-0.108784],[-0.048915,-0.149451,0.987558]] 2025-10-29T00:56:41.257Z,1761699401.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:41.265Z,1761699401.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 186.644638 m, bearing: 149.846349 deg, approach rate: -0.684413 m/s, LOS rate: -0.032684 deg/s, cmd heading: 152.192707 deg, new cmd heading: 152.167619 deg. 2025-10-29T00:56:41.266Z,1761699401.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655826 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:41.370Z,1761699401.370 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:56:41.370Z,1761699401.370 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:56:41.370Z,1761699401.370 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:56:41.622Z,1761699401.622 [DAT](INFO): Reached modem response timeout 2025-10-29T00:56:41.622Z,1761699401.622 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:41.622Z,1761699401.622 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:41.630Z,1761699401.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879386,-0.461890,-0.115489],[0.473440,-0.873990,-0.109523],[-0.050349,-0.150991,0.987252]] 2025-10-29T00:56:41.687Z,1761699401.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:41.706Z,1761699401.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 186.387573 m, bearing: 149.834030 deg, approach rate: -0.598018 m/s, LOS rate: -0.028698 deg/s, cmd heading: 152.167626 deg, new cmd heading: 152.142954 deg. 2025-10-29T00:56:41.707Z,1761699401.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655396 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:41.873Z,1761699401.873 [DAT](INFO): DAT read: 2025-10-29T00:56:41.874Z,1761699401.874 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:42.011Z,1761699402.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879864,-0.460661,-0.116748],[0.472385,-0.874620,-0.109048],[-0.051877,-0.151097,0.987157]] 2025-10-29T00:56:42.065Z,1761699402.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:42.068Z,1761699402.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 186.166122 m, bearing: 149.823308 deg, approach rate: -0.586106 m/s, LOS rate: -0.028411 deg/s, cmd heading: 152.142956 deg, new cmd heading: 152.121486 deg. 2025-10-29T00:56:42.069Z,1761699402.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.655021 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:42.128Z,1761699402.128 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:42.377Z,1761699402.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:42.415Z,1761699402.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880091,-0.460146,-0.117069],[0.471765,-0.875314,-0.106127],[-0.053638,-0.148630,0.987437]] 2025-10-29T00:56:42.433Z,1761699402.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:42.436Z,1761699402.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 185.949753 m, bearing: 149.812760 deg, approach rate: -0.587782 m/s, LOS rate: -0.028689 deg/s, cmd heading: 152.121481 deg, new cmd heading: 152.100360 deg. 2025-10-29T00:56:42.437Z,1761699402.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.654652 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:42.631Z,1761699402.631 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:42.821Z,1761699402.821 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880261,-0.459646,-0.117757],[0.471191,-0.876010,-0.102891],[-0.055863,-0.146056,0.987698]] 2025-10-29T00:56:42.882Z,1761699402.882 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:42.882Z,1761699402.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:42.889Z,1761699402.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:42.897Z,1761699402.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 185.679352 m, bearing: 149.801010 deg, approach rate: -0.593024 m/s, LOS rate: -0.025805 deg/s, cmd heading: 152.100362 deg, new cmd heading: 152.076830 deg. 2025-10-29T00:56:42.898Z,1761699402.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.654241 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:43.133Z,1761699403.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:43.223Z,1761699403.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880066,-0.460048,-0.117641],[0.471326,-0.876432,-0.098585],[-0.057750,-0.142208,0.988151]] 2025-10-29T00:56:43.249Z,1761699403.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:43.252Z,1761699403.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 185.429214 m, bearing: 149.790115 deg, approach rate: -0.694513 m/s, LOS rate: -0.030292 deg/s, cmd heading: 152.076826 deg, new cmd heading: 152.055006 deg. 2025-10-29T00:56:43.253Z,1761699403.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653861 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:43.385Z,1761699403.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:43.639Z,1761699403.639 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:43.655Z,1761699403.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879322,-0.461373,-0.118017],[0.472474,-0.876233,-0.094781],[-0.059681,-0.139103,0.988478]] 2025-10-29T00:56:43.697Z,1761699403.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:43.700Z,1761699403.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 185.151199 m, bearing: 149.777066 deg, approach rate: -0.620624 m/s, LOS rate: -0.029174 deg/s, cmd heading: 152.055010 deg, new cmd heading: 152.028872 deg. 2025-10-29T00:56:43.701Z,1761699403.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653404 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:43.889Z,1761699403.889 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:56:43.889Z,1761699403.889 [DAT](INFO): response not received 2025-10-29T00:56:43.890Z,1761699403.890 [DAT](INFO): DAT read: user:615>Tx time:00:56:43.7208 2025-10-29T00:56:43.890Z,1761699403.890 [DAT](ERROR): No response from remote modem. 2025-10-29T00:56:43.891Z,1761699403.891 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:43.891Z,1761699403.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:44.031Z,1761699404.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878447,-0.462682,-0.119403],[0.473920,-0.875544,-0.093928],[-0.061084,-0.139098,0.988393]] 2025-10-29T00:56:44.071Z,1761699404.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:44.078Z,1761699404.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 184.923508 m, bearing: 149.766470 deg, approach rate: -0.609003 m/s, LOS rate: -0.028374 deg/s, cmd heading: 152.028878 deg, new cmd heading: 152.007661 deg. 2025-10-29T00:56:44.079Z,1761699404.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.653034 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:44.142Z,1761699404.142 [DAT](INFO): DAT read: 2025-10-29T00:56:44.143Z,1761699404.143 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:44.393Z,1761699404.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:44.435Z,1761699404.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877416,-0.464057,-0.121620],[0.475654,-0.874517,-0.094731],[-0.062398,-0.140968,0.988046]] 2025-10-29T00:56:44.453Z,1761699404.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:44.456Z,1761699404.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 184.681732 m, bearing: 149.755349 deg, approach rate: -0.632599 m/s, LOS rate: -0.029136 deg/s, cmd heading: 152.007663 deg, new cmd heading: 151.985392 deg. 2025-10-29T00:56:44.457Z,1761699404.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652646 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:44.647Z,1761699404.647 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:44.840Z,1761699404.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875970,-0.465651,-0.125878],[0.478088,-0.872795,-0.098287],[-0.064098,-0.146278,0.987165]] 2025-10-29T00:56:44.897Z,1761699404.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:44.910Z,1761699404.910 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:44.912Z,1761699404.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:44.915Z,1761699404.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 184.422791 m, bearing: 149.742144 deg, approach rate: -0.565200 m/s, LOS rate: -0.028864 deg/s, cmd heading: 151.985397 deg, new cmd heading: 151.958950 deg. 2025-10-29T00:56:44.916Z,1761699404.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.652184 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:45.149Z,1761699405.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:45.272Z,1761699405.272 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874520,-0.466873,-0.131317],[0.480500,-0.870814,-0.103931],[-0.065830,-0.153987,0.985877]] 2025-10-29T00:56:45.290Z,1761699405.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:45.294Z,1761699405.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 184.187790 m, bearing: 149.730368 deg, approach rate: -0.620646 m/s, LOS rate: -0.031141 deg/s, cmd heading: 151.958950 deg, new cmd heading: 151.935368 deg. 2025-10-29T00:56:45.295Z,1761699405.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.651772 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:45.401Z,1761699405.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:45.655Z,1761699405.655 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:45.693Z,1761699405.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873724,-0.467094,-0.135753],[0.481723,-0.869599,-0.108349],[-0.067442,-0.160063,0.984800]] 2025-10-29T00:56:45.731Z,1761699405.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:45.734Z,1761699405.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 183.919159 m, bearing: 149.715756 deg, approach rate: -0.609667 m/s, LOS rate: -0.033210 deg/s, cmd heading: 151.935372 deg, new cmd heading: 151.906106 deg. 2025-10-29T00:56:45.735Z,1761699405.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.651262 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:45.905Z,1761699405.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:46.157Z,1761699406.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:46.175Z,1761699406.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873508,-0.466345,-0.139664],[0.481875,-0.869051,-0.112012],[-0.069139,-0.165144,0.983843]] 2025-10-29T00:56:46.194Z,1761699406.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:46.196Z,1761699406.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 183.636932 m, bearing: 149.700403 deg, approach rate: -0.609828 m/s, LOS rate: -0.033227 deg/s, cmd heading: 151.906112 deg, new cmd heading: 151.875358 deg. 2025-10-29T00:56:46.197Z,1761699406.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650725 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:46.409Z,1761699406.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:46.577Z,1761699406.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873297,-0.466047,-0.141961],[0.482004,-0.868906,-0.112577],[-0.070884,-0.166739,0.983450]] 2025-10-29T00:56:46.615Z,1761699406.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:46.622Z,1761699406.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 183.392105 m, bearing: 149.687067 deg, approach rate: -0.580419 m/s, LOS rate: -0.031657 deg/s, cmd heading: 151.875362 deg, new cmd heading: 151.848655 deg. 2025-10-29T00:56:46.623Z,1761699406.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.650259 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:46.664Z,1761699406.664 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:46.913Z,1761699406.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:47.012Z,1761699407.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873075,-0.466019,-0.143410],[0.482133,-0.868989,-0.111378],[-0.072718,-0.166385,0.983376]] 2025-10-29T00:56:47.073Z,1761699407.073 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:47.075Z,1761699407.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:47.078Z,1761699407.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 183.099762 m, bearing: 149.670973 deg, approach rate: -0.635790 m/s, LOS rate: -0.035057 deg/s, cmd heading: 151.848656 deg, new cmd heading: 151.816417 deg. 2025-10-29T00:56:47.079Z,1761699407.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.649696 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:47.165Z,1761699407.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:47.415Z,1761699407.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873247,-0.465804,-0.143057],[0.481485,-0.869976,-0.106371],[-0.074908,-0.161768,0.983982]] 2025-10-29T00:56:47.417Z,1761699407.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:47.445Z,1761699407.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:47.448Z,1761699407.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 182.869308 m, bearing: 149.658177 deg, approach rate: -0.622679 m/s, LOS rate: -0.034617 deg/s, cmd heading: 151.816418 deg, new cmd heading: 151.790794 deg. 2025-10-29T00:56:47.449Z,1761699407.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.649249 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:47.671Z,1761699407.671 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:47.819Z,1761699407.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873243,-0.465758,-0.143236],[0.481080,-0.870796,-0.101370],[-0.077516,-0.157429,0.984483]] 2025-10-29T00:56:47.878Z,1761699407.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:47.885Z,1761699407.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 182.620026 m, bearing: 149.644247 deg, approach rate: -0.576185 m/s, LOS rate: -0.032243 deg/s, cmd heading: 151.790791 deg, new cmd heading: 151.762892 deg. 2025-10-29T00:56:47.886Z,1761699407.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648762 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:47.921Z,1761699407.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:48.173Z,1761699408.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:48.223Z,1761699408.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872995,-0.465993,-0.143979],[0.481114,-0.871232,-0.097389],[-0.080056,-0.154290,0.984777]] 2025-10-29T00:56:48.242Z,1761699408.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:48.245Z,1761699408.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 182.379776 m, bearing: 149.630779 deg, approach rate: -0.659132 m/s, LOS rate: -0.036999 deg/s, cmd heading: 151.762896 deg, new cmd heading: 151.735925 deg. 2025-10-29T00:56:48.246Z,1761699408.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.648292 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:48.425Z,1761699408.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:48.627Z,1761699408.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872824,-0.466303,-0.144013],[0.481064,-0.871742,-0.092968],[-0.082191,-0.150424,0.985199]] 2025-10-29T00:56:48.646Z,1761699408.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:48.658Z,1761699408.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 182.131363 m, bearing: 149.616797 deg, approach rate: -0.614993 m/s, LOS rate: -0.034661 deg/s, cmd heading: 151.735931 deg, new cmd heading: 151.707930 deg. 2025-10-29T00:56:48.664Z,1761699408.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.647803 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:48.679Z,1761699408.679 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:48.929Z,1761699408.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:49.084Z,1761699409.084 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:49.086Z,1761699409.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:49.089Z,1761699409.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 181.868469 m, bearing: 149.600541 deg, approach rate: -0.597683 m/s, LOS rate: -0.037012 deg/s, cmd heading: 151.707927 deg, new cmd heading: 151.675367 deg. 2025-10-29T00:56:49.090Z,1761699409.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.647234 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:49.181Z,1761699409.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:49.430Z,1761699409.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872649,-0.467095,-0.142498],[0.480807,-0.872864,-0.083266],[-0.085489,-0.141176,0.986286]] 2025-10-29T00:56:49.433Z,1761699409.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:49.531Z,1761699409.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:49.534Z,1761699409.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 181.606064 m, bearing: 149.584227 deg, approach rate: -0.590628 m/s, LOS rate: -0.036774 deg/s, cmd heading: 151.675361 deg, new cmd heading: 151.642685 deg. 2025-10-29T00:56:49.535Z,1761699409.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646664 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:49.687Z,1761699409.687 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:49.837Z,1761699409.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872825,-0.466855,-0.142206],[0.480274,-0.873427,-0.080388],[-0.086677,-0.138463,0.986567]] 2025-10-29T00:56:49.927Z,1761699409.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:49.934Z,1761699409.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 181.367722 m, bearing: 149.569443 deg, approach rate: -0.600709 m/s, LOS rate: -0.037308 deg/s, cmd heading: 151.642685 deg, new cmd heading: 151.613080 deg. 2025-10-29T00:56:49.935Z,1761699409.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.646147 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:49.937Z,1761699409.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:50.064Z,1761699410.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:56:50.193Z,1761699410.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:50.236Z,1761699410.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872695,-0.466941,-0.142725],[0.480359,-0.873457,-0.079553],[-0.087517,-0.137985,0.986560]] 2025-10-29T00:56:50.281Z,1761699410.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:50.285Z,1761699410.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 181.150055 m, bearing: 149.555917 deg, approach rate: -0.615124 m/s, LOS rate: -0.038272 deg/s, cmd heading: 151.613083 deg, new cmd heading: 151.585998 deg. 2025-10-29T00:56:50.286Z,1761699410.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.645675 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:50.441Z,1761699410.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:50.639Z,1761699410.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872821,-0.466504,-0.143378],[0.480097,-0.873514,-0.080496],[-0.087691,-0.139094,0.986389]] 2025-10-29T00:56:50.676Z,1761699410.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:50.679Z,1761699410.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 180.914139 m, bearing: 149.541197 deg, approach rate: -0.597768 m/s, LOS rate: -0.037347 deg/s, cmd heading: 151.585995 deg, new cmd heading: 151.556516 deg. 2025-10-29T00:56:50.680Z,1761699410.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.645160 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:50.694Z,1761699410.694 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:50.945Z,1761699410.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:51.068Z,1761699411.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:56:51.112Z,1761699411.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:51.134Z,1761699411.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:51.141Z,1761699411.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 180.653244 m, bearing: 149.528350 deg, approach rate: -0.569480 m/s, LOS rate: -0.028082 deg/s, cmd heading: 151.556515 deg, new cmd heading: 151.530786 deg. 2025-10-29T00:56:51.142Z,1761699411.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644711 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:51.197Z,1761699411.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:51.449Z,1761699411.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:51.460Z,1761699411.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873615,-0.464892,-0.143778],[0.478927,-0.873743,-0.084869],[-0.086170,-0.143002,0.985964]] 2025-10-29T00:56:51.479Z,1761699411.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:51.483Z,1761699411.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 180.435684 m, bearing: 149.517511 deg, approach rate: -0.630917 m/s, LOS rate: -0.031470 deg/s, cmd heading: 151.530779 deg, new cmd heading: 151.509076 deg. 2025-10-29T00:56:51.484Z,1761699411.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.644332 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:51.701Z,1761699411.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:51.953Z,1761699411.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:51.955Z,1761699411.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874752,-0.463037,-0.142846],[0.477293,-0.874225,-0.089006],[-0.083666,-0.146038,0.985735]] 2025-10-29T00:56:52.003Z,1761699412.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:52.006Z,1761699412.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 180.112045 m, bearing: 149.501875 deg, approach rate: -0.617328 m/s, LOS rate: -0.029879 deg/s, cmd heading: 151.509073 deg, new cmd heading: 151.477744 deg. 2025-10-29T00:56:52.007Z,1761699412.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.643785 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:52.205Z,1761699412.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:52.370Z,1761699412.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875489,-0.462023,-0.141613],[0.476246,-0.874613,-0.090790],[-0.081910,-0.146928,0.985750]] 2025-10-29T00:56:52.390Z,1761699412.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:52.393Z,1761699412.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 179.873688 m, bearing: 149.490226 deg, approach rate: -0.616625 m/s, LOS rate: -0.030175 deg/s, cmd heading: 151.477750 deg, new cmd heading: 151.454422 deg. 2025-10-29T00:56:52.394Z,1761699412.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.643378 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:52.457Z,1761699412.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:52.709Z,1761699412.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:52.802Z,1761699412.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876098,-0.461243,-0.140382],[0.475455,-0.874822,-0.092889],[-0.079965,-0.148126,0.985730]] 2025-10-29T00:56:52.865Z,1761699412.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:52.870Z,1761699412.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 179.581482 m, bearing: 149.475640 deg, approach rate: -0.614366 m/s, LOS rate: -0.030719 deg/s, cmd heading: 151.454418 deg, new cmd heading: 151.425196 deg. 2025-10-29T00:56:52.871Z,1761699412.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642868 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:52.961Z,1761699412.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:53.187Z,1761699413.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876998,-0.460135,-0.138387],[0.474145,-0.875407,-0.094072],[-0.077859,-0.148117,0.985900]] 2025-10-29T00:56:53.210Z,1761699413.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:53.213Z,1761699413.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:53.213Z,1761699413.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:53.216Z,1761699413.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 179.361679 m, bearing: 149.464522 deg, approach rate: -0.634414 m/s, LOS rate: -0.032127 deg/s, cmd heading: 151.425198 deg, new cmd heading: 151.402937 deg. 2025-10-29T00:56:53.217Z,1761699413.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642480 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:53.465Z,1761699413.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:53.590Z,1761699413.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877432,-0.460285,-0.135095],[0.473635,-0.875917,-0.091863],[-0.076049,-0.144589,0.986565]] 2025-10-29T00:56:53.613Z,1761699413.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:53.636Z,1761699413.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 179.111496 m, bearing: 149.451777 deg, approach rate: -0.623144 m/s, LOS rate: -0.031791 deg/s, cmd heading: 151.402932 deg, new cmd heading: 151.377405 deg. 2025-10-29T00:56:53.637Z,1761699413.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.642034 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:53.717Z,1761699413.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:53.969Z,1761699413.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:53.997Z,1761699413.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877716,-0.460632,-0.132032],[0.473386,-0.876259,-0.089870],[-0.074297,-0.141383,0.987163]] 2025-10-29T00:56:54.105Z,1761699414.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:54.108Z,1761699414.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 178.805847 m, bearing: 149.437961 deg, approach rate: -0.621261 m/s, LOS rate: -0.028129 deg/s, cmd heading: 151.377401 deg, new cmd heading: 151.349723 deg. 2025-10-29T00:56:54.109Z,1761699414.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.641551 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:54.221Z,1761699414.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:54.398Z,1761699414.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877926,-0.460811,-0.129995],[0.473229,-0.876406,-0.089253],[-0.072799,-0.139875,0.987489]] 2025-10-29T00:56:54.429Z,1761699414.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:54.433Z,1761699414.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 178.604248 m, bearing: 149.428805 deg, approach rate: -0.621563 m/s, LOS rate: -0.028261 deg/s, cmd heading: 151.349725 deg, new cmd heading: 151.331392 deg. 2025-10-29T00:56:54.433Z,1761699414.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.641231 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:54.473Z,1761699414.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:54.725Z,1761699414.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:54.837Z,1761699414.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877621,-0.461599,-0.129258],[0.473958,-0.875947,-0.089897],[-0.071727,-0.140158,0.987528]] 2025-10-29T00:56:54.936Z,1761699414.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:54.939Z,1761699414.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 178.297028 m, bearing: 149.414469 deg, approach rate: -0.626780 m/s, LOS rate: -0.029299 deg/s, cmd heading: 151.331392 deg, new cmd heading: 151.302670 deg. 2025-10-29T00:56:54.940Z,1761699414.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640730 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:54.977Z,1761699414.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:55.229Z,1761699415.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:55.276Z,1761699415.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877341,-0.461912,-0.130041],[0.474633,-0.875217,-0.093371],[-0.070685,-0.143640,0.987102]] 2025-10-29T00:56:55.316Z,1761699415.316 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:55.318Z,1761699415.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:55.321Z,1761699415.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 178.047363 m, bearing: 149.402851 deg, approach rate: -0.626527 m/s, LOS rate: -0.029196 deg/s, cmd heading: 151.302665 deg, new cmd heading: 151.279396 deg. 2025-10-29T00:56:55.322Z,1761699415.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.640324 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:55.481Z,1761699415.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:55.683Z,1761699415.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877588,-0.461176,-0.130981],[0.474326,-0.874942,-0.097424],[-0.069671,-0.147626,0.986586]] 2025-10-29T00:56:55.714Z,1761699415.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:55.721Z,1761699415.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 177.801590 m, bearing: 149.391362 deg, approach rate: -0.621248 m/s, LOS rate: -0.029082 deg/s, cmd heading: 151.279401 deg, new cmd heading: 151.256391 deg. 2025-10-29T00:56:55.722Z,1761699415.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639922 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:55.733Z,1761699415.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:55.985Z,1761699415.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:56.088Z,1761699416.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877393,-0.461564,-0.130919],[0.474782,-0.874571,-0.098533],[-0.069018,-0.148610,0.986484]] 2025-10-29T00:56:56.125Z,1761699416.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:56.147Z,1761699416.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 177.538864 m, bearing: 149.378775 deg, approach rate: -0.638962 m/s, LOS rate: -0.030656 deg/s, cmd heading: 151.256397 deg, new cmd heading: 151.231187 deg. 2025-10-29T00:56:56.152Z,1761699416.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639482 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:56.239Z,1761699416.239 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:56:56.239Z,1761699416.239 [DAT](INFO): response not received 2025-10-29T00:56:56.240Z,1761699416.240 [DAT](INFO): DAT read: user:616>Tx time:00:56:56.1708 2025-10-29T00:56:56.241Z,1761699416.241 [DAT](ERROR): No response from remote modem. 2025-10-29T00:56:56.241Z,1761699416.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:56.241Z,1761699416.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:56:56.489Z,1761699416.489 [DAT](INFO): DAT read: 2025-10-29T00:56:56.489Z,1761699416.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:56.520Z,1761699416.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:56.523Z,1761699416.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 177.288864 m, bearing: 149.366763 deg, approach rate: -0.633219 m/s, LOS rate: -0.030467 deg/s, cmd heading: 151.231194 deg, new cmd heading: 151.207136 deg. 2025-10-29T00:56:56.544Z,1761699416.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.639062 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:56.741Z,1761699416.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:56.892Z,1761699416.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877390,-0.461268,-0.131983],[0.474941,-0.873999,-0.102745],[-0.067960,-0.152832,0.985913]] 2025-10-29T00:56:56.929Z,1761699416.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:56.932Z,1761699416.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 177.037827 m, bearing: 149.354079 deg, approach rate: -0.613379 m/s, LOS rate: -0.031037 deg/s, cmd heading: 151.207138 deg, new cmd heading: 151.181733 deg. 2025-10-29T00:56:56.933Z,1761699416.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638619 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:56.994Z,1761699416.994 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:57.245Z,1761699417.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:57.301Z,1761699417.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877621,-0.461132,-0.130913],[0.474592,-0.874274,-0.102021],[-0.067408,-0.151666,0.986131]] 2025-10-29T00:56:57.318Z,1761699417.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:57.320Z,1761699417.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:57.323Z,1761699417.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 176.798111 m, bearing: 149.341896 deg, approach rate: -0.613135 m/s, LOS rate: -0.031204 deg/s, cmd heading: 151.181729 deg, new cmd heading: 151.157330 deg. 2025-10-29T00:56:57.324Z,1761699417.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.638193 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:57.497Z,1761699417.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:57.721Z,1761699417.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878080,-0.460658,-0.129495],[0.473883,-0.874692,-0.101726],[-0.066407,-0.150689,0.986348]] 2025-10-29T00:56:57.749Z,1761699417.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:57.762Z,1761699417.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:57.770Z,1761699417.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 176.536392 m, bearing: 149.328481 deg, approach rate: -0.592286 m/s, LOS rate: -0.030404 deg/s, cmd heading: 151.157332 deg, new cmd heading: 151.130462 deg. 2025-10-29T00:56:57.776Z,1761699417.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637724 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:58.001Z,1761699418.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:58.159Z,1761699418.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878699,-0.460010,-0.127590],[0.472949,-0.875197,-0.101733],[-0.064868,-0.149737,0.986596]] 2025-10-29T00:56:58.215Z,1761699418.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:58.222Z,1761699418.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 176.259644 m, bearing: 149.313946 deg, approach rate: -0.610582 m/s, LOS rate: -0.032117 deg/s, cmd heading: 151.130462 deg, new cmd heading: 151.101348 deg. 2025-10-29T00:56:58.223Z,1761699418.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.637216 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:58.254Z,1761699418.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:58.505Z,1761699418.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:58.554Z,1761699418.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879023,-0.460393,-0.123920],[0.472582,-0.875751,-0.098617],[-0.063120,-0.145249,0.987380]] 2025-10-29T00:56:58.587Z,1761699418.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:58.590Z,1761699418.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 176.022598 m, bearing: 149.301416 deg, approach rate: -0.637489 m/s, LOS rate: -0.033745 deg/s, cmd heading: 151.101352 deg, new cmd heading: 151.076256 deg. 2025-10-29T00:56:58.591Z,1761699418.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636778 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:58.757Z,1761699418.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:58.959Z,1761699418.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879195,-0.460808,-0.121126],[0.472492,-0.875973,-0.097071],[-0.061372,-0.142575,0.987879]] 2025-10-29T00:56:59.009Z,1761699419.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:59.019Z,1761699419.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:59.022Z,1761699419.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 175.758118 m, bearing: 149.287894 deg, approach rate: -0.612317 m/s, LOS rate: -0.031351 deg/s, cmd heading: 151.076258 deg, new cmd heading: 151.049174 deg. 2025-10-29T00:56:59.023Z,1761699419.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.636305 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:59.261Z,1761699419.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:59.366Z,1761699419.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879356,-0.460749,-0.120176],[0.472397,-0.875842,-0.098702],[-0.059779,-0.143565,0.987834]] 2025-10-29T00:56:59.390Z,1761699419.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:56:59.393Z,1761699419.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:59.395Z,1761699419.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 175.529541 m, bearing: 149.276166 deg, approach rate: -0.611594 m/s, LOS rate: -0.031421 deg/s, cmd heading: 151.049169 deg, new cmd heading: 151.025682 deg. 2025-10-29T00:56:59.396Z,1761699419.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635895 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:56:59.513Z,1761699419.513 [DAT](INFO): DAT read: Rx Time:00:56:58.8676 2025-10-29T00:56:59.514Z,1761699419.514 [DAT](INFO): Rx dataTimestamp_ set to:1761699419.513261 2025-10-29T00:56:59.514Z,1761699419.514 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:59.765Z,1761699419.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:56:59.778Z,1761699419.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879402,-0.460715,-0.119978],[0.472479,-0.875520,-0.101135],[-0.058449,-0.145625,0.987612]] 2025-10-29T00:56:59.798Z,1761699419.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:56:59.800Z,1761699419.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 175.281097 m, bearing: 149.263393 deg, approach rate: -0.613509 m/s, LOS rate: -0.031588 deg/s, cmd heading: 151.025687 deg, new cmd heading: 151.000103 deg. 2025-10-29T00:56:59.801Z,1761699419.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.635449 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:57:00.020Z,1761699420.020 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:00.171Z,1761699420.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879209,-0.461108,-0.119881],[0.472929,-0.875134,-0.102367],[-0.057710,-0.146697,0.987497]] 2025-10-29T00:57:00.229Z,1761699420.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 210.00 m. 2025-10-29T00:57:00.233Z,1761699420.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 210.000061 m, nav range: 175.019638 m, bearing: 149.249220 deg, approach rate: -0.605353 m/s, LOS rate: -0.032862 deg/s, cmd heading: 151.000101 deg, new cmd heading: 150.971714 deg. 2025-10-29T00:57:00.234Z,1761699420.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634953 target range: 210.000061 and range: 211.30 m. 2025-10-29T00:57:00.277Z,1761699420.277 [DAT](INFO): DAT read: 00:56:58.8676 LVL= 30816, 32753, 32754, 32755, AGC= 75, IDX= 235,-0.02, 2.278, 0.998, 2.369, 1.253, PHS= 1.127,-0.211, 1.072, RAW= 147.9, -28.2, CAL= 149.2, -29.3, ROT= 0.8, 29.3 2025-10-29T00:57:00.279Z,1761699420.279 [DAT](INFO): got valid direction response: 00:56:58.8676 LVL= 30816, 32753, 32754, 32755, AGC= 75, IDX= 235,-0.02, 2.278, 0.998, 2.369, 1.253, PHS= 1.127,-0.211, 1.072, RAW= 147.9, -28.2, CAL= 149.2, -29.3, ROT= 0.8, 29.3 2025-10-29T00:57:00.280Z,1761699420.280 [DAT](INFO): DAT read: Bearing 284.8, 1.9 (Local) 2025-10-29T00:57:00.281Z,1761699420.281 [DAT](INFO): Local bearing/azimuth received: Bearing 284.8, 1.9 (Local) 2025-10-29T00:57:00.283Z,1761699420.283 [DAT](INFO): DAT read: Range 11 to 50 : 219.5 m (Round-trip 292.7 ms) speed 0.4 m/s 2025-10-29T00:57:00.285Z,1761699420.285 [DAT](INFO): DAT read: user:617>Tx time:00:56:59.9708 2025-10-29T00:57:00.286Z,1761699420.286 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:00.287Z,1761699420.287 [DAT](INFO): direction in FSK: [0.871984,0.012176,-0.489382] 2025-10-29T00:57:00.288Z,1761699420.288 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:00.300Z,1761699420.300 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:00.301Z,1761699420.301 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:00.520Z,1761699420.520 [DAT](INFO): DAT read: 2025-10-29T00:57:00.521Z,1761699420.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:00.575Z,1761699420.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878972,-0.461495,-0.120130],[0.473485,-0.874560,-0.104674],[-0.056754,-0.148885,0.987224]] 2025-10-29T00:57:00.598Z,1761699420.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 219.500000 m, deltaT: 28.988133 s, deltaX: 8.199997 m, approachRate: 0.282874 m/s, rangeRepo size: 4 2025-10-29T00:57:00.617Z,1761699420.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 218.175568 m, bearing: 147.554904 deg, lat: 36.779204 deg, lon: -121.859552 deg, deltaT: 28.988133 s, deltaX: 8.175507 m, approachRate: 0.282029 m/s, posRepo size: 4 2025-10-29T00:57:00.617Z,1761699420.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:00.627Z,1761699420.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 174.799286 m, bearing: 149.237291 deg, approach rate: 0.000000 m/s, LOS rate: -0.032862 deg/s, cmd heading: 150.971715 deg, new cmd heading: 150.947521 deg. 2025-10-29T00:57:00.628Z,1761699420.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634531 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:00.773Z,1761699420.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:00.978Z,1761699420.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879291,-0.461005,-0.119673],[0.473062,-0.874504,-0.107024],[-0.055316,-0.150718,0.987028]] 2025-10-29T00:57:01.022Z,1761699421.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:01.025Z,1761699421.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:01.026Z,1761699421.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 174.535492 m, bearing: 149.223180 deg, approach rate: -0.621824 m/s, LOS rate: -0.033313 deg/s, cmd heading: 150.947522 deg, new cmd heading: 150.919258 deg. 2025-10-29T00:57:01.027Z,1761699421.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.634038 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:01.277Z,1761699421.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:01.383Z,1761699421.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879496,-0.460843,-0.118791],[0.472873,-0.874366,-0.108970],[-0.053649,-0.152012,0.986921]] 2025-10-29T00:57:01.399Z,1761699421.399 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:01.402Z,1761699421.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:01.405Z,1761699421.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 174.302002 m, bearing: 149.210637 deg, approach rate: -0.614638 m/s, LOS rate: -0.033060 deg/s, cmd heading: 150.919259 deg, new cmd heading: 150.894141 deg. 2025-10-29T00:57:01.406Z,1761699421.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633600 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:01.529Z,1761699421.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:01.781Z,1761699421.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:01.790Z,1761699421.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880180,-0.459746,-0.117968],[0.471794,-0.874625,-0.111542],[-0.051897,-0.153833,0.986733]] 2025-10-29T00:57:01.817Z,1761699421.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:01.819Z,1761699421.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 174.046432 m, bearing: 149.196764 deg, approach rate: -0.616121 m/s, LOS rate: -0.033495 deg/s, cmd heading: 150.894137 deg, new cmd heading: 150.866350 deg. 2025-10-29T00:57:01.821Z,1761699421.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.633115 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:02.033Z,1761699422.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:02.190Z,1761699422.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880733,-0.458995,-0.116758],[0.470926,-0.874931,-0.112807],[-0.050378,-0.154337,0.986733]] 2025-10-29T00:57:02.247Z,1761699422.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:02.250Z,1761699422.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 173.777237 m, bearing: 149.182029 deg, approach rate: -0.624914 m/s, LOS rate: -0.034258 deg/s, cmd heading: 150.866352 deg, new cmd heading: 150.836837 deg. 2025-10-29T00:57:02.251Z,1761699422.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632599 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:02.285Z,1761699422.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:02.537Z,1761699422.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:02.596Z,1761699422.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881462,-0.457815,-0.115887],[0.469705,-0.875364,-0.114526],[-0.049012,-0.155383,0.986638]] 2025-10-29T00:57:02.615Z,1761699422.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:02.618Z,1761699422.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 173.547653 m, bearing: 149.169318 deg, approach rate: -0.623752 m/s, LOS rate: -0.034580 deg/s, cmd heading: 150.836832 deg, new cmd heading: 150.811377 deg. 2025-10-29T00:57:02.619Z,1761699422.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.632155 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:02.789Z,1761699422.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:02.999Z,1761699422.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881999,-0.457038,-0.114861],[0.468797,-0.875784,-0.115026],[-0.048022,-0.155299,0.986700]] 2025-10-29T00:57:03.041Z,1761699423.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:03.047Z,1761699423.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:03.050Z,1761699423.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 173.279251 m, bearing: 149.152544 deg, approach rate: -0.621910 m/s, LOS rate: -0.038927 deg/s, cmd heading: 150.811383 deg, new cmd heading: 150.777783 deg. 2025-10-29T00:57:03.051Z,1761699423.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631569 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:03.293Z,1761699423.293 [DAT](INFO): DAT read: Rx Time:00:57:02.6638 2025-10-29T00:57:03.293Z,1761699423.293 [DAT](INFO): Rx dataTimestamp_ set to:1761699423.293165 2025-10-29T00:57:03.294Z,1761699423.294 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:03.404Z,1761699423.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882211,-0.456573,-0.115089],[0.468449,-0.875758,-0.116634],[-0.047538,-0.156810,0.986484]] 2025-10-29T00:57:03.423Z,1761699423.423 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:03.425Z,1761699423.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:03.428Z,1761699423.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 173.043259 m, bearing: 149.137725 deg, approach rate: -0.624419 m/s, LOS rate: -0.039263 deg/s, cmd heading: 150.777778 deg, new cmd heading: 150.748100 deg. 2025-10-29T00:57:03.429Z,1761699423.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.631051 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:03.545Z,1761699423.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:03.799Z,1761699423.799 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:03.853Z,1761699423.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882422,-0.456045,-0.115564],[0.468083,-0.875720,-0.118374],[-0.047218,-0.158549,0.986221]] 2025-10-29T00:57:04.012Z,1761699424.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 218.18 m. 2025-10-29T00:57:04.015Z,1761699424.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 218.175568 m, nav range: 172.675064 m, bearing: 149.116454 deg, approach rate: -0.627257 m/s, LOS rate: -0.036316 deg/s, cmd heading: 150.748094 deg, new cmd heading: 150.705460 deg. 2025-10-29T00:57:04.016Z,1761699424.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.630306 target range: 218.175568 and range: 219.50 m. 2025-10-29T00:57:04.057Z,1761699424.057 [DAT](INFO): DAT read: 00:57:02.6638 LVL= 29152, 32753, 32754, 32755, AGC= 69, IDX= 72,-0.02, 0.683,-0.900, 1.028, 0.613, PHS= 0.173,-1.468, 0.371, RAW= 155.6, 10.6, CAL= 155.6, 11.6, ROT= 354.4, -11.6 2025-10-29T00:57:04.059Z,1761699424.059 [DAT](INFO): got valid direction response: 00:57:02.6638 LVL= 29152, 32753, 32754, 32755, AGC= 69, IDX= 72,-0.02, 0.683,-0.900, 1.028, 0.613, PHS= 0.173,-1.468, 0.371, RAW= 155.6, 10.6, CAL= 155.6, 11.6, ROT= 354.4, -11.6 2025-10-29T00:57:04.061Z,1761699424.061 [DAT](INFO): DAT read: Bearing 323.8, -10.3 (Local) 2025-10-29T00:57:04.061Z,1761699424.061 [DAT](INFO): Local bearing/azimuth received: Bearing 323.8, -10.3 (Local) 2025-10-29T00:57:04.063Z,1761699424.063 [DAT](INFO): DAT read: Range 11 to 50 : 216.6 m (Round-trip 288.9 ms) speed 0.4 m/s 2025-10-29T00:57:04.065Z,1761699424.065 [DAT](INFO): DAT read: Tx time:00:57:03.7239 2025-10-29T00:57:04.066Z,1761699424.066 [DAT](INFO): Ping request sent. 2025-10-29T00:57:04.066Z,1761699424.066 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:04.066Z,1761699424.066 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:04.068Z,1761699424.068 [DAT](INFO): direction in FSK: [0.974900,-0.095590,0.201078] 2025-10-29T00:57:04.069Z,1761699424.069 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:04.070Z,1761699424.070 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:04.078Z,1761699424.078 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:04.078Z,1761699424.078 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:04.332Z,1761699424.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882120,-0.456841,-0.114720],[0.468639,-0.875706,-0.116263],[-0.047347,-0.156320,0.986571]] 2025-10-29T00:57:04.387Z,1761699424.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 216.600006 m, deltaT: 3.780143 s, deltaX: -2.899994 m, approachRate: -0.767165 m/s, rangeRepo size: 4 2025-10-29T00:57:04.394Z,1761699424.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 215.295135 m, bearing: 148.359490 deg, lat: 36.779156 deg, lon: -121.859512 deg, deltaT: 3.780143 s, deltaX: -2.880432 m, approachRate: -0.761990 m/s, posRepo size: 4 2025-10-29T00:57:04.394Z,1761699424.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:04.401Z,1761699424.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 178.963745 m, bearing: 148.996944 deg, approach rate: 0.000000 m/s, LOS rate: -0.036316 deg/s, cmd heading: 150.705460 deg, new cmd heading: 150.678229 deg. 2025-10-29T00:57:04.402Z,1761699424.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.629831 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:04.725Z,1761699424.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.881513,-0.458108,-0.114334],[0.469690,-0.875541,-0.113225],[-0.048235,-0.153511,0.986969]] 2025-10-29T00:57:04.790Z,1761699424.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:04.793Z,1761699424.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 178.697830 m, bearing: 148.982024 deg, approach rate: -0.659099 m/s, LOS rate: -0.037036 deg/s, cmd heading: 150.678235 deg, new cmd heading: 150.648351 deg. 2025-10-29T00:57:04.794Z,1761699424.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.629310 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:05.123Z,1761699425.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880287,-0.460085,-0.115827],[0.471835,-0.874514,-0.112234],[-0.049655,-0.153450,0.986908]] 2025-10-29T00:57:05.173Z,1761699425.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:05.175Z,1761699425.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 178.468430 m, bearing: 148.967525 deg, approach rate: -0.599820 m/s, LOS rate: -0.037959 deg/s, cmd heading: 150.648346 deg, new cmd heading: 150.619311 deg. 2025-10-29T00:57:05.177Z,1761699425.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628803 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:05.535Z,1761699425.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.878073,-0.462682,-0.122121],[0.475653,-0.871827,-0.116927],[-0.052369,-0.160757,0.985604]] 2025-10-29T00:57:05.581Z,1761699425.581 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:05.583Z,1761699425.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:05.586Z,1761699425.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 178.232758 m, bearing: 148.952958 deg, approach rate: -0.574692 m/s, LOS rate: -0.035570 deg/s, cmd heading: 150.619318 deg, new cmd heading: 150.590144 deg. 2025-10-29T00:57:05.587Z,1761699425.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.628294 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:05.813Z,1761699425.813 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:05.813Z,1761699425.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:05.813Z,1761699425.813 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:06.028Z,1761699426.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:06.031Z,1761699426.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 177.951324 m, bearing: 148.933974 deg, approach rate: -0.632418 m/s, LOS rate: -0.042728 deg/s, cmd heading: 150.590139 deg, new cmd heading: 150.552111 deg. 2025-10-29T00:57:06.032Z,1761699426.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627630 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:06.065Z,1761699426.065 [DAT](INFO): DAT read: user:618> 2025-10-29T00:57:06.066Z,1761699426.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.000314 2025-10-29T00:57:06.318Z,1761699426.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252308 2025-10-29T00:57:06.355Z,1761699426.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.876490,-0.464953,-0.124834],[0.478458,-0.870022,-0.118913],[-0.053319,-0.163954,0.985026]] 2025-10-29T00:57:06.375Z,1761699426.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:06.378Z,1761699426.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 177.740082 m, bearing: 148.919922 deg, approach rate: -0.608832 m/s, LOS rate: -0.040548 deg/s, cmd heading: 150.552109 deg, new cmd heading: 150.523972 deg. 2025-10-29T00:57:06.379Z,1761699426.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.627139 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:06.569Z,1761699426.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503033 2025-10-29T00:57:06.751Z,1761699426.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875788,-0.466215,-0.125054],[0.479764,-0.869259,-0.119227],[-0.053119,-0.164414,0.984960]] 2025-10-29T00:57:06.795Z,1761699426.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:06.802Z,1761699426.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 177.485321 m, bearing: 148.903059 deg, approach rate: -0.606399 m/s, LOS rate: -0.040195 deg/s, cmd heading: 150.523968 deg, new cmd heading: 150.490195 deg. 2025-10-29T00:57:06.803Z,1761699426.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.626549 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:06.822Z,1761699426.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.756120 2025-10-29T00:57:07.073Z,1761699427.073 [DAT](INFO): DAT read: Rx Time:00:57:06.4149 2025-10-29T00:57:07.073Z,1761699427.073 [DAT](INFO): Rx dataTimestamp_ set to:1761699427.073163 2025-10-29T00:57:07.074Z,1761699427.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008127 2025-10-29T00:57:07.150Z,1761699427.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874609,-0.468350,-0.125333],[0.481927,-0.868066,-0.119194],[-0.052973,-0.164649,0.984929]] 2025-10-29T00:57:07.247Z,1761699427.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 215.30 m. 2025-10-29T00:57:07.270Z,1761699427.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 215.295135 m, nav range: 177.206192 m, bearing: 148.884973 deg, approach rate: -0.617137 m/s, LOS rate: -0.040051 deg/s, cmd heading: 150.490200 deg, new cmd heading: 150.453970 deg. 2025-10-29T00:57:07.271Z,1761699427.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625917 target range: 215.295135 and range: 216.60 m. 2025-10-29T00:57:07.326Z,1761699427.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260341 2025-10-29T00:57:07.602Z,1761699427.602 [DAT](INFO): DAT read: 00:57:06.4149 LVL= 29168, 32753, 32754, 30531, AGC= 73, IDX= 170,-0.42,-0.592,-1.823,-0.459,-1.240, PHS= 0.750,-0.537, 0.737, RAW= 149.5, -14.7, CAL= 151.0, -17.0, ROT= 359.0, 17.0 2025-10-29T00:57:07.603Z,1761699427.603 [DAT](INFO): got valid direction response: 00:57:06.4149 LVL= 29168, 32753, 32754, 30531, AGC= 73, IDX= 170,-0.42,-0.592,-1.823,-0.459,-1.240, PHS= 0.750,-0.537, 0.737, RAW= 149.5, -14.7, CAL= 151.0, -17.0, ROT= 359.0, 17.0 2025-10-29T00:57:07.604Z,1761699427.604 [DAT](INFO): DAT read: Bearing 294.7, -1.1 (Local) 2025-10-29T00:57:07.605Z,1761699427.605 [DAT](INFO): Local bearing/azimuth received: Bearing 294.7, -1.1 (Local) 2025-10-29T00:57:07.606Z,1761699427.606 [DAT](INFO): DAT read: Range 11 to 50 : 215.1 m (Round-trip 286.9 ms) speed 0.7 m/s 2025-10-29T00:57:07.607Z,1761699427.607 [DAT](INFO): DAT read: Tx time:00:57:07.4754 2025-10-29T00:57:07.607Z,1761699427.607 [DAT](INFO): Ping request sent. 2025-10-29T00:57:07.608Z,1761699427.608 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:07.608Z,1761699427.608 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:07.609Z,1761699427.609 [DAT](INFO): direction in FSK: [0.956159,-0.016690,-0.292372] 2025-10-29T00:57:07.609Z,1761699427.609 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:07.610Z,1761699427.610 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:07.629Z,1761699427.629 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:07.630Z,1761699427.630 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:07.711Z,1761699427.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 215.100006 m, deltaT: 3.529495 s, deltaX: -1.500000 m, approachRate: -0.424990 m/s, rangeRepo size: 4 2025-10-29T00:57:07.717Z,1761699427.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 213.806488 m, bearing: 147.207522 deg, lat: 36.779156 deg, lon: -121.859445 deg, deltaT: 3.529495 s, deltaX: -1.488647 m, approachRate: -0.421773 m/s, posRepo size: 4 2025-10-29T00:57:07.718Z,1761699427.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:07.727Z,1761699427.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 180.083527 m, bearing: 147.262959 deg, approach rate: 0.000000 m/s, LOS rate: -0.040051 deg/s, cmd heading: 150.453973 deg, new cmd heading: 150.416861 deg. 2025-10-29T00:57:07.734Z,1761699427.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.625269 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:08.195Z,1761699428.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:08.202Z,1761699428.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:08.206Z,1761699428.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 179.752838 m, bearing: 147.239077 deg, approach rate: -0.673259 m/s, LOS rate: -0.048711 deg/s, cmd heading: 150.416857 deg, new cmd heading: 150.369006 deg. 2025-10-29T00:57:08.207Z,1761699428.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.624434 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:08.336Z,1761699428.336 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:08.336Z,1761699428.336 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:08.336Z,1761699428.336 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:08.520Z,1761699428.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870280,-0.475748,-0.127580],[0.489820,-0.863180,-0.122464],[-0.051862,-0.169070,0.984239]] 2025-10-29T00:57:08.561Z,1761699428.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:08.564Z,1761699428.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 179.517380 m, bearing: 147.222746 deg, approach rate: -0.654871 m/s, LOS rate: -0.045479 deg/s, cmd heading: 150.369005 deg, new cmd heading: 150.336301 deg. 2025-10-29T00:57:08.565Z,1761699428.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623863 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:08.585Z,1761699428.585 [DAT](INFO): DAT read: user:619> 2025-10-29T00:57:08.586Z,1761699428.586 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.977982 2025-10-29T00:57:08.838Z,1761699428.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230532 2025-10-29T00:57:08.923Z,1761699428.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.868908,-0.478401,-0.127009],[0.492275,-0.861995,-0.120954],[-0.051617,-0.167621,0.984499]] 2025-10-29T00:57:08.942Z,1761699428.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:08.945Z,1761699428.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 179.282806 m, bearing: 147.206649 deg, approach rate: -0.616055 m/s, LOS rate: -0.042331 deg/s, cmd heading: 150.336302 deg, new cmd heading: 150.304065 deg. 2025-10-29T00:57:08.946Z,1761699428.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.623301 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:09.089Z,1761699429.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.481801 2025-10-29T00:57:09.342Z,1761699429.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734269 2025-10-29T00:57:09.342Z,1761699429.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867530,-0.481102,-0.126222],[0.494715,-0.860883,-0.118902],[-0.051459,-0.165595,0.984850]] 2025-10-29T00:57:09.390Z,1761699429.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:09.393Z,1761699429.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 179.008774 m, bearing: 147.189459 deg, approach rate: -0.611209 m/s, LOS rate: -0.038399 deg/s, cmd heading: 150.304064 deg, new cmd heading: 150.269632 deg. 2025-10-29T00:57:09.394Z,1761699429.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622700 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:09.594Z,1761699429.594 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.985647 2025-10-29T00:57:09.845Z,1761699429.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.237499 2025-10-29T00:57:09.897Z,1761699429.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:09.899Z,1761699429.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 178.709259 m, bearing: 147.170610 deg, approach rate: -0.591543 m/s, LOS rate: -0.037290 deg/s, cmd heading: 150.269626 deg, new cmd heading: 150.231864 deg. 2025-10-29T00:57:09.901Z,1761699429.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.622041 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:10.097Z,1761699430.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.489312 2025-10-29T00:57:10.236Z,1761699430.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865791,-0.483470,-0.129083],[0.497701,-0.858753,-0.121811],[-0.051959,-0.169708,0.984124]] 2025-10-29T00:57:10.274Z,1761699430.274 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:10.292Z,1761699430.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:10.295Z,1761699430.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 178.463455 m, bearing: 147.156197 deg, approach rate: -0.648340 m/s, LOS rate: -0.038069 deg/s, cmd heading: 150.231869 deg, new cmd heading: 150.203002 deg. 2025-10-29T00:57:10.300Z,1761699430.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.621537 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:10.349Z,1761699430.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741457 2025-10-29T00:57:10.601Z,1761699430.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.993234 2025-10-29T00:57:10.777Z,1761699430.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865377,-0.484347,-0.128572],[0.498457,-0.858385,-0.121306],[-0.051610,-0.169063,0.984253]] 2025-10-29T00:57:10.795Z,1761699430.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:10.825Z,1761699430.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 178.139816 m, bearing: 147.137250 deg, approach rate: -0.622749 m/s, LOS rate: -0.036524 deg/s, cmd heading: 150.203004 deg, new cmd heading: 150.165042 deg. 2025-10-29T00:57:10.826Z,1761699430.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620874 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:10.853Z,1761699430.853 [DAT](INFO): DAT read: Rx Time:00:57:10.1631 2025-10-29T00:57:10.854Z,1761699430.854 [DAT](INFO): Rx dataTimestamp_ set to:1761699430.853279 2025-10-29T00:57:10.854Z,1761699430.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.246464 2025-10-29T00:57:11.106Z,1761699431.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498175 2025-10-29T00:57:11.174Z,1761699431.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865753,-0.483961,-0.127490],[0.497925,-0.858600,-0.121971],[-0.050434,-0.169077,0.984312]] 2025-10-29T00:57:11.227Z,1761699431.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 213.81 m. 2025-10-29T00:57:11.233Z,1761699431.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 213.806488 m, nav range: 177.876617 m, bearing: 147.123435 deg, approach rate: -0.610336 m/s, LOS rate: -0.032083 deg/s, cmd heading: 150.165042 deg, new cmd heading: 150.137371 deg. 2025-10-29T00:57:11.234Z,1761699431.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.620391 target range: 213.806488 and range: 215.10 m. 2025-10-29T00:57:11.363Z,1761699431.363 [DAT](INFO): DAT read: 00:57:10.1631 LVL= 22512, 26721, 22178, 22963, AGC= 72, IDX= 150,-0.35,-1.273,-2.500,-1.232,-1.910, PHS= 0.739,-0.546, 0.633, RAW= 145.8, -13.3, CAL= 146.6, -15.7, ROT= 3.4, 15.7 2025-10-29T00:57:11.364Z,1761699431.364 [DAT](INFO): got valid direction response: 00:57:10.1631 LVL= 22512, 26721, 22178, 22963, AGC= 72, IDX= 150,-0.35,-1.273,-2.500,-1.232,-1.910, PHS= 0.739,-0.546, 0.633, RAW= 145.8, -13.3, CAL= 146.6, -15.7, ROT= 3.4, 15.7 2025-10-29T00:57:11.365Z,1761699431.365 [DAT](INFO): DAT read: Bearing 295.4, 3.1 (Local) 2025-10-29T00:57:11.365Z,1761699431.365 [DAT](INFO): Local bearing/azimuth received: Bearing 295.4, 3.1 (Local) 2025-10-29T00:57:11.367Z,1761699431.367 [DAT](INFO): DAT read: Range 11 to 50 : 212.7 m (Round-trip 283.6 ms) speed 0.6 m/s 2025-10-29T00:57:11.368Z,1761699431.368 [DAT](INFO): DAT read: Tx time:00:57:11.2269 2025-10-29T00:57:11.368Z,1761699431.368 [DAT](INFO): Ping request sent. 2025-10-29T00:57:11.368Z,1761699431.368 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:11.368Z,1761699431.368 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:11.369Z,1761699431.369 [DAT](INFO): direction in FSK: [0.960997,0.057094,-0.270600] 2025-10-29T00:57:11.370Z,1761699431.370 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:11.370Z,1761699431.370 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:11.374Z,1761699431.374 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:11.374Z,1761699431.374 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:11.623Z,1761699431.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 212.699997 m, deltaT: 3.778234 s, deltaX: -2.400009 m, approachRate: -0.635220 m/s, rangeRepo size: 4 2025-10-29T00:57:11.626Z,1761699431.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 211.425949 m, bearing: 150.728836 deg, lat: 36.778995 deg, lon: -121.859430 deg, deltaT: 3.778234 s, deltaX: -2.380539 m, approachRate: -0.630067 m/s, posRepo size: 4 2025-10-29T00:57:11.626Z,1761699431.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:11.629Z,1761699431.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 193.495789 m, bearing: 149.645087 deg, approach rate: 0.000000 m/s, LOS rate: -0.032083 deg/s, cmd heading: 150.137366 deg, new cmd heading: 150.111960 deg. 2025-10-29T00:57:11.630Z,1761699431.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619948 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:11.974Z,1761699431.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867988,-0.480915,-0.123763],[0.494385,-0.860306,-0.124328],[-0.046683,-0.169101,0.984492]] 2025-10-29T00:57:12.038Z,1761699432.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:12.061Z,1761699432.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 193.247711 m, bearing: 149.636075 deg, approach rate: -0.607064 m/s, LOS rate: -0.022081 deg/s, cmd heading: 150.111958 deg, new cmd heading: 150.093911 deg. 2025-10-29T00:57:12.069Z,1761699432.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619633 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:12.396Z,1761699432.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869099,-0.479827,-0.120134],[0.492619,-0.861554,-0.122684],[-0.044635,-0.165805,0.985148]] 2025-10-29T00:57:12.451Z,1761699432.451 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:12.454Z,1761699432.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:12.461Z,1761699432.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 192.970764 m, bearing: 149.625067 deg, approach rate: -0.655572 m/s, LOS rate: -0.026095 deg/s, cmd heading: 150.093912 deg, new cmd heading: 150.071865 deg. 2025-10-29T00:57:12.462Z,1761699432.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.619248 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:12.617Z,1761699432.617 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:12.617Z,1761699432.617 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:12.617Z,1761699432.617 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:12.854Z,1761699432.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:12.857Z,1761699432.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 192.705917 m, bearing: 149.614510 deg, approach rate: -0.661818 m/s, LOS rate: -0.026416 deg/s, cmd heading: 150.071865 deg, new cmd heading: 150.050723 deg. 2025-10-29T00:57:12.858Z,1761699432.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618879 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:12.869Z,1761699432.869 [DAT](INFO): DAT read: user:620> 2025-10-29T00:57:12.870Z,1761699432.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.501519 2025-10-29T00:57:13.121Z,1761699433.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752866 2025-10-29T00:57:13.208Z,1761699433.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871210,-0.478067,-0.111560],[0.489209,-0.864381,-0.116276],[-0.040843,-0.155877,0.986932]] 2025-10-29T00:57:13.244Z,1761699433.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:13.247Z,1761699433.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 192.458115 m, bearing: 149.605531 deg, approach rate: -0.635431 m/s, LOS rate: -0.023056 deg/s, cmd heading: 150.050718 deg, new cmd heading: 150.032736 deg. 2025-10-29T00:57:13.248Z,1761699433.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618565 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:13.373Z,1761699433.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004810 2025-10-29T00:57:13.611Z,1761699433.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871898,-0.477564,-0.108288],[0.488114,-0.865293,-0.114074],[-0.039223,-0.152317,0.987553]] 2025-10-29T00:57:13.625Z,1761699433.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257305 2025-10-29T00:57:13.631Z,1761699433.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:13.634Z,1761699433.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 192.213379 m, bearing: 149.596536 deg, approach rate: -0.632121 m/s, LOS rate: -0.023262 deg/s, cmd heading: 150.032741 deg, new cmd heading: 150.014729 deg. 2025-10-29T00:57:13.635Z,1761699433.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.618251 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:13.877Z,1761699433.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509136 2025-10-29T00:57:14.015Z,1761699434.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872191,-0.477543,-0.106001],[0.487717,-0.865613,-0.113346],[-0.037628,-0.150557,0.987885]] 2025-10-29T00:57:14.097Z,1761699434.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:14.106Z,1761699434.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 191.944229 m, bearing: 149.586574 deg, approach rate: -0.606502 m/s, LOS rate: -0.022481 deg/s, cmd heading: 150.014723 deg, new cmd heading: 149.994770 deg. 2025-10-29T00:57:14.107Z,1761699434.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617903 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:14.129Z,1761699434.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760898 2025-10-29T00:57:14.383Z,1761699434.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014853 2025-10-29T00:57:14.426Z,1761699434.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872157,-0.477855,-0.104865],[0.487881,-0.865425,-0.114068],[-0.036245,-0.150647,0.987923]] 2025-10-29T00:57:14.461Z,1761699434.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:14.463Z,1761699434.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:14.466Z,1761699434.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 191.688721 m, bearing: 149.576843 deg, approach rate: -0.658596 m/s, LOS rate: -0.025114 deg/s, cmd heading: 149.994765 deg, new cmd heading: 149.975279 deg. 2025-10-29T00:57:14.467Z,1761699434.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617562 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:14.633Z,1761699434.633 [DAT](INFO): DAT read: Rx Time:00:57:13.9125 2025-10-29T00:57:14.633Z,1761699434.633 [DAT](INFO): Rx dataTimestamp_ set to:1761699434.633169 2025-10-29T00:57:14.634Z,1761699434.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265925 2025-10-29T00:57:14.841Z,1761699434.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872586,-0.477023,-0.105086],[0.487212,-0.865350,-0.117450],[-0.034910,-0.153684,0.987503]] 2025-10-29T00:57:14.860Z,1761699434.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 211.43 m. 2025-10-29T00:57:14.862Z,1761699434.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 211.425949 m, nav range: 191.440689 m, bearing: 149.567321 deg, approach rate: -0.625132 m/s, LOS rate: -0.024031 deg/s, cmd heading: 149.975272 deg, new cmd heading: 149.956203 deg. 2025-10-29T00:57:14.863Z,1761699434.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.617229 target range: 211.425949 and range: 212.70 m. 2025-10-29T00:57:14.885Z,1761699434.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516915 2025-10-29T00:57:15.150Z,1761699435.150 [DAT](INFO): DAT read: 00:57:13.9125 LVL= 24160, 28433, 24306, 21747, AGC= 73, IDX= 159, 0.29, 2.475, 1.225, 2.492, 1.611, PHS= 0.966,-0.341, 0.837, RAW= 144.8, -22.5, CAL= 146.0, -24.6, ROT= 4.0, 24.6 2025-10-29T00:57:15.151Z,1761699435.151 [DAT](INFO): got valid direction response: 00:57:13.9125 LVL= 24160, 28433, 24306, 21747, AGC= 73, IDX= 159, 0.29, 2.475, 1.225, 2.492, 1.611, PHS= 0.966,-0.341, 0.837, RAW= 144.8, -22.5, CAL= 146.0, -24.6, ROT= 4.0, 24.6 2025-10-29T00:57:15.152Z,1761699435.152 [DAT](INFO): DAT read: Bearing 286.7, 5.1 (Local) 2025-10-29T00:57:15.153Z,1761699435.153 [DAT](INFO): Local bearing/azimuth received: Bearing 286.7, 5.1 (Local) 2025-10-29T00:57:15.154Z,1761699435.154 [DAT](INFO): DAT read: Range 11 to 50 : 211.1 m (Round-trip 281.5 ms) speed 0.4 m/s 2025-10-29T00:57:15.155Z,1761699435.155 [DAT](INFO): DAT read: Tx time:00:57:14.9707 2025-10-29T00:57:15.155Z,1761699435.155 [DAT](INFO): Ping request sent. 2025-10-29T00:57:15.155Z,1761699435.155 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:15.156Z,1761699435.156 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:15.157Z,1761699435.157 [DAT](INFO): direction in FSK: [0.907021,0.063425,-0.416281] 2025-10-29T00:57:15.157Z,1761699435.157 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:15.158Z,1761699435.158 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:15.161Z,1761699435.161 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:15.161Z,1761699435.161 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:15.256Z,1761699435.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.872969,-0.476606,-0.103787],[0.486612,-0.865631,-0.117859],[-0.033669,-0.153392,0.987592]] 2025-10-29T00:57:15.379Z,1761699435.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 211.100006 m, deltaT: 3.787499 s, deltaX: -1.599991 m, approachRate: -0.422440 m/s, rangeRepo size: 4 2025-10-29T00:57:15.385Z,1761699435.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 209.837402 m, bearing: 150.785625 deg, lat: 36.778995 deg, lon: -121.859430 deg, deltaT: 3.787499 s, deltaX: -1.588547 m, approachRate: -0.419418 m/s, posRepo size: 4 2025-10-29T00:57:15.386Z,1761699435.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:15.393Z,1761699435.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 191.128632 m, bearing: 149.553908 deg, approach rate: 0.000000 m/s, LOS rate: -0.024031 deg/s, cmd heading: 149.956202 deg, new cmd heading: 149.931275 deg. 2025-10-29T00:57:15.398Z,1761699435.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616794 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:15.645Z,1761699435.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873138,-0.476485,-0.102913],[0.486373,-0.865703,-0.118321],[-0.032714,-0.153365,0.987628]] 2025-10-29T00:57:15.665Z,1761699435.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:15.667Z,1761699435.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 190.939896 m, bearing: 149.545759 deg, approach rate: -0.659096 m/s, LOS rate: -0.028488 deg/s, cmd heading: 149.931272 deg, new cmd heading: 149.914957 deg. 2025-10-29T00:57:15.668Z,1761699435.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616510 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:16.042Z,1761699436.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873703,-0.475583,-0.102299],[0.485469,-0.865844,-0.120973],[-0.031042,-0.155357,0.987370]] 2025-10-29T00:57:16.095Z,1761699436.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:16.118Z,1761699436.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 190.690460 m, bearing: 149.534888 deg, approach rate: -0.580670 m/s, LOS rate: -0.025339 deg/s, cmd heading: 149.914961 deg, new cmd heading: 149.893192 deg. 2025-10-29T00:57:16.123Z,1761699436.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.616130 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:16.447Z,1761699436.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874049,-0.475421,-0.100063],[0.484957,-0.866154,-0.120805],[-0.029237,-0.154115,0.987620]] 2025-10-29T00:57:16.492Z,1761699436.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:16.494Z,1761699436.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:16.497Z,1761699436.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 190.425751 m, bearing: 149.522367 deg, approach rate: -0.661928 m/s, LOS rate: -0.031354 deg/s, cmd heading: 149.893187 deg, new cmd heading: 149.868109 deg. 2025-10-29T00:57:16.498Z,1761699436.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615692 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:16.657Z,1761699436.657 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:16.657Z,1761699436.657 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:16.657Z,1761699436.657 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:16.893Z,1761699436.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:16.909Z,1761699436.909 [DAT](INFO): DAT read: user:621> 2025-10-29T00:57:16.910Z,1761699436.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.754287 2025-10-29T00:57:16.896Z,1761699436.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 190.179306 m, bearing: 149.510677 deg, approach rate: -0.619488 m/s, LOS rate: -0.029423 deg/s, cmd heading: 149.868106 deg, new cmd heading: 149.844696 deg. 2025-10-29T00:57:16.917Z,1761699436.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.615283 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:17.162Z,1761699437.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006669 2025-10-29T00:57:17.255Z,1761699437.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874205,-0.475456,-0.098520],[0.484891,-0.865465,-0.125901],[-0.025405,-0.157835,0.987139]] 2025-10-29T00:57:17.338Z,1761699437.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:17.345Z,1761699437.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 189.937531 m, bearing: 149.498244 deg, approach rate: -0.542400 m/s, LOS rate: -0.027928 deg/s, cmd heading: 149.844693 deg, new cmd heading: 149.819794 deg. 2025-10-29T00:57:17.346Z,1761699437.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614849 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:17.414Z,1761699437.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257804 2025-10-29T00:57:17.665Z,1761699437.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509529 2025-10-29T00:57:17.670Z,1761699437.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873837,-0.476272,-0.097848],[0.485648,-0.864704,-0.128189],[-0.023557,-0.159536,0.986911]] 2025-10-29T00:57:17.738Z,1761699437.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:17.746Z,1761699437.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 189.672562 m, bearing: 149.484658 deg, approach rate: -0.661696 m/s, LOS rate: -0.033974 deg/s, cmd heading: 149.819790 deg, new cmd heading: 149.792580 deg. 2025-10-29T00:57:17.752Z,1761699437.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.614374 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:17.917Z,1761699437.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761520 2025-10-29T00:57:18.071Z,1761699438.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873065,-0.477791,-0.097328],[0.487101,-0.863669,-0.129649],[-0.022114,-0.160600,0.986772]] 2025-10-29T00:57:18.154Z,1761699438.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:18.163Z,1761699438.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 189.445648 m, bearing: 149.473114 deg, approach rate: -0.582642 m/s, LOS rate: -0.029677 deg/s, cmd heading: 149.792578 deg, new cmd heading: 149.769462 deg. 2025-10-29T00:57:18.169Z,1761699438.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013627 2025-10-29T00:57:18.170Z,1761699438.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613970 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:18.422Z,1761699438.422 [DAT](INFO): DAT read: Rx Time:00:57:17.6218 2025-10-29T00:57:18.423Z,1761699438.423 [DAT](INFO): Rx dataTimestamp_ set to:1761699438.422319 2025-10-29T00:57:18.424Z,1761699438.424 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268085 2025-10-29T00:57:18.491Z,1761699438.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871963,-0.480153,-0.095573],[0.489136,-0.862662,-0.128688],[-0.020657,-0.158959,0.987069]] 2025-10-29T00:57:18.591Z,1761699438.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:18.594Z,1761699438.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:18.596Z,1761699438.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 189.152466 m, bearing: 149.456373 deg, approach rate: -0.629058 m/s, LOS rate: -0.035976 deg/s, cmd heading: 149.769465 deg, new cmd heading: 149.735931 deg. 2025-10-29T00:57:18.597Z,1761699438.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.613385 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:18.674Z,1761699438.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518459 2025-10-29T00:57:18.916Z,1761699438.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.870014,-0.483753,-0.095181],[0.492631,-0.860700,-0.128492],[-0.019764,-0.158679,0.987132]] 2025-10-29T00:57:18.939Z,1761699438.939 [DAT](INFO): DAT read: 00:57:17.6218 LVL= 27552, 32753, 30114, 32755, AGC= 71, IDX= 95,-0.48,-0.895,-2.466,-0.622,-0.957, PHS= 0.164,-1.464, 0.291, RAW= 153.7, 11.9, CAL= 153.8, 13.2, ROT= 356.2, -13.2 2025-10-29T00:57:18.940Z,1761699438.940 [DAT](INFO): got valid direction response: 00:57:17.6218 LVL= 27552, 32753, 30114, 32755, AGC= 71, IDX= 95,-0.48,-0.895,-2.466,-0.622,-0.957, PHS= 0.164,-1.464, 0.291, RAW= 153.7, 11.9, CAL= 153.8, 13.2, ROT= 356.2, -13.2 2025-10-29T00:57:18.941Z,1761699438.941 [DAT](INFO): DAT read: Bearing 322.2, -7.1 (Local) 2025-10-29T00:57:18.941Z,1761699438.941 [DAT](INFO): Local bearing/azimuth received: Bearing 322.2, -7.1 (Local) 2025-10-29T00:57:18.943Z,1761699438.943 [DAT](INFO): DAT read: Range 11 to 50 : 185.2 m (Round-trip 247.0 ms) speed 0.8 m/s 2025-10-29T00:57:18.944Z,1761699438.944 [DAT](INFO): DAT read: user:622>Tx time:00:57:18.7207 2025-10-29T00:57:18.944Z,1761699438.944 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:18.945Z,1761699438.945 [DAT](INFO): direction in FSK: [0.971438,-0.064523,0.228351] 2025-10-29T00:57:18.946Z,1761699438.946 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:18.957Z,1761699438.957 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:18.957Z,1761699438.957 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:18.958Z,1761699438.958 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:19.034Z,1761699439.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 185.199997 m, deltaT: 3.780495 s, deltaX: -25.900009 m, approachRate: -6.850957 m/s, rangeRepo size: 4 2025-10-29T00:57:19.035Z,1761699439.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:19.042Z,1761699439.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 188.906891 m, bearing: 149.442617 deg, approach rate: -0.558092 m/s, LOS rate: -0.031301 deg/s, cmd heading: 149.735929 deg, new cmd heading: 149.708382 deg. 2025-10-29T00:57:19.043Z,1761699439.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612904 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:19.179Z,1761699439.179 [DAT](INFO): DAT read: 2025-10-29T00:57:19.184Z,1761699439.184 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.027914 2025-10-29T00:57:19.415Z,1761699439.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:19.429Z,1761699439.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.273541 2025-10-29T00:57:19.438Z,1761699439.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 188.655731 m, bearing: 149.428579 deg, approach rate: -0.658564 m/s, LOS rate: -0.036859 deg/s, cmd heading: 149.708376 deg, new cmd heading: 149.680261 deg. 2025-10-29T00:57:19.439Z,1761699439.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.612413 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:19.681Z,1761699439.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.525727 2025-10-29T00:57:19.780Z,1761699439.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.866343,-0.490076,-0.096302],[0.499129,-0.856442,-0.131823],[-0.017874,-0.162271,0.986584]] 2025-10-29T00:57:19.841Z,1761699439.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:19.844Z,1761699439.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 188.399063 m, bearing: 149.414809 deg, approach rate: -0.602249 m/s, LOS rate: -0.032354 deg/s, cmd heading: 149.680263 deg, new cmd heading: 149.652685 deg. 2025-10-29T00:57:19.845Z,1761699439.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611932 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:19.934Z,1761699439.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.778484 2025-10-29T00:57:20.187Z,1761699440.187 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.031548 2025-10-29T00:57:20.205Z,1761699440.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.864488,-0.493125,-0.097412],[0.502377,-0.854069,-0.134845],[-0.016701,-0.165509,0.986067]] 2025-10-29T00:57:20.335Z,1761699440.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:20.348Z,1761699440.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 188.123688 m, bearing: 149.400307 deg, approach rate: -0.558086 m/s, LOS rate: -0.029433 deg/s, cmd heading: 149.652682 deg, new cmd heading: 149.623637 deg. 2025-10-29T00:57:20.349Z,1761699440.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611425 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:20.437Z,1761699440.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.281516 2025-10-29T00:57:20.657Z,1761699440.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862703,-0.496142,-0.097914],[0.505471,-0.851946,-0.136698],[-0.015596,-0.167422,0.985762]] 2025-10-29T00:57:20.689Z,1761699440.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.533632 2025-10-29T00:57:20.692Z,1761699440.692 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:20.694Z,1761699440.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:20.697Z,1761699440.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 187.890366 m, bearing: 149.388255 deg, approach rate: -0.648878 m/s, LOS rate: -0.033561 deg/s, cmd heading: 149.623640 deg, new cmd heading: 149.599505 deg. 2025-10-29T00:57:20.698Z,1761699440.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.611004 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:20.941Z,1761699440.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.785449 2025-10-29T00:57:21.060Z,1761699441.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861461,-0.498303,-0.097869],[0.507620,-0.850422,-0.138217],[-0.014356,-0.168749,0.985555]] 2025-10-29T00:57:21.105Z,1761699441.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:21.108Z,1761699441.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 187.644379 m, bearing: 149.375711 deg, approach rate: -0.598653 m/s, LOS rate: -0.030568 deg/s, cmd heading: 149.599502 deg, new cmd heading: 149.574381 deg. 2025-10-29T00:57:21.109Z,1761699441.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610565 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:21.198Z,1761699441.198 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:57:21.201Z,1761699441.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044777 2025-10-29T00:57:21.445Z,1761699441.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.289569 2025-10-29T00:57:21.463Z,1761699441.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860219,-0.500686,-0.096627],[0.509748,-0.849326,-0.137119],[-0.013414,-0.167208,0.985830]] 2025-10-29T00:57:21.527Z,1761699441.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:21.530Z,1761699441.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 187.391510 m, bearing: 149.364135 deg, approach rate: -0.599103 m/s, LOS rate: -0.027462 deg/s, cmd heading: 149.574381 deg, new cmd heading: 149.551199 deg. 2025-10-29T00:57:21.531Z,1761699441.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.610161 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:21.697Z,1761699441.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.541466 2025-10-29T00:57:21.867Z,1761699441.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859238,-0.502726,-0.094738],[0.511421,-0.848670,-0.134936],[-0.012565,-0.164393,0.986315]] 2025-10-29T00:57:21.899Z,1761699441.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:21.902Z,1761699441.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 187.166367 m, bearing: 149.353933 deg, approach rate: -0.605097 m/s, LOS rate: -0.027452 deg/s, cmd heading: 149.551199 deg, new cmd heading: 149.530771 deg. 2025-10-29T00:57:21.903Z,1761699441.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609804 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:21.950Z,1761699441.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.794264 2025-10-29T00:57:22.203Z,1761699442.203 [DAT](INFO): DAT read: Rx Time:00:57:21.3679 2025-10-29T00:57:22.205Z,1761699442.205 [DAT](INFO): Rx dataTimestamp_ set to:1761699442.204222 2025-10-29T00:57:22.207Z,1761699442.207 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.051102 2025-10-29T00:57:22.209Z,1761699442.209 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:57:22.271Z,1761699442.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858346,-0.504814,-0.091683],[0.512946,-0.848275,-0.131591],[-0.011343,-0.159979,0.987055]] 2025-10-29T00:57:22.338Z,1761699442.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 209.84 m. 2025-10-29T00:57:22.341Z,1761699442.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 209.837402 m, nav range: 186.893829 m, bearing: 149.342224 deg, approach rate: -0.621012 m/s, LOS rate: -0.026719 deg/s, cmd heading: 149.530777 deg, new cmd heading: 149.507325 deg. 2025-10-29T00:57:22.342Z,1761699442.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.609395 target range: 209.837402 and range: 211.10 m. 2025-10-29T00:57:22.453Z,1761699442.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.297913 2025-10-29T00:57:22.675Z,1761699442.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857648,-0.506196,-0.090581],[0.514129,-0.847658,-0.130945],[-0.010498,-0.158875,0.987243]] 2025-10-29T00:57:22.715Z,1761699442.715 [DAT](INFO): DAT read: 00:57:21.3679 LVL= 27408, 32753, 26994, 31459, AGC= 69, IDX= 67,-0.20, 2.162, 0.351, 2.504, 2.057, PHS= 0.207,-1.662, 0.403, RAW= 154.9, 10.7, CAL= 154.8, 11.7, ROT= 355.2, -11.7 2025-10-29T00:57:22.716Z,1761699442.716 [DAT](INFO): got valid direction response: 00:57:21.3679 LVL= 27408, 32753, 26994, 31459, AGC= 69, IDX= 67,-0.20, 2.162, 0.351, 2.504, 2.057, PHS= 0.207,-1.662, 0.403, RAW= 154.9, 10.7, CAL= 154.8, 11.7, ROT= 355.2, -11.7 2025-10-29T00:57:22.717Z,1761699442.717 [DAT](INFO): DAT read: Bearing 318.3, -7.5 (Local) 2025-10-29T00:57:22.717Z,1761699442.717 [DAT](INFO): Local bearing/azimuth received: Bearing 318.3, -7.5 (Local) 2025-10-29T00:57:22.719Z,1761699442.719 [DAT](INFO): DAT read: Range 11 to 50 : 182.3 m (Round-trip 243.1 ms) speed 0.2 m/s 2025-10-29T00:57:22.720Z,1761699442.720 [DAT](INFO): DAT read: user:623>Tx time:00:57:22.4707 2025-10-29T00:57:22.720Z,1761699442.720 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:22.721Z,1761699442.721 [DAT](INFO): direction in FSK: [0.975789,-0.081939,0.202787] 2025-10-29T00:57:22.722Z,1761699442.722 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:22.725Z,1761699442.725 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:22.725Z,1761699442.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:22.725Z,1761699442.725 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:22.821Z,1761699442.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 182.300003 m, deltaT: 7.560514 s, deltaX: -28.800003 m, approachRate: -3.809265 m/s, rangeRepo size: 4 2025-10-29T00:57:22.823Z,1761699442.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 181.211243 m, bearing: 146.209272 deg, lat: 36.779007 deg, lon: -121.859430 deg, deltaT: 7.560514 s, deltaX: -28.626160 m, approachRate: -3.786272 m/s, posRepo size: 4 2025-10-29T00:57:22.828Z,1761699442.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:22.831Z,1761699442.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 185.465668 m, bearing: 149.118413 deg, approach rate: 0.000000 m/s, LOS rate: -0.026719 deg/s, cmd heading: 149.507322 deg, new cmd heading: 149.482201 deg. 2025-10-29T00:57:22.831Z,1761699442.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608957 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:22.957Z,1761699442.957 [DAT](INFO): DAT read: 2025-10-29T00:57:22.958Z,1761699442.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.802261 2025-10-29T00:57:23.092Z,1761699443.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857087,-0.507377,-0.089281],[0.515084,-0.847180,-0.130285],[-0.009533,-0.157653,0.987449]] 2025-10-29T00:57:23.125Z,1761699443.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:23.127Z,1761699443.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:23.134Z,1761699443.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 185.247971 m, bearing: 149.108863 deg, approach rate: -0.682425 m/s, LOS rate: -0.029974 deg/s, cmd heading: 149.482201 deg, new cmd heading: 149.463077 deg. 2025-10-29T00:57:23.135Z,1761699443.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608623 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:23.212Z,1761699443.212 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.055638 2025-10-29T00:57:23.461Z,1761699443.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.305471 2025-10-29T00:57:23.500Z,1761699443.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857080,-0.507338,-0.089561],[0.515107,-0.846879,-0.132137],[-0.008809,-0.159386,0.987177]] 2025-10-29T00:57:23.570Z,1761699443.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:23.585Z,1761699443.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 184.975266 m, bearing: 149.099894 deg, approach rate: -0.616308 m/s, LOS rate: -0.020300 deg/s, cmd heading: 149.463076 deg, new cmd heading: 149.445112 deg. 2025-10-29T00:57:23.585Z,1761699443.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608309 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:23.713Z,1761699443.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.557513 2025-10-29T00:57:23.916Z,1761699443.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857281,-0.507146,-0.088726],[0.514791,-0.846945,-0.132946],[-0.007723,-0.159647,0.987144]] 2025-10-29T00:57:23.935Z,1761699443.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:23.938Z,1761699443.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 184.730621 m, bearing: 149.091797 deg, approach rate: -0.670229 m/s, LOS rate: -0.022211 deg/s, cmd heading: 149.445113 deg, new cmd heading: 149.428898 deg. 2025-10-29T00:57:23.939Z,1761699443.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.608026 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:23.965Z,1761699443.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.809398 2025-10-29T00:57:24.221Z,1761699444.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.064302 2025-10-29T00:57:24.319Z,1761699444.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857505,-0.506907,-0.087916],[0.514432,-0.847035,-0.133758],[-0.006665,-0.159925,0.987107]] 2025-10-29T00:57:24.370Z,1761699444.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:24.373Z,1761699444.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 184.454178 m, bearing: 149.083422 deg, approach rate: -0.634832 m/s, LOS rate: -0.019260 deg/s, cmd heading: 149.428898 deg, new cmd heading: 149.412124 deg. 2025-10-29T00:57:24.374Z,1761699444.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607733 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:24.469Z,1761699444.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.313646 2025-10-29T00:57:24.722Z,1761699444.722 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.566284 2025-10-29T00:57:24.724Z,1761699444.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857802,-0.506526,-0.087218],[0.513952,-0.847102,-0.135172],[-0.005414,-0.160777,0.986976]] 2025-10-29T00:57:24.747Z,1761699444.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:24.754Z,1761699444.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 184.217499 m, bearing: 149.076192 deg, approach rate: -0.631107 m/s, LOS rate: -0.019305 deg/s, cmd heading: 149.412123 deg, new cmd heading: 149.397643 deg. 2025-10-29T00:57:24.755Z,1761699444.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607481 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:24.973Z,1761699444.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.817468 2025-10-29T00:57:25.118Z,1761699445.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858203,-0.505991,-0.086374],[0.513293,-0.847337,-0.136198],[-0.004273,-0.161220,0.986909]] 2025-10-29T00:57:25.153Z,1761699445.153 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:25.155Z,1761699445.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:25.158Z,1761699445.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 183.959045 m, bearing: 149.068212 deg, approach rate: -0.630179 m/s, LOS rate: -0.019483 deg/s, cmd heading: 149.397643 deg, new cmd heading: 149.381662 deg. 2025-10-29T00:57:25.159Z,1761699445.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.607202 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:25.229Z,1761699445.229 [DAT](INFO): Reached modem response timeout 2025-10-29T00:57:25.230Z,1761699445.230 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:25.231Z,1761699445.231 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:25.481Z,1761699445.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:25.523Z,1761699445.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858761,-0.505520,-0.083537],[0.512368,-0.848135,-0.134704],[-0.002755,-0.158481,0.987358]] 2025-10-29T00:57:25.581Z,1761699445.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:25.584Z,1761699445.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 183.688721 m, bearing: 149.059518 deg, approach rate: -0.634462 m/s, LOS rate: -0.020436 deg/s, cmd heading: 149.381660 deg, new cmd heading: 149.364246 deg. 2025-10-29T00:57:25.585Z,1761699445.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606898 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:25.733Z,1761699445.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:25.930Z,1761699445.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859320,-0.504784,-0.082230],[0.511436,-0.848580,-0.135446],[-0.001408,-0.158447,0.987366]] 2025-10-29T00:57:25.953Z,1761699445.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:25.956Z,1761699445.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 183.456360 m, bearing: 149.051944 deg, approach rate: -0.625076 m/s, LOS rate: -0.020399 deg/s, cmd heading: 149.364243 deg, new cmd heading: 149.349077 deg. 2025-10-29T00:57:25.957Z,1761699445.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606633 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:25.985Z,1761699445.985 [DAT](INFO): DAT read: Rx Time:00:57:25.1495 2025-10-29T00:57:25.985Z,1761699445.985 [DAT](INFO): Rx dataTimestamp_ set to:1761699445.985153 2025-10-29T00:57:25.986Z,1761699445.986 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:26.239Z,1761699446.239 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:57:26.352Z,1761699446.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859681,-0.504358,-0.081064],[0.510831,-0.848857,-0.135991],[-0.000224,-0.158319,0.987388]] 2025-10-29T00:57:26.426Z,1761699446.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:26.433Z,1761699446.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 183.173660 m, bearing: 149.043011 deg, approach rate: -0.597560 m/s, LOS rate: -0.018912 deg/s, cmd heading: 149.349080 deg, new cmd heading: 149.331186 deg. 2025-10-29T00:57:26.434Z,1761699446.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606321 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:26.495Z,1761699446.495 [DAT](INFO): DAT read: 00:57:25.1495 LVL= 24528, 27073, 22354, 22291, AGC= 70, IDX= 249, 0.18,-1.270,-2.442,-1.350,-2.553, PHS= 1.385, 0.157, 1.160, RAW= 140.1, -40.1, CAL= 141.5, -38.9, ROT= 8.5, 38.9 2025-10-29T00:57:26.497Z,1761699446.497 [DAT](INFO): got valid direction response: 00:57:25.1495 LVL= 24528, 27073, 22354, 22291, AGC= 70, IDX= 249, 0.18,-1.270,-2.442,-1.350,-2.553, PHS= 1.385, 0.157, 1.160, RAW= 140.1, -40.1, CAL= 141.5, -38.9, ROT= 8.5, 38.9 2025-10-29T00:57:26.499Z,1761699446.499 [DAT](INFO): DAT read: Bearing 269.3, 12.2 (Local) 2025-10-29T00:57:26.499Z,1761699446.499 [DAT](INFO): Local bearing/azimuth received: Bearing 269.3, 12.2 (Local) 2025-10-29T00:57:26.501Z,1761699446.501 [DAT](INFO): DAT read: Range 11 to 50 : 206.0 m (Round-trip 274.7 ms) speed 0.4 m/s 2025-10-29T00:57:26.502Z,1761699446.502 [DAT](INFO): DAT read: user:624> 2025-10-29T00:57:26.503Z,1761699446.503 [DAT](INFO): DAT read: Tx time:00:57:26.2207 2025-10-29T00:57:26.505Z,1761699446.505 [DAT](INFO): Ping request sent. 2025-10-29T00:57:26.505Z,1761699446.505 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:26.505Z,1761699446.505 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:26.507Z,1761699446.507 [DAT](INFO): direction in FSK: [0.769695,0.115032,-0.627963] 2025-10-29T00:57:26.507Z,1761699446.507 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:26.508Z,1761699446.508 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:26.521Z,1761699446.521 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:26.521Z,1761699446.521 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:26.739Z,1761699446.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860263,-0.503618,-0.079482],[0.509850,-0.849400,-0.136279],[0.001120,-0.157760,0.987477]] 2025-10-29T00:57:26.829Z,1761699446.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 206.000000 m, deltaT: 3.783986 s, deltaX: 23.699997 m, approachRate: 6.263236 m/s, rangeRepo size: 4 2025-10-29T00:57:26.830Z,1761699446.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:26.841Z,1761699446.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 182.931717 m, bearing: 149.035255 deg, approach rate: -0.601315 m/s, LOS rate: -0.019302 deg/s, cmd heading: 149.331185 deg, new cmd heading: 149.315652 deg. 2025-10-29T00:57:26.842Z,1761699446.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.606050 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:27.145Z,1761699447.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860975,-0.502663,-0.077795],[0.508641,-0.850075,-0.136587],[0.002526,-0.157167,0.987569]] 2025-10-29T00:57:27.183Z,1761699447.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:27.186Z,1761699447.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:27.197Z,1761699447.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 182.691132 m, bearing: 149.027413 deg, approach rate: -0.672415 m/s, LOS rate: -0.021945 deg/s, cmd heading: 149.315653 deg, new cmd heading: 149.299950 deg. 2025-10-29T00:57:27.198Z,1761699447.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605776 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:27.247Z,1761699447.247 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:27.248Z,1761699447.248 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:27.249Z,1761699447.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:27.497Z,1761699447.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993284 2025-10-29T00:57:27.569Z,1761699447.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862281,-0.501186,-0.072693],[0.506407,-0.851946,-0.133192],[0.004824,-0.151661,0.988421]] 2025-10-29T00:57:27.632Z,1761699447.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:27.635Z,1761699447.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 182.401306 m, bearing: 149.015890 deg, approach rate: -0.650520 m/s, LOS rate: -0.025905 deg/s, cmd heading: 149.299944 deg, new cmd heading: 149.276861 deg. 2025-10-29T00:57:27.636Z,1761699447.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605373 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:27.750Z,1761699447.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245984 2025-10-29T00:57:27.969Z,1761699447.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862579,-0.500899,-0.071115],[0.505887,-0.852311,-0.132832],[0.005923,-0.150554,0.988584]] 2025-10-29T00:57:28.001Z,1761699448.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497265 2025-10-29T00:57:28.021Z,1761699448.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:28.032Z,1761699448.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 182.178879 m, bearing: 149.006976 deg, approach rate: -0.571593 m/s, LOS rate: -0.022936 deg/s, cmd heading: 149.276858 deg, new cmd heading: 149.259007 deg. 2025-10-29T00:57:28.033Z,1761699448.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.605061 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:28.256Z,1761699448.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751832 2025-10-29T00:57:28.371Z,1761699448.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862729,-0.501025,-0.068359],[0.505616,-0.852813,-0.130625],[0.007149,-0.147257,0.989072]] 2025-10-29T00:57:28.445Z,1761699448.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:28.447Z,1761699448.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 181.899323 m, bearing: 148.995776 deg, approach rate: -0.660055 m/s, LOS rate: -0.026484 deg/s, cmd heading: 149.259004 deg, new cmd heading: 149.236570 deg. 2025-10-29T00:57:28.457Z,1761699448.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604670 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:28.505Z,1761699448.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001457 2025-10-29T00:57:28.757Z,1761699448.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253458 2025-10-29T00:57:28.823Z,1761699448.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862375,-0.502020,-0.065467],[0.506198,-0.852823,-0.128284],[0.008570,-0.143768,0.989574]] 2025-10-29T00:57:28.858Z,1761699448.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:28.868Z,1761699448.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 181.647263 m, bearing: 148.985695 deg, approach rate: -0.610341 m/s, LOS rate: -0.024446 deg/s, cmd heading: 149.236573 deg, new cmd heading: 149.216382 deg. 2025-10-29T00:57:28.869Z,1761699448.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604317 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:29.009Z,1761699449.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505242 2025-10-29T00:57:29.188Z,1761699449.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861412,-0.503999,-0.062888],[0.507804,-0.852120,-0.126599],[0.010218,-0.140988,0.989959]] 2025-10-29T00:57:29.205Z,1761699449.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:29.207Z,1761699449.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:29.222Z,1761699449.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 181.427109 m, bearing: 148.976992 deg, approach rate: -0.630030 m/s, LOS rate: -0.024936 deg/s, cmd heading: 149.216383 deg, new cmd heading: 149.198957 deg. 2025-10-29T00:57:29.223Z,1761699449.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.604013 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:29.264Z,1761699449.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760308 2025-10-29T00:57:29.513Z,1761699449.513 [DAT](INFO): DAT read: Rx Time:00:57:28.8286 2025-10-29T00:57:29.513Z,1761699449.513 [DAT](INFO): Rx dataTimestamp_ set to:1761699449.513064 2025-10-29T00:57:29.514Z,1761699449.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.010299 2025-10-29T00:57:29.587Z,1761699449.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860204,-0.506199,-0.061733],[0.509806,-0.850759,-0.127702],[0.012123,-0.141321,0.989890]] 2025-10-29T00:57:29.647Z,1761699449.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 181.21 m. 2025-10-29T00:57:29.650Z,1761699449.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 181.211243 m, nav range: 181.151779 m, bearing: 148.965074 deg, approach rate: -0.625090 m/s, LOS rate: -0.027097 deg/s, cmd heading: 149.198953 deg, new cmd heading: 149.175082 deg. 2025-10-29T00:57:29.651Z,1761699449.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603596 target range: 181.211243 and range: 182.30 m. 2025-10-29T00:57:29.766Z,1761699449.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262004 2025-10-29T00:57:30.023Z,1761699450.023 [DAT](INFO): DAT read: 00:57:28.8286 LVL= 32752, 32753, 29938, 32755, AGC= 70, IDX= 228,-0.33,-0.122,-1.685, 0.164,-0.183, PHS= 0.163,-1.456, 0.303, RAW= 154.1, 11.7, CAL= 154.1, 12.9, ROT= 355.9, -12.9 2025-10-29T00:57:30.024Z,1761699450.024 [DAT](INFO): got valid direction response: 00:57:28.8286 LVL= 32752, 32753, 29938, 32755, AGC= 70, IDX= 228,-0.33,-0.122,-1.685, 0.164,-0.183, PHS= 0.163,-1.456, 0.303, RAW= 154.1, 11.7, CAL= 154.1, 12.9, ROT= 355.9, -12.9 2025-10-29T00:57:30.025Z,1761699450.025 [DAT](INFO): DAT read: Bearing 319.7, -5.7 (Local) 2025-10-29T00:57:30.025Z,1761699450.025 [DAT](INFO): Local bearing/azimuth received: Bearing 319.7, -5.7 (Local) 2025-10-29T00:57:30.027Z,1761699450.027 [DAT](INFO): DAT read: Range 11 to 50 : 152.8 m (Round-trip 203.8 ms) speed 0.4 m/s 2025-10-29T00:57:30.028Z,1761699450.028 [DAT](INFO): DAT read: user:625> 2025-10-29T00:57:30.028Z,1761699450.028 [DAT](INFO): DAT read: Tx time:00:57:29.9207 2025-10-29T00:57:30.029Z,1761699450.029 [DAT](INFO): Ping request sent. 2025-10-29T00:57:30.029Z,1761699450.029 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:30.029Z,1761699450.029 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:30.030Z,1761699450.030 [DAT](INFO): direction in FSK: [0.972267,-0.069693,0.223250] 2025-10-29T00:57:30.030Z,1761699450.030 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:30.031Z,1761699450.031 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:30.039Z,1761699450.039 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:30.039Z,1761699450.039 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:30.145Z,1761699450.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 152.800003 m, deltaT: 7.311982 s, deltaX: -29.500000 m, approachRate: -4.034474 m/s, rangeRepo size: 4 2025-10-29T00:57:30.147Z,1761699450.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 151.890472 m, bearing: 147.134767 deg, lat: 36.779113 deg, lon: -121.859492 deg, deltaT: 7.311982 s, deltaX: -29.320770 m, approachRate: -4.009962 m/s, posRepo size: 4 2025-10-29T00:57:30.152Z,1761699450.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:30.155Z,1761699450.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 168.011612 m, bearing: 148.487673 deg, approach rate: 0.000000 m/s, LOS rate: -0.027097 deg/s, cmd heading: 149.175088 deg, new cmd heading: 149.148130 deg. 2025-10-29T00:57:30.161Z,1761699450.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.603126 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:30.481Z,1761699450.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858151,-0.509478,-0.063316],[0.513172,-0.847571,-0.135194],[0.015214,-0.148509,0.988794]] 2025-10-29T00:57:30.530Z,1761699450.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:30.533Z,1761699450.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 167.770309 m, bearing: 148.475332 deg, approach rate: -0.626491 m/s, LOS rate: -0.032085 deg/s, cmd heading: 149.148136 deg, new cmd heading: 149.123420 deg. 2025-10-29T00:57:30.534Z,1761699450.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602695 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:30.880Z,1761699450.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856667,-0.511936,-0.063585],[0.515604,-0.845739,-0.137399],[0.016563,-0.150490,0.988473]] 2025-10-29T00:57:30.900Z,1761699450.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:30.903Z,1761699450.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 167.548065 m, bearing: 148.464163 deg, approach rate: -0.600792 m/s, LOS rate: -0.030234 deg/s, cmd heading: 149.123425 deg, new cmd heading: 149.101056 deg. 2025-10-29T00:57:30.904Z,1761699450.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.602304 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:31.297Z,1761699451.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855342,-0.514009,-0.064683],[0.517749,-0.843790,-0.141261],[0.018031,-0.154316,0.987857]] 2025-10-29T00:57:31.379Z,1761699451.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:31.385Z,1761699451.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:31.392Z,1761699451.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 167.262177 m, bearing: 148.450020 deg, approach rate: -0.589566 m/s, LOS rate: -0.029217 deg/s, cmd heading: 149.101062 deg, new cmd heading: 149.072727 deg. 2025-10-29T00:57:31.393Z,1761699451.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601810 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:31.529Z,1761699451.529 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:31.529Z,1761699451.529 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:31.529Z,1761699451.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:31.725Z,1761699451.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854377,-0.515406,-0.066309],[0.519305,-0.842145,-0.145306],[0.019050,-0.158581,0.987162]] 2025-10-29T00:57:31.786Z,1761699451.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757337 2025-10-29T00:57:31.820Z,1761699451.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:31.823Z,1761699451.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 167.005890 m, bearing: 148.435948 deg, approach rate: -0.594420 m/s, LOS rate: -0.032686 deg/s, cmd heading: 149.072731 deg, new cmd heading: 149.044545 deg. 2025-10-29T00:57:31.828Z,1761699451.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.601318 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:32.037Z,1761699452.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008225 2025-10-29T00:57:32.137Z,1761699452.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853803,-0.516190,-0.067596],[0.520232,-0.841123,-0.147888],[0.019482,-0.161433,0.986691]] 2025-10-29T00:57:32.156Z,1761699452.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:32.159Z,1761699452.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 166.798050 m, bearing: 148.424594 deg, approach rate: -0.611769 m/s, LOS rate: -0.033464 deg/s, cmd heading: 149.044550 deg, new cmd heading: 149.021811 deg. 2025-10-29T00:57:32.160Z,1761699452.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.600921 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:32.293Z,1761699452.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262854 2025-10-29T00:57:32.538Z,1761699452.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853951,-0.516060,-0.066706],[0.519953,-0.841231,-0.148254],[0.020393,-0.161285,0.986697]] 2025-10-29T00:57:32.541Z,1761699452.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512152 2025-10-29T00:57:32.589Z,1761699452.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:32.592Z,1761699452.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 166.541931 m, bearing: 148.411613 deg, approach rate: -0.590951 m/s, LOS rate: -0.029996 deg/s, cmd heading: 149.021805 deg, new cmd heading: 148.995805 deg. 2025-10-29T00:57:32.593Z,1761699452.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.600467 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:32.797Z,1761699452.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767821 2025-10-29T00:57:32.943Z,1761699452.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853797,-0.516420,-0.065887],[0.520182,-0.841134,-0.147999],[0.021010,-0.160634,0.986790]] 2025-10-29T00:57:33.043Z,1761699453.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:33.045Z,1761699453.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016192 2025-10-29T00:57:33.047Z,1761699453.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 166.273178 m, bearing: 148.397974 deg, approach rate: -0.592731 m/s, LOS rate: -0.030131 deg/s, cmd heading: 148.995809 deg, new cmd heading: 148.968486 deg. 2025-10-29T00:57:33.048Z,1761699453.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599991 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:33.298Z,1761699453.298 [DAT](INFO): DAT read: Rx Time:00:57:32.5615 2025-10-29T00:57:33.299Z,1761699453.299 [DAT](INFO): Rx dataTimestamp_ set to:1761699453.298890 2025-10-29T00:57:33.300Z,1761699453.300 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270927 2025-10-29T00:57:33.388Z,1761699453.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853374,-0.517207,-0.065192],[0.520867,-0.840885,-0.147004],[0.021212,-0.159406,0.986985]] 2025-10-29T00:57:33.533Z,1761699453.533 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:33.535Z,1761699453.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:33.538Z,1761699453.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 165.986343 m, bearing: 148.384163 deg, approach rate: -0.582849 m/s, LOS rate: -0.028112 deg/s, cmd heading: 148.968489 deg, new cmd heading: 148.940819 deg. 2025-10-29T00:57:33.539Z,1761699453.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599508 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:33.549Z,1761699453.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520260 2025-10-29T00:57:33.810Z,1761699453.810 [DAT](INFO): DAT read: 00:57:32.5615 LVL= 28272, 27553, 26738, 20403, AGC= 70, IDX= 250,-0.12,-2.597, 2.501,-2.607, 2.272, PHS= 1.516, 0.274, 1.360, RAW= 143.4, -43.5, CAL= 145.1, -42.0, ROT= 4.9, 42.0 2025-10-29T00:57:33.813Z,1761699453.813 [DAT](INFO): got valid direction response: 00:57:32.5615 LVL= 28272, 27553, 26738, 20403, AGC= 70, IDX= 250,-0.12,-2.597, 2.501,-2.607, 2.272, PHS= 1.516, 0.274, 1.360, RAW= 143.4, -43.5, CAL= 145.1, -42.0, ROT= 4.9, 42.0 2025-10-29T00:57:33.814Z,1761699453.814 [DAT](INFO): DAT read: Bearing 264.6, 10.6 (Local) 2025-10-29T00:57:33.815Z,1761699453.815 [DAT](INFO): Local bearing/azimuth received: Bearing 264.6, 10.6 (Local) 2025-10-29T00:57:33.816Z,1761699453.816 [DAT](INFO): DAT read: Range 11 to 50 : 177.5 m (Round-trip 236.7 ms) speed 0.8 m/s 2025-10-29T00:57:33.817Z,1761699453.817 [DAT](INFO): DAT read: user:626> 2025-10-29T00:57:33.818Z,1761699453.818 [DAT](INFO): DAT read: Tx time:00:57:33.6707 2025-10-29T00:57:33.818Z,1761699453.818 [DAT](INFO): Ping request sent. 2025-10-29T00:57:33.818Z,1761699453.818 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:33.818Z,1761699453.818 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:33.819Z,1761699453.819 [DAT](INFO): direction in FSK: [0.740429,0.063477,-0.669131] 2025-10-29T00:57:33.822Z,1761699453.822 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:33.822Z,1761699453.822 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:33.826Z,1761699453.826 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:33.826Z,1761699453.826 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:33.905Z,1761699453.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853365,-0.517357,-0.064107],[0.520880,-0.841173,-0.145299],[0.021246,-0.157385,0.987309]] 2025-10-29T00:57:33.991Z,1761699453.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 177.500000 m, deltaT: 3.785165 s, deltaX: 24.699997 m, approachRate: 6.525474 m/s, rangeRepo size: 4 2025-10-29T00:57:33.991Z,1761699453.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:34.002Z,1761699454.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 165.709900 m, bearing: 148.370802 deg, approach rate: -0.606851 m/s, LOS rate: -0.029380 deg/s, cmd heading: 148.940813 deg, new cmd heading: 148.914045 deg. 2025-10-29T00:57:34.003Z,1761699454.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.599041 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:34.325Z,1761699454.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853402,-0.517542,-0.062085],[0.520812,-0.841719,-0.142353],[0.021416,-0.153819,0.987867]] 2025-10-29T00:57:34.435Z,1761699454.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:34.438Z,1761699454.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 165.426056 m, bearing: 148.361459 deg, approach rate: -0.638407 m/s, LOS rate: -0.021050 deg/s, cmd heading: 148.914052 deg, new cmd heading: 148.895334 deg. 2025-10-29T00:57:34.439Z,1761699454.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598714 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:34.732Z,1761699454.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853628,-0.517206,-0.061777],[0.520423,-0.841872,-0.142868],[0.021883,-0.154106,0.987812]] 2025-10-29T00:57:34.784Z,1761699454.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:34.803Z,1761699454.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 165.215347 m, bearing: 148.354469 deg, approach rate: -0.604240 m/s, LOS rate: -0.020069 deg/s, cmd heading: 148.895337 deg, new cmd heading: 148.881340 deg. 2025-10-29T00:57:34.804Z,1761699454.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598469 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:35.135Z,1761699455.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853881,-0.516848,-0.061281],[0.519985,-0.842079,-0.143245],[0.022433,-0.154180,0.987788]] 2025-10-29T00:57:35.169Z,1761699455.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:35.172Z,1761699455.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 164.980423 m, bearing: 148.346614 deg, approach rate: -0.608760 m/s, LOS rate: -0.020384 deg/s, cmd heading: 148.881335 deg, new cmd heading: 148.865603 deg. 2025-10-29T00:57:35.173Z,1761699455.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.598195 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:35.539Z,1761699455.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854277,-0.516294,-0.060424],[0.519307,-0.842498,-0.143240],[0.023047,-0.153745,0.987842]] 2025-10-29T00:57:35.587Z,1761699455.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:35.589Z,1761699455.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:35.593Z,1761699455.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 164.716217 m, bearing: 148.337760 deg, approach rate: -0.629023 m/s, LOS rate: -0.021114 deg/s, cmd heading: 148.865599 deg, new cmd heading: 148.847862 deg. 2025-10-29T00:57:35.594Z,1761699455.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597885 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:35.817Z,1761699455.817 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:35.817Z,1761699455.817 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:35.817Z,1761699455.817 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:35.945Z,1761699455.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854862,-0.515440,-0.059437],[0.518312,-0.843100,-0.143300],[0.023751,-0.153309,0.987893]] 2025-10-29T00:57:35.972Z,1761699455.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:35.975Z,1761699455.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 164.488998 m, bearing: 148.330030 deg, approach rate: -0.593362 m/s, LOS rate: -0.020214 deg/s, cmd heading: 148.847867 deg, new cmd heading: 148.832386 deg. 2025-10-29T00:57:35.976Z,1761699455.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597615 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:36.070Z,1761699456.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.252116 2025-10-29T00:57:36.321Z,1761699456.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.502720 2025-10-29T00:57:36.347Z,1761699456.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855713,-0.514142,-0.058422],[0.516860,-0.843879,-0.143961],[0.024715,-0.153386,0.987857]] 2025-10-29T00:57:36.445Z,1761699456.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:36.448Z,1761699456.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 164.200790 m, bearing: 148.320023 deg, approach rate: -0.609189 m/s, LOS rate: -0.021189 deg/s, cmd heading: 148.832390 deg, new cmd heading: 148.812341 deg. 2025-10-29T00:57:36.449Z,1761699456.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.597265 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:36.573Z,1761699456.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.754779 2025-10-29T00:57:36.759Z,1761699456.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857053,-0.512160,-0.056142],[0.514562,-0.845313,-0.143775],[0.026178,-0.152111,0.988017]] 2025-10-29T00:57:36.825Z,1761699456.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006838 2025-10-29T00:57:36.832Z,1761699456.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:36.835Z,1761699456.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 163.960892 m, bearing: 148.311099 deg, approach rate: -0.620499 m/s, LOS rate: -0.023115 deg/s, cmd heading: 148.812337 deg, new cmd heading: 148.794463 deg. 2025-10-29T00:57:36.860Z,1761699456.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596953 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:37.077Z,1761699457.077 [DAT](INFO): DAT read: Rx Time:00:57:36.3074 2025-10-29T00:57:37.078Z,1761699457.078 [DAT](INFO): Rx dataTimestamp_ set to:1761699457.077593 2025-10-29T00:57:37.079Z,1761699457.079 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260577 2025-10-29T00:57:37.182Z,1761699457.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859218,-0.509086,-0.050755],[0.510783,-0.847962,-0.141634],[0.029066,-0.147619,0.988617]] 2025-10-29T00:57:37.201Z,1761699457.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 151.89 m. 2025-10-29T00:57:37.203Z,1761699457.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 151.890472 m, nav range: 163.734390 m, bearing: 148.302293 deg, approach rate: -0.614755 m/s, LOS rate: -0.023934 deg/s, cmd heading: 148.794469 deg, new cmd heading: 148.776832 deg. 2025-10-29T00:57:37.205Z,1761699457.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596646 target range: 151.890472 and range: 152.80 m. 2025-10-29T00:57:37.329Z,1761699457.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.510826 2025-10-29T00:57:37.587Z,1761699457.587 [DAT](INFO): DAT read: 00:57:36.3074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394,-0.13,-0.294,-1.908,-0.004,-0.478, PHS= 0.285,-1.385, 0.430, RAW= 154.1, 7.7, CAL= 153.6, 8.1, ROT= 356.4, -8.1 2025-10-29T00:57:37.588Z,1761699457.588 [DAT](INFO): got valid direction response: 00:57:36.3074 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 394,-0.13,-0.294,-1.908,-0.004,-0.478, PHS= 0.285,-1.385, 0.430, RAW= 154.1, 7.7, CAL= 153.6, 8.1, ROT= 356.4, -8.1 2025-10-29T00:57:37.589Z,1761699457.589 [DAT](INFO): DAT read: Bearing 313.9, -3.3 (Local) 2025-10-29T00:57:37.589Z,1761699457.589 [DAT](INFO): Local bearing/azimuth received: Bearing 313.9, -3.3 (Local) 2025-10-29T00:57:37.591Z,1761699457.591 [DAT](INFO): DAT read: Range 11 to 50 : 174.4 m (Round-trip 232.6 ms) speed 0.4 m/s 2025-10-29T00:57:37.591Z,1761699457.591 [DAT](INFO): DAT read: user:627> 2025-10-29T00:57:37.592Z,1761699457.592 [DAT](INFO): DAT read: Tx time:00:57:37.4207 2025-10-29T00:57:37.593Z,1761699457.593 [DAT](INFO): Ping request sent. 2025-10-29T00:57:37.593Z,1761699457.593 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:37.593Z,1761699457.593 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:37.594Z,1761699457.594 [DAT](INFO): direction in FSK: [0.988070,-0.062164,0.140901] 2025-10-29T00:57:37.594Z,1761699457.594 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:37.594Z,1761699457.594 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:37.598Z,1761699457.598 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:37.599Z,1761699457.599 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:37.602Z,1761699457.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860015,-0.507888,-0.049240],[0.509386,-0.848844,-0.141384],[0.030010,-0.146675,0.988730]] 2025-10-29T00:57:37.777Z,1761699457.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.399994 m, deltaT: 7.564018 s, deltaX: 21.599991 m, approachRate: 2.855624 m/s, rangeRepo size: 4 2025-10-29T00:57:37.790Z,1761699457.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.365173 m, bearing: 146.984543 deg, lat: 36.779184 deg, lon: -121.859580 deg, deltaT: 7.564018 s, deltaX: 21.474701 m, approachRate: 2.839060 m/s, posRepo size: 4 2025-10-29T00:57:37.791Z,1761699457.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:37.798Z,1761699457.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 152.580399 m, bearing: 149.236811 deg, approach rate: 0.000000 m/s, LOS rate: -0.023934 deg/s, cmd heading: 148.776833 deg, new cmd heading: 148.749958 deg. 2025-10-29T00:57:37.799Z,1761699457.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.596177 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:38.109Z,1761699458.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860883,-0.506608,-0.047208],[0.507855,-0.849914,-0.140460],[0.031036,-0.144895,0.988960]] 2025-10-29T00:57:38.131Z,1761699458.131 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:38.133Z,1761699458.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:38.136Z,1761699458.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 152.295181 m, bearing: 149.228028 deg, approach rate: -0.769190 m/s, LOS rate: -0.023731 deg/s, cmd heading: 148.749963 deg, new cmd heading: 148.732364 deg. 2025-10-29T00:57:38.137Z,1761699458.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595870 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:38.339Z,1761699458.339 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:38.339Z,1761699458.339 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:38.340Z,1761699458.340 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:38.511Z,1761699458.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861467,-0.505715,-0.046111],[0.506824,-0.850573,-0.140197],[0.031679,-0.144145,0.989049]] 2025-10-29T00:57:38.563Z,1761699458.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:38.566Z,1761699458.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 152.022949 m, bearing: 149.217912 deg, approach rate: -0.632308 m/s, LOS rate: -0.023538 deg/s, cmd heading: 148.732369 deg, new cmd heading: 148.712101 deg. 2025-10-29T00:57:38.567Z,1761699458.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595516 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:38.589Z,1761699458.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996068 2025-10-29T00:57:38.841Z,1761699458.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.248526 2025-10-29T00:57:38.965Z,1761699458.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:38.968Z,1761699458.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 151.777725 m, bearing: 149.208769 deg, approach rate: -0.609896 m/s, LOS rate: -0.022776 deg/s, cmd heading: 148.712097 deg, new cmd heading: 148.693782 deg. 2025-10-29T00:57:38.969Z,1761699458.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.595196 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:39.093Z,1761699459.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500149 2025-10-29T00:57:39.320Z,1761699459.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.861060,-0.506440,-0.045775],[0.507536,-0.850378,-0.138799],[0.031367,-0.142746,0.989262]] 2025-10-29T00:57:39.341Z,1761699459.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:39.344Z,1761699459.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 151.532074 m, bearing: 149.199651 deg, approach rate: -0.654140 m/s, LOS rate: -0.024319 deg/s, cmd heading: 148.693778 deg, new cmd heading: 148.675513 deg. 2025-10-29T00:57:39.345Z,1761699459.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752569 2025-10-29T00:57:39.346Z,1761699459.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594877 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:39.597Z,1761699459.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004292 2025-10-29T00:57:39.722Z,1761699459.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860410,-0.507347,-0.047891],[0.508699,-0.849492,-0.139958],[0.030324,-0.144784,0.988999]] 2025-10-29T00:57:39.807Z,1761699459.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:39.814Z,1761699459.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 151.249908 m, bearing: 149.188863 deg, approach rate: -0.605365 m/s, LOS rate: -0.023189 deg/s, cmd heading: 148.675514 deg, new cmd heading: 148.653898 deg. 2025-10-29T00:57:39.815Z,1761699459.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594500 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:39.849Z,1761699459.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256392 2025-10-29T00:57:40.101Z,1761699460.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508249 2025-10-29T00:57:40.151Z,1761699460.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.859769,-0.508163,-0.050673],[0.509837,-0.848397,-0.142438],[0.029391,-0.148299,0.988506]] 2025-10-29T00:57:40.168Z,1761699460.168 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:40.170Z,1761699460.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:40.173Z,1761699460.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 151.019577 m, bearing: 149.180153 deg, approach rate: -0.634089 m/s, LOS rate: -0.024013 deg/s, cmd heading: 148.653904 deg, new cmd heading: 148.636458 deg. 2025-10-29T00:57:40.174Z,1761699460.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.594196 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:40.353Z,1761699460.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760364 2025-10-29T00:57:40.555Z,1761699460.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.858792,-0.509451,-0.054182],[0.511541,-0.846822,-0.145666],[0.028328,-0.152813,0.987849]] 2025-10-29T00:57:40.605Z,1761699460.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012278 2025-10-29T00:57:40.606Z,1761699460.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:40.609Z,1761699460.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 150.749802 m, bearing: 149.169399 deg, approach rate: -0.621976 m/s, LOS rate: -0.024839 deg/s, cmd heading: 148.636459 deg, new cmd heading: 148.614912 deg. 2025-10-29T00:57:40.609Z,1761699460.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593820 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:40.859Z,1761699460.859 [DAT](INFO): DAT read: Rx Time:00:57:40.0551 2025-10-29T00:57:40.859Z,1761699460.859 [DAT](INFO): Rx dataTimestamp_ set to:1761699460.859056 2025-10-29T00:57:40.861Z,1761699460.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268605 2025-10-29T00:57:40.965Z,1761699460.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857722,-0.510767,-0.058564],[0.513384,-0.844865,-0.150462],[0.027372,-0.159121,0.986880]] 2025-10-29T00:57:41.004Z,1761699461.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.37 m. 2025-10-29T00:57:41.007Z,1761699461.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.365173 m, nav range: 150.508743 m, bearing: 149.159980 deg, approach rate: -0.609190 m/s, LOS rate: -0.023843 deg/s, cmd heading: 148.614917 deg, new cmd heading: 148.596048 deg. 2025-10-29T00:57:41.007Z,1761699461.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593490 target range: 173.365173 and range: 174.40 m. 2025-10-29T00:57:41.109Z,1761699461.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516335 2025-10-29T00:57:41.350Z,1761699461.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.856685,-0.512078,-0.062185],[0.515160,-0.843127,-0.154103],[0.026483,-0.164053,0.986096]] 2025-10-29T00:57:41.367Z,1761699461.367 [DAT](INFO): DAT read: 00:57:40.0551 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 54, 0.49,-0.509,-2.039,-0.258,-0.611, PHS= 0.204,-1.382, 0.310, RAW= 153.2, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 2025-10-29T00:57:41.368Z,1761699461.368 [DAT](INFO): got valid direction response: 00:57:40.0551 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 54, 0.49,-0.509,-2.039,-0.258,-0.611, PHS= 0.204,-1.382, 0.310, RAW= 153.2, 10.6, CAL= 153.0, 11.6, ROT= 357.0, -11.6 2025-10-29T00:57:41.369Z,1761699461.369 [DAT](INFO): DAT read: Bearing 317.6, -3.2 (Local) 2025-10-29T00:57:41.370Z,1761699461.370 [DAT](INFO): Local bearing/azimuth received: Bearing 317.6, -3.2 (Local) 2025-10-29T00:57:41.371Z,1761699461.371 [DAT](INFO): DAT read: Range 11 to 50 : 172.8 m (Round-trip 230.4 ms) speed 0.2 m/s 2025-10-29T00:57:41.372Z,1761699461.372 [DAT](INFO): DAT read: user:628> 2025-10-29T00:57:41.373Z,1761699461.373 [DAT](INFO): DAT read: Tx time:00:57:41.1706 2025-10-29T00:57:41.373Z,1761699461.373 [DAT](INFO): Ping request sent. 2025-10-29T00:57:41.373Z,1761699461.373 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:41.373Z,1761699461.373 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:41.374Z,1761699461.374 [DAT](INFO): direction in FSK: [0.978233,-0.051267,0.201078] 2025-10-29T00:57:41.375Z,1761699461.375 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:41.375Z,1761699461.375 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:41.379Z,1761699461.379 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:41.379Z,1761699461.379 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:41.396Z,1761699461.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 172.800003 m, deltaT: 3.779983 s, deltaX: -1.599991 m, approachRate: -0.423280 m/s, rangeRepo size: 4 2025-10-29T00:57:41.434Z,1761699461.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 171.773514 m, bearing: 147.944476 deg, lat: 36.779184 deg, lon: -121.859580 deg, deltaT: 3.779983 s, deltaX: -1.591660 m, approachRate: -0.421076 m/s, posRepo size: 4 2025-10-29T00:57:41.435Z,1761699461.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:41.445Z,1761699461.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 150.264496 m, bearing: 149.150618 deg, approach rate: 0.000000 m/s, LOS rate: -0.023843 deg/s, cmd heading: 148.596052 deg, new cmd heading: 148.577208 deg. 2025-10-29T00:57:41.446Z,1761699461.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.593162 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:41.830Z,1761699461.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855791,-0.513328,-0.064159],[0.516691,-0.842023,-0.155010],[0.025548,-0.165807,0.985827]] 2025-10-29T00:57:41.883Z,1761699461.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:41.890Z,1761699461.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 149.981796 m, bearing: 149.136591 deg, approach rate: -0.579551 m/s, LOS rate: -0.028811 deg/s, cmd heading: 148.577214 deg, new cmd heading: 148.549107 deg. 2025-10-29T00:57:41.890Z,1761699461.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592671 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:42.227Z,1761699462.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855015,-0.514529,-0.064880],[0.517986,-0.841188,-0.155217],[0.025287,-0.166320,0.985748]] 2025-10-29T00:57:42.243Z,1761699462.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:42.246Z,1761699462.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:42.248Z,1761699462.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 149.759369 m, bearing: 149.125650 deg, approach rate: -0.612834 m/s, LOS rate: -0.030189 deg/s, cmd heading: 148.549101 deg, new cmd heading: 148.527187 deg. 2025-10-29T00:57:42.249Z,1761699462.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.592288 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:42.369Z,1761699462.369 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:42.369Z,1761699462.369 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:42.369Z,1761699462.369 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:42.621Z,1761699462.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247871 2025-10-29T00:57:42.635Z,1761699462.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854231,-0.515787,-0.065211],[0.519285,-0.840429,-0.154988],[0.025135,-0.166258,0.985762]] 2025-10-29T00:57:42.728Z,1761699462.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:42.731Z,1761699462.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 149.492188 m, bearing: 149.112018 deg, approach rate: -0.558577 m/s, LOS rate: -0.028551 deg/s, cmd heading: 148.527190 deg, new cmd heading: 148.499877 deg. 2025-10-29T00:57:42.736Z,1761699462.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591812 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:42.873Z,1761699462.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499755 2025-10-29T00:57:43.102Z,1761699463.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:43.105Z,1761699463.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 149.249313 m, bearing: 149.099583 deg, approach rate: -0.642375 m/s, LOS rate: -0.032941 deg/s, cmd heading: 148.499883 deg, new cmd heading: 148.474974 deg. 2025-10-29T00:57:43.106Z,1761699463.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.591377 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:43.125Z,1761699463.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751798 2025-10-29T00:57:43.406Z,1761699463.406 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.032835 2025-10-29T00:57:43.476Z,1761699463.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852960,-0.517734,-0.066418],[0.521350,-0.838776,-0.157000],[0.025574,-0.168542,0.985363]] 2025-10-29T00:57:43.558Z,1761699463.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:43.573Z,1761699463.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 149.006882 m, bearing: 149.087373 deg, approach rate: -0.531434 m/s, LOS rate: -0.026810 deg/s, cmd heading: 148.474980 deg, new cmd heading: 148.450519 deg. 2025-10-29T00:57:43.574Z,1761699463.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590950 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:43.630Z,1761699463.630 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256525 2025-10-29T00:57:43.881Z,1761699463.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507620 2025-10-29T00:57:43.886Z,1761699463.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852337,-0.518523,-0.068232],[0.522358,-0.837597,-0.159917],[0.025770,-0.171944,0.984770]] 2025-10-29T00:57:43.935Z,1761699463.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:43.937Z,1761699463.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 148.754501 m, bearing: 149.072324 deg, approach rate: -0.670565 m/s, LOS rate: -0.040052 deg/s, cmd heading: 148.450514 deg, new cmd heading: 148.420366 deg. 2025-10-29T00:57:43.938Z,1761699463.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.590424 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:44.133Z,1761699464.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759729 2025-10-29T00:57:44.339Z,1761699464.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:44.342Z,1761699464.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:44.345Z,1761699464.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 148.520157 m, bearing: 149.058304 deg, approach rate: -0.575593 m/s, LOS rate: -0.034490 deg/s, cmd heading: 148.420366 deg, new cmd heading: 148.392282 deg. 2025-10-29T00:57:44.346Z,1761699464.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589934 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:44.387Z,1761699464.387 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012827 2025-10-29T00:57:44.637Z,1761699464.637 [DAT](INFO): DAT read: Rx Time:00:57:43.7665 2025-10-29T00:57:44.637Z,1761699464.637 [DAT](INFO): Rx dataTimestamp_ set to:1761699464.637067 2025-10-29T00:57:44.638Z,1761699464.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264754 2025-10-29T00:57:44.697Z,1761699464.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851741,-0.519565,-0.067750],[0.523306,-0.837052,-0.159672],[0.026249,-0.171453,0.984843]] 2025-10-29T00:57:44.739Z,1761699464.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:44.743Z,1761699464.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 148.269333 m, bearing: 149.044474 deg, approach rate: -0.631830 m/s, LOS rate: -0.034896 deg/s, cmd heading: 148.392280 deg, new cmd heading: 148.364574 deg. 2025-10-29T00:57:44.761Z,1761699464.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.589450 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:44.894Z,1761699464.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518386 2025-10-29T00:57:45.099Z,1761699465.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851826,-0.519490,-0.067248],[0.523151,-0.837177,-0.159523],[0.026572,-0.171067,0.984901]] 2025-10-29T00:57:45.132Z,1761699465.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:45.134Z,1761699465.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 148.028534 m, bearing: 149.031134 deg, approach rate: -0.612887 m/s, LOS rate: -0.034009 deg/s, cmd heading: 148.364577 deg, new cmd heading: 148.337853 deg. 2025-10-29T00:57:45.135Z,1761699465.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588984 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:45.149Z,1761699465.149 [DAT](INFO): DAT read: 00:57:43.7665 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 40, 0.30,-1.505,-3.134,-1.216,-1.728, PHS= 0.325,-1.362, 0.467, RAW= 154.0, 6.5, CAL= 153.3, 6.7, ROT= 356.7, -6.7 2025-10-29T00:57:45.150Z,1761699465.150 [DAT](INFO): got valid direction response: 00:57:43.7665 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 40, 0.30,-1.505,-3.134,-1.216,-1.728, PHS= 0.325,-1.362, 0.467, RAW= 154.0, 6.5, CAL= 153.3, 6.7, ROT= 356.7, -6.7 2025-10-29T00:57:45.151Z,1761699465.151 [DAT](INFO): DAT read: Bearing 311.4, -3.0 (Local) 2025-10-29T00:57:45.151Z,1761699465.151 [DAT](INFO): Local bearing/azimuth received: Bearing 311.4, -3.0 (Local) 2025-10-29T00:57:45.161Z,1761699465.161 [DAT](INFO): DAT read: Range 11 to 50 : 143.7 m (Round-trip 191.7 ms) speed 0.4 m/s 2025-10-29T00:57:45.162Z,1761699465.162 [DAT](INFO): DAT read: user:629> 2025-10-29T00:57:45.163Z,1761699465.163 [DAT](INFO): DAT read: Tx time:00:57:44.8706 2025-10-29T00:57:45.163Z,1761699465.163 [DAT](INFO): Ping request sent. 2025-10-29T00:57:45.163Z,1761699465.163 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:45.163Z,1761699465.163 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:45.181Z,1761699465.181 [DAT](INFO): direction in FSK: [0.991524,-0.057171,0.116671] 2025-10-29T00:57:45.181Z,1761699465.181 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:45.181Z,1761699465.181 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:45.193Z,1761699465.193 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:45.193Z,1761699465.193 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:45.509Z,1761699465.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851918,-0.519485,-0.066117],[0.522980,-0.837470,-0.158546],[0.026992,-0.169646,0.985135]] 2025-10-29T00:57:45.604Z,1761699465.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 143.699997 m, deltaT: 3.781084 s, deltaX: -29.100006 m, approachRate: -7.696207 m/s, rangeRepo size: 4 2025-10-29T00:57:45.604Z,1761699465.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:45.607Z,1761699465.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 147.774323 m, bearing: 149.016977 deg, approach rate: -0.543999 m/s, LOS rate: -0.030349 deg/s, cmd heading: 148.337857 deg, new cmd heading: 148.309493 deg. 2025-10-29T00:57:45.612Z,1761699465.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.588489 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:45.998Z,1761699465.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:46.005Z,1761699466.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 147.505478 m, bearing: 149.002572 deg, approach rate: -0.673978 m/s, LOS rate: -0.036176 deg/s, cmd heading: 148.309498 deg, new cmd heading: 148.280637 deg. 2025-10-29T00:57:46.006Z,1761699466.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587985 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:46.335Z,1761699466.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852130,-0.519411,-0.063927],[0.522588,-0.838047,-0.156779],[0.027859,-0.167004,0.985563]] 2025-10-29T00:57:46.353Z,1761699466.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:46.355Z,1761699466.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:46.357Z,1761699466.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 147.285690 m, bearing: 148.990707 deg, approach rate: -0.616019 m/s, LOS rate: -0.033305 deg/s, cmd heading: 148.280634 deg, new cmd heading: 148.256869 deg. 2025-10-29T00:57:46.358Z,1761699466.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587570 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:46.401Z,1761699466.401 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:46.401Z,1761699466.401 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:46.402Z,1761699466.402 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:46.653Z,1761699466.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.489949 2025-10-29T00:57:46.735Z,1761699466.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852560,-0.518842,-0.062797],[0.521863,-0.838642,-0.156010],[0.028280,-0.165780,0.985757]] 2025-10-29T00:57:46.858Z,1761699466.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:46.860Z,1761699466.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 146.978867 m, bearing: 148.975564 deg, approach rate: -0.610076 m/s, LOS rate: -0.030174 deg/s, cmd heading: 148.256865 deg, new cmd heading: 148.226514 deg. 2025-10-29T00:57:46.861Z,1761699466.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.587041 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:46.905Z,1761699466.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.742003 2025-10-29T00:57:47.157Z,1761699467.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.994327 2025-10-29T00:57:47.201Z,1761699467.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853463,-0.517917,-0.057993],[0.520338,-0.840615,-0.150379],[0.029134,-0.158519,0.986926]] 2025-10-29T00:57:47.319Z,1761699467.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:47.321Z,1761699467.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 146.698563 m, bearing: 148.961451 deg, approach rate: -0.607969 m/s, LOS rate: -0.030668 deg/s, cmd heading: 148.226511 deg, new cmd heading: 148.198232 deg. 2025-10-29T00:57:47.322Z,1761699467.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586547 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:47.410Z,1761699467.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.246624 2025-10-29T00:57:47.635Z,1761699467.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853530,-0.518076,-0.055534],[0.520187,-0.841161,-0.147832],[0.029875,-0.155067,0.987452]] 2025-10-29T00:57:47.661Z,1761699467.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.497764 2025-10-29T00:57:47.772Z,1761699467.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:47.781Z,1761699467.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 146.436874 m, bearing: 148.949308 deg, approach rate: -0.598273 m/s, LOS rate: -0.027812 deg/s, cmd heading: 148.198234 deg, new cmd heading: 148.173904 deg. 2025-10-29T00:57:47.782Z,1761699467.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.586123 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:47.913Z,1761699467.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.750023 2025-10-29T00:57:48.092Z,1761699468.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853539,-0.518295,-0.053297],[0.520131,-0.841600,-0.145507],[0.030561,-0.151918,0.987921]] 2025-10-29T00:57:48.151Z,1761699468.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:48.154Z,1761699468.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 146.191574 m, bearing: 148.937871 deg, approach rate: -0.620951 m/s, LOS rate: -0.028998 deg/s, cmd heading: 148.173905 deg, new cmd heading: 148.150995 deg. 2025-10-29T00:57:48.155Z,1761699468.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585723 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:48.165Z,1761699468.165 [DAT](INFO): DAT read: Rx Time:00:57:47.4633 2025-10-29T00:57:48.166Z,1761699468.166 [DAT](INFO): Rx dataTimestamp_ set to:1761699468.165283 2025-10-29T00:57:48.166Z,1761699468.166 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.003102 2025-10-29T00:57:48.417Z,1761699468.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254208 2025-10-29T00:57:48.495Z,1761699468.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853835,-0.517980,-0.051604],[0.519595,-0.842095,-0.144557],[0.031423,-0.150241,0.988150]] 2025-10-29T00:57:48.545Z,1761699468.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:48.589Z,1761699468.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 171.77 m. 2025-10-29T00:57:48.614Z,1761699468.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 171.773514 m, nav range: 145.952408 m, bearing: 148.926622 deg, approach rate: -0.574125 m/s, LOS rate: -0.027049 deg/s, cmd heading: 148.150997 deg, new cmd heading: 148.128461 deg. 2025-10-29T00:57:48.626Z,1761699468.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.585329 target range: 171.773514 and range: 172.80 m. 2025-10-29T00:57:48.675Z,1761699468.675 [DAT](INFO): DAT read: 00:57:47.4633 LVL= 32176, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.02,-1.373,-2.996,-1.073,-1.555, PHS= 0.284,-1.396, 0.438, RAW= 154.4, 7.7, CAL= 153.8, 8.1, ROT= 356.2, -8.1 2025-10-29T00:57:48.676Z,1761699468.676 [DAT](INFO): got valid direction response: 00:57:47.4633 LVL= 32176, 32753, 32754, 32755, AGC= 70, IDX= 408, 0.02,-1.373,-2.996,-1.073,-1.555, PHS= 0.284,-1.396, 0.438, RAW= 154.4, 7.7, CAL= 153.8, 8.1, ROT= 356.2, -8.1 2025-10-29T00:57:48.677Z,1761699468.677 [DAT](INFO): DAT read: Bearing 313.3, -3.4 (Local) 2025-10-29T00:57:48.677Z,1761699468.677 [DAT](INFO): Local bearing/azimuth received: Bearing 313.3, -3.4 (Local) 2025-10-29T00:57:48.679Z,1761699468.679 [DAT](INFO): DAT read: Range 11 to 50 : 141.4 m (Round-trip 188.6 ms) speed 0.5 m/s 2025-10-29T00:57:48.679Z,1761699468.679 [DAT](INFO): DAT read: user:630> 2025-10-29T00:57:48.680Z,1761699468.680 [DAT](INFO): DAT read: Tx time:00:57:48.5706 2025-10-29T00:57:48.681Z,1761699468.681 [DAT](INFO): Ping request sent. 2025-10-29T00:57:48.681Z,1761699468.681 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:48.681Z,1761699468.681 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:48.682Z,1761699468.682 [DAT](INFO): direction in FSK: [0.987847,-0.065612,0.140901] 2025-10-29T00:57:48.682Z,1761699468.682 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:48.683Z,1761699468.683 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:48.690Z,1761699468.690 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:48.690Z,1761699468.690 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:48.968Z,1761699468.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853779,-0.518250,-0.049786],[0.519635,-0.842305,-0.143182],[0.032269,-0.148117,0.988443]] 2025-10-29T00:57:49.018Z,1761699469.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 141.399994 m, deltaT: 7.308018 s, deltaX: -31.400009 m, approachRate: -4.296652 m/s, rangeRepo size: 4 2025-10-29T00:57:49.022Z,1761699469.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 140.561127 m, bearing: 146.109490 deg, lat: 36.779266 deg, lon: -121.859555 deg, deltaT: 7.308018 s, deltaX: -31.212387 m, approachRate: -4.270978 m/s, posRepo size: 4 2025-10-29T00:57:49.022Z,1761699469.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:49.025Z,1761699469.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 139.106400 m, bearing: 146.187556 deg, approach rate: 0.000000 m/s, LOS rate: -0.027049 deg/s, cmd heading: 148.128457 deg, new cmd heading: 148.104137 deg. 2025-10-29T00:57:49.026Z,1761699469.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584905 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:49.370Z,1761699469.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853501,-0.518781,-0.049019],[0.520029,-0.841976,-0.143690],[0.033271,-0.148131,0.988408]] 2025-10-29T00:57:49.397Z,1761699469.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:49.399Z,1761699469.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 138.872849 m, bearing: 146.172203 deg, approach rate: -0.615418 m/s, LOS rate: -0.040522 deg/s, cmd heading: 148.104142 deg, new cmd heading: 148.073386 deg. 2025-10-29T00:57:49.400Z,1761699469.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.584368 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:49.782Z,1761699469.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.853016,-0.519573,-0.049070],[0.520771,-0.841283,-0.145053],[0.034084,-0.149287,0.988206]] 2025-10-29T00:57:49.831Z,1761699469.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:49.834Z,1761699469.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 138.604645 m, bearing: 146.157049 deg, approach rate: -0.617907 m/s, LOS rate: -0.034981 deg/s, cmd heading: 148.073392 deg, new cmd heading: 148.043025 deg. 2025-10-29T00:57:49.835Z,1761699469.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583838 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:50.181Z,1761699470.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.852309,-0.520796,-0.048384],[0.521889,-0.840656,-0.144670],[0.034670,-0.148554,0.988296]] 2025-10-29T00:57:50.199Z,1761699470.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:50.202Z,1761699470.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 138.376846 m, bearing: 146.144257 deg, approach rate: -0.618550 m/s, LOS rate: -0.034792 deg/s, cmd heading: 148.043025 deg, new cmd heading: 148.017399 deg. 2025-10-29T00:57:50.203Z,1761699470.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.583391 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:50.642Z,1761699470.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851175,-0.522634,-0.048520],[0.523718,-0.839500,-0.144775],[0.034932,-0.148640,0.988274]] 2025-10-29T00:57:50.686Z,1761699470.686 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:50.689Z,1761699470.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:50.691Z,1761699470.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 138.080017 m, bearing: 146.128547 deg, approach rate: -0.606302 m/s, LOS rate: -0.032158 deg/s, cmd heading: 148.017398 deg, new cmd heading: 147.985911 deg. 2025-10-29T00:57:50.692Z,1761699470.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582841 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:50.937Z,1761699470.937 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:50.937Z,1761699470.937 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:50.937Z,1761699470.937 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:50.998Z,1761699470.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850161,-0.524174,-0.049665],[0.525339,-0.838148,-0.146722],[0.035281,-0.150828,0.987930]] 2025-10-29T00:57:51.050Z,1761699471.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:51.053Z,1761699471.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 137.867737 m, bearing: 146.117445 deg, approach rate: -0.587422 m/s, LOS rate: -0.030769 deg/s, cmd heading: 147.985911 deg, new cmd heading: 147.963673 deg. 2025-10-29T00:57:51.054Z,1761699471.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.582453 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:51.190Z,1761699471.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508737 2025-10-29T00:57:51.441Z,1761699471.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760152 2025-10-29T00:57:51.513Z,1761699471.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.848554,-0.526669,-0.050761],[0.527924,-0.836330,-0.147813],[0.035396,-0.152226,0.987712]] 2025-10-29T00:57:51.538Z,1761699471.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:51.540Z,1761699471.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 137.562057 m, bearing: 146.101797 deg, approach rate: -0.626759 m/s, LOS rate: -0.032156 deg/s, cmd heading: 147.963672 deg, new cmd heading: 147.932306 deg. 2025-10-29T00:57:51.541Z,1761699471.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581906 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:51.693Z,1761699471.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012102 2025-10-29T00:57:51.901Z,1761699471.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847509,-0.528058,-0.053696],[0.529594,-0.834515,-0.152035],[0.035473,-0.157288,0.986915]] 2025-10-29T00:57:51.943Z,1761699471.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:51.945Z,1761699471.945 [DAT](INFO): DAT read: Rx Time:00:57:51.1603 2025-10-29T00:57:51.946Z,1761699471.946 [DAT](INFO): Rx dataTimestamp_ set to:1761699471.945314 2025-10-29T00:57:51.946Z,1761699471.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265397 2025-10-29T00:57:51.949Z,1761699471.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 137.316467 m, bearing: 146.088703 deg, approach rate: -0.605693 m/s, LOS rate: -0.032351 deg/s, cmd heading: 147.932308 deg, new cmd heading: 147.906073 deg. 2025-10-29T00:57:51.950Z,1761699471.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.581448 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:52.198Z,1761699472.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.516952 2025-10-29T00:57:52.307Z,1761699472.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846605,-0.529251,-0.056156],[0.531061,-0.833077,-0.154782],[0.035136,-0.160861,0.986351]] 2025-10-29T00:57:52.334Z,1761699472.334 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:57:52.365Z,1761699472.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 140.56 m. 2025-10-29T00:57:52.367Z,1761699472.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 140.561127 m, nav range: 137.060760 m, bearing: 146.075217 deg, approach rate: -0.606230 m/s, LOS rate: -0.032032 deg/s, cmd heading: 147.906080 deg, new cmd heading: 147.879058 deg. 2025-10-29T00:57:52.369Z,1761699472.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580976 target range: 140.561127 and range: 141.40 m. 2025-10-29T00:57:52.457Z,1761699472.457 [DAT](INFO): DAT read: 00:57:51.1603 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.43,-1.854, 2.872,-1.600,-1.949, PHS= 0.197,-1.417, 0.305, RAW= 153.2, 11.0, CAL= 153.1, 12.0, ROT= 356.9, -12.0 2025-10-29T00:57:52.459Z,1761699472.459 [DAT](INFO): got valid direction response: 00:57:51.1603 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 409, 0.43,-1.854, 2.872,-1.600,-1.949, PHS= 0.197,-1.417, 0.305, RAW= 153.2, 11.0, CAL= 153.1, 12.0, ROT= 356.9, -12.0 2025-10-29T00:57:52.460Z,1761699472.460 [DAT](INFO): DAT read: Bearing 316.2, -3.0 (Local) 2025-10-29T00:57:52.461Z,1761699472.461 [DAT](INFO): Local bearing/azimuth received: Bearing 316.2, -3.0 (Local) 2025-10-29T00:57:52.462Z,1761699472.462 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m (Round-trip 185.6 ms) speed 0.4 m/s 2025-10-29T00:57:52.463Z,1761699472.463 [DAT](INFO): DAT read: user:631> 2025-10-29T00:57:52.472Z,1761699472.472 [DAT](INFO): DAT read: Tx time:00:57:52.2706 2025-10-29T00:57:52.473Z,1761699472.473 [DAT](INFO): Ping request sent. 2025-10-29T00:57:52.473Z,1761699472.473 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:52.473Z,1761699472.473 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:52.474Z,1761699472.474 [DAT](INFO): direction in FSK: [0.976716,-0.052897,0.207912] 2025-10-29T00:57:52.474Z,1761699472.474 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:52.474Z,1761699472.474 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:52.482Z,1761699472.482 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:52.483Z,1761699472.483 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:52.731Z,1761699472.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845899,-0.530234,-0.057513],[0.532216,-0.832177,-0.155651],[0.034670,-0.162274,0.986136]] 2025-10-29T00:57:52.811Z,1761699472.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 139.199997 m, deltaT: 3.779996 s, deltaX: -2.199997 m, approachRate: -0.582010 m/s, rangeRepo size: 4 2025-10-29T00:57:52.813Z,1761699472.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 138.374146 m, bearing: 146.732757 deg, lat: 36.779266 deg, lon: -121.859555 deg, deltaT: 3.779996 s, deltaX: -2.186981 m, approachRate: -0.578567 m/s, posRepo size: 4 2025-10-29T00:57:52.814Z,1761699472.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:52.817Z,1761699472.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 136.792908 m, bearing: 146.061121 deg, approach rate: 0.000000 m/s, LOS rate: -0.032032 deg/s, cmd heading: 147.879060 deg, new cmd heading: 147.850531 deg. 2025-10-29T00:57:52.818Z,1761699472.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580479 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:53.126Z,1761699473.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.845312,-0.531080,-0.058327],[0.533181,-0.831564,-0.155624],[0.034146,-0.162649,0.986093]] 2025-10-29T00:57:53.148Z,1761699473.148 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:53.150Z,1761699473.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:53.153Z,1761699473.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 136.584396 m, bearing: 146.050210 deg, approach rate: -0.613901 m/s, LOS rate: -0.032171 deg/s, cmd heading: 147.850537 deg, new cmd heading: 147.828683 deg. 2025-10-29T00:57:53.154Z,1761699473.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.580097 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:53.206Z,1761699473.206 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:53.206Z,1761699473.206 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:53.207Z,1761699473.207 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:53.336Z,1761699473.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:57:53.457Z,1761699473.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984258 2025-10-29T00:57:53.522Z,1761699473.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844804,-0.531828,-0.058874],[0.534027,-0.831142,-0.154978],[0.033489,-0.162366,0.986162]] 2025-10-29T00:57:53.547Z,1761699473.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:53.550Z,1761699473.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 136.342850 m, bearing: 146.037630 deg, approach rate: -0.608153 m/s, LOS rate: -0.031729 deg/s, cmd heading: 147.828680 deg, new cmd heading: 147.803476 deg. 2025-10-29T00:57:53.551Z,1761699473.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579657 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:53.709Z,1761699473.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236242 2025-10-29T00:57:53.928Z,1761699473.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844266,-0.532566,-0.059904],[0.534929,-0.830606,-0.154739],[0.032652,-0.162685,0.986138]] 2025-10-29T00:57:53.961Z,1761699473.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.488292 2025-10-29T00:57:53.967Z,1761699473.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:53.970Z,1761699473.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 136.097748 m, bearing: 146.024347 deg, approach rate: -0.583915 m/s, LOS rate: -0.031704 deg/s, cmd heading: 147.803477 deg, new cmd heading: 147.776861 deg. 2025-10-29T00:57:53.971Z,1761699473.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.579193 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:54.213Z,1761699474.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.740637 2025-10-29T00:57:54.368Z,1761699474.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:54.371Z,1761699474.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 135.861557 m, bearing: 146.011500 deg, approach rate: -0.588828 m/s, LOS rate: -0.032082 deg/s, cmd heading: 147.776866 deg, new cmd heading: 147.751129 deg. 2025-10-29T00:57:54.388Z,1761699474.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578744 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:54.465Z,1761699474.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.992148 2025-10-29T00:57:54.717Z,1761699474.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.244189 2025-10-29T00:57:54.736Z,1761699474.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843853,-0.532931,-0.062423],[0.535661,-0.829914,-0.155915],[0.031287,-0.165007,0.985796]] 2025-10-29T00:57:54.805Z,1761699474.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:54.807Z,1761699474.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 135.603073 m, bearing: 145.992862 deg, approach rate: -0.591909 m/s, LOS rate: -0.042761 deg/s, cmd heading: 147.751130 deg, new cmd heading: 147.713783 deg. 2025-10-29T00:57:54.808Z,1761699474.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.578092 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:54.969Z,1761699474.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.496236 2025-10-29T00:57:55.162Z,1761699475.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843509,-0.533498,-0.062233],[0.536213,-0.829705,-0.155130],[0.031127,-0.164224,0.985932]] 2025-10-29T00:57:55.210Z,1761699475.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:55.213Z,1761699475.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:55.215Z,1761699475.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 135.361862 m, bearing: 145.975469 deg, approach rate: -0.591195 m/s, LOS rate: -0.042705 deg/s, cmd heading: 147.713783 deg, new cmd heading: 147.678935 deg. 2025-10-29T00:57:55.216Z,1761699475.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.577484 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:55.221Z,1761699475.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748295 2025-10-29T00:57:55.473Z,1761699475.473 [DAT](INFO): DAT read: Rx Time:00:57:54.8574 2025-10-29T00:57:55.473Z,1761699475.473 [DAT](INFO): Rx dataTimestamp_ set to:1761699475.473193 2025-10-29T00:57:55.474Z,1761699475.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001341 2025-10-29T00:57:55.547Z,1761699475.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843477,-0.533547,-0.062239],[0.536270,-0.829713,-0.154890],[0.031001,-0.164023,0.985969]] 2025-10-29T00:57:55.566Z,1761699475.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:55.582Z,1761699475.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 135.152451 m, bearing: 145.960322 deg, approach rate: -0.593108 m/s, LOS rate: -0.042965 deg/s, cmd heading: 147.678935 deg, new cmd heading: 147.648595 deg. 2025-10-29T00:57:55.583Z,1761699475.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576954 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:55.728Z,1761699475.728 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254710 2025-10-29T00:57:55.981Z,1761699475.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.507915 2025-10-29T00:57:56.062Z,1761699476.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 138.37 m. 2025-10-29T00:57:56.069Z,1761699476.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 138.374146 m, nav range: 134.860245 m, bearing: 145.941315 deg, approach rate: -0.589047 m/s, LOS rate: -0.038399 deg/s, cmd heading: 147.648595 deg, new cmd heading: 147.610499 deg. 2025-10-29T00:57:56.070Z,1761699476.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.576289 target range: 138.374146 and range: 139.20 m. 2025-10-29T00:57:56.238Z,1761699476.238 [DAT](INFO): DAT read: 00:57:54.8574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.25,-0.226,-1.884, 0.031,-0.437, PHS= 0.314,-1.401, 0.425, RAW= 153.1, 7.5, CAL= 152.6, 7.9, ROT= 357.4, -7.9 2025-10-29T00:57:56.241Z,1761699476.241 [DAT](INFO): got valid direction response: 00:57:54.8574 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.25,-0.226,-1.884, 0.031,-0.437, PHS= 0.314,-1.401, 0.425, RAW= 153.1, 7.5, CAL= 152.6, 7.9, ROT= 357.4, -7.9 2025-10-29T00:57:56.242Z,1761699476.242 [DAT](INFO): DAT read: Bearing 311.0, -2.0 (Local) 2025-10-29T00:57:56.243Z,1761699476.243 [DAT](INFO): Local bearing/azimuth received: Bearing 311.0, -2.0 (Local) 2025-10-29T00:57:56.245Z,1761699476.245 [DAT](INFO): DAT read: Range 11 to 50 : 137.0 m (Round-trip 182.7 ms) speed 0.4 m/s 2025-10-29T00:57:56.247Z,1761699476.247 [DAT](INFO): DAT read: user:632> 2025-10-29T00:57:56.249Z,1761699476.249 [DAT](INFO): DAT read: Tx time:00:57:55.9706 2025-10-29T00:57:56.249Z,1761699476.249 [DAT](INFO): Ping request sent. 2025-10-29T00:57:56.249Z,1761699476.249 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:56.250Z,1761699476.250 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:56.251Z,1761699476.251 [DAT](INFO): direction in FSK: [0.989490,-0.044932,0.137445] 2025-10-29T00:57:56.252Z,1761699476.252 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:56.253Z,1761699476.253 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:56.258Z,1761699476.258 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:56.259Z,1761699476.259 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:56.413Z,1761699476.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841741,-0.536525,-0.060104],[0.539052,-0.829051,-0.148652],[0.029926,-0.157526,0.987061]] 2025-10-29T00:57:56.458Z,1761699476.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 137.000000 m, deltaT: 3.780166 s, deltaX: -2.199997 m, approachRate: -0.581984 m/s, rangeRepo size: 4 2025-10-29T00:57:56.464Z,1761699476.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 136.186584 m, bearing: 146.043392 deg, lat: 36.779269 deg, lon: -121.859559 deg, deltaT: 3.780166 s, deltaX: -2.187561 m, approachRate: -0.578694 m/s, posRepo size: 4 2025-10-29T00:57:56.465Z,1761699476.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:56.467Z,1761699476.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 134.244583 m, bearing: 145.982301 deg, approach rate: 0.000000 m/s, LOS rate: -0.038399 deg/s, cmd heading: 147.610497 deg, new cmd heading: 147.580126 deg. 2025-10-29T00:57:56.473Z,1761699476.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575759 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:56.815Z,1761699476.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.841301,-0.537256,-0.059736],[0.539740,-0.828763,-0.147760],[0.029877,-0.156552,0.987218]] 2025-10-29T00:57:56.873Z,1761699476.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:56.876Z,1761699476.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 133.987839 m, bearing: 145.964883 deg, approach rate: -0.617712 m/s, LOS rate: -0.041987 deg/s, cmd heading: 147.580130 deg, new cmd heading: 147.545227 deg. 2025-10-29T00:57:56.877Z,1761699476.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.575150 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:57.203Z,1761699477.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840901,-0.537855,-0.059988],[0.540367,-0.828341,-0.147835],[0.029823,-0.156730,0.987191]] 2025-10-29T00:57:57.226Z,1761699477.226 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:57.228Z,1761699477.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:57.233Z,1761699477.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 133.775131 m, bearing: 145.950471 deg, approach rate: -0.599107 m/s, LOS rate: -0.040658 deg/s, cmd heading: 147.545227 deg, new cmd heading: 147.516357 deg. 2025-10-29T00:57:57.235Z,1761699477.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.574646 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:57.238Z,1761699477.238 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:57:57.238Z,1761699477.238 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:57:57.239Z,1761699477.239 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:57:57.490Z,1761699477.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.240598 2025-10-29T00:57:57.606Z,1761699477.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840626,-0.538349,-0.059402],[0.540790,-0.828223,-0.146947],[0.029910,-0.155651,0.987359]] 2025-10-29T00:57:57.641Z,1761699477.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:57.648Z,1761699477.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 133.536575 m, bearing: 145.934300 deg, approach rate: -0.577062 m/s, LOS rate: -0.039187 deg/s, cmd heading: 147.516363 deg, new cmd heading: 147.483964 deg. 2025-10-29T00:57:57.655Z,1761699477.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.574081 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:57.746Z,1761699477.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.496775 2025-10-29T00:57:57.994Z,1761699477.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.744778 2025-10-29T00:57:58.051Z,1761699478.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.840036,-0.539183,-0.060178],[0.541697,-0.827423,-0.148106],[0.030063,-0.157012,0.987139]] 2025-10-29T00:57:58.098Z,1761699478.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:58.105Z,1761699478.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 133.263367 m, bearing: 145.915846 deg, approach rate: -0.598653 m/s, LOS rate: -0.040518 deg/s, cmd heading: 147.483961 deg, new cmd heading: 147.446978 deg. 2025-10-29T00:57:58.106Z,1761699478.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.573435 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:58.246Z,1761699478.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.996583 2025-10-29T00:57:58.450Z,1761699478.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839469,-0.540001,-0.060744],[0.542576,-0.826752,-0.148637],[0.030044,-0.157734,0.987024]] 2025-10-29T00:57:58.476Z,1761699478.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:58.478Z,1761699478.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 133.026733 m, bearing: 145.899915 deg, approach rate: -0.626166 m/s, LOS rate: -0.042232 deg/s, cmd heading: 147.446982 deg, new cmd heading: 147.415062 deg. 2025-10-29T00:57:58.479Z,1761699478.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572878 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:58.498Z,1761699478.498 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249109 2025-10-29T00:57:58.754Z,1761699478.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.503818 2025-10-29T00:57:58.858Z,1761699478.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839234,-0.540371,-0.060709],[0.542936,-0.826524,-0.148589],[0.030116,-0.157662,0.987034]] 2025-10-29T00:57:58.907Z,1761699478.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:58.910Z,1761699478.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 132.774582 m, bearing: 145.882120 deg, approach rate: -0.583879 m/s, LOS rate: -0.041283 deg/s, cmd heading: 147.415058 deg, new cmd heading: 147.379401 deg. 2025-10-29T00:57:58.911Z,1761699478.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.572256 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:59.002Z,1761699479.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.752523 2025-10-29T00:57:59.254Z,1761699479.254 [DAT](INFO): DAT read: Rx Time:00:57:58.5543 2025-10-29T00:57:59.255Z,1761699479.255 [DAT](INFO): Rx dataTimestamp_ set to:1761699479.253902 2025-10-29T00:57:59.256Z,1761699479.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.006592 2025-10-29T00:57:59.285Z,1761699479.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838694,-0.541296,-0.059925],[0.543766,-0.826222,-0.147227],[0.030182,-0.156064,0.987286]] 2025-10-29T00:57:59.302Z,1761699479.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:57:59.304Z,1761699479.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:59.307Z,1761699479.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 132.543381 m, bearing: 145.865837 deg, approach rate: -0.583348 m/s, LOS rate: -0.041157 deg/s, cmd heading: 147.379404 deg, new cmd heading: 147.346780 deg. 2025-10-29T00:57:59.308Z,1761699479.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571687 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:59.505Z,1761699479.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.255940 2025-10-29T00:57:59.666Z,1761699479.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838273,-0.541824,-0.061033],[0.544425,-0.825588,-0.148346],[0.029990,-0.157582,0.987050]] 2025-10-29T00:57:59.793Z,1761699479.793 [DAT](INFO): DAT read: 00:57:58.5543 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.32, 2.640, 0.902, 2.888, 2.390, PHS= 0.352,-1.443, 0.454, RAW= 152.7, 6.9, CAL= 152.1, 7.3, ROT= 357.9, -7.3 2025-10-29T00:57:59.794Z,1761699479.794 [DAT](INFO): got valid direction response: 00:57:58.5543 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 413, 0.32, 2.640, 0.902, 2.888, 2.390, PHS= 0.352,-1.443, 0.454, RAW= 152.7, 6.9, CAL= 152.1, 7.3, ROT= 357.9, -7.3 2025-10-29T00:57:59.795Z,1761699479.795 [DAT](INFO): DAT read: Bearing 310.0, -1.5 (Local) 2025-10-29T00:57:59.795Z,1761699479.795 [DAT](INFO): Local bearing/azimuth received: Bearing 310.0, -1.5 (Local) 2025-10-29T00:57:59.797Z,1761699479.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 136.19 m. 2025-10-29T00:57:59.802Z,1761699479.802 [DAT](INFO): DAT read: Range 11 to 50 : 134.7 m (Round-trip 179.7 ms) speed 0.4 m/s 2025-10-29T00:57:59.803Z,1761699479.803 [DAT](INFO): DAT read: user:633> 2025-10-29T00:57:59.803Z,1761699479.803 [DAT](INFO): DAT read: Tx time:00:57:59.6705 2025-10-29T00:57:59.808Z,1761699479.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 136.186584 m, nav range: 132.313232 m, bearing: 145.849659 deg, approach rate: -0.466190 m/s, LOS rate: -0.032826 deg/s, cmd heading: 147.346783 deg, new cmd heading: 147.314372 deg. 2025-10-29T00:57:59.809Z,1761699479.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.571121 target range: 136.186584 and range: 137.00 m. 2025-10-29T00:57:59.804Z,1761699479.804 [DAT](INFO): Ping request sent. 2025-10-29T00:57:59.812Z,1761699479.812 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:57:59.812Z,1761699479.812 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:57:59.813Z,1761699479.813 [DAT](INFO): direction in FSK: [0.991228,-0.036347,0.127065] 2025-10-29T00:57:59.814Z,1761699479.814 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:59.814Z,1761699479.814 [DAT](INFO): publishing direction and range info 2025-10-29T00:57:59.825Z,1761699479.825 [DAT](INFO): publishing transmit ping time 2025-10-29T00:57:59.826Z,1761699479.826 [DAT](INFO): publishing direction and range info 2025-10-29T00:58:00.124Z,1761699480.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838035,-0.542092,-0.061921],[0.544796,-0.825141,-0.149468],[0.029932,-0.158994,0.986826]] 2025-10-29T00:58:00.266Z,1761699480.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 134.699997 m, deltaT: 3.530266 s, deltaX: -2.300003 m, approachRate: -0.651510 m/s, rangeRepo size: 4 2025-10-29T00:58:00.273Z,1761699480.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 133.898956 m, bearing: 146.062767 deg, lat: 36.779269 deg, lon: -121.859561 deg, deltaT: 3.530266 s, deltaX: -2.287628 m, approachRate: -0.648004 m/s, posRepo size: 4 2025-10-29T00:58:00.273Z,1761699480.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:00.280Z,1761699480.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 131.894257 m, bearing: 145.890940 deg, approach rate: 0.000000 m/s, LOS rate: -0.032826 deg/s, cmd heading: 147.314367 deg, new cmd heading: 147.283624 deg. 2025-10-29T00:58:00.281Z,1761699480.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570584 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:00.594Z,1761699480.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838163,-0.541863,-0.062186],[0.544578,-0.825085,-0.150563],[0.030276,-0.160061,0.986643]] 2025-10-29T00:58:00.620Z,1761699480.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:00.623Z,1761699480.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 131.658096 m, bearing: 145.876098 deg, approach rate: -0.666331 m/s, LOS rate: -0.041951 deg/s, cmd heading: 147.283617 deg, new cmd heading: 147.253881 deg. 2025-10-29T00:58:00.624Z,1761699480.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.570065 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:01.069Z,1761699481.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:01.071Z,1761699481.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 131.403152 m, bearing: 145.858726 deg, approach rate: -0.568221 m/s, LOS rate: -0.038795 deg/s, cmd heading: 147.253879 deg, new cmd heading: 147.219067 deg. 2025-10-29T00:58:01.073Z,1761699481.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.569458 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:01.399Z,1761699481.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838194,-0.541826,-0.062093],[0.544505,-0.825001,-0.151287],[0.030745,-0.160618,0.986538]] 2025-10-29T00:58:01.437Z,1761699481.437 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:01.439Z,1761699481.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:01.443Z,1761699481.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 131.178360 m, bearing: 145.843347 deg, approach rate: -0.607381 m/s, LOS rate: -0.041623 deg/s, cmd heading: 147.219072 deg, new cmd heading: 147.188263 deg. 2025-10-29T00:58:01.444Z,1761699481.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568920 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:01.521Z,1761699481.521 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:01.522Z,1761699481.522 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:01.522Z,1761699481.522 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:01.776Z,1761699481.776 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.971899 2025-10-29T00:58:01.832Z,1761699481.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838142,-0.542133,-0.060072],[0.544559,-0.825381,-0.149001],[0.031196,-0.157597,0.987011]] 2025-10-29T00:58:01.943Z,1761699481.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:01.946Z,1761699481.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 130.884201 m, bearing: 145.824031 deg, approach rate: -0.583098 m/s, LOS rate: -0.038376 deg/s, cmd heading: 147.188268 deg, new cmd heading: 147.149549 deg. 2025-10-29T00:58:01.947Z,1761699481.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.568244 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:02.026Z,1761699482.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.221725 2025-10-29T00:58:02.265Z,1761699482.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837989,-0.542497,-0.058922],[0.544786,-0.825512,-0.147436],[0.031343,-0.155650,0.987315]] 2025-10-29T00:58:02.277Z,1761699482.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.473279 2025-10-29T00:58:02.310Z,1761699482.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:02.317Z,1761699482.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 130.680023 m, bearing: 145.810590 deg, approach rate: -0.557443 m/s, LOS rate: -0.036753 deg/s, cmd heading: 147.149554 deg, new cmd heading: 147.122631 deg. 2025-10-29T00:58:02.318Z,1761699482.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567774 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:02.530Z,1761699482.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726182 2025-10-29T00:58:02.664Z,1761699482.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837863,-0.542890,-0.057063],[0.544953,-0.825764,-0.145399],[0.031815,-0.152921,0.987726]] 2025-10-29T00:58:02.705Z,1761699482.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:02.708Z,1761699482.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 130.440384 m, bearing: 145.794773 deg, approach rate: -0.606017 m/s, LOS rate: -0.040072 deg/s, cmd heading: 147.122630 deg, new cmd heading: 147.090938 deg. 2025-10-29T00:58:02.709Z,1761699482.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.567221 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:02.786Z,1761699482.786 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.981065 2025-10-29T00:58:03.033Z,1761699483.033 [DAT](INFO): DAT read: Rx Time:00:58:02.2515 2025-10-29T00:58:03.033Z,1761699483.033 [DAT](INFO): Rx dataTimestamp_ set to:1761699483.033206 2025-10-29T00:58:03.034Z,1761699483.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230333 2025-10-29T00:58:03.077Z,1761699483.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837648,-0.543456,-0.054787],[0.545260,-0.826058,-0.142546],[0.032210,-0.149276,0.988271]] 2025-10-29T00:58:03.134Z,1761699483.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:03.137Z,1761699483.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 130.184357 m, bearing: 145.778627 deg, approach rate: -0.596621 m/s, LOS rate: -0.037699 deg/s, cmd heading: 147.090938 deg, new cmd heading: 147.058582 deg. 2025-10-29T00:58:03.138Z,1761699483.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566656 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:03.285Z,1761699483.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.481200 2025-10-29T00:58:03.471Z,1761699483.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837316,-0.544099,-0.053460],[0.545754,-0.826024,-0.140843],[0.032473,-0.147106,0.988587]] 2025-10-29T00:58:03.497Z,1761699483.497 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:03.499Z,1761699483.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 133.90 m. 2025-10-29T00:58:03.506Z,1761699483.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 133.898956 m, nav range: 129.972290 m, bearing: 145.765257 deg, approach rate: -0.581789 m/s, LOS rate: -0.036741 deg/s, cmd heading: 147.058576 deg, new cmd heading: 147.031792 deg. 2025-10-29T00:58:03.507Z,1761699483.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.566189 target range: 133.898956 and range: 134.70 m. 2025-10-29T00:58:03.543Z,1761699483.543 [DAT](INFO): DAT read: 00:58:02.2515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.18, 2.370, 0.748, 2.629, 2.223, PHS= 0.249,-1.429, 0.362, RAW= 153.2, 9.4, CAL= 152.9, 10.2, ROT= 357.1, -10.2 2025-10-29T00:58:03.544Z,1761699483.544 [DAT](INFO): got valid direction response: 00:58:02.2515 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 416,-0.18, 2.370, 0.748, 2.629, 2.223, PHS= 0.249,-1.429, 0.362, RAW= 153.2, 9.4, CAL= 152.9, 10.2, ROT= 357.1, -10.2 2025-10-29T00:58:03.545Z,1761699483.545 [DAT](INFO): DAT read: Bearing 312.9, -2.7 (Local) 2025-10-29T00:58:03.545Z,1761699483.545 [DAT](INFO): Local bearing/azimuth received: Bearing 312.9, -2.7 (Local) 2025-10-29T00:58:03.547Z,1761699483.547 [DAT](INFO): DAT read: Range 11 to 50 : 132.6 m (Round-trip 176.9 ms) speed 0.5 m/s 2025-10-29T00:58:03.547Z,1761699483.547 [DAT](INFO): DAT read: user:634> 2025-10-29T00:58:03.548Z,1761699483.548 [DAT](INFO): DAT read: Tx time:00:58:03.3705 2025-10-29T00:58:03.549Z,1761699483.549 [DAT](INFO): Ping request sent. 2025-10-29T00:58:03.549Z,1761699483.549 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:03.549Z,1761699483.549 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:58:03.550Z,1761699483.550 [DAT](INFO): direction in FSK: [0.982935,-0.049793,0.177085] 2025-10-29T00:58:03.550Z,1761699483.550 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:03.551Z,1761699483.551 [DAT](INFO): publishing direction and range info 2025-10-29T00:58:03.554Z,1761699483.554 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:03.554Z,1761699483.554 [DAT](INFO): publishing direction and range info 2025-10-29T00:58:03.879Z,1761699483.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837026,-0.544562,-0.053295],[0.546208,-0.825836,-0.140185],[0.032326,-0.146449,0.988690]] 2025-10-29T00:58:03.942Z,1761699483.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.600006 m, deltaT: 3.777490 s, deltaX: -2.099991 m, approachRate: -0.555922 m/s, rangeRepo size: 4 2025-10-29T00:58:03.945Z,1761699483.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.814667 m, bearing: 145.505873 deg, lat: 36.779274 deg, lon: -121.859562 deg, deltaT: 3.777490 s, deltaX: -2.084290 m, approachRate: -0.551766 m/s, posRepo size: 4 2025-10-29T00:58:03.945Z,1761699483.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:03.948Z,1761699483.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 129.174622 m, bearing: 145.632657 deg, approach rate: 0.000000 m/s, LOS rate: -0.036741 deg/s, cmd heading: 147.031788 deg, new cmd heading: 146.999245 deg. 2025-10-29T00:58:03.949Z,1761699483.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565621 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:04.279Z,1761699484.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836738,-0.545028,-0.053048],[0.546651,-0.825640,-0.139615],[0.032296,-0.145819,0.988784]] 2025-10-29T00:58:04.308Z,1761699484.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:04.310Z,1761699484.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 128.942917 m, bearing: 145.620833 deg, approach rate: -0.633172 m/s, LOS rate: -0.032368 deg/s, cmd heading: 146.999249 deg, new cmd heading: 146.975559 deg. 2025-10-29T00:58:04.311Z,1761699484.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.565207 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:04.683Z,1761699484.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836445,-0.545419,-0.053648],[0.547105,-0.825240,-0.140198],[0.032195,-0.146619,0.988669]] 2025-10-29T00:58:04.734Z,1761699484.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:04.748Z,1761699484.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 128.696274 m, bearing: 145.608263 deg, approach rate: -0.578642 m/s, LOS rate: -0.029547 deg/s, cmd heading: 146.975562 deg, new cmd heading: 146.950374 deg. 2025-10-29T00:58:04.750Z,1761699484.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564768 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:05.139Z,1761699485.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:05.142Z,1761699485.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 128.424301 m, bearing: 145.597501 deg, approach rate: -0.672032 m/s, LOS rate: -0.026650 deg/s, cmd heading: 146.950373 deg, new cmd heading: 146.928802 deg. 2025-10-29T00:58:05.143Z,1761699485.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564391 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:05.565Z,1761699485.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.836330,-0.545537,-0.054235],[0.547246,-0.824825,-0.142076],[0.032773,-0.148502,0.988369]] 2025-10-29T00:58:05.598Z,1761699485.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:05.599Z,1761699485.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:05.606Z,1761699485.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 128.147781 m, bearing: 145.586536 deg, approach rate: -0.599851 m/s, LOS rate: -0.023836 deg/s, cmd heading: 146.928803 deg, new cmd heading: 146.906827 deg. 2025-10-29T00:58:05.607Z,1761699485.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.564008 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:05.809Z,1761699485.809 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:05.809Z,1761699485.809 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:05.810Z,1761699485.810 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:05.968Z,1761699485.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835701,-0.546431,-0.054929],[0.548218,-0.824115,-0.142450],[0.032571,-0.149159,0.988277]] 2025-10-29T00:58:06.051Z,1761699486.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:06.058Z,1761699486.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 127.883652 m, bearing: 145.576499 deg, approach rate: -0.585276 m/s, LOS rate: -0.022287 deg/s, cmd heading: 146.906823 deg, new cmd heading: 146.886707 deg. 2025-10-29T00:58:06.059Z,1761699486.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563657 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:06.061Z,1761699486.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512166 2025-10-29T00:58:06.314Z,1761699486.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.765156 2025-10-29T00:58:06.371Z,1761699486.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835151,-0.546956,-0.057983],[0.549109,-0.823056,-0.145116],[0.031648,-0.153033,0.987714]] 2025-10-29T00:58:06.411Z,1761699486.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:06.414Z,1761699486.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 127.641098 m, bearing: 145.567368 deg, approach rate: -0.673856 m/s, LOS rate: -0.025416 deg/s, cmd heading: 146.886701 deg, new cmd heading: 146.868405 deg. 2025-10-29T00:58:06.414Z,1761699486.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563337 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:06.565Z,1761699486.565 [DAT](INFO): DAT read: Rx Time:00:58:05.9485 2025-10-29T00:58:06.565Z,1761699486.565 [DAT](INFO): Rx dataTimestamp_ set to:1761699486.565113 2025-10-29T00:58:06.566Z,1761699486.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017108 2025-10-29T00:58:06.779Z,1761699486.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834707,-0.547328,-0.060797],[0.549859,-0.822263,-0.146763],[0.030337,-0.155934,0.987301]] 2025-10-29T00:58:06.830Z,1761699486.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270466 2025-10-29T00:58:06.872Z,1761699486.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:06.882Z,1761699486.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 127.401093 m, bearing: 145.558400 deg, approach rate: -0.526593 m/s, LOS rate: -0.019714 deg/s, cmd heading: 146.868410 deg, new cmd heading: 146.850440 deg. 2025-10-29T00:58:06.883Z,1761699486.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.563024 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:07.072Z,1761699487.072 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522197 2025-10-29T00:58:07.206Z,1761699487.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834051,-0.548102,-0.062798],[0.550959,-0.821686,-0.145861],[0.028347,-0.156255,0.987310]] 2025-10-29T00:58:07.296Z,1761699487.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:07.298Z,1761699487.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 127.108711 m, bearing: 145.546165 deg, approach rate: -0.687799 m/s, LOS rate: -0.028848 deg/s, cmd heading: 146.850447 deg, new cmd heading: 146.825921 deg. 2025-10-29T00:58:07.299Z,1761699487.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562596 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:07.327Z,1761699487.327 [DAT](INFO): DAT read: 00:58:05.9485 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.28, 2.360, 0.681, 2.622, 2.171, PHS= 0.290,-1.445, 0.407, RAW= 153.2, 8.4, CAL= 152.8, 8.9, ROT= 357.2, -8.9 2025-10-29T00:58:07.328Z,1761699487.328 [DAT](INFO): got valid direction response: 00:58:05.9485 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417, 0.28, 2.360, 0.681, 2.622, 2.171, PHS= 0.290,-1.445, 0.407, RAW= 153.2, 8.4, CAL= 152.8, 8.9, ROT= 357.2, -8.9 2025-10-29T00:58:07.329Z,1761699487.329 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:58:07.329Z,1761699487.329 [DAT](INFO): Received a bad header 2025-10-29T00:58:07.340Z,1761699487.340 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:58:07.341Z,1761699487.341 [DAT](INFO): direction in FSK: [0.986780,-0.048261,0.154710] 2025-10-29T00:58:07.344Z,1761699487.344 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:07.345Z,1761699487.345 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:07.345Z,1761699487.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:07.573Z,1761699487.573 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:07.573Z,1761699487.573 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:07.573Z,1761699487.573 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:07.614Z,1761699487.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833488,-0.548834,-0.063864],[0.551883,-0.821301,-0.144535],[0.026874,-0.155714,0.987437]] 2025-10-29T00:58:07.641Z,1761699487.641 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:07.643Z,1761699487.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:07.646Z,1761699487.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 126.887657 m, bearing: 145.536984 deg, approach rate: -0.629063 m/s, LOS rate: -0.026171 deg/s, cmd heading: 146.825926 deg, new cmd heading: 146.807534 deg. 2025-10-29T00:58:07.647Z,1761699487.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.562275 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:07.825Z,1761699487.825 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:07.825Z,1761699487.825 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:07.825Z,1761699487.825 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:08.011Z,1761699488.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.833162,-0.549127,-0.065575],[0.552452,-0.821011,-0.144008],[0.025241,-0.156209,0.987402]] 2025-10-29T00:58:08.058Z,1761699488.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:08.061Z,1761699488.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 126.629654 m, bearing: 145.526148 deg, approach rate: -0.621993 m/s, LOS rate: -0.026178 deg/s, cmd heading: 146.807540 deg, new cmd heading: 146.785822 deg. 2025-10-29T00:58:08.062Z,1761699488.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561896 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:08.080Z,1761699488.080 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:08.080Z,1761699488.080 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:08.080Z,1761699488.080 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:08.329Z,1761699488.329 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:08.329Z,1761699488.329 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:08.329Z,1761699488.329 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:08.415Z,1761699488.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832829,-0.549531,-0.066421],[0.553027,-0.820941,-0.142189],[0.023610,-0.155152,0.987608]] 2025-10-29T00:58:08.434Z,1761699488.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:08.437Z,1761699488.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 126.400917 m, bearing: 145.516569 deg, approach rate: -0.607525 m/s, LOS rate: -0.025487 deg/s, cmd heading: 146.785820 deg, new cmd heading: 146.766628 deg. 2025-10-29T00:58:08.438Z,1761699488.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561561 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:08.581Z,1761699488.581 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:08.581Z,1761699488.581 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:08.581Z,1761699488.581 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:08.818Z,1761699488.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832473,-0.549858,-0.068152],[0.553634,-0.820656,-0.141469],[0.021859,-0.155500,0.987594]] 2025-10-29T00:58:08.834Z,1761699488.834 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:08.834Z,1761699488.834 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:08.834Z,1761699488.834 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:08.957Z,1761699488.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:08.959Z,1761699488.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 126.094734 m, bearing: 145.501917 deg, approach rate: -0.586376 m/s, LOS rate: -0.028128 deg/s, cmd heading: 146.766627 deg, new cmd heading: 146.737252 deg. 2025-10-29T00:58:08.960Z,1761699488.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.561048 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:09.085Z,1761699489.085 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:09.085Z,1761699489.085 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:09.085Z,1761699489.085 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:09.314Z,1761699489.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832382,-0.549852,-0.069307],[0.553825,-0.820667,-0.140653],[0.020461,-0.155461,0.987630]] 2025-10-29T00:58:09.337Z,1761699489.337 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:09.337Z,1761699489.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:09.337Z,1761699489.337 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:09.369Z,1761699489.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:09.371Z,1761699489.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 125.869659 m, bearing: 145.491122 deg, approach rate: -0.545789 m/s, LOS rate: -0.026223 deg/s, cmd heading: 146.737257 deg, new cmd heading: 146.715629 deg. 2025-10-29T00:58:09.377Z,1761699489.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560671 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:09.590Z,1761699489.590 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:09.591Z,1761699489.591 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:09.591Z,1761699489.591 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:09.699Z,1761699489.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832271,-0.549938,-0.069957],[0.554039,-0.820763,-0.139246],[0.019158,-0.154649,0.987784]] 2025-10-29T00:58:09.723Z,1761699489.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:09.726Z,1761699489.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:09.746Z,1761699489.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 125.648430 m, bearing: 145.480495 deg, approach rate: -0.619422 m/s, LOS rate: -0.029809 deg/s, cmd heading: 146.715633 deg, new cmd heading: 146.694340 deg. 2025-10-29T00:58:09.756Z,1761699489.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.560299 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:09.841Z,1761699489.841 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:09.841Z,1761699489.841 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:09.841Z,1761699489.841 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:10.093Z,1761699490.093 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:10.093Z,1761699490.093 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:10.093Z,1761699490.093 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:10.118Z,1761699490.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832256,-0.549921,-0.070264],[0.554114,-0.821121,-0.136818],[0.017543,-0.152802,0.988101]] 2025-10-29T00:58:10.170Z,1761699490.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:10.173Z,1761699490.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 125.387039 m, bearing: 145.465784 deg, approach rate: -0.588428 m/s, LOS rate: -0.033184 deg/s, cmd heading: 146.694336 deg, new cmd heading: 146.664854 deg. 2025-10-29T00:58:10.174Z,1761699490.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559785 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:10.345Z,1761699490.345 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:10.345Z,1761699490.345 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:10.345Z,1761699490.345 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:10.511Z,1761699490.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832150,-0.549931,-0.071425],[0.554329,-0.821248,-0.135173],[0.015678,-0.152077,0.988244]] 2025-10-29T00:58:10.530Z,1761699490.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:10.533Z,1761699490.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 125.162682 m, bearing: 145.453128 deg, approach rate: -0.624046 m/s, LOS rate: -0.035265 deg/s, cmd heading: 146.664857 deg, new cmd heading: 146.639500 deg. 2025-10-29T00:58:10.534Z,1761699490.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.559342 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:10.597Z,1761699490.597 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:10.597Z,1761699490.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:10.597Z,1761699490.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:10.849Z,1761699490.849 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:10.849Z,1761699490.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:10.849Z,1761699490.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:10.972Z,1761699490.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832075,-0.549905,-0.072493],[0.554495,-0.821474,-0.133101],[0.013642,-0.150947,0.988448]] 2025-10-29T00:58:11.087Z,1761699491.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:11.089Z,1761699491.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 124.846573 m, bearing: 145.433013 deg, approach rate: -0.567709 m/s, LOS rate: -0.036218 deg/s, cmd heading: 146.639503 deg, new cmd heading: 146.599170 deg. 2025-10-29T00:58:11.090Z,1761699491.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558638 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:11.101Z,1761699491.101 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:11.101Z,1761699491.101 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:11.101Z,1761699491.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:11.355Z,1761699491.355 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:11.355Z,1761699491.355 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:11.355Z,1761699491.355 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:11.441Z,1761699491.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831759,-0.550364,-0.072635],[0.555013,-0.821670,-0.129685],[0.011692,-0.148180,0.988891]] 2025-10-29T00:58:11.471Z,1761699491.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:11.478Z,1761699491.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 124.635201 m, bearing: 145.419552 deg, approach rate: -0.549609 m/s, LOS rate: -0.035060 deg/s, cmd heading: 146.599164 deg, new cmd heading: 146.572197 deg. 2025-10-29T00:58:11.479Z,1761699491.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.558167 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:11.605Z,1761699491.605 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:11.605Z,1761699491.605 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:11.605Z,1761699491.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:11.830Z,1761699491.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831447,-0.550828,-0.072692],[0.555512,-0.821784,-0.126799],[0.010108,-0.145808,0.989261]] 2025-10-29T00:58:11.854Z,1761699491.854 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:11.857Z,1761699491.857 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:11.857Z,1761699491.857 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:11.857Z,1761699491.857 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:11.858Z,1761699491.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:11.861Z,1761699491.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 124.410187 m, bearing: 145.405222 deg, approach rate: -0.581596 m/s, LOS rate: -0.037105 deg/s, cmd heading: 146.572199 deg, new cmd heading: 146.543488 deg. 2025-10-29T00:58:11.862Z,1761699491.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557666 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:12.109Z,1761699492.109 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:12.109Z,1761699492.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:12.109Z,1761699492.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:12.243Z,1761699492.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.831245,-0.551188,-0.072269],[0.555830,-0.821943,-0.124350],[0.009139,-0.143535,0.989603]] 2025-10-29T00:58:12.301Z,1761699492.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:12.306Z,1761699492.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 124.152855 m, bearing: 145.387619 deg, approach rate: -0.581410 m/s, LOS rate: -0.039856 deg/s, cmd heading: 146.543484 deg, new cmd heading: 146.508204 deg. 2025-10-29T00:58:12.307Z,1761699492.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.557050 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:12.362Z,1761699492.362 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:12.362Z,1761699492.362 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:12.362Z,1761699492.362 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:12.613Z,1761699492.613 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:12.613Z,1761699492.613 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:12.613Z,1761699492.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:12.651Z,1761699492.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830684,-0.552039,-0.072227],[0.556685,-0.821682,-0.122229],[0.008127,-0.141742,0.989870]] 2025-10-29T00:58:12.671Z,1761699492.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:12.674Z,1761699492.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 123.934242 m, bearing: 145.372703 deg, approach rate: -0.590572 m/s, LOS rate: -0.040366 deg/s, cmd heading: 146.508200 deg, new cmd heading: 146.478315 deg. 2025-10-29T00:58:12.675Z,1761699492.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.556529 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:12.865Z,1761699492.865 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:12.865Z,1761699492.865 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:12.865Z,1761699492.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:13.095Z,1761699493.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:13.098Z,1761699493.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 123.684181 m, bearing: 145.355844 deg, approach rate: -0.589754 m/s, LOS rate: -0.039840 deg/s, cmd heading: 146.478311 deg, new cmd heading: 146.444525 deg. 2025-10-29T00:58:13.099Z,1761699493.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555939 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:13.117Z,1761699493.117 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:13.117Z,1761699493.117 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:13.117Z,1761699493.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:13.369Z,1761699493.369 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:13.369Z,1761699493.369 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:13.369Z,1761699493.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:58:13.447Z,1761699493.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829859,-0.553095,-0.073622],[0.557935,-0.821004,-0.121085],[0.006527,-0.141560,0.989908]] 2025-10-29T00:58:13.524Z,1761699493.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:13.543Z,1761699493.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 123.431091 m, bearing: 145.338889 deg, approach rate: -0.590394 m/s, LOS rate: -0.039633 deg/s, cmd heading: 146.444529 deg, new cmd heading: 146.410549 deg. 2025-10-29T00:58:13.545Z,1761699493.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.555346 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:13.621Z,1761699493.621 [DAT](INFO): Reached modem response timeout 2025-10-29T00:58:13.621Z,1761699493.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:13.621Z,1761699493.621 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:13.857Z,1761699493.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829495,-0.553563,-0.074206],[0.558485,-0.820728,-0.120419],[0.005757,-0.141330,0.989946]] 2025-10-29T00:58:13.873Z,1761699493.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:13.882Z,1761699493.882 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:13.884Z,1761699493.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:13.887Z,1761699493.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 123.218750 m, bearing: 145.324675 deg, approach rate: -0.588435 m/s, LOS rate: -0.039458 deg/s, cmd heading: 146.410555 deg, new cmd heading: 146.382078 deg. 2025-10-29T00:58:13.904Z,1761699493.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554849 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:14.128Z,1761699494.128 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:14.342Z,1761699494.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:14.349Z,1761699494.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 122.960632 m, bearing: 145.307218 deg, approach rate: -0.563529 m/s, LOS rate: -0.038192 deg/s, cmd heading: 146.382073 deg, new cmd heading: 146.347086 deg. 2025-10-29T00:58:14.350Z,1761699494.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.554239 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:14.377Z,1761699494.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:14.629Z,1761699494.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:14.664Z,1761699494.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829238,-0.553648,-0.076412],[0.558880,-0.820403,-0.120795],[0.004190,-0.142873,0.989732]] 2025-10-29T00:58:14.702Z,1761699494.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:14.723Z,1761699494.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 122.737747 m, bearing: 145.292139 deg, approach rate: -0.620857 m/s, LOS rate: -0.042081 deg/s, cmd heading: 146.347089 deg, new cmd heading: 146.316875 deg. 2025-10-29T00:58:14.729Z,1761699494.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553711 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:14.881Z,1761699494.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:15.064Z,1761699495.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829638,-0.553017,-0.076633],[0.558291,-0.820944,-0.119838],[0.003361,-0.142206,0.989831]] 2025-10-29T00:58:15.110Z,1761699495.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:15.113Z,1761699495.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 122.494766 m, bearing: 145.278163 deg, approach rate: -0.594141 m/s, LOS rate: -0.034241 deg/s, cmd heading: 146.316872 deg, new cmd heading: 146.288866 deg. 2025-10-29T00:58:15.114Z,1761699495.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.553222 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:15.137Z,1761699495.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:15.389Z,1761699495.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:15.468Z,1761699495.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829337,-0.553450,-0.076769],[0.558743,-0.820858,-0.118316],[0.002466,-0.141018,0.990004]] 2025-10-29T00:58:15.487Z,1761699495.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:15.490Z,1761699495.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 122.270653 m, bearing: 145.265277 deg, approach rate: -0.595506 m/s, LOS rate: -0.034304 deg/s, cmd heading: 146.288869 deg, new cmd heading: 146.263049 deg. 2025-10-29T00:58:15.490Z,1761699495.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552772 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:15.641Z,1761699495.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:15.871Z,1761699495.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829129,-0.553624,-0.077757],[0.559056,-0.820775,-0.117410],[0.001180,-0.140819,0.990035]] 2025-10-29T00:58:15.893Z,1761699495.893 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:58:15.893Z,1761699495.893 [DAT](INFO): response not received 2025-10-29T00:58:15.894Z,1761699495.894 [DAT](INFO): DAT read: user:636> 2025-10-29T00:58:15.894Z,1761699495.894 [DAT](INFO): DAT read: Tx time:00:58:15.8205 2025-10-29T00:58:15.895Z,1761699495.895 [DAT](INFO): Ping request sent. 2025-10-29T00:58:15.895Z,1761699495.895 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:15.895Z,1761699495.895 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:15.896Z,1761699495.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-29T00:58:16.077Z,1761699496.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:16.079Z,1761699496.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:16.082Z,1761699496.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 121.915833 m, bearing: 145.246381 deg, approach rate: -0.599157 m/s, LOS rate: -0.032001 deg/s, cmd heading: 146.263051 deg, new cmd heading: 146.225149 deg. 2025-10-29T00:58:16.083Z,1761699496.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.552110 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:16.146Z,1761699496.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250844 2025-10-29T00:58:16.401Z,1761699496.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505368 2025-10-29T00:58:16.441Z,1761699496.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:16.448Z,1761699496.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 121.705673 m, bearing: 145.235136 deg, approach rate: -0.580086 m/s, LOS rate: -0.031091 deg/s, cmd heading: 146.225143 deg, new cmd heading: 146.202615 deg. 2025-10-29T00:58:16.449Z,1761699496.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551717 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:16.649Z,1761699496.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753990 2025-10-29T00:58:16.808Z,1761699496.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829923,-0.551249,-0.085750],[0.557863,-0.821183,-0.120198],[-0.004158,-0.147592,0.989040]] 2025-10-29T00:58:16.860Z,1761699496.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:16.863Z,1761699496.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 121.456978 m, bearing: 145.221631 deg, approach rate: -0.617153 m/s, LOS rate: -0.033583 deg/s, cmd heading: 146.202617 deg, new cmd heading: 146.175551 deg. 2025-10-29T00:58:16.868Z,1761699496.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.551245 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:16.901Z,1761699496.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006198 2025-10-29T00:58:17.153Z,1761699497.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258326 2025-10-29T00:58:17.211Z,1761699497.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829835,-0.551386,-0.085716],[0.557978,-0.821572,-0.116963],[-0.005930,-0.144888,0.989430]] 2025-10-29T00:58:17.267Z,1761699497.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:17.270Z,1761699497.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 121.201981 m, bearing: 145.206987 deg, approach rate: -0.603138 m/s, LOS rate: -0.034708 deg/s, cmd heading: 146.175556 deg, new cmd heading: 146.146208 deg. 2025-10-29T00:58:17.271Z,1761699497.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550733 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:17.405Z,1761699497.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510086 2025-10-29T00:58:17.615Z,1761699497.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829430,-0.552045,-0.085397],[0.558560,-0.821676,-0.113397],[-0.007568,-0.141754,0.989873]] 2025-10-29T00:58:17.633Z,1761699497.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:17.637Z,1761699497.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 120.980621 m, bearing: 145.194287 deg, approach rate: -0.604198 m/s, LOS rate: -0.034729 deg/s, cmd heading: 146.146213 deg, new cmd heading: 146.120766 deg. 2025-10-29T00:58:17.638Z,1761699497.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.550288 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:17.670Z,1761699497.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.775071 2025-10-29T00:58:17.921Z,1761699497.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.026431 2025-10-29T00:58:18.062Z,1761699498.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829307,-0.551988,-0.086951],[0.558720,-0.821624,-0.112985],[-0.009074,-0.142280,0.989785]] 2025-10-29T00:58:18.097Z,1761699498.097 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:18.099Z,1761699498.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:18.117Z,1761699498.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 120.692566 m, bearing: 145.177814 deg, approach rate: -0.619037 m/s, LOS rate: -0.035486 deg/s, cmd heading: 146.120764 deg, new cmd heading: 146.087739 deg. 2025-10-29T00:58:18.118Z,1761699498.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549712 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:18.174Z,1761699498.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.278694 2025-10-29T00:58:18.425Z,1761699498.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530046 2025-10-29T00:58:18.457Z,1761699498.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.828483,-0.553302,-0.086441],[0.559914,-0.821322,-0.109209],[-0.010570,-0.138878,0.990253]] 2025-10-29T00:58:18.476Z,1761699498.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:18.479Z,1761699498.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 120.458496 m, bearing: 145.164515 deg, approach rate: -0.620391 m/s, LOS rate: -0.035316 deg/s, cmd heading: 146.087733 deg, new cmd heading: 146.061084 deg. 2025-10-29T00:58:18.480Z,1761699498.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.549247 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:18.677Z,1761699498.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782081 2025-10-29T00:58:18.852Z,1761699498.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827304,-0.555040,-0.086590],[0.561626,-0.820526,-0.106364],[-0.012013,-0.136626,0.990550]] 2025-10-29T00:58:18.882Z,1761699498.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:18.885Z,1761699498.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 120.206764 m, bearing: 145.150394 deg, approach rate: -0.620003 m/s, LOS rate: -0.034853 deg/s, cmd heading: 146.061082 deg, new cmd heading: 146.032780 deg. 2025-10-29T00:58:18.886Z,1761699498.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548753 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:18.930Z,1761699498.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.034693 2025-10-29T00:58:19.181Z,1761699499.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.285994 2025-10-29T00:58:19.255Z,1761699499.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826182,-0.556679,-0.086785],[0.563256,-0.819630,-0.104643],[-0.012879,-0.135337,0.990716]] 2025-10-29T00:58:19.310Z,1761699499.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:19.313Z,1761699499.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 119.943687 m, bearing: 145.134897 deg, approach rate: -0.614687 m/s, LOS rate: -0.036288 deg/s, cmd heading: 146.032778 deg, new cmd heading: 146.001716 deg. 2025-10-29T00:58:19.314Z,1761699499.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.548211 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:19.433Z,1761699499.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.537913 2025-10-29T00:58:19.660Z,1761699499.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825205,-0.557656,-0.089763],[0.564666,-0.818345,-0.107068],[-0.013750,-0.139039,0.990191]] 2025-10-29T00:58:19.679Z,1761699499.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:19.682Z,1761699499.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 119.716812 m, bearing: 145.121685 deg, approach rate: -0.615035 m/s, LOS rate: -0.035885 deg/s, cmd heading: 146.001714 deg, new cmd heading: 145.975239 deg. 2025-10-29T00:58:19.683Z,1761699499.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547749 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:19.685Z,1761699499.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.790114 2025-10-29T00:58:19.937Z,1761699499.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.042315 2025-10-29T00:58:20.094Z,1761699500.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824444,-0.558249,-0.093007],[0.565754,-0.817220,-0.109880],[-0.014667,-0.143209,0.989584]] 2025-10-29T00:58:20.138Z,1761699500.138 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:20.140Z,1761699500.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:20.143Z,1761699500.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 119.444641 m, bearing: 145.105682 deg, approach rate: -0.590441 m/s, LOS rate: -0.034794 deg/s, cmd heading: 145.975240 deg, new cmd heading: 145.943163 deg. 2025-10-29T00:58:20.144Z,1761699500.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.547189 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:20.189Z,1761699500.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.294375 2025-10-29T00:58:20.441Z,1761699500.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.546010 2025-10-29T00:58:20.467Z,1761699500.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823893,-0.558477,-0.096449],[0.566535,-0.816203,-0.113361],[-0.015413,-0.148039,0.988861]] 2025-10-29T00:58:20.486Z,1761699500.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:20.505Z,1761699500.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 119.240135 m, bearing: 145.093725 deg, approach rate: -0.590846 m/s, LOS rate: -0.034605 deg/s, cmd heading: 145.943166 deg, new cmd heading: 145.919210 deg. 2025-10-29T00:58:20.506Z,1761699500.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546771 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:20.694Z,1761699500.694 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.799240 2025-10-29T00:58:20.879Z,1761699500.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823458,-0.558519,-0.099866],[0.567142,-0.815328,-0.116576],[-0.016313,-0.152634,0.988148]] 2025-10-29T00:58:20.898Z,1761699500.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:20.901Z,1761699500.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 118.996201 m, bearing: 145.079521 deg, approach rate: -0.591908 m/s, LOS rate: -0.034538 deg/s, cmd heading: 145.919205 deg, new cmd heading: 145.890738 deg. 2025-10-29T00:58:20.902Z,1761699500.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.546274 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:20.946Z,1761699500.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.050726 2025-10-29T00:58:21.198Z,1761699501.198 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.303172 2025-10-29T00:58:21.275Z,1761699501.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822827,-0.558939,-0.102676],[0.568024,-0.814453,-0.118388],[-0.017453,-0.155735,0.987645]] 2025-10-29T00:58:21.334Z,1761699501.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:21.341Z,1761699501.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 118.762367 m, bearing: 145.061730 deg, approach rate: -0.536175 m/s, LOS rate: -0.040875 deg/s, cmd heading: 145.890737 deg, new cmd heading: 145.855085 deg. 2025-10-29T00:58:21.342Z,1761699501.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545651 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:21.449Z,1761699501.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.554029 2025-10-29T00:58:21.679Z,1761699501.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822298,-0.559301,-0.104919],[0.568745,-0.813859,-0.119008],[-0.018828,-0.157533,0.987334]] 2025-10-29T00:58:21.702Z,1761699501.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.806436 2025-10-29T00:58:21.709Z,1761699501.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:21.729Z,1761699501.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 118.546738 m, bearing: 145.045363 deg, approach rate: -0.577206 m/s, LOS rate: -0.043892 deg/s, cmd heading: 145.855083 deg, new cmd heading: 145.822290 deg. 2025-10-29T00:58:21.730Z,1761699501.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.545079 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:21.954Z,1761699501.954 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.058766 2025-10-29T00:58:22.122Z,1761699502.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822269,-0.559058,-0.106431],[0.568751,-0.813812,-0.119302],[-0.019918,-0.158631,0.987137]] 2025-10-29T00:58:22.170Z,1761699502.170 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:22.172Z,1761699502.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:22.175Z,1761699502.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 118.274231 m, bearing: 145.027956 deg, approach rate: -0.586906 m/s, LOS rate: -0.037575 deg/s, cmd heading: 145.822285 deg, new cmd heading: 145.787392 deg. 2025-10-29T00:58:22.177Z,1761699502.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544470 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:22.206Z,1761699502.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.310951 2025-10-29T00:58:22.457Z,1761699502.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.561990 2025-10-29T00:58:22.522Z,1761699502.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:22.524Z,1761699502.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 118.072929 m, bearing: 145.015046 deg, approach rate: -0.575901 m/s, LOS rate: -0.036997 deg/s, cmd heading: 145.787396 deg, new cmd heading: 145.761532 deg. 2025-10-29T00:58:22.525Z,1761699502.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.544019 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:22.709Z,1761699502.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.814234 2025-10-29T00:58:22.896Z,1761699502.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821690,-0.559816,-0.106913],[0.569483,-0.813930,-0.114926],[-0.022683,-0.155319,0.987604]] 2025-10-29T00:58:22.915Z,1761699502.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:22.918Z,1761699502.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 117.846954 m, bearing: 145.000586 deg, approach rate: -0.574768 m/s, LOS rate: -0.036849 deg/s, cmd heading: 145.761537 deg, new cmd heading: 145.732562 deg. 2025-10-29T00:58:22.919Z,1761699502.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543513 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:22.962Z,1761699502.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.066760 2025-10-29T00:58:23.214Z,1761699503.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.319150 2025-10-29T00:58:23.350Z,1761699503.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:23.352Z,1761699503.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 117.587761 m, bearing: 144.986543 deg, approach rate: -0.596157 m/s, LOS rate: -0.032372 deg/s, cmd heading: 145.732563 deg, new cmd heading: 145.704415 deg. 2025-10-29T00:58:23.353Z,1761699503.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.543022 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:23.456Z,1761699503.456 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:58:23.465Z,1761699503.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.570496 2025-10-29T00:58:23.709Z,1761699503.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821250,-0.560444,-0.107007],[0.570022,-0.814106,-0.110930],[-0.024945,-0.152097,0.988051]] 2025-10-29T00:58:23.718Z,1761699503.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.822564 2025-10-29T00:58:23.749Z,1761699503.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:23.754Z,1761699503.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 117.351547 m, bearing: 144.973761 deg, approach rate: -0.591192 m/s, LOS rate: -0.032055 deg/s, cmd heading: 145.704409 deg, new cmd heading: 145.678794 deg. 2025-10-29T00:58:23.755Z,1761699503.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542575 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:23.969Z,1761699503.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.073907 2025-10-29T00:58:24.207Z,1761699504.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:24.221Z,1761699504.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.326080 2025-10-29T00:58:24.229Z,1761699504.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:24.236Z,1761699504.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 117.081787 m, bearing: 144.958660 deg, approach rate: -0.561618 m/s, LOS rate: -0.031511 deg/s, cmd heading: 145.678796 deg, new cmd heading: 145.648525 deg. 2025-10-29T00:58:24.237Z,1761699504.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.542046 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:24.462Z,1761699504.462 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:58:24.473Z,1761699504.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.578568 2025-10-29T00:58:24.591Z,1761699504.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:24.594Z,1761699504.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 116.860596 m, bearing: 144.946225 deg, approach rate: -0.611286 m/s, LOS rate: -0.034430 deg/s, cmd heading: 145.648525 deg, new cmd heading: 145.623608 deg. 2025-10-29T00:58:24.595Z,1761699504.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541611 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:24.725Z,1761699504.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.830044 2025-10-29T00:58:24.953Z,1761699504.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820728,-0.561274,-0.106666],[0.570639,-0.814445,-0.105121],[-0.027872,-0.147143,0.988722]] 2025-10-29T00:58:24.977Z,1761699504.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.082065 2025-10-29T00:58:24.994Z,1761699504.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:25.005Z,1761699505.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 116.621834 m, bearing: 144.932832 deg, approach rate: -0.592225 m/s, LOS rate: -0.033288 deg/s, cmd heading: 145.623608 deg, new cmd heading: 145.596767 deg. 2025-10-29T00:58:25.006Z,1761699505.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.541143 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:25.229Z,1761699505.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.334041 2025-10-29T00:58:25.359Z,1761699505.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820457,-0.561539,-0.107349],[0.570977,-0.814321,-0.104238],[-0.028883,-0.146816,0.988742]] 2025-10-29T00:58:25.395Z,1761699505.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:25.398Z,1761699505.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 116.379929 m, bearing: 144.922135 deg, approach rate: -0.604236 m/s, LOS rate: -0.026775 deg/s, cmd heading: 145.596766 deg, new cmd heading: 145.575327 deg. 2025-10-29T00:58:25.399Z,1761699505.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540769 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:25.481Z,1761699505.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.586452 2025-10-29T00:58:25.733Z,1761699505.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838097 2025-10-29T00:58:25.764Z,1761699505.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820746,-0.560993,-0.107997],[0.570531,-0.814633,-0.104246],[-0.029497,-0.147175,0.988671]] 2025-10-29T00:58:25.798Z,1761699505.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:25.801Z,1761699505.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 116.144341 m, bearing: 144.911612 deg, approach rate: -0.583569 m/s, LOS rate: -0.026119 deg/s, cmd heading: 145.575332 deg, new cmd heading: 145.554244 deg. 2025-10-29T00:58:25.802Z,1761699505.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540401 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:25.985Z,1761699505.985 [DAT](INFO): Reached modem response timeout 2025-10-29T00:58:25.985Z,1761699505.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:25.985Z,1761699505.985 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:26.190Z,1761699506.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820417,-0.561570,-0.107499],[0.570973,-0.814570,-0.102303],[-0.030115,-0.145310,0.988928]] 2025-10-29T00:58:26.237Z,1761699506.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:26.271Z,1761699506.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:26.280Z,1761699506.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:26.283Z,1761699506.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 115.877808 m, bearing: 144.901132 deg, approach rate: -0.553014 m/s, LOS rate: -0.021795 deg/s, cmd heading: 145.554241 deg, new cmd heading: 145.533232 deg. 2025-10-29T00:58:26.284Z,1761699506.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.540034 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:26.489Z,1761699506.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:26.568Z,1761699506.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820378,-0.561534,-0.107978],[0.570998,-0.814588,-0.102016],[-0.030672,-0.145347,0.988905]] 2025-10-29T00:58:26.587Z,1761699506.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:26.590Z,1761699506.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 115.672707 m, bearing: 144.893038 deg, approach rate: -0.669486 m/s, LOS rate: -0.026466 deg/s, cmd heading: 145.533231 deg, new cmd heading: 145.517015 deg. 2025-10-29T00:58:26.591Z,1761699506.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539751 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:26.741Z,1761699506.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:26.979Z,1761699506.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820548,-0.561204,-0.108403],[0.570735,-0.814765,-0.102076],[-0.031037,-0.145628,0.988852]] 2025-10-29T00:58:26.993Z,1761699506.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:27.007Z,1761699507.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:27.010Z,1761699507.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 115.421265 m, bearing: 144.883038 deg, approach rate: -0.598562 m/s, LOS rate: -0.023859 deg/s, cmd heading: 145.517016 deg, new cmd heading: 145.496971 deg. 2025-10-29T00:58:27.011Z,1761699507.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539401 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:27.245Z,1761699507.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:27.375Z,1761699507.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820586,-0.561004,-0.109151],[0.570657,-0.814770,-0.102468],[-0.031448,-0.146371,0.988730]] 2025-10-29T00:58:27.423Z,1761699507.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:27.426Z,1761699507.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 115.176773 m, bearing: 144.873546 deg, approach rate: -0.586982 m/s, LOS rate: -0.022837 deg/s, cmd heading: 145.496977 deg, new cmd heading: 145.477953 deg. 2025-10-29T00:58:27.427Z,1761699507.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.539069 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:27.499Z,1761699507.499 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:27.753Z,1761699507.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:27.801Z,1761699507.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820624,-0.560659,-0.110623],[0.570587,-0.814605,-0.104157],[-0.031717,-0.148594,0.988389]] 2025-10-29T00:58:27.820Z,1761699507.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:27.823Z,1761699507.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 114.939552 m, bearing: 144.864289 deg, approach rate: -0.598106 m/s, LOS rate: -0.023388 deg/s, cmd heading: 145.477948 deg, new cmd heading: 145.459396 deg. 2025-10-29T00:58:27.824Z,1761699507.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538745 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:28.005Z,1761699508.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:28.231Z,1761699508.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820982,-0.559874,-0.111938],[0.570074,-0.814690,-0.106278],[-0.031693,-0.151065,0.988016]] 2025-10-29T00:58:28.257Z,1761699508.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:28.290Z,1761699508.290 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:28.297Z,1761699508.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:28.304Z,1761699508.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 114.667900 m, bearing: 144.853987 deg, approach rate: -0.568947 m/s, LOS rate: -0.021626 deg/s, cmd heading: 145.459397 deg, new cmd heading: 145.438745 deg. 2025-10-29T00:58:28.305Z,1761699508.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538385 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:28.509Z,1761699508.509 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:58:28.510Z,1761699508.510 [DAT](INFO): response not received 2025-10-29T00:58:28.510Z,1761699508.510 [DAT](INFO): DAT read: user:637> 2025-10-29T00:58:28.511Z,1761699508.511 [DAT](INFO): DAT read: Tx time:00:58:28.2704 2025-10-29T00:58:28.512Z,1761699508.512 [DAT](INFO): Ping request sent. 2025-10-29T00:58:28.512Z,1761699508.512 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:28.512Z,1761699508.512 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:28.513Z,1761699508.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001109 2025-10-29T00:58:28.628Z,1761699508.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821078,-0.559504,-0.113077],[0.569940,-0.814541,-0.108126],[-0.031609,-0.153227,0.987685]] 2025-10-29T00:58:28.656Z,1761699508.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:28.658Z,1761699508.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 114.434921 m, bearing: 144.845098 deg, approach rate: -0.650624 m/s, LOS rate: -0.024876 deg/s, cmd heading: 145.438742 deg, new cmd heading: 145.420927 deg. 2025-10-29T00:58:28.659Z,1761699508.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.538074 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:28.761Z,1761699508.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249223 2025-10-29T00:58:29.013Z,1761699509.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500586 2025-10-29T00:58:29.082Z,1761699509.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:29.085Z,1761699509.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 114.187637 m, bearing: 144.835623 deg, approach rate: -0.579365 m/s, LOS rate: -0.022248 deg/s, cmd heading: 145.420929 deg, new cmd heading: 145.401938 deg. 2025-10-29T00:58:29.086Z,1761699509.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537743 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:29.268Z,1761699509.268 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755796 2025-10-29T00:58:29.445Z,1761699509.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821555,-0.558342,-0.115334],[0.569272,-0.814450,-0.112252],[-0.031259,-0.157877,0.986964]] 2025-10-29T00:58:29.483Z,1761699509.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:29.505Z,1761699509.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 113.938698 m, bearing: 144.824225 deg, approach rate: -0.621057 m/s, LOS rate: -0.028498 deg/s, cmd heading: 145.401941 deg, new cmd heading: 145.379095 deg. 2025-10-29T00:58:29.506Z,1761699509.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.537344 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:29.517Z,1761699509.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005035 2025-10-29T00:58:29.770Z,1761699509.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257376 2025-10-29T00:58:29.841Z,1761699509.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821700,-0.558162,-0.115172],[0.569089,-0.814486,-0.112916],[-0.030781,-0.158326,0.986907]] 2025-10-29T00:58:29.860Z,1761699509.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:29.862Z,1761699509.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 113.714050 m, bearing: 144.813871 deg, approach rate: -0.596751 m/s, LOS rate: -0.027557 deg/s, cmd heading: 145.379101 deg, new cmd heading: 145.358354 deg. 2025-10-29T00:58:29.863Z,1761699509.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536982 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:30.021Z,1761699510.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508627 2025-10-29T00:58:30.251Z,1761699510.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821913,-0.557890,-0.114969],[0.568819,-0.814531,-0.113948],[-0.030075,-0.159052,0.986812]] 2025-10-29T00:58:30.273Z,1761699510.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760698 2025-10-29T00:58:30.361Z,1761699510.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:30.363Z,1761699510.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:30.366Z,1761699510.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 113.419617 m, bearing: 144.797166 deg, approach rate: -0.584746 m/s, LOS rate: -0.033264 deg/s, cmd heading: 145.358351 deg, new cmd heading: 145.324853 deg. 2025-10-29T00:58:30.367Z,1761699510.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.536397 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:30.525Z,1761699510.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012646 2025-10-29T00:58:30.715Z,1761699510.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821986,-0.558138,-0.113232],[0.568760,-0.814702,-0.113014],[-0.029173,-0.157298,0.987120]] 2025-10-29T00:58:30.744Z,1761699510.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:30.749Z,1761699510.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 113.197296 m, bearing: 144.784475 deg, approach rate: -0.583899 m/s, LOS rate: -0.033396 deg/s, cmd heading: 145.324856 deg, new cmd heading: 145.299425 deg. 2025-10-29T00:58:30.750Z,1761699510.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535953 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:30.777Z,1761699510.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265085 2025-10-29T00:58:31.029Z,1761699511.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516865 2025-10-29T00:58:31.108Z,1761699511.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822412,-0.558184,-0.109860],[0.568191,-0.815527,-0.109891],[-0.028255,-0.152797,0.987854]] 2025-10-29T00:58:31.145Z,1761699511.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:31.148Z,1761699511.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 112.961777 m, bearing: 144.770868 deg, approach rate: -0.587311 m/s, LOS rate: -0.034003 deg/s, cmd heading: 145.299420 deg, new cmd heading: 145.272149 deg. 2025-10-29T00:58:31.149Z,1761699511.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.535477 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:31.281Z,1761699511.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768788 2025-10-29T00:58:31.513Z,1761699511.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822817,-0.557900,-0.108263],[0.567630,-0.816081,-0.108663],[-0.027728,-0.150863,0.988166]] 2025-10-29T00:58:31.533Z,1761699511.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020457 2025-10-29T00:58:31.580Z,1761699511.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:31.583Z,1761699511.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 112.711784 m, bearing: 144.753570 deg, approach rate: -0.574991 m/s, LOS rate: -0.039874 deg/s, cmd heading: 145.272154 deg, new cmd heading: 145.237481 deg. 2025-10-29T00:58:31.583Z,1761699511.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534872 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:31.788Z,1761699511.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275546 2025-10-29T00:58:31.916Z,1761699511.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823275,-0.557131,-0.108738],[0.566971,-0.816391,-0.109772],[-0.027616,-0.152024,0.987991]] 2025-10-29T00:58:31.945Z,1761699511.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:31.948Z,1761699511.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 112.501564 m, bearing: 144.738884 deg, approach rate: -0.575276 m/s, LOS rate: -0.040264 deg/s, cmd heading: 145.237484 deg, new cmd heading: 145.208057 deg. 2025-10-29T00:58:31.949Z,1761699511.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.534359 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:32.038Z,1761699512.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525923 2025-10-29T00:58:32.289Z,1761699512.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.776623 2025-10-29T00:58:32.326Z,1761699512.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823696,-0.556118,-0.110715],[0.566346,-0.816467,-0.112403],[-0.027886,-0.155289,0.987475]] 2025-10-29T00:58:32.377Z,1761699512.377 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:32.379Z,1761699512.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:32.385Z,1761699512.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 112.256203 m, bearing: 144.719265 deg, approach rate: -0.566107 m/s, LOS rate: -0.045364 deg/s, cmd heading: 145.208060 deg, new cmd heading: 145.168736 deg. 2025-10-29T00:58:32.386Z,1761699512.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533672 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:32.541Z,1761699512.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028713 2025-10-29T00:58:32.725Z,1761699512.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824265,-0.554892,-0.112618],[0.565481,-0.816815,-0.114211],[-0.028613,-0.157823,0.987053]] 2025-10-29T00:58:32.774Z,1761699512.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:32.793Z,1761699512.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280774 2025-10-29T00:58:32.806Z,1761699512.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 112.025978 m, bearing: 144.700670 deg, approach rate: -0.594442 m/s, LOS rate: -0.048113 deg/s, cmd heading: 145.168731 deg, new cmd heading: 145.131464 deg. 2025-10-29T00:58:32.807Z,1761699512.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.533022 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:33.046Z,1761699513.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.533641 2025-10-29T00:58:33.132Z,1761699513.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824718,-0.554097,-0.113211],[0.564763,-0.817424,-0.113403],[-0.029705,-0.157463,0.987078]] 2025-10-29T00:58:33.151Z,1761699513.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:33.154Z,1761699513.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 111.792000 m, bearing: 144.681582 deg, approach rate: -0.607587 m/s, LOS rate: -0.049669 deg/s, cmd heading: 145.131466 deg, new cmd heading: 145.093211 deg. 2025-10-29T00:58:33.155Z,1761699513.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.532354 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:33.297Z,1761699513.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.784791 2025-10-29T00:58:33.549Z,1761699513.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036582 2025-10-29T00:58:33.590Z,1761699513.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:33.593Z,1761699513.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 111.545952 m, bearing: 144.657902 deg, approach rate: -0.560229 m/s, LOS rate: -0.054036 deg/s, cmd heading: 145.093217 deg, new cmd heading: 145.045752 deg. 2025-10-29T00:58:33.594Z,1761699513.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.531526 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:33.801Z,1761699513.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288614 2025-10-29T00:58:33.943Z,1761699513.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825877,-0.552634,-0.111909],[0.562913,-0.819542,-0.107142],[-0.032504,-0.151481,0.987926]] 2025-10-29T00:58:33.961Z,1761699513.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:33.964Z,1761699513.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 111.338203 m, bearing: 144.637549 deg, approach rate: -0.559993 m/s, LOS rate: -0.054965 deg/s, cmd heading: 145.045747 deg, new cmd heading: 145.004965 deg. 2025-10-29T00:58:33.965Z,1761699513.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.530814 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:34.053Z,1761699514.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.541225 2025-10-29T00:58:34.305Z,1761699514.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.792715 2025-10-29T00:58:34.367Z,1761699514.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826073,-0.552963,-0.108791],[0.562527,-0.820748,-0.099679],[-0.034171,-0.143540,0.989054]] 2025-10-29T00:58:34.447Z,1761699514.447 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:34.449Z,1761699514.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:34.452Z,1761699514.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 111.058296 m, bearing: 144.611718 deg, approach rate: -0.573611 m/s, LOS rate: -0.053068 deg/s, cmd heading: 145.004971 deg, new cmd heading: 144.953179 deg. 2025-10-29T00:58:34.453Z,1761699514.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529910 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:34.557Z,1761699514.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044781 2025-10-29T00:58:34.766Z,1761699514.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826256,-0.552794,-0.108261],[0.562175,-0.821355,-0.096624],[-0.035507,-0.140697,0.989416]] 2025-10-29T00:58:34.794Z,1761699514.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:34.809Z,1761699514.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296734 2025-10-29T00:58:34.813Z,1761699514.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 110.846283 m, bearing: 144.592007 deg, approach rate: -0.614547 m/s, LOS rate: -0.057246 deg/s, cmd heading: 144.953184 deg, new cmd heading: 144.913686 deg. 2025-10-29T00:58:34.820Z,1761699514.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.529221 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:35.061Z,1761699515.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.549030 2025-10-29T00:58:35.150Z,1761699515.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826319,-0.552534,-0.109100],[0.562040,-0.821432,-0.096750],[-0.036161,-0.141265,0.989311]] 2025-10-29T00:58:35.169Z,1761699515.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:35.174Z,1761699515.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 110.622818 m, bearing: 144.571131 deg, approach rate: -0.597673 m/s, LOS rate: -0.055946 deg/s, cmd heading: 144.913692 deg, new cmd heading: 144.871856 deg. 2025-10-29T00:58:35.177Z,1761699515.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.528491 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:35.314Z,1761699515.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.801463 2025-10-29T00:58:35.558Z,1761699515.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.826301,-0.552096,-0.111431],[0.562031,-0.821140,-0.099247],[-0.036706,-0.144636,0.988804]] 2025-10-29T00:58:35.565Z,1761699515.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052739 2025-10-29T00:58:35.596Z,1761699515.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:35.599Z,1761699515.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 110.373016 m, bearing: 144.547837 deg, approach rate: -0.583836 m/s, LOS rate: -0.054566 deg/s, cmd heading: 144.871850 deg, new cmd heading: 144.825156 deg. 2025-10-29T00:58:35.620Z,1761699515.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.527676 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:35.817Z,1761699515.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.304833 2025-10-29T00:58:35.958Z,1761699515.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825801,-0.552474,-0.113251],[0.562721,-0.820515,-0.100503],[-0.037399,-0.146724,0.988470]] 2025-10-29T00:58:35.989Z,1761699515.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:35.991Z,1761699515.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 110.145515 m, bearing: 144.526639 deg, approach rate: -0.579266 m/s, LOS rate: -0.054085 deg/s, cmd heading: 144.825159 deg, new cmd heading: 144.782677 deg. 2025-10-29T00:58:35.992Z,1761699515.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526934 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:36.071Z,1761699516.071 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558409 2025-10-29T00:58:36.324Z,1761699516.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.811339 2025-10-29T00:58:36.425Z,1761699516.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:36.427Z,1761699516.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 109.885017 m, bearing: 144.506428 deg, approach rate: -0.597396 m/s, LOS rate: -0.046460 deg/s, cmd heading: 144.782675 deg, new cmd heading: 144.742157 deg. 2025-10-29T00:58:36.428Z,1761699516.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.526227 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:36.573Z,1761699516.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060667 2025-10-29T00:58:36.777Z,1761699516.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825230,-0.553747,-0.111176],[0.563598,-0.820185,-0.098249],[-0.036780,-0.143737,0.988932]] 2025-10-29T00:58:36.794Z,1761699516.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:36.795Z,1761699516.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:36.798Z,1761699516.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 109.659462 m, bearing: 144.488968 deg, approach rate: -0.608150 m/s, LOS rate: -0.047173 deg/s, cmd heading: 144.742159 deg, new cmd heading: 144.707167 deg. 2025-10-29T00:58:36.799Z,1761699516.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.525616 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:36.838Z,1761699516.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.325614 2025-10-29T00:58:37.089Z,1761699517.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.576892 2025-10-29T00:58:37.175Z,1761699517.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824409,-0.555484,-0.108566],[0.564861,-0.819614,-0.095735],[-0.035803,-0.140250,0.989469]] 2025-10-29T00:58:37.220Z,1761699517.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:37.228Z,1761699517.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 109.415535 m, bearing: 144.470191 deg, approach rate: -0.597701 m/s, LOS rate: -0.046113 deg/s, cmd heading: 144.707161 deg, new cmd heading: 144.669523 deg. 2025-10-29T00:58:37.229Z,1761699517.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524960 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:37.342Z,1761699517.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.829190 2025-10-29T00:58:37.593Z,1761699517.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.080731 2025-10-29T00:58:37.594Z,1761699517.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.822784,-0.558148,-0.107225],[0.567262,-0.818145,-0.094088],[-0.035210,-0.138239,0.989773]] 2025-10-29T00:58:37.655Z,1761699517.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:37.658Z,1761699517.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 109.139809 m, bearing: 144.452606 deg, approach rate: -0.611085 m/s, LOS rate: -0.039071 deg/s, cmd heading: 144.669526 deg, new cmd heading: 144.634268 deg. 2025-10-29T00:58:37.659Z,1761699517.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.524344 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:37.845Z,1761699517.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.332607 2025-10-29T00:58:37.995Z,1761699517.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821284,-0.559858,-0.109777],[0.569438,-0.816250,-0.097348],[-0.035104,-0.142461,0.989178]] 2025-10-29T00:58:38.049Z,1761699518.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:38.056Z,1761699518.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 108.904816 m, bearing: 144.437891 deg, approach rate: -0.595863 m/s, LOS rate: -0.037393 deg/s, cmd heading: 144.634269 deg, new cmd heading: 144.604775 deg. 2025-10-29T00:58:38.057Z,1761699518.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523829 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:38.097Z,1761699518.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584843 2025-10-29T00:58:38.352Z,1761699518.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.838814 2025-10-29T00:58:38.409Z,1761699518.409 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.820212,-0.560656,-0.113654],[0.571007,-0.814433,-0.103203],[-0.034702,-0.149546,0.988146]] 2025-10-29T00:58:38.495Z,1761699518.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:38.498Z,1761699518.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 108.631073 m, bearing: 144.420871 deg, approach rate: -0.614557 m/s, LOS rate: -0.038306 deg/s, cmd heading: 144.604776 deg, new cmd heading: 144.570651 deg. 2025-10-29T00:58:38.499Z,1761699518.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.523234 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:38.601Z,1761699518.601 [DAT](INFO): Reached modem response timeout 2025-10-29T00:58:38.601Z,1761699518.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:38.601Z,1761699518.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:38.803Z,1761699518.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819214,-0.561046,-0.118813],[0.572438,-0.812502,-0.110246],[-0.034683,-0.158328,0.986777]] 2025-10-29T00:58:38.825Z,1761699518.825 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:38.827Z,1761699518.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:38.830Z,1761699518.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 108.421463 m, bearing: 144.407992 deg, approach rate: -0.631120 m/s, LOS rate: -0.038852 deg/s, cmd heading: 144.570653 deg, new cmd heading: 144.544845 deg. 2025-10-29T00:58:38.831Z,1761699518.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522784 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:38.853Z,1761699518.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:39.105Z,1761699519.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:39.212Z,1761699519.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818492,-0.561303,-0.122512],[0.573457,-0.811143,-0.114866],[-0.034900,-0.164272,0.985797]] 2025-10-29T00:58:39.243Z,1761699519.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:39.247Z,1761699519.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 108.159981 m, bearing: 144.392044 deg, approach rate: -0.627599 m/s, LOS rate: -0.038370 deg/s, cmd heading: 144.544848 deg, new cmd heading: 144.512875 deg. 2025-10-29T00:58:39.248Z,1761699519.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.522225 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:39.360Z,1761699519.360 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:39.609Z,1761699519.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:39.618Z,1761699519.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817781,-0.561658,-0.125601],[0.574437,-0.809995,-0.118025],[-0.035446,-0.168668,0.985035]] 2025-10-29T00:58:39.699Z,1761699519.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:39.709Z,1761699519.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 107.896950 m, bearing: 144.376323 deg, approach rate: -0.577827 m/s, LOS rate: -0.034620 deg/s, cmd heading: 144.512869 deg, new cmd heading: 144.481351 deg. 2025-10-29T00:58:39.710Z,1761699519.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521675 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:39.861Z,1761699519.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:40.042Z,1761699520.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.817349,-0.562062,-0.126596],[0.575023,-0.809519,-0.118438],[-0.035913,-0.169601,0.984858]] 2025-10-29T00:58:40.101Z,1761699520.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:40.108Z,1761699520.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 107.624641 m, bearing: 144.360079 deg, approach rate: -0.676455 m/s, LOS rate: -0.040456 deg/s, cmd heading: 144.481355 deg, new cmd heading: 144.448783 deg. 2025-10-29T00:58:40.109Z,1761699520.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.521107 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:40.113Z,1761699520.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:40.367Z,1761699520.367 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:40.428Z,1761699520.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.816220,-0.563512,-0.127436],[0.576555,-0.808612,-0.117183],[-0.037013,-0.169121,0.984900]] 2025-10-29T00:58:40.472Z,1761699520.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:40.475Z,1761699520.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 107.392799 m, bearing: 144.345387 deg, approach rate: -0.624938 m/s, LOS rate: -0.039687 deg/s, cmd heading: 144.448788 deg, new cmd heading: 144.419342 deg. 2025-10-29T00:58:40.476Z,1761699520.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520593 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:40.617Z,1761699520.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:40.830Z,1761699520.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815778,-0.564080,-0.127746],[0.577160,-0.808224,-0.116879],[-0.037318,-0.169078,0.984896]] 2025-10-29T00:58:40.847Z,1761699520.847 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:40.850Z,1761699520.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:40.853Z,1761699520.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 107.164558 m, bearing: 144.330954 deg, approach rate: -0.604561 m/s, LOS rate: -0.038311 deg/s, cmd heading: 144.419337 deg, new cmd heading: 144.390409 deg. 2025-10-29T00:58:40.854Z,1761699520.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.520088 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:40.869Z,1761699520.869 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:58:40.869Z,1761699520.869 [DAT](INFO): response not received 2025-10-29T00:58:40.870Z,1761699520.870 [DAT](INFO): DAT read: user:638> 2025-10-29T00:58:40.871Z,1761699520.871 [DAT](INFO): DAT read: Tx time:00:58:40.7204 2025-10-29T00:58:40.871Z,1761699520.871 [DAT](INFO): Ping request sent. 2025-10-29T00:58:40.871Z,1761699520.871 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:40.871Z,1761699520.871 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:40.872Z,1761699520.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T00:58:41.121Z,1761699521.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249956 2025-10-29T00:58:41.273Z,1761699521.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:41.276Z,1761699521.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 106.907890 m, bearing: 144.314650 deg, approach rate: -0.606262 m/s, LOS rate: -0.038605 deg/s, cmd heading: 144.390404 deg, new cmd heading: 144.357716 deg. 2025-10-29T00:58:41.277Z,1761699521.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.519517 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:41.376Z,1761699521.376 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504438 2025-10-29T00:58:41.627Z,1761699521.627 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756046 2025-10-29T00:58:41.638Z,1761699521.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814654,-0.565777,-0.127416],[0.578701,-0.807435,-0.114688],[-0.037992,-0.167167,0.985196]] 2025-10-29T00:58:41.711Z,1761699521.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:41.722Z,1761699521.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 106.633499 m, bearing: 144.296899 deg, approach rate: -0.626706 m/s, LOS rate: -0.040646 deg/s, cmd heading: 144.357715 deg, new cmd heading: 144.322122 deg. 2025-10-29T00:58:41.723Z,1761699521.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518896 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:41.877Z,1761699521.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005887 2025-10-29T00:58:42.060Z,1761699522.060 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813944,-0.567034,-0.126363],[0.579693,-0.807010,-0.112652],[-0.038098,-0.164944,0.985567]] 2025-10-29T00:58:42.079Z,1761699522.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:42.081Z,1761699522.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 106.402847 m, bearing: 144.282048 deg, approach rate: -0.627368 m/s, LOS rate: -0.040483 deg/s, cmd heading: 144.322116 deg, new cmd heading: 144.292348 deg. 2025-10-29T00:58:42.082Z,1761699522.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.518377 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:42.130Z,1761699522.130 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258413 2025-10-29T00:58:42.383Z,1761699522.383 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511966 2025-10-29T00:58:42.447Z,1761699522.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.813142,-0.568374,-0.125501],[0.580794,-0.806524,-0.110441],[-0.038448,-0.162695,0.985927]] 2025-10-29T00:58:42.501Z,1761699522.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:42.508Z,1761699522.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 106.161079 m, bearing: 144.264435 deg, approach rate: -0.571826 m/s, LOS rate: -0.041753 deg/s, cmd heading: 144.292350 deg, new cmd heading: 144.257043 deg. 2025-10-29T00:58:42.509Z,1761699522.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517760 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:42.633Z,1761699522.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761946 2025-10-29T00:58:42.845Z,1761699522.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812624,-0.569089,-0.125621],[0.581500,-0.806094,-0.109868],[-0.038737,-0.162330,0.985976]] 2025-10-29T00:58:42.863Z,1761699522.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:42.865Z,1761699522.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:42.868Z,1761699522.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 105.934929 m, bearing: 144.247992 deg, approach rate: -0.621607 m/s, LOS rate: -0.045291 deg/s, cmd heading: 144.257038 deg, new cmd heading: 144.224083 deg. 2025-10-29T00:58:42.869Z,1761699522.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.517185 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:42.885Z,1761699522.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013974 2025-10-29T00:58:43.138Z,1761699523.138 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266903 2025-10-29T00:58:43.247Z,1761699523.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812077,-0.569825,-0.125816],[0.582244,-0.805620,-0.109405],[-0.039019,-0.162101,0.986002]] 2025-10-29T00:58:43.282Z,1761699523.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:43.284Z,1761699523.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 105.696442 m, bearing: 144.230696 deg, approach rate: -0.572792 m/s, LOS rate: -0.041634 deg/s, cmd heading: 144.224089 deg, new cmd heading: 144.189419 deg. 2025-10-29T00:58:43.285Z,1761699523.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.516580 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:43.391Z,1761699523.391 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519812 2025-10-29T00:58:43.641Z,1761699523.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769940 2025-10-29T00:58:43.662Z,1761699523.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811541,-0.570559,-0.125947],[0.582982,-0.805124,-0.109116],[-0.039146,-0.161977,0.986018]] 2025-10-29T00:58:43.722Z,1761699523.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:43.725Z,1761699523.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 105.410515 m, bearing: 144.211455 deg, approach rate: -0.649453 m/s, LOS rate: -0.043824 deg/s, cmd heading: 144.189419 deg, new cmd heading: 144.150831 deg. 2025-10-29T00:58:43.726Z,1761699523.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515907 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:43.893Z,1761699523.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021912 2025-10-29T00:58:44.055Z,1761699524.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810807,-0.571613,-0.125897],[0.583986,-0.804508,-0.108288],[-0.039387,-0.161323,0.986115]] 2025-10-29T00:58:44.099Z,1761699524.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:44.102Z,1761699524.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 105.173729 m, bearing: 144.195599 deg, approach rate: -0.628023 m/s, LOS rate: -0.042148 deg/s, cmd heading: 144.150828 deg, new cmd heading: 144.119046 deg. 2025-10-29T00:58:44.103Z,1761699524.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.515352 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:44.146Z,1761699524.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274987 2025-10-29T00:58:44.400Z,1761699524.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528155 2025-10-29T00:58:44.469Z,1761699524.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.809764,-0.573235,-0.125239],[0.585407,-0.803749,-0.106233],[-0.039765,-0.159340,0.986423]] 2025-10-29T00:58:44.577Z,1761699524.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:44.579Z,1761699524.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 104.878296 m, bearing: 144.178647 deg, approach rate: -0.618058 m/s, LOS rate: -0.035564 deg/s, cmd heading: 144.119041 deg, new cmd heading: 144.085041 deg. 2025-10-29T00:58:44.581Z,1761699524.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514758 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:44.649Z,1761699524.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778132 2025-10-29T00:58:44.873Z,1761699524.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808946,-0.574713,-0.123739],[0.586540,-0.803237,-0.103834],[-0.039717,-0.156574,0.986867]] 2025-10-29T00:58:44.898Z,1761699524.898 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:44.900Z,1761699524.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:44.901Z,1761699524.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030062 2025-10-29T00:58:44.904Z,1761699524.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 104.679001 m, bearing: 144.167302 deg, approach rate: -0.617506 m/s, LOS rate: -0.035220 deg/s, cmd heading: 144.085040 deg, new cmd heading: 144.062306 deg. 2025-10-29T00:58:44.905Z,1761699524.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.514362 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:45.157Z,1761699525.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286005 2025-10-29T00:58:45.317Z,1761699525.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:45.319Z,1761699525.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 104.421234 m, bearing: 144.152563 deg, approach rate: -0.618894 m/s, LOS rate: -0.035476 deg/s, cmd heading: 144.062309 deg, new cmd heading: 144.032758 deg. 2025-10-29T00:58:45.320Z,1761699525.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513846 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:45.408Z,1761699525.408 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.536468 2025-10-29T00:58:45.658Z,1761699525.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787211 2025-10-29T00:58:45.690Z,1761699525.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.807625,-0.576839,-0.122472],[0.588352,-0.802234,-0.101307],[-0.039813,-0.153875,0.987288]] 2025-10-29T00:58:45.759Z,1761699525.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:45.763Z,1761699525.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 104.159248 m, bearing: 144.138974 deg, approach rate: -0.591512 m/s, LOS rate: -0.030757 deg/s, cmd heading: 144.032762 deg, new cmd heading: 144.005517 deg. 2025-10-29T00:58:45.765Z,1761699525.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.513371 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:45.909Z,1761699525.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037915 2025-10-29T00:58:46.091Z,1761699526.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806899,-0.577728,-0.123062],[0.589348,-0.801433,-0.101853],[-0.039782,-0.154711,0.987158]] 2025-10-29T00:58:46.125Z,1761699526.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:46.127Z,1761699526.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 103.938393 m, bearing: 144.127619 deg, approach rate: -0.603754 m/s, LOS rate: -0.031107 deg/s, cmd heading: 144.005523 deg, new cmd heading: 143.982765 deg. 2025-10-29T00:58:46.129Z,1761699526.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512973 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:46.162Z,1761699526.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290290 2025-10-29T00:58:46.414Z,1761699526.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542605 2025-10-29T00:58:46.558Z,1761699526.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:46.561Z,1761699526.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 103.684288 m, bearing: 144.112442 deg, approach rate: -0.586132 m/s, LOS rate: -0.035094 deg/s, cmd heading: 143.982765 deg, new cmd heading: 143.952336 deg. 2025-10-29T00:58:46.562Z,1761699526.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512442 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:46.667Z,1761699526.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795547 2025-10-29T00:58:46.899Z,1761699526.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.806332,-0.577855,-0.126146],[0.590193,-0.800058,-0.107605],[-0.038744,-0.161216,0.986158]] 2025-10-29T00:58:46.916Z,1761699526.916 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:46.917Z,1761699526.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046020 2025-10-29T00:58:46.934Z,1761699526.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:46.937Z,1761699526.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 103.473000 m, bearing: 144.099908 deg, approach rate: -0.562693 m/s, LOS rate: -0.033448 deg/s, cmd heading: 143.952343 deg, new cmd heading: 143.927224 deg. 2025-10-29T00:58:46.938Z,1761699526.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.512004 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:47.170Z,1761699527.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298514 2025-10-29T00:58:47.303Z,1761699527.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805961,-0.578194,-0.126958],[0.590721,-0.799464,-0.109117],[-0.038408,-0.162941,0.985888]] 2025-10-29T00:58:47.321Z,1761699527.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:47.324Z,1761699527.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 103.235893 m, bearing: 144.085874 deg, approach rate: -0.612186 m/s, LOS rate: -0.036318 deg/s, cmd heading: 143.927222 deg, new cmd heading: 143.899088 deg. 2025-10-29T00:58:47.325Z,1761699527.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.511513 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:47.423Z,1761699527.423 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.552123 2025-10-29T00:58:47.674Z,1761699527.674 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802950 2025-10-29T00:58:47.713Z,1761699527.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805608,-0.578737,-0.126723],[0.591215,-0.799120,-0.108958],[-0.038209,-0.162698,0.985936]] 2025-10-29T00:58:47.801Z,1761699527.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:47.808Z,1761699527.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 102.981659 m, bearing: 144.070201 deg, approach rate: -0.529590 m/s, LOS rate: -0.032728 deg/s, cmd heading: 143.899095 deg, new cmd heading: 143.867672 deg. 2025-10-29T00:58:47.809Z,1761699527.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510965 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:47.925Z,1761699527.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053939 2025-10-29T00:58:48.160Z,1761699528.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805680,-0.578890,-0.125566],[0.591132,-0.799344,-0.107760],[-0.037989,-0.161046,0.986215]] 2025-10-29T00:58:48.178Z,1761699528.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306772 2025-10-29T00:58:48.208Z,1761699528.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:48.210Z,1761699528.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 102.711678 m, bearing: 144.053449 deg, approach rate: -0.664328 m/s, LOS rate: -0.041329 deg/s, cmd heading: 143.867676 deg, new cmd heading: 143.834084 deg. 2025-10-29T00:58:48.211Z,1761699528.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.510378 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:48.434Z,1761699528.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562423 2025-10-29T00:58:48.602Z,1761699528.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:48.621Z,1761699528.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 102.471107 m, bearing: 144.040087 deg, approach rate: -0.609703 m/s, LOS rate: -0.033946 deg/s, cmd heading: 143.834085 deg, new cmd heading: 143.807297 deg. 2025-10-29T00:58:48.622Z,1761699528.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509911 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:48.682Z,1761699528.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810619 2025-10-29T00:58:48.933Z,1761699528.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.061884 2025-10-29T00:58:48.950Z,1761699528.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804969,-0.580554,-0.122401],[0.592086,-0.799300,-0.102727],[-0.038197,-0.155164,0.987150]] 2025-10-29T00:58:48.978Z,1761699528.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:48.980Z,1761699528.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:48.982Z,1761699528.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 102.237175 m, bearing: 144.027156 deg, approach rate: -0.619736 m/s, LOS rate: -0.034334 deg/s, cmd heading: 143.807297 deg, new cmd heading: 143.781377 deg. 2025-10-29T00:58:48.983Z,1761699528.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.509459 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:49.185Z,1761699529.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314207 2025-10-29T00:58:49.354Z,1761699529.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804453,-0.581529,-0.121161],[0.592771,-0.799091,-0.100379],[-0.038445,-0.152571,0.987544]] 2025-10-29T00:58:49.396Z,1761699529.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:49.402Z,1761699529.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 101.990791 m, bearing: 144.013578 deg, approach rate: -0.615585 m/s, LOS rate: -0.034008 deg/s, cmd heading: 143.781383 deg, new cmd heading: 143.754160 deg. 2025-10-29T00:58:49.403Z,1761699529.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508983 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:49.437Z,1761699529.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566227 2025-10-29T00:58:49.690Z,1761699529.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818596 2025-10-29T00:58:49.766Z,1761699529.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.804142,-0.581813,-0.121860],[0.593162,-0.798795,-0.100423],[-0.038914,-0.153036,0.987454]] 2025-10-29T00:58:49.813Z,1761699529.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:49.816Z,1761699529.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 101.729233 m, bearing: 143.995366 deg, approach rate: -0.603934 m/s, LOS rate: -0.042159 deg/s, cmd heading: 143.754158 deg, new cmd heading: 143.717641 deg. 2025-10-29T00:58:49.817Z,1761699529.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.508346 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:49.941Z,1761699529.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070041 2025-10-29T00:58:50.177Z,1761699530.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803825,-0.581886,-0.123587],[0.593531,-0.798430,-0.101148],[-0.039819,-0.154658,0.987165]] 2025-10-29T00:58:50.193Z,1761699530.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322021 2025-10-29T00:58:50.198Z,1761699530.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:50.201Z,1761699530.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 101.497673 m, bearing: 143.979236 deg, approach rate: -0.601590 m/s, LOS rate: -0.042001 deg/s, cmd heading: 143.717644 deg, new cmd heading: 143.685311 deg. 2025-10-29T00:58:50.202Z,1761699530.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507782 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:50.446Z,1761699530.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.575038 2025-10-29T00:58:50.567Z,1761699530.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.803310,-0.582601,-0.123564],[0.594207,-0.798027,-0.100359],[-0.040139,-0.154042,0.987249]] 2025-10-29T00:58:50.625Z,1761699530.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:50.632Z,1761699530.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 101.256241 m, bearing: 143.959993 deg, approach rate: -0.564947 m/s, LOS rate: -0.045134 deg/s, cmd heading: 143.685310 deg, new cmd heading: 143.646733 deg. 2025-10-29T00:58:50.633Z,1761699530.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.507108 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:50.698Z,1761699530.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.826678 2025-10-29T00:58:50.949Z,1761699530.949 [DAT](INFO): Reached modem response timeout 2025-10-29T00:58:50.949Z,1761699530.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:50.949Z,1761699530.949 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:50.970Z,1761699530.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802675,-0.583421,-0.123827],[0.595003,-0.797610,-0.098938],[-0.041043,-0.153092,0.987359]] 2025-10-29T00:58:51.003Z,1761699531.003 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:51.010Z,1761699531.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:51.016Z,1761699531.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 101.020325 m, bearing: 143.941235 deg, approach rate: -0.613641 m/s, LOS rate: -0.048906 deg/s, cmd heading: 143.646733 deg, new cmd heading: 143.609129 deg. 2025-10-29T00:58:51.017Z,1761699531.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.506452 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:51.201Z,1761699531.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:51.374Z,1761699531.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801958,-0.584631,-0.122756],[0.595900,-0.797354,-0.095546],[-0.042021,-0.149774,0.987827]] 2025-10-29T00:58:51.393Z,1761699531.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:51.396Z,1761699531.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 100.790947 m, bearing: 143.923048 deg, approach rate: -0.598316 m/s, LOS rate: -0.047547 deg/s, cmd heading: 143.609126 deg, new cmd heading: 143.572670 deg. 2025-10-29T00:58:51.413Z,1761699531.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505816 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:51.453Z,1761699531.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:51.705Z,1761699531.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:51.782Z,1761699531.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801190,-0.585652,-0.122907],[0.596867,-0.796827,-0.093897],[-0.042945,-0.148589,0.987966]] 2025-10-29T00:58:51.825Z,1761699531.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:51.827Z,1761699531.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 100.534889 m, bearing: 143.904324 deg, approach rate: -0.593120 m/s, LOS rate: -0.043482 deg/s, cmd heading: 143.572666 deg, new cmd heading: 143.535123 deg. 2025-10-29T00:58:51.829Z,1761699531.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.505161 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:51.957Z,1761699531.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:52.187Z,1761699532.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800552,-0.586554,-0.122762],[0.597661,-0.796450,-0.092024],[-0.043797,-0.147040,0.988160]] 2025-10-29T00:58:52.206Z,1761699532.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:52.209Z,1761699532.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:52.210Z,1761699532.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 100.308762 m, bearing: 143.887834 deg, approach rate: -0.593467 m/s, LOS rate: -0.043377 deg/s, cmd heading: 143.535128 deg, new cmd heading: 143.502072 deg. 2025-10-29T00:58:52.211Z,1761699532.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.504584 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:52.461Z,1761699532.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:52.587Z,1761699532.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799753,-0.587850,-0.121768],[0.598693,-0.795959,-0.089532],[-0.044290,-0.144505,0.988512]] 2025-10-29T00:58:52.698Z,1761699532.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:52.705Z,1761699532.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 100.010376 m, bearing: 143.865567 deg, approach rate: -0.606263 m/s, LOS rate: -0.045376 deg/s, cmd heading: 143.502070 deg, new cmd heading: 143.457404 deg. 2025-10-29T00:58:52.706Z,1761699532.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503804 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:52.713Z,1761699532.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:52.965Z,1761699532.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:52.991Z,1761699532.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.799254,-0.588541,-0.121704],[0.599331,-0.795578,-0.088642],[-0.044656,-0.143789,0.988600]] 2025-10-29T00:58:53.008Z,1761699533.008 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:53.010Z,1761699533.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:53.013Z,1761699533.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 99.813263 m, bearing: 143.850875 deg, approach rate: -0.631823 m/s, LOS rate: -0.047188 deg/s, cmd heading: 143.457400 deg, new cmd heading: 143.427957 deg. 2025-10-29T00:58:53.014Z,1761699533.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.503290 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:53.217Z,1761699533.217 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:58:53.217Z,1761699533.217 [DAT](INFO): response not received 2025-10-29T00:58:53.218Z,1761699533.218 [DAT](INFO): DAT read: user:639> 2025-10-29T00:58:53.218Z,1761699533.218 [DAT](ERROR): No response from remote modem. 2025-10-29T00:58:53.218Z,1761699533.218 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:58:53.219Z,1761699533.219 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:53.395Z,1761699533.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798895,-0.588747,-0.123059],[0.599815,-0.795013,-0.090423],[-0.044597,-0.146052,0.988271]] 2025-10-29T00:58:53.421Z,1761699533.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:53.424Z,1761699533.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 99.559532 m, bearing: 143.831976 deg, approach rate: -0.616997 m/s, LOS rate: -0.046073 deg/s, cmd heading: 143.427962 deg, new cmd heading: 143.390069 deg. 2025-10-29T00:58:53.425Z,1761699533.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502629 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:53.470Z,1761699533.470 [DAT](INFO): DAT read: Tx time:00:58:53.1703 2025-10-29T00:58:53.470Z,1761699533.470 [DAT](INFO): Ping request sent. 2025-10-29T00:58:53.470Z,1761699533.470 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:53.471Z,1761699533.471 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:53.472Z,1761699533.472 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001087 2025-10-29T00:58:53.721Z,1761699533.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250439 2025-10-29T00:58:53.798Z,1761699533.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798386,-0.589114,-0.124599],[0.600490,-0.794296,-0.092224],[-0.044638,-0.148451,0.987912]] 2025-10-29T00:58:53.847Z,1761699533.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:53.850Z,1761699533.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 99.301353 m, bearing: 143.814552 deg, approach rate: -0.606462 m/s, LOS rate: -0.041037 deg/s, cmd heading: 143.390068 deg, new cmd heading: 143.355128 deg. 2025-10-29T00:58:53.851Z,1761699533.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.502019 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:53.973Z,1761699533.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502900 2025-10-29T00:58:54.210Z,1761699534.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798261,-0.589198,-0.125004],[0.600681,-0.794028,-0.093283],[-0.044295,-0.149552,0.987761]] 2025-10-29T00:58:54.225Z,1761699534.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754543 2025-10-29T00:58:54.253Z,1761699534.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:54.256Z,1761699534.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 99.068558 m, bearing: 143.798798 deg, approach rate: -0.573216 m/s, LOS rate: -0.038883 deg/s, cmd heading: 143.355125 deg, new cmd heading: 143.323543 deg. 2025-10-29T00:58:54.257Z,1761699534.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.501468 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:54.477Z,1761699534.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006809 2025-10-29T00:58:54.590Z,1761699534.590 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:58:54.618Z,1761699534.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797811,-0.589719,-0.125417],[0.601285,-0.793512,-0.093787],[-0.044212,-0.150235,0.987661]] 2025-10-29T00:58:54.697Z,1761699534.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:54.705Z,1761699534.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 98.787628 m, bearing: 143.780927 deg, approach rate: -0.632222 m/s, LOS rate: -0.040332 deg/s, cmd heading: 143.323542 deg, new cmd heading: 143.287699 deg. 2025-10-29T00:58:54.706Z,1761699534.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500842 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:54.729Z,1761699534.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258655 2025-10-29T00:58:54.981Z,1761699534.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510396 2025-10-29T00:58:55.011Z,1761699535.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797650,-0.589953,-0.125341],[0.601491,-0.793394,-0.093457],[-0.044310,-0.149937,0.987702]] 2025-10-29T00:58:55.042Z,1761699535.042 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:55.045Z,1761699535.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:55.047Z,1761699535.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 98.563705 m, bearing: 143.766641 deg, approach rate: -0.644694 m/s, LOS rate: -0.041222 deg/s, cmd heading: 143.287697 deg, new cmd heading: 143.259062 deg. 2025-10-29T00:58:55.048Z,1761699535.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.500342 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:55.235Z,1761699535.235 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763510 2025-10-29T00:58:55.414Z,1761699535.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.797439,-0.590294,-0.125078],[0.601773,-0.793228,-0.093055],[-0.044285,-0.149475,0.987773]] 2025-10-29T00:58:55.433Z,1761699535.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:55.436Z,1761699535.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 98.322411 m, bearing: 143.751223 deg, approach rate: -0.621380 m/s, LOS rate: -0.039803 deg/s, cmd heading: 143.259065 deg, new cmd heading: 143.228153 deg. 2025-10-29T00:58:55.437Z,1761699535.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499803 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:55.485Z,1761699535.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014798 2025-10-29T00:58:55.594Z,1761699535.594 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:58:55.737Z,1761699535.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266435 2025-10-29T00:58:55.871Z,1761699535.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:55.873Z,1761699535.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 98.058205 m, bearing: 143.737607 deg, approach rate: -0.603872 m/s, LOS rate: -0.031204 deg/s, cmd heading: 143.228152 deg, new cmd heading: 143.200847 deg. 2025-10-29T00:58:55.874Z,1761699535.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.499326 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:55.992Z,1761699535.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521902 2025-10-29T00:58:56.223Z,1761699536.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796187,-0.591482,-0.127422],[0.603365,-0.791873,-0.094272],[-0.045142,-0.151940,0.987358]] 2025-10-29T00:58:56.241Z,1761699536.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:56.245Z,1761699536.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774646 2025-10-29T00:58:56.246Z,1761699536.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 97.833839 m, bearing: 143.726265 deg, approach rate: -0.604773 m/s, LOS rate: -0.030642 deg/s, cmd heading: 143.200845 deg, new cmd heading: 143.178109 deg. 2025-10-29T00:58:56.247Z,1761699536.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498930 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:56.498Z,1761699536.498 [DAT](INFO): DAT read: Rx Time:00:58:55.7086 2025-10-29T00:58:56.498Z,1761699536.498 [DAT](INFO): Rx dataTimestamp_ set to:1761699536.497796 2025-10-29T00:58:56.499Z,1761699536.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028518 2025-10-29T00:58:56.648Z,1761699536.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795876,-0.591749,-0.128118],[0.603740,-0.791582,-0.094320],[-0.045602,-0.152417,0.987264]] 2025-10-29T00:58:56.720Z,1761699536.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.81 m. 2025-10-29T00:58:56.723Z,1761699536.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.814667 m, nav range: 97.565239 m, bearing: 143.712937 deg, approach rate: -0.566448 m/s, LOS rate: -0.028184 deg/s, cmd heading: 143.178114 deg, new cmd heading: 143.151385 deg. 2025-10-29T00:58:56.723Z,1761699536.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.498463 target range: 131.814667 and range: 132.60 m. 2025-10-29T00:58:56.750Z,1761699536.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278961 2025-10-29T00:58:57.012Z,1761699537.012 [DAT](INFO): DAT read: 00:58:55.7086 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 459, 0.07, 2.867, 1.212, 3.093, 2.842, PHS= 0.127,-1.585, 0.207, RAW= 152.3, 14.2, CAL= 152.5, 15.9, ROT= 357.5, -15.9 2025-10-29T00:58:57.014Z,1761699537.014 [DAT](INFO): got valid direction response: 00:58:55.7086 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 459, 0.07, 2.867, 1.212, 3.093, 2.842, PHS= 0.127,-1.585, 0.207, RAW= 152.3, 14.2, CAL= 152.5, 15.9, ROT= 357.5, -15.9 2025-10-29T00:58:57.015Z,1761699537.015 [DAT](INFO): DAT read: Bearing 314.9, -7.5 (Local) 2025-10-29T00:58:57.052Z,1761699537.052 [DAT](INFO): Local bearing/azimuth received: Bearing 314.9, -7.5 (Local) 2025-10-29T00:58:57.053Z,1761699537.053 [DAT](INFO): DAT read: Range 11 to 50 : 100.6 m (Round-trip 134.2 ms) speed 0.4 m/s 2025-10-29T00:58:57.054Z,1761699537.054 [DAT](INFO): DAT read: user:640> 2025-10-29T00:58:57.055Z,1761699537.055 [DAT](INFO): DAT read: Tx time:00:58:56.8218 2025-10-29T00:58:57.055Z,1761699537.055 [DAT](INFO): Ping request sent. 2025-10-29T00:58:57.055Z,1761699537.055 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:58:57.056Z,1761699537.056 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:58:57.065Z,1761699537.065 [DAT](INFO): direction in FSK: [0.960826,-0.041951,0.273959] 2025-10-29T00:58:57.065Z,1761699537.065 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:57.065Z,1761699537.065 [DAT](INFO): publishing direction and range info 2025-10-29T00:58:57.081Z,1761699537.081 [DAT](INFO): publishing transmit ping time 2025-10-29T00:58:57.081Z,1761699537.081 [DAT](INFO): publishing direction and range info 2025-10-29T00:58:57.121Z,1761699537.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795248,-0.592466,-0.128702],[0.604547,-0.790954,-0.094419],[-0.045857,-0.152893,0.987178]] 2025-10-29T00:58:57.211Z,1761699537.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.599998 m, deltaT: 53.466400 s, deltaX: -32.000008 m, approachRate: -0.598507 m/s, rangeRepo size: 4 2025-10-29T00:58:57.217Z,1761699537.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 100.010086 m, bearing: 142.785849 deg, lat: 36.779278 deg, lon: -121.859562 deg, deltaT: 53.466400 s, deltaX: -31.804581 m, approachRate: -0.594852 m/s, posRepo size: 4 2025-10-29T00:58:57.218Z,1761699537.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:57.225Z,1761699537.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 96.862808 m, bearing: 143.521080 deg, approach rate: 0.000000 m/s, LOS rate: -0.028184 deg/s, cmd heading: 143.151380 deg, new cmd heading: 143.123512 deg. 2025-10-29T00:58:57.226Z,1761699537.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497977 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:57.537Z,1761699537.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794845,-0.592584,-0.130634],[0.605085,-0.790229,-0.097005],[-0.045747,-0.156148,0.986674]] 2025-10-29T00:58:57.559Z,1761699537.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:57.561Z,1761699537.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:57.570Z,1761699537.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 96.647415 m, bearing: 143.510061 deg, approach rate: -0.613369 m/s, LOS rate: -0.031449 deg/s, cmd heading: 143.123513 deg, new cmd heading: 143.101426 deg. 2025-10-29T00:58:57.590Z,1761699537.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497591 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:57.757Z,1761699537.757 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:58:57.757Z,1761699537.757 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:58:57.758Z,1761699537.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:58:58.009Z,1761699538.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.953676 2025-10-29T00:58:58.013Z,1761699538.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:58.016Z,1761699538.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 96.387596 m, bearing: 143.499577 deg, approach rate: -0.574780 m/s, LOS rate: -0.023257 deg/s, cmd heading: 143.101424 deg, new cmd heading: 143.080398 deg. 2025-10-29T00:58:58.017Z,1761699538.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.497224 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:58.261Z,1761699538.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.205627 2025-10-29T00:58:58.346Z,1761699538.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794202,-0.593679,-0.129575],[0.605961,-0.789680,-0.096002],[-0.045328,-0.154762,0.986911]] 2025-10-29T00:58:58.365Z,1761699538.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:58.368Z,1761699538.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 96.171837 m, bearing: 143.490963 deg, approach rate: -0.613327 m/s, LOS rate: -0.024541 deg/s, cmd heading: 143.080401 deg, new cmd heading: 143.063134 deg. 2025-10-29T00:58:58.369Z,1761699538.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496923 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:58.513Z,1761699538.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.457653 2025-10-29T00:58:58.755Z,1761699538.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793941,-0.594040,-0.129511],[0.606303,-0.789438,-0.095834],[-0.045312,-0.154609,0.986936]] 2025-10-29T00:58:58.766Z,1761699538.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.710241 2025-10-29T00:58:58.879Z,1761699538.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:58.882Z,1761699538.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 95.867630 m, bearing: 143.479650 deg, approach rate: -0.592029 m/s, LOS rate: -0.022085 deg/s, cmd heading: 143.063134 deg, new cmd heading: 143.040438 deg. 2025-10-29T00:58:58.883Z,1761699538.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496527 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:59.017Z,1761699539.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.961623 2025-10-29T00:58:59.164Z,1761699539.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793910,-0.593966,-0.130044],[0.606363,-0.789258,-0.096931],[-0.045064,-0.155808,0.986759]] 2025-10-29T00:58:59.215Z,1761699539.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:59.218Z,1761699539.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 95.673332 m, bearing: 143.472399 deg, approach rate: -0.578169 m/s, LOS rate: -0.021621 deg/s, cmd heading: 143.040444 deg, new cmd heading: 143.025913 deg. 2025-10-29T00:58:59.219Z,1761699539.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.496273 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:59.269Z,1761699539.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.213812 2025-10-29T00:58:59.521Z,1761699539.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.465569 2025-10-29T00:58:59.559Z,1761699539.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793694,-0.593754,-0.132311],[0.606637,-0.788708,-0.099657],[-0.045183,-0.159362,0.986186]] 2025-10-29T00:58:59.666Z,1761699539.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:58:59.672Z,1761699539.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:58:59.675Z,1761699539.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 95.431557 m, bearing: 143.463402 deg, approach rate: -0.533563 m/s, LOS rate: -0.019905 deg/s, cmd heading: 143.025910 deg, new cmd heading: 143.007870 deg. 2025-10-29T00:58:59.684Z,1761699539.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495958 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:58:59.775Z,1761699539.775 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.719801 2025-10-29T00:59:00.025Z,1761699540.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.969722 2025-10-29T00:59:00.030Z,1761699540.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:00.033Z,1761699540.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 95.182892 m, bearing: 143.454963 deg, approach rate: -0.687693 m/s, LOS rate: -0.023400 deg/s, cmd heading: 143.007864 deg, new cmd heading: 142.990942 deg. 2025-10-29T00:59:00.033Z,1761699540.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495663 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:00.277Z,1761699540.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.222108 2025-10-29T00:59:00.377Z,1761699540.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793992,-0.592827,-0.134661],[0.606239,-0.788618,-0.102740],[-0.045289,-0.163212,0.985551]] 2025-10-29T00:59:00.395Z,1761699540.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:00.398Z,1761699540.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 94.961639 m, bearing: 143.447359 deg, approach rate: -0.605440 m/s, LOS rate: -0.020856 deg/s, cmd heading: 142.990939 deg, new cmd heading: 142.975696 deg. 2025-10-29T00:59:00.399Z,1761699540.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495397 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:00.529Z,1761699540.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.473598 2025-10-29T00:59:00.781Z,1761699540.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.725792 2025-10-29T00:59:00.780Z,1761699540.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794043,-0.593156,-0.132899],[0.606124,-0.789136,-0.099389],[-0.045922,-0.159472,0.986134]] 2025-10-29T00:59:00.835Z,1761699540.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:00.838Z,1761699540.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 94.691032 m, bearing: 143.439580 deg, approach rate: -0.615179 m/s, LOS rate: -0.017734 deg/s, cmd heading: 142.975694 deg, new cmd heading: 142.960092 deg. 2025-10-29T00:59:00.840Z,1761699540.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.495124 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:01.036Z,1761699541.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.980446 2025-10-29T00:59:01.181Z,1761699541.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794287,-0.593423,-0.130222],[0.605802,-0.789820,-0.095856],[-0.045968,-0.155026,0.986840]] 2025-10-29T00:59:01.204Z,1761699541.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:01.207Z,1761699541.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 94.466553 m, bearing: 143.433028 deg, approach rate: -0.615561 m/s, LOS rate: -0.018009 deg/s, cmd heading: 142.960094 deg, new cmd heading: 142.946959 deg. 2025-10-29T00:59:01.208Z,1761699541.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494895 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:01.286Z,1761699541.286 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.230443 2025-10-29T00:59:01.537Z,1761699541.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.481625 2025-10-29T00:59:01.583Z,1761699541.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794406,-0.593458,-0.129331],[0.605658,-0.790036,-0.094985],[-0.045806,-0.153787,0.987042]] 2025-10-29T00:59:01.601Z,1761699541.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:01.603Z,1761699541.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 94.219658 m, bearing: 143.425755 deg, approach rate: -0.615327 m/s, LOS rate: -0.018174 deg/s, cmd heading: 142.946953 deg, new cmd heading: 142.932368 deg. 2025-10-29T00:59:01.605Z,1761699541.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494640 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:01.789Z,1761699541.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.734049 2025-10-29T00:59:02.045Z,1761699542.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.989867 2025-10-29T00:59:02.064Z,1761699542.064 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:02.066Z,1761699542.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:02.073Z,1761699542.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 93.949814 m, bearing: 143.417875 deg, approach rate: -0.579973 m/s, LOS rate: -0.016985 deg/s, cmd heading: 142.932363 deg, new cmd heading: 142.916559 deg. 2025-10-29T00:59:02.074Z,1761699542.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494365 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:02.293Z,1761699542.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.237627 2025-10-29T00:59:02.460Z,1761699542.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:02.463Z,1761699542.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 93.701805 m, bearing: 143.410593 deg, approach rate: -0.630054 m/s, LOS rate: -0.018549 deg/s, cmd heading: 142.916558 deg, new cmd heading: 142.901956 deg. 2025-10-29T00:59:02.464Z,1761699542.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.494110 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:02.546Z,1761699542.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.489970 2025-10-29T00:59:02.797Z,1761699542.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.742183 2025-10-29T00:59:02.827Z,1761699542.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795472,-0.591473,-0.131848],[0.604223,-0.790757,-0.098071],[-0.046253,-0.157678,0.986407]] 2025-10-29T00:59:02.876Z,1761699542.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:02.879Z,1761699542.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 93.434311 m, bearing: 143.401737 deg, approach rate: -0.642541 m/s, LOS rate: -0.021334 deg/s, cmd heading: 142.901955 deg, new cmd heading: 142.884193 deg. 2025-10-29T00:59:02.880Z,1761699542.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493800 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:03.049Z,1761699543.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.993669 2025-10-29T00:59:03.221Z,1761699543.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795696,-0.591513,-0.130305],[0.603932,-0.791208,-0.096209],[-0.046190,-0.155249,0.986795]] 2025-10-29T00:59:03.260Z,1761699543.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:03.262Z,1761699543.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 93.199165 m, bearing: 143.393851 deg, approach rate: -0.613312 m/s, LOS rate: -0.020621 deg/s, cmd heading: 142.884197 deg, new cmd heading: 142.868385 deg. 2025-10-29T00:59:03.263Z,1761699543.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493524 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:03.302Z,1761699543.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.246064 2025-10-29T00:59:03.553Z,1761699543.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.497681 2025-10-29T00:59:03.619Z,1761699543.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.796053,-0.591438,-0.128450],[0.603461,-0.791846,-0.093883],[-0.046186,-0.152251,0.987262]] 2025-10-29T00:59:03.723Z,1761699543.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:03.730Z,1761699543.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 92.962959 m, bearing: 143.385795 deg, approach rate: -0.509248 m/s, LOS rate: -0.017412 deg/s, cmd heading: 142.868378 deg, new cmd heading: 142.852226 deg. 2025-10-29T00:59:03.731Z,1761699543.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.493242 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:03.806Z,1761699543.806 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.750500 2025-10-29T00:59:04.057Z,1761699544.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.001667 2025-10-29T00:59:04.059Z,1761699544.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795948,-0.592257,-0.125293],[0.603577,-0.792309,-0.089115],[-0.046492,-0.146555,0.988109]] 2025-10-29T00:59:04.106Z,1761699544.106 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:04.108Z,1761699544.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:04.111Z,1761699544.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 92.682144 m, bearing: 143.375093 deg, approach rate: -0.730975 m/s, LOS rate: -0.027944 deg/s, cmd heading: 142.852232 deg, new cmd heading: 142.830762 deg. 2025-10-29T00:59:04.117Z,1761699544.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492867 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:04.309Z,1761699544.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.253529 2025-10-29T00:59:04.462Z,1761699544.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795690,-0.592564,-0.125478],[0.603883,-0.792141,-0.088536],[-0.046932,-0.146221,0.988138]] 2025-10-29T00:59:04.481Z,1761699544.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:04.484Z,1761699544.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 92.455208 m, bearing: 143.366452 deg, approach rate: -0.607542 m/s, LOS rate: -0.023191 deg/s, cmd heading: 142.830758 deg, new cmd heading: 142.813433 deg. 2025-10-29T00:59:04.485Z,1761699544.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492565 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:04.561Z,1761699544.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.506142 2025-10-29T00:59:04.813Z,1761699544.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.757567 2025-10-29T00:59:04.863Z,1761699544.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795588,-0.592355,-0.127106],[0.603975,-0.791930,-0.089780],[-0.047477,-0.148196,0.987818]] 2025-10-29T00:59:04.912Z,1761699544.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:04.915Z,1761699544.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 92.191383 m, bearing: 143.354969 deg, approach rate: -0.612362 m/s, LOS rate: -0.026729 deg/s, cmd heading: 142.813436 deg, new cmd heading: 142.790405 deg. 2025-10-29T00:59:04.916Z,1761699544.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.492163 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:05.065Z,1761699545.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.009582 2025-10-29T00:59:05.267Z,1761699545.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795449,-0.592483,-0.127374],[0.604117,-0.791882,-0.089246],[-0.047989,-0.147940,0.987831]] 2025-10-29T00:59:05.289Z,1761699545.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:05.300Z,1761699545.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 91.960365 m, bearing: 143.344886 deg, approach rate: -0.611826 m/s, LOS rate: -0.026769 deg/s, cmd heading: 142.790405 deg, new cmd heading: 142.770189 deg. 2025-10-29T00:59:05.301Z,1761699545.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491810 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:05.317Z,1761699545.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.261893 2025-10-29T00:59:05.569Z,1761699545.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.513574 2025-10-29T00:59:05.667Z,1761699545.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794892,-0.593508,-0.126077],[0.604820,-0.791633,-0.086658],[-0.048374,-0.145137,0.988228]] 2025-10-29T00:59:05.752Z,1761699545.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:05.764Z,1761699545.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 91.706566 m, bearing: 143.333881 deg, approach rate: -0.549594 m/s, LOS rate: -0.023897 deg/s, cmd heading: 142.770187 deg, new cmd heading: 142.748116 deg. 2025-10-29T00:59:05.766Z,1761699545.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.491425 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:05.822Z,1761699545.822 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.766442 2025-10-29T00:59:06.071Z,1761699546.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794210,-0.594551,-0.125455],[0.605682,-0.791162,-0.084915],[-0.048768,-0.143426,0.988459]] 2025-10-29T00:59:06.073Z,1761699546.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.017720 2025-10-29T00:59:06.118Z,1761699546.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:06.131Z,1761699546.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:06.136Z,1761699546.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 91.458061 m, bearing: 143.318726 deg, approach rate: -0.654863 m/s, LOS rate: -0.040047 deg/s, cmd heading: 142.748112 deg, new cmd heading: 142.717719 deg. 2025-10-29T00:59:06.138Z,1761699546.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490894 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:06.325Z,1761699546.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.269577 2025-10-29T00:59:06.474Z,1761699546.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793519,-0.595412,-0.125743],[0.606582,-0.790474,-0.084906],[-0.048843,-0.143648,0.988423]] 2025-10-29T00:59:06.504Z,1761699546.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:06.507Z,1761699546.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 91.228149 m, bearing: 143.304797 deg, approach rate: -0.616179 m/s, LOS rate: -0.037423 deg/s, cmd heading: 142.717718 deg, new cmd heading: 142.689791 deg. 2025-10-29T00:59:06.508Z,1761699546.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.490407 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:06.577Z,1761699546.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.521783 2025-10-29T00:59:06.829Z,1761699546.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.773640 2025-10-29T00:59:06.879Z,1761699546.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792466,-0.596281,-0.128247],[0.607934,-0.789170,-0.087331],[-0.049135,-0.147173,0.987890]] 2025-10-29T00:59:06.938Z,1761699546.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:06.940Z,1761699546.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 90.968697 m, bearing: 143.288852 deg, approach rate: -0.600430 m/s, LOS rate: -0.037006 deg/s, cmd heading: 142.689796 deg, new cmd heading: 142.657814 deg. 2025-10-29T00:59:06.941Z,1761699546.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489849 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:07.081Z,1761699547.081 [DAT](INFO): Reached modem response timeout 2025-10-29T00:59:07.081Z,1761699547.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:07.081Z,1761699547.081 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:07.293Z,1761699547.293 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791656,-0.596969,-0.130034],[0.608986,-0.788135,-0.089327],[-0.049159,-0.149905,0.987477]] 2025-10-29T00:59:07.311Z,1761699547.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:07.314Z,1761699547.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 90.743492 m, bearing: 143.275135 deg, approach rate: -0.600686 m/s, LOS rate: -0.036676 deg/s, cmd heading: 142.657817 deg, new cmd heading: 142.630317 deg. 2025-10-29T00:59:07.315Z,1761699547.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.489369 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:07.333Z,1761699547.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:07.585Z,1761699547.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:07.687Z,1761699547.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790842,-0.598500,-0.127934],[0.610052,-0.787635,-0.086416],[-0.049045,-0.146388,0.988011]] 2025-10-29T00:59:07.725Z,1761699547.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:07.735Z,1761699547.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 90.500816 m, bearing: 143.260476 deg, approach rate: -0.588298 m/s, LOS rate: -0.035633 deg/s, cmd heading: 142.630319 deg, new cmd heading: 142.600921 deg. 2025-10-29T00:59:07.739Z,1761699547.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488856 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:07.837Z,1761699547.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:08.089Z,1761699548.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:08.268Z,1761699548.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789647,-0.600710,-0.124923],[0.611638,-0.786792,-0.082803],[-0.048548,-0.141793,0.988705]] 2025-10-29T00:59:08.341Z,1761699548.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:08.366Z,1761699548.366 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:08.369Z,1761699548.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:08.371Z,1761699548.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 90.110420 m, bearing: 143.236951 deg, approach rate: -0.605152 m/s, LOS rate: -0.036623 deg/s, cmd heading: 142.600922 deg, new cmd heading: 142.553669 deg. 2025-10-29T00:59:08.372Z,1761699548.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.488031 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:08.593Z,1761699548.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:08.829Z,1761699548.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788535,-0.602125,-0.125134],[0.613076,-0.785677,-0.082760],[-0.048484,-0.141976,0.988682]] 2025-10-29T00:59:08.845Z,1761699548.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:08.871Z,1761699548.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:08.874Z,1761699548.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 89.810410 m, bearing: 143.220611 deg, approach rate: -0.596815 m/s, LOS rate: -0.032614 deg/s, cmd heading: 142.553670 deg, new cmd heading: 142.520881 deg. 2025-10-29T00:59:08.875Z,1761699548.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.487459 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:09.098Z,1761699549.098 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:09.325Z,1761699549.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786882,-0.603412,-0.129270],[0.615219,-0.783432,-0.087979],[-0.048186,-0.148759,0.987699]] 2025-10-29T00:59:09.349Z,1761699549.349 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:59:09.349Z,1761699549.349 [DAT](INFO): response not received 2025-10-29T00:59:09.350Z,1761699549.350 [DAT](INFO): DAT read: user:641> 2025-10-29T00:59:09.351Z,1761699549.351 [DAT](INFO): DAT read: Tx time:00:59:09.2703 2025-10-29T00:59:09.351Z,1761699549.351 [DAT](INFO): Ping request sent. 2025-10-29T00:59:09.351Z,1761699549.351 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:09.351Z,1761699549.351 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:09.352Z,1761699549.352 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T00:59:09.366Z,1761699549.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:09.373Z,1761699549.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 89.528580 m, bearing: 143.205657 deg, approach rate: -0.569670 m/s, LOS rate: -0.030322 deg/s, cmd heading: 142.520886 deg, new cmd heading: 142.490883 deg. 2025-10-29T00:59:09.374Z,1761699549.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486935 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:09.601Z,1761699549.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249999 2025-10-29T00:59:09.727Z,1761699549.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786797,-0.603477,-0.129483],[0.615360,-0.783221,-0.088872],[-0.047782,-0.149603,0.987591]] 2025-10-29T00:59:09.819Z,1761699549.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:09.826Z,1761699549.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 89.270790 m, bearing: 143.191923 deg, approach rate: -0.568897 m/s, LOS rate: -0.030395 deg/s, cmd heading: 142.490887 deg, new cmd heading: 142.463342 deg. 2025-10-29T00:59:09.827Z,1761699549.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486454 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:09.853Z,1761699549.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502132 2025-10-29T00:59:10.105Z,1761699550.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754280 2025-10-29T00:59:10.208Z,1761699550.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:10.211Z,1761699550.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 88.998215 m, bearing: 143.180617 deg, approach rate: -0.700769 m/s, LOS rate: -0.029156 deg/s, cmd heading: 142.463348 deg, new cmd heading: 142.440666 deg. 2025-10-29T00:59:10.212Z,1761699550.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.486059 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:10.357Z,1761699550.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005971 2025-10-29T00:59:10.551Z,1761699550.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786095,-0.603990,-0.131344],[0.616226,-0.782367,-0.090372],[-0.048175,-0.151978,0.987209]] 2025-10-29T00:59:10.567Z,1761699550.567 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:10.570Z,1761699550.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:10.573Z,1761699550.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 88.770370 m, bearing: 143.171283 deg, approach rate: -0.630170 m/s, LOS rate: -0.025882 deg/s, cmd heading: 142.440672 deg, new cmd heading: 142.421956 deg. 2025-10-29T00:59:10.574Z,1761699550.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485732 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:10.610Z,1761699550.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258601 2025-10-29T00:59:10.861Z,1761699550.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509932 2025-10-29T00:59:10.950Z,1761699550.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785806,-0.604229,-0.131972],[0.616574,-0.782059,-0.090662],[-0.048429,-0.152613,0.987099]] 2025-10-29T00:59:10.996Z,1761699550.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:10.999Z,1761699550.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 88.499710 m, bearing: 143.159534 deg, approach rate: -0.634745 m/s, LOS rate: -0.027639 deg/s, cmd heading: 142.421957 deg, new cmd heading: 142.398386 deg. 2025-10-29T00:59:11.000Z,1761699551.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.485321 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:11.114Z,1761699551.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763000 2025-10-29T00:59:11.355Z,1761699551.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785810,-0.603953,-0.133208],[0.616601,-0.781775,-0.092907],[-0.048027,-0.155144,0.986724]] 2025-10-29T00:59:11.365Z,1761699551.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014093 2025-10-29T00:59:11.375Z,1761699551.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:11.378Z,1761699551.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 88.259346 m, bearing: 143.149046 deg, approach rate: -0.634250 m/s, LOS rate: -0.027750 deg/s, cmd heading: 142.398393 deg, new cmd heading: 142.377360 deg. 2025-10-29T00:59:11.379Z,1761699551.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484954 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:11.618Z,1761699551.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267157 2025-10-29T00:59:11.771Z,1761699551.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786288,-0.603209,-0.133754],[0.616098,-0.781794,-0.096034],[-0.046639,-0.157916,0.986350]] 2025-10-29T00:59:11.855Z,1761699551.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:11.862Z,1761699551.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 87.961189 m, bearing: 143.135828 deg, approach rate: -0.620582 m/s, LOS rate: -0.027605 deg/s, cmd heading: 142.377356 deg, new cmd heading: 142.350830 deg. 2025-10-29T00:59:11.863Z,1761699551.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484491 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:11.869Z,1761699551.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518017 2025-10-29T00:59:12.122Z,1761699552.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770864 2025-10-29T00:59:12.163Z,1761699552.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786907,-0.602485,-0.133374],[0.615430,-0.782019,-0.098456],[-0.044983,-0.159558,0.986163]] 2025-10-29T00:59:12.213Z,1761699552.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:12.215Z,1761699552.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 87.731598 m, bearing: 143.127416 deg, approach rate: -0.642321 m/s, LOS rate: -0.023594 deg/s, cmd heading: 142.350828 deg, new cmd heading: 142.333961 deg. 2025-10-29T00:59:12.217Z,1761699552.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.484196 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:12.373Z,1761699552.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022022 2025-10-29T00:59:12.569Z,1761699552.569 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787932,-0.601819,-0.130297],[0.614279,-0.782913,-0.098534],[-0.042711,-0.157676,0.986567]] 2025-10-29T00:59:12.590Z,1761699552.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:12.593Z,1761699552.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:12.596Z,1761699552.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 87.494675 m, bearing: 143.118447 deg, approach rate: -0.622946 m/s, LOS rate: -0.023647 deg/s, cmd heading: 142.333957 deg, new cmd heading: 142.315969 deg. 2025-10-29T00:59:12.597Z,1761699552.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483882 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:12.626Z,1761699552.626 [DAT](INFO): DAT read: Rx Time:00:59:11.7955 2025-10-29T00:59:12.627Z,1761699552.627 [DAT](INFO): Rx dataTimestamp_ set to:1761699552.626167 2025-10-29T00:59:12.628Z,1761699552.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276648 2025-10-29T00:59:12.877Z,1761699552.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526053 2025-10-29T00:59:13.065Z,1761699553.065 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504473312,3.4, 0.0,1491.6, 0 2025-10-29T00:59:13.097Z,1761699553.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:13.099Z,1761699553.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 87.189362 m, bearing: 143.106816 deg, approach rate: -0.606350 m/s, LOS rate: -0.023180 deg/s, cmd heading: 142.315966 deg, new cmd heading: 142.292623 deg. 2025-10-29T00:59:13.101Z,1761699553.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483475 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:13.139Z,1761699553.139 [DAT](INFO): DAT read: 00:59:11.7955 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.07,-2.515, 2.004,-2.271,-2.609, PHS= 0.196,-1.625, 0.294, RAW= 152.6, 12.1, CAL= 152.6, 13.4, ROT= 357.4, -13.4 2025-10-29T00:59:13.141Z,1761699553.141 [DAT](INFO): got valid direction response: 00:59:11.7955 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 277,-0.07,-2.515, 2.004,-2.271,-2.609, PHS= 0.196,-1.625, 0.294, RAW= 152.6, 12.1, CAL= 152.6, 13.4, ROT= 357.4, -13.4 2025-10-29T00:59:13.142Z,1761699553.142 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:59:13.142Z,1761699553.142 [DAT](INFO): Received a bad header 2025-10-29T00:59:13.157Z,1761699553.157 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:59:13.158Z,1761699553.158 [DAT](INFO): direction in FSK: [0.971774,-0.044128,0.231748] 2025-10-29T00:59:13.161Z,1761699553.161 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:13.161Z,1761699553.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:13.161Z,1761699553.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:13.382Z,1761699553.382 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:13.382Z,1761699553.382 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:13.382Z,1761699553.382 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:13.447Z,1761699553.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789952,-0.600574,-0.123641],[0.612034,-0.784555,-0.099436],[-0.037285,-0.154222,0.987332]] 2025-10-29T00:59:13.474Z,1761699553.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:13.477Z,1761699553.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 86.943764 m, bearing: 143.096905 deg, approach rate: -0.650921 m/s, LOS rate: -0.026343 deg/s, cmd heading: 142.292621 deg, new cmd heading: 142.272742 deg. 2025-10-29T00:59:13.478Z,1761699553.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.483128 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:13.633Z,1761699553.633 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:13.633Z,1761699553.633 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:13.634Z,1761699553.634 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:13.877Z,1761699553.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.791125,-0.599834,-0.119668],[0.610691,-0.785590,-0.099525],[-0.034311,-0.151817,0.987813]] 2025-10-29T00:59:13.885Z,1761699553.885 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:13.885Z,1761699553.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:13.885Z,1761699553.885 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:13.967Z,1761699553.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:13.974Z,1761699553.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 86.645325 m, bearing: 143.083801 deg, approach rate: -0.605069 m/s, LOS rate: -0.026659 deg/s, cmd heading: 142.272745 deg, new cmd heading: 142.246446 deg. 2025-10-29T00:59:13.975Z,1761699553.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482669 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:14.137Z,1761699554.137 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:14.138Z,1761699554.138 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:14.138Z,1761699554.138 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:14.295Z,1761699554.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792008,-0.599578,-0.115020],[0.609693,-0.786528,-0.098219],[-0.031576,-0.147918,0.988495]] 2025-10-29T00:59:14.334Z,1761699554.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:14.337Z,1761699554.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 86.411766 m, bearing: 143.073245 deg, approach rate: -0.640204 m/s, LOS rate: -0.029012 deg/s, cmd heading: 142.246449 deg, new cmd heading: 142.225280 deg. 2025-10-29T00:59:14.338Z,1761699554.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.482299 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:14.389Z,1761699554.389 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:14.389Z,1761699554.389 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:14.389Z,1761699554.389 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:14.641Z,1761699554.641 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:14.641Z,1761699554.641 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:14.641Z,1761699554.641 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:14.705Z,1761699554.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792591,-0.599405,-0.111860],[0.609036,-0.787122,-0.097545],[-0.029578,-0.145440,0.988925]] 2025-10-29T00:59:14.731Z,1761699554.731 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:14.739Z,1761699554.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:14.747Z,1761699554.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 86.168213 m, bearing: 143.062014 deg, approach rate: -0.599244 m/s, LOS rate: -0.027711 deg/s, cmd heading: 142.225275 deg, new cmd heading: 142.202749 deg. 2025-10-29T00:59:14.753Z,1761699554.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481906 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:14.895Z,1761699554.895 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:14.896Z,1761699554.896 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:14.896Z,1761699554.896 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:15.145Z,1761699555.145 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:15.145Z,1761699555.145 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:15.145Z,1761699555.145 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:15.202Z,1761699555.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:15.209Z,1761699555.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 85.894875 m, bearing: 143.043162 deg, approach rate: -0.589895 m/s, LOS rate: -0.040814 deg/s, cmd heading: 142.202749 deg, new cmd heading: 142.164925 deg. 2025-10-29T00:59:15.210Z,1761699555.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.481246 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:15.397Z,1761699555.397 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:15.397Z,1761699555.397 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:15.397Z,1761699555.397 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:15.545Z,1761699555.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794220,-0.598200,-0.106635],[0.607027,-0.788938,-0.095370],[-0.027078,-0.140475,0.989714]] 2025-10-29T00:59:15.580Z,1761699555.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:15.583Z,1761699555.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 85.679344 m, bearing: 143.027793 deg, approach rate: -0.595378 m/s, LOS rate: -0.042561 deg/s, cmd heading: 142.164923 deg, new cmd heading: 142.134109 deg. 2025-10-29T00:59:15.584Z,1761699555.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.480708 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:15.649Z,1761699555.649 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:15.649Z,1761699555.649 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:15.649Z,1761699555.649 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:15.902Z,1761699555.902 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:15.902Z,1761699555.902 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:15.902Z,1761699555.902 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:15.954Z,1761699555.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794297,-0.598796,-0.102641],[0.606965,-0.789434,-0.091583],[-0.026189,-0.135043,0.990494]] 2025-10-29T00:59:16.014Z,1761699556.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:16.017Z,1761699556.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 85.415314 m, bearing: 143.003900 deg, approach rate: -0.586427 m/s, LOS rate: -0.053232 deg/s, cmd heading: 142.134106 deg, new cmd heading: 142.086172 deg. 2025-10-29T00:59:16.018Z,1761699556.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479872 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:16.153Z,1761699556.153 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:16.153Z,1761699556.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:16.153Z,1761699556.153 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:16.362Z,1761699556.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793987,-0.599450,-0.101216],[0.607398,-0.789207,-0.090657],[-0.025536,-0.133459,0.990725]] 2025-10-29T00:59:16.386Z,1761699556.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:16.389Z,1761699556.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 85.196465 m, bearing: 142.984051 deg, approach rate: -0.588893 m/s, LOS rate: -0.053548 deg/s, cmd heading: 142.086171 deg, new cmd heading: 142.046372 deg. 2025-10-29T00:59:16.390Z,1761699556.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.479177 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:16.405Z,1761699556.405 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:16.405Z,1761699556.405 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:16.405Z,1761699556.405 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:16.657Z,1761699556.657 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:16.657Z,1761699556.657 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:16.658Z,1761699556.658 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:16.774Z,1761699556.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793815,-0.599759,-0.100729],[0.607659,-0.788921,-0.091399],[-0.024650,-0.133763,0.990707]] 2025-10-29T00:59:16.792Z,1761699556.792 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:16.794Z,1761699556.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:16.797Z,1761699556.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 84.956947 m, bearing: 142.962264 deg, approach rate: -0.587019 m/s, LOS rate: -0.053547 deg/s, cmd heading: 142.046365 deg, new cmd heading: 142.002668 deg. 2025-10-29T00:59:16.798Z,1761699556.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.478414 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:16.911Z,1761699556.911 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:16.912Z,1761699556.912 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:16.912Z,1761699556.912 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:17.161Z,1761699557.161 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:17.161Z,1761699557.161 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:17.161Z,1761699557.161 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:17.182Z,1761699557.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.793702,-0.599880,-0.100897],[0.607848,-0.788556,-0.093274],[-0.023610,-0.135362,0.990515]] 2025-10-29T00:59:17.288Z,1761699557.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:17.291Z,1761699557.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 84.678116 m, bearing: 142.936410 deg, approach rate: -0.568633 m/s, LOS rate: -0.052899 deg/s, cmd heading: 142.002665 deg, new cmd heading: 141.950787 deg. 2025-10-29T00:59:17.300Z,1761699557.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.477509 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:17.413Z,1761699557.413 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:17.413Z,1761699557.413 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:17.413Z,1761699557.413 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:17.645Z,1761699557.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792964,-0.600815,-0.101141],[0.608838,-0.787649,-0.094470],[-0.022905,-0.136490,0.990377]] 2025-10-29T00:59:17.665Z,1761699557.665 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:17.665Z,1761699557.665 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:17.665Z,1761699557.665 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:17.670Z,1761699557.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:17.673Z,1761699557.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 84.452461 m, bearing: 142.915562 deg, approach rate: -0.584941 m/s, LOS rate: -0.054187 deg/s, cmd heading: 141.950783 deg, new cmd heading: 141.908975 deg. 2025-10-29T00:59:17.674Z,1761699557.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476779 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:17.920Z,1761699557.920 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:17.921Z,1761699557.921 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:17.921Z,1761699557.921 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:18.045Z,1761699558.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792196,-0.601745,-0.101623],[0.609858,-0.786700,-0.095788],[-0.022307,-0.137859,0.990201]] 2025-10-29T00:59:18.121Z,1761699558.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:18.125Z,1761699558.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 84.203293 m, bearing: 142.894079 deg, approach rate: -0.553957 m/s, LOS rate: -0.047902 deg/s, cmd heading: 141.908969 deg, new cmd heading: 141.865876 deg. 2025-10-29T00:59:18.127Z,1761699558.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.476027 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:18.169Z,1761699558.169 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:18.169Z,1761699558.169 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:18.169Z,1761699558.169 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:18.421Z,1761699558.421 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:18.421Z,1761699558.421 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:18.421Z,1761699558.421 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:18.490Z,1761699558.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790611,-0.603372,-0.104293],[0.611951,-0.784494,-0.100426],[-0.021223,-0.143220,0.989463]] 2025-10-29T00:59:18.520Z,1761699558.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:18.523Z,1761699558.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 83.953156 m, bearing: 142.872869 deg, approach rate: -0.624185 m/s, LOS rate: -0.053084 deg/s, cmd heading: 141.865870 deg, new cmd heading: 141.823325 deg. 2025-10-29T00:59:18.524Z,1761699558.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.475284 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:18.673Z,1761699558.673 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:18.673Z,1761699558.673 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:18.673Z,1761699558.673 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:18.907Z,1761699558.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790001,-0.604053,-0.104969],[0.612745,-0.783745,-0.101423],[-0.021004,-0.144444,0.989290]] 2025-10-29T00:59:18.927Z,1761699558.927 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:18.927Z,1761699558.927 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:18.928Z,1761699558.928 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:18.986Z,1761699558.986 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:18.992Z,1761699558.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:18.995Z,1761699558.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 83.671478 m, bearing: 142.849036 deg, approach rate: -0.602349 m/s, LOS rate: -0.051139 deg/s, cmd heading: 141.823318 deg, new cmd heading: 141.775490 deg. 2025-10-29T00:59:18.000Z,1761699559.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.474449 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:19.177Z,1761699559.177 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:19.177Z,1761699559.177 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:19.177Z,1761699559.177 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:19.308Z,1761699559.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.789378,-0.604825,-0.105211],[0.613547,-0.783120,-0.101405],[-0.021060,-0.144599,0.989266]] 2025-10-29T00:59:19.356Z,1761699559.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:19.359Z,1761699559.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 83.443901 m, bearing: 142.832067 deg, approach rate: -0.618837 m/s, LOS rate: -0.046268 deg/s, cmd heading: 141.775493 deg, new cmd heading: 141.741463 deg. 2025-10-29T00:59:19.360Z,1761699559.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473855 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:19.429Z,1761699559.429 [DAT](INFO): Reached modem response timeout 2025-10-29T00:59:19.430Z,1761699559.430 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:19.430Z,1761699559.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:19.681Z,1761699559.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:19.713Z,1761699559.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788803,-0.605246,-0.107084],[0.614290,-0.782217,-0.103844],[-0.020912,-0.147694,0.988812]] 2025-10-29T00:59:19.731Z,1761699559.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:19.734Z,1761699559.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 83.208923 m, bearing: 142.814614 deg, approach rate: -0.625601 m/s, LOS rate: -0.046598 deg/s, cmd heading: 141.741465 deg, new cmd heading: 141.706460 deg. 2025-10-29T00:59:19.735Z,1761699559.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.473244 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:19.935Z,1761699559.935 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:20.123Z,1761699560.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788034,-0.605755,-0.109832],[0.615269,-0.781058,-0.106735],[-0.021130,-0.151687,0.988203]] 2025-10-29T00:59:20.169Z,1761699560.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:20.171Z,1761699560.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 82.928329 m, bearing: 142.799156 deg, approach rate: -0.641387 m/s, LOS rate: -0.035452 deg/s, cmd heading: 141.706454 deg, new cmd heading: 141.675435 deg. 2025-10-29T00:59:20.173Z,1761699560.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472703 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:20.189Z,1761699560.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:20.441Z,1761699560.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:20.519Z,1761699560.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787737,-0.605894,-0.111185],[0.615654,-0.780495,-0.108615],[-0.020970,-0.154011,0.987847]] 2025-10-29T00:59:20.537Z,1761699560.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:20.540Z,1761699560.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 82.691788 m, bearing: 142.786127 deg, approach rate: -0.641756 m/s, LOS rate: -0.035452 deg/s, cmd heading: 141.675431 deg, new cmd heading: 141.649297 deg. 2025-10-29T00:59:20.541Z,1761699560.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.472247 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:20.693Z,1761699560.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:20.947Z,1761699560.947 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:20.950Z,1761699560.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787653,-0.606016,-0.111121],[0.615771,-0.780363,-0.108902],[-0.020718,-0.154202,0.987822]] 2025-10-29T00:59:21.007Z,1761699561.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:21.009Z,1761699561.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:21.012Z,1761699561.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 82.389648 m, bearing: 142.769405 deg, approach rate: -0.640885 m/s, LOS rate: -0.035600 deg/s, cmd heading: 141.649299 deg, new cmd heading: 141.615733 deg. 2025-10-29T00:59:21.013Z,1761699561.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471661 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:21.199Z,1761699561.199 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:21.329Z,1761699561.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787600,-0.606057,-0.111277],[0.615845,-0.780241,-0.109358],[-0.020546,-0.154660,0.987754]] 2025-10-29T00:59:21.386Z,1761699561.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:21.393Z,1761699561.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 82.160065 m, bearing: 142.756461 deg, approach rate: -0.608269 m/s, LOS rate: -0.034388 deg/s, cmd heading: 141.615735 deg, new cmd heading: 141.589776 deg. 2025-10-29T00:59:21.394Z,1761699561.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.471208 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:21.450Z,1761699561.450 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:21.701Z,1761699561.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:21.738Z,1761699561.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787696,-0.605979,-0.111015],[0.615737,-0.780257,-0.109849],[-0.020054,-0.154884,0.987729]] 2025-10-29T00:59:21.768Z,1761699561.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:21.792Z,1761699561.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 81.905891 m, bearing: 142.742021 deg, approach rate: -0.667160 m/s, LOS rate: -0.038021 deg/s, cmd heading: 141.589781 deg, new cmd heading: 141.560810 deg. 2025-10-29T00:59:21.795Z,1761699561.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470702 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:21.956Z,1761699561.956 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:59:21.957Z,1761699561.957 [DAT](INFO): response not received 2025-10-29T00:59:21.959Z,1761699561.959 [DAT](INFO): DAT read: user:643> 2025-10-29T00:59:21.962Z,1761699561.962 [DAT](INFO): DAT read: Tx time:00:59:21.7202 2025-10-29T00:59:21.963Z,1761699561.963 [DAT](INFO): Ping request sent. 2025-10-29T00:59:21.963Z,1761699561.963 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:21.964Z,1761699561.964 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:21.967Z,1761699561.967 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002708 2025-10-29T00:59:22.195Z,1761699562.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:22.205Z,1761699562.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.241540 2025-10-29T00:59:22.214Z,1761699562.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 81.614067 m, bearing: 142.730856 deg, approach rate: -0.682470 m/s, LOS rate: -0.026206 deg/s, cmd heading: 141.560807 deg, new cmd heading: 141.538396 deg. 2025-10-29T00:59:22.215Z,1761699562.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.470311 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:22.457Z,1761699562.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.493937 2025-10-29T00:59:22.543Z,1761699562.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787604,-0.606735,-0.107481],[0.615914,-0.780337,-0.108280],[-0.018175,-0.151481,0.988293]] 2025-10-29T00:59:22.561Z,1761699562.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:22.580Z,1761699562.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 81.361870 m, bearing: 142.721169 deg, approach rate: -0.688674 m/s, LOS rate: -0.026534 deg/s, cmd heading: 141.538390 deg, new cmd heading: 141.518956 deg. 2025-10-29T00:59:22.581Z,1761699562.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469972 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:22.709Z,1761699562.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745713 2025-10-29T00:59:22.964Z,1761699562.964 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000156 2025-10-29T00:59:22.966Z,1761699562.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787291,-0.607245,-0.106890],[0.616328,-0.780019,-0.108215],[-0.017663,-0.151076,0.988364]] 2025-10-29T00:59:23.038Z,1761699563.038 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:23.045Z,1761699563.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:23.047Z,1761699563.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 81.041122 m, bearing: 142.708879 deg, approach rate: -0.663447 m/s, LOS rate: -0.025521 deg/s, cmd heading: 141.518951 deg, new cmd heading: 141.494275 deg. 2025-10-29T00:59:23.052Z,1761699563.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469541 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:23.213Z,1761699563.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249629 2025-10-29T00:59:23.348Z,1761699563.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787265,-0.607335,-0.106573],[0.616381,-0.779883,-0.108894],[-0.016980,-0.151418,0.988324]] 2025-10-29T00:59:23.404Z,1761699563.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:23.407Z,1761699563.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 80.783951 m, bearing: 142.701809 deg, approach rate: -0.715254 m/s, LOS rate: -0.019727 deg/s, cmd heading: 141.494281 deg, new cmd heading: 141.480095 deg. 2025-10-29T00:59:23.408Z,1761699563.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469294 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:23.466Z,1761699563.466 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.502418 2025-10-29T00:59:23.717Z,1761699563.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.753649 2025-10-29T00:59:23.767Z,1761699563.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786973,-0.607881,-0.105615],[0.616778,-0.779552,-0.109010],[-0.016067,-0.150929,0.988414]] 2025-10-29T00:59:23.793Z,1761699563.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:23.808Z,1761699563.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 80.514854 m, bearing: 142.694455 deg, approach rate: -0.691214 m/s, LOS rate: -0.018952 deg/s, cmd heading: 141.480101 deg, new cmd heading: 141.465345 deg. 2025-10-29T00:59:23.809Z,1761699563.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.469036 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:23.971Z,1761699563.971 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.007781 2025-10-29T00:59:24.155Z,1761699564.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786405,-0.608742,-0.104884],[0.617521,-0.778956,-0.109066],[-0.015307,-0.150538,0.988486]] 2025-10-29T00:59:24.209Z,1761699564.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:24.211Z,1761699564.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 80.238312 m, bearing: 142.688037 deg, approach rate: -0.665733 m/s, LOS rate: -0.015504 deg/s, cmd heading: 141.465348 deg, new cmd heading: 141.452467 deg. 2025-10-29T00:59:24.213Z,1761699564.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468811 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:24.237Z,1761699564.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.273765 2025-10-29T00:59:24.489Z,1761699564.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.526090 2025-10-29T00:59:24.564Z,1761699564.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.785650,-0.609661,-0.105200],[0.618505,-0.777946,-0.110689],[-0.014357,-0.152029,0.988272]] 2025-10-29T00:59:24.583Z,1761699564.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:24.604Z,1761699564.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 79.988861 m, bearing: 142.682440 deg, approach rate: -0.666314 m/s, LOS rate: -0.014998 deg/s, cmd heading: 141.452466 deg, new cmd heading: 141.441237 deg. 2025-10-29T00:59:24.605Z,1761699564.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468615 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:24.742Z,1761699564.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.778311 2025-10-29T00:59:24.971Z,1761699564.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.784554,-0.610741,-0.107098],[0.619904,-0.776451,-0.113332],[-0.013940,-0.155305,0.987768]] 2025-10-29T00:59:24.996Z,1761699564.996 [DAT](INFO): DAT read: Rx Time:00:59:24.2352 2025-10-29T00:59:24.998Z,1761699564.998 [DAT](INFO): Rx dataTimestamp_ set to:1761699564.996701 2025-10-29T00:59:24.999Z,1761699564.999 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.035645 2025-10-29T00:59:25.049Z,1761699565.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:25.056Z,1761699565.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:25.058Z,1761699565.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 79.717468 m, bearing: 142.676677 deg, approach rate: -0.579325 m/s, LOS rate: -0.012343 deg/s, cmd heading: 141.441238 deg, new cmd heading: 141.429673 deg. 2025-10-29T00:59:25.059Z,1761699565.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.468413 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:25.245Z,1761699565.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.281628 2025-10-29T00:59:25.418Z,1761699565.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.783224,-0.612066,-0.109253],[0.621589,-0.774719,-0.115917],[-0.013692,-0.158699,0.987232]] 2025-10-29T00:59:25.466Z,1761699565.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 100.01 m. 2025-10-29T00:59:25.469Z,1761699565.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 100.010086 m, nav range: 79.409477 m, bearing: 142.662644 deg, approach rate: -0.742530 m/s, LOS rate: -0.033963 deg/s, cmd heading: 141.429667 deg, new cmd heading: 141.401492 deg. 2025-10-29T00:59:25.470Z,1761699565.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467921 target range: 100.010086 and range: 100.60 m. 2025-10-29T00:59:25.503Z,1761699565.503 [DAT](INFO): DAT read: 00:59:24.2352 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 332,-0.10,-0.126,-1.830, 0.089,-0.229, PHS= 0.206,-1.555, 0.274, RAW= 151.9, 12.0, CAL= 151.9, 13.2, ROT= 358.1, -13.2 2025-10-29T00:59:25.504Z,1761699565.504 [DAT](INFO): got valid direction response: 00:59:24.2352 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 332,-0.10,-0.126,-1.830, 0.089,-0.229, PHS= 0.206,-1.555, 0.274, RAW= 151.9, 12.0, CAL= 151.9, 13.2, ROT= 358.1, -13.2 2025-10-29T00:59:25.505Z,1761699565.505 [DAT](INFO): DAT read: Bearing 310.7, -4.6 (Local) 2025-10-29T00:59:25.505Z,1761699565.505 [DAT](INFO): Local bearing/azimuth received: Bearing 310.7, -4.6 (Local) 2025-10-29T00:59:25.506Z,1761699565.506 [DAT](INFO): DAT read: Range 11 to 50 : 83.1 m (Round-trip 110.9 ms) speed 0.5 m/s 2025-10-29T00:59:25.507Z,1761699565.507 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:59:25.509Z,1761699565.509 [DAT](INFO): direction in FSK: [0.973044,-0.032279,0.228351] 2025-10-29T00:59:25.509Z,1761699565.509 [DAT](INFO): publishing direction and range info 2025-10-29T00:59:25.513Z,1761699565.513 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:25.513Z,1761699565.513 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:25.513Z,1761699565.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:25.715Z,1761699565.715 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:59:25.749Z,1761699565.749 [DAT](INFO): DAT read: user:644> 2025-10-29T00:59:25.751Z,1761699565.751 [DAT](INFO): DAT read: Tx time:00:59:25.5202 2025-10-29T00:59:25.751Z,1761699565.751 [DAT](INFO): Ping request sent. 2025-10-29T00:59:25.751Z,1761699565.751 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:25.751Z,1761699565.751 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:25.752Z,1761699565.752 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001181 2025-10-29T00:59:25.837Z,1761699565.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.782067,-0.612904,-0.112783],[0.623044,-0.772948,-0.119866],[-0.013709,-0.164012,0.986363]] 2025-10-29T00:59:25.869Z,1761699565.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 83.099998 m, deltaT: 28.493932 s, deltaX: -17.500000 m, approachRate: -0.614166 m/s, rangeRepo size: 4 2025-10-29T00:59:25.871Z,1761699565.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 82.616165 m, bearing: 141.786508 deg, lat: 36.779274 deg, lon: -121.859561 deg, deltaT: 28.493932 s, deltaX: -17.393921 m, approachRate: -0.610443 m/s, posRepo size: 4 2025-10-29T00:59:25.872Z,1761699565.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:25.875Z,1761699565.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 79.544991 m, bearing: 142.803373 deg, approach rate: 0.000000 m/s, LOS rate: -0.033963 deg/s, cmd heading: 141.401486 deg, new cmd heading: 141.374181 deg. 2025-10-29T00:59:25.876Z,1761699565.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.467445 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:26.005Z,1761699566.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254079 2025-10-29T00:59:26.253Z,1761699566.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501984 2025-10-29T00:59:26.282Z,1761699566.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:26.285Z,1761699566.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 79.290329 m, bearing: 142.787894 deg, approach rate: -0.615272 m/s, LOS rate: -0.037518 deg/s, cmd heading: 141.374179 deg, new cmd heading: 141.343121 deg. 2025-10-29T00:59:26.286Z,1761699566.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466903 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:26.505Z,1761699566.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753973 2025-10-29T00:59:26.632Z,1761699566.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780427,-0.614736,-0.114163],[0.625109,-0.770968,-0.121847],[-0.013112,-0.166457,0.985961]] 2025-10-29T00:59:26.650Z,1761699566.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:26.654Z,1761699566.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 79.065742 m, bearing: 142.774618 deg, approach rate: -0.610178 m/s, LOS rate: -0.036171 deg/s, cmd heading: 141.343115 deg, new cmd heading: 141.316488 deg. 2025-10-29T00:59:26.655Z,1761699566.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.466438 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:26.716Z,1761699566.716 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:59:26.758Z,1761699566.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006422 2025-10-29T00:59:27.009Z,1761699567.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257853 2025-10-29T00:59:27.081Z,1761699567.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.779104,-0.616408,-0.114186],[0.626757,-0.769721,-0.121264],[-0.013143,-0.166044,0.986031]] 2025-10-29T00:59:27.139Z,1761699567.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:27.141Z,1761699567.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:27.144Z,1761699567.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 78.783585 m, bearing: 142.748735 deg, approach rate: -0.574733 m/s, LOS rate: -0.052910 deg/s, cmd heading: 141.316491 deg, new cmd heading: 141.264540 deg. 2025-10-29T00:59:27.145Z,1761699567.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.465531 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:27.261Z,1761699567.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510016 2025-10-29T00:59:27.513Z,1761699567.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761897 2025-10-29T00:59:27.532Z,1761699567.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:27.535Z,1761699567.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 78.557251 m, bearing: 142.727837 deg, approach rate: -0.579189 m/s, LOS rate: -0.053633 deg/s, cmd heading: 141.264541 deg, new cmd heading: 141.222624 deg. 2025-10-29T00:59:27.536Z,1761699567.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464800 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:27.766Z,1761699567.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015140 2025-10-29T00:59:27.847Z,1761699567.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776589,-0.619514,-0.114505],[0.629862,-0.767380,-0.120007],[-0.013523,-0.165319,0.986147]] 2025-10-29T00:59:27.893Z,1761699567.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:27.901Z,1761699567.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 78.351349 m, bearing: 142.709322 deg, approach rate: -0.570006 m/s, LOS rate: -0.051390 deg/s, cmd heading: 141.222631 deg, new cmd heading: 141.185504 deg. 2025-10-29T00:59:27.902Z,1761699567.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.464152 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:28.020Z,1761699568.020 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268494 2025-10-29T00:59:28.249Z,1761699568.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775242,-0.621220,-0.114391],[0.631505,-0.766297,-0.118282],[-0.014178,-0.163936,0.986369]] 2025-10-29T00:59:28.269Z,1761699568.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517973 2025-10-29T00:59:28.310Z,1761699568.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:28.313Z,1761699568.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 78.110146 m, bearing: 142.683285 deg, approach rate: -0.578772 m/s, LOS rate: -0.062671 deg/s, cmd heading: 141.185502 deg, new cmd heading: 141.133266 deg. 2025-10-29T00:59:28.314Z,1761699568.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.463240 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:28.521Z,1761699568.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769898 2025-10-29T00:59:28.646Z,1761699568.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774097,-0.622851,-0.113267],[0.632886,-0.765666,-0.114941],[-0.015133,-0.160661,0.986894]] 2025-10-29T00:59:28.687Z,1761699568.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:28.690Z,1761699568.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 77.893913 m, bearing: 142.660052 deg, approach rate: -0.573618 m/s, LOS rate: -0.061802 deg/s, cmd heading: 141.133264 deg, new cmd heading: 141.086671 deg. 2025-10-29T00:59:28.691Z,1761699568.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.462427 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:28.774Z,1761699568.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022806 2025-10-29T00:59:29.025Z,1761699569.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273870 2025-10-29T00:59:29.106Z,1761699569.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772855,-0.624576,-0.112252],[0.634375,-0.764943,-0.111491],[-0.016232,-0.157377,0.987405]] 2025-10-29T00:59:29.166Z,1761699569.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:29.175Z,1761699569.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:29.178Z,1761699569.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 77.634964 m, bearing: 142.629931 deg, approach rate: -0.538595 m/s, LOS rate: -0.062860 deg/s, cmd heading: 141.086669 deg, new cmd heading: 141.026224 deg. 2025-10-29T00:59:29.179Z,1761699569.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.461372 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:29.277Z,1761699569.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525960 2025-10-29T00:59:29.484Z,1761699569.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771797,-0.626151,-0.110746],[0.635639,-0.764407,-0.107907],[-0.017089,-0.153676,0.987973]] 2025-10-29T00:59:29.503Z,1761699569.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:29.506Z,1761699569.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 77.434639 m, bearing: 142.606708 deg, approach rate: -0.597901 m/s, LOS rate: -0.069491 deg/s, cmd heading: 141.026222 deg, new cmd heading: 140.979656 deg. 2025-10-29T00:59:29.507Z,1761699569.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.460559 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:29.529Z,1761699569.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.777967 2025-10-29T00:59:29.781Z,1761699569.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030227 2025-10-29T00:59:29.887Z,1761699569.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770194,-0.628124,-0.110731],[0.637564,-0.763024,-0.106331],[-0.017702,-0.152493,0.988146]] 2025-10-29T00:59:29.922Z,1761699569.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:29.925Z,1761699569.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 77.207642 m, bearing: 142.580667 deg, approach rate: -0.541545 m/s, LOS rate: -0.062307 deg/s, cmd heading: 140.979653 deg, new cmd heading: 140.927419 deg. 2025-10-29T00:59:29.926Z,1761699569.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.459647 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:30.033Z,1761699570.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282433 2025-10-29T00:59:30.290Z,1761699570.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538571 2025-10-29T00:59:30.443Z,1761699570.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:30.450Z,1761699570.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 76.903236 m, bearing: 142.549669 deg, approach rate: -0.584150 m/s, LOS rate: -0.059721 deg/s, cmd heading: 140.927416 deg, new cmd heading: 140.865174 deg. 2025-10-29T00:59:30.451Z,1761699570.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.458561 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:30.538Z,1761699570.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786758 2025-10-29T00:59:30.781Z,1761699570.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768033,-0.630653,-0.111364],[0.640140,-0.761059,-0.104930],[-0.018580,-0.151878,0.988225]] 2025-10-29T00:59:30.789Z,1761699570.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.037944 2025-10-29T00:59:30.819Z,1761699570.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:30.826Z,1761699570.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 76.679008 m, bearing: 142.527246 deg, approach rate: -0.596416 m/s, LOS rate: -0.059817 deg/s, cmd heading: 140.865179 deg, new cmd heading: 140.820202 deg. 2025-10-29T00:59:30.827Z,1761699570.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457776 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:31.041Z,1761699571.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.289940 2025-10-29T00:59:31.196Z,1761699571.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767782,-0.631086,-0.110638],[0.640452,-0.760852,-0.104525],[-0.018215,-0.151111,0.988349]] 2025-10-29T00:59:31.255Z,1761699571.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:31.261Z,1761699571.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:31.268Z,1761699571.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 76.419365 m, bearing: 142.507958 deg, approach rate: -0.587126 m/s, LOS rate: -0.043764 deg/s, cmd heading: 140.820196 deg, new cmd heading: 140.781488 deg. 2025-10-29T00:59:31.276Z,1761699571.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.457100 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:31.293Z,1761699571.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542126 2025-10-29T00:59:31.545Z,1761699571.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794186 2025-10-29T00:59:31.606Z,1761699571.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768242,-0.631002,-0.107888],[0.639942,-0.761391,-0.103726],[-0.016694,-0.148728,0.988737]] 2025-10-29T00:59:31.632Z,1761699571.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:31.635Z,1761699571.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 76.182587 m, bearing: 142.490125 deg, approach rate: -0.639100 m/s, LOS rate: -0.048283 deg/s, cmd heading: 140.781482 deg, new cmd heading: 140.745706 deg. 2025-10-29T00:59:31.636Z,1761699571.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456476 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:31.797Z,1761699571.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046035 2025-10-29T00:59:32.005Z,1761699572.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768554,-0.631117,-0.104960],[0.639611,-0.761764,-0.103022],[-0.014936,-0.146312,0.989126]] 2025-10-29T00:59:32.023Z,1761699572.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:32.026Z,1761699572.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 75.946045 m, bearing: 142.472113 deg, approach rate: -0.604682 m/s, LOS rate: -0.046189 deg/s, cmd heading: 140.745706 deg, new cmd heading: 140.709569 deg. 2025-10-29T00:59:32.027Z,1761699572.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455845 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:32.049Z,1761699572.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.297798 2025-10-29T00:59:32.305Z,1761699572.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.553599 2025-10-29T00:59:32.403Z,1761699572.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769789,-0.629970,-0.102780],[0.638176,-0.762757,-0.104560],[-0.012526,-0.146080,0.989193]] 2025-10-29T00:59:32.446Z,1761699572.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:32.453Z,1761699572.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 75.673164 m, bearing: 142.463947 deg, approach rate: -0.645143 m/s, LOS rate: -0.019375 deg/s, cmd heading: 140.709574 deg, new cmd heading: 140.693183 deg. 2025-10-29T00:59:32.454Z,1761699572.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455559 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:32.554Z,1761699572.554 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802621 2025-10-29T00:59:32.805Z,1761699572.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.053807 2025-10-29T00:59:32.834Z,1761699572.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770821,-0.629179,-0.099844],[0.636971,-0.763692,-0.105082],[-0.010135,-0.144597,0.989439]] 2025-10-29T00:59:32.873Z,1761699572.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:32.878Z,1761699572.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 75.403481 m, bearing: 142.455494 deg, approach rate: -0.635597 m/s, LOS rate: -0.019995 deg/s, cmd heading: 140.693182 deg, new cmd heading: 140.676214 deg. 2025-10-29T00:59:32.879Z,1761699572.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455263 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:33.057Z,1761699573.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305837 2025-10-29T00:59:33.212Z,1761699573.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772234,-0.627729,-0.098034],[0.635288,-0.764858,-0.106773],[-0.007958,-0.144734,0.989439]] 2025-10-29T00:59:33.257Z,1761699573.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:33.259Z,1761699573.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:33.262Z,1761699573.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 75.142754 m, bearing: 142.453691 deg, approach rate: -0.670630 m/s, LOS rate: -0.004654 deg/s, cmd heading: 140.676215 deg, new cmd heading: 140.672597 deg. 2025-10-29T00:59:33.263Z,1761699573.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455200 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:33.309Z,1761699573.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558127 2025-10-29T00:59:33.561Z,1761699573.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.809906 2025-10-29T00:59:33.621Z,1761699573.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.773303,-0.626952,-0.094523],[0.634009,-0.766039,-0.105913],[-0.006006,-0.141831,0.989873]] 2025-10-29T00:59:33.639Z,1761699573.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:33.642Z,1761699573.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 74.891312 m, bearing: 142.451623 deg, approach rate: -0.661588 m/s, LOS rate: -0.005459 deg/s, cmd heading: 140.672595 deg, new cmd heading: 140.668446 deg. 2025-10-29T00:59:33.643Z,1761699573.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455127 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:33.816Z,1761699573.816 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.064833 2025-10-29T00:59:34.025Z,1761699574.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774396,-0.625987,-0.091929],[0.632686,-0.767184,-0.105534],[-0.004463,-0.139887,0.990157]] 2025-10-29T00:59:34.043Z,1761699574.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:34.047Z,1761699574.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 74.624344 m, bearing: 142.449062 deg, approach rate: -0.660577 m/s, LOS rate: -0.006358 deg/s, cmd heading: 140.668443 deg, new cmd heading: 140.663304 deg. 2025-10-29T00:59:34.048Z,1761699574.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455038 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:34.065Z,1761699574.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313886 2025-10-29T00:59:34.318Z,1761699574.318 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.567162 2025-10-29T00:59:34.423Z,1761699574.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774983,-0.625630,-0.089377],[0.631976,-0.767831,-0.105082],[-0.002884,-0.137921,0.990439]] 2025-10-29T00:59:34.485Z,1761699574.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:34.487Z,1761699574.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 74.337402 m, bearing: 142.450248 deg, approach rate: -0.649842 m/s, LOS rate: 0.002694 deg/s, cmd heading: 140.663306 deg, new cmd heading: 140.665686 deg. 2025-10-29T00:59:34.493Z,1761699574.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455079 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:34.569Z,1761699574.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818030 2025-10-29T00:59:34.821Z,1761699574.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.070012 2025-10-29T00:59:34.831Z,1761699574.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775590,-0.624980,-0.088658],[0.631234,-0.768318,-0.105976],[-0.001884,-0.138158,0.990408]] 2025-10-29T00:59:34.850Z,1761699574.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:34.853Z,1761699574.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 74.067886 m, bearing: 142.451169 deg, approach rate: -0.739054 m/s, LOS rate: 0.002536 deg/s, cmd heading: 140.665683 deg, new cmd heading: 140.667533 deg. 2025-10-29T00:59:34.853Z,1761699574.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455112 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:35.074Z,1761699575.074 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.322906 2025-10-29T00:59:35.231Z,1761699575.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775709,-0.624942,-0.087879],[0.631089,-0.768395,-0.106282],[-0.001106,-0.137903,0.990445]] 2025-10-29T00:59:35.288Z,1761699575.288 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:35.290Z,1761699575.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:35.294Z,1761699575.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 73.770477 m, bearing: 142.456674 deg, approach rate: -0.674994 m/s, LOS rate: 0.012545 deg/s, cmd heading: 140.667527 deg, new cmd heading: 140.678582 deg. 2025-10-29T00:59:35.295Z,1761699575.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455304 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:35.325Z,1761699575.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.574030 2025-10-29T00:59:35.579Z,1761699575.579 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827500 2025-10-29T00:59:35.693Z,1761699575.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:35.696Z,1761699575.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 73.509361 m, bearing: 142.461544 deg, approach rate: -0.649861 m/s, LOS rate: 0.012164 deg/s, cmd heading: 140.678579 deg, new cmd heading: 140.688354 deg. 2025-10-29T00:59:35.697Z,1761699575.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455475 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:35.829Z,1761699575.829 [DAT](INFO): Reached modem response timeout 2025-10-29T00:59:35.829Z,1761699575.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:35.829Z,1761699575.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:36.045Z,1761699576.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776007,-0.624358,-0.089394],[0.630724,-0.768023,-0.111029],[0.000665,-0.142542,0.989788]] 2025-10-29T00:59:36.063Z,1761699576.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:36.066Z,1761699576.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 73.247963 m, bearing: 142.466363 deg, approach rate: -0.704787 m/s, LOS rate: 0.013039 deg/s, cmd heading: 140.688359 deg, new cmd heading: 140.698031 deg. 2025-10-29T00:59:36.067Z,1761699576.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455644 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:36.081Z,1761699576.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:36.333Z,1761699576.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:36.519Z,1761699576.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:36.522Z,1761699576.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 72.937027 m, bearing: 142.474583 deg, approach rate: -0.681517 m/s, LOS rate: 0.018094 deg/s, cmd heading: 140.698031 deg, new cmd heading: 140.714542 deg. 2025-10-29T00:59:36.523Z,1761699576.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455932 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:36.586Z,1761699576.586 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:36.837Z,1761699576.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:36.852Z,1761699576.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776102,-0.624061,-0.090627],[0.630600,-0.767360,-0.116198],[0.002971,-0.147331,0.989083]] 2025-10-29T00:59:36.883Z,1761699576.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:36.887Z,1761699576.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 72.691917 m, bearing: 142.481094 deg, approach rate: -0.672951 m/s, LOS rate: 0.017936 deg/s, cmd heading: 140.714546 deg, new cmd heading: 140.727612 deg. 2025-10-29T00:59:36.888Z,1761699576.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456160 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:37.089Z,1761699577.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:37.318Z,1761699577.318 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:37.321Z,1761699577.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:37.323Z,1761699577.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 72.414581 m, bearing: 142.480699 deg, approach rate: -0.634139 m/s, LOS rate: -0.000908 deg/s, cmd heading: 140.727606 deg, new cmd heading: 140.726811 deg. 2025-10-29T00:59:37.324Z,1761699577.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456146 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:37.341Z,1761699577.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:37.594Z,1761699577.594 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:37.657Z,1761699577.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775873,-0.623802,-0.094301],[0.630870,-0.765974,-0.123641],[0.004895,-0.155421,0.987836]] 2025-10-29T00:59:37.705Z,1761699577.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:37.707Z,1761699577.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 72.180580 m, bearing: 142.480474 deg, approach rate: -0.609495 m/s, LOS rate: -0.000586 deg/s, cmd heading: 140.726813 deg, new cmd heading: 140.726364 deg. 2025-10-29T00:59:37.711Z,1761699577.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456138 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:37.845Z,1761699577.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:38.059Z,1761699578.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775534,-0.623933,-0.096200],[0.631286,-0.765239,-0.126046],[0.005028,-0.158483,0.987349]] 2025-10-29T00:59:38.098Z,1761699578.098 [DAT](INFO): DAT read: Response Not Received 2025-10-29T00:59:38.099Z,1761699578.099 [DAT](INFO): response not received 2025-10-29T00:59:38.099Z,1761699578.099 [DAT](INFO): DAT read: user:645> 2025-10-29T00:59:38.100Z,1761699578.100 [DAT](INFO): DAT read: Tx time:00:59:37.9701 2025-10-29T00:59:38.101Z,1761699578.101 [DAT](INFO): Ping request sent. 2025-10-29T00:59:38.101Z,1761699578.101 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:38.101Z,1761699578.101 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:38.102Z,1761699578.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-29T00:59:38.106Z,1761699578.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:38.109Z,1761699578.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 71.927399 m, bearing: 142.480357 deg, approach rate: -0.630806 m/s, LOS rate: -0.000293 deg/s, cmd heading: 140.726363 deg, new cmd heading: 140.726127 deg. 2025-10-29T00:59:38.110Z,1761699578.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.456134 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:38.349Z,1761699578.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247911 2025-10-29T00:59:38.521Z,1761699578.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774907,-0.624449,-0.097885],[0.632054,-0.764279,-0.128004],[0.005121,-0.161060,0.986931]] 2025-10-29T00:59:38.601Z,1761699578.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500138 2025-10-29T00:59:38.605Z,1761699578.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:38.612Z,1761699578.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 71.619469 m, bearing: 142.472843 deg, approach rate: -0.616484 m/s, LOS rate: -0.015108 deg/s, cmd heading: 140.726130 deg, new cmd heading: 140.711038 deg. 2025-10-29T00:59:38.613Z,1761699578.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455871 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:38.857Z,1761699578.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755711 2025-10-29T00:59:38.923Z,1761699578.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774956,-0.624294,-0.098489],[0.631992,-0.764138,-0.129147],[0.005366,-0.162327,0.986722]] 2025-10-29T00:59:38.954Z,1761699578.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:38.961Z,1761699578.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 71.389015 m, bearing: 142.467173 deg, approach rate: -0.661443 m/s, LOS rate: -0.016327 deg/s, cmd heading: 140.711036 deg, new cmd heading: 140.699659 deg. 2025-10-29T00:59:38.962Z,1761699578.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455672 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:39.105Z,1761699579.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003984 2025-10-29T00:59:39.329Z,1761699579.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775213,-0.624112,-0.097619],[0.631677,-0.764562,-0.128178],[0.005361,-0.161029,0.986935]] 2025-10-29T00:59:39.357Z,1761699579.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256114 2025-10-29T00:59:39.365Z,1761699579.365 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:39.367Z,1761699579.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:39.394Z,1761699579.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 71.137581 m, bearing: 142.452905 deg, approach rate: -0.607962 m/s, LOS rate: -0.034622 deg/s, cmd heading: 140.699657 deg, new cmd heading: 140.671019 deg. 2025-10-29T00:59:39.395Z,1761699579.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.455173 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:39.609Z,1761699579.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507977 2025-10-29T00:59:39.731Z,1761699579.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775271,-0.624166,-0.096812],[0.631607,-0.764782,-0.127207],[0.005358,-0.159767,0.987140]] 2025-10-29T00:59:39.755Z,1761699579.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:39.759Z,1761699579.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 70.910332 m, bearing: 142.439895 deg, approach rate: -0.585947 m/s, LOS rate: -0.033653 deg/s, cmd heading: 140.671024 deg, new cmd heading: 140.644921 deg. 2025-10-29T00:59:39.761Z,1761699579.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454717 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:39.862Z,1761699579.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761312 2025-10-29T00:59:40.113Z,1761699580.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012557 2025-10-29T00:59:40.135Z,1761699580.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775401,-0.624271,-0.095078],[0.631444,-0.765166,-0.125698],[0.005720,-0.157503,0.987502]] 2025-10-29T00:59:40.170Z,1761699580.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:40.179Z,1761699580.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 70.672096 m, bearing: 142.426106 deg, approach rate: -0.574403 m/s, LOS rate: -0.033357 deg/s, cmd heading: 140.644919 deg, new cmd heading: 140.617249 deg. 2025-10-29T00:59:40.185Z,1761699580.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.454234 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:40.365Z,1761699580.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263936 2025-10-29T00:59:40.539Z,1761699580.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775832,-0.624077,-0.092805],[0.630904,-0.765789,-0.124610],[0.006697,-0.155227,0.987856]] 2025-10-29T00:59:40.617Z,1761699580.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516011 2025-10-29T00:59:40.623Z,1761699580.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:40.626Z,1761699580.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 70.418724 m, bearing: 142.404021 deg, approach rate: -0.559660 m/s, LOS rate: -0.048959 deg/s, cmd heading: 140.617244 deg, new cmd heading: 140.572914 deg. 2025-10-29T00:59:40.626Z,1761699580.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.453460 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:40.869Z,1761699580.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768027 2025-10-29T00:59:40.943Z,1761699580.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775796,-0.624490,-0.090285],[0.630935,-0.765988,-0.123222],[0.007794,-0.152560,0.988263]] 2025-10-29T00:59:40.984Z,1761699580.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:40.986Z,1761699580.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 70.215546 m, bearing: 142.386184 deg, approach rate: -0.589029 m/s, LOS rate: -0.051861 deg/s, cmd heading: 140.572916 deg, new cmd heading: 140.537138 deg. 2025-10-29T00:59:40.987Z,1761699580.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.452836 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:41.121Z,1761699581.121 [DAT](INFO): DAT read: Rx Time:00:59:40.4715 2025-10-29T00:59:41.121Z,1761699581.121 [DAT](INFO): Rx dataTimestamp_ set to:1761699581.121212 2025-10-29T00:59:41.122Z,1761699581.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021107 2025-10-29T00:59:41.347Z,1761699581.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775797,-0.624585,-0.089626],[0.630917,-0.765792,-0.124528],[0.009144,-0.153155,0.988160]] 2025-10-29T00:59:41.373Z,1761699581.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272031 2025-10-29T00:59:41.390Z,1761699581.390 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:41.392Z,1761699581.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:41.395Z,1761699581.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 69.970718 m, bearing: 142.359307 deg, approach rate: -0.576751 m/s, LOS rate: -0.063536 deg/s, cmd heading: 140.537139 deg, new cmd heading: 140.483198 deg. 2025-10-29T00:59:41.396Z,1761699581.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.451894 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:41.629Z,1761699581.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527642 2025-10-29T00:59:41.760Z,1761699581.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775784,-0.624669,-0.089146],[0.630906,-0.765476,-0.126508],[0.010787,-0.154386,0.987952]] 2025-10-29T00:59:41.849Z,1761699581.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 82.62 m. 2025-10-29T00:59:41.870Z,1761699581.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 82.616165 m, nav range: 69.706444 m, bearing: 142.330097 deg, approach rate: -0.578132 m/s, LOS rate: -0.064143 deg/s, cmd heading: 140.483194 deg, new cmd heading: 140.424552 deg. 2025-10-29T00:59:41.871Z,1761699581.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.450871 target range: 82.616165 and range: 83.10 m. 2025-10-29T00:59:41.883Z,1761699581.883 [DAT](INFO): DAT read: 00:59:40.4715 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 273, 0.14, 2.172, 0.429, 2.399, 2.003, PHS= 0.271,-1.529, 0.352, RAW= 152.2, 9.9, CAL= 151.9, 10.7, ROT= 358.1, -10.7 2025-10-29T00:59:41.885Z,1761699581.885 [DAT](INFO): got valid direction response: 00:59:40.4715 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 273, 0.14, 2.172, 0.429, 2.399, 2.003, PHS= 0.271,-1.529, 0.352, RAW= 152.2, 9.9, CAL= 151.9, 10.7, ROT= 358.1, -10.7 2025-10-29T00:59:41.886Z,1761699581.886 [DAT](INFO): DAT read: Bearing 307.4, -2.9 (Local) 2025-10-29T00:59:41.886Z,1761699581.886 [DAT](INFO): Local bearing/azimuth received: Bearing 307.4, -2.9 (Local) 2025-10-29T00:59:41.887Z,1761699581.887 [DAT](INFO): DAT read: Range 11 to 50 : 72.9 m (Round-trip 97.3 ms) speed 0.4 m/s 2025-10-29T00:59:41.888Z,1761699581.888 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:59:41.889Z,1761699581.889 [DAT](INFO): direction in FSK: [0.982073,-0.032578,0.185667] 2025-10-29T00:59:41.889Z,1761699581.889 [DAT](INFO): publishing direction and range info 2025-10-29T00:59:41.893Z,1761699581.893 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:41.893Z,1761699581.893 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:41.893Z,1761699581.893 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:42.129Z,1761699582.129 [DAT](INFO): DAT read: user:646> 2025-10-29T00:59:42.130Z,1761699582.130 [DAT](INFO): DAT read: Tx time:00:59:41.8701 2025-10-29T00:59:42.130Z,1761699582.130 [DAT](INFO): Ping request sent. 2025-10-29T00:59:42.130Z,1761699582.130 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:42.130Z,1761699582.130 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:42.131Z,1761699582.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-29T00:59:42.202Z,1761699582.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775539,-0.625370,-0.086325],[0.631174,-0.765372,-0.125799],[0.012600,-0.152048,0.988293]] 2025-10-29T00:59:42.329Z,1761699582.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 72.900002 m, deltaT: 16.379742 s, deltaX: -10.199997 m, approachRate: -0.622720 m/s, rangeRepo size: 4 2025-10-29T00:59:42.331Z,1761699582.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 72.478317 m, bearing: 140.627488 deg, lat: 36.779275 deg, lon: -121.859548 deg, deltaT: 16.379742 s, deltaX: -10.137848 m, approachRate: -0.618926 m/s, posRepo size: 4 2025-10-29T00:59:42.331Z,1761699582.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:42.338Z,1761699582.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 70.116005 m, bearing: 141.517874 deg, approach rate: 0.000000 m/s, LOS rate: -0.064143 deg/s, cmd heading: 140.424550 deg, new cmd heading: 140.363683 deg. 2025-10-29T00:59:42.339Z,1761699582.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.449808 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:42.381Z,1761699582.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251074 2025-10-29T00:59:42.633Z,1761699582.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503345 2025-10-29T00:59:42.654Z,1761699582.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775237,-0.626121,-0.083545],[0.631505,-0.765202,-0.125169],[0.014442,-0.149795,0.988612]] 2025-10-29T00:59:42.726Z,1761699582.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:42.729Z,1761699582.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 69.874275 m, bearing: 141.488039 deg, approach rate: -0.601155 m/s, LOS rate: -0.074452 deg/s, cmd heading: 140.363680 deg, new cmd heading: 140.303804 deg. 2025-10-29T00:59:42.730Z,1761699582.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.448763 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:42.886Z,1761699582.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756303 2025-10-29T00:59:43.075Z,1761699583.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774678,-0.627071,-0.081584],[0.632160,-0.764752,-0.124609],[0.015747,-0.148106,0.988846]] 2025-10-29T00:59:43.126Z,1761699583.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:43.130Z,1761699583.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 69.648567 m, bearing: 141.460143 deg, approach rate: -0.563544 m/s, LOS rate: -0.069875 deg/s, cmd heading: 140.303806 deg, new cmd heading: 140.247834 deg. 2025-10-29T00:59:43.131Z,1761699583.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.447787 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:43.137Z,1761699583.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007065 2025-10-29T00:59:43.389Z,1761699583.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258905 2025-10-29T00:59:43.513Z,1761699583.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:43.515Z,1761699583.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:43.517Z,1761699583.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 69.416298 m, bearing: 141.436081 deg, approach rate: -0.598125 m/s, LOS rate: -0.062170 deg/s, cmd heading: 140.247840 deg, new cmd heading: 140.199555 deg. 2025-10-29T00:59:43.518Z,1761699583.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446944 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:43.642Z,1761699583.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511946 2025-10-29T00:59:43.893Z,1761699583.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762891 2025-10-29T00:59:43.935Z,1761699583.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:43.938Z,1761699583.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 69.181664 m, bearing: 141.411610 deg, approach rate: -0.558289 m/s, LOS rate: -0.058425 deg/s, cmd heading: 140.199550 deg, new cmd heading: 140.150442 deg. 2025-10-29T00:59:43.939Z,1761699583.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.446087 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:44.146Z,1761699584.146 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015923 2025-10-29T00:59:44.383Z,1761699584.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:44.386Z,1761699584.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 68.896065 m, bearing: 141.387169 deg, approach rate: -0.637010 m/s, LOS rate: -0.054741 deg/s, cmd heading: 140.150441 deg, new cmd heading: 140.101356 deg. 2025-10-29T00:59:44.387Z,1761699584.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.445230 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:44.397Z,1761699584.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266913 2025-10-29T00:59:44.650Z,1761699584.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519433 2025-10-29T00:59:44.732Z,1761699584.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:44.735Z,1761699584.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 68.687088 m, bearing: 141.369155 deg, approach rate: -0.599858 m/s, LOS rate: -0.051865 deg/s, cmd heading: 140.101359 deg, new cmd heading: 140.065222 deg. 2025-10-29T00:59:44.735Z,1761699584.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.444599 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:44.901Z,1761699584.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770820 2025-10-29T00:59:45.107Z,1761699585.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772963,-0.629248,-0.081090],[0.634168,-0.762458,-0.128410],[0.018974,-0.150681,0.988400]] 2025-10-29T00:59:45.153Z,1761699585.153 [DAT](INFO): DAT read: Rx Time:00:59:44.3682 2025-10-29T00:59:45.154Z,1761699585.154 [DAT](INFO): Rx dataTimestamp_ set to:1761699585.153366 2025-10-29T00:59:45.154Z,1761699585.154 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024199 2025-10-29T00:59:45.169Z,1761699585.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:45.171Z,1761699585.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 68.433121 m, bearing: 141.347694 deg, approach rate: -0.581110 m/s, LOS rate: -0.049287 deg/s, cmd heading: 140.065228 deg, new cmd heading: 140.022147 deg. 2025-10-29T00:59:45.177Z,1761699585.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443847 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:45.405Z,1761699585.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274895 2025-10-29T00:59:45.515Z,1761699585.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772731,-0.629561,-0.080870],[0.634427,-0.762106,-0.129213],[0.019715,-0.151153,0.988314]] 2025-10-29T00:59:45.602Z,1761699585.602 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:45.604Z,1761699585.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 72.48 m. 2025-10-29T00:59:45.607Z,1761699585.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 72.478317 m, nav range: 68.145851 m, bearing: 141.329489 deg, approach rate: -0.660061 m/s, LOS rate: -0.042006 deg/s, cmd heading: 140.022143 deg, new cmd heading: 139.985579 deg. 2025-10-29T00:59:45.608Z,1761699585.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.443209 target range: 72.478317 and range: 72.90 m. 2025-10-29T00:59:45.666Z,1761699585.666 [DAT](INFO): DAT read: 00:59:44.3682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416,-0.32,-0.182,-1.822, 0.069,-0.259, PHS= 0.179,-1.519, 0.283, RAW= 153.0, 12.0, CAL= 153.0, 13.3, ROT= 357.0, -13.3 2025-10-29T00:59:45.667Z,1761699585.667 [DAT](INFO): got valid direction response: 00:59:44.3682 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 416,-0.32,-0.182,-1.822, 0.069,-0.259, PHS= 0.179,-1.519, 0.283, RAW= 153.0, 12.0, CAL= 153.0, 13.3, ROT= 357.0, -13.3 2025-10-29T00:59:45.668Z,1761699585.668 [DAT](INFO): DAT read: Bearing 310.0, -3.8 (Local) 2025-10-29T00:59:45.668Z,1761699585.668 [DAT](INFO): Local bearing/azimuth received: Bearing 310.0, -3.8 (Local) 2025-10-29T00:59:45.669Z,1761699585.669 [DAT](INFO): DAT read: Range 11 to 50 : 70.5 m (Round-trip 94.0 ms) speed 0.5 m/s 2025-10-29T00:59:45.670Z,1761699585.670 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:59:45.671Z,1761699585.671 [DAT](INFO): direction in FSK: [0.971845,-0.050932,0.230050] 2025-10-29T00:59:45.671Z,1761699585.671 [DAT](INFO): publishing direction and range info 2025-10-29T00:59:45.690Z,1761699585.690 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:45.690Z,1761699585.690 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:45.690Z,1761699585.690 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:45.896Z,1761699585.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772242,-0.630137,-0.081048],[0.635010,-0.761510,-0.129868],[0.020116,-0.151756,0.988213]] 2025-10-29T00:59:45.909Z,1761699585.909 [DAT](INFO): DAT read: user:647> 2025-10-29T00:59:45.910Z,1761699585.910 [DAT](INFO): DAT read: Tx time:00:59:45.6701 2025-10-29T00:59:45.910Z,1761699585.910 [DAT](INFO): Ping request sent. 2025-10-29T00:59:45.910Z,1761699585.910 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:45.910Z,1761699585.910 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:45.911Z,1761699585.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-29T00:59:45.930Z,1761699585.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 70.500000 m, deltaT: 3.780320 s, deltaX: -2.400002 m, approachRate: -0.634867 m/s, rangeRepo size: 4 2025-10-29T00:59:45.932Z,1761699585.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 70.092728 m, bearing: 139.655908 deg, lat: 36.779278 deg, lon: -121.859541 deg, deltaT: 3.780320 s, deltaX: -2.385590 m, approachRate: -0.631055 m/s, posRepo size: 4 2025-10-29T00:59:45.933Z,1761699585.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:45.935Z,1761699585.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 68.042679 m, bearing: 140.700350 deg, approach rate: 0.000000 m/s, LOS rate: -0.042006 deg/s, cmd heading: 139.985574 deg, new cmd heading: 139.958238 deg. 2025-10-29T00:59:45.936Z,1761699585.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442732 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:46.165Z,1761699586.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.254763 2025-10-29T00:59:46.355Z,1761699586.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.772043,-0.630267,-0.081940],[0.635237,-0.761017,-0.131634],[0.020607,-0.153678,0.987906]] 2025-10-29T00:59:46.392Z,1761699586.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:46.395Z,1761699586.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 67.746208 m, bearing: 140.688045 deg, approach rate: -0.641086 m/s, LOS rate: -0.026724 deg/s, cmd heading: 139.958240 deg, new cmd heading: 139.933523 deg. 2025-10-29T00:59:46.396Z,1761699586.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.442301 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:46.413Z,1761699586.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502920 2025-10-29T00:59:46.665Z,1761699586.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754793 2025-10-29T00:59:46.728Z,1761699586.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771524,-0.630812,-0.082620],[0.635860,-0.760338,-0.132543],[0.020791,-0.154795,0.987728]] 2025-10-29T00:59:46.762Z,1761699586.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:46.766Z,1761699586.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 67.513725 m, bearing: 140.678480 deg, approach rate: -0.628740 m/s, LOS rate: -0.025958 deg/s, cmd heading: 139.933528 deg, new cmd heading: 139.914331 deg. 2025-10-29T00:59:46.767Z,1761699586.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441966 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:46.917Z,1761699586.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006983 2025-10-29T00:59:47.130Z,1761699587.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771139,-0.631027,-0.084553],[0.636334,-0.759616,-0.134393],[0.020578,-0.157440,0.987314]] 2025-10-29T00:59:47.165Z,1761699587.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:47.169Z,1761699587.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258960 2025-10-29T00:59:47.172Z,1761699587.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 67.264587 m, bearing: 140.668283 deg, approach rate: -0.617304 m/s, LOS rate: -0.025359 deg/s, cmd heading: 139.914335 deg, new cmd heading: 139.893866 deg. 2025-10-29T00:59:47.173Z,1761699587.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441609 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:47.422Z,1761699587.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511846 2025-10-29T00:59:47.534Z,1761699587.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771045,-0.630883,-0.086464],[0.636451,-0.759146,-0.136482],[0.020465,-0.160264,0.986862]] 2025-10-29T00:59:47.617Z,1761699587.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:47.624Z,1761699587.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 66.968666 m, bearing: 140.661903 deg, approach rate: -0.654763 m/s, LOS rate: -0.014179 deg/s, cmd heading: 139.893872 deg, new cmd heading: 139.881055 deg. 2025-10-29T00:59:47.625Z,1761699587.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441385 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:47.673Z,1761699587.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763173 2025-10-29T00:59:47.925Z,1761699587.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014871 2025-10-29T00:59:47.953Z,1761699587.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771069,-0.630381,-0.089853],[0.636439,-0.758552,-0.139803],[0.019971,-0.164983,0.986094]] 2025-10-29T00:59:47.970Z,1761699587.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:47.971Z,1761699587.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:47.974Z,1761699587.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 66.715546 m, bearing: 140.656396 deg, approach rate: -0.714184 m/s, LOS rate: -0.015598 deg/s, cmd heading: 139.881058 deg, new cmd heading: 139.870002 deg. 2025-10-29T00:59:47.975Z,1761699587.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.441192 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:48.177Z,1761699588.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266763 2025-10-29T00:59:48.385Z,1761699588.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771172,-0.630028,-0.091432],[0.636321,-0.758355,-0.141396],[0.019745,-0.167220,0.985722]] 2025-10-29T00:59:48.429Z,1761699588.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518985 2025-10-29T00:59:48.434Z,1761699588.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:48.437Z,1761699588.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 66.406792 m, bearing: 140.646125 deg, approach rate: -0.667270 m/s, LOS rate: -0.022299 deg/s, cmd heading: 139.870007 deg, new cmd heading: 139.849371 deg. 2025-10-29T00:59:48.438Z,1761699588.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440832 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:48.681Z,1761699588.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770810 2025-10-29T00:59:48.765Z,1761699588.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771202,-0.629793,-0.092785],[0.636289,-0.758115,-0.142821],[0.019606,-0.169182,0.985390]] 2025-10-29T00:59:48.804Z,1761699588.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:48.806Z,1761699588.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 66.169250 m, bearing: 140.638151 deg, approach rate: -0.672122 m/s, LOS rate: -0.022644 deg/s, cmd heading: 139.849366 deg, new cmd heading: 139.833361 deg. 2025-10-29T00:59:48.807Z,1761699588.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440552 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:48.933Z,1761699588.933 [DAT](INFO): DAT read: Rx Time:00:59:48.1653 2025-10-29T00:59:48.933Z,1761699588.933 [DAT](INFO): Rx dataTimestamp_ set to:1761699588.933179 2025-10-29T00:59:48.934Z,1761699588.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023973 2025-10-29T00:59:49.162Z,1761699589.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771203,-0.630055,-0.090971],[0.636269,-0.758378,-0.141504],[0.020165,-0.167011,0.985749]] 2025-10-29T00:59:49.185Z,1761699589.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274985 2025-10-29T00:59:49.193Z,1761699589.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 70.09 m. 2025-10-29T00:59:49.196Z,1761699589.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 70.092728 m, nav range: 65.899239 m, bearing: 140.629011 deg, approach rate: -0.666119 m/s, LOS rate: -0.022641 deg/s, cmd heading: 139.833356 deg, new cmd heading: 139.815001 deg. 2025-10-29T00:59:49.197Z,1761699589.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.440232 target range: 70.092728 and range: 70.50 m. 2025-10-29T00:59:49.442Z,1761699589.442 [DAT](INFO): DAT read: 00:59:48.1653 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.38,-0.106,-1.745, 0.104,-0.150, PHS= 0.146,-1.551, 0.210, RAW= 151.8, 13.7, CAL= 152.0, 15.3, ROT= 358.0, -15.3 2025-10-29T00:59:49.443Z,1761699589.443 [DAT](INFO): got valid direction response: 00:59:48.1653 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 417,-0.38,-0.106,-1.745, 0.104,-0.150, PHS= 0.146,-1.551, 0.210, RAW= 151.8, 13.7, CAL= 152.0, 15.3, ROT= 358.0, -15.3 2025-10-29T00:59:49.448Z,1761699589.448 [DAT](INFO): DAT read: Bearing 311.0, -3.5 (Local) 2025-10-29T00:59:49.449Z,1761699589.449 [DAT](INFO): Local bearing/azimuth received: Bearing 311.0, -3.5 (Local) 2025-10-29T00:59:49.450Z,1761699589.450 [DAT](INFO): DAT read: Range 11 to 50 : 68.3 m (Round-trip 91.1 ms) speed 0.5 m/s 2025-10-29T00:59:49.451Z,1761699589.451 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T00:59:49.452Z,1761699589.452 [DAT](INFO): direction in FSK: [0.963970,-0.033663,0.263873] 2025-10-29T00:59:49.452Z,1761699589.452 [DAT](INFO): publishing direction and range info 2025-10-29T00:59:49.455Z,1761699589.455 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:49.455Z,1761699589.455 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:49.472Z,1761699589.472 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:49.579Z,1761699589.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771133,-0.630356,-0.089474],[0.636334,-0.758480,-0.140667],[0.020806,-0.165408,0.986006]] 2025-10-29T00:59:49.642Z,1761699589.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 68.300003 m, deltaT: 3.779544 s, deltaX: -2.199997 m, approachRate: -0.582080 m/s, rangeRepo size: 4 2025-10-29T00:59:49.648Z,1761699589.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 67.907341 m, bearing: 141.095995 deg, lat: 36.779279 deg, lon: -121.859541 deg, deltaT: 3.779544 s, deltaX: -2.185387 m, approachRate: -0.578214 m/s, posRepo size: 4 2025-10-29T00:59:49.649Z,1761699589.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:49.651Z,1761699589.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 65.554649 m, bearing: 140.579024 deg, approach rate: 0.000000 m/s, LOS rate: -0.022641 deg/s, cmd heading: 139.814997 deg, new cmd heading: 139.794702 deg. 2025-10-29T00:59:49.656Z,1761699589.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439878 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:49.693Z,1761699589.693 [DAT](INFO): DAT read: user:648> 2025-10-29T00:59:49.693Z,1761699589.693 [DAT](INFO): DAT read: Tx time:00:59:49.4701 2025-10-29T00:59:49.694Z,1761699589.694 [DAT](INFO): Ping request sent. 2025-10-29T00:59:49.694Z,1761699589.694 [DAT](INFO): transmitted an acoustic signal 2025-10-29T00:59:49.694Z,1761699589.694 [DAT](INFO): publishing transmit ping time 2025-10-29T00:59:49.695Z,1761699589.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-29T00:59:49.941Z,1761699589.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247155 2025-10-29T00:59:49.970Z,1761699589.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771126,-0.630502,-0.088501],[0.636312,-0.758447,-0.140946],[0.021743,-0.165001,0.986054]] 2025-10-29T00:59:49.987Z,1761699589.987 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:49.989Z,1761699589.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:49.992Z,1761699589.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 65.310776 m, bearing: 140.576048 deg, approach rate: -0.700295 m/s, LOS rate: -0.008579 deg/s, cmd heading: 139.794698 deg, new cmd heading: 139.788722 deg. 2025-10-29T00:59:49.993Z,1761699589.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439774 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:50.193Z,1761699590.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499063 2025-10-29T00:59:50.410Z,1761699590.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771315,-0.630440,-0.087280],[0.636049,-0.758655,-0.141009],[0.022682,-0.164277,0.986153]] 2025-10-29T00:59:50.445Z,1761699590.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751184 2025-10-29T00:59:50.455Z,1761699590.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:50.458Z,1761699590.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 65.000900 m, bearing: 140.568087 deg, approach rate: -0.665499 m/s, LOS rate: -0.017178 deg/s, cmd heading: 139.788728 deg, new cmd heading: 139.772731 deg. 2025-10-29T00:59:50.459Z,1761699590.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439494 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:50.697Z,1761699590.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003063 2025-10-29T00:59:50.819Z,1761699590.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:50.822Z,1761699590.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 64.758934 m, bearing: 140.561818 deg, approach rate: -0.665371 m/s, LOS rate: -0.017304 deg/s, cmd heading: 139.772732 deg, new cmd heading: 139.760147 deg. 2025-10-29T00:59:50.823Z,1761699590.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439275 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:50.950Z,1761699590.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.255691 2025-10-29T00:59:51.188Z,1761699591.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770685,-0.631653,-0.084016],[0.636751,-0.758364,-0.139399],[0.024337,-0.160930,0.986666]] 2025-10-29T00:59:51.201Z,1761699591.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507193 2025-10-29T00:59:51.208Z,1761699591.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:51.211Z,1761699591.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 64.500847 m, bearing: 140.555283 deg, approach rate: -0.662271 m/s, LOS rate: -0.016838 deg/s, cmd heading: 139.760150 deg, new cmd heading: 139.747027 deg. 2025-10-29T00:59:51.212Z,1761699591.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.439046 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:51.453Z,1761699591.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759382 2025-10-29T00:59:51.589Z,1761699591.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770024,-0.632597,-0.082973],[0.637533,-0.757854,-0.138595],[0.024793,-0.159619,0.986867]] 2025-10-29T00:59:51.645Z,1761699591.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:51.647Z,1761699591.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 64.226265 m, bearing: 140.541234 deg, approach rate: -0.629270 m/s, LOS rate: -0.032333 deg/s, cmd heading: 139.747023 deg, new cmd heading: 139.718806 deg. 2025-10-29T00:59:51.649Z,1761699591.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438553 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:51.706Z,1761699591.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011851 2025-10-29T00:59:51.957Z,1761699591.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263077 2025-10-29T00:59:51.991Z,1761699591.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.769515,-0.633262,-0.082621],[0.638131,-0.757340,-0.138654],[0.025232,-0.159419,0.986888]] 2025-10-29T00:59:52.021Z,1761699592.021 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:52.023Z,1761699592.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:52.026Z,1761699592.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 63.985134 m, bearing: 140.528966 deg, approach rate: -0.637671 m/s, LOS rate: -0.032566 deg/s, cmd heading: 139.718800 deg, new cmd heading: 139.694172 deg. 2025-10-29T00:59:52.027Z,1761699592.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.438123 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:52.209Z,1761699592.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515150 2025-10-29T00:59:52.441Z,1761699592.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.768733,-0.634169,-0.082936],[0.639063,-0.756481,-0.139049],[0.025442,-0.159893,0.986806]] 2025-10-29T00:59:52.461Z,1761699592.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767111 2025-10-29T00:59:52.504Z,1761699592.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:52.507Z,1761699592.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 63.696140 m, bearing: 140.506015 deg, approach rate: -0.601807 m/s, LOS rate: -0.048011 deg/s, cmd heading: 139.694171 deg, new cmd heading: 139.648060 deg. 2025-10-29T00:59:52.508Z,1761699592.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.437318 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:52.713Z,1761699592.713 [DAT](INFO): DAT read: Rx Time:00:59:51.9621 2025-10-29T00:59:52.713Z,1761699592.713 [DAT](INFO): Rx dataTimestamp_ set to:1761699592.713126 2025-10-29T00:59:52.714Z,1761699592.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020147 2025-10-29T00:59:52.800Z,1761699592.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.767840,-0.635254,-0.082911],[0.640134,-0.755627,-0.138767],[0.025503,-0.159625,0.986848]] 2025-10-29T00:59:52.867Z,1761699592.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:52.871Z,1761699592.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 63.477863 m, bearing: 140.488815 deg, approach rate: -0.602928 m/s, LOS rate: -0.047672 deg/s, cmd heading: 139.648053 deg, new cmd heading: 139.613536 deg. 2025-10-29T00:59:52.871Z,1761699592.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.436716 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:52.965Z,1761699592.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271151 2025-10-29T00:59:53.203Z,1761699593.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766903,-0.636437,-0.082509],[0.641247,-0.754773,-0.138272],[0.025725,-0.158950,0.986951]] 2025-10-29T00:59:53.223Z,1761699593.223 [DAT](INFO): DAT read: 00:59:51.9621 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.13, 2.173, 0.434, 2.346, 1.974, PHS= 0.301,-1.494, 0.328, RAW= 150.7, 9.6, CAL= 150.4, 10.4, ROT= 359.6, -10.4 2025-10-29T00:59:53.224Z,1761699593.224 [DAT](INFO): got valid direction response: 00:59:51.9621 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 416, 0.13, 2.173, 0.434, 2.346, 1.974, PHS= 0.301,-1.494, 0.328, RAW= 150.7, 9.6, CAL= 150.4, 10.4, ROT= 359.6, -10.4 2025-10-29T00:59:53.225Z,1761699593.225 [DAT](INFO): DAT read: $Error in header 2025-10-29T00:59:53.225Z,1761699593.225 [DAT](INFO): Received a bad header 2025-10-29T00:59:53.237Z,1761699593.237 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T00:59:53.238Z,1761699593.238 [DAT](INFO): direction in FSK: [0.983548,-0.006866,0.180519] 2025-10-29T00:59:53.241Z,1761699593.241 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:53.242Z,1761699593.242 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:53.242Z,1761699593.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:53.300Z,1761699593.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:53.302Z,1761699593.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 63.191765 m, bearing: 140.466465 deg, approach rate: -0.667617 m/s, LOS rate: -0.052391 deg/s, cmd heading: 139.613534 deg, new cmd heading: 139.568631 deg. 2025-10-29T00:59:53.303Z,1761699593.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435932 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:53.471Z,1761699593.471 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:53.471Z,1761699593.471 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:53.471Z,1761699593.471 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:53.607Z,1761699593.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.766115,-0.637311,-0.083078],[0.642183,-0.753867,-0.138873],[0.025876,-0.159744,0.986819]] 2025-10-29T00:59:53.652Z,1761699593.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:53.655Z,1761699593.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 62.963837 m, bearing: 140.444636 deg, approach rate: -0.636612 m/s, LOS rate: -0.061190 deg/s, cmd heading: 139.568632 deg, new cmd heading: 139.524816 deg. 2025-10-29T00:59:53.655Z,1761699593.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.435167 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:53.722Z,1761699593.722 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:53.722Z,1761699593.722 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:53.722Z,1761699593.722 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:53.973Z,1761699593.973 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:53.973Z,1761699593.973 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:53.973Z,1761699593.973 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:54.022Z,1761699594.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765023,-0.638706,-0.082424],[0.643476,-0.752940,-0.137912],[0.026025,-0.158544,0.987009]] 2025-10-29T00:59:54.039Z,1761699594.039 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:54.042Z,1761699594.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:54.048Z,1761699594.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 62.727779 m, bearing: 140.422217 deg, approach rate: -0.606516 m/s, LOS rate: -0.057818 deg/s, cmd heading: 139.524809 deg, new cmd heading: 139.479804 deg. 2025-10-29T00:59:54.050Z,1761699594.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.434382 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:54.225Z,1761699594.225 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:54.225Z,1761699594.225 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:54.225Z,1761699594.225 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:54.451Z,1761699594.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764196,-0.639728,-0.082169],[0.644451,-0.752165,-0.137590],[0.026215,-0.158100,0.987075]] 2025-10-29T00:59:54.477Z,1761699594.477 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:54.477Z,1761699594.477 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:54.477Z,1761699594.477 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:54.535Z,1761699594.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:54.543Z,1761699594.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 62.442341 m, bearing: 140.388931 deg, approach rate: -0.578144 m/s, LOS rate: -0.067728 deg/s, cmd heading: 139.479798 deg, new cmd heading: 139.412922 deg. 2025-10-29T00:59:54.550Z,1761699594.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.433214 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:54.729Z,1761699594.729 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:54.729Z,1761699594.729 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:54.729Z,1761699594.729 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:54.888Z,1761699594.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763224,-0.640914,-0.081971],[0.645588,-0.751201,-0.137525],[0.026565,-0.157882,0.987101]] 2025-10-29T00:59:54.912Z,1761699594.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:54.915Z,1761699594.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 62.216167 m, bearing: 140.362652 deg, approach rate: -0.599198 m/s, LOS rate: -0.069873 deg/s, cmd heading: 139.412917 deg, new cmd heading: 139.360169 deg. 2025-10-29T00:59:54.916Z,1761699594.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.432294 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:54.981Z,1761699594.981 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:54.981Z,1761699594.981 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:54.981Z,1761699594.981 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:55.233Z,1761699595.233 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:55.233Z,1761699595.233 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:55.233Z,1761699595.233 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:55.291Z,1761699595.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762517,-0.641733,-0.082139],[0.646412,-0.750429,-0.137871],[0.026837,-0.158225,0.987038]] 2025-10-29T00:59:55.332Z,1761699595.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:55.334Z,1761699595.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 61.978828 m, bearing: 140.335114 deg, approach rate: -0.576616 m/s, LOS rate: -0.067159 deg/s, cmd heading: 139.360175 deg, new cmd heading: 139.304888 deg. 2025-10-29T00:59:55.335Z,1761699595.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.431329 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:55.487Z,1761699595.487 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:55.488Z,1761699595.488 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:55.488Z,1761699595.488 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:55.705Z,1761699595.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760990,-0.643649,-0.081299],[0.648165,-0.748915,-0.137874],[0.027857,-0.157616,0.987107]] 2025-10-29T00:59:55.737Z,1761699595.737 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:55.737Z,1761699595.737 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:55.737Z,1761699595.737 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:55.765Z,1761699595.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:55.773Z,1761699595.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 61.729034 m, bearing: 140.309846 deg, approach rate: -0.566198 m/s, LOS rate: -0.057505 deg/s, cmd heading: 139.304891 deg, new cmd heading: 139.254151 deg. 2025-10-29T00:59:55.775Z,1761699595.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.430444 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:55.989Z,1761699595.989 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:55.989Z,1761699595.989 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:55.990Z,1761699595.990 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:56.187Z,1761699596.187 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:56.189Z,1761699596.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:56.192Z,1761699596.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 61.467167 m, bearing: 140.283135 deg, approach rate: -0.617263 m/s, LOS rate: -0.063231 deg/s, cmd heading: 139.254156 deg, new cmd heading: 139.200506 deg. 2025-10-29T00:59:56.193Z,1761699596.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.429507 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:56.241Z,1761699596.241 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:56.242Z,1761699596.242 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:56.242Z,1761699596.242 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:56.497Z,1761699596.497 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:56.497Z,1761699596.497 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:56.498Z,1761699596.498 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:56.529Z,1761699596.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758500,-0.646827,-0.079325],[0.651062,-0.746883,-0.135220],[0.028218,-0.154210,0.987635]] 2025-10-29T00:59:56.622Z,1761699596.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:56.629Z,1761699596.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 61.219116 m, bearing: 140.259707 deg, approach rate: -0.573104 m/s, LOS rate: -0.054348 deg/s, cmd heading: 139.200512 deg, new cmd heading: 139.153466 deg. 2025-10-29T00:59:56.630Z,1761699596.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428686 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:56.745Z,1761699596.745 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:56.746Z,1761699596.746 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:56.746Z,1761699596.746 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:56.845Z,1761699596.845 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T00:59:56.936Z,1761699596.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757462,-0.647974,-0.079880],[0.652268,-0.745776,-0.135511],[0.028235,-0.154748,0.987550]] 2025-10-29T00:59:56.965Z,1761699596.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:56.968Z,1761699596.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 61.018375 m, bearing: 140.240911 deg, approach rate: -0.585073 m/s, LOS rate: -0.054961 deg/s, cmd heading: 139.153466 deg, new cmd heading: 139.115751 deg. 2025-10-29T00:59:56.969Z,1761699596.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.428028 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:56.997Z,1761699596.997 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:56.997Z,1761699596.997 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:56.997Z,1761699596.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:57.249Z,1761699597.249 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:57.249Z,1761699597.249 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:57.249Z,1761699597.249 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:57.404Z,1761699597.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:57.407Z,1761699597.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 60.771496 m, bearing: 140.217625 deg, approach rate: -0.562373 m/s, LOS rate: -0.053261 deg/s, cmd heading: 139.115749 deg, new cmd heading: 139.068987 deg. 2025-10-29T00:59:57.408Z,1761699597.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.427212 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:57.504Z,1761699597.504 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:57.504Z,1761699597.504 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:57.505Z,1761699597.505 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:57.753Z,1761699597.753 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:57.753Z,1761699597.753 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:57.754Z,1761699597.754 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:57.769Z,1761699597.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756139,-0.649475,-0.080228],[0.653785,-0.744357,-0.136008],[0.028616,-0.155293,0.987454]] 2025-10-29T00:59:57.822Z,1761699597.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:57.837Z,1761699597.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 60.503666 m, bearing: 140.198626 deg, approach rate: -0.640400 m/s, LOS rate: -0.045628 deg/s, cmd heading: 139.068990 deg, new cmd heading: 139.030825 deg. 2025-10-29T00:59:57.849Z,1761699597.849 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T00:59:57.859Z,1761699597.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.426546 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:58.005Z,1761699598.005 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:58.005Z,1761699598.005 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:58.005Z,1761699598.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:58.258Z,1761699598.258 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:58.258Z,1761699598.258 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:58.258Z,1761699598.258 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:58.315Z,1761699598.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755392,-0.650357,-0.080123],[0.654637,-0.743606,-0.136015],[0.028878,-0.155195,0.987462]] 2025-10-29T00:59:58.345Z,1761699598.345 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T00:59:58.347Z,1761699598.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:58.353Z,1761699598.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 60.184872 m, bearing: 140.176137 deg, approach rate: -0.608010 m/s, LOS rate: -0.043119 deg/s, cmd heading: 139.030823 deg, new cmd heading: 138.985606 deg. 2025-10-29T00:59:58.357Z,1761699598.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425756 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:58.511Z,1761699598.511 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:58.512Z,1761699598.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:58.512Z,1761699598.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:58.763Z,1761699598.763 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:58.763Z,1761699598.763 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:58.763Z,1761699598.763 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:58.912Z,1761699598.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:58.914Z,1761699598.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 59.818451 m, bearing: 140.159884 deg, approach rate: -0.648447 m/s, LOS rate: -0.028939 deg/s, cmd heading: 138.985607 deg, new cmd heading: 138.952901 deg. 2025-10-29T00:59:58.915Z,1761699598.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.425186 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:59.013Z,1761699599.013 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:59.013Z,1761699599.013 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:59.013Z,1761699599.013 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:59.265Z,1761699599.265 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:59.265Z,1761699599.265 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:59.266Z,1761699599.266 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:59.365Z,1761699599.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753902,-0.652272,-0.078572],[0.656306,-0.742268,-0.135282],[0.029920,-0.153556,0.987687]] 2025-10-29T00:59:59.383Z,1761699599.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:59.386Z,1761699599.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 59.519257 m, bearing: 140.147109 deg, approach rate: -0.634577 m/s, LOS rate: -0.027231 deg/s, cmd heading: 138.952904 deg, new cmd heading: 138.927226 deg. 2025-10-29T00:59:59.387Z,1761699599.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424737 target range: 67.907341 and range: 68.30 m. 2025-10-29T00:59:59.519Z,1761699599.519 [DAT](INFO): ****** received valid address query ****** 2025-10-29T00:59:59.519Z,1761699599.519 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T00:59:59.520Z,1761699599.520 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T00:59:59.769Z,1761699599.769 [DAT](INFO): Reached modem response timeout 2025-10-29T00:59:59.770Z,1761699599.770 [DAT](DEBUG): Acoustic response timeout 2025-10-29T00:59:59.770Z,1761699599.770 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T00:59:59.777Z,1761699599.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753641,-0.652578,-0.078528],[0.656582,-0.741915,-0.135876],[0.030408,-0.153962,0.987609]] 2025-10-29T00:59:59.831Z,1761699599.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T00:59:59.850Z,1761699599.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 59.228535 m, bearing: 140.136002 deg, approach rate: -0.649392 m/s, LOS rate: -0.024931 deg/s, cmd heading: 138.927223 deg, new cmd heading: 138.904900 deg. 2025-10-29T00:59:59.851Z,1761699599.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424348 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:00.021Z,1761699600.021 [DAT](INFO): DAT read: 2025-10-29T01:00:00.021Z,1761699600.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:00.184Z,1761699600.184 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753091,-0.653249,-0.078227],[0.657215,-0.741463,-0.135285],[0.030372,-0.153293,0.987714]] 2025-10-29T01:00:00.202Z,1761699600.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:00.225Z,1761699600.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 58.987305 m, bearing: 140.126898 deg, approach rate: -0.649886 m/s, LOS rate: -0.024628 deg/s, cmd heading: 138.904901 deg, new cmd heading: 138.886619 deg. 2025-10-29T01:00:00.226Z,1761699600.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.424029 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:00.273Z,1761699600.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:00.527Z,1761699600.527 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:00.651Z,1761699600.651 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:00.653Z,1761699600.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:00.656Z,1761699600.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 58.691425 m, bearing: 140.116182 deg, approach rate: -0.655793 m/s, LOS rate: -0.023871 deg/s, cmd heading: 138.886624 deg, new cmd heading: 138.865084 deg. 2025-10-29T01:00:00.657Z,1761699600.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423653 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:00.777Z,1761699600.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:00.990Z,1761699600.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752275,-0.654147,-0.078572],[0.658123,-0.740488,-0.136201],[0.030914,-0.154171,0.987560]] 2025-10-29T01:00:01.027Z,1761699601.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:01.029Z,1761699601.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:01.035Z,1761699601.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 58.456341 m, bearing: 140.107876 deg, approach rate: -0.631797 m/s, LOS rate: -0.022411 deg/s, cmd heading: 138.865081 deg, new cmd heading: 138.848403 deg. 2025-10-29T01:00:01.037Z,1761699601.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423362 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:01.281Z,1761699601.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:01.394Z,1761699601.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751687,-0.654814,-0.078647],[0.658786,-0.739870,-0.136356],[0.031100,-0.154309,0.987533]] 2025-10-29T01:00:01.413Z,1761699601.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:01.416Z,1761699601.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 58.190788 m, bearing: 140.098646 deg, approach rate: -0.684892 m/s, LOS rate: -0.023914 deg/s, cmd heading: 138.848402 deg, new cmd heading: 138.829857 deg. 2025-10-29T01:00:01.417Z,1761699601.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.423038 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:01.536Z,1761699601.536 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:01.785Z,1761699601.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:01.805Z,1761699601.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751161,-0.655215,-0.080312],[0.659393,-0.739056,-0.137831],[0.030954,-0.156490,0.987194]] 2025-10-29T01:00:01.842Z,1761699601.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:01.845Z,1761699601.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 57.911003 m, bearing: 140.087926 deg, approach rate: -0.651852 m/s, LOS rate: -0.025095 deg/s, cmd heading: 138.829851 deg, new cmd heading: 138.808309 deg. 2025-10-29T01:00:01.846Z,1761699601.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422662 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:02.038Z,1761699602.038 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:00:02.038Z,1761699602.038 [DAT](INFO): response not received 2025-10-29T01:00:02.040Z,1761699602.040 [DAT](INFO): DAT read: user:650>Tx time:01:00:01.9200 2025-10-29T01:00:02.041Z,1761699602.041 [DAT](ERROR): No response from remote modem. 2025-10-29T01:00:02.041Z,1761699602.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:02.041Z,1761699602.041 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:02.203Z,1761699602.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750908,-0.655364,-0.081461],[0.659675,-0.738539,-0.139243],[0.031092,-0.158296,0.986902]] 2025-10-29T01:00:02.222Z,1761699602.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:02.244Z,1761699602.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 57.663330 m, bearing: 140.078456 deg, approach rate: -0.652188 m/s, LOS rate: -0.025046 deg/s, cmd heading: 138.808309 deg, new cmd heading: 138.789286 deg. 2025-10-29T01:00:02.245Z,1761699602.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422330 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:02.290Z,1761699602.290 [DAT](INFO): DAT read: 2025-10-29T01:00:02.290Z,1761699602.290 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:02.544Z,1761699602.544 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:02.607Z,1761699602.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750346,-0.655995,-0.081557],[0.660306,-0.737948,-0.139386],[0.031252,-0.158441,0.986874]] 2025-10-29T01:00:02.650Z,1761699602.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:02.653Z,1761699602.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 57.383766 m, bearing: 140.071577 deg, approach rate: -0.652737 m/s, LOS rate: -0.016139 deg/s, cmd heading: 138.789280 deg, new cmd heading: 138.775455 deg. 2025-10-29T01:00:02.654Z,1761699602.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.422089 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:02.793Z,1761699602.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:03.012Z,1761699603.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749943,-0.656330,-0.082569],[0.660767,-0.737365,-0.140282],[0.031188,-0.159762,0.986663]] 2025-10-29T01:00:03.031Z,1761699603.031 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:03.036Z,1761699603.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:03.042Z,1761699603.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 57.135788 m, bearing: 140.065581 deg, approach rate: -0.644493 m/s, LOS rate: -0.015650 deg/s, cmd heading: 138.775456 deg, new cmd heading: 138.763413 deg. 2025-10-29T01:00:03.044Z,1761699603.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421878 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:03.046Z,1761699603.046 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:03.297Z,1761699603.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:03.421Z,1761699603.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749441,-0.656852,-0.082965],[0.661331,-0.736781,-0.140694],[0.031289,-0.160309,0.986571]] 2025-10-29T01:00:03.439Z,1761699603.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:03.442Z,1761699603.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 56.868469 m, bearing: 140.059267 deg, approach rate: -0.661109 m/s, LOS rate: -0.015688 deg/s, cmd heading: 138.763407 deg, new cmd heading: 138.750720 deg. 2025-10-29T01:00:03.443Z,1761699603.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421657 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:03.550Z,1761699603.550 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:03.801Z,1761699603.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:03.819Z,1761699603.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749088,-0.657294,-0.082652],[0.661730,-0.736508,-0.140249],[0.031312,-0.159752,0.986660]] 2025-10-29T01:00:03.863Z,1761699603.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:03.865Z,1761699603.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 56.603619 m, bearing: 140.052028 deg, approach rate: -0.625743 m/s, LOS rate: -0.017184 deg/s, cmd heading: 138.750717 deg, new cmd heading: 138.736170 deg. 2025-10-29T01:00:03.866Z,1761699603.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421403 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:04.053Z,1761699604.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:04.225Z,1761699604.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748193,-0.658325,-0.082554],[0.662755,-0.735748,-0.139397],[0.031029,-0.159009,0.986789]] 2025-10-29T01:00:04.243Z,1761699604.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:04.246Z,1761699604.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 56.365250 m, bearing: 140.045779 deg, approach rate: -0.626147 m/s, LOS rate: -0.016484 deg/s, cmd heading: 138.736168 deg, new cmd heading: 138.723618 deg. 2025-10-29T01:00:04.247Z,1761699604.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.421184 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:04.306Z,1761699604.306 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:04.559Z,1761699604.559 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:04.633Z,1761699604.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747511,-0.659000,-0.083339],[0.663536,-0.734998,-0.139634],[0.030765,-0.159677,0.986690]] 2025-10-29T01:00:04.676Z,1761699604.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:04.679Z,1761699604.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 56.095997 m, bearing: 140.031885 deg, approach rate: -0.622410 m/s, LOS rate: -0.032272 deg/s, cmd heading: 138.723615 deg, new cmd heading: 138.695693 deg. 2025-10-29T01:00:04.680Z,1761699604.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420696 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:04.809Z,1761699604.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:05.037Z,1761699605.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747221,-0.659330,-0.083342],[0.663859,-0.734699,-0.139674],[0.030860,-0.159695,0.986684]] 2025-10-29T01:00:05.061Z,1761699605.061 [DAT](INFO): DAT read: Rx Time:01:00:04.4015 2025-10-29T01:00:05.062Z,1761699605.062 [DAT](INFO): Rx dataTimestamp_ set to:1761699605.061302 2025-10-29T01:00:05.062Z,1761699605.062 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:05.081Z,1761699605.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:05.083Z,1761699605.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:05.094Z,1761699605.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 55.855549 m, bearing: 140.019472 deg, approach rate: -0.591102 m/s, LOS rate: -0.030648 deg/s, cmd heading: 138.695693 deg, new cmd heading: 138.670759 deg. 2025-10-29T01:00:05.094Z,1761699605.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.420261 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:05.313Z,1761699605.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:05.436Z,1761699605.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746398,-0.660235,-0.083545],[0.664792,-0.733918,-0.139341],[0.030682,-0.159544,0.986714]] 2025-10-29T01:00:05.455Z,1761699605.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 67.91 m. 2025-10-29T01:00:05.458Z,1761699605.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 67.907341 m, nav range: 55.611622 m, bearing: 140.007081 deg, approach rate: -0.655889 m/s, LOS rate: -0.033463 deg/s, cmd heading: 138.670763 deg, new cmd heading: 138.645873 deg. 2025-10-29T01:00:05.458Z,1761699605.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419827 target range: 67.907341 and range: 68.30 m. 2025-10-29T01:00:05.590Z,1761699605.590 [DAT](INFO): DAT read: 01:00:04.4015 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 341,-0.23, 2.402, 0.652, 2.573, 2.205, PHS= 0.299,-1.507, 0.324, RAW= 150.7, 9.8, CAL= 150.3, 10.6, ROT= 359.7, -10.6 2025-10-29T01:00:05.596Z,1761699605.596 [DAT](INFO): got valid direction response: 01:00:04.4015 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 341,-0.23, 2.402, 0.652, 2.573, 2.205, PHS= 0.299,-1.507, 0.324, RAW= 150.7, 9.8, CAL= 150.3, 10.6, ROT= 359.7, -10.6 2025-10-29T01:00:05.599Z,1761699605.599 [DAT](INFO): DAT read: Bearing 303.8, -0.4 (Local) 2025-10-29T01:00:05.625Z,1761699605.625 [DAT](INFO): Local bearing/azimuth received: Bearing 303.8, -0.4 (Local) 2025-10-29T01:00:05.634Z,1761699605.634 [DAT](INFO): DAT read: Range 11 to 50 : 58.0 m (Round-trip 77.4 ms) speed 0.4 m/s 2025-10-29T01:00:05.642Z,1761699605.642 [DAT](INFO): DAT read: user:651>Tx time:01:00:05.4700 2025-10-29T01:00:05.649Z,1761699605.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:05.650Z,1761699605.650 [DAT](INFO): direction in FSK: [0.982922,-0.005147,0.183951] 2025-10-29T01:00:05.650Z,1761699605.650 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:05.668Z,1761699605.668 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:05.668Z,1761699605.668 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:05.817Z,1761699605.817 [DAT](INFO): DAT read: 2025-10-29T01:00:05.817Z,1761699605.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:05.839Z,1761699605.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745478,-0.661326,-0.083129],[0.665847,-0.733252,-0.137799],[0.030176,-0.158077,0.986966]] 2025-10-29T01:00:05.905Z,1761699605.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.000000 m, deltaT: 16.131048 s, deltaX: -10.300003 m, approachRate: -0.638520 m/s, rangeRepo size: 4 2025-10-29T01:00:05.907Z,1761699605.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.666267 m, bearing: 139.637166 deg, lat: 36.779275 deg, lon: -121.859532 deg, deltaT: 16.131048 s, deltaX: -10.241074 m, approachRate: -0.634867 m/s, posRepo size: 4 2025-10-29T01:00:05.908Z,1761699605.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:05.908Z,1761699605.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:05.911Z,1761699605.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 56.206711 m, bearing: 139.689705 deg, approach rate: 0.000000 m/s, LOS rate: -0.033463 deg/s, cmd heading: 138.645873 deg, new cmd heading: 138.615794 deg. 2025-10-29T01:00:05.912Z,1761699605.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.419302 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:05.941Z,1761699605.941 [DockingStepper](INFO): Changing to mode: 2 2025-10-29T01:00:06.069Z,1761699606.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:06.247Z,1761699606.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745005,-0.661934,-0.082532],[0.666384,-0.732968,-0.136714],[0.030002,-0.156851,0.987166]] 2025-10-29T01:00:06.277Z,1761699606.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:06.277Z,1761699606.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:06.280Z,1761699606.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 55.983353 m, bearing: 139.675579 deg, approach rate: -0.599632 m/s, LOS rate: -0.038074 deg/s, cmd heading: 138.615793 deg, new cmd heading: 138.587429 deg. 2025-10-29T01:00:06.281Z,1761699606.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418807 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:06.321Z,1761699606.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:06.573Z,1761699606.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:06.663Z,1761699606.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743513,-0.663709,-0.081722],[0.668042,-0.731687,-0.135474],[0.030121,-0.155320,0.987405]] 2025-10-29T01:00:06.715Z,1761699606.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:06.715Z,1761699606.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:06.719Z,1761699606.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 55.732376 m, bearing: 139.663965 deg, approach rate: -0.572452 m/s, LOS rate: -0.026610 deg/s, cmd heading: 138.587434 deg, new cmd heading: 138.564102 deg. 2025-10-29T01:00:06.720Z,1761699606.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418400 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:06.825Z,1761699606.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:07.062Z,1761699607.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742425,-0.664961,-0.081441],[0.669256,-0.730725,-0.134676],[0.030043,-0.154492,0.987537]] 2025-10-29T01:00:07.077Z,1761699607.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:07.090Z,1761699607.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:07.093Z,1761699607.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:07.093Z,1761699607.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:07.096Z,1761699607.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 55.499123 m, bearing: 139.653468 deg, approach rate: -0.617697 m/s, LOS rate: -0.027915 deg/s, cmd heading: 138.564102 deg, new cmd heading: 138.543020 deg. 2025-10-29T01:00:07.097Z,1761699607.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.418032 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:07.329Z,1761699607.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:07.460Z,1761699607.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741615,-0.665983,-0.080462],[0.670151,-0.730141,-0.133385],[0.030083,-0.152842,0.987793]] 2025-10-29T01:00:07.479Z,1761699607.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:07.480Z,1761699607.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:07.483Z,1761699607.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 55.269165 m, bearing: 139.643317 deg, approach rate: -0.594782 m/s, LOS rate: -0.026366 deg/s, cmd heading: 138.543024 deg, new cmd heading: 138.522637 deg. 2025-10-29T01:00:07.484Z,1761699607.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417676 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:07.581Z,1761699607.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:07.836Z,1761699607.836 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:07.892Z,1761699607.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741272,-0.666501,-0.079322],[0.670520,-0.729988,-0.132368],[0.030319,-0.151308,0.988022]] 2025-10-29T01:00:07.929Z,1761699607.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:07.929Z,1761699607.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:07.948Z,1761699607.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 54.998066 m, bearing: 139.632785 deg, approach rate: -0.602838 m/s, LOS rate: -0.023535 deg/s, cmd heading: 138.522643 deg, new cmd heading: 138.501476 deg. 2025-10-29T01:00:07.949Z,1761699607.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417307 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:08.085Z,1761699608.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:08.276Z,1761699608.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740779,-0.667093,-0.078947],[0.671059,-0.729565,-0.131968],[0.030438,-0.150737,0.988105]] 2025-10-29T01:00:08.299Z,1761699608.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:08.299Z,1761699608.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:08.302Z,1761699608.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 54.775063 m, bearing: 139.624213 deg, approach rate: -0.603018 m/s, LOS rate: -0.023272 deg/s, cmd heading: 138.501469 deg, new cmd heading: 138.484257 deg. 2025-10-29T01:00:08.303Z,1761699608.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.417006 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:08.337Z,1761699608.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:08.589Z,1761699608.589 [DAT](INFO): DAT read: Rx Time:01:00:07.9485 2025-10-29T01:00:08.590Z,1761699608.590 [DAT](INFO): Rx dataTimestamp_ set to:1761699608.589517 2025-10-29T01:00:08.590Z,1761699608.590 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:08.690Z,1761699608.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740834,-0.667233,-0.077240],[0.671004,-0.729979,-0.129942],[0.030318,-0.148094,0.988508]] 2025-10-29T01:00:08.741Z,1761699608.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:08.742Z,1761699608.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:08.746Z,1761699608.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 54.502438 m, bearing: 139.613950 deg, approach rate: -0.616361 m/s, LOS rate: -0.023320 deg/s, cmd heading: 138.484257 deg, new cmd heading: 138.463628 deg. 2025-10-29T01:00:08.748Z,1761699608.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416646 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:08.841Z,1761699608.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:09.096Z,1761699609.096 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:09.134Z,1761699609.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741241,-0.666906,-0.076151],[0.670545,-0.730536,-0.129173],[0.030516,-0.146811,0.988694]] 2025-10-29T01:00:09.184Z,1761699609.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:09.210Z,1761699609.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.67 m. 2025-10-29T01:00:09.210Z,1761699609.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.00 m. 2025-10-29T01:00:09.215Z,1761699609.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.666267 m, nav range: 54.232586 m, bearing: 139.603514 deg, approach rate: -0.575607 m/s, LOS rate: -0.022371 deg/s, cmd heading: 138.463630 deg, new cmd heading: 138.442654 deg. 2025-10-29T01:00:09.217Z,1761699609.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.416280 target range: 57.666267 and range: 58.00 m. 2025-10-29T01:00:09.351Z,1761699609.351 [DAT](INFO): DAT read: 01:00:07.9485 LVL= 30400, 32753, 31138, 32755, AGC= 64, IDX= 406, 0.30, 0.605,-1.058, 0.823, 0.414, PHS= 0.293,-1.428, 0.365, RAW= 152.0, 8.8, CAL= 151.6, 9.5, ROT= 358.4, -9.5 2025-10-29T01:00:09.352Z,1761699609.352 [DAT](INFO): got valid direction response: 01:00:07.9485 LVL= 30400, 32753, 31138, 32755, AGC= 64, IDX= 406, 0.30, 0.605,-1.058, 0.823, 0.414, PHS= 0.293,-1.428, 0.365, RAW= 152.0, 8.8, CAL= 151.6, 9.5, ROT= 358.4, -9.5 2025-10-29T01:00:09.353Z,1761699609.353 [DAT](INFO): DAT read: Bearing 302.8, -1.4 (Local) 2025-10-29T01:00:09.353Z,1761699609.353 [DAT](INFO): Local bearing/azimuth received: Bearing 302.8, -1.4 (Local) 2025-10-29T01:00:09.355Z,1761699609.355 [DAT](INFO): DAT read: Range 11 to 50 : 55.8 m (Round-trip 74.4 ms) speed 0.5 m/s 2025-10-29T01:00:09.356Z,1761699609.356 [DAT](INFO): DAT read: user:652>Tx time:01:00:09.0200 2025-10-29T01:00:09.356Z,1761699609.356 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:09.357Z,1761699609.357 [DAT](INFO): direction in FSK: [0.985901,-0.027539,0.165048] 2025-10-29T01:00:09.357Z,1761699609.357 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:09.361Z,1761699609.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:09.361Z,1761699609.361 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:09.525Z,1761699609.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742176,-0.665947,-0.075431],[0.669508,-0.731561,-0.128757],[0.030563,-0.146062,0.988803]] 2025-10-29T01:00:09.575Z,1761699609.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 55.799999 m, deltaT: 3.777021 s, deltaX: -2.200001 m, approachRate: -0.582470 m/s, rangeRepo size: 4 2025-10-29T01:00:09.586Z,1761699609.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 55.479572 m, bearing: 137.764136 deg, lat: 36.779279 deg, lon: -121.859532 deg, deltaT: 3.777021 s, deltaX: -2.186695 m, approachRate: -0.578947 m/s, posRepo size: 4 2025-10-29T01:00:09.586Z,1761699609.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:09.587Z,1761699609.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:09.594Z,1761699609.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 53.643406 m, bearing: 139.265640 deg, approach rate: 0.000000 m/s, LOS rate: -0.022371 deg/s, cmd heading: 138.442648 deg, new cmd heading: 138.426324 deg. 2025-10-29T01:00:09.595Z,1761699609.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415995 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:09.597Z,1761699609.597 [DAT](INFO): DAT read: 2025-10-29T01:00:09.597Z,1761699609.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:09.849Z,1761699609.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:09.976Z,1761699609.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743535,-0.664471,-0.075057],[0.667998,-0.732936,-0.128777],[0.030557,-0.145889,0.988829]] 2025-10-29T01:00:10.050Z,1761699610.050 [BPC1](ERROR): BPC1B failed to parse battery data due to unrecognized msg size. 2025-10-29T01:00:10.092Z,1761699610.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:10.093Z,1761699610.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:10.095Z,1761699610.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 53.324005 m, bearing: 139.251233 deg, approach rate: -0.617568 m/s, LOS rate: -0.028022 deg/s, cmd heading: 138.426324 deg, new cmd heading: 138.397339 deg. 2025-10-29T01:00:10.096Z,1761699610.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415489 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:10.101Z,1761699610.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:10.353Z,1761699610.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:10.456Z,1761699610.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744883,-0.662967,-0.074993],[0.666506,-0.734291,-0.128789],[0.030316,-0.145916,0.988832]] 2025-10-29T01:00:10.500Z,1761699610.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:10.500Z,1761699610.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:10.503Z,1761699610.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 53.078495 m, bearing: 139.239507 deg, approach rate: -0.602262 m/s, LOS rate: -0.028898 deg/s, cmd heading: 138.397336 deg, new cmd heading: 138.373776 deg. 2025-10-29T01:00:10.504Z,1761699610.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.415078 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:10.607Z,1761699610.607 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:10.854Z,1761699610.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746362,-0.661367,-0.074418],[0.664863,-0.735882,-0.128198],[0.030024,-0.145160,0.988953]] 2025-10-29T01:00:10.861Z,1761699610.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:10.940Z,1761699610.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:10.941Z,1761699610.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:10.944Z,1761699610.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 52.825901 m, bearing: 139.227456 deg, approach rate: -0.573284 m/s, LOS rate: -0.027482 deg/s, cmd heading: 138.373772 deg, new cmd heading: 138.349555 deg. 2025-10-29T01:00:10.945Z,1761699610.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414655 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:11.113Z,1761699611.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:11.365Z,1761699611.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:11.366Z,1761699611.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749289,-0.658332,-0.071869],[0.661585,-0.739286,-0.125543],[0.029517,-0.141616,0.989482]] 2025-10-29T01:00:11.383Z,1761699611.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:11.385Z,1761699611.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:11.386Z,1761699611.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:11.405Z,1761699611.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 52.542725 m, bearing: 139.212449 deg, approach rate: -0.636143 m/s, LOS rate: -0.033895 deg/s, cmd heading: 138.349552 deg, new cmd heading: 138.319376 deg. 2025-10-29T01:00:11.409Z,1761699611.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.414129 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:11.617Z,1761699611.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:11.778Z,1761699611.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.751899,-0.655546,-0.070047],[0.658637,-0.742229,-0.123666],[0.029078,-0.139120,0.989849]] 2025-10-29T01:00:11.842Z,1761699611.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:11.842Z,1761699611.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 55.80 m. 2025-10-29T01:00:11.843Z,1761699611.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 55.80 m. 2025-10-29T01:00:11.843Z,1761699611.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-29T01:00:11.850Z,1761699611.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 52.277111 m, bearing: 139.197604 deg, approach rate: -0.581594 m/s, LOS rate: -0.032671 deg/s, cmd heading: 138.319377 deg, new cmd heading: 138.289535 deg. 2025-10-29T01:00:11.851Z,1761699611.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.413608 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:11.872Z,1761699611.872 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:11.883Z,1761699611.883 [HorizontalControl](DEBUG): kpHeading = 0.700000 2025-10-29T01:00:11.883Z,1761699611.883 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-29T01:00:12.121Z,1761699612.121 [DAT](INFO): DAT read: Rx Time:01:00:11.4956 2025-10-29T01:00:12.121Z,1761699612.121 [DAT](INFO): Rx dataTimestamp_ set to:1761699612.121082 2025-10-29T01:00:12.122Z,1761699612.122 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:12.296Z,1761699612.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754821,-0.652286,-0.069060],[0.655309,-0.745326,-0.122718],[0.028575,-0.137886,0.990036]] 2025-10-29T01:00:12.315Z,1761699612.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:12.317Z,1761699612.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 51.967060 m, bearing: 139.178558 deg, approach rate: -0.656166 m/s, LOS rate: -0.040547 deg/s, cmd heading: 138.289529 deg, new cmd heading: 138.251210 deg. 2025-10-29T01:00:12.318Z,1761699612.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412939 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:12.374Z,1761699612.374 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:12.627Z,1761699612.627 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:12.737Z,1761699612.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757081,-0.649641,-0.069243],[0.652749,-0.747722,-0.121781],[0.027339,-0.137396,0.990139]] 2025-10-29T01:00:12.794Z,1761699612.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 55.48 m. 2025-10-29T01:00:12.797Z,1761699612.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 55.479572 m, nav range: 51.683037 m, bearing: 139.154207 deg, approach rate: -0.592844 m/s, LOS rate: -0.051107 deg/s, cmd heading: 138.251211 deg, new cmd heading: 138.202242 deg. 2025-10-29T01:00:12.798Z,1761699612.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.412084 target range: 55.479572 and range: 55.80 m. 2025-10-29T01:00:12.885Z,1761699612.885 [DAT](INFO): DAT read: 01:00:11.4956 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408,-0.17, 2.956, 1.271,-3.037, 2.860, PHS= 0.198,-1.543, 0.343, RAW= 154.0, 11.0, CAL= 153.9, 12.1, ROT= 356.1, -12.1 2025-10-29T01:00:12.886Z,1761699612.886 [DAT](INFO): got valid direction response: 01:00:11.4956 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 408,-0.17, 2.956, 1.271,-3.037, 2.860, PHS= 0.198,-1.543, 0.343, RAW= 154.0, 11.0, CAL= 153.9, 12.1, ROT= 356.1, -12.1 2025-10-29T01:00:12.888Z,1761699612.888 [DAT](INFO): DAT read: Bearing 305.3, -4.2 (Local) 2025-10-29T01:00:12.888Z,1761699612.888 [DAT](INFO): Local bearing/azimuth received: Bearing 305.3, -4.2 (Local) 2025-10-29T01:00:12.890Z,1761699612.890 [DAT](INFO): DAT read: Range 11 to 50 : 53.5 m (Round-trip 71.4 ms) speed 0.4 m/s 2025-10-29T01:00:12.891Z,1761699612.891 [DAT](INFO): DAT read: user:653>Tx time:01:00:12.5700 2025-10-29T01:00:12.911Z,1761699612.911 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:12.925Z,1761699612.925 [DAT](INFO): direction in FSK: [0.975519,-0.066504,0.209619] 2025-10-29T01:00:12.925Z,1761699612.925 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:12.933Z,1761699612.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:12.933Z,1761699612.933 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:13.099Z,1761699613.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758922,-0.647579,-0.068401],[0.650648,-0.749856,-0.119888],[0.026346,-0.135491,0.990428]] 2025-10-29T01:00:13.129Z,1761699613.129 [DAT](INFO): DAT read: 2025-10-29T01:00:13.129Z,1761699613.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:13.157Z,1761699613.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 53.500000 m, deltaT: 3.532072 s, deltaX: -2.299999 m, approachRate: -0.651176 m/s, rangeRepo size: 4 2025-10-29T01:00:13.159Z,1761699613.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 53.193012 m, bearing: 137.178529 deg, lat: 36.779283 deg, lon: -121.859530 deg, deltaT: 3.532072 s, deltaX: -2.286560 m, approachRate: -0.647371 m/s, posRepo size: 4 2025-10-29T01:00:13.164Z,1761699613.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:13.167Z,1761699613.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 51.276917 m, bearing: 138.748291 deg, approach rate: 0.000000 m/s, LOS rate: -0.051107 deg/s, cmd heading: 138.202239 deg, new cmd heading: 138.165142 deg. 2025-10-29T01:00:13.172Z,1761699613.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.411437 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:13.381Z,1761699613.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:13.502Z,1761699613.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760813,-0.645292,-0.069006],[0.648462,-0.751699,-0.120190],[0.025686,-0.136190,0.990350]] 2025-10-29T01:00:13.559Z,1761699613.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:13.561Z,1761699613.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:13.564Z,1761699613.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 51.042618 m, bearing: 138.724448 deg, approach rate: -0.578580 m/s, LOS rate: -0.059148 deg/s, cmd heading: 138.165137 deg, new cmd heading: 138.117233 deg. 2025-10-29T01:00:13.565Z,1761699613.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.410600 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:13.635Z,1761699613.635 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:13.889Z,1761699613.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:13.910Z,1761699613.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762381,-0.643271,-0.070552],[0.646651,-0.753087,-0.121257],[0.024869,-0.138066,0.990111]] 2025-10-29T01:00:13.949Z,1761699613.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:13.951Z,1761699613.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 50.795826 m, bearing: 138.690158 deg, approach rate: -0.637616 m/s, LOS rate: -0.089022 deg/s, cmd heading: 138.117230 deg, new cmd heading: 138.048318 deg. 2025-10-29T01:00:13.972Z,1761699613.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.409398 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:14.141Z,1761699614.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:14.313Z,1761699614.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763542,-0.641706,-0.072226],[0.645322,-0.754128,-0.121862],[0.023732,-0.139656,0.989916]] 2025-10-29T01:00:14.331Z,1761699614.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:14.334Z,1761699614.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 50.567207 m, bearing: 138.657644 deg, approach rate: -0.597393 m/s, LOS rate: -0.085345 deg/s, cmd heading: 138.048314 deg, new cmd heading: 137.982991 deg. 2025-10-29T01:00:14.335Z,1761699614.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.408257 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:14.393Z,1761699614.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:14.645Z,1761699614.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:14.751Z,1761699614.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764473,-0.640455,-0.073478],[0.644253,-0.754987,-0.122196],[0.022786,-0.140754,0.989782]] 2025-10-29T01:00:14.812Z,1761699614.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:14.815Z,1761699614.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 50.288685 m, bearing: 138.612397 deg, approach rate: -0.579578 m/s, LOS rate: -0.094677 deg/s, cmd heading: 137.982990 deg, new cmd heading: 137.891993 deg. 2025-10-29T01:00:14.816Z,1761699614.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.406669 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:14.898Z,1761699614.898 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:15.122Z,1761699615.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765124,-0.639474,-0.075223],[0.643533,-0.755619,-0.122088],[0.021232,-0.141820,0.989665]] 2025-10-29T01:00:15.149Z,1761699615.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:15.193Z,1761699615.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:15.195Z,1761699615.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 50.084454 m, bearing: 138.578673 deg, approach rate: -0.536358 m/s, LOS rate: -0.088928 deg/s, cmd heading: 137.891998 deg, new cmd heading: 137.824275 deg. 2025-10-29T01:00:15.196Z,1761699615.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.405487 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:15.401Z,1761699615.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:15.536Z,1761699615.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765446,-0.638844,-0.077262],[0.643203,-0.755911,-0.122021],[0.019549,-0.143096,0.989516]] 2025-10-29T01:00:15.561Z,1761699615.561 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:15.563Z,1761699615.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:15.566Z,1761699615.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 49.853409 m, bearing: 138.540074 deg, approach rate: -0.623367 m/s, LOS rate: -0.104624 deg/s, cmd heading: 137.824270 deg, new cmd heading: 137.746714 deg. 2025-10-29T01:00:15.567Z,1761699615.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.404134 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:15.655Z,1761699615.655 [DAT](INFO): DAT read: Rx Time:01:00:15.0428 2025-10-29T01:00:15.655Z,1761699615.655 [DAT](INFO): Rx dataTimestamp_ set to:1761699615.654708 2025-10-29T01:00:15.655Z,1761699615.655 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:15.905Z,1761699615.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:15.927Z,1761699615.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765472,-0.638601,-0.079002],[0.643224,-0.755998,-0.121370],[0.017782,-0.143721,0.989459]] 2025-10-29T01:00:15.983Z,1761699615.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:15.986Z,1761699615.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 49.615723 m, bearing: 138.497926 deg, approach rate: -0.566717 m/s, LOS rate: -0.100974 deg/s, cmd heading: 137.746720 deg, new cmd heading: 137.662021 deg. 2025-10-29T01:00:15.986Z,1761699615.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.402656 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:16.157Z,1761699616.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:16.342Z,1761699616.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765285,-0.638617,-0.080674],[0.643492,-0.755889,-0.120624],[0.016052,-0.144224,0.989415]] 2025-10-29T01:00:16.400Z,1761699616.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 53.19 m. 2025-10-29T01:00:16.403Z,1761699616.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 53.193012 m, nav range: 49.390640 m, bearing: 138.457727 deg, approach rate: -0.544673 m/s, LOS rate: -0.097720 deg/s, cmd heading: 137.662026 deg, new cmd heading: 137.581261 deg. 2025-10-29T01:00:16.415Z,1761699616.415 [DAT](INFO): DAT read: 01:00:15.0428 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.01, 1.680, 0.002, 1.979, 1.577, PHS= 0.205,-1.530, 0.358, RAW= 154.2, 10.7, CAL= 154.1, 11.7, ROT= 355.9, -11.7 2025-10-29T01:00:16.420Z,1761699616.420 [DAT](INFO): got valid direction response: 01:00:15.0428 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 412, 0.01, 1.680, 0.002, 1.979, 1.577, PHS= 0.205,-1.530, 0.358, RAW= 154.2, 10.7, CAL= 154.1, 11.7, ROT= 355.9, -11.7 2025-10-29T01:00:16.421Z,1761699616.421 [DAT](INFO): DAT read: Bearing 304.8, -4.8 (Local) 2025-10-29T01:00:16.421Z,1761699616.421 [DAT](INFO): Local bearing/azimuth received: Bearing 304.8, -4.8 (Local) 2025-10-29T01:00:16.423Z,1761699616.423 [DAT](INFO): DAT read: Range 11 to 50 : 51.5 m (Round-trip 68.7 ms) speed 0.5 m/s 2025-10-29T01:00:16.425Z,1761699616.425 [DAT](INFO): DAT read: user:654>Tx time:01:00:16.1200 2025-10-29T01:00:16.425Z,1761699616.425 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:16.426Z,1761699616.426 [DAT](INFO): direction in FSK: [0.976717,-0.070012,0.202787] 2025-10-29T01:00:16.427Z,1761699616.427 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:16.430Z,1761699616.430 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:16.430Z,1761699616.430 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:16.437Z,1761699616.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.401246 target range: 53.193012 and range: 53.50 m. 2025-10-29T01:00:16.662Z,1761699616.662 [DAT](INFO): DAT read: 2025-10-29T01:00:16.663Z,1761699616.663 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:16.801Z,1761699616.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765104,-0.638352,-0.084390],[0.643756,-0.755501,-0.121639],[0.013892,-0.147393,0.988980]] 2025-10-29T01:00:16.863Z,1761699616.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.500000 m, deltaT: 3.532165 s, deltaX: -2.000000 m, approachRate: -0.566225 m/s, rangeRepo size: 4 2025-10-29T01:00:16.865Z,1761699616.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.204494 m, bearing: 137.608301 deg, lat: 36.779282 deg, lon: -121.859519 deg, deltaT: 3.532165 s, deltaX: -1.988518 m, approachRate: -0.562974 m/s, posRepo size: 4 2025-10-29T01:00:16.866Z,1761699616.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:16.869Z,1761699616.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 49.898201 m, bearing: 137.608126 deg, approach rate: 0.000000 m/s, LOS rate: -0.097720 deg/s, cmd heading: 137.581265 deg, new cmd heading: 137.490161 deg. 2025-10-29T01:00:16.869Z,1761699616.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.399656 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:16.914Z,1761699616.914 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:17.165Z,1761699617.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:17.221Z,1761699617.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:17.224Z,1761699617.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 49.693001 m, bearing: 137.564404 deg, approach rate: -0.571243 m/s, LOS rate: -0.122218 deg/s, cmd heading: 137.490164 deg, new cmd heading: 137.402359 deg. 2025-10-29T01:00:17.225Z,1761699617.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.398124 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:17.417Z,1761699617.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:17.583Z,1761699617.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764731,-0.638158,-0.089114],[0.644265,-0.755028,-0.121886],[0.010499,-0.150623,0.988536]] 2025-10-29T01:00:17.600Z,1761699617.600 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:17.602Z,1761699617.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:17.605Z,1761699617.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 49.480003 m, bearing: 137.518827 deg, approach rate: -0.559511 m/s, LOS rate: -0.120238 deg/s, cmd heading: 137.402355 deg, new cmd heading: 137.310810 deg. 2025-10-29T01:00:17.606Z,1761699617.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.396526 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:17.670Z,1761699617.670 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:17.921Z,1761699617.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:17.987Z,1761699617.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764143,-0.638679,-0.090413],[0.644993,-0.754721,-0.119921],[0.008355,-0.149952,0.988658]] 2025-10-29T01:00:18.046Z,1761699618.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:18.049Z,1761699618.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 49.232384 m, bearing: 137.473267 deg, approach rate: -0.557259 m/s, LOS rate: -0.103048 deg/s, cmd heading: 137.310804 deg, new cmd heading: 137.219225 deg. 2025-10-29T01:00:18.050Z,1761699618.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.394927 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:18.173Z,1761699618.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:18.398Z,1761699618.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.763065,-0.639548,-0.093330],[0.646295,-0.753708,-0.119276],[0.005939,-0.151333,0.988465]] 2025-10-29T01:00:18.417Z,1761699618.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:18.419Z,1761699618.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 49.025917 m, bearing: 137.435348 deg, approach rate: -0.557184 m/s, LOS rate: -0.102760 deg/s, cmd heading: 137.219224 deg, new cmd heading: 137.143068 deg. 2025-10-29T01:00:18.421Z,1761699618.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.393598 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:18.425Z,1761699618.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:18.677Z,1761699618.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:18.831Z,1761699618.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762849,-0.639334,-0.096507],[0.646563,-0.753302,-0.120384],[0.004267,-0.154232,0.988025]] 2025-10-29T01:00:18.869Z,1761699618.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:18.871Z,1761699618.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 48.776085 m, bearing: 137.391715 deg, approach rate: -0.552895 m/s, LOS rate: -0.097058 deg/s, cmd heading: 137.143068 deg, new cmd heading: 137.055355 deg. 2025-10-29T01:00:18.925Z,1761699618.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.392067 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:18.929Z,1761699618.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:19.181Z,1761699619.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:19.253Z,1761699619.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762439,-0.639485,-0.098721],[0.647056,-0.752937,-0.120016],[0.002418,-0.155382,0.987851]] 2025-10-29T01:00:19.272Z,1761699619.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:19.275Z,1761699619.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 48.552361 m, bearing: 137.352434 deg, approach rate: -0.554727 m/s, LOS rate: -0.097848 deg/s, cmd heading: 137.055355 deg, new cmd heading: 136.976430 deg. 2025-10-29T01:00:19.276Z,1761699619.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.390690 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:19.433Z,1761699619.433 [DAT](INFO): DAT read: Rx Time:01:00:18.5900 2025-10-29T01:00:19.433Z,1761699619.433 [DAT](INFO): Rx dataTimestamp_ set to:1761699619.433091 2025-10-29T01:00:19.434Z,1761699619.434 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:19.650Z,1761699619.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762296,-0.639370,-0.100551],[0.647228,-0.752769,-0.120148],[0.001128,-0.156667,0.987651]] 2025-10-29T01:00:19.669Z,1761699619.669 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:19.671Z,1761699619.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.20 m. 2025-10-29T01:00:19.674Z,1761699619.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.204494 m, nav range: 48.331528 m, bearing: 137.313365 deg, approach rate: -0.552918 m/s, LOS rate: -0.098267 deg/s, cmd heading: 136.976425 deg, new cmd heading: 136.897931 deg. 2025-10-29T01:00:19.675Z,1761699619.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.389320 target range: 51.204494 and range: 51.50 m. 2025-10-29T01:00:19.685Z,1761699619.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:19.942Z,1761699619.942 [DAT](INFO): DAT read: 01:00:18.5899 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 415, 0.13,-1.570, 3.002,-1.226,-1.693, PHS= 0.226,-1.543, 0.424, RAW= 155.2, 9.6, CAL= 155.0, 10.3, ROT= 355.0, -10.3 2025-10-29T01:00:19.944Z,1761699619.944 [DAT](INFO): got valid direction response: 01:00:18.5899 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 415, 0.13,-1.570, 3.002,-1.226,-1.693, PHS= 0.226,-1.543, 0.424, RAW= 155.2, 9.6, CAL= 155.0, 10.3, ROT= 355.0, -10.3 2025-10-29T01:00:19.945Z,1761699619.945 [DAT](INFO): DAT read: Bearing 302.7, -6.4 (Local) 2025-10-29T01:00:19.945Z,1761699619.945 [DAT](INFO): Local bearing/azimuth received: Bearing 302.7, -6.4 (Local) 2025-10-29T01:00:19.946Z,1761699619.946 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m (Round-trip 65.9 ms) speed 0.5 m/s 2025-10-29T01:00:19.947Z,1761699619.947 [DAT](INFO): DAT read: user:655>Tx time:01:00:19.6699 2025-10-29T01:00:19.948Z,1761699619.948 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:19.949Z,1761699619.949 [DAT](INFO): direction in FSK: [0.980141,-0.085751,0.178802] 2025-10-29T01:00:19.949Z,1761699619.949 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:19.955Z,1761699619.955 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:19.976Z,1761699619.976 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:20.138Z,1761699620.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.527705 s, deltaX: -2.099998 m, approachRate: -0.595287 m/s, rangeRepo size: 4 2025-10-29T01:00:20.140Z,1761699620.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.115932 m, bearing: 136.356729 deg, lat: 36.779283 deg, lon: -121.859516 deg, deltaT: 3.527705 s, deltaX: -2.088562 m, approachRate: -0.592046 m/s, posRepo size: 4 2025-10-29T01:00:20.144Z,1761699620.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:20.147Z,1761699620.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 48.144806 m, bearing: 136.970132 deg, approach rate: 0.000000 m/s, LOS rate: -0.098267 deg/s, cmd heading: 136.897932 deg, new cmd heading: 136.806441 deg. 2025-10-29T01:00:20.152Z,1761699620.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.387723 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:20.189Z,1761699620.189 [DAT](INFO): DAT read: 2025-10-29T01:00:20.189Z,1761699620.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:20.441Z,1761699620.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:20.461Z,1761699620.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761610,-0.639615,-0.104130],[0.648031,-0.752295,-0.118777],[-0.002365,-0.157941,0.987446]] 2025-10-29T01:00:20.503Z,1761699620.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:20.512Z,1761699620.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 47.924530 m, bearing: 136.933718 deg, approach rate: -0.602678 m/s, LOS rate: -0.100087 deg/s, cmd heading: 136.806435 deg, new cmd heading: 136.733273 deg. 2025-10-29T01:00:20.524Z,1761699620.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.386446 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:20.693Z,1761699620.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:20.870Z,1761699620.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761441,-0.639634,-0.105240],[0.648223,-0.752252,-0.117998],[-0.003692,-0.158068,0.987421]] 2025-10-29T01:00:20.940Z,1761699620.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:20.943Z,1761699620.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 47.681950 m, bearing: 136.900548 deg, approach rate: -0.559520 m/s, LOS rate: -0.076898 deg/s, cmd heading: 136.733270 deg, new cmd heading: 136.666592 deg. 2025-10-29T01:00:20.945Z,1761699620.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:20.948Z,1761699620.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.385282 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:21.200Z,1761699621.200 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:21.266Z,1761699621.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761078,-0.639711,-0.107379],[0.648639,-0.751879,-0.118089],[-0.005193,-0.159525,0.987180]] 2025-10-29T01:00:21.294Z,1761699621.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:21.297Z,1761699621.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 47.459164 m, bearing: 136.869941 deg, approach rate: -0.622934 m/s, LOS rate: -0.085981 deg/s, cmd heading: 136.666594 deg, new cmd heading: 136.605093 deg. 2025-10-29T01:00:21.297Z,1761699621.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.384209 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:21.449Z,1761699621.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:21.670Z,1761699621.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760953,-0.639731,-0.108146],[0.648775,-0.751927,-0.117030],[-0.006450,-0.159217,0.987222]] 2025-10-29T01:00:21.687Z,1761699621.687 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:21.690Z,1761699621.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:21.701Z,1761699621.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:21.709Z,1761699621.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 47.230988 m, bearing: 136.838342 deg, approach rate: -0.575968 m/s, LOS rate: -0.080149 deg/s, cmd heading: 136.605095 deg, new cmd heading: 136.541591 deg. 2025-10-29T01:00:21.710Z,1761699621.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.383100 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:21.953Z,1761699621.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:22.135Z,1761699622.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:22.138Z,1761699622.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 46.963123 m, bearing: 136.800162 deg, approach rate: -0.601423 m/s, LOS rate: -0.086212 deg/s, cmd heading: 136.541588 deg, new cmd heading: 136.464793 deg. 2025-10-29T01:00:22.139Z,1761699622.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.381760 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:22.206Z,1761699622.206 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:22.457Z,1761699622.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:22.487Z,1761699622.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760484,-0.639851,-0.110700],[0.649294,-0.751656,-0.115896],[-0.009052,-0.160014,0.987073]] 2025-10-29T01:00:22.519Z,1761699622.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:22.542Z,1761699622.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 46.737232 m, bearing: 136.767821 deg, approach rate: -0.590202 m/s, LOS rate: -0.084907 deg/s, cmd heading: 136.464789 deg, new cmd heading: 136.399795 deg. 2025-10-29T01:00:22.545Z,1761699622.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.380625 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:22.709Z,1761699622.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:22.909Z,1761699622.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760248,-0.640054,-0.111152],[0.649561,-0.751506,-0.115366],[-0.009691,-0.159907,0.987085]] 2025-10-29T01:00:22.961Z,1761699622.961 [DAT](INFO): DAT read: Rx Time:01:00:22.1372 2025-10-29T01:00:22.962Z,1761699622.962 [DAT](INFO): Rx dataTimestamp_ set to:1761699622.961494 2025-10-29T01:00:22.962Z,1761699622.962 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:22.964Z,1761699622.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:22.967Z,1761699622.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 46.467052 m, bearing: 136.728843 deg, approach rate: -0.604982 m/s, LOS rate: -0.087786 deg/s, cmd heading: 136.399793 deg, new cmd heading: 136.321384 deg. 2025-10-29T01:00:22.977Z,1761699622.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.379257 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:23.215Z,1761699623.215 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:23.330Z,1761699623.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759298,-0.640736,-0.113684],[0.650637,-0.750659,-0.114817],[-0.011771,-0.161147,0.986860]] 2025-10-29T01:00:23.358Z,1761699623.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.12 m. 2025-10-29T01:00:23.361Z,1761699623.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.115932 m, nav range: 46.229366 m, bearing: 136.694608 deg, approach rate: -0.604467 m/s, LOS rate: -0.087512 deg/s, cmd heading: 136.321382 deg, new cmd heading: 136.252560 deg. 2025-10-29T01:00:23.362Z,1761699623.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.378056 target range: 49.115932 and range: 49.40 m. 2025-10-29T01:00:23.471Z,1761699623.471 [DAT](INFO): DAT read: 01:00:22.1372 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.11,-1.497,-3.122,-1.182,-1.539, PHS= 0.144,-1.538, 0.313, RAW= 154.7, 12.2, CAL= 154.9, 13.5, ROT= 355.1, -13.5 2025-10-29T01:00:23.472Z,1761699623.472 [DAT](INFO): got valid direction response: 01:00:22.1372 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 419, 0.11,-1.497,-3.122,-1.182,-1.539, PHS= 0.144,-1.538, 0.313, RAW= 154.7, 12.2, CAL= 154.9, 13.5, ROT= 355.1, -13.5 2025-10-29T01:00:23.473Z,1761699623.473 [DAT](INFO): DAT read: Bearing 305.5, -7.8 (Local) 2025-10-29T01:00:23.473Z,1761699623.473 [DAT](INFO): Local bearing/azimuth received: Bearing 305.5, -7.8 (Local) 2025-10-29T01:00:23.475Z,1761699623.475 [DAT](INFO): DAT read: Range 11 to 50 : 47.3 m (Round-trip 63.1 ms) speed 0.4 m/s 2025-10-29T01:00:23.476Z,1761699623.476 [DAT](INFO): DAT read: user:656>Tx time:01:00:23.2199 2025-10-29T01:00:23.477Z,1761699623.477 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:23.478Z,1761699623.478 [DAT](INFO): direction in FSK: [0.968816,-0.083057,0.233445] 2025-10-29T01:00:23.478Z,1761699623.478 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:23.482Z,1761699623.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:23.482Z,1761699623.482 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:23.717Z,1761699623.717 [DAT](INFO): DAT read: 2025-10-29T01:00:23.717Z,1761699623.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:23.775Z,1761699623.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.299999 m, deltaT: 3.528203 s, deltaX: -2.100002 m, approachRate: -0.595204 m/s, rangeRepo size: 4 2025-10-29T01:00:23.781Z,1761699623.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.027908 m, bearing: 136.793530 deg, lat: 36.779284 deg, lon: -121.859516 deg, deltaT: 3.528203 s, deltaX: -2.088024 m, approachRate: -0.591810 m/s, posRepo size: 4 2025-10-29T01:00:23.782Z,1761699623.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:23.793Z,1761699623.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 45.918884 m, bearing: 136.557321 deg, approach rate: 0.000000 m/s, LOS rate: -0.087512 deg/s, cmd heading: 136.252561 deg, new cmd heading: 136.179814 deg. 2025-10-29T01:00:23.794Z,1761699623.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.376786 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:23.969Z,1761699623.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:24.095Z,1761699624.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.759037,-0.640891,-0.114545],[0.650922,-0.750499,-0.114241],[-0.012750,-0.161273,0.986827]] 2025-10-29T01:00:24.142Z,1761699624.142 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:24.145Z,1761699624.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:24.164Z,1761699624.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 45.674801 m, bearing: 136.519261 deg, approach rate: -0.658150 m/s, LOS rate: -0.103174 deg/s, cmd heading: 136.179820 deg, new cmd heading: 136.103293 deg. 2025-10-29T01:00:24.165Z,1761699624.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.375451 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:24.221Z,1761699624.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:24.473Z,1761699624.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:24.528Z,1761699624.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.758701,-0.641110,-0.115542],[0.651291,-0.750281,-0.113571],[-0.013878,-0.161418,0.986789]] 2025-10-29T01:00:24.559Z,1761699624.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:24.566Z,1761699624.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 45.436481 m, bearing: 136.481855 deg, approach rate: -0.574331 m/s, LOS rate: -0.090620 deg/s, cmd heading: 136.103294 deg, new cmd heading: 136.028089 deg. 2025-10-29T01:00:24.567Z,1761699624.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.374138 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:24.725Z,1761699624.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:24.931Z,1761699624.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757858,-0.641459,-0.119088],[0.652226,-0.749351,-0.114340],[-0.015894,-0.164326,0.986278]] 2025-10-29T01:00:24.977Z,1761699624.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:24.979Z,1761699624.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:24.982Z,1761699624.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 45.191078 m, bearing: 136.447611 deg, approach rate: -0.584806 m/s, LOS rate: -0.082047 deg/s, cmd heading: 136.028094 deg, new cmd heading: 135.959235 deg. 2025-10-29T01:00:24.983Z,1761699624.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.372936 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:25.229Z,1761699625.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:25.337Z,1761699625.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.757314,-0.641796,-0.120721],[0.652824,-0.748870,-0.114078],[-0.017190,-0.165203,0.986110]] 2025-10-29T01:00:25.367Z,1761699625.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:25.374Z,1761699625.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 44.972992 m, bearing: 136.417094 deg, approach rate: -0.561259 m/s, LOS rate: -0.078919 deg/s, cmd heading: 135.959232 deg, new cmd heading: 135.897902 deg. 2025-10-29T01:00:25.375Z,1761699625.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.371866 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:25.481Z,1761699625.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:25.733Z,1761699625.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:25.747Z,1761699625.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756816,-0.642212,-0.121633],[0.653373,-0.748512,-0.113290],[-0.018288,-0.165211,0.986089]] 2025-10-29T01:00:25.775Z,1761699625.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:25.779Z,1761699625.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 44.733383 m, bearing: 136.383449 deg, approach rate: -0.587634 m/s, LOS rate: -0.082954 deg/s, cmd heading: 135.897897 deg, new cmd heading: 135.830248 deg. 2025-10-29T01:00:25.780Z,1761699625.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.370685 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:25.987Z,1761699625.987 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:26.142Z,1761699626.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.756270,-0.642633,-0.122795],[0.653967,-0.748114,-0.112485],[-0.019577,-0.165373,0.986037]] 2025-10-29T01:00:26.191Z,1761699626.191 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:26.193Z,1761699626.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:26.197Z,1761699626.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 44.484673 m, bearing: 136.341510 deg, approach rate: -0.594482 m/s, LOS rate: -0.100808 deg/s, cmd heading: 135.830251 deg, new cmd heading: 135.745902 deg. 2025-10-29T01:00:26.198Z,1761699626.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.369213 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:26.238Z,1761699626.238 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:26.491Z,1761699626.491 [DAT](INFO): DAT read: Rx Time:01:00:25.6845 2025-10-29T01:00:26.492Z,1761699626.492 [DAT](INFO): Rx dataTimestamp_ set to:1761699626.491004 2025-10-29T01:00:26.493Z,1761699626.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:26.549Z,1761699626.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755619,-0.643225,-0.123700],[0.654677,-0.747675,-0.111267],[-0.020918,-0.165059,0.986062]] 2025-10-29T01:00:26.579Z,1761699626.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.03 m. 2025-10-29T01:00:26.586Z,1761699626.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.027908 m, nav range: 44.261692 m, bearing: 136.303782 deg, approach rate: -0.577909 m/s, LOS rate: -0.098273 deg/s, cmd heading: 135.745898 deg, new cmd heading: 135.670063 deg. 2025-10-29T01:00:26.587Z,1761699626.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.367889 target range: 47.027908 and range: 47.30 m. 2025-10-29T01:00:26.741Z,1761699626.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:27.005Z,1761699627.005 [DAT](INFO): DAT read: 01:00:25.6845 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.01,-1.945, 2.697,-1.610,-1.948, PHS= 0.105,-1.594, 0.294, RAW= 155.2, 13.2, CAL= 155.5, 14.9, ROT= 354.5, -14.9 2025-10-29T01:00:27.007Z,1761699627.007 [DAT](INFO): got valid direction response: 01:00:25.6845 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 408, 0.01,-1.945, 2.697,-1.610,-1.948, PHS= 0.105,-1.594, 0.294, RAW= 155.2, 13.2, CAL= 155.5, 14.9, ROT= 354.5, -14.9 2025-10-29T01:00:27.009Z,1761699627.009 [DAT](INFO): DAT read: Bearing 305.6, -9.4 (Local) 2025-10-29T01:00:27.009Z,1761699627.009 [DAT](INFO): Local bearing/azimuth received: Bearing 305.6, -9.4 (Local) 2025-10-29T01:00:27.011Z,1761699627.011 [DAT](INFO): DAT read: Range 11 to 50 : 45.3 m (Round-trip 60.5 ms) speed 0.6 m/s 2025-10-29T01:00:27.017Z,1761699627.017 [DAT](INFO): DAT read: user:657>Tx time:01:00:26.7699 2025-10-29T01:00:27.018Z,1761699627.018 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:27.068Z,1761699627.068 [DAT](INFO): direction in FSK: [0.961927,-0.092623,0.257133] 2025-10-29T01:00:27.069Z,1761699627.069 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:27.080Z,1761699627.080 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:27.080Z,1761699627.080 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:27.130Z,1761699627.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.299999 m, deltaT: 3.528687 s, deltaX: -2.000000 m, approachRate: -0.566783 m/s, rangeRepo size: 4 2025-10-29T01:00:27.137Z,1761699627.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.039764 m, bearing: 136.200016 deg, lat: 36.779285 deg, lon: -121.859518 deg, deltaT: 3.528687 s, deltaX: -1.988144 m, approachRate: -0.563423 m/s, posRepo size: 4 2025-10-29T01:00:27.137Z,1761699627.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:27.144Z,1761699627.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 43.680721 m, bearing: 136.270540 deg, approach rate: 0.000000 m/s, LOS rate: -0.098273 deg/s, cmd heading: 135.670069 deg, new cmd heading: 135.561867 deg. 2025-10-29T01:00:27.145Z,1761699627.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.366001 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:27.245Z,1761699627.245 [DAT](INFO): DAT read: 2025-10-29T01:00:27.246Z,1761699627.246 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:27.473Z,1761699627.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.754119,-0.644502,-0.126181],[0.656313,-0.746499,-0.109514],[-0.023612,-0.165401,0.985944]] 2025-10-29T01:00:27.497Z,1761699627.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:27.544Z,1761699627.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:27.547Z,1761699627.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 43.468697 m, bearing: 136.230863 deg, approach rate: -0.520599 m/s, LOS rate: -0.097896 deg/s, cmd heading: 135.561865 deg, new cmd heading: 135.482125 deg. 2025-10-29T01:00:27.548Z,1761699627.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.364609 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:27.749Z,1761699627.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:27.891Z,1761699627.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.753370,-0.645167,-0.127251],[0.657134,-0.745864,-0.108908],[-0.024648,-0.165669,0.985873]] 2025-10-29T01:00:28.002Z,1761699628.002 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:28.009Z,1761699628.009 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:00:28.019Z,1761699628.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:28.026Z,1761699628.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 43.190395 m, bearing: 136.178607 deg, approach rate: -0.577454 m/s, LOS rate: -0.109127 deg/s, cmd heading: 135.482130 deg, new cmd heading: 135.376943 deg. 2025-10-29T01:00:28.027Z,1761699628.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.362773 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:28.253Z,1761699628.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:28.352Z,1761699628.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.752747,-0.645713,-0.128167],[0.657814,-0.745344,-0.108370],[-0.025552,-0.165885,0.985814]] 2025-10-29T01:00:28.442Z,1761699628.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:28.472Z,1761699628.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:28.475Z,1761699628.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 42.928295 m, bearing: 136.129441 deg, approach rate: -0.583552 m/s, LOS rate: -0.110134 deg/s, cmd heading: 135.376945 deg, new cmd heading: 135.278013 deg. 2025-10-29T01:00:28.481Z,1761699628.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.361047 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:28.505Z,1761699628.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:28.757Z,1761699628.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:28.857Z,1761699628.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:28.860Z,1761699628.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 42.692299 m, bearing: 136.084650 deg, approach rate: -0.606316 m/s, LOS rate: -0.115713 deg/s, cmd heading: 135.278016 deg, new cmd heading: 135.187939 deg. 2025-10-29T01:00:28.861Z,1761699628.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.359475 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:29.010Z,1761699629.010 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:29.013Z,1761699629.013 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:00:29.259Z,1761699629.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:29.261Z,1761699629.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:29.263Z,1761699629.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 42.468029 m, bearing: 136.035001 deg, approach rate: -0.558790 m/s, LOS rate: -0.124357 deg/s, cmd heading: 135.187940 deg, new cmd heading: 135.088119 deg. 2025-10-29T01:00:29.265Z,1761699629.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.357733 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:29.513Z,1761699629.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:29.605Z,1761699629.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749792,-0.648335,-0.132187],[0.661071,-0.742535,-0.107830],[-0.028244,-0.168235,0.985342]] 2025-10-29T01:00:29.644Z,1761699629.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:29.647Z,1761699629.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 42.252918 m, bearing: 135.988223 deg, approach rate: -0.558435 m/s, LOS rate: -0.122058 deg/s, cmd heading: 135.088123 deg, new cmd heading: 134.994090 deg. 2025-10-29T01:00:29.665Z,1761699629.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.356091 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:29.766Z,1761699629.766 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:30.020Z,1761699630.020 [DAT](INFO): DAT read: Rx Time:01:00:29.2317 2025-10-29T01:00:30.021Z,1761699630.021 [DAT](INFO): Rx dataTimestamp_ set to:1761699630.020251 2025-10-29T01:00:30.021Z,1761699630.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:30.046Z,1761699630.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.748839,-0.649215,-0.133267],[0.662124,-0.741599,-0.107811],[-0.028838,-0.168973,0.985199]] 2025-10-29T01:00:30.102Z,1761699630.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:30.105Z,1761699630.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 42.009121 m, bearing: 135.935200 deg, approach rate: -0.532220 m/s, LOS rate: -0.116422 deg/s, cmd heading: 134.994085 deg, new cmd heading: 134.887425 deg. 2025-10-29T01:00:30.106Z,1761699630.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.354230 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:30.273Z,1761699630.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:30.430Z,1761699630.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.747816,-0.650191,-0.134250],[0.663250,-0.740634,-0.107524],[-0.029519,-0.169449,0.985097]] 2025-10-29T01:00:30.455Z,1761699630.455 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:30.461Z,1761699630.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.04 m. 2025-10-29T01:00:30.468Z,1761699630.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.039764 m, nav range: 41.805626 m, bearing: 135.890903 deg, approach rate: -0.566603 m/s, LOS rate: -0.123940 deg/s, cmd heading: 134.887425 deg, new cmd heading: 134.798399 deg. 2025-10-29T01:00:30.469Z,1761699630.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.352676 target range: 45.039764 and range: 45.30 m. 2025-10-29T01:00:30.536Z,1761699630.536 [DAT](INFO): DAT read: 01:00:29.2317 LVL= 31536, 32753, 31330, 32755, AGC= 66, IDX= 411, 0.10, 1.393,-0.271, 1.718, 1.276, PHS= 0.218,-1.502, 0.398, RAW= 154.9, 9.8, CAL= 154.7, 10.6, ROT= 355.3, -10.6 2025-10-29T01:00:30.538Z,1761699630.538 [DAT](INFO): got valid direction response: 01:00:29.2317 LVL= 31536, 32753, 31330, 32755, AGC= 66, IDX= 411, 0.10, 1.393,-0.271, 1.718, 1.276, PHS= 0.218,-1.502, 0.398, RAW= 154.9, 9.8, CAL= 154.7, 10.6, ROT= 355.3, -10.6 2025-10-29T01:00:30.539Z,1761699630.539 [DAT](INFO): DAT read: Bearing 300.0, -8.2 (Local) 2025-10-29T01:00:30.542Z,1761699630.542 [DAT](INFO): Local bearing/azimuth received: Bearing 300.0, -8.2 (Local) 2025-10-29T01:00:30.544Z,1761699630.544 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.7 ms) speed 0.4 m/s 2025-10-29T01:00:30.546Z,1761699630.546 [DAT](INFO): DAT read: user:658>Tx time:01:00:30.3199 2025-10-29T01:00:30.547Z,1761699630.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:30.557Z,1761699630.557 [DAT](INFO): direction in FSK: [0.979630,-0.080540,0.183951] 2025-10-29T01:00:30.557Z,1761699630.557 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:30.566Z,1761699630.566 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:30.566Z,1761699630.566 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:30.777Z,1761699630.777 [DAT](INFO): DAT read: 2025-10-29T01:00:30.778Z,1761699630.778 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:30.837Z,1761699630.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.746442,-0.651334,-0.136341],[0.664783,-0.739050,-0.108946],[-0.029803,-0.171959,0.984653]] 2025-10-29T01:00:30.861Z,1761699630.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.531265 s, deltaX: -2.099998 m, approachRate: -0.594687 m/s, rangeRepo size: 4 2025-10-29T01:00:30.863Z,1761699630.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.951912 m, bearing: 135.539614 deg, lat: 36.779284 deg, lon: -121.859518 deg, deltaT: 3.531265 s, deltaX: -2.087852 m, approachRate: -0.591248 m/s, posRepo size: 4 2025-10-29T01:00:30.863Z,1761699630.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:30.882Z,1761699630.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 41.711353 m, bearing: 136.017520 deg, approach rate: 0.000000 m/s, LOS rate: -0.123940 deg/s, cmd heading: 134.798400 deg, new cmd heading: 134.699569 deg. 2025-10-29T01:00:30.883Z,1761699630.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.350951 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:31.029Z,1761699631.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:31.234Z,1761699631.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745112,-0.652535,-0.137863],[0.666264,-0.737586,-0.109819],[-0.030025,-0.173680,0.984344]] 2025-10-29T01:00:31.270Z,1761699631.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:31.281Z,1761699631.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:31.289Z,1761699631.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 41.483425 m, bearing: 135.966289 deg, approach rate: -0.555693 m/s, LOS rate: -0.125587 deg/s, cmd heading: 134.699568 deg, new cmd heading: 134.596544 deg. 2025-10-29T01:00:31.290Z,1761699631.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.349153 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:31.533Z,1761699631.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:31.636Z,1761699631.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.743903,-0.653694,-0.138896],[0.667585,-0.736425,-0.109586],[-0.030651,-0.174246,0.984225]] 2025-10-29T01:00:31.661Z,1761699631.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:31.663Z,1761699631.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 41.268425 m, bearing: 135.917993 deg, approach rate: -0.550316 m/s, LOS rate: -0.124263 deg/s, cmd heading: 134.596541 deg, new cmd heading: 134.499446 deg. 2025-10-29T01:00:31.665Z,1761699631.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.347458 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:31.785Z,1761699631.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:32.039Z,1761699632.039 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:32.058Z,1761699632.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.742775,-0.654869,-0.139401],[0.668812,-0.735420,-0.108849],[-0.031236,-0.174084,0.984235]] 2025-10-29T01:00:32.111Z,1761699632.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:32.114Z,1761699632.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 41.024281 m, bearing: 135.870329 deg, approach rate: -0.542373 m/s, LOS rate: -0.106518 deg/s, cmd heading: 134.499443 deg, new cmd heading: 134.403547 deg. 2025-10-29T01:00:32.115Z,1761699632.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.345784 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:32.289Z,1761699632.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:32.445Z,1761699632.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.741536,-0.656046,-0.140454],[0.670144,-0.734293,-0.108261],[-0.032110,-0.174403,0.984151]] 2025-10-29T01:00:32.462Z,1761699632.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:32.464Z,1761699632.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:32.466Z,1761699632.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 40.817024 m, bearing: 135.829956 deg, approach rate: -0.587681 m/s, LOS rate: -0.115058 deg/s, cmd heading: 134.403547 deg, new cmd heading: 134.322393 deg. 2025-10-29T01:00:32.467Z,1761699632.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.344368 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:32.541Z,1761699632.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:32.793Z,1761699632.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:32.846Z,1761699632.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740520,-0.657141,-0.140700],[0.671257,-0.733337,-0.107844],[-0.032312,-0.174306,0.984161]] 2025-10-29T01:00:32.894Z,1761699632.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:32.898Z,1761699632.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 40.574543 m, bearing: 135.782718 deg, approach rate: -0.563144 m/s, LOS rate: -0.110363 deg/s, cmd heading: 134.322391 deg, new cmd heading: 134.227350 deg. 2025-10-29T01:00:32.899Z,1761699632.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.342709 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:33.045Z,1761699633.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:33.250Z,1761699633.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739634,-0.657912,-0.141748],[0.672205,-0.732471,-0.107829],[-0.032885,-0.175038,0.984012]] 2025-10-29T01:00:33.297Z,1761699633.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:33.306Z,1761699633.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:33.309Z,1761699633.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 40.347408 m, bearing: 135.737391 deg, approach rate: -0.551820 m/s, LOS rate: -0.110741 deg/s, cmd heading: 134.227356 deg, new cmd heading: 134.136192 deg. 2025-10-29T01:00:33.310Z,1761699633.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.341118 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:33.549Z,1761699633.549 [DAT](INFO): DAT read: Rx Time:01:00:32.7791 2025-10-29T01:00:33.549Z,1761699633.549 [DAT](INFO): Rx dataTimestamp_ set to:1761699633.549110 2025-10-29T01:00:33.550Z,1761699633.550 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:33.656Z,1761699633.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738706,-0.658725,-0.142813],[0.673197,-0.731562,-0.107809],[-0.033460,-0.175781,0.983860]] 2025-10-29T01:00:33.674Z,1761699633.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.95 m. 2025-10-29T01:00:33.678Z,1761699633.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.951912 m, nav range: 40.143871 m, bearing: 135.696740 deg, approach rate: -0.552071 m/s, LOS rate: -0.110821 deg/s, cmd heading: 134.136186 deg, new cmd heading: 134.054472 deg. 2025-10-29T01:00:33.678Z,1761699633.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.339692 target range: 42.951912 and range: 43.20 m. 2025-10-29T01:00:33.801Z,1761699633.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:34.079Z,1761699634.079 [DAT](INFO): DAT read: 01:00:32.7791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.26, 3.024, 1.403,-2.907, 3.076, PHS= 0.051,-1.627, 0.257, RAW= 155.7, 14.6, CAL= 156.3, 16.7, ROT= 353.7, -16.7 2025-10-29T01:00:34.089Z,1761699634.089 [DAT](INFO): got valid direction response: 01:00:32.7791 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 417,-0.26, 3.024, 1.403,-2.907, 3.076, PHS= 0.051,-1.627, 0.257, RAW= 155.7, 14.6, CAL= 156.3, 16.7, ROT= 353.7, -16.7 2025-10-29T01:00:34.089Z,1761699634.089 [DAT](INFO): DAT read: Bearing 305.0, -10.9 (Local) 2025-10-29T01:00:34.090Z,1761699634.090 [DAT](INFO): Local bearing/azimuth received: Bearing 305.0, -10.9 (Local) 2025-10-29T01:00:34.091Z,1761699634.091 [DAT](INFO): DAT read: Range 11 to 50 : 41.2 m (Round-trip 55.0 ms) speed 0.5 m/s 2025-10-29T01:00:34.101Z,1761699634.101 [DAT](INFO): DAT read: user:659>Tx time:01:00:33.8699 2025-10-29T01:00:34.101Z,1761699634.101 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:34.102Z,1761699634.102 [DAT](INFO): direction in FSK: [0.952038,-0.105106,0.287361] 2025-10-29T01:00:34.102Z,1761699634.102 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:34.106Z,1761699634.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.738187,-0.659234,-0.143146],[0.673757,-0.731056,-0.107737],[-0.033624,-0.175976,0.983820]] 2025-10-29T01:00:34.126Z,1761699634.126 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:34.126Z,1761699634.126 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:34.215Z,1761699634.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.200001 m, deltaT: 3.529105 s, deltaX: -2.000000 m, approachRate: -0.566716 m/s, rangeRepo size: 4 2025-10-29T01:00:34.221Z,1761699634.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.963570 m, bearing: 134.465985 deg, lat: 36.779285 deg, lon: -121.859515 deg, deltaT: 3.529105 s, deltaX: -1.988342 m, approachRate: -0.563413 m/s, posRepo size: 4 2025-10-29T01:00:34.222Z,1761699634.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:34.229Z,1761699634.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 39.924847 m, bearing: 135.153802 deg, approach rate: 0.000000 m/s, LOS rate: -0.110821 deg/s, cmd heading: 134.054470 deg, new cmd heading: 133.934835 deg. 2025-10-29T01:00:34.230Z,1761699634.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.337604 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:34.305Z,1761699634.305 [DAT](INFO): DAT read: 2025-10-29T01:00:34.305Z,1761699634.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:34.557Z,1761699634.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:34.558Z,1761699634.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.736265,-0.661881,-0.140810],[0.675845,-0.729661,-0.104058],[-0.033870,-0.171780,0.984553]] 2025-10-29T01:00:34.593Z,1761699634.593 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:34.595Z,1761699634.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:34.598Z,1761699634.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 39.712513 m, bearing: 135.113664 deg, approach rate: -0.557428 m/s, LOS rate: -0.105937 deg/s, cmd heading: 133.934832 deg, new cmd heading: 133.854126 deg. 2025-10-29T01:00:34.599Z,1761699634.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.336195 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:34.809Z,1761699634.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:34.951Z,1761699634.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.734765,-0.663861,-0.139317],[0.677457,-0.728551,-0.101317],[-0.034239,-0.168826,0.985051]] 2025-10-29T01:00:34.969Z,1761699634.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:34.972Z,1761699634.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 39.491879 m, bearing: 135.072197 deg, approach rate: -0.589582 m/s, LOS rate: -0.111426 deg/s, cmd heading: 133.854127 deg, new cmd heading: 133.770730 deg. 2025-10-29T01:00:34.973Z,1761699634.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.334740 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:35.063Z,1761699635.063 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:35.313Z,1761699635.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:35.360Z,1761699635.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733992,-0.664342,-0.141085],[0.678293,-0.727544,-0.102943],[-0.034256,-0.171257,0.984631]] 2025-10-29T01:00:35.405Z,1761699635.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:35.408Z,1761699635.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 39.236282 m, bearing: 135.031591 deg, approach rate: -0.586249 m/s, LOS rate: -0.093743 deg/s, cmd heading: 133.770730 deg, new cmd heading: 133.688989 deg. 2025-10-29T01:00:35.409Z,1761699635.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.333313 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:35.565Z,1761699635.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:35.800Z,1761699635.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:35.803Z,1761699635.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 39.004864 m, bearing: 134.994363 deg, approach rate: -0.585616 m/s, LOS rate: -0.094765 deg/s, cmd heading: 133.688987 deg, new cmd heading: 133.614090 deg. 2025-10-29T01:00:35.805Z,1761699635.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.332006 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:35.817Z,1761699635.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:36.072Z,1761699636.072 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:36.221Z,1761699636.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:36.223Z,1761699636.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 38.760632 m, bearing: 134.956384 deg, approach rate: -0.581123 m/s, LOS rate: -0.090938 deg/s, cmd heading: 133.614087 deg, new cmd heading: 133.537649 deg. 2025-10-29T01:00:36.225Z,1761699636.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.330672 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:36.321Z,1761699636.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:36.573Z,1761699636.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:36.581Z,1761699636.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732434,-0.665517,-0.143625],[0.679986,-0.725610,-0.105405],[-0.034067,-0.174865,0.984003]] 2025-10-29T01:00:36.598Z,1761699636.598 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:36.600Z,1761699636.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:36.603Z,1761699636.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 38.540745 m, bearing: 134.922555 deg, approach rate: -0.579960 m/s, LOS rate: -0.089734 deg/s, cmd heading: 133.537643 deg, new cmd heading: 133.469599 deg. 2025-10-29T01:00:36.604Z,1761699636.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.329484 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:36.825Z,1761699636.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:36.979Z,1761699636.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731784,-0.666160,-0.143959],[0.680694,-0.724890,-0.105784],[-0.033885,-0.175403,0.983913]] 2025-10-29T01:00:37.080Z,1761699637.080 [DAT](INFO): DAT read: Rx Time:01:00:36.3264 2025-10-29T01:00:37.082Z,1761699637.082 [DAT](INFO): Rx dataTimestamp_ set to:1761699637.081043 2025-10-29T01:00:37.083Z,1761699637.083 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:37.108Z,1761699637.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:37.111Z,1761699637.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 38.290543 m, bearing: 134.883955 deg, approach rate: -0.496459 m/s, LOS rate: -0.077092 deg/s, cmd heading: 133.469601 deg, new cmd heading: 133.391896 deg. 2025-10-29T01:00:37.116Z,1761699637.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.328128 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:37.329Z,1761699637.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:37.379Z,1761699637.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.731403,-0.666443,-0.144579],[0.681114,-0.724371,-0.106635],[-0.033663,-0.176468,0.983730]] 2025-10-29T01:00:37.439Z,1761699637.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.96 m. 2025-10-29T01:00:37.442Z,1761699637.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.963570 m, nav range: 38.062908 m, bearing: 134.852684 deg, approach rate: -0.686150 m/s, LOS rate: -0.094822 deg/s, cmd heading: 133.391901 deg, new cmd heading: 133.328985 deg. 2025-10-29T01:00:37.443Z,1761699637.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.327030 target range: 40.963570 and range: 41.20 m. 2025-10-29T01:00:37.589Z,1761699637.589 [DAT](INFO): DAT read: 01:00:36.3264 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.12,-2.382, 2.226,-2.058,-2.409, PHS= 0.129,-1.603, 0.308, RAW= 154.8, 12.7, CAL= 155.1, 14.2, ROT= 354.9, -14.2 2025-10-29T01:00:37.590Z,1761699637.590 [DAT](INFO): got valid direction response: 01:00:36.3264 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 421,-0.12,-2.382, 2.226,-2.058,-2.409, PHS= 0.129,-1.603, 0.308, RAW= 154.8, 12.7, CAL= 155.1, 14.2, ROT= 354.9, -14.2 2025-10-29T01:00:37.592Z,1761699637.592 [DAT](INFO): DAT read: Bearing 301.9, -9.6 (Local) 2025-10-29T01:00:37.592Z,1761699637.592 [DAT](INFO): Local bearing/azimuth received: Bearing 301.9, -9.6 (Local) 2025-10-29T01:00:37.594Z,1761699637.594 [DAT](INFO): DAT read: Range 11 to 50 : 39.3 m (Round-trip 52.4 ms) speed 0.5 m/s 2025-10-29T01:00:37.595Z,1761699637.595 [DAT](INFO): DAT read: user:660>Tx time:01:00:37.4199 2025-10-29T01:00:37.595Z,1761699637.595 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:37.598Z,1761699637.598 [DAT](INFO): direction in FSK: [0.965607,-0.086178,0.245307] 2025-10-29T01:00:37.598Z,1761699637.598 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:37.601Z,1761699637.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:37.601Z,1761699637.601 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:00:37.796Z,1761699637.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730975,-0.666781,-0.145182],[0.681582,-0.723819,-0.107389],[-0.033480,-0.177452,0.983560]] 2025-10-29T01:00:37.820Z,1761699637.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.299999 m, deltaT: 3.526839 s, deltaX: -1.900002 m, approachRate: -0.538726 m/s, rangeRepo size: 4 2025-10-29T01:00:37.822Z,1761699637.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.073956 m, bearing: 134.576455 deg, lat: 36.779285 deg, lon: -121.859515 deg, deltaT: 3.526839 s, deltaX: -1.889614 m, approachRate: -0.535781 m/s, posRepo size: 4 2025-10-29T01:00:37.823Z,1761699637.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:37.833Z,1761699637.833 [DAT](INFO): DAT read: 2025-10-29T01:00:37.833Z,1761699637.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:37.842Z,1761699637.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 37.870819 m, bearing: 134.887412 deg, approach rate: 0.000000 m/s, LOS rate: -0.094822 deg/s, cmd heading: 133.328981 deg, new cmd heading: 133.256244 deg. 2025-10-29T01:00:37.842Z,1761699637.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.325760 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:38.089Z,1761699638.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:38.198Z,1761699638.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730158,-0.667644,-0.145328],[0.682458,-0.723014,-0.107249],[-0.033470,-0.177489,0.983553]] 2025-10-29T01:00:38.243Z,1761699638.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-29T01:00:38.243Z,1761699638.243 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:00:38.244Z,1761699638.244 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-29T01:00:38.245Z,1761699638.245 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.299999 m (mode 2.000000 count ). 2025-10-29T01:00:38.245Z,1761699638.245 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-29T01:00:38.245Z,1761699638.245 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-29T01:00:38.247Z,1761699638.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:38.250Z,1761699638.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 37.617229 m, bearing: 134.847293 deg, approach rate: -0.592329 m/s, LOS rate: -0.094339 deg/s, cmd heading: 133.256239 deg, new cmd heading: 133.175462 deg. 2025-10-29T01:00:38.251Z,1761699638.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.324350 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:38.337Z,1761699638.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:38.589Z,1761699638.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:38.607Z,1761699638.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729471,-0.668296,-0.145780],[0.683195,-0.722268,-0.107575],[-0.033401,-0.178069,0.983451]] 2025-10-29T01:00:38.624Z,1761699638.624 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-29T01:00:38.624Z,1761699638.624 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-29T01:00:38.624Z,1761699638.624 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:38.626Z,1761699638.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:38.629Z,1761699638.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 37.392326 m, bearing: 134.811614 deg, approach rate: -0.593266 m/s, LOS rate: -0.094684 deg/s, cmd heading: 133.175466 deg, new cmd heading: 133.103677 deg. 2025-10-29T01:00:38.630Z,1761699638.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.323097 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:38.841Z,1761699638.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:39.011Z,1761699639.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.729042,-0.668890,-0.145198],[0.683652,-0.721961,-0.106738],[-0.033431,-0.177082,0.983628]] 2025-10-29T01:00:39.027Z,1761699639.027 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-29T01:00:39.028Z,1761699639.028 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-29T01:00:39.046Z,1761699639.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:39.059Z,1761699639.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 37.154053 m, bearing: 134.773559 deg, approach rate: -0.568090 m/s, LOS rate: -0.091311 deg/s, cmd heading: 133.103680 deg, new cmd heading: 133.027083 deg. 2025-10-29T01:00:39.065Z,1761699639.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.321761 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:39.095Z,1761699639.095 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:39.346Z,1761699639.346 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:39.429Z,1761699639.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.728052,-0.669981,-0.145144],[0.684692,-0.721104,-0.105863],[-0.033737,-0.176452,0.983731]] 2025-10-29T01:00:39.494Z,1761699639.494 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-29T01:00:39.494Z,1761699639.494 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:00:39.494Z,1761699639.494 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-29T01:00:39.494Z,1761699639.494 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:00:39.502Z,1761699639.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:39.513Z,1761699639.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 36.909164 m, bearing: 134.728927 deg, approach rate: -0.537064 m/s, LOS rate: -0.098532 deg/s, cmd heading: 133.027087 deg, new cmd heading: 132.937230 deg. 2025-10-29T01:00:39.514Z,1761699639.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.320192 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:39.597Z,1761699639.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:39.849Z,1761699639.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:39.974Z,1761699639.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.727557,-0.670406,-0.145657],[0.685218,-0.720547,-0.106245],[-0.033726,-0.177106,0.983614]] 2025-10-29T01:00:40.022Z,1761699640.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:40.029Z,1761699640.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 36.608089 m, bearing: 134.673590 deg, approach rate: -0.578624 m/s, LOS rate: -0.107225 deg/s, cmd heading: 132.937229 deg, new cmd heading: 132.825645 deg. 2025-10-29T01:00:40.030Z,1761699640.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.318245 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:40.103Z,1761699640.103 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:40.353Z,1761699640.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:40.546Z,1761699640.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:40.549Z,1761699640.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 36.312588 m, bearing: 134.608577 deg, approach rate: -0.564130 m/s, LOS rate: -0.125124 deg/s, cmd heading: 132.825651 deg, new cmd heading: 132.694567 deg. 2025-10-29T01:00:40.550Z,1761699640.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.315957 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:40.605Z,1761699640.605 [DAT](INFO): DAT read: Rx Time:01:00:39.8737 2025-10-29T01:00:40.606Z,1761699640.606 [DAT](INFO): Rx dataTimestamp_ set to:1761699640.605332 2025-10-29T01:00:40.606Z,1761699640.606 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:40.857Z,1761699640.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:41.027Z,1761699641.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724311,-0.674610,-0.142388],[0.688655,-0.717916,-0.101742],[-0.033587,-0.171749,0.984568]] 2025-10-29T01:00:41.082Z,1761699641.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:41.084Z,1761699641.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.07 m. 2025-10-29T01:00:41.087Z,1761699641.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.073956 m, nav range: 36.018917 m, bearing: 134.544998 deg, approach rate: -0.546154 m/s, LOS rate: -0.119205 deg/s, cmd heading: 132.694566 deg, new cmd heading: 132.566371 deg. 2025-10-29T01:00:41.088Z,1761699641.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.313720 target range: 39.073956 and range: 39.30 m. 2025-10-29T01:00:41.145Z,1761699641.145 [DAT](INFO): DAT read: 01:00:39.8737 LVL= 31968, 32753, 30354, 32755, AGC= 67, IDX= 409,-0.08,-3.131, 1.392,-2.782, 2.990, PHS= 0.263,-1.553, 0.467, RAW= 155.2, 8.6, CAL= 154.9, 9.1, ROT= 355.1, -9.1 2025-10-29T01:00:41.158Z,1761699641.158 [DAT](INFO): got valid direction response: 01:00:39.8737 LVL= 31968, 32753, 30354, 32755, AGC= 67, IDX= 409,-0.08,-3.131, 1.392,-2.782, 2.990, PHS= 0.263,-1.553, 0.467, RAW= 155.2, 8.6, CAL= 154.9, 9.1, ROT= 355.1, -9.1 2025-10-29T01:00:41.160Z,1761699641.160 [DAT](INFO): DAT read: Bearing 296.0, -8.5 (Local) 2025-10-29T01:00:41.168Z,1761699641.168 [DAT](INFO): Local bearing/azimuth received: Bearing 296.0, -8.5 (Local) 2025-10-29T01:00:41.170Z,1761699641.170 [DAT](INFO): DAT read: Range 11 to 50 : 37.2 m (Round-trip 49.7 ms) speed 0.5 m/s 2025-10-29T01:00:41.171Z,1761699641.171 [DAT](INFO): DAT read: user:661>Tx time:01:00:40.9699 2025-10-29T01:00:41.171Z,1761699641.171 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:41.183Z,1761699641.183 [DAT](INFO): direction in FSK: [0.983805,-0.084342,0.158158] 2025-10-29T01:00:41.183Z,1761699641.183 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:41.191Z,1761699641.191 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:41.197Z,1761699641.197 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:00:41.367Z,1761699641.367 [DAT](INFO): DAT read: 2025-10-29T01:00:41.368Z,1761699641.368 [DAT](INFO): DAT read: Tx time:01:00:41.2199 2025-10-29T01:00:41.368Z,1761699641.368 [DAT](INFO): Ping request sent. 2025-10-29T01:00:41.368Z,1761699641.368 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:00:41.369Z,1761699641.369 [DAT](INFO): publishing transmit ping time 2025-10-29T01:00:41.370Z,1761699641.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001087 2025-10-29T01:00:41.477Z,1761699641.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.722831,-0.676279,-0.141993],[0.690199,-0.716604,-0.100519],[-0.033774,-0.170662,0.984751]] 2025-10-29T01:00:41.608Z,1761699641.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 37.200001 m, deltaT: 3.530957 s, deltaX: -2.099998 m, approachRate: -0.594739 m/s, rangeRepo size: 4 2025-10-29T01:00:41.610Z,1761699641.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.985859 m, bearing: 133.076536 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 3.530957 s, deltaX: -2.088097 m, approachRate: -0.591368 m/s, posRepo size: 4 2025-10-29T01:00:41.611Z,1761699641.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:41.613Z,1761699641.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244851 2025-10-29T01:00:41.615Z,1761699641.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 35.936718 m, bearing: 134.130357 deg, approach rate: 0.000000 m/s, LOS rate: -0.119205 deg/s, cmd heading: 132.566377 deg, new cmd heading: 132.441597 deg. 2025-10-29T01:00:41.616Z,1761699641.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.311542 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:41.865Z,1761699641.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497104 2025-10-29T01:00:41.952Z,1761699641.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721231,-0.677958,-0.142123],[0.691852,-0.715148,-0.099522],[-0.034168,-0.170107,0.984833]] 2025-10-29T01:00:41.992Z,1761699641.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:42.013Z,1761699642.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 35.734222 m, bearing: 134.079784 deg, approach rate: -0.527162 m/s, LOS rate: -0.132402 deg/s, cmd heading: 132.441603 deg, new cmd heading: 132.339885 deg. 2025-10-29T01:00:42.014Z,1761699642.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.309767 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:42.117Z,1761699642.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748977 2025-10-29T01:00:42.351Z,1761699642.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.719384,-0.679803,-0.142666],[0.693764,-0.713335,-0.099221],[-0.034318,-0.170355,0.984785]] 2025-10-29T01:00:42.369Z,1761699642.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.000635 2025-10-29T01:00:42.415Z,1761699642.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:42.417Z,1761699642.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 35.510540 m, bearing: 134.019705 deg, approach rate: -0.528344 m/s, LOS rate: -0.142803 deg/s, cmd heading: 132.339888 deg, new cmd heading: 132.218972 deg. 2025-10-29T01:00:42.418Z,1761699642.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.307656 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:42.621Z,1761699642.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.252663 2025-10-29T01:00:42.762Z,1761699642.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717707,-0.681135,-0.144748],[0.695509,-0.711371,-0.101083],[-0.034119,-0.173222,0.984292]] 2025-10-29T01:00:42.805Z,1761699642.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:42.808Z,1761699642.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 35.307255 m, bearing: 133.965311 deg, approach rate: -0.520256 m/s, LOS rate: -0.140008 deg/s, cmd heading: 132.218966 deg, new cmd heading: 132.109552 deg. 2025-10-29T01:00:42.809Z,1761699642.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.305747 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:42.873Z,1761699642.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504863 2025-10-29T01:00:43.128Z,1761699643.128 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759071 2025-10-29T01:00:43.200Z,1761699643.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.716083,-0.682568,-0.146035],[0.697206,-0.709497,-0.102558],[-0.033609,-0.175257,0.983949]] 2025-10-29T01:00:43.256Z,1761699643.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:43.258Z,1761699643.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:43.273Z,1761699643.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 35.083687 m, bearing: 133.906129 deg, approach rate: -0.493693 m/s, LOS rate: -0.131522 deg/s, cmd heading: 132.109546 deg, new cmd heading: 131.990428 deg. 2025-10-29T01:00:43.274Z,1761699643.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.303668 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:43.377Z,1761699643.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.009310 2025-10-29T01:00:43.594Z,1761699643.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.714501,-0.684071,-0.146750],[0.698829,-0.707866,-0.102780],[-0.033570,-0.175990,0.983819]] 2025-10-29T01:00:43.612Z,1761699643.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:43.615Z,1761699643.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 34.890018 m, bearing: 133.854993 deg, approach rate: -0.546703 m/s, LOS rate: -0.145153 deg/s, cmd heading: 131.990428 deg, new cmd heading: 131.887588 deg. 2025-10-29T01:00:43.616Z,1761699643.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.301873 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:43.629Z,1761699643.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260808 2025-10-29T01:00:43.881Z,1761699643.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512846 2025-10-29T01:00:44.000Z,1761699644.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713008,-0.685350,-0.148037],[0.700354,-0.706236,-0.103610],[-0.033540,-0.177554,0.983539]] 2025-10-29T01:00:44.019Z,1761699644.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:44.022Z,1761699644.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 34.679981 m, bearing: 133.799668 deg, approach rate: -0.516400 m/s, LOS rate: -0.136845 deg/s, cmd heading: 131.887592 deg, new cmd heading: 131.776273 deg. 2025-10-29T01:00:44.023Z,1761699644.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.299930 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:44.133Z,1761699644.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764775 2025-10-29T01:00:44.385Z,1761699644.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.016622 2025-10-29T01:00:44.396Z,1761699644.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.711655,-0.686673,-0.148418],[0.701732,-0.704868,-0.103607],[-0.033471,-0.177882,0.983482]] 2025-10-29T01:00:44.453Z,1761699644.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:44.455Z,1761699644.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 34.462234 m, bearing: 133.749163 deg, approach rate: -0.502446 m/s, LOS rate: -0.117276 deg/s, cmd heading: 131.776274 deg, new cmd heading: 131.674625 deg. 2025-10-29T01:00:44.461Z,1761699644.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.298156 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:44.637Z,1761699644.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268775 2025-10-29T01:00:44.799Z,1761699644.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.710227,-0.688056,-0.148853],[0.703192,-0.703353,-0.103993],[-0.033143,-0.178531,0.983376]] 2025-10-29T01:00:44.828Z,1761699644.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:44.831Z,1761699644.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 34.253376 m, bearing: 133.700847 deg, approach rate: -0.556188 m/s, LOS rate: -0.129450 deg/s, cmd heading: 131.674627 deg, new cmd heading: 131.577405 deg. 2025-10-29T01:00:44.832Z,1761699644.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.296459 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:44.890Z,1761699644.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521360 2025-10-29T01:00:45.143Z,1761699645.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.774337 2025-10-29T01:00:45.231Z,1761699645.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.708838,-0.689086,-0.150699],[0.704614,-0.701631,-0.105992],[-0.032697,-0.181315,0.982881]] 2025-10-29T01:00:45.272Z,1761699645.272 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:45.274Z,1761699645.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:45.277Z,1761699645.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 34.012856 m, bearing: 133.653002 deg, approach rate: -0.539360 m/s, LOS rate: -0.108050 deg/s, cmd heading: 131.577406 deg, new cmd heading: 131.481039 deg. 2025-10-29T01:00:45.278Z,1761699645.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.294777 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:45.393Z,1761699645.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.024865 2025-10-29T01:00:45.611Z,1761699645.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707686,-0.690378,-0.150192],[0.705809,-0.700388,-0.106252],[-0.031839,-0.181201,0.982931]] 2025-10-29T01:00:45.630Z,1761699645.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:45.633Z,1761699645.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 33.820343 m, bearing: 133.614763 deg, approach rate: -0.540957 m/s, LOS rate: -0.108062 deg/s, cmd heading: 131.481046 deg, new cmd heading: 131.404133 deg. 2025-10-29T01:00:45.634Z,1761699645.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.293435 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:45.645Z,1761699645.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.276639 2025-10-29T01:00:45.897Z,1761699645.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.528998 2025-10-29T01:00:46.011Z,1761699646.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706606,-0.691260,-0.151219],[0.706913,-0.699065,-0.107615],[-0.031322,-0.182941,0.982625]] 2025-10-29T01:00:46.030Z,1761699646.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:46.033Z,1761699646.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 33.604412 m, bearing: 133.571931 deg, approach rate: -0.540234 m/s, LOS rate: -0.107849 deg/s, cmd heading: 131.404138 deg, new cmd heading: 131.317923 deg. 2025-10-29T01:00:46.034Z,1761699646.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.291930 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:46.149Z,1761699646.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.781184 2025-10-29T01:00:46.401Z,1761699646.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.032654 2025-10-29T01:00:46.422Z,1761699646.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705966,-0.691828,-0.151611],[0.707585,-0.698200,-0.108809],[-0.030578,-0.184093,0.982433]] 2025-10-29T01:00:46.466Z,1761699646.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:46.494Z,1761699646.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 33.352455 m, bearing: 133.533152 deg, approach rate: -0.577214 m/s, LOS rate: -0.089510 deg/s, cmd heading: 131.317927 deg, new cmd heading: 131.239784 deg. 2025-10-29T01:00:46.495Z,1761699646.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.290566 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:46.653Z,1761699646.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.284733 2025-10-29T01:00:46.843Z,1761699646.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.705367,-0.692544,-0.151129],[0.708220,-0.697475,-0.109331],[-0.029692,-0.184151,0.982449]] 2025-10-29T01:00:46.862Z,1761699646.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:46.865Z,1761699646.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 33.117416 m, bearing: 133.496803 deg, approach rate: -0.594254 m/s, LOS rate: -0.092555 deg/s, cmd heading: 131.239790 deg, new cmd heading: 131.166575 deg. 2025-10-29T01:00:46.866Z,1761699646.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.289289 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:46.917Z,1761699646.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.548995 2025-10-29T01:00:47.172Z,1761699647.172 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.803169 2025-10-29T01:00:47.258Z,1761699647.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.704841,-0.693568,-0.148871],[0.708792,-0.697020,-0.108522],[-0.028498,-0.182009,0.982884]] 2025-10-29T01:00:47.301Z,1761699647.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:47.303Z,1761699647.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:47.334Z,1761699647.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 32.860821 m, bearing: 133.470529 deg, approach rate: -0.580800 m/s, LOS rate: -0.059933 deg/s, cmd heading: 131.166570 deg, new cmd heading: 131.113613 deg. 2025-10-29T01:00:47.335Z,1761699647.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.288364 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:47.421Z,1761699647.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.053013 2025-10-29T01:00:47.673Z,1761699647.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.304735 2025-10-29T01:00:47.723Z,1761699647.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:47.726Z,1761699647.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 32.632332 m, bearing: 133.446786 deg, approach rate: -0.582215 m/s, LOS rate: -0.060924 deg/s, cmd heading: 131.113609 deg, new cmd heading: 131.065790 deg. 2025-10-29T01:00:47.727Z,1761699647.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.287529 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:47.925Z,1761699647.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.557018 2025-10-29T01:00:48.081Z,1761699648.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:48.084Z,1761699648.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 32.408127 m, bearing: 133.423161 deg, approach rate: -0.581294 m/s, LOS rate: -0.061675 deg/s, cmd heading: 131.065784 deg, new cmd heading: 131.018208 deg. 2025-10-29T01:00:48.085Z,1761699648.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.286699 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:48.178Z,1761699648.178 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.809390 2025-10-29T01:00:48.429Z,1761699648.429 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:00:48.429Z,1761699648.429 [DAT](INFO): response not received 2025-10-29T01:00:48.429Z,1761699648.429 [DAT](ERROR): No response from remote modem. 2025-10-29T01:00:48.430Z,1761699648.430 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.061681 2025-10-29T01:00:48.489Z,1761699648.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703292,-0.695214,-0.148516],[0.710432,-0.694910,-0.111295],[-0.025832,-0.183784,0.982627]] 2025-10-29T01:00:48.559Z,1761699648.559 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:48.577Z,1761699648.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 32.130665 m, bearing: 133.403218 deg, approach rate: -0.581601 m/s, LOS rate: -0.042166 deg/s, cmd heading: 131.018205 deg, new cmd heading: 130.977973 deg. 2025-10-29T01:00:48.578Z,1761699648.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285997 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:48.682Z,1761699648.682 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.313841 2025-10-29T01:00:48.860Z,1761699648.860 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703509,-0.695197,-0.147571],[0.710261,-0.694948,-0.112145],[-0.024591,-0.183710,0.982673]] 2025-10-29T01:00:48.879Z,1761699648.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:48.898Z,1761699648.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 31.924751 m, bearing: 133.388091 deg, approach rate: -0.641887 m/s, LOS rate: -0.047457 deg/s, cmd heading: 130.977975 deg, new cmd heading: 130.947527 deg. 2025-10-29T01:00:48.899Z,1761699648.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.285465 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:48.933Z,1761699648.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.565009 2025-10-29T01:00:49.185Z,1761699649.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.816785 2025-10-29T01:00:49.287Z,1761699649.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703230,-0.695604,-0.146979],[0.710565,-0.694562,-0.112610],[-0.023754,-0.183629,0.982709]] 2025-10-29T01:00:49.337Z,1761699649.337 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:49.339Z,1761699649.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:49.350Z,1761699649.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 31.660923 m, bearing: 133.371598 deg, approach rate: -0.573694 m/s, LOS rate: -0.036162 deg/s, cmd heading: 130.947526 deg, new cmd heading: 130.914266 deg. 2025-10-29T01:00:49.351Z,1761699649.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284885 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:49.437Z,1761699649.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.068901 2025-10-29T01:00:49.666Z,1761699649.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703079,-0.696062,-0.145523],[0.710748,-0.694392,-0.112505],[-0.022740,-0.182530,0.982937]] 2025-10-29T01:00:49.689Z,1761699649.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.320854 2025-10-29T01:00:49.717Z,1761699649.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:49.722Z,1761699649.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 31.441463 m, bearing: 133.357762 deg, approach rate: -0.580668 m/s, LOS rate: -0.036865 deg/s, cmd heading: 130.914263 deg, new cmd heading: 130.886397 deg. 2025-10-29T01:00:49.723Z,1761699649.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.284399 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:49.941Z,1761699649.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.572781 2025-10-29T01:00:50.070Z,1761699650.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.703347,-0.696257,-0.143277],[0.710525,-0.694665,-0.112228],[-0.021390,-0.180737,0.983299]] 2025-10-29T01:00:50.106Z,1761699650.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:50.109Z,1761699650.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 31.206505 m, bearing: 133.342581 deg, approach rate: -0.604884 m/s, LOS rate: -0.039377 deg/s, cmd heading: 130.886396 deg, new cmd heading: 130.855805 deg. 2025-10-29T01:00:50.109Z,1761699650.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.283865 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:50.193Z,1761699650.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825262 2025-10-29T01:00:50.445Z,1761699650.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.076976 2025-10-29T01:00:50.490Z,1761699650.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702909,-0.696935,-0.142130],[0.710986,-0.694192,-0.112233],[-0.020446,-0.179942,0.983465]] 2025-10-29T01:00:50.544Z,1761699650.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:50.552Z,1761699650.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 30.950388 m, bearing: 133.315318 deg, approach rate: -0.584484 m/s, LOS rate: -0.062732 deg/s, cmd heading: 130.855810 deg, new cmd heading: 130.800833 deg. 2025-10-29T01:00:50.560Z,1761699650.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282905 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:50.697Z,1761699650.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.328829 2025-10-29T01:00:50.878Z,1761699650.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.702354,-0.697582,-0.141695],[0.711556,-0.693533,-0.112694],[-0.019657,-0.179975,0.983475]] 2025-10-29T01:00:50.904Z,1761699650.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:50.907Z,1761699650.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 30.730703 m, bearing: 133.291898 deg, approach rate: -0.609752 m/s, LOS rate: -0.065467 deg/s, cmd heading: 130.800827 deg, new cmd heading: 130.753654 deg. 2025-10-29T01:00:50.908Z,1761699650.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.282082 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:50.952Z,1761699650.952 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584214 2025-10-29T01:00:51.201Z,1761699651.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.832738 2025-10-29T01:00:51.313Z,1761699651.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701848,-0.698173,-0.141291],[0.712077,-0.692911,-0.113226],[-0.018851,-0.180078,0.983472]] 2025-10-29T01:00:51.362Z,1761699651.362 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:51.364Z,1761699651.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:51.367Z,1761699651.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 30.475977 m, bearing: 133.251779 deg, approach rate: -0.553745 m/s, LOS rate: -0.087942 deg/s, cmd heading: 130.753658 deg, new cmd heading: 130.672750 deg. 2025-10-29T01:00:51.368Z,1761699651.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.280670 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:51.454Z,1761699651.454 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:00:51.455Z,1761699651.455 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:00:51.705Z,1761699651.705 [DAT](INFO): DAT read: user:662> 2025-10-29T01:00:51.706Z,1761699651.706 [DAT](INFO): DAT read: Tx time:01:00:51.4698 2025-10-29T01:00:51.706Z,1761699651.706 [DAT](INFO): Ping request sent. 2025-10-29T01:00:51.706Z,1761699651.706 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:00:51.706Z,1761699651.706 [DAT](INFO): publishing transmit ping time 2025-10-29T01:00:51.707Z,1761699651.707 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000763 2025-10-29T01:00:51.779Z,1761699651.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:51.786Z,1761699651.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 30.270098 m, bearing: 133.218859 deg, approach rate: -0.495827 m/s, LOS rate: -0.079823 deg/s, cmd heading: 130.672748 deg, new cmd heading: 130.606459 deg. 2025-10-29T01:00:51.787Z,1761699651.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.279513 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:51.957Z,1761699651.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251216 2025-10-29T01:00:52.117Z,1761699652.117 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700144,-0.699893,-0.141239],[0.713788,-0.690944,-0.114468],[-0.017473,-0.180959,0.983335]] 2025-10-29T01:00:52.136Z,1761699652.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:52.139Z,1761699652.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 30.045427 m, bearing: 133.183483 deg, approach rate: -0.630551 m/s, LOS rate: -0.100028 deg/s, cmd heading: 130.606454 deg, new cmd heading: 130.535172 deg. 2025-10-29T01:00:52.139Z,1761699652.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.278269 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:52.210Z,1761699652.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503856 2025-10-29T01:00:52.462Z,1761699652.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756017 2025-10-29T01:00:52.518Z,1761699652.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.698611,-0.701584,-0.140437],[0.715298,-0.689511,-0.113677],[-0.017079,-0.179870,0.983542]] 2025-10-29T01:00:52.581Z,1761699652.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:52.584Z,1761699652.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 29.804567 m, bearing: 133.140529 deg, approach rate: -0.540972 m/s, LOS rate: -0.097253 deg/s, cmd heading: 130.535174 deg, new cmd heading: 130.448573 deg. 2025-10-29T01:00:52.585Z,1761699652.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.276757 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:52.713Z,1761699652.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006863 2025-10-29T01:00:52.923Z,1761699652.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.696805,-0.703114,-0.141751],[0.717061,-0.687538,-0.114521],[-0.016938,-0.181443,0.983256]] 2025-10-29T01:00:52.961Z,1761699652.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:52.966Z,1761699652.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259647 2025-10-29T01:00:52.969Z,1761699652.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 29.602156 m, bearing: 133.104926 deg, approach rate: -0.533955 m/s, LOS rate: -0.094562 deg/s, cmd heading: 130.448567 deg, new cmd heading: 130.376874 deg. 2025-10-29T01:00:52.971Z,1761699652.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.275506 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:53.217Z,1761699653.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510797 2025-10-29T01:00:53.354Z,1761699653.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.695355,-0.704477,-0.142104],[0.718470,-0.686066,-0.114521],[-0.016815,-0.181730,0.983205]] 2025-10-29T01:00:53.391Z,1761699653.391 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:53.393Z,1761699653.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:53.416Z,1761699653.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 29.378559 m, bearing: 133.053653 deg, approach rate: -0.516015 m/s, LOS rate: -0.119229 deg/s, cmd heading: 130.376878 deg, new cmd heading: 130.273550 deg. 2025-10-29T01:00:53.417Z,1761699653.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.273702 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:53.470Z,1761699653.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763907 2025-10-29T01:00:53.721Z,1761699653.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014997 2025-10-29T01:00:53.738Z,1761699653.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.693332,-0.706145,-0.143699],[0.720420,-0.683897,-0.115235],[-0.016903,-0.183420,0.982889]] 2025-10-29T01:00:53.794Z,1761699653.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:53.801Z,1761699653.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 29.180141 m, bearing: 133.008643 deg, approach rate: -0.494490 m/s, LOS rate: -0.112935 deg/s, cmd heading: 130.273550 deg, new cmd heading: 130.182918 deg. 2025-10-29T01:00:53.802Z,1761699653.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.272120 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:53.974Z,1761699653.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267626 2025-10-29T01:00:54.146Z,1761699654.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.691641,-0.707703,-0.144185],[0.722045,-0.682198,-0.115142],[-0.016876,-0.183745,0.982829]] 2025-10-29T01:00:54.170Z,1761699654.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.99 m. 2025-10-29T01:00:54.177Z,1761699654.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.985859 m, nav range: 28.984592 m, bearing: 132.964603 deg, approach rate: -0.520221 m/s, LOS rate: -0.117949 deg/s, cmd heading: 130.182914 deg, new cmd heading: 130.094241 deg. 2025-10-29T01:00:54.178Z,1761699654.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.270573 target range: 36.985859 and range: 37.20 m. 2025-10-29T01:00:54.226Z,1761699654.226 [DAT](INFO): DAT read: Rx Time:01:00:53.6381 2025-10-29T01:00:54.226Z,1761699654.226 [DAT](INFO): Rx dataTimestamp_ set to:1761699654.225793 2025-10-29T01:00:54.227Z,1761699654.227 [DAT](INFO): DAT read: Bearing 298.0, -6.2 (Local) 2025-10-29T01:00:54.228Z,1761699654.228 [DAT](INFO): Local bearing/azimuth received: Bearing 298.0, -6.2 (Local) 2025-10-29T01:00:54.230Z,1761699654.230 [DAT](INFO): DAT read: Range 11 to 50 : 29.4 m (trip time 19.6 ms) speed 0.5 2025-10-29T01:00:54.235Z,1761699654.235 [DAT](INFO): DAT read: 01:00:53.6381 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 302, 0.06, 1.720, 0.033, 1.973, 1.635, PHS= 0.187,-1.557, 0.294, RAW= 153.0, 11.9, CAL= 153.0, 13.2, ROT= 357.0, -13.2 2025-10-29T01:00:54.237Z,1761699654.237 [DAT](INFO): got valid direction response: 01:00:53.6381 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 302, 0.06, 1.720, 0.033, 1.973, 1.635, PHS= 0.187,-1.557, 0.294, RAW= 153.0, 11.9, CAL= 153.0, 13.2, ROT= 357.0, -13.2 2025-10-29T01:00:54.237Z,1761699654.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:00:54.239Z,1761699654.239 [DAT](INFO): direction in FSK: [0.972245,-0.050953,0.228351] 2025-10-29T01:00:54.239Z,1761699654.239 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:54.279Z,1761699654.279 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.572710 2025-10-29T01:00:54.477Z,1761699654.477 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771138 2025-10-29T01:00:54.543Z,1761699654.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689816,-0.709459,-0.144301],[0.723791,-0.680410,-0.114755],[-0.016770,-0.183603,0.982857]] 2025-10-29T01:00:54.713Z,1761699654.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.400000 m, deltaT: 13.114406 s, deltaX: -7.800001 m, approachRate: -0.594766 m/s, rangeRepo size: 4 2025-10-29T01:00:54.715Z,1761699654.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.231888 m, bearing: 133.144491 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 13.114406 s, deltaX: -7.753971 m, approachRate: -0.591256 m/s, posRepo size: 4 2025-10-29T01:00:54.716Z,1761699654.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.23 m. 2025-10-29T01:00:54.719Z,1761699654.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.231888 m, nav range: 28.713507 m, bearing: 132.894170 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 130.094244 deg, new cmd heading: 129.966344 deg. 2025-10-29T01:00:54.720Z,1761699654.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.268341 target range: 29.231888 and range: 29.40 m. 2025-10-29T01:00:54.730Z,1761699654.730 [DAT](INFO): DAT read: Rx Time:01:00:54.1379 2025-10-29T01:00:54.730Z,1761699654.730 [DAT](INFO): Rx dataTimestamp_ set to:1761699654.729739 2025-10-29T01:00:54.731Z,1761699654.731 [DAT](INFO): DAT read: Bearing 299.8, -6.1 (Local) 2025-10-29T01:00:54.732Z,1761699654.732 [DAT](INFO): Local bearing/azimuth received: Bearing 299.8, -6.1 (Local) 2025-10-29T01:00:54.734Z,1761699654.734 [DAT](INFO): DAT read: Range 11 to 50 : 29.1 m (trip time 19.4 ms) speed 0.4 2025-10-29T01:00:54.748Z,1761699654.748 [DAT](INFO): DAT read: 01:00:54.1379 LVL= 32624, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.41,-0.031,-1.705, 0.203,-0.078, PHS= 0.149,-1.582, 0.237, RAW= 152.5, 13.4, CAL= 152.7, 15.0, ROT= 357.3, -15.0 2025-10-29T01:00:54.749Z,1761699654.749 [DAT](INFO): got valid direction response: 01:00:54.1379 LVL= 32624, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.41,-0.031,-1.705, 0.203,-0.078, PHS= 0.149,-1.582, 0.237, RAW= 152.5, 13.4, CAL= 152.7, 15.0, ROT= 357.3, -15.0 2025-10-29T01:00:54.750Z,1761699654.750 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T01:00:54.751Z,1761699654.751 [DAT](INFO): direction in FSK: [0.964854,-0.045502,0.258819] 2025-10-29T01:00:54.751Z,1761699654.751 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:54.784Z,1761699654.784 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.078176 2025-10-29T01:00:54.981Z,1761699654.981 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.274994 2025-10-29T01:00:55.053Z,1761699655.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.686223,-0.713409,-0.141934],[0.727188,-0.677460,-0.110660],[-0.017209,-0.179150,0.983671]] 2025-10-29T01:00:55.152Z,1761699655.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.100000 m, deltaT: 0.503946 s, deltaX: -0.299999 m, approachRate: -0.595300 m/s, rangeRepo size: 4 2025-10-29T01:00:55.154Z,1761699655.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.933603 m, bearing: 133.434995 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.503946 s, deltaX: -0.298285 m, approachRate: -0.591898 m/s, posRepo size: 4 2025-10-29T01:00:55.155Z,1761699655.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.93 m. 2025-10-29T01:00:55.161Z,1761699655.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.933603 m, nav range: 28.333269 m, bearing: 133.095215 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.966342 deg, new cmd heading: 129.863854 deg. 2025-10-29T01:00:55.162Z,1761699655.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.266552 target range: 28.933603 and range: 29.10 m. 2025-10-29T01:00:55.234Z,1761699655.234 [DAT](INFO): DAT read: Rx Time:01:00:54.6376 2025-10-29T01:00:55.234Z,1761699655.234 [DAT](INFO): Rx dataTimestamp_ set to:1761699655.233904 2025-10-29T01:00:55.235Z,1761699655.235 [DAT](INFO): DAT read: Bearing 298.1, -5.9 (Local) 2025-10-29T01:00:55.236Z,1761699655.236 [DAT](INFO): Local bearing/azimuth received: Bearing 298.1, -5.9 (Local) 2025-10-29T01:00:55.238Z,1761699655.238 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 2025-10-29T01:00:55.244Z,1761699655.244 [DAT](INFO): DAT read: 01:00:54.6376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.41,-1.783, 2.803,-1.537,-1.871, PHS= 0.189,-1.564, 0.290, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 2025-10-29T01:00:55.245Z,1761699655.245 [DAT](INFO): got valid direction response: 01:00:54.6376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 506,-0.41,-1.783, 2.803,-1.537,-1.871, PHS= 0.189,-1.564, 0.290, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 2025-10-29T01:00:55.245Z,1761699655.245 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:00:55.246Z,1761699655.246 [DAT](INFO): direction in FSK: [0.972017,-0.047539,0.230050] 2025-10-29T01:00:55.246Z,1761699655.246 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:55.263Z,1761699655.263 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.557038 2025-10-29T01:00:55.485Z,1761699655.485 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.778983 2025-10-29T01:00:55.489Z,1761699655.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.684691,-0.714884,-0.141913],[0.728634,-0.675958,-0.110331],[-0.017053,-0.178945,0.983711]] 2025-10-29T01:00:55.650Z,1761699655.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504165 s, deltaX: -0.400000 m, approachRate: -0.793390 m/s, rangeRepo size: 4 2025-10-29T01:00:55.656Z,1761699655.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.535982 m, bearing: 132.890376 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.504165 s, deltaX: -0.397621 m, approachRate: -0.788673 m/s, posRepo size: 4 2025-10-29T01:00:55.657Z,1761699655.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m. 2025-10-29T01:00:55.659Z,1761699655.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.535982 m, nav range: 28.075823 m, bearing: 133.023914 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.863848 deg, new cmd heading: 129.745378 deg. 2025-10-29T01:00:55.665Z,1761699655.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.264484 target range: 28.535982 and range: 28.70 m. 2025-10-29T01:00:55.738Z,1761699655.738 [DAT](INFO): DAT read: Rx Time:01:00:55.1376 2025-10-29T01:00:55.739Z,1761699655.739 [DAT](INFO): Rx dataTimestamp_ set to:1761699655.738534 2025-10-29T01:00:55.741Z,1761699655.741 [DAT](INFO): DAT read: Bearing 298.9, -6.8 (Local) 2025-10-29T01:00:55.741Z,1761699655.741 [DAT](INFO): Local bearing/azimuth received: Bearing 298.9, -6.8 (Local) 2025-10-29T01:00:55.750Z,1761699655.750 [DAT](INFO): DAT read: Range 11 to 50 : 28.7 m (trip time 19.1 ms) speed 0.4 2025-10-29T01:00:55.769Z,1761699655.769 [DAT](INFO): DAT read: 01:00:55.1376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.19,-0.037,-1.734, 0.233,-0.091, PHS= 0.156,-1.598, 0.280, RAW= 153.4, 12.7, CAL= 153.5, 14.2, ROT= 356.5, -14.2 2025-10-29T01:00:55.771Z,1761699655.771 [DAT](INFO): got valid direction response: 01:00:55.1376 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 505,-0.19,-0.037,-1.734, 0.233,-0.091, PHS= 0.156,-1.598, 0.280, RAW= 153.4, 12.7, CAL= 153.5, 14.2, ROT= 356.5, -14.2 2025-10-29T01:00:55.771Z,1761699655.771 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T01:00:55.777Z,1761699655.777 [DAT](INFO): direction in FSK: [0.967637,-0.059183,0.245307] 2025-10-29T01:00:55.777Z,1761699655.777 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:55.789Z,1761699655.789 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.083013 2025-10-29T01:00:55.976Z,1761699655.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682861,-0.716595,-0.142105],[0.730347,-0.674200,-0.109757],[-0.017156,-0.178735,0.983748]] 2025-10-29T01:00:55.990Z,1761699655.990 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283581 2025-10-29T01:00:56.027Z,1761699656.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.700001 m, deltaT: 0.504630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:00:56.029Z,1761699656.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.535982 m, bearing: 132.227816 deg, lat: 36.779286 deg, lon: -121.859514 deg, deltaT: 0.504630 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:00:56.030Z,1761699656.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.54 m. 2025-10-29T01:00:56.034Z,1761699656.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.535982 m, nav range: 27.804897 m, bearing: 132.847466 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.745372 deg, new cmd heading: 129.656492 deg. 2025-10-29T01:00:56.034Z,1761699656.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.262933 target range: 28.535982 and range: 28.70 m. 2025-10-29T01:00:56.241Z,1761699656.241 [DAT](INFO): DAT read: Rx Time:01:00:55.6374 2025-10-29T01:00:56.242Z,1761699656.242 [DAT](INFO): Rx dataTimestamp_ set to:1761699656.241641 2025-10-29T01:00:56.243Z,1761699656.243 [DAT](INFO): DAT read: Bearing 298.1, -6.0 (Local) 2025-10-29T01:00:56.244Z,1761699656.244 [DAT](INFO): Local bearing/azimuth received: Bearing 298.1, -6.0 (Local) 2025-10-29T01:00:56.246Z,1761699656.246 [DAT](INFO): DAT read: Range 11 to 50 : 28.2 m (trip time 18.8 ms) speed 0.4 2025-10-29T01:00:56.250Z,1761699656.250 [DAT](INFO): DAT read: 01:00:55.6374 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.05,-0.157,-1.845, 0.091,-0.241, PHS= 0.186,-1.559, 0.288, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 2025-10-29T01:00:56.252Z,1761699656.252 [DAT](INFO): got valid direction response: 01:00:55.6374 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502, 0.05,-0.157,-1.845, 0.091,-0.241, PHS= 0.186,-1.559, 0.288, RAW= 152.8, 12.0, CAL= 152.8, 13.3, ROT= 357.2, -13.3 2025-10-29T01:00:56.252Z,1761699656.252 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T01:00:56.253Z,1761699656.253 [DAT](INFO): direction in FSK: [0.972017,-0.047539,0.230050] 2025-10-29T01:00:56.253Z,1761699656.253 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:56.257Z,1761699656.257 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.550973 2025-10-29T01:00:56.443Z,1761699656.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680904,-0.718368,-0.142536],[0.732164,-0.672344,-0.109044],[-0.017499,-0.178609,0.983765]] 2025-10-29T01:00:56.493Z,1761699656.493 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.786991 2025-10-29T01:00:56.527Z,1761699656.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.200001 m, deltaT: 0.503107 s, deltaX: -0.500000 m, approachRate: -0.993824 m/s, rangeRepo size: 4 2025-10-29T01:00:56.529Z,1761699656.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.038839 m, bearing: 132.589069 deg, lat: 36.779287 deg, lon: -121.859515 deg, deltaT: 0.503107 s, deltaX: -0.497143 m, approachRate: -0.988145 m/s, posRepo size: 4 2025-10-29T01:00:56.530Z,1761699656.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.04 m. 2025-10-29T01:00:56.533Z,1761699656.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.038839 m, nav range: 27.404644 m, bearing: 132.677336 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.656497 deg, new cmd heading: 129.538457 deg. 2025-10-29T01:00:56.534Z,1761699656.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.260873 target range: 28.038839 and range: 28.20 m. 2025-10-29T01:00:56.748Z,1761699656.748 [DAT](INFO): DAT read: Rx Time:01:00:56.1372 2025-10-29T01:00:56.749Z,1761699656.749 [DAT](INFO): Rx dataTimestamp_ set to:1761699656.748328 2025-10-29T01:00:56.751Z,1761699656.751 [DAT](INFO): DAT read: Bearing 298.0, -5.8 (Local) 2025-10-29T01:00:56.751Z,1761699656.751 [DAT](INFO): Local bearing/azimuth received: Bearing 298.0, -5.8 (Local) 2025-10-29T01:00:56.756Z,1761699656.756 [DAT](INFO): DAT read: Range 11 to 50 : 27.9 m (trip time 18.6 ms) speed 0.4 2025-10-29T01:00:56.767Z,1761699656.767 [DAT](INFO): DAT read: 01:00:56.1372 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.38,-0.812,-2.515,-0.568,-0.900, PHS= 0.191,-1.569, 0.289, RAW= 152.7, 12.0, CAL= 152.7, 13.3, ROT= 357.3, -13.3 2025-10-29T01:00:56.773Z,1761699656.773 [DAT](INFO): got valid direction response: 01:00:56.1372 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.38,-0.812,-2.515,-0.568,-0.900, PHS= 0.191,-1.569, 0.289, RAW= 152.7, 12.0, CAL= 152.7, 13.3, ROT= 357.3, -13.3 2025-10-29T01:00:56.773Z,1761699656.773 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T01:00:56.775Z,1761699656.775 [DAT](INFO): direction in FSK: [0.972099,-0.045843,0.230050] 2025-10-29T01:00:56.775Z,1761699656.775 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:56.790Z,1761699656.790 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.083496 2025-10-29T01:00:56.844Z,1761699656.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.679435,-0.719746,-0.142598],[0.733527,-0.670929,-0.108594],[-0.017513,-0.178382,0.983805]] 2025-10-29T01:00:56.904Z,1761699656.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.900000 m, deltaT: 0.506687 s, deltaX: -0.300001 m, approachRate: -0.592084 m/s, rangeRepo size: 4 2025-10-29T01:00:56.906Z,1761699656.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.740728 m, bearing: 132.569014 deg, lat: 36.779288 deg, lon: -121.859515 deg, deltaT: 0.506687 s, deltaX: -0.298111 m, approachRate: -0.588353 m/s, posRepo size: 4 2025-10-29T01:00:56.907Z,1761699656.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.74 m. 2025-10-29T01:00:56.914Z,1761699656.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.740728 m, nav range: 27.139158 m, bearing: 132.617931 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.538458 deg, new cmd heading: 129.451419 deg. 2025-10-29T01:00:56.915Z,1761699656.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.259353 target range: 27.740728 and range: 27.90 m. 2025-10-29T01:00:56.997Z,1761699656.997 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.290943 2025-10-29T01:00:57.243Z,1761699657.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678023,-0.721058,-0.142691],[0.734826,-0.669628,-0.107840],[-0.017791,-0.177971,0.983875]] 2025-10-29T01:00:57.250Z,1761699657.250 [DAT](INFO): DAT read: Rx Time:01:00:56.6370 2025-10-29T01:00:57.250Z,1761699657.250 [DAT](INFO): Rx dataTimestamp_ set to:1761699657.249779 2025-10-29T01:00:57.251Z,1761699657.251 [DAT](INFO): DAT read: Bearing 300.0, -6.5 (Local) 2025-10-29T01:00:57.252Z,1761699657.252 [DAT](INFO): Local bearing/azimuth received: Bearing 300.0, -6.5 (Local) 2025-10-29T01:00:57.254Z,1761699657.254 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.4 2025-10-29T01:00:57.258Z,1761699657.258 [DAT](INFO): DAT read: 01:00:56.6370 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.21,-3.007, 1.610,-2.763,-3.036, PHS= 0.131,-1.592, 0.229, RAW= 152.7, 13.8, CAL= 153.0, 15.5, ROT= 357.0, -15.5 2025-10-29T01:00:57.260Z,1761699657.260 [DAT](INFO): got valid direction response: 01:00:56.6370 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 498,-0.21,-3.007, 1.610,-2.763,-3.036, PHS= 0.131,-1.592, 0.229, RAW= 152.7, 13.8, CAL= 153.0, 15.5, ROT= 357.0, -15.5 2025-10-29T01:00:57.260Z,1761699657.260 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T01:00:57.261Z,1761699657.261 [DAT](INFO): direction in FSK: [0.962310,-0.050433,0.267238] 2025-10-29T01:00:57.261Z,1761699657.261 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:57.266Z,1761699657.266 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.559527 2025-10-29T01:00:57.322Z,1761699657.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.501451 s, deltaX: -0.299999 m, approachRate: -0.598262 m/s, rangeRepo size: 4 2025-10-29T01:00:57.328Z,1761699657.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.442442 m, bearing: 132.575684 deg, lat: 36.779288 deg, lon: -121.859515 deg, deltaT: 0.501451 s, deltaX: -0.298286 m, approachRate: -0.594847 m/s, posRepo size: 4 2025-10-29T01:00:57.329Z,1761699657.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.44 m. 2025-10-29T01:00:57.338Z,1761699657.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.442442 m, nav range: 26.882277 m, bearing: 132.465791 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.451414 deg, new cmd heading: 129.352224 deg. 2025-10-29T01:00:57.347Z,1761699657.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.257622 target range: 27.442442 and range: 27.60 m. 2025-10-29T01:00:57.501Z,1761699657.501 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795422 2025-10-29T01:00:57.758Z,1761699657.758 [DAT](INFO): DAT read: Rx Time:01:00:57.1369 2025-10-29T01:00:57.759Z,1761699657.759 [DAT](INFO): Rx dataTimestamp_ set to:1761699657.758654 2025-10-29T01:00:57.761Z,1761699657.761 [DAT](INFO): DAT read: Bearing 297.9, -5.7 (Local) 2025-10-29T01:00:57.762Z,1761699657.762 [DAT](INFO): Local bearing/azimuth received: Bearing 297.9, -5.7 (Local) 2025-10-29T01:00:57.765Z,1761699657.765 [DAT](INFO): DAT read: Range 11 to 50 : 27.5 m (trip time 18.3 ms) speed 0.4 2025-10-29T01:00:57.775Z,1761699657.775 [DAT](INFO): DAT read: 01:00:57.1369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.12,-0.431,-2.131,-0.193,-0.523, PHS= 0.194,-1.563, 0.286, RAW= 152.5, 12.0, CAL= 152.5, 13.3, ROT= 357.5, -13.3 2025-10-29T01:00:57.801Z,1761699657.801 [DAT](INFO): got valid direction response: 01:00:57.1369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.12,-0.431,-2.131,-0.193,-0.523, PHS= 0.194,-1.563, 0.286, RAW= 152.5, 12.0, CAL= 152.5, 13.3, ROT= 357.5, -13.3 2025-10-29T01:00:57.801Z,1761699657.801 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T01:00:57.802Z,1761699657.802 [DAT](INFO): direction in FSK: [0.972253,-0.042450,0.230050] 2025-10-29T01:00:57.802Z,1761699657.802 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:57.814Z,1761699657.814 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.108008 2025-10-29T01:00:57.906Z,1761699657.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.500000 m, deltaT: 0.508875 s, deltaX: -0.100000 m, approachRate: -0.196513 m/s, rangeRepo size: 4 2025-10-29T01:00:57.908Z,1761699657.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.343229 m, bearing: 132.649380 deg, lat: 36.779288 deg, lon: -121.859515 deg, deltaT: 0.508875 s, deltaX: -0.099213 m, approachRate: -0.194965 m/s, posRepo size: 4 2025-10-29T01:00:57.912Z,1761699657.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.34 m. 2025-10-29T01:00:57.915Z,1761699657.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.343229 m, nav range: 26.575590 m, bearing: 132.371064 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.352226 deg, new cmd heading: 129.213259 deg. 2025-10-29T01:00:57.920Z,1761699657.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.255197 target range: 27.343229 and range: 27.50 m. 2025-10-29T01:00:58.007Z,1761699658.007 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.301294 2025-10-29T01:00:58.243Z,1761699658.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.673693,-0.725088,-0.142778],[0.738785,-0.665582,-0.105821],[-0.018301,-0.176773,0.984081]] 2025-10-29T01:00:58.262Z,1761699658.262 [DAT](INFO): DAT read: Rx Time:01:00:57.6366 2025-10-29T01:00:58.262Z,1761699658.262 [DAT](INFO): Rx dataTimestamp_ set to:1761699658.261849 2025-10-29T01:00:58.263Z,1761699658.263 [DAT](INFO): DAT read: Bearing 297.9, -5.6 (Local) 2025-10-29T01:00:58.264Z,1761699658.264 [DAT](INFO): Local bearing/azimuth received: Bearing 297.9, -5.6 (Local) 2025-10-29T01:00:58.266Z,1761699658.266 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-29T01:00:58.271Z,1761699658.271 [DAT](INFO): DAT read: 01:00:57.6366 LVL= 32608, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.46,-3.004, 1.580,-2.771,-3.096, PHS= 0.193,-1.562, 0.280, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 2025-10-29T01:00:58.272Z,1761699658.272 [DAT](INFO): got valid direction response: 01:00:57.6366 LVL= 32608, 32753, 32754, 32755, AGC= 64, IDX= 511,-0.46,-3.004, 1.580,-2.771,-3.096, PHS= 0.193,-1.562, 0.280, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 2025-10-29T01:00:58.272Z,1761699658.272 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T01:00:58.273Z,1761699658.273 [DAT](INFO): direction in FSK: [0.971923,-0.040735,0.231748] 2025-10-29T01:00:58.273Z,1761699658.273 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:58.277Z,1761699658.277 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.571142 2025-10-29T01:00:58.309Z,1761699658.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.503195 s, deltaX: -0.500000 m, approachRate: -0.993651 m/s, rangeRepo size: 4 2025-10-29T01:00:58.310Z,1761699658.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.846079 m, bearing: 132.413134 deg, lat: 36.779288 deg, lon: -121.859516 deg, deltaT: 0.503195 s, deltaX: -0.497150 m, approachRate: -0.987988 m/s, posRepo size: 4 2025-10-29T01:00:58.311Z,1761699658.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-29T01:00:58.318Z,1761699658.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.846079 m, nav range: 26.325577 m, bearing: 132.387810 deg, approach rate: 0.000000 m/s, LOS rate: -0.117949 deg/s, cmd heading: 129.213259 deg, new cmd heading: 129.123001 deg. 2025-10-29T01:00:58.319Z,1761699658.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.253622 target range: 26.846079 and range: 27.00 m. 2025-10-29T01:00:58.513Z,1761699658.513 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.807085 2025-10-29T01:00:58.661Z,1761699658.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.672458,-0.726196,-0.142967],[0.739912,-0.664345,-0.105720],[-0.018206,-0.176875,0.984065]] 2025-10-29T01:00:58.702Z,1761699658.702 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:00:58.705Z,1761699658.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-29T01:00:58.707Z,1761699658.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.846079 m, nav range: 26.073374 m, bearing: 132.347210 deg, approach rate: -0.604626 m/s, LOS rate: -0.098274 deg/s, cmd heading: 129.123005 deg, new cmd heading: 129.041020 deg. 2025-10-29T01:00:58.713Z,1761699658.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.252191 target range: 26.846079 and range: 27.00 m. 2025-10-29T01:00:58.767Z,1761699658.767 [DAT](INFO): DAT read: Rx Time:01:00:58.1366 2025-10-29T01:00:58.768Z,1761699658.768 [DAT](INFO): Rx dataTimestamp_ set to:1761699658.767295 2025-10-29T01:00:58.770Z,1761699658.770 [DAT](INFO): DAT read: Bearing 299.0, -6.1 (Local) 2025-10-29T01:00:58.770Z,1761699658.770 [DAT](INFO): Local bearing/azimuth received: Bearing 299.0, -6.1 (Local) 2025-10-29T01:00:58.774Z,1761699658.773 [DAT](INFO): DAT read: Range 11 to 50 : 27.0 m (trip time 18.0 ms) speed 0.4 2025-10-29T01:00:58.779Z,1761699658.779 [DAT](INFO): DAT read: 01:00:58.1366 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.11,-1.809, 2.802,-1.572,-1.864, PHS= 0.157,-1.572, 0.248, RAW= 152.5, 13.1, CAL= 152.7, 14.6, ROT= 357.3, -14.6 2025-10-29T01:00:58.780Z,1761699658.780 [DAT](INFO): got valid direction response: 01:00:58.1366 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.11,-1.809, 2.802,-1.572,-1.864, PHS= 0.157,-1.572, 0.248, RAW= 152.5, 13.1, CAL= 152.7, 14.6, ROT= 357.3, -14.6 2025-10-29T01:00:58.781Z,1761699658.781 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T01:00:58.782Z,1761699658.782 [DAT](INFO): direction in FSK: [0.966635,-0.045586,0.252069] 2025-10-29T01:00:58.782Z,1761699658.782 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:58.786Z,1761699658.786 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.079820 2025-10-29T01:00:59.018Z,1761699659.018 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.311342 2025-10-29T01:00:59.132Z,1761699659.132 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:00:59.145Z,1761699659.145 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.671237,-0.727106,-0.144071],[0.741021,-0.662992,-0.106444],[-0.018122,-0.178209,0.983826]] 2025-10-29T01:00:59.168Z,1761699659.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.000000 m, deltaT: 0.505446 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:00:59.170Z,1761699659.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.846123 m, bearing: 132.175451 deg, lat: 36.779288 deg, lon: -121.859516 deg, deltaT: 0.505446 s, deltaX: 0.000044 m, approachRate: 0.000087 m/s, posRepo size: 4 2025-10-29T01:00:59.171Z,1761699659.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.85 m. 2025-10-29T01:00:59.174Z,1761699659.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.846123 m, nav range: 25.808811 m, bearing: 132.304757 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 129.041015 deg, new cmd heading: 128.950087 deg. 2025-10-29T01:00:59.175Z,1761699659.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.250604 target range: 26.846123 and range: 27.00 m. 2025-10-29T01:00:59.270Z,1761699659.270 [DAT](INFO): DAT read: Rx Time:01:00:58.6363 2025-10-29T01:00:59.270Z,1761699659.270 [DAT](INFO): Rx dataTimestamp_ set to:1761699659.269817 2025-10-29T01:00:59.271Z,1761699659.271 [DAT](INFO): DAT read: Bearing 296.2, -5.2 (Local) 2025-10-29T01:00:59.272Z,1761699659.272 [DAT](INFO): Local bearing/azimuth received: Bearing 296.2, -5.2 (Local) 2025-10-29T01:00:59.274Z,1761699659.274 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-29T01:00:59.278Z,1761699659.278 [DAT](INFO): DAT read: 01:00:58.6363 LVL= 32048, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.24,-1.457, 3.098,-1.226,-1.596, PHS= 0.241,-1.545, 0.326, RAW= 152.3, 10.7, CAL= 152.1, 11.7, ROT= 357.9, -11.7 2025-10-29T01:00:59.280Z,1761699659.280 [DAT](INFO): got valid direction response: 01:00:58.6363 LVL= 32048, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.24,-1.457, 3.098,-1.226,-1.596, PHS= 0.241,-1.545, 0.326, RAW= 152.3, 10.7, CAL= 152.1, 11.7, ROT= 357.9, -11.7 2025-10-29T01:00:59.280Z,1761699659.280 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T01:00:59.281Z,1761699659.281 [DAT](INFO): direction in FSK: [0.978565,-0.035882,0.202787] 2025-10-29T01:00:59.281Z,1761699659.281 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:59.285Z,1761699659.285 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.579376 2025-10-29T01:00:59.519Z,1761699659.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.670426,-0.727840,-0.144144],[0.741764,-0.662106,-0.106775],[-0.017723,-0.178506,0.983779]] 2025-10-29T01:00:59.521Z,1761699659.521 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.814998 2025-10-29T01:00:59.660Z,1761699659.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.502522 s, deltaX: -0.400000 m, approachRate: -0.795984 m/s, rangeRepo size: 4 2025-10-29T01:00:59.662Z,1761699659.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.448463 m, bearing: 132.160544 deg, lat: 36.779287 deg, lon: -121.859515 deg, deltaT: 0.502522 s, deltaX: -0.397659 m, approachRate: -0.791327 m/s, posRepo size: 4 2025-10-29T01:00:59.663Z,1761699659.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-29T01:00:59.670Z,1761699659.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.448463 m, nav range: 25.651930 m, bearing: 132.419112 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.950092 deg, new cmd heading: 128.854168 deg. 2025-10-29T01:00:59.671Z,1761699659.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.248930 target range: 26.448463 and range: 26.60 m. 2025-10-29T01:00:59.775Z,1761699659.775 [DAT](INFO): DAT read: Rx Time:01:00:59.1363 2025-10-29T01:00:59.776Z,1761699659.776 [DAT](INFO): Rx dataTimestamp_ set to:1761699659.774968 2025-10-29T01:00:59.777Z,1761699659.777 [DAT](INFO): DAT read: Bearing 297.7, -5.6 (Local) 2025-10-29T01:00:59.778Z,1761699659.778 [DAT](INFO): Local bearing/azimuth received: Bearing 297.7, -5.6 (Local) 2025-10-29T01:00:59.780Z,1761699659.780 [DAT](INFO): DAT read: Range 11 to 50 : 26.6 m (trip time 17.7 ms) speed 0.4 2025-10-29T01:00:59.785Z,1761699659.785 [DAT](INFO): DAT read: 01:00:59.1363 LVL= 32368, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.31,-1.709, 2.866,-1.478,-1.802, PHS= 0.195,-1.571, 0.280, RAW= 152.3, 12.1, CAL= 152.3, 13.4, ROT= 357.7, -13.4 2025-10-29T01:00:59.786Z,1761699659.786 [DAT](INFO): got valid direction response: 01:00:59.1363 LVL= 32368, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.31,-1.709, 2.866,-1.478,-1.802, PHS= 0.195,-1.571, 0.280, RAW= 152.3, 12.1, CAL= 152.3, 13.4, ROT= 357.7, -13.4 2025-10-29T01:00:59.786Z,1761699659.786 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T01:00:59.787Z,1761699659.787 [DAT](INFO): direction in FSK: [0.971992,-0.039039,0.231748] 2025-10-29T01:00:59.787Z,1761699659.787 [DAT](INFO): publishing direction and range info 2025-10-29T01:00:59.791Z,1761699659.791 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.085114 2025-10-29T01:01:00.023Z,1761699660.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.669630,-0.728593,-0.144045],[0.742494,-0.661247,-0.107023],[-0.017273,-0.178618,0.983767]] 2025-10-29T01:01:00.025Z,1761699660.025 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.318955 2025-10-29T01:01:00.048Z,1761699660.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.600000 m, deltaT: 0.505151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:00.050Z,1761699660.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.448463 m, bearing: 132.221705 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.505151 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:01:00.051Z,1761699660.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.45 m. 2025-10-29T01:01:00.053Z,1761699660.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.448463 m, nav range: 25.580587 m, bearing: 132.174009 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.854169 deg, new cmd heading: 128.777170 deg. 2025-10-29T01:01:00.054Z,1761699660.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.247586 target range: 26.448463 and range: 26.60 m. 2025-10-29T01:01:00.137Z,1761699660.137 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:01:00.278Z,1761699660.278 [DAT](INFO): DAT read: Rx Time:01:00:59.6360 2025-10-29T01:01:00.279Z,1761699660.279 [DAT](INFO): Rx dataTimestamp_ set to:1761699660.278646 2025-10-29T01:01:00.281Z,1761699660.281 [DAT](INFO): DAT read: Bearing 298.9, -5.5 (Local) 2025-10-29T01:01:00.281Z,1761699660.281 [DAT](INFO): Local bearing/azimuth received: Bearing 298.9, -5.5 (Local) 2025-10-29T01:01:00.285Z,1761699660.285 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed 0.4 2025-10-29T01:01:00.291Z,1761699660.291 [DAT](INFO): DAT read: 01:00:59.6360 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.01,-2.236, 2.363,-2.026,-2.303, PHS= 0.169,-1.573, 0.233, RAW= 151.8, 13.1, CAL= 151.9, 14.6, ROT= 358.1, -14.6 2025-10-29T01:01:00.292Z,1761699660.292 [DAT](INFO): got valid direction response: 01:00:59.6360 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 504,-0.01,-2.236, 2.363,-2.026,-2.303, PHS= 0.169,-1.573, 0.233, RAW= 151.8, 13.1, CAL= 151.9, 14.6, ROT= 358.1, -14.6 2025-10-29T01:01:00.292Z,1761699660.292 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T01:01:00.293Z,1761699660.293 [DAT](INFO): direction in FSK: [0.967177,-0.032084,0.252069] 2025-10-29T01:01:00.294Z,1761699660.294 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:00.302Z,1761699660.302 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.596342 2025-10-29T01:01:00.483Z,1761699660.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668342,-0.729693,-0.144458],[0.743657,-0.659920,-0.107146],[-0.017147,-0.179038,0.983693]] 2025-10-29T01:01:00.529Z,1761699660.529 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.823004 2025-10-29T01:01:00.550Z,1761699660.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503678 s, deltaX: -0.500000 m, approachRate: -0.992698 m/s, rangeRepo size: 4 2025-10-29T01:01:00.553Z,1761699660.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.951313 m, bearing: 132.747170 deg, lat: 36.779286 deg, lon: -121.859513 deg, deltaT: 0.503678 s, deltaX: -0.497150 m, approachRate: -0.987040 m/s, posRepo size: 4 2025-10-29T01:01:00.553Z,1761699660.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:01:00.576Z,1761699660.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.951313 m, nav range: 25.340935 m, bearing: 132.294185 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.777165 deg, new cmd heading: 128.678367 deg. 2025-10-29T01:01:00.584Z,1761699660.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.245861 target range: 25.951313 and range: 26.10 m. 2025-10-29T01:01:00.782Z,1761699660.782 [DAT](INFO): DAT read: Rx Time:01:01:00.1359 2025-10-29T01:01:00.782Z,1761699660.782 [DAT](INFO): Rx dataTimestamp_ set to:1761699660.781765 2025-10-29T01:01:00.783Z,1761699660.783 [DAT](INFO): DAT read: Bearing 298.3, -4.8 (Local) 2025-10-29T01:01:00.784Z,1761699660.784 [DAT](INFO): Local bearing/azimuth received: Bearing 298.3, -4.8 (Local) 2025-10-29T01:01:00.786Z,1761699660.786 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed 0.4 2025-10-29T01:01:00.791Z,1761699660.791 [DAT](INFO): DAT read: 01:01:00.1359 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503, 0.43,-1.326,-2.987,-1.136,-1.415, PHS= 0.191,-1.527, 0.235, RAW= 151.3, 12.6, CAL= 151.3, 14.0, ROT= 358.7, -14.0 2025-10-29T01:01:00.792Z,1761699660.792 [DAT](INFO): got valid direction response: 01:01:00.1359 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 503, 0.43,-1.326,-2.987,-1.136,-1.415, PHS= 0.191,-1.527, 0.235, RAW= 151.3, 12.6, CAL= 151.3, 14.0, ROT= 358.7, -14.0 2025-10-29T01:01:00.792Z,1761699660.792 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T01:01:00.793Z,1761699660.793 [DAT](INFO): direction in FSK: [0.970046,-0.022013,0.241922] 2025-10-29T01:01:00.793Z,1761699660.793 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:00.821Z,1761699660.821 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.114653 2025-10-29T01:01:00.914Z,1761699660.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.666898,-0.730683,-0.146115],[0.744952,-0.658283,-0.108210],[-0.017118,-0.181013,0.983332]] 2025-10-29T01:01:00.986Z,1761699660.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.503119 s, deltaX: -0.100000 m, approachRate: -0.198761 m/s, rangeRepo size: 4 2025-10-29T01:01:00.992Z,1761699660.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.851976 m, bearing: 133.138217 deg, lat: 36.779285 deg, lon: -121.859513 deg, deltaT: 0.503119 s, deltaX: -0.099337 m, approachRate: -0.197442 m/s, posRepo size: 4 2025-10-29T01:01:00.993Z,1761699660.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.85 m. 2025-10-29T01:01:00.995Z,1761699660.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.851976 m, nav range: 25.133835 m, bearing: 132.374446 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.678373 deg, new cmd heading: 128.592767 deg. 2025-10-29T01:01:01.001Z,1761699661.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.244367 target range: 25.851976 and range: 26.00 m. 2025-10-29T01:01:01.033Z,1761699661.033 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.327029 2025-10-29T01:01:01.286Z,1761699661.286 [DAT](INFO): DAT read: Rx Time:01:01:00.6357 2025-10-29T01:01:01.286Z,1761699661.286 [DAT](INFO): Rx dataTimestamp_ set to:1761699661.285704 2025-10-29T01:01:01.287Z,1761699661.287 [DAT](INFO): DAT read: Bearing 296.4, -4.7 (Local) 2025-10-29T01:01:01.288Z,1761699661.288 [DAT](INFO): Local bearing/azimuth received: Bearing 296.4, -4.7 (Local) 2025-10-29T01:01:01.290Z,1761699661.290 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.4 2025-10-29T01:01:01.298Z,1761699661.298 [DAT](INFO): DAT read: 01:01:00.6357 LVL= 29744, 32753, 32754, 32755, AGC= 64, IDX= 501,-0.15, 1.752, 0.034, 1.956, 1.617, PHS= 0.238,-1.538, 0.296, RAW= 151.6, 11.1, CAL= 151.5, 12.2, ROT= 358.5, -12.2 2025-10-29T01:01:01.299Z,1761699661.299 [DAT](INFO): got valid direction response: 01:01:00.6357 LVL= 29744, 32753, 32754, 32755, AGC= 64, IDX= 501,-0.15, 1.752, 0.034, 1.956, 1.617, PHS= 0.238,-1.538, 0.296, RAW= 151.6, 11.1, CAL= 151.5, 12.2, ROT= 358.5, -12.2 2025-10-29T01:01:01.304Z,1761699661.304 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T01:01:01.305Z,1761699661.305 [DAT](INFO): direction in FSK: [0.977081,-0.025586,0.211325] 2025-10-29T01:01:01.305Z,1761699661.305 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:01.309Z,1761699661.309 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.602903 2025-10-29T01:01:01.327Z,1761699661.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665893,-0.731539,-0.146413],[0.745857,-0.657212,-0.108492],[-0.016858,-0.181448,0.983256]] 2025-10-29T01:01:01.490Z,1761699661.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503939 s, deltaX: -0.299999 m, approachRate: -0.595309 m/s, rangeRepo size: 4 2025-10-29T01:01:01.497Z,1761699661.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.553686 m, bearing: 132.528782 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.503939 s, deltaX: -0.298290 m, approachRate: -0.591917 m/s, posRepo size: 4 2025-10-29T01:01:01.497Z,1761699661.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m. 2025-10-29T01:01:01.504Z,1761699661.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.553686 m, nav range: 24.953339 m, bearing: 132.265344 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.592764 deg, new cmd heading: 128.493634 deg. 2025-10-29T01:01:01.505Z,1761699661.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.242637 target range: 25.553686 and range: 25.70 m. 2025-10-29T01:01:01.537Z,1761699661.537 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.830856 2025-10-29T01:01:01.789Z,1761699661.789 [DAT](INFO): DAT read: Rx Time:01:01:01.1355 2025-10-29T01:01:01.790Z,1761699661.790 [DAT](INFO): Rx dataTimestamp_ set to:1761699661.789586 2025-10-29T01:01:01.791Z,1761699661.791 [DAT](INFO): DAT read: Bearing 298.9, -5.7 (Local) 2025-10-29T01:01:01.791Z,1761699661.791 [DAT](INFO): Local bearing/azimuth received: Bearing 298.9, -5.7 (Local) 2025-10-29T01:01:01.794Z,1761699661.794 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.4 2025-10-29T01:01:01.798Z,1761699661.798 [DAT](INFO): DAT read: 01:01:01.1355 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.23,-1.277,-2.974,-1.062,-1.338, PHS= 0.163,-1.591, 0.232, RAW= 151.9, 13.3, CAL= 152.1, 14.8, ROT= 357.9, -14.8 2025-10-29T01:01:01.799Z,1761699661.799 [DAT](INFO): got valid direction response: 01:01:01.1355 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.23,-1.277,-2.974,-1.062,-1.338, PHS= 0.163,-1.591, 0.232, RAW= 151.9, 13.3, CAL= 152.1, 14.8, ROT= 357.9, -14.8 2025-10-29T01:01:01.800Z,1761699661.800 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T01:01:01.801Z,1761699661.801 [DAT](INFO): direction in FSK: [0.966174,-0.035428,0.255446] 2025-10-29T01:01:01.801Z,1761699661.801 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:01.804Z,1761699661.804 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.098359 2025-10-29T01:01:01.824Z,1761699661.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663919,-0.733276,-0.146689],[0.747625,-0.655159,-0.108735],[-0.016372,-0.181860,0.983188]] 2025-10-29T01:01:01.971Z,1761699661.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.503882 s, deltaX: -0.300001 m, approachRate: -0.595380 m/s, rangeRepo size: 4 2025-10-29T01:01:01.978Z,1761699661.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.255533 m, bearing: 132.292690 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.503882 s, deltaX: -0.298153 m, approachRate: -0.591712 m/s, posRepo size: 4 2025-10-29T01:01:01.978Z,1761699661.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-29T01:01:01.985Z,1761699661.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.255533 m, nav range: 24.556023 m, bearing: 132.420069 deg, approach rate: 0.000000 m/s, LOS rate: -0.098274 deg/s, cmd heading: 128.493630 deg, new cmd heading: 128.399077 deg. 2025-10-29T01:01:01.986Z,1761699661.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240987 target range: 25.255533 and range: 25.40 m. 2025-10-29T01:01:02.042Z,1761699662.042 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.335376 2025-10-29T01:01:02.235Z,1761699662.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662610,-0.734571,-0.146125],[0.748786,-0.653976,-0.107863],[-0.016330,-0.180887,0.983368]] 2025-10-29T01:01:02.255Z,1761699662.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:02.257Z,1761699662.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.26 m. 2025-10-29T01:01:02.288Z,1761699662.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.255533 m, nav range: 24.356831 m, bearing: 132.406822 deg, approach rate: -0.694652 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.399073 deg, new cmd heading: 128.372362 deg. 2025-10-29T01:01:02.289Z,1761699662.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240520 target range: 25.255533 and range: 25.40 m. 2025-10-29T01:01:02.294Z,1761699662.294 [DAT](INFO): DAT read: Rx Time:01:01:01.6352 2025-10-29T01:01:02.294Z,1761699662.294 [DAT](INFO): Rx dataTimestamp_ set to:1761699662.293774 2025-10-29T01:01:02.295Z,1761699662.295 [DAT](INFO): DAT read: Bearing 297.3, -5.6 (Local) 2025-10-29T01:01:02.296Z,1761699662.296 [DAT](INFO): Local bearing/azimuth received: Bearing 297.3, -5.6 (Local) 2025-10-29T01:01:02.298Z,1761699662.298 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.5 2025-10-29T01:01:02.302Z,1761699662.302 [DAT](INFO): DAT read: 01:01:01.6352 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.18,-1.287,-3.023,-1.059,-1.385, PHS= 0.200,-1.593, 0.282, RAW= 152.2, 12.1, CAL= 152.2, 13.4, ROT= 357.8, -13.4 2025-10-29T01:01:02.304Z,1761699662.304 [DAT](INFO): got valid direction response: 01:01:01.6352 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.18,-1.287,-3.023,-1.059,-1.385, PHS= 0.200,-1.593, 0.282, RAW= 152.2, 12.1, CAL= 152.2, 13.4, ROT= 357.8, -13.4 2025-10-29T01:01:02.304Z,1761699662.304 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T01:01:02.305Z,1761699662.305 [DAT](INFO): direction in FSK: [0.972059,-0.037343,0.231748] 2025-10-29T01:01:02.305Z,1761699662.305 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:02.313Z,1761699662.313 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.606866 2025-10-29T01:01:02.545Z,1761699662.545 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.838945 2025-10-29T01:01:02.641Z,1761699662.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661729,-0.735337,-0.146264],[0.749571,-0.653047,-0.108044],[-0.016069,-0.181131,0.983328]] 2025-10-29T01:01:02.720Z,1761699662.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504188 s, deltaX: -0.500000 m, approachRate: -0.991694 m/s, rangeRepo size: 4 2025-10-29T01:01:02.722Z,1761699662.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.758480 m, bearing: 131.747128 deg, lat: 36.779285 deg, lon: -121.859514 deg, deltaT: 0.504188 s, deltaX: -0.497053 m, approachRate: -0.985849 m/s, posRepo size: 4 2025-10-29T01:01:02.723Z,1761699662.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-29T01:01:02.730Z,1761699662.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.758480 m, nav range: 24.086201 m, bearing: 132.351103 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.372367 deg, new cmd heading: 128.330815 deg. 2025-10-29T01:01:02.731Z,1761699662.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239795 target range: 24.758480 and range: 24.90 m. 2025-10-29T01:01:02.798Z,1761699662.798 [DAT](INFO): DAT read: Rx Time:01:01:02.1351 2025-10-29T01:01:02.798Z,1761699662.798 [DAT](INFO): Rx dataTimestamp_ set to:1761699662.797878 2025-10-29T01:01:02.799Z,1761699662.799 [DAT](INFO): DAT read: Bearing 298.6, -6.2 (Local) 2025-10-29T01:01:02.800Z,1761699662.800 [DAT](INFO): Local bearing/azimuth received: Bearing 298.6, -6.2 (Local) 2025-10-29T01:01:02.802Z,1761699662.802 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 2025-10-29T01:01:02.809Z,1761699662.809 [DAT](INFO): DAT read: 01:01:02.1351 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.15, 1.438,-0.304, 1.674, 1.379, PHS= 0.161,-1.638, 0.250, RAW= 152.4, 13.2, CAL= 152.6, 14.8, ROT= 357.4, -14.8 2025-10-29T01:01:02.810Z,1761699662.810 [DAT](INFO): got valid direction response: 01:01:02.1351 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 511,-0.15, 1.438,-0.304, 1.674, 1.379, PHS= 0.161,-1.638, 0.250, RAW= 152.4, 13.2, CAL= 152.6, 14.8, ROT= 357.4, -14.8 2025-10-29T01:01:02.811Z,1761699662.811 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T01:01:02.813Z,1761699662.813 [DAT](INFO): direction in FSK: [0.965828,-0.043858,0.255446] 2025-10-29T01:01:02.813Z,1761699662.813 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:02.818Z,1761699662.818 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.112275 2025-10-29T01:01:03.057Z,1761699663.057 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.350909 2025-10-29T01:01:03.131Z,1761699663.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661100,-0.735658,-0.147494],[0.750131,-0.652202,-0.109253],[-0.015823,-0.182867,0.983010]] 2025-10-29T01:01:03.157Z,1761699663.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504104 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:03.159Z,1761699663.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.758480 m, bearing: 131.602804 deg, lat: 36.779286 deg, lon: -121.859512 deg, deltaT: 0.504104 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:01:03.159Z,1761699663.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-29T01:01:03.162Z,1761699663.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.758480 m, nav range: 23.876551 m, bearing: 132.062616 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.330812 deg, new cmd heading: 128.288689 deg. 2025-10-29T01:01:03.163Z,1761699663.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239060 target range: 24.758480 and range: 24.90 m. 2025-10-29T01:01:03.310Z,1761699663.310 [DAT](INFO): DAT read: Rx Time:01:01:02.6348 2025-10-29T01:01:03.310Z,1761699663.310 [DAT](INFO): Rx dataTimestamp_ set to:1761699663.309744 2025-10-29T01:01:03.311Z,1761699663.311 [DAT](INFO): DAT read: Bearing 297.2, -5.8 (Local) 2025-10-29T01:01:03.312Z,1761699663.312 [DAT](INFO): Local bearing/azimuth received: Bearing 297.2, -5.8 (Local) 2025-10-29T01:01:03.314Z,1761699663.314 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.4 2025-10-29T01:01:03.319Z,1761699663.319 [DAT](INFO): DAT read: 01:01:02.6348 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.04, 0.237,-1.525, 0.472, 0.140, PHS= 0.199,-1.620, 0.288, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 2025-10-29T01:01:03.320Z,1761699663.320 [DAT](INFO): got valid direction response: 01:01:02.6348 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 508,-0.04, 0.237,-1.525, 0.472, 0.140, PHS= 0.199,-1.620, 0.288, RAW= 152.4, 12.1, CAL= 152.4, 13.4, ROT= 357.6, -13.4 2025-10-29T01:01:03.321Z,1761699663.321 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T01:01:03.322Z,1761699663.322 [DAT](INFO): direction in FSK: [0.971923,-0.040735,0.231748] 2025-10-29T01:01:03.322Z,1761699663.322 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:03.326Z,1761699663.326 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.619621 2025-10-29T01:01:03.515Z,1761699663.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659946,-0.736800,-0.146960],[0.751148,-0.651158,-0.108495],[-0.015755,-0.181989,0.983174]] 2025-10-29T01:01:03.561Z,1761699663.561 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.855020 2025-10-29T01:01:03.562Z,1761699663.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.511866 s, deltaX: -0.400000 m, approachRate: -0.781454 m/s, rangeRepo size: 4 2025-10-29T01:01:03.585Z,1761699663.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.360754 m, bearing: 131.426893 deg, lat: 36.779286 deg, lon: -121.859511 deg, deltaT: 0.511866 s, deltaX: -0.397726 m, approachRate: -0.777012 m/s, posRepo size: 4 2025-10-29T01:01:03.592Z,1761699663.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-29T01:01:03.628Z,1761699663.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.360754 m, nav range: 23.692381 m, bearing: 131.780560 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.288684 deg, new cmd heading: 128.251043 deg. 2025-10-29T01:01:03.629Z,1761699663.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238403 target range: 24.360754 and range: 24.50 m. 2025-10-29T01:01:03.814Z,1761699663.814 [DAT](INFO): DAT read: Rx Time:01:01:03.1346 2025-10-29T01:01:03.814Z,1761699663.814 [DAT](INFO): Rx dataTimestamp_ set to:1761699663.813724 2025-10-29T01:01:03.815Z,1761699663.815 [DAT](INFO): DAT read: Bearing 298.1, -5.7 (Local) 2025-10-29T01:01:03.816Z,1761699663.816 [DAT](INFO): Local bearing/azimuth received: Bearing 298.1, -5.7 (Local) 2025-10-29T01:01:03.818Z,1761699663.818 [DAT](INFO): DAT read: Range 11 to 50 : 24.2 m (trip time 16.1 ms) speed 0.5 2025-10-29T01:01:03.849Z,1761699663.849 [DAT](INFO): DAT read: 01:01:03.1346 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.00, 2.555, 0.814, 2.778, 2.481, PHS= 0.176,-1.622, 0.253, RAW= 152.1, 12.9, CAL= 152.2, 14.4, ROT= 357.8, -14.4 2025-10-29T01:01:03.850Z,1761699663.850 [DAT](INFO): got valid direction response: 01:01:03.1346 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507,-0.00, 2.555, 0.814, 2.778, 2.481, PHS= 0.176,-1.622, 0.253, RAW= 152.1, 12.9, CAL= 152.2, 14.4, ROT= 357.8, -14.4 2025-10-29T01:01:03.851Z,1761699663.851 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T01:01:03.852Z,1761699663.852 [DAT](INFO): direction in FSK: [0.967869,-0.037182,0.248690] 2025-10-29T01:01:03.852Z,1761699663.852 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:03.856Z,1761699663.856 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.149550 2025-10-29T01:01:03.934Z,1761699663.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658706,-0.737863,-0.147192],[0.752237,-0.649917,-0.108384],[-0.015690,-0.182117,0.983152]] 2025-10-29T01:01:03.992Z,1761699663.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.200001 m, deltaT: 0.503980 s, deltaX: -0.299999 m, approachRate: -0.595260 m/s, rangeRepo size: 4 2025-10-29T01:01:03.994Z,1761699663.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.062588 m, bearing: 131.722518 deg, lat: 36.779286 deg, lon: -121.859511 deg, deltaT: 0.503980 s, deltaX: -0.298166 m, approachRate: -0.591623 m/s, posRepo size: 4 2025-10-29T01:01:03.995Z,1761699663.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.06 m. 2025-10-29T01:01:04.002Z,1761699664.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.062588 m, nav range: 23.431774 m, bearing: 131.701204 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.251049 deg, new cmd heading: 128.211233 deg. 2025-10-29T01:01:04.003Z,1761699664.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237708 target range: 24.062588 and range: 24.20 m. 2025-10-29T01:01:04.069Z,1761699664.069 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.361720 2025-10-29T01:01:04.318Z,1761699664.318 [DAT](INFO): DAT read: Rx Time:01:01:03.6343 2025-10-29T01:01:04.318Z,1761699664.318 [DAT](INFO): Rx dataTimestamp_ set to:1761699664.317829 2025-10-29T01:01:04.319Z,1761699664.319 [DAT](INFO): DAT read: Bearing 297.6, -5.5 (Local) 2025-10-29T01:01:04.320Z,1761699664.320 [DAT](INFO): Local bearing/azimuth received: Bearing 297.6, -5.5 (Local) 2025-10-29T01:01:04.322Z,1761699664.322 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.4 2025-10-29T01:01:04.326Z,1761699664.326 [DAT](INFO): DAT read: 01:01:03.6343 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.08, 1.719,-0.038, 1.943, 1.629, PHS= 0.193,-1.621, 0.270, RAW= 152.1, 12.5, CAL= 152.1, 13.8, ROT= 357.9, -13.8 2025-10-29T01:01:04.328Z,1761699664.328 [DAT](INFO): got valid direction response: 01:01:03.6343 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504, 0.08, 1.719,-0.038, 1.943, 1.629, PHS= 0.193,-1.621, 0.270, RAW= 152.1, 12.5, CAL= 152.1, 13.8, ROT= 357.9, -13.8 2025-10-29T01:01:04.328Z,1761699664.328 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T01:01:04.329Z,1761699664.329 [DAT](INFO): direction in FSK: [0.970482,-0.035586,0.238533] 2025-10-29T01:01:04.329Z,1761699664.329 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:04.337Z,1761699664.337 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.631295 2025-10-29T01:01:04.374Z,1761699664.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657652,-0.738803,-0.147187],[0.753164,-0.648844,-0.108382],[-0.015428,-0.182133,0.983153]] 2025-10-29T01:01:04.451Z,1761699664.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504105 s, deltaX: -0.500000 m, approachRate: -0.991857 m/s, rangeRepo size: 4 2025-10-29T01:01:04.472Z,1761699664.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.565428 m, bearing: 131.624595 deg, lat: 36.779287 deg, lon: -121.859511 deg, deltaT: 0.504105 s, deltaX: -0.497160 m, approachRate: -0.986223 m/s, posRepo size: 4 2025-10-29T01:01:04.475Z,1761699664.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-29T01:01:04.499Z,1761699664.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.565428 m, nav range: 23.166904 m, bearing: 131.643986 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.211229 deg, new cmd heading: 128.169045 deg. 2025-10-29T01:01:04.507Z,1761699664.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236972 target range: 23.565428 and range: 23.70 m. 2025-10-29T01:01:04.573Z,1761699664.573 [DAT](INFO): DAT read: Rx Time:01:01:04.1342 2025-10-29T01:01:04.575Z,1761699664.575 [DAT](INFO): Rx dataTimestamp_ set to:1761699664.573495 2025-10-29T01:01:04.578Z,1761699664.578 [DAT](INFO): DAT read: Bearing 298.2, -5.4 (Local) 2025-10-29T01:01:04.580Z,1761699664.580 [DAT](INFO): Local bearing/azimuth received: Bearing 298.2, -5.4 (Local) 2025-10-29T01:01:04.582Z,1761699664.582 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.875728 2025-10-29T01:01:04.822Z,1761699664.822 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.4 2025-10-29T01:01:04.827Z,1761699664.827 [DAT](INFO): DAT read: 01:01:04.1342 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.13,-3.069, 1.465,-2.856, 3.137, PHS= 0.180,-1.626, 0.246, RAW= 151.8, 13.0, CAL= 151.9, 14.4, ROT= 358.1, -14.4 2025-10-29T01:01:04.829Z,1761699664.829 [DAT](INFO): got valid direction response: 01:01:04.1342 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 503, 0.13,-3.069, 1.465,-2.856, 3.137, PHS= 0.180,-1.626, 0.246, RAW= 151.8, 13.0, CAL= 151.9, 14.4, ROT= 358.1, -14.4 2025-10-29T01:01:04.829Z,1761699664.829 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-29T01:01:04.830Z,1761699664.830 [DAT](INFO): direction in FSK: [0.968051,-0.032113,0.248690] 2025-10-29T01:01:04.830Z,1761699664.830 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:04.834Z,1761699664.834 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.128009 2025-10-29T01:01:04.855Z,1761699664.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656028,-0.740282,-0.146999],[0.754575,-0.647350,-0.107490],[-0.015587,-0.181439,0.983279]] 2025-10-29T01:01:04.959Z,1761699664.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.502601 s, deltaX: -0.100000 m, approachRate: -0.198966 m/s, rangeRepo size: 4 2025-10-29T01:01:04.967Z,1761699664.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.466112 m, bearing: 131.802372 deg, lat: 36.779287 deg, lon: -121.859512 deg, deltaT: 0.502601 s, deltaX: -0.099316 m, approachRate: -0.197603 m/s, posRepo size: 4 2025-10-29T01:01:04.972Z,1761699664.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-29T01:01:04.974Z,1761699664.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.466112 m, nav range: 22.859436 m, bearing: 131.685852 deg, approach rate: 0.000000 m/s, LOS rate: -0.046576 deg/s, cmd heading: 128.169046 deg, new cmd heading: 128.120836 deg. 2025-10-29T01:01:04.975Z,1761699664.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.236130 target range: 23.466112 and range: 23.60 m. 2025-10-29T01:01:05.077Z,1761699665.077 [DAT](INFO): DAT read: Rx Time:01:01:04.6339 2025-10-29T01:01:05.078Z,1761699665.078 [DAT](INFO): Rx dataTimestamp_ set to:1761699665.077512 2025-10-29T01:01:05.082Z,1761699665.082 [DAT](INFO): DAT read: Bearing 298.3, -5.2 (Local) 2025-10-29T01:01:05.083Z,1761699665.083 [DAT](INFO): Local bearing/azimuth received: Bearing 298.3, -5.2 (Local) 2025-10-29T01:01:05.085Z,1761699665.085 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.378563 2025-10-29T01:01:05.223Z,1761699665.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654748,-0.741539,-0.146375],[0.755685,-0.646225,-0.106458],[-0.015649,-0.180317,0.983484]] 2025-10-29T01:01:05.256Z,1761699665.256 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:05.258Z,1761699665.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.47 m. 2025-10-29T01:01:05.265Z,1761699665.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.466112 m, nav range: 22.689003 m, bearing: 131.668814 deg, approach rate: -0.567720 m/s, LOS rate: -0.057180 deg/s, cmd heading: 128.120839 deg, new cmd heading: 128.086507 deg. 2025-10-29T01:01:05.266Z,1761699665.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235531 target range: 23.466112 and range: 23.60 m. 2025-10-29T01:01:05.327Z,1761699665.327 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.5 2025-10-29T01:01:05.333Z,1761699665.333 [DAT](INFO): DAT read: 01:01:04.6339 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.27, 1.917, 0.165, 2.123, 1.839, PHS= 0.179,-1.629, 0.239, RAW= 151.6, 13.1, CAL= 151.7, 14.6, ROT= 358.3, -14.6 2025-10-29T01:01:05.334Z,1761699665.334 [DAT](INFO): got valid direction response: 01:01:04.6339 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 500, 0.27, 1.917, 0.165, 2.123, 1.839, PHS= 0.179,-1.629, 0.239, RAW= 151.6, 13.1, CAL= 151.7, 14.6, ROT= 358.3, -14.6 2025-10-29T01:01:05.335Z,1761699665.335 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-29T01:01:05.336Z,1761699665.336 [DAT](INFO): direction in FSK: [0.967283,-0.028709,0.252069] 2025-10-29T01:01:05.337Z,1761699665.337 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:05.343Z,1761699665.343 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.636721 2025-10-29T01:01:05.581Z,1761699665.581 [DAT](INFO): DAT read: Rx Time:01:01:05.1337 2025-10-29T01:01:05.582Z,1761699665.582 [DAT](INFO): Rx dataTimestamp_ set to:1761699665.581457 2025-10-29T01:01:05.586Z,1761699665.586 [DAT](INFO): DAT read: Bearing 297.8, -4.6 (Local) 2025-10-29T01:01:05.587Z,1761699665.587 [DAT](INFO): Local bearing/azimuth received: Bearing 297.8, -4.6 (Local) 2025-10-29T01:01:05.592Z,1761699665.592 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed 0.4 2025-10-29T01:01:05.595Z,1761699665.595 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-29T01:01:05.598Z,1761699665.598 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.891812 2025-10-29T01:01:05.649Z,1761699665.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653469,-0.742754,-0.145927],[0.756787,-0.645106,-0.105409],[-0.015845,-0.179317,0.983664]] 2025-10-29T01:01:05.774Z,1761699665.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.761027 s, deltaX: -0.800001 m, approachRate: -1.051213 m/s, rangeRepo size: 4 2025-10-29T01:01:05.781Z,1761699665.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.670668 m, bearing: 131.810536 deg, lat: 36.779287 deg, lon: -121.859512 deg, deltaT: 0.761027 s, deltaX: -0.795444 m, approachRate: -1.045225 m/s, posRepo size: 4 2025-10-29T01:01:05.782Z,1761699665.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:01:05.789Z,1761699665.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.670668 m, nav range: 22.364786 m, bearing: 131.749036 deg, approach rate: 0.000000 m/s, LOS rate: -0.057180 deg/s, cmd heading: 128.086510 deg, new cmd heading: 128.027585 deg. 2025-10-29T01:01:05.790Z,1761699665.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234503 target range: 22.670668 and range: 22.80 m. 2025-10-29T01:01:05.834Z,1761699665.834 [DAT](INFO): DAT read: 01:01:05.1337 LVL= 31984, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.39,-0.662,-2.407,-0.472,-0.761, PHS= 0.201,-1.601, 0.245, RAW= 151.2, 12.6, CAL= 151.2, 14.0, ROT= 358.8, -14.0 2025-10-29T01:01:05.836Z,1761699665.836 [DAT](INFO): got valid direction response: 01:01:05.1337 LVL= 31984, 32753, 32754, 32755, AGC= 64, IDX= 499,-0.39,-0.662,-2.407,-0.472,-0.761, PHS= 0.201,-1.601, 0.245, RAW= 151.2, 12.6, CAL= 151.2, 14.0, ROT= 358.8, -14.0 2025-10-29T01:01:05.836Z,1761699665.836 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-29T01:01:05.838Z,1761699665.838 [DAT](INFO): direction in FSK: [0.970083,-0.020320,0.241922] 2025-10-29T01:01:05.843Z,1761699665.843 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.136556 2025-10-29T01:01:06.032Z,1761699666.032 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652055,-0.744016,-0.145821],[0.758003,-0.643793,-0.104699],[-0.015980,-0.178802,0.983755]] 2025-10-29T01:01:06.051Z,1761699666.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:01:06.055Z,1761699666.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.670668 m, nav range: 22.197361 m, bearing: 131.728638 deg, approach rate: -0.602015 m/s, LOS rate: -0.073896 deg/s, cmd heading: 128.027579 deg, new cmd heading: 127.986477 deg. 2025-10-29T01:01:06.056Z,1761699666.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.233785 target range: 22.670668 and range: 22.80 m. 2025-10-29T01:01:06.084Z,1761699666.084 [DAT](INFO): DAT read: Rx Time:01:01:05.6335 2025-10-29T01:01:06.086Z,1761699666.086 [DAT](INFO): Rx dataTimestamp_ set to:1761699666.084802 2025-10-29T01:01:06.089Z,1761699666.089 [DAT](INFO): DAT read: Bearing 295.5, -3.7 (Local) 2025-10-29T01:01:06.090Z,1761699666.090 [DAT](INFO): Local bearing/azimuth received: Bearing 295.5, -3.7 (Local) 2025-10-29T01:01:06.094Z,1761699666.094 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.4 2025-10-29T01:01:06.095Z,1761699666.095 [DAT](ERROR): #Rx 26: Read range message, but no direction. 2025-10-29T01:01:06.103Z,1761699666.103 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.396262 2025-10-29T01:01:06.337Z,1761699666.337 [DAT](INFO): DAT read: 01:01:05.6335 LVL= 26288, 32209, 29906, 32755, AGC= 63, IDX= 496,-0.08, 2.953, 1.200, 3.136, 2.789, PHS= 0.267,-1.544, 0.303, RAW= 151.0, 10.7, CAL= 150.8, 11.7, ROT= 359.2, -11.7 2025-10-29T01:01:06.338Z,1761699666.338 [DAT](INFO): got valid direction response: 01:01:05.6335 LVL= 26288, 32209, 29906, 32755, AGC= 63, IDX= 496,-0.08, 2.953, 1.200, 3.136, 2.789, PHS= 0.267,-1.544, 0.303, RAW= 151.0, 10.7, CAL= 150.8, 11.7, ROT= 359.2, -11.7 2025-10-29T01:01:06.338Z,1761699666.338 [DAT](INFO): #Rx 27: Read direction message, but no range. 2025-10-29T01:01:06.339Z,1761699666.339 [DAT](INFO): direction in FSK: [0.979127,-0.013672,0.202787] 2025-10-29T01:01:06.343Z,1761699666.343 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.636992 2025-10-29T01:01:06.443Z,1761699666.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650501,-0.745424,-0.145574],[0.759334,-0.642361,-0.103844],[-0.016103,-0.178090,0.983882]] 2025-10-29T01:01:06.490Z,1761699666.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503345 s, deltaX: -0.299999 m, approachRate: -0.596011 m/s, rangeRepo size: 4 2025-10-29T01:01:06.498Z,1761699666.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.372370 m, bearing: 131.907652 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.503345 s, deltaX: -0.298298 m, approachRate: -0.592631 m/s, posRepo size: 4 2025-10-29T01:01:06.516Z,1761699666.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m. 2025-10-29T01:01:06.534Z,1761699666.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.372370 m, nav range: 21.938229 m, bearing: 131.771634 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.986475 deg, new cmd heading: 127.922207 deg. 2025-10-29T01:01:06.542Z,1761699666.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232664 target range: 22.372370 and range: 22.50 m. 2025-10-29T01:01:06.588Z,1761699666.588 [DAT](INFO): DAT read: Rx Time:01:01:06.1334 2025-10-29T01:01:06.590Z,1761699666.590 [DAT](INFO): Rx dataTimestamp_ set to:1761699666.588882 2025-10-29T01:01:06.593Z,1761699666.593 [DAT](INFO): DAT read: Bearing 300.1, -3.9 (Local) 2025-10-29T01:01:06.594Z,1761699666.594 [DAT](INFO): Local bearing/azimuth received: Bearing 300.1, -3.9 (Local) 2025-10-29T01:01:06.598Z,1761699666.598 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.4 2025-10-29T01:01:06.601Z,1761699666.601 [DAT](ERROR): #Rx 28: Read range message, but no direction. 2025-10-29T01:01:06.603Z,1761699666.603 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.896995 2025-10-29T01:01:06.840Z,1761699666.840 [DAT](INFO): DAT read: 01:01:06.1334 LVL= 32080, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.13,-1.916, 2.655,-1.770,-1.968, PHS= 0.155,-1.615, 0.155, RAW= 150.0, 14.6, CAL= 150.2, 16.3, ROT= 359.8, -16.3 2025-10-29T01:01:06.842Z,1761699666.842 [DAT](INFO): got valid direction response: 01:01:06.1334 LVL= 32080, 32753, 32754, 32755, AGC= 63, IDX= 511, 0.13,-1.916, 2.655,-1.770,-1.968, PHS= 0.155,-1.615, 0.155, RAW= 150.0, 14.6, CAL= 150.2, 16.3, ROT= 359.8, -16.3 2025-10-29T01:01:06.842Z,1761699666.842 [DAT](INFO): #Rx 29: Read direction message, but no range. 2025-10-29T01:01:06.843Z,1761699666.843 [DAT](INFO): direction in FSK: [0.959799,-0.003350,0.280667] 2025-10-29T01:01:06.846Z,1761699666.846 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.140276 2025-10-29T01:01:06.850Z,1761699666.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649228,-0.746645,-0.144996],[0.760428,-0.641168,-0.103213],[-0.015903,-0.177268,0.984034]] 2025-10-29T01:01:06.964Z,1761699666.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.504080 s, deltaX: -0.100000 m, approachRate: -0.198382 m/s, rangeRepo size: 4 2025-10-29T01:01:06.974Z,1761699666.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.272991 m, bearing: 133.248738 deg, lat: 36.779287 deg, lon: -121.859513 deg, deltaT: 0.504080 s, deltaX: -0.099379 m, approachRate: -0.197148 m/s, posRepo size: 4 2025-10-29T01:01:06.975Z,1761699666.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m. 2025-10-29T01:01:06.981Z,1761699666.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.272991 m, nav range: 21.705296 m, bearing: 131.737805 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.922203 deg, new cmd heading: 127.852024 deg. 2025-10-29T01:01:06.982Z,1761699666.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231439 target range: 22.272991 and range: 22.40 m. 2025-10-29T01:01:07.094Z,1761699667.094 [DAT](INFO): DAT read: Rx Time:01:01:06.6332 2025-10-29T01:01:07.099Z,1761699667.099 [DAT](INFO): Rx dataTimestamp_ set to:1761699667.095236 2025-10-29T01:01:07.104Z,1761699667.104 [DAT](INFO): DAT read: Bearing 299.2, -3.1 (Local) 2025-10-29T01:01:07.107Z,1761699667.107 [DAT](INFO): Local bearing/azimuth received: Bearing 299.2, -3.1 (Local) 2025-10-29T01:01:07.133Z,1761699667.133 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-29T01:01:07.146Z,1761699667.146 [DAT](INFO): DAT read: 01:01:06.6332 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.33,-0.494,-2.204,-0.366,-0.580, PHS= 0.188,-1.579, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.3, ROT= 0.4, -15.3 2025-10-29T01:01:07.147Z,1761699667.147 [DAT](INFO): got valid direction response: 01:01:06.6332 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 509,-0.33,-0.494,-2.204,-0.366,-0.580, PHS= 0.188,-1.579, 0.170, RAW= 149.5, 13.8, CAL= 149.6, 15.3, ROT= 0.4, -15.3 2025-10-29T01:01:07.147Z,1761699667.147 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-29T01:01:07.152Z,1761699667.152 [DAT](INFO): direction in FSK: [0.964534,0.006734,0.263873] 2025-10-29T01:01:07.153Z,1761699667.153 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:07.161Z,1761699667.161 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.454530 2025-10-29T01:01:07.243Z,1761699667.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647868,-0.747726,-0.145507],[0.761589,-0.639765,-0.103364],[-0.015803,-0.177783,0.983943]] 2025-10-29T01:01:07.302Z,1761699667.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506354 s, deltaX: -0.500000 m, approachRate: -0.987451 m/s, rangeRepo size: 4 2025-10-29T01:01:07.308Z,1761699667.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.775827 m, bearing: 133.551590 deg, lat: 36.779286 deg, lon: -121.859515 deg, deltaT: 0.506354 s, deltaX: -0.497164 m, approachRate: -0.981850 m/s, posRepo size: 4 2025-10-29T01:01:07.309Z,1761699667.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-29T01:01:07.316Z,1761699667.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.775827 m, nav range: 21.392309 m, bearing: 132.244368 deg, approach rate: 0.000000 m/s, LOS rate: -0.073896 deg/s, cmd heading: 127.852030 deg, new cmd heading: 127.801699 deg. 2025-10-29T01:01:07.317Z,1761699667.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230561 target range: 21.775827 and range: 21.90 m. 2025-10-29T01:01:07.341Z,1761699667.341 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.635022 2025-10-29T01:01:07.601Z,1761699667.601 [DAT](INFO): DAT read: Rx Time:01:01:07.1332 2025-10-29T01:01:07.603Z,1761699667.603 [DAT](INFO): Rx dataTimestamp_ set to:1761699667.601829 2025-10-29T01:01:07.606Z,1761699667.606 [DAT](INFO): DAT read: Bearing 300.7, -3.9 (Local) 2025-10-29T01:01:07.607Z,1761699667.607 [DAT](INFO): Local bearing/azimuth received: Bearing 300.7, -3.9 (Local) 2025-10-29T01:01:07.614Z,1761699667.614 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.4 2025-10-29T01:01:07.629Z,1761699667.629 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-29T01:01:07.630Z,1761699667.630 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.923754 2025-10-29T01:01:07.651Z,1761699667.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646252,-0.749067,-0.145795],[0.762958,-0.638195,-0.102965],[-0.015918,-0.177777,0.983942]] 2025-10-29T01:01:07.744Z,1761699667.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:07.752Z,1761699667.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.506593 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:07.753Z,1761699667.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-29T01:01:07.762Z,1761699667.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.775827 m, nav range: 21.145176 m, bearing: 132.203607 deg, approach rate: -0.555261 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.801705 deg, new cmd heading: 127.719231 deg. 2025-10-29T01:01:07.769Z,1761699667.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229121 target range: 21.775827 and range: 21.90 m. 2025-10-29T01:01:07.854Z,1761699667.854 [DAT](INFO): DAT read: 01:01:07.1332 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.21, 2.218, 0.483, 2.360, 2.180, PHS= 0.140,-1.653, 0.135, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 2025-10-29T01:01:07.856Z,1761699667.856 [DAT](INFO): got valid direction response: 01:01:07.1332 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.21, 2.218, 0.483, 2.360, 2.180, PHS= 0.140,-1.653, 0.135, RAW= 149.9, 15.2, CAL= 150.1, 17.0, ROT= 359.9, -17.0 2025-10-29T01:01:07.856Z,1761699667.856 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-29T01:01:07.857Z,1761699667.857 [DAT](INFO): direction in FSK: [0.956303,-0.001669,0.292372] 2025-10-29T01:01:07.862Z,1761699667.862 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.155855 2025-10-29T01:01:08.051Z,1761699668.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645128,-0.750017,-0.145889],[0.763918,-0.636987,-0.103329],[-0.015431,-0.178108,0.983890]] 2025-10-29T01:01:08.112Z,1761699668.112 [DAT](INFO): DAT read: Rx Time:01:01:07.6329 2025-10-29T01:01:08.114Z,1761699668.114 [DAT](INFO): Rx dataTimestamp_ set to:1761699668.112516 2025-10-29T01:01:08.118Z,1761699668.118 [DAT](INFO): DAT read: Bearing 296.9, -2.8 (Local) 2025-10-29T01:01:08.119Z,1761699668.119 [DAT](INFO): Local bearing/azimuth received: Bearing 296.9, -2.8 (Local) 2025-10-29T01:01:08.148Z,1761699668.148 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed 0.4 2025-10-29T01:01:08.162Z,1761699668.162 [DAT](INFO): DAT read: 01:01:07.6329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.06, 2.403, 0.659, 2.540, 2.259, PHS= 0.247,-1.554, 0.237, RAW= 149.7, 11.9, CAL= 149.6, 13.1, ROT= 0.4, -13.1 2025-10-29T01:01:08.180Z,1761699668.180 [DAT](INFO): got valid direction response: 01:01:07.6329 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.06, 2.403, 0.659, 2.540, 2.259, PHS= 0.247,-1.554, 0.237, RAW= 149.7, 11.9, CAL= 149.6, 13.1, ROT= 0.4, -13.1 2025-10-29T01:01:08.180Z,1761699668.180 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T01:01:08.181Z,1761699668.181 [DAT](INFO): direction in FSK: [0.973952,0.006800,0.226651] 2025-10-29T01:01:08.182Z,1761699668.182 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:08.197Z,1761699668.197 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.491329 2025-10-29T01:01:08.292Z,1761699668.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.510687 s, deltaX: -0.400000 m, approachRate: -0.783258 m/s, rangeRepo size: 4 2025-10-29T01:01:08.298Z,1761699668.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.378149 m, bearing: 132.938258 deg, lat: 36.779285 deg, lon: -121.859517 deg, deltaT: 1.017280 s, deltaX: -0.397678 m, approachRate: -0.390923 m/s, posRepo size: 4 2025-10-29T01:01:08.299Z,1761699668.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:01:08.302Z,1761699668.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.378149 m, nav range: 20.867218 m, bearing: 132.793407 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.719237 deg, new cmd heading: 127.621877 deg. 2025-10-29T01:01:08.303Z,1761699668.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.227422 target range: 21.378149 and range: 21.50 m. 2025-10-29T01:01:08.358Z,1761699668.358 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.651897 2025-10-29T01:01:08.615Z,1761699668.615 [DAT](INFO): DAT read: Rx Time:01:01:08.1328 2025-10-29T01:01:08.617Z,1761699668.617 [DAT](INFO): Rx dataTimestamp_ set to:1761699668.615152 2025-10-29T01:01:08.621Z,1761699668.621 [DAT](INFO): DAT read: Bearing 299.3, -4.5 (Local) 2025-10-29T01:01:08.622Z,1761699668.622 [DAT](INFO): Local bearing/azimuth received: Bearing 299.3, -4.5 (Local) 2025-10-29T01:01:08.634Z,1761699668.634 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.4 2025-10-29T01:01:08.643Z,1761699668.643 [DAT](INFO): DAT read: 01:01:08.1328 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.42,-2.837, 1.698,-2.662,-2.893, PHS= 0.158,-1.647, 0.187, RAW= 150.8, 14.2, CAL= 151.0, 15.8, ROT= 359.0, -15.8 2025-10-29T01:01:08.644Z,1761699668.644 [DAT](INFO): got valid direction response: 01:01:08.1328 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 504, 0.42,-2.837, 1.698,-2.662,-2.893, PHS= 0.158,-1.647, 0.187, RAW= 150.8, 14.2, CAL= 151.0, 15.8, ROT= 359.0, -15.8 2025-10-29T01:01:08.645Z,1761699668.645 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T01:01:08.645Z,1761699668.645 [DAT](INFO): direction in FSK: [0.962071,-0.016793,0.272280] 2025-10-29T01:01:08.646Z,1761699668.646 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:08.694Z,1761699668.694 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.987490 2025-10-29T01:01:08.814Z,1761699668.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.502636 s, deltaX: -0.200001 m, approachRate: -0.397904 m/s, rangeRepo size: 4 2025-10-29T01:01:08.820Z,1761699668.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.179413 m, bearing: 132.076704 deg, lat: 36.779285 deg, lon: -121.859517 deg, deltaT: 0.502636 s, deltaX: -0.198736 m, approachRate: -0.395388 m/s, posRepo size: 4 2025-10-29T01:01:08.821Z,1761699668.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m. 2025-10-29T01:01:08.828Z,1761699668.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.179413 m, nav range: 20.582935 m, bearing: 132.742718 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.621880 deg, new cmd heading: 127.521532 deg. 2025-10-29T01:01:08.829Z,1761699668.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.225671 target range: 21.179413 and range: 21.30 m. 2025-10-29T01:01:08.861Z,1761699668.861 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.155022 2025-10-29T01:01:09.118Z,1761699669.118 [DAT](INFO): DAT read: Rx Time:01:01:08.6326 2025-10-29T01:01:09.119Z,1761699669.119 [DAT](INFO): Rx dataTimestamp_ set to:1761699669.118528 2025-10-29T01:01:09.123Z,1761699669.123 [DAT](INFO): DAT read: Bearing 297.9, -3.1 (Local) 2025-10-29T01:01:09.124Z,1761699669.124 [DAT](INFO): Local bearing/azimuth received: Bearing 297.9, -3.1 (Local) 2025-10-29T01:01:09.127Z,1761699669.127 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-29T01:01:09.132Z,1761699669.132 [DAT](INFO): DAT read: 01:01:08.6326 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06,-0.371,-2.109,-0.229,-0.482, PHS= 0.214,-1.582, 0.209, RAW= 149.9, 12.9, CAL= 149.9, 14.2, ROT= 0.1, -14.2 2025-10-29T01:01:09.133Z,1761699669.133 [DAT](INFO): got valid direction response: 01:01:08.6326 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.06,-0.371,-2.109,-0.229,-0.482, PHS= 0.214,-1.582, 0.209, RAW= 149.9, 12.9, CAL= 149.9, 14.2, ROT= 0.1, -14.2 2025-10-29T01:01:09.133Z,1761699669.133 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T01:01:09.134Z,1761699669.134 [DAT](INFO): direction in FSK: [0.969444,0.001692,0.245307] 2025-10-29T01:01:09.135Z,1761699669.135 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:09.175Z,1761699669.175 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.468927 2025-10-29T01:01:09.200Z,1761699669.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640196,-0.754352,-0.145266],[0.768066,-0.632207,-0.101924],[-0.014952,-0.176825,0.984129]] 2025-10-29T01:01:09.257Z,1761699669.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.503376 s, deltaX: -0.299999 m, approachRate: -0.595974 m/s, rangeRepo size: 4 2025-10-29T01:01:09.259Z,1761699669.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.881113 m, bearing: 132.462632 deg, lat: 36.779285 deg, lon: -121.859517 deg, deltaT: 0.503376 s, deltaX: -0.298300 m, approachRate: -0.592598 m/s, posRepo size: 4 2025-10-29T01:01:09.264Z,1761699669.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-29T01:01:09.267Z,1761699669.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.881113 m, nav range: 20.339705 m, bearing: 132.702618 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.521531 deg, new cmd heading: 127.439418 deg. 2025-10-29T01:01:09.272Z,1761699669.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224237 target range: 20.881113 and range: 21.00 m. 2025-10-29T01:01:09.370Z,1761699669.370 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.663181 2025-10-29T01:01:09.622Z,1761699669.622 [DAT](INFO): DAT read: Rx Time:01:01:09.1324 2025-10-29T01:01:09.623Z,1761699669.623 [DAT](INFO): Rx dataTimestamp_ set to:1761699669.622153 2025-10-29T01:01:09.626Z,1761699669.626 [DAT](INFO): DAT read: Bearing 299.5, -4.7 (Local) 2025-10-29T01:01:09.627Z,1761699669.627 [DAT](INFO): Local bearing/azimuth received: Bearing 299.5, -4.7 (Local) 2025-10-29T01:01:09.629Z,1761699669.629 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.4 2025-10-29T01:01:09.637Z,1761699669.637 [DAT](INFO): DAT read: 01:01:09.1324 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.18, 2.775, 1.027, 2.955, 2.732, PHS= 0.145,-1.660, 0.179, RAW= 150.9, 14.5, CAL= 151.2, 16.2, ROT= 358.8, -16.2 2025-10-29T01:01:09.639Z,1761699669.639 [DAT](INFO): got valid direction response: 01:01:09.1324 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.18, 2.775, 1.027, 2.955, 2.732, PHS= 0.145,-1.660, 0.179, RAW= 150.9, 14.5, CAL= 151.2, 16.2, ROT= 358.8, -16.2 2025-10-29T01:01:09.639Z,1761699669.639 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T01:01:09.643Z,1761699669.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638822,-0.755551,-0.145086],[0.769214,-0.630854,-0.101651],[-0.014726,-0.176538,0.984184]] 2025-10-29T01:01:09.644Z,1761699669.644 [DAT](INFO): direction in FSK: [0.960083,-0.020111,0.278991] 2025-10-29T01:01:09.644Z,1761699669.644 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:09.649Z,1761699669.649 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.943172 2025-10-29T01:01:09.794Z,1761699669.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.700001 m, deltaT: 0.503625 s, deltaX: -0.299999 m, approachRate: -0.595680 m/s, rangeRepo size: 4 2025-10-29T01:01:09.800Z,1761699669.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.582865 m, bearing: 131.459641 deg, lat: 36.779285 deg, lon: -121.859516 deg, deltaT: 0.503625 s, deltaX: -0.298248 m, approachRate: -0.592203 m/s, posRepo size: 4 2025-10-29T01:01:09.801Z,1761699669.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.58 m. 2025-10-29T01:01:09.808Z,1761699669.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.582865 m, nav range: 20.062922 m, bearing: 132.413482 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.439418 deg, new cmd heading: 127.339940 deg. 2025-10-29T01:01:09.809Z,1761699669.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222501 target range: 20.582865 and range: 20.70 m. 2025-10-29T01:01:09.870Z,1761699669.870 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.163628 2025-10-29T01:01:10.126Z,1761699670.126 [DAT](INFO): DAT read: Rx Time:01:01:09.6322 2025-10-29T01:01:10.126Z,1761699670.126 [DAT](INFO): Rx dataTimestamp_ set to:1761699670.125980 2025-10-29T01:01:10.128Z,1761699670.128 [DAT](INFO): DAT read: Bearing 298.4, -3.1 (Local) 2025-10-29T01:01:10.128Z,1761699670.128 [DAT](INFO): Local bearing/azimuth received: Bearing 298.4, -3.1 (Local) 2025-10-29T01:01:10.130Z,1761699670.130 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.4 2025-10-29T01:01:10.135Z,1761699670.135 [DAT](INFO): DAT read: 01:01:09.6322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.28,-0.879,-2.627,-0.743,-0.976, PHS= 0.199,-1.606, 0.189, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9 2025-10-29T01:01:10.140Z,1761699670.140 [DAT](INFO): got valid direction response: 01:01:09.6322 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 498,-0.28,-0.879,-2.627,-0.743,-0.976, PHS= 0.199,-1.606, 0.189, RAW= 149.7, 13.5, CAL= 149.8, 14.9, ROT= 0.2, -14.9 2025-10-29T01:01:10.141Z,1761699670.141 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T01:01:10.141Z,1761699670.141 [DAT](INFO): direction in FSK: [0.966370,0.003373,0.257133] 2025-10-29T01:01:10.142Z,1761699670.142 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:10.150Z,1761699670.150 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.443443 2025-10-29T01:01:10.189Z,1761699670.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637091,-0.757246,-0.143852],[0.770651,-0.629316,-0.100294],[-0.014581,-0.174756,0.984504]] 2025-10-29T01:01:10.238Z,1761699670.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.503827 s, deltaX: -0.300001 m, approachRate: -0.595445 m/s, rangeRepo size: 4 2025-10-29T01:01:10.244Z,1761699670.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.284561 m, bearing: 132.428790 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.503827 s, deltaX: -0.298304 m, approachRate: -0.592075 m/s, posRepo size: 4 2025-10-29T01:01:10.245Z,1761699670.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.28 m. 2025-10-29T01:01:10.248Z,1761699670.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.284561 m, nav range: 19.772942 m, bearing: 132.234145 deg, approach rate: 0.000000 m/s, LOS rate: -0.092652 deg/s, cmd heading: 127.339943 deg, new cmd heading: 127.257680 deg. 2025-10-29T01:01:10.253Z,1761699670.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221066 target range: 20.284561 and range: 20.40 m. 2025-10-29T01:01:10.373Z,1761699670.373 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.667173 2025-10-29T01:01:10.534Z,1761699670.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635695,-0.758451,-0.143685],[0.771804,-0.627973,-0.099839],[-0.014507,-0.174364,0.984574]] 2025-10-29T01:01:10.609Z,1761699670.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:10.627Z,1761699670.627 [DAT](INFO): DAT read: Rx Time:01:01:10.1321 2025-10-29T01:01:10.628Z,1761699670.628 [DAT](INFO): Rx dataTimestamp_ set to:1761699670.627389 2025-10-29T01:01:10.629Z,1761699670.629 [DAT](INFO): DAT read: Bearing 299.5, -4.1 (Local) 2025-10-29T01:01:10.629Z,1761699670.629 [DAT](INFO): Local bearing/azimuth received: Bearing 299.5, -4.1 (Local) 2025-10-29T01:01:10.631Z,1761699670.631 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.4 2025-10-29T01:01:10.641Z,1761699670.641 [DAT](INFO): DAT read: 01:01:10.1321 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.03, 1.845, 0.095, 2.005, 1.793, PHS= 0.154,-1.653, 0.168, RAW= 150.4, 14.5, CAL= 150.6, 16.2, ROT= 359.4, -16.2 2025-10-29T01:01:10.642Z,1761699670.642 [DAT](INFO): got valid direction response: 01:01:10.1321 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.03, 1.845, 0.095, 2.005, 1.793, PHS= 0.154,-1.653, 0.168, RAW= 150.4, 14.5, CAL= 150.6, 16.2, ROT= 359.4, -16.2 2025-10-29T01:01:10.643Z,1761699670.643 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T01:01:10.644Z,1761699670.644 [DAT](INFO): direction in FSK: [0.960241,-0.010056,0.278991] 2025-10-29T01:01:10.644Z,1761699670.644 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:10.648Z,1761699670.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.28 m. 2025-10-29T01:01:10.651Z,1761699670.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.284561 m, nav range: 19.592060 m, bearing: 132.201075 deg, approach rate: -0.472696 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.257680 deg, new cmd heading: 127.190930 deg. 2025-10-29T01:01:10.656Z,1761699670.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.219901 target range: 20.284561 and range: 20.40 m. 2025-10-29T01:01:10.648Z,1761699670.648 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.941530 2025-10-29T01:01:10.877Z,1761699670.877 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.171001 2025-10-29T01:01:11.020Z,1761699671.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501409 s, deltaX: -0.100000 m, approachRate: -0.199439 m/s, rangeRepo size: 4 2025-10-29T01:01:11.022Z,1761699671.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.185141 m, bearing: 131.777950 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.501409 s, deltaX: -0.099421 m, approachRate: -0.198282 m/s, posRepo size: 4 2025-10-29T01:01:11.023Z,1761699671.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-29T01:01:11.026Z,1761699671.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.185141 m, nav range: 19.363516 m, bearing: 132.079225 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.190936 deg, new cmd heading: 127.121288 deg. 2025-10-29T01:01:11.027Z,1761699671.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218685 target range: 20.185141 and range: 20.30 m. 2025-10-29T01:01:11.131Z,1761699671.131 [DAT](INFO): DAT read: Rx Time:01:01:10.6318 2025-10-29T01:01:11.131Z,1761699671.131 [DAT](INFO): Rx dataTimestamp_ set to:1761699671.130904 2025-10-29T01:01:11.133Z,1761699671.133 [DAT](INFO): DAT read: Bearing 297.4, -2.9 (Local) 2025-10-29T01:01:11.134Z,1761699671.134 [DAT](INFO): Local bearing/azimuth received: Bearing 297.4, -2.9 (Local) 2025-10-29T01:01:11.137Z,1761699671.137 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-29T01:01:11.143Z,1761699671.143 [DAT](INFO): DAT read: 01:01:10.6318 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.37, 1.184,-0.577, 1.322, 1.062, PHS= 0.224,-1.594, 0.216, RAW= 149.8, 12.7, CAL= 149.7, 14.0, ROT= 0.3, -14.0 2025-10-29T01:01:11.144Z,1761699671.144 [DAT](INFO): got valid direction response: 01:01:10.6318 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.37, 1.184,-0.577, 1.322, 1.062, PHS= 0.224,-1.594, 0.216, RAW= 149.8, 12.7, CAL= 149.7, 14.0, ROT= 0.3, -14.0 2025-10-29T01:01:11.145Z,1761699671.145 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T01:01:11.146Z,1761699671.146 [DAT](INFO): direction in FSK: [0.970282,0.005080,0.241922] 2025-10-29T01:01:11.146Z,1761699671.146 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:11.154Z,1761699671.154 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.447784 2025-10-29T01:01:11.335Z,1761699671.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633353,-0.760444,-0.143489],[0.773730,-0.625710,-0.099148],[-0.014386,-0.173818,0.984673]] 2025-10-29T01:01:11.362Z,1761699671.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503515 s, deltaX: -0.500000 m, approachRate: -0.993019 m/s, rangeRepo size: 4 2025-10-29T01:01:11.376Z,1761699671.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.687969 m, bearing: 132.069948 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.503515 s, deltaX: -0.497171 m, approachRate: -0.987401 m/s, posRepo size: 4 2025-10-29T01:01:11.377Z,1761699671.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T01:01:11.379Z,1761699671.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.687969 m, nav range: 19.187918 m, bearing: 132.061241 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.121282 deg, new cmd heading: 127.061668 deg. 2025-10-29T01:01:11.381Z,1761699671.381 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.674915 2025-10-29T01:01:11.385Z,1761699671.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217644 target range: 19.687969 and range: 19.80 m. 2025-10-29T01:01:11.634Z,1761699671.634 [DAT](INFO): DAT read: Rx Time:01:01:11.1318 2025-10-29T01:01:11.634Z,1761699671.634 [DAT](INFO): Rx dataTimestamp_ set to:1761699671.633719 2025-10-29T01:01:11.635Z,1761699671.635 [DAT](INFO): DAT read: Bearing 300.7, -3.7 (Local) 2025-10-29T01:01:11.636Z,1761699671.636 [DAT](INFO): Local bearing/azimuth received: Bearing 300.7, -3.7 (Local) 2025-10-29T01:01:11.638Z,1761699671.638 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.4 2025-10-29T01:01:11.646Z,1761699671.646 [DAT](INFO): DAT read: 01:01:11.1318 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.27, 1.359,-0.385, 1.493, 1.332, PHS= 0.129,-1.672, 0.117, RAW= 149.7, 15.7, CAL= 149.9, 17.5, ROT= 0.1, -17.5 2025-10-29T01:01:11.647Z,1761699671.647 [DAT](INFO): got valid direction response: 01:01:11.1318 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510,-0.27, 1.359,-0.385, 1.493, 1.332, PHS= 0.129,-1.672, 0.117, RAW= 149.7, 15.7, CAL= 149.9, 17.5, ROT= 0.1, -17.5 2025-10-29T01:01:11.648Z,1761699671.648 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T01:01:11.649Z,1761699671.649 [DAT](INFO): direction in FSK: [0.953715,0.001665,0.300706] 2025-10-29T01:01:11.649Z,1761699671.649 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:11.653Z,1761699671.653 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.946896 2025-10-29T01:01:11.739Z,1761699671.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632609,-0.760946,-0.144110],[0.774340,-0.624878,-0.099623],[-0.014244,-0.174613,0.984534]] 2025-10-29T01:01:11.855Z,1761699671.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.502815 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:11.862Z,1761699671.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.688009 m, bearing: 132.483403 deg, lat: 36.779286 deg, lon: -121.859516 deg, deltaT: 0.502815 s, deltaX: 0.000040 m, approachRate: 0.000080 m/s, posRepo size: 4 2025-10-29T01:01:11.862Z,1761699671.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T01:01:11.870Z,1761699671.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.688009 m, nav range: 18.918932 m, bearing: 132.010700 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 127.061668 deg, new cmd heading: 126.975585 deg. 2025-10-29T01:01:11.871Z,1761699671.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216142 target range: 19.688009 and range: 19.80 m. 2025-10-29T01:01:11.885Z,1761699671.885 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.179028 2025-10-29T01:01:12.138Z,1761699672.138 [DAT](INFO): DAT read: Rx Time:01:01:11.6315 2025-10-29T01:01:12.138Z,1761699672.138 [DAT](INFO): Rx dataTimestamp_ set to:1761699672.137946 2025-10-29T01:01:12.139Z,1761699672.139 [DAT](INFO): DAT read: Bearing 298.1, -2.6 (Local) 2025-10-29T01:01:12.140Z,1761699672.140 [DAT](INFO): Local bearing/azimuth received: Bearing 298.1, -2.6 (Local) 2025-10-29T01:01:12.142Z,1761699672.142 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.4 2025-10-29T01:01:12.147Z,1761699672.147 [DAT](INFO): DAT read: 01:01:11.6315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.09, 0.424,-1.314, 0.544, 0.318, PHS= 0.208,-1.587, 0.182, RAW= 149.3, 13.4, CAL= 149.3, 14.8, ROT= 0.7, -14.8 2025-10-29T01:01:12.148Z,1761699672.148 [DAT](INFO): got valid direction response: 01:01:11.6315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.09, 0.424,-1.314, 0.544, 0.318, PHS= 0.208,-1.587, 0.182, RAW= 149.3, 13.4, CAL= 149.3, 14.8, ROT= 0.7, -14.8 2025-10-29T01:01:12.148Z,1761699672.148 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T01:01:12.149Z,1761699672.149 [DAT](INFO): direction in FSK: [0.966751,0.011812,0.255446] 2025-10-29T01:01:12.149Z,1761699672.149 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:12.158Z,1761699672.158 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.451538 2025-10-29T01:01:12.239Z,1761699672.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631659,-0.761676,-0.144419],[0.775126,-0.623793,-0.100315],[-0.013680,-0.175308,0.984419]] 2025-10-29T01:01:12.283Z,1761699672.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504227 s, deltaX: -0.400000 m, approachRate: -0.793293 m/s, rangeRepo size: 4 2025-10-29T01:01:12.289Z,1761699672.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.290272 m, bearing: 132.505292 deg, lat: 36.779286 deg, lon: -121.859517 deg, deltaT: 0.504227 s, deltaX: -0.397738 m, approachRate: -0.788806 m/s, posRepo size: 4 2025-10-29T01:01:12.290Z,1761699672.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T01:01:12.297Z,1761699672.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.290272 m, nav range: 18.630081 m, bearing: 132.119554 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.975580 deg, new cmd heading: 126.900998 deg. 2025-10-29T01:01:12.298Z,1761699672.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214840 target range: 19.290272 and range: 19.40 m. 2025-10-29T01:01:12.389Z,1761699672.389 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.683077 2025-10-29T01:01:12.642Z,1761699672.642 [DAT](INFO): DAT read: Rx Time:01:01:12.1313 2025-10-29T01:01:12.642Z,1761699672.642 [DAT](INFO): Rx dataTimestamp_ set to:1761699672.641866 2025-10-29T01:01:12.643Z,1761699672.643 [DAT](INFO): DAT read: Bearing 302.1, -4.2 (Local) 2025-10-29T01:01:12.648Z,1761699672.648 [DAT](INFO): Local bearing/azimuth received: Bearing 302.1, -4.2 (Local) 2025-10-29T01:01:12.650Z,1761699672.650 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.4 2025-10-29T01:01:12.665Z,1761699672.665 [DAT](INFO): DAT read: 01:01:12.1313 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.32, 1.074,-0.638, 1.210, 1.091, PHS= 0.084,-1.685, 0.075, RAW= 149.7, 17.0, CAL= 150.2, 19.0, ROT= 359.8, -19.0 2025-10-29T01:01:12.666Z,1761699672.666 [DAT](INFO): got valid direction response: 01:01:12.1313 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 505, 0.32, 1.074,-0.638, 1.210, 1.091, PHS= 0.084,-1.685, 0.075, RAW= 149.7, 17.0, CAL= 150.2, 19.0, ROT= 359.8, -19.0 2025-10-29T01:01:12.667Z,1761699672.667 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T01:01:12.668Z,1761699672.668 [DAT](INFO): direction in FSK: [0.945513,-0.003301,0.325568] 2025-10-29T01:01:12.684Z,1761699672.684 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:12.688Z,1761699672.688 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.981537 2025-10-29T01:01:12.710Z,1761699672.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630325,-0.762736,-0.144651],[0.776207,-0.622516,-0.099881],[-0.013864,-0.175237,0.984429]] 2025-10-29T01:01:12.825Z,1761699672.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503920 s, deltaX: -0.299999 m, approachRate: -0.595331 m/s, rangeRepo size: 4 2025-10-29T01:01:12.827Z,1761699672.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.992006 m, bearing: 132.320778 deg, lat: 36.779286 deg, lon: -121.859517 deg, deltaT: 0.503920 s, deltaX: -0.298265 m, approachRate: -0.591891 m/s, posRepo size: 4 2025-10-29T01:01:12.827Z,1761699672.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.99 m. 2025-10-29T01:01:12.834Z,1761699672.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.992006 m, nav range: 18.335081 m, bearing: 132.079724 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.900994 deg, new cmd heading: 126.807946 deg. 2025-10-29T01:01:12.835Z,1761699672.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213216 target range: 18.992006 and range: 19.10 m. 2025-10-29T01:01:12.895Z,1761699672.895 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.188288 2025-10-29T01:01:13.146Z,1761699673.146 [DAT](INFO): DAT read: Rx Time:01:01:12.6310 2025-10-29T01:01:13.146Z,1761699673.146 [DAT](INFO): Rx dataTimestamp_ set to:1761699673.145788 2025-10-29T01:01:13.147Z,1761699673.147 [DAT](INFO): DAT read: Bearing 303.2, -4.9 (Local) 2025-10-29T01:01:13.148Z,1761699673.148 [DAT](INFO): Local bearing/azimuth received: Bearing 303.2, -4.9 (Local) 2025-10-29T01:01:13.150Z,1761699673.150 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.6 2025-10-29T01:01:13.154Z,1761699673.154 [DAT](INFO): DAT read: 01:01:12.6310 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.36,-1.362,-3.041,-1.212,-1.308, PHS= 0.048,-1.688, 0.052, RAW= 150.1, 17.9, CAL= 150.7, 20.2, ROT= 359.3, -20.2 2025-10-29T01:01:13.156Z,1761699673.156 [DAT](INFO): got valid direction response: 01:01:12.6310 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.36,-1.362,-3.041,-1.212,-1.308, PHS= 0.048,-1.688, 0.052, RAW= 150.1, 17.9, CAL= 150.7, 20.2, ROT= 359.3, -20.2 2025-10-29T01:01:13.169Z,1761699673.169 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-29T01:01:13.170Z,1761699673.170 [DAT](INFO): direction in FSK: [0.938423,-0.011466,0.345298] 2025-10-29T01:01:13.170Z,1761699673.170 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:13.182Z,1761699673.182 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.475906 2025-10-29T01:01:13.183Z,1761699673.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629538,-0.763224,-0.145505],[0.776845,-0.621656,-0.100273],[-0.013923,-0.176160,0.984263]] 2025-10-29T01:01:13.244Z,1761699673.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503922 s, deltaX: -0.300001 m, approachRate: -0.595333 m/s, rangeRepo size: 4 2025-10-29T01:01:13.250Z,1761699673.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.693701 m, bearing: 132.027908 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.503922 s, deltaX: -0.298306 m, approachRate: -0.591968 m/s, posRepo size: 4 2025-10-29T01:01:13.251Z,1761699673.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:01:13.260Z,1761699673.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693701 m, nav range: 18.055630 m, bearing: 132.169150 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.807940 deg, new cmd heading: 126.733390 deg. 2025-10-29T01:01:13.261Z,1761699673.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211915 target range: 18.693701 and range: 18.80 m. 2025-10-29T01:01:13.397Z,1761699673.397 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.690907 2025-10-29T01:01:13.650Z,1761699673.650 [DAT](INFO): DAT read: Rx Time:01:01:13.1310 2025-10-29T01:01:13.650Z,1761699673.650 [DAT](INFO): Rx dataTimestamp_ set to:1761699673.649707 2025-10-29T01:01:13.651Z,1761699673.651 [DAT](INFO): DAT read: Bearing 302.1, -4.4 (Local) 2025-10-29T01:01:13.652Z,1761699673.652 [DAT](INFO): Local bearing/azimuth received: Bearing 302.1, -4.4 (Local) 2025-10-29T01:01:13.654Z,1761699673.654 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-29T01:01:13.658Z,1761699673.658 [DAT](INFO): DAT read: 01:01:13.1310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.24, 0.915,-0.791, 1.060, 0.940, PHS= 0.077,-1.685, 0.076, RAW= 150.0, 17.1, CAL= 150.4, 19.2, ROT= 359.6, -19.2 2025-10-29T01:01:13.659Z,1761699673.659 [DAT](INFO): got valid direction response: 01:01:13.1310 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 502,-0.24, 0.915,-0.791, 1.060, 0.940, PHS= 0.077,-1.685, 0.076, RAW= 150.0, 17.1, CAL= 150.4, 19.2, ROT= 359.6, -19.2 2025-10-29T01:01:13.660Z,1761699673.660 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-29T01:01:13.661Z,1761699673.661 [DAT](INFO): direction in FSK: [0.944353,-0.006593,0.328867] 2025-10-29T01:01:13.661Z,1761699673.661 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:13.665Z,1761699673.665 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.958691 2025-10-29T01:01:13.693Z,1761699673.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.503919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:13.695Z,1761699673.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.693760 m, bearing: 132.124413 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.503919 s, deltaX: 0.000059 m, approachRate: 0.000117 m/s, posRepo size: 4 2025-10-29T01:01:13.708Z,1761699673.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:01:13.711Z,1761699673.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693760 m, nav range: 17.762426 m, bearing: 132.124349 deg, approach rate: 0.000000 m/s, LOS rate: -0.087219 deg/s, cmd heading: 126.733395 deg, new cmd heading: 126.656429 deg. 2025-10-29T01:01:13.712Z,1761699673.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210572 target range: 18.693760 and range: 18.80 m. 2025-10-29T01:01:13.901Z,1761699673.901 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.195000 2025-10-29T01:01:13.954Z,1761699673.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627873,-0.764672,-0.145093],[0.778194,-0.620066,-0.099657],[-0.013762,-0.175482,0.984386]] 2025-10-29T01:01:14.029Z,1761699674.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:14.031Z,1761699674.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:01:14.038Z,1761699674.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693760 m, nav range: 17.557957 m, bearing: 132.109486 deg, approach rate: -0.589477 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.656432 deg, new cmd heading: 126.626361 deg. 2025-10-29T01:01:14.039Z,1761699674.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210047 target range: 18.693760 and range: 18.80 m. 2025-10-29T01:01:14.154Z,1761699674.154 [DAT](INFO): DAT read: Rx Time:01:01:13.6307 2025-10-29T01:01:14.154Z,1761699674.154 [DAT](INFO): Rx dataTimestamp_ set to:1761699674.153964 2025-10-29T01:01:14.156Z,1761699674.156 [DAT](INFO): DAT read: Bearing 298.3, -3.1 (Local) 2025-10-29T01:01:14.156Z,1761699674.156 [DAT](INFO): Local bearing/azimuth received: Bearing 298.3, -3.1 (Local) 2025-10-29T01:01:14.158Z,1761699674.158 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.5 2025-10-29T01:01:14.163Z,1761699674.163 [DAT](INFO): DAT read: 01:01:13.6307 LVL= 26256, 32753, 32434, 32755, AGC= 60, IDX= 499,-0.10, 0.484,-1.299, 0.616, 0.391, PHS= 0.195,-1.645, 0.181, RAW= 149.6, 13.7, CAL= 149.7, 15.2, ROT= 0.3, -15.2 2025-10-29T01:01:14.164Z,1761699674.164 [DAT](INFO): got valid direction response: 01:01:13.6307 LVL= 26256, 32753, 32434, 32755, AGC= 60, IDX= 499,-0.10, 0.484,-1.299, 0.616, 0.391, PHS= 0.195,-1.645, 0.181, RAW= 149.6, 13.7, CAL= 149.7, 15.2, ROT= 0.3, -15.2 2025-10-29T01:01:14.164Z,1761699674.164 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T01:01:14.165Z,1761699674.165 [DAT](INFO): direction in FSK: [0.965003,0.005053,0.262189] 2025-10-29T01:01:14.165Z,1761699674.165 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:14.174Z,1761699674.174 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.467167 2025-10-29T01:01:14.359Z,1761699674.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626727,-0.765585,-0.145232],[0.779113,-0.618998,-0.099119],[-0.014014,-0.175273,0.984420]] 2025-10-29T01:01:14.405Z,1761699674.405 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.698832 2025-10-29T01:01:14.444Z,1761699674.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504257 s, deltaX: -0.500000 m, approachRate: -0.991558 m/s, rangeRepo size: 4 2025-10-29T01:01:14.446Z,1761699674.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.196585 m, bearing: 131.823962 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.504257 s, deltaX: -0.497175 m, approachRate: -0.985956 m/s, posRepo size: 4 2025-10-29T01:01:14.447Z,1761699674.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-29T01:01:14.461Z,1761699674.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.196585 m, nav range: 17.356436 m, bearing: 132.095470 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.626366 deg, new cmd heading: 126.591405 deg. 2025-10-29T01:01:14.462Z,1761699674.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209437 target range: 18.196585 and range: 18.30 m. 2025-10-29T01:01:14.663Z,1761699674.663 [DAT](INFO): DAT read: Rx Time:01:01:14.1306 2025-10-29T01:01:14.665Z,1761699674.665 [DAT](INFO): Rx dataTimestamp_ set to:1761699674.663546 2025-10-29T01:01:14.673Z,1761699674.673 [DAT](INFO): DAT read: Bearing 296.1, -2.6 (Local) 2025-10-29T01:01:14.673Z,1761699674.673 [DAT](INFO): Local bearing/azimuth received: Bearing 296.1, -2.6 (Local) 2025-10-29T01:01:14.675Z,1761699674.675 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.4 2025-10-29T01:01:14.680Z,1761699674.680 [DAT](INFO): DAT read: 01:01:14.1306 LVL= 29552, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.00, 2.995, 1.214, 3.129, 2.842, PHS= 0.254,-1.583, 0.243, RAW= 149.7, 11.8, CAL= 149.6, 13.0, ROT= 0.4, -13.0 2025-10-29T01:01:14.681Z,1761699674.681 [DAT](INFO): got valid direction response: 01:01:14.1306 LVL= 29552, 32753, 32754, 32755, AGC= 61, IDX= 498,-0.00, 2.995, 1.214, 3.129, 2.842, PHS= 0.254,-1.583, 0.243, RAW= 149.7, 11.8, CAL= 149.6, 13.0, ROT= 0.4, -13.0 2025-10-29T01:01:14.682Z,1761699674.682 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-29T01:01:14.682Z,1761699674.682 [DAT](INFO): direction in FSK: [0.974346,0.006802,0.224951] 2025-10-29T01:01:14.683Z,1761699674.683 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:14.686Z,1761699674.686 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.980396 2025-10-29T01:01:14.783Z,1761699674.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625504,-0.766739,-0.144417],[0.780095,-0.617917,-0.098134],[-0.013995,-0.174042,0.984639]] 2025-10-29T01:01:14.879Z,1761699674.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.509582 s, deltaX: -0.099998 m, approachRate: -0.196236 m/s, rangeRepo size: 4 2025-10-29T01:01:14.885Z,1761699674.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.097179 m, bearing: 131.409869 deg, lat: 36.779286 deg, lon: -121.859518 deg, deltaT: 0.509582 s, deltaX: -0.099405 m, approachRate: -0.195072 m/s, posRepo size: 4 2025-10-29T01:01:14.886Z,1761699674.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-29T01:01:14.893Z,1761699674.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.097179 m, nav range: 17.089903 m, bearing: 132.102217 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.591409 deg, new cmd heading: 126.552949 deg. 2025-10-29T01:01:14.893Z,1761699674.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208766 target range: 18.097179 and range: 18.20 m. 2025-10-29T01:01:14.909Z,1761699674.909 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.203003 2025-10-29T01:01:15.162Z,1761699675.162 [DAT](INFO): DAT read: Rx Time:01:01:14.6303 2025-10-29T01:01:15.162Z,1761699675.162 [DAT](INFO): Rx dataTimestamp_ set to:1761699675.161748 2025-10-29T01:01:15.163Z,1761699675.163 [DAT](INFO): DAT read: Bearing 296.0, -2.9 (Local) 2025-10-29T01:01:15.164Z,1761699675.164 [DAT](INFO): Local bearing/azimuth received: Bearing 296.0, -2.9 (Local) 2025-10-29T01:01:15.166Z,1761699675.166 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.5 2025-10-29T01:01:15.170Z,1761699675.170 [DAT](INFO): DAT read: 01:01:14.6303 LVL= 29088, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.13, 2.410, 0.598, 2.556, 2.259, PHS= 0.254,-1.616, 0.253, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 2025-10-29T01:01:15.172Z,1761699675.172 [DAT](INFO): got valid direction response: 01:01:14.6303 LVL= 29088, 32753, 32754, 32755, AGC= 61, IDX= 495, 0.13, 2.410, 0.598, 2.556, 2.259, PHS= 0.254,-1.616, 0.253, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 2025-10-29T01:01:15.172Z,1761699675.172 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-29T01:01:15.173Z,1761699675.173 [DAT](INFO): direction in FSK: [0.974369,0.001701,0.224951] 2025-10-29T01:01:15.173Z,1761699675.173 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:15.182Z,1761699675.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624528,-0.767521,-0.144485],[0.780879,-0.616936,-0.098073],[-0.013865,-0.174075,0.984635]] 2025-10-29T01:01:15.184Z,1761699675.184 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.478357 2025-10-29T01:01:15.254Z,1761699675.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.498202 s, deltaX: -0.500000 m, approachRate: -1.003609 m/s, rangeRepo size: 4 2025-10-29T01:01:15.261Z,1761699675.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.600004 m, bearing: 131.044603 deg, lat: 36.779286 deg, lon: -121.859515 deg, deltaT: 0.498202 s, deltaX: -0.497175 m, approachRate: -0.997939 m/s, posRepo size: 4 2025-10-29T01:01:15.261Z,1761699675.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T01:01:15.280Z,1761699675.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.600004 m, nav range: 17.084209 m, bearing: 131.496227 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.552955 deg, new cmd heading: 126.520368 deg. 2025-10-29T01:01:15.281Z,1761699675.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208197 target range: 17.600004 and range: 17.70 m. 2025-10-29T01:01:15.415Z,1761699675.415 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.708906 2025-10-29T01:01:15.669Z,1761699675.669 [DAT](INFO): DAT read: Rx Time:01:01:15.1302 2025-10-29T01:01:15.669Z,1761699675.669 [DAT](INFO): Rx dataTimestamp_ set to:1761699675.669110 2025-10-29T01:01:15.671Z,1761699675.671 [DAT](INFO): DAT read: Bearing 295.8, -2.4 (Local) 2025-10-29T01:01:15.671Z,1761699675.671 [DAT](INFO): Local bearing/azimuth received: Bearing 295.8, -2.4 (Local) 2025-10-29T01:01:15.678Z,1761699675.678 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.5 2025-10-29T01:01:15.683Z,1761699675.683 [DAT](INFO): DAT read: 01:01:15.1302 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.22,-1.347,-3.132,-1.218,-1.508, PHS= 0.263,-1.579, 0.245, RAW= 149.5, 11.7, CAL= 149.4, 12.8, ROT= 0.6, -12.8 2025-10-29T01:01:15.684Z,1761699675.684 [DAT](INFO): got valid direction response: 01:01:15.1302 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 510, 0.22,-1.347,-3.132,-1.218,-1.508, PHS= 0.263,-1.579, 0.245, RAW= 149.5, 11.7, CAL= 149.4, 12.8, ROT= 0.6, -12.8 2025-10-29T01:01:15.685Z,1761699675.685 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T01:01:15.686Z,1761699675.686 [DAT](INFO): direction in FSK: [0.975096,0.010212,0.221548] 2025-10-29T01:01:15.686Z,1761699675.686 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:15.704Z,1761699675.704 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.997486 2025-10-29T01:01:15.861Z,1761699675.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.507362 s, deltaX: -0.100000 m, approachRate: -0.197099 m/s, rangeRepo size: 4 2025-10-29T01:01:15.863Z,1761699675.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.500771 m, bearing: 131.498328 deg, lat: 36.779285 deg, lon: -121.859513 deg, deltaT: 0.507362 s, deltaX: -0.099234 m, approachRate: -0.195587 m/s, posRepo size: 4 2025-10-29T01:01:15.863Z,1761699675.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-29T01:01:15.870Z,1761699675.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.500771 m, nav range: 16.978630 m, bearing: 131.398733 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.520361 deg, new cmd heading: 126.468185 deg. 2025-10-29T01:01:15.871Z,1761699675.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207286 target range: 17.500771 and range: 17.60 m. 2025-10-29T01:01:15.918Z,1761699675.918 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.212297 2025-10-29T01:01:16.170Z,1761699676.170 [DAT](INFO): DAT read: Rx Time:01:01:15.6299 2025-10-29T01:01:16.170Z,1761699676.170 [DAT](INFO): Rx dataTimestamp_ set to:1761699676.169760 2025-10-29T01:01:16.175Z,1761699676.175 [DAT](INFO): DAT read: Bearing 294.2, -2.2 (Local) 2025-10-29T01:01:16.177Z,1761699676.177 [DAT](INFO): Local bearing/azimuth received: Bearing 294.2, -2.2 (Local) 2025-10-29T01:01:16.179Z,1761699676.179 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed 0.4 2025-10-29T01:01:16.191Z,1761699676.191 [DAT](INFO): DAT read: 01:01:15.6299 LVL= 30336, 32753, 32242, 32755, AGC= 62, IDX= 507, 0.49,-3.113, 1.340,-2.980, 2.964, PHS= 0.308,-1.578, 0.295, RAW= 149.7, 10.4, CAL= 149.4, 11.4, ROT= 0.6, -11.4 2025-10-29T01:01:16.193Z,1761699676.193 [DAT](INFO): got valid direction response: 01:01:15.6299 LVL= 30336, 32753, 32242, 32755, AGC= 62, IDX= 507, 0.49,-3.113, 1.340,-2.980, 2.964, PHS= 0.308,-1.578, 0.295, RAW= 149.7, 10.4, CAL= 149.4, 11.4, ROT= 0.6, -11.4 2025-10-29T01:01:16.193Z,1761699676.193 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T01:01:16.194Z,1761699676.194 [DAT](INFO): direction in FSK: [0.980217,0.010265,0.197657] 2025-10-29T01:01:16.194Z,1761699676.194 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:16.222Z,1761699676.222 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.515770 2025-10-29T01:01:16.233Z,1761699676.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621131,-0.770003,-0.145915],[0.783581,-0.613506,-0.098035],[-0.014033,-0.175229,0.984428]] 2025-10-29T01:01:16.297Z,1761699676.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.500650 s, deltaX: -0.500000 m, approachRate: -0.998702 m/s, rangeRepo size: 4 2025-10-29T01:01:16.299Z,1761699676.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.003590 m, bearing: 131.009942 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.500650 s, deltaX: -0.497181 m, approachRate: -0.993071 m/s, posRepo size: 4 2025-10-29T01:01:16.304Z,1761699676.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.00 m. 2025-10-29T01:01:16.307Z,1761699676.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.003590 m, nav range: 16.784512 m, bearing: 131.227741 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.468179 deg, new cmd heading: 126.430348 deg. 2025-10-29T01:01:16.312Z,1761699676.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.206626 target range: 17.003590 and range: 17.10 m. 2025-10-29T01:01:16.421Z,1761699676.421 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.714846 2025-10-29T01:01:16.691Z,1761699676.691 [DAT](INFO): DAT read: Rx Time:01:01:16.1298 2025-10-29T01:01:16.693Z,1761699676.693 [DAT](INFO): Rx dataTimestamp_ set to:1761699676.691373 2025-10-29T01:01:16.699Z,1761699676.699 [DAT](INFO): DAT read: Bearing 296.3, -2.6 (Local) 2025-10-29T01:01:16.699Z,1761699676.699 [DAT](INFO): Local bearing/azimuth received: Bearing 296.3, -2.6 (Local) 2025-10-29T01:01:16.702Z,1761699676.702 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.4 2025-10-29T01:01:16.717Z,1761699676.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619893,-0.770995,-0.145942],[0.784560,-0.612321,-0.097615],[-0.014102,-0.175011,0.984466]] 2025-10-29T01:01:16.726Z,1761699676.726 [DAT](INFO): DAT read: 01:01:16.1298 LVL= 32688, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.26, 1.999, 0.190, 2.126, 1.852, PHS= 0.250,-1.617, 0.230, RAW= 149.5, 12.2, CAL= 149.4, 13.5, ROT= 0.6, -13.5 2025-10-29T01:01:16.727Z,1761699676.727 [DAT](INFO): got valid direction response: 01:01:16.1298 LVL= 32688, 32753, 32754, 32755, AGC= 62, IDX= 506,-0.26, 1.999, 0.190, 2.126, 1.852, PHS= 0.250,-1.617, 0.230, RAW= 149.5, 12.2, CAL= 149.4, 13.5, ROT= 0.6, -13.5 2025-10-29T01:01:16.736Z,1761699676.736 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T01:01:16.737Z,1761699676.737 [DAT](INFO): direction in FSK: [0.972317,0.010182,0.233445] 2025-10-29T01:01:16.737Z,1761699676.737 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:16.754Z,1761699676.754 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.047907 2025-10-29T01:01:16.839Z,1761699676.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.521613 s, deltaX: -0.100000 m, approachRate: -0.191714 m/s, rangeRepo size: 4 2025-10-29T01:01:16.845Z,1761699676.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.904202 m, bearing: 131.299008 deg, lat: 36.779284 deg, lon: -121.859512 deg, deltaT: 0.521613 s, deltaX: -0.099388 m, approachRate: -0.190540 m/s, posRepo size: 4 2025-10-29T01:01:16.846Z,1761699676.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-29T01:01:16.869Z,1761699676.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.904202 m, nav range: 16.511393 m, bearing: 131.298947 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.430353 deg, new cmd heading: 126.383009 deg. 2025-10-29T01:01:16.870Z,1761699676.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205800 target range: 16.904202 and range: 17.00 m. 2025-10-29T01:01:16.926Z,1761699676.926 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.220015 2025-10-29T01:01:17.173Z,1761699677.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618488,-0.772105,-0.146034],[0.785654,-0.611110,-0.096396],[-0.014815,-0.174352,0.984572]] 2025-10-29T01:01:17.178Z,1761699677.178 [DAT](INFO): DAT read: Rx Time:01:01:16.6295 2025-10-29T01:01:17.178Z,1761699677.178 [DAT](INFO): Rx dataTimestamp_ set to:1761699677.177824 2025-10-29T01:01:17.179Z,1761699677.179 [DAT](INFO): DAT read: Bearing 296.0, -2.7 (Local) 2025-10-29T01:01:17.180Z,1761699677.180 [DAT](INFO): Local bearing/azimuth received: Bearing 296.0, -2.7 (Local) 2025-10-29T01:01:17.182Z,1761699677.182 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.4 2025-10-29T01:01:17.186Z,1761699677.186 [DAT](INFO): DAT read: 01:01:16.6295 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.05, 0.644,-1.185, 0.773, 0.489, PHS= 0.256,-1.629, 0.239, RAW= 149.6, 12.0, CAL= 149.4, 13.3, ROT= 0.6, -13.3 2025-10-29T01:01:17.188Z,1761699677.188 [DAT](INFO): got valid direction response: 01:01:16.6295 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503,-0.05, 0.644,-1.185, 0.773, 0.489, PHS= 0.256,-1.629, 0.239, RAW= 149.6, 12.0, CAL= 149.4, 13.3, ROT= 0.6, -13.3 2025-10-29T01:01:17.188Z,1761699677.188 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T01:01:17.189Z,1761699677.189 [DAT](INFO): direction in FSK: [0.973126,0.010191,0.230050] 2025-10-29T01:01:17.189Z,1761699677.189 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:17.193Z,1761699677.193 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.486910 2025-10-29T01:01:17.266Z,1761699677.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.486451 s, deltaX: -0.500000 m, approachRate: -1.027853 m/s, rangeRepo size: 4 2025-10-29T01:01:17.277Z,1761699677.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.407019 m, bearing: 131.151117 deg, lat: 36.779286 deg, lon: -121.859512 deg, deltaT: 0.486451 s, deltaX: -0.497183 m, approachRate: -1.022061 m/s, posRepo size: 4 2025-10-29T01:01:17.277Z,1761699677.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T01:01:17.288Z,1761699677.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.407019 m, nav range: 16.199905 m, bearing: 130.991472 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.383006 deg, new cmd heading: 126.345930 deg. 2025-10-29T01:01:17.289Z,1761699677.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205153 target range: 16.407019 and range: 16.50 m. 2025-10-29T01:01:17.429Z,1761699677.429 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.723354 2025-10-29T01:01:17.686Z,1761699677.686 [DAT](INFO): DAT read: Rx Time:01:01:17.1294 2025-10-29T01:01:17.687Z,1761699677.687 [DAT](INFO): Rx dataTimestamp_ set to:1761699677.686141 2025-10-29T01:01:17.695Z,1761699677.695 [DAT](INFO): DAT read: Bearing 296.1, -2.8 (Local) 2025-10-29T01:01:17.696Z,1761699677.696 [DAT](INFO): Local bearing/azimuth received: Bearing 296.1, -2.8 (Local) 2025-10-29T01:01:17.712Z,1761699677.712 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.4 2025-10-29T01:01:17.717Z,1761699677.717 [DAT](INFO): DAT read: 01:01:17.1294 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.15,-3.015, 1.455,-2.882, 3.121, PHS= 0.249,-1.622, 0.235, RAW= 149.6, 12.2, CAL= 149.5, 13.4, ROT= 0.5, -13.4 2025-10-29T01:01:17.718Z,1761699677.718 [DAT](INFO): got valid direction response: 01:01:17.1294 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502, 0.15,-3.015, 1.455,-2.882, 3.121, PHS= 0.249,-1.622, 0.235, RAW= 149.6, 12.2, CAL= 149.5, 13.4, ROT= 0.5, -13.4 2025-10-29T01:01:17.718Z,1761699677.718 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T01:01:17.719Z,1761699677.719 [DAT](INFO): direction in FSK: [0.972739,0.008489,0.231748] 2025-10-29T01:01:17.719Z,1761699677.719 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:17.724Z,1761699677.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617251,-0.773104,-0.145984],[0.786618,-0.610016,-0.095459],[-0.015253,-0.173756,0.984671]] 2025-10-29T01:01:17.735Z,1761699677.735 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.029387 2025-10-29T01:01:17.842Z,1761699677.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.508317 s, deltaX: -0.100000 m, approachRate: -0.196728 m/s, rangeRepo size: 4 2025-10-29T01:01:17.848Z,1761699677.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.307625 m, bearing: 130.973222 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.508317 s, deltaX: -0.099394 m, approachRate: -0.195535 m/s, posRepo size: 4 2025-10-29T01:01:17.849Z,1761699677.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:01:17.851Z,1761699677.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.307625 m, nav range: 15.899256 m, bearing: 131.092552 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.345932 deg, new cmd heading: 126.296045 deg. 2025-10-29T01:01:17.857Z,1761699677.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204282 target range: 16.307625 and range: 16.40 m. 2025-10-29T01:01:17.934Z,1761699677.934 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.228298 2025-10-29T01:01:18.156Z,1761699678.156 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616381,-0.773944,-0.145206],[0.787291,-0.609376,-0.093985],[-0.015746,-0.172250,0.984927]] 2025-10-29T01:01:18.186Z,1761699678.186 [DAT](INFO): DAT read: Rx Time:01:01:17.6291 2025-10-29T01:01:18.186Z,1761699678.186 [DAT](INFO): Rx dataTimestamp_ set to:1761699678.185805 2025-10-29T01:01:18.187Z,1761699678.187 [DAT](INFO): DAT read: Bearing 296.4, -2.4 (Local) 2025-10-29T01:01:18.188Z,1761699678.188 [DAT](INFO): Local bearing/azimuth received: Bearing 296.4, -2.4 (Local) 2025-10-29T01:01:18.190Z,1761699678.190 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-29T01:01:18.194Z,1761699678.194 [DAT](INFO): DAT read: 01:01:17.6291 LVL= 31312, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.47, 0.213,-1.631, 0.324, 0.059, PHS= 0.256,-1.645, 0.221, RAW= 149.1, 12.4, CAL= 149.0, 13.6, ROT= 1.0, -13.6 2025-10-29T01:01:18.196Z,1761699678.196 [DAT](INFO): got valid direction response: 01:01:17.6291 LVL= 31312, 32753, 32754, 32755, AGC= 61, IDX= 500,-0.47, 0.213,-1.631, 0.324, 0.059, PHS= 0.256,-1.645, 0.221, RAW= 149.1, 12.4, CAL= 149.0, 13.6, ROT= 1.0, -13.6 2025-10-29T01:01:18.196Z,1761699678.196 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T01:01:18.197Z,1761699678.197 [DAT](INFO): direction in FSK: [0.971813,0.016963,0.235142] 2025-10-29T01:01:18.197Z,1761699678.197 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:18.205Z,1761699678.205 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.498938 2025-10-29T01:01:18.218Z,1761699678.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.499664 s, deltaX: -0.500000 m, approachRate: -1.000672 m/s, rangeRepo size: 4 2025-10-29T01:01:18.224Z,1761699678.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.810442 m, bearing: 131.415401 deg, lat: 36.779286 deg, lon: -121.859512 deg, deltaT: 0.499664 s, deltaX: -0.497183 m, approachRate: -0.995034 m/s, posRepo size: 4 2025-10-29T01:01:18.225Z,1761699678.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T01:01:18.236Z,1761699678.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.810442 m, nav range: 15.657849 m, bearing: 130.952624 deg, approach rate: 0.000000 m/s, LOS rate: -0.043348 deg/s, cmd heading: 126.296044 deg, new cmd heading: 126.263422 deg. 2025-10-29T01:01:18.237Z,1761699678.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203712 target range: 15.810442 and range: 15.90 m. 2025-10-29T01:01:18.438Z,1761699678.438 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.731441 2025-10-29T01:01:18.565Z,1761699678.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615146,-0.774899,-0.145352],[0.788246,-0.608266,-0.093169],[-0.016216,-0.171886,0.984983]] 2025-10-29T01:01:18.634Z,1761699678.634 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:18.640Z,1761699678.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T01:01:18.643Z,1761699678.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.810442 m, nav range: 15.412538 m, bearing: 130.936164 deg, approach rate: -0.586441 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.263423 deg, new cmd heading: 126.229980 deg. 2025-10-29T01:01:18.644Z,1761699678.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203129 target range: 15.810442 and range: 15.90 m. 2025-10-29T01:01:18.695Z,1761699678.695 [DAT](INFO): DAT read: Rx Time:01:01:18.1291 2025-10-29T01:01:18.697Z,1761699678.697 [DAT](INFO): Rx dataTimestamp_ set to:1761699678.695355 2025-10-29T01:01:18.701Z,1761699678.701 [DAT](INFO): DAT read: Bearing 296.6, -2.0 (Local) 2025-10-29T01:01:18.702Z,1761699678.702 [DAT](INFO): Local bearing/azimuth received: Bearing 296.6, -2.0 (Local) 2025-10-29T01:01:18.722Z,1761699678.722 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed 0.4 2025-10-29T01:01:18.732Z,1761699678.732 [DAT](INFO): DAT read: 01:01:18.1291 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.13, 1.145,-0.673, 1.242, 0.992, PHS= 0.255,-1.620, 0.206, RAW= 148.7, 12.5, CAL= 148.6, 13.8, ROT= 1.4, -13.8 2025-10-29T01:01:18.733Z,1761699678.733 [DAT](INFO): got valid direction response: 01:01:18.1291 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.13, 1.145,-0.673, 1.242, 0.992, PHS= 0.255,-1.620, 0.206, RAW= 148.7, 12.5, CAL= 148.6, 13.8, ROT= 1.4, -13.8 2025-10-29T01:01:18.733Z,1761699678.733 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T01:01:18.734Z,1761699678.734 [DAT](INFO): direction in FSK: [0.970844,0.023727,0.238533] 2025-10-29T01:01:18.734Z,1761699678.734 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:18.739Z,1761699678.739 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.032555 2025-10-29T01:01:18.941Z,1761699678.941 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.234825 2025-10-29T01:01:19.082Z,1761699679.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613573,-0.775892,-0.146697],[0.789455,-0.606750,-0.092820],[-0.016990,-0.172762,0.984817]] 2025-10-29T01:01:19.174Z,1761699679.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.509550 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:19.181Z,1761699679.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.810521 m, bearing: 131.646024 deg, lat: 36.779285 deg, lon: -121.859512 deg, deltaT: 0.509550 s, deltaX: 0.000079 m, approachRate: 0.000155 m/s, posRepo size: 4 2025-10-29T01:01:19.181Z,1761699679.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T01:01:19.188Z,1761699679.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.810521 m, nav range: 15.164719 m, bearing: 131.032012 deg, approach rate: 0.000000 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.229983 deg, new cmd heading: 126.186974 deg. 2025-10-29T01:01:19.189Z,1761699679.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202378 target range: 15.810521 and range: 15.90 m. 2025-10-29T01:01:19.194Z,1761699679.194 [DAT](INFO): DAT read: Rx Time:01:01:18.6289 2025-10-29T01:01:19.194Z,1761699679.194 [DAT](INFO): Rx dataTimestamp_ set to:1761699679.193834 2025-10-29T01:01:19.195Z,1761699679.195 [DAT](INFO): DAT read: Bearing 298.2, -2.5 (Local) 2025-10-29T01:01:19.196Z,1761699679.196 [DAT](INFO): Local bearing/azimuth received: Bearing 298.2, -2.5 (Local) 2025-10-29T01:01:19.198Z,1761699679.198 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.4 2025-10-29T01:01:19.203Z,1761699679.203 [DAT](INFO): DAT read: 01:01:18.6289 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.14, 0.727,-1.088, 0.825, 0.621, PHS= 0.207,-1.664, 0.159, RAW= 148.7, 13.9, CAL= 148.7, 15.4, ROT= 1.3, -15.4 2025-10-29T01:01:19.204Z,1761699679.204 [DAT](INFO): got valid direction response: 01:01:18.6289 LVL= 32240, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.14, 0.727,-1.088, 0.825, 0.621, PHS= 0.207,-1.664, 0.159, RAW= 148.7, 13.9, CAL= 148.7, 15.4, ROT= 1.3, -15.4 2025-10-29T01:01:19.205Z,1761699679.205 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T01:01:19.206Z,1761699679.206 [DAT](INFO): direction in FSK: [0.963847,0.021873,0.265556] 2025-10-29T01:01:19.206Z,1761699679.206 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:19.210Z,1761699679.210 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.503792 2025-10-29T01:01:19.446Z,1761699679.446 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.739616 2025-10-29T01:01:19.521Z,1761699679.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612668,-0.776401,-0.147782],[0.790142,-0.605895,-0.092553],[-0.017682,-0.173473,0.984680]] 2025-10-29T01:01:19.579Z,1761699679.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.498479 s, deltaX: -0.400000 m, approachRate: -0.802440 m/s, rangeRepo size: 4 2025-10-29T01:01:19.585Z,1761699679.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.412772 m, bearing: 131.784241 deg, lat: 36.779285 deg, lon: -121.859513 deg, deltaT: 0.498479 s, deltaX: -0.397749 m, approachRate: -0.797925 m/s, posRepo size: 4 2025-10-29T01:01:19.586Z,1761699679.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-29T01:01:19.593Z,1761699679.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.412772 m, nav range: 14.857171 m, bearing: 131.339244 deg, approach rate: 0.000000 m/s, LOS rate: -0.039974 deg/s, cmd heading: 126.186980 deg, new cmd heading: 126.154664 deg. 2025-10-29T01:01:19.594Z,1761699679.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201814 target range: 15.412772 and range: 15.50 m. 2025-10-29T01:01:19.702Z,1761699679.702 [DAT](INFO): DAT read: Rx Time:01:01:19.1288 2025-10-29T01:01:19.703Z,1761699679.703 [DAT](INFO): Rx dataTimestamp_ set to:1761699679.702682 2025-10-29T01:01:19.722Z,1761699679.722 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.4 2025-10-29T01:01:19.727Z,1761699679.727 [DAT](ERROR): #Rx 56: Read range message, but no direction. 2025-10-29T01:01:19.729Z,1761699679.729 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.023350 2025-10-29T01:01:19.949Z,1761699679.949 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.242956 2025-10-29T01:01:19.971Z,1761699679.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612024,-0.777244,-0.146007],[0.790635,-0.605543,-0.090634],[-0.017969,-0.170908,0.985123]] 2025-10-29T01:01:20.008Z,1761699680.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.508848 s, deltaX: -0.200000 m, approachRate: -0.393044 m/s, rangeRepo size: 4 2025-10-29T01:01:20.009Z,1761699680.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-29T01:01:20.028Z,1761699680.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.412772 m, nav range: 14.607901 m, bearing: 131.317068 deg, approach rate: -0.580415 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.154659 deg, new cmd heading: 126.109550 deg. 2025-10-29T01:01:20.029Z,1761699680.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201027 target range: 15.412772 and range: 15.30 m. 2025-10-29T01:01:20.202Z,1761699680.202 [DAT](INFO): DAT read: Rx Time:01:01:19.6286 2025-10-29T01:01:20.202Z,1761699680.202 [DAT](INFO): Rx dataTimestamp_ set to:1761699680.201735 2025-10-29T01:01:20.203Z,1761699680.203 [DAT](INFO): DAT read: Bearing 300.0, -1.9 (Local) 2025-10-29T01:01:20.204Z,1761699680.204 [DAT](INFO): Local bearing/azimuth received: Bearing 300.0, -1.9 (Local) 2025-10-29T01:01:20.206Z,1761699680.206 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed 0.4 2025-10-29T01:01:20.210Z,1761699680.210 [DAT](INFO): DAT read: 01:01:19.6286 LVL= 29488, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.00,-1.795, 2.699,-1.729,-1.861, PHS= 0.168,-1.678, 0.088, RAW= 147.8, 15.5, CAL= 147.9, 17.2, ROT= 2.1, -17.2 2025-10-29T01:01:20.212Z,1761699680.212 [DAT](INFO): got valid direction response: 01:01:19.6286 LVL= 29488, 32753, 32754, 32755, AGC= 59, IDX= 509, 0.00,-1.795, 2.699,-1.729,-1.861, PHS= 0.168,-1.678, 0.088, RAW= 147.8, 15.5, CAL= 147.9, 17.2, ROT= 2.1, -17.2 2025-10-29T01:01:20.212Z,1761699680.212 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T01:01:20.213Z,1761699680.213 [DAT](INFO): direction in FSK: [0.954637,0.035005,0.295708] 2025-10-29T01:01:20.213Z,1761699680.213 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:20.222Z,1761699680.222 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.515940 2025-10-29T01:01:20.390Z,1761699680.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610810,-0.778229,-0.145845],[0.791562,-0.604489,-0.089570],[-0.018456,-0.170156,0.985244]] 2025-10-29T01:01:20.427Z,1761699680.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.499053 s, deltaX: -0.300000 m, approachRate: -0.601139 m/s, rangeRepo size: 4 2025-10-29T01:01:20.445Z,1761699680.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.915668 m, bearing: 132.706152 deg, lat: 36.779284 deg, lon: -121.859513 deg, deltaT: 1.007901 s, deltaX: -0.497104 m, approachRate: -0.493207 m/s, posRepo size: 4 2025-10-29T01:01:20.446Z,1761699680.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-29T01:01:20.453Z,1761699680.453 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.746883 2025-10-29T01:01:20.455Z,1761699680.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.915668 m, nav range: 14.495682 m, bearing: 131.758108 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.109553 deg, new cmd heading: 126.065687 deg. 2025-10-29T01:01:20.460Z,1761699680.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200261 target range: 14.915668 and range: 15.00 m. 2025-10-29T01:01:20.731Z,1761699680.731 [DAT](INFO): DAT read: Rx Time:01:01:20.1284 2025-10-29T01:01:20.741Z,1761699680.741 [DAT](INFO): Rx dataTimestamp_ set to:1761699680.731470 2025-10-29T01:01:20.758Z,1761699680.758 [DAT](INFO): DAT read: Bearing 300.7, -1.9 (Local) 2025-10-29T01:01:20.759Z,1761699680.759 [DAT](INFO): Local bearing/azimuth received: Bearing 300.7, -1.9 (Local) 2025-10-29T01:01:20.770Z,1761699680.770 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.4 2025-10-29T01:01:20.787Z,1761699680.787 [DAT](INFO): DAT read: 01:01:20.1284 LVL= 30960, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.30,-1.109,-2.902,-1.048,-1.158, PHS= 0.151,-1.699, 0.066, RAW= 147.7, 16.1, CAL= 147.7, 17.8, ROT= 2.3, -17.8 2025-10-29T01:01:20.801Z,1761699680.801 [DAT](INFO): got valid direction response: 01:01:20.1284 LVL= 30960, 32753, 32754, 32755, AGC= 59, IDX= 507, 0.30,-1.109,-2.902,-1.048,-1.158, PHS= 0.151,-1.699, 0.066, RAW= 147.7, 16.1, CAL= 147.7, 17.8, ROT= 2.3, -17.8 2025-10-29T01:01:20.801Z,1761699680.801 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T01:01:20.802Z,1761699680.802 [DAT](INFO): direction in FSK: [0.951362,0.038211,0.305695] 2025-10-29T01:01:20.802Z,1761699680.802 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:20.814Z,1761699680.814 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.108217 2025-10-29T01:01:20.816Z,1761699680.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610020,-0.779005,-0.145007],[0.792169,-0.603838,-0.088585],[-0.018552,-0.168909,0.985457]] 2025-10-29T01:01:20.952Z,1761699680.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.529735 s, deltaX: -0.300000 m, approachRate: -0.566321 m/s, rangeRepo size: 4 2025-10-29T01:01:20.954Z,1761699680.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.617389 m, bearing: 132.931621 deg, lat: 36.779283 deg, lon: -121.859515 deg, deltaT: 0.529735 s, deltaX: -0.298280 m, approachRate: -0.563074 m/s, posRepo size: 4 2025-10-29T01:01:20.955Z,1761699680.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-29T01:01:20.957Z,1761699680.957 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.251070 2025-10-29T01:01:20.966Z,1761699680.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.617389 m, nav range: 14.191638 m, bearing: 132.355273 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.065689 deg, new cmd heading: 126.010820 deg. 2025-10-29T01:01:20.967Z,1761699680.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199304 target range: 14.617389 and range: 14.70 m. 2025-10-29T01:01:21.210Z,1761699681.210 [DAT](INFO): DAT read: Rx Time:01:01:20.6281 2025-10-29T01:01:21.210Z,1761699681.210 [DAT](INFO): Rx dataTimestamp_ set to:1761699681.209701 2025-10-29T01:01:21.211Z,1761699681.211 [DAT](INFO): DAT read: Bearing 299.4, -1.0 (Local) 2025-10-29T01:01:21.212Z,1761699681.212 [DAT](INFO): Local bearing/azimuth received: Bearing 299.4, -1.0 (Local) 2025-10-29T01:01:21.214Z,1761699681.214 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.4 2025-10-29T01:01:21.223Z,1761699681.223 [DAT](INFO): DAT read: 01:01:20.6281 LVL= 27120, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.28, 1.794, 0.000, 1.839, 1.698, PHS= 0.198,-1.653, 0.097, RAW= 147.2, 14.9, CAL= 147.1, 16.4, ROT= 2.9, -16.4 2025-10-29T01:01:21.225Z,1761699681.225 [DAT](INFO): got valid direction response: 01:01:20.6281 LVL= 27120, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.28, 1.794, 0.000, 1.839, 1.698, PHS= 0.198,-1.653, 0.097, RAW= 147.2, 14.9, CAL= 147.1, 16.4, ROT= 2.9, -16.4 2025-10-29T01:01:21.225Z,1761699681.225 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T01:01:21.226Z,1761699681.226 [DAT](INFO): direction in FSK: [0.958085,0.048535,0.282341] 2025-10-29T01:01:21.227Z,1761699681.227 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:21.269Z,1761699681.269 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.563257 2025-10-29T01:01:21.274Z,1761699681.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608783,-0.780000,-0.144857],[0.793111,-0.602733,-0.087678],[-0.018921,-0.168264,0.985560]] 2025-10-29T01:01:21.336Z,1761699681.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.478231 s, deltaX: -0.400000 m, approachRate: -0.836415 m/s, rangeRepo size: 4 2025-10-29T01:01:21.338Z,1761699681.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.219637 m, bearing: 133.164434 deg, lat: 36.779283 deg, lon: -121.859516 deg, deltaT: 0.478231 s, deltaX: -0.397752 m, approachRate: -0.831715 m/s, posRepo size: 4 2025-10-29T01:01:21.339Z,1761699681.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T01:01:21.341Z,1761699681.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.219637 m, nav range: 13.883875 m, bearing: 132.721910 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 126.010816 deg, new cmd heading: 125.970221 deg. 2025-10-29T01:01:21.342Z,1761699681.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198595 target range: 14.219637 and range: 14.30 m. 2025-10-29T01:01:21.461Z,1761699681.461 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.755131 2025-10-29T01:01:21.738Z,1761699681.738 [DAT](INFO): DAT read: Rx Time:01:01:21.1280 2025-10-29T01:01:21.739Z,1761699681.739 [DAT](INFO): Rx dataTimestamp_ set to:1761699681.738280 2025-10-29T01:01:21.752Z,1761699681.752 [DAT](INFO): DAT read: Bearing 300.2, -1.5 (Local) 2025-10-29T01:01:21.754Z,1761699681.754 [DAT](INFO): Local bearing/azimuth received: Bearing 300.2, -1.5 (Local) 2025-10-29T01:01:21.770Z,1761699681.770 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 2025-10-29T01:01:21.791Z,1761699681.791 [DAT](INFO): DAT read: 01:01:21.1280 LVL= 30384, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.08,-1.962, 2.515,-1.910,-2.031, PHS= 0.171,-1.692, 0.077, RAW= 147.4, 15.7, CAL= 147.4, 17.3, ROT= 2.6, -17.3 2025-10-29T01:01:21.801Z,1761699681.801 [DAT](INFO): got valid direction response: 01:01:21.1280 LVL= 30384, 32753, 32754, 32755, AGC= 59, IDX= 504,-0.08,-1.962, 2.515,-1.910,-2.031, PHS= 0.171,-1.692, 0.077, RAW= 147.4, 15.7, CAL= 147.4, 17.3, ROT= 2.6, -17.3 2025-10-29T01:01:21.801Z,1761699681.801 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T01:01:21.802Z,1761699681.802 [DAT](INFO): direction in FSK: [0.953778,0.043311,0.297375] 2025-10-29T01:01:21.802Z,1761699681.802 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:21.818Z,1761699681.818 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.111889 2025-10-29T01:01:21.965Z,1761699681.965 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.258980 2025-10-29T01:01:21.976Z,1761699681.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.528579 s, deltaX: -0.200000 m, approachRate: -0.378373 m/s, rangeRepo size: 4 2025-10-29T01:01:21.978Z,1761699681.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.020803 m, bearing: 133.032934 deg, lat: 36.779283 deg, lon: -121.859517 deg, deltaT: 0.528579 s, deltaX: -0.198833 m, approachRate: -0.376166 m/s, posRepo size: 4 2025-10-29T01:01:21.979Z,1761699681.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:01:21.985Z,1761699681.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.020803 m, nav range: 13.489977 m, bearing: 132.946730 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 125.970217 deg, new cmd heading: 125.903284 deg. 2025-10-29T01:01:21.986Z,1761699681.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197427 target range: 14.020803 and range: 14.10 m. 2025-10-29T01:01:22.218Z,1761699682.218 [DAT](INFO): DAT read: Rx Time:01:01:21.6278 2025-10-29T01:01:22.219Z,1761699682.219 [DAT](INFO): Rx dataTimestamp_ set to:1761699682.218651 2025-10-29T01:01:22.222Z,1761699682.222 [DAT](INFO): DAT read: Bearing 296.8, -1.0 (Local) 2025-10-29T01:01:22.223Z,1761699682.223 [DAT](INFO): Local bearing/azimuth received: Bearing 296.8, -1.0 (Local) 2025-10-29T01:01:22.226Z,1761699682.226 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed 0.4 2025-10-29T01:01:22.230Z,1761699682.230 [DAT](INFO): DAT read: 01:01:21.6278 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.19,-1.827, 2.651,-1.766,-1.989, PHS= 0.264,-1.598, 0.179, RAW= 147.7, 12.6, CAL= 147.5, 13.9, ROT= 2.5, -13.9 2025-10-29T01:01:22.231Z,1761699682.231 [DAT](INFO): got valid direction response: 01:01:21.6278 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 501, 0.19,-1.827, 2.651,-1.766,-1.989, PHS= 0.264,-1.598, 0.179, RAW= 147.7, 12.6, CAL= 147.5, 13.9, ROT= 2.5, -13.9 2025-10-29T01:01:22.237Z,1761699682.237 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T01:01:22.238Z,1761699682.238 [DAT](INFO): direction in FSK: [0.969793,0.042342,0.240228] 2025-10-29T01:01:22.238Z,1761699682.238 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:22.242Z,1761699682.242 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.536013 2025-10-29T01:01:22.305Z,1761699682.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606668,-0.781933,-0.143299],[0.794726,-0.600887,-0.085702],[-0.019094,-0.165876,0.985962]] 2025-10-29T01:01:22.370Z,1761699682.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.480371 s, deltaX: -0.300000 m, approachRate: -0.624518 m/s, rangeRepo size: 4 2025-10-29T01:01:22.377Z,1761699682.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.722488 m, bearing: 132.146479 deg, lat: 36.779283 deg, lon: -121.859517 deg, deltaT: 0.480371 s, deltaX: -0.298315 m, approachRate: -0.621010 m/s, posRepo size: 4 2025-10-29T01:01:22.377Z,1761699682.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T01:01:22.384Z,1761699682.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.722488 m, nav range: 13.276177 m, bearing: 132.980267 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 125.903281 deg, new cmd heading: 125.861413 deg. 2025-10-29T01:01:22.385Z,1761699682.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196696 target range: 13.722488 and range: 13.80 m. 2025-10-29T01:01:22.471Z,1761699682.471 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.764690 2025-10-29T01:01:22.694Z,1761699682.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606051,-0.782377,-0.143487],[0.795192,-0.600306,-0.085457],[-0.019276,-0.165891,0.985956]] 2025-10-29T01:01:22.723Z,1761699682.723 [DAT](INFO): DAT read: Rx Time:01:01:22.1277 2025-10-29T01:01:22.724Z,1761699682.724 [DAT](INFO): Rx dataTimestamp_ set to:1761699682.723096 2025-10-29T01:01:22.729Z,1761699682.729 [DAT](INFO): DAT read: Bearing 300.1, -1.7 (Local) 2025-10-29T01:01:22.730Z,1761699682.730 [DAT](INFO): Local bearing/azimuth received: Bearing 300.1, -1.7 (Local) 2025-10-29T01:01:22.753Z,1761699682.753 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.4 2025-10-29T01:01:22.794Z,1761699682.794 [DAT](INFO): DAT read: 01:01:22.1277 LVL= 30576, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.48,-0.608,-2.437,-0.549,-0.676, PHS= 0.170,-1.716, 0.083, RAW= 147.7, 15.7, CAL= 147.7, 17.3, ROT= 2.3, -17.3 2025-10-29T01:01:22.795Z,1761699682.795 [DAT](INFO): got valid direction response: 01:01:22.1277 LVL= 30576, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.48,-0.608,-2.437,-0.549,-0.676, PHS= 0.170,-1.716, 0.083, RAW= 147.7, 15.7, CAL= 147.7, 17.3, ROT= 2.3, -17.3 2025-10-29T01:01:22.796Z,1761699682.796 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T01:01:22.809Z,1761699682.809 [DAT](INFO): direction in FSK: [0.953992,0.038316,0.297375] 2025-10-29T01:01:22.809Z,1761699682.809 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:22.821Z,1761699682.821 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.114698 2025-10-29T01:01:22.838Z,1761699682.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504445 s, deltaX: -0.100000 m, approachRate: -0.198238 m/s, rangeRepo size: 4 2025-10-29T01:01:22.840Z,1761699682.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.623126 m, bearing: 132.501928 deg, lat: 36.779283 deg, lon: -121.859517 deg, deltaT: 0.504445 s, deltaX: -0.099362 m, approachRate: -0.196974 m/s, posRepo size: 4 2025-10-29T01:01:22.849Z,1761699682.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:01:22.860Z,1761699682.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.623126 m, nav range: 13.028855 m, bearing: 133.002377 deg, approach rate: 0.000000 m/s, LOS rate: -0.052518 deg/s, cmd heading: 125.861412 deg, new cmd heading: 125.812341 deg. 2025-10-29T01:01:22.861Z,1761699682.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.195840 target range: 13.623126 and range: 13.70 m. 2025-10-29T01:01:22.973Z,1761699682.973 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.266968 2025-10-29T01:01:23.155Z,1761699683.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605387,-0.782974,-0.143029],[0.795700,-0.599688,-0.085060],[-0.019173,-0.165303,0.986056]] 2025-10-29T01:01:23.219Z,1761699683.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:23.222Z,1761699683.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:01:23.226Z,1761699683.226 [DAT](INFO): DAT read: Rx Time:01:01:22.6274 2025-10-29T01:01:23.226Z,1761699683.226 [DAT](INFO): Rx dataTimestamp_ set to:1761699683.225861 2025-10-29T01:01:23.227Z,1761699683.227 [DAT](INFO): DAT read: Bearing 297.8, -0.7 (Local) 2025-10-29T01:01:23.232Z,1761699683.232 [DAT](INFO): Local bearing/azimuth received: Bearing 297.8, -0.7 (Local) 2025-10-29T01:01:23.234Z,1761699683.234 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-29T01:01:23.239Z,1761699683.239 [DAT](INFO): DAT read: 01:01:22.6274 LVL= 24976, 32753, 30530, 32755, AGC= 57, IDX= 498,-0.09, 2.506, 0.692, 2.547, 2.363, PHS= 0.245,-1.626, 0.140, RAW= 147.1, 13.5, CAL= 147.0, 14.9, ROT= 3.0, -14.9 2025-10-29T01:01:23.244Z,1761699683.244 [DAT](INFO): got valid direction response: 01:01:22.6274 LVL= 24976, 32753, 30530, 32755, AGC= 57, IDX= 498,-0.09, 2.506, 0.692, 2.547, 2.363, PHS= 0.245,-1.626, 0.140, RAW= 147.1, 13.5, CAL= 147.0, 14.9, ROT= 3.0, -14.9 2025-10-29T01:01:23.245Z,1761699683.245 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T01:01:23.246Z,1761699683.246 [DAT](INFO): direction in FSK: [0.965052,0.050576,0.257133] 2025-10-29T01:01:23.246Z,1761699683.246 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:23.249Z,1761699683.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.623126 m, nav range: 12.801624 m, bearing: 133.023066 deg, approach rate: -0.590692 m/s, LOS rate: 0.054734 deg/s, cmd heading: 125.812344 deg, new cmd heading: 125.854455 deg. 2025-10-29T01:01:23.250Z,1761699683.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.196575 target range: 13.623126 and range: 13.70 m. 2025-10-29T01:01:23.258Z,1761699683.258 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.551529 2025-10-29T01:01:23.477Z,1761699683.477 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.770882 2025-10-29T01:01:23.535Z,1761699683.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604646,-0.783483,-0.143376],[0.796256,-0.598995,-0.084744],[-0.019486,-0.165404,0.986033]] 2025-10-29T01:01:23.578Z,1761699683.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.502765 s, deltaX: -0.500000 m, approachRate: -0.994500 m/s, rangeRepo size: 4 2025-10-29T01:01:23.580Z,1761699683.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.125932 m, bearing: 132.656125 deg, lat: 36.779283 deg, lon: -121.859515 deg, deltaT: 0.502765 s, deltaX: -0.497194 m, approachRate: -0.988920 m/s, posRepo size: 4 2025-10-29T01:01:23.581Z,1761699683.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-29T01:01:23.583Z,1761699683.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.125932 m, nav range: 12.723732 m, bearing: 132.590367 deg, approach rate: 0.000000 m/s, LOS rate: 0.054734 deg/s, cmd heading: 125.854459 deg, new cmd heading: 125.893270 deg. 2025-10-29T01:01:23.585Z,1761699683.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.197252 target range: 13.125932 and range: 13.20 m. 2025-10-29T01:01:23.732Z,1761699683.732 [DAT](INFO): DAT read: Rx Time:01:01:23.1274 2025-10-29T01:01:23.734Z,1761699683.734 [DAT](INFO): Rx dataTimestamp_ set to:1761699683.733280 2025-10-29T01:01:23.739Z,1761699683.739 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.4 2025-10-29T01:01:23.742Z,1761699683.742 [DAT](ERROR): #Rx 64: Read range message, but no direction. 2025-10-29T01:01:23.758Z,1761699683.758 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.051121 2025-10-29T01:01:23.943Z,1761699683.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603831,-0.784070,-0.143604],[0.796865,-0.598259,-0.084221],[-0.019878,-0.165288,0.986045]] 2025-10-29T01:01:23.981Z,1761699683.981 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.275017 2025-10-29T01:01:24.001Z,1761699684.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507419 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:24.002Z,1761699684.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.13 m. 2025-10-29T01:01:24.005Z,1761699684.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.125932 m, nav range: 12.479296 m, bearing: 132.616388 deg, approach rate: -0.575544 m/s, LOS rate: 0.062467 deg/s, cmd heading: 125.893268 deg, new cmd heading: 125.946328 deg. 2025-10-29T01:01:24.006Z,1761699684.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.198178 target range: 13.125932 and range: 13.20 m. 2025-10-29T01:01:24.234Z,1761699684.234 [DAT](INFO): DAT read: Rx Time:01:01:23.6271 2025-10-29T01:01:24.235Z,1761699684.235 [DAT](INFO): Rx dataTimestamp_ set to:1761699684.234494 2025-10-29T01:01:24.236Z,1761699684.236 [DAT](INFO): DAT read: Bearing 298.6, -0.5 (Local) 2025-10-29T01:01:24.236Z,1761699684.236 [DAT](INFO): Local bearing/azimuth received: Bearing 298.6, -0.5 (Local) 2025-10-29T01:01:24.238Z,1761699684.238 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.4 2025-10-29T01:01:24.243Z,1761699684.243 [DAT](INFO): DAT read: 01:01:23.6271 LVL= 25408, 32753, 30882, 32755, AGC= 57, IDX= 511,-0.37, 1.495,-0.314, 1.524, 1.371, PHS= 0.226,-1.640, 0.109, RAW= 146.8, 14.3, CAL= 146.6, 15.7, ROT= 3.4, -15.7 2025-10-29T01:01:24.244Z,1761699684.244 [DAT](INFO): got valid direction response: 01:01:23.6271 LVL= 25408, 32753, 30882, 32755, AGC= 57, IDX= 511,-0.37, 1.495,-0.314, 1.524, 1.371, PHS= 0.226,-1.640, 0.109, RAW= 146.8, 14.3, CAL= 146.6, 15.7, ROT= 3.4, -15.7 2025-10-29T01:01:24.245Z,1761699684.245 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T01:01:24.246Z,1761699684.246 [DAT](INFO): direction in FSK: [0.960997,0.057094,0.270600] 2025-10-29T01:01:24.246Z,1761699684.246 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:24.274Z,1761699684.274 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.567699 2025-10-29T01:01:24.353Z,1761699684.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603399,-0.784463,-0.143273],[0.797191,-0.597878,-0.083836],[-0.019893,-0.164802,0.986126]] 2025-10-29T01:01:24.402Z,1761699684.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.501214 s, deltaX: -0.400000 m, approachRate: -0.798062 m/s, rangeRepo size: 4 2025-10-29T01:01:24.411Z,1761699684.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.728215 m, bearing: 133.086772 deg, lat: 36.779283 deg, lon: -121.859515 deg, deltaT: 1.008633 s, deltaX: -0.397717 m, approachRate: -0.394312 m/s, posRepo size: 4 2025-10-29T01:01:24.417Z,1761699684.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T01:01:24.427Z,1761699684.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.728215 m, nav range: 12.294224 m, bearing: 132.750582 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 125.946325 deg, new cmd heading: 125.995173 deg. 2025-10-29T01:01:24.432Z,1761699684.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.199031 target range: 12.728215 and range: 12.80 m. 2025-10-29T01:01:24.486Z,1761699684.486 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.779720 2025-10-29T01:01:24.742Z,1761699684.742 [DAT](INFO): DAT read: Rx Time:01:01:24.1268 2025-10-29T01:01:24.742Z,1761699684.742 [DAT](INFO): Rx dataTimestamp_ set to:1761699684.741737 2025-10-29T01:01:24.744Z,1761699684.744 [DAT](INFO): DAT read: Bearing 296.1, 0.0 (Local) 2025-10-29T01:01:24.745Z,1761699684.745 [DAT](INFO): Local bearing/azimuth received: Bearing 296.1, 0.0 (Local) 2025-10-29T01:01:24.748Z,1761699684.748 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.4 2025-10-29T01:01:24.778Z,1761699684.778 [DAT](INFO): DAT read: 01:01:24.1268 LVL= 23600, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.03, 1.629,-0.171, 1.661, 1.436, PHS= 0.295,-1.563, 0.181, RAW= 146.9, 12.0, CAL= 146.6, 13.2, ROT= 3.4, -13.2 2025-10-29T01:01:24.794Z,1761699684.794 [DAT](INFO): got valid direction response: 01:01:24.1268 LVL= 23600, 32753, 25122, 32755, AGC= 55, IDX= 509,-0.03, 1.629,-0.171, 1.661, 1.436, PHS= 0.295,-1.563, 0.181, RAW= 146.9, 12.0, CAL= 146.6, 13.2, ROT= 3.4, -13.2 2025-10-29T01:01:24.795Z,1761699684.795 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T01:01:24.807Z,1761699684.807 [DAT](INFO): direction in FSK: [0.971865,0.057739,0.228351] 2025-10-29T01:01:24.817Z,1761699684.817 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:24.834Z,1761699684.834 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.128078 2025-10-29T01:01:24.842Z,1761699684.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602381,-0.785204,-0.143496],[0.797947,-0.596978,-0.083059],[-0.020446,-0.164535,0.986159]] 2025-10-29T01:01:24.971Z,1761699684.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.507243 s, deltaX: -0.300000 m, approachRate: -0.591433 m/s, rangeRepo size: 4 2025-10-29T01:01:24.977Z,1761699684.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.429945 m, bearing: 132.581457 deg, lat: 36.779282 deg, lon: -121.859515 deg, deltaT: 0.507243 s, deltaX: -0.298270 m, approachRate: -0.588022 m/s, posRepo size: 4 2025-10-29T01:01:24.978Z,1761699684.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:01:24.989Z,1761699684.989 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.282936 2025-10-29T01:01:24.991Z,1761699684.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.429945 m, nav range: 12.017173 m, bearing: 132.789172 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 125.995175 deg, new cmd heading: 126.067464 deg. 2025-10-29T01:01:24.996Z,1761699684.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.200292 target range: 12.429945 and range: 12.50 m. 2025-10-29T01:01:25.242Z,1761699685.242 [DAT](INFO): DAT read: Rx Time:01:01:24.6266 2025-10-29T01:01:25.242Z,1761699685.242 [DAT](INFO): Rx dataTimestamp_ set to:1761699685.241870 2025-10-29T01:01:25.243Z,1761699685.243 [DAT](INFO): DAT read: Bearing 295.1, -0.1 (Local) 2025-10-29T01:01:25.244Z,1761699685.244 [DAT](INFO): Local bearing/azimuth received: Bearing 295.1, -0.1 (Local) 2025-10-29T01:01:25.246Z,1761699685.246 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.4 2025-10-29T01:01:25.250Z,1761699685.250 [DAT](INFO): DAT read: 01:01:24.6266 LVL= 25168, 32753, 25202, 32755, AGC= 54, IDX= 506, 0.22, 1.972, 0.162, 2.016, 1.755, PHS= 0.319,-1.548, 0.217, RAW= 147.2, 11.1, CAL= 146.9, 12.2, ROT= 3.1, -12.2 2025-10-29T01:01:25.251Z,1761699685.251 [DAT](INFO): got valid direction response: 01:01:24.6266 LVL= 25168, 32753, 25202, 32755, AGC= 54, IDX= 506, 0.22, 1.972, 0.162, 2.016, 1.755, PHS= 0.319,-1.548, 0.217, RAW= 147.2, 11.1, CAL= 146.9, 12.2, ROT= 3.1, -12.2 2025-10-29T01:01:25.252Z,1761699685.252 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T01:01:25.253Z,1761699685.253 [DAT](INFO): direction in FSK: [0.975986,0.052857,0.211325] 2025-10-29T01:01:25.253Z,1761699685.253 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:25.257Z,1761699685.257 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.551247 2025-10-29T01:01:25.366Z,1761699685.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601911,-0.785684,-0.142843],[0.798291,-0.596676,-0.081914],[-0.020872,-0.163335,0.986350]] 2025-10-29T01:01:25.481Z,1761699685.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.500133 s, deltaX: -0.300000 m, approachRate: -0.599841 m/s, rangeRepo size: 4 2025-10-29T01:01:25.483Z,1761699685.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.131626 m, bearing: 132.070678 deg, lat: 36.779282 deg, lon: -121.859515 deg, deltaT: 0.500133 s, deltaX: -0.298319 m, approachRate: -0.596479 m/s, posRepo size: 4 2025-10-29T01:01:25.488Z,1761699685.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T01:01:25.491Z,1761699685.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.131626 m, nav range: 11.756106 m, bearing: 132.861388 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.067465 deg, new cmd heading: 126.130061 deg. 2025-10-29T01:01:25.491Z,1761699685.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.201385 target range: 12.131626 and range: 12.20 m. 2025-10-29T01:01:25.493Z,1761699685.493 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.787033 2025-10-29T01:01:25.746Z,1761699685.746 [DAT](INFO): DAT read: Rx Time:01:01:25.1265 2025-10-29T01:01:25.747Z,1761699685.747 [DAT](INFO): Rx dataTimestamp_ set to:1761699685.746569 2025-10-29T01:01:25.749Z,1761699685.749 [DAT](INFO): DAT read: Bearing 295.1, -0.1 (Local) 2025-10-29T01:01:25.749Z,1761699685.749 [DAT](INFO): Local bearing/azimuth received: Bearing 295.1, -0.1 (Local) 2025-10-29T01:01:25.754Z,1761699685.754 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.4 2025-10-29T01:01:25.837Z,1761699685.837 [DAT](INFO): DAT read: 01:01:25.1265 LVL= 25328, 32753, 24978, 32755, AGC= 54, IDX= 506,-0.46, 2.535, 0.719, 2.574, 2.316, PHS= 0.321,-1.551, 0.215, RAW= 147.1, 11.1, CAL= 146.8, 12.2, ROT= 3.2, -12.2 2025-10-29T01:01:25.838Z,1761699685.838 [DAT](INFO): got valid direction response: 01:01:25.1265 LVL= 25328, 32753, 24978, 32755, AGC= 54, IDX= 506,-0.46, 2.535, 0.719, 2.574, 2.316, PHS= 0.321,-1.551, 0.215, RAW= 147.1, 11.1, CAL= 146.8, 12.2, ROT= 3.2, -12.2 2025-10-29T01:01:25.838Z,1761699685.838 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T01:01:25.839Z,1761699685.839 [DAT](INFO): direction in FSK: [0.975892,0.054561,0.211325] 2025-10-29T01:01:25.852Z,1761699685.852 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:25.855Z,1761699685.855 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.149334 2025-10-29T01:01:25.878Z,1761699685.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600949,-0.786635,-0.141655],[0.798999,-0.595980,-0.080052],[-0.021452,-0.161290,0.986674]] 2025-10-29T01:01:25.994Z,1761699685.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504699 s, deltaX: -0.200000 m, approachRate: -0.396275 m/s, rangeRepo size: 4 2025-10-29T01:01:25.997Z,1761699685.997 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.290985 2025-10-29T01:01:26.000Z,1761699686.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.932802 m, bearing: 132.075652 deg, lat: 36.779282 deg, lon: -121.859513 deg, deltaT: 0.504699 s, deltaX: -0.198824 m, approachRate: -0.393946 m/s, posRepo size: 4 2025-10-29T01:01:26.001Z,1761699686.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-29T01:01:26.008Z,1761699686.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.932802 m, nav range: 11.618503 m, bearing: 132.621416 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.130057 deg, new cmd heading: 126.195275 deg. 2025-10-29T01:01:26.009Z,1761699686.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.202523 target range: 11.932802 and range: 12.00 m. 2025-10-29T01:01:26.250Z,1761699686.250 [DAT](INFO): DAT read: Rx Time:01:01:25.6262 2025-10-29T01:01:26.250Z,1761699686.250 [DAT](INFO): Rx dataTimestamp_ set to:1761699686.249727 2025-10-29T01:01:26.251Z,1761699686.251 [DAT](INFO): DAT read: Bearing 295.0, -0.1 (Local) 2025-10-29T01:01:26.252Z,1761699686.252 [DAT](INFO): Local bearing/azimuth received: Bearing 295.0, -0.1 (Local) 2025-10-29T01:01:26.254Z,1761699686.254 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.4 2025-10-29T01:01:26.258Z,1761699686.258 [DAT](INFO): DAT read: 01:01:25.6262 LVL= 25552, 32753, 24754, 32755, AGC= 53, IDX= 503,-0.16, 1.367,-0.460, 1.404, 1.141, PHS= 0.328,-1.556, 0.219, RAW= 147.1, 11.0, CAL= 146.7, 12.0, ROT= 3.3, -12.0 2025-10-29T01:01:26.259Z,1761699686.259 [DAT](INFO): got valid direction response: 01:01:25.6262 LVL= 25552, 32753, 24754, 32755, AGC= 53, IDX= 503,-0.16, 1.367,-0.460, 1.404, 1.141, PHS= 0.328,-1.556, 0.219, RAW= 147.1, 11.0, CAL= 146.7, 12.0, ROT= 3.3, -12.0 2025-10-29T01:01:26.262Z,1761699686.262 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T01:01:26.265Z,1761699686.265 [DAT](INFO): direction in FSK: [0.976526,0.056306,0.207912] 2025-10-29T01:01:26.266Z,1761699686.266 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:26.271Z,1761699686.271 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.564938 2025-10-29T01:01:26.414Z,1761699686.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503158 s, deltaX: -0.400000 m, approachRate: -0.794978 m/s, rangeRepo size: 4 2025-10-29T01:01:26.422Z,1761699686.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.535042 m, bearing: 132.140684 deg, lat: 36.779282 deg, lon: -121.859513 deg, deltaT: 0.503158 s, deltaX: -0.397760 m, approachRate: -0.790528 m/s, posRepo size: 4 2025-10-29T01:01:26.431Z,1761699686.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-29T01:01:26.434Z,1761699686.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.535042 m, nav range: 11.429327 m, bearing: 132.540834 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.195272 deg, new cmd heading: 126.247692 deg. 2025-10-29T01:01:26.435Z,1761699686.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.203438 target range: 11.535042 and range: 11.60 m. 2025-10-29T01:01:26.502Z,1761699686.502 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.795677 2025-10-29T01:01:26.755Z,1761699686.755 [DAT](INFO): DAT read: Rx Time:01:01:26.1261 2025-10-29T01:01:26.755Z,1761699686.755 [DAT](INFO): Rx dataTimestamp_ set to:1761699686.755021 2025-10-29T01:01:26.757Z,1761699686.757 [DAT](INFO): DAT read: Bearing 294.5, -0.3 (Local) 2025-10-29T01:01:26.758Z,1761699686.758 [DAT](INFO): Local bearing/azimuth received: Bearing 294.5, -0.3 (Local) 2025-10-29T01:01:26.762Z,1761699686.762 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-29T01:01:26.779Z,1761699686.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600352,-0.787097,-0.141618],[0.799432,-0.595520,-0.079146],[-0.022041,-0.160729,0.986752]] 2025-10-29T01:01:26.856Z,1761699686.856 [DAT](INFO): DAT read: 01:01:26.1261 LVL= 24624, 32753, 24898, 32755, AGC= 54, IDX= 502, 0.04,-1.748, 2.699,-1.699,-1.983, PHS= 0.337,-1.556, 0.240, RAW= 147.4, 10.6, CAL= 147.1, 11.6, ROT= 2.9, -11.6 2025-10-29T01:01:26.857Z,1761699686.857 [DAT](INFO): got valid direction response: 01:01:26.1261 LVL= 24624, 32753, 24898, 32755, AGC= 54, IDX= 502, 0.04,-1.748, 2.699,-1.699,-1.983, PHS= 0.337,-1.556, 0.240, RAW= 147.4, 10.6, CAL= 147.1, 11.6, ROT= 2.9, -11.6 2025-10-29T01:01:26.858Z,1761699686.858 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T01:01:26.859Z,1761699686.859 [DAT](INFO): direction in FSK: [0.978321,0.049560,0.201078] 2025-10-29T01:01:26.859Z,1761699686.859 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:26.871Z,1761699686.871 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.164673 2025-10-29T01:01:26.978Z,1761699686.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.505294 s, deltaX: -0.200001 m, approachRate: -0.395811 m/s, rangeRepo size: 4 2025-10-29T01:01:26.986Z,1761699686.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.336243 m, bearing: 131.633587 deg, lat: 36.779282 deg, lon: -121.859512 deg, deltaT: 0.505294 s, deltaX: -0.198799 m, approachRate: -0.393433 m/s, posRepo size: 4 2025-10-29T01:01:26.987Z,1761699686.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-29T01:01:26.994Z,1761699686.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.336243 m, nav range: 11.116938 m, bearing: 132.209441 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.247687 deg, new cmd heading: 126.318176 deg. 2025-10-29T01:01:26.995Z,1761699686.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.204668 target range: 11.336243 and range: 11.40 m. 2025-10-29T01:01:27.005Z,1761699687.005 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.299034 2025-10-29T01:01:27.259Z,1761699687.259 [DAT](INFO): DAT read: Rx Time:01:01:26.6259 2025-10-29T01:01:27.259Z,1761699687.259 [DAT](INFO): Rx dataTimestamp_ set to:1761699687.258804 2025-10-29T01:01:27.261Z,1761699687.261 [DAT](INFO): DAT read: Bearing 295.0, -0.4 (Local) 2025-10-29T01:01:27.262Z,1761699687.262 [DAT](INFO): Local bearing/azimuth received: Bearing 295.0, -0.4 (Local) 2025-10-29T01:01:27.266Z,1761699687.266 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed 0.5 2025-10-29T01:01:27.272Z,1761699687.272 [DAT](INFO): DAT read: 01:01:26.6259 LVL= 22320, 32753, 24626, 32755, AGC= 56, IDX= 499, 0.28,-2.297, 2.132,-2.250,-2.523, PHS= 0.328,-1.583, 0.228, RAW= 147.3, 11.0, CAL= 147.0, 12.1, ROT= 3.0, -12.1 2025-10-29T01:01:27.273Z,1761699687.273 [DAT](INFO): got valid direction response: 01:01:26.6259 LVL= 22320, 32753, 24626, 32755, AGC= 56, IDX= 499, 0.28,-2.297, 2.132,-2.250,-2.523, PHS= 0.328,-1.583, 0.228, RAW= 147.3, 11.0, CAL= 147.0, 12.1, ROT= 3.0, -12.1 2025-10-29T01:01:27.273Z,1761699687.273 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T01:01:27.274Z,1761699687.274 [DAT](INFO): direction in FSK: [0.976443,0.051173,0.209619] 2025-10-29T01:01:27.275Z,1761699687.275 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:27.279Z,1761699687.279 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.572475 2025-10-29T01:01:27.344Z,1761699687.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599790,-0.787561,-0.141418],[0.799840,-0.595091,-0.078251],[-0.022529,-0.160046,0.986853]] 2025-10-29T01:01:27.430Z,1761699687.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.503783 s, deltaX: -0.299999 m, approachRate: -0.595493 m/s, rangeRepo size: 4 2025-10-29T01:01:27.435Z,1761699687.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.037922 m, bearing: 131.765620 deg, lat: 36.779283 deg, lon: -121.859512 deg, deltaT: 0.503783 s, deltaX: -0.298321 m, approachRate: -0.592161 m/s, posRepo size: 4 2025-10-29T01:01:27.444Z,1761699687.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-29T01:01:27.450Z,1761699687.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.037922 m, nav range: 10.887406 m, bearing: 131.901620 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.318174 deg, new cmd heading: 126.374610 deg. 2025-10-29T01:01:27.451Z,1761699687.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.205653 target range: 11.037922 and range: 11.10 m. 2025-10-29T01:01:27.510Z,1761699687.510 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.803665 2025-10-29T01:01:27.762Z,1761699687.762 [DAT](INFO): DAT read: Rx Time:01:01:27.1258 2025-10-29T01:01:27.763Z,1761699687.763 [DAT](INFO): Rx dataTimestamp_ set to:1761699687.762608 2025-10-29T01:01:27.771Z,1761699687.771 [DAT](INFO): DAT read: Bearing 294.8, 0.2 (Local) 2025-10-29T01:01:27.772Z,1761699687.772 [DAT](INFO): Local bearing/azimuth received: Bearing 294.8, 0.2 (Local) 2025-10-29T01:01:27.775Z,1761699687.775 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.4 2025-10-29T01:01:27.823Z,1761699687.823 [DAT](INFO): DAT read: 01:01:27.1258 LVL= 25120, 32753, 25570, 32755, AGC= 54, IDX= 499,-0.29, 3.044, 1.192, 3.071, 2.802, PHS= 0.344,-1.565, 0.225, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 2025-10-29T01:01:27.834Z,1761699687.834 [DAT](INFO): got valid direction response: 01:01:27.1258 LVL= 25120, 32753, 25570, 32755, AGC= 54, IDX= 499,-0.29, 3.044, 1.192, 3.071, 2.802, PHS= 0.344,-1.565, 0.225, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 2025-10-29T01:01:27.835Z,1761699687.835 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T01:01:27.843Z,1761699687.843 [DAT](INFO): direction in FSK: [0.977042,0.059758,0.204496] 2025-10-29T01:01:27.852Z,1761699687.852 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:27.856Z,1761699687.856 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.149471 2025-10-29T01:01:27.977Z,1761699687.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600654,-0.787054,-0.140568],[0.799199,-0.595962,-0.078169],[-0.022250,-0.159295,0.986980]] 2025-10-29T01:01:28.013Z,1761699688.013 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.306919 2025-10-29T01:01:28.059Z,1761699688.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503804 s, deltaX: -0.100000 m, approachRate: -0.198491 m/s, rangeRepo size: 4 2025-10-29T01:01:28.080Z,1761699688.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.938511 m, bearing: 132.260226 deg, lat: 36.779283 deg, lon: -121.859511 deg, deltaT: 0.503804 s, deltaX: -0.099411 m, approachRate: -0.197321 m/s, posRepo size: 4 2025-10-29T01:01:28.088Z,1761699688.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:01:28.117Z,1761699688.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.938511 m, nav range: 10.553469 m, bearing: 131.827917 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.374605 deg, new cmd heading: 126.453198 deg. 2025-10-29T01:01:28.137Z,1761699688.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.207025 target range: 10.938511 and range: 11.00 m. 2025-10-29T01:01:28.266Z,1761699688.266 [DAT](INFO): DAT read: Rx Time:01:01:27.6255 2025-10-29T01:01:28.266Z,1761699688.266 [DAT](INFO): Rx dataTimestamp_ set to:1761699688.265835 2025-10-29T01:01:28.267Z,1761699688.267 [DAT](INFO): DAT read: Bearing 294.9, 0.2 (Local) 2025-10-29T01:01:28.269Z,1761699688.269 [DAT](INFO): Local bearing/azimuth received: Bearing 294.9, 0.2 (Local) 2025-10-29T01:01:28.271Z,1761699688.271 [DAT](INFO): DAT read: Range 11 to 50 : 10.5 m (trip time 7.0 ms) speed 0.4 2025-10-29T01:01:28.282Z,1761699688.282 [DAT](INFO): DAT read: 01:01:27.6255 LVL= 27504, 32753, 27346, 32755, AGC= 53, IDX= 496,-0.03, 2.443, 0.592, 2.471, 2.203, PHS= 0.342,-1.566, 0.224, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 2025-10-29T01:01:28.283Z,1761699688.283 [DAT](INFO): got valid direction response: 01:01:27.6255 LVL= 27504, 32753, 27346, 32755, AGC= 53, IDX= 496,-0.03, 2.443, 0.592, 2.471, 2.203, PHS= 0.342,-1.566, 0.224, RAW= 146.8, 10.8, CAL= 146.5, 11.8, ROT= 3.5, -11.8 2025-10-29T01:01:28.283Z,1761699688.283 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T01:01:28.289Z,1761699688.289 [DAT](INFO): direction in FSK: [0.977042,0.059758,0.204496] 2025-10-29T01:01:28.289Z,1761699688.289 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:28.295Z,1761699688.295 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.589424 2025-10-29T01:01:28.518Z,1761699688.518 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.811768 2025-10-29T01:01:28.624Z,1761699688.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600717,-0.787164,-0.139684],[0.799157,-0.596073,-0.077747],[-0.022062,-0.158333,0.987139]] 2025-10-29T01:01:28.647Z,1761699688.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.500000 m, deltaT: 0.503227 s, deltaX: -0.500000 m, approachRate: -0.993587 m/s, rangeRepo size: 4 2025-10-29T01:01:28.649Z,1761699688.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.441306 m, bearing: 132.253858 deg, lat: 36.779283 deg, lon: -121.859511 deg, deltaT: 0.503227 s, deltaX: -0.497205 m, approachRate: -0.988033 m/s, posRepo size: 4 2025-10-29T01:01:28.650Z,1761699688.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.44 m. 2025-10-29T01:01:28.669Z,1761699688.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.441306 m, nav range: 10.226169 m, bearing: 131.872366 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.453193 deg, new cmd heading: 126.526650 deg. 2025-10-29T01:01:28.670Z,1761699688.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.208307 target range: 10.441306 and range: 10.50 m. 2025-10-29T01:01:28.771Z,1761699688.771 [DAT](INFO): DAT read: Rx Time:01:01:28.1254 2025-10-29T01:01:28.772Z,1761699688.772 [DAT](INFO): Rx dataTimestamp_ set to:1761699688.771097 2025-10-29T01:01:28.774Z,1761699688.774 [DAT](INFO): DAT read: Bearing 294.8, 0.3 (Local) 2025-10-29T01:01:28.774Z,1761699688.774 [DAT](INFO): Local bearing/azimuth received: Bearing 294.8, 0.3 (Local) 2025-10-29T01:01:28.777Z,1761699688.777 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.4 2025-10-29T01:01:28.786Z,1761699688.786 [DAT](INFO): DAT read: 01:01:28.1254 LVL= 25824, 32753, 24290, 32755, AGC= 54, IDX= 510, 0.25,-3.123, 1.302,-3.096, 2.914, PHS= 0.348,-1.567, 0.229, RAW= 146.8, 10.7, CAL= 146.5, 11.6, ROT= 3.5, -11.6 2025-10-29T01:01:28.787Z,1761699688.787 [DAT](INFO): got valid direction response: 01:01:28.1254 LVL= 25824, 32753, 24290, 32755, AGC= 54, IDX= 510, 0.25,-3.123, 1.302,-3.096, 2.914, PHS= 0.348,-1.567, 0.229, RAW= 146.8, 10.7, CAL= 146.5, 11.6, ROT= 3.5, -11.6 2025-10-29T01:01:28.787Z,1761699688.787 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T01:01:28.789Z,1761699688.789 [DAT](INFO): direction in FSK: [0.977748,0.059802,0.201078] 2025-10-29T01:01:28.789Z,1761699688.789 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:28.793Z,1761699688.793 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.087128 2025-10-29T01:01:29.022Z,1761699689.022 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.315559 2025-10-29T01:01:29.134Z,1761699689.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601073,-0.787383,-0.136888],[0.798904,-0.596592,-0.076362],[-0.021540,-0.155259,0.987639]] 2025-10-29T01:01:29.185Z,1761699689.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.505262 s, deltaX: -0.100000 m, approachRate: -0.197918 m/s, rangeRepo size: 4 2025-10-29T01:01:29.187Z,1761699689.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.341933 m, bearing: 132.212948 deg, lat: 36.779282 deg, lon: -121.859511 deg, deltaT: 0.505262 s, deltaX: -0.099373 m, approachRate: -0.196676 m/s, posRepo size: 4 2025-10-29T01:01:29.188Z,1761699689.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-29T01:01:29.191Z,1761699689.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.341933 m, nav range: 10.028861 m, bearing: 132.150127 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.526645 deg, new cmd heading: 126.593918 deg. 2025-10-29T01:01:29.192Z,1761699689.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.209481 target range: 10.341933 and range: 10.40 m. 2025-10-29T01:01:29.275Z,1761699689.275 [DAT](INFO): DAT read: Rx Time:01:01:28.6251 2025-10-29T01:01:29.275Z,1761699689.275 [DAT](INFO): Rx dataTimestamp_ set to:1761699689.274900 2025-10-29T01:01:29.277Z,1761699689.277 [DAT](INFO): DAT read: Bearing 296.4, 0.8 (Local) 2025-10-29T01:01:29.278Z,1761699689.278 [DAT](INFO): Local bearing/azimuth received: Bearing 296.4, 0.8 (Local) 2025-10-29T01:01:29.281Z,1761699689.281 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed 0.4 2025-10-29T01:01:29.285Z,1761699689.285 [DAT](INFO): DAT read: 01:01:28.6251 LVL= 23744, 32753, 26226, 32755, AGC= 55, IDX= 508,-0.31, 0.611,-1.254, 0.612, 0.394, PHS= 0.319,-1.603, 0.174, RAW= 146.1, 12.0, CAL= 145.8, 13.1, ROT= 4.2, -13.1 2025-10-29T01:01:29.287Z,1761699689.287 [DAT](INFO): got valid direction response: 01:01:28.6251 LVL= 23744, 32753, 26226, 32755, AGC= 55, IDX= 508,-0.31, 0.611,-1.254, 0.612, 0.394, PHS= 0.319,-1.603, 0.174, RAW= 146.1, 12.0, CAL= 145.8, 13.1, ROT= 4.2, -13.1 2025-10-29T01:01:29.287Z,1761699689.287 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T01:01:29.288Z,1761699689.288 [DAT](INFO): direction in FSK: [0.971360,0.071332,0.226651] 2025-10-29T01:01:29.288Z,1761699689.288 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:29.293Z,1761699689.293 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.586758 2025-10-29T01:01:29.525Z,1761699689.525 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.818932 2025-10-29T01:01:29.540Z,1761699689.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601017,-0.787715,-0.135217],[0.798954,-0.596637,-0.075472],[-0.021226,-0.153392,0.987937]] 2025-10-29T01:01:29.574Z,1761699689.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503803 s, deltaX: -0.500000 m, approachRate: -0.992451 m/s, rangeRepo size: 4 2025-10-29T01:01:29.602Z,1761699689.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.844725 m, bearing: 133.110189 deg, lat: 36.779282 deg, lon: -121.859511 deg, deltaT: 0.503803 s, deltaX: -0.497209 m, approachRate: -0.986911 m/s, posRepo size: 4 2025-10-29T01:01:29.611Z,1761699689.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.84 m. 2025-10-29T01:01:29.617Z,1761699689.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.90 m. 2025-10-29T01:01:29.618Z,1761699689.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-29T01:01:29.627Z,1761699689.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 9.802423 m, bearing: 132.340469 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.593923 deg, new cmd heading: 126.642099 deg. 2025-10-29T01:01:29.628Z,1761699689.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.210322 target range: 9.844725 and range: 9.90 m. 2025-10-29T01:01:29.778Z,1761699689.778 [DAT](INFO): DAT read: Rx Time:01:01:29.1250 2025-10-29T01:01:29.778Z,1761699689.778 [DAT](INFO): Rx dataTimestamp_ set to:1761699689.778172 2025-10-29T01:01:29.780Z,1761699689.780 [DAT](INFO): DAT read: Bearing 296.0, 1.2 (Local) 2025-10-29T01:01:29.780Z,1761699689.780 [DAT](INFO): Local bearing/azimuth received: Bearing 296.0, 1.2 (Local) 2025-10-29T01:01:29.782Z,1761699689.782 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed 0.4 2025-10-29T01:01:29.798Z,1761699689.798 [DAT](INFO): DAT read: 01:01:29.1250 LVL= 27184, 32753, 26914, 32755, AGC= 54, IDX= 507,-0.00, 1.798,-0.065, 1.791, 1.564, PHS= 0.336,-1.584, 0.183, RAW= 145.9, 11.5, CAL= 145.5, 12.6, ROT= 4.5, -12.6 2025-10-29T01:01:29.801Z,1761699689.801 [DAT](INFO): got valid direction response: 01:01:29.1250 LVL= 27184, 32753, 26914, 32755, AGC= 54, IDX= 507,-0.00, 1.798,-0.065, 1.791, 1.564, PHS= 0.336,-1.584, 0.183, RAW= 145.9, 11.5, CAL= 145.5, 12.6, ROT= 4.5, -12.6 2025-10-29T01:01:29.802Z,1761699689.802 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T01:01:29.803Z,1761699689.803 [DAT](INFO): direction in FSK: [0.972908,0.076570,0.218143] 2025-10-29T01:01:29.803Z,1761699689.803 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:29.864Z,1761699689.864 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.153095 2025-10-29T01:01:29.935Z,1761699689.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600781,-0.788281,-0.132947],[0.799147,-0.596507,-0.074448],[-0.020618,-0.150972,0.988323]] 2025-10-29T01:01:30.029Z,1761699690.029 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.322952 2025-10-29T01:01:30.055Z,1761699690.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503272 s, deltaX: -0.099999 m, approachRate: -0.198699 m/s, rangeRepo size: 4 2025-10-29T01:01:30.063Z,1761699690.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.745288 m, bearing: 133.280237 deg, lat: 36.779281 deg, lon: -121.859511 deg, deltaT: 0.503272 s, deltaX: -0.099437 m, approachRate: -0.197581 m/s, posRepo size: 4 2025-10-29T01:01:30.071Z,1761699690.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.75 m. 9.84 m. 2025-10-29T01:01:30.094Z,1761699690.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 9.538573 m, bearing: 132.401949 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.642103 deg, new cmd heading: 126.702577 deg. 2025-10-29T01:01:30.109Z,1761699690.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.211377 target range: 9.844725 and range: 9.80 m. 2025-10-29T01:01:30.282Z,1761699690.282 [DAT](INFO): DAT read: Rx Time:01:01:29.6248 2025-10-29T01:01:30.282Z,1761699690.282 [DAT](INFO): Rx dataTimestamp_ set to:1761699690.281713 2025-10-29T01:01:30.283Z,1761699690.283 [DAT](INFO): DAT read: Bearing 296.2, 1.2 (Local) 2025-10-29T01:01:30.284Z,1761699690.284 [DAT](INFO): Local bearing/azimuth received: Bearing 296.2, 1.2 (Local) 2025-10-29T01:01:30.286Z,1761699690.286 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-29T01:01:30.290Z,1761699690.290 [DAT](INFO): DAT read: 01:01:29.6248 LVL= 27120, 32753, 26450, 32755, AGC= 54, IDX= 504, 0.22, 1.961, 0.084, 1.954, 1.729, PHS= 0.334,-1.600, 0.181, RAW= 145.9, 11.7, CAL= 145.6, 12.7, ROT= 4.4, -12.7 2025-10-29T01:01:30.291Z,1761699690.291 [DAT](INFO): got valid direction response: 01:01:29.6248 LVL= 27120, 32753, 26450, 32755, AGC= 54, IDX= 504, 0.22, 1.961, 0.084, 1.954, 1.729, PHS= 0.334,-1.600, 0.181, RAW= 145.9, 11.7, CAL= 145.6, 12.7, ROT= 4.4, -12.7 2025-10-29T01:01:30.292Z,1761699690.292 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T01:01:30.293Z,1761699690.293 [DAT](INFO): direction in FSK: [0.972659,0.074842,0.219846] 2025-10-29T01:01:30.293Z,1761699690.293 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:30.296Z,1761699690.296 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:01:30.298Z,1761699690.298 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.591789 2025-10-29T01:01:30.495Z,1761699690.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.503541 s, deltaX: -0.500000 m, approachRate: -0.992968 m/s, rangeRepo size: 4 2025-10-29T01:01:30.497Z,1761699690.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.248079 m, bearing: 133.197517 deg, lat: 36.779282 deg, lon: -121.859512 deg, deltaT: 1.006813 s, deltaX: -0.596645 m, approachRate: -0.592608 m/s, posRepo size: 4 2025-10-29T01:01:30.498Z,1761699690.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.84 m. 2025-10-29T01:01:30.501Z,1761699690.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 9.289869 m, bearing: 132.463101 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.702577 deg, new cmd heading: 126.757533 deg. 2025-10-29T01:01:30.501Z,1761699690.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.212336 target range: 9.844725 and range: 9.30 m. 2025-10-29T01:01:30.533Z,1761699690.533 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.827080 2025-10-29T01:01:30.786Z,1761699690.786 [DAT](INFO): DAT read: Rx Time:01:01:30.1248 2025-10-29T01:01:30.786Z,1761699690.786 [DAT](INFO): Rx dataTimestamp_ set to:1761699690.786094 2025-10-29T01:01:30.793Z,1761699690.793 [DAT](INFO): DAT read: Bearing 296.3, 1.9 (Local) 2025-10-29T01:01:30.793Z,1761699690.793 [DAT](INFO): Local bearing/azimuth received: Bearing 296.3, 1.9 (Local) 2025-10-29T01:01:30.795Z,1761699690.795 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed 0.4 2025-10-29T01:01:30.802Z,1761699690.802 [DAT](INFO): DAT read: 01:01:30.1248 LVL= 26976, 32753, 26098, 32755, AGC= 54, IDX= 504,-0.41, 1.845,-0.049, 1.813, 1.602, PHS= 0.345,-1.606, 0.167, RAW= 145.3, 11.7, CAL= 144.9, 12.7, ROT= 5.1, -12.7 2025-10-29T01:01:30.803Z,1761699690.803 [DAT](INFO): got valid direction response: 01:01:30.1248 LVL= 26976, 32753, 26098, 32755, AGC= 54, IDX= 504,-0.41, 1.845,-0.049, 1.813, 1.602, PHS= 0.345,-1.606, 0.167, RAW= 145.3, 11.7, CAL= 144.9, 12.7, ROT= 5.1, -12.7 2025-10-29T01:01:30.805Z,1761699690.805 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T01:01:30.806Z,1761699690.806 [DAT](INFO): direction in FSK: [0.971672,0.086719,0.219846] 2025-10-29T01:01:30.806Z,1761699690.806 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:30.834Z,1761699690.834 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.128250 2025-10-29T01:01:30.918Z,1761699690.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599559,-0.789409,-0.131769],[0.800085,-0.595273,-0.074252],[-0.019823,-0.149945,0.988496]] 2025-10-29T01:01:31.037Z,1761699691.037 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.330940 2025-10-29T01:01:31.047Z,1761699691.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504381 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:31.054Z,1761699691.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.248094 m, bearing: 133.784776 deg, lat: 36.779281 deg, lon: -121.859512 deg, deltaT: 1.511194 s, deltaX: -0.596631 m, approachRate: -0.394808 m/s, posRepo size: 4 2025-10-29T01:01:31.055Z,1761699691.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.25 m. 9.84 m. 2025-10-29T01:01:31.063Z,1761699691.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 9.006227 m, bearing: 132.530553 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.757533 deg, new cmd heading: 126.826579 deg. 2025-10-29T01:01:31.071Z,1761699691.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.213541 target range: 9.844725 and range: 9.30 m. 2025-10-29T01:01:31.289Z,1761699691.289 [DAT](INFO): DAT read: Rx Time:01:01:30.6245 2025-10-29T01:01:31.290Z,1761699691.290 [DAT](INFO): Rx dataTimestamp_ set to:1761699691.289668 2025-10-29T01:01:31.291Z,1761699691.291 [DAT](INFO): DAT read: Bearing 298.4, 1.5 (Local) 2025-10-29T01:01:31.292Z,1761699691.292 [DAT](INFO): Local bearing/azimuth received: Bearing 298.4, 1.5 (Local) 2025-10-29T01:01:31.294Z,1761699691.294 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-29T01:01:31.298Z,1761699691.298 [DAT](INFO): DAT read: 01:01:30.6245 LVL= 27888, 32753, 30530, 32755, AGC= 56, IDX= 501,-0.14, 1.543,-0.375, 1.511, 1.361, PHS= 0.284,-1.691, 0.106, RAW= 145.3, 13.7, CAL= 145.0, 14.9, ROT= 5.0, -14.9 2025-10-29T01:01:31.299Z,1761699691.299 [DAT](INFO): got valid direction response: 01:01:30.6245 LVL= 27888, 32753, 30530, 32755, AGC= 56, IDX= 501,-0.14, 1.543,-0.375, 1.511, 1.361, PHS= 0.284,-1.691, 0.106, RAW= 145.3, 13.7, CAL= 145.0, 14.9, ROT= 5.0, -14.9 2025-10-29T01:01:31.300Z,1761699691.300 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:01:31.300Z,1761699691.300 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T01:01:31.307Z,1761699691.307 [DAT](INFO): direction in FSK: [0.962699,0.084225,0.257133] 2025-10-29T01:01:31.308Z,1761699691.308 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:31.313Z,1761699691.313 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.606480 2025-10-29T01:01:31.506Z,1761699691.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.503574 s, deltaX: -0.400001 m, approachRate: -0.794323 m/s, rangeRepo size: 4 2025-10-29T01:01:31.512Z,1761699691.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.850326 m, bearing: 134.025593 deg, lat: 36.779281 deg, lon: -121.859513 deg, deltaT: 2.014768 s, deltaX: -0.994399 m, approachRate: -0.493555 m/s, posRepo size: 4 2025-10-29T01:01:31.513Z,1761699691.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.84 m. 2025-10-29T01:01:31.515Z,1761699691.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 8.764012 m, bearing: 132.591613 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.826573 deg, new cmd heading: 126.883836 deg. 2025-10-29T01:01:31.521Z,1761699691.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.214541 target range: 9.844725 and range: 8.90 m. 2025-10-29T01:01:31.541Z,1761699691.541 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.835018 2025-10-29T01:01:31.793Z,1761699691.793 [DAT](INFO): DAT read: Rx Time:01:01:31.1244 2025-10-29T01:01:31.794Z,1761699691.794 [DAT](INFO): Rx dataTimestamp_ set to:1761699691.793623 2025-10-29T01:01:31.795Z,1761699691.795 [DAT](INFO): DAT read: Bearing 298.6, 1.1 (Local) 2025-10-29T01:01:31.795Z,1761699691.795 [DAT](INFO): Local bearing/azimuth received: Bearing 298.6, 1.1 (Local) 2025-10-29T01:01:31.798Z,1761699691.798 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.4 2025-10-29T01:01:31.803Z,1761699691.803 [DAT](INFO): DAT read: 01:01:31.1244 LVL= 28768, 32753, 31458, 32755, AGC= 56, IDX= 500, 0.11,-1.889, 2.467,-1.912,-2.062, PHS= 0.275,-1.709, 0.106, RAW= 145.6, 13.8, CAL= 145.3, 15.1, ROT= 4.7, -15.1 2025-10-29T01:01:31.804Z,1761699691.804 [DAT](INFO): got valid direction response: 01:01:31.1244 LVL= 28768, 32753, 31458, 32755, AGC= 56, IDX= 500, 0.11,-1.889, 2.467,-1.912,-2.062, PHS= 0.275,-1.709, 0.106, RAW= 145.6, 13.8, CAL= 145.3, 15.1, ROT= 4.7, -15.1 2025-10-29T01:01:31.804Z,1761699691.804 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T01:01:31.805Z,1761699691.805 [DAT](INFO): direction in FSK: [0.962226,0.079109,0.260505] 2025-10-29T01:01:31.805Z,1761699691.805 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:31.809Z,1761699691.809 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.103039 2025-10-29T01:01:32.045Z,1761699692.045 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.338955 2025-10-29T01:01:32.046Z,1761699692.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503955 s, deltaX: -0.200000 m, approachRate: -0.396860 m/s, rangeRepo size: 4 2025-10-29T01:01:32.052Z,1761699692.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.651441 m, bearing: 133.762776 deg, lat: 36.779281 deg, lon: -121.859513 deg, deltaT: 2.518723 s, deltaX: -1.193284 m, approachRate: -0.473765 m/s, posRepo size: 4 2025-10-29T01:01:32.053Z,1761699692.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.84 m. 2025-10-29T01:01:32.060Z,1761699692.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 8.478513 m, bearing: 132.669078 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.883837 deg, new cmd heading: 126.950624 deg. 2025-10-29T01:01:32.061Z,1761699692.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.215706 target range: 9.844725 and range: 8.70 m. 2025-10-29T01:01:32.297Z,1761699692.297 [DAT](INFO): DAT read: Rx Time:01:01:31.6245 2025-10-29T01:01:32.298Z,1761699692.298 [DAT](INFO): Rx dataTimestamp_ set to:1761699692.297648 2025-10-29T01:01:32.299Z,1761699692.299 [DAT](INFO): DAT read: Bearing 300.6, 0.9 (Local) 2025-10-29T01:01:32.299Z,1761699692.299 [DAT](INFO): Local bearing/azimuth received: Bearing 300.6, 0.9 (Local) 2025-10-29T01:01:32.302Z,1761699692.302 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.4 2025-10-29T01:01:32.307Z,1761699692.307 [DAT](INFO): DAT read: 01:01:31.6245 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.46, 3.017, 1.073, 2.983, 2.898, PHS= 0.221,-1.780, 0.041, RAW= 145.3, 15.6, CAL= 145.0, 17.1, ROT= 5.0, -17.1 2025-10-29T01:01:32.308Z,1761699692.308 [DAT](INFO): got valid direction response: 01:01:31.6245 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 497, 0.46, 3.017, 1.073, 2.983, 2.898, PHS= 0.221,-1.780, 0.041, RAW= 145.3, 15.6, CAL= 145.0, 17.1, ROT= 5.0, -17.1 2025-10-29T01:01:32.309Z,1761699692.309 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T01:01:32.309Z,1761699692.309 [DAT](INFO): direction in FSK: [0.952156,0.083303,0.294040] 2025-10-29T01:01:32.310Z,1761699692.310 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:32.345Z,1761699692.345 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.629745 2025-10-29T01:01:32.448Z,1761699692.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597366,-0.790344,-0.136052],[0.801732,-0.592655,-0.077364],[-0.019488,-0.155292,0.987676]] 2025-10-29T01:01:32.500Z,1761699692.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504025 s, deltaX: 0.200000 m, approachRate: 0.396805 m/s, rangeRepo size: 4 2025-10-29T01:01:32.502Z,1761699692.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.850324 m, bearing: 134.302532 deg, lat: 36.779281 deg, lon: -121.859513 deg, deltaT: 3.022748 s, deltaX: -0.994401 m, approachRate: -0.328973 m/s, posRepo size: 4 2025-10-29T01:01:32.503Z,1761699692.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 8.90 m. 2025-10-29T01:01:32.503Z,1761699692.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.84 m. 2025-10-29T01:01:32.510Z,1761699692.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 8.235410 m, bearing: 132.743924 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 126.950622 deg, new cmd heading: 127.007539 deg. 2025-10-29T01:01:32.511Z,1761699692.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.216700 target range: 9.844725 and range: 8.90 m. 2025-10-29T01:01:32.549Z,1761699692.549 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.843063 2025-10-29T01:01:32.802Z,1761699692.802 [DAT](INFO): DAT read: Rx Time:01:01:32.1243 2025-10-29T01:01:32.803Z,1761699692.803 [DAT](INFO): Rx dataTimestamp_ set to:1761699692.802591 2025-10-29T01:01:32.804Z,1761699692.804 [DAT](INFO): DAT read: Bearing 301.5, 1.4 (Local) 2025-10-29T01:01:32.805Z,1761699692.805 [DAT](INFO): Local bearing/azimuth received: Bearing 301.5, 1.4 (Local) 2025-10-29T01:01:32.807Z,1761699692.807 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed 0.4 2025-10-29T01:01:32.811Z,1761699692.811 [DAT](INFO): DAT read: 01:01:32.1243 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496,-0.16, 2.209, 0.284, 2.157, 2.111, PHS= 0.201,-1.782, 0.002, RAW= 144.8, 16.5, CAL= 144.4, 17.9, ROT= 5.6, -17.9 2025-10-29T01:01:32.817Z,1761699692.817 [DAT](INFO): got valid direction response: 01:01:32.1243 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496,-0.16, 2.209, 0.284, 2.157, 2.111, PHS= 0.201,-1.782, 0.002, RAW= 144.8, 16.5, CAL= 144.4, 17.9, ROT= 5.6, -17.9 2025-10-29T01:01:32.817Z,1761699692.817 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T01:01:32.818Z,1761699692.818 [DAT](INFO): direction in FSK: [0.947053,0.092859,0.307357] 2025-10-29T01:01:32.818Z,1761699692.818 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:32.822Z,1761699692.822 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.116318 2025-10-29T01:01:32.869Z,1761699692.869 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597245,-0.790436,-0.136047],[0.801821,-0.592549,-0.077262],[-0.019543,-0.155230,0.987685]] 2025-10-29T01:01:32.985Z,1761699692.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504943 s, deltaX: -0.299999 m, approachRate: -0.594125 m/s, rangeRepo size: 4 2025-10-29T01:01:32.995Z,1761699692.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.552006 m, bearing: 135.010149 deg, lat: 36.779280 deg, lon: -121.859512 deg, deltaT: 3.527691 s, deltaX: -1.292719 m, approachRate: -0.366449 m/s, posRepo size: 4 2025-10-29T01:01:32.995Z,1761699692.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 8.60 m. 2025-10-29T01:01:33.000Z,1761699693.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.55 m. 9.84 m. 2025-10-29T01:01:33.003Z,1761699693.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 7.969663 m, bearing: 132.831257 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.007545 deg, new cmd heading: 127.068708 deg. 2025-10-29T01:01:33.008Z,1761699693.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.217767 target range: 9.844725 and range: 8.60 m. 2025-10-29T01:01:33.057Z,1761699693.057 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.350231 2025-10-29T01:01:33.306Z,1761699693.306 [DAT](INFO): DAT read: Rx Time:01:01:32.6240 2025-10-29T01:01:33.306Z,1761699693.306 [DAT](INFO): Rx dataTimestamp_ set to:1761699693.305755 2025-10-29T01:01:33.307Z,1761699693.307 [DAT](INFO): DAT read: Bearing 301.0, 1.0 (Local) 2025-10-29T01:01:33.308Z,1761699693.308 [DAT](INFO): Local bearing/azimuth received: Bearing 301.0, 1.0 (Local) 2025-10-29T01:01:33.310Z,1761699693.310 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-29T01:01:33.315Z,1761699693.315 [DAT](INFO): DAT read: 01:01:32.6240 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 493, 0.14, 2.405, 0.447, 2.365, 2.292, PHS= 0.215,-1.801, 0.029, RAW= 145.2, 15.9, CAL= 144.9, 17.4, ROT= 5.1, -17.4 2025-10-29T01:01:33.316Z,1761699693.316 [DAT](INFO): got valid direction response: 01:01:32.6240 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 493, 0.14, 2.405, 0.447, 2.365, 2.292, PHS= 0.215,-1.801, 0.029, RAW= 145.2, 15.9, CAL= 144.9, 17.4, ROT= 5.1, -17.4 2025-10-29T01:01:33.317Z,1761699693.317 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T01:01:33.318Z,1761699693.318 [DAT](INFO): direction in FSK: [0.950463,0.084827,0.299041] 2025-10-29T01:01:33.318Z,1761699693.318 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:33.321Z,1761699693.321 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.615414 2025-10-29T01:01:33.343Z,1761699693.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597915,-0.789786,-0.136879],[0.801319,-0.593143,-0.077911],[-0.019655,-0.156268,0.987519]] 2025-10-29T01:01:33.400Z,1761699693.400 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +543, 2025-10-29T01:01:33.463Z,1761699693.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.503164 s, deltaX: -0.500000 m, approachRate: -0.993712 m/s, rangeRepo size: 4 2025-10-29T01:01:33.469Z,1761699693.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.054796 m, bearing: 134.504957 deg, lat: 36.779280 deg, lon: -121.859512 deg, deltaT: 4.030855 s, deltaX: -1.789928 m, approachRate: -0.444057 m/s, posRepo size: 4 2025-10-29T01:01:33.470Z,1761699693.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m. 2025-10-29T01:01:33.477Z,1761699693.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 7.710790 m, bearing: 132.920512 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.068703 deg, new cmd heading: 127.128310 deg. 2025-10-29T01:01:33.478Z,1761699693.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.218808 target range: 9.844725 and range: 8.10 m. 2025-10-29T01:01:33.561Z,1761699693.561 [DAT](INFO): DAT read: Rx Time:01:01:33.1240 2025-10-29T01:01:33.563Z,1761699693.563 [DAT](INFO): Rx dataTimestamp_ set to:1761699693.561748 2025-10-29T01:01:33.565Z,1761699693.565 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.858231 2025-10-29T01:01:33.751Z,1761699693.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598903,-0.789184,-0.136028],[0.800576,-0.594226,-0.077290],[-0.019835,-0.155190,0.987686]] 2025-10-29T01:01:33.800Z,1761699693.800 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:33.802Z,1761699693.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:33.810Z,1761699693.810 [DAT](INFO): DAT read: Bearing 301.9, 0.8 (Local) 2025-10-29T01:01:33.810Z,1761699693.810 [DAT](INFO): Local bearing/azimuth received: Bearing 301.9, 0.8 (Local) 2025-10-29T01:01:33.813Z,1761699693.813 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.4 2025-10-29T01:01:33.821Z,1761699693.821 [DAT](INFO): DAT read: 01:01:33.1240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.46, 2.774, 0.862, 2.738, 2.692, PHS= 0.184,-1.785, 0.002, RAW= 145.2, 16.7, CAL= 144.9, 18.3, ROT= 5.1, -18.3 2025-10-29T01:01:33.822Z,1761699693.822 [DAT](INFO): got valid direction response: 01:01:33.1240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 509,-0.46, 2.774, 0.862, 2.738, 2.692, PHS= 0.184,-1.785, 0.002, RAW= 145.2, 16.7, CAL= 144.9, 18.3, ROT= 5.1, -18.3 2025-10-29T01:01:33.823Z,1761699693.823 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-29T01:01:33.823Z,1761699693.823 [DAT](INFO): direction in FSK: [0.945667,0.084399,0.313992] 2025-10-29T01:01:33.824Z,1761699693.824 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:33.828Z,1761699693.828 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.121593 2025-10-29T01:01:33.833Z,1761699693.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 7.533952 m, bearing: 132.983346 deg, approach rate: -0.520171 m/s, LOS rate: 0.189165 deg/s, cmd heading: 127.128317 deg, new cmd heading: 127.256934 deg. 2025-10-29T01:01:33.834Z,1761699693.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221052 target range: 9.844725 and range: 8.10 m. 2025-10-29T01:01:34.064Z,1761699694.064 [DAT](INFO): DAT read: Rx Time:01:01:33.6237 2025-10-29T01:01:34.066Z,1761699694.066 [DAT](INFO): Rx dataTimestamp_ set to:1761699694.065016 2025-10-29T01:01:34.070Z,1761699694.070 [DAT](INFO): DAT read: Bearing 302.8, 0.4 (Local) 2025-10-29T01:01:34.071Z,1761699694.071 [DAT](INFO): Local bearing/azimuth received: Bearing 302.8, 0.4 (Local) 2025-10-29T01:01:34.073Z,1761699694.073 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=42.366322 2025-10-29T01:01:34.154Z,1761699694.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600612,-0.788173,-0.134346],[0.799287,-0.596116,-0.076065],[-0.020133,-0.153066,0.988011]] 2025-10-29T01:01:34.212Z,1761699694.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.502864 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:34.214Z,1761699694.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.054836 m, bearing: 134.789880 deg, lat: 36.779279 deg, lon: -121.859512 deg, deltaT: 4.533719 s, deltaX: -1.789888 m, approachRate: -0.394795 m/s, posRepo size: 4 2025-10-29T01:01:34.215Z,1761699694.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.84 m. 2025-10-29T01:01:34.234Z,1761699694.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 7.292966 m, bearing: 133.089729 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.256929 deg, new cmd heading: 127.308070 deg. 2025-10-29T01:01:34.235Z,1761699694.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.221945 target range: 9.844725 and range: 8.10 m. 2025-10-29T01:01:34.315Z,1761699694.315 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.4 2025-10-29T01:01:34.319Z,1761699694.319 [DAT](INFO): DAT read: 01:01:33.6237 LVL= 32752, 32753, 32066, 32755, AGC= 55, IDX= 506,-0.07, 1.554,-0.343, 1.529, 1.503, PHS= 0.154,-1.801,-0.018, RAW= 145.5, 17.4, CAL= 145.2, 19.1, ROT= 4.8, -19.1 2025-10-29T01:01:34.321Z,1761699694.321 [DAT](INFO): got valid direction response: 01:01:33.6237 LVL= 32752, 32753, 32066, 32755, AGC= 55, IDX= 506,-0.07, 1.554,-0.343, 1.529, 1.503, PHS= 0.154,-1.801,-0.018, RAW= 145.5, 17.4, CAL= 145.2, 19.1, ROT= 4.8, -19.1 2025-10-29T01:01:34.321Z,1761699694.321 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-29T01:01:34.322Z,1761699694.322 [DAT](INFO): direction in FSK: [0.941635,0.079071,0.327218] 2025-10-29T01:01:34.322Z,1761699694.322 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:34.326Z,1761699694.326 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.619976 2025-10-29T01:01:34.552Z,1761699694.552 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602780,-0.786986,-0.131560],[0.797654,-0.598492,-0.074534],[-0.020081,-0.149867,0.988502]] 2025-10-29T01:01:34.569Z,1761699694.569 [DAT](INFO): DAT read: Rx Time:01:01:34.1236 2025-10-29T01:01:34.570Z,1761699694.570 [DAT](INFO): Rx dataTimestamp_ set to:1761699694.569472 2025-10-29T01:01:34.574Z,1761699694.574 [DAT](INFO): DAT read: Bearing 306.5, -2.2 (Local) 2025-10-29T01:01:34.575Z,1761699694.575 [DAT](INFO): Local bearing/azimuth received: Bearing 306.5, -2.2 (Local) 2025-10-29T01:01:34.577Z,1761699694.577 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=42.870525 2025-10-29T01:01:34.659Z,1761699694.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.504221 s, deltaX: -0.400001 m, approachRate: -0.793304 m/s, rangeRepo size: 4 2025-10-29T01:01:34.669Z,1761699694.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.657066 m, bearing: 134.724125 deg, lat: 36.779279 deg, lon: -121.859511 deg, deltaT: 5.037940 s, deltaX: -2.187659 m, approachRate: -0.434237 m/s, posRepo size: 4 2025-10-29T01:01:34.670Z,1761699694.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.84 m. 2025-10-29T01:01:34.677Z,1761699694.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 7.059782 m, bearing: 133.194536 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.308074 deg, new cmd heading: 127.363922 deg. 2025-10-29T01:01:34.678Z,1761699694.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.222920 target range: 9.844725 and range: 7.70 m. 2025-10-29T01:01:34.818Z,1761699694.818 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed 0.4 2025-10-29T01:01:34.823Z,1761699694.823 [DAT](INFO): DAT read: 01:01:34.1236 LVL= 32752, 32753, 27762, 32755, AGC= 54, IDX= 505, 0.21,-2.434, 2.043,-2.418,-2.398, PHS= 0.067,-1.797,-0.064, RAW= 146.4, 19.4, CAL= 147.4, 22.9, ROT= 2.6, -22.9 2025-10-29T01:01:34.828Z,1761699694.828 [DAT](INFO): got valid direction response: 01:01:34.1236 LVL= 32752, 32753, 27762, 32755, AGC= 54, IDX= 505, 0.21,-2.434, 2.043,-2.418,-2.398, PHS= 0.067,-1.797,-0.064, RAW= 146.4, 19.4, CAL= 147.4, 22.9, ROT= 2.6, -22.9 2025-10-29T01:01:34.829Z,1761699694.829 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-29T01:01:34.829Z,1761699694.829 [DAT](INFO): direction in FSK: [0.920237,0.041788,0.389124] 2025-10-29T01:01:34.830Z,1761699694.830 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:34.834Z,1761699694.834 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=43.127567 2025-10-29T01:01:35.016Z,1761699695.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606609,-0.785003,-0.125679],[0.794760,-0.602686,-0.071593],[-0.019544,-0.143314,0.989484]] 2025-10-29T01:01:35.073Z,1761699695.073 [DAT](INFO): DAT read: Rx Time:01:01:34.6234 2025-10-29T01:01:35.075Z,1761699695.075 [DAT](INFO): Rx dataTimestamp_ set to:1761699695.073606 2025-10-29T01:01:35.078Z,1761699695.078 [DAT](INFO): DAT read: Bearing 305.5, -1.9 (Local) 2025-10-29T01:01:35.079Z,1761699695.079 [DAT](INFO): Local bearing/azimuth received: Bearing 305.5, -1.9 (Local) 2025-10-29T01:01:35.083Z,1761699695.083 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.4 2025-10-29T01:01:35.145Z,1761699695.145 [DAT](INFO): DAT read: 01:01:34.6234 LVL= 32752, 32753, 25906, 32755, AGC= 53, IDX= 503,-0.27, 0.241,-1.551, 0.271, 0.267, PHS= 0.076,-1.773,-0.040, RAW= 146.8, 18.9, CAL= 147.4, 21.8, ROT= 2.6, -21.8 2025-10-29T01:01:35.146Z,1761699695.146 [DAT](INFO): got valid direction response: 01:01:34.6234 LVL= 32752, 32753, 25906, 32755, AGC= 53, IDX= 503,-0.27, 0.241,-1.551, 0.271, 0.267, PHS= 0.076,-1.773,-0.040, RAW= 146.8, 18.9, CAL= 147.4, 21.8, ROT= 2.6, -21.8 2025-10-29T01:01:35.146Z,1761699695.146 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-29T01:01:35.147Z,1761699695.147 [DAT](INFO): direction in FSK: [0.927530,0.042119,0.371368] 2025-10-29T01:01:35.147Z,1761699695.147 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:35.173Z,1761699695.173 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.466633 2025-10-29T01:01:35.287Z,1761699695.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.760766 s, deltaX: -0.500000 m, approachRate: -0.657232 m/s, rangeRepo size: 4 2025-10-29T01:01:35.302Z,1761699695.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.159883 m, bearing: 133.153141 deg, lat: 36.779279 deg, lon: -121.859511 deg, deltaT: 5.798706 s, deltaX: -2.684842 m, approachRate: -0.463007 m/s, posRepo size: 4 2025-10-29T01:01:35.303Z,1761699695.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.84 m. 2025-10-29T01:01:35.307Z,1761699695.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 6.695581 m, bearing: 133.382328 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.363917 deg, new cmd heading: 127.442043 deg. 2025-10-29T01:01:35.307Z,1761699695.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.224283 target range: 9.844725 and range: 7.20 m. 2025-10-29T01:01:35.321Z,1761699695.321 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=43.615040 2025-10-29T01:01:35.577Z,1761699695.577 [DAT](INFO): DAT read: Rx Time:01:01:35.1233 2025-10-29T01:01:35.578Z,1761699695.578 [DAT](INFO): Rx dataTimestamp_ set to:1761699695.577328 2025-10-29T01:01:35.590Z,1761699695.590 [DAT](INFO): DAT read: Bearing 306.5, -3.2 (Local) 2025-10-29T01:01:35.591Z,1761699695.591 [DAT](INFO): Local bearing/azimuth received: Bearing 306.5, -3.2 (Local) 2025-10-29T01:01:35.598Z,1761699695.598 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed 0.4 2025-10-29T01:01:35.605Z,1761699695.605 [DAT](ERROR): #Rx 88: Read range message, but no direction. 2025-10-29T01:01:35.624Z,1761699695.624 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.901390 2025-10-29T01:01:35.669Z,1761699695.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608751,-0.783819,-0.122678],[0.793134,-0.604958,-0.070461],[-0.018986,-0.140193,0.989942]] 2025-10-29T01:01:35.717Z,1761699695.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.503722 s, deltaX: -0.100000 m, approachRate: -0.198522 m/s, rangeRepo size: 4 2025-10-29T01:01:35.718Z,1761699695.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:35.725Z,1761699695.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 6.440734 m, bearing: 133.520325 deg, approach rate: -0.588413 m/s, LOS rate: 0.331227 deg/s, cmd heading: 127.442041 deg, new cmd heading: 127.728952 deg. 2025-10-29T01:01:35.726Z,1761699695.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.229291 target range: 9.844725 and range: 7.10 m. 2025-10-29T01:01:35.836Z,1761699695.836 [DAT](INFO): DAT read: 01:01:35.1233 LVL= 32752, 32753, 28770, 32755, AGC= 54, IDX= 502, 0.02, 2.220, 0.443, 2.282, 2.272, PHS= 0.050,-1.784,-0.035, RAW= 147.7, 19.2, CAL= 148.8, 22.8, ROT= 1.2, -22.8 2025-10-29T01:01:35.837Z,1761699695.837 [DAT](INFO): got valid direction response: 01:01:35.1233 LVL= 32752, 32753, 28770, 32755, AGC= 54, IDX= 502, 0.02, 2.220, 0.443, 2.282, 2.272, PHS= 0.050,-1.784,-0.035, RAW= 147.7, 19.2, CAL= 148.8, 22.8, ROT= 1.2, -22.8 2025-10-29T01:01:35.837Z,1761699695.837 [DAT](INFO): #Rx 89: Read direction message, but no range. 2025-10-29T01:01:35.838Z,1761699695.838 [DAT](INFO): direction in FSK: [0.921661,0.019306,0.387516] 2025-10-29T01:01:35.842Z,1761699695.842 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=44.135845 2025-10-29T01:01:36.081Z,1761699696.081 [DAT](INFO): DAT read: Rx Time:01:01:35.6230 2025-10-29T01:01:36.083Z,1761699696.083 [DAT](INFO): Rx dataTimestamp_ set to:1761699696.081680 2025-10-29T01:01:36.088Z,1761699696.088 [DAT](INFO): DAT read: Bearing 307.5, -4.9 (Local) 2025-10-29T01:01:36.089Z,1761699696.089 [DAT](INFO): Local bearing/azimuth received: Bearing 307.5, -4.9 (Local) 2025-10-29T01:01:36.094Z,1761699696.094 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed 0.5 2025-10-29T01:01:36.128Z,1761699696.128 [DAT](INFO): DAT read: 01:01:35.6230 LVL= 32752, 32753, 29682, 32755, AGC= 54, IDX= 499, 0.34, 0.945,-0.777, 1.058, 1.033, PHS= 0.014,-1.766,-0.019, RAW= 149.1, 19.5, CAL= 150.6, 23.8, ROT= 359.4, -23.8 2025-10-29T01:01:36.129Z,1761699696.129 [DAT](INFO): got valid direction response: 01:01:35.6230 LVL= 32752, 32753, 29682, 32755, AGC= 54, IDX= 499, 0.34, 0.945,-0.777, 1.058, 1.033, PHS= 0.014,-1.766,-0.019, RAW= 149.1, 19.5, CAL= 150.6, 23.8, ROT= 359.4, -23.8 2025-10-29T01:01:36.130Z,1761699696.130 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-29T01:01:36.131Z,1761699696.131 [DAT](INFO): direction in FSK: [0.914910,-0.009581,0.403545] 2025-10-29T01:01:36.131Z,1761699696.131 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:36.138Z,1761699696.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610801,-0.782703,-0.119576],[0.791576,-0.607099,-0.069553],[-0.018155,-0.137136,0.990386]] 2025-10-29T01:01:36.146Z,1761699696.146 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.440048 2025-10-29T01:01:36.253Z,1761699696.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504352 s, deltaX: -0.500000 m, approachRate: -0.991371 m/s, rangeRepo size: 4 2025-10-29T01:01:36.255Z,1761699696.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.563268 m, bearing: 130.502045 deg, lat: 36.779280 deg, lon: -121.859511 deg, deltaT: 6.806780 s, deltaX: -3.281456 m, approachRate: -0.482086 m/s, posRepo size: 4 2025-10-29T01:01:36.256Z,1761699696.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.56 m. 9.84 m. 2025-10-29T01:01:36.262Z,1761699696.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 6.143125 m, bearing: 133.738954 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.728950 deg, new cmd heading: 127.795798 deg. 2025-10-29T01:01:36.263Z,1761699696.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.230458 target range: 9.844725 and range: 6.60 m. 2025-10-29T01:01:36.330Z,1761699696.330 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.623283 2025-10-29T01:01:36.585Z,1761699696.585 [DAT](INFO): DAT read: Rx Time:01:01:36.1228 2025-10-29T01:01:36.587Z,1761699696.587 [DAT](INFO): Rx dataTimestamp_ set to:1761699696.585715 2025-10-29T01:01:36.599Z,1761699696.599 [DAT](INFO): DAT read: Bearing 309.6, -6.6 (Local) 2025-10-29T01:01:36.600Z,1761699696.600 [DAT](INFO): Local bearing/azimuth received: Bearing 309.6, -6.6 (Local) 2025-10-29T01:01:36.617Z,1761699696.617 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed 0.4 2025-10-29T01:01:36.635Z,1761699696.635 [DAT](INFO): DAT read: 01:01:36.1228 LVL= 30016, 32753, 29794, 32755, AGC= 54, IDX= 498,-0.16,-2.205, 2.460,-2.050,-2.071, PHS=-0.032,-1.707,-0.023, RAW= 150.3, 20.4, CAL= 152.4, 25.9, ROT= 357.6, -25.9 2025-10-29T01:01:36.637Z,1761699696.637 [DAT](INFO): got valid direction response: 01:01:36.1228 LVL= 30016, 32753, 29794, 32755, AGC= 54, IDX= 498,-0.16,-2.205, 2.460,-2.050,-2.071, PHS=-0.032,-1.707,-0.023, RAW= 150.3, 20.4, CAL= 152.4, 25.9, ROT= 357.6, -25.9 2025-10-29T01:01:36.637Z,1761699696.637 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T01:01:36.638Z,1761699696.638 [DAT](INFO): direction in FSK: [0.898769,-0.037669,0.436802] 2025-10-29T01:01:36.638Z,1761699696.638 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:36.647Z,1761699696.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613808,-0.781496,-0.111823],[0.789287,-0.610419,-0.066452],[-0.016327,-0.129049,0.991504]] 2025-10-29T01:01:36.663Z,1761699696.663 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.956516 2025-10-29T01:01:36.742Z,1761699696.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504035 s, deltaX: -0.300000 m, approachRate: -0.595196 m/s, rangeRepo size: 4 2025-10-29T01:01:36.753Z,1761699696.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.264938 m, bearing: 129.074334 deg, lat: 36.779282 deg, lon: -121.859509 deg, deltaT: 7.310815 s, deltaX: -3.579787 m, approachRate: -0.489656 m/s, posRepo size: 4 2025-10-29T01:01:36.754Z,1761699696.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.26 m. 9.84 m. 2025-10-29T01:01:36.762Z,1761699696.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 5.870818 m, bearing: 133.948729 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.795804 deg, new cmd heading: 127.856893 deg. 2025-10-29T01:01:36.768Z,1761699696.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.231524 target range: 9.844725 and range: 6.30 m. 2025-10-29T01:01:36.834Z,1761699696.834 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=45.127468 2025-10-29T01:01:37.092Z,1761699697.092 [DAT](INFO): DAT read: Rx Time:01:01:36.6226 2025-10-29T01:01:37.094Z,1761699697.094 [DAT](INFO): Rx dataTimestamp_ set to:1761699697.092973 2025-10-29T01:01:37.117Z,1761699697.117 [DAT](INFO): DAT read: Bearing 312.4, -9.0 (Local) 2025-10-29T01:01:37.117Z,1761699697.117 [DAT](INFO): Local bearing/azimuth received: Bearing 312.4, -9.0 (Local) 2025-10-29T01:01:37.119Z,1761699697.119 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-29T01:01:37.140Z,1761699697.140 [DAT](INFO): DAT read: 01:01:36.6226 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.12,-2.463, 2.262,-2.237,-2.258, PHS=-0.103,-1.718,-0.023, RAW= 152.4, 21.5, CAL= 155.1, 28.9, ROT= 354.9, -28.9 2025-10-29T01:01:37.141Z,1761699697.141 [DAT](INFO): got valid direction response: 01:01:36.6226 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 495, 0.12,-2.463, 2.262,-2.237,-2.258, PHS=-0.103,-1.718,-0.023, RAW= 152.4, 21.5, CAL= 155.1, 28.9, ROT= 354.9, -28.9 2025-10-29T01:01:37.142Z,1761699697.142 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-29T01:01:37.143Z,1761699697.143 [DAT](INFO): direction in FSK: [0.871999,-0.077824,0.483282] 2025-10-29T01:01:37.143Z,1761699697.143 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:37.159Z,1761699697.159 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.453117 2025-10-29T01:01:37.258Z,1761699697.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.507258 s, deltaX: -0.100000 m, approachRate: -0.197139 m/s, rangeRepo size: 4 2025-10-29T01:01:37.264Z,1761699697.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.165543 m, bearing: 126.907771 deg, lat: 36.779285 deg, lon: -121.859509 deg, deltaT: 7.818073 s, deltaX: -3.679182 m, approachRate: -0.470600 m/s, posRepo size: 4 2025-10-29T01:01:37.265Z,1761699697.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.84 m. 2025-10-29T01:01:37.268Z,1761699697.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 5.576083 m, bearing: 134.100277 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 127.856893 deg, new cmd heading: 127.921422 deg. 2025-10-29T01:01:37.273Z,1761699697.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232650 target range: 9.844725 and range: 6.20 m. 2025-10-29T01:01:37.338Z,1761699697.338 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.631672 2025-10-29T01:01:37.594Z,1761699697.594 [DAT](INFO): DAT read: Rx Time:01:01:37.1225 2025-10-29T01:01:37.595Z,1761699697.595 [DAT](INFO): Rx dataTimestamp_ set to:1761699697.594158 2025-10-29T01:01:37.599Z,1761699697.599 [DAT](INFO): DAT read: Bearing 318.8, -11.8 (Local) 2025-10-29T01:01:37.601Z,1761699697.601 [DAT](INFO): Local bearing/azimuth received: Bearing 318.8, -11.8 (Local) 2025-10-29T01:01:37.607Z,1761699697.607 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed 0.4 2025-10-29T01:01:37.610Z,1761699697.610 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-29T01:01:37.615Z,1761699697.615 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.909313 2025-10-29T01:01:37.646Z,1761699697.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615684,-0.780489,-0.108489],[0.787866,-0.612194,-0.066979],[-0.014140,-0.126713,0.991839]] 2025-10-29T01:01:37.708Z,1761699697.708 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:37.711Z,1761699697.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.501185 s, deltaX: -0.200000 m, approachRate: -0.399054 m/s, rangeRepo size: 4 2025-10-29T01:01:37.717Z,1761699697.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:37.720Z,1761699697.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 5.315946 m, bearing: 134.241383 deg, approach rate: -0.574338 m/s, LOS rate: 0.326782 deg/s, cmd heading: 127.921425 deg, new cmd heading: 128.217442 deg. 2025-10-29T01:01:37.725Z,1761699697.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237817 target range: 9.844725 and range: 6.00 m. 2025-10-29T01:01:37.845Z,1761699697.845 [DAT](INFO): DAT read: 01:01:37.1225 LVL= 32752, 32753, 29874, 32755, AGC= 55, IDX= 511,-0.47, 2.503, 1.121, 2.792, 2.815, PHS=-0.211,-1.650,-0.068, RAW= 154.7, 24.2, CAL= 158.2, 35.2, ROT= 351.8, -35.2 2025-10-29T01:01:37.846Z,1761699697.846 [DAT](INFO): got valid direction response: 01:01:37.1225 LVL= 32752, 32753, 29874, 32755, AGC= 55, IDX= 511,-0.47, 2.503, 1.121, 2.792, 2.815, PHS=-0.211,-1.650,-0.068, RAW= 154.7, 24.2, CAL= 158.2, 35.2, ROT= 351.8, -35.2 2025-10-29T01:01:37.846Z,1761699697.846 [DAT](INFO): #Rx 94: Read direction message, but no range. 2025-10-29T01:01:37.847Z,1761699697.847 [DAT](INFO): direction in FSK: [0.808791,-0.116549,0.576432] 2025-10-29T01:01:37.851Z,1761699697.851 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.144573 2025-10-29T01:01:38.097Z,1761699698.097 [DAT](INFO): DAT read: Rx Time:01:01:37.6222 2025-10-29T01:01:38.099Z,1761699698.099 [DAT](INFO): Rx dataTimestamp_ set to:1761699698.097782 2025-10-29T01:01:38.103Z,1761699698.103 [DAT](INFO): DAT read: Bearing 321.1, -13.8 (Local) 2025-10-29T01:01:38.104Z,1761699698.104 [DAT](INFO): Local bearing/azimuth received: Bearing 321.1, -13.8 (Local) 2025-10-29T01:01:38.111Z,1761699698.111 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 2025-10-29T01:01:38.113Z,1761699698.113 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-29T01:01:38.115Z,1761699698.115 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.409325 2025-10-29T01:01:38.195Z,1761699698.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503624 s, deltaX: -0.400000 m, approachRate: -0.794244 m/s, rangeRepo size: 4 2025-10-29T01:01:38.202Z,1761699698.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.568887 m, bearing: 125.024110 deg, lat: 36.779286 deg, lon: -121.859509 deg, deltaT: 8.822882 s, deltaX: -4.275838 m, approachRate: -0.484631 m/s, posRepo size: 4 2025-10-29T01:01:38.203Z,1761699698.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.84 m. 2025-10-29T01:01:38.209Z,1761699698.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 5.048373 m, bearing: 134.327799 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.217445 deg, new cmd heading: 128.277096 deg. 2025-10-29T01:01:38.210Z,1761699698.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238858 target range: 9.844725 and range: 5.60 m. 2025-10-29T01:01:38.349Z,1761699698.349 [DAT](INFO): DAT read: 01:01:37.6222 LVL= 31216, 32753, 24850, 32755, AGC= 55, IDX= 508,-0.11, 0.180,-1.060, 0.536, 0.546, PHS=-0.263,-1.561,-0.054, RAW= 157.4, 25.2, CAL= 160.7, 37.4, ROT= 349.3, -37.4 2025-10-29T01:01:38.350Z,1761699698.350 [DAT](INFO): got valid direction response: 01:01:37.6222 LVL= 31216, 32753, 24850, 32755, AGC= 55, IDX= 508,-0.11, 0.180,-1.060, 0.536, 0.546, PHS=-0.263,-1.561,-0.054, RAW= 157.4, 25.2, CAL= 160.7, 37.4, ROT= 349.3, -37.4 2025-10-29T01:01:38.350Z,1761699698.350 [DAT](INFO): #Rx 96: Read direction message, but no range. 2025-10-29T01:01:38.351Z,1761699698.351 [DAT](INFO): direction in FSK: [0.780602,-0.147496,0.607376] 2025-10-29T01:01:38.355Z,1761699698.355 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.648457 2025-10-29T01:01:38.581Z,1761699698.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616962,-0.779171,-0.110678],[0.786907,-0.612840,-0.072145],[-0.011614,-0.131604,0.991234]] 2025-10-29T01:01:38.602Z,1761699698.602 [DAT](INFO): DAT read: Rx Time:01:01:38.1221 2025-10-29T01:01:38.603Z,1761699698.603 [DAT](INFO): Rx dataTimestamp_ set to:1761699698.602379 2025-10-29T01:01:38.607Z,1761699698.607 [DAT](INFO): DAT read: Bearing 308.6, -18.6 (Local) 2025-10-29T01:01:38.608Z,1761699698.608 [DAT](INFO): Local bearing/azimuth received: Bearing 308.6, -18.6 (Local) 2025-10-29T01:01:38.615Z,1761699698.615 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-29T01:01:38.620Z,1761699698.620 [DAT](INFO): DAT read: 01:01:38.1221 LVL= 28352, 32225, 19042, 32755, AGC= 52, IDX= 507, 0.15, 2.634, 1.429,-3.047, 2.968, PHS=-0.232,-1.494, 0.225, RAW= 164.9, 19.0, CAL= 166.1, 25.4, ROT= 343.9, -25.4 2025-10-29T01:01:38.621Z,1761699698.621 [DAT](INFO): got valid direction response: 01:01:38.1221 LVL= 28352, 32225, 19042, 32755, AGC= 52, IDX= 507, 0.15, 2.634, 1.429,-3.047, 2.968, PHS=-0.232,-1.494, 0.225, RAW= 164.9, 19.0, CAL= 166.1, 25.4, ROT= 343.9, -25.4 2025-10-29T01:01:38.621Z,1761699698.621 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T01:01:38.622Z,1761699698.622 [DAT](INFO): direction in FSK: [0.867906,-0.250508,0.428935] 2025-10-29T01:01:38.623Z,1761699698.623 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:38.626Z,1761699698.626 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.920105 2025-10-29T01:01:38.690Z,1761699698.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.504597 s, deltaX: -0.200000 m, approachRate: -0.396356 m/s, rangeRepo size: 4 2025-10-29T01:01:38.697Z,1761699698.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.369998 m, bearing: 115.704113 deg, lat: 36.779288 deg, lon: -121.859509 deg, deltaT: 9.327479 s, deltaX: -4.474727 m, approachRate: -0.479736 m/s, posRepo size: 4 2025-10-29T01:01:38.698Z,1761699698.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.84 m. 2025-10-29T01:01:38.700Z,1761699698.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 4.766764 m, bearing: 134.424222 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.277100 deg, new cmd heading: 128.339760 deg. 2025-10-29T01:01:38.701Z,1761699698.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239951 target range: 9.844725 and range: 5.40 m. 2025-10-29T01:01:38.849Z,1761699698.849 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.143139 2025-10-29T01:01:39.106Z,1761699699.106 [DAT](INFO): DAT read: Rx Time:01:01:38.6218 2025-10-29T01:01:39.108Z,1761699699.108 [DAT](INFO): Rx dataTimestamp_ set to:1761699699.106582 2025-10-29T01:01:39.112Z,1761699699.112 [DAT](INFO): DAT read: Bearing 297.4, -25.5 (Local) 2025-10-29T01:01:39.114Z,1761699699.114 [DAT](INFO): Local bearing/azimuth received: Bearing 297.4, -25.5 (Local) 2025-10-29T01:01:39.125Z,1761699699.125 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-29T01:01:39.154Z,1761699699.154 [DAT](INFO): DAT read: 01:01:38.6218 LVL= 28640, 32753, 17282, 32755, AGC= 52, IDX= 505,-0.48, 0.415,-0.776, 1.397, 0.758, PHS=-0.241,-1.489, 0.596, RAW= 173.5, 12.4, CAL= 173.6, 15.1, ROT= 336.4, -15.1 2025-10-29T01:01:39.155Z,1761699699.155 [DAT](INFO): got valid direction response: 01:01:38.6218 LVL= 28640, 32753, 17282, 32755, AGC= 52, IDX= 505,-0.48, 0.415,-0.776, 1.397, 0.758, PHS=-0.241,-1.489, 0.596, RAW= 173.5, 12.4, CAL= 173.6, 15.1, ROT= 336.4, -15.1 2025-10-29T01:01:39.155Z,1761699699.155 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-29T01:01:39.169Z,1761699699.169 [DAT](INFO): direction in FSK: [0.884723,-0.386526,0.260505] 2025-10-29T01:01:39.169Z,1761699699.169 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:39.181Z,1761699699.181 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.474812 2025-10-29T01:01:39.226Z,1761699699.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.504203 s, deltaX: -0.400000 m, approachRate: -0.793331 m/s, rangeRepo size: 4 2025-10-29T01:01:39.232Z,1761699699.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.972233 m, bearing: 106.654323 deg, lat: 36.779290 deg, lon: -121.859508 deg, deltaT: 9.831682 s, deltaX: -4.872492 m, approachRate: -0.495591 m/s, posRepo size: 4 2025-10-29T01:01:39.233Z,1761699699.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.84 m. 2025-10-29T01:01:39.240Z,1761699699.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 4.466414 m, bearing: 134.443873 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.339760 deg, new cmd heading: 128.406760 deg. 2025-10-29T01:01:39.241Z,1761699699.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241121 target range: 9.844725 and range: 5.00 m. 2025-10-29T01:01:39.353Z,1761699699.353 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.647167 2025-10-29T01:01:39.543Z,1761699699.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619267,-0.776833,-0.114189],[0.785160,-0.613733,-0.082800],[-0.005760,-0.140932,0.990003]] 2025-10-29T01:01:39.593Z,1761699699.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:39.595Z,1761699699.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 4.272663 m, bearing: 134.451174 deg, approach rate: -0.527868 m/s, LOS rate: 0.020794 deg/s, cmd heading: 128.406764 deg, new cmd heading: 128.422029 deg. 2025-10-29T01:01:39.601Z,1761699699.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241387 target range: 9.844725 and range: 5.00 m. 2025-10-29T01:01:39.605Z,1761699699.605 [DAT](INFO): DAT read: Rx Time:01:01:39.1218 2025-10-29T01:01:39.606Z,1761699699.606 [DAT](INFO): Rx dataTimestamp_ set to:1761699699.605377 2025-10-29T01:01:39.607Z,1761699699.607 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-29T01:01:39.607Z,1761699699.607 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-29T01:01:39.608Z,1761699699.608 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.902370 2025-10-29T01:01:39.857Z,1761699699.857 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.150970 2025-10-29T01:01:39.946Z,1761699699.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619864,-0.776311,-0.114501],[0.784701,-0.613903,-0.085838],[-0.003656,-0.143057,0.989708]] 2025-10-29T01:01:40.007Z,1761699700.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:40.029Z,1761699700.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.498795 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:40.030Z,1761699700.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:40.045Z,1761699700.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 4.049454 m, bearing: 134.458270 deg, approach rate: -0.519315 m/s, LOS rate: 0.017419 deg/s, cmd heading: 128.422023 deg, new cmd heading: 128.436997 deg. 2025-10-29T01:01:40.046Z,1761699700.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.241648 target range: 9.844725 and range: 5.00 m. 2025-10-29T01:01:40.110Z,1761699700.110 [DAT](INFO): DAT read: Rx Time:01:01:39.6215 2025-10-29T01:01:40.111Z,1761699700.111 [DAT](INFO): Rx dataTimestamp_ set to:1761699700.110005 2025-10-29T01:01:40.112Z,1761699700.112 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-29T01:01:40.113Z,1761699700.113 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-29T01:01:40.115Z,1761699700.115 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.408272 2025-10-29T01:01:40.361Z,1761699700.361 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.654938 2025-10-29T01:01:40.388Z,1761699700.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620532,-0.775845,-0.114040],[0.784180,-0.614212,-0.088350],[-0.001499,-0.144252,0.989540]] 2025-10-29T01:01:40.447Z,1761699700.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.504628 s, deltaX: -0.500000 m, approachRate: -0.990829 m/s, rangeRepo size: 4 2025-10-29T01:01:40.452Z,1761699700.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:40.455Z,1761699700.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 3.789160 m, bearing: 134.423291 deg, approach rate: -0.613472 m/s, LOS rate: -0.088102 deg/s, cmd heading: 128.436995 deg, new cmd heading: 128.362232 deg. 2025-10-29T01:01:40.460Z,1761699700.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240344 target range: 9.844725 and range: 4.50 m. 2025-10-29T01:01:40.613Z,1761699700.613 [DAT](INFO): DAT read: Rx Time:01:01:40.1212 2025-10-29T01:01:40.614Z,1761699700.614 [DAT](INFO): Rx dataTimestamp_ set to:1761699700.613291 2025-10-29T01:01:40.615Z,1761699700.615 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 2025-10-29T01:01:40.615Z,1761699700.615 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-29T01:01:40.616Z,1761699700.616 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.910290 2025-10-29T01:01:40.781Z,1761699700.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620850,-0.775901,-0.111902],[0.783929,-0.614422,-0.089114],[0.000389,-0.143050,0.989715]] 2025-10-29T01:01:40.799Z,1761699700.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.503286 s, deltaX: -0.400000 m, approachRate: -0.794777 m/s, rangeRepo size: 4 2025-10-29T01:01:40.801Z,1761699700.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:40.803Z,1761699700.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 3.593299 m, bearing: 134.392234 deg, approach rate: -0.556122 m/s, LOS rate: -0.092990 deg/s, cmd heading: 128.362231 deg, new cmd heading: 128.296730 deg. 2025-10-29T01:01:40.820Z,1761699700.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.239200 target range: 9.844725 and range: 4.10 m. 2025-10-29T01:01:40.865Z,1761699700.865 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.159035 2025-10-29T01:01:41.122Z,1761699701.122 [DAT](INFO): DAT read: Rx Time:01:01:40.6210 2025-10-29T01:01:41.123Z,1761699701.123 [DAT](INFO): Rx dataTimestamp_ set to:1761699701.122385 2025-10-29T01:01:41.125Z,1761699701.125 [DAT](INFO): DAT read: Bearing 307.0, -18.0 (Local) 2025-10-29T01:01:41.125Z,1761699701.125 [DAT](INFO): Local bearing/azimuth received: Bearing 307.0, -18.0 (Local) 2025-10-29T01:01:41.129Z,1761699701.129 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-29T01:01:41.135Z,1761699701.135 [DAT](INFO): DAT read: 01:01:40.6210 LVL= 32752, 32753, 18258, 32755, AGC= 47, IDX= 497, 0.22, 1.093,-0.599, 1.871, 1.483, PHS=-0.288,-2.037, 0.344, RAW= 164.8, 18.2, CAL= 166.0, 23.6, ROT= 344.0, -23.6 2025-10-29T01:01:41.141Z,1761699701.141 [DAT](INFO): got valid direction response: 01:01:40.6210 LVL= 32752, 32753, 18258, 32755, AGC= 47, IDX= 497, 0.22, 1.093,-0.599, 1.871, 1.483, PHS=-0.288,-2.037, 0.344, RAW= 164.8, 18.2, CAL= 166.0, 23.6, ROT= 344.0, -23.6 2025-10-29T01:01:41.141Z,1761699701.141 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-29T01:01:41.142Z,1761699701.142 [DAT](INFO): direction in FSK: [0.880864,-0.252584,0.400349] 2025-10-29T01:01:41.142Z,1761699701.142 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:41.146Z,1761699701.146 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.440170 2025-10-29T01:01:41.183Z,1761699701.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621342,-0.775581,-0.111391],[0.783537,-0.614645,-0.091002],[0.002113,-0.143822,0.989601]] 2025-10-29T01:01:41.282Z,1761699701.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.509094 s, deltaX: -0.300000 m, approachRate: -0.589282 m/s, rangeRepo size: 4 2025-10-29T01:01:41.288Z,1761699701.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.778928 m, bearing: 116.082031 deg, lat: 36.779290 deg, lon: -121.859504 deg, deltaT: 11.847485 s, deltaX: -6.065797 m, approachRate: -0.511990 m/s, posRepo size: 4 2025-10-29T01:01:41.289Z,1761699701.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.84 m. 2025-10-29T01:01:41.296Z,1761699701.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 3.339861 m, bearing: 134.318271 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.296730 deg, new cmd heading: 128.357036 deg. 2025-10-29T01:01:41.297Z,1761699701.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.240253 target range: 9.844725 and range: 3.80 m. 2025-10-29T01:01:41.371Z,1761699701.371 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.664555 2025-10-29T01:01:41.597Z,1761699701.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621640,-0.775537,-0.110030],[0.783295,-0.614835,-0.091795],[0.003540,-0.143249,0.989680]] 2025-10-29T01:01:41.621Z,1761699701.621 [DAT](INFO): DAT read: Rx Time:01:01:41.1210 2025-10-29T01:01:41.622Z,1761699701.622 [DAT](INFO): Rx dataTimestamp_ set to:1761699701.621360 2025-10-29T01:01:41.623Z,1761699701.623 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-29T01:01:41.623Z,1761699701.623 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-29T01:01:41.624Z,1761699701.624 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.918358 2025-10-29T01:01:41.636Z,1761699701.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.498975 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:41.637Z,1761699701.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:41.639Z,1761699701.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 3.149270 m, bearing: 134.253422 deg, approach rate: -0.544984 m/s, LOS rate: -0.196653 deg/s, cmd heading: 128.357040 deg, new cmd heading: 128.219494 deg. 2025-10-29T01:01:41.649Z,1761699701.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.237852 target range: 9.844725 and range: 3.80 m. 2025-10-29T01:01:41.874Z,1761699701.874 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.167782 2025-10-29T01:01:42.011Z,1761699702.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622031,-0.775284,-0.109595],[0.782979,-0.615089,-0.092785],[0.004524,-0.143526,0.989636]] 2025-10-29T01:01:42.126Z,1761699702.126 [DAT](INFO): DAT read: Rx Time:01:01:41.6208 2025-10-29T01:01:42.126Z,1761699702.126 [DAT](INFO): Rx dataTimestamp_ set to:1761699702.125844 2025-10-29T01:01:42.127Z,1761699702.127 [DAT](INFO): DAT read: Bearing 330.0, -15.5 (Local) 2025-10-29T01:01:42.128Z,1761699702.128 [DAT](INFO): Local bearing/azimuth received: Bearing 330.0, -15.5 (Local) 2025-10-29T01:01:42.130Z,1761699702.130 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 2025-10-29T01:01:42.134Z,1761699702.134 [DAT](INFO): DAT read: 01:01:41.6208 LVL= 20464, 31089, 19186, 32755, AGC= 41, IDX= 511,-0.15, 2.842, 1.631,-2.972,-2.747, PHS=-0.591,-1.860,-0.268, RAW= 161.1, 33.4, CAL= 163.7, 45.6, ROT= 346.3, -45.6 2025-10-29T01:01:42.136Z,1761699702.136 [DAT](INFO): got valid direction response: 01:01:41.6208 LVL= 20464, 31089, 19186, 32755, AGC= 41, IDX= 511,-0.15, 2.842, 1.631,-2.972,-2.747, PHS=-0.591,-1.860,-0.268, RAW= 161.1, 33.4, CAL= 163.7, 45.6, ROT= 346.3, -45.6 2025-10-29T01:01:42.136Z,1761699702.136 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T01:01:42.137Z,1761699702.137 [DAT](INFO): direction in FSK: [0.679757,-0.165707,0.714473] 2025-10-29T01:01:42.137Z,1761699702.137 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:42.145Z,1761699702.145 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.438877 2025-10-29T01:01:42.160Z,1761699702.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.504484 s, deltaX: -0.500000 m, approachRate: -0.991112 m/s, rangeRepo size: 4 2025-10-29T01:01:42.162Z,1761699702.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.281732 m, bearing: 123.274852 deg, lat: 36.779290 deg, lon: -121.859504 deg, deltaT: 12.850944 s, deltaX: -6.562992 m, approachRate: -0.510701 m/s, posRepo size: 4 2025-10-29T01:01:42.163Z,1761699702.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.84 m. 2025-10-29T01:01:42.185Z,1761699702.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 2.880869 m, bearing: 134.144932 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.219494 deg, new cmd heading: 128.284992 deg. 2025-10-29T01:01:42.186Z,1761699702.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.238996 target range: 9.844725 and range: 3.30 m. 2025-10-29T01:01:42.378Z,1761699702.378 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.671703 2025-10-29T01:01:42.492Z,1761699702.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:42.495Z,1761699702.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:42.497Z,1761699702.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 2.677861 m, bearing: 134.041760 deg, approach rate: -0.599242 m/s, LOS rate: -0.327633 deg/s, cmd heading: 128.284995 deg, new cmd heading: 128.063009 deg. 2025-10-29T01:01:42.498Z,1761699702.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235121 target range: 9.844725 and range: 3.30 m. 2025-10-29T01:01:42.630Z,1761699702.630 [DAT](INFO): DAT read: Rx Time:01:01:42.1210 2025-10-29T01:01:42.630Z,1761699702.630 [DAT](INFO): Rx dataTimestamp_ set to:1761699702.629764 2025-10-29T01:01:42.631Z,1761699702.631 [DAT](INFO): DAT read: Bearing 337.0, -15.4 (Local) 2025-10-29T01:01:42.632Z,1761699702.632 [DAT](INFO): Local bearing/azimuth received: Bearing 337.0, -15.4 (Local) 2025-10-29T01:01:42.634Z,1761699702.634 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-29T01:01:42.639Z,1761699702.639 [DAT](INFO): DAT read: 01:01:42.1210 LVL= 20208, 32753, 19698, 32755, AGC= 45, IDX= 510, 0.43, 0.608,-0.174, 0.999, 1.345, PHS=-0.635,-1.474,-0.390, RAW= 162.4, 41.9, CAL= 164.5, 52.2, ROT= 345.5, -52.2 2025-10-29T01:01:42.640Z,1761699702.640 [DAT](INFO): got valid direction response: 01:01:42.1210 LVL= 20208, 32753, 19698, 32755, AGC= 45, IDX= 510, 0.43, 0.608,-0.174, 0.999, 1.345, PHS=-0.635,-1.474,-0.390, RAW= 162.4, 41.9, CAL= 164.5, 52.2, ROT= 345.5, -52.2 2025-10-29T01:01:42.640Z,1761699702.640 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T01:01:42.641Z,1761699702.641 [DAT](INFO): direction in FSK: [0.593385,-0.153460,0.790155] 2025-10-29T01:01:42.642Z,1761699702.642 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:42.646Z,1761699702.646 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.939610 2025-10-29T01:01:42.842Z,1761699702.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622002,-0.775444,-0.108629],[0.782997,-0.615002,-0.093210],[0.005472,-0.143033,0.989703]] 2025-10-29T01:01:42.882Z,1761699702.882 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.175758 2025-10-29T01:01:42.893Z,1761699702.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.503920 s, deltaX: 0.500000 m, approachRate: 0.992221 m/s, rangeRepo size: 4 2025-10-29T01:01:42.914Z,1761699702.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.778960 m, bearing: 124.688157 deg, lat: 36.779290 deg, lon: -121.859504 deg, deltaT: 13.354864 s, deltaX: -6.065765 m, approachRate: -0.454199 m/s, posRepo size: 4 2025-10-29T01:01:42.922Z,1761699702.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.80 m. 2025-10-29T01:01:42.940Z,1761699702.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.84 m. 2025-10-29T01:01:42.943Z,1761699702.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 2.477867 m, bearing: 133.923689 deg, approach rate: 0.000000 m/s, LOS rate: 0.062467 deg/s, cmd heading: 128.063014 deg, new cmd heading: 128.112533 deg. 2025-10-29T01:01:42.943Z,1761699702.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.235986 target range: 9.844725 and range: 3.80 m. 2025-10-29T01:01:43.133Z,1761699703.133 [DAT](INFO): DAT read: Rx Time:01:01:42.6208 2025-10-29T01:01:43.134Z,1761699703.134 [DAT](INFO): Rx dataTimestamp_ set to:1761699703.133451 2025-10-29T01:01:43.135Z,1761699703.135 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.3 2025-10-29T01:01:43.136Z,1761699703.136 [DAT](ERROR): #Rx 106: Read range message, but no direction. 2025-10-29T01:01:43.137Z,1761699703.137 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.430607 2025-10-29T01:01:43.327Z,1761699703.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503687 s, deltaX: -0.500000 m, approachRate: -0.992680 m/s, rangeRepo size: 4 2025-10-29T01:01:43.327Z,1761699703.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m. 2025-10-29T01:01:43.344Z,1761699703.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:43.347Z,1761699703.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 2.232618 m, bearing: 133.878649 deg, approach rate: -0.563278 m/s, LOS rate: -0.114810 deg/s, cmd heading: 128.112533 deg, new cmd heading: 128.012558 deg. 2025-10-29T01:01:43.348Z,1761699703.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.234241 target range: 9.844725 and range: 3.30 m. 2025-10-29T01:01:43.386Z,1761699703.386 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.680058 2025-10-29T01:01:43.637Z,1761699703.637 [DAT](INFO): DAT read: Rx Time:01:01:43.1207 2025-10-29T01:01:43.638Z,1761699703.638 [DAT](INFO): Rx dataTimestamp_ set to:1761699703.637307 2025-10-29T01:01:43.639Z,1761699703.639 [DAT](INFO): DAT read: Range 11 to 50 : 3.2 m (trip time 2.1 ms) speed 0.3 2025-10-29T01:01:43.639Z,1761699703.639 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-29T01:01:43.640Z,1761699703.640 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.934341 2025-10-29T01:01:43.697Z,1761699703.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622570,-0.775042,-0.108247],[0.782538,-0.615430,-0.094234],[0.006416,-0.143375,0.989648]] 2025-10-29T01:01:43.733Z,1761699703.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.200000 m, deltaT: 0.503856 s, deltaX: -0.100000 m, approachRate: -0.198469 m/s, rangeRepo size: 4 2025-10-29T01:01:43.734Z,1761699703.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.84 m. 9.84 m. 2025-10-29T01:01:43.741Z,1761699703.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.844725 m, nav range: 2.019316 m, bearing: 133.826197 deg, approach rate: -0.531038 m/s, LOS rate: -0.144378 deg/s, cmd heading: 128.012553 deg, new cmd heading: 127.896568 deg. 2025-10-29T01:01:43.742Z,1761699703.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 2.232216 target range: 9.844725 and range: 3.20 m. 2025-10-29T01:01:43.890Z,1761699703.890 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.183380 2025-10-29T01:01:44.116Z,1761699704.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622746,-0.774822,-0.108804],[0.782396,-0.615498,-0.094968],[0.006614,-0.144269,0.989516]] 2025-10-29T01:01:44.141Z,1761699704.141 [DAT](INFO): DAT read: Rx Time:01:01:43.6205 2025-10-29T01:01:44.142Z,1761699704.142 [DAT](INFO): Rx dataTimestamp_ set to:1761699704.141352 2025-10-29T01:01:44.143Z,1761699704.143 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-29T01:01:44.143Z,1761699704.143 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-29T01:01:44.144Z,1761699704.144 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.438354 2025-10-29T01:01:44.166Z,1761699704.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504045 s, deltaX: -0.300000 m, approachRate: -0.595185 m/s, rangeRepo size: 4 2025-10-29T01:01:44.167Z,1761699704.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-29T01:01:44.167Z,1761699704.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-29T01:01:44.395Z,1761699704.395 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.689011 2025-10-29T01:01:44.519Z,1761699704.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623581,-0.773982,-0.109996],[0.781727,-0.616070,-0.096751],[0.007118,-0.146319,0.989212]] 2025-10-29T01:01:44.535Z,1761699704.535 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:44.538Z,1761699704.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-29T01:01:44.645Z,1761699704.645 [DAT](INFO): DAT read: Rx Time:01:01:44.1205 2025-10-29T01:01:44.646Z,1761699704.646 [DAT](INFO): Rx dataTimestamp_ set to:1761699704.645241 2025-10-29T01:01:44.647Z,1761699704.647 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2 2025-10-29T01:01:44.648Z,1761699704.648 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-29T01:01:44.650Z,1761699704.650 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.943523 2025-10-29T01:01:44.897Z,1761699704.897 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.191193 2025-10-29T01:01:44.932Z,1761699704.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623945,-0.773809,-0.109148],[0.781437,-0.616542,-0.096086],[0.007058,-0.145245,0.989370]] 2025-10-29T01:01:44.955Z,1761699704.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:44.956Z,1761699704.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.90 m. 2025-10-29T01:01:45.149Z,1761699705.149 [DAT](INFO): DAT read: Rx Time:01:01:44.6203 2025-10-29T01:01:45.150Z,1761699705.150 [DAT](INFO): Rx dataTimestamp_ set to:1761699705.149311 2025-10-29T01:01:45.151Z,1761699705.151 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.1 2025-10-29T01:01:45.151Z,1761699705.151 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-29T01:01:45.152Z,1761699705.152 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.446346 2025-10-29T01:01:45.327Z,1761699705.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624483,-0.773346,-0.109350],[0.781007,-0.617040,-0.096387],[0.007067,-0.145595,0.989319]] 2025-10-29T01:01:45.405Z,1761699705.405 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.698692 2025-10-29T01:01:45.409Z,1761699705.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504070 s, deltaX: -0.300000 m, approachRate: -0.595156 m/s, rangeRepo size: 4 2025-10-29T01:01:45.653Z,1761699705.653 [DAT](INFO): DAT read: Rx Time:01:01:45.1205 2025-10-29T01:01:45.654Z,1761699705.654 [DAT](INFO): Rx dataTimestamp_ set to:1761699705.653840 2025-10-29T01:01:45.655Z,1761699705.655 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.1 2025-10-29T01:01:45.656Z,1761699705.656 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-29T01:01:45.657Z,1761699705.657 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.950840 2025-10-29T01:01:45.731Z,1761699705.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625611,-0.772124,-0.111512],[0.780102,-0.617853,-0.098478],[0.007139,-0.148600,0.988872]] 2025-10-29T01:01:45.756Z,1761699705.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.504529 s, deltaX: 0.300000 m, approachRate: 0.594614 m/s, rangeRepo size: 4 2025-10-29T01:01:45.757Z,1761699705.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-29T01:01:45.905Z,1761699705.905 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.199043 2025-10-29T01:01:46.139Z,1761699706.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626733,-0.771127,-0.112113],[0.779200,-0.618850,-0.099355],[0.007234,-0.149627,0.988716]] 2025-10-29T01:01:46.157Z,1761699706.157 [DAT](INFO): DAT read: Rx Time:01:01:45.6201 2025-10-29T01:01:46.158Z,1761699706.158 [DAT](INFO): Rx dataTimestamp_ set to:1761699706.157293 2025-10-29T01:01:46.159Z,1761699706.159 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.0 2025-10-29T01:01:46.159Z,1761699706.159 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-29T01:01:46.160Z,1761699706.160 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.454308 2025-10-29T01:01:46.182Z,1761699706.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.503453 s, deltaX: -0.600000 m, approachRate: -1.191770 m/s, rangeRepo size: 4 2025-10-29T01:01:46.183Z,1761699706.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.30 m. 2025-10-29T01:01:46.412Z,1761699706.412 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.705994 2025-10-29T01:01:46.535Z,1761699706.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627869,-0.770093,-0.112861],[0.778284,-0.619833,-0.100403],[0.007365,-0.150878,0.988525]] 2025-10-29T01:01:46.587Z,1761699706.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:46.662Z,1761699706.662 [DAT](INFO): DAT read: Rx Time:01:01:46.1203 2025-10-29T01:01:46.662Z,1761699706.662 [DAT](INFO): Rx dataTimestamp_ set to:1761699706.662102 2025-10-29T01:01:46.664Z,1761699706.664 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.0 2025-10-29T01:01:46.665Z,1761699706.665 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-29T01:01:46.666Z,1761699706.666 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.960365 2025-10-29T01:01:46.917Z,1761699706.917 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.210911 2025-10-29T01:01:46.939Z,1761699706.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628627,-0.769510,-0.112615],[0.777670,-0.620570,-0.100607],[0.007532,-0.150822,0.988532]] 2025-10-29T01:01:46.958Z,1761699706.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.504809 s, deltaX: 0.300000 m, approachRate: 0.594284 m/s, rangeRepo size: 4 2025-10-29T01:01:46.959Z,1761699706.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-29T01:01:47.170Z,1761699707.170 [DAT](INFO): DAT read: Rx Time:01:01:46.6202 2025-10-29T01:01:47.170Z,1761699707.170 [DAT](INFO): Rx dataTimestamp_ set to:1761699707.169813 2025-10-29T01:01:47.171Z,1761699707.171 [DAT](INFO): DAT read: Bearing 3.5, -29.2 (Local) 2025-10-29T01:01:47.172Z,1761699707.172 [DAT](INFO): Local bearing/azimuth received: Bearing 3.5, -29.2 (Local) 2025-10-29T01:01:47.174Z,1761699707.174 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed -0.2 2025-10-29T01:01:47.223Z,1761699707.223 [DAT](INFO): DAT read: 01:01:46.6202 LVL= 32752, 24417, 32546, 32755, AGC= 54, IDX= 504,-0.49,-0.239,-0.095, 1.020, 2.072, PHS=-2.209,-2.122,-1.096, RAW= 214.0, 60.8, CAL= 212.9, 66.8, ROT= 297.1, -66.8 2025-10-29T01:01:47.230Z,1761699707.230 [DAT](INFO): got valid direction response: 01:01:46.6202 LVL= 32752, 24417, 32546, 32755, AGC= 54, IDX= 504,-0.49,-0.239,-0.095, 1.020, 2.072, PHS=-2.209,-2.122,-1.096, RAW= 214.0, 60.8, CAL= 212.9, 66.8, ROT= 297.1, -66.8 2025-10-29T01:01:47.230Z,1761699707.230 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-29T01:01:47.231Z,1761699707.231 [DAT](INFO): direction in FSK: [0.179458,-0.350692,0.919135] 2025-10-29T01:01:47.232Z,1761699707.232 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:47.235Z,1761699707.235 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.529408 2025-10-29T01:01:47.343Z,1761699707.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629146,-0.769143,-0.112226],[0.777248,-0.621085,-0.100687],[0.007741,-0.150574,0.988568]] 2025-10-29T01:01:47.421Z,1761699707.421 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.715034 2025-10-29T01:01:47.437Z,1761699707.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.507711 s, deltaX: -0.200000 m, approachRate: -0.393925 m/s, rangeRepo size: 4 2025-10-29T01:01:47.439Z,1761699707.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.386711 m, bearing: 78.539003 deg, lat: 36.779289 deg, lon: -121.859504 deg, deltaT: 17.894913 s, deltaX: -7.458014 m, approachRate: -0.416767 m/s, posRepo size: 4 2025-10-29T01:01:47.444Z,1761699707.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.40 m. 2025-10-29T01:01:47.674Z,1761699707.674 [DAT](INFO): DAT read: Rx Time:01:01:47.1201 2025-10-29T01:01:47.675Z,1761699707.675 [DAT](INFO): Rx dataTimestamp_ set to:1761699707.674510 2025-10-29T01:01:47.676Z,1761699707.676 [DAT](INFO): DAT read: Bearing 16.6, -43.8 (Local) 2025-10-29T01:01:47.676Z,1761699707.676 [DAT](INFO): Local bearing/azimuth received: Bearing 16.6, -43.8 (Local) 2025-10-29T01:01:47.679Z,1761699707.679 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.4 2025-10-29T01:01:47.683Z,1761699707.683 [DAT](INFO): DAT read: 01:01:47.1201 LVL= 32752, 26305, 25682, 32755, AGC= 54, IDX= 504,-0.04, 0.651, 1.393, 2.215, 2.741, PHS=-1.988,-1.303,-0.570, RAW= 238.9, 48.0, CAL= 241.7, 55.1, ROT= 268.3, -55.1 2025-10-29T01:01:47.684Z,1761699707.684 [DAT](INFO): got valid direction response: 01:01:47.1201 LVL= 32752, 26305, 25682, 32755, AGC= 54, IDX= 504,-0.04, 0.651, 1.393, 2.215, 2.741, PHS=-1.988,-1.303,-0.570, RAW= 238.9, 48.0, CAL= 241.7, 55.1, ROT= 268.3, -55.1 2025-10-29T01:01:47.685Z,1761699707.685 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-29T01:01:47.686Z,1761699707.686 [DAT](INFO): direction in FSK: [-0.016973,-0.571894,0.820152] 2025-10-29T01:01:47.686Z,1761699707.686 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:47.695Z,1761699707.695 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.988754 2025-10-29T01:01:47.820Z,1761699707.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630582,-0.768071,-0.111506],[0.776079,-0.622495,-0.100997],[0.008161,-0.150224,0.988618]] 2025-10-29T01:01:47.879Z,1761699707.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504697 s, deltaX: -0.100000 m, approachRate: -0.198139 m/s, rangeRepo size: 4 2025-10-29T01:01:47.895Z,1761699707.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.287265 m, bearing: 35.950330 deg, lat: 36.779288 deg, lon: -121.859504 deg, deltaT: 0.504697 s, deltaX: -0.099446 m, approachRate: -0.197042 m/s, posRepo size: 4 2025-10-29T01:01:47.926Z,1761699707.926 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.220005 2025-10-29T01:01:48.179Z,1761699708.179 [DAT](INFO): DAT read: Rx Time:01:01:47.6201 2025-10-29T01:01:48.180Z,1761699708.180 [DAT](INFO): Rx dataTimestamp_ set to:1761699708.179357 2025-10-29T01:01:48.182Z,1761699708.182 [DAT](INFO): DAT read: Bearing 29.6, -45.1 (Local) 2025-10-29T01:01:48.182Z,1761699708.182 [DAT](INFO): Local bearing/azimuth received: Bearing 29.6, -45.1 (Local) 2025-10-29T01:01:48.185Z,1761699708.185 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed -0.3 2025-10-29T01:01:48.192Z,1761699708.192 [DAT](INFO): DAT read: 01:01:47.6201 LVL= 28816, 32417, 23314, 32755, AGC= 49, IDX= 503, 0.44,-0.019, 1.105, 1.612, 2.172, PHS=-2.089,-1.022,-0.604, RAW= 254.2, 44.7, CAL= 256.4, 51.9, ROT= 253.6, -51.9 2025-10-29T01:01:48.193Z,1761699708.193 [DAT](INFO): got valid direction response: 01:01:47.6201 LVL= 28816, 32417, 23314, 32755, AGC= 49, IDX= 503, 0.44,-0.019, 1.105, 1.612, 2.172, PHS=-2.089,-1.022,-0.604, RAW= 254.2, 44.7, CAL= 256.4, 51.9, ROT= 253.6, -51.9 2025-10-29T01:01:48.193Z,1761699708.193 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-29T01:01:48.194Z,1761699708.194 [DAT](INFO): direction in FSK: [-0.174215,-0.591931,0.786935] 2025-10-29T01:01:48.194Z,1761699708.194 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:48.198Z,1761699708.198 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.492195 2025-10-29T01:01:48.282Z,1761699708.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631230,-0.767756,-0.109996],[0.775549,-0.623262,-0.100336],[0.008478,-0.148642,0.988855]] 2025-10-29T01:01:48.429Z,1761699708.429 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.722740 2025-10-29T01:01:48.446Z,1761699708.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.504847 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:48.448Z,1761699708.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.287269 m, bearing: 17.955394 deg, lat: 36.779288 deg, lon: -121.859503 deg, deltaT: 0.504847 s, deltaX: 0.000004 m, approachRate: 0.000007 m/s, posRepo size: 4 2025-10-29T01:01:48.684Z,1761699708.684 [DAT](INFO): DAT read: Rx Time:01:01:48.1203 2025-10-29T01:01:48.685Z,1761699708.685 [DAT](INFO): Rx dataTimestamp_ set to:1761699708.684494 2025-10-29T01:01:48.687Z,1761699708.687 [DAT](INFO): DAT read: Bearing 40.4, -49.7 (Local) 2025-10-29T01:01:48.687Z,1761699708.687 [DAT](INFO): Local bearing/azimuth received: Bearing 40.4, -49.7 (Local) 2025-10-29T01:01:48.689Z,1761699708.689 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 2025-10-29T01:01:48.695Z,1761699708.695 [DAT](INFO): DAT read: 01:01:48.1203 LVL= 22576, 18833, 14306, 20307, AGC= 47, IDX= 506,-0.03, 1.800,-2.985,-2.575,-2.219, PHS=-2.162,-0.721,-0.400, RAW= 260.2, 35.5, CAL= 262.5, 44.1, ROT= 247.5, -44.1 2025-10-29T01:01:48.715Z,1761699708.715 [DAT](INFO): got valid direction response: 01:01:48.1203 LVL= 22576, 18833, 14306, 20307, AGC= 47, IDX= 506,-0.03, 1.800,-2.985,-2.575,-2.219, PHS=-2.162,-0.721,-0.400, RAW= 260.2, 35.5, CAL= 262.5, 44.1, ROT= 247.5, -44.1 2025-10-29T01:01:48.715Z,1761699708.715 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T01:01:48.716Z,1761699708.716 [DAT](INFO): direction in FSK: [-0.274815,-0.663462,0.695913] 2025-10-29T01:01:48.716Z,1761699708.716 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:48.755Z,1761699708.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631496,-0.767611,-0.109485],[0.775332,-0.623568,-0.100118],[0.008580,-0.148111,0.988933]] 2025-10-29T01:01:48.757Z,1761699708.757 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.013729 2025-10-29T01:01:48.837Z,1761699708.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.505137 s, deltaX: 0.300000 m, approachRate: 0.593898 m/s, rangeRepo size: 4 2025-10-29T01:01:48.839Z,1761699708.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585608 m, bearing: 12.182743 deg, lat: 36.779288 deg, lon: -121.859502 deg, deltaT: 0.505137 s, deltaX: 0.298339 m, approachRate: 0.590611 m/s, posRepo size: 4 2025-10-29T01:01:48.839Z,1761699708.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-29T01:01:48.933Z,1761699708.933 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.227024 2025-10-29T01:01:49.186Z,1761699709.186 [DAT](INFO): DAT read: Rx Time:01:01:48.6203 2025-10-29T01:01:49.186Z,1761699709.186 [DAT](INFO): Rx dataTimestamp_ set to:1761699709.185877 2025-10-29T01:01:49.187Z,1761699709.187 [DAT](INFO): DAT read: Bearing 57.6, -52.7 (Local) 2025-10-29T01:01:49.188Z,1761699709.188 [DAT](INFO): Local bearing/azimuth received: Bearing 57.6, -52.7 (Local) 2025-10-29T01:01:49.190Z,1761699709.190 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed -0.4 2025-10-29T01:01:49.195Z,1761699709.195 [DAT](INFO): DAT read: 01:01:48.6203 LVL= 22224, 19569, 11506, 20947, AGC= 47, IDX= 506, 0.13, 2.579,-1.878,-1.709,-1.557, PHS=-2.045,-0.275,-0.196, RAW= 267.8, 26.2, CAL= 269.8, 34.5, ROT= 240.2, -34.5 2025-10-29T01:01:49.196Z,1761699709.196 [DAT](INFO): got valid direction response: 01:01:48.6203 LVL= 22224, 19569, 11506, 20947, AGC= 47, IDX= 506, 0.13, 2.579,-1.878,-1.709,-1.557, PHS=-2.045,-0.275,-0.196, RAW= 267.8, 26.2, CAL= 269.8, 34.5, ROT= 240.2, -34.5 2025-10-29T01:01:49.197Z,1761699709.197 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-29T01:01:49.198Z,1761699709.198 [DAT](INFO): direction in FSK: [-0.409569,-0.715148,0.566406] 2025-10-29T01:01:49.198Z,1761699709.198 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:49.202Z,1761699709.202 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.495907 2025-10-29T01:01:49.206Z,1761699709.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631604,-0.767549,-0.109296],[0.775247,-0.623751,-0.099634],[0.008301,-0.147661,0.989003]] 2025-10-29T01:01:49.325Z,1761699709.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.501383 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:49.327Z,1761699709.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.585643 m, bearing: 5.524505 deg, lat: 36.779288 deg, lon: -121.859502 deg, deltaT: 0.501383 s, deltaX: 0.000035 m, approachRate: 0.000070 m/s, posRepo size: 4 2025-10-29T01:01:49.336Z,1761699709.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 2.60 m. 2025-10-29T01:01:49.438Z,1761699709.438 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.731861 2025-10-29T01:01:49.634Z,1761699709.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631928,-0.767323,-0.109001],[0.774982,-0.624107,-0.099464],[0.008293,-0.147328,0.989053]] 2025-10-29T01:01:49.675Z,1761699709.675 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:49.678Z,1761699709.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.60 m. 2025-10-29T01:01:49.690Z,1761699709.690 [DAT](INFO): DAT read: Rx Time:01:01:49.1206 2025-10-29T01:01:49.690Z,1761699709.690 [DAT](INFO): Rx dataTimestamp_ set to:1761699709.689800 2025-10-29T01:01:49.691Z,1761699709.691 [DAT](INFO): DAT read: Bearing 82.4, -47.4 (Local) 2025-10-29T01:01:49.692Z,1761699709.692 [DAT](INFO): Local bearing/azimuth received: Bearing 82.4, -47.4 (Local) 2025-10-29T01:01:49.694Z,1761699709.694 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 2025-10-29T01:01:49.698Z,1761699709.698 [DAT](INFO): DAT read: 01:01:49.1206 LVL= 29728, 20625, 11586, 20579, AGC= 48, IDX= 509,-0.15, 0.111, 2.462, 1.980, 2.065, PHS=-1.851, 0.442,-0.129, RAW= 283.8, 14.7, CAL= 282.4, 21.9, ROT= 227.6, -21.9 2025-10-29T01:01:49.700Z,1761699709.700 [DAT](INFO): got valid direction response: 01:01:49.1206 LVL= 29728, 20625, 11586, 20579, AGC= 48, IDX= 509,-0.15, 0.111, 2.462, 1.980, 2.065, PHS=-1.851, 0.442,-0.129, RAW= 283.8, 14.7, CAL= 282.4, 21.9, ROT= 227.6, -21.9 2025-10-29T01:01:49.719Z,1761699709.719 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T01:01:49.724Z,1761699709.724 [DAT](INFO): direction in FSK: [-0.625642,-0.685166,0.372988] 2025-10-29T01:01:49.725Z,1761699709.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:49.741Z,1761699709.741 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.034428 2025-10-29T01:01:49.941Z,1761699709.941 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.234837 2025-10-29T01:01:50.046Z,1761699710.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.503923 s, deltaX: 0.400000 m, approachRate: 0.793772 m/s, rangeRepo size: 4 2025-10-29T01:01:50.048Z,1761699710.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983423 m, bearing: 353.883844 deg, lat: 36.779291 deg, lon: -121.859501 deg, deltaT: 0.503923 s, deltaX: 0.397780 m, approachRate: 0.789367 m/s, posRepo size: 4 2025-10-29T01:01:50.050Z,1761699710.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m. 2025-10-29T01:01:50.194Z,1761699710.194 [DAT](INFO): DAT read: Rx Time:01:01:49.6206 2025-10-29T01:01:50.194Z,1761699710.194 [DAT](INFO): Rx dataTimestamp_ set to:1761699710.193833 2025-10-29T01:01:50.195Z,1761699710.195 [DAT](INFO): DAT read: Bearing 119.9, -54.1 (Local) 2025-10-29T01:01:50.196Z,1761699710.196 [DAT](INFO): Local bearing/azimuth received: Bearing 119.9, -54.1 (Local) 2025-10-29T01:01:50.198Z,1761699710.198 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 2025-10-29T01:01:50.203Z,1761699710.203 [DAT](INFO): DAT read: 01:01:49.6206 LVL= 30880, 15953, 13186, 24403, AGC= 49, IDX= 509, 0.42,-0.120, 2.304, 2.090, 1.617, PHS=-1.635, 0.732, 0.429, RAW= 276.8, 4.3, CAL= 274.9, -1.2, ROT= 235.1, 1.2 2025-10-29T01:01:50.204Z,1761699710.204 [DAT](INFO): got valid direction response: 01:01:49.6206 LVL= 30880, 15953, 13186, 24403, AGC= 49, IDX= 509, 0.42,-0.120, 2.304, 2.090, 1.617, PHS=-1.635, 0.732, 0.429, RAW= 276.8, 4.3, CAL= 274.9, -1.2, ROT= 235.1, 1.2 2025-10-29T01:01:50.206Z,1761699710.206 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-29T01:01:50.210Z,1761699710.210 [DAT](INFO): direction in FSK: [-0.572020,-0.819972,-0.020942] 2025-10-29T01:01:50.210Z,1761699710.210 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:50.214Z,1761699710.214 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:01:50.214Z,1761699710.214 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:01:50.214Z,1761699710.214 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:50.405Z,1761699710.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632184,-0.766570,-0.112758],[0.774778,-0.623941,-0.102058],[0.007880,-0.151882,0.988367]] 2025-10-29T01:01:50.445Z,1761699710.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:50.485Z,1761699710.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:01:50.487Z,1761699710.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.983423 m, bearing: 4.066452 deg, lat: 36.779293 deg, lon: -121.859500 deg, deltaT: 0.504033 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:01:50.697Z,1761699710.697 [DAT](INFO): DAT read: Rx Time:01:01:50.1208 2025-10-29T01:01:50.698Z,1761699710.698 [DAT](INFO): Rx dataTimestamp_ set to:1761699710.697609 2025-10-29T01:01:50.699Z,1761699710.699 [DAT](INFO): DAT read: Bearing 121.1, -53.0 (Local) 2025-10-29T01:01:50.699Z,1761699710.699 [DAT](INFO): Local bearing/azimuth received: Bearing 121.1, -53.0 (Local) 2025-10-29T01:01:50.702Z,1761699710.702 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.5 2025-10-29T01:01:50.706Z,1761699710.706 [DAT](INFO): DAT read: 01:01:50.1208 LVL= 28816, 15313, 14322, 25731, AGC= 50, IDX= 512, 0.38, 0.473, 2.909, 2.666, 2.178, PHS=-1.603, 0.777, 0.445, RAW= 277.4, 3.5, CAL= 275.7, -2.1, ROT= 234.3, 2.1 2025-10-29T01:01:50.707Z,1761699710.707 [DAT](INFO): got valid direction response: 01:01:50.1208 LVL= 28816, 15313, 14322, 25731, AGC= 50, IDX= 512, 0.38, 0.473, 2.909, 2.666, 2.178, PHS=-1.603, 0.777, 0.445, RAW= 277.4, 3.5, CAL= 275.7, -2.1, ROT= 234.3, 2.1 2025-10-29T01:01:50.708Z,1761699710.708 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:50.709Z,1761699710.709 [DAT](INFO): direction in FSK: [-0.583149,-0.811538,-0.036644] 2025-10-29T01:01:50.709Z,1761699710.709 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:50.712Z,1761699710.712 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:50.713Z,1761699710.713 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:50.817Z,1761699710.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632633,-0.765848,-0.115118],[0.774411,-0.624047,-0.104180],[0.007948,-0.155056,0.987874]] 2025-10-29T01:01:50.891Z,1761699710.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503776 s, deltaX: 0.500000 m, approachRate: 0.992505 m/s, rangeRepo size: 4 2025-10-29T01:01:50.902Z,1761699710.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.480661 m, bearing: 3.375018 deg, lat: 36.779296 deg, lon: -121.859499 deg, deltaT: 0.503776 s, deltaX: 0.497237 m, approachRate: 0.987021 m/s, posRepo size: 4 2025-10-29T01:01:50.949Z,1761699710.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:51.206Z,1761699711.206 [DAT](INFO): DAT read: Rx Time:01:01:50.6209 2025-10-29T01:01:51.207Z,1761699711.207 [DAT](INFO): Rx dataTimestamp_ set to:1761699711.206468 2025-10-29T01:01:51.210Z,1761699711.210 [DAT](INFO): DAT read: Bearing 65.0, -61.6 (Local) 2025-10-29T01:01:51.210Z,1761699711.210 [DAT](INFO): Local bearing/azimuth received: Bearing 65.0, -61.6 (Local) 2025-10-29T01:01:51.213Z,1761699711.213 [DAT](INFO): DAT read: Range 11 to 50 : 3.6 m (trip time 2.4 ms) speed -0.5 2025-10-29T01:01:51.221Z,1761699711.221 [DAT](INFO): DAT read: 01:01:50.6209 LVL= 27488, 14177, 13218, 25411, AGC= 49, IDX= 513, 0.24,-0.878, 0.675, 1.020, 0.861, PHS=-1.636,-0.141, 0.115, RAW= 262.2, 19.7, CAL= 264.1, 26.4, ROT= 245.9, -26.4 2025-10-29T01:01:51.222Z,1761699711.222 [DAT](INFO): got valid direction response: 01:01:50.6209 LVL= 27488, 14177, 13218, 25411, AGC= 49, IDX= 513, 0.24,-0.878, 0.675, 1.020, 0.861, PHS=-1.636,-0.141, 0.115, RAW= 262.2, 19.7, CAL= 264.1, 26.4, ROT= 245.9, -26.4 2025-10-29T01:01:51.223Z,1761699711.223 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:51.232Z,1761699711.232 [DAT](INFO): direction in FSK: [-0.365746,-0.817636,0.444635] 2025-10-29T01:01:51.232Z,1761699711.232 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:51.235Z,1761699711.235 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:51.252Z,1761699711.252 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:51.258Z,1761699711.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632928,-0.765522,-0.115664],[0.774172,-0.624292,-0.104485],[0.007777,-0.155675,0.987778]] 2025-10-29T01:01:51.381Z,1761699711.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.600000 m, deltaT: 0.508859 s, deltaX: 0.100000 m, approachRate: 0.196518 m/s, rangeRepo size: 4 2025-10-29T01:01:51.393Z,1761699711.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.580103 m, bearing: 12.645892 deg, lat: 36.779296 deg, lon: -121.859493 deg, deltaT: 0.508859 s, deltaX: 0.099442 m, approachRate: 0.195421 m/s, posRepo size: 4 2025-10-29T01:01:51.454Z,1761699711.454 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:51.652Z,1761699711.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633013,-0.765803,-0.113315],[0.774103,-0.624710,-0.102482],[0.007692,-0.152590,0.988260]] 2025-10-29T01:01:51.681Z,1761699711.681 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:01:51.706Z,1761699711.706 [DAT](INFO): DAT read: Rx Time:01:01:51.1211 2025-10-29T01:01:51.706Z,1761699711.706 [DAT](INFO): Rx dataTimestamp_ set to:1761699711.705753 2025-10-29T01:01:51.707Z,1761699711.707 [DAT](INFO): DAT read: Bearing 79.6, -43.0 (Local) 2025-10-29T01:01:51.708Z,1761699711.708 [DAT](INFO): Local bearing/azimuth received: Bearing 79.6, -43.0 (Local) 2025-10-29T01:01:51.719Z,1761699711.719 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.5 2025-10-29T01:01:51.726Z,1761699711.726 [DAT](INFO): DAT read: 01:01:51.1211 LVL= 21664, 14801, 6498, 13603, AGC= 54, IDX= 3, 0.19, 0.645, 2.473, 2.010, 2.217, PHS=-1.471, 0.300,-0.251, RAW= 287.7, 17.8, CAL= 286.7, 24.8, ROT= 223.3, -24.8 2025-10-29T01:01:51.728Z,1761699711.727 [DAT](INFO): got valid direction response: 01:01:51.1211 LVL= 21664, 14801, 6498, 13603, AGC= 54, IDX= 3, 0.19, 0.645, 2.473, 2.010, 2.217, PHS=-1.471, 0.300,-0.251, RAW= 287.7, 17.8, CAL= 286.7, 24.8, ROT= 223.3, -24.8 2025-10-29T01:01:51.732Z,1761699711.732 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:51.734Z,1761699711.734 [DAT](INFO): direction in FSK: [-0.660656,-0.622570,0.419452] 2025-10-29T01:01:51.734Z,1761699711.734 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:51.743Z,1761699711.743 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:51.756Z,1761699711.756 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:51.957Z,1761699711.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:52.055Z,1761699712.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633343,-0.765685,-0.112263],[0.773830,-0.625118,-0.102052],[0.007962,-0.151506,0.988424]] 2025-10-29T01:01:52.169Z,1761699712.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.499285 s, deltaX: 0.300000 m, approachRate: 0.600860 m/s, rangeRepo size: 4 2025-10-29T01:01:52.185Z,1761699712.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.878477 m, bearing: 348.998587 deg, lat: 36.779296 deg, lon: -121.859493 deg, deltaT: 0.499285 s, deltaX: 0.298374 m, approachRate: 0.597603 m/s, posRepo size: 4 2025-10-29T01:01:52.212Z,1761699712.212 [DAT](INFO): DAT read: Rx Time:01:01:51.6212 2025-10-29T01:01:52.213Z,1761699712.213 [DAT](INFO): Rx dataTimestamp_ set to:1761699712.212608 2025-10-29T01:01:52.214Z,1761699712.214 [DAT](INFO): DAT read: Bearing 81.0, -25.1 (Local) 2025-10-29T01:01:52.214Z,1761699712.214 [DAT](INFO): Local bearing/azimuth received: Bearing 81.0, -25.1 (Local) 2025-10-29T01:01:52.217Z,1761699712.217 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.5 2025-10-29T01:01:52.222Z,1761699712.222 [DAT](INFO): DAT read: 01:01:51.6212 LVL= 25248, 16097, 15426, 26179, AGC= 49, IDX= 500, 0.09,-0.069, 1.784, 0.775, 1.409, PHS=-1.377, 0.420,-0.678, RAW= 307.3, 20.2, CAL= 306.5, 25.8, ROT= 203.5, -25.8 2025-10-29T01:01:52.223Z,1761699712.223 [DAT](INFO): got valid direction response: 01:01:51.6212 LVL= 25248, 16097, 15426, 26179, AGC= 49, IDX= 500, 0.09,-0.069, 1.784, 0.775, 1.409, PHS=-1.377, 0.420,-0.678, RAW= 307.3, 20.2, CAL= 306.5, 25.8, ROT= 203.5, -25.8 2025-10-29T01:01:52.224Z,1761699712.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:52.225Z,1761699712.225 [DAT](INFO): direction in FSK: [-0.825646,-0.359001,0.435231] 2025-10-29T01:01:52.225Z,1761699712.225 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:52.236Z,1761699712.236 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:52.237Z,1761699712.237 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:52.461Z,1761699712.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:52.474Z,1761699712.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633503,-0.765586,-0.112037],[0.773699,-0.625302,-0.101912],[0.007966,-0.151244,0.988464]] 2025-10-29T01:01:52.524Z,1761699712.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.506855 s, deltaX: 0.200000 m, approachRate: 0.394590 m/s, rangeRepo size: 4 2025-10-29T01:01:52.526Z,1761699712.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.077373 m, bearing: 328.522060 deg, lat: 36.779295 deg, lon: -121.859493 deg, deltaT: 0.506855 s, deltaX: 0.198896 m, approachRate: 0.392412 m/s, posRepo size: 4 2025-10-29T01:01:52.714Z,1761699712.714 [DAT](INFO): DAT read: Rx Time:01:01:52.1215 2025-10-29T01:01:52.714Z,1761699712.714 [DAT](INFO): Rx dataTimestamp_ set to:1761699712.713714 2025-10-29T01:01:52.715Z,1761699712.715 [DAT](INFO): DAT read: Bearing 84.8, -4.9 (Local) 2025-10-29T01:01:52.716Z,1761699712.716 [DAT](INFO): Local bearing/azimuth received: Bearing 84.8, -4.9 (Local) 2025-10-29T01:01:52.718Z,1761699712.718 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.5 2025-10-29T01:01:52.722Z,1761699712.722 [DAT](INFO): DAT read: 01:01:52.1215 LVL= 32752, 14321, 15090, 30643, AGC= 48, IDX= 503,-0.15, 2.281,-2.163, 2.482,-2.797, PHS=-1.103, 0.679,-1.048, RAW= 328.5, 16.5, CAL= 328.2, 21.0, ROT= 181.8, -21.0 2025-10-29T01:01:52.723Z,1761699712.723 [DAT](INFO): got valid direction response: 01:01:52.1215 LVL= 32752, 14321, 15090, 30643, AGC= 48, IDX= 503,-0.15, 2.281,-2.163, 2.482,-2.797, PHS=-1.103, 0.679,-1.048, RAW= 328.5, 16.5, CAL= 328.2, 21.0, ROT= 181.8, -21.0 2025-10-29T01:01:52.724Z,1761699712.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:52.725Z,1761699712.725 [DAT](INFO): direction in FSK: [-0.933120,-0.029325,0.358368] 2025-10-29T01:01:52.725Z,1761699712.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:52.729Z,1761699712.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:52.729Z,1761699712.729 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:52.895Z,1761699712.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633216,-0.765766,-0.112427],[0.773938,-0.625051,-0.101641],[0.007561,-0.151372,0.988448]] 2025-10-29T01:01:52.965Z,1761699712.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:52.977Z,1761699712.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.501106 s, deltaX: 0.400000 m, approachRate: 0.798235 m/s, rangeRepo size: 4 2025-10-29T01:01:52.978Z,1761699712.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.475212 m, bearing: 307.742851 deg, lat: 36.779294 deg, lon: -121.859495 deg, deltaT: 0.501106 s, deltaX: 0.397839 m, approachRate: 0.793921 m/s, posRepo size: 4 2025-10-29T01:01:53.221Z,1761699713.221 [DAT](INFO): DAT read: Rx Time:01:01:52.6216 2025-10-29T01:01:53.223Z,1761699713.223 [DAT](INFO): Rx dataTimestamp_ set to:1761699713.222295 2025-10-29T01:01:53.230Z,1761699713.230 [DAT](INFO): DAT read: Bearing 87.5, 1.8 (Local) 2025-10-29T01:01:53.231Z,1761699713.231 [DAT](INFO): Local bearing/azimuth received: Bearing 87.5, 1.8 (Local) 2025-10-29T01:01:53.245Z,1761699713.245 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.5 2025-10-29T01:01:53.253Z,1761699713.253 [DAT](INFO): DAT read: 01:01:52.6216 LVL= 31920, 14705, 15298, 29043, AGC= 51, IDX= 504,-0.44,-3.088,-1.143,-3.134,-1.957, PHS=-1.029, 0.860,-1.221, RAW= 334.8, 13.9, CAL= 334.8, 17.3, ROT= 175.2, -17.3 2025-10-29T01:01:53.254Z,1761699713.254 [DAT](INFO): got valid direction response: 01:01:52.6216 LVL= 31920, 14705, 15298, 29043, AGC= 51, IDX= 504,-0.44,-3.088,-1.143,-3.134,-1.957, PHS=-1.029, 0.860,-1.221, RAW= 334.8, 13.9, CAL= 334.8, 17.3, ROT= 175.2, -17.3 2025-10-29T01:01:53.255Z,1761699713.255 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:53.296Z,1761699713.296 [DAT](INFO): direction in FSK: [-0.951412,0.079892,0.297375] 2025-10-29T01:01:53.296Z,1761699713.296 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:53.299Z,1761699713.299 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:53.303Z,1761699713.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632847,-0.765673,-0.115107],[0.774247,-0.624470,-0.102858],[0.006875,-0.154214,0.988014]] 2025-10-29T01:01:53.324Z,1761699713.324 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:53.469Z,1761699713.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:53.474Z,1761699713.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.508581 s, deltaX: 0.200000 m, approachRate: 0.393251 m/s, rangeRepo size: 4 2025-10-29T01:01:53.481Z,1761699713.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.674109 m, bearing: 301.803555 deg, lat: 36.779291 deg, lon: -121.859507 deg, deltaT: 0.508581 s, deltaX: 0.198898 m, approachRate: 0.391084 m/s, posRepo size: 4 2025-10-29T01:01:53.481Z,1761699713.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.70 m. Rolling out. 2025-10-29T01:01:53.482Z,1761699713.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-29T01:01:53.536Z,1761699713.536 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-29T01:01:53.540Z,1761699713.540 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-29T01:01:53.542Z,1761699713.542 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T01:01:53.721Z,1761699713.721 [DAT](INFO): DAT read: Rx Time:01:01:53.1219 2025-10-29T01:01:53.722Z,1761699713.722 [DAT](INFO): Rx dataTimestamp_ set to:1761699713.721646 2025-10-29T01:01:53.723Z,1761699713.723 [DAT](INFO): DAT read: Bearing 85.1, 2.5 (Local) 2025-10-29T01:01:53.723Z,1761699713.723 [DAT](INFO): Local bearing/azimuth received: Bearing 85.1, 2.5 (Local) 2025-10-29T01:01:53.726Z,1761699713.726 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.5 2025-10-29T01:01:53.730Z,1761699713.730 [DAT](INFO): DAT read: 01:01:53.1219 LVL= 32752, 13489, 17938, 30771, AGC= 52, IDX= 506, 0.33,-0.388, 1.573,-0.481, 0.794, PHS=-1.079, 0.824,-1.319, RAW= 335.8, 15.3, CAL= 336.1, 19.6, ROT= 173.9, -19.6 2025-10-29T01:01:53.731Z,1761699713.731 [DAT](INFO): got valid direction response: 01:01:53.1219 LVL= 32752, 13489, 17938, 30771, AGC= 52, IDX= 506, 0.33,-0.388, 1.573,-0.481, 0.794, PHS=-1.079, 0.824,-1.319, RAW= 335.8, 15.3, CAL= 336.1, 19.6, ROT= 173.9, -19.6 2025-10-29T01:01:53.732Z,1761699713.732 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:53.733Z,1761699713.733 [DAT](INFO): direction in FSK: [-0.936723,0.100107,0.335452] 2025-10-29T01:01:53.733Z,1761699713.733 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:53.737Z,1761699713.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:53.737Z,1761699713.737 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:01:53.905Z,1761699713.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632050,-0.765981,-0.117419],[0.774907,-0.623615,-0.103070],[0.005726,-0.156134,0.987719]] 2025-10-29T01:01:53.938Z,1761699713.938 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-29T01:01:53.938Z,1761699713.938 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:01:53.938Z,1761699713.938 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-29T01:01:53.939Z,1761699713.939 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 4.700000 m (mode 5.000000 count ). 2025-10-29T01:01:53.939Z,1761699713.939 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-29T01:01:53.939Z,1761699713.939 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-29T01:01:53.944Z,1761699713.944 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-29T01:01:53.944Z,1761699713.944 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:01:53.944Z,1761699713.944 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-29T01:01:53.946Z,1761699713.946 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 4.700000 m (mode 5.000000 count ). 2025-10-29T01:01:53.946Z,1761699713.946 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-29T01:01:53.946Z,1761699713.946 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-29T01:01:53.961Z,1761699713.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.499351 s, deltaX: 0.400000 m, approachRate: 0.801040 m/s, rangeRepo size: 4 2025-10-29T01:01:53.963Z,1761699713.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.071884 m, bearing: 300.046934 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 0.499351 s, deltaX: 0.397775 m, approachRate: 0.796583 m/s, posRepo size: 4 2025-10-29T01:01:53.963Z,1761699713.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:53.969Z,1761699713.969 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-29T01:01:53.969Z,1761699713.969 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T01:01:53.970Z,1761699713.970 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-29T01:01:53.970Z,1761699713.970 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-29T01:01:53.973Z,1761699713.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:01:54.228Z,1761699714.228 [DAT](INFO): DAT read: user:663> 2025-10-29T01:01:54.230Z,1761699714.230 [DAT](INFO): DAT read: Command 'bl' not found 2025-10-29T01:01:54.232Z,1761699714.232 [DAT](INFO): unknown deviceResponse_: Command 'bl' not found 2025-10-29T01:01:54.233Z,1761699714.233 [DAT](INFO): DAT read: Error 2025-10-29T01:01:54.234Z,1761699714.234 [DAT](INFO): unknown deviceResponse_: Error 2025-10-29T01:01:54.236Z,1761699714.236 [DAT](INFO): DAT read: user:664> 2025-10-29T01:01:54.238Z,1761699714.238 [DAT](INFO): DAT read: Tx time:01:01:54.0695 2025-10-29T01:01:54.239Z,1761699714.239 [DAT](INFO): Ping request sent. 2025-10-29T01:01:54.239Z,1761699714.239 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:01:54.239Z,1761699714.239 [DAT](INFO): publishing transmit ping time 2025-10-29T01:01:54.240Z,1761699714.240 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-29T01:01:54.400Z,1761699714.400 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-29T01:01:54.400Z,1761699714.400 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-29T01:01:54.401Z,1761699714.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-29T01:01:54.401Z,1761699714.401 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-29T01:01:54.403Z,1761699714.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:54.477Z,1761699714.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.238433 2025-10-29T01:01:54.729Z,1761699714.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.490200 2025-10-29T01:01:54.737Z,1761699714.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632490,-0.765699,-0.116880],[0.774547,-0.624104,-0.102814],[0.005779,-0.155557,0.987810]] 2025-10-29T01:01:54.764Z,1761699714.764 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-29T01:01:54.764Z,1761699714.764 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-29T01:01:54.765Z,1761699714.765 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-29T01:01:54.765Z,1761699714.765 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-29T01:01:54.784Z,1761699714.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:54.985Z,1761699714.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.745635 2025-10-29T01:01:55.140Z,1761699715.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633247,-0.766088,-0.110033],[0.773924,-0.625634,-0.098103],[0.006315,-0.147281,0.989075]] 2025-10-29T01:01:55.161Z,1761699715.161 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-29T01:01:55.161Z,1761699715.161 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:01:55.161Z,1761699715.161 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-29T01:01:55.161Z,1761699715.161 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:01:55.162Z,1761699715.162 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-29T01:01:55.162Z,1761699715.162 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:01:55.162Z,1761699715.162 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-29T01:01:55.162Z,1761699715.162 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:01:55.164Z,1761699715.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:55.236Z,1761699715.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996633 2025-10-29T01:01:55.485Z,1761699715.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246310 2025-10-29T01:01:55.542Z,1761699715.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633679,-0.766447,-0.104926],[0.773572,-0.626727,-0.093809],[0.006140,-0.140613,0.990046]] 2025-10-29T01:01:55.593Z,1761699715.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:55.737Z,1761699715.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498144 2025-10-29T01:01:55.947Z,1761699715.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633941,-0.767047,-0.098776],[0.773360,-0.627796,-0.088234],[0.005668,-0.132324,0.991190]] 2025-10-29T01:01:55.965Z,1761699715.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:55.989Z,1761699715.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750102 2025-10-29T01:01:56.244Z,1761699716.244 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004344 2025-10-29T01:01:56.359Z,1761699716.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633808,-0.767919,-0.092677],[0.773474,-0.628434,-0.082519],[0.005126,-0.123985,0.992271]] 2025-10-29T01:01:56.423Z,1761699716.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:01:56.495Z,1761699716.495 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256390 2025-10-29T01:01:56.750Z,1761699716.750 [DAT](INFO): DAT read: Rx Time:01:01:56.2063 2025-10-29T01:01:56.751Z,1761699716.751 [DAT](INFO): Rx dataTimestamp_ set to:1761699716.750132 2025-10-29T01:01:56.752Z,1761699716.752 [DAT](INFO): DAT read: Bearing 94.3, -23.8 (Local) 2025-10-29T01:01:56.753Z,1761699716.753 [DAT](INFO): Local bearing/azimuth received: Bearing 94.3, -23.8 (Local) 2025-10-29T01:01:56.756Z,1761699716.756 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.4 2025-10-29T01:01:56.778Z,1761699716.778 [DAT](INFO): DAT read: 01:01:56.2063 LVL= 18928, 14769, 23538, 26275, AGC= 58, IDX= 59, 0.25, 1.774,-2.428, 2.657, 3.114, PHS=-1.238, 0.787,-0.501, RAW= 308.9, 10.7, CAL= 307.0, 13.4, ROT= 203.0, -13.4 2025-10-29T01:01:56.779Z,1761699716.779 [DAT](INFO): got valid direction response: 01:01:56.2063 LVL= 18928, 14769, 23538, 26275, AGC= 58, IDX= 59, 0.25, 1.774,-2.428, 2.657, 3.114, PHS=-1.238, 0.787,-0.501, RAW= 308.9, 10.7, CAL= 307.0, 13.4, ROT= 203.0, -13.4 2025-10-29T01:01:56.779Z,1761699716.779 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:01:56.780Z,1761699716.780 [DAT](INFO): direction in FSK: [-0.895445,-0.380094,0.231748] 2025-10-29T01:01:56.781Z,1761699716.781 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:56.784Z,1761699716.784 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.545583 2025-10-29T01:01:56.796Z,1761699716.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633546,-0.768874,-0.086329],[0.773690,-0.628874,-0.076950],[0.004874,-0.115543,0.993290]] 2025-10-29T01:01:56.895Z,1761699716.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 3.028486 s, deltaX: 0.800000 m, approachRate: 0.264158 m/s, rangeRepo size: 4 2025-10-29T01:01:56.906Z,1761699716.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.867502 m, bearing: 330.675658 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 3.028486 s, deltaX: 0.795618 m, approachRate: 0.262711 m/s, posRepo size: 4 2025-10-29T01:01:56.906Z,1761699716.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.87 m. 2025-10-29T01:01:57.001Z,1761699717.001 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.762447 2025-10-29T01:01:57.229Z,1761699717.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633125,-0.769878,-0.080252],[0.774035,-0.629065,-0.071746],[0.004752,-0.107542,0.994189]] 2025-10-29T01:01:57.258Z,1761699717.258 [DAT](INFO): DAT read: Rx Time:01:01:56.7064 2025-10-29T01:01:57.259Z,1761699717.259 [DAT](INFO): Rx dataTimestamp_ set to:1761699717.258373 2025-10-29T01:01:57.276Z,1761699717.276 [DAT](INFO): DAT read: Bearing 96.1, -19.9 (Local) 2025-10-29T01:01:57.277Z,1761699717.277 [DAT](INFO): Local bearing/azimuth received: Bearing 96.1, -19.9 (Local) 2025-10-29T01:01:57.308Z,1761699717.308 [DAT](INFO): DAT read: Range 11 to 50 : 6.0 m (trip time 4.0 ms) speed -0.4 2025-10-29T01:01:57.329Z,1761699717.329 [DAT](INFO): DAT read: 01:01:56.7064 LVL= 18752, 15457, 22770, 28115, AGC= 55, IDX= 508,-0.09,-0.695, 1.347, 0.060, 0.556, PHS=-1.149, 0.837,-0.539, RAW= 312.6, 9.7, CAL= 310.8, 11.3, ROT= 199.2, -11.3 2025-10-29T01:01:57.330Z,1761699717.330 [DAT](INFO): got valid direction response: 01:01:56.7064 LVL= 18752, 15457, 22770, 28115, AGC= 55, IDX= 508,-0.09,-0.695, 1.347, 0.060, 0.556, PHS=-1.149, 0.837,-0.539, RAW= 312.6, 9.7, CAL= 310.8, 11.3, ROT= 199.2, -11.3 2025-10-29T01:01:57.330Z,1761699717.330 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T01:01:57.331Z,1761699717.331 [DAT](INFO): direction in FSK: [-0.926069,-0.322491,0.195946] 2025-10-29T01:01:57.344Z,1761699717.344 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:57.363Z,1761699717.363 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.124022 2025-10-29T01:01:57.390Z,1761699717.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.000000 m, deltaT: 0.508241 s, deltaX: 0.100000 m, approachRate: 0.196757 m/s, rangeRepo size: 4 2025-10-29T01:01:57.400Z,1761699717.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.967027 m, bearing: 327.186489 deg, lat: 36.779285 deg, lon: -121.859521 deg, deltaT: 0.508241 s, deltaX: 0.099524 m, approachRate: 0.195821 m/s, posRepo size: 4 2025-10-29T01:01:57.401Z,1761699717.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-29T01:01:57.505Z,1761699717.505 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.266344 2025-10-29T01:01:57.693Z,1761699717.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632514,-0.770694,-0.077182],[0.774535,-0.628737,-0.069179],[0.004789,-0.103536,0.994614]] 2025-10-29T01:01:57.758Z,1761699717.758 [DAT](INFO): DAT read: Rx Time:01:01:57.2066 2025-10-29T01:01:57.759Z,1761699717.759 [DAT](INFO): Rx dataTimestamp_ set to:1761699717.758426 2025-10-29T01:01:57.761Z,1761699717.761 [DAT](INFO): DAT read: Bearing 95.4, -19.8 (Local) 2025-10-29T01:01:57.761Z,1761699717.761 [DAT](INFO): Local bearing/azimuth received: Bearing 95.4, -19.8 (Local) 2025-10-29T01:01:57.765Z,1761699717.765 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed -0.4 2025-10-29T01:01:57.771Z,1761699717.771 [DAT](INFO): DAT read: 01:01:57.2066 LVL= 21888, 16337, 23954, 29267, AGC= 55, IDX= 510, 0.29,-3.138,-1.094,-2.383,-1.877, PHS=-1.158, 0.828,-0.550, RAW= 312.6, 10.0, CAL= 310.9, 11.9, ROT= 199.1, -11.9 2025-10-29T01:01:57.785Z,1761699717.785 [DAT](INFO): got valid direction response: 01:01:57.2066 LVL= 21888, 16337, 23954, 29267, AGC= 55, IDX= 510, 0.29,-3.138,-1.094,-2.383,-1.877, PHS=-1.158, 0.828,-0.550, RAW= 312.6, 10.0, CAL= 310.9, 11.9, ROT= 199.1, -11.9 2025-10-29T01:01:57.785Z,1761699717.785 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:01:57.786Z,1761699717.786 [DAT](INFO): direction in FSK: [-0.924641,-0.320186,0.206204] 2025-10-29T01:01:57.786Z,1761699717.786 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:57.790Z,1761699717.790 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.551112 2025-10-29T01:01:57.794Z,1761699717.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.500053 s, deltaX: 0.200000 m, approachRate: 0.399957 m/s, rangeRepo size: 4 2025-10-29T01:01:57.794Z,1761699717.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-29T01:01:58.009Z,1761699718.009 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.770421 2025-10-29T01:01:58.063Z,1761699718.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631711,-0.771588,-0.074792],[0.775189,-0.628148,-0.067168],[0.004846,-0.100409,0.994934]] 2025-10-29T01:01:58.105Z,1761699718.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.97 m. 2025-10-29T01:01:58.266Z,1761699718.266 [DAT](INFO): DAT read: Rx Time:01:01:57.7067 2025-10-29T01:01:58.267Z,1761699718.267 [DAT](INFO): Rx dataTimestamp_ set to:1761699718.266389 2025-10-29T01:01:58.272Z,1761699718.272 [DAT](INFO): DAT read: Bearing 98.4, -18.4 (Local) 2025-10-29T01:01:58.274Z,1761699718.274 [DAT](INFO): Local bearing/azimuth received: Bearing 98.4, -18.4 (Local) 2025-10-29T01:01:58.289Z,1761699718.289 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.4 2025-10-29T01:01:58.311Z,1761699718.311 [DAT](INFO): DAT read: 01:01:57.7067 LVL= 24128, 20849, 26802, 32179, AGC= 56, IDX= 511,-0.10, 0.106, 2.195, 0.831, 1.327, PHS=-1.120, 0.913,-0.540, RAW= 313.9, 8.3, CAL= 312.1, 8.9, ROT= 197.9, -8.9 2025-10-29T01:01:58.318Z,1761699718.318 [DAT](INFO): got valid direction response: 01:01:57.7067 LVL= 24128, 20849, 26802, 32179, AGC= 56, IDX= 511,-0.10, 0.106, 2.195, 0.831, 1.327, PHS=-1.120, 0.913,-0.540, RAW= 313.9, 8.3, CAL= 312.1, 8.9, ROT= 197.9, -8.9 2025-10-29T01:01:58.319Z,1761699718.319 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T01:01:58.330Z,1761699718.330 [DAT](INFO): direction in FSK: [-0.940137,-0.303656,0.154710] 2025-10-29T01:01:58.330Z,1761699718.330 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:58.338Z,1761699718.338 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.099340 2025-10-29T01:01:58.460Z,1761699718.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631599,-0.771676,-0.074826],[0.775280,-0.628045,-0.067076],[0.004767,-0.100376,0.994938]] 2025-10-29T01:01:58.505Z,1761699718.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.507963 s, deltaX: 0.100000 m, approachRate: 0.196865 m/s, rangeRepo size: 4 2025-10-29T01:01:58.507Z,1761699718.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.265448 m, bearing: 326.107386 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 1.008016 s, deltaX: 0.298421 m, approachRate: 0.296048 m/s, posRepo size: 4 2025-10-29T01:01:58.507Z,1761699718.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-29T01:01:58.513Z,1761699718.513 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.274686 2025-10-29T01:01:58.766Z,1761699718.766 [DAT](INFO): DAT read: Rx Time:01:01:58.2069 2025-10-29T01:01:58.767Z,1761699718.767 [DAT](INFO): Rx dataTimestamp_ set to:1761699718.766240 2025-10-29T01:01:58.768Z,1761699718.768 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.4 2025-10-29T01:01:58.769Z,1761699718.769 [DAT](ERROR): #Rx 5: Read range message, but no direction. 2025-10-29T01:01:58.771Z,1761699718.771 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.531829 2025-10-29T01:01:58.878Z,1761699718.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630745,-0.772267,-0.075928],[0.775973,-0.627051,-0.068361],[0.005182,-0.102037,0.994767]] 2025-10-29T01:01:58.925Z,1761699718.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.499851 s, deltaX: 0.300000 m, approachRate: 0.600178 m/s, rangeRepo size: 4 2025-10-29T01:01:58.925Z,1761699718.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.27 m. 2025-10-29T01:01:59.019Z,1761699719.019 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.779899 2025-10-29T01:01:59.274Z,1761699719.274 [DAT](INFO): DAT read: Rx Time:01:01:58.7070 2025-10-29T01:01:59.276Z,1761699719.276 [DAT](INFO): Rx dataTimestamp_ set to:1761699719.274875 2025-10-29T01:01:59.281Z,1761699719.281 [DAT](INFO): DAT read: Bearing 98.2, -20.8 (Local) 2025-10-29T01:01:59.282Z,1761699719.282 [DAT](INFO): Local bearing/azimuth received: Bearing 98.2, -20.8 (Local) 2025-10-29T01:01:59.296Z,1761699719.296 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.4 2025-10-29T01:01:59.334Z,1761699719.334 [DAT](INFO): DAT read: 01:01:58.7070 LVL= 20832, 16561, 22834, 27699, AGC= 59, IDX= 2,-0.09, 0.537, 2.631, 1.334, 1.784, PHS=-1.145, 0.891,-0.495, RAW= 311.8, 8.4, CAL= 309.8, 9.1, ROT= 200.2, -9.1 2025-10-29T01:01:59.335Z,1761699719.335 [DAT](INFO): got valid direction response: 01:01:58.7070 LVL= 20832, 16561, 22834, 27699, AGC= 59, IDX= 2,-0.09, 0.537, 2.631, 1.334, 1.784, PHS=-1.145, 0.891,-0.495, RAW= 311.8, 8.4, CAL= 309.8, 9.1, ROT= 200.2, -9.1 2025-10-29T01:01:59.335Z,1761699719.335 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T01:01:59.339Z,1761699719.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630365,-0.772373,-0.077976],[0.776277,-0.626408,-0.070760],[0.005808,-0.105136,0.994441]] 2025-10-29T01:01:59.349Z,1761699719.349 [DAT](INFO): direction in FSK: [-0.926681,-0.340952,0.158158] 2025-10-29T01:01:59.350Z,1761699719.350 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:59.376Z,1761699719.376 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.124914 2025-10-29T01:01:59.471Z,1761699719.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.508635 s, deltaX: 0.200000 m, approachRate: 0.393210 m/s, rangeRepo size: 4 2025-10-29T01:01:59.477Z,1761699719.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.762758 m, bearing: 328.241742 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 1.008486 s, deltaX: 0.497310 m, approachRate: 0.493125 m/s, posRepo size: 4 2025-10-29T01:01:59.477Z,1761699719.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-29T01:01:59.522Z,1761699719.522 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.282976 2025-10-29T01:01:59.723Z,1761699719.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631254,-0.771625,-0.078184],[0.775553,-0.627228,-0.071437],[0.006083,-0.105731,0.994376]] 2025-10-29T01:01:59.774Z,1761699719.774 [DAT](INFO): DAT read: Rx Time:01:01:59.2072 2025-10-29T01:01:59.775Z,1761699719.775 [DAT](INFO): Rx dataTimestamp_ set to:1761699719.774688 2025-10-29T01:01:59.778Z,1761699719.778 [DAT](INFO): DAT read: Bearing 98.7, -21.8 (Local) 2025-10-29T01:01:59.778Z,1761699719.778 [DAT](INFO): Local bearing/azimuth received: Bearing 98.7, -21.8 (Local) 2025-10-29T01:01:59.780Z,1761699719.780 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-29T01:01:59.785Z,1761699719.785 [DAT](INFO): DAT read: 01:01:59.2072 LVL= 24560, 15505, 22866, 30451, AGC= 56, IDX= 499, 0.38, 1.757,-2.407, 2.591, 3.019, PHS=-1.160, 0.902,-0.473, RAW= 310.9, 8.1, CAL= 308.8, 8.7, ROT= 201.2, -8.7 2025-10-29T01:01:59.786Z,1761699719.786 [DAT](INFO): got valid direction response: 01:01:59.2072 LVL= 24560, 15505, 22866, 30451, AGC= 56, IDX= 499, 0.38, 1.757,-2.407, 2.591, 3.019, PHS=-1.160, 0.902,-0.473, RAW= 310.9, 8.1, CAL= 308.8, 8.7, ROT= 201.2, -8.7 2025-10-29T01:01:59.786Z,1761699719.786 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T01:01:59.787Z,1761699719.787 [DAT](INFO): direction in FSK: [-0.921596,-0.357464,0.151261] 2025-10-29T01:01:59.787Z,1761699719.787 [DAT](INFO): publishing direction and range info 2025-10-29T01:01:59.791Z,1761699719.791 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.552244 2025-10-29T01:01:59.811Z,1761699719.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.499813 s, deltaX: 0.300000 m, approachRate: 0.600224 m/s, rangeRepo size: 4 2025-10-29T01:01:59.819Z,1761699719.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.061115 m, bearing: 329.341924 deg, lat: 36.779291 deg, lon: -121.859500 deg, deltaT: 0.499813 s, deltaX: 0.298357 m, approachRate: 0.596937 m/s, posRepo size: 4 2025-10-29T01:01:59.824Z,1761699719.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m. 2025-10-29T01:02:00.027Z,1761699720.027 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.787807 2025-10-29T01:02:00.231Z,1761699720.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631485,-0.771959,-0.072842],[0.775350,-0.627732,-0.069172],[0.007673,-0.100160,0.994942]] 2025-10-29T01:02:00.282Z,1761699720.282 [DAT](INFO): DAT read: Rx Time:01:01:59.7072 2025-10-29T01:02:00.284Z,1761699720.284 [DAT](INFO): Rx dataTimestamp_ set to:1761699720.282682 2025-10-29T01:02:00.288Z,1761699720.288 [DAT](INFO): DAT read: Bearing 99.6, -22.2 (Local) 2025-10-29T01:02:00.289Z,1761699720.289 [DAT](INFO): Local bearing/azimuth received: Bearing 99.6, -22.2 (Local) 2025-10-29T01:02:00.304Z,1761699720.304 [DAT](INFO): DAT read: Range 11 to 50 : 7.1 m (trip time 4.7 ms) speed -0.4 2025-10-29T01:02:00.331Z,1761699720.331 [DAT](INFO): DAT read: 01:01:59.7072 LVL= 24560, 15329, 22578, 28659, AGC= 56, IDX= 500,-0.02,-0.097, 2.051, 0.760, 1.170, PHS=-1.165, 0.926,-0.455, RAW= 310.5, 7.6, CAL= 308.4, 7.8, ROT= 201.6, -7.8 2025-10-29T01:02:00.338Z,1761699720.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m. 2025-10-29T01:02:00.341Z,1761699720.341 [DAT](INFO): got valid direction response: 01:01:59.7072 LVL= 24560, 15329, 22578, 28659, AGC= 56, IDX= 500,-0.02,-0.097, 2.051, 0.760, 1.170, PHS=-1.165, 0.926,-0.455, RAW= 310.5, 7.6, CAL= 308.4, 7.8, ROT= 201.6, -7.8 2025-10-29T01:02:00.342Z,1761699720.342 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T01:02:00.352Z,1761699720.352 [DAT](INFO): direction in FSK: [-0.921174,-0.364719,0.135716] 2025-10-29T01:02:00.352Z,1761699720.352 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:00.367Z,1761699720.367 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.127547 2025-10-29T01:02:00.529Z,1761699720.529 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.290107 2025-10-29T01:02:00.634Z,1761699720.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631694,-0.771917,-0.071466],[0.775173,-0.627973,-0.068965],[0.008356,-0.098963,0.995056]] 2025-10-29T01:02:00.748Z,1761699720.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.100000 m, deltaT: 0.507994 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:00.755Z,1761699720.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.061106 m, bearing: 329.924940 deg, lat: 36.779292 deg, lon: -121.859497 deg, deltaT: 0.507994 s, deltaX: -0.000009 m, approachRate: -0.000018 m/s, posRepo size: 4 2025-10-29T01:02:00.755Z,1761699720.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.06 m. 2025-10-29T01:02:00.782Z,1761699720.782 [DAT](INFO): DAT read: Rx Time:01:02:00.2075 2025-10-29T01:02:00.782Z,1761699720.782 [DAT](INFO): Rx dataTimestamp_ set to:1761699720.781795 2025-10-29T01:02:00.783Z,1761699720.783 [DAT](INFO): DAT read: Bearing 100.5, -22.3 (Local) 2025-10-29T01:02:00.784Z,1761699720.784 [DAT](INFO): Local bearing/azimuth received: Bearing 100.5, -22.3 (Local) 2025-10-29T01:02:00.786Z,1761699720.786 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-29T01:02:00.791Z,1761699720.791 [DAT](INFO): DAT read: 01:02:00.2075 LVL= 32752, 17553, 30530, 32755, AGC= 56, IDX= 503,-0.39, 0.766, 2.894, 1.616, 2.007, PHS=-1.139, 0.932,-0.434, RAW= 310.4, 7.1, CAL= 308.3, 6.9, ROT= 201.7, -6.9 2025-10-29T01:02:00.792Z,1761699720.792 [DAT](INFO): got valid direction response: 01:02:00.2075 LVL= 32752, 17553, 30530, 32755, AGC= 56, IDX= 503,-0.39, 0.766, 2.894, 1.616, 2.007, PHS=-1.139, 0.932,-0.434, RAW= 310.4, 7.1, CAL= 308.3, 6.9, ROT= 201.7, -6.9 2025-10-29T01:02:00.793Z,1761699720.793 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T01:02:00.794Z,1761699720.794 [DAT](INFO): direction in FSK: [-0.922403,-0.367069,0.120137] 2025-10-29T01:02:00.794Z,1761699720.794 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:00.802Z,1761699720.802 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.562898 2025-10-29T01:02:01.033Z,1761699721.033 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.794243 2025-10-29T01:02:01.073Z,1761699721.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.499113 s, deltaX: 0.400000 m, approachRate: 0.801422 m/s, rangeRepo size: 4 2025-10-29T01:02:01.075Z,1761699721.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.458944 m, bearing: 330.112561 deg, lat: 36.779292 deg, lon: -121.859497 deg, deltaT: 0.499113 s, deltaX: 0.397839 m, approachRate: 0.797091 m/s, posRepo size: 4 2025-10-29T01:02:01.076Z,1761699721.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-29T01:02:01.285Z,1761699721.286 [DAT](INFO): DAT read: Rx Time:01:02:00.7075 2025-10-29T01:02:01.286Z,1761699721.286 [DAT](INFO): Rx dataTimestamp_ set to:1761699721.285688 2025-10-29T01:02:01.287Z,1761699721.287 [DAT](INFO): DAT read: Bearing 101.0, -22.7 (Local) 2025-10-29T01:02:01.288Z,1761699721.288 [DAT](INFO): Local bearing/azimuth received: Bearing 101.0, -22.7 (Local) 2025-10-29T01:02:01.290Z,1761699721.290 [DAT](INFO): DAT read: Range 11 to 50 : 7.5 m (trip time 5.0 ms) speed -0.4 2025-10-29T01:02:01.302Z,1761699721.302 [DAT](INFO): DAT read: 01:02:00.7075 LVL= 24784, 17633, 23474, 29619, AGC= 57, IDX= 503, 0.14, 0.861, 3.019, 1.734, 2.113, PHS=-1.150, 0.952,-0.423, RAW= 310.1, 6.8, CAL= 307.9, 6.4, ROT= 202.1, -6.4 2025-10-29T01:02:01.306Z,1761699721.306 [DAT](INFO): got valid direction response: 01:02:00.7075 LVL= 24784, 17633, 23474, 29619, AGC= 57, IDX= 503, 0.14, 0.861, 3.019, 1.734, 2.113, PHS=-1.150, 0.952,-0.423, RAW= 310.1, 6.8, CAL= 307.9, 6.4, ROT= 202.1, -6.4 2025-10-29T01:02:01.307Z,1761699721.307 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T01:02:01.311Z,1761699721.311 [DAT](INFO): direction in FSK: [-0.920754,-0.373880,0.111469] 2025-10-29T01:02:01.314Z,1761699721.314 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:01.328Z,1761699721.328 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.088465 2025-10-29T01:02:01.435Z,1761699721.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632634,-0.771456,-0.068036],[0.774382,-0.628966,-0.068803],[0.010286,-0.096213,0.995308]] 2025-10-29T01:02:01.440Z,1761699721.440 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:02:01.537Z,1761699721.537 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.298182 2025-10-29T01:02:01.582Z,1761699721.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.500000 m, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:01.585Z,1761699721.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.458944 m, bearing: 330.647586 deg, lat: 36.779293 deg, lon: -121.859494 deg, deltaT: 0.503893 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:01.585Z,1761699721.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.46 m. 2025-10-29T01:02:01.790Z,1761699721.790 [DAT](INFO): DAT read: Rx Time:01:02:01.2078 2025-10-29T01:02:01.791Z,1761699721.791 [DAT](INFO): Rx dataTimestamp_ set to:1761699721.790294 2025-10-29T01:02:01.792Z,1761699721.792 [DAT](INFO): DAT read: Bearing 102.6, -23.1 (Local) 2025-10-29T01:02:01.793Z,1761699721.793 [DAT](INFO): Local bearing/azimuth received: Bearing 102.6, -23.1 (Local) 2025-10-29T01:02:01.795Z,1761699721.795 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-29T01:02:01.801Z,1761699721.801 [DAT](INFO): DAT read: 01:02:01.2078 LVL= 24656, 15857, 22370, 28451, AGC= 57, IDX= 506,-0.12, 0.023, 2.178, 0.906, 1.250, PHS=-1.125, 0.973,-0.388, RAW= 309.7, 5.9, CAL= 307.5, 4.8, ROT= 202.5, -4.8 2025-10-29T01:02:01.802Z,1761699721.802 [DAT](INFO): got valid direction response: 01:02:01.2078 LVL= 24656, 15857, 22370, 28451, AGC= 57, IDX= 506,-0.12, 0.023, 2.178, 0.906, 1.250, PHS=-1.125, 0.973,-0.388, RAW= 309.7, 5.9, CAL= 307.5, 4.8, ROT= 202.5, -4.8 2025-10-29T01:02:01.803Z,1761699721.803 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T01:02:01.803Z,1761699721.803 [DAT](INFO): direction in FSK: [-0.920639,-0.381341,0.083678] 2025-10-29T01:02:01.810Z,1761699721.810 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:01.814Z,1761699721.814 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.575088 2025-10-29T01:02:01.895Z,1761699721.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633002,-0.771271,-0.066698],[0.774071,-0.629358,-0.068716],[0.011022,-0.095126,0.995404]] 2025-10-29T01:02:01.966Z,1761699721.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.504606 s, deltaX: 0.500000 m, approachRate: 0.990872 m/s, rangeRepo size: 4 2025-10-29T01:02:01.972Z,1761699721.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.956250 m, bearing: 331.230953 deg, lat: 36.779294 deg, lon: -121.859493 deg, deltaT: 0.504606 s, deltaX: 0.497306 m, approachRate: 0.985533 m/s, posRepo size: 4 2025-10-29T01:02:01.973Z,1761699721.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.96 m. 2025-10-29T01:02:02.041Z,1761699722.041 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.802248 2025-10-29T01:02:02.298Z,1761699722.298 [DAT](INFO): DAT read: Rx Time:01:02:01.7079 2025-10-29T01:02:02.300Z,1761699722.300 [DAT](INFO): Rx dataTimestamp_ set to:1761699722.298914 2025-10-29T01:02:02.304Z,1761699722.304 [DAT](INFO): DAT read: Bearing 102.3, -22.6 (Local) 2025-10-29T01:02:02.306Z,1761699722.306 [DAT](INFO): Local bearing/azimuth received: Bearing 102.3, -22.6 (Local) 2025-10-29T01:02:02.328Z,1761699722.328 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 2025-10-29T01:02:02.367Z,1761699722.367 [DAT](INFO): DAT read: 01:02:01.7079 LVL= 25520, 16449, 24242, 31779, AGC= 58, IDX= 506, 0.43, 0.939, 3.081, 1.801, 2.156, PHS=-1.115, 0.971,-0.398, RAW= 310.2, 6.0, CAL= 308.0, 4.9, ROT= 202.0, -4.9 2025-10-29T01:02:02.384Z,1761699722.384 [DAT](INFO): got valid direction response: 01:02:01.7079 LVL= 25520, 16449, 24242, 31779, AGC= 58, IDX= 506, 0.43, 0.939, 3.081, 1.801, 2.156, PHS=-1.115, 0.971,-0.398, RAW= 310.2, 6.0, CAL= 308.0, 4.9, ROT= 202.0, -4.9 2025-10-29T01:02:02.385Z,1761699722.385 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T01:02:02.386Z,1761699722.386 [DAT](INFO): direction in FSK: [-0.923795,-0.373238,0.085417] 2025-10-29T01:02:02.386Z,1761699722.386 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:02.402Z,1761699722.402 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.163006 2025-10-29T01:02:02.444Z,1761699722.444 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:02:02.514Z,1761699722.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.508620 s, deltaX: 0.100000 m, approachRate: 0.196611 m/s, rangeRepo size: 4 2025-10-29T01:02:02.517Z,1761699722.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.055703 m, bearing: 330.722538 deg, lat: 36.779294 deg, lon: -121.859492 deg, deltaT: 0.508620 s, deltaX: 0.099453 m, approachRate: 0.195535 m/s, posRepo size: 4 2025-10-29T01:02:02.517Z,1761699722.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.06 m. 2025-10-29T01:02:02.545Z,1761699722.545 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.306290 2025-10-29T01:02:02.798Z,1761699722.798 [DAT](INFO): DAT read: Rx Time:01:02:02.2081 2025-10-29T01:02:02.798Z,1761699722.798 [DAT](INFO): Rx dataTimestamp_ set to:1761699722.797734 2025-10-29T01:02:02.799Z,1761699722.799 [DAT](INFO): DAT read: Bearing 102.6, -22.1 (Local) 2025-10-29T01:02:02.800Z,1761699722.800 [DAT](INFO): Local bearing/azimuth received: Bearing 102.6, -22.1 (Local) 2025-10-29T01:02:02.802Z,1761699722.802 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed -0.4 2025-10-29T01:02:02.817Z,1761699722.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633384,-0.771484,-0.060311],[0.773734,-0.630094,-0.065704],[0.012688,-0.088280,0.996015]] 2025-10-29T01:02:02.821Z,1761699722.821 [DAT](INFO): DAT read: 01:02:02.2081 LVL= 29600, 17249, 25314, 32755, AGC= 57, IDX= 509, 0.07, 1.276,-2.872, 2.120, 2.477, PHS=-1.098, 0.980,-0.400, RAW= 310.7, 5.7, CAL= 308.5, 4.5, ROT= 201.5, -4.5 2025-10-29T01:02:02.822Z,1761699722.822 [DAT](INFO): got valid direction response: 01:02:02.2081 LVL= 29600, 17249, 25314, 32755, AGC= 57, IDX= 509, 0.07, 1.276,-2.872, 2.120, 2.477, PHS=-1.098, 0.980,-0.400, RAW= 310.7, 5.7, CAL= 308.5, 4.5, ROT= 201.5, -4.5 2025-10-29T01:02:02.822Z,1761699722.822 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T01:02:02.823Z,1761699722.823 [DAT](INFO): direction in FSK: [-0.927549,-0.365372,0.078459] 2025-10-29T01:02:02.823Z,1761699722.823 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:02.882Z,1761699722.882 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.642749 2025-10-29T01:02:02.912Z,1761699722.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.498820 s, deltaX: 0.299999 m, approachRate: 0.601418 m/s, rangeRepo size: 4 2025-10-29T01:02:02.914Z,1761699722.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.354062 m, bearing: 330.328480 deg, lat: 36.779295 deg, lon: -121.859492 deg, deltaT: 0.498820 s, deltaX: 0.298359 m, approachRate: 0.598129 m/s, posRepo size: 4 2025-10-29T01:02:02.915Z,1761699722.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-29T01:02:03.050Z,1761699723.050 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.810584 2025-10-29T01:02:03.216Z,1761699723.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633300,-0.771716,-0.058187],[0.773794,-0.630138,-0.064564],[0.013159,-0.085913,0.996216]] 2025-10-29T01:02:03.238Z,1761699723.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.35 m. 2025-10-29T01:02:03.302Z,1761699723.302 [DAT](INFO): DAT read: Rx Time:01:02:02.7082 2025-10-29T01:02:03.303Z,1761699723.303 [DAT](INFO): Rx dataTimestamp_ set to:1761699723.302683 2025-10-29T01:02:03.305Z,1761699723.305 [DAT](INFO): DAT read: Bearing 104.0, -21.7 (Local) 2025-10-29T01:02:03.306Z,1761699723.306 [DAT](INFO): Local bearing/azimuth received: Bearing 104.0, -21.7 (Local) 2025-10-29T01:02:03.312Z,1761699723.312 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 2025-10-29T01:02:03.323Z,1761699723.323 [DAT](INFO): DAT read: 01:02:02.7082 LVL= 26528, 17233, 25426, 32755, AGC= 58, IDX= 510,-0.27,-1.096, 1.052,-0.260, 0.081, PHS=-1.076, 1.016,-0.385, RAW= 311.1, 4.9, CAL= 308.8, 3.1, ROT= 201.2, -3.1 2025-10-29T01:02:03.327Z,1761699723.327 [DAT](INFO): got valid direction response: 01:02:02.7082 LVL= 26528, 17233, 25426, 32755, AGC= 58, IDX= 510,-0.27,-1.096, 1.052,-0.260, 0.081, PHS=-1.076, 1.016,-0.385, RAW= 311.1, 4.9, CAL= 308.8, 3.1, ROT= 201.2, -3.1 2025-10-29T01:02:03.334Z,1761699723.334 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T01:02:03.342Z,1761699723.342 [DAT](INFO): direction in FSK: [-0.930960,-0.361095,0.054079] 2025-10-29T01:02:03.343Z,1761699723.343 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:03.394Z,1761699723.394 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.155305 2025-10-29T01:02:03.553Z,1761699723.553 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.314105 2025-10-29T01:02:03.603Z,1761699723.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632793,-0.772285,-0.056121],[0.774203,-0.629766,-0.063276],[0.013524,-0.083489,0.996417]] 2025-10-29T01:02:03.718Z,1761699723.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.504949 s, deltaX: 0.200001 m, approachRate: 0.396081 m/s, rangeRepo size: 4 2025-10-29T01:02:03.727Z,1761699723.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.553078 m, bearing: 330.129545 deg, lat: 36.779296 deg, lon: -121.859492 deg, deltaT: 0.504949 s, deltaX: 0.199016 m, approachRate: 0.394130 m/s, posRepo size: 4 2025-10-29T01:02:03.732Z,1761699723.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.55 m. 2025-10-29T01:02:03.807Z,1761699723.807 [DAT](INFO): DAT read: Rx Time:01:02:03.2083 2025-10-29T01:02:03.807Z,1761699723.807 [DAT](INFO): Rx dataTimestamp_ set to:1761699723.806726 2025-10-29T01:02:03.810Z,1761699723.810 [DAT](INFO): DAT read: Bearing 78.0, -23.5 (Local) 2025-10-29T01:02:03.811Z,1761699723.811 [DAT](INFO): Local bearing/azimuth received: Bearing 78.0, -23.5 (Local) 2025-10-29T01:02:03.813Z,1761699723.813 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed -0.4 2025-10-29T01:02:03.824Z,1761699723.824 [DAT](INFO): DAT read: 01:02:03.2083 LVL= 27760, 17697, 22962, 32755, AGC= 58, IDX= 512, 0.16,-1.311, 0.854,-0.338, 0.450, PHS=-1.659, 0.448,-0.832, RAW= 307.1, 21.4, CAL= 306.5, 27.0, ROT= 203.5, -27.0 2025-10-29T01:02:03.849Z,1761699723.849 [DAT](INFO): got valid direction response: 01:02:03.2083 LVL= 27760, 17697, 22962, 32755, AGC= 58, IDX= 512, 0.16,-1.311, 0.854,-0.338, 0.450, PHS=-1.659, 0.448,-0.832, RAW= 307.1, 21.4, CAL= 306.5, 27.0, ROT= 203.5, -27.0 2025-10-29T01:02:03.850Z,1761699723.850 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T01:02:03.851Z,1761699723.851 [DAT](INFO): direction in FSK: [-0.817107,-0.355288,0.453991] 2025-10-29T01:02:03.859Z,1761699723.859 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:03.871Z,1761699723.871 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.632156 2025-10-29T01:02:04.008Z,1761699724.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632300,-0.772824,-0.054213],[0.774599,-0.629398,-0.062086],[0.013860,-0.081250,0.996597]] 2025-10-29T01:02:04.037Z,1761699724.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504043 s, deltaX: 0.299999 m, approachRate: 0.595186 m/s, rangeRepo size: 4 2025-10-29T01:02:04.039Z,1761699724.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.851563 m, bearing: 330.287194 deg, lat: 36.779296 deg, lon: -121.859492 deg, deltaT: 0.504043 s, deltaX: 0.298486 m, approachRate: 0.592183 m/s, posRepo size: 4 2025-10-29T01:02:04.040Z,1761699724.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.85 m. 2025-10-29T01:02:04.057Z,1761699724.057 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.818232 2025-10-29T01:02:04.311Z,1761699724.311 [DAT](INFO): DAT read: Rx Time:01:02:03.7084 2025-10-29T01:02:04.312Z,1761699724.312 [DAT](INFO): Rx dataTimestamp_ set to:1761699724.311721 2025-10-29T01:02:04.313Z,1761699724.313 [DAT](INFO): DAT read: Bearing 97.1, -15.4 (Local) 2025-10-29T01:02:04.314Z,1761699724.314 [DAT](INFO): Local bearing/azimuth received: Bearing 97.1, -15.4 (Local) 2025-10-29T01:02:04.316Z,1761699724.316 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-29T01:02:04.320Z,1761699724.320 [DAT](INFO): DAT read: 01:02:03.7084 LVL= 26944, 18145, 25458, 32755, AGC= 59, IDX= 513,-0.34, 2.906,-1.152,-2.726,-2.109, PHS=-1.166, 1.002,-0.662, RAW= 317.2, 8.5, CAL= 315.5, 9.1, ROT= 194.5, -9.1 2025-10-29T01:02:04.337Z,1761699724.337 [DAT](INFO): got valid direction response: 01:02:03.7084 LVL= 26944, 18145, 25458, 32755, AGC= 59, IDX= 513,-0.34, 2.906,-1.152,-2.726,-2.109, PHS=-1.166, 1.002,-0.662, RAW= 317.2, 8.5, CAL= 315.5, 9.1, ROT= 194.5, -9.1 2025-10-29T01:02:04.338Z,1761699724.338 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T01:02:04.342Z,1761699724.342 [DAT](INFO): direction in FSK: [-0.955962,-0.247229,0.158158] 2025-10-29T01:02:04.343Z,1761699724.343 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:04.390Z,1761699724.390 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.150942 2025-10-29T01:02:04.411Z,1761699724.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631802,-0.773385,-0.051987],[0.775001,-0.629051,-0.060562],[0.014135,-0.078554,0.996810]] 2025-10-29T01:02:04.413Z,1761699724.413 [BPC1](ERROR): Battery stick #10 (s/n: 00BE) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.414Z,1761699724.414 [BPC1](ERROR): Battery stick #17 (s/n: 00C9) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T01:02:04.415Z,1761699724.415 [BPC1](ERROR): Battery stick #24 (s/n: 011E) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.415Z,1761699724.415 [BPC1](ERROR): Battery stick #26 (s/n: 0112) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AC0. 2025-10-29T01:02:04.416Z,1761699724.416 [BPC1](ERROR): Battery stick #27 (s/n: 00AF) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T01:02:04.417Z,1761699724.417 [BPC1](ERROR): Battery stick #28 (s/n: 0151) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.418Z,1761699724.418 [BPC1](ERROR): Battery stick #44 (s/n: 00E4) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.419Z,1761699724.419 [BPC1](ERROR): Battery stick #47 (s/n: 00EC) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48E0. 2025-10-29T01:02:04.419Z,1761699724.419 [BPC1](ERROR): Battery stick #54 (s/n: 009C) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.424Z,1761699724.424 [BPC1](ERROR): Battery stick #58 (s/n: 00F3) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x4AD0. 2025-10-29T01:02:04.425Z,1761699724.425 [BPC1](ERROR): Battery stick #61 (s/n: 0278) reported OVER_TEMP_ALARM. Status code: 0x1717. 2025-10-29T01:02:04.426Z,1761699724.426 [BPC1](ERROR): Battery stick #62 (s/n: 0126) reported TERMINATE_DISCHARGE_ALARM. Status code: 0x48C0. 2025-10-29T01:02:04.426Z,1761699724.426 [BPC1](INFO): Calculating totals. Valid battery stick count: 26. Valid reserve battery stick count: 1. 2025-10-29T01:02:04.453Z,1761699724.453 [BPC1](FAULT): Failed to receive data from 31 sticks prior to timeout. Will not retry this scan cycle. Missing stick IDs are: 1, 2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12, 13, 14, 15, 16, 17, 18, 24, 26, 27, 28, 33, 34, 36, 39, 44, 47, 54, 58, 62. 2025-10-29T01:02:04.561Z,1761699724.561 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.322358 2025-10-29T01:02:04.565Z,1761699724.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504995 s, deltaX: 0.100000 m, approachRate: 0.198023 m/s, rangeRepo size: 4 2025-10-29T01:02:04.567Z,1761699724.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.951020 m, bearing: 322.911213 deg, lat: 36.779295 deg, lon: -121.859492 deg, deltaT: 0.504995 s, deltaX: 0.099457 m, approachRate: 0.196946 m/s, posRepo size: 4 2025-10-29T01:02:04.572Z,1761699724.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.95 m. 2025-10-29T01:02:04.814Z,1761699724.814 [DAT](INFO): DAT read: Rx Time:01:02:04.2085 2025-10-29T01:02:04.814Z,1761699724.814 [DAT](INFO): Rx dataTimestamp_ set to:1761699724.813789 2025-10-29T01:02:04.815Z,1761699724.815 [DAT](INFO): DAT read: Bearing 104.1, -20.7 (Local) 2025-10-29T01:02:04.816Z,1761699724.816 [DAT](INFO): Local bearing/azimuth received: Bearing 104.1, -20.7 (Local) 2025-10-29T01:02:04.818Z,1761699724.818 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 2025-10-29T01:02:04.822Z,1761699724.822 [DAT](INFO): DAT read: 01:02:04.2085 LVL= 20320, 13281, 15474, 26995, AGC= 61, IDX= 3,-0.02, 1.357,-2.802, 2.150, 2.499, PHS=-1.040, 1.026,-0.394, RAW= 312.2, 4.5, CAL= 309.9, 2.6, ROT= 200.1, -2.6 2025-10-29T01:02:04.824Z,1761699724.824 [DAT](INFO): got valid direction response: 01:02:04.2085 LVL= 20320, 13281, 15474, 26995, AGC= 61, IDX= 3,-0.02, 1.357,-2.802, 2.150, 2.499, PHS=-1.040, 1.026,-0.394, RAW= 312.2, 4.5, CAL= 309.9, 2.6, ROT= 200.1, -2.6 2025-10-29T01:02:04.824Z,1761699724.824 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T01:02:04.825Z,1761699724.825 [DAT](INFO): direction in FSK: [-0.938127,-0.343306,0.045363] 2025-10-29T01:02:04.825Z,1761699724.825 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:04.830Z,1761699724.830 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.591366 2025-10-29T01:02:04.844Z,1761699724.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630981,-0.774262,-0.048800],[0.775666,-0.628461,-0.058140],[0.014347,-0.074537,0.997115]] 2025-10-29T01:02:04.905Z,1761699724.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502068 s, deltaX: 0.200000 m, approachRate: 0.398352 m/s, rangeRepo size: 4 2025-10-29T01:02:04.907Z,1761699724.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.149931 m, bearing: 328.975477 deg, lat: 36.779296 deg, lon: -121.859493 deg, deltaT: 0.502068 s, deltaX: 0.198911 m, approachRate: 0.396183 m/s, posRepo size: 4 2025-10-29T01:02:04.908Z,1761699724.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m. 2025-10-29T01:02:05.065Z,1761699725.065 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.826362 2025-10-29T01:02:05.219Z,1761699725.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629943,-0.775260,-0.046309],[0.776511,-0.627623,-0.055856],[0.014238,-0.071146,0.997364]] 2025-10-29T01:02:05.261Z,1761699725.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m. 2025-10-29T01:02:05.319Z,1761699725.319 [DAT](INFO): DAT read: Rx Time:01:02:04.7085 2025-10-29T01:02:05.319Z,1761699725.319 [DAT](INFO): Rx dataTimestamp_ set to:1761699725.318824 2025-10-29T01:02:05.321Z,1761699725.321 [DAT](INFO): DAT read: Bearing 103.7, -20.8 (Local) 2025-10-29T01:02:05.322Z,1761699725.322 [DAT](INFO): Local bearing/azimuth received: Bearing 103.7, -20.8 (Local) 2025-10-29T01:02:05.325Z,1761699725.325 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.3 2025-10-29T01:02:05.372Z,1761699725.372 [DAT](INFO): DAT read: 01:02:04.7085 LVL= 29904, 19697, 28498, 32755, AGC= 59, IDX= 499, 0.15, 1.946,-2.201, 2.742, 3.098, PHS=-1.050, 1.029,-0.400, RAW= 312.2, 4.6, CAL= 309.9, 2.8, ROT= 200.1, -2.8 2025-10-29T01:02:05.376Z,1761699725.376 [DAT](INFO): got valid direction response: 01:02:04.7085 LVL= 29904, 19697, 28498, 32755, AGC= 59, IDX= 499, 0.15, 1.946,-2.201, 2.742, 3.098, PHS=-1.050, 1.029,-0.400, RAW= 312.2, 4.6, CAL= 309.9, 2.8, ROT= 200.1, -2.8 2025-10-29T01:02:05.377Z,1761699725.377 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T01:02:05.400Z,1761699725.400 [DAT](INFO): direction in FSK: [-0.937973,-0.343250,0.048850] 2025-10-29T01:02:05.401Z,1761699725.401 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:05.430Z,1761699725.430 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.191116 2025-10-29T01:02:05.569Z,1761699725.569 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.330165 2025-10-29T01:02:05.622Z,1761699725.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628933,-0.776131,-0.045432],[0.777332,-0.626699,-0.054800],[0.014060,-0.069781,0.997463]] 2025-10-29T01:02:05.732Z,1761699725.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.505035 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:05.734Z,1761699725.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.150029 m, bearing: 328.828854 deg, lat: 36.779295 deg, lon: -121.859492 deg, deltaT: 0.505035 s, deltaX: 0.000098 m, approachRate: 0.000194 m/s, posRepo size: 4 2025-10-29T01:02:05.734Z,1761699725.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m. 2025-10-29T01:02:05.826Z,1761699725.826 [DAT](INFO): DAT read: Rx Time:01:02:05.2086 2025-10-29T01:02:05.827Z,1761699725.827 [DAT](INFO): Rx dataTimestamp_ set to:1761699725.826297 2025-10-29T01:02:05.830Z,1761699725.830 [DAT](INFO): DAT read: Bearing 104.0, -20.7 (Local) 2025-10-29T01:02:05.830Z,1761699725.830 [DAT](INFO): Local bearing/azimuth received: Bearing 104.0, -20.7 (Local) 2025-10-29T01:02:05.834Z,1761699725.834 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.3 2025-10-29T01:02:05.842Z,1761699725.842 [DAT](INFO): DAT read: 01:02:05.2086 LVL= 31856, 19185, 25330, 32755, AGC= 58, IDX= 500, 0.32, 2.028,-2.118, 2.821,-3.110, PHS=-1.043, 1.037,-0.396, RAW= 312.3, 4.4, CAL= 310.0, 2.4, ROT= 200.0, -2.4 2025-10-29T01:02:05.844Z,1761699725.844 [DAT](INFO): got valid direction response: 01:02:05.2086 LVL= 31856, 19185, 25330, 32755, AGC= 58, IDX= 500, 0.32, 2.028,-2.118, 2.821,-3.110, PHS=-1.043, 1.037,-0.396, RAW= 312.3, 4.4, CAL= 310.0, 2.4, ROT= 200.0, -2.4 2025-10-29T01:02:05.844Z,1761699725.844 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T01:02:05.846Z,1761699725.846 [DAT](INFO): direction in FSK: [-0.938868,-0.341720,0.041876] 2025-10-29T01:02:05.846Z,1761699725.846 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:05.853Z,1761699725.853 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.614295 2025-10-29T01:02:06.038Z,1761699726.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628122,-0.776790,-0.045377],[0.777990,-0.625912,-0.054449],[0.013893,-0.069503,0.997485]] 2025-10-29T01:02:06.061Z,1761699726.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.507473 s, deltaX: 0.100000 m, approachRate: 0.197056 m/s, rangeRepo size: 4 2025-10-29T01:02:06.063Z,1761699726.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.249528 m, bearing: 328.698618 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.507473 s, deltaX: 0.099499 m, approachRate: 0.196067 m/s, posRepo size: 4 2025-10-29T01:02:06.064Z,1761699726.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m. 2025-10-29T01:02:06.073Z,1761699726.073 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.834249 2025-10-29T01:02:06.326Z,1761699726.326 [DAT](INFO): DAT read: Rx Time:01:02:05.7086 2025-10-29T01:02:06.327Z,1761699726.327 [DAT](INFO): Rx dataTimestamp_ set to:1761699726.326179 2025-10-29T01:02:06.329Z,1761699726.329 [DAT](INFO): DAT read: Bearing 104.6, -20.9 (Local) 2025-10-29T01:02:06.330Z,1761699726.330 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -20.9 (Local) 2025-10-29T01:02:06.334Z,1761699726.334 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.3 2025-10-29T01:02:06.344Z,1761699726.344 [DAT](INFO): DAT read: 01:02:05.7086 LVL= 30624, 18353, 25810, 32755, AGC= 59, IDX= 501,-0.49,-0.559, 1.606, 0.252, 0.592, PHS=-1.049, 1.058,-0.385, RAW= 312.0, 4.1, CAL= 309.7, 1.8, ROT= 200.3, -1.8 2025-10-29T01:02:06.373Z,1761699726.373 [DAT](INFO): got valid direction response: 01:02:05.7086 LVL= 30624, 18353, 25810, 32755, AGC= 59, IDX= 501,-0.49,-0.559, 1.606, 0.252, 0.592, PHS=-1.049, 1.058,-0.385, RAW= 312.0, 4.1, CAL= 309.7, 1.8, ROT= 200.3, -1.8 2025-10-29T01:02:06.374Z,1761699726.374 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T01:02:06.378Z,1761699726.378 [DAT](INFO): direction in FSK: [-0.937426,-0.346764,0.031411] 2025-10-29T01:02:06.378Z,1761699726.378 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:06.411Z,1761699726.411 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.172233 2025-10-29T01:02:06.433Z,1761699726.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627085,-0.777622,-0.045475],[0.778833,-0.624905,-0.053978],[0.013557,-0.069267,0.997506]] 2025-10-29T01:02:06.542Z,1761699726.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.499882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:06.548Z,1761699726.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.249528 m, bearing: 328.964588 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.499882 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:06.549Z,1761699726.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m. 2025-10-29T01:02:06.579Z,1761699726.579 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.340180 2025-10-29T01:02:06.831Z,1761699726.831 [DAT](INFO): DAT read: Rx Time:01:02:06.2089 2025-10-29T01:02:06.832Z,1761699726.832 [DAT](INFO): Rx dataTimestamp_ set to:1761699726.831459 2025-10-29T01:02:06.834Z,1761699726.834 [DAT](INFO): DAT read: Bearing 104.4, -20.5 (Local) 2025-10-29T01:02:06.835Z,1761699726.835 [DAT](INFO): Local bearing/azimuth received: Bearing 104.4, -20.5 (Local) 2025-10-29T01:02:06.838Z,1761699726.838 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.3 2025-10-29T01:02:06.853Z,1761699726.853 [DAT](INFO): DAT read: 01:02:06.2089 LVL= 29520, 18513, 26306, 32755, AGC= 57, IDX= 503,-0.39, 0.579, 2.722, 1.368, 1.715, PHS=-1.034, 1.053,-0.391, RAW= 312.5, 4.1, CAL= 310.1, 1.9, ROT= 199.9, -1.9 2025-10-29T01:02:06.855Z,1761699726.855 [DAT](INFO): got valid direction response: 01:02:06.2089 LVL= 29520, 18513, 26306, 32755, AGC= 57, IDX= 503,-0.39, 0.579, 2.722, 1.368, 1.715, PHS=-1.034, 1.053,-0.391, RAW= 312.5, 4.1, CAL= 310.1, 1.9, ROT= 199.9, -1.9 2025-10-29T01:02:06.856Z,1761699726.856 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T01:02:06.858Z,1761699726.858 [DAT](INFO): direction in FSK: [-0.939771,-0.340192,0.033155] 2025-10-29T01:02:06.858Z,1761699726.858 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:06.894Z,1761699726.894 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.655266 2025-10-29T01:02:06.969Z,1761699726.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.505280 s, deltaX: 0.500000 m, approachRate: 0.989550 m/s, rangeRepo size: 4 2025-10-29T01:02:06.971Z,1761699726.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.746814 m, bearing: 328.558410 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.505280 s, deltaX: 0.497286 m, approachRate: 0.984179 m/s, posRepo size: 4 2025-10-29T01:02:06.971Z,1761699726.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m. 2025-10-29T01:02:07.081Z,1761699727.081 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.842642 2025-10-29T01:02:07.238Z,1761699727.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624343,-0.779800,-0.045918],[0.781046,-0.622218,-0.053040],[0.012789,-0.068979,0.997536]] 2025-10-29T01:02:07.287Z,1761699727.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m. 2025-10-29T01:02:07.335Z,1761699727.335 [DAT](INFO): DAT read: Rx Time:01:02:06.7089 2025-10-29T01:02:07.335Z,1761699727.335 [DAT](INFO): Rx dataTimestamp_ set to:1761699727.334696 2025-10-29T01:02:07.337Z,1761699727.337 [DAT](INFO): DAT read: Bearing 104.4, -20.6 (Local) 2025-10-29T01:02:07.338Z,1761699727.338 [DAT](INFO): Local bearing/azimuth received: Bearing 104.4, -20.6 (Local) 2025-10-29T01:02:07.341Z,1761699727.341 [DAT](INFO): DAT read: Range 11 to 50 : 9.8 m (trip time 6.5 ms) speed -0.2 2025-10-29T01:02:07.354Z,1761699727.354 [DAT](INFO): DAT read: 01:02:06.7089 LVL= 30944, 21857, 27778, 32755, AGC= 58, IDX= 503,-0.40,-0.489, 1.657, 0.304, 0.648, PHS=-1.035, 1.054,-0.389, RAW= 312.4, 4.0, CAL= 310.1, 1.8, ROT= 199.9, -1.8 2025-10-29T01:02:07.356Z,1761699727.356 [DAT](INFO): got valid direction response: 01:02:06.7089 LVL= 30944, 21857, 27778, 32755, AGC= 58, IDX= 503,-0.40,-0.489, 1.657, 0.304, 0.648, PHS=-1.035, 1.054,-0.389, RAW= 312.4, 4.0, CAL= 310.1, 1.8, ROT= 199.9, -1.8 2025-10-29T01:02:07.358Z,1761699727.358 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-29T01:02:07.359Z,1761699727.359 [DAT](INFO): direction in FSK: [-0.939824,-0.340211,0.031411] 2025-10-29T01:02:07.359Z,1761699727.359 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:07.376Z,1761699727.376 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.137341 2025-10-29T01:02:07.585Z,1761699727.585 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.346118 2025-10-29T01:02:07.642Z,1761699727.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622955,-0.780881,-0.046385],[0.782159,-0.620838,-0.052797],[0.012431,-0.069171,0.997527]] 2025-10-29T01:02:07.798Z,1761699727.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.800000 m, deltaT: 0.503237 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:07.820Z,1761699727.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.746847 m, bearing: 328.262738 deg, lat: 36.779295 deg, lon: -121.859491 deg, deltaT: 0.503237 s, deltaX: 0.000033 m, approachRate: 0.000066 m/s, posRepo size: 4 2025-10-29T01:02:07.820Z,1761699727.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.75 m. 2025-10-29T01:02:07.839Z,1761699727.839 [DAT](INFO): DAT read: Rx Time:01:02:07.2090 2025-10-29T01:02:07.840Z,1761699727.840 [DAT](INFO): Rx dataTimestamp_ set to:1761699727.839121 2025-10-29T01:02:07.842Z,1761699727.842 [DAT](INFO): DAT read: Bearing 104.6, -20.7 (Local) 2025-10-29T01:02:07.842Z,1761699727.842 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -20.7 (Local) 2025-10-29T01:02:07.845Z,1761699727.845 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2 2025-10-29T01:02:07.857Z,1761699727.857 [DAT](INFO): DAT read: 01:02:07.2090 LVL= 31104, 19537, 26418, 32755, AGC= 58, IDX= 505,-0.44, 1.125,-3.009, 1.922, 2.260, PHS=-1.033, 1.060,-0.382, RAW= 312.3, 3.9, CAL= 309.9, 1.5, ROT= 200.1, -1.5 2025-10-29T01:02:07.858Z,1761699727.858 [DAT](INFO): got valid direction response: 01:02:07.2090 LVL= 31104, 19537, 26418, 32755, AGC= 58, IDX= 505,-0.44, 1.125,-3.009, 1.922, 2.260, PHS=-1.033, 1.060,-0.382, RAW= 312.3, 3.9, CAL= 309.9, 1.5, ROT= 200.1, -1.5 2025-10-29T01:02:07.858Z,1761699727.858 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-29T01:02:07.859Z,1761699727.859 [DAT](INFO): direction in FSK: [-0.938772,-0.343542,0.026177] 2025-10-29T01:02:07.859Z,1761699727.859 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:07.871Z,1761699727.871 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.632461 2025-10-29T01:02:08.090Z,1761699728.090 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.850698 2025-10-29T01:02:08.118Z,1761699728.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621367,-0.782141,-0.046460],[0.783425,-0.619273,-0.052405],[0.012217,-0.068960,0.997545]] 2025-10-29T01:02:08.229Z,1761699728.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.504425 s, deltaX: 0.099999 m, approachRate: 0.198244 m/s, rangeRepo size: 4 2025-10-29T01:02:08.231Z,1761699728.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.846253 m, bearing: 328.367548 deg, lat: 36.779296 deg, lon: -121.859491 deg, deltaT: 0.504425 s, deltaX: 0.099406 m, approachRate: 0.197068 m/s, posRepo size: 4 2025-10-29T01:02:08.232Z,1761699728.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-29T01:02:08.343Z,1761699728.343 [DAT](INFO): DAT read: Rx Time:01:02:07.7090 2025-10-29T01:02:08.343Z,1761699728.343 [DAT](INFO): Rx dataTimestamp_ set to:1761699728.342777 2025-10-29T01:02:08.346Z,1761699728.346 [DAT](INFO): DAT read: Bearing 104.6, -20.9 (Local) 2025-10-29T01:02:08.346Z,1761699728.346 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -20.9 (Local) 2025-10-29T01:02:08.351Z,1761699728.351 [DAT](INFO): DAT read: Range 11 to 50 : 9.9 m (trip time 6.6 ms) speed -0.2 2025-10-29T01:02:08.374Z,1761699728.374 [DAT](INFO): DAT read: 01:02:07.7090 LVL= 31808, 20609, 28050, 32755, AGC= 59, IDX= 504, 0.47, 1.008,-3.118, 1.816, 2.147, PHS=-1.037, 1.063,-0.375, RAW= 312.1, 3.8, CAL= 309.7, 1.4, ROT= 200.3, -1.4 2025-10-29T01:02:08.375Z,1761699728.375 [DAT](INFO): got valid direction response: 01:02:07.7090 LVL= 31808, 20609, 28050, 32755, AGC= 59, IDX= 504, 0.47, 1.008,-3.118, 1.816, 2.147, PHS=-1.037, 1.063,-0.375, RAW= 312.1, 3.8, CAL= 309.7, 1.4, ROT= 200.3, -1.4 2025-10-29T01:02:08.375Z,1761699728.375 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-29T01:02:08.393Z,1761699728.393 [DAT](INFO): direction in FSK: [-0.937609,-0.346832,0.024432] 2025-10-29T01:02:08.394Z,1761699728.394 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:08.435Z,1761699728.435 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.195627 2025-10-29T01:02:08.519Z,1761699728.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619582,-0.783571,-0.046206],[0.784840,-0.617533,-0.051758],[0.012023,-0.068333,0.997590]] 2025-10-29T01:02:08.593Z,1761699728.593 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.354182 2025-10-29T01:02:08.611Z,1761699728.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.900000 m, deltaT: 0.503656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:08.617Z,1761699728.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.846253 m, bearing: 328.445353 deg, lat: 36.779296 deg, lon: -121.859491 deg, deltaT: 0.503656 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:08.618Z,1761699728.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.85 m. 2025-10-29T01:02:08.846Z,1761699728.846 [DAT](INFO): DAT read: Rx Time:01:02:08.2092 2025-10-29T01:02:08.847Z,1761699728.847 [DAT](INFO): Rx dataTimestamp_ set to:1761699728.846672 2025-10-29T01:02:08.849Z,1761699728.849 [DAT](INFO): DAT read: Bearing 105.0, -21.2 (Local) 2025-10-29T01:02:08.850Z,1761699728.850 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -21.2 (Local) 2025-10-29T01:02:08.853Z,1761699728.853 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 2025-10-29T01:02:08.858Z,1761699728.858 [DAT](INFO): DAT read: 01:02:08.2092 LVL= 29312, 22241, 26290, 32755, AGC= 59, IDX= 506, 0.41, 2.484,-1.629,-2.977,-2.660, PHS=-1.037, 1.076,-0.361, RAW= 311.8, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 2025-10-29T01:02:08.859Z,1761699728.859 [DAT](INFO): got valid direction response: 01:02:08.2092 LVL= 29312, 22241, 26290, 32755, AGC= 59, IDX= 506, 0.41, 2.484,-1.629,-2.977,-2.660, PHS=-1.037, 1.076,-0.361, RAW= 311.8, 3.5, CAL= 309.3, 0.8, ROT= 200.7, -0.8 2025-10-29T01:02:08.860Z,1761699728.860 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-29T01:02:08.861Z,1761699728.861 [DAT](INFO): direction in FSK: [-0.935353,-0.353440,0.013962] 2025-10-29T01:02:08.861Z,1761699728.861 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:08.865Z,1761699728.865 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.625947 2025-10-29T01:02:08.990Z,1761699728.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503895 s, deltaX: 0.300000 m, approachRate: 0.595362 m/s, rangeRepo size: 4 2025-10-29T01:02:08.000Z,1761699729.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.144447 m, bearing: 328.885523 deg, lat: 36.779296 deg, lon: -121.859491 deg, deltaT: 0.503895 s, deltaX: 0.298194 m, approachRate: 0.591778 m/s, posRepo size: 4 2025-10-29T01:02:09.000Z,1761699729.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:02:09.098Z,1761699729.098 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.859002 2025-10-29T01:02:09.347Z,1761699729.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615420,-0.786794,-0.047040],[0.788113,-0.613375,-0.051469],[0.011642,-0.068748,0.997566]] 2025-10-29T01:02:09.351Z,1761699729.351 [DAT](INFO): DAT read: Rx Time:01:02:08.7092 2025-10-29T01:02:09.352Z,1761699729.352 [DAT](INFO): Rx dataTimestamp_ set to:1761699729.351127 2025-10-29T01:02:09.354Z,1761699729.354 [DAT](INFO): DAT read: Bearing 105.0, -21.7 (Local) 2025-10-29T01:02:09.354Z,1761699729.354 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -21.7 (Local) 2025-10-29T01:02:09.357Z,1761699729.357 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.3 2025-10-29T01:02:09.375Z,1761699729.375 [DAT](INFO): DAT read: 01:02:08.7092 LVL= 29552, 19185, 27026, 32755, AGC= 60, IDX= 506, 0.35, 1.660,-2.447, 2.501, 2.807, PHS=-1.045, 1.073,-0.351, RAW= 311.2, 3.5, CAL= 308.8, 0.7, ROT= 201.2, -0.7 2025-10-29T01:02:09.384Z,1761699729.384 [DAT](INFO): got valid direction response: 01:02:08.7092 LVL= 29552, 19185, 27026, 32755, AGC= 60, IDX= 506, 0.35, 1.660,-2.447, 2.501, 2.807, PHS=-1.045, 1.073,-0.351, RAW= 311.2, 3.5, CAL= 308.8, 0.7, ROT= 201.2, -0.7 2025-10-29T01:02:09.384Z,1761699729.384 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-29T01:02:09.385Z,1761699729.385 [DAT](INFO): direction in FSK: [-0.932254,-0.361598,0.012217] 2025-10-29T01:02:09.386Z,1761699729.386 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:09.406Z,1761699729.406 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.166814 2025-10-29T01:02:09.521Z,1761699729.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.504455 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:09.523Z,1761699729.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.144447 m, bearing: 329.087265 deg, lat: 36.779296 deg, lon: -121.859490 deg, deltaT: 0.504455 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:09.523Z,1761699729.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:02:09.601Z,1761699729.601 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.362236 2025-10-29T01:02:09.755Z,1761699729.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613304,-0.788394,-0.047884],[0.789765,-0.611235,-0.051604],[0.011417,-0.069466,0.997519]] 2025-10-29T01:02:09.811Z,1761699729.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:02:09.854Z,1761699729.854 [DAT](INFO): DAT read: Rx Time:01:02:09.2093 2025-10-29T01:02:09.855Z,1761699729.855 [DAT](INFO): Rx dataTimestamp_ set to:1761699729.854507 2025-10-29T01:02:09.856Z,1761699729.856 [DAT](INFO): DAT read: Bearing 104.6, -22.2 (Local) 2025-10-29T01:02:09.857Z,1761699729.857 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -22.2 (Local) 2025-10-29T01:02:09.859Z,1761699729.859 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-29T01:02:09.863Z,1761699729.863 [DAT](INFO): DAT read: 01:02:09.2093 LVL= 32752, 21937, 28850, 32755, AGC= 61, IDX= 507, 0.34, 1.431,-2.663, 2.294, 2.596, PHS=-1.064, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 1.0, ROT= 201.7, -1.0 2025-10-29T01:02:09.864Z,1761699729.864 [DAT](INFO): got valid direction response: 01:02:09.2093 LVL= 32752, 21937, 28850, 32755, AGC= 61, IDX= 507, 0.34, 1.431,-2.663, 2.294, 2.596, PHS=-1.064, 1.069,-0.346, RAW= 310.7, 3.7, CAL= 308.3, 1.0, ROT= 201.7, -1.0 2025-10-29T01:02:09.865Z,1761699729.865 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-29T01:02:09.866Z,1761699729.866 [DAT](INFO): direction in FSK: [-0.928991,-0.369690,0.017452] 2025-10-29T01:02:09.866Z,1761699729.866 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:09.870Z,1761699729.870 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.630970 2025-10-29T01:02:10.105Z,1761699730.105 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.866187 2025-10-29T01:02:10.195Z,1761699730.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611578,-0.789724,-0.048055],[0.791105,-0.609524,-0.051317],[0.011236,-0.069401,0.997526]] 2025-10-29T01:02:10.230Z,1761699730.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503380 s, deltaX: 0.200000 m, approachRate: 0.397314 m/s, rangeRepo size: 4 2025-10-29T01:02:10.232Z,1761699730.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.343333 m, bearing: 329.285428 deg, lat: 36.779296 deg, lon: -121.859489 deg, deltaT: 0.503380 s, deltaX: 0.198886 m, approachRate: 0.395101 m/s, posRepo size: 4 2025-10-29T01:02:10.233Z,1761699730.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-29T01:02:10.358Z,1761699730.358 [DAT](INFO): DAT read: Rx Time:01:02:09.7093 2025-10-29T01:02:10.358Z,1761699730.358 [DAT](INFO): Rx dataTimestamp_ set to:1761699730.357783 2025-10-29T01:02:10.359Z,1761699730.359 [DAT](INFO): DAT read: Bearing 105.1, -22.5 (Local) 2025-10-29T01:02:10.360Z,1761699730.360 [DAT](INFO): Local bearing/azimuth received: Bearing 105.1, -22.5 (Local) 2025-10-29T01:02:10.362Z,1761699730.362 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.3 2025-10-29T01:02:10.367Z,1761699730.367 [DAT](INFO): DAT read: 01:02:09.7093 LVL= 31808, 21281, 28002, 32755, AGC= 60, IDX= 507, 0.38,-0.481, 1.708, 0.392, 0.678, PHS=-1.056, 1.076,-0.329, RAW= 310.4, 3.3, CAL= 308.0, 0.4, ROT= 202.0, -0.4 2025-10-29T01:02:10.368Z,1761699730.368 [DAT](INFO): got valid direction response: 01:02:09.7093 LVL= 31808, 21281, 28002, 32755, AGC= 60, IDX= 507, 0.38,-0.481, 1.708, 0.392, 0.678, PHS=-1.056, 1.076,-0.329, RAW= 310.4, 3.3, CAL= 308.0, 0.4, ROT= 202.0, -0.4 2025-10-29T01:02:10.369Z,1761699730.369 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-29T01:02:10.370Z,1761699730.370 [DAT](INFO): direction in FSK: [-0.927161,-0.374598,0.006981] 2025-10-29T01:02:10.370Z,1761699730.370 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:10.374Z,1761699730.374 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.134987 2025-10-29T01:02:10.563Z,1761699730.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609495,-0.791323,-0.048206],[0.792716,-0.607478,-0.050719],[0.010851,-0.069127,0.997549]] 2025-10-29T01:02:10.609Z,1761699730.609 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.370253 2025-10-29T01:02:10.630Z,1761699730.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.503276 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:10.632Z,1761699730.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.343333 m, bearing: 329.475837 deg, lat: 36.779296 deg, lon: -121.859488 deg, deltaT: 0.503276 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:10.633Z,1761699730.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-29T01:02:10.862Z,1761699730.862 [DAT](INFO): DAT read: Rx Time:01:02:10.2095 2025-10-29T01:02:10.862Z,1761699730.862 [DAT](INFO): Rx dataTimestamp_ set to:1761699730.861801 2025-10-29T01:02:10.863Z,1761699730.863 [DAT](INFO): DAT read: Bearing 104.9, -22.8 (Local) 2025-10-29T01:02:10.864Z,1761699730.864 [DAT](INFO): Local bearing/azimuth received: Bearing 104.9, -22.8 (Local) 2025-10-29T01:02:10.866Z,1761699730.866 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-29T01:02:10.872Z,1761699730.872 [DAT](INFO): DAT read: 01:02:10.2095 LVL= 31440, 20465, 27058, 32755, AGC= 59, IDX= 509, 0.43, 0.756, 2.942, 1.638, 1.916, PHS=-1.059, 1.070,-0.323, RAW= 310.1, 3.4, CAL= 307.7, 0.4, ROT= 202.3, -0.4 2025-10-29T01:02:10.873Z,1761699730.873 [DAT](INFO): got valid direction response: 01:02:10.2095 LVL= 31440, 20465, 27058, 32755, AGC= 59, IDX= 509, 0.43, 0.756, 2.942, 1.638, 1.916, PHS=-1.059, 1.070,-0.323, RAW= 310.1, 3.4, CAL= 307.7, 0.4, ROT= 202.3, -0.4 2025-10-29T01:02:10.874Z,1761699730.874 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-29T01:02:10.875Z,1761699730.875 [DAT](INFO): direction in FSK: [-0.925187,-0.379447,0.006981] 2025-10-29T01:02:10.875Z,1761699730.875 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:10.896Z,1761699730.896 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.652822 2025-10-29T01:02:10.969Z,1761699730.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607466,-0.792887,-0.048112],[0.794277,-0.605498,-0.049971],[0.010489,-0.068570,0.997591]] 2025-10-29T01:02:11.014Z,1761699731.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504018 s, deltaX: 0.300000 m, approachRate: 0.595217 m/s, rangeRepo size: 4 2025-10-29T01:02:11.021Z,1761699731.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.641830 m, bearing: 329.629733 deg, lat: 36.779297 deg, lon: -121.859487 deg, deltaT: 0.504018 s, deltaX: 0.298497 m, approachRate: 0.592235 m/s, posRepo size: 4 2025-10-29T01:02:11.021Z,1761699731.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:02:11.113Z,1761699731.113 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.874146 2025-10-29T01:02:11.365Z,1761699731.365 [DAT](INFO): DAT read: Rx Time:01:02:10.7095 2025-10-29T01:02:11.366Z,1761699731.366 [DAT](INFO): Rx dataTimestamp_ set to:1761699731.365629 2025-10-29T01:02:11.367Z,1761699731.367 [DAT](INFO): DAT read: Bearing 105.0, -22.9 (Local) 2025-10-29T01:02:11.367Z,1761699731.367 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -22.9 (Local) 2025-10-29T01:02:11.370Z,1761699731.370 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.3 2025-10-29T01:02:11.374Z,1761699731.374 [DAT](INFO): DAT read: 01:02:10.7095 LVL= 32752, 21729, 29170, 32755, AGC= 59, IDX= 509, 0.48,-0.861, 1.312, 0.022, 0.291, PHS=-1.050, 1.066,-0.313, RAW= 309.9, 3.2, CAL= 307.5, 0.1, ROT= 202.5, -0.1 2025-10-29T01:02:11.375Z,1761699731.375 [DAT](INFO): got valid direction response: 01:02:10.7095 LVL= 32752, 21729, 29170, 32755, AGC= 59, IDX= 509, 0.48,-0.861, 1.312, 0.022, 0.291, PHS=-1.050, 1.066,-0.313, RAW= 309.9, 3.2, CAL= 307.5, 0.1, ROT= 202.5, -0.1 2025-10-29T01:02:11.376Z,1761699731.376 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-29T01:02:11.377Z,1761699731.377 [DAT](INFO): direction in FSK: [-0.923878,-0.382683,0.001745] 2025-10-29T01:02:11.377Z,1761699731.377 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:11.381Z,1761699731.381 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.142244 2025-10-29T01:02:11.413Z,1761699731.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605386,-0.794484,-0.047985],[0.795870,-0.603483,-0.048986],[0.009961,-0.067845,0.997646]] 2025-10-29T01:02:11.519Z,1761699731.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503828 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:11.525Z,1761699731.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.641830 m, bearing: 329.700794 deg, lat: 36.779297 deg, lon: -121.859487 deg, deltaT: 0.503828 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:11.526Z,1761699731.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:02:11.617Z,1761699731.617 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.378239 2025-10-29T01:02:11.780Z,1761699731.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603334,-0.796062,-0.047687],[0.797434,-0.601511,-0.047783],[0.009354,-0.066857,0.997719]] 2025-10-29T01:02:11.869Z,1761699731.869 [DAT](INFO): DAT read: Rx Time:01:02:11.2097 2025-10-29T01:02:11.870Z,1761699731.870 [DAT](INFO): Rx dataTimestamp_ set to:1761699731.869345 2025-10-29T01:02:11.871Z,1761699731.871 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed -0.4 2025-10-29T01:02:11.871Z,1761699731.871 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-29T01:02:11.872Z,1761699731.872 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.633667 2025-10-29T01:02:11.878Z,1761699731.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.503716 s, deltaX: 0.300000 m, approachRate: 0.595574 m/s, rangeRepo size: 4 2025-10-29T01:02:11.879Z,1761699731.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:02:12.121Z,1761699732.121 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.882450 2025-10-29T01:02:12.215Z,1761699732.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601327,-0.797585,-0.047591],[0.798957,-0.599580,-0.046600],[0.008633,-0.066045,0.997779]] 2025-10-29T01:02:12.253Z,1761699732.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:02:12.374Z,1761699732.374 [DAT](INFO): DAT read: Rx Time:01:02:11.7098 2025-10-29T01:02:12.374Z,1761699732.374 [DAT](INFO): Rx dataTimestamp_ set to:1761699732.373781 2025-10-29T01:02:12.375Z,1761699732.375 [DAT](INFO): DAT read: Bearing 114.4, -27.7 (Local) 2025-10-29T01:02:12.376Z,1761699732.376 [DAT](INFO): Local bearing/azimuth received: Bearing 114.4, -27.7 (Local) 2025-10-29T01:02:12.378Z,1761699732.378 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.3 2025-10-29T01:02:12.383Z,1761699732.383 [DAT](INFO): DAT read: 01:02:11.7098 LVL= 32752, 22321, 29554, 32755, AGC= 59, IDX= 512,-0.34, 0.807,-2.848, 2.144, 2.017, PHS=-1.108, 1.463, 0.083, RAW= 302.4, -4.0, CAL= 301.6, -8.0, ROT= 208.4, 8.0 2025-10-29T01:02:12.384Z,1761699732.384 [DAT](INFO): got valid direction response: 01:02:11.7098 LVL= 32752, 22321, 29554, 32755, AGC= 59, IDX= 512,-0.34, 0.807,-2.848, 2.144, 2.017, PHS=-1.108, 1.463, 0.083, RAW= 302.4, -4.0, CAL= 301.6, -8.0, ROT= 208.4, 8.0 2025-10-29T01:02:12.384Z,1761699732.384 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-29T01:02:12.385Z,1761699732.385 [DAT](INFO): direction in FSK: [-0.871088,-0.470995,-0.139173] 2025-10-29T01:02:12.385Z,1761699732.385 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:12.397Z,1761699732.397 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.158424 2025-10-29T01:02:12.591Z,1761699732.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599765,-0.798757,-0.047638],[0.800136,-0.598077,-0.045674],[0.007991,-0.065510,0.997820]] 2025-10-29T01:02:12.625Z,1761699732.625 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.386221 2025-10-29T01:02:12.712Z,1761699732.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504436 s, deltaX: 0.100000 m, approachRate: 0.198242 m/s, rangeRepo size: 4 2025-10-29T01:02:12.714Z,1761699732.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.039797 m, bearing: 335.690158 deg, lat: 36.779297 deg, lon: -121.859486 deg, deltaT: 1.008152 s, deltaX: 0.397966 m, approachRate: 0.394748 m/s, posRepo size: 4 2025-10-29T01:02:12.715Z,1761699732.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.04 m. 2025-10-29T01:02:12.878Z,1761699732.878 [DAT](INFO): DAT read: Rx Time:01:02:12.2100 2025-10-29T01:02:12.878Z,1761699732.878 [DAT](INFO): Rx dataTimestamp_ set to:1761699732.877709 2025-10-29T01:02:12.879Z,1761699732.879 [DAT](INFO): DAT read: Bearing 105.4, -23.4 (Local) 2025-10-29T01:02:12.880Z,1761699732.880 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -23.4 (Local) 2025-10-29T01:02:12.882Z,1761699732.882 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.3 2025-10-29T01:02:12.886Z,1761699732.886 [DAT](INFO): DAT read: 01:02:12.2100 LVL= 28496, 14961, 22274, 32755, AGC= 62, IDX= 2,-0.25,-1.687, 0.515,-0.765,-0.529, PHS=-1.056, 1.089,-0.279, RAW= 309.1, 2.6, CAL= 306.7, -0.6, ROT= 203.3, 0.6 2025-10-29T01:02:12.888Z,1761699732.888 [DAT](INFO): got valid direction response: 01:02:12.2100 LVL= 28496, 14961, 22274, 32755, AGC= 62, IDX= 2,-0.25,-1.687, 0.515,-0.765,-0.529, PHS=-1.056, 1.089,-0.279, RAW= 309.1, 2.6, CAL= 306.7, -0.6, ROT= 203.3, 0.6 2025-10-29T01:02:12.888Z,1761699732.888 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T01:02:12.889Z,1761699732.889 [DAT](INFO): direction in FSK: [-0.918396,-0.395524,-0.010472] 2025-10-29T01:02:12.889Z,1761699732.889 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:12.897Z,1761699732.897 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.658382 2025-10-29T01:02:13.053Z,1761699733.053 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597409,-0.800555,-0.047062],[0.801911,-0.595889,-0.043068],[0.006435,-0.063469,0.997963]] 2025-10-29T01:02:13.129Z,1761699733.129 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.890129 2025-10-29T01:02:13.134Z,1761699733.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503928 s, deltaX: 0.299999 m, approachRate: 0.595322 m/s, rangeRepo size: 4 2025-10-29T01:02:13.141Z,1761699733.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338244 m, bearing: 329.976715 deg, lat: 36.779298 deg, lon: -121.859486 deg, deltaT: 0.503928 s, deltaX: 0.298448 m, approachRate: 0.592243 m/s, posRepo size: 4 2025-10-29T01:02:13.148Z,1761699733.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-29T01:02:13.381Z,1761699733.381 [DAT](INFO): DAT read: Rx Time:01:02:12.7100 2025-10-29T01:02:13.382Z,1761699733.382 [DAT](INFO): Rx dataTimestamp_ set to:1761699733.381534 2025-10-29T01:02:13.383Z,1761699733.383 [DAT](INFO): DAT read: Bearing 105.3, -23.5 (Local) 2025-10-29T01:02:13.383Z,1761699733.383 [DAT](INFO): Local bearing/azimuth received: Bearing 105.3, -23.5 (Local) 2025-10-29T01:02:13.386Z,1761699733.386 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed -0.4 2025-10-29T01:02:13.390Z,1761699733.390 [DAT](INFO): DAT read: 01:02:12.7100 LVL= 32752, 22385, 32690, 32755, AGC= 58, IDX= 498,-0.21,-2.964,-0.772,-2.039,-1.808, PHS=-1.054, 1.081,-0.274, RAW= 308.9, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6 2025-10-29T01:02:13.391Z,1761699733.391 [DAT](INFO): got valid direction response: 01:02:12.7100 LVL= 32752, 22385, 32690, 32755, AGC= 58, IDX= 498,-0.21,-2.964,-0.772,-2.039,-1.808, PHS=-1.054, 1.081,-0.274, RAW= 308.9, 2.7, CAL= 306.5, -0.6, ROT= 203.5, 0.6 2025-10-29T01:02:13.391Z,1761699733.391 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T01:02:13.393Z,1761699733.393 [DAT](INFO): direction in FSK: [-0.917010,-0.398727,-0.010472] 2025-10-29T01:02:13.393Z,1761699733.393 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:13.396Z,1761699733.396 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.157623 2025-10-29T01:02:13.461Z,1761699733.461 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596403,-0.801351,-0.046250],[0.802664,-0.594983,-0.041545],[0.005774,-0.061901,0.998066]] 2025-10-29T01:02:13.556Z,1761699733.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:13.558Z,1761699733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338244 m, bearing: 330.105793 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.503825 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:13.558Z,1761699733.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-29T01:02:13.633Z,1761699733.633 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.394220 2025-10-29T01:02:13.857Z,1761699733.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595870,-0.801705,-0.046985],[0.803066,-0.594488,-0.040852],[0.004819,-0.062075,0.998060]] 2025-10-29T01:02:13.886Z,1761699733.886 [DAT](INFO): DAT read: Rx Time:01:02:13.2101 2025-10-29T01:02:13.886Z,1761699733.886 [DAT](INFO): Rx dataTimestamp_ set to:1761699733.885795 2025-10-29T01:02:13.887Z,1761699733.887 [DAT](INFO): DAT read: Bearing 105.4, -23.7 (Local) 2025-10-29T01:02:13.888Z,1761699733.888 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -23.7 (Local) 2025-10-29T01:02:13.890Z,1761699733.890 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.3 2025-10-29T01:02:13.894Z,1761699733.894 [DAT](INFO): DAT read: 01:02:13.2101 LVL= 32752, 21825, 29554, 32755, AGC= 59, IDX= 499,-0.17, 3.066,-1.010,-2.278,-2.056, PHS=-1.060, 1.091,-0.266, RAW= 308.6, 2.5, CAL= 306.3, -0.8, ROT= 203.7, 0.8 2025-10-29T01:02:13.896Z,1761699733.896 [DAT](INFO): got valid direction response: 01:02:13.2101 LVL= 32752, 21825, 29554, 32755, AGC= 59, IDX= 499,-0.17, 3.066,-1.010,-2.278,-2.056, PHS=-1.060, 1.091,-0.266, RAW= 308.6, 2.5, CAL= 306.3, -0.8, ROT= 203.7, 0.8 2025-10-29T01:02:13.896Z,1761699733.896 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T01:02:13.897Z,1761699733.897 [DAT](INFO): direction in FSK: [-0.915573,-0.401909,-0.013962] 2025-10-29T01:02:13.897Z,1761699733.897 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:13.909Z,1761699733.909 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.670364 2025-10-29T01:02:13.960Z,1761699733.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504261 s, deltaX: 0.200001 m, approachRate: 0.396622 m/s, rangeRepo size: 4 2025-10-29T01:02:13.962Z,1761699733.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.537162 m, bearing: 330.279034 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: 0.504261 s, deltaX: 0.198917 m, approachRate: 0.394473 m/s, posRepo size: 4 2025-10-29T01:02:13.963Z,1761699733.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-29T01:02:14.137Z,1761699734.137 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.898218 2025-10-29T01:02:14.262Z,1761699734.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595877,-0.801573,-0.049109],[0.803067,-0.594473,-0.041049],[0.003710,-0.063898,0.997950]] 2025-10-29T01:02:14.300Z,1761699734.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-29T01:02:14.391Z,1761699734.391 [DAT](INFO): DAT read: Rx Time:01:02:13.7101 2025-10-29T01:02:14.392Z,1761699734.392 [DAT](INFO): Rx dataTimestamp_ set to:1761699734.391302 2025-10-29T01:02:14.394Z,1761699734.394 [DAT](INFO): DAT read: Bearing 105.0, -23.5 (Local) 2025-10-29T01:02:14.394Z,1761699734.394 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -23.5 (Local) 2025-10-29T01:02:14.396Z,1761699734.396 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.5 2025-10-29T01:02:14.406Z,1761699734.406 [DAT](INFO): DAT read: 01:02:13.7101 LVL= 32752, 22161, 32226, 32755, AGC= 59, IDX= 499,-0.13, 2.320,-1.774,-3.035,-2.800, PHS=-1.061, 1.072,-0.278, RAW= 308.7, 2.9, CAL= 306.4, -0.4, ROT= 203.6, 0.4 2025-10-29T01:02:14.407Z,1761699734.407 [DAT](INFO): got valid direction response: 01:02:13.7101 LVL= 32752, 22161, 32226, 32755, AGC= 59, IDX= 499,-0.13, 2.320,-1.774,-3.035,-2.800, PHS=-1.061, 1.072,-0.278, RAW= 308.7, 2.9, CAL= 306.4, -0.4, ROT= 203.6, 0.4 2025-10-29T01:02:14.407Z,1761699734.407 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T01:02:14.413Z,1761699734.413 [DAT](INFO): direction in FSK: [-0.916340,-0.400339,-0.006981] 2025-10-29T01:02:14.413Z,1761699734.413 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:14.422Z,1761699734.422 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.183104 2025-10-29T01:02:14.641Z,1761699734.641 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.402214 2025-10-29T01:02:14.825Z,1761699734.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.505507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:14.832Z,1761699734.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.536861 m, bearing: 330.154506 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: 0.505507 s, deltaX: -0.000300 m, approachRate: -0.000594 m/s, posRepo size: 4 2025-10-29T01:02:14.833Z,1761699734.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.54 m. 2025-10-29T01:02:14.894Z,1761699734.894 [DAT](INFO): DAT read: Rx Time:01:02:14.2103 2025-10-29T01:02:14.895Z,1761699734.895 [DAT](INFO): Rx dataTimestamp_ set to:1761699734.894681 2025-10-29T01:02:14.897Z,1761699734.897 [DAT](INFO): DAT read: Bearing 104.3, -23.9 (Local) 2025-10-29T01:02:14.898Z,1761699734.898 [DAT](INFO): Local bearing/azimuth received: Bearing 104.3, -23.9 (Local) 2025-10-29T01:02:14.901Z,1761699734.901 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.2 2025-10-29T01:02:14.907Z,1761699734.907 [DAT](INFO): DAT read: 01:02:14.2103 LVL= 32752, 22897, 31298, 32755, AGC= 61, IDX= 501,-0.10, 3.096,-0.978,-2.243,-1.994, PHS=-1.091, 1.061,-0.293, RAW= 308.5, 3.5, CAL= 306.1, 0.3, ROT= 203.9, -0.3 2025-10-29T01:02:14.909Z,1761699734.909 [DAT](INFO): got valid direction response: 01:02:14.2103 LVL= 32752, 22897, 31298, 32755, AGC= 61, IDX= 501,-0.10, 3.096,-0.978,-2.243,-1.994, PHS=-1.091, 1.061,-0.293, RAW= 308.5, 3.5, CAL= 306.1, 0.3, ROT= 203.9, -0.3 2025-10-29T01:02:14.909Z,1761699734.909 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T01:02:14.911Z,1761699734.911 [DAT](INFO): direction in FSK: [-0.914241,-0.405136,0.005236] 2025-10-29T01:02:14.911Z,1761699734.911 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:14.925Z,1761699734.925 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.686277 2025-10-29T01:02:15.076Z,1761699735.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596538,-0.800902,-0.051947],[0.802583,-0.595148,-0.040730],[0.001704,-0.065989,0.997819]] 2025-10-29T01:02:15.115Z,1761699735.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.503379 s, deltaX: 0.299999 m, approachRate: 0.595971 m/s, rangeRepo size: 4 2025-10-29T01:02:15.121Z,1761699735.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.834963 m, bearing: 330.456767 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: 0.503379 s, deltaX: 0.298101 m, approachRate: 0.592201 m/s, posRepo size: 4 2025-10-29T01:02:15.122Z,1761699735.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-29T01:02:15.145Z,1761699735.145 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.906199 2025-10-29T01:02:15.401Z,1761699735.401 [DAT](INFO): DAT read: Rx Time:01:02:14.7103 2025-10-29T01:02:15.402Z,1761699735.402 [DAT](INFO): Rx dataTimestamp_ set to:1761699735.401391 2025-10-29T01:02:15.403Z,1761699735.403 [DAT](INFO): DAT read: Bearing 105.3, -23.3 (Local) 2025-10-29T01:02:15.403Z,1761699735.403 [DAT](INFO): Local bearing/azimuth received: Bearing 105.3, -23.3 (Local) 2025-10-29T01:02:15.405Z,1761699735.405 [DAT](INFO): DAT read: Range 11 to 50 : 11.9 m (trip time 7.9 ms) speed -0.3 2025-10-29T01:02:15.410Z,1761699735.410 [DAT](INFO): DAT read: 01:02:14.7103 LVL= 32752, 20705, 28306, 32755, AGC= 59, IDX= 501,-0.11, 2.116,-1.971, 3.046,-3.011, PHS=-1.054, 1.086,-0.270, RAW= 308.8, 2.6, CAL= 306.5, -0.7, ROT= 203.5, 0.7 2025-10-29T01:02:15.411Z,1761699735.411 [DAT](INFO): got valid direction response: 01:02:14.7103 LVL= 32752, 20705, 28306, 32755, AGC= 59, IDX= 501,-0.11, 2.116,-1.971, 3.046,-3.011, PHS=-1.054, 1.086,-0.270, RAW= 308.8, 2.6, CAL= 306.5, -0.7, ROT= 203.5, 0.7 2025-10-29T01:02:15.416Z,1761699735.416 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T01:02:15.417Z,1761699735.417 [DAT](INFO): direction in FSK: [-0.916992,-0.398719,-0.012217] 2025-10-29T01:02:15.417Z,1761699735.417 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:15.425Z,1761699735.425 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.186071 2025-10-29T01:02:15.546Z,1761699735.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596641,-0.800925,-0.050379],[0.802508,-0.595424,-0.038099],[0.000518,-0.063161,0.998003]] 2025-10-29T01:02:15.635Z,1761699735.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.900000 m, deltaT: 0.506710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:15.641Z,1761699735.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.834963 m, bearing: 330.128300 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 0.506710 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:15.642Z,1761699735.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.83 m. 2025-10-29T01:02:15.657Z,1761699735.657 [DAT](INFO): DAT read: Rx Time:01:02:15.2105 2025-10-29T01:02:15.658Z,1761699735.658 [DAT](INFO): Rx dataTimestamp_ set to:1761699735.657173 2025-10-29T01:02:15.661Z,1761699735.661 [DAT](INFO): DAT read: Bearing 104.5, -23.4 (Local) 2025-10-29T01:02:15.663Z,1761699735.663 [DAT](INFO): Local bearing/azimuth received: Bearing 104.5, -23.4 (Local) 2025-10-29T01:02:15.665Z,1761699735.665 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.425463 2025-10-29T01:02:15.906Z,1761699735.906 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.0 2025-10-29T01:02:15.911Z,1761699735.911 [DAT](INFO): DAT read: 01:02:15.2105 LVL= 32752, 20465, 32130, 32755, AGC= 61, IDX= 503,-0.10,-3.035,-0.832,-2.104,-1.855, PHS=-1.079, 1.068,-0.293, RAW= 308.8, 3.3, CAL= 306.4, 0.0, ROT= 203.6, -0.0 2025-10-29T01:02:15.912Z,1761699735.912 [DAT](INFO): got valid direction response: 01:02:15.2105 LVL= 32752, 20465, 32130, 32755, AGC= 61, IDX= 503,-0.10,-3.035,-0.832,-2.104,-1.855, PHS=-1.079, 1.068,-0.293, RAW= 308.8, 3.3, CAL= 306.4, 0.0, ROT= 203.6, -0.0 2025-10-29T01:02:15.913Z,1761699735.913 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T01:02:15.914Z,1761699735.914 [DAT](INFO): direction in FSK: [-0.916363,-0.400349,0.000000] 2025-10-29T01:02:15.914Z,1761699735.914 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:15.918Z,1761699735.918 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.678755 2025-10-29T01:02:15.972Z,1761699735.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596668,-0.801030,-0.048359],[0.802488,-0.595641,-0.034988],[-0.000778,-0.059684,0.998217]] 2025-10-29T01:02:16.015Z,1761699736.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.502956 s, deltaX: 0.300000 m, approachRate: 0.596474 m/s, rangeRepo size: 4 2025-10-29T01:02:16.022Z,1761699736.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.133278 m, bearing: 330.194562 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.502956 s, deltaX: 0.298315 m, approachRate: 0.593124 m/s, posRepo size: 4 2025-10-29T01:02:16.022Z,1761699736.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T01:02:16.160Z,1761699736.160 [DAT](INFO): DAT read: Rx Time:01:02:15.7105 2025-10-29T01:02:16.162Z,1761699736.162 [DAT](INFO): Rx dataTimestamp_ set to:1761699736.160803 2025-10-29T01:02:16.165Z,1761699736.165 [DAT](INFO): DAT read: Bearing 104.4, -23.0 (Local) 2025-10-29T01:02:16.166Z,1761699736.166 [DAT](INFO): Local bearing/azimuth received: Bearing 104.4, -23.0 (Local) 2025-10-29T01:02:16.169Z,1761699736.169 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.929468 2025-10-29T01:02:16.367Z,1761699736.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596929,-0.800884,-0.047545],[0.802292,-0.596019,-0.033003],[-0.001907,-0.057846,0.998324]] 2025-10-29T01:02:16.401Z,1761699736.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T01:02:16.410Z,1761699736.410 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 2025-10-29T01:02:16.415Z,1761699736.415 [DAT](INFO): DAT read: 01:02:15.7105 LVL= 32752, 21585, 30258, 32755, AGC= 61, IDX= 503,-0.11, 1.831,-2.248, 2.755, 3.009, PHS=-1.076, 1.071,-0.298, RAW= 309.0, 3.2, CAL= 306.6, 0.0, ROT= 203.4, -0.0 2025-10-29T01:02:16.416Z,1761699736.416 [DAT](INFO): got valid direction response: 01:02:15.7105 LVL= 32752, 21585, 30258, 32755, AGC= 61, IDX= 503,-0.11, 1.831,-2.248, 2.755, 3.009, PHS=-1.076, 1.071,-0.298, RAW= 309.0, 3.2, CAL= 306.6, 0.0, ROT= 203.4, -0.0 2025-10-29T01:02:16.417Z,1761699736.417 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T01:02:16.418Z,1761699736.418 [DAT](INFO): direction in FSK: [-0.917755,-0.397148,0.000000] 2025-10-29T01:02:16.418Z,1761699736.418 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:16.422Z,1761699736.422 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.182768 2025-10-29T01:02:16.665Z,1761699736.665 [DAT](INFO): DAT read: Rx Time:01:02:16.2107 2025-10-29T01:02:16.666Z,1761699736.666 [DAT](INFO): Rx dataTimestamp_ set to:1761699736.665490 2025-10-29T01:02:16.669Z,1761699736.669 [DAT](INFO): DAT read: Bearing 105.3, -22.2 (Local) 2025-10-29T01:02:16.670Z,1761699736.670 [DAT](INFO): Local bearing/azimuth received: Bearing 105.3, -22.2 (Local) 2025-10-29T01:02:16.674Z,1761699736.674 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-29T01:02:16.680Z,1761699736.680 [DAT](ERROR): #Rx 41: Read range message, but no direction. 2025-10-29T01:02:16.683Z,1761699736.683 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.444016 2025-10-29T01:02:16.776Z,1761699736.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597099,-0.800771,-0.047321],[0.802162,-0.596279,-0.031437],[-0.003042,-0.056730,0.998385]] 2025-10-29T01:02:16.874Z,1761699736.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.761143 s, deltaX: 0.300000 m, approachRate: 0.394144 m/s, rangeRepo size: 4 2025-10-29T01:02:16.881Z,1761699736.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.431638 m, bearing: 330.030609 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.761143 s, deltaX: 0.298360 m, approachRate: 0.391989 m/s, posRepo size: 4 2025-10-29T01:02:16.881Z,1761699736.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:02:16.917Z,1761699736.917 [DAT](INFO): DAT read: 01:02:16.2107 LVL= 32288, 21153, 27890, 32755, AGC= 59, IDX= 505,-0.19,-3.064,-0.873,-2.161,-1.927, PHS=-1.035, 1.100,-0.278, RAW= 309.5, 2.3, CAL= 307.3, -0.9, ROT= 202.7, 0.9 2025-10-29T01:02:16.918Z,1761699736.918 [DAT](INFO): got valid direction response: 01:02:16.2107 LVL= 32288, 21153, 27890, 32755, AGC= 59, IDX= 505,-0.19,-3.064,-0.873,-2.161,-1.927, PHS=-1.035, 1.100,-0.278, RAW= 309.5, 2.3, CAL= 307.3, -0.9, ROT= 202.7, 0.9 2025-10-29T01:02:16.918Z,1761699736.918 [DAT](INFO): #Rx 42: Read direction message, but no range. 2025-10-29T01:02:16.919Z,1761699736.919 [DAT](INFO): direction in FSK: [-0.922424,-0.385858,-0.015707] 2025-10-29T01:02:16.924Z,1761699736.924 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=22.685045 2025-10-29T01:02:17.169Z,1761699737.169 [DAT](INFO): DAT read: Rx Time:01:02:16.7106 2025-10-29T01:02:17.170Z,1761699737.170 [DAT](INFO): Rx dataTimestamp_ set to:1761699737.169491 2025-10-29T01:02:17.174Z,1761699737.174 [DAT](INFO): DAT read: Bearing 104.5, -22.4 (Local) 2025-10-29T01:02:17.175Z,1761699737.175 [DAT](INFO): Local bearing/azimuth received: Bearing 104.5, -22.4 (Local) 2025-10-29T01:02:17.181Z,1761699737.181 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.3 2025-10-29T01:02:17.183Z,1761699737.183 [DAT](ERROR): #Rx 43: Read range message, but no direction. 2025-10-29T01:02:17.193Z,1761699737.193 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=22.953932 2025-10-29T01:02:17.277Z,1761699737.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.504001 s, deltaX: -0.200000 m, approachRate: -0.396824 m/s, rangeRepo size: 4 2025-10-29T01:02:17.279Z,1761699737.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.232777 m, bearing: 329.377377 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.504001 s, deltaX: -0.198861 m, approachRate: -0.394565 m/s, posRepo size: 4 2025-10-29T01:02:17.279Z,1761699737.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-29T01:02:17.421Z,1761699737.421 [DAT](INFO): DAT read: 01:02:16.7106 LVL= 32752, 21457, 30850, 32755, AGC= 61, IDX= 505,-0.25, 1.795,-2.277, 2.709, 2.966, PHS=-1.069, 1.085,-0.300, RAW= 309.4, 3.0, CAL= 307.0, -0.2, ROT= 203.0, 0.2 2025-10-29T01:02:17.422Z,1761699737.422 [DAT](INFO): got valid direction response: 01:02:16.7106 LVL= 32752, 21457, 30850, 32755, AGC= 61, IDX= 505,-0.25, 1.795,-2.277, 2.709, 2.966, PHS=-1.069, 1.085,-0.300, RAW= 309.4, 3.0, CAL= 307.0, -0.2, ROT= 203.0, 0.2 2025-10-29T01:02:17.422Z,1761699737.422 [DAT](INFO): #Rx 44: Read direction message, but no range. 2025-10-29T01:02:17.423Z,1761699737.423 [DAT](INFO): direction in FSK: [-0.920499,-0.390729,-0.003491] 2025-10-29T01:02:17.426Z,1761699737.426 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=23.187693 2025-10-29T01:02:17.607Z,1761699737.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597471,-0.800429,-0.048399],[0.801874,-0.596761,-0.029580],[-0.005206,-0.056483,0.998390]] 2025-10-29T01:02:17.673Z,1761699737.673 [DAT](INFO): DAT read: Rx Time:01:02:17.2107 2025-10-29T01:02:17.674Z,1761699737.674 [DAT](INFO): Rx dataTimestamp_ set to:1761699737.673318 2025-10-29T01:02:17.678Z,1761699737.678 [DAT](INFO): DAT read: Bearing 104.6, -21.9 (Local) 2025-10-29T01:02:17.679Z,1761699737.679 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -21.9 (Local) 2025-10-29T01:02:17.689Z,1761699737.689 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.3 2025-10-29T01:02:17.691Z,1761699737.691 [DAT](ERROR): #Rx 45: Read range message, but no direction. 2025-10-29T01:02:17.703Z,1761699737.703 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=23.463892 2025-10-29T01:02:17.743Z,1761699737.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503827 s, deltaX: 0.200000 m, approachRate: 0.396961 m/s, rangeRepo size: 4 2025-10-29T01:02:17.750Z,1761699737.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.431684 m, bearing: 329.669466 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.503827 s, deltaX: 0.198907 m, approachRate: 0.394792 m/s, posRepo size: 4 2025-10-29T01:02:17.751Z,1761699737.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:02:17.926Z,1761699737.926 [DAT](INFO): DAT read: 01:02:17.2107 LVL= 32752, 22097, 32498, 32755, AGC= 60, IDX= 506,-0.39, 2.729,-1.368,-2.661,-2.404, PHS=-1.048, 1.081,-0.301, RAW= 309.8, 2.9, CAL= 307.4, -0.3, ROT= 202.6, 0.3 2025-10-29T01:02:17.927Z,1761699737.927 [DAT](INFO): got valid direction response: 01:02:17.2107 LVL= 32752, 22097, 32498, 32755, AGC= 60, IDX= 506,-0.39, 2.729,-1.368,-2.661,-2.404, PHS=-1.048, 1.081,-0.301, RAW= 309.8, 2.9, CAL= 307.4, -0.3, ROT= 202.6, 0.3 2025-10-29T01:02:17.927Z,1761699737.927 [DAT](INFO): #Rx 46: Read direction message, but no range. 2025-10-29T01:02:17.929Z,1761699737.929 [DAT](INFO): direction in FSK: [-0.923198,-0.384290,-0.005236] 2025-10-29T01:02:17.933Z,1761699737.933 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.693779 2025-10-29T01:02:18.129Z,1761699738.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597151,-0.800594,-0.049593],[0.802103,-0.596484,-0.028944],[-0.006409,-0.057062,0.998350]] 2025-10-29T01:02:18.177Z,1761699738.177 [DAT](INFO): DAT read: Rx Time:01:02:17.7107 2025-10-29T01:02:18.178Z,1761699738.178 [DAT](INFO): Rx dataTimestamp_ set to:1761699738.177100 2025-10-29T01:02:18.181Z,1761699738.181 [DAT](INFO): DAT read: Bearing 104.6, -21.6 (Local) 2025-10-29T01:02:18.182Z,1761699738.182 [DAT](INFO): Local bearing/azimuth received: Bearing 104.6, -21.6 (Local) 2025-10-29T01:02:18.187Z,1761699738.187 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.2 2025-10-29T01:02:18.198Z,1761699738.198 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-29T01:02:18.208Z,1761699738.208 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.969372 2025-10-29T01:02:18.223Z,1761699738.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503782 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:18.229Z,1761699738.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.431771 m, bearing: 329.252496 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.503782 s, deltaX: 0.000088 m, approachRate: 0.000174 m/s, posRepo size: 4 2025-10-29T01:02:18.230Z,1761699738.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:02:18.429Z,1761699738.429 [DAT](INFO): DAT read: 01:02:17.7107 LVL= 32752, 22257, 30194, 32755, AGC= 60, IDX= 505, 0.38, 2.767,-1.343,-2.636,-2.378, PHS=-1.037, 1.080,-0.302, RAW= 310.0, 2.8, CAL= 307.6, -0.4, ROT= 202.4, 0.4 2025-10-29T01:02:18.430Z,1761699738.430 [DAT](INFO): got valid direction response: 01:02:17.7107 LVL= 32752, 22257, 30194, 32755, AGC= 60, IDX= 505, 0.38, 2.767,-1.343,-2.636,-2.378, PHS=-1.037, 1.080,-0.302, RAW= 310.0, 2.8, CAL= 307.6, -0.4, ROT= 202.4, 0.4 2025-10-29T01:02:18.430Z,1761699738.430 [DAT](INFO): #Rx 48: Read direction message, but no range. 2025-10-29T01:02:18.431Z,1761699738.431 [DAT](INFO): direction in FSK: [-0.924524,-0.381061,-0.006981] 2025-10-29T01:02:18.435Z,1761699738.435 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.196156 2025-10-29T01:02:18.591Z,1761699738.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596961,-0.800690,-0.050331],[0.802237,-0.596329,-0.028410],[-0.007267,-0.057337,0.998328]] 2025-10-29T01:02:18.680Z,1761699738.680 [DAT](INFO): DAT read: Rx Time:01:02:18.2109 2025-10-29T01:02:18.682Z,1761699738.682 [DAT](INFO): Rx dataTimestamp_ set to:1761699738.681130 2025-10-29T01:02:18.685Z,1761699738.685 [DAT](INFO): DAT read: Bearing 103.9, -21.2 (Local) 2025-10-29T01:02:18.686Z,1761699738.686 [DAT](INFO): Local bearing/azimuth received: Bearing 103.9, -21.2 (Local) 2025-10-29T01:02:18.691Z,1761699738.691 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.2 2025-10-29T01:02:18.698Z,1761699738.698 [DAT](ERROR): #Rx 49: Read range message, but no direction. 2025-10-29T01:02:18.708Z,1761699738.708 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.460997 2025-10-29T01:02:18.741Z,1761699738.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.504030 s, deltaX: 0.100000 m, approachRate: 0.198402 m/s, rangeRepo size: 4 2025-10-29T01:02:18.748Z,1761699738.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.531225 m, bearing: 329.044567 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 0.504030 s, deltaX: 0.099454 m, approachRate: 0.197317 m/s, posRepo size: 4 2025-10-29T01:02:18.749Z,1761699738.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T01:02:18.933Z,1761699738.933 [DAT](INFO): DAT read: 01:02:18.2109 LVL= 32752, 24689, 32754, 32755, AGC= 61, IDX= 507, 0.17,-1.470, 0.697,-0.604,-0.325, PHS=-1.044, 1.067,-0.324, RAW= 310.4, 3.3, CAL= 308.0, 0.2, ROT= 202.0, -0.2 2025-10-29T01:02:18.934Z,1761699738.934 [DAT](INFO): got valid direction response: 01:02:18.2109 LVL= 32752, 24689, 32754, 32755, AGC= 61, IDX= 507, 0.17,-1.470, 0.697,-0.604,-0.325, PHS=-1.044, 1.067,-0.324, RAW= 310.4, 3.3, CAL= 308.0, 0.2, ROT= 202.0, -0.2 2025-10-29T01:02:18.934Z,1761699738.934 [DAT](INFO): #Rx 50: Read direction message, but no range. 2025-10-29T01:02:18.935Z,1761699738.935 [DAT](INFO): direction in FSK: [-0.927178,-0.374604,0.003491] 2025-10-29T01:02:18.939Z,1761699738.939 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.699986 2025-10-29T01:02:19.001Z,1761699739.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596425,-0.800975,-0.052125],[0.802626,-0.595808,-0.028364],[-0.008338,-0.058754,0.998238]] 2025-10-29T01:02:19.051Z,1761699739.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T01:02:19.187Z,1761699739.187 [DAT](INFO): DAT read: Rx Time:01:02:18.7109 2025-10-29T01:02:19.189Z,1761699739.189 [DAT](INFO): Rx dataTimestamp_ set to:1761699739.187328 2025-10-29T01:02:19.191Z,1761699739.191 [DAT](INFO): DAT read: Bearing 105.1, -20.6 (Local) 2025-10-29T01:02:19.193Z,1761699739.193 [DAT](INFO): Local bearing/azimuth received: Bearing 105.1, -20.6 (Local) 2025-10-29T01:02:19.198Z,1761699739.198 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed -0.2 2025-10-29T01:02:19.202Z,1761699739.202 [DAT](ERROR): #Rx 51: Read range message, but no direction. 2025-10-29T01:02:19.212Z,1761699739.212 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.973621 2025-10-29T01:02:19.395Z,1761699739.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595906,-0.801245,-0.053885],[0.803000,-0.595303,-0.028371],[-0.009346,-0.060176,0.998144]] 2025-10-29T01:02:19.441Z,1761699739.441 [DAT](INFO): DAT read: 01:02:18.7109 LVL= 32752, 26593, 32498, 32755, AGC= 59, IDX= 507,-0.03, 2.705,-1.426,-2.729,-2.475, PHS=-1.001, 1.094,-0.298, RAW= 310.8, 2.2, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:19.443Z,1761699739.443 [DAT](INFO): got valid direction response: 01:02:18.7109 LVL= 32752, 26593, 32498, 32755, AGC= 59, IDX= 507,-0.03, 2.705,-1.426,-2.729,-2.475, PHS=-1.001, 1.094,-0.298, RAW= 310.8, 2.2, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:19.443Z,1761699739.443 [DAT](INFO): #Rx 52: Read direction message, but no range. 2025-10-29T01:02:19.446Z,1761699739.446 [DAT](INFO): direction in FSK: [-0.930303,-0.366456,-0.015707] 2025-10-29T01:02:19.449Z,1761699739.449 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.210548 2025-10-29T01:02:19.494Z,1761699739.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.506198 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:19.498Z,1761699739.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.531274 m, bearing: 328.096173 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 0.506198 s, deltaX: 0.000049 m, approachRate: 0.000096 m/s, posRepo size: 4 2025-10-29T01:02:19.498Z,1761699739.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T01:02:19.689Z,1761699739.689 [DAT](INFO): DAT read: Rx Time:01:02:19.2111 2025-10-29T01:02:19.690Z,1761699739.690 [DAT](INFO): Rx dataTimestamp_ set to:1761699739.689287 2025-10-29T01:02:19.693Z,1761699739.693 [DAT](INFO): DAT read: Bearing 104.9, -21.0 (Local) 2025-10-29T01:02:19.694Z,1761699739.694 [DAT](INFO): Local bearing/azimuth received: Bearing 104.9, -21.0 (Local) 2025-10-29T01:02:19.701Z,1761699739.701 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed -0.2 2025-10-29T01:02:19.703Z,1761699739.703 [DAT](ERROR): #Rx 53: Read range message, but no direction. 2025-10-29T01:02:19.707Z,1761699739.707 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=25.468218 2025-10-29T01:02:19.798Z,1761699739.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595583,-0.801414,-0.054924],[0.803230,-0.595007,-0.028093],[-0.010166,-0.060848,0.998095]] 2025-10-29T01:02:19.917Z,1761699739.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.501959 s, deltaX: 0.299999 m, approachRate: 0.597657 m/s, rangeRepo size: 4 2025-10-29T01:02:19.917Z,1761699739.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T01:02:19.941Z,1761699739.941 [DAT](INFO): DAT read: 01:02:19.2111 LVL= 32752, 24113, 32194, 32755, AGC= 61, IDX= 509,-0.22,-2.989,-0.822,-2.122,-1.865, PHS=-1.022, 1.088,-0.301, RAW= 310.4, 2.6, CAL= 308.0, -0.6, ROT= 202.0, 0.6 2025-10-29T01:02:19.942Z,1761699739.942 [DAT](INFO): got valid direction response: 01:02:19.2111 LVL= 32752, 24113, 32194, 32755, AGC= 61, IDX= 509,-0.22,-2.989,-0.822,-2.122,-1.865, PHS=-1.022, 1.088,-0.301, RAW= 310.4, 2.6, CAL= 308.0, -0.6, ROT= 202.0, 0.6 2025-10-29T01:02:19.942Z,1761699739.942 [DAT](INFO): #Rx 54: Read direction message, but no range. 2025-10-29T01:02:19.943Z,1761699739.943 [DAT](INFO): direction in FSK: [-0.927133,-0.374586,-0.010472] 2025-10-29T01:02:19.947Z,1761699739.947 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=25.708130 2025-10-29T01:02:20.193Z,1761699740.193 [DAT](INFO): DAT read: Rx Time:01:02:19.7110 2025-10-29T01:02:20.194Z,1761699740.194 [DAT](INFO): Rx dataTimestamp_ set to:1761699740.193390 2025-10-29T01:02:20.198Z,1761699740.198 [DAT](INFO): DAT read: Bearing 105.2, -20.5 (Local) 2025-10-29T01:02:20.199Z,1761699740.199 [DAT](INFO): Local bearing/azimuth received: Bearing 105.2, -20.5 (Local) 2025-10-29T01:02:20.216Z,1761699740.216 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.1 2025-10-29T01:02:20.225Z,1761699740.225 [DAT](INFO): DAT read: 01:02:19.7110 LVL= 32752, 23281, 32754, 32755, AGC= 62, IDX= 508, 0.40,-2.191,-0.042,-1.343,-1.091, PHS=-0.998, 1.094,-0.296, RAW= 310.8, 2.2, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:20.227Z,1761699740.227 [DAT](INFO): got valid direction response: 01:02:19.7110 LVL= 32752, 23281, 32754, 32755, AGC= 62, IDX= 508, 0.40,-2.191,-0.042,-1.343,-1.091, PHS=-0.998, 1.094,-0.296, RAW= 310.8, 2.2, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:20.227Z,1761699740.227 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T01:02:20.228Z,1761699740.228 [DAT](INFO): direction in FSK: [-0.930303,-0.366456,-0.015707] 2025-10-29T01:02:20.228Z,1761699740.228 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:20.231Z,1761699740.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595168,-0.801694,-0.055342],[0.803527,-0.594635,-0.027428],[-0.010919,-0.060793,0.998091]] 2025-10-29T01:02:20.250Z,1761699740.250 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.011335 2025-10-29T01:02:20.291Z,1761699740.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504103 s, deltaX: -0.099999 m, approachRate: -0.198371 m/s, rangeRepo size: 4 2025-10-29T01:02:20.297Z,1761699740.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.730201 m, bearing: 328.044567 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 1.006062 s, deltaX: 0.198927 m, approachRate: 0.197728 m/s, posRepo size: 4 2025-10-29T01:02:20.297Z,1761699740.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T01:02:20.443Z,1761699740.443 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.203573 2025-10-29T01:02:20.697Z,1761699740.697 [DAT](INFO): DAT read: Rx Time:01:02:20.2112 2025-10-29T01:02:20.698Z,1761699740.698 [DAT](INFO): Rx dataTimestamp_ set to:1761699740.697416 2025-10-29T01:02:20.702Z,1761699740.702 [DAT](INFO): DAT read: Bearing 104.8, -21.2 (Local) 2025-10-29T01:02:20.703Z,1761699740.703 [DAT](INFO): Local bearing/azimuth received: Bearing 104.8, -21.2 (Local) 2025-10-29T01:02:20.709Z,1761699740.709 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-29T01:02:20.713Z,1761699740.713 [DAT](INFO): DAT read: 01:02:20.2112 LVL= 32752, 23153, 30322, 32755, AGC= 64, IDX= 510, 0.09,-0.701, 1.467, 0.175, 0.430, PHS=-1.029, 1.082,-0.299, RAW= 310.1, 2.7, CAL= 307.8, -0.5, ROT= 202.2, 0.5 2025-10-29T01:02:20.714Z,1761699740.714 [DAT](INFO): got valid direction response: 01:02:20.2112 LVL= 32752, 23153, 30322, 32755, AGC= 64, IDX= 510, 0.09,-0.701, 1.467, 0.175, 0.430, PHS=-1.029, 1.082,-0.299, RAW= 310.1, 2.7, CAL= 307.8, -0.5, ROT= 202.2, 0.5 2025-10-29T01:02:20.715Z,1761699740.715 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T01:02:20.716Z,1761699740.716 [DAT](INFO): direction in FSK: [-0.925835,-0.377826,-0.008727] 2025-10-29T01:02:20.719Z,1761699740.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594277,-0.802243,-0.056928],[0.804173,-0.593764,-0.027377],[-0.011839,-0.062049,0.998003]] 2025-10-29T01:02:20.736Z,1761699740.736 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:20.756Z,1761699740.756 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.517418 2025-10-29T01:02:20.852Z,1761699740.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504026 s, deltaX: 0.300000 m, approachRate: 0.595208 m/s, rangeRepo size: 4 2025-10-29T01:02:20.854Z,1761699740.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.028565 m, bearing: 328.659367 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: 0.504026 s, deltaX: 0.298365 m, approachRate: 0.591963 m/s, posRepo size: 4 2025-10-29T01:02:20.855Z,1761699740.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:20.945Z,1761699740.945 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=26.706306 2025-10-29T01:02:21.102Z,1761699741.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594041,-0.802377,-0.057500],[0.804344,-0.593527,-0.027496],[-0.012066,-0.062584,0.997967]] 2025-10-29T01:02:21.136Z,1761699741.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:21.201Z,1761699741.201 [DAT](INFO): DAT read: Rx Time:01:02:20.7112 2025-10-29T01:02:21.203Z,1761699741.203 [DAT](INFO): Rx dataTimestamp_ set to:1761699741.201685 2025-10-29T01:02:21.206Z,1761699741.206 [DAT](INFO): DAT read: Bearing 105.0, -21.1 (Local) 2025-10-29T01:02:21.207Z,1761699741.207 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -21.1 (Local) 2025-10-29T01:02:21.210Z,1761699741.210 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-29T01:02:21.223Z,1761699741.223 [DAT](INFO): DAT read: 01:02:20.7112 LVL= 32752, 26545, 30322, 32755, AGC= 63, IDX= 510,-0.13,-3.130,-0.970,-2.261,-2.008, PHS=-1.020, 1.083,-0.297, RAW= 310.2, 2.6, CAL= 307.9, -0.6, ROT= 202.1, 0.6 2025-10-29T01:02:21.231Z,1761699741.231 [DAT](INFO): got valid direction response: 01:02:20.7112 LVL= 32752, 26545, 30322, 32755, AGC= 63, IDX= 510,-0.13,-3.130,-0.970,-2.261,-2.008, PHS=-1.020, 1.083,-0.297, RAW= 310.2, 2.6, CAL= 307.9, -0.6, ROT= 202.1, 0.6 2025-10-29T01:02:21.231Z,1761699741.231 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T01:02:21.241Z,1761699741.241 [DAT](INFO): direction in FSK: [-0.926478,-0.376204,-0.010472] 2025-10-29T01:02:21.241Z,1761699741.241 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:21.253Z,1761699741.253 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.013042 2025-10-29T01:02:21.449Z,1761699741.449 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.210312 2025-10-29T01:02:21.495Z,1761699741.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593855,-0.802610,-0.056154],[0.804481,-0.593393,-0.026375],[-0.012153,-0.060838,0.998074]] 2025-10-29T01:02:21.570Z,1761699741.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504269 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:21.579Z,1761699741.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.028557 m, bearing: 328.535717 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: 0.504269 s, deltaX: -0.000009 m, approachRate: -0.000017 m/s, posRepo size: 4 2025-10-29T01:02:21.584Z,1761699741.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:21.706Z,1761699741.706 [DAT](INFO): DAT read: Rx Time:01:02:21.2112 2025-10-29T01:02:21.709Z,1761699741.709 [DAT](INFO): Rx dataTimestamp_ set to:1761699741.707133 2025-10-29T01:02:21.711Z,1761699741.711 [DAT](INFO): DAT read: Bearing 105.2, -20.9 (Local) 2025-10-29T01:02:21.711Z,1761699741.711 [DAT](INFO): Local bearing/azimuth received: Bearing 105.2, -20.9 (Local) 2025-10-29T01:02:21.714Z,1761699741.714 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-29T01:02:21.729Z,1761699741.729 [DAT](INFO): DAT read: 01:02:21.2112 LVL= 32752, 25505, 32754, 32755, AGC= 63, IDX= 510, 0.50,-1.704, 0.451,-0.843,-0.591, PHS=-1.011, 1.087,-0.296, RAW= 310.4, 2.4, CAL= 308.1, -0.8, ROT= 201.9, 0.8 2025-10-29T01:02:21.730Z,1761699741.730 [DAT](INFO): got valid direction response: 01:02:21.2112 LVL= 32752, 25505, 32754, 32755, AGC= 63, IDX= 510, 0.50,-1.704, 0.451,-0.843,-0.591, PHS=-1.011, 1.087,-0.296, RAW= 310.4, 2.4, CAL= 308.1, -0.8, ROT= 201.9, 0.8 2025-10-29T01:02:21.730Z,1761699741.730 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T01:02:21.731Z,1761699741.731 [DAT](INFO): direction in FSK: [-0.927746,-0.372951,-0.013962] 2025-10-29T01:02:21.736Z,1761699741.736 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:21.746Z,1761699741.746 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.507116 2025-10-29T01:02:21.931Z,1761699741.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593596,-0.802984,-0.053474],[0.804671,-0.593220,-0.024376],[-0.012148,-0.057498,0.998272]] 2025-10-29T01:02:21.953Z,1761699741.953 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=27.714180 2025-10-29T01:02:22.057Z,1761699742.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.505448 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:22.059Z,1761699742.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.028562 m, bearing: 328.329036 deg, lat: 36.779299 deg, lon: -121.859484 deg, deltaT: 0.505448 s, deltaX: 0.000005 m, approachRate: 0.000009 m/s, posRepo size: 4 2025-10-29T01:02:22.064Z,1761699742.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:22.209Z,1761699742.209 [DAT](INFO): DAT read: Rx Time:01:02:21.7112 2025-10-29T01:02:22.210Z,1761699742.210 [DAT](INFO): Rx dataTimestamp_ set to:1761699742.209333 2025-10-29T01:02:22.211Z,1761699742.211 [DAT](INFO): DAT read: Bearing 105.3, -20.8 (Local) 2025-10-29T01:02:22.211Z,1761699742.211 [DAT](INFO): Local bearing/azimuth received: Bearing 105.3, -20.8 (Local) 2025-10-29T01:02:22.214Z,1761699742.214 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed -0.2 2025-10-29T01:02:22.218Z,1761699742.218 [DAT](INFO): DAT read: 01:02:21.7112 LVL= 31136, 24945, 29170, 32755, AGC= 62, IDX= 510, 0.16,-2.854,-0.710,-1.999,-1.752, PHS=-1.000, 1.087,-0.290, RAW= 310.5, 2.2, CAL= 308.2, -0.9, ROT= 201.8, 0.9 2025-10-29T01:02:22.219Z,1761699742.219 [DAT](INFO): got valid direction response: 01:02:21.7112 LVL= 31136, 24945, 29170, 32755, AGC= 62, IDX= 510, 0.16,-2.854,-0.710,-1.999,-1.752, PHS=-1.000, 1.087,-0.290, RAW= 310.5, 2.2, CAL= 308.2, -0.9, ROT= 201.8, 0.9 2025-10-29T01:02:22.220Z,1761699742.220 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T01:02:22.221Z,1761699742.221 [DAT](INFO): direction in FSK: [-0.928371,-0.371322,-0.015707] 2025-10-29T01:02:22.222Z,1761699742.222 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:22.234Z,1761699742.234 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=27.994793 2025-10-29T01:02:22.342Z,1761699742.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593683,-0.803037,-0.051690],[0.804612,-0.593338,-0.023443],[-0.011844,-0.055508,0.998388]] 2025-10-29T01:02:22.407Z,1761699742.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.502200 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:22.413Z,1761699742.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.028562 m, bearing: 328.240345 deg, lat: 36.779299 deg, lon: -121.859484 deg, deltaT: 0.502200 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:22.413Z,1761699742.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:22.458Z,1761699742.458 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=28.219069 2025-10-29T01:02:22.709Z,1761699742.709 [DAT](INFO): DAT read: Rx Time:01:02:22.2114 2025-10-29T01:02:22.709Z,1761699742.709 [DAT](INFO): Rx dataTimestamp_ set to:1761699742.709158 2025-10-29T01:02:22.711Z,1761699742.711 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed -0.2 2025-10-29T01:02:22.711Z,1761699742.711 [DAT](ERROR): #Rx 60: Read range message, but no direction. 2025-10-29T01:02:22.712Z,1761699742.712 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.473480 2025-10-29T01:02:22.857Z,1761699742.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.499825 s, deltaX: 0.299999 m, approachRate: 0.600209 m/s, rangeRepo size: 4 2025-10-29T01:02:22.858Z,1761699742.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:22.962Z,1761699742.962 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=28.722988 2025-10-29T01:02:23.132Z,1761699743.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594307,-0.802524,-0.052494],[0.804163,-0.593876,-0.025142],[-0.010998,-0.057155,0.998305]] 2025-10-29T01:02:23.196Z,1761699743.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:23.213Z,1761699743.213 [DAT](INFO): DAT read: Rx Time:01:02:22.7113 2025-10-29T01:02:23.214Z,1761699743.214 [DAT](INFO): Rx dataTimestamp_ set to:1761699743.213331 2025-10-29T01:02:23.215Z,1761699743.215 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 2025-10-29T01:02:23.215Z,1761699743.215 [DAT](ERROR): #Rx 61: Read range message, but no direction. 2025-10-29T01:02:23.217Z,1761699743.217 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=28.977785 2025-10-29T01:02:23.465Z,1761699743.465 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=29.226299 2025-10-29T01:02:23.566Z,1761699743.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594916,-0.802035,-0.053059],[0.803722,-0.594414,-0.026506],[-0.010280,-0.058413,0.998240]] 2025-10-29T01:02:23.619Z,1761699743.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504173 s, deltaX: -0.200000 m, approachRate: -0.396689 m/s, rangeRepo size: 4 2025-10-29T01:02:23.624Z,1761699743.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:23.719Z,1761699743.719 [DAT](INFO): DAT read: Rx Time:01:02:23.2115 2025-10-29T01:02:23.720Z,1761699743.720 [DAT](INFO): Rx dataTimestamp_ set to:1761699743.719711 2025-10-29T01:02:23.721Z,1761699743.721 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.2 2025-10-29T01:02:23.722Z,1761699743.722 [DAT](ERROR): #Rx 62: Read range message, but no direction. 2025-10-29T01:02:23.723Z,1761699743.723 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.484245 2025-10-29T01:02:23.942Z,1761699743.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595584,-0.801595,-0.052193],[0.803239,-0.595039,-0.027129],[-0.009311,-0.058081,0.998268]] 2025-10-29T01:02:23.969Z,1761699743.969 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=29.730181 2025-10-29T01:02:24.022Z,1761699744.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.506380 s, deltaX: 0.300000 m, approachRate: 0.592441 m/s, rangeRepo size: 4 2025-10-29T01:02:24.022Z,1761699744.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:02:24.222Z,1761699744.222 [DAT](INFO): DAT read: Rx Time:01:02:23.7115 2025-10-29T01:02:24.222Z,1761699744.222 [DAT](INFO): Rx dataTimestamp_ set to:1761699744.221912 2025-10-29T01:02:24.223Z,1761699744.223 [DAT](INFO): DAT read: Bearing 108.3, -16.8 (Local) 2025-10-29T01:02:24.224Z,1761699744.224 [DAT](INFO): Local bearing/azimuth received: Bearing 108.3, -16.8 (Local) 2025-10-29T01:02:24.226Z,1761699744.226 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.1 2025-10-29T01:02:24.231Z,1761699744.231 [DAT](INFO): DAT read: 01:02:23.7115 LVL= 32752, 24817, 32754, 32755, AGC= 62, IDX= 513, 0.09,-0.320, 2.223, 0.535, 0.818, PHS=-1.037, 1.450,-0.328, RAW= 313.9, -0.8, CAL= 312.3, -4.0, ROT= 197.7, 4.0 2025-10-29T01:02:24.232Z,1761699744.232 [DAT](INFO): got valid direction response: 01:02:23.7115 LVL= 32752, 24817, 32754, 32755, AGC= 62, IDX= 513, 0.09,-0.320, 2.223, 0.535, 0.818, PHS=-1.037, 1.450,-0.328, RAW= 313.9, -0.8, CAL= 312.3, -4.0, ROT= 197.7, 4.0 2025-10-29T01:02:24.232Z,1761699744.232 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T01:02:24.233Z,1761699744.233 [DAT](INFO): direction in FSK: [-0.950341,-0.303293,-0.069756] 2025-10-29T01:02:24.233Z,1761699744.233 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:24.241Z,1761699744.241 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.001678 2025-10-29T01:02:24.347Z,1761699744.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596204,-0.801229,-0.050725],[0.802788,-0.595645,-0.027175],[-0.008441,-0.056923,0.998343]] 2025-10-29T01:02:24.401Z,1761699744.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.502201 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:24.403Z,1761699744.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.426520 m, bearing: 324.483029 deg, lat: 36.779299 deg, lon: -121.859484 deg, deltaT: 2.012579 s, deltaX: 0.397959 m, approachRate: 0.197736 m/s, posRepo size: 4 2025-10-29T01:02:24.403Z,1761699744.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-29T01:02:24.473Z,1761699744.473 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=30.234240 2025-10-29T01:02:24.725Z,1761699744.725 [DAT](INFO): DAT read: Rx Time:01:02:24.2116 2025-10-29T01:02:24.726Z,1761699744.726 [DAT](INFO): Rx dataTimestamp_ set to:1761699744.725664 2025-10-29T01:02:24.727Z,1761699744.727 [DAT](INFO): DAT read: Bearing 105.0, -21.4 (Local) 2025-10-29T01:02:24.728Z,1761699744.728 [DAT](INFO): Local bearing/azimuth received: Bearing 105.0, -21.4 (Local) 2025-10-29T01:02:24.730Z,1761699744.730 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.1 2025-10-29T01:02:24.734Z,1761699744.734 [DAT](INFO): DAT read: 01:02:24.2116 LVL= 32320, 21745, 27618, 32755, AGC= 66, IDX= 2,-0.08, 0.838, 2.999, 1.704, 1.959, PHS=-1.020, 1.085,-0.299, RAW= 310.3, 2.6, CAL= 308.0, -0.6, ROT= 202.0, 0.6 2025-10-29T01:02:24.735Z,1761699744.735 [DAT](INFO): got valid direction response: 01:02:24.2116 LVL= 32320, 21745, 27618, 32755, AGC= 66, IDX= 2,-0.08, 0.838, 2.999, 1.704, 1.959, PHS=-1.020, 1.085,-0.299, RAW= 310.3, 2.6, CAL= 308.0, -0.6, ROT= 202.0, 0.6 2025-10-29T01:02:24.755Z,1761699744.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596976,-0.800761,-0.048994],[0.802226,-0.596390,-0.027431],[-0.007254,-0.055680,0.998422]] 2025-10-29T01:02:24.736Z,1761699744.736 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T01:02:24.761Z,1761699744.761 [DAT](INFO): direction in FSK: [-0.927133,-0.374586,-0.010472] 2025-10-29T01:02:24.762Z,1761699744.762 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:24.771Z,1761699744.771 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.532236 2025-10-29T01:02:24.878Z,1761699744.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.503752 s, deltaX: 0.200000 m, approachRate: 0.397020 m/s, rangeRepo size: 4 2025-10-29T01:02:24.888Z,1761699744.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.625431 m, bearing: 328.657029 deg, lat: 36.779299 deg, lon: -121.859483 deg, deltaT: 0.503752 s, deltaX: 0.198911 m, approachRate: 0.394858 m/s, posRepo size: 4 2025-10-29T01:02:24.889Z,1761699744.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.63 m. 2025-10-29T01:02:24.978Z,1761699744.978 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=30.738585 2025-10-29T01:02:25.230Z,1761699745.230 [DAT](INFO): DAT read: Rx Time:01:02:24.7115 2025-10-29T01:02:25.230Z,1761699745.230 [DAT](INFO): Rx dataTimestamp_ set to:1761699745.229915 2025-10-29T01:02:25.231Z,1761699745.231 [DAT](INFO): DAT read: Bearing 105.2, -21.2 (Local) 2025-10-29T01:02:25.232Z,1761699745.232 [DAT](INFO): Local bearing/azimuth received: Bearing 105.2, -21.2 (Local) 2025-10-29T01:02:25.234Z,1761699745.234 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.2 2025-10-29T01:02:25.239Z,1761699745.239 [DAT](INFO): DAT read: 01:02:24.7115 LVL= 31952, 20273, 25682, 32755, AGC= 62, IDX= 498,-0.29,-0.688, 1.480, 0.172, 0.429, PHS=-1.015, 1.096,-0.301, RAW= 310.6, 2.4, CAL= 308.3, -0.8, ROT= 201.7, 0.8 2025-10-29T01:02:25.240Z,1761699745.240 [DAT](INFO): got valid direction response: 01:02:24.7115 LVL= 31952, 20273, 25682, 32755, AGC= 62, IDX= 498,-0.29,-0.688, 1.480, 0.172, 0.429, PHS=-1.015, 1.096,-0.301, RAW= 310.6, 2.4, CAL= 308.3, -0.8, ROT= 201.7, 0.8 2025-10-29T01:02:25.240Z,1761699745.240 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T01:02:25.241Z,1761699745.241 [DAT](INFO): direction in FSK: [-0.929042,-0.369711,-0.013962] 2025-10-29T01:02:25.241Z,1761699745.241 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:25.245Z,1761699745.245 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.006226 2025-10-29T01:02:25.252Z,1761699745.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598102,-0.799986,-0.047925],[0.801398,-0.597460,-0.028348],[-0.005955,-0.055362,0.998449]] 2025-10-29T01:02:25.297Z,1761699745.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504251 s, deltaX: -0.200000 m, approachRate: -0.396627 m/s, rangeRepo size: 4 2025-10-29T01:02:25.305Z,1761699745.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.426540 m, bearing: 328.446988 deg, lat: 36.779299 deg, lon: -121.859483 deg, deltaT: 0.504251 s, deltaX: -0.198891 m, approachRate: -0.394428 m/s, posRepo size: 4 2025-10-29T01:02:25.305Z,1761699745.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-29T01:02:25.483Z,1761699745.483 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=31.244226 2025-10-29T01:02:25.738Z,1761699745.738 [DAT](INFO): DAT read: Rx Time:01:02:25.2117 2025-10-29T01:02:25.739Z,1761699745.739 [DAT](INFO): Rx dataTimestamp_ set to:1761699745.738297 2025-10-29T01:02:25.740Z,1761699745.740 [DAT](INFO): DAT read: Bearing 105.5, -21.1 (Local) 2025-10-29T01:02:25.741Z,1761699745.741 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -21.1 (Local) 2025-10-29T01:02:25.744Z,1761699745.744 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 2025-10-29T01:02:25.750Z,1761699745.750 [DAT](INFO): DAT read: 01:02:25.2117 LVL= 30944, 18033, 24642, 32755, AGC= 66, IDX= 3, 0.39, 2.452,-1.665,-2.975,-2.726, PHS=-1.003, 1.106,-0.293, RAW= 310.7, 2.1, CAL= 308.4, -1.1, ROT= 201.6, 1.1 2025-10-29T01:02:25.751Z,1761699745.751 [DAT](INFO): got valid direction response: 01:02:25.2117 LVL= 30944, 18033, 24642, 32755, AGC= 66, IDX= 3, 0.39, 2.452,-1.665,-2.975,-2.726, PHS=-1.003, 1.106,-0.293, RAW= 310.7, 2.1, CAL= 308.4, -1.1, ROT= 201.6, 1.1 2025-10-29T01:02:25.760Z,1761699745.760 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T01:02:25.762Z,1761699745.762 [DAT](INFO): direction in FSK: [-0.929605,-0.368057,-0.019197] 2025-10-29T01:02:25.762Z,1761699745.762 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:25.775Z,1761699745.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599461,-0.798984,-0.047659],[0.800390,-0.598738,-0.029807],[-0.004720,-0.056015,0.998419]] 2025-10-29T01:02:25.779Z,1761699745.779 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.539766 2025-10-29T01:02:25.897Z,1761699745.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.508382 s, deltaX: 0.300000 m, approachRate: 0.590108 m/s, rangeRepo size: 4 2025-10-29T01:02:25.899Z,1761699745.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.724908 m, bearing: 328.458615 deg, lat: 36.779299 deg, lon: -121.859482 deg, deltaT: 0.508382 s, deltaX: 0.298368 m, approachRate: 0.586896 m/s, posRepo size: 4 2025-10-29T01:02:25.899Z,1761699745.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T01:02:25.990Z,1761699745.990 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=31.751442 2025-10-29T01:02:26.155Z,1761699746.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600717,-0.798083,-0.046926],[0.799454,-0.599928,-0.030966],[-0.003438,-0.056117,0.998418]] 2025-10-29T01:02:26.229Z,1761699746.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T01:02:26.245Z,1761699746.245 [DAT](INFO): DAT read: Rx Time:01:02:25.7117 2025-10-29T01:02:26.246Z,1761699746.246 [DAT](INFO): Rx dataTimestamp_ set to:1761699746.245361 2025-10-29T01:02:26.247Z,1761699746.247 [DAT](INFO): DAT read: Bearing 105.5, -21.1 (Local) 2025-10-29T01:02:26.247Z,1761699746.247 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -21.1 (Local) 2025-10-29T01:02:26.250Z,1761699746.250 [DAT](INFO): DAT read: Range 11 to 50 : 13.8 m (trip time 9.2 ms) speed -0.2 2025-10-29T01:02:26.254Z,1761699746.254 [DAT](INFO): DAT read: 01:02:25.7117 LVL= 31728, 21297, 27538, 32755, AGC= 63, IDX= 499, 0.17, 2.093,-2.028, 2.943,-3.083, PHS=-1.006, 1.100,-0.301, RAW= 310.8, 2.3, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:26.255Z,1761699746.255 [DAT](INFO): got valid direction response: 01:02:25.7117 LVL= 31728, 21297, 27538, 32755, AGC= 63, IDX= 499, 0.17, 2.093,-2.028, 2.943,-3.083, PHS=-1.006, 1.100,-0.301, RAW= 310.8, 2.3, CAL= 308.5, -0.9, ROT= 201.5, 0.9 2025-10-29T01:02:26.255Z,1761699746.255 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T01:02:26.261Z,1761699746.261 [DAT](INFO): direction in FSK: [-0.930303,-0.366456,-0.015707] 2025-10-29T01:02:26.261Z,1761699746.261 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:26.273Z,1761699746.273 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.033928 2025-10-29T01:02:26.493Z,1761699746.493 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=32.254208 2025-10-29T01:02:26.543Z,1761699746.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602044,-0.797137,-0.046006],[0.798460,-0.601199,-0.031959],[-0.002183,-0.055975,0.998430]] 2025-10-29T01:02:26.602Z,1761699746.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.800000 m, deltaT: 0.507064 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:26.609Z,1761699746.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.724916 m, bearing: 328.533022 deg, lat: 36.779299 deg, lon: -121.859482 deg, deltaT: 0.507064 s, deltaX: 0.000009 m, approachRate: 0.000017 m/s, posRepo size: 4 2025-10-29T01:02:26.609Z,1761699746.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.72 m. 2025-10-29T01:02:26.747Z,1761699746.747 [DAT](INFO): DAT read: Rx Time:01:02:26.2119 2025-10-29T01:02:26.747Z,1761699746.747 [DAT](INFO): Rx dataTimestamp_ set to:1761699746.746802 2025-10-29T01:02:26.750Z,1761699746.750 [DAT](INFO): DAT read: Bearing 106.1, -20.5 (Local) 2025-10-29T01:02:26.751Z,1761699746.751 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -20.5 (Local) 2025-10-29T01:02:26.753Z,1761699746.753 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 2025-10-29T01:02:26.760Z,1761699746.760 [DAT](INFO): DAT read: 01:02:26.2119 LVL= 29040, 18865, 23602, 32755, AGC= 61, IDX= 501, 0.03, 2.681,-1.447,-2.772,-2.520, PHS=-0.980, 1.118,-0.296, RAW= 311.4, 1.7, CAL= 309.2, -1.4, ROT= 200.8, 1.4 2025-10-29T01:02:26.766Z,1761699746.766 [DAT](INFO): got valid direction response: 01:02:26.2119 LVL= 29040, 18865, 23602, 32755, AGC= 61, IDX= 501, 0.03, 2.681,-1.447,-2.772,-2.520, PHS=-0.980, 1.118,-0.296, RAW= 311.4, 1.7, CAL= 309.2, -1.4, ROT= 200.8, 1.4 2025-10-29T01:02:26.766Z,1761699746.766 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T01:02:26.767Z,1761699746.767 [DAT](INFO): direction in FSK: [-0.934547,-0.355001,-0.024432] 2025-10-29T01:02:26.772Z,1761699746.772 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:26.781Z,1761699746.781 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.542229 2025-10-29T01:02:26.946Z,1761699746.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603466,-0.796137,-0.044652],[0.797388,-0.602575,-0.032794],[-0.000797,-0.055395,0.998464]] 2025-10-29T01:02:26.997Z,1761699746.997 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=32.758205 2025-10-29T01:02:27.028Z,1761699747.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.501441 s, deltaX: 0.300000 m, approachRate: 0.598276 m/s, rangeRepo size: 4 2025-10-29T01:02:27.030Z,1761699747.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.023285 m, bearing: 327.961797 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.501441 s, deltaX: 0.298368 m, approachRate: 0.595022 m/s, posRepo size: 4 2025-10-29T01:02:27.031Z,1761699747.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:02:27.250Z,1761699747.250 [DAT](INFO): DAT read: Rx Time:01:02:26.7119 2025-10-29T01:02:27.250Z,1761699747.250 [DAT](INFO): Rx dataTimestamp_ set to:1761699747.249841 2025-10-29T01:02:27.251Z,1761699747.251 [DAT](INFO): DAT read: Bearing 105.7, -20.8 (Local) 2025-10-29T01:02:27.252Z,1761699747.252 [DAT](INFO): Local bearing/azimuth received: Bearing 105.7, -20.8 (Local) 2025-10-29T01:02:27.255Z,1761699747.255 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 2025-10-29T01:02:27.267Z,1761699747.267 [DAT](INFO): DAT read: 01:02:26.7119 LVL= 30480, 18993, 25586, 32755, AGC= 63, IDX= 501,-0.10, 0.275, 2.446, 1.115, 1.378, PHS=-1.001, 1.113,-0.307, RAW= 311.2, 2.1, CAL= 308.9, -1.0, ROT= 201.1, 1.0 2025-10-29T01:02:27.268Z,1761699747.268 [DAT](INFO): got valid direction response: 01:02:26.7119 LVL= 30480, 18993, 25586, 32755, AGC= 63, IDX= 501,-0.10, 0.275, 2.446, 1.115, 1.378, PHS=-1.001, 1.113,-0.307, RAW= 311.2, 2.1, CAL= 308.9, -1.0, ROT= 201.1, 1.0 2025-10-29T01:02:27.269Z,1761699747.269 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T01:02:27.269Z,1761699747.269 [DAT](INFO): direction in FSK: [-0.932811,-0.359942,-0.017452] 2025-10-29T01:02:27.270Z,1761699747.270 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:27.277Z,1761699747.277 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.038704 2025-10-29T01:02:27.350Z,1761699747.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604821,-0.795215,-0.042719],[0.796361,-0.603911,-0.033173],[0.000582,-0.054083,0.998536]] 2025-10-29T01:02:27.406Z,1761699747.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503039 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:27.424Z,1761699747.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.023461 m, bearing: 328.338236 deg, lat: 36.779300 deg, lon: -121.859481 deg, deltaT: 0.503039 s, deltaX: 0.000176 m, approachRate: 0.000351 m/s, posRepo size: 4 2025-10-29T01:02:27.425Z,1761699747.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:02:27.502Z,1761699747.502 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=33.262680 2025-10-29T01:02:27.754Z,1761699747.754 [DAT](INFO): DAT read: Rx Time:01:02:27.2120 2025-10-29T01:02:27.755Z,1761699747.755 [DAT](INFO): Rx dataTimestamp_ set to:1761699747.754357 2025-10-29T01:02:27.757Z,1761699747.757 [DAT](INFO): DAT read: Bearing 105.8, -20.5 (Local) 2025-10-29T01:02:27.757Z,1761699747.757 [DAT](INFO): Local bearing/azimuth received: Bearing 105.8, -20.5 (Local) 2025-10-29T01:02:27.760Z,1761699747.760 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2 2025-10-29T01:02:27.766Z,1761699747.766 [DAT](INFO): DAT read: 01:02:27.2120 LVL= 30048, 18129, 25266, 32755, AGC= 62, IDX= 503,-0.24, 0.922, 3.088, 1.749, 2.015, PHS=-0.991, 1.118,-0.311, RAW= 311.6, 2.0, CAL= 309.3, -1.1, ROT= 200.7, 1.1 2025-10-29T01:02:27.768Z,1761699747.768 [DAT](INFO): got valid direction response: 01:02:27.2120 LVL= 30048, 18129, 25266, 32755, AGC= 62, IDX= 503,-0.24, 0.922, 3.088, 1.749, 2.015, PHS=-0.991, 1.118,-0.311, RAW= 311.6, 2.0, CAL= 309.3, -1.1, ROT= 200.7, 1.1 2025-10-29T01:02:27.780Z,1761699747.780 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T01:02:27.781Z,1761699747.781 [DAT](INFO): direction in FSK: [-0.935272,-0.353410,-0.019197] 2025-10-29T01:02:27.781Z,1761699747.781 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:27.795Z,1761699747.795 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.555569 2025-10-29T01:02:27.814Z,1761699747.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605955,-0.794472,-0.040420],[0.795497,-0.605050,-0.033154],[0.001884,-0.052244,0.998633]] 2025-10-29T01:02:27.915Z,1761699747.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504516 s, deltaX: 0.200000 m, approachRate: 0.396419 m/s, rangeRepo size: 4 2025-10-29T01:02:27.922Z,1761699747.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.222376 m, bearing: 328.025587 deg, lat: 36.779301 deg, lon: -121.859482 deg, deltaT: 0.504516 s, deltaX: 0.198915 m, approachRate: 0.394268 m/s, posRepo size: 4 2025-10-29T01:02:27.923Z,1761699747.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T01:02:28.006Z,1761699748.006 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=33.766941 2025-10-29T01:02:28.238Z,1761699748.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606955,-0.793806,-0.038438],[0.794730,-0.606046,-0.033344],[0.003174,-0.050786,0.998705]] 2025-10-29T01:02:28.258Z,1761699748.258 [DAT](INFO): DAT read: Rx Time:01:02:27.7119 2025-10-29T01:02:28.258Z,1761699748.258 [DAT](INFO): Rx dataTimestamp_ set to:1761699748.257852 2025-10-29T01:02:28.259Z,1761699748.259 [DAT](INFO): DAT read: Bearing 105.5, -20.3 (Local) 2025-10-29T01:02:28.260Z,1761699748.260 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -20.3 (Local) 2025-10-29T01:02:28.262Z,1761699748.262 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.2 2025-10-29T01:02:28.267Z,1761699748.267 [DAT](INFO): DAT read: 01:02:27.7119 LVL= 32752, 22497, 30258, 32755, AGC= 63, IDX= 503,-0.49, 0.406, 2.581, 1.223, 1.505, PHS=-0.996, 1.122,-0.325, RAW= 311.9, 2.2, CAL= 309.7, -0.9, ROT= 200.3, 0.9 2025-10-29T01:02:28.268Z,1761699748.268 [DAT](INFO): got valid direction response: 01:02:27.7119 LVL= 32752, 22497, 30258, 32755, AGC= 63, IDX= 503,-0.49, 0.406, 2.581, 1.223, 1.505, PHS=-0.996, 1.122,-0.325, RAW= 311.9, 2.2, CAL= 309.7, -0.9, ROT= 200.3, 0.9 2025-10-29T01:02:28.268Z,1761699748.268 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T01:02:28.269Z,1761699748.269 [DAT](INFO): direction in FSK: [-0.937773,-0.346893,-0.015707] 2025-10-29T01:02:28.269Z,1761699748.269 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:28.277Z,1761699748.277 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.038258 2025-10-29T01:02:28.316Z,1761699748.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.503495 s, deltaX: -0.200000 m, approachRate: -0.397223 m/s, rangeRepo size: 4 2025-10-29T01:02:28.323Z,1761699748.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.023581 m, bearing: 327.688626 deg, lat: 36.779301 deg, lon: -121.859482 deg, deltaT: 0.503495 s, deltaX: -0.198795 m, approachRate: -0.394831 m/s, posRepo size: 4 2025-10-29T01:02:28.328Z,1761699748.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:02:28.509Z,1761699748.509 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=34.270416 2025-10-29T01:02:28.607Z,1761699748.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607824,-0.793173,-0.037777],[0.794061,-0.606871,-0.034275],[0.004260,-0.050830,0.998698]] 2025-10-29T01:02:28.652Z,1761699748.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:02:28.762Z,1761699748.762 [DAT](INFO): DAT read: Rx Time:01:02:28.2120 2025-10-29T01:02:28.763Z,1761699748.763 [DAT](INFO): Rx dataTimestamp_ set to:1761699748.762465 2025-10-29T01:02:28.765Z,1761699748.765 [DAT](INFO): DAT read: Bearing 105.5, -20.5 (Local) 2025-10-29T01:02:28.765Z,1761699748.765 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -20.5 (Local) 2025-10-29T01:02:28.768Z,1761699748.768 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed 0.0 2025-10-29T01:02:28.774Z,1761699748.774 [DAT](INFO): DAT read: 01:02:28.2120 LVL= 30656, 18417, 24962, 32755, AGC= 63, IDX= 503, 0.27, 1.572,-2.551, 2.389, 2.667, PHS=-0.994, 1.110,-0.322, RAW= 311.8, 2.2, CAL= 309.5, -0.8, ROT= 200.5, 0.8 2025-10-29T01:02:28.776Z,1761699748.776 [DAT](INFO): got valid direction response: 01:02:28.2120 LVL= 30656, 18417, 24962, 32755, AGC= 63, IDX= 503, 0.27, 1.572,-2.551, 2.389, 2.667, PHS=-0.994, 1.110,-0.322, RAW= 311.8, 2.2, CAL= 309.5, -0.8, ROT= 200.5, 0.8 2025-10-29T01:02:28.776Z,1761699748.776 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T01:02:28.777Z,1761699748.777 [DAT](INFO): direction in FSK: [-0.936581,-0.350173,-0.013962] 2025-10-29T01:02:28.778Z,1761699748.778 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:28.781Z,1761699748.781 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.542519 2025-10-29T01:02:29.011Z,1761699749.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608479,-0.792663,-0.037939],[0.793553,-0.607452,-0.035715],[0.005263,-0.051838,0.998642]] 2025-10-29T01:02:29.013Z,1761699749.013 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=34.774250 2025-10-29T01:02:29.127Z,1761699749.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504613 s, deltaX: 0.200000 m, approachRate: 0.396343 m/s, rangeRepo size: 4 2025-10-29T01:02:29.133Z,1761699749.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.222567 m, bearing: 327.993570 deg, lat: 36.779301 deg, lon: -121.859482 deg, deltaT: 0.504613 s, deltaX: 0.198986 m, approachRate: 0.394334 m/s, posRepo size: 4 2025-10-29T01:02:29.134Z,1761699749.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T01:02:29.266Z,1761699749.266 [DAT](INFO): DAT read: Rx Time:01:02:28.7120 2025-10-29T01:02:29.267Z,1761699749.267 [DAT](INFO): Rx dataTimestamp_ set to:1761699749.266434 2025-10-29T01:02:29.268Z,1761699749.268 [DAT](INFO): DAT read: Bearing 105.4, -20.7 (Local) 2025-10-29T01:02:29.268Z,1761699749.268 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -20.7 (Local) 2025-10-29T01:02:29.270Z,1761699749.270 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.2 2025-10-29T01:02:29.276Z,1761699749.276 [DAT](INFO): DAT read: 01:02:28.7120 LVL= 31616, 19505, 24754, 32755, AGC= 62, IDX= 503, 0.08,-0.236, 1.935, 0.588, 0.870, PHS=-1.004, 1.110,-0.327, RAW= 311.7, 2.4, CAL= 309.4, -0.7, ROT= 200.6, 0.7 2025-10-29T01:02:29.277Z,1761699749.277 [DAT](INFO): got valid direction response: 01:02:28.7120 LVL= 31616, 19505, 24754, 32755, AGC= 62, IDX= 503, 0.08,-0.236, 1.935, 0.588, 0.870, PHS=-1.004, 1.110,-0.327, RAW= 311.7, 2.4, CAL= 309.4, -0.7, ROT= 200.6, 0.7 2025-10-29T01:02:29.277Z,1761699749.277 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T01:02:29.278Z,1761699749.278 [DAT](INFO): direction in FSK: [-0.935990,-0.351815,-0.012217] 2025-10-29T01:02:29.278Z,1761699749.278 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:29.287Z,1761699749.287 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.048546 2025-10-29T01:02:29.432Z,1761699749.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609125,-0.792166,-0.037955],[0.793051,-0.608038,-0.036886],[0.006142,-0.052569,0.998598]] 2025-10-29T01:02:29.493Z,1761699749.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.503969 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:29.495Z,1761699749.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.222567 m, bearing: 328.135001 deg, lat: 36.779299 deg, lon: -121.859481 deg, deltaT: 0.503969 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:29.495Z,1761699749.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.22 m. 2025-10-29T01:02:29.517Z,1761699749.517 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=35.278332 2025-10-29T01:02:29.775Z,1761699749.775 [DAT](INFO): DAT read: Rx Time:01:02:29.2122 2025-10-29T01:02:29.777Z,1761699749.777 [DAT](INFO): Rx dataTimestamp_ set to:1761699749.775893 2025-10-29T01:02:29.780Z,1761699749.780 [DAT](INFO): DAT read: Bearing 105.5, -20.8 (Local) 2025-10-29T01:02:29.780Z,1761699749.780 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -20.8 (Local) 2025-10-29T01:02:29.782Z,1761699749.782 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.2 2025-10-29T01:02:29.787Z,1761699749.787 [DAT](INFO): DAT read: 01:02:29.2122 LVL= 31952, 20753, 28082, 32755, AGC= 63, IDX= 505,-0.12,-0.618, 1.558, 0.208, 0.491, PHS=-1.008, 1.112,-0.327, RAW= 311.7, 2.4, CAL= 309.3, -0.6, ROT= 200.7, 0.6 2025-10-29T01:02:29.790Z,1761699749.790 [DAT](INFO): got valid direction response: 01:02:29.2122 LVL= 31952, 20753, 28082, 32755, AGC= 63, IDX= 505,-0.12,-0.618, 1.558, 0.208, 0.491, PHS=-1.008, 1.112,-0.327, RAW= 311.7, 2.4, CAL= 309.3, -0.6, ROT= 200.7, 0.6 2025-10-29T01:02:29.790Z,1761699749.790 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T01:02:29.821Z,1761699749.821 [DAT](INFO): direction in FSK: [-0.935393,-0.353455,-0.010472] 2025-10-29T01:02:29.821Z,1761699749.821 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:29.834Z,1761699749.834 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.595455 2025-10-29T01:02:29.849Z,1761699749.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609365,-0.791987,-0.037815],[0.792862,-0.608252,-0.037401],[0.006619,-0.052773,0.998585]] 2025-10-29T01:02:29.923Z,1761699749.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.509459 s, deltaX: 0.300000 m, approachRate: 0.588860 m/s, rangeRepo size: 4 2025-10-29T01:02:29.929Z,1761699749.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.520942 m, bearing: 328.247127 deg, lat: 36.779299 deg, lon: -121.859482 deg, deltaT: 0.509459 s, deltaX: 0.298375 m, approachRate: 0.585671 m/s, posRepo size: 4 2025-10-29T01:02:29.929Z,1761699749.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T01:02:30.021Z,1761699750.021 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=35.782322 2025-10-29T01:02:30.227Z,1761699750.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609547,-0.791873,-0.037276],[0.792718,-0.608431,-0.037546],[0.007052,-0.052435,0.998599]] 2025-10-29T01:02:30.267Z,1761699750.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T01:02:30.274Z,1761699750.274 [DAT](INFO): DAT read: Rx Time:01:02:29.7121 2025-10-29T01:02:30.274Z,1761699750.274 [DAT](INFO): Rx dataTimestamp_ set to:1761699750.273843 2025-10-29T01:02:30.275Z,1761699750.275 [DAT](INFO): DAT read: Bearing 105.3, -21.0 (Local) 2025-10-29T01:02:30.276Z,1761699750.276 [DAT](INFO): Local bearing/azimuth received: Bearing 105.3, -21.0 (Local) 2025-10-29T01:02:30.278Z,1761699750.278 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.0 2025-10-29T01:02:30.282Z,1761699750.282 [DAT](INFO): DAT read: 01:02:29.7121 LVL= 32752, 21377, 30434, 32755, AGC= 64, IDX= 505,-0.43,-1.571, 0.612,-0.742,-0.450, PHS=-1.019, 1.106,-0.336, RAW= 311.7, 2.7, CAL= 309.3, -0.4, ROT= 200.7, 0.4 2025-10-29T01:02:30.284Z,1761699750.284 [DAT](INFO): got valid direction response: 01:02:29.7121 LVL= 32752, 21377, 30434, 32755, AGC= 64, IDX= 505,-0.43,-1.571, 0.612,-0.742,-0.450, PHS=-1.019, 1.106,-0.336, RAW= 311.7, 2.7, CAL= 309.3, -0.4, ROT= 200.7, 0.4 2025-10-29T01:02:30.284Z,1761699750.284 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T01:02:30.285Z,1761699750.285 [DAT](INFO): direction in FSK: [-0.935421,-0.353466,-0.006981] 2025-10-29T01:02:30.285Z,1761699750.285 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:30.304Z,1761699750.304 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.052937 2025-10-29T01:02:30.525Z,1761699750.525 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=36.286255 2025-10-29T01:02:30.627Z,1761699750.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609652,-0.791815,-0.036780],[0.792636,-0.608548,-0.037382],[0.007217,-0.051943,0.998624]] 2025-10-29T01:02:30.772Z,1761699750.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.497950 s, deltaX: -0.200001 m, approachRate: -0.401648 m/s, rangeRepo size: 4 2025-10-29T01:02:30.780Z,1761699750.780 [DAT](INFO): DAT read: Rx Time:01:02:30.2123 2025-10-29T01:02:30.780Z,1761699750.780 [DAT](INFO): Rx dataTimestamp_ set to:1761699750.779854 2025-10-29T01:02:30.781Z,1761699750.781 [DAT](INFO): DAT read: Bearing 105.4, -20.9 (Local) 2025-10-29T01:02:30.782Z,1761699750.782 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -20.9 (Local) 2025-10-29T01:02:30.784Z,1761699750.784 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.1 2025-10-29T01:02:30.791Z,1761699750.791 [DAT](INFO): DAT read: 01:02:30.2123 LVL= 32752, 21841, 29778, 32755, AGC= 61, IDX= 506, 0.11, 2.373,-1.751,-3.091,-2.804, PHS=-1.005, 1.098,-0.332, RAW= 311.7, 2.6, CAL= 309.4, -0.4, ROT= 200.6, 0.4 2025-10-29T01:02:30.797Z,1761699750.797 [DAT](INFO): got valid direction response: 01:02:30.2123 LVL= 32752, 21841, 29778, 32755, AGC= 61, IDX= 506, 0.11, 2.373,-1.751,-3.091,-2.804, PHS=-1.005, 1.098,-0.332, RAW= 311.7, 2.6, CAL= 309.4, -0.4, ROT= 200.6, 0.4 2025-10-29T01:02:30.798Z,1761699750.798 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T01:02:30.799Z,1761699750.799 [DAT](INFO): direction in FSK: [-0.936037,-0.351833,-0.006981] 2025-10-29T01:02:30.799Z,1761699750.799 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:30.802Z,1761699750.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.322110 m, bearing: 328.258204 deg, lat: 36.779299 deg, lon: -121.859481 deg, deltaT: 0.497950 s, deltaX: -0.198832 m, approachRate: -0.399300 m/s, posRepo size: 4 2025-10-29T01:02:30.803Z,1761699750.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-29T01:02:30.821Z,1761699750.821 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.582191 2025-10-29T01:02:31.029Z,1761699751.029 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=36.790245 2025-10-29T01:02:31.071Z,1761699751.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609951,-0.791572,-0.037070],[0.792407,-0.608833,-0.037614],[0.007205,-0.052317,0.998605]] 2025-10-29T01:02:31.213Z,1761699751.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.506011 s, deltaX: 0.300000 m, approachRate: 0.592873 m/s, rangeRepo size: 4 2025-10-29T01:02:31.215Z,1761699751.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.620566 m, bearing: 328.179669 deg, lat: 36.779299 deg, lon: -121.859481 deg, deltaT: 0.506011 s, deltaX: 0.298456 m, approachRate: 0.589822 m/s, posRepo size: 4 2025-10-29T01:02:31.215Z,1761699751.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-29T01:02:31.283Z,1761699751.283 [DAT](INFO): DAT read: Rx Time:01:02:30.7123 2025-10-29T01:02:31.283Z,1761699751.283 [DAT](INFO): Rx dataTimestamp_ set to:1761699751.282699 2025-10-29T01:02:31.285Z,1761699751.285 [DAT](INFO): DAT read: Bearing 105.8, -20.6 (Local) 2025-10-29T01:02:31.286Z,1761699751.286 [DAT](INFO): Local bearing/azimuth received: Bearing 105.8, -20.6 (Local) 2025-10-29T01:02:31.290Z,1761699751.290 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.0 2025-10-29T01:02:31.305Z,1761699751.305 [DAT](INFO): DAT read: 01:02:30.7123 LVL= 32752, 24977, 29986, 32755, AGC= 63, IDX= 506,-0.14,-0.543, 1.629, 0.272, 0.559, PHS=-0.999, 1.115,-0.330, RAW= 312.0, 2.3, CAL= 309.6, -0.7, ROT= 200.4, 0.7 2025-10-29T01:02:31.307Z,1761699751.307 [DAT](INFO): got valid direction response: 01:02:30.7123 LVL= 32752, 24977, 29986, 32755, AGC= 63, IDX= 506,-0.14,-0.543, 1.629, 0.272, 0.559, PHS=-0.999, 1.115,-0.330, RAW= 312.0, 2.3, CAL= 309.6, -0.7, ROT= 200.4, 0.7 2025-10-29T01:02:31.312Z,1761699751.312 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T01:02:31.325Z,1761699751.325 [DAT](INFO): direction in FSK: [-0.937212,-0.348546,-0.012217] 2025-10-29T01:02:31.325Z,1761699751.325 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:31.333Z,1761699751.333 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.094330 2025-10-29T01:02:31.514Z,1761699751.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.502845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:31.517Z,1761699751.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.620566 m, bearing: 327.995387 deg, lat: 36.779299 deg, lon: -121.859482 deg, deltaT: 0.502845 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:31.517Z,1761699751.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-29T01:02:31.533Z,1761699751.533 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=37.294266 2025-10-29T01:02:31.791Z,1761699751.791 [DAT](INFO): DAT read: Rx Time:01:02:31.2124 2025-10-29T01:02:31.794Z,1761699751.794 [DAT](INFO): Rx dataTimestamp_ set to:1761699751.792640 2025-10-29T01:02:31.802Z,1761699751.802 [DAT](INFO): DAT read: Bearing 105.6, -20.7 (Local) 2025-10-29T01:02:31.803Z,1761699751.803 [DAT](INFO): Local bearing/azimuth received: Bearing 105.6, -20.7 (Local) 2025-10-29T01:02:31.811Z,1761699751.811 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.2 2025-10-29T01:02:31.825Z,1761699751.825 [DAT](INFO): DAT read: 01:02:31.2124 LVL= 32752, 24385, 31586, 32755, AGC= 63, IDX= 507, 0.37, 2.728,-1.400,-2.744,-2.454, PHS=-0.999, 1.099,-0.334, RAW= 311.9, 2.5, CAL= 309.6, -0.5, ROT= 200.4, 0.5 2025-10-29T01:02:31.826Z,1761699751.826 [DAT](INFO): got valid direction response: 01:02:31.2124 LVL= 32752, 24385, 31586, 32755, AGC= 63, IDX= 507, 0.37, 2.728,-1.400,-2.744,-2.454, PHS=-0.999, 1.099,-0.334, RAW= 311.9, 2.5, CAL= 309.6, -0.5, ROT= 200.4, 0.5 2025-10-29T01:02:31.826Z,1761699751.826 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T01:02:31.827Z,1761699751.827 [DAT](INFO): direction in FSK: [-0.937246,-0.348559,-0.008727] 2025-10-29T01:02:31.832Z,1761699751.832 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:31.835Z,1761699751.835 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.596550 2025-10-29T01:02:31.863Z,1761699751.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610358,-0.791217,-0.037933],[0.792100,-0.609254,-0.037237],[0.006352,-0.052775,0.998586]] 2025-10-29T01:02:31.976Z,1761699751.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.509941 s, deltaX: 0.200000 m, approachRate: 0.392202 m/s, rangeRepo size: 4 2025-10-29T01:02:31.978Z,1761699751.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.819486 m, bearing: 328.014052 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.509941 s, deltaX: 0.198919 m, approachRate: 0.390083 m/s, posRepo size: 4 2025-10-29T01:02:31.979Z,1761699751.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:02:32.039Z,1761699752.039 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=37.800274 2025-10-29T01:02:32.264Z,1761699752.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610591,-0.791040,-0.037867],[0.791926,-0.609536,-0.036316],[0.005646,-0.052162,0.998623]] 2025-10-29T01:02:32.292Z,1761699752.292 [DAT](INFO): DAT read: Rx Time:01:02:31.7124 2025-10-29T01:02:32.293Z,1761699752.293 [DAT](INFO): Rx dataTimestamp_ set to:1761699752.292268 2025-10-29T01:02:32.294Z,1761699752.294 [DAT](INFO): DAT read: Bearing 105.4, -21.6 (Local) 2025-10-29T01:02:32.295Z,1761699752.295 [DAT](INFO): Local bearing/azimuth received: Bearing 105.4, -21.6 (Local) 2025-10-29T01:02:32.298Z,1761699752.298 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 2025-10-29T01:02:32.306Z,1761699752.306 [DAT](INFO): DAT read: 01:02:31.7124 LVL= 32752, 20465, 28802, 32755, AGC= 63, IDX= 507, 0.01, 0.651, 2.828, 1.499, 1.781, PHS=-1.028, 1.093,-0.326, RAW= 311.0, 2.8, CAL= 308.6, -0.3, ROT= 201.4, 0.3 2025-10-29T01:02:32.307Z,1761699752.307 [DAT](INFO): got valid direction response: 01:02:31.7124 LVL= 32752, 20465, 28802, 32755, AGC= 63, IDX= 507, 0.01, 0.651, 2.828, 1.499, 1.781, PHS=-1.028, 1.093,-0.326, RAW= 311.0, 2.8, CAL= 308.6, -0.3, ROT= 201.4, 0.3 2025-10-29T01:02:32.308Z,1761699752.308 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T01:02:32.310Z,1761699752.310 [DAT](INFO): direction in FSK: [-0.931043,-0.364872,-0.005236] 2025-10-29T01:02:32.310Z,1761699752.310 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:32.318Z,1761699752.318 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.079113 2025-10-29T01:02:32.346Z,1761699752.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.499628 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:32.356Z,1761699752.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.819133 m, bearing: 329.019677 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.499628 s, deltaX: -0.000353 m, approachRate: -0.000706 m/s, posRepo size: 4 2025-10-29T01:02:32.356Z,1761699752.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:02:32.544Z,1761699752.544 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=38.305485 2025-10-29T01:02:32.573Z,1761699752.573 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:02:32.714Z,1761699752.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610912,-0.790775,-0.038233],[0.791684,-0.609892,-0.035613],[0.004844,-0.052025,0.998634]] 2025-10-29T01:02:32.799Z,1761699752.799 [DAT](INFO): DAT read: Rx Time:01:02:32.2124 2025-10-29T01:02:32.802Z,1761699752.802 [DAT](INFO): Rx dataTimestamp_ set to:1761699752.800996 2025-10-29T01:02:32.806Z,1761699752.806 [DAT](INFO): DAT read: Bearing 105.9, -21.1 (Local) 2025-10-29T01:02:32.808Z,1761699752.808 [DAT](INFO): Local bearing/azimuth received: Bearing 105.9, -21.1 (Local) 2025-10-29T01:02:32.811Z,1761699752.811 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 2025-10-29T01:02:32.826Z,1761699752.826 [DAT](INFO): DAT read: 01:02:32.2124 LVL= 32752, 23329, 31202, 32755, AGC= 63, IDX= 508,-0.34,-0.415, 1.761, 0.422, 0.697, PHS=-1.010, 1.109,-0.319, RAW= 311.4, 2.4, CAL= 309.0, -0.7, ROT= 201.0, 0.7 2025-10-29T01:02:32.827Z,1761699752.827 [DAT](INFO): got valid direction response: 01:02:32.2124 LVL= 32752, 23329, 31202, 32755, AGC= 63, IDX= 508,-0.34,-0.415, 1.761, 0.422, 0.697, PHS=-1.010, 1.109,-0.319, RAW= 311.4, 2.4, CAL= 309.0, -0.7, ROT= 201.0, 0.7 2025-10-29T01:02:32.827Z,1761699752.827 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T01:02:32.831Z,1761699752.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:02:32.837Z,1761699752.837 [DAT](INFO): direction in FSK: [-0.933511,-0.358341,-0.012217] 2025-10-29T01:02:32.837Z,1761699752.837 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:32.849Z,1761699752.849 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.610168 2025-10-29T01:02:33.045Z,1761699753.045 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=38.806255 2025-10-29T01:02:33.096Z,1761699753.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611238,-0.790505,-0.038596],[0.791435,-0.610240,-0.035171],[0.004250,-0.052044,0.998636]] 2025-10-29T01:02:33.237Z,1761699753.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.508728 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:33.239Z,1761699753.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.818748 m, bearing: 328.687112 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.508728 s, deltaX: -0.000384 m, approachRate: -0.000755 m/s, posRepo size: 4 2025-10-29T01:02:33.239Z,1761699753.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:02:33.299Z,1761699753.299 [DAT](INFO): DAT read: Rx Time:01:02:32.7124 2025-10-29T01:02:33.300Z,1761699753.300 [DAT](INFO): Rx dataTimestamp_ set to:1761699753.299231 2025-10-29T01:02:33.302Z,1761699753.302 [DAT](INFO): DAT read: Bearing 106.0, -21.4 (Local) 2025-10-29T01:02:33.302Z,1761699753.302 [DAT](INFO): Local bearing/azimuth received: Bearing 106.0, -21.4 (Local) 2025-10-29T01:02:33.306Z,1761699753.306 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed -0.1 2025-10-29T01:02:33.315Z,1761699753.315 [DAT](INFO): DAT read: 01:02:32.7124 LVL= 32752, 20209, 27202, 32755, AGC= 63, IDX= 507, 0.16,-0.089, 2.093, 0.762, 1.028, PHS=-1.015, 1.109,-0.310, RAW= 311.0, 2.3, CAL= 308.7, -0.8, ROT= 201.3, 0.8 2025-10-29T01:02:33.317Z,1761699753.317 [DAT](INFO): got valid direction response: 01:02:32.7124 LVL= 32752, 20209, 27202, 32755, AGC= 63, IDX= 507, 0.16,-0.089, 2.093, 0.762, 1.028, PHS=-1.015, 1.109,-0.310, RAW= 311.0, 2.3, CAL= 308.7, -0.8, ROT= 201.3, 0.8 2025-10-29T01:02:33.317Z,1761699753.317 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T01:02:33.319Z,1761699753.319 [DAT](INFO): direction in FSK: [-0.931600,-0.363216,-0.013962] 2025-10-29T01:02:33.319Z,1761699753.319 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:33.323Z,1761699753.323 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.083935 2025-10-29T01:02:33.486Z,1761699753.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611415,-0.790327,-0.039434],[0.791303,-0.610433,-0.034817],[0.003445,-0.052492,0.998615]] 2025-10-29T01:02:33.517Z,1761699753.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.498235 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:33.519Z,1761699753.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.818748 m, bearing: 329.004294 deg, lat: 36.779300 deg, lon: -121.859480 deg, deltaT: 0.498235 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:33.528Z,1761699753.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:02:33.549Z,1761699753.549 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=39.310196 2025-10-29T01:02:33.576Z,1761699753.576 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:02:33.807Z,1761699753.807 [DAT](INFO): DAT read: Rx Time:01:02:33.2125 2025-10-29T01:02:33.810Z,1761699753.810 [DAT](INFO): Rx dataTimestamp_ set to:1761699753.808534 2025-10-29T01:02:33.815Z,1761699753.815 [DAT](INFO): DAT read: Bearing 106.0, -21.4 (Local) 2025-10-29T01:02:33.832Z,1761699753.832 [DAT](INFO): Local bearing/azimuth received: Bearing 106.0, -21.4 (Local) 2025-10-29T01:02:33.841Z,1761699753.841 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 2025-10-29T01:02:33.861Z,1761699753.861 [DAT](INFO): DAT read: 01:02:33.2125 LVL= 32096, 22369, 29650, 32755, AGC= 63, IDX= 509,-0.18,-1.091, 1.086,-0.243, 0.026, PHS=-1.015, 1.105,-0.313, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 2025-10-29T01:02:33.862Z,1761699753.862 [DAT](INFO): got valid direction response: 01:02:33.2125 LVL= 32096, 22369, 29650, 32755, AGC= 63, IDX= 509,-0.18,-1.091, 1.086,-0.243, 0.026, PHS=-1.015, 1.105,-0.313, RAW= 311.0, 2.4, CAL= 308.7, -0.7, ROT= 201.3, 0.7 2025-10-29T01:02:33.862Z,1761699753.862 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T01:02:33.863Z,1761699753.863 [DAT](INFO): direction in FSK: [-0.931622,-0.363224,-0.012217] 2025-10-29T01:02:33.883Z,1761699753.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611863,-0.789918,-0.040661],[0.790959,-0.610870,-0.034973],[0.002787,-0.053560,0.998561]] 2025-10-29T01:02:33.864Z,1761699753.864 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:33.903Z,1761699753.903 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.664570 2025-10-29T01:02:34.009Z,1761699754.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.509303 s, deltaX: 0.300000 m, approachRate: 0.589041 m/s, rangeRepo size: 4 2025-10-29T01:02:34.011Z,1761699754.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.117112 m, bearing: 329.031294 deg, lat: 36.779300 deg, lon: -121.859480 deg, deltaT: 0.509303 s, deltaX: 0.298364 m, approachRate: 0.585827 m/s, posRepo size: 4 2025-10-29T01:02:34.011Z,1761699754.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-29T01:02:34.053Z,1761699754.053 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=39.814243 2025-10-29T01:02:34.307Z,1761699754.307 [DAT](INFO): DAT read: Rx Time:01:02:33.7125 2025-10-29T01:02:34.308Z,1761699754.308 [DAT](INFO): Rx dataTimestamp_ set to:1761699754.306968 2025-10-29T01:02:34.310Z,1761699754.310 [DAT](INFO): DAT read: Bearing 105.7, -20.9 (Local) 2025-10-29T01:02:34.310Z,1761699754.310 [DAT](INFO): Local bearing/azimuth received: Bearing 105.7, -20.9 (Local) 2025-10-29T01:02:34.315Z,1761699754.315 [DAT](INFO): DAT read: Range 11 to 50 : 15.0 m (trip time 10.0 ms) speed -0.2 2025-10-29T01:02:34.319Z,1761699754.319 [DAT](INFO): DAT read: 01:02:33.7125 LVL= 32752, 27281, 31730, 32755, AGC= 63, IDX= 508, 0.26,-0.240, 1.904, 0.579, 0.863, PHS=-1.001, 1.086,-0.327, RAW= 311.6, 2.7, CAL= 309.2, -0.4, ROT= 200.8, 0.4 2025-10-29T01:02:34.321Z,1761699754.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612367,-0.789479,-0.041584],[0.790570,-0.611374,-0.034932],[0.002155,-0.054266,0.998524]] 2025-10-29T01:02:34.325Z,1761699754.325 [DAT](INFO): got valid direction response: 01:02:33.7125 LVL= 32752, 27281, 31730, 32755, AGC= 63, IDX= 508, 0.26,-0.240, 1.904, 0.579, 0.863, PHS=-1.001, 1.086,-0.327, RAW= 311.6, 2.7, CAL= 309.2, -0.4, ROT= 200.8, 0.4 2025-10-29T01:02:34.325Z,1761699754.325 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T01:02:34.326Z,1761699754.326 [DAT](INFO): direction in FSK: [-0.934803,-0.355098,-0.006981] 2025-10-29T01:02:34.326Z,1761699754.326 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:34.342Z,1761699754.342 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.103241 2025-10-29T01:02:34.368Z,1761699754.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.000000 m, deltaT: 0.498434 s, deltaX: -0.200000 m, approachRate: -0.401256 m/s, rangeRepo size: 4 2025-10-29T01:02:34.370Z,1761699754.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.918143 m, bearing: 328.552760 deg, lat: 36.779300 deg, lon: -121.859480 deg, deltaT: 0.498434 s, deltaX: -0.198969 m, approachRate: -0.399188 m/s, posRepo size: 4 2025-10-29T01:02:34.371Z,1761699754.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-29T01:02:34.557Z,1761699754.557 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=40.318256 2025-10-29T01:02:34.723Z,1761699754.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612733,-0.789195,-0.041581],[0.790288,-0.611779,-0.034216],[0.001565,-0.053826,0.998549]] 2025-10-29T01:02:34.797Z,1761699754.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.92 m. 2025-10-29T01:02:34.814Z,1761699754.814 [DAT](INFO): DAT read: Rx Time:01:02:34.2126 2025-10-29T01:02:34.816Z,1761699754.816 [DAT](INFO): Rx dataTimestamp_ set to:1761699754.814928 2025-10-29T01:02:34.820Z,1761699754.820 [DAT](INFO): DAT read: Bearing 106.5, -21.3 (Local) 2025-10-29T01:02:34.821Z,1761699754.821 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -21.3 (Local) 2025-10-29T01:02:34.844Z,1761699754.844 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.1 2025-10-29T01:02:34.857Z,1761699754.857 [DAT](INFO): DAT read: 01:02:34.2126 LVL= 31392, 17713, 26450, 32755, AGC= 62, IDX= 510,-0.09,-0.703, 1.470, 0.149, 0.403, PHS=-1.004, 1.112,-0.299, RAW= 310.9, 2.1, CAL= 308.6, -1.1, ROT= 201.4, 1.1 2025-10-29T01:02:34.858Z,1761699754.858 [DAT](INFO): got valid direction response: 01:02:34.2126 LVL= 31392, 17713, 26450, 32755, AGC= 62, IDX= 510,-0.09,-0.703, 1.470, 0.149, 0.403, PHS=-1.004, 1.112,-0.299, RAW= 310.9, 2.1, CAL= 308.6, -1.1, ROT= 201.4, 1.1 2025-10-29T01:02:34.858Z,1761699754.858 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-29T01:02:34.859Z,1761699754.859 [DAT](INFO): direction in FSK: [-0.930884,-0.364810,-0.019197] 2025-10-29T01:02:34.860Z,1761699754.860 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:34.871Z,1761699754.871 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.632576 2025-10-29T01:02:35.061Z,1761699755.061 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=40.822189 2025-10-29T01:02:35.094Z,1761699755.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613189,-0.788859,-0.041236],[0.789936,-0.612297,-0.033083],[0.000849,-0.052860,0.998602]] 2025-10-29T01:02:35.214Z,1761699755.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.507960 s, deltaX: 0.300000 m, approachRate: 0.590598 m/s, rangeRepo size: 4 2025-10-29T01:02:35.220Z,1761699755.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.216469 m, bearing: 329.247405 deg, lat: 36.779300 deg, lon: -121.859480 deg, deltaT: 0.507960 s, deltaX: 0.298326 m, approachRate: 0.587301 m/s, posRepo size: 4 2025-10-29T01:02:35.221Z,1761699755.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-29T01:02:35.314Z,1761699755.314 [DAT](INFO): DAT read: Rx Time:01:02:34.7125 2025-10-29T01:02:35.314Z,1761699755.314 [DAT](INFO): Rx dataTimestamp_ set to:1761699755.313798 2025-10-29T01:02:35.315Z,1761699755.315 [DAT](INFO): DAT read: Bearing 105.6, -21.1 (Local) 2025-10-29T01:02:35.316Z,1761699755.316 [DAT](INFO): Local bearing/azimuth received: Bearing 105.6, -21.1 (Local) 2025-10-29T01:02:35.318Z,1761699755.318 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 2025-10-29T01:02:35.323Z,1761699755.323 [DAT](INFO): DAT read: 01:02:34.7125 LVL= 32752, 24561, 32754, 32755, AGC= 63, IDX= 509, 0.38,-0.640, 1.512, 0.192, 0.477, PHS=-1.015, 1.080,-0.329, RAW= 311.3, 2.9, CAL= 308.8, -0.2, ROT= 201.2, 0.2 2025-10-29T01:02:35.324Z,1761699755.324 [DAT](INFO): got valid direction response: 01:02:34.7125 LVL= 32752, 24561, 32754, 32755, AGC= 63, IDX= 509, 0.38,-0.640, 1.512, 0.192, 0.477, PHS=-1.015, 1.080,-0.329, RAW= 311.3, 2.9, CAL= 308.8, -0.2, ROT= 201.2, 0.2 2025-10-29T01:02:35.325Z,1761699755.325 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-29T01:02:35.326Z,1761699755.326 [DAT](INFO): direction in FSK: [-0.932318,-0.361622,-0.003491] 2025-10-29T01:02:35.326Z,1761699755.326 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:35.330Z,1761699755.330 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.091202 2025-10-29T01:02:35.565Z,1761699755.565 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.326229 2025-10-29T01:02:35.582Z,1761699755.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612909,-0.789067,-0.041411],[0.790153,-0.612035,-0.032727],[0.000478,-0.052780,0.998606]] 2025-10-29T01:02:35.636Z,1761699755.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.498870 s, deltaX: -0.100000 m, approachRate: -0.200454 m/s, rangeRepo size: 4 2025-10-29T01:02:35.638Z,1761699755.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.117015 m, bearing: 328.982938 deg, lat: 36.779300 deg, lon: -121.859479 deg, deltaT: 0.498870 s, deltaX: -0.099454 m, approachRate: -0.199358 m/s, posRepo size: 4 2025-10-29T01:02:35.639Z,1761699755.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.12 m. 2025-10-29T01:02:35.823Z,1761699755.823 [DAT](INFO): DAT read: Rx Time:01:02:35.2127 2025-10-29T01:02:35.825Z,1761699755.825 [DAT](INFO): Rx dataTimestamp_ set to:1761699755.823245 2025-10-29T01:02:35.829Z,1761699755.829 [DAT](INFO): DAT read: Bearing 106.4, -21.2 (Local) 2025-10-29T01:02:35.830Z,1761699755.830 [DAT](INFO): Local bearing/azimuth received: Bearing 106.4, -21.2 (Local) 2025-10-29T01:02:35.842Z,1761699755.842 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-29T01:02:35.876Z,1761699755.876 [DAT](INFO): DAT read: 01:02:35.2127 LVL= 31216, 20465, 27554, 32755, AGC= 63, IDX= 511,-0.00,-0.173, 1.997, 0.675, 0.937, PHS=-1.008, 1.106,-0.306, RAW= 311.0, 2.3, CAL= 308.7, -0.9, ROT= 201.3, 0.9 2025-10-29T01:02:35.878Z,1761699755.878 [DAT](INFO): got valid direction response: 01:02:35.2127 LVL= 31216, 20465, 27554, 32755, AGC= 63, IDX= 511,-0.00,-0.173, 1.997, 0.675, 0.937, PHS=-1.008, 1.106,-0.306, RAW= 311.0, 2.3, CAL= 308.7, -0.9, ROT= 201.3, 0.9 2025-10-29T01:02:35.878Z,1761699755.878 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-29T01:02:35.879Z,1761699755.879 [DAT](INFO): direction in FSK: [-0.931576,-0.363206,-0.015707] 2025-10-29T01:02:35.879Z,1761699755.879 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:35.896Z,1761699755.896 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.657387 2025-10-29T01:02:35.983Z,1761699755.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612621,-0.789275,-0.041710],[0.790377,-0.611769,-0.032296],[-0.000026,-0.052751,0.998608]] 2025-10-29T01:02:36.069Z,1761699756.069 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=41.830219 2025-10-29T01:02:36.134Z,1761699756.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.509447 s, deltaX: 0.300000 m, approachRate: 0.588874 m/s, rangeRepo size: 4 2025-10-29T01:02:36.141Z,1761699756.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.415236 m, bearing: 329.096530 deg, lat: 36.779301 deg, lon: -121.859480 deg, deltaT: 0.509447 s, deltaX: 0.298221 m, approachRate: 0.585381 m/s, posRepo size: 4 2025-10-29T01:02:36.141Z,1761699756.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:02:36.322Z,1761699756.322 [DAT](INFO): DAT read: Rx Time:01:02:35.7126 2025-10-29T01:02:36.322Z,1761699756.322 [DAT](INFO): Rx dataTimestamp_ set to:1761699756.322029 2025-10-29T01:02:36.324Z,1761699756.324 [DAT](INFO): DAT read: Bearing 106.1, -21.3 (Local) 2025-10-29T01:02:36.324Z,1761699756.324 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -21.3 (Local) 2025-10-29T01:02:36.326Z,1761699756.326 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.0 2025-10-29T01:02:36.331Z,1761699756.331 [DAT](INFO): DAT read: 01:02:35.7126 LVL= 32752, 24289, 30962, 32755, AGC= 64, IDX= 511,-0.42,-1.995, 0.179,-1.142,-0.874, PHS=-1.019, 1.097,-0.312, RAW= 310.8, 2.5, CAL= 308.5, -0.6, ROT= 201.5, 0.6 2025-10-29T01:02:36.332Z,1761699756.332 [DAT](INFO): got valid direction response: 01:02:35.7126 LVL= 32752, 24289, 30962, 32755, AGC= 64, IDX= 511,-0.42,-1.995, 0.179,-1.142,-0.874, PHS=-1.019, 1.097,-0.312, RAW= 310.8, 2.5, CAL= 308.5, -0.6, ROT= 201.5, 0.6 2025-10-29T01:02:36.332Z,1761699756.332 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-29T01:02:36.333Z,1761699756.333 [DAT](INFO): direction in FSK: [-0.930367,-0.366481,-0.010472] 2025-10-29T01:02:36.333Z,1761699756.333 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:36.338Z,1761699756.338 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.099010 2025-10-29T01:02:36.449Z,1761699756.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612992,-0.788952,-0.042379],[0.790089,-0.612140,-0.032307],[-0.000453,-0.053287,0.998579]] 2025-10-29T01:02:36.505Z,1761699756.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.498784 s, deltaX: -0.200000 m, approachRate: -0.400975 m/s, rangeRepo size: 4 2025-10-29T01:02:36.507Z,1761699756.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.216330 m, bearing: 329.308257 deg, lat: 36.779300 deg, lon: -121.859479 deg, deltaT: 0.498784 s, deltaX: -0.198906 m, approachRate: -0.398782 m/s, posRepo size: 4 2025-10-29T01:02:36.507Z,1761699756.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-29T01:02:36.574Z,1761699756.574 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.334942 2025-10-29T01:02:36.837Z,1761699756.837 [DAT](INFO): DAT read: Rx Time:01:02:36.2127 2025-10-29T01:02:36.839Z,1761699756.839 [DAT](INFO): Rx dataTimestamp_ set to:1761699756.838141 2025-10-29T01:02:36.843Z,1761699756.843 [DAT](INFO): DAT read: Bearing 106.5, -20.6 (Local) 2025-10-29T01:02:36.845Z,1761699756.845 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -20.6 (Local) 2025-10-29T01:02:36.852Z,1761699756.852 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.1 2025-10-29T01:02:36.887Z,1761699756.887 [DAT](INFO): DAT read: 01:02:36.2127 LVL= 32752, 22561, 28818, 32755, AGC= 63, IDX= 511, 0.10,-0.252, 1.912, 0.580, 0.848, PHS=-0.997, 1.110,-0.312, RAW= 311.4, 2.2, CAL= 309.1, -0.9, ROT= 200.9, 0.9 2025-10-29T01:02:36.901Z,1761699756.901 [DAT](INFO): got valid direction response: 01:02:36.2127 LVL= 32752, 22561, 28818, 32755, AGC= 63, IDX= 511, 0.10,-0.252, 1.912, 0.580, 0.848, PHS=-0.997, 1.110,-0.312, RAW= 311.4, 2.2, CAL= 309.1, -0.9, ROT= 200.9, 0.9 2025-10-29T01:02:36.901Z,1761699756.901 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-29T01:02:36.902Z,1761699756.902 [DAT](INFO): direction in FSK: [-0.934089,-0.356694,-0.015707] 2025-10-29T01:02:36.902Z,1761699756.902 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:36.918Z,1761699756.918 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.679493 2025-10-29T01:02:36.928Z,1761699756.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613380,-0.788609,-0.043143],[0.789788,-0.612525,-0.032373],[-0.000896,-0.053930,0.998544]] 2025-10-29T01:02:37.033Z,1761699757.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.516112 s, deltaX: 0.200000 m, approachRate: 0.387512 m/s, rangeRepo size: 4 2025-10-29T01:02:37.035Z,1761699757.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.415236 m, bearing: 328.751905 deg, lat: 36.779301 deg, lon: -121.859479 deg, deltaT: 0.516112 s, deltaX: 0.198906 m, approachRate: 0.385393 m/s, posRepo size: 4 2025-10-29T01:02:37.035Z,1761699757.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:02:37.081Z,1761699757.081 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.842339 2025-10-29T01:02:37.297Z,1761699757.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613830,-0.788227,-0.043719],[0.789437,-0.612974,-0.032435],[-0.001233,-0.054423,0.998517]] 2025-10-29T01:02:37.320Z,1761699757.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:02:37.334Z,1761699757.334 [DAT](INFO): DAT read: Rx Time:01:02:36.7127 2025-10-29T01:02:37.334Z,1761699757.334 [DAT](INFO): Rx dataTimestamp_ set to:1761699757.333835 2025-10-29T01:02:37.335Z,1761699757.335 [DAT](INFO): DAT read: Bearing 106.4, -21.0 (Local) 2025-10-29T01:02:37.336Z,1761699757.336 [DAT](INFO): Local bearing/azimuth received: Bearing 106.4, -21.0 (Local) 2025-10-29T01:02:37.338Z,1761699757.338 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed -0.2 2025-10-29T01:02:37.343Z,1761699757.343 [DAT](INFO): DAT read: 01:02:36.7127 LVL= 32752, 20529, 30946, 32755, AGC= 63, IDX= 511,-0.18, 2.516,-1.603,-2.923,-2.660, PHS=-1.006, 1.101,-0.307, RAW= 311.0, 2.3, CAL= 308.7, -0.8, ROT= 201.3, 0.8 2025-10-29T01:02:37.344Z,1761699757.344 [DAT](INFO): got valid direction response: 01:02:36.7127 LVL= 32752, 20529, 30946, 32755, AGC= 63, IDX= 511,-0.18, 2.516,-1.603,-2.923,-2.660, PHS=-1.006, 1.101,-0.307, RAW= 311.0, 2.3, CAL= 308.7, -0.8, ROT= 201.3, 0.8 2025-10-29T01:02:37.344Z,1761699757.344 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-29T01:02:37.345Z,1761699757.345 [DAT](INFO): direction in FSK: [-0.931600,-0.363216,-0.013962] 2025-10-29T01:02:37.345Z,1761699757.345 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:37.358Z,1761699757.358 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.118832 2025-10-29T01:02:37.585Z,1761699757.585 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.346142 2025-10-29T01:02:37.712Z,1761699757.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614207,-0.787914,-0.044052],[0.789143,-0.613357,-0.032337],[-0.001541,-0.054625,0.998506]] 2025-10-29T01:02:37.745Z,1761699757.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.495694 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:37.748Z,1761699757.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.415093 m, bearing: 329.206387 deg, lat: 36.779300 deg, lon: -121.859479 deg, deltaT: 0.495694 s, deltaX: -0.000142 m, approachRate: -0.000287 m/s, posRepo size: 4 2025-10-29T01:02:37.749Z,1761699757.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:02:37.841Z,1761699757.841 [DAT](INFO): DAT read: Rx Time:01:02:37.2128 2025-10-29T01:02:37.842Z,1761699757.842 [DAT](INFO): Rx dataTimestamp_ set to:1761699757.841197 2025-10-29T01:02:37.847Z,1761699757.847 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed -0.2 2025-10-29T01:02:37.853Z,1761699757.853 [DAT](ERROR): #Rx 90: Read range message, but no direction. 2025-10-29T01:02:37.861Z,1761699757.861 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.622005 2025-10-29T01:02:38.089Z,1761699758.089 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.850262 2025-10-29T01:02:38.114Z,1761699758.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614270,-0.787858,-0.044193],[0.789094,-0.613446,-0.031863],[-0.002007,-0.054445,0.998515]] 2025-10-29T01:02:38.219Z,1761699758.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.507362 s, deltaX: 0.100000 m, approachRate: 0.197099 m/s, rangeRepo size: 4 2025-10-29T01:02:38.219Z,1761699758.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:02:38.341Z,1761699758.341 [DAT](INFO): DAT read: Rx Time:01:02:37.7128 2025-10-29T01:02:38.342Z,1761699758.342 [DAT](INFO): Rx dataTimestamp_ set to:1761699758.341613 2025-10-29T01:02:38.343Z,1761699758.343 [DAT](INFO): DAT read: Bearing 118.8, -30.3 (Local) 2025-10-29T01:02:38.343Z,1761699758.343 [DAT](INFO): Local bearing/azimuth received: Bearing 118.8, -30.3 (Local) 2025-10-29T01:02:38.346Z,1761699758.346 [DAT](INFO): DAT read: Range 11 to 50 : 15.6 m (trip time 10.4 ms) speed 0.0 2025-10-29T01:02:38.350Z,1761699758.350 [DAT](INFO): DAT read: 01:02:37.7128 LVL= 32752, 21841, 29682, 32755, AGC= 63, IDX= 512, 0.04, 2.181,-2.351,-3.065, 2.992, PHS=-0.709, 0.986, 0.183, RAW= 298.3, -6.3, CAL= 298.1, -10.8, ROT= 211.9, 10.8 2025-10-29T01:02:38.351Z,1761699758.351 [DAT](INFO): got valid direction response: 01:02:37.7128 LVL= 32752, 21841, 29682, 32755, AGC= 63, IDX= 512, 0.04, 2.181,-2.351,-3.065, 2.992, PHS=-0.709, 0.986, 0.183, RAW= 298.3, -6.3, CAL= 298.1, -10.8, ROT= 211.9, 10.8 2025-10-29T01:02:38.352Z,1761699758.352 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T01:02:38.353Z,1761699758.353 [DAT](INFO): direction in FSK: [-0.833934,-0.519078,-0.187381] 2025-10-29T01:02:38.353Z,1761699758.353 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:38.357Z,1761699758.357 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.118240 2025-10-29T01:02:38.523Z,1761699758.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614418,-0.787738,-0.044256],[0.788977,-0.613623,-0.031352],[-0.002459,-0.054181,0.998528]] 2025-10-29T01:02:38.579Z,1761699758.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.600000 m, deltaT: 0.500416 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:38.585Z,1761699758.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.514407 m, bearing: 340.260358 deg, lat: 36.779301 deg, lon: -121.859478 deg, deltaT: 1.007778 s, deltaX: 0.099314 m, approachRate: 0.098547 m/s, posRepo size: 4 2025-10-29T01:02:38.585Z,1761699758.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.51 m. 2025-10-29T01:02:38.593Z,1761699758.593 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.354248 2025-10-29T01:02:38.850Z,1761699758.850 [DAT](INFO): DAT read: Rx Time:01:02:38.2129 2025-10-29T01:02:38.851Z,1761699758.851 [DAT](INFO): Rx dataTimestamp_ set to:1761699758.850387 2025-10-29T01:02:38.856Z,1761699758.856 [DAT](INFO): DAT read: Bearing 95.8, -25.0 (Local) 2025-10-29T01:02:38.857Z,1761699758.857 [DAT](INFO): Local bearing/azimuth received: Bearing 95.8, -25.0 (Local) 2025-10-29T01:02:38.871Z,1761699758.871 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-29T01:02:38.931Z,1761699758.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614611,-0.787586,-0.044283],[0.788825,-0.613843,-0.030855],[-0.002882,-0.053896,0.998542]] 2025-10-29T01:02:38.937Z,1761699758.937 [DAT](INFO): DAT read: 01:02:38.2129 LVL= 32752, 20913, 30562, 32755, AGC= 63, IDX= 514,-0.24, 0.906, 3.142, 1.907, 2.282, PHS=-1.274, 0.904,-0.420, RAW= 307.1, 8.3, CAL= 304.9, 9.1, ROT= 205.1, -9.1 2025-10-29T01:02:38.939Z,1761699758.939 [DAT](INFO): got valid direction response: 01:02:38.2129 LVL= 32752, 20913, 30562, 32755, AGC= 63, IDX= 514,-0.24, 0.906, 3.142, 1.907, 2.282, PHS=-1.274, 0.904,-0.420, RAW= 307.1, 8.3, CAL= 304.9, 9.1, ROT= 205.1, -9.1 2025-10-29T01:02:38.939Z,1761699758.939 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-29T01:02:38.948Z,1761699758.948 [DAT](INFO): direction in FSK: [-0.894171,-0.418860,0.158158] 2025-10-29T01:02:38.948Z,1761699758.948 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:38.960Z,1761699758.960 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.721397 2025-10-29T01:02:39.046Z,1761699759.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.508774 s, deltaX: 0.200000 m, approachRate: 0.393101 m/s, rangeRepo size: 4 2025-10-29T01:02:39.054Z,1761699759.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.713310 m, bearing: 332.554817 deg, lat: 36.779301 deg, lon: -121.859477 deg, deltaT: 0.508774 s, deltaX: 0.198903 m, approachRate: 0.390946 m/s, posRepo size: 4 2025-10-29T01:02:39.060Z,1761699759.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-29T01:02:39.097Z,1761699759.097 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.858212 2025-10-29T01:02:39.330Z,1761699759.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614884,-0.787364,-0.044445],[0.788611,-0.614137,-0.030482],[-0.003295,-0.053792,0.998547]] 2025-10-29T01:02:39.347Z,1761699759.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-29T01:02:39.350Z,1761699759.350 [DAT](INFO): DAT read: Rx Time:01:02:38.7129 2025-10-29T01:02:39.350Z,1761699759.350 [DAT](INFO): Rx dataTimestamp_ set to:1761699759.349795 2025-10-29T01:02:39.351Z,1761699759.351 [DAT](INFO): DAT read: Bearing 113.3, -19.5 (Local) 2025-10-29T01:02:39.352Z,1761699759.352 [DAT](INFO): Local bearing/azimuth received: Bearing 113.3, -19.5 (Local) 2025-10-29T01:02:39.354Z,1761699759.354 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-29T01:02:39.359Z,1761699759.359 [DAT](INFO): DAT read: 01:02:38.7129 LVL= 32752, 25761, 32754, 32755, AGC= 65, IDX= 513, 0.33, 1.828,-2.153, 2.730, 2.806, PHS=-0.876, 1.369,-0.120, RAW= 310.7, -3.8, CAL= 309.6, -7.3, ROT= 200.4, 7.3 2025-10-29T01:02:39.360Z,1761699759.360 [DAT](INFO): got valid direction response: 01:02:38.7129 LVL= 32752, 25761, 32754, 32755, AGC= 65, IDX= 513, 0.33, 1.828,-2.153, 2.730, 2.806, PHS=-0.876, 1.369,-0.120, RAW= 310.7, -3.8, CAL= 309.6, -7.3, ROT= 200.4, 7.3 2025-10-29T01:02:39.360Z,1761699759.360 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-29T01:02:39.361Z,1761699759.361 [DAT](INFO): direction in FSK: [-0.929685,-0.345747,-0.127065] 2025-10-29T01:02:39.361Z,1761699759.361 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:39.369Z,1761699759.369 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.130329 2025-10-29T01:02:39.601Z,1761699759.601 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.362144 2025-10-29T01:02:39.731Z,1761699759.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615327,-0.787005,-0.044675],[0.788263,-0.614596,-0.030213],[-0.003679,-0.053807,0.998545]] 2025-10-29T01:02:39.820Z,1761699759.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.499408 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:39.822Z,1761699759.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.713381 m, bearing: 328.710241 deg, lat: 36.779301 deg, lon: -121.859477 deg, deltaT: 0.499408 s, deltaX: 0.000071 m, approachRate: 0.000141 m/s, posRepo size: 4 2025-10-29T01:02:39.823Z,1761699759.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.71 m. 2025-10-29T01:02:39.858Z,1761699759.858 [DAT](INFO): DAT read: Rx Time:01:02:39.2131 2025-10-29T01:02:39.859Z,1761699759.859 [DAT](INFO): Rx dataTimestamp_ set to:1761699759.858337 2025-10-29T01:02:39.860Z,1761699759.860 [DAT](INFO): DAT read: Bearing 106.3, -19.7 (Local) 2025-10-29T01:02:39.861Z,1761699759.861 [DAT](INFO): Local bearing/azimuth received: Bearing 106.3, -19.7 (Local) 2025-10-29T01:02:39.867Z,1761699759.867 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.2 2025-10-29T01:02:39.883Z,1761699759.883 [DAT](INFO): DAT read: 01:02:39.2131 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 3,-0.01,-1.580, 0.577,-0.776,-0.487, PHS=-0.991, 1.109,-0.333, RAW= 312.2, 2.3, CAL= 309.8, -0.7, ROT= 200.2, 0.7 2025-10-29T01:02:39.910Z,1761699759.910 [DAT](INFO): got valid direction response: 01:02:39.2131 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 3,-0.01,-1.580, 0.577,-0.776,-0.487, PHS=-0.991, 1.109,-0.333, RAW= 312.2, 2.3, CAL= 309.8, -0.7, ROT= 200.2, 0.7 2025-10-29T01:02:39.911Z,1761699759.911 [DAT](INFO): #Rx 94: Read range and direction messages. 2025-10-29T01:02:39.930Z,1761699759.930 [DAT](INFO): direction in FSK: [-0.938423,-0.345272,-0.012217] 2025-10-29T01:02:39.930Z,1761699759.930 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:39.950Z,1761699759.950 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.711201 2025-10-29T01:02:40.105Z,1761699760.105 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.866093 2025-10-29T01:02:40.208Z,1761699760.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615584,-0.786803,-0.044699],[0.788060,-0.614881,-0.029690],[-0.004124,-0.053502,0.998559]] 2025-10-29T01:02:40.262Z,1761699760.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.508542 s, deltaX: 0.300000 m, approachRate: 0.589922 m/s, rangeRepo size: 4 2025-10-29T01:02:40.264Z,1761699760.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011705 m, bearing: 328.203983 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.508542 s, deltaX: 0.298325 m, approachRate: 0.586627 m/s, posRepo size: 4 2025-10-29T01:02:40.265Z,1761699760.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:02:40.358Z,1761699760.358 [DAT](INFO): DAT read: Rx Time:01:02:39.7130 2025-10-29T01:02:40.358Z,1761699760.358 [DAT](INFO): Rx dataTimestamp_ set to:1761699760.358056 2025-10-29T01:02:40.360Z,1761699760.360 [DAT](INFO): DAT read: Bearing 106.5, -19.9 (Local) 2025-10-29T01:02:40.360Z,1761699760.360 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -19.9 (Local) 2025-10-29T01:02:40.362Z,1761699760.362 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.1 2025-10-29T01:02:40.367Z,1761699760.367 [DAT](INFO): DAT read: 01:02:39.7130 LVL= 32752, 23841, 32482, 32755, AGC= 64, IDX= 499,-0.36, 2.998,-1.125,-2.472,-2.193, PHS=-0.991, 1.113,-0.323, RAW= 311.9, 2.2, CAL= 309.6, -0.9, ROT= 200.4, 0.9 2025-10-29T01:02:40.369Z,1761699760.369 [DAT](INFO): got valid direction response: 01:02:39.7130 LVL= 32752, 23841, 32482, 32755, AGC= 64, IDX= 499,-0.36, 2.998,-1.125,-2.472,-2.193, PHS=-0.991, 1.113,-0.323, RAW= 311.9, 2.2, CAL= 309.6, -0.9, ROT= 200.4, 0.9 2025-10-29T01:02:40.369Z,1761699760.369 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-29T01:02:40.370Z,1761699760.370 [DAT](INFO): direction in FSK: [-0.937166,-0.348529,-0.015707] 2025-10-29T01:02:40.371Z,1761699760.371 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:40.374Z,1761699760.374 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.135380 2025-10-29T01:02:40.609Z,1761699760.609 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.370190 2025-10-29T01:02:40.638Z,1761699760.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.499719 s, deltaX: -0.200001 m, approachRate: -0.400226 m/s, rangeRepo size: 4 2025-10-29T01:02:40.640Z,1761699760.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.812800 m, bearing: 328.413472 deg, lat: 36.779302 deg, lon: -121.859478 deg, deltaT: 0.499719 s, deltaX: -0.198905 m, approachRate: -0.398034 m/s, posRepo size: 4 2025-10-29T01:02:40.641Z,1761699760.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.81 m. 2025-10-29T01:02:40.884Z,1761699760.884 [DAT](INFO): DAT read: Rx Time:01:02:40.2131 2025-10-29T01:02:40.886Z,1761699760.886 [DAT](INFO): Rx dataTimestamp_ set to:1761699760.884691 2025-10-29T01:02:40.890Z,1761699760.890 [DAT](INFO): DAT read: Bearing 106.1, -19.2 (Local) 2025-10-29T01:02:40.891Z,1761699760.891 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -19.2 (Local) 2025-10-29T01:02:40.933Z,1761699760.933 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.0 2025-10-29T01:02:40.975Z,1761699760.975 [DAT](INFO): DAT read: 01:02:40.2131 LVL= 32752, 23585, 32754, 32755, AGC= 64, IDX= 499, 0.14,-1.171, 0.983,-0.385,-0.081, PHS=-0.988, 1.109,-0.348, RAW= 312.7, 2.5, CAL= 310.3, -0.5, ROT= 199.7, 0.5 2025-10-29T01:02:40.977Z,1761699760.977 [DAT](INFO): got valid direction response: 01:02:40.2131 LVL= 32752, 23585, 32754, 32755, AGC= 64, IDX= 499, 0.14,-1.171, 0.983,-0.385,-0.081, PHS=-0.988, 1.109,-0.348, RAW= 312.7, 2.5, CAL= 310.3, -0.5, ROT= 199.7, 0.5 2025-10-29T01:02:40.977Z,1761699760.977 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-29T01:02:40.978Z,1761699760.978 [DAT](INFO): direction in FSK: [-0.941435,-0.337082,-0.008727] 2025-10-29T01:02:40.978Z,1761699760.978 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:40.994Z,1761699760.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615786,-0.786661,-0.044396],[0.787897,-0.615156,-0.028315],[-0.005036,-0.052416,0.998613]] 2025-10-29T01:02:40.998Z,1761699760.998 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.759296 2025-10-29T01:02:41.093Z,1761699761.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.526635 s, deltaX: 0.200001 m, approachRate: 0.379771 m/s, rangeRepo size: 4 2025-10-29T01:02:41.095Z,1761699761.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011705 m, bearing: 327.710417 deg, lat: 36.779300 deg, lon: -121.859479 deg, deltaT: 0.526635 s, deltaX: 0.198905 m, approachRate: 0.377690 m/s, posRepo size: 4 2025-10-29T01:02:41.095Z,1761699761.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:02:41.113Z,1761699761.113 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.874279 2025-10-29T01:02:41.365Z,1761699761.365 [DAT](INFO): DAT read: Rx Time:01:02:40.7131 2025-10-29T01:02:41.366Z,1761699761.366 [DAT](INFO): Rx dataTimestamp_ set to:1761699761.365662 2025-10-29T01:02:41.367Z,1761699761.367 [DAT](INFO): DAT read: Bearing 106.7, -20.0 (Local) 2025-10-29T01:02:41.368Z,1761699761.368 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -20.0 (Local) 2025-10-29T01:02:41.370Z,1761699761.370 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed -0.1 2025-10-29T01:02:41.374Z,1761699761.374 [DAT](INFO): DAT read: 01:02:40.7131 LVL= 32752, 23985, 32434, 32755, AGC= 65, IDX= 499,-0.20, 2.925,-1.198,-2.538,-2.266, PHS=-0.990, 1.113,-0.316, RAW= 311.7, 2.1, CAL= 309.4, -1.0, ROT= 200.6, 1.0 2025-10-29T01:02:41.375Z,1761699761.375 [DAT](INFO): got valid direction response: 01:02:40.7131 LVL= 32752, 23985, 32434, 32755, AGC= 65, IDX= 499,-0.20, 2.925,-1.198,-2.538,-2.266, PHS=-0.990, 1.113,-0.316, RAW= 311.7, 2.1, CAL= 309.4, -1.0, ROT= 200.6, 1.0 2025-10-29T01:02:41.376Z,1761699761.376 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T01:02:41.377Z,1761699761.377 [DAT](INFO): direction in FSK: [-0.935917,-0.351788,-0.017452] 2025-10-29T01:02:41.377Z,1761699761.377 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:41.381Z,1761699761.381 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.142109 2025-10-29T01:02:41.425Z,1761699761.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615925,-0.786547,-0.044496],[0.787786,-0.615321,-0.027806],[-0.005509,-0.052180,0.998622]] 2025-10-29T01:02:41.497Z,1761699761.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.480971 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:41.499Z,1761699761.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.011675 m, bearing: 328.643353 deg, lat: 36.779300 deg, lon: -121.859479 deg, deltaT: 0.480971 s, deltaX: -0.000031 m, approachRate: -0.000063 m/s, posRepo size: 4 2025-10-29T01:02:41.499Z,1761699761.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:02:41.617Z,1761699761.617 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.378372 2025-10-29T01:02:41.813Z,1761699761.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616051,-0.786418,-0.045032],[0.787683,-0.615459,-0.027657],[-0.005965,-0.052510,0.998603]] 2025-10-29T01:02:41.856Z,1761699761.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:02:41.870Z,1761699761.870 [DAT](INFO): DAT read: Rx Time:01:02:41.2132 2025-10-29T01:02:41.870Z,1761699761.870 [DAT](INFO): Rx dataTimestamp_ set to:1761699761.869803 2025-10-29T01:02:41.871Z,1761699761.871 [DAT](INFO): DAT read: Bearing 106.7, -20.1 (Local) 2025-10-29T01:02:41.872Z,1761699761.872 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -20.1 (Local) 2025-10-29T01:02:41.874Z,1761699761.874 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.0 2025-10-29T01:02:41.882Z,1761699761.882 [DAT](INFO): DAT read: 01:02:41.2132 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 500, 0.23,-0.126, 2.042, 0.701, 0.973, PHS=-0.998, 1.114,-0.317, RAW= 311.6, 2.2, CAL= 309.3, -0.9, ROT= 200.7, 0.9 2025-10-29T01:02:41.883Z,1761699761.883 [DAT](INFO): got valid direction response: 01:02:41.2132 LVL= 32752, 24641, 32754, 32755, AGC= 65, IDX= 500, 0.23,-0.126, 2.042, 0.701, 0.973, PHS=-0.998, 1.114,-0.317, RAW= 311.6, 2.2, CAL= 309.3, -0.9, ROT= 200.7, 0.9 2025-10-29T01:02:41.884Z,1761699761.884 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-29T01:02:41.885Z,1761699761.885 [DAT](INFO): direction in FSK: [-0.935329,-0.353431,-0.015707] 2025-10-29T01:02:41.886Z,1761699761.886 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:41.930Z,1761699761.930 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.690624 2025-10-29T01:02:42.121Z,1761699762.121 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.882282 2025-10-29T01:02:42.220Z,1761699762.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615936,-0.786461,-0.045856],[0.787769,-0.615353,-0.027573],[-0.006533,-0.053108,0.998567]] 2025-10-29T01:02:42.306Z,1761699762.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504141 s, deltaX: 0.100000 m, approachRate: 0.198358 m/s, rangeRepo size: 4 2025-10-29T01:02:42.310Z,1761699762.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.111115 m, bearing: 328.739674 deg, lat: 36.779301 deg, lon: -121.859479 deg, deltaT: 0.504141 s, deltaX: 0.099440 m, approachRate: 0.197246 m/s, posRepo size: 4 2025-10-29T01:02:42.310Z,1761699762.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T01:02:42.375Z,1761699762.375 [DAT](INFO): DAT read: Rx Time:01:02:41.7132 2025-10-29T01:02:42.376Z,1761699762.376 [DAT](INFO): Rx dataTimestamp_ set to:1761699762.375363 2025-10-29T01:02:42.378Z,1761699762.378 [DAT](INFO): DAT read: Bearing 106.4, -20.2 (Local) 2025-10-29T01:02:42.378Z,1761699762.378 [DAT](INFO): Local bearing/azimuth received: Bearing 106.4, -20.2 (Local) 2025-10-29T01:02:42.381Z,1761699762.381 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.1 2025-10-29T01:02:42.386Z,1761699762.386 [DAT](INFO): DAT read: 01:02:41.7132 LVL= 32752, 26097, 32754, 32755, AGC= 65, IDX= 500,-0.15,-2.978,-0.828,-2.154,-1.877, PHS=-0.998, 1.094,-0.321, RAW= 311.5, 2.5, CAL= 309.2, -0.6, ROT= 200.8, 0.6 2025-10-29T01:02:42.387Z,1761699762.387 [DAT](INFO): got valid direction response: 01:02:41.7132 LVL= 32752, 26097, 32754, 32755, AGC= 65, IDX= 500,-0.15,-2.978,-0.828,-2.154,-1.877, PHS=-0.998, 1.094,-0.321, RAW= 311.5, 2.5, CAL= 309.2, -0.6, ROT= 200.8, 0.6 2025-10-29T01:02:42.388Z,1761699762.388 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-29T01:02:42.389Z,1761699762.389 [DAT](INFO): direction in FSK: [-0.934774,-0.355088,-0.010472] 2025-10-29T01:02:42.389Z,1761699762.389 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:42.393Z,1761699762.393 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.153893 2025-10-29T01:02:42.619Z,1761699762.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615711,-0.786609,-0.046321],[0.787941,-0.615142,-0.027364],[-0.006970,-0.053346,0.998552]] 2025-10-29T01:02:42.625Z,1761699762.625 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.386051 2025-10-29T01:02:42.715Z,1761699762.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.505560 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:42.721Z,1761699762.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.111115 m, bearing: 328.809224 deg, lat: 36.779301 deg, lon: -121.859479 deg, deltaT: 0.505560 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:42.722Z,1761699762.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T01:02:42.881Z,1761699762.881 [DAT](INFO): DAT read: Rx Time:01:02:42.2133 2025-10-29T01:02:42.881Z,1761699762.881 [DAT](INFO): Rx dataTimestamp_ set to:1761699762.881149 2025-10-29T01:02:42.883Z,1761699762.883 [DAT](INFO): DAT read: Bearing 105.5, -20.2 (Local) 2025-10-29T01:02:42.883Z,1761699762.883 [DAT](INFO): Local bearing/azimuth received: Bearing 105.5, -20.2 (Local) 2025-10-29T01:02:42.905Z,1761699762.905 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-29T01:02:42.959Z,1761699762.959 [DAT](INFO): DAT read: 01:02:42.2133 LVL= 32752, 24129, 32754, 32755, AGC= 66, IDX= 501, 0.25,-0.283, 1.858, 0.531, 0.832, PHS=-1.013, 1.070,-0.346, RAW= 311.7, 3.2, CAL= 309.3, 0.3, ROT= 200.7, -0.3 2025-10-29T01:02:42.988Z,1761699762.988 [DAT](INFO): got valid direction response: 01:02:42.2133 LVL= 32752, 24129, 32754, 32755, AGC= 66, IDX= 501, 0.25,-0.283, 1.858, 0.531, 0.832, PHS=-1.013, 1.070,-0.346, RAW= 311.7, 3.2, CAL= 309.3, 0.3, ROT= 200.7, -0.3 2025-10-29T01:02:42.991Z,1761699762.991 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-29T01:02:42.996Z,1761699762.996 [DAT](INFO): direction in FSK: [-0.935431,-0.353470,0.005236] 2025-10-29T01:02:42.996Z,1761699762.996 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:43.020Z,1761699763.020 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.760914 2025-10-29T01:02:43.129Z,1761699763.129 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.890274 2025-10-29T01:02:43.141Z,1761699763.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.505786 s, deltaX: 0.199999 m, approachRate: 0.395422 m/s, rangeRepo size: 4 2025-10-29T01:02:43.143Z,1761699763.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.310036 m, bearing: 328.666605 deg, lat: 36.779301 deg, lon: -121.859479 deg, deltaT: 0.505786 s, deltaX: 0.198921 m, approachRate: 0.393291 m/s, posRepo size: 4 2025-10-29T01:02:43.148Z,1761699763.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:02:43.381Z,1761699763.381 [DAT](INFO): DAT read: Rx Time:01:02:42.7133 2025-10-29T01:02:43.382Z,1761699763.382 [DAT](INFO): Rx dataTimestamp_ set to:1761699763.381656 2025-10-29T01:02:43.383Z,1761699763.383 [DAT](INFO): DAT read: Bearing 106.7, -20.3 (Local) 2025-10-29T01:02:43.384Z,1761699763.384 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -20.3 (Local) 2025-10-29T01:02:43.386Z,1761699763.386 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 0.0 2025-10-29T01:02:43.390Z,1761699763.390 [DAT](INFO): DAT read: 01:02:42.7133 LVL= 32752, 26593, 30706, 32755, AGC= 65, IDX= 501,-0.14,-3.009,-0.844,-2.176,-1.908, PHS=-0.998, 1.109,-0.312, RAW= 311.4, 2.2, CAL= 309.1, -0.9, ROT= 200.9, 0.9 2025-10-29T01:02:43.391Z,1761699763.391 [DAT](INFO): got valid direction response: 01:02:42.7133 LVL= 32752, 26593, 30706, 32755, AGC= 65, IDX= 501,-0.14,-3.009,-0.844,-2.176,-1.908, PHS=-0.998, 1.109,-0.312, RAW= 311.4, 2.2, CAL= 309.1, -0.9, ROT= 200.9, 0.9 2025-10-29T01:02:43.392Z,1761699763.392 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-29T01:02:43.393Z,1761699763.393 [DAT](INFO): direction in FSK: [-0.934089,-0.356694,-0.015707] 2025-10-29T01:02:43.393Z,1761699763.393 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:43.397Z,1761699763.397 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.157864 2025-10-29T01:02:43.482Z,1761699763.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614391,-0.787587,-0.047238],[0.788959,-0.613883,-0.026310],[-0.008277,-0.053433,0.998537]] 2025-10-29T01:02:43.549Z,1761699763.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.500507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:43.551Z,1761699763.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.310036 m, bearing: 328.828051 deg, lat: 36.779301 deg, lon: -121.859479 deg, deltaT: 0.500507 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:43.551Z,1761699763.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:02:43.633Z,1761699763.633 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.394413 2025-10-29T01:02:43.878Z,1761699763.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:02:43.886Z,1761699763.886 [DAT](INFO): DAT read: Rx Time:01:02:43.2134 2025-10-29T01:02:43.886Z,1761699763.886 [DAT](INFO): Rx dataTimestamp_ set to:1761699763.885815 2025-10-29T01:02:43.887Z,1761699763.887 [DAT](INFO): DAT read: Bearing 106.9, -20.4 (Local) 2025-10-29T01:02:43.888Z,1761699763.888 [DAT](INFO): Local bearing/azimuth received: Bearing 106.9, -20.4 (Local) 2025-10-29T01:02:43.890Z,1761699763.890 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-29T01:02:43.895Z,1761699763.895 [DAT](INFO): DAT read: 01:02:43.2134 LVL= 32752, 22977, 30066, 32755, AGC= 64, IDX= 502, 0.23,-0.130, 2.034, 0.709, 0.967, PHS=-0.995, 1.112,-0.302, RAW= 311.2, 2.0, CAL= 308.9, -1.1, ROT= 201.1, 1.1 2025-10-29T01:02:43.896Z,1761699763.896 [DAT](INFO): got valid direction response: 01:02:43.2134 LVL= 32752, 22977, 30066, 32755, AGC= 64, IDX= 502, 0.23,-0.130, 2.034, 0.709, 0.967, PHS=-0.995, 1.112,-0.302, RAW= 311.2, 2.0, CAL= 308.9, -1.1, ROT= 201.1, 1.1 2025-10-29T01:02:43.896Z,1761699763.896 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-29T01:02:43.897Z,1761699763.897 [DAT](INFO): direction in FSK: [-0.932782,-0.359931,-0.019197] 2025-10-29T01:02:43.897Z,1761699763.897 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:43.902Z,1761699763.902 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.662754 2025-10-29T01:02:44.137Z,1761699764.137 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.898201 2025-10-29T01:02:44.250Z,1761699764.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613855,-0.787964,-0.047895],[0.789370,-0.613360,-0.026167],[-0.008758,-0.053870,0.998510]] 2025-10-29T01:02:44.323Z,1761699764.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.504159 s, deltaX: 0.100000 m, approachRate: 0.198351 m/s, rangeRepo size: 4 2025-10-29T01:02:44.326Z,1761699764.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.409483 m, bearing: 328.998626 deg, lat: 36.779302 deg, lon: -121.859480 deg, deltaT: 0.504159 s, deltaX: 0.099447 m, approachRate: 0.197254 m/s, posRepo size: 4 2025-10-29T01:02:44.326Z,1761699764.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T01:02:44.391Z,1761699764.391 [DAT](INFO): DAT read: Rx Time:01:02:43.7134 2025-10-29T01:02:44.392Z,1761699764.392 [DAT](INFO): Rx dataTimestamp_ set to:1761699764.391414 2025-10-29T01:02:44.394Z,1761699764.394 [DAT](INFO): DAT read: Bearing 106.2, -19.8 (Local) 2025-10-29T01:02:44.394Z,1761699764.394 [DAT](INFO): Local bearing/azimuth received: Bearing 106.2, -19.8 (Local) 2025-10-29T01:02:44.397Z,1761699764.397 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed -0.2 2025-10-29T01:02:44.404Z,1761699764.404 [DAT](INFO): DAT read: 01:02:43.7134 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 502,-0.20, 2.952,-1.208,-2.530,-2.244, PHS=-0.986, 1.081,-0.330, RAW= 311.9, 2.6, CAL= 309.6, -0.4, ROT= 200.4, 0.4 2025-10-29T01:02:44.406Z,1761699764.406 [DAT](INFO): got valid direction response: 01:02:43.7134 LVL= 32752, 28657, 32754, 32755, AGC= 62, IDX= 502,-0.20, 2.952,-1.208,-2.530,-2.244, PHS=-0.986, 1.081,-0.330, RAW= 311.9, 2.6, CAL= 309.6, -0.4, ROT= 200.4, 0.4 2025-10-29T01:02:44.406Z,1761699764.406 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-29T01:02:44.407Z,1761699764.407 [DAT](INFO): direction in FSK: [-0.937259,-0.348563,-0.006981] 2025-10-29T01:02:44.407Z,1761699764.407 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:44.411Z,1761699764.411 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.172104 2025-10-29T01:02:44.641Z,1761699764.641 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.402092 2025-10-29T01:02:44.706Z,1761699764.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612400,-0.789047,-0.048693],[0.790489,-0.611943,-0.025544],[-0.009642,-0.054134,0.998487]] 2025-10-29T01:02:44.734Z,1761699764.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.505599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:44.749Z,1761699764.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.409483 m, bearing: 328.161283 deg, lat: 36.779302 deg, lon: -121.859480 deg, deltaT: 0.505599 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:44.749Z,1761699764.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T01:02:44.894Z,1761699764.894 [DAT](INFO): DAT read: Rx Time:01:02:44.2134 2025-10-29T01:02:44.894Z,1761699764.894 [DAT](INFO): Rx dataTimestamp_ set to:1761699764.893711 2025-10-29T01:02:44.895Z,1761699764.895 [DAT](INFO): DAT read: Bearing 106.7, -20.4 (Local) 2025-10-29T01:02:44.896Z,1761699764.896 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -20.4 (Local) 2025-10-29T01:02:44.898Z,1761699764.898 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-29T01:02:44.928Z,1761699764.928 [DAT](INFO): DAT read: 01:02:44.2134 LVL= 32752, 26225, 32754, 32755, AGC= 63, IDX= 502, 0.14,-2.089, 0.050,-1.258,-0.999, PHS=-0.988, 1.094,-0.303, RAW= 311.2, 2.2, CAL= 308.9, -0.9, ROT= 201.1, 0.9 2025-10-29T01:02:44.988Z,1761699764.988 [DAT](INFO): got valid direction response: 01:02:44.2134 LVL= 32752, 26225, 32754, 32755, AGC= 63, IDX= 502, 0.14,-2.089, 0.050,-1.258,-0.999, PHS=-0.988, 1.094,-0.303, RAW= 311.2, 2.2, CAL= 308.9, -0.9, ROT= 201.1, 0.9 2025-10-29T01:02:44.989Z,1761699764.989 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T01:02:44.990Z,1761699764.990 [DAT](INFO): direction in FSK: [-0.932838,-0.359952,-0.015707] 2025-10-29T01:02:44.990Z,1761699764.990 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:45.007Z,1761699765.007 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.768158 2025-10-29T01:02:45.148Z,1761699765.148 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.908459 2025-10-29T01:02:45.182Z,1761699765.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.500000 m, deltaT: 0.502297 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:45.198Z,1761699765.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.409479 m, bearing: 328.884179 deg, lat: 36.779302 deg, lon: -121.859480 deg, deltaT: 0.502297 s, deltaX: -0.000004 m, approachRate: -0.000008 m/s, posRepo size: 4 2025-10-29T01:02:45.205Z,1761699765.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.41 m. 2025-10-29T01:02:45.397Z,1761699765.397 [DAT](INFO): DAT read: Rx Time:01:02:44.7133 2025-10-29T01:02:45.398Z,1761699765.398 [DAT](INFO): Rx dataTimestamp_ set to:1761699765.397627 2025-10-29T01:02:45.399Z,1761699765.399 [DAT](INFO): DAT read: Bearing 106.3, -21.1 (Local) 2025-10-29T01:02:45.400Z,1761699765.400 [DAT](INFO): Local bearing/azimuth received: Bearing 106.3, -21.1 (Local) 2025-10-29T01:02:45.402Z,1761699765.402 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.1 2025-10-29T01:02:45.406Z,1761699765.406 [DAT](INFO): DAT read: 01:02:44.7133 LVL= 32752, 26033, 31986, 32755, AGC= 64, IDX= 502,-0.32, 1.346,-2.782, 2.205, 2.464, PHS=-1.016, 1.083,-0.303, RAW= 310.5, 2.6, CAL= 308.1, -0.6, ROT= 201.9, 0.6 2025-10-29T01:02:45.407Z,1761699765.407 [DAT](INFO): got valid direction response: 01:02:44.7133 LVL= 32752, 26033, 31986, 32755, AGC= 64, IDX= 502,-0.32, 1.346,-2.782, 2.205, 2.464, PHS=-1.016, 1.083,-0.303, RAW= 310.5, 2.6, CAL= 308.1, -0.6, ROT= 201.9, 0.6 2025-10-29T01:02:45.408Z,1761699765.408 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T01:02:45.409Z,1761699765.409 [DAT](INFO): direction in FSK: [-0.927785,-0.372967,-0.010472] 2025-10-29T01:02:45.409Z,1761699765.409 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:45.417Z,1761699765.417 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.178635 2025-10-29T01:02:45.476Z,1761699765.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610535,-0.790521,-0.048198],[0.791919,-0.610159,-0.023869],[-0.010540,-0.052742,0.998553]] 2025-10-29T01:02:45.523Z,1761699765.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.503916 s, deltaX: -0.100000 m, approachRate: -0.198447 m/s, rangeRepo size: 4 2025-10-29T01:02:45.525Z,1761699765.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.310028 m, bearing: 329.535585 deg, lat: 36.779301 deg, lon: -121.859480 deg, deltaT: 0.503916 s, deltaX: -0.099451 m, approachRate: -0.197356 m/s, posRepo size: 4 2025-10-29T01:02:45.526Z,1761699765.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:02:45.652Z,1761699765.652 [DAT](INFO): DAT read: Rx Time:01:02:45.2135 2025-10-29T01:02:45.653Z,1761699765.653 [DAT](INFO): Rx dataTimestamp_ set to:1761699765.652412 2025-10-29T01:02:45.655Z,1761699765.655 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.415901 2025-10-29T01:02:45.873Z,1761699765.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609673,-0.791199,-0.047989],[0.792576,-0.609338,-0.023006],[-0.011039,-0.052061,0.998583]] 2025-10-29T01:02:45.891Z,1761699765.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.31 m. 2025-10-29T01:02:45.902Z,1761699765.902 [DAT](INFO): DAT read: Bearing 106.1, -21.4 (Local) 2025-10-29T01:02:45.902Z,1761699765.902 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -21.4 (Local) 2025-10-29T01:02:45.904Z,1761699765.904 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.0 2025-10-29T01:02:45.917Z,1761699765.917 [DAT](INFO): DAT read: 01:02:45.2135 LVL= 32752, 27425, 32754, 32755, AGC= 65, IDX= 503, 0.04,-2.640,-0.504,-1.779,-1.523, PHS=-1.015, 1.064,-0.299, RAW= 310.2, 2.8, CAL= 307.8, -0.4, ROT= 202.2, 0.4 2025-10-29T01:02:45.918Z,1761699765.918 [DAT](INFO): got valid direction response: 01:02:45.2135 LVL= 32752, 27425, 32754, 32755, AGC= 65, IDX= 503, 0.04,-2.640,-0.504,-1.779,-1.523, PHS=-1.015, 1.064,-0.299, RAW= 310.2, 2.8, CAL= 307.8, -0.4, ROT= 202.2, 0.4 2025-10-29T01:02:45.918Z,1761699765.918 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T01:02:45.919Z,1761699765.919 [DAT](INFO): direction in FSK: [-0.925848,-0.377831,-0.006981] 2025-10-29T01:02:45.920Z,1761699765.920 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:45.923Z,1761699765.923 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.684509 2025-10-29T01:02:46.158Z,1761699766.158 [DAT](INFO): DAT read: Rx Time:01:02:45.7134 2025-10-29T01:02:46.159Z,1761699766.159 [DAT](INFO): Rx dataTimestamp_ set to:1761699766.158326 2025-10-29T01:02:46.162Z,1761699766.162 [DAT](INFO): DAT read: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:46.163Z,1761699766.163 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:46.165Z,1761699766.165 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.925533 2025-10-29T01:02:46.288Z,1761699766.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608768,-0.791889,-0.048101],[0.793262,-0.608474,-0.022218],[-0.011674,-0.051682,0.998595]] 2025-10-29T01:02:46.331Z,1761699766.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502808 s, deltaX: 0.300001 m, approachRate: 0.596651 m/s, rangeRepo size: 4 2025-10-29T01:02:46.350Z,1761699766.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.608349 m, bearing: 329.700350 deg, lat: 36.779301 deg, lon: -121.859480 deg, deltaT: 0.502808 s, deltaX: 0.298321 m, approachRate: 0.593310 m/s, posRepo size: 4 2025-10-29T01:02:46.350Z,1761699766.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-29T01:02:46.409Z,1761699766.409 [DAT](INFO): DAT read: Range 11 to 50 : 16.5 m (trip time 11.0 ms) speed 0.0 2025-10-29T01:02:46.415Z,1761699766.415 [DAT](INFO): DAT read: 01:02:45.7134 LVL= 32752, 24177, 31650, 32755, AGC= 64, IDX= 502, 0.44, 2.920,-1.217,-2.485,-2.247, PHS=-1.015, 1.075,-0.282, RAW= 309.8, 2.4, CAL= 307.5, -0.8, ROT= 202.5, 0.8 2025-10-29T01:02:46.417Z,1761699766.417 [DAT](INFO): got valid direction response: 01:02:45.7134 LVL= 32752, 24177, 31650, 32755, AGC= 64, IDX= 502, 0.44, 2.920,-1.217,-2.485,-2.247, PHS=-1.015, 1.075,-0.282, RAW= 309.8, 2.4, CAL= 307.5, -0.8, ROT= 202.5, 0.8 2025-10-29T01:02:46.418Z,1761699766.418 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-29T01:02:46.419Z,1761699766.419 [DAT](INFO): direction in FSK: [-0.923789,-0.382646,-0.013962] 2025-10-29T01:02:46.424Z,1761699766.424 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:46.428Z,1761699766.428 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.188770 2025-10-29T01:02:46.669Z,1761699766.669 [DAT](INFO): DAT read: Rx Time:01:02:46.2136 2025-10-29T01:02:46.670Z,1761699766.670 [DAT](INFO): Rx dataTimestamp_ set to:1761699766.669439 2025-10-29T01:02:46.673Z,1761699766.673 [DAT](INFO): DAT read: Bearing 106.1, -21.8 (Local) 2025-10-29T01:02:46.674Z,1761699766.674 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -21.8 (Local) 2025-10-29T01:02:46.687Z,1761699766.687 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-29T01:02:46.689Z,1761699766.689 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-29T01:02:46.706Z,1761699766.706 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.452801 2025-10-29T01:02:46.726Z,1761699766.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608225,-0.792288,-0.048395],[0.793672,-0.607955,-0.021804],[-0.012147,-0.051672,0.998590]] 2025-10-29T01:02:46.820Z,1761699766.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.769004 s, deltaX: 0.099998 m, approachRate: 0.130036 m/s, rangeRepo size: 4 2025-10-29T01:02:46.822Z,1761699766.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707798 m, bearing: 329.978667 deg, lat: 36.779301 deg, lon: -121.859478 deg, deltaT: 0.769004 s, deltaX: 0.099449 m, approachRate: 0.129322 m/s, posRepo size: 4 2025-10-29T01:02:46.823Z,1761699766.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:46.913Z,1761699766.913 [DAT](INFO): DAT read: 01:02:46.2136 LVL= 32752, 25761, 32754, 32755, AGC= 63, IDX= 504,-0.08, 2.528,-1.613,-2.879,-2.630, PHS=-1.023, 1.062,-0.293, RAW= 309.8, 2.8, CAL= 307.4, -0.4, ROT= 202.6, 0.4 2025-10-29T01:02:46.914Z,1761699766.914 [DAT](INFO): got valid direction response: 01:02:46.2136 LVL= 32752, 25761, 32754, 32755, AGC= 63, IDX= 504,-0.08, 2.528,-1.613,-2.879,-2.630, PHS=-1.023, 1.062,-0.293, RAW= 309.8, 2.8, CAL= 307.4, -0.4, ROT= 202.6, 0.4 2025-10-29T01:02:46.914Z,1761699766.914 [DAT](INFO): #Rx 109: Read direction message, but no range. 2025-10-29T01:02:46.915Z,1761699766.915 [DAT](INFO): direction in FSK: [-0.923188,-0.384286,-0.006981] 2025-10-29T01:02:46.919Z,1761699766.919 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.680035 2025-10-29T01:02:47.083Z,1761699767.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607744,-0.792612,-0.049119],[0.794032,-0.607490,-0.021661],[-0.012671,-0.052166,0.998558]] 2025-10-29T01:02:47.135Z,1761699767.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:47.166Z,1761699767.166 [DAT](INFO): DAT read: Rx Time:01:02:46.7135 2025-10-29T01:02:47.167Z,1761699767.167 [DAT](INFO): Rx dataTimestamp_ set to:1761699767.166050 2025-10-29T01:02:47.170Z,1761699767.170 [DAT](INFO): DAT read: Bearing 106.6, -21.9 (Local) 2025-10-29T01:02:47.171Z,1761699767.171 [DAT](INFO): Local bearing/azimuth received: Bearing 106.6, -21.9 (Local) 2025-10-29T01:02:47.175Z,1761699767.175 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.1 2025-10-29T01:02:47.178Z,1761699767.178 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-29T01:02:47.196Z,1761699767.196 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.948322 2025-10-29T01:02:47.417Z,1761699767.417 [DAT](INFO): DAT read: 01:02:46.7135 LVL= 32752, 22769, 32754, 32755, AGC= 64, IDX= 503, 0.24,-2.965,-0.821,-2.080,-1.850, PHS=-1.012, 1.075,-0.274, RAW= 309.6, 2.3, CAL= 307.3, -0.9, ROT= 202.7, 0.9 2025-10-29T01:02:47.418Z,1761699767.418 [DAT](INFO): got valid direction response: 01:02:46.7135 LVL= 32752, 22769, 32754, 32755, AGC= 64, IDX= 503, 0.24,-2.965,-0.821,-2.080,-1.850, PHS=-1.012, 1.075,-0.274, RAW= 309.6, 2.3, CAL= 307.3, -0.9, ROT= 202.7, 0.9 2025-10-29T01:02:47.418Z,1761699767.418 [DAT](INFO): #Rx 111: Read direction message, but no range. 2025-10-29T01:02:47.419Z,1761699767.419 [DAT](INFO): direction in FSK: [-0.922424,-0.385858,-0.015707] 2025-10-29T01:02:47.422Z,1761699767.422 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.183681 2025-10-29T01:02:47.491Z,1761699767.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607138,-0.793043,-0.049662],[0.794487,-0.606903,-0.021418],[-0.013154,-0.052459,0.998536]] 2025-10-29T01:02:47.534Z,1761699767.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.496611 s, deltaX: -0.099998 m, approachRate: -0.201362 m/s, rangeRepo size: 4 2025-10-29T01:02:47.541Z,1761699767.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.608389 m, bearing: 330.105228 deg, lat: 36.779302 deg, lon: -121.859478 deg, deltaT: 0.496611 s, deltaX: -0.099409 m, approachRate: -0.200175 m/s, posRepo size: 4 2025-10-29T01:02:47.541Z,1761699767.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-29T01:02:47.669Z,1761699767.669 [DAT](INFO): DAT read: Rx Time:01:02:47.2136 2025-10-29T01:02:47.670Z,1761699767.670 [DAT](INFO): Rx dataTimestamp_ set to:1761699767.669615 2025-10-29T01:02:47.673Z,1761699767.673 [DAT](INFO): DAT read: Bearing 106.6, -22.1 (Local) 2025-10-29T01:02:47.674Z,1761699767.674 [DAT](INFO): Local bearing/azimuth received: Bearing 106.6, -22.1 (Local) 2025-10-29T01:02:47.679Z,1761699767.679 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-29T01:02:47.682Z,1761699767.682 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-29T01:02:47.689Z,1761699767.689 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.449978 2025-10-29T01:02:47.887Z,1761699767.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606482,-0.793516,-0.050123],[0.794980,-0.606270,-0.021081],[-0.013660,-0.052632,0.998521]] 2025-10-29T01:02:47.921Z,1761699767.921 [DAT](INFO): DAT read: 01:02:47.2136 LVL= 32752, 23345, 30194, 32755, AGC= 64, IDX= 505,-0.21, 2.339,-1.793,-3.050,-2.826, PHS=-1.016, 1.078,-0.268, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 2025-10-29T01:02:47.922Z,1761699767.922 [DAT](INFO): got valid direction response: 01:02:47.2136 LVL= 32752, 23345, 30194, 32755, AGC= 64, IDX= 505,-0.21, 2.339,-1.793,-3.050,-2.826, PHS=-1.016, 1.078,-0.268, RAW= 309.3, 2.3, CAL= 307.1, -1.0, ROT= 202.9, 1.0 2025-10-29T01:02:47.922Z,1761699767.922 [DAT](INFO): #Rx 113: Read direction message, but no range. 2025-10-29T01:02:47.923Z,1761699767.923 [DAT](INFO): direction in FSK: [-0.921045,-0.389065,-0.017452] 2025-10-29T01:02:47.927Z,1761699767.927 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=53.687923 2025-10-29T01:02:47.933Z,1761699767.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503565 s, deltaX: 0.099998 m, approachRate: 0.198581 m/s, rangeRepo size: 4 2025-10-29T01:02:47.933Z,1761699767.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.61 m. 2025-10-29T01:02:48.172Z,1761699768.172 [DAT](INFO): DAT read: Rx Time:01:02:47.7136 2025-10-29T01:02:48.174Z,1761699768.174 [DAT](INFO): Rx dataTimestamp_ set to:1761699768.172742 2025-10-29T01:02:48.177Z,1761699768.177 [DAT](INFO): DAT read: Bearing 106.9, -21.5 (Local) 2025-10-29T01:02:48.178Z,1761699768.178 [DAT](INFO): Local bearing/azimuth received: Bearing 106.9, -21.5 (Local) 2025-10-29T01:02:48.182Z,1761699768.182 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.1 2025-10-29T01:02:48.186Z,1761699768.186 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-29T01:02:48.189Z,1761699768.189 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=53.949837 2025-10-29T01:02:48.299Z,1761699768.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605886,-0.793948,-0.050479],[0.795426,-0.605698,-0.020691],[-0.014147,-0.052689,0.998511]] 2025-10-29T01:02:48.314Z,1761699768.314 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050504510830,35.0, +10.6, .0, 0 2025-10-29T01:02:48.334Z,1761699768.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.503127 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:48.336Z,1761699768.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707949 m, bearing: 330.220010 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 1.006692 s, deltaX: 0.099560 m, approachRate: 0.098898 m/s, posRepo size: 4 2025-10-29T01:02:48.336Z,1761699768.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:48.425Z,1761699768.425 [DAT](INFO): DAT read: 01:02:47.7136 LVL= 32752, 23889, 30898, 32755, AGC= 63, IDX= 504, 0.10,-2.835,-0.701,-1.960,-1.741, PHS=-0.992, 1.085,-0.263, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 2025-10-29T01:02:48.426Z,1761699768.426 [DAT](INFO): got valid direction response: 01:02:47.7136 LVL= 32752, 23889, 30898, 32755, AGC= 63, IDX= 504, 0.10,-2.835,-0.701,-1.960,-1.741, PHS=-0.992, 1.085,-0.263, RAW= 309.8, 1.9, CAL= 307.6, -1.4, ROT= 202.4, 1.4 2025-10-29T01:02:48.427Z,1761699768.427 [DAT](INFO): #Rx 115: Read direction message, but no range. 2025-10-29T01:02:48.428Z,1761699768.428 [DAT](INFO): direction in FSK: [-0.924270,-0.380957,-0.024432] 2025-10-29T01:02:48.431Z,1761699768.431 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=54.192677 2025-10-29T01:02:48.676Z,1761699768.676 [DAT](INFO): DAT read: Rx Time:01:02:48.2136 2025-10-29T01:02:48.678Z,1761699768.678 [DAT](INFO): Rx dataTimestamp_ set to:1761699768.677004 2025-10-29T01:02:48.681Z,1761699768.681 [DAT](INFO): DAT read: Bearing 106.7, -22.1 (Local) 2025-10-29T01:02:48.682Z,1761699768.682 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -22.1 (Local) 2025-10-29T01:02:48.692Z,1761699768.692 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.0 2025-10-29T01:02:48.694Z,1761699768.694 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-29T01:02:48.706Z,1761699768.706 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=54.467636 2025-10-29T01:02:48.810Z,1761699768.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:48.817Z,1761699768.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707949 m, bearing: 329.737824 deg, lat: 36.779302 deg, lon: -121.859478 deg, deltaT: 0.504262 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:48.817Z,1761699768.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:48.929Z,1761699768.929 [DAT](INFO): DAT read: 01:02:48.2136 LVL= 32752, 20401, 29682, 32755, AGC= 64, IDX= 505,-0.38, 2.285,-1.854,-3.101,-2.887, PHS=-1.009, 1.079,-0.257, RAW= 309.2, 2.1, CAL= 307.0, -1.2, ROT= 203.0, 1.2 2025-10-29T01:02:48.930Z,1761699768.930 [DAT](INFO): got valid direction response: 01:02:48.2136 LVL= 32752, 20401, 29682, 32755, AGC= 64, IDX= 505,-0.38, 2.285,-1.854,-3.101,-2.887, PHS=-1.009, 1.079,-0.257, RAW= 309.2, 2.1, CAL= 307.0, -1.2, ROT= 203.0, 1.2 2025-10-29T01:02:48.930Z,1761699768.930 [DAT](INFO): #Rx 117: Read direction message, but no range. 2025-10-29T01:02:48.931Z,1761699768.931 [DAT](INFO): direction in FSK: [-0.920303,-0.390645,-0.020942] 2025-10-29T01:02:48.935Z,1761699768.935 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=54.695934 2025-10-29T01:02:49.105Z,1761699769.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604945,-0.794585,-0.051740],[0.796124,-0.604792,-0.020339],[-0.015131,-0.053495,0.998453]] 2025-10-29T01:02:49.181Z,1761699769.181 [DAT](INFO): DAT read: Rx Time:01:02:48.7136 2025-10-29T01:02:49.182Z,1761699769.182 [DAT](INFO): Rx dataTimestamp_ set to:1761699769.181113 2025-10-29T01:02:49.186Z,1761699769.186 [DAT](INFO): DAT read: Bearing 106.8, -22.0 (Local) 2025-10-29T01:02:49.187Z,1761699769.187 [DAT](INFO): Local bearing/azimuth received: Bearing 106.8, -22.0 (Local) 2025-10-29T01:02:49.192Z,1761699769.192 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.2 2025-10-29T01:02:49.198Z,1761699769.198 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-29T01:02:49.208Z,1761699769.208 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=54.969482 2025-10-29T01:02:49.279Z,1761699769.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:49.283Z,1761699769.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.707930 m, bearing: 330.261784 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504109 s, deltaX: -0.000019 m, approachRate: -0.000038 m/s, posRepo size: 4 2025-10-29T01:02:49.284Z,1761699769.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:49.433Z,1761699769.433 [DAT](INFO): DAT read: 01:02:48.7136 LVL= 32752, 20977, 27970, 32755, AGC= 64, IDX= 504, 0.04, 2.344,-1.795,-3.044,-2.832, PHS=-1.006, 1.081,-0.256, RAW= 309.2, 2.0, CAL= 307.0, -1.3, ROT= 203.0, 1.3 2025-10-29T01:02:49.434Z,1761699769.434 [DAT](INFO): got valid direction response: 01:02:48.7136 LVL= 32752, 20977, 27970, 32755, AGC= 64, IDX= 504, 0.04, 2.344,-1.795,-3.044,-2.832, PHS=-1.006, 1.081,-0.256, RAW= 309.2, 2.0, CAL= 307.0, -1.3, ROT= 203.0, 1.3 2025-10-29T01:02:49.434Z,1761699769.434 [DAT](INFO): #Rx 119: Read direction message, but no range. 2025-10-29T01:02:49.435Z,1761699769.435 [DAT](INFO): direction in FSK: [-0.920268,-0.390631,-0.022687] 2025-10-29T01:02:49.439Z,1761699769.439 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=55.199745 2025-10-29T01:02:49.536Z,1761699769.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604729,-0.794673,-0.052890],[0.796279,-0.604577,-0.020648],[-0.015568,-0.054602,0.998387]] 2025-10-29T01:02:49.608Z,1761699769.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:02:49.685Z,1761699769.685 [DAT](INFO): DAT read: Rx Time:01:02:49.2137 2025-10-29T01:02:49.686Z,1761699769.686 [DAT](INFO): Rx dataTimestamp_ set to:1761699769.685058 2025-10-29T01:02:49.691Z,1761699769.691 [DAT](INFO): DAT read: Bearing 106.8, -22.0 (Local) 2025-10-29T01:02:49.692Z,1761699769.692 [DAT](INFO): Local bearing/azimuth received: Bearing 106.8, -22.0 (Local) 2025-10-29T01:02:49.711Z,1761699769.711 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.1 2025-10-29T01:02:49.724Z,1761699769.724 [DAT](INFO): DAT read: 01:02:49.2137 LVL= 32752, 21873, 30290, 32755, AGC= 64, IDX= 506,-0.41, 2.031,-2.104, 2.932, 3.141, PHS=-1.008, 1.084,-0.253, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 2025-10-29T01:02:49.725Z,1761699769.725 [DAT](INFO): got valid direction response: 01:02:49.2137 LVL= 32752, 21873, 30290, 32755, AGC= 64, IDX= 506,-0.41, 2.031,-2.104, 2.932, 3.141, PHS=-1.008, 1.084,-0.253, RAW= 309.1, 2.0, CAL= 306.9, -1.3, ROT= 203.1, 1.3 2025-10-29T01:02:49.725Z,1761699769.725 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-29T01:02:49.726Z,1761699769.726 [DAT](INFO): direction in FSK: [-0.919585,-0.392236,-0.022687] 2025-10-29T01:02:49.727Z,1761699769.727 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:49.926Z,1761699769.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604058,-0.795147,-0.053438],[0.796778,-0.603931,-0.020323],[-0.016113,-0.054854,0.998364]] 2025-10-29T01:02:49.969Z,1761699769.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503945 s, deltaX: 0.200001 m, approachRate: 0.396870 m/s, rangeRepo size: 4 2025-10-29T01:02:49.971Z,1761699769.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.906836 m, bearing: 330.303448 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.503945 s, deltaX: 0.198906 m, approachRate: 0.394698 m/s, posRepo size: 4 2025-10-29T01:02:49.971Z,1761699769.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-29T01:02:50.188Z,1761699770.188 [DAT](INFO): DAT read: Rx Time:01:02:49.7137 2025-10-29T01:02:50.189Z,1761699770.189 [DAT](INFO): Rx dataTimestamp_ set to:1761699770.188358 2025-10-29T01:02:50.192Z,1761699770.192 [DAT](INFO): DAT read: Bearing 106.9, -21.6 (Local) 2025-10-29T01:02:50.193Z,1761699770.193 [DAT](INFO): Local bearing/azimuth received: Bearing 106.9, -21.6 (Local) 2025-10-29T01:02:50.197Z,1761699770.197 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.0 2025-10-29T01:02:50.199Z,1761699770.199 [DAT](ERROR): #Rx 121: Read range message, but no direction. 2025-10-29T01:02:50.330Z,1761699770.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603502,-0.795624,-0.052603],[0.797189,-0.603428,-0.019082],[-0.016560,-0.053450,0.998433]] 2025-10-29T01:02:50.379Z,1761699770.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.503300 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:50.379Z,1761699770.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-29T01:02:50.442Z,1761699770.442 [DAT](INFO): DAT read: 01:02:49.7137 LVL= 31776, 17201, 25954, 32755, AGC= 63, IDX= 505, 0.07, 1.652,-2.502, 2.538, 2.744, PHS=-0.989, 1.082,-0.249, RAW= 309.4, 1.7, CAL= 307.2, -1.5, ROT= 202.8, 1.5 2025-10-29T01:02:50.443Z,1761699770.443 [DAT](INFO): got valid direction response: 01:02:49.7137 LVL= 31776, 17201, 25954, 32755, AGC= 63, IDX= 505, 0.07, 1.652,-2.502, 2.538, 2.744, PHS=-0.989, 1.082,-0.249, RAW= 309.4, 1.7, CAL= 307.2, -1.5, ROT= 202.8, 1.5 2025-10-29T01:02:50.443Z,1761699770.443 [DAT](INFO): #Rx 122: Read direction message, but no range. 2025-10-29T01:02:50.444Z,1761699770.444 [DAT](INFO): direction in FSK: [-0.921547,-0.387383,-0.026177] 2025-10-29T01:02:50.692Z,1761699770.692 [DAT](INFO): DAT read: Rx Time:01:02:50.2138 2025-10-29T01:02:50.694Z,1761699770.694 [DAT](INFO): Rx dataTimestamp_ set to:1761699770.693021 2025-10-29T01:02:50.697Z,1761699770.697 [DAT](INFO): DAT read: Bearing 106.7, -21.4 (Local) 2025-10-29T01:02:50.698Z,1761699770.698 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -21.4 (Local) 2025-10-29T01:02:50.703Z,1761699770.703 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-29T01:02:50.705Z,1761699770.705 [DAT](ERROR): #Rx 123: Read range message, but no direction. 2025-10-29T01:02:50.735Z,1761699770.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603120,-0.795920,-0.052514],[0.797469,-0.603079,-0.018412],[-0.017015,-0.052983,0.998450]] 2025-10-29T01:02:50.823Z,1761699770.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504663 s, deltaX: 0.100000 m, approachRate: 0.198153 m/s, rangeRepo size: 4 2025-10-29T01:02:50.830Z,1761699770.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.006353 m, bearing: 329.945317 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 1.007963 s, deltaX: 0.099518 m, approachRate: 0.098732 m/s, posRepo size: 4 2025-10-29T01:02:50.830Z,1761699770.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-29T01:02:50.945Z,1761699770.945 [DAT](INFO): DAT read: 01:02:50.2138 LVL= 30480, 18929, 24482, 32755, AGC= 63, IDX= 507,-0.34, 1.589,-2.559, 2.472, 2.684, PHS=-0.993, 1.085,-0.256, RAW= 309.5, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-29T01:02:50.946Z,1761699770.946 [DAT](INFO): got valid direction response: 01:02:50.2138 LVL= 30480, 18929, 24482, 32755, AGC= 63, IDX= 507,-0.34, 1.589,-2.559, 2.472, 2.684, PHS=-0.993, 1.085,-0.256, RAW= 309.5, 1.8, CAL= 307.4, -1.5, ROT= 202.6, 1.5 2025-10-29T01:02:50.946Z,1761699770.946 [DAT](INFO): #Rx 124: Read direction message, but no range. 2025-10-29T01:02:50.947Z,1761699770.947 [DAT](INFO): direction in FSK: [-0.922894,-0.384164,-0.026177] 2025-10-29T01:02:51.138Z,1761699771.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602671,-0.796246,-0.052736],[0.797800,-0.602652,-0.018052],[-0.017408,-0.052952,0.998445]] 2025-10-29T01:02:51.197Z,1761699771.197 [DAT](INFO): DAT read: Rx Time:01:02:50.7138 2025-10-29T01:02:51.198Z,1761699771.198 [DAT](INFO): Rx dataTimestamp_ set to:1761699771.197358 2025-10-29T01:02:51.202Z,1761699771.202 [DAT](INFO): DAT read: Bearing 106.7, -21.6 (Local) 2025-10-29T01:02:51.203Z,1761699771.203 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -21.6 (Local) 2025-10-29T01:02:51.209Z,1761699771.209 [DAT](INFO): DAT read: Range 11 to 50 : 17.1 m (trip time 11.4 ms) speed -0.1 2025-10-29T01:02:51.213Z,1761699771.213 [DAT](INFO): DAT read: 01:02:50.7138 LVL= 32752, 20113, 26226, 32755, AGC= 63, IDX= 506, 0.09, 2.075,-2.072, 2.964,-3.111, PHS=-0.996, 1.084,-0.252, RAW= 309.3, 1.8, CAL= 307.2, -1.5, ROT= 202.8, 1.5 2025-10-29T01:02:51.214Z,1761699771.214 [DAT](INFO): got valid direction response: 01:02:50.7138 LVL= 32752, 20113, 26226, 32755, AGC= 63, IDX= 506, 0.09, 2.075,-2.072, 2.964,-3.111, PHS=-0.996, 1.084,-0.252, RAW= 309.3, 1.8, CAL= 307.2, -1.5, ROT= 202.8, 1.5 2025-10-29T01:02:51.215Z,1761699771.215 [DAT](INFO): #Rx 125: Read range and direction messages. 2025-10-29T01:02:51.224Z,1761699771.224 [DAT](INFO): direction in FSK: [-0.921547,-0.387383,-0.026177] 2025-10-29T01:02:51.224Z,1761699771.224 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:51.307Z,1761699771.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.100000 m, deltaT: 0.504337 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:51.314Z,1761699771.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.006342 m, bearing: 329.913412 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504337 s, deltaX: -0.000011 m, approachRate: -0.000023 m/s, posRepo size: 4 2025-10-29T01:02:51.314Z,1761699771.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-29T01:02:51.543Z,1761699771.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602459,-0.796391,-0.052959],[0.797954,-0.602454,-0.017852],[-0.017688,-0.053013,0.998437]] 2025-10-29T01:02:51.577Z,1761699771.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.01 m. 2025-10-29T01:02:51.701Z,1761699771.701 [DAT](INFO): DAT read: Rx Time:01:02:51.2139 2025-10-29T01:02:51.702Z,1761699771.702 [DAT](INFO): Rx dataTimestamp_ set to:1761699771.701439 2025-10-29T01:02:51.706Z,1761699771.706 [DAT](INFO): DAT read: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:51.707Z,1761699771.707 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:51.723Z,1761699771.723 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed 0.0 2025-10-29T01:02:51.745Z,1761699771.745 [DAT](INFO): DAT read: 01:02:51.2139 LVL= 32752, 22257, 29426, 32755, AGC= 64, IDX= 508,-0.33, 2.072,-2.058, 2.973,-3.098, PHS=-1.011, 1.085,-0.256, RAW= 309.2, 2.0, CAL= 307.0, -1.3, ROT= 203.0, 1.3 2025-10-29T01:02:51.746Z,1761699771.746 [DAT](INFO): got valid direction response: 01:02:51.2139 LVL= 32752, 22257, 29426, 32755, AGC= 64, IDX= 508,-0.33, 2.072,-2.058, 2.973,-3.098, PHS=-1.011, 1.085,-0.256, RAW= 309.2, 2.0, CAL= 307.0, -1.3, ROT= 203.0, 1.3 2025-10-29T01:02:51.747Z,1761699771.747 [DAT](INFO): #Rx 126: Read range and direction messages. 2025-10-29T01:02:51.754Z,1761699771.754 [DAT](INFO): direction in FSK: [-0.920268,-0.390631,-0.022687] 2025-10-29T01:02:51.755Z,1761699771.755 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:51.947Z,1761699771.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602374,-0.796448,-0.053068],[0.798015,-0.602376,-0.017744],[-0.017835,-0.053038,0.998433]] 2025-10-29T01:02:51.974Z,1761699771.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504081 s, deltaX: 0.199999 m, approachRate: 0.396759 m/s, rangeRepo size: 4 2025-10-29T01:02:51.976Z,1761699771.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.205246 m, bearing: 330.083950 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504081 s, deltaX: 0.198904 m, approachRate: 0.394587 m/s, posRepo size: 4 2025-10-29T01:02:51.976Z,1761699771.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-29T01:02:52.205Z,1761699772.205 [DAT](INFO): DAT read: Rx Time:01:02:51.7139 2025-10-29T01:02:52.206Z,1761699772.206 [DAT](INFO): Rx dataTimestamp_ set to:1761699772.205540 2025-10-29T01:02:52.208Z,1761699772.208 [DAT](INFO): DAT read: Bearing 106.7, -21.4 (Local) 2025-10-29T01:02:52.209Z,1761699772.209 [DAT](INFO): Local bearing/azimuth received: Bearing 106.7, -21.4 (Local) 2025-10-29T01:02:52.211Z,1761699772.211 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-29T01:02:52.215Z,1761699772.215 [DAT](INFO): DAT read: 01:02:51.7139 LVL= 31024, 19361, 26674, 32755, AGC= 63, IDX= 507, 0.15, 1.768,-2.386, 2.651, 2.860, PHS=-0.991, 1.083,-0.253, RAW= 309.5, 1.8, CAL= 307.3, -1.5, ROT= 202.7, 1.5 2025-10-29T01:02:52.216Z,1761699772.216 [DAT](INFO): got valid direction response: 01:02:51.7139 LVL= 31024, 19361, 26674, 32755, AGC= 63, IDX= 507, 0.15, 1.768,-2.386, 2.651, 2.860, PHS=-0.991, 1.083,-0.253, RAW= 309.5, 1.8, CAL= 307.3, -1.5, ROT= 202.7, 1.5 2025-10-29T01:02:52.217Z,1761699772.217 [DAT](INFO): #Rx 127: Read range and direction messages. 2025-10-29T01:02:52.218Z,1761699772.218 [DAT](INFO): direction in FSK: [-0.922222,-0.385774,-0.026177] 2025-10-29T01:02:52.218Z,1761699772.218 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:52.351Z,1761699772.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602201,-0.796558,-0.053380],[0.798141,-0.602212,-0.017687],[-0.018057,-0.053256,0.998418]] 2025-10-29T01:02:52.423Z,1761699772.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504101 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:52.429Z,1761699772.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.205275 m, bearing: 329.780565 deg, lat: 36.779303 deg, lon: -121.859477 deg, deltaT: 0.504101 s, deltaX: 0.000029 m, approachRate: 0.000057 m/s, posRepo size: 4 2025-10-29T01:02:52.430Z,1761699772.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-29T01:02:52.708Z,1761699772.708 [DAT](INFO): DAT read: Rx Time:01:02:52.2139 2025-10-29T01:02:52.708Z,1761699772.708 [DAT](INFO): Rx dataTimestamp_ set to:1761699772.708034 2025-10-29T01:02:52.710Z,1761699772.710 [DAT](INFO): DAT read: Bearing 105.9, -21.8 (Local) 2025-10-29T01:02:52.710Z,1761699772.710 [DAT](INFO): Local bearing/azimuth received: Bearing 105.9, -21.8 (Local) 2025-10-29T01:02:52.712Z,1761699772.712 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-29T01:02:52.717Z,1761699772.717 [DAT](INFO): DAT read: 01:02:52.2139 LVL= 32752, 26497, 32210, 32755, AGC= 64, IDX= 508,-0.22,-0.211, 1.940, 0.686, 0.914, PHS=-1.023, 1.071,-0.272, RAW= 309.3, 2.5, CAL= 307.0, -0.8, ROT= 203.0, 0.8 2025-10-29T01:02:52.718Z,1761699772.718 [DAT](INFO): got valid direction response: 01:02:52.2139 LVL= 32752, 26497, 32210, 32755, AGC= 64, IDX= 508,-0.22,-0.211, 1.940, 0.686, 0.914, PHS=-1.023, 1.071,-0.272, RAW= 309.3, 2.5, CAL= 307.0, -0.8, ROT= 203.0, 0.8 2025-10-29T01:02:52.718Z,1761699772.718 [DAT](INFO): #Rx 128: Read range and direction messages. 2025-10-29T01:02:52.719Z,1761699772.719 [DAT](INFO): direction in FSK: [-0.920415,-0.390693,-0.013962] 2025-10-29T01:02:52.719Z,1761699772.719 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:52.797Z,1761699772.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602190,-0.796560,-0.053470],[0.798148,-0.602200,-0.017734],[-0.018074,-0.053356,0.998412]] 2025-10-29T01:02:52.841Z,1761699772.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.502494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:52.843Z,1761699772.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.205275 m, bearing: 330.050089 deg, lat: 36.779303 deg, lon: -121.859477 deg, deltaT: 0.502494 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:52.844Z,1761699772.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-29T01:02:53.210Z,1761699773.210 [DAT](INFO): DAT read: Rx Time:01:02:52.7139 2025-10-29T01:02:53.210Z,1761699773.210 [DAT](INFO): Rx dataTimestamp_ set to:1761699773.209841 2025-10-29T01:02:53.211Z,1761699773.211 [DAT](INFO): DAT read: Bearing 106.0, -21.5 (Local) 2025-10-29T01:02:53.212Z,1761699773.212 [DAT](INFO): Local bearing/azimuth received: Bearing 106.0, -21.5 (Local) 2025-10-29T01:02:53.214Z,1761699773.214 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.1 2025-10-29T01:02:53.219Z,1761699773.219 [DAT](INFO): DAT read: 01:02:52.7139 LVL= 32752, 25121, 32754, 32755, AGC= 63, IDX= 507, 0.18, 0.700, 2.841, 1.582, 1.814, PHS=-1.012, 1.071,-0.277, RAW= 309.6, 2.4, CAL= 307.4, -0.8, ROT= 202.6, 0.8 2025-10-29T01:02:53.220Z,1761699773.220 [DAT](INFO): got valid direction response: 01:02:52.7139 LVL= 32752, 25121, 32754, 32755, AGC= 63, IDX= 507, 0.18, 0.700, 2.841, 1.582, 1.814, PHS=-1.012, 1.071,-0.277, RAW= 309.6, 2.4, CAL= 307.4, -0.8, ROT= 202.6, 0.8 2025-10-29T01:02:53.220Z,1761699773.220 [DAT](INFO): #Rx 129: Read range and direction messages. 2025-10-29T01:02:53.221Z,1761699773.221 [DAT](INFO): direction in FSK: [-0.923120,-0.384258,-0.013962] 2025-10-29T01:02:53.221Z,1761699773.221 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:53.227Z,1761699773.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602275,-0.796507,-0.053307],[0.798086,-0.602282,-0.017735],[-0.017980,-0.053225,0.998421]] 2025-10-29T01:02:53.329Z,1761699773.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.501807 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:53.331Z,1761699773.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.205252 m, bearing: 329.656374 deg, lat: 36.779303 deg, lon: -121.859477 deg, deltaT: 0.501807 s, deltaX: -0.000023 m, approachRate: -0.000046 m/s, posRepo size: 4 2025-10-29T01:02:53.331Z,1761699773.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-29T01:02:53.562Z,1761699773.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602371,-0.796458,-0.052954],[0.798018,-0.602374,-0.017714],[-0.017790,-0.052929,0.998440]] 2025-10-29T01:02:53.578Z,1761699773.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:02:53.597Z,1761699773.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.21 m. 2025-10-29T01:02:53.713Z,1761699773.713 [DAT](INFO): DAT read: Rx Time:01:02:53.2140 2025-10-29T01:02:53.714Z,1761699773.714 [DAT](INFO): Rx dataTimestamp_ set to:1761699773.713690 2025-10-29T01:02:53.715Z,1761699773.715 [DAT](INFO): DAT read: Bearing 105.9, -21.7 (Local) 2025-10-29T01:02:53.716Z,1761699773.716 [DAT](INFO): Local bearing/azimuth received: Bearing 105.9, -21.7 (Local) 2025-10-29T01:02:53.718Z,1761699773.718 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-29T01:02:53.722Z,1761699773.722 [DAT](INFO): DAT read: 01:02:53.2140 LVL= 32752, 24929, 31602, 32755, AGC= 62, IDX= 509,-0.23,-0.504, 1.639, 0.384, 0.617, PHS=-1.018, 1.067,-0.277, RAW= 309.5, 2.5, CAL= 307.2, -0.7, ROT= 202.8, 0.7 2025-10-29T01:02:53.723Z,1761699773.723 [DAT](INFO): got valid direction response: 01:02:53.2140 LVL= 32752, 24929, 31602, 32755, AGC= 62, IDX= 509,-0.23,-0.504, 1.639, 0.384, 0.617, PHS=-1.018, 1.067,-0.277, RAW= 309.5, 2.5, CAL= 307.2, -0.7, ROT= 202.8, 0.7 2025-10-29T01:02:53.724Z,1761699773.724 [DAT](INFO): #Rx 130: Read range and direction messages. 2025-10-29T01:02:53.725Z,1761699773.725 [DAT](INFO): direction in FSK: [-0.921794,-0.387487,-0.012217] 2025-10-29T01:02:53.725Z,1761699773.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:53.729Z,1761699773.729 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:02:53.729Z,1761699773.729 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:02:53.729Z,1761699773.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:53.965Z,1761699773.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:53.968Z,1761699773.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602575,-0.796335,-0.052478],[0.797871,-0.602567,-0.017746],[-0.017490,-0.052565,0.998464]] 2025-10-29T01:02:54.014Z,1761699774.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503849 s, deltaX: 0.100000 m, approachRate: 0.198473 m/s, rangeRepo size: 4 2025-10-29T01:02:54.016Z,1761699774.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.304705 m, bearing: 329.873090 deg, lat: 36.779303 deg, lon: -121.859477 deg, deltaT: 0.503849 s, deltaX: 0.099453 m, approachRate: 0.197386 m/s, posRepo size: 4 2025-10-29T01:02:54.020Z,1761699774.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:02:54.217Z,1761699774.217 [DAT](INFO): DAT read: Rx Time:01:02:53.7140 2025-10-29T01:02:54.218Z,1761699774.218 [DAT](INFO): Rx dataTimestamp_ set to:1761699774.217544 2025-10-29T01:02:54.219Z,1761699774.219 [DAT](INFO): DAT read: Bearing 106.0, -21.7 (Local) 2025-10-29T01:02:54.219Z,1761699774.219 [DAT](INFO): Local bearing/azimuth received: Bearing 106.0, -21.7 (Local) 2025-10-29T01:02:54.222Z,1761699774.222 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-29T01:02:54.226Z,1761699774.226 [DAT](INFO): DAT read: 01:02:53.7140 LVL= 32752, 24385, 32754, 32755, AGC= 63, IDX= 508, 0.11, 0.587, 2.728, 1.475, 1.706, PHS=-1.016, 1.067,-0.275, RAW= 309.5, 2.5, CAL= 307.2, -0.8, ROT= 202.8, 0.8 2025-10-29T01:02:54.227Z,1761699774.227 [DAT](INFO): got valid direction response: 01:02:53.7140 LVL= 32752, 24385, 32754, 32755, AGC= 63, IDX= 508, 0.11, 0.587, 2.728, 1.475, 1.706, PHS=-1.016, 1.067,-0.275, RAW= 309.5, 2.5, CAL= 307.2, -0.8, ROT= 202.8, 0.8 2025-10-29T01:02:54.228Z,1761699774.228 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:02:54.229Z,1761699774.229 [DAT](INFO): direction in FSK: [-0.921773,-0.387478,-0.013962] 2025-10-29T01:02:54.230Z,1761699774.230 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:54.233Z,1761699774.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:54.233Z,1761699774.233 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:54.371Z,1761699774.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602976,-0.796039,-0.052369],[0.797574,-0.602951,-0.018058],[-0.017201,-0.052656,0.998465]] 2025-10-29T01:02:54.460Z,1761699774.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503854 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:54.462Z,1761699774.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.304848 m, bearing: 329.905673 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.503854 s, deltaX: 0.000143 m, approachRate: 0.000284 m/s, posRepo size: 4 2025-10-29T01:02:54.463Z,1761699774.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:02:54.469Z,1761699774.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:54.722Z,1761699774.722 [DAT](INFO): DAT read: Rx Time:01:02:54.2140 2025-10-29T01:02:54.722Z,1761699774.722 [DAT](INFO): Rx dataTimestamp_ set to:1761699774.721724 2025-10-29T01:02:54.723Z,1761699774.723 [DAT](INFO): DAT read: Bearing 106.4, -21.6 (Local) 2025-10-29T01:02:54.724Z,1761699774.724 [DAT](INFO): Local bearing/azimuth received: Bearing 106.4, -21.6 (Local) 2025-10-29T01:02:54.726Z,1761699774.726 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.1 2025-10-29T01:02:54.742Z,1761699774.742 [DAT](INFO): DAT read: 01:02:54.2140 LVL= 32752, 23473, 29906, 32755, AGC= 63, IDX= 510,-0.43, 0.238, 2.385, 1.122, 1.348, PHS=-1.007, 1.082,-0.270, RAW= 309.6, 2.1, CAL= 307.4, -1.1, ROT= 202.6, 1.1 2025-10-29T01:02:54.744Z,1761699774.744 [DAT](INFO): got valid direction response: 01:02:54.2140 LVL= 32752, 23473, 29906, 32755, AGC= 63, IDX= 510,-0.43, 0.238, 2.385, 1.122, 1.348, PHS=-1.007, 1.082,-0.270, RAW= 309.6, 2.1, CAL= 307.4, -1.1, ROT= 202.6, 1.1 2025-10-29T01:02:54.744Z,1761699774.744 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:02:54.746Z,1761699774.746 [DAT](INFO): direction in FSK: [-0.923040,-0.384225,-0.019197] 2025-10-29T01:02:54.746Z,1761699774.746 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:54.783Z,1761699774.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603399,-0.795752,-0.051846],[0.797265,-0.603351,-0.018335],[-0.016691,-0.052399,0.998487]] 2025-10-29T01:02:54.798Z,1761699774.798 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:54.799Z,1761699774.799 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:54.866Z,1761699774.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:54.872Z,1761699774.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.304848 m, bearing: 329.748263 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504180 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:02:54.873Z,1761699774.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:02:54.973Z,1761699774.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:55.221Z,1761699775.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603880,-0.795422,-0.051309],[0.796913,-0.603805,-0.018712],[-0.016096,-0.052189,0.998507]] 2025-10-29T01:02:55.226Z,1761699775.226 [DAT](INFO): DAT read: Rx Time:01:02:54.7140 2025-10-29T01:02:55.226Z,1761699775.226 [DAT](INFO): Rx dataTimestamp_ set to:1761699775.225779 2025-10-29T01:02:55.227Z,1761699775.227 [DAT](INFO): DAT read: Bearing 106.2, -21.7 (Local) 2025-10-29T01:02:55.228Z,1761699775.228 [DAT](INFO): Local bearing/azimuth received: Bearing 106.2, -21.7 (Local) 2025-10-29T01:02:55.230Z,1761699775.230 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-29T01:02:55.239Z,1761699775.239 [DAT](INFO): DAT read: 01:02:54.7140 LVL= 32752, 25841, 31682, 32755, AGC= 63, IDX= 509,-0.04,-0.487, 1.661, 0.398, 0.631, PHS=-1.016, 1.075,-0.276, RAW= 309.6, 2.4, CAL= 307.3, -0.8, ROT= 202.7, 0.8 2025-10-29T01:02:55.240Z,1761699775.240 [DAT](INFO): got valid direction response: 01:02:54.7140 LVL= 32752, 25841, 31682, 32755, AGC= 63, IDX= 509,-0.04,-0.487, 1.661, 0.398, 0.631, PHS=-1.016, 1.075,-0.276, RAW= 309.6, 2.4, CAL= 307.3, -0.8, ROT= 202.7, 0.8 2025-10-29T01:02:55.240Z,1761699775.240 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:02:55.241Z,1761699775.241 [DAT](INFO): direction in FSK: [-0.922448,-0.385868,-0.013962] 2025-10-29T01:02:55.241Z,1761699775.241 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:55.254Z,1761699775.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:55.255Z,1761699775.255 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:55.362Z,1761699775.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504055 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:02:55.367Z,1761699775.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.304916 m, bearing: 329.869488 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504055 s, deltaX: 0.000069 m, approachRate: 0.000136 m/s, posRepo size: 4 2025-10-29T01:02:55.376Z,1761699775.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:02:55.478Z,1761699775.478 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:55.620Z,1761699775.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604463,-0.794992,-0.051115],[0.796482,-0.604353,-0.019332],[-0.015523,-0.052398,0.998506]] 2025-10-29T01:02:55.638Z,1761699775.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:02:55.730Z,1761699775.730 [DAT](INFO): DAT read: Rx Time:01:02:55.2141 2025-10-29T01:02:55.731Z,1761699775.731 [DAT](INFO): Rx dataTimestamp_ set to:1761699775.730137 2025-10-29T01:02:55.733Z,1761699775.733 [DAT](INFO): DAT read: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:55.734Z,1761699775.734 [DAT](INFO): Local bearing/azimuth received: Bearing 106.5, -21.7 (Local) 2025-10-29T01:02:55.737Z,1761699775.737 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.0 2025-10-29T01:02:55.743Z,1761699775.743 [DAT](INFO): DAT read: 01:02:55.2141 LVL= 32752, 23841, 32290, 32755, AGC= 64, IDX= 510, 0.30, 2.329,-1.810,-3.069,-2.843, PHS=-1.009, 1.078,-0.270, RAW= 309.6, 2.2, CAL= 307.3, -1.0, ROT= 202.7, 1.0 2025-10-29T01:02:55.745Z,1761699775.745 [DAT](INFO): got valid direction response: 01:02:55.2141 LVL= 32752, 23841, 32290, 32755, AGC= 64, IDX= 510, 0.30, 2.329,-1.810,-3.069,-2.843, PHS=-1.009, 1.078,-0.270, RAW= 309.6, 2.2, CAL= 307.3, -1.0, ROT= 202.7, 1.0 2025-10-29T01:02:55.746Z,1761699775.746 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:02:55.752Z,1761699775.752 [DAT](INFO): direction in FSK: [-0.922398,-0.385847,-0.017452] 2025-10-29T01:02:55.753Z,1761699775.753 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:55.778Z,1761699775.778 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:55.779Z,1761699775.779 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:55.981Z,1761699775.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:56.085Z,1761699776.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.504358 s, deltaX: 0.200001 m, approachRate: 0.396545 m/s, rangeRepo size: 4 2025-10-29T01:02:56.093Z,1761699776.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.503824 m, bearing: 329.919195 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.504358 s, deltaX: 0.198908 m, approachRate: 0.394378 m/s, posRepo size: 4 2025-10-29T01:02:56.094Z,1761699776.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.50 m. 2025-10-29T01:02:56.234Z,1761699776.234 [DAT](INFO): DAT read: Rx Time:01:02:55.7140 2025-10-29T01:02:56.234Z,1761699776.234 [DAT](INFO): Rx dataTimestamp_ set to:1761699776.233813 2025-10-29T01:02:56.235Z,1761699776.235 [DAT](INFO): DAT read: Bearing 106.4, -21.3 (Local) 2025-10-29T01:02:56.236Z,1761699776.236 [DAT](INFO): Local bearing/azimuth received: Bearing 106.4, -21.3 (Local) 2025-10-29T01:02:56.238Z,1761699776.238 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.0 2025-10-29T01:02:56.243Z,1761699776.243 [DAT](INFO): DAT read: 01:02:55.7140 LVL= 32752, 28017, 32754, 32755, AGC= 63, IDX= 510,-0.22,-0.795, 1.348, 0.071, 0.314, PHS=-1.008, 1.079,-0.287, RAW= 310.1, 2.4, CAL= 307.8, -0.8, ROT= 202.2, 0.8 2025-10-29T01:02:56.244Z,1761699776.244 [DAT](INFO): got valid direction response: 01:02:55.7140 LVL= 32752, 28017, 32754, 32755, AGC= 63, IDX= 510,-0.22,-0.795, 1.348, 0.071, 0.314, PHS=-1.008, 1.079,-0.287, RAW= 310.1, 2.4, CAL= 307.8, -0.8, ROT= 202.2, 0.8 2025-10-29T01:02:56.245Z,1761699776.245 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:02:56.247Z,1761699776.247 [DAT](INFO): direction in FSK: [-0.925780,-0.377804,-0.013962] 2025-10-29T01:02:56.247Z,1761699776.247 [DAT](INFO): publishing direction and range info 2025-10-29T01:02:56.254Z,1761699776.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:56.254Z,1761699776.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:02:56.485Z,1761699776.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:02:56.489Z,1761699776.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606437,-0.793513,-0.050711],[0.795011,-0.606223,-0.021269],[-0.013865,-0.053215,0.998487]] 2025-10-29T01:02:56.530Z,1761699776.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503676 s, deltaX: -0.200001 m, approachRate: -0.397082 m/s, rangeRepo size: 4 2025-10-29T01:02:56.549Z,1761699776.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.305002 m, bearing: 329.551315 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 0.503676 s, deltaX: -0.198822 m, approachRate: -0.394742 m/s, posRepo size: 4 2025-10-29T01:02:56.550Z,1761699776.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:56.737Z,1761699776.737 [DAT](INFO): DAT read: user:665> 2025-10-29T01:02:56.737Z,1761699776.737 [DAT](INFO): DAT read: user:665> 2025-10-29T01:02:56.738Z,1761699776.738 [DAT](INFO): DAT read: Tx time:01:02:56.6192 2025-10-29T01:02:56.738Z,1761699776.738 [DAT](INFO): Ping request sent. 2025-10-29T01:02:56.738Z,1761699776.738 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:02:56.739Z,1761699776.739 [DAT](INFO): publishing transmit ping time 2025-10-29T01:02:56.740Z,1761699776.740 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001000 2025-10-29T01:02:56.886Z,1761699776.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607022,-0.793083,-0.050435],[0.794574,-0.606776,-0.021816],[-0.013300,-0.053317,0.998489]] 2025-10-29T01:02:56.924Z,1761699776.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:56.990Z,1761699776.990 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251351 2025-10-29T01:02:57.241Z,1761699777.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502356 2025-10-29T01:02:57.297Z,1761699777.297 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608045,-0.792344,-0.049711],[0.793805,-0.607760,-0.022415],[-0.012452,-0.053091,0.998512]] 2025-10-29T01:02:57.333Z,1761699777.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:57.494Z,1761699777.494 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755016 2025-10-29T01:02:57.695Z,1761699777.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609006,-0.791663,-0.048803],[0.793080,-0.608690,-0.022817],[-0.011642,-0.052601,0.998548]] 2025-10-29T01:02:57.727Z,1761699777.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:57.747Z,1761699777.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008322 2025-10-29T01:02:57.997Z,1761699777.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258514 2025-10-29T01:02:58.099Z,1761699778.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609810,-0.791090,-0.048049],[0.792473,-0.609465,-0.023218],[-0.010917,-0.052237,0.998575]] 2025-10-29T01:02:58.129Z,1761699778.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:58.250Z,1761699778.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511426 2025-10-29T01:02:58.501Z,1761699778.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762432 2025-10-29T01:02:58.504Z,1761699778.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611035,-0.790187,-0.047334],[0.791541,-0.610648,-0.023928],[-0.009997,-0.052087,0.998592]] 2025-10-29T01:02:58.561Z,1761699778.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:58.756Z,1761699778.756 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017913 2025-10-29T01:02:58.908Z,1761699778.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612119,-0.789400,-0.046448],[0.790713,-0.611699,-0.024457],[-0.009106,-0.051698,0.998621]] 2025-10-29T01:02:58.926Z,1761699778.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:59.006Z,1761699779.006 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267818 2025-10-29T01:02:59.258Z,1761699779.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518762 2025-10-29T01:02:59.310Z,1761699779.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613279,-0.788546,-0.045659],[0.789823,-0.612826,-0.024989],[-0.008276,-0.051387,0.998644]] 2025-10-29T01:02:59.359Z,1761699779.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:02:59.509Z,1761699779.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770376 2025-10-29T01:02:59.714Z,1761699779.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614861,-0.787348,-0.045046],[0.788602,-0.614358,-0.025919],[-0.007267,-0.051460,0.998649]] 2025-10-29T01:02:59.762Z,1761699779.762 [DAT](INFO): DAT read: Rx Time:01:02:59.0473 2025-10-29T01:02:59.763Z,1761699779.763 [DAT](INFO): Rx dataTimestamp_ set to:1761699779.762246 2025-10-29T01:02:59.764Z,1761699779.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025105 2025-10-29T01:02:59.765Z,1761699779.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:03:00.013Z,1761699780.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274432 2025-10-29T01:03:00.119Z,1761699780.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616480,-0.786107,-0.044601],[0.787345,-0.615926,-0.026879],[-0.006341,-0.051687,0.998643]] 2025-10-29T01:03:00.137Z,1761699780.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.31 m. 2025-10-29T01:03:00.280Z,1761699780.280 [DAT](INFO): DAT read: 01:02:59.0473 LVL= 27520, 14081, 20114, 30931, AGC= 62, IDX= 50, 0.46, 2.487,-1.768,-2.911,-2.763, PHS=-0.931, 1.041,-0.192, RAW= 308.2, 1.0, CAL= 306.3, -2.5, ROT= 203.7, 2.5 2025-10-29T01:03:00.281Z,1761699780.281 [DAT](INFO): got valid direction response: 01:02:59.0473 LVL= 27520, 14081, 20114, 30931, AGC= 62, IDX= 50, 0.46, 2.487,-1.768,-2.911,-2.763, PHS=-0.931, 1.041,-0.192, RAW= 308.2, 1.0, CAL= 306.3, -2.5, ROT= 203.7, 2.5 2025-10-29T01:03:00.282Z,1761699780.282 [DAT](INFO): DAT read: Bearing 108.7, -23.2 (Local) 2025-10-29T01:03:00.282Z,1761699780.282 [DAT](INFO): Local bearing/azimuth received: Bearing 108.7, -23.2 (Local) 2025-10-29T01:03:00.283Z,1761699780.283 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (Round-trip 24.0 ms) speed -0.1 m/s 2025-10-29T01:03:00.284Z,1761699780.284 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:03:00.285Z,1761699780.285 [DAT](INFO): direction in FSK: [-0.914791,-0.401565,-0.043619] 2025-10-29T01:03:00.286Z,1761699780.286 [DAT](INFO): publishing direction and range info 2025-10-29T01:03:00.525Z,1761699780.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618022,-0.784913,-0.044288],[0.786142,-0.617415,-0.027903],[-0.005442,-0.052061,0.998629]] 2025-10-29T01:03:00.587Z,1761699780.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 4.031267 s, deltaX: 0.600000 m, approachRate: 0.148837 m/s, rangeRepo size: 4 2025-10-29T01:03:00.589Z,1761699780.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.901737 m, bearing: 331.960526 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 4.031267 s, deltaX: 0.596735 m, approachRate: 0.148027 m/s, posRepo size: 4 2025-10-29T01:03:00.590Z,1761699780.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:00.926Z,1761699780.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619592,-0.783711,-0.043624],[0.784911,-0.618945,-0.028678],[-0.004526,-0.052009,0.998636]] 2025-10-29T01:03:00.945Z,1761699780.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:01.331Z,1761699781.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621212,-0.782488,-0.042522],[0.783634,-0.620541,-0.029090],[-0.003624,-0.051392,0.998672]] 2025-10-29T01:03:01.369Z,1761699781.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:01.734Z,1761699781.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622759,-0.781327,-0.041216],[0.782409,-0.622072,-0.029373],[-0.002689,-0.050540,0.998718]] 2025-10-29T01:03:01.784Z,1761699781.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:02.138Z,1761699782.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624621,-0.779902,-0.040022],[0.780926,-0.623911,-0.029818],[-0.001715,-0.049879,0.998754]] 2025-10-29T01:03:02.172Z,1761699782.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:02.543Z,1761699782.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626510,-0.778437,-0.038987],[0.779413,-0.625774,-0.030376],[-0.000751,-0.049418,0.998778]] 2025-10-29T01:03:02.598Z,1761699782.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:02.948Z,1761699782.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628698,-0.776697,-0.038489],[0.777650,-0.627915,-0.031372],[0.000199,-0.049654,0.998766]] 2025-10-29T01:03:02.966Z,1761699782.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:03.351Z,1761699783.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630889,-0.774947,-0.037900],[0.775872,-0.630063,-0.032297],[0.001149,-0.049781,0.998760]] 2025-10-29T01:03:03.397Z,1761699783.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:03.696Z,1761699783.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:03:03.767Z,1761699783.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633017,-0.773238,-0.037314],[0.774135,-0.632153,-0.033125],[0.002025,-0.049855,0.998754]] 2025-10-29T01:03:03.807Z,1761699783.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:04.159Z,1761699784.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634782,-0.771819,-0.036716],[0.772687,-0.633894,-0.033669],[0.002712,-0.049743,0.998758]] 2025-10-29T01:03:04.178Z,1761699784.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:04.563Z,1761699784.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636760,-0.770206,-0.036316],[0.771055,-0.635841,-0.034368],[0.003379,-0.049886,0.998749]] 2025-10-29T01:03:04.605Z,1761699784.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:04.700Z,1761699784.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:03:04.966Z,1761699784.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638457,-0.768826,-0.035764],[0.769647,-0.637518,-0.034831],[0.003978,-0.049764,0.998753]] 2025-10-29T01:03:05.001Z,1761699785.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:05.370Z,1761699785.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640326,-0.767293,-0.035278],[0.768090,-0.639362,-0.035420],[0.004622,-0.049776,0.998750]] 2025-10-29T01:03:05.426Z,1761699785.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:05.787Z,1761699785.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642221,-0.765714,-0.035123],[0.766502,-0.641222,-0.036192],[0.005191,-0.050165,0.998727]] 2025-10-29T01:03:05.805Z,1761699785.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:06.178Z,1761699786.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644016,-0.764201,-0.035230],[0.764991,-0.642971,-0.037099],[0.005699,-0.050843,0.998690]] 2025-10-29T01:03:06.205Z,1761699786.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:06.636Z,1761699786.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:06.987Z,1761699786.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647179,-0.761486,-0.036046],[0.762312,-0.646038,-0.038931],[0.006358,-0.052674,0.998591]] 2025-10-29T01:03:07.005Z,1761699787.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:07.390Z,1761699787.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648706,-0.760176,-0.036225],[0.761010,-0.647531,-0.039594],[0.006642,-0.053252,0.998559]] 2025-10-29T01:03:07.438Z,1761699787.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:07.795Z,1761699787.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649829,-0.759222,-0.036120],[0.760051,-0.648652,-0.039661],[0.006683,-0.053226,0.998560]] 2025-10-29T01:03:07.814Z,1761699787.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:08.200Z,1761699788.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650876,-0.758352,-0.035530],[0.759154,-0.649717,-0.039409],[0.006801,-0.052623,0.998591]] 2025-10-29T01:03:08.218Z,1761699788.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:08.661Z,1761699788.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:09.007Z,1761699789.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652803,-0.756728,-0.034801],[0.757499,-0.651690,-0.038671],[0.006584,-0.051607,0.998646]] 2025-10-29T01:03:09.025Z,1761699789.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:09.411Z,1761699789.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654088,-0.755605,-0.035057],[0.756391,-0.652966,-0.038831],[0.006450,-0.051916,0.998631]] 2025-10-29T01:03:09.462Z,1761699789.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:09.815Z,1761699789.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655484,-0.754361,-0.035784],[0.755183,-0.654336,-0.039282],[0.006218,-0.052772,0.998587]] 2025-10-29T01:03:09.833Z,1761699789.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:10.219Z,1761699790.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656497,-0.753450,-0.036379],[0.754305,-0.655337,-0.039454],[0.005885,-0.053342,0.998559]] 2025-10-29T01:03:10.271Z,1761699790.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:10.626Z,1761699790.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656900,-0.753124,-0.035871],[0.753961,-0.655823,-0.037920],[0.005033,-0.051955,0.998637]] 2025-10-29T01:03:10.662Z,1761699790.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:11.026Z,1761699791.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657363,-0.752762,-0.034974],[0.753561,-0.656367,-0.036441],[0.004475,-0.050310,0.998724]] 2025-10-29T01:03:11.053Z,1761699791.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:11.430Z,1761699791.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658119,-0.752111,-0.034757],[0.752902,-0.657144,-0.036063],[0.004283,-0.049902,0.998745]] 2025-10-29T01:03:11.484Z,1761699791.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:11.883Z,1761699791.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:12.254Z,1761699792.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659964,-0.750453,-0.035614],[0.751289,-0.658981,-0.036181],[0.003684,-0.050635,0.998710]] 2025-10-29T01:03:12.273Z,1761699792.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:12.647Z,1761699792.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661023,-0.749491,-0.036224],[0.750358,-0.660027,-0.036431],[0.003396,-0.051262,0.998679]] 2025-10-29T01:03:12.685Z,1761699792.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:13.090Z,1761699793.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:13.450Z,1761699793.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662612,-0.748019,-0.037589],[0.748959,-0.661619,-0.036330],[0.002306,-0.052226,0.998633]] 2025-10-29T01:03:13.511Z,1761699793.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:13.862Z,1761699793.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663277,-0.747412,-0.037939],[0.748372,-0.662306,-0.035905],[0.001709,-0.052207,0.998635]] 2025-10-29T01:03:13.880Z,1761699793.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:14.270Z,1761699794.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663637,-0.747093,-0.037919],[0.748054,-0.662710,-0.035067],[0.001069,-0.051637,0.998665]] 2025-10-29T01:03:14.292Z,1761699794.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:14.662Z,1761699794.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664067,-0.746712,-0.037897],[0.747673,-0.663183,-0.034260],[0.000450,-0.051086,0.998694]] 2025-10-29T01:03:14.712Z,1761699794.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:15.066Z,1761699795.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664418,-0.746382,-0.038240],[0.747361,-0.663565,-0.033658],[-0.000253,-0.050942,0.998702]] 2025-10-29T01:03:15.084Z,1761699795.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:15.472Z,1761699795.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664987,-0.745842,-0.038890],[0.746855,-0.664144,-0.033472],[-0.000863,-0.051304,0.998683]] 2025-10-29T01:03:15.519Z,1761699795.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:15.875Z,1761699795.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665239,-0.745563,-0.039909],[0.746629,-0.664401,-0.033417],[-0.001602,-0.052028,0.998644]] 2025-10-29T01:03:15.910Z,1761699795.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:16.280Z,1761699796.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665307,-0.745458,-0.040734],[0.746567,-0.664477,-0.033294],[-0.002248,-0.052561,0.998615]] 2025-10-29T01:03:16.303Z,1761699796.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:16.684Z,1761699796.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665262,-0.745466,-0.041329],[0.746605,-0.664446,-0.033061],[-0.002815,-0.052850,0.998599]] 2025-10-29T01:03:16.762Z,1761699796.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:17.097Z,1761699797.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665221,-0.745471,-0.041881],[0.746639,-0.664420,-0.032806],[-0.003371,-0.053094,0.998584]] 2025-10-29T01:03:17.115Z,1761699797.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:17.497Z,1761699797.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664505,-0.746083,-0.042356],[0.747271,-0.663759,-0.031770],[-0.004411,-0.052763,0.998597]] 2025-10-29T01:03:17.540Z,1761699797.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:17.899Z,1761699797.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664343,-0.746207,-0.042700],[0.747412,-0.663613,-0.031499],[-0.004831,-0.052841,0.998591]] 2025-10-29T01:03:17.917Z,1761699797.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:18.309Z,1761699798.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.664093,-0.746413,-0.042984],[0.747632,-0.663380,-0.031220],[-0.005212,-0.052869,0.998588]] 2025-10-29T01:03:18.327Z,1761699798.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:18.713Z,1761699798.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663963,-0.746516,-0.043197],[0.747745,-0.663259,-0.031061],[-0.005463,-0.052924,0.998584]] 2025-10-29T01:03:18.785Z,1761699798.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:19.149Z,1761699799.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:19.513Z,1761699799.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663661,-0.746791,-0.043089],[0.748012,-0.662973,-0.030728],[-0.005620,-0.052624,0.998599]] 2025-10-29T01:03:19.569Z,1761699799.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:19.922Z,1761699799.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663391,-0.747041,-0.042929],[0.748252,-0.662714,-0.030479],[-0.005680,-0.052341,0.998613]] 2025-10-29T01:03:19.941Z,1761699799.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:20.319Z,1761699800.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663100,-0.747313,-0.042677],[0.748510,-0.662431,-0.030307],[-0.005621,-0.052041,0.998629]] 2025-10-29T01:03:20.357Z,1761699800.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:20.731Z,1761699800.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662848,-0.747542,-0.042578],[0.748733,-0.662184,-0.030196],[-0.005622,-0.051895,0.998637]] 2025-10-29T01:03:20.790Z,1761699800.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:21.127Z,1761699801.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662677,-0.747705,-0.042385],[0.748886,-0.662012,-0.030180],[-0.005494,-0.051742,0.998645]] 2025-10-29T01:03:21.146Z,1761699801.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:21.541Z,1761699801.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662476,-0.747896,-0.042163],[0.749065,-0.661806,-0.030251],[-0.005279,-0.051623,0.998653]] 2025-10-29T01:03:21.576Z,1761699801.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:21.934Z,1761699801.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662523,-0.747859,-0.042075],[0.749025,-0.661834,-0.030604],[-0.004960,-0.051791,0.998646]] 2025-10-29T01:03:21.967Z,1761699801.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:22.339Z,1761699802.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.662145,-0.748193,-0.042085],[0.749360,-0.661451,-0.030695],[-0.004871,-0.051862,0.998642]] 2025-10-29T01:03:22.356Z,1761699802.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:22.748Z,1761699802.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661800,-0.748504,-0.041987],[0.749666,-0.661096,-0.030864],[-0.004655,-0.051902,0.998641]] 2025-10-29T01:03:22.800Z,1761699802.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:23.147Z,1761699803.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.661149,-0.749086,-0.041856],[0.750241,-0.660447,-0.030801],[-0.004571,-0.051766,0.998649]] 2025-10-29T01:03:23.174Z,1761699803.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:23.566Z,1761699803.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660591,-0.749589,-0.041659],[0.750733,-0.659888,-0.030778],[-0.004420,-0.051606,0.998658]] 2025-10-29T01:03:23.609Z,1761699803.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:23.961Z,1761699803.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.660303,-0.749843,-0.041646],[0.750987,-0.659584,-0.031097],[-0.004151,-0.051809,0.998648]] 2025-10-29T01:03:23.979Z,1761699803.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:24.360Z,1761699804.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659795,-0.750282,-0.041798],[0.751435,-0.659061,-0.031368],[-0.004013,-0.052105,0.998634]] 2025-10-29T01:03:24.378Z,1761699804.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:24.769Z,1761699804.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659108,-0.750872,-0.042054],[0.752038,-0.658362,-0.031590],[-0.003967,-0.052447,0.998616]] 2025-10-29T01:03:24.816Z,1761699804.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:25.167Z,1761699805.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658484,-0.751416,-0.042092],[0.752585,-0.657729,-0.031757],[-0.003823,-0.052589,0.998609]] 2025-10-29T01:03:25.184Z,1761699805.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:25.593Z,1761699805.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657916,-0.751931,-0.041784],[0.753083,-0.657156,-0.031820],[-0.003533,-0.052402,0.998620]] 2025-10-29T01:03:25.636Z,1761699805.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:25.976Z,1761699805.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.657022,-0.752729,-0.041489],[0.753864,-0.656269,-0.031619],[-0.003427,-0.052051,0.998639]] 2025-10-29T01:03:25.995Z,1761699805.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:26.379Z,1761699806.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656117,-0.753530,-0.041265],[0.754652,-0.655371,-0.031458],[-0.003339,-0.051781,0.998653]] 2025-10-29T01:03:26.405Z,1761699806.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:26.785Z,1761699806.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.655349,-0.754203,-0.041177],[0.755319,-0.654602,-0.031446],[-0.003237,-0.051710,0.998657]] 2025-10-29T01:03:26.831Z,1761699806.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:27.186Z,1761699807.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.654690,-0.754777,-0.041146],[0.755891,-0.653935,-0.031567],[-0.003080,-0.051768,0.998654]] 2025-10-29T01:03:27.215Z,1761699807.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:27.622Z,1761699807.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653990,-0.755381,-0.041196],[0.756498,-0.653226,-0.031744],[-0.002932,-0.051925,0.998647]] 2025-10-29T01:03:27.664Z,1761699807.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:27.994Z,1761699807.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.653367,-0.755921,-0.041170],[0.757036,-0.652595,-0.031865],[-0.002780,-0.051987,0.998644]] 2025-10-29T01:03:28.047Z,1761699808.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:28.398Z,1761699808.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652613,-0.756580,-0.041019],[0.757686,-0.651842,-0.031825],[-0.002660,-0.051849,0.998651]] 2025-10-29T01:03:28.416Z,1761699808.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:28.803Z,1761699808.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651760,-0.757328,-0.040777],[0.758421,-0.650996,-0.031660],[-0.002569,-0.051561,0.998667]] 2025-10-29T01:03:28.860Z,1761699808.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:29.218Z,1761699809.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.651096,-0.757905,-0.040677],[0.758991,-0.650331,-0.031639],[-0.002474,-0.051473,0.998671]] 2025-10-29T01:03:29.239Z,1761699809.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:29.649Z,1761699809.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650590,-0.758332,-0.040807],[0.759426,-0.649815,-0.031834],[-0.002376,-0.051701,0.998660]] 2025-10-29T01:03:29.695Z,1761699809.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:30.015Z,1761699810.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.650077,-0.758767,-0.040886],[0.759865,-0.649291,-0.032031],[-0.002243,-0.051890,0.998650]] 2025-10-29T01:03:30.046Z,1761699810.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:30.418Z,1761699810.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.649433,-0.759307,-0.041119],[0.760416,-0.648639,-0.032184],[-0.002234,-0.052169,0.998636]] 2025-10-29T01:03:30.438Z,1761699810.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:30.824Z,1761699810.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648929,-0.759728,-0.041277],[0.760846,-0.648124,-0.032378],[-0.002154,-0.052417,0.998623]] 2025-10-29T01:03:30.861Z,1761699810.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:31.231Z,1761699811.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648533,-0.760068,-0.041241],[0.761184,-0.647721,-0.032505],[-0.002007,-0.052473,0.998620]] 2025-10-29T01:03:31.249Z,1761699811.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:31.671Z,1761699811.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648103,-0.760439,-0.041175],[0.761550,-0.647285,-0.032608],[-0.001855,-0.052490,0.998620]] 2025-10-29T01:03:31.734Z,1761699811.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:32.036Z,1761699812.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647480,-0.760977,-0.041027],[0.762080,-0.646670,-0.032425],[-0.001857,-0.052260,0.998632]] 2025-10-29T01:03:32.054Z,1761699812.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:32.440Z,1761699812.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647166,-0.761246,-0.040988],[0.762347,-0.646352,-0.032498],[-0.001754,-0.052279,0.998631]] 2025-10-29T01:03:32.462Z,1761699812.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:32.844Z,1761699812.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646764,-0.761586,-0.041016],[0.762688,-0.645949,-0.032509],[-0.001736,-0.052308,0.998630]] 2025-10-29T01:03:32.880Z,1761699812.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:33.247Z,1761699813.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.646176,-0.762084,-0.041032],[0.763186,-0.645369,-0.032349],[-0.001827,-0.052218,0.998634]] 2025-10-29T01:03:33.276Z,1761699813.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:33.690Z,1761699813.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645808,-0.762399,-0.040992],[0.763498,-0.645000,-0.032340],[-0.001784,-0.052182,0.998636]] 2025-10-29T01:03:33.750Z,1761699813.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:34.055Z,1761699814.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645258,-0.762863,-0.041012],[0.763963,-0.644455,-0.032225],[-0.001847,-0.052125,0.998639]] 2025-10-29T01:03:34.074Z,1761699814.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:34.460Z,1761699814.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.644740,-0.763304,-0.040955],[0.764400,-0.643941,-0.032146],[-0.001836,-0.052032,0.998644]] 2025-10-29T01:03:34.482Z,1761699814.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:34.820Z,1761699814.820 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:03:34.914Z,1761699814.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:35.266Z,1761699815.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643248,-0.764573,-0.040749],[0.765655,-0.642479,-0.031511],[-0.002088,-0.051469,0.998672]] 2025-10-29T01:03:35.284Z,1761699815.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:35.687Z,1761699815.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.642500,-0.765184,-0.041074],[0.766282,-0.641738,-0.031380],[-0.002348,-0.051636,0.998663]] 2025-10-29T01:03:35.765Z,1761699815.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:35.825Z,1761699815.825 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:03:36.087Z,1761699816.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.641519,-0.765993,-0.041328],[0.767102,-0.640769,-0.031124],[-0.002641,-0.051670,0.998661]] 2025-10-29T01:03:36.123Z,1761699816.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:36.479Z,1761699816.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.640496,-0.766837,-0.041545],[0.767956,-0.639754,-0.030961],[-0.002837,-0.051736,0.998657]] 2025-10-29T01:03:36.517Z,1761699816.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:36.883Z,1761699816.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639118,-0.767958,-0.042063],[0.769101,-0.638393,-0.030613],[-0.003344,-0.051916,0.998646]] 2025-10-29T01:03:36.933Z,1761699816.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:37.287Z,1761699817.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.637984,-0.768881,-0.042406],[0.770041,-0.637268,-0.030420],[-0.003635,-0.052062,0.998637]] 2025-10-29T01:03:37.305Z,1761699817.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:37.717Z,1761699817.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636854,-0.769800,-0.042721],[0.770975,-0.636150,-0.030184],[-0.003941,-0.052160,0.998631]] 2025-10-29T01:03:37.787Z,1761699817.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:38.095Z,1761699818.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.635474,-0.770926,-0.042968],[0.772110,-0.634792,-0.029747],[-0.004343,-0.052079,0.998634]] 2025-10-29T01:03:38.144Z,1761699818.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:38.499Z,1761699818.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634354,-0.771832,-0.043254],[0.773029,-0.633685,-0.029490],[-0.004649,-0.052144,0.998629]] 2025-10-29T01:03:38.536Z,1761699818.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:38.903Z,1761699818.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633170,-0.772783,-0.043608],[0.773996,-0.632521,-0.029117],[-0.005082,-0.052189,0.998624]] 2025-10-29T01:03:38.964Z,1761699818.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:39.308Z,1761699819.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632083,-0.773666,-0.043735],[0.774882,-0.631456,-0.028667],[-0.005439,-0.052010,0.998632]] 2025-10-29T01:03:39.326Z,1761699819.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:39.714Z,1761699819.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631234,-0.774349,-0.043899],[0.775571,-0.630624,-0.028329],[-0.005747,-0.051928,0.998634]] 2025-10-29T01:03:39.808Z,1761699819.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:40.116Z,1761699820.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630465,-0.774964,-0.044101],[0.776194,-0.629870,-0.028045],[-0.006044,-0.051913,0.998633]] 2025-10-29T01:03:40.162Z,1761699820.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:40.518Z,1761699820.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629818,-0.775473,-0.044401],[0.776717,-0.629234,-0.027849],[-0.006343,-0.052027,0.998626]] 2025-10-29T01:03:40.545Z,1761699820.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:40.923Z,1761699820.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629455,-0.775759,-0.044533],[0.777010,-0.628872,-0.027848],[-0.006402,-0.052131,0.998620]] 2025-10-29T01:03:40.960Z,1761699820.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:41.326Z,1761699821.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629211,-0.775942,-0.044810],[0.777207,-0.628626,-0.027900],[-0.006520,-0.052382,0.998606]] 2025-10-29T01:03:41.350Z,1761699821.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:41.730Z,1761699821.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628792,-0.776282,-0.044799],[0.777545,-0.628218,-0.027674],[-0.006660,-0.052234,0.998613]] 2025-10-29T01:03:41.797Z,1761699821.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:42.135Z,1761699822.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628599,-0.776430,-0.044946],[0.777700,-0.628031,-0.027556],[-0.006832,-0.052276,0.998609]] 2025-10-29T01:03:42.205Z,1761699822.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:42.544Z,1761699822.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628366,-0.776625,-0.044837],[0.777887,-0.627809,-0.027331],[-0.006923,-0.052052,0.998620]] 2025-10-29T01:03:42.562Z,1761699822.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:42.943Z,1761699822.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628043,-0.776895,-0.044683],[0.778147,-0.627501,-0.027018],[-0.007049,-0.051738,0.998636]] 2025-10-29T01:03:42.986Z,1761699822.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:43.347Z,1761699823.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627991,-0.776941,-0.044610],[0.778189,-0.627448,-0.027017],[-0.007000,-0.051682,0.998639]] 2025-10-29T01:03:43.385Z,1761699823.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:43.757Z,1761699823.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627789,-0.777095,-0.044764],[0.778351,-0.627251,-0.026951],[-0.007135,-0.051762,0.998634]] 2025-10-29T01:03:43.802Z,1761699823.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:44.186Z,1761699824.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627457,-0.777349,-0.045006],[0.778616,-0.626925,-0.026869],[-0.007329,-0.051902,0.998625]] 2025-10-29T01:03:44.233Z,1761699824.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:44.562Z,1761699824.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626794,-0.777872,-0.045214],[0.779147,-0.626277,-0.026577],[-0.007643,-0.051887,0.998624]] 2025-10-29T01:03:44.592Z,1761699824.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:44.962Z,1761699824.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626078,-0.778444,-0.045300],[0.779721,-0.625577,-0.026243],[-0.007910,-0.051752,0.998629]] 2025-10-29T01:03:45.007Z,1761699825.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:45.366Z,1761699825.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625277,-0.779079,-0.045429],[0.780360,-0.624794,-0.025901],[-0.008205,-0.051646,0.998632]] 2025-10-29T01:03:45.385Z,1761699825.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:45.778Z,1761699825.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624337,-0.779824,-0.045585],[0.781108,-0.623875,-0.025492],[-0.008560,-0.051523,0.998635]] 2025-10-29T01:03:45.796Z,1761699825.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:46.182Z,1761699826.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623260,-0.780665,-0.045923],[0.781963,-0.622818,-0.025118],[-0.008993,-0.051565,0.998629]] 2025-10-29T01:03:46.230Z,1761699826.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:46.582Z,1761699826.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622094,-0.781579,-0.046193],[0.782886,-0.621674,-0.024720],[-0.009396,-0.051543,0.998627]] 2025-10-29T01:03:46.600Z,1761699826.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:46.983Z,1761699826.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620903,-0.782501,-0.046605],[0.783825,-0.620503,-0.024360],[-0.009857,-0.051656,0.998616]] 2025-10-29T01:03:47.019Z,1761699827.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:47.386Z,1761699827.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619812,-0.783340,-0.047027],[0.784683,-0.619428,-0.024106],[-0.010247,-0.051842,0.998603]] 2025-10-29T01:03:47.420Z,1761699827.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:47.791Z,1761699827.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618497,-0.784356,-0.047397],[0.785714,-0.618137,-0.023661],[-0.010740,-0.051875,0.998596]] 2025-10-29T01:03:47.809Z,1761699827.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:48.199Z,1761699828.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617366,-0.785229,-0.047704],[0.786599,-0.617020,-0.023421],[-0.011043,-0.051983,0.998587]] 2025-10-29T01:03:48.228Z,1761699828.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:48.609Z,1761699828.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616065,-0.786222,-0.048158],[0.787612,-0.615737,-0.023131],[-0.011466,-0.052180,0.998572]] 2025-10-29T01:03:48.627Z,1761699828.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:49.003Z,1761699829.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615288,-0.786817,-0.048368],[0.788217,-0.614965,-0.023064],[-0.011597,-0.052315,0.998563]] 2025-10-29T01:03:49.052Z,1761699829.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:49.410Z,1761699829.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614286,-0.787598,-0.048391],[0.788995,-0.613979,-0.022735],[-0.011805,-0.052146,0.998570]] 2025-10-29T01:03:49.429Z,1761699829.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:49.812Z,1761699829.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613668,-0.788078,-0.048415],[0.789475,-0.613366,-0.022619],[-0.011871,-0.052103,0.998571]] 2025-10-29T01:03:49.831Z,1761699829.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:50.266Z,1761699830.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:50.622Z,1761699830.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612638,-0.788900,-0.048084],[0.790274,-0.612351,-0.022207],[-0.011925,-0.051604,0.998596]] 2025-10-29T01:03:50.657Z,1761699830.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:51.023Z,1761699831.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612530,-0.788993,-0.047927],[0.790360,-0.612237,-0.022282],[-0.011763,-0.051528,0.998602]] 2025-10-29T01:03:51.080Z,1761699831.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:51.438Z,1761699831.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612544,-0.788984,-0.047884],[0.790351,-0.612242,-0.022467],[-0.011591,-0.051607,0.998600]] 2025-10-29T01:03:51.457Z,1761699831.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:51.830Z,1761699831.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612721,-0.788851,-0.047812],[0.790218,-0.612403,-0.022773],[-0.011316,-0.051736,0.998597]] 2025-10-29T01:03:51.859Z,1761699831.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:52.292Z,1761699832.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:52.644Z,1761699832.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612735,-0.788861,-0.047478],[0.790213,-0.612398,-0.023060],[-0.010884,-0.051647,0.998606]] 2025-10-29T01:03:52.650Z,1761699832.650 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T01:03:52.712Z,1761699832.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:53.062Z,1761699833.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612754,-0.788857,-0.047288],[0.790202,-0.612405,-0.023247],[-0.010621,-0.051612,0.998611]] 2025-10-29T01:03:53.115Z,1761699833.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:53.447Z,1761699833.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612817,-0.788803,-0.047377],[0.790156,-0.612452,-0.023573],[-0.010422,-0.051882,0.998599]] 2025-10-29T01:03:53.481Z,1761699833.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:53.851Z,1761699833.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612762,-0.788854,-0.047243],[0.790202,-0.612386,-0.023754],[-0.010192,-0.051887,0.998601]] 2025-10-29T01:03:53.867Z,1761699833.867 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:03:53.869Z,1761699833.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:53.967Z,1761699833.967 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:03:53.968Z,1761699833.968 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:03:54.217Z,1761699834.217 [DAT](INFO): DAT read: user:666> 2025-10-29T01:03:54.218Z,1761699834.218 [DAT](INFO): DAT read: Tx time:01:03:53.9690 2025-10-29T01:03:54.218Z,1761699834.218 [DAT](INFO): Ping request sent. 2025-10-29T01:03:54.218Z,1761699834.218 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:03:54.218Z,1761699834.218 [DAT](INFO): publishing transmit ping time 2025-10-29T01:03:54.219Z,1761699834.219 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000756 2025-10-29T01:03:54.285Z,1761699834.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612374,-0.789159,-0.047189],[0.790503,-0.611997,-0.023755],[-0.010133,-0.051851,0.998603]] 2025-10-29T01:03:54.332Z,1761699834.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:54.469Z,1761699834.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250945 2025-10-29T01:03:54.683Z,1761699834.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612103,-0.789375,-0.047086],[0.790714,-0.611723,-0.023784],[-0.010029,-0.051790,0.998608]] 2025-10-29T01:03:54.701Z,1761699834.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:54.721Z,1761699834.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502977 2025-10-29T01:03:54.976Z,1761699834.976 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756935 2025-10-29T01:03:55.063Z,1761699835.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611912,-0.789529,-0.046989],[0.790863,-0.611531,-0.023774],[-0.009965,-0.051709,0.998612]] 2025-10-29T01:03:55.165Z,1761699835.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:55.226Z,1761699835.226 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007686 2025-10-29T01:03:55.467Z,1761699835.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611405,-0.789915,-0.047087],[0.791254,-0.611026,-0.023743],[-0.010017,-0.051775,0.998609]] 2025-10-29T01:03:55.477Z,1761699835.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258993 2025-10-29T01:03:55.486Z,1761699835.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:55.729Z,1761699835.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510854 2025-10-29T01:03:55.873Z,1761699835.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610788,-0.790373,-0.047415],[0.791729,-0.610412,-0.023727],[-0.010189,-0.052032,0.998593]] 2025-10-29T01:03:55.891Z,1761699835.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:55.984Z,1761699835.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765465 2025-10-29T01:03:56.233Z,1761699836.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014757 2025-10-29T01:03:56.275Z,1761699836.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610064,-0.790929,-0.047470],[0.792285,-0.609694,-0.023614],[-0.010266,-0.052016,0.998594]] 2025-10-29T01:03:56.317Z,1761699836.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:56.485Z,1761699836.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266989 2025-10-29T01:03:56.687Z,1761699836.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609392,-0.791434,-0.047684],[0.792800,-0.609027,-0.023520],[-0.010426,-0.052137,0.998586]] 2025-10-29T01:03:56.733Z,1761699836.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:56.737Z,1761699836.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519117 2025-10-29T01:03:56.991Z,1761699836.991 [DAT](INFO): DAT read: Rx Time:01:03:56.4006 2025-10-29T01:03:56.991Z,1761699836.991 [DAT](INFO): Rx dataTimestamp_ set to:1761699836.990790 2025-10-29T01:03:56.992Z,1761699836.992 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773655 2025-10-29T01:03:57.083Z,1761699837.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608850,-0.791853,-0.047647],[0.793216,-0.608490,-0.023412],[-0.010454,-0.052049,0.998590]] 2025-10-29T01:03:57.134Z,1761699837.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:57.241Z,1761699837.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022848 2025-10-29T01:03:57.487Z,1761699837.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608257,-0.792315,-0.047550],[0.793670,-0.607907,-0.023161],[-0.010555,-0.051827,0.998600]] 2025-10-29T01:03:57.493Z,1761699837.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274986 2025-10-29T01:03:57.543Z,1761699837.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.90 m. 2025-10-29T01:03:57.752Z,1761699837.752 [DAT](INFO): DAT read: 01:03:56.4006 LVL= 32752, 22625, 32754, 32755, AGC= 61, IDX= 454,-0.38, 0.838, 3.080, 1.937, 2.087, PHS=-1.147, 1.037,-0.195, RAW= 304.2, 3.2, CAL= 301.9, -0.4, ROT= 208.1, 0.4 2025-10-29T01:03:57.754Z,1761699837.754 [DAT](INFO): got valid direction response: 01:03:56.4006 LVL= 32752, 22625, 32754, 32755, AGC= 61, IDX= 454,-0.38, 0.838, 3.080, 1.937, 2.087, PHS=-1.147, 1.037,-0.195, RAW= 304.2, 3.2, CAL= 301.9, -0.4, ROT= 208.1, 0.4 2025-10-29T01:03:57.755Z,1761699837.755 [DAT](INFO): DAT read: Bearing 106.1, -27.4 (Local) 2025-10-29T01:03:57.755Z,1761699837.755 [DAT](INFO): Local bearing/azimuth received: Bearing 106.1, -27.4 (Local) 2025-10-29T01:03:57.757Z,1761699837.757 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (Round-trip 27.5 ms) speed 0.0 m/s 2025-10-29T01:03:57.758Z,1761699837.758 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:03:57.759Z,1761699837.759 [DAT](INFO): direction in FSK: [-0.882105,-0.471000,-0.006981] 2025-10-29T01:03:57.760Z,1761699837.760 [DAT](INFO): publishing direction and range info 2025-10-29T01:03:57.890Z,1761699837.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607964,-0.792554,-0.047314],[0.793896,-0.607616,-0.023078],[-0.010459,-0.051593,0.998613]] 2025-10-29T01:03:57.921Z,1761699837.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 57.479489 s, deltaX: 2.600000 m, approachRate: 0.045234 m/s, rangeRepo size: 4 2025-10-29T01:03:57.923Z,1761699837.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488632 m, bearing: 335.537510 deg, lat: 36.779302 deg, lon: -121.859477 deg, deltaT: 57.479489 s, deltaX: 2.586895 m, approachRate: 0.045006 m/s, posRepo size: 4 2025-10-29T01:03:57.944Z,1761699837.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:03:58.295Z,1761699838.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607691,-0.792771,-0.047180],[0.794105,-0.607346,-0.022980],[-0.010437,-0.051430,0.998622]] 2025-10-29T01:03:58.339Z,1761699838.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:03:58.699Z,1761699838.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607543,-0.792892,-0.047061],[0.794220,-0.607194,-0.023024],[-0.010320,-0.051364,0.998627]] 2025-10-29T01:03:58.747Z,1761699838.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:03:59.110Z,1761699839.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607751,-0.792738,-0.046959],[0.794064,-0.607388,-0.023286],[-0.010063,-0.051440,0.998625]] 2025-10-29T01:03:59.171Z,1761699839.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:03:59.513Z,1761699839.513 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607972,-0.792584,-0.046694],[0.793899,-0.607594,-0.023527],[-0.009724,-0.051374,0.998632]] 2025-10-29T01:03:59.536Z,1761699839.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:03:59.913Z,1761699839.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608387,-0.792269,-0.046637],[0.793586,-0.607986,-0.023976],[-0.009359,-0.051597,0.998624]] 2025-10-29T01:03:59.936Z,1761699839.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:00.315Z,1761699840.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608732,-0.792018,-0.046397],[0.793325,-0.608316,-0.024240],[-0.009026,-0.051563,0.998629]] 2025-10-29T01:04:00.362Z,1761699840.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:00.776Z,1761699840.776 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:01.158Z,1761699841.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610243,-0.790914,-0.045359],[0.792176,-0.609773,-0.025185],[-0.007739,-0.051301,0.998653]] 2025-10-29T01:04:01.206Z,1761699841.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:01.568Z,1761699841.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:01.943Z,1761699841.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611298,-0.790135,-0.044725],[0.791371,-0.610784,-0.025969],[-0.006798,-0.051269,0.998662]] 2025-10-29T01:04:01.962Z,1761699841.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:02.343Z,1761699842.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611893,-0.789679,-0.044664],[0.790915,-0.611349,-0.026566],[-0.006327,-0.051581,0.998649]] 2025-10-29T01:04:02.387Z,1761699842.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:02.754Z,1761699842.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612276,-0.789389,-0.044527],[0.790622,-0.611708,-0.027030],[-0.005900,-0.051754,0.998642]] 2025-10-29T01:04:02.797Z,1761699842.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:03.171Z,1761699843.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612135,-0.789496,-0.044565],[0.790731,-0.611562,-0.027134],[-0.005832,-0.051849,0.998638]] 2025-10-29T01:04:03.216Z,1761699843.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:03.554Z,1761699843.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612147,-0.789505,-0.044247],[0.790725,-0.611566,-0.027228],[-0.005563,-0.051654,0.998649]] 2025-10-29T01:04:03.577Z,1761699843.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:03.954Z,1761699843.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611957,-0.789654,-0.044209],[0.790872,-0.611375,-0.027255],[-0.005506,-0.051643,0.998650]] 2025-10-29T01:04:03.972Z,1761699843.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:04.358Z,1761699844.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611536,-0.789980,-0.044213],[0.791197,-0.610959,-0.027131],[-0.005579,-0.051572,0.998654]] 2025-10-29T01:04:04.411Z,1761699844.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:04.779Z,1761699844.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611263,-0.790197,-0.044113],[0.791408,-0.610687,-0.027085],[-0.005537,-0.051467,0.998659]] 2025-10-29T01:04:04.797Z,1761699844.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:05.251Z,1761699845.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:05.571Z,1761699845.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610472,-0.790807,-0.044139],[0.792017,-0.609907,-0.026863],[-0.005678,-0.051358,0.998664]] 2025-10-29T01:04:05.590Z,1761699845.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:05.944Z,1761699845.944 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:04:05.979Z,1761699845.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610078,-0.791105,-0.044247],[0.792320,-0.609517,-0.026786],[-0.005779,-0.051399,0.998661]] 2025-10-29T01:04:05.997Z,1761699845.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:06.380Z,1761699846.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609735,-0.791363,-0.044358],[0.792584,-0.609179,-0.026688],[-0.005902,-0.051430,0.998659]] 2025-10-29T01:04:06.415Z,1761699846.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:06.785Z,1761699846.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609385,-0.791642,-0.044190],[0.792852,-0.608838,-0.026490],[-0.005934,-0.051179,0.998672]] 2025-10-29T01:04:06.825Z,1761699846.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:06.948Z,1761699846.948 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:04:07.219Z,1761699847.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609287,-0.791720,-0.044142],[0.792928,-0.608740,-0.026477],[-0.005909,-0.051133,0.998674]] 2025-10-29T01:04:07.255Z,1761699847.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:07.593Z,1761699847.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609036,-0.791915,-0.044106],[0.793120,-0.608498,-0.026286],[-0.006022,-0.050991,0.998681]] 2025-10-29T01:04:07.611Z,1761699847.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:07.994Z,1761699847.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609053,-0.791910,-0.043968],[0.793107,-0.608517,-0.026235],[-0.005979,-0.050850,0.998688]] 2025-10-29T01:04:08.024Z,1761699848.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:08.399Z,1761699848.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609256,-0.791755,-0.043943],[0.792952,-0.608715,-0.026340],[-0.005894,-0.050893,0.998687]] 2025-10-29T01:04:08.449Z,1761699848.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:08.802Z,1761699848.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609548,-0.791537,-0.043814],[0.792728,-0.609000,-0.026474],[-0.005728,-0.050870,0.998689]] 2025-10-29T01:04:08.821Z,1761699848.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:09.249Z,1761699849.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610052,-0.791153,-0.043741],[0.792342,-0.609490,-0.026755],[-0.005492,-0.050980,0.998685]] 2025-10-29T01:04:09.289Z,1761699849.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:09.613Z,1761699849.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610543,-0.790770,-0.043822],[0.791965,-0.609963,-0.027116],[-0.005288,-0.051261,0.998671]] 2025-10-29T01:04:09.637Z,1761699849.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:10.014Z,1761699850.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611003,-0.790421,-0.043707],[0.791612,-0.610412,-0.027333],[-0.005075,-0.051300,0.998670]] 2025-10-29T01:04:10.042Z,1761699850.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:10.419Z,1761699850.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611436,-0.790091,-0.043619],[0.791279,-0.610837,-0.027498],[-0.004918,-0.051328,0.998670]] 2025-10-29T01:04:10.470Z,1761699850.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:10.827Z,1761699850.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611991,-0.789673,-0.043408],[0.790851,-0.611381,-0.027709],[-0.004658,-0.051287,0.998673]] 2025-10-29T01:04:10.845Z,1761699850.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:11.267Z,1761699851.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612710,-0.789129,-0.043147],[0.790296,-0.612084,-0.028024],[-0.004296,-0.051269,0.998676]] 2025-10-29T01:04:11.319Z,1761699851.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:11.643Z,1761699851.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613091,-0.788854,-0.042753],[0.790002,-0.612461,-0.028072],[-0.004040,-0.050986,0.998691]] 2025-10-29T01:04:11.666Z,1761699851.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:12.034Z,1761699852.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613849,-0.788275,-0.042574],[0.789415,-0.613201,-0.028442],[-0.003686,-0.051067,0.998688]] 2025-10-29T01:04:12.140Z,1761699852.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:12.439Z,1761699852.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614336,-0.787902,-0.042449],[0.789037,-0.613676,-0.028669],[-0.003462,-0.051106,0.998687]] 2025-10-29T01:04:12.475Z,1761699852.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:12.849Z,1761699852.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614568,-0.787720,-0.042466],[0.788856,-0.613906,-0.028726],[-0.003441,-0.051154,0.998685]] 2025-10-29T01:04:12.869Z,1761699852.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:13.275Z,1761699853.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614801,-0.787542,-0.042397],[0.788675,-0.614136,-0.028774],[-0.003376,-0.051128,0.998686]] 2025-10-29T01:04:13.333Z,1761699853.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:13.656Z,1761699853.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615156,-0.787263,-0.042428],[0.788399,-0.614482,-0.028970],[-0.003264,-0.051271,0.998679]] 2025-10-29T01:04:13.699Z,1761699853.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:14.055Z,1761699854.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615410,-0.787055,-0.042600],[0.788200,-0.614731,-0.029088],[-0.003293,-0.051478,0.998669]] 2025-10-29T01:04:14.073Z,1761699854.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:14.458Z,1761699854.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615539,-0.786963,-0.042432],[0.788100,-0.614863,-0.029014],[-0.003257,-0.051300,0.998678]] 2025-10-29T01:04:14.502Z,1761699854.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:14.863Z,1761699854.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615517,-0.786979,-0.042459],[0.788117,-0.614847,-0.028892],[-0.003368,-0.051247,0.998680]] 2025-10-29T01:04:14.880Z,1761699854.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:15.278Z,1761699855.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615406,-0.787074,-0.042315],[0.788203,-0.614751,-0.028601],[-0.003502,-0.050954,0.998695]] 2025-10-29T01:04:15.357Z,1761699855.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:15.672Z,1761699855.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615185,-0.787240,-0.042441],[0.788374,-0.614546,-0.028289],[-0.003812,-0.050863,0.998698]] 2025-10-29T01:04:15.708Z,1761699855.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:16.074Z,1761699856.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615221,-0.787208,-0.042498],[0.788344,-0.614594,-0.028047],[-0.004040,-0.050759,0.998703]] 2025-10-29T01:04:16.102Z,1761699856.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:16.478Z,1761699856.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615202,-0.787211,-0.042731],[0.788358,-0.614585,-0.027881],[-0.004314,-0.050839,0.998698]] 2025-10-29T01:04:16.530Z,1761699856.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:16.885Z,1761699856.885 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615149,-0.787243,-0.042899],[0.788397,-0.614542,-0.027699],[-0.004557,-0.050860,0.998695]] 2025-10-29T01:04:16.903Z,1761699856.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:17.424Z,1761699857.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:17.689Z,1761699857.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614537,-0.787691,-0.043434],[0.788869,-0.613967,-0.027015],[-0.005388,-0.050865,0.998691]] 2025-10-29T01:04:17.716Z,1761699857.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:18.091Z,1761699858.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614534,-0.787677,-0.043740],[0.788870,-0.613973,-0.026860],[-0.005698,-0.051012,0.998682]] 2025-10-29T01:04:18.109Z,1761699858.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:18.497Z,1761699858.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614399,-0.787778,-0.043821],[0.788973,-0.613854,-0.026550],[-0.005985,-0.050886,0.998687]] 2025-10-29T01:04:18.551Z,1761699858.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:18.941Z,1761699858.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:19.302Z,1761699859.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614331,-0.787816,-0.044081],[0.789021,-0.613817,-0.025977],[-0.006593,-0.050739,0.998690]] 2025-10-29T01:04:19.353Z,1761699859.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:19.706Z,1761699859.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614495,-0.787675,-0.044324],[0.788891,-0.613986,-0.025914],[-0.006802,-0.050891,0.998681]] 2025-10-29T01:04:19.761Z,1761699859.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:20.114Z,1761699860.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614530,-0.787624,-0.044729],[0.788861,-0.614029,-0.025816],[-0.007131,-0.051150,0.998666]] 2025-10-29T01:04:20.143Z,1761699860.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:20.516Z,1761699860.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614766,-0.787442,-0.044691],[0.788677,-0.614268,-0.025755],[-0.007172,-0.051080,0.998669]] 2025-10-29T01:04:20.553Z,1761699860.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:20.918Z,1761699860.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615027,-0.787239,-0.044686],[0.788473,-0.614531,-0.025716],[-0.007216,-0.051049,0.998670]] 2025-10-29T01:04:20.954Z,1761699860.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:21.323Z,1761699861.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615328,-0.787000,-0.044739],[0.788237,-0.614838,-0.025643],[-0.007326,-0.051043,0.998670]] 2025-10-29T01:04:21.341Z,1761699861.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:21.727Z,1761699861.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615767,-0.786666,-0.044576],[0.787894,-0.615277,-0.025615],[-0.007276,-0.050894,0.998678]] 2025-10-29T01:04:21.794Z,1761699861.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:22.140Z,1761699862.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616273,-0.786281,-0.044386],[0.787499,-0.615784,-0.025594],[-0.007208,-0.050727,0.998687]] 2025-10-29T01:04:22.159Z,1761699862.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:22.534Z,1761699862.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617112,-0.785631,-0.044225],[0.786844,-0.616611,-0.025832],[-0.006975,-0.050739,0.998688]] 2025-10-29T01:04:22.585Z,1761699862.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:22.939Z,1761699862.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617895,-0.785021,-0.044137],[0.786231,-0.617383,-0.026049],[-0.006801,-0.050797,0.998686]] 2025-10-29T01:04:22.978Z,1761699862.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:23.344Z,1761699863.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618590,-0.784478,-0.044053],[0.785686,-0.618068,-0.026250],[-0.006635,-0.050849,0.998684]] 2025-10-29T01:04:23.362Z,1761699863.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:23.750Z,1761699863.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619213,-0.783993,-0.043929],[0.785196,-0.618683,-0.026420],[-0.006465,-0.050852,0.998685]] 2025-10-29T01:04:23.800Z,1761699863.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:24.151Z,1761699864.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619937,-0.783431,-0.043744],[0.784627,-0.619395,-0.026653],[-0.006214,-0.050846,0.998687]] 2025-10-29T01:04:24.168Z,1761699864.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:24.555Z,1761699864.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620825,-0.782734,-0.043638],[0.783927,-0.620263,-0.027061],[-0.005885,-0.051009,0.998681]] 2025-10-29T01:04:24.637Z,1761699864.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:24.966Z,1761699864.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621544,-0.782160,-0.043677],[0.783358,-0.620967,-0.027392],[-0.005697,-0.051241,0.998670]] 2025-10-29T01:04:24.985Z,1761699864.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:25.363Z,1761699865.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622207,-0.781643,-0.043505],[0.782834,-0.621612,-0.027731],[-0.005368,-0.051311,0.998668]] 2025-10-29T01:04:25.394Z,1761699865.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:25.772Z,1761699865.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622523,-0.781395,-0.043437],[0.782584,-0.621922,-0.027849],[-0.005253,-0.051330,0.998668]] 2025-10-29T01:04:25.825Z,1761699865.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:26.172Z,1761699866.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622817,-0.781169,-0.043291],[0.782351,-0.622212,-0.027912],[-0.005132,-0.051253,0.998673]] 2025-10-29T01:04:26.190Z,1761699866.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:26.574Z,1761699866.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622931,-0.781091,-0.043044],[0.782260,-0.622330,-0.027820],[-0.005058,-0.051002,0.998686]] 2025-10-29T01:04:26.664Z,1761699866.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:26.978Z,1761699866.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623069,-0.780993,-0.042835],[0.782151,-0.622470,-0.027766],[-0.004978,-0.050804,0.998696]] 2025-10-29T01:04:27.014Z,1761699867.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:27.382Z,1761699867.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623388,-0.780733,-0.042935],[0.781897,-0.622779,-0.027987],[-0.004889,-0.051017,0.998686]] 2025-10-29T01:04:27.409Z,1761699867.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:27.789Z,1761699867.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623592,-0.780571,-0.042907],[0.781735,-0.622977,-0.028115],[-0.004784,-0.051075,0.998683]] 2025-10-29T01:04:27.830Z,1761699867.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:28.191Z,1761699868.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623542,-0.780610,-0.042941],[0.781775,-0.622926,-0.028119],[-0.004799,-0.051104,0.998682]] 2025-10-29T01:04:28.225Z,1761699868.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:28.596Z,1761699868.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623444,-0.780682,-0.043046],[0.781853,-0.622827,-0.028160],[-0.004827,-0.051212,0.998676]] 2025-10-29T01:04:28.660Z,1761699868.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:29.007Z,1761699869.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623573,-0.780578,-0.043071],[0.781751,-0.622950,-0.028266],[-0.004768,-0.051297,0.998672]] 2025-10-29T01:04:29.025Z,1761699869.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:29.403Z,1761699869.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623249,-0.780832,-0.043164],[0.782008,-0.622634,-0.028107],[-0.004928,-0.051272,0.998673]] 2025-10-29T01:04:29.422Z,1761699869.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:29.806Z,1761699869.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623177,-0.780902,-0.042940],[0.782066,-0.622566,-0.028010],[-0.004860,-0.051037,0.998685]] 2025-10-29T01:04:29.850Z,1761699869.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:30.210Z,1761699870.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623208,-0.780884,-0.042796],[0.782042,-0.622597,-0.028005],[-0.004776,-0.050921,0.998691]] 2025-10-29T01:04:30.232Z,1761699870.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:30.628Z,1761699870.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623174,-0.780920,-0.042644],[0.782069,-0.622565,-0.027959],[-0.004715,-0.050774,0.998699]] 2025-10-29T01:04:30.682Z,1761699870.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:31.027Z,1761699871.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623147,-0.780939,-0.042690],[0.782090,-0.622538,-0.027952],[-0.004747,-0.050806,0.998697]] 2025-10-29T01:04:31.045Z,1761699871.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:31.423Z,1761699871.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623497,-0.780665,-0.042585],[0.781813,-0.622874,-0.028232],[-0.004485,-0.050896,0.998694]] 2025-10-29T01:04:31.451Z,1761699871.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:31.826Z,1761699871.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623689,-0.780518,-0.042478],[0.781661,-0.623057,-0.028389],[-0.004308,-0.050909,0.998694]] 2025-10-29T01:04:31.873Z,1761699871.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:32.230Z,1761699872.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624149,-0.780150,-0.042477],[0.781295,-0.623502,-0.028697],[-0.004097,-0.051098,0.998685]] 2025-10-29T01:04:32.249Z,1761699872.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:32.643Z,1761699872.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624431,-0.779927,-0.042414],[0.781070,-0.623777,-0.028856],[-0.003951,-0.051146,0.998683]] 2025-10-29T01:04:32.680Z,1761699872.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:33.040Z,1761699873.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624745,-0.779688,-0.042206],[0.780820,-0.624079,-0.029063],[-0.003680,-0.051113,0.998686]] 2025-10-29T01:04:33.116Z,1761699873.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:33.443Z,1761699873.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624986,-0.779504,-0.042018],[0.780628,-0.624317,-0.029123],[-0.003531,-0.051003,0.998692]] 2025-10-29T01:04:33.478Z,1761699873.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:33.900Z,1761699873.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:34.253Z,1761699874.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625674,-0.778957,-0.041928],[0.780078,-0.624982,-0.029580],[-0.003163,-0.051215,0.998683]] 2025-10-29T01:04:34.270Z,1761699874.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:34.655Z,1761699874.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625928,-0.778756,-0.041861],[0.779875,-0.625228,-0.029752],[-0.003003,-0.051270,0.998680]] 2025-10-29T01:04:34.702Z,1761699874.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:35.063Z,1761699875.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626211,-0.778537,-0.041709],[0.779649,-0.625501,-0.029937],[-0.002782,-0.051266,0.998681]] 2025-10-29T01:04:35.107Z,1761699875.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:35.462Z,1761699875.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626457,-0.778342,-0.041659],[0.779451,-0.625737,-0.030136],[-0.002611,-0.051350,0.998677]] 2025-10-29T01:04:35.482Z,1761699875.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:35.868Z,1761699875.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626630,-0.778209,-0.041547],[0.779313,-0.625906,-0.030202],[-0.002501,-0.051304,0.998680]] 2025-10-29T01:04:35.905Z,1761699875.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:36.270Z,1761699876.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626823,-0.778066,-0.041310],[0.779159,-0.626095,-0.030273],[-0.002310,-0.051163,0.998688]] 2025-10-29T01:04:36.299Z,1761699876.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:36.674Z,1761699876.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626948,-0.777972,-0.041189],[0.779058,-0.626219,-0.030295],[-0.002225,-0.051082,0.998692]] 2025-10-29T01:04:36.729Z,1761699876.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:37.076Z,1761699877.076 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:04:37.155Z,1761699877.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627084,-0.777861,-0.041199],[0.778948,-0.626353,-0.030345],[-0.002201,-0.051121,0.998690]] 2025-10-29T01:04:37.188Z,1761699877.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:37.485Z,1761699877.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627149,-0.777810,-0.041183],[0.778896,-0.626419,-0.030333],[-0.002204,-0.051100,0.998691]] 2025-10-29T01:04:37.502Z,1761699877.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:37.886Z,1761699877.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627155,-0.777805,-0.041185],[0.778892,-0.626426,-0.030312],[-0.002222,-0.051089,0.998692]] 2025-10-29T01:04:37.929Z,1761699877.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:38.082Z,1761699878.082 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:04:38.291Z,1761699878.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627257,-0.777719,-0.041256],[0.778810,-0.626524,-0.030383],[-0.002219,-0.051188,0.998687]] 2025-10-29T01:04:38.309Z,1761699878.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:38.694Z,1761699878.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627372,-0.777627,-0.041240],[0.778717,-0.626638,-0.030415],[-0.002191,-0.051195,0.998686]] 2025-10-29T01:04:38.749Z,1761699878.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:39.111Z,1761699879.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627599,-0.777448,-0.041157],[0.778534,-0.626862,-0.030484],[-0.002100,-0.051174,0.998688]] 2025-10-29T01:04:39.133Z,1761699879.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:39.502Z,1761699879.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627779,-0.777305,-0.041112],[0.778388,-0.627043,-0.030479],[-0.002087,-0.051135,0.998690]] 2025-10-29T01:04:39.532Z,1761699879.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:39.906Z,1761699879.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627867,-0.777235,-0.041102],[0.778318,-0.627132,-0.030438],[-0.002119,-0.051102,0.998691]] 2025-10-29T01:04:39.958Z,1761699879.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:40.311Z,1761699880.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628039,-0.777094,-0.041131],[0.778179,-0.627305,-0.030435],[-0.002151,-0.051122,0.998690]] 2025-10-29T01:04:40.329Z,1761699880.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:40.715Z,1761699880.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628195,-0.776973,-0.041033],[0.778053,-0.627461,-0.030432],[-0.002101,-0.051043,0.998694]] 2025-10-29T01:04:40.767Z,1761699880.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:41.124Z,1761699881.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628363,-0.776831,-0.041145],[0.777917,-0.627628,-0.030460],[-0.002162,-0.051148,0.998689]] 2025-10-29T01:04:41.163Z,1761699881.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:41.523Z,1761699881.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628511,-0.776709,-0.041192],[0.777797,-0.627775,-0.030494],[-0.002174,-0.051205,0.998686]] 2025-10-29T01:04:41.541Z,1761699881.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:41.928Z,1761699881.928 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628582,-0.776648,-0.041250],[0.777740,-0.627844,-0.030541],[-0.002180,-0.051279,0.998682]] 2025-10-29T01:04:41.964Z,1761699881.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:42.330Z,1761699882.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628571,-0.776661,-0.041185],[0.777749,-0.627835,-0.030494],[-0.002174,-0.051200,0.998686]] 2025-10-29T01:04:42.356Z,1761699882.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:42.740Z,1761699882.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628365,-0.776830,-0.041146],[0.777915,-0.627640,-0.030260],[-0.002318,-0.051023,0.998695]] 2025-10-29T01:04:42.799Z,1761699882.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:43.140Z,1761699883.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628160,-0.776994,-0.041187],[0.778081,-0.627442,-0.030113],[-0.002445,-0.050963,0.998698]] 2025-10-29T01:04:43.158Z,1761699883.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:43.544Z,1761699883.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627983,-0.777135,-0.041214],[0.778223,-0.627272,-0.029989],[-0.002547,-0.050907,0.998700]] 2025-10-29T01:04:43.562Z,1761699883.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:43.946Z,1761699883.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627650,-0.777394,-0.041404],[0.778491,-0.626943,-0.029891],[-0.002721,-0.050994,0.998695]] 2025-10-29T01:04:43.994Z,1761699883.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:44.350Z,1761699884.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627021,-0.777889,-0.041631],[0.778996,-0.626328,-0.029635],[-0.003022,-0.051012,0.998693]] 2025-10-29T01:04:44.387Z,1761699884.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:44.771Z,1761699884.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626528,-0.778274,-0.041866],[0.779392,-0.625841,-0.029500],[-0.003243,-0.051113,0.998688]] 2025-10-29T01:04:44.820Z,1761699884.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:45.167Z,1761699885.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626010,-0.778669,-0.042261],[0.779807,-0.625328,-0.029428],[-0.003512,-0.051378,0.998673]] 2025-10-29T01:04:45.190Z,1761699885.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:45.605Z,1761699885.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:45.966Z,1761699885.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624707,-0.779704,-0.042466],[0.780849,-0.624057,-0.028770],[-0.004069,-0.051132,0.998684]] 2025-10-29T01:04:46.018Z,1761699886.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:46.370Z,1761699886.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623926,-0.780328,-0.042470],[0.781471,-0.623299,-0.028322],[-0.004371,-0.050860,0.998696]] 2025-10-29T01:04:46.393Z,1761699886.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:46.852Z,1761699886.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:47.212Z,1761699887.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:47.596Z,1761699887.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622649,-0.781316,-0.043054],[0.782485,-0.622041,-0.027952],[-0.004942,-0.051093,0.998682]] 2025-10-29T01:04:47.622Z,1761699887.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:47.992Z,1761699887.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622647,-0.781318,-0.043035],[0.782487,-0.622038,-0.027976],[-0.004911,-0.051094,0.998682]] 2025-10-29T01:04:48.043Z,1761699888.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:48.397Z,1761699888.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622687,-0.781299,-0.042808],[0.782456,-0.622080,-0.027912],[-0.004822,-0.050875,0.998693]] 2025-10-29T01:04:48.414Z,1761699888.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:48.823Z,1761699888.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622796,-0.781219,-0.042690],[0.782370,-0.622190,-0.027884],[-0.004778,-0.050765,0.998699]] 2025-10-29T01:04:48.859Z,1761699888.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:49.199Z,1761699889.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622726,-0.781284,-0.042516],[0.782426,-0.622125,-0.027754],[-0.004767,-0.050549,0.998710]] 2025-10-29T01:04:49.217Z,1761699889.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:49.605Z,1761699889.605 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622960,-0.781090,-0.042655],[0.782240,-0.622352,-0.027926],[-0.004734,-0.050763,0.998699]] 2025-10-29T01:04:49.622Z,1761699889.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:50.008Z,1761699890.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623089,-0.780978,-0.042810],[0.782136,-0.622477,-0.028017],[-0.004767,-0.050941,0.998690]] 2025-10-29T01:04:50.044Z,1761699890.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:50.411Z,1761699890.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623236,-0.780865,-0.042750],[0.782020,-0.622618,-0.028121],[-0.004659,-0.050957,0.998690]] 2025-10-29T01:04:50.440Z,1761699890.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:50.849Z,1761699890.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623348,-0.780780,-0.042677],[0.781931,-0.622728,-0.028159],[-0.004590,-0.050923,0.998692]] 2025-10-29T01:04:50.886Z,1761699890.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:51.222Z,1761699891.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623368,-0.780769,-0.042565],[0.781915,-0.622750,-0.028110],[-0.004560,-0.050805,0.998698]] 2025-10-29T01:04:51.240Z,1761699891.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:51.625Z,1761699891.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623203,-0.780895,-0.042680],[0.782046,-0.622592,-0.027992],[-0.004714,-0.050822,0.998697]] 2025-10-29T01:04:51.643Z,1761699891.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:52.026Z,1761699892.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623008,-0.781049,-0.042695],[0.782200,-0.622404,-0.027848],[-0.004823,-0.050746,0.998700]] 2025-10-29T01:04:52.082Z,1761699892.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:52.430Z,1761699892.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622351,-0.781558,-0.042966],[0.782721,-0.621766,-0.027488],[-0.005231,-0.050738,0.998698]] 2025-10-29T01:04:52.465Z,1761699892.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:52.877Z,1761699892.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621763,-0.782012,-0.043216],[0.783186,-0.621192,-0.027223],[-0.005557,-0.050773,0.998695]] 2025-10-29T01:04:52.913Z,1761699892.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:53.245Z,1761699893.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621075,-0.782527,-0.043780],[0.783728,-0.620518,-0.026992],[-0.006045,-0.051075,0.998677]] 2025-10-29T01:04:53.263Z,1761699893.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:53.642Z,1761699893.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620096,-0.783283,-0.044142],[0.784498,-0.619561,-0.026569],[-0.006538,-0.051105,0.998672]] 2025-10-29T01:04:53.669Z,1761699893.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:54.046Z,1761699894.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619252,-0.783930,-0.044505],[0.785161,-0.618736,-0.026223],[-0.006980,-0.051182,0.998665]] 2025-10-29T01:04:54.101Z,1761699894.101 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:04:54.103Z,1761699894.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:54.229Z,1761699894.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:04:54.229Z,1761699894.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:04:54.450Z,1761699894.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618120,-0.784801,-0.044893],[0.786048,-0.617631,-0.025712],[-0.007548,-0.051181,0.998661]] 2025-10-29T01:04:54.468Z,1761699894.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:54.481Z,1761699894.481 [DAT](INFO): DAT read: user:667> 2025-10-29T01:04:54.482Z,1761699894.482 [DAT](INFO): DAT read: Tx time:01:04:54.2188 2025-10-29T01:04:54.482Z,1761699894.482 [DAT](INFO): Ping request sent. 2025-10-29T01:04:54.483Z,1761699894.483 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:04:54.483Z,1761699894.483 [DAT](INFO): publishing transmit ping time 2025-10-29T01:04:54.483Z,1761699894.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000781 2025-10-29T01:04:54.733Z,1761699894.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250306 2025-10-29T01:04:54.897Z,1761699894.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617096,-0.785589,-0.045182],[0.786846,-0.616638,-0.025137],[-0.008113,-0.051063,0.998663]] 2025-10-29T01:04:54.947Z,1761699894.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:54.986Z,1761699894.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502848 2025-10-29T01:04:55.237Z,1761699895.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754310 2025-10-29T01:04:55.259Z,1761699895.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616104,-0.786355,-0.045412],[0.787618,-0.615670,-0.024658],[-0.008569,-0.050959,0.998664]] 2025-10-29T01:04:55.293Z,1761699895.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:55.489Z,1761699895.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006641 2025-10-29T01:04:55.662Z,1761699895.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615315,-0.786963,-0.045571],[0.788231,-0.614900,-0.024303],[-0.008896,-0.050874,0.998665]] 2025-10-29T01:04:55.681Z,1761699895.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:55.742Z,1761699895.742 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259112 2025-10-29T01:04:55.993Z,1761699895.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510368 2025-10-29T01:04:56.078Z,1761699896.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614537,-0.787551,-0.045915],[0.788834,-0.614135,-0.024064],[-0.009247,-0.051008,0.998655]] 2025-10-29T01:04:56.132Z,1761699896.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:56.245Z,1761699896.245 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762367 2025-10-29T01:04:56.470Z,1761699896.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614037,-0.787921,-0.046253],[0.789221,-0.613641,-0.023996],[-0.009476,-0.051239,0.998641]] 2025-10-29T01:04:56.497Z,1761699896.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014475 2025-10-29T01:04:56.502Z,1761699896.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:56.749Z,1761699896.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266757 2025-10-29T01:04:56.887Z,1761699896.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613740,-0.788140,-0.046472],[0.789451,-0.613343,-0.024037],[-0.009558,-0.051440,0.998630]] 2025-10-29T01:04:56.953Z,1761699896.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:57.002Z,1761699897.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519873 2025-10-29T01:04:57.253Z,1761699897.253 [DAT](INFO): DAT read: Rx Time:01:04:56.6515 2025-10-29T01:04:57.253Z,1761699897.253 [DAT](INFO): Rx dataTimestamp_ set to:1761699897.253162 2025-10-29T01:04:57.254Z,1761699897.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771463 2025-10-29T01:04:57.338Z,1761699897.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:57.506Z,1761699897.506 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023576 2025-10-29T01:04:57.684Z,1761699897.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613302,-0.788489,-0.046315],[0.789792,-0.612905,-0.024010],[-0.009455,-0.051305,0.998638]] 2025-10-29T01:04:57.702Z,1761699897.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:04:57.757Z,1761699897.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274819 2025-10-29T01:04:58.014Z,1761699898.014 [DAT](INFO): DAT read: 01:04:56.6515 LVL= 32752, 20833, 24130, 32755, AGC= 56, IDX= 450,-0.40,-1.140, 1.037,-0.041, 0.193, PHS=-1.231, 0.889,-0.277, RAW= 303.3, 6.8, CAL= 300.9, 6.1, ROT= 209.1, -6.1 2025-10-29T01:04:58.015Z,1761699898.015 [DAT](INFO): got valid direction response: 01:04:56.6515 LVL= 32752, 20833, 24130, 32755, AGC= 56, IDX= 450,-0.40,-1.140, 1.037,-0.041, 0.193, PHS=-1.231, 0.889,-0.277, RAW= 303.3, 6.8, CAL= 300.9, 6.1, ROT= 209.1, -6.1 2025-10-29T01:04:58.016Z,1761699898.016 [DAT](INFO): DAT read: Bearing 99.3, -28.7 (Local) 2025-10-29T01:04:58.017Z,1761699898.017 [DAT](INFO): Local bearing/azimuth received: Bearing 99.3, -28.7 (Local) 2025-10-29T01:04:58.018Z,1761699898.018 [DAT](INFO): DAT read: Range 11 to 50 : 21.4 m (Round-trip 28.6 ms) speed 0.0 m/s 2025-10-29T01:04:58.019Z,1761699898.019 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:04:58.020Z,1761699898.020 [DAT](INFO): direction in FSK: [-0.868825,-0.483582,0.106264] 2025-10-29T01:04:58.020Z,1761699898.020 [DAT](INFO): publishing direction and range info 2025-10-29T01:04:58.135Z,1761699898.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613462,-0.788378,-0.046094],[0.789671,-0.613052,-0.024221],[-0.009163,-0.051257,0.998643]] 2025-10-29T01:04:58.222Z,1761699898.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.400000 m, deltaT: 60.263793 s, deltaX: 0.799999 m, approachRate: 0.013275 m/s, rangeRepo size: 4 2025-10-29T01:04:58.224Z,1761699898.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.284040 m, bearing: 336.669385 deg, lat: 36.779301 deg, lon: -121.859477 deg, deltaT: 60.263793 s, deltaX: 0.795408 m, approachRate: 0.013199 m/s, posRepo size: 4 2025-10-29T01:04:58.236Z,1761699898.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:04:58.489Z,1761699898.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613404,-0.788440,-0.045815],[0.789719,-0.612988,-0.024287],[-0.008935,-0.051078,0.998655]] 2025-10-29T01:04:58.523Z,1761699898.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:04:58.895Z,1761699898.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613823,-0.788133,-0.045475],[0.789398,-0.613385,-0.024681],[-0.008442,-0.051048,0.998661]] 2025-10-29T01:04:58.971Z,1761699898.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:04:59.302Z,1761699899.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614470,-0.787649,-0.045117],[0.788901,-0.614001,-0.025255],[-0.007809,-0.051111,0.998662]] 2025-10-29T01:04:59.355Z,1761699899.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:04:59.699Z,1761699899.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614982,-0.787275,-0.044667],[0.788508,-0.614487,-0.025699],[-0.007215,-0.051025,0.998671]] 2025-10-29T01:04:59.729Z,1761699899.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:00.166Z,1761699900.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:00.507Z,1761699900.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616003,-0.786531,-0.043696],[0.787723,-0.615447,-0.026802],[-0.005812,-0.050930,0.998685]] 2025-10-29T01:05:00.531Z,1761699900.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:00.910Z,1761699900.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616555,-0.786123,-0.043238],[0.787295,-0.615967,-0.027404],[-0.005090,-0.050937,0.998689]] 2025-10-29T01:05:01.002Z,1761699901.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:01.314Z,1761699901.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616857,-0.785913,-0.042750],[0.787062,-0.616247,-0.027786],[-0.004507,-0.050787,0.998699]] 2025-10-29T01:05:01.365Z,1761699901.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:01.719Z,1761699901.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617395,-0.785518,-0.042248],[0.786645,-0.616752,-0.028400],[-0.003748,-0.050769,0.998703]] 2025-10-29T01:05:01.737Z,1761699901.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:02.123Z,1761699902.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617685,-0.785298,-0.042104],[0.786419,-0.617014,-0.028973],[-0.003227,-0.051007,0.998693]] 2025-10-29T01:05:02.166Z,1761699902.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:02.526Z,1761699902.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617819,-0.785196,-0.042027],[0.786315,-0.617121,-0.029484],[-0.002785,-0.051263,0.998681]] 2025-10-29T01:05:02.573Z,1761699902.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:02.930Z,1761699902.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617767,-0.785253,-0.041730],[0.786358,-0.617052,-0.029808],[-0.002342,-0.051229,0.998684]] 2025-10-29T01:05:02.999Z,1761699902.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:03.335Z,1761699903.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617511,-0.785468,-0.041478],[0.786559,-0.616789,-0.029935],[-0.002070,-0.051110,0.998691]] 2025-10-29T01:05:03.373Z,1761699903.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:03.738Z,1761699903.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616965,-0.785896,-0.041487],[0.786988,-0.616246,-0.029855],[-0.002103,-0.051070,0.998693]] 2025-10-29T01:05:03.778Z,1761699903.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:04.142Z,1761699904.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616546,-0.786238,-0.041235],[0.787316,-0.615829,-0.029786],[-0.001975,-0.050829,0.998705]] 2025-10-29T01:05:04.184Z,1761699904.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:04.554Z,1761699904.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615905,-0.786738,-0.041291],[0.787818,-0.615195,-0.029645],[-0.002079,-0.050788,0.998707]] 2025-10-29T01:05:04.592Z,1761699904.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:04.952Z,1761699904.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615367,-0.787153,-0.041404],[0.788238,-0.614660,-0.029566],[-0.002177,-0.050830,0.998705]] 2025-10-29T01:05:04.970Z,1761699904.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:05.355Z,1761699905.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614678,-0.787689,-0.041446],[0.788775,-0.613980,-0.029376],[-0.002307,-0.050748,0.998709]] 2025-10-29T01:05:05.397Z,1761699905.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:05.764Z,1761699905.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614105,-0.788116,-0.041807],[0.789220,-0.613411,-0.029310],[-0.002545,-0.050994,0.998696]] 2025-10-29T01:05:05.807Z,1761699905.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:06.162Z,1761699906.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613584,-0.788518,-0.041881],[0.789625,-0.612898,-0.029130],[-0.002699,-0.050944,0.998698]] 2025-10-29T01:05:06.219Z,1761699906.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:06.573Z,1761699906.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612959,-0.788995,-0.042034],[0.790109,-0.612288,-0.028835],[-0.002986,-0.050886,0.998700]] 2025-10-29T01:05:06.591Z,1761699906.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:06.970Z,1761699906.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612433,-0.789399,-0.042137],[0.790516,-0.611775,-0.028576],[-0.003221,-0.050811,0.998703]] 2025-10-29T01:05:06.998Z,1761699906.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:07.374Z,1761699907.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611957,-0.789760,-0.042285],[0.790884,-0.611309,-0.028366],[-0.003447,-0.050801,0.998703]] 2025-10-29T01:05:07.418Z,1761699907.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:07.782Z,1761699907.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611591,-0.790035,-0.042443],[0.791166,-0.610949,-0.028251],[-0.003611,-0.050857,0.998699]] 2025-10-29T01:05:07.807Z,1761699907.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:08.185Z,1761699908.185 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611434,-0.790140,-0.042746],[0.791286,-0.610793,-0.028258],[-0.003781,-0.051102,0.998686]] 2025-10-29T01:05:08.208Z,1761699908.208 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:05:08.222Z,1761699908.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:08.587Z,1761699908.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611305,-0.790244,-0.042677],[0.791386,-0.610668,-0.028152],[-0.003814,-0.050983,0.998692]] 2025-10-29T01:05:08.613Z,1761699908.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:08.990Z,1761699908.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611345,-0.790205,-0.042824],[0.791355,-0.610704,-0.028250],[-0.003829,-0.051159,0.998683]] 2025-10-29T01:05:09.029Z,1761699909.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:09.212Z,1761699909.212 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:05:09.395Z,1761699909.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611624,-0.790002,-0.042573],[0.791140,-0.610977,-0.028347],[-0.003617,-0.051019,0.998691]] 2025-10-29T01:05:09.452Z,1761699909.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:09.800Z,1761699909.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611755,-0.789903,-0.042528],[0.791039,-0.611108,-0.028344],[-0.003600,-0.050981,0.998693]] 2025-10-29T01:05:09.827Z,1761699909.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:10.202Z,1761699910.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612180,-0.789581,-0.042394],[0.790711,-0.611526,-0.028504],[-0.003419,-0.050971,0.998694]] 2025-10-29T01:05:10.246Z,1761699910.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:10.606Z,1761699910.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612536,-0.789304,-0.042409],[0.790435,-0.611875,-0.028648],[-0.003337,-0.051070,0.998690]] 2025-10-29T01:05:10.627Z,1761699910.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:11.011Z,1761699911.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613091,-0.788883,-0.042234],[0.790007,-0.612418,-0.028865],[-0.003094,-0.051062,0.998691]] 2025-10-29T01:05:11.034Z,1761699911.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:11.415Z,1761699911.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613710,-0.788416,-0.041955],[0.789527,-0.613026,-0.029104],[-0.002774,-0.050986,0.998695]] 2025-10-29T01:05:11.457Z,1761699911.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:11.824Z,1761699911.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614305,-0.787960,-0.041811],[0.789064,-0.613608,-0.029367],[-0.002516,-0.051032,0.998694]] 2025-10-29T01:05:11.871Z,1761699911.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:12.223Z,1761699912.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614639,-0.787703,-0.041746],[0.788805,-0.613940,-0.029402],[-0.002469,-0.051001,0.998696]] 2025-10-29T01:05:12.277Z,1761699912.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:12.629Z,1761699912.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615251,-0.787227,-0.041716],[0.788328,-0.614542,-0.029611],[-0.002326,-0.051104,0.998691]] 2025-10-29T01:05:12.652Z,1761699912.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:13.042Z,1761699913.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615660,-0.786909,-0.041672],[0.788009,-0.614950,-0.029652],[-0.002293,-0.051093,0.998691]] 2025-10-29T01:05:13.066Z,1761699913.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:13.434Z,1761699913.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616119,-0.786557,-0.041526],[0.787650,-0.615408,-0.029684],[-0.002207,-0.050997,0.998696]] 2025-10-29T01:05:13.478Z,1761699913.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:13.839Z,1761699913.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616206,-0.786490,-0.041525],[0.787582,-0.615505,-0.029477],[-0.002376,-0.050868,0.998703]] 2025-10-29T01:05:13.860Z,1761699913.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:14.245Z,1761699914.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616261,-0.786446,-0.041536],[0.787538,-0.615573,-0.029224],[-0.002586,-0.050721,0.998709]] 2025-10-29T01:05:14.281Z,1761699914.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:14.647Z,1761699914.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616464,-0.786272,-0.041818],[0.787378,-0.615782,-0.029128],[-0.002848,-0.050883,0.998701]] 2025-10-29T01:05:14.670Z,1761699914.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:15.056Z,1761699915.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616205,-0.786467,-0.041968],[0.787579,-0.615542,-0.028761],[-0.003214,-0.050776,0.998705]] 2025-10-29T01:05:15.083Z,1761699915.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:15.455Z,1761699915.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616109,-0.786528,-0.042225],[0.787653,-0.615460,-0.028501],[-0.003571,-0.050818,0.998702]] 2025-10-29T01:05:15.506Z,1761699915.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:15.862Z,1761699915.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615973,-0.786625,-0.042417],[0.787758,-0.615342,-0.028151],[-0.003956,-0.050754,0.998703]] 2025-10-29T01:05:15.884Z,1761699915.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:16.264Z,1761699916.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615632,-0.786862,-0.042971],[0.788021,-0.615022,-0.027773],[-0.004575,-0.050960,0.998690]] 2025-10-29T01:05:16.300Z,1761699916.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:16.667Z,1761699916.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615297,-0.787098,-0.043443],[0.788279,-0.614708,-0.027395],[-0.005143,-0.051101,0.998680]] 2025-10-29T01:05:16.702Z,1761699916.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:17.070Z,1761699917.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615012,-0.787303,-0.043739],[0.788498,-0.614444,-0.027029],[-0.005595,-0.051111,0.998677]] 2025-10-29T01:05:17.108Z,1761699917.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:17.474Z,1761699917.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614884,-0.787383,-0.044098],[0.788594,-0.614336,-0.026670],[-0.006092,-0.051174,0.998671]] 2025-10-29T01:05:17.534Z,1761699917.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:17.883Z,1761699917.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614810,-0.787435,-0.044211],[0.788649,-0.614282,-0.026275],[-0.006468,-0.051021,0.998677]] 2025-10-29T01:05:17.905Z,1761699917.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:18.282Z,1761699918.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614843,-0.787392,-0.044517],[0.788619,-0.614333,-0.025967],[-0.006902,-0.051073,0.998671]] 2025-10-29T01:05:18.326Z,1761699918.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:18.688Z,1761699918.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614799,-0.787411,-0.044782],[0.788649,-0.614309,-0.025616],[-0.007340,-0.051066,0.998668]] 2025-10-29T01:05:18.706Z,1761699918.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:19.137Z,1761699919.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:19.527Z,1761699919.527 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 86.62, 79.48, 82.20 2025-10-29T01:05:19.567Z,1761699919.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:19.898Z,1761699919.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615709,-0.786665,-0.045386],[0.787933,-0.615243,-0.025262],[-0.008051,-0.051315,0.998650]] 2025-10-29T01:05:19.932Z,1761699919.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:20.308Z,1761699920.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616138,-0.786330,-0.045386],[0.787596,-0.615680,-0.025125],[-0.008187,-0.051227,0.998654]] 2025-10-29T01:05:20.354Z,1761699920.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:20.707Z,1761699920.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616860,-0.785765,-0.045361],[0.787030,-0.616401,-0.025160],[-0.008191,-0.051221,0.998654]] 2025-10-29T01:05:20.726Z,1761699920.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:21.112Z,1761699921.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617397,-0.785349,-0.045246],[0.786608,-0.616947,-0.024985],[-0.008292,-0.051016,0.998663]] 2025-10-29T01:05:21.130Z,1761699921.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:21.526Z,1761699921.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618276,-0.784665,-0.045113],[0.785919,-0.617821,-0.025079],[-0.008193,-0.050961,0.998667]] 2025-10-29T01:05:21.568Z,1761699921.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:21.923Z,1761699921.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618943,-0.784145,-0.045014],[0.785393,-0.618489,-0.025089],[-0.008167,-0.050883,0.998671]] 2025-10-29T01:05:21.958Z,1761699921.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:22.336Z,1761699922.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619794,-0.783482,-0.044851],[0.784724,-0.619332,-0.025236],[-0.008006,-0.050836,0.998675]] 2025-10-29T01:05:22.379Z,1761699922.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:22.729Z,1761699922.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620654,-0.782808,-0.044736],[0.784046,-0.620182,-0.025431],[-0.007837,-0.050859,0.998675]] 2025-10-29T01:05:22.751Z,1761699922.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:23.137Z,1761699923.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621299,-0.782285,-0.044920],[0.783535,-0.620819,-0.025643],[-0.007827,-0.051128,0.998661]] 2025-10-29T01:05:23.252Z,1761699923.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:23.539Z,1761699923.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621788,-0.781887,-0.045084],[0.783146,-0.621305,-0.025736],[-0.007888,-0.051310,0.998652]] 2025-10-29T01:05:23.583Z,1761699923.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:23.938Z,1761699923.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622234,-0.781528,-0.045147],[0.782792,-0.621746,-0.025862],[-0.007858,-0.051432,0.998646]] 2025-10-29T01:05:23.956Z,1761699923.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:24.421Z,1761699924.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:24.784Z,1761699924.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:25.147Z,1761699925.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622590,-0.781251,-0.045027],[0.782509,-0.622104,-0.025824],[-0.007837,-0.051311,0.998652]] 2025-10-29T01:05:25.184Z,1761699925.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:25.551Z,1761699925.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622689,-0.781176,-0.044970],[0.782431,-0.622199,-0.025892],[-0.007754,-0.051308,0.998653]] 2025-10-29T01:05:25.607Z,1761699925.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:25.956Z,1761699925.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622632,-0.781223,-0.044944],[0.782476,-0.622144,-0.025836],[-0.007778,-0.051254,0.998655]] 2025-10-29T01:05:25.978Z,1761699925.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:26.390Z,1761699926.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622640,-0.781222,-0.044842],[0.782470,-0.622149,-0.025901],[-0.007664,-0.051214,0.998658]] 2025-10-29T01:05:26.444Z,1761699926.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:26.770Z,1761699926.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622766,-0.781124,-0.044806],[0.782372,-0.622267,-0.026032],[-0.007547,-0.051267,0.998656]] 2025-10-29T01:05:26.799Z,1761699926.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:27.167Z,1761699927.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622983,-0.780956,-0.044712],[0.782201,-0.622475,-0.026214],[-0.007360,-0.051304,0.998656]] 2025-10-29T01:05:27.185Z,1761699927.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:27.572Z,1761699927.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623049,-0.780921,-0.044412],[0.782150,-0.622539,-0.026223],[-0.007170,-0.051075,0.998669]] 2025-10-29T01:05:27.609Z,1761699927.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:27.974Z,1761699927.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623703,-0.780411,-0.044193],[0.781632,-0.623171,-0.026624],[-0.006762,-0.051148,0.998668]] 2025-10-29T01:05:28.026Z,1761699928.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:28.479Z,1761699928.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:28.788Z,1761699928.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624642,-0.779687,-0.043713],[0.780887,-0.624085,-0.027095],[-0.006155,-0.051060,0.998677]] 2025-10-29T01:05:28.807Z,1761699928.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:29.186Z,1761699929.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625546,-0.778978,-0.043428],[0.780167,-0.624960,-0.027645],[-0.005606,-0.051174,0.998674]] 2025-10-29T01:05:29.225Z,1761699929.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:29.590Z,1761699929.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626446,-0.778281,-0.042946],[0.779449,-0.625836,-0.028078],[-0.005024,-0.051064,0.998683]] 2025-10-29T01:05:29.647Z,1761699929.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:29.999Z,1761699929.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627499,-0.777455,-0.042538],[0.778605,-0.626861,-0.028633],[-0.004405,-0.051087,0.998684]] 2025-10-29T01:05:30.035Z,1761699930.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:30.446Z,1761699930.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629657,-0.775751,-0.041758],[0.776867,-0.628964,-0.029711],[-0.003216,-0.051148,0.998686]] 2025-10-29T01:05:30.489Z,1761699930.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:30.838Z,1761699930.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:31.206Z,1761699931.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630505,-0.775088,-0.041259],[0.776180,-0.629794,-0.030053],[-0.002691,-0.050973,0.998696]] 2025-10-29T01:05:31.230Z,1761699931.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:31.670Z,1761699931.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:32.033Z,1761699932.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633193,-0.772941,-0.040360],[0.773993,-0.632424,-0.031230],[-0.001386,-0.051013,0.998697]] 2025-10-29T01:05:32.099Z,1761699932.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:32.451Z,1761699932.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633933,-0.772346,-0.040127],[0.773387,-0.633149,-0.031541],[-0.001046,-0.051029,0.998697]] 2025-10-29T01:05:32.509Z,1761699932.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:32.876Z,1761699932.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:33.233Z,1761699933.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634338,-0.772029,-0.039836],[0.773055,-0.633553,-0.031553],[-0.000878,-0.050811,0.998708]] 2025-10-29T01:05:33.251Z,1761699933.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:33.636Z,1761699933.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634500,-0.771894,-0.039875],[0.772923,-0.633716,-0.031532],[-0.000930,-0.050827,0.998707]] 2025-10-29T01:05:33.674Z,1761699933.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:34.043Z,1761699934.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634447,-0.771933,-0.039965],[0.772966,-0.633669,-0.031429],[-0.001064,-0.050832,0.998707]] 2025-10-29T01:05:34.074Z,1761699934.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:34.531Z,1761699934.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:34.845Z,1761699934.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633647,-0.772563,-0.040474],[0.773620,-0.632897,-0.030872],[-0.001765,-0.050873,0.998704]] 2025-10-29T01:05:34.897Z,1761699934.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:35.248Z,1761699935.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.633221,-0.772897,-0.040748],[0.773968,-0.632483,-0.030645],[-0.002087,-0.050943,0.998699]] 2025-10-29T01:05:35.266Z,1761699935.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:35.651Z,1761699935.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632402,-0.773543,-0.041223],[0.774636,-0.631688,-0.030159],[-0.002711,-0.051006,0.998695]] 2025-10-29T01:05:35.694Z,1761699935.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:36.059Z,1761699936.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631830,-0.773996,-0.041475],[0.775100,-0.631140,-0.029703],[-0.003186,-0.050914,0.998698]] 2025-10-29T01:05:36.094Z,1761699936.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:36.464Z,1761699936.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631261,-0.774436,-0.041947],[0.775562,-0.630592,-0.029289],[-0.003769,-0.051021,0.998690]] 2025-10-29T01:05:36.539Z,1761699936.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:36.863Z,1761699936.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630594,-0.774955,-0.042378],[0.776100,-0.629955,-0.028742],[-0.004422,-0.051014,0.998688]] 2025-10-29T01:05:36.906Z,1761699936.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:37.266Z,1761699937.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630295,-0.775174,-0.042812],[0.776340,-0.629671,-0.028472],[-0.004887,-0.051182,0.998677]] 2025-10-29T01:05:37.301Z,1761699937.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:37.670Z,1761699937.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629871,-0.775510,-0.042978],[0.776682,-0.629266,-0.028087],[-0.005263,-0.051071,0.998681]] 2025-10-29T01:05:37.727Z,1761699937.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:38.082Z,1761699938.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629494,-0.775801,-0.043243],[0.776984,-0.628912,-0.027671],[-0.005729,-0.051018,0.998681]] 2025-10-29T01:05:38.140Z,1761699938.140 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:38.478Z,1761699938.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629338,-0.775912,-0.043533],[0.777109,-0.628765,-0.027513],[-0.006024,-0.051145,0.998673]] 2025-10-29T01:05:38.584Z,1761699938.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:38.882Z,1761699938.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629434,-0.775825,-0.043681],[0.777029,-0.628866,-0.027458],[-0.006167,-0.051224,0.998668]] 2025-10-29T01:05:38.947Z,1761699938.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:39.287Z,1761699939.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629379,-0.775869,-0.043690],[0.777073,-0.628819,-0.027290],[-0.006300,-0.051126,0.998672]] 2025-10-29T01:05:39.305Z,1761699939.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:39.332Z,1761699939.332 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:05:39.690Z,1761699939.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629742,-0.775572,-0.043737],[0.776780,-0.629174,-0.027455],[-0.006225,-0.051264,0.998666]] 2025-10-29T01:05:39.736Z,1761699939.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:40.098Z,1761699940.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629952,-0.775409,-0.043599],[0.776609,-0.629384,-0.027444],[-0.006160,-0.051148,0.998672]] 2025-10-29T01:05:40.133Z,1761699940.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:40.336Z,1761699940.336 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:05:40.507Z,1761699940.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630171,-0.775234,-0.043557],[0.776432,-0.629602,-0.027467],[-0.006130,-0.051128,0.998673]] 2025-10-29T01:05:40.560Z,1761699940.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:40.905Z,1761699940.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630769,-0.774753,-0.043449],[0.775949,-0.630184,-0.027788],[-0.005852,-0.051242,0.998669]] 2025-10-29T01:05:40.965Z,1761699940.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:41.307Z,1761699941.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631324,-0.774323,-0.043055],[0.775500,-0.630723,-0.028068],[-0.005423,-0.051109,0.998678]] 2025-10-29T01:05:41.331Z,1761699941.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:41.710Z,1761699941.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631530,-0.774166,-0.042859],[0.775334,-0.630924,-0.028154],[-0.005245,-0.051011,0.998684]] 2025-10-29T01:05:41.764Z,1761699941.764 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:42.123Z,1761699942.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631948,-0.773833,-0.042710],[0.774995,-0.631328,-0.028409],[-0.004980,-0.051053,0.998684]] 2025-10-29T01:05:42.149Z,1761699942.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:42.520Z,1761699942.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632162,-0.773668,-0.042545],[0.774822,-0.631532,-0.028613],[-0.004732,-0.051053,0.998685]] 2025-10-29T01:05:42.549Z,1761699942.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:42.922Z,1761699942.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632443,-0.773446,-0.042391],[0.774594,-0.631796,-0.028937],[-0.004401,-0.051137,0.998682]] 2025-10-29T01:05:42.970Z,1761699942.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:43.326Z,1761699943.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632486,-0.773417,-0.042277],[0.774560,-0.631829,-0.029119],[-0.004190,-0.051163,0.998681]] 2025-10-29T01:05:43.346Z,1761699943.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:43.732Z,1761699943.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632357,-0.773527,-0.042209],[0.774667,-0.631697,-0.029156],[-0.004110,-0.051135,0.998683]] 2025-10-29T01:05:43.807Z,1761699943.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:44.134Z,1761699944.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632170,-0.773695,-0.041918],[0.774820,-0.631507,-0.029189],[-0.003888,-0.050931,0.998695]] 2025-10-29T01:05:44.170Z,1761699944.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:44.539Z,1761699944.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631673,-0.774099,-0.041953],[0.775225,-0.631013,-0.029128],[-0.003925,-0.050923,0.998695]] 2025-10-29T01:05:44.557Z,1761699944.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:45.024Z,1761699945.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:45.347Z,1761699945.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630594,-0.774981,-0.041904],[0.776103,-0.629936,-0.029070],[-0.003868,-0.050853,0.998699]] 2025-10-29T01:05:45.384Z,1761699945.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:45.755Z,1761699945.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629733,-0.775667,-0.042145],[0.776801,-0.629082,-0.028929],[-0.004073,-0.050956,0.998693]] 2025-10-29T01:05:45.807Z,1761699945.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:46.161Z,1761699946.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628889,-0.776335,-0.042460],[0.777484,-0.628243,-0.028820],[-0.004301,-0.051136,0.998682]] 2025-10-29T01:05:46.191Z,1761699946.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:46.558Z,1761699946.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628009,-0.777038,-0.042621],[0.778193,-0.627369,-0.028691],[-0.004445,-0.051185,0.998679]] 2025-10-29T01:05:46.581Z,1761699946.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:46.962Z,1761699946.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627068,-0.777785,-0.042859],[0.778951,-0.626437,-0.028499],[-0.004683,-0.051256,0.998675]] 2025-10-29T01:05:47.047Z,1761699947.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:47.367Z,1761699947.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.626176,-0.778491,-0.043077],[0.779666,-0.625555,-0.028313],[-0.004906,-0.051314,0.998670]] 2025-10-29T01:05:47.385Z,1761699947.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:47.777Z,1761699947.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625118,-0.779342,-0.043055],[0.780514,-0.624513,-0.027956],[-0.005101,-0.051081,0.998681]] 2025-10-29T01:05:47.833Z,1761699947.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:48.183Z,1761699948.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624227,-0.780053,-0.043103],[0.781226,-0.623632,-0.027747],[-0.005236,-0.050993,0.998685]] 2025-10-29T01:05:48.221Z,1761699948.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:48.578Z,1761699948.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623429,-0.780683,-0.043252],[0.781861,-0.622839,-0.027639],[-0.005362,-0.051048,0.998682]] 2025-10-29T01:05:48.608Z,1761699948.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:48.997Z,1761699948.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622729,-0.781238,-0.043301],[0.782419,-0.622142,-0.027576],[-0.005396,-0.051052,0.998681]] 2025-10-29T01:05:49.044Z,1761699949.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:49.389Z,1761699949.389 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621957,-0.781841,-0.043535],[0.783032,-0.621374,-0.027493],[-0.005556,-0.051189,0.998674]] 2025-10-29T01:05:49.407Z,1761699949.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:49.791Z,1761699949.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.621201,-0.782431,-0.043722],[0.783631,-0.620619,-0.027462],[-0.005648,-0.051321,0.998666]] 2025-10-29T01:05:49.836Z,1761699949.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:50.194Z,1761699950.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.620458,-0.783016,-0.043790],[0.784219,-0.619876,-0.027459],[-0.005643,-0.051378,0.998663]] 2025-10-29T01:05:50.229Z,1761699950.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:50.599Z,1761699950.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619507,-0.783778,-0.043621],[0.784971,-0.618935,-0.027225],[-0.005660,-0.051107,0.998677]] 2025-10-29T01:05:50.617Z,1761699950.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:51.010Z,1761699951.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.618852,-0.784304,-0.043471],[0.785488,-0.618280,-0.027190],[-0.005552,-0.050972,0.998685]] 2025-10-29T01:05:51.045Z,1761699951.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:51.406Z,1761699951.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617990,-0.784983,-0.043482],[0.786166,-0.617421,-0.027096],[-0.005577,-0.050929,0.998687]] 2025-10-29T01:05:51.441Z,1761699951.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:51.810Z,1761699951.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.617325,-0.785517,-0.043279],[0.786690,-0.616750,-0.027169],[-0.005351,-0.050819,0.998694]] 2025-10-29T01:05:51.862Z,1761699951.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:52.222Z,1761699952.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616635,-0.786053,-0.043375],[0.787231,-0.616052,-0.027320],[-0.005246,-0.050993,0.998685]] 2025-10-29T01:05:52.241Z,1761699952.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:52.627Z,1761699952.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615862,-0.786646,-0.043625],[0.787837,-0.615270,-0.027487],[-0.005218,-0.051298,0.998670]] 2025-10-29T01:05:52.645Z,1761699952.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:53.026Z,1761699953.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614909,-0.787393,-0.043585],[0.788581,-0.614319,-0.027424],[-0.005182,-0.051234,0.998673]] 2025-10-29T01:05:53.073Z,1761699953.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:53.488Z,1761699953.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:53.837Z,1761699953.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613431,-0.788556,-0.043382],[0.789733,-0.612834,-0.027504],[-0.004897,-0.051132,0.998680]] 2025-10-29T01:05:53.878Z,1761699953.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:54.239Z,1761699954.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612780,-0.789070,-0.043225],[0.790239,-0.612178,-0.027576],[-0.004702,-0.051056,0.998685]] 2025-10-29T01:05:54.273Z,1761699954.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:05:54.275Z,1761699954.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:54.493Z,1761699954.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:05:54.493Z,1761699954.493 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:05:54.642Z,1761699954.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611795,-0.789839,-0.043128],[0.791002,-0.611198,-0.027432],[-0.004693,-0.050897,0.998693]] 2025-10-29T01:05:54.661Z,1761699954.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:54.754Z,1761699954.754 [DAT](INFO): DAT read: user:668> 2025-10-29T01:05:54.758Z,1761699954.758 [DAT](INFO): DAT read: Tx time:01:05:54.4686 2025-10-29T01:05:54.759Z,1761699954.759 [DAT](INFO): Ping request sent. 2025-10-29T01:05:54.760Z,1761699954.760 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:05:54.761Z,1761699954.761 [DAT](INFO): publishing transmit ping time 2025-10-29T01:05:54.763Z,1761699954.763 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.003198 2025-10-29T01:05:54.997Z,1761699954.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.237693 2025-10-29T01:05:55.055Z,1761699955.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611051,-0.790419,-0.043061],[0.791578,-0.610450,-0.027465],[-0.004577,-0.050869,0.998695]] 2025-10-29T01:05:55.101Z,1761699955.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:55.249Z,1761699955.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.489632 2025-10-29T01:05:55.450Z,1761699955.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610406,-0.790910,-0.043199],[0.792076,-0.609793,-0.027707],[-0.004429,-0.051129,0.998682]] 2025-10-29T01:05:55.491Z,1761699955.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:55.501Z,1761699955.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.741787 2025-10-29T01:05:55.757Z,1761699955.757 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996985 2025-10-29T01:05:55.854Z,1761699955.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609453,-0.791635,-0.043368],[0.792809,-0.608837,-0.027754],[-0.004433,-0.051297,0.998674]] 2025-10-29T01:05:55.903Z,1761699955.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:56.005Z,1761699956.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.245691 2025-10-29T01:05:56.257Z,1761699956.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497779 2025-10-29T01:05:56.264Z,1761699956.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608615,-0.792279,-0.043382],[0.793454,-0.607995,-0.027796],[-0.004354,-0.051339,0.998672]] 2025-10-29T01:05:56.282Z,1761699956.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:56.509Z,1761699956.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749761 2025-10-29T01:05:56.664Z,1761699956.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.607669,-0.793009,-0.043298],[0.794179,-0.607048,-0.027791],[-0.004245,-0.051274,0.998676]] 2025-10-29T01:05:56.682Z,1761699956.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:56.762Z,1761699956.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002693 2025-10-29T01:05:57.013Z,1761699957.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253727 2025-10-29T01:05:57.066Z,1761699957.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606576,-0.793843,-0.043342],[0.795014,-0.605958,-0.027707],[-0.004268,-0.051264,0.998676]] 2025-10-29T01:05:57.112Z,1761699957.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:57.265Z,1761699957.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505880 2025-10-29T01:05:57.482Z,1761699957.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605399,-0.794755,-0.043098],[0.795911,-0.604792,-0.027428],[-0.004266,-0.050907,0.998694]] 2025-10-29T01:05:57.515Z,1761699957.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:57.517Z,1761699957.517 [DAT](INFO): DAT read: Rx Time:01:05:56.9019 2025-10-29T01:05:57.518Z,1761699957.518 [DAT](INFO): Rx dataTimestamp_ set to:1761699957.517220 2025-10-29T01:05:57.518Z,1761699957.518 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758867 2025-10-29T01:05:57.772Z,1761699957.772 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.012160 2025-10-29T01:05:57.886Z,1761699957.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.604285,-0.795596,-0.043207],[0.796757,-0.603682,-0.027331],[-0.004339,-0.050941,0.998692]] 2025-10-29T01:05:57.922Z,1761699957.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.28 m. 2025-10-29T01:05:58.024Z,1761699958.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264372 2025-10-29T01:05:58.278Z,1761699958.278 [DAT](INFO): DAT read: 01:05:56.9019 LVL= 28384, 17489, 18994, 32227, AGC= 52, IDX= 455, 0.14,-1.395, 0.753,-0.186,-0.001, PHS=-1.292, 0.799,-0.228, RAW= 299.4, 8.0, CAL= 297.0, 8.4, ROT= 213.0, -8.4 2025-10-29T01:05:58.279Z,1761699958.279 [DAT](INFO): got valid direction response: 01:05:56.9019 LVL= 28384, 17489, 18994, 32227, AGC= 52, IDX= 455, 0.14,-1.395, 0.753,-0.186,-0.001, PHS=-1.292, 0.799,-0.228, RAW= 299.4, 8.0, CAL= 297.0, 8.4, ROT= 213.0, -8.4 2025-10-29T01:05:58.280Z,1761699958.280 [DAT](INFO): DAT read: Bearing 95.6, -32.8 (Local) 2025-10-29T01:05:58.281Z,1761699958.281 [DAT](INFO): Local bearing/azimuth received: Bearing 95.6, -32.8 (Local) 2025-10-29T01:05:58.282Z,1761699958.282 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (Round-trip 29.1 ms) speed 0.0 m/s 2025-10-29T01:05:58.283Z,1761699958.283 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:05:58.284Z,1761699958.284 [DAT](INFO): direction in FSK: [-0.829674,-0.538796,0.146083] 2025-10-29T01:05:58.284Z,1761699958.284 [DAT](INFO): publishing direction and range info 2025-10-29T01:05:58.316Z,1761699958.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603127,-0.796480,-0.043090],[0.797633,-0.602530,-0.027192],[-0.004305,-0.050770,0.998701]] 2025-10-29T01:05:58.352Z,1761699958.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 60.264036 s, deltaX: 0.400000 m, approachRate: 0.006637 m/s, rangeRepo size: 4 2025-10-29T01:05:58.354Z,1761699958.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.681301 m, bearing: 339.722479 deg, lat: 36.779300 deg, lon: -121.859478 deg, deltaT: 60.264036 s, deltaX: 0.397261 m, approachRate: 0.006592 m/s, posRepo size: 4 2025-10-29T01:05:58.354Z,1761699958.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:05:58.688Z,1761699958.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602153,-0.797210,-0.043227],[0.798369,-0.601549,-0.027290],[-0.004247,-0.050943,0.998693]] 2025-10-29T01:05:58.706Z,1761699958.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:05:59.090Z,1761699959.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601080,-0.798010,-0.043408],[0.799178,-0.600474,-0.027311],[-0.004271,-0.051106,0.998684]] 2025-10-29T01:05:59.134Z,1761699959.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:05:59.495Z,1761699959.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599853,-0.798921,-0.043600],[0.800098,-0.599251,-0.027218],[-0.004382,-0.051211,0.998678]] 2025-10-29T01:05:59.513Z,1761699959.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:05:59.898Z,1761699959.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598806,-0.799708,-0.043575],[0.800883,-0.598205,-0.027172],[-0.004337,-0.051170,0.998681]] 2025-10-29T01:05:59.958Z,1761699959.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:00.305Z,1761699960.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597755,-0.800497,-0.043520],[0.801667,-0.597163,-0.026968],[-0.004401,-0.051009,0.998689]] 2025-10-29T01:06:00.323Z,1761699960.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:00.707Z,1761699960.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596696,-0.801281,-0.043620],[0.802454,-0.596112,-0.026776],[-0.004548,-0.050980,0.998689]] 2025-10-29T01:06:00.735Z,1761699960.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:01.111Z,1761699961.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595945,-0.801843,-0.043560],[0.803013,-0.595363,-0.026712],[-0.004516,-0.050898,0.998694]] 2025-10-29T01:06:01.158Z,1761699961.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:01.516Z,1761699961.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595040,-0.802522,-0.043426],[0.803683,-0.594465,-0.026543],[-0.004514,-0.050695,0.998704]] 2025-10-29T01:06:01.541Z,1761699961.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:01.920Z,1761699961.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594098,-0.803215,-0.043511],[0.804380,-0.593527,-0.026438],[-0.004589,-0.050706,0.998703]] 2025-10-29T01:06:01.987Z,1761699961.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:02.353Z,1761699962.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593138,-0.803919,-0.043604],[0.805088,-0.592570,-0.026352],[-0.004654,-0.050735,0.998701]] 2025-10-29T01:06:02.371Z,1761699962.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:02.796Z,1761699962.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:03.173Z,1761699963.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591156,-0.805366,-0.043817],[0.806542,-0.590605,-0.026003],[-0.004937,-0.050712,0.998701]] 2025-10-29T01:06:03.208Z,1761699963.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:03.627Z,1761699963.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:04.025Z,1761699964.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588820,-0.807060,-0.044115],[0.808246,-0.588293,-0.025479],[-0.005390,-0.050658,0.998701]] 2025-10-29T01:06:04.085Z,1761699964.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:04.455Z,1761699964.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587632,-0.807923,-0.044150],[0.809109,-0.587120,-0.025162],[-0.005593,-0.050508,0.998708]] 2025-10-29T01:06:04.490Z,1761699964.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:04.879Z,1761699964.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584917,-0.809876,-0.044411],[0.811069,-0.584444,-0.024334],[-0.006249,-0.050254,0.998717]] 2025-10-29T01:06:04.989Z,1761699964.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:05.344Z,1761699965.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583602,-0.810816,-0.044564],[0.812013,-0.583146,-0.023989],[-0.006536,-0.050187,0.998718]] 2025-10-29T01:06:05.391Z,1761699965.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:05.775Z,1761699965.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582236,-0.811776,-0.044959],[0.812990,-0.581796,-0.023681],[-0.006933,-0.050339,0.998708]] 2025-10-29T01:06:05.798Z,1761699965.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:06.167Z,1761699966.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580946,-0.812675,-0.045410],[0.813910,-0.580517,-0.023468],[-0.007290,-0.050593,0.998693]] 2025-10-29T01:06:06.211Z,1761699966.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:06.573Z,1761699966.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579261,-0.813864,-0.045624],[0.815105,-0.578858,-0.022947],[-0.007734,-0.050481,0.998695]] 2025-10-29T01:06:06.591Z,1761699966.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:06.995Z,1761699966.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577869,-0.814847,-0.045749],[0.816091,-0.577480,-0.022631],[-0.007979,-0.050413,0.998697]] 2025-10-29T01:06:07.056Z,1761699967.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:07.378Z,1761699967.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576619,-0.815726,-0.045850],[0.816973,-0.576240,-0.022418],[-0.008133,-0.050385,0.998697]] 2025-10-29T01:06:07.404Z,1761699967.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:07.785Z,1761699967.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575132,-0.816757,-0.046160],[0.818016,-0.574771,-0.022087],[-0.008492,-0.050462,0.998690]] 2025-10-29T01:06:07.823Z,1761699967.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:08.249Z,1761699968.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:08.624Z,1761699968.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572733,-0.818428,-0.046398],[0.819697,-0.572376,-0.021960],[-0.008584,-0.050609,0.998682]] 2025-10-29T01:06:08.663Z,1761699968.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:09.028Z,1761699969.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571542,-0.819257,-0.046456],[0.820528,-0.571185,-0.021936],[-0.008564,-0.050656,0.998679]] 2025-10-29T01:06:09.090Z,1761699969.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:09.445Z,1761699969.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570495,-0.819979,-0.046573],[0.821257,-0.570130,-0.022092],[-0.008438,-0.050852,0.998671]] 2025-10-29T01:06:09.490Z,1761699969.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:09.845Z,1761699969.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569257,-0.820845,-0.046489],[0.822118,-0.568887,-0.022118],[-0.008292,-0.050810,0.998674]] 2025-10-29T01:06:09.863Z,1761699969.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:10.242Z,1761699970.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568236,-0.821567,-0.046214],[0.822827,-0.567855,-0.022283],[-0.007936,-0.050688,0.998683]] 2025-10-29T01:06:10.299Z,1761699970.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:10.462Z,1761699970.462 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:06:10.648Z,1761699970.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567186,-0.822309,-0.045911],[0.823555,-0.566792,-0.022460],[-0.007553,-0.050550,0.998693]] 2025-10-29T01:06:10.666Z,1761699970.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:11.110Z,1761699971.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:11.465Z,1761699971.465 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:06:11.512Z,1761699971.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566126,-0.823081,-0.045156],[0.824296,-0.565665,-0.023636],[-0.006089,-0.050603,0.998700]] 2025-10-29T01:06:11.547Z,1761699971.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:11.914Z,1761699971.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565800,-0.823324,-0.044804],[0.824526,-0.565293,-0.024490],[-0.005164,-0.050799,0.998695]] 2025-10-29T01:06:11.941Z,1761699971.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:12.319Z,1761699972.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565605,-0.823487,-0.044280],[0.824666,-0.565047,-0.025434],[-0.004076,-0.050901,0.998695]] 2025-10-29T01:06:12.366Z,1761699972.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:12.722Z,1761699972.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565294,-0.823733,-0.043670],[0.824884,-0.564687,-0.026343],[-0.002960,-0.050914,0.998699]] 2025-10-29T01:06:12.741Z,1761699972.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:13.126Z,1761699973.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565179,-0.823850,-0.042936],[0.824967,-0.564515,-0.027436],[-0.001635,-0.050926,0.998701]] 2025-10-29T01:06:13.195Z,1761699973.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:13.532Z,1761699973.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564942,-0.824052,-0.042183],[0.825131,-0.564225,-0.028456],[-0.000352,-0.050882,0.998705]] 2025-10-29T01:06:13.550Z,1761699973.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:13.946Z,1761699973.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564706,-0.824258,-0.041305],[0.825292,-0.563937,-0.029473],[0.001000,-0.050732,0.998712]] 2025-10-29T01:06:13.968Z,1761699973.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:14.395Z,1761699974.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:14.745Z,1761699974.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563768,-0.824974,-0.039800],[0.825926,-0.562908,-0.031313],[0.003429,-0.050525,0.998717]] 2025-10-29T01:06:14.771Z,1761699974.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:15.151Z,1761699975.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563439,-0.825229,-0.039155],[0.826144,-0.562526,-0.032412],[0.004722,-0.050610,0.998707]] 2025-10-29T01:06:15.205Z,1761699975.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:15.550Z,1761699975.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562846,-0.825657,-0.038662],[0.826542,-0.561887,-0.033349],[0.005811,-0.050726,0.998696]] 2025-10-29T01:06:15.574Z,1761699975.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:15.959Z,1761699975.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562257,-0.826080,-0.038189],[0.826934,-0.561255,-0.034253],[0.006862,-0.050839,0.998683]] 2025-10-29T01:06:15.989Z,1761699975.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:16.358Z,1761699976.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561578,-0.826565,-0.037693],[0.827386,-0.560536,-0.035100],[0.007884,-0.050898,0.998673]] 2025-10-29T01:06:16.424Z,1761699976.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:16.769Z,1761699976.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560481,-0.827334,-0.037139],[0.828122,-0.559414,-0.035646],[0.008715,-0.050734,0.998674]] 2025-10-29T01:06:16.789Z,1761699976.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:17.168Z,1761699977.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559467,-0.828026,-0.037011],[0.828800,-0.558369,-0.036270],[0.009367,-0.050967,0.998656]] 2025-10-29T01:06:17.211Z,1761699977.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:17.570Z,1761699977.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558344,-0.828796,-0.036740],[0.829549,-0.557219,-0.036816],[0.010041,-0.051034,0.998646]] 2025-10-29T01:06:17.600Z,1761699977.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:17.975Z,1761699977.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556877,-0.829792,-0.036507],[0.830529,-0.555741,-0.037065],[0.010468,-0.050961,0.998646]] 2025-10-29T01:06:17.993Z,1761699977.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:18.379Z,1761699978.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555626,-0.830628,-0.036566],[0.831362,-0.554467,-0.037457],[0.010838,-0.051211,0.998629]] 2025-10-29T01:06:18.448Z,1761699978.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:18.832Z,1761699978.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554289,-0.831524,-0.036485],[0.832250,-0.553120,-0.037663],[0.011137,-0.051241,0.998624]] 2025-10-29T01:06:18.859Z,1761699978.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:19.234Z,1761699979.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552871,-0.832470,-0.036433],[0.833190,-0.551698,-0.037738],[0.011316,-0.051220,0.998623]] 2025-10-29T01:06:19.286Z,1761699979.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:19.639Z,1761699979.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551456,-0.833409,-0.036422],[0.834126,-0.550281,-0.037746],[0.011415,-0.051196,0.998623]] 2025-10-29T01:06:19.657Z,1761699979.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:20.043Z,1761699980.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550076,-0.834327,-0.036259],[0.835035,-0.548906,-0.037666],[0.011523,-0.050997,0.998632]] 2025-10-29T01:06:20.062Z,1761699980.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:20.455Z,1761699980.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548601,-0.835296,-0.036292],[0.836007,-0.547441,-0.037433],[0.011400,-0.050877,0.998640]] 2025-10-29T01:06:20.523Z,1761699980.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:20.886Z,1761699980.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546338,-0.836777,-0.036324],[0.837489,-0.545190,-0.037158],[0.011290,-0.050722,0.998649]] 2025-10-29T01:06:20.903Z,1761699980.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:21.283Z,1761699981.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545472,-0.837328,-0.036628],[0.838055,-0.544324,-0.037074],[0.011106,-0.050920,0.998641]] 2025-10-29T01:06:21.327Z,1761699981.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:21.687Z,1761699981.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544596,-0.837886,-0.036912],[0.838628,-0.543455,-0.036873],[0.010835,-0.051037,0.998638]] 2025-10-29T01:06:21.721Z,1761699981.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:22.088Z,1761699982.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543931,-0.838306,-0.037184],[0.839063,-0.542792,-0.036761],[0.010634,-0.051195,0.998632]] 2025-10-29T01:06:22.106Z,1761699982.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:22.502Z,1761699982.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543228,-0.838755,-0.037314],[0.839521,-0.542103,-0.036440],[0.010336,-0.051121,0.998639]] 2025-10-29T01:06:22.539Z,1761699982.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:22.895Z,1761699982.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542657,-0.839113,-0.037594],[0.839895,-0.541542,-0.036166],[0.009989,-0.051201,0.998638]] 2025-10-29T01:06:22.943Z,1761699982.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:23.299Z,1761699983.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542125,-0.839450,-0.037732],[0.840243,-0.541027,-0.035800],[0.009638,-0.051112,0.998646]] 2025-10-29T01:06:23.317Z,1761699983.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:23.705Z,1761699983.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541755,-0.839684,-0.037842],[0.840485,-0.540674,-0.035445],[0.009303,-0.051008,0.998655]] 2025-10-29T01:06:23.723Z,1761699983.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:24.106Z,1761699984.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541598,-0.839781,-0.037931],[0.840589,-0.540528,-0.035216],[0.009071,-0.050957,0.998660]] 2025-10-29T01:06:24.147Z,1761699984.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:24.514Z,1761699984.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541405,-0.839895,-0.038160],[0.840717,-0.540348,-0.034927],[0.008715,-0.050991,0.998661]] 2025-10-29T01:06:24.569Z,1761699984.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:24.924Z,1761699984.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541030,-0.840125,-0.038427],[0.840964,-0.539994,-0.034448],[0.008190,-0.050953,0.998667]] 2025-10-29T01:06:24.951Z,1761699984.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:25.318Z,1761699985.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540824,-0.840244,-0.038728],[0.841100,-0.539805,-0.034075],[0.007726,-0.051003,0.998669]] 2025-10-29T01:06:25.361Z,1761699985.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:25.722Z,1761699985.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540567,-0.840402,-0.038879],[0.841270,-0.539572,-0.033568],[0.007232,-0.050853,0.998680]] 2025-10-29T01:06:25.756Z,1761699985.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:26.126Z,1761699986.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540367,-0.840519,-0.039116],[0.841402,-0.539392,-0.033147],[0.006762,-0.050824,0.998685]] 2025-10-29T01:06:26.149Z,1761699986.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:26.534Z,1761699986.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540330,-0.840530,-0.039408],[0.841429,-0.539367,-0.032862],[0.006366,-0.050915,0.998683]] 2025-10-29T01:06:26.570Z,1761699986.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:26.943Z,1761699986.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540264,-0.840562,-0.039627],[0.841474,-0.539319,-0.032497],[0.005944,-0.050902,0.998686]] 2025-10-29T01:06:26.961Z,1761699986.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:27.338Z,1761699987.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539935,-0.840750,-0.040106],[0.841690,-0.539011,-0.032027],[0.005310,-0.051049,0.998682]] 2025-10-29T01:06:27.387Z,1761699987.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:27.744Z,1761699987.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539620,-0.840935,-0.040474],[0.841895,-0.538718,-0.031541],[0.004720,-0.051095,0.998683]] 2025-10-29T01:06:27.770Z,1761699987.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:28.175Z,1761699988.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539610,-0.840927,-0.040789],[0.841904,-0.538723,-0.031221],[0.004280,-0.051187,0.998680]] 2025-10-29T01:06:28.213Z,1761699988.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:28.603Z,1761699988.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:28.954Z,1761699988.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538863,-0.841381,-0.041285],[0.842387,-0.538027,-0.030171],[0.003173,-0.051037,0.998692]] 2025-10-29T01:06:28.972Z,1761699988.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:29.359Z,1761699989.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538556,-0.841568,-0.041475],[0.842585,-0.537746,-0.029658],[0.002656,-0.050918,0.998699]] 2025-10-29T01:06:29.413Z,1761699989.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:29.771Z,1761699989.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538284,-0.841730,-0.041713],[0.842760,-0.537494,-0.029237],[0.002190,-0.050892,0.998702]] 2025-10-29T01:06:29.791Z,1761699989.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:30.167Z,1761699990.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537773,-0.842041,-0.042030],[0.843088,-0.537007,-0.028727],[0.001619,-0.050884,0.998703]] 2025-10-29T01:06:30.199Z,1761699990.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:30.570Z,1761699990.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537400,-0.842264,-0.042333],[0.843327,-0.536653,-0.028339],[0.001151,-0.050930,0.998702]] 2025-10-29T01:06:30.617Z,1761699990.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:30.974Z,1761699990.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536960,-0.842530,-0.042625],[0.843607,-0.536232,-0.027963],[0.000703,-0.050974,0.998700]] 2025-10-29T01:06:30.994Z,1761699990.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:31.380Z,1761699991.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536521,-0.842798,-0.042847],[0.843887,-0.535810,-0.027626],[0.000325,-0.050980,0.998700]] 2025-10-29T01:06:31.449Z,1761699991.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:31.785Z,1761699991.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536178,-0.843007,-0.043048],[0.844105,-0.535480,-0.027335],[-0.000008,-0.050993,0.998699]] 2025-10-29T01:06:31.812Z,1761699991.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:32.187Z,1761699992.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535681,-0.843311,-0.043266],[0.844420,-0.535002,-0.026965],[-0.000408,-0.050979,0.998700]] 2025-10-29T01:06:32.205Z,1761699992.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:32.591Z,1761699992.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535261,-0.843571,-0.043405],[0.844686,-0.534593,-0.026758],[-0.000631,-0.050986,0.998699]] 2025-10-29T01:06:32.650Z,1761699992.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:32.997Z,1761699992.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535088,-0.843672,-0.043562],[0.844796,-0.534419,-0.026758],[-0.000705,-0.051119,0.998692]] 2025-10-29T01:06:33.023Z,1761699993.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:33.412Z,1761699993.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534655,-0.843943,-0.043629],[0.845070,-0.533996,-0.026566],[-0.000877,-0.051073,0.998695]] 2025-10-29T01:06:33.453Z,1761699993.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:33.803Z,1761699993.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534218,-0.844215,-0.043733],[0.845346,-0.533563,-0.026478],[-0.000981,-0.051115,0.998692]] 2025-10-29T01:06:33.822Z,1761699993.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:34.210Z,1761699994.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534001,-0.844352,-0.043730],[0.845483,-0.533340,-0.026579],[-0.000881,-0.051167,0.998690]] 2025-10-29T01:06:34.229Z,1761699994.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:34.611Z,1761699994.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533568,-0.844629,-0.043662],[0.845757,-0.532907,-0.026565],[-0.000830,-0.051101,0.998693]] 2025-10-29T01:06:34.653Z,1761699994.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:35.015Z,1761699995.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533357,-0.844767,-0.043574],[0.845890,-0.532688,-0.026711],[-0.000646,-0.051105,0.998693]] 2025-10-29T01:06:35.049Z,1761699995.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:35.426Z,1761699995.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533334,-0.844791,-0.043398],[0.845905,-0.532651,-0.026981],[-0.000323,-0.051100,0.998693]] 2025-10-29T01:06:35.475Z,1761699995.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:35.833Z,1761699995.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533517,-0.844683,-0.043252],[0.845789,-0.532812,-0.027417],[0.000114,-0.051210,0.998688]] 2025-10-29T01:06:35.853Z,1761699995.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:36.234Z,1761699996.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533708,-0.844575,-0.042991],[0.845668,-0.532979,-0.027896],[0.000647,-0.051245,0.998686]] 2025-10-29T01:06:36.258Z,1761699996.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:36.638Z,1761699996.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533966,-0.844433,-0.042581],[0.845505,-0.533210,-0.028441],[0.001312,-0.051188,0.998688]] 2025-10-29T01:06:36.682Z,1761699996.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:37.049Z,1761699997.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534235,-0.844283,-0.042189],[0.845334,-0.533452,-0.028980],[0.001962,-0.051146,0.998689]] 2025-10-29T01:06:37.067Z,1761699997.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:37.450Z,1761699997.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534246,-0.844293,-0.041837],[0.845325,-0.533440,-0.029440],[0.002539,-0.051094,0.998691]] 2025-10-29T01:06:37.509Z,1761699997.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:37.871Z,1761699997.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534324,-0.844261,-0.041479],[0.845274,-0.533494,-0.029939],[0.003147,-0.051058,0.998691]] 2025-10-29T01:06:37.895Z,1761699997.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:38.270Z,1761699998.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534828,-0.843967,-0.040972],[0.844952,-0.533962,-0.030675],[0.004011,-0.051025,0.998689]] 2025-10-29T01:06:38.300Z,1761699998.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:38.674Z,1761699998.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535362,-0.843649,-0.040545],[0.844609,-0.534459,-0.031455],[0.004867,-0.051085,0.998682]] 2025-10-29T01:06:38.718Z,1761699998.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:39.081Z,1761699999.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535701,-0.843454,-0.040115],[0.844389,-0.534767,-0.032133],[0.005651,-0.051086,0.998678]] 2025-10-29T01:06:39.099Z,1761699999.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:39.484Z,1761699999.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536054,-0.843244,-0.039823],[0.844160,-0.535084,-0.032856],[0.006397,-0.051229,0.998666]] 2025-10-29T01:06:39.521Z,1761699999.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:39.899Z,1761699999.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536246,-0.843144,-0.039352],[0.844031,-0.535251,-0.033430],[0.007123,-0.051141,0.998666]] 2025-10-29T01:06:39.961Z,1761699999.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:40.290Z,1761700000.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536466,-0.843016,-0.039100],[0.843886,-0.535438,-0.034107],[0.007817,-0.051293,0.998653]] 2025-10-29T01:06:40.320Z,1761700000.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:40.694Z,1761700000.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536470,-0.843024,-0.038856],[0.843877,-0.535416,-0.034653],[0.008409,-0.051380,0.998644]] 2025-10-29T01:06:40.754Z,1761700000.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:41.107Z,1761700001.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536233,-0.843190,-0.038526],[0.844024,-0.535166,-0.034953],[0.008854,-0.051260,0.998646]] 2025-10-29T01:06:41.125Z,1761700001.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:41.509Z,1761700001.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536106,-0.843284,-0.038236],[0.844099,-0.535022,-0.035336],[0.009342,-0.051218,0.998644]] 2025-10-29T01:06:41.551Z,1761700001.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:41.585Z,1761700001.585 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:06:41.915Z,1761700001.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535977,-0.843377,-0.037989],[0.844175,-0.534875,-0.035736],[0.009820,-0.051223,0.998639]] 2025-10-29T01:06:41.952Z,1761700001.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:42.310Z,1761700002.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535598,-0.843617,-0.038022],[0.844414,-0.534483,-0.035969],[0.010022,-0.051371,0.998629]] 2025-10-29T01:06:42.329Z,1761700002.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:42.588Z,1761700002.588 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:06:42.714Z,1761700002.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535170,-0.843900,-0.037772],[0.844682,-0.534051,-0.036082],[0.010277,-0.051215,0.998635]] 2025-10-29T01:06:42.792Z,1761700002.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:43.118Z,1761700003.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534667,-0.844216,-0.037828],[0.844999,-0.533542,-0.036173],[0.010355,-0.051305,0.998629]] 2025-10-29T01:06:43.182Z,1761700003.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:43.559Z,1761700003.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534026,-0.844618,-0.037902],[0.845405,-0.532900,-0.036171],[0.010353,-0.051359,0.998627]] 2025-10-29T01:06:43.596Z,1761700003.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:43.958Z,1761700003.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533279,-0.845085,-0.038020],[0.845877,-0.532156,-0.036082],[0.010260,-0.051402,0.998625]] 2025-10-29T01:06:43.983Z,1761700003.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:44.362Z,1761700004.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532638,-0.845486,-0.038067],[0.846281,-0.531519,-0.035989],[0.010195,-0.051385,0.998627]] 2025-10-29T01:06:44.409Z,1761700004.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:44.825Z,1761700004.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:45.178Z,1761700005.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531712,-0.846074,-0.037960],[0.846864,-0.530598,-0.035880],[0.010216,-0.051225,0.998635]] 2025-10-29T01:06:45.195Z,1761700005.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:45.580Z,1761700005.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531368,-0.846290,-0.037970],[0.847081,-0.530259,-0.035783],[0.010149,-0.051177,0.998638]] 2025-10-29T01:06:45.618Z,1761700005.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:45.979Z,1761700005.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531118,-0.846444,-0.038013],[0.847238,-0.530014,-0.035680],[0.010053,-0.051156,0.998640]] 2025-10-29T01:06:46.013Z,1761700006.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:46.393Z,1761700006.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531233,-0.846374,-0.037971],[0.847165,-0.530125,-0.035756],[0.010134,-0.051162,0.998639]] 2025-10-29T01:06:46.430Z,1761700006.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:46.845Z,1761700006.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:47.193Z,1761700007.193 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532026,-0.845878,-0.037926],[0.846664,-0.530904,-0.036059],[0.010367,-0.051295,0.998630]] 2025-10-29T01:06:47.211Z,1761700007.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:47.598Z,1761700007.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532661,-0.845483,-0.037824],[0.846263,-0.531532,-0.036224],[0.010522,-0.051304,0.998628]] 2025-10-29T01:06:47.646Z,1761700007.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:47.998Z,1761700007.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533176,-0.845157,-0.037843],[0.845939,-0.532047,-0.036228],[0.010484,-0.051329,0.998627]] 2025-10-29T01:06:48.017Z,1761700008.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:48.407Z,1761700008.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534000,-0.844643,-0.037712],[0.845418,-0.532867,-0.036366],[0.010621,-0.051302,0.998627]] 2025-10-29T01:06:48.425Z,1761700008.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:48.808Z,1761700008.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534815,-0.844137,-0.037497],[0.844901,-0.533680,-0.036438],[0.010747,-0.051169,0.998632]] 2025-10-29T01:06:48.844Z,1761700008.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:49.212Z,1761700009.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535635,-0.843617,-0.037492],[0.844381,-0.534500,-0.036476],[0.010732,-0.051196,0.998631]] 2025-10-29T01:06:49.254Z,1761700009.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:49.634Z,1761700009.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536395,-0.843134,-0.037494],[0.843899,-0.535259,-0.036494],[0.010701,-0.051216,0.998630]] 2025-10-29T01:06:49.681Z,1761700009.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:50.035Z,1761700010.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537028,-0.842730,-0.037512],[0.843498,-0.535897,-0.036409],[0.010581,-0.051194,0.998633]] 2025-10-29T01:06:50.067Z,1761700010.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:50.438Z,1761700010.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537582,-0.842371,-0.037651],[0.843148,-0.536458,-0.036252],[0.010340,-0.051234,0.998633]] 2025-10-29T01:06:50.457Z,1761700010.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:50.843Z,1761700010.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537897,-0.842163,-0.037792],[0.842952,-0.536788,-0.035934],[0.009976,-0.051185,0.998639]] 2025-10-29T01:06:50.913Z,1761700010.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:51.250Z,1761700011.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538091,-0.842029,-0.038016],[0.842833,-0.536999,-0.035565],[0.009532,-0.051178,0.998644]] 2025-10-29T01:06:51.283Z,1761700011.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:51.657Z,1761700011.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538176,-0.841963,-0.038276],[0.842784,-0.537104,-0.035118],[0.009010,-0.051158,0.998650]] 2025-10-29T01:06:51.715Z,1761700011.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:52.056Z,1761700012.056 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538054,-0.842023,-0.038669],[0.842869,-0.537007,-0.034570],[0.008343,-0.051193,0.998654]] 2025-10-29T01:06:52.074Z,1761700012.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:52.458Z,1761700012.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537840,-0.842137,-0.039153],[0.843012,-0.536818,-0.034015],[0.007628,-0.051301,0.998654]] 2025-10-29T01:06:52.485Z,1761700012.485 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:52.867Z,1761700012.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537359,-0.842425,-0.039562],[0.843326,-0.536371,-0.033279],[0.006815,-0.051246,0.998663]] 2025-10-29T01:06:52.925Z,1761700012.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:53.267Z,1761700013.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536821,-0.842743,-0.040101],[0.843675,-0.535865,-0.032562],[0.005953,-0.051312,0.998665]] 2025-10-29T01:06:53.285Z,1761700013.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:53.689Z,1761700013.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536272,-0.843067,-0.040624],[0.844030,-0.535352,-0.031805],[0.005065,-0.051344,0.998668]] 2025-10-29T01:06:53.753Z,1761700013.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:53.754Z,1761700013.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 21.80 m and bearing: 358.395559 deg. Not drifting fast enough. 2025-10-29T01:06:54.074Z,1761700014.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535667,-0.843428,-0.041103],[0.844419,-0.534787,-0.030972],[0.004141,-0.051299,0.998675]] 2025-10-29T01:06:54.106Z,1761700014.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:54.108Z,1761700014.108 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-29T01:06:54.108Z,1761700014.108 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T01:06:54.109Z,1761700014.109 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-29T01:06:54.109Z,1761700014.109 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-29T01:06:54.478Z,1761700014.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535155,-0.843731,-0.041567],[0.844748,-0.534312,-0.030202],[0.003273,-0.051276,0.998679]] 2025-10-29T01:06:54.495Z,1761700014.495 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:06:54.510Z,1761700014.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:54.749Z,1761700014.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:06:54.750Z,1761700014.750 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:06:54.892Z,1761700014.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534790,-0.843946,-0.041891],[0.844981,-0.533982,-0.029498],[0.002526,-0.051172,0.998687]] 2025-10-29T01:06:54.939Z,1761700014.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:55.001Z,1761700015.001 [DAT](INFO): DAT read: user:669> 2025-10-29T01:06:55.002Z,1761700015.002 [DAT](INFO): DAT read: Tx time:01:06:54.7683 2025-10-29T01:06:55.002Z,1761700015.002 [DAT](INFO): Ping request sent. 2025-10-29T01:06:55.002Z,1761700015.002 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:06:55.002Z,1761700015.002 [DAT](INFO): publishing transmit ping time 2025-10-29T01:06:55.003Z,1761700015.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-29T01:06:55.253Z,1761700015.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250866 2025-10-29T01:06:55.296Z,1761700015.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534532,-0.844089,-0.042305],[0.845146,-0.533753,-0.028902],[0.001815,-0.051203,0.998687]] 2025-10-29T01:06:55.319Z,1761700015.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:55.505Z,1761700015.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503323 2025-10-29T01:06:55.719Z,1761700015.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534725,-0.843942,-0.042801],[0.845026,-0.533985,-0.028123],[0.000879,-0.051206,0.998688]] 2025-10-29T01:06:55.758Z,1761700015.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755494 2025-10-29T01:06:55.804Z,1761700015.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:56.009Z,1761700016.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006780 2025-10-29T01:06:56.130Z,1761700016.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:56.261Z,1761700016.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258827 2025-10-29T01:06:56.498Z,1761700016.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535236,-0.843614,-0.042876],[0.844702,-0.534504,-0.027993],[0.000698,-0.051200,0.998688]] 2025-10-29T01:06:56.513Z,1761700016.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510696 2025-10-29T01:06:56.527Z,1761700016.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:56.766Z,1761700016.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763490 2025-10-29T01:06:56.911Z,1761700016.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536837,-0.842610,-0.042599],[0.843686,-0.536108,-0.027963],[0.000725,-0.050952,0.998701]] 2025-10-29T01:06:56.947Z,1761700016.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:57.018Z,1761700017.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015544 2025-10-29T01:06:57.269Z,1761700017.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266719 2025-10-29T01:06:57.311Z,1761700017.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537632,-0.842124,-0.042188],[0.843179,-0.536913,-0.027809],[0.000768,-0.050524,0.998723]] 2025-10-29T01:06:57.338Z,1761700017.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:57.521Z,1761700017.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519111 2025-10-29T01:06:57.773Z,1761700017.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770999 2025-10-29T01:06:57.821Z,1761700017.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:58.025Z,1761700018.025 [DAT](INFO): DAT read: Rx Time:01:06:57.2011 2025-10-29T01:06:58.025Z,1761700018.025 [DAT](INFO): Rx dataTimestamp_ set to:1761700018.025156 2025-10-29T01:06:58.026Z,1761700018.026 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023874 2025-10-29T01:06:58.116Z,1761700018.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539767,-0.840755,-0.042207],[0.841813,-0.539015,-0.028516],[0.001225,-0.050922,0.998702]] 2025-10-29T01:06:58.134Z,1761700018.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:06:58.277Z,1761700018.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274774 2025-10-29T01:06:58.521Z,1761700018.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538811,-0.841121,-0.046883],[0.842427,-0.537952,-0.030417],[0.000363,-0.055885,0.998437]] 2025-10-29T01:06:58.534Z,1761700018.534 [DAT](INFO): DAT read: 01:06:57.2011 LVL= 30608, 16529, 22002, 32755, AGC= 51, IDX= 434, 0.19,-1.916, 0.056,-0.463,-0.385, PHS=-1.429, 0.486,-0.122, RAW= 288.1, 12.5, CAL= 285.7, 19.2, ROT= 224.3, -19.2 2025-10-29T01:06:58.536Z,1761700018.536 [DAT](INFO): got valid direction response: 01:06:57.2011 LVL= 30608, 16529, 22002, 32755, AGC= 51, IDX= 434, 0.19,-1.916, 0.056,-0.463,-0.385, PHS=-1.429, 0.486,-0.122, RAW= 288.1, 12.5, CAL= 285.7, 19.2, ROT= 224.3, -19.2 2025-10-29T01:06:58.537Z,1761700018.537 [DAT](INFO): DAT read: Bearing 75.4, -42.6 (Local) 2025-10-29T01:06:58.537Z,1761700018.537 [DAT](INFO): Local bearing/azimuth received: Bearing 75.4, -42.6 (Local) 2025-10-29T01:06:58.538Z,1761700018.538 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (Round-trip 28.7 ms) speed 0.0 m/s 2025-10-29T01:06:58.539Z,1761700018.539 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:06:58.540Z,1761700018.540 [DAT](INFO): direction in FSK: [-0.675883,-0.659567,0.328867] 2025-10-29T01:06:58.540Z,1761700018.540 [DAT](INFO): publishing direction and range info 2025-10-29T01:06:58.560Z,1761700018.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 60.256232 s, deltaX: -0.299999 m, approachRate: -0.004979 m/s, rangeRepo size: 4 2025-10-29T01:06:58.562Z,1761700018.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.382500 m, bearing: 346.042131 deg, lat: 36.779289 deg, lon: -121.859498 deg, deltaT: 60.256232 s, deltaX: -0.298801 m, approachRate: -0.004959 m/s, posRepo size: 4 2025-10-29T01:06:58.563Z,1761700018.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:06:58.926Z,1761700018.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537576,-0.841059,-0.060260],[0.843215,-0.536273,-0.037420],[-0.000843,-0.070928,0.997481]] 2025-10-29T01:06:58.983Z,1761700018.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:06:59.328Z,1761700019.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537647,-0.839898,-0.074211],[0.843169,-0.535685,-0.045908],[-0.001196,-0.087254,0.996185]] 2025-10-29T01:06:59.358Z,1761700019.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:06:59.783Z,1761700019.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538710,-0.838609,-0.080789],[0.842491,-0.536317,-0.050737],[-0.000780,-0.095396,0.995439]] 2025-10-29T01:06:59.826Z,1761700019.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:00.135Z,1761700020.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539919,-0.838136,-0.077559],[0.841717,-0.537623,-0.049739],[-0.000009,-0.092138,0.995746]] 2025-10-29T01:07:00.153Z,1761700020.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:00.538Z,1761700020.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540754,-0.838353,-0.068917],[0.841180,-0.538868,-0.045129],[0.000697,-0.082376,0.996601]] 2025-10-29T01:07:00.558Z,1761700020.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:00.944Z,1761700020.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542237,-0.837983,-0.061345],[0.840224,-0.540656,-0.041398],[0.001525,-0.073991,0.997258]] 2025-10-29T01:07:00.986Z,1761700020.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:01.350Z,1761700021.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544116,-0.836942,-0.058870],[0.839007,-0.542600,-0.040652],[0.002081,-0.071511,0.997438]] 2025-10-29T01:07:01.388Z,1761700021.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:01.807Z,1761700021.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546422,-0.835303,-0.060763],[0.837506,-0.544771,-0.042511],[0.002408,-0.074119,0.997247]] 2025-10-29T01:07:01.858Z,1761700021.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:02.180Z,1761700022.180 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549439,-0.833108,-0.063618],[0.835529,-0.547593,-0.045086],[0.002725,-0.077927,0.996955]] 2025-10-29T01:07:02.205Z,1761700022.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:02.582Z,1761700022.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553191,-0.830586,-0.064084],[0.833048,-0.551243,-0.046498],[0.003295,-0.079107,0.996861]] 2025-10-29T01:07:02.616Z,1761700022.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:02.986Z,1761700022.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557130,-0.828102,-0.062074],[0.830417,-0.555231,-0.046109],[0.003717,-0.077235,0.997006]] 2025-10-29T01:07:03.043Z,1761700023.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:03.392Z,1761700023.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561538,-0.825350,-0.058932],[0.827441,-0.559746,-0.045023],[0.004173,-0.074044,0.997246]] 2025-10-29T01:07:03.410Z,1761700023.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:03.835Z,1761700023.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566770,-0.821978,-0.055887],[0.823862,-0.565065,-0.044188],[0.004742,-0.071088,0.997459]] 2025-10-29T01:07:03.894Z,1761700023.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:04.199Z,1761700024.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572419,-0.818239,-0.053124],[0.819946,-0.570802,-0.043291],[0.005099,-0.068339,0.997649]] 2025-10-29T01:07:04.233Z,1761700024.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:04.602Z,1761700024.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578630,-0.814008,-0.050769],[0.815573,-0.577090,-0.042520],[0.005313,-0.066009,0.997805]] 2025-10-29T01:07:04.621Z,1761700024.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:05.008Z,1761700025.008 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585700,-0.809093,-0.048203],[0.810510,-0.584259,-0.041405],[0.005338,-0.063320,0.997979]] 2025-10-29T01:07:05.045Z,1761700025.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:05.410Z,1761700025.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593317,-0.803723,-0.044774],[0.804952,-0.592023,-0.039512],[0.005250,-0.059484,0.998215]] 2025-10-29T01:07:05.435Z,1761700025.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:05.857Z,1761700025.857 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601572,-0.797783,-0.040663],[0.798803,-0.600461,-0.036874],[0.005001,-0.054664,0.998492]] 2025-10-29T01:07:05.911Z,1761700025.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:06.218Z,1761700026.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610143,-0.791459,-0.036305],[0.792278,-0.609229,-0.033700],[0.004554,-0.049326,0.998772]] 2025-10-29T01:07:06.237Z,1761700026.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:06.624Z,1761700026.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.619406,-0.784439,-0.031477],[0.785060,-0.618691,-0.030029],[0.004082,-0.043311,0.999053]] 2025-10-29T01:07:06.642Z,1761700026.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:07.026Z,1761700027.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.628698,-0.777189,-0.026744],[0.777641,-0.628160,-0.026274],[0.003621,-0.037316,0.999297]] 2025-10-29T01:07:07.073Z,1761700027.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:07.431Z,1761700027.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638586,-0.769211,-0.022867],[0.769544,-0.638181,-0.022952],[0.003062,-0.032254,0.999475]] 2025-10-29T01:07:07.466Z,1761700027.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:07.886Z,1761700027.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.648770,-0.760699,-0.020844],[0.760981,-0.648444,-0.020687],[0.002221,-0.029283,0.999569]] 2025-10-29T01:07:07.937Z,1761700027.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:08.244Z,1761700028.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.658329,-0.752462,-0.020079],[0.752728,-0.658034,-0.019780],[0.001671,-0.028135,0.999603]] 2025-10-29T01:07:08.262Z,1761700028.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:08.648Z,1761700028.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.667798,-0.744098,-0.019082],[0.744342,-0.667543,-0.018484],[0.001016,-0.026547,0.999647]] 2025-10-29T01:07:08.673Z,1761700028.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:09.050Z,1761700029.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.678626,-0.734277,-0.017435],[0.734484,-0.678421,-0.016700],[0.000434,-0.024139,0.999708]] 2025-10-29T01:07:09.097Z,1761700029.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:09.454Z,1761700029.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.689940,-0.723726,-0.014252],[0.723866,-0.689806,-0.013606],[0.000015,-0.019704,0.999806]] 2025-10-29T01:07:09.498Z,1761700029.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:09.908Z,1761700029.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.701039,-0.713030,-0.011494],[0.713122,-0.700967,-0.010123],[-0.000839,-0.015293,0.999883]] 2025-10-29T01:07:09.971Z,1761700029.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:10.264Z,1761700030.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.712752,-0.701360,-0.008846],[0.701414,-0.712723,-0.006660],[-0.001634,-0.010951,0.999939]] 2025-10-29T01:07:10.282Z,1761700030.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:10.667Z,1761700030.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.724968,-0.688748,-0.006886],[0.688778,-0.724963,-0.003674],[-0.002462,-0.007406,0.999970]] 2025-10-29T01:07:10.692Z,1761700030.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:11.071Z,1761700031.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.737378,-0.675460,-0.005183],[0.675472,-0.737385,-0.000937],[-0.003190,-0.004192,0.999986]] 2025-10-29T01:07:11.115Z,1761700031.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:11.475Z,1761700031.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750121,-0.661294,-0.003020],[0.661289,-0.750127,0.002472],[-0.003900,-0.000142,0.999992]] 2025-10-29T01:07:11.494Z,1761700031.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:11.910Z,1761700031.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.762740,-0.646706,-0.000394],[0.646689,-0.762724,0.006794],[-0.004694,0.004927,0.999977]] 2025-10-29T01:07:11.967Z,1761700031.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:12.282Z,1761700032.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.775354,-0.631523,0.002051],[0.631503,-0.775294,0.011087],[-0.005412,0.009892,0.999936]] 2025-10-29T01:07:12.363Z,1761700032.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:12.686Z,1761700032.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.787767,-0.615965,0.003205],[0.615940,-0.787661,0.014393],[-0.006342,0.013313,0.999891]] 2025-10-29T01:07:12.704Z,1761700032.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:12.724Z,1761700032.724 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:07:13.091Z,1761700033.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.800318,-0.599567,0.003172],[0.599528,-0.800177,0.016810],[-0.007541,0.015355,0.999854]] 2025-10-29T01:07:13.158Z,1761700033.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:13.495Z,1761700033.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.812547,-0.582886,0.003233],[0.582830,-0.812361,0.019487],[-0.008732,0.017719,0.999805]] 2025-10-29T01:07:13.522Z,1761700033.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:13.728Z,1761700033.728 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:07:13.902Z,1761700033.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.824311,-0.566127,0.003267],[0.566047,-0.824064,0.022568],[-0.010084,0.020452,0.999740]] 2025-10-29T01:07:13.989Z,1761700033.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:14.304Z,1761700034.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.835492,-0.549489,0.003862],[0.549382,-0.835142,0.026788],[-0.011495,0.024503,0.999634]] 2025-10-29T01:07:14.378Z,1761700034.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:14.706Z,1761700034.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.846514,-0.532345,0.004662],[0.532221,-0.846048,0.030719],[-0.012409,0.028485,0.999517]] 2025-10-29T01:07:14.743Z,1761700034.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:15.162Z,1761700035.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:15.515Z,1761700035.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867488,-0.497440,0.004363],[0.497267,-0.866877,0.035338],[-0.013797,0.032825,0.999366]] 2025-10-29T01:07:15.540Z,1761700035.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:15.930Z,1761700035.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877951,-0.478728,0.004692],[0.478559,-0.877281,0.036876],[-0.013537,0.034621,0.999309]] 2025-10-29T01:07:16.016Z,1761700036.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:16.331Z,1761700036.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.887895,-0.460028,0.004073],[0.459853,-0.887233,0.036779],[-0.013306,0.034529,0.999315]] 2025-10-29T01:07:16.408Z,1761700036.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:16.727Z,1761700036.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.897620,-0.440754,0.003862],[0.440580,-0.896939,0.037282],[-0.012968,0.035166,0.999297]] 2025-10-29T01:07:16.768Z,1761700036.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:17.130Z,1761700037.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906728,-0.421694,0.004261],[0.421521,-0.905957,0.039514],[-0.012802,0.037624,0.999210]] 2025-10-29T01:07:17.189Z,1761700037.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:17.536Z,1761700037.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915482,-0.402327,0.005126],[0.402173,-0.914596,0.042093],[-0.012247,0.040597,0.999101]] 2025-10-29T01:07:17.560Z,1761700037.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:17.941Z,1761700037.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923713,-0.383042,0.005755],[0.382903,-0.922704,0.044756],[-0.011833,0.043546,0.998981]] 2025-10-29T01:07:17.990Z,1761700037.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:18.357Z,1761700038.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931483,-0.363743,0.005493],[0.363596,-0.930408,0.046248],[-0.011712,0.045077,0.998915]] 2025-10-29T01:07:18.398Z,1761700038.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:18.751Z,1761700038.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938967,-0.343973,0.004889],[0.343811,-0.937855,0.047141],[-0.011630,0.045945,0.998876]] 2025-10-29T01:07:18.795Z,1761700038.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:19.158Z,1761700039.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946092,-0.323884,0.002926],[0.323670,-0.945054,0.045931],[-0.012112,0.044402,0.998940]] 2025-10-29T01:07:19.215Z,1761700039.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:19.556Z,1761700039.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952883,-0.303335,0.000751],[0.303076,-0.951959,0.043802],[-0.012571,0.041966,0.999040]] 2025-10-29T01:07:19.575Z,1761700039.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:19.959Z,1761700039.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959172,-0.282820,-0.001178],[0.282512,-0.958305,0.042876],[-0.013255,0.040793,0.999080]] 2025-10-29T01:07:19.994Z,1761700039.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:20.366Z,1761700040.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.965049,-0.262056,-0.002582],[0.261689,-0.964135,0.044310],[-0.014101,0.042085,0.999014]] 2025-10-29T01:07:20.392Z,1761700040.392 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -18.04, +.00 2025-10-29T01:07:20.437Z,1761700040.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:20.776Z,1761700040.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.970555,-0.240861,-0.002822],[0.240436,-0.969417,0.049200],[-0.014586,0.047073,0.998785]] 2025-10-29T01:07:20.795Z,1761700040.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:21.171Z,1761700041.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.975401,-0.220414,-0.003371],[0.219908,-0.973997,0.054495],[-0.015295,0.052413,0.998508]] 2025-10-29T01:07:21.216Z,1761700041.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:21.575Z,1761700041.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979665,-0.200583,-0.004809],[0.200006,-0.978189,0.056065],[-0.015950,0.053963,0.998416]] 2025-10-29T01:07:21.610Z,1761700041.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:21.979Z,1761700041.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983321,-0.181731,-0.007306],[0.181116,-0.982084,0.052044],[-0.016633,0.049852,0.998618]] 2025-10-29T01:07:21.998Z,1761700041.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:22.394Z,1761700042.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986418,-0.163950,-0.009965],[0.163369,-0.985590,0.043865],[-0.017013,0.041641,0.998988]] 2025-10-29T01:07:22.455Z,1761700042.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:22.788Z,1761700042.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989046,-0.147115,-0.012035],[0.146647,-0.988627,0.033344],[-0.016803,0.031214,0.999371]] 2025-10-29T01:07:22.819Z,1761700042.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:23.190Z,1761700043.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991278,-0.131069,-0.013744],[0.130743,-0.991162,0.022431],[-0.016562,0.020438,0.999654]] 2025-10-29T01:07:23.278Z,1761700043.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:23.594Z,1761700043.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993162,-0.115809,-0.014754],[0.115604,-0.993196,0.014078],[-0.016284,0.012276,0.999792]] 2025-10-29T01:07:23.624Z,1761700043.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:24.001Z,1761700044.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994702,-0.101713,-0.014897],[0.101611,-0.994796,0.007462],[-0.015578,0.005909,0.999861]] 2025-10-29T01:07:24.019Z,1761700044.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:24.403Z,1761700044.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995986,-0.088256,-0.014903],[0.088268,-0.996097,-0.000176],[-0.014830,-0.001490,0.999889]] 2025-10-29T01:07:24.454Z,1761700044.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:24.810Z,1761700044.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996970,-0.076309,-0.015110],[0.076447,-0.997035,-0.008732],[-0.014399,-0.009861,0.999848]] 2025-10-29T01:07:24.850Z,1761700044.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:25.210Z,1761700045.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997753,-0.065245,-0.015205],[0.065539,-0.997655,-0.019744],[-0.013881,-0.020696,0.999689]] 2025-10-29T01:07:25.266Z,1761700045.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:25.615Z,1761700045.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998362,-0.055300,-0.014680],[0.055737,-0.997954,-0.031319],[-0.012918,-0.032086,0.999402]] 2025-10-29T01:07:25.634Z,1761700045.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:26.018Z,1761700046.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998819,-0.046489,-0.014086],[0.047053,-0.997976,-0.042779],[-0.012069,-0.043392,0.998985]] 2025-10-29T01:07:26.047Z,1761700046.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:26.487Z,1761700046.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:26.837Z,1761700046.837 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.032787,-0.012639],[0.033512,-0.997502,-0.062177],[-0.010569,-0.062563,0.997985]] 2025-10-29T01:07:26.855Z,1761700046.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:27.230Z,1761700047.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999553,-0.027635,-0.011384],[0.028377,-0.997053,-0.071269],[-0.009381,-0.071560,0.997392]] 2025-10-29T01:07:27.273Z,1761700047.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:27.634Z,1761700047.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999674,-0.023419,-0.010137],[0.024155,-0.996503,-0.079985],[-0.008229,-0.080204,0.996745]] 2025-10-29T01:07:27.664Z,1761700047.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:28.040Z,1761700048.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999764,-0.019967,-0.008597],[0.020657,-0.995778,-0.089438],[-0.006774,-0.089594,0.995955]] 2025-10-29T01:07:28.058Z,1761700048.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:28.512Z,1761700048.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:28.847Z,1761700048.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999881,-0.014264,-0.005832],[0.014827,-0.993621,-0.111791],[-0.004200,-0.111864,0.993715]] 2025-10-29T01:07:28.871Z,1761700048.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:29.250Z,1761700049.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999915,-0.012271,-0.004345],[0.012709,-0.992464,-0.121873],[-0.002817,-0.121918,0.992536]] 2025-10-29T01:07:29.295Z,1761700049.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:29.654Z,1761700049.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999942,-0.010274,-0.003166],[0.010601,-0.991282,-0.131334],[-0.001789,-0.131360,0.991333]] 2025-10-29T01:07:29.673Z,1761700049.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:30.061Z,1761700050.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999961,-0.008685,-0.001820],[0.008852,-0.990603,-0.136481],[-0.000617,-0.136492,0.990641]] 2025-10-29T01:07:30.079Z,1761700050.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:30.526Z,1761700050.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:30.867Z,1761700050.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999970,-0.007734,0.000213],[0.007627,-0.990046,-0.140539],[0.001298,-0.140534,0.990075]] 2025-10-29T01:07:30.885Z,1761700050.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:31.273Z,1761700051.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999969,-0.007884,0.000509],[0.007735,-0.990057,-0.140457],[0.001611,-0.140449,0.990087]] 2025-10-29T01:07:31.357Z,1761700051.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:31.675Z,1761700051.675 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999970,-0.007637,0.001062],[0.007411,-0.989983,-0.140991],[0.002128,-0.140979,0.990010]] 2025-10-29T01:07:31.703Z,1761700051.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:32.080Z,1761700052.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999969,-0.007604,0.002104],[0.007225,-0.989712,-0.142893],[0.003169,-0.142874,0.989736]] 2025-10-29T01:07:32.110Z,1761700052.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:32.483Z,1761700052.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999962,-0.008075,0.003358],[0.007498,-0.989254,-0.146013],[0.004501,-0.145983,0.989277]] 2025-10-29T01:07:32.552Z,1761700052.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:32.887Z,1761700052.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999955,-0.008192,0.004721],[0.007391,-0.988654,-0.150028],[0.005896,-0.149987,0.988670]] 2025-10-29T01:07:32.910Z,1761700052.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:33.290Z,1761700053.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999945,-0.008792,0.005748],[0.007816,-0.988358,-0.151943],[0.007017,-0.151890,0.988373]] 2025-10-29T01:07:33.330Z,1761700053.330 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -17 +504.45, +5.90, 8.42, 0.00 2025-10-29T01:07:33.351Z,1761700053.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:33.698Z,1761700053.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999933,-0.009480,0.006706],[0.008328,-0.987927,-0.154698],[0.008092,-0.154632,0.987939]] 2025-10-29T01:07:33.715Z,1761700053.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:34.104Z,1761700054.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999922,-0.009622,0.007945],[0.008233,-0.987177,-0.159418],[0.009377,-0.159340,0.987179]] 2025-10-29T01:07:34.122Z,1761700054.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:34.502Z,1761700054.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999916,-0.009535,0.008806],[0.008001,-0.987044,-0.160252],[0.010220,-0.160168,0.987037]] 2025-10-29T01:07:34.560Z,1761700054.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:34.956Z,1761700054.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:35.323Z,1761700055.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999893,-0.009753,0.010868],[0.007894,-0.987144,-0.159639],[0.012285,-0.159536,0.987116]] 2025-10-29T01:07:35.377Z,1761700055.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:35.715Z,1761700055.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999883,-0.009660,0.011884],[0.007633,-0.987075,-0.160074],[0.013277,-0.159965,0.987033]] 2025-10-29T01:07:35.739Z,1761700055.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:36.119Z,1761700056.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999869,-0.009782,0.012922],[0.007603,-0.987251,-0.158989],[0.014312,-0.158870,0.987196]] 2025-10-29T01:07:36.149Z,1761700056.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:36.523Z,1761700056.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999853,-0.010158,0.013801],[0.007870,-0.987609,-0.156737],[0.015222,-0.156606,0.987544]] 2025-10-29T01:07:36.584Z,1761700056.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:37.017Z,1761700057.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999815,-0.010737,0.015990],[0.008106,-0.987666,-0.156364],[0.017472,-0.156205,0.987570]] 2025-10-29T01:07:37.051Z,1761700057.051 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:37.418Z,1761700057.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999797,-0.010958,0.016902],[0.008163,-0.987508,-0.157358],[0.018416,-0.157188,0.987397]] 2025-10-29T01:07:37.468Z,1761700057.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:37.923Z,1761700057.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:38.315Z,1761700058.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999757,-0.011477,0.018815],[0.008373,-0.987494,-0.157437],[0.020386,-0.157241,0.987350]] 2025-10-29T01:07:38.386Z,1761700058.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:38.678Z,1761700058.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999745,-0.011839,0.019209],[0.008575,-0.986772,-0.161888],[0.020871,-0.161682,0.986622]] 2025-10-29T01:07:38.703Z,1761700058.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:39.082Z,1761700059.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999736,-0.011417,0.019933],[0.007936,-0.985975,-0.166706],[0.021557,-0.166504,0.985805]] 2025-10-29T01:07:39.125Z,1761700059.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:39.488Z,1761700059.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999725,-0.011571,0.020375],[0.007993,-0.985809,-0.167682],[0.022027,-0.167473,0.985631]] 2025-10-29T01:07:39.544Z,1761700059.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:39.894Z,1761700059.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999711,-0.011513,0.021116],[0.007805,-0.985767,-0.167939],[0.022749,-0.167725,0.985571]] 2025-10-29T01:07:39.916Z,1761700059.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:40.329Z,1761700060.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999705,-0.011475,0.021385],[0.007734,-0.985848,-0.167463],[0.023004,-0.167248,0.985646]] 2025-10-29T01:07:40.393Z,1761700060.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:40.699Z,1761700060.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999699,-0.010733,0.022046],[0.006964,-0.986366,-0.164421],[0.023510,-0.164218,0.986144]] 2025-10-29T01:07:40.751Z,1761700060.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:41.104Z,1761700061.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999698,-0.009875,0.022515],[0.006184,-0.987346,-0.158457],[0.023795,-0.158270,0.987109]] 2025-10-29T01:07:41.122Z,1761700061.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:41.507Z,1761700061.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999688,-0.009868,0.022941],[0.006215,-0.988026,-0.154163],[0.024188,-0.153973,0.987779]] 2025-10-29T01:07:41.571Z,1761700061.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:41.913Z,1761700061.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999679,-0.009486,0.023495],[0.005798,-0.988310,-0.152348],[0.024665,-0.152163,0.988048]] 2025-10-29T01:07:41.931Z,1761700061.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:42.325Z,1761700062.325 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999662,-0.009843,0.024048],[0.006132,-0.988698,-0.149793],[0.025251,-0.149595,0.988425]] 2025-10-29T01:07:42.403Z,1761700062.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:42.761Z,1761700062.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999644,-0.010244,0.024643],[0.006423,-0.988599,-0.150434],[0.025903,-0.150222,0.988313]] 2025-10-29T01:07:42.828Z,1761700062.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:43.151Z,1761700063.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999623,-0.010268,0.025453],[0.006310,-0.988521,-0.150954],[0.026711,-0.150737,0.988213]] 2025-10-29T01:07:43.174Z,1761700063.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:43.601Z,1761700063.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:43.849Z,1761700063.849 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:07:43.981Z,1761700063.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:44.354Z,1761700064.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999560,-0.011282,0.027427],[0.006926,-0.988046,-0.154003],[0.028837,-0.153745,0.987690]] 2025-10-29T01:07:44.440Z,1761700064.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:44.761Z,1761700064.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999529,-0.012843,0.027863],[0.008312,-0.987565,-0.156994],[0.029533,-0.156688,0.987206]] 2025-10-29T01:07:44.822Z,1761700064.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:44.853Z,1761700064.853 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:07:45.162Z,1761700065.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999503,-0.014034,0.028220],[0.009363,-0.987181,-0.159332],[0.030094,-0.158988,0.986822]] 2025-10-29T01:07:45.180Z,1761700065.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:45.564Z,1761700065.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999473,-0.015413,0.028552],[0.010595,-0.986767,-0.161797],[0.030668,-0.161409,0.986411]] 2025-10-29T01:07:45.604Z,1761700065.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:45.966Z,1761700065.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999448,-0.017075,0.028482],[0.012176,-0.986373,-0.164070],[0.030896,-0.163633,0.986037]] 2025-10-29T01:07:45.991Z,1761700065.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:46.382Z,1761700066.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999432,-0.017682,0.028675],[0.012705,-0.986166,-0.165273],[0.031200,-0.164815,0.985831]] 2025-10-29T01:07:46.486Z,1761700066.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:46.807Z,1761700066.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999418,-0.018354,0.028761],[0.013322,-0.985984,-0.166309],[0.031410,-0.165829,0.985654]] 2025-10-29T01:07:46.851Z,1761700066.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:47.239Z,1761700067.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:47.608Z,1761700067.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999392,-0.019701,0.028760],[0.014558,-0.985476,-0.169190],[0.031676,-0.168668,0.985164]] 2025-10-29T01:07:47.650Z,1761700067.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:48.012Z,1761700068.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999392,-0.020099,0.028504],[0.015030,-0.985663,-0.168055],[0.031473,-0.167524,0.985365]] 2025-10-29T01:07:48.046Z,1761700068.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:48.422Z,1761700068.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999381,-0.020708,0.028422],[0.015624,-0.985547,-0.168680],[0.031505,-0.168131,0.985261]] 2025-10-29T01:07:48.507Z,1761700068.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:48.828Z,1761700068.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.021114,0.028095],[0.016143,-0.985880,-0.166676],[0.031217,-0.166119,0.985611]] 2025-10-29T01:07:48.884Z,1761700068.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:49.233Z,1761700069.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999370,-0.021448,0.028283],[0.016496,-0.986161,-0.164969],[0.031430,-0.164399,0.985893]] 2025-10-29T01:07:49.251Z,1761700069.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:49.638Z,1761700069.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999363,-0.021710,0.028311],[0.016810,-0.986469,-0.163085],[0.031468,-0.162506,0.986206]] 2025-10-29T01:07:49.689Z,1761700069.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:50.039Z,1761700070.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999345,-0.022397,0.028435],[0.017511,-0.986678,-0.161739],[0.031678,-0.161135,0.986424]] 2025-10-29T01:07:50.073Z,1761700070.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:50.447Z,1761700070.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999318,-0.023322,0.028625],[0.018396,-0.986675,-0.161661],[0.032014,-0.161024,0.986431]] 2025-10-29T01:07:50.536Z,1761700070.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:50.913Z,1761700070.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:51.365Z,1761700071.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999282,-0.024421,0.028981],[0.019416,-0.986619,-0.161885],[0.032547,-0.161206,0.986384]] 2025-10-29T01:07:51.383Z,1761700071.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:51.783Z,1761700071.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999298,-0.024641,0.028226],[0.019829,-0.986981,-0.159607],[0.031791,-0.158936,0.986777]] 2025-10-29T01:07:51.825Z,1761700071.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:52.261Z,1761700072.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999306,-0.024473,0.028070],[0.019701,-0.987048,-0.159212],[0.031603,-0.158549,0.986845]] 2025-10-29T01:07:52.294Z,1761700072.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:52.662Z,1761700072.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999321,-0.024399,0.027603],[0.019683,-0.986953,-0.159802],[0.031142,-0.159150,0.986763]] 2025-10-29T01:07:52.713Z,1761700072.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:53.062Z,1761700073.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999336,-0.024251,0.027194],[0.019581,-0.986841,-0.160506],[0.030729,-0.159867,0.986660]] 2025-10-29T01:07:53.081Z,1761700073.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:53.471Z,1761700073.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999370,-0.023957,0.026170],[0.019447,-0.986806,-0.160733],[0.029676,-0.160123,0.986651]] 2025-10-29T01:07:53.553Z,1761700073.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:53.874Z,1761700073.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.023812,0.025840],[0.019349,-0.986768,-0.160980],[0.029332,-0.160380,0.986619]] 2025-10-29T01:07:53.911Z,1761700073.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:54.290Z,1761700074.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999390,-0.024159,0.025206],[0.019805,-0.986820,-0.160606],[0.028754,-0.160009,0.986697]] 2025-10-29T01:07:54.309Z,1761700074.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:54.682Z,1761700074.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999407,-0.024461,0.024219],[0.020266,-0.986843,-0.160409],[0.027825,-0.159823,0.986754]] 2025-10-29T01:07:54.730Z,1761700074.730 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:07:54.732Z,1761700074.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:54.778Z,1761700074.778 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:07:54.778Z,1761700074.778 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:07:55.029Z,1761700075.029 [DAT](INFO): DAT read: user:670> 2025-10-29T01:07:55.030Z,1761700075.030 [DAT](INFO): DAT read: Tx time:01:07:54.7681 2025-10-29T01:07:55.030Z,1761700075.030 [DAT](INFO): Ping request sent. 2025-10-29T01:07:55.030Z,1761700075.030 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:07:55.030Z,1761700075.030 [DAT](INFO): publishing transmit ping time 2025-10-29T01:07:55.031Z,1761700075.031 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000772 2025-10-29T01:07:55.095Z,1761700075.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999415,-0.024887,0.023441],[0.020816,-0.986860,-0.160234],[0.027121,-0.159652,0.986801]] 2025-10-29T01:07:55.134Z,1761700075.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:55.282Z,1761700075.282 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252176 2025-10-29T01:07:55.489Z,1761700075.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999432,-0.025167,0.022426],[0.021250,-0.986826,-0.160383],[0.026167,-0.159816,0.986800]] 2025-10-29T01:07:55.540Z,1761700075.540 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.509229 2025-10-29T01:07:55.565Z,1761700075.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:55.789Z,1761700075.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.758977 2025-10-29T01:07:55.890Z,1761700075.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999436,-0.025869,0.021428],[0.022138,-0.987023,-0.159046],[0.025264,-0.158481,0.987039]] 2025-10-29T01:07:55.935Z,1761700075.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:56.041Z,1761700076.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011435 2025-10-29T01:07:56.293Z,1761700076.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262941 2025-10-29T01:07:56.299Z,1761700076.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999434,-0.026964,0.020117],[0.023415,-0.986919,-0.159507],[0.024155,-0.158946,0.986992]] 2025-10-29T01:07:56.335Z,1761700076.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:56.548Z,1761700076.548 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.517498 2025-10-29T01:07:56.703Z,1761700076.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999444,-0.027302,0.019161],[0.023895,-0.986867,-0.159756],[0.023271,-0.159210,0.986971]] 2025-10-29T01:07:56.775Z,1761700076.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:56.797Z,1761700076.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767013 2025-10-29T01:07:57.049Z,1761700077.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019412 2025-10-29T01:07:57.109Z,1761700077.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999433,-0.028512,0.017908],[0.025291,-0.986837,-0.159730],[0.022227,-0.159187,0.986998]] 2025-10-29T01:07:57.127Z,1761700077.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:57.301Z,1761700077.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270835 2025-10-29T01:07:57.512Z,1761700077.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999442,-0.029103,0.016421],[0.026066,-0.986474,-0.161834],[0.020909,-0.161316,0.986681]] 2025-10-29T01:07:57.549Z,1761700077.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:57.556Z,1761700077.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525220 2025-10-29T01:07:57.805Z,1761700077.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774799 2025-10-29T01:07:57.915Z,1761700077.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999437,-0.029858,0.015293],[0.026987,-0.986399,-0.162137],[0.019926,-0.161633,0.986650]] 2025-10-29T01:07:57.960Z,1761700077.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:58.057Z,1761700078.057 [DAT](INFO): DAT read: Rx Time:01:07:57.2416 2025-10-29T01:07:58.058Z,1761700078.058 [DAT](INFO): Rx dataTimestamp_ set to:1761700078.057533 2025-10-29T01:07:58.058Z,1761700078.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.028351 2025-10-29T01:07:58.309Z,1761700078.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278984 2025-10-29T01:07:58.320Z,1761700078.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999423,-0.030890,0.014140],[0.028195,-0.986389,-0.161995],[0.018951,-0.161503,0.986690]] 2025-10-29T01:07:58.338Z,1761700078.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.38 m. 2025-10-29T01:07:58.587Z,1761700078.587 [DAT](INFO): DAT read: 01:07:57.2416 LVL= 32752, 32561, 32754, 32755, AGC= 74, IDX= 339, 0.00,-0.899, 0.870,-0.799,-0.256, PHS=-0.541, 1.171,-0.588, RAW= 331.3, -0.5, CAL= 330.4, -3.4, ROT= 179.6, 3.4 2025-10-29T01:07:58.591Z,1761700078.591 [DAT](INFO): got valid direction response: 01:07:57.2416 LVL= 32752, 32561, 32754, 32755, AGC= 74, IDX= 339, 0.00,-0.899, 0.870,-0.799,-0.256, PHS=-0.541, 1.171,-0.588, RAW= 331.3, -0.5, CAL= 330.4, -3.4, ROT= 179.6, 3.4 2025-10-29T01:07:58.594Z,1761700078.594 [DAT](INFO): DAT read: Bearing 153.7, -0.2 (Local) 2025-10-29T01:07:58.595Z,1761700078.595 [DAT](INFO): Local bearing/azimuth received: Bearing 153.7, -0.2 (Local) 2025-10-29T01:07:58.603Z,1761700078.603 [DAT](INFO): DAT read: Range 11 to 50 : 52.0 m (Round-trip 69.4 ms) speed -0.4 m/s 2025-10-29T01:07:58.617Z,1761700078.617 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:07:58.636Z,1761700078.636 [DAT](INFO): direction in FSK: [-0.998216,0.006969,-0.059306] 2025-10-29T01:07:58.636Z,1761700078.636 [DAT](INFO): publishing direction and range info 2025-10-29T01:07:58.731Z,1761700078.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999434,-0.031193,0.012588],[0.028771,-0.986609,-0.160543],[0.017427,-0.160090,0.986949]] 2025-10-29T01:07:58.827Z,1761700078.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 52.000000 m, deltaT: 60.031815 s, deltaX: 30.500000 m, approachRate: 0.508064 m/s, rangeRepo size: 4 2025-10-29T01:07:58.833Z,1761700078.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.719521 m, bearing: 358.501465 deg, lat: 36.779282 deg, lon: -121.859498 deg, deltaT: 60.031815 s, deltaX: 30.337021 m, approachRate: 0.505349 m/s, posRepo size: 4 2025-10-29T01:07:58.834Z,1761700078.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:07:59.144Z,1761700079.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999427,-0.031948,0.011130],[0.029777,-0.986849,-0.158879],[0.016059,-0.158456,0.987235]] 2025-10-29T01:07:59.162Z,1761700079.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:07:59.547Z,1761700079.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999417,-0.032769,0.009611],[0.030854,-0.987090,-0.157170],[0.014637,-0.156782,0.987525]] 2025-10-29T01:07:59.641Z,1761700079.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:07:59.956Z,1761700079.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999411,-0.033288,0.008393],[0.031560,-0.987095,-0.156992],[0.013511,-0.156634,0.987564]] 2025-10-29T01:07:59.999Z,1761700079.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:00.360Z,1761700080.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999426,-0.033108,0.007198],[0.031564,-0.987027,-0.157420],[0.012317,-0.157102,0.987506]] 2025-10-29T01:08:00.378Z,1761700080.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:00.785Z,1761700080.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999452,-0.032505,0.006196],[0.031116,-0.986915,-0.158211],[0.011258,-0.157932,0.987386]] 2025-10-29T01:08:00.837Z,1761700080.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:01.167Z,1761700081.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999461,-0.032417,0.005264],[0.031182,-0.986985,-0.157760],[0.010309,-0.157511,0.987463]] 2025-10-29T01:08:01.201Z,1761700081.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:01.570Z,1761700081.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999463,-0.032512,0.004144],[0.031449,-0.986939,-0.157996],[0.009226,-0.157781,0.987431]] 2025-10-29T01:08:01.594Z,1761700081.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:02.022Z,1761700082.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:02.378Z,1761700082.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999482,-0.032086,0.002376],[0.031306,-0.986918,-0.158156],[0.007420,-0.158000,0.987411]] 2025-10-29T01:08:02.415Z,1761700082.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:02.789Z,1761700082.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999497,-0.031665,0.001902],[0.030960,-0.986789,-0.159025],[0.006912,-0.158886,0.987273]] 2025-10-29T01:08:02.849Z,1761700082.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:03.190Z,1761700083.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.031866,0.001405],[0.031248,-0.987064,-0.157255],[0.006398,-0.157131,0.987557]] 2025-10-29T01:08:03.207Z,1761700083.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:03.590Z,1761700083.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999489,-0.031960,0.000831],[0.031434,-0.987111,-0.156919],[0.005836,-0.156812,0.987611]] 2025-10-29T01:08:03.643Z,1761700083.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:03.992Z,1761700083.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999501,-0.031592,0.000191],[0.031166,-0.986989,-0.157737],[0.005171,-0.157652,0.987481]] 2025-10-29T01:08:04.047Z,1761700084.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:04.397Z,1761700084.397 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999503,-0.031511,-0.000210],[0.031149,-0.986971,-0.157853],[0.004767,-0.157781,0.987463]] 2025-10-29T01:08:04.414Z,1761700084.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:04.798Z,1761700084.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.031340,-0.000883],[0.031085,-0.986931,-0.158119],[0.004084,-0.158069,0.987420]] 2025-10-29T01:08:04.847Z,1761700084.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:05.202Z,1761700085.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999489,-0.031938,-0.001317],[0.031746,-0.987019,-0.157434],[0.003728,-0.157395,0.987529]] 2025-10-29T01:08:05.236Z,1761700085.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:05.606Z,1761700085.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.032189,-0.002097],[0.032117,-0.986993,-0.157523],[0.003001,-0.157508,0.987513]] 2025-10-29T01:08:05.625Z,1761700085.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:06.010Z,1761700086.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999487,-0.031930,-0.002541],[0.031931,-0.986944,-0.157869],[0.002533,-0.157869,0.987457]] 2025-10-29T01:08:06.053Z,1761700086.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:06.414Z,1761700086.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999499,-0.031509,-0.003137],[0.031607,-0.986817,-0.158724],[0.001905,-0.158743,0.987318]] 2025-10-29T01:08:06.432Z,1761700086.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:06.826Z,1761700086.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999519,-0.030775,-0.003829],[0.030991,-0.986730,-0.159384],[0.001127,-0.159426,0.987209]] 2025-10-29T01:08:06.877Z,1761700086.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:07.224Z,1761700087.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999531,-0.030248,-0.004684],[0.030608,-0.987151,-0.156831],[0.000120,-0.156901,0.987614]] 2025-10-29T01:08:07.249Z,1761700087.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:07.627Z,1761700087.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999534,-0.030059,-0.005296],[0.030517,-0.987336,-0.155682],[-0.000549,-0.155771,0.987793]] 2025-10-29T01:08:07.657Z,1761700087.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:08.031Z,1761700088.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999533,-0.030010,-0.005685],[0.030527,-0.987676,-0.153506],[-0.001008,-0.153608,0.988131]] 2025-10-29T01:08:08.068Z,1761700088.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:08.434Z,1761700088.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999520,-0.030386,-0.006079],[0.030957,-0.987915,-0.151874],[-0.001391,-0.151989,0.988381]] 2025-10-29T01:08:08.459Z,1761700088.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:08.888Z,1761700088.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:09.250Z,1761700089.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.031451,-0.007064],[0.032159,-0.987903,-0.151703],[-0.002207,-0.151851,0.988401]] 2025-10-29T01:08:09.296Z,1761700089.296 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:09.648Z,1761700089.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999498,-0.030775,-0.007507],[0.031560,-0.987832,-0.152291],[-0.002729,-0.152452,0.988307]] 2025-10-29T01:08:09.667Z,1761700089.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:10.102Z,1761700090.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:10.454Z,1761700090.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,-0.031323,-0.008013],[0.032181,-0.987667,-0.153223],[-0.003115,-0.153401,0.988159]] 2025-10-29T01:08:10.472Z,1761700090.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:10.867Z,1761700090.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,-0.031276,-0.008272],[0.032176,-0.987600,-0.153658],[-0.003364,-0.153844,0.988089]] 2025-10-29T01:08:10.919Z,1761700090.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:11.304Z,1761700091.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:11.667Z,1761700091.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999476,-0.031194,-0.008689],[0.032162,-0.987494,-0.154340],[-0.003766,-0.154539,0.987980]] 2025-10-29T01:08:11.698Z,1761700091.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:12.071Z,1761700092.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999475,-0.031189,-0.008789],[0.032173,-0.987442,-0.154673],[-0.003855,-0.154874,0.987927]] 2025-10-29T01:08:12.121Z,1761700092.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:12.476Z,1761700092.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999486,-0.030766,-0.008961],[0.031783,-0.987432,-0.154814],[-0.004085,-0.155020,0.987903]] 2025-10-29T01:08:12.496Z,1761700092.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:12.878Z,1761700092.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999478,-0.030912,-0.009397],[0.031990,-0.987589,-0.153769],[-0.004527,-0.153989,0.988062]] 2025-10-29T01:08:12.923Z,1761700092.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:13.294Z,1761700093.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,-0.031246,-0.009745],[0.032370,-0.987681,-0.153096],[-0.004841,-0.153330,0.988163]] 2025-10-29T01:08:13.321Z,1761700093.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:13.686Z,1761700093.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999466,-0.031093,-0.010080],[0.032273,-0.987637,-0.153398],[-0.005186,-0.153642,0.988113]] 2025-10-29T01:08:13.705Z,1761700093.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:14.153Z,1761700094.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:14.495Z,1761700094.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999479,-0.030238,-0.011251],[0.031625,-0.987221,-0.156189],[-0.006384,-0.156463,0.987663]] 2025-10-29T01:08:14.519Z,1761700094.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:14.898Z,1761700094.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999489,-0.029618,-0.012007],[0.031135,-0.987148,-0.156744],[-0.007211,-0.157038,0.987566]] 2025-10-29T01:08:14.946Z,1761700094.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:14.972Z,1761700094.972 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:08:15.302Z,1761700095.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.029159,-0.012813],[0.030814,-0.987041,-0.157482],[-0.008055,-0.157797,0.987439]] 2025-10-29T01:08:15.323Z,1761700095.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:15.777Z,1761700095.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:15.976Z,1761700095.976 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:08:16.111Z,1761700096.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.028518,-0.014178],[0.030387,-0.987212,-0.156491],[-0.009534,-0.156842,0.987578]] 2025-10-29T01:08:16.153Z,1761700096.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:16.514Z,1761700096.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.028269,-0.014805],[0.030238,-0.987252,-0.156266],[-0.010199,-0.156634,0.987604]] 2025-10-29T01:08:16.532Z,1761700096.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:16.923Z,1761700096.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999485,-0.028073,-0.015529],[0.030153,-0.987308,-0.155926],[-0.010955,-0.156314,0.987647]] 2025-10-29T01:08:16.958Z,1761700096.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:17.323Z,1761700097.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999472,-0.028134,-0.016256],[0.030310,-0.987536,-0.154446],[-0.011708,-0.154857,0.987868]] 2025-10-29T01:08:17.352Z,1761700097.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:17.735Z,1761700097.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999461,-0.028240,-0.016772],[0.030474,-0.987783,-0.152828],[-0.012251,-0.153257,0.988110]] 2025-10-29T01:08:17.787Z,1761700097.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:18.131Z,1761700098.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,-0.027828,-0.017177],[0.030124,-0.987851,-0.152455],[-0.012726,-0.152890,0.988161]] 2025-10-29T01:08:18.167Z,1761700098.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:18.536Z,1761700098.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999465,-0.027691,-0.017425],[0.030021,-0.987922,-0.152016],[-0.013005,-0.152458,0.988224]] 2025-10-29T01:08:18.554Z,1761700098.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:18.947Z,1761700098.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.026873,-0.017815],[0.029279,-0.987863,-0.152542],[-0.013500,-0.152984,0.988136]] 2025-10-29T01:08:18.995Z,1761700098.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:19.342Z,1761700099.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999480,-0.026454,-0.018430],[0.028960,-0.987874,-0.152534],[-0.014171,-0.152989,0.988126]] 2025-10-29T01:08:19.361Z,1761700099.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:19.757Z,1761700099.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,-0.026165,-0.019029],[0.028763,-0.987906,-0.152363],[-0.014812,-0.152830,0.988141]] 2025-10-29T01:08:19.798Z,1761700099.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:20.152Z,1761700100.152 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999472,-0.025956,-0.019541],[0.028629,-0.987971,-0.151964],[-0.015362,-0.152443,0.988193]] 2025-10-29T01:08:20.193Z,1761700100.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:20.555Z,1761700100.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999455,-0.026133,-0.020146],[0.028881,-0.988100,-0.151077],[-0.015959,-0.151576,0.988317]] 2025-10-29T01:08:20.591Z,1761700100.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:21.031Z,1761700101.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:21.417Z,1761700101.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:21.776Z,1761700101.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999468,-0.025205,-0.020698],[0.028003,-0.988528,-0.148419],[-0.016720,-0.148920,0.988708]] 2025-10-29T01:08:21.800Z,1761700101.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:22.279Z,1761700102.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:22.584Z,1761700102.584 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999461,-0.025329,-0.020905],[0.028155,-0.988535,-0.148343],[-0.016908,-0.148852,0.988715]] 2025-10-29T01:08:22.613Z,1761700102.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:23.005Z,1761700103.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999483,-0.024613,-0.020699],[0.027504,-0.987765,-0.153508],[-0.016667,-0.153998,0.987931]] 2025-10-29T01:08:23.050Z,1761700103.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:23.396Z,1761700103.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999475,-0.024703,-0.020978],[0.027673,-0.987419,-0.155688],[-0.016868,-0.156187,0.987584]] 2025-10-29T01:08:23.417Z,1761700103.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:23.801Z,1761700103.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999488,-0.024072,-0.021088],[0.027074,-0.987369,-0.156107],[-0.017064,-0.156597,0.987515]] 2025-10-29T01:08:23.819Z,1761700103.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:24.204Z,1761700104.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.023813,-0.021236],[0.026845,-0.987344,-0.156304],[-0.017245,-0.156794,0.987481]] 2025-10-29T01:08:24.282Z,1761700104.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:24.607Z,1761700104.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999492,-0.023808,-0.021198],[0.026826,-0.987422,-0.155816],[-0.017222,-0.156306,0.987559]] 2025-10-29T01:08:24.641Z,1761700104.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:25.031Z,1761700105.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999498,-0.023630,-0.021099],[0.026613,-0.987620,-0.154588],[-0.017185,-0.155072,0.987754]] 2025-10-29T01:08:25.075Z,1761700105.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:25.412Z,1761700105.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.023918,-0.021117],[0.026874,-0.987843,-0.153117],[-0.017198,-0.153606,0.987982]] 2025-10-29T01:08:25.434Z,1761700105.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:25.814Z,1761700105.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999475,-0.023951,-0.021838],[0.027051,-0.987546,-0.154986],[-0.017854,-0.155496,0.987675]] 2025-10-29T01:08:25.839Z,1761700105.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:26.229Z,1761700106.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999463,-0.024115,-0.022196],[0.027270,-0.987528,-0.155061],[-0.018180,-0.155583,0.987656]] 2025-10-29T01:08:26.275Z,1761700106.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:26.622Z,1761700106.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999458,-0.023773,-0.022753],[0.027032,-0.987424,-0.155764],[-0.018764,-0.156295,0.987532]] 2025-10-29T01:08:26.640Z,1761700106.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:27.111Z,1761700107.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:27.430Z,1761700107.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999451,-0.022838,-0.024015],[0.026350,-0.987104,-0.157896],[-0.020099,-0.158442,0.987164]] 2025-10-29T01:08:27.468Z,1761700107.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:27.835Z,1761700107.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999443,-0.022601,-0.024535],[0.026199,-0.987098,-0.157962],[-0.020648,-0.158517,0.987140]] 2025-10-29T01:08:27.853Z,1761700107.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:28.325Z,1761700108.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:28.680Z,1761700108.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:29.087Z,1761700109.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999421,-0.022457,-0.025547],[0.026185,-0.987340,-0.156441],[-0.021710,-0.157019,0.987357]] 2025-10-29T01:08:29.136Z,1761700109.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:29.451Z,1761700109.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999422,-0.022122,-0.025814],[0.025909,-0.987252,-0.157040],[-0.022011,-0.157618,0.987255]] 2025-10-29T01:08:29.472Z,1761700109.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:29.856Z,1761700109.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999409,-0.022309,-0.026160],[0.026137,-0.987327,-0.156532],[-0.022336,-0.157123,0.987326]] 2025-10-29T01:08:29.873Z,1761700109.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:30.261Z,1761700110.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999386,-0.022810,-0.026582],[0.026685,-0.987400,-0.155978],[-0.022689,-0.156591,0.987403]] 2025-10-29T01:08:30.302Z,1761700110.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:30.703Z,1761700110.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:31.113Z,1761700111.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999371,-0.022574,-0.027345],[0.026571,-0.987412,-0.155919],[-0.023481,-0.156547,0.987391]] 2025-10-29T01:08:31.165Z,1761700111.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:31.471Z,1761700111.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999364,-0.022392,-0.027762],[0.026474,-0.987298,-0.156660],[-0.023901,-0.157295,0.987262]] 2025-10-29T01:08:31.493Z,1761700111.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:31.876Z,1761700111.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.022186,-0.028119],[0.026332,-0.987264,-0.156898],[-0.024280,-0.157538,0.987215]] 2025-10-29T01:08:31.895Z,1761700111.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:32.278Z,1761700112.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999356,-0.022220,-0.028160],[0.026367,-0.987294,-0.156700],[-0.024321,-0.157342,0.987245]] 2025-10-29T01:08:32.322Z,1761700112.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:32.687Z,1761700112.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999334,-0.022618,-0.028642],[0.026831,-0.987313,-0.156505],[-0.024739,-0.157169,0.987262]] 2025-10-29T01:08:32.734Z,1761700112.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:33.113Z,1761700113.113 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999338,-0.022190,-0.028845],[0.026457,-0.987220,-0.157152],[-0.024989,-0.157811,0.987153]] 2025-10-29T01:08:33.192Z,1761700113.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:33.496Z,1761700113.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999346,-0.021831,-0.028838],[0.026080,-0.987366,-0.156297],[-0.025062,-0.156947,0.987289]] 2025-10-29T01:08:33.513Z,1761700113.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:33.929Z,1761700113.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:34.299Z,1761700114.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999310,-0.022426,-0.029590],[0.026685,-0.987952,-0.152442],[-0.025814,-0.153127,0.987869]] 2025-10-29T01:08:34.342Z,1761700114.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:34.713Z,1761700114.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999318,-0.022072,-0.029595],[0.026352,-0.987861,-0.153086],[-0.025857,-0.153762,0.987770]] 2025-10-29T01:08:34.758Z,1761700114.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:35.127Z,1761700115.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999322,-0.021629,-0.029789],[0.025959,-0.987792,-0.153603],[-0.026103,-0.154272,0.987683]] 2025-10-29T01:08:35.200Z,1761700115.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:35.527Z,1761700115.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999325,-0.020901,-0.030207],[0.025379,-0.987365,-0.156419],[-0.026556,-0.157080,0.987229]] 2025-10-29T01:08:35.539Z,1761700115.539 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768, 2025-10-29T01:08:35.555Z,1761700115.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:35.918Z,1761700115.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999328,-0.020301,-0.030535],[0.024868,-0.987201,-0.157528],[-0.026946,-0.158181,0.987042]] 2025-10-29T01:08:35.952Z,1761700115.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:36.322Z,1761700116.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999334,-0.019794,-0.030655],[0.024403,-0.987120,-0.158109],[-0.027131,-0.158751,0.986946]] 2025-10-29T01:08:36.339Z,1761700116.339 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, -12 2025-10-29T01:08:36.374Z,1761700116.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:36.736Z,1761700116.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999330,-0.019454,-0.031004],[0.024132,-0.987064,-0.158498],[-0.027520,-0.159140,0.986872]] 2025-10-29T01:08:36.761Z,1761700116.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:37.134Z,1761700117.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999321,-0.019064,-0.031516],[0.023782,-0.987337,-0.156847],[-0.028127,-0.157490,0.987120]] 2025-10-29T01:08:37.227Z,1761700117.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:37.535Z,1761700117.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999313,-0.018773,-0.031942],[0.023497,-0.987694,-0.154626],[-0.028646,-0.155271,0.987457]] 2025-10-29T01:08:37.600Z,1761700117.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:37.938Z,1761700117.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999301,-0.018930,-0.032245],[0.023588,-0.988275,-0.150851],[-0.029012,-0.151507,0.988030]] 2025-10-29T01:08:37.955Z,1761700117.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:38.390Z,1761700118.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:38.744Z,1761700118.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999286,-0.019057,-0.032634],[0.023700,-0.988644,-0.148397],[-0.029435,-0.149065,0.988389]] 2025-10-29T01:08:38.788Z,1761700118.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:39.158Z,1761700119.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999284,-0.018922,-0.032776],[0.023623,-0.988470,-0.149560],[-0.029568,-0.150227,0.988209]] 2025-10-29T01:08:39.239Z,1761700119.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:39.561Z,1761700119.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999297,-0.018740,-0.032475],[0.023458,-0.988159,-0.151628],[-0.029249,-0.152283,0.987904]] 2025-10-29T01:08:39.617Z,1761700119.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:39.954Z,1761700119.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999313,-0.018051,-0.032377],[0.022779,-0.988090,-0.152183],[-0.029244,-0.152816,0.987822]] 2025-10-29T01:08:39.979Z,1761700119.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:40.411Z,1761700120.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:40.772Z,1761700120.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999306,-0.018516,-0.032321],[0.023248,-0.987984,-0.152800],[-0.029103,-0.153445,0.987728]] 2025-10-29T01:08:40.791Z,1761700120.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:41.167Z,1761700121.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999307,-0.018850,-0.032092],[0.023624,-0.987546,-0.155549],[-0.028760,-0.156200,0.987307]] 2025-10-29T01:08:41.197Z,1761700121.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:41.571Z,1761700121.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999311,-0.019121,-0.031802],[0.023904,-0.987219,-0.157566],[-0.028383,-0.158218,0.986996]] 2025-10-29T01:08:41.619Z,1761700121.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:41.974Z,1761700121.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999300,-0.019219,-0.032083],[0.024054,-0.987165,-0.157882],[-0.028637,-0.158543,0.986937]] 2025-10-29T01:08:41.992Z,1761700121.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:42.378Z,1761700122.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999287,-0.019626,-0.032242],[0.024486,-0.987133,-0.158018],[-0.028726,-0.158695,0.986910]] 2025-10-29T01:08:42.438Z,1761700122.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:42.788Z,1761700122.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999269,-0.020552,-0.032249],[0.025393,-0.987158,-0.157716],[-0.028593,-0.158420,0.986958]] 2025-10-29T01:08:42.806Z,1761700122.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:43.194Z,1761700123.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999256,-0.020961,-0.032383],[0.025778,-0.987368,-0.156335],[-0.028697,-0.157053,0.987173]] 2025-10-29T01:08:43.244Z,1761700123.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:43.636Z,1761700123.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999219,-0.021830,-0.032938],[0.026712,-0.987410,-0.155907],[-0.029119,-0.156665,0.987222]] 2025-10-29T01:08:43.653Z,1761700123.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:44.030Z,1761700124.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999203,-0.022142,-0.033200],[0.027055,-0.987430,-0.155722],[-0.029335,-0.156496,0.987243]] 2025-10-29T01:08:44.048Z,1761700124.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:44.502Z,1761700124.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:44.839Z,1761700124.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999168,-0.022096,-0.034288],[0.027207,-0.987289,-0.156586],[-0.030392,-0.157389,0.987069]] 2025-10-29T01:08:44.877Z,1761700124.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:45.399Z,1761700125.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:45.843Z,1761700125.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999116,-0.022053,-0.035803],[0.027416,-0.987219,-0.156996],[-0.031883,-0.157839,0.986950]] 2025-10-29T01:08:45.860Z,1761700125.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:46.097Z,1761700126.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:08:46.239Z,1761700126.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999146,-0.021822,-0.035075],[0.026983,-0.987675,-0.154175],[-0.031278,-0.154989,0.987421]] 2025-10-29T01:08:46.323Z,1761700126.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:46.642Z,1761700126.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999141,-0.022834,-0.034586],[0.027759,-0.988390,-0.149382],[-0.030774,-0.150213,0.988175]] 2025-10-29T01:08:46.697Z,1761700126.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:47.047Z,1761700127.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999188,-0.022533,-0.033386],[0.027340,-0.988104,-0.151335],[-0.029579,-0.152125,0.987918]] 2025-10-29T01:08:47.064Z,1761700127.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:47.100Z,1761700127.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:08:47.453Z,1761700127.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999250,-0.021959,-0.031907],[0.026610,-0.987784,-0.153539],[-0.028146,-0.154273,0.987627]] 2025-10-29T01:08:47.490Z,1761700127.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:47.855Z,1761700127.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999313,-0.021124,-0.030463],[0.025613,-0.987511,-0.155452],[-0.026798,-0.156126,0.987374]] 2025-10-29T01:08:47.884Z,1761700127.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:48.258Z,1761700128.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999359,-0.020288,-0.029482],[0.024726,-0.986972,-0.158981],[-0.025873,-0.159608,0.986841]] 2025-10-29T01:08:48.354Z,1761700128.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:48.666Z,1761700128.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999431,-0.018489,-0.028202],[0.022860,-0.986269,-0.163557],[-0.024791,-0.164109,0.986131]] 2025-10-29T01:08:48.724Z,1761700128.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:49.062Z,1761700129.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999482,-0.017573,-0.026948],[0.021750,-0.986305,-0.163492],[-0.023706,-0.163993,0.986177]] 2025-10-29T01:08:49.086Z,1761700129.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:49.466Z,1761700129.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999531,-0.016422,-0.025864],[0.020383,-0.986711,-0.161200],[-0.022873,-0.161652,0.986583]] 2025-10-29T01:08:49.510Z,1761700129.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:49.912Z,1761700129.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:50.330Z,1761700130.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:50.695Z,1761700130.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,-0.016934,-0.022314],[0.020048,-0.988834,-0.147665],[-0.019564,-0.148055,0.988786]] 2025-10-29T01:08:50.748Z,1761700130.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:51.083Z,1761700131.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999634,-0.017208,-0.020874],[0.020103,-0.988859,-0.147491],[-0.018103,-0.147857,0.988843]] 2025-10-29T01:08:51.118Z,1761700131.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:51.538Z,1761700131.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:51.891Z,1761700131.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999646,-0.019332,-0.018286],[0.021847,-0.988565,-0.149203],[-0.015193,-0.149550,0.988637]] 2025-10-29T01:08:51.910Z,1761700131.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:52.296Z,1761700132.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999642,-0.020614,-0.017069],[0.022951,-0.988350,-0.150461],[-0.013768,-0.150799,0.988469]] 2025-10-29T01:08:52.317Z,1761700132.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:52.703Z,1761700132.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999624,-0.022311,-0.015931],[0.024465,-0.988202,-0.151187],[-0.012370,-0.151520,0.988377]] 2025-10-29T01:08:52.750Z,1761700132.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:53.103Z,1761700133.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999588,-0.024503,-0.014979],[0.026494,-0.988073,-0.151692],[-0.011083,-0.152026,0.988314]] 2025-10-29T01:08:53.121Z,1761700133.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:53.510Z,1761700133.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999552,-0.026288,-0.014303],[0.028176,-0.987706,-0.153763],[-0.010085,-0.154097,0.988004]] 2025-10-29T01:08:53.575Z,1761700133.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:53.911Z,1761700133.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999530,-0.027448,-0.013678],[0.029248,-0.987313,-0.156069],[-0.009221,-0.156396,0.987651]] 2025-10-29T01:08:53.936Z,1761700133.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:54.315Z,1761700134.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999488,-0.029185,-0.013120],[0.030890,-0.987023,-0.157579],[-0.008351,-0.157903,0.987419]] 2025-10-29T01:08:54.350Z,1761700134.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:54.719Z,1761700134.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999476,-0.029694,-0.012871],[0.031365,-0.986763,-0.159108],[-0.007977,-0.159429,0.987177]] 2025-10-29T01:08:54.787Z,1761700134.787 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:08:54.793Z,1761700134.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:54.797Z,1761700134.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:08:54.797Z,1761700134.797 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:08:55.049Z,1761700135.049 [DAT](INFO): DAT read: user:671> 2025-10-29T01:08:55.050Z,1761700135.050 [DAT](INFO): DAT read: Tx time:01:08:54.7679 2025-10-29T01:08:55.050Z,1761700135.050 [DAT](INFO): Ping request sent. 2025-10-29T01:08:55.050Z,1761700135.050 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:08:55.050Z,1761700135.050 [DAT](INFO): publishing transmit ping time 2025-10-29T01:08:55.051Z,1761700135.051 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-29T01:08:55.124Z,1761700135.124 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999457,-0.030447,-0.012631],[0.032068,-0.986781,-0.158856],[-0.007627,-0.159175,0.987221]] 2025-10-29T01:08:55.143Z,1761700135.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:55.301Z,1761700135.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250803 2025-10-29T01:08:55.553Z,1761700135.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502922 2025-10-29T01:08:55.580Z,1761700135.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:55.805Z,1761700135.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754936 2025-10-29T01:08:55.931Z,1761700135.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999452,-0.030922,-0.011828],[0.032427,-0.986356,-0.161402],[-0.006676,-0.161697,0.986818]] 2025-10-29T01:08:55.960Z,1761700135.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:56.058Z,1761700136.058 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007440 2025-10-29T01:08:56.309Z,1761700136.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259231 2025-10-29T01:08:56.335Z,1761700136.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999477,-0.030245,-0.011444],[0.031704,-0.986216,-0.162396],[-0.006375,-0.162674,0.986659]] 2025-10-29T01:08:56.353Z,1761700136.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:56.561Z,1761700136.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510972 2025-10-29T01:08:56.746Z,1761700136.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999495,-0.029665,-0.011374],[0.031112,-0.986424,-0.161246],[-0.006436,-0.161519,0.986849]] 2025-10-29T01:08:56.813Z,1761700136.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762914 2025-10-29T01:08:56.821Z,1761700136.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:57.066Z,1761700137.066 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015872 2025-10-29T01:08:57.143Z,1761700137.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999506,-0.029380,-0.011117],[0.030775,-0.986797,-0.159013],[-0.006299,-0.159277,0.987214]] 2025-10-29T01:08:57.195Z,1761700137.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:57.317Z,1761700137.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860 2025-10-29T01:08:57.546Z,1761700137.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999493,-0.029885,-0.010958],[0.031246,-0.986828,-0.158725],[-0.006070,-0.158987,0.987262]] 2025-10-29T01:08:57.569Z,1761700137.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518895 2025-10-29T01:08:57.605Z,1761700137.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:57.825Z,1761700137.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774614 2025-10-29T01:08:57.952Z,1761700137.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999509,-0.029592,-0.010325],[0.030849,-0.987052,-0.157408],[-0.005533,-0.157649,0.987480]] 2025-10-29T01:08:57.970Z,1761700137.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:58.073Z,1761700138.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022974 2025-10-29T01:08:58.325Z,1761700138.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274762 2025-10-29T01:08:58.354Z,1761700138.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999519,-0.029478,-0.009670],[0.030632,-0.987090,-0.157212],[-0.004911,-0.157433,0.987518]] 2025-10-29T01:08:58.389Z,1761700138.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:58.580Z,1761700138.580 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529902 2025-10-29T01:08:58.765Z,1761700138.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999524,-0.029436,-0.009215],[0.030520,-0.987068,-0.157368],[-0.004463,-0.157575,0.987497]] 2025-10-29T01:08:58.815Z,1761700138.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:58.829Z,1761700138.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778941 2025-10-29T01:08:59.081Z,1761700139.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030741 2025-10-29T01:08:59.175Z,1761700139.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999525,-0.029474,-0.008995],[0.030523,-0.987081,-0.157286],[-0.004243,-0.157486,0.987512]] 2025-10-29T01:08:59.202Z,1761700139.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:59.333Z,1761700139.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282851 2025-10-29T01:08:59.566Z,1761700139.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999522,-0.029840,-0.008103],[0.030737,-0.987351,-0.155540],[-0.003359,-0.155715,0.987796]] 2025-10-29T01:08:59.585Z,1761700139.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.534942 2025-10-29T01:08:59.614Z,1761700139.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:08:59.837Z,1761700139.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.786709 2025-10-29T01:08:59.970Z,1761700139.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999517,-0.030186,-0.007352],[0.030958,-0.987613,-0.153823],[-0.002618,-0.153976,0.988071]] 2025-10-29T01:09:00.004Z,1761700140.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:00.089Z,1761700140.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039262 2025-10-29T01:09:00.341Z,1761700140.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.290875 2025-10-29T01:09:00.374Z,1761700140.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.030590,-0.006921],[0.031290,-0.987653,-0.153503],[-0.002140,-0.153644,0.988124]] 2025-10-29T01:09:00.392Z,1761700140.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:00.593Z,1761700140.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.542858 2025-10-29T01:09:00.784Z,1761700140.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999509,-0.030706,-0.006307],[0.031311,-0.987676,-0.153349],[-0.001520,-0.153471,0.988152]] 2025-10-29T01:09:00.840Z,1761700140.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:00.845Z,1761700140.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795196 2025-10-29T01:09:01.097Z,1761700141.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.046820 2025-10-29T01:09:01.192Z,1761700141.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999516,-0.030602,-0.005565],[0.031094,-0.987548,-0.154214],[-0.000776,-0.154312,0.988022]] 2025-10-29T01:09:01.213Z,1761700141.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:01.349Z,1761700141.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298820 2025-10-29T01:09:01.586Z,1761700141.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999507,-0.030994,-0.005000],[0.031395,-0.987660,-0.153436],[-0.000183,-0.153517,0.988146]] 2025-10-29T01:09:01.601Z,1761700141.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.550900 2025-10-29T01:09:01.635Z,1761700141.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:01.853Z,1761700141.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802877 2025-10-29T01:09:02.040Z,1761700142.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:02.106Z,1761700142.106 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.056121 2025-10-29T01:09:02.357Z,1761700142.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.307092 2025-10-29T01:09:02.401Z,1761700142.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999499,-0.031440,-0.003543],[0.031612,-0.987783,-0.152596],[0.001298,-0.152631,0.988282]] 2025-10-29T01:09:02.418Z,1761700142.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:02.609Z,1761700142.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558866 2025-10-29T01:09:02.798Z,1761700142.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.031260,-0.002621],[0.031296,-0.987918,-0.151787],[0.002156,-0.151794,0.988410]] 2025-10-29T01:09:02.846Z,1761700142.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:02.865Z,1761700142.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814849 2025-10-29T01:09:03.117Z,1761700143.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066903 2025-10-29T01:09:03.202Z,1761700143.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999500,-0.031543,-0.001978],[0.031479,-0.988003,-0.151195],[0.002815,-0.151182,0.988502]] 2025-10-29T01:09:03.220Z,1761700143.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:03.369Z,1761700143.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318875 2025-10-29T01:09:03.610Z,1761700143.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999503,-0.031478,-0.001460],[0.031339,-0.988112,-0.150507],[0.003295,-0.150478,0.988608]] 2025-10-29T01:09:03.621Z,1761700143.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570913 2025-10-29T01:09:03.678Z,1761700143.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:03.876Z,1761700143.876 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.825868 2025-10-29T01:09:04.012Z,1761700144.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999508,-0.031343,-0.000959],[0.031132,-0.988204,-0.149943],[0.003752,-0.149899,0.988694]] 2025-10-29T01:09:04.030Z,1761700144.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:04.125Z,1761700144.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075297 2025-10-29T01:09:04.377Z,1761700144.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326821 2025-10-29T01:09:04.415Z,1761700144.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999517,-0.031065,-0.000405],[0.030776,-0.988267,-0.149606],[0.004248,-0.149547,0.988746]] 2025-10-29T01:09:04.450Z,1761700144.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:04.634Z,1761700144.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.584177 2025-10-29T01:09:04.819Z,1761700144.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999530,-0.030666,0.000074],[0.030310,-0.988279,-0.149619],[0.004662,-0.149547,0.988744]] 2025-10-29T01:09:04.872Z,1761700144.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:04.881Z,1761700144.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830966 2025-10-29T01:09:05.133Z,1761700145.133 [DAT](INFO): Reached modem response timeout 2025-10-29T01:09:05.224Z,1761700145.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999535,-0.030493,0.000647],[0.030057,-0.988396,-0.148894],[0.005179,-0.148805,0.988853]] 2025-10-29T01:09:05.242Z,1761700145.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:05.639Z,1761700145.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999553,-0.029880,0.001353],[0.029345,-0.988391,-0.149073],[0.005791,-0.148967,0.988825]] 2025-10-29T01:09:05.705Z,1761700145.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:06.031Z,1761700146.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999555,-0.029776,0.001988],[0.029135,-0.988120,-0.150899],[0.006457,-0.150774,0.988547]] 2025-10-29T01:09:06.065Z,1761700146.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:06.435Z,1761700146.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999563,-0.029433,0.002921],[0.028650,-0.988007,-0.151727],[0.007352,-0.151577,0.988418]] 2025-10-29T01:09:06.452Z,1761700146.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:06.843Z,1761700146.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999578,-0.028817,0.003591],[0.027928,-0.987827,-0.153026],[0.007957,-0.152861,0.988216]] 2025-10-29T01:09:06.895Z,1761700146.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:07.249Z,1761700147.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999582,-0.028604,0.004169],[0.027624,-0.987724,-0.153746],[0.008515,-0.153567,0.988102]] 2025-10-29T01:09:07.277Z,1761700147.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:07.401Z,1761700147.401 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:09:07.401Z,1761700147.401 [DAT](INFO): response not received 2025-10-29T01:09:07.401Z,1761700147.401 [DAT](ERROR): No response from remote modem. 2025-10-29T01:09:07.673Z,1761700147.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999598,-0.027893,0.005058],[0.026774,-0.987582,-0.154805],[0.009313,-0.154607,0.987932]] 2025-10-29T01:09:07.709Z,1761700147.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:08.051Z,1761700148.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999620,-0.026950,0.005815],[0.025729,-0.987660,-0.154483],[0.009906,-0.154275,0.987978]] 2025-10-29T01:09:08.069Z,1761700148.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:08.456Z,1761700148.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999622,-0.026718,0.006496],[0.025402,-0.987774,-0.153807],[0.010526,-0.153584,0.988080]] 2025-10-29T01:09:08.475Z,1761700148.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:08.859Z,1761700148.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999617,-0.026778,0.006988],[0.025386,-0.987781,-0.153768],[0.011020,-0.153532,0.988082]] 2025-10-29T01:09:08.907Z,1761700148.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:09.262Z,1761700149.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999612,-0.026860,0.007357],[0.025407,-0.987737,-0.154048],[0.011405,-0.153801,0.988036]] 2025-10-29T01:09:09.306Z,1761700149.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:09.694Z,1761700149.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999609,-0.026913,0.007607],[0.025429,-0.987853,-0.153299],[0.011641,-0.153045,0.988151]] 2025-10-29T01:09:09.731Z,1761700149.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:10.071Z,1761700150.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999596,-0.027354,0.007710],[0.025853,-0.987881,-0.153045],[0.011803,-0.152784,0.988189]] 2025-10-29T01:09:10.089Z,1761700150.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:10.476Z,1761700150.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999584,-0.027774,0.007780],[0.026264,-0.987949,-0.152536],[0.011923,-0.152268,0.988267]] 2025-10-29T01:09:10.495Z,1761700150.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:10.878Z,1761700150.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999568,-0.028338,0.007729],[0.026843,-0.988105,-0.151419],[0.011928,-0.151146,0.988440]] 2025-10-29T01:09:10.929Z,1761700150.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:11.283Z,1761700151.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999556,-0.028736,0.007925],[0.027205,-0.988083,-0.151502],[0.012185,-0.151219,0.988425]] 2025-10-29T01:09:11.321Z,1761700151.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:11.719Z,1761700151.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999537,-0.029339,0.008043],[0.027784,-0.988085,-0.151383],[0.012388,-0.151089,0.988443]] 2025-10-29T01:09:11.772Z,1761700151.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:12.090Z,1761700152.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999529,-0.029541,0.008305],[0.027951,-0.988160,-0.150859],[0.012664,-0.150556,0.988520]] 2025-10-29T01:09:12.122Z,1761700152.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:12.495Z,1761700152.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999507,-0.030207,0.008620],[0.028573,-0.988257,-0.150106],[0.013053,-0.149785,0.988632]] 2025-10-29T01:09:12.538Z,1761700152.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:12.962Z,1761700152.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:13.329Z,1761700153.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999491,-0.030641,0.008879],[0.028956,-0.988176,-0.150564],[0.013387,-0.150231,0.988560]] 2025-10-29T01:09:13.349Z,1761700153.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:13.746Z,1761700153.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999485,-0.030878,0.008764],[0.029193,-0.988003,-0.151652],[0.013342,-0.151318,0.988395]] 2025-10-29T01:09:13.798Z,1761700153.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:14.110Z,1761700154.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999463,-0.031634,0.008509],[0.029972,-0.987890,-0.152232],[0.013222,-0.151896,0.988308]] 2025-10-29T01:09:14.130Z,1761700154.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:14.517Z,1761700154.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999460,-0.031752,0.008461],[0.030088,-0.987790,-0.152861],[0.013212,-0.152524,0.988212]] 2025-10-29T01:09:14.534Z,1761700154.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:14.986Z,1761700154.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:15.322Z,1761700155.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999415,-0.033133,0.008457],[0.031493,-0.988200,-0.149895],[0.013323,-0.149541,0.988666]] 2025-10-29T01:09:15.359Z,1761700155.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:15.774Z,1761700155.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999411,-0.033274,0.008388],[0.031637,-0.988139,-0.150270],[0.013288,-0.149916,0.988609]] 2025-10-29T01:09:15.824Z,1761700155.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:16.135Z,1761700156.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999425,-0.032771,0.008746],[0.031069,-0.987964,-0.151529],[0.013606,-0.151170,0.988414]] 2025-10-29T01:09:16.163Z,1761700156.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:16.532Z,1761700156.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999415,-0.032973,0.009041],[0.031223,-0.987951,-0.151584],[0.013931,-0.151213,0.988403]] 2025-10-29T01:09:16.550Z,1761700156.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:16.934Z,1761700156.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.033392,0.009208],[0.031612,-0.987938,-0.151592],[0.014159,-0.151210,0.988400]] 2025-10-29T01:09:16.977Z,1761700156.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:17.229Z,1761700157.229 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:09:17.338Z,1761700157.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999411,-0.033008,0.009409],[0.031196,-0.987886,-0.152015],[0.014313,-0.151632,0.988333]] 2025-10-29T01:09:17.359Z,1761700157.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:17.766Z,1761700157.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999401,-0.033306,0.009366],[0.031501,-0.987915,-0.151762],[0.014307,-0.151376,0.988373]] 2025-10-29T01:09:17.819Z,1761700157.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:18.159Z,1761700158.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999406,-0.033189,0.009249],[0.031400,-0.987886,-0.151973],[0.014181,-0.151593,0.988341]] 2025-10-29T01:09:18.211Z,1761700158.211 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:18.232Z,1761700158.232 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:09:18.550Z,1761700158.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999413,-0.033125,0.008699],[0.031437,-0.988075,-0.150727],[0.013588,-0.150365,0.988537]] 2025-10-29T01:09:18.577Z,1761700158.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:18.955Z,1761700158.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999410,-0.033416,0.007968],[0.031854,-0.988290,-0.149223],[0.012861,-0.148881,0.988771]] 2025-10-29T01:09:19.006Z,1761700159.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:19.359Z,1761700159.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999419,-0.033180,0.007759],[0.031640,-0.988149,-0.150199],[0.012651,-0.149866,0.988625]] 2025-10-29T01:09:19.381Z,1761700159.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:19.789Z,1761700159.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999426,-0.033135,0.007027],[0.031708,-0.988192,-0.149903],[0.011911,-0.149594,0.988676]] 2025-10-29T01:09:19.856Z,1761700159.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:20.172Z,1761700160.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999420,-0.033389,0.006638],[0.032018,-0.988181,-0.149908],[0.011565,-0.149608,0.988678]] 2025-10-29T01:09:20.217Z,1761700160.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:20.574Z,1761700160.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999437,-0.032993,0.006112],[0.031698,-0.988095,-0.150547],[0.011006,-0.150268,0.988584]] 2025-10-29T01:09:20.604Z,1761700160.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:20.981Z,1761700160.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999447,-0.032742,0.005848],[0.031487,-0.988063,-0.150798],[0.010715,-0.150531,0.988547]] 2025-10-29T01:09:21.023Z,1761700161.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:21.387Z,1761700161.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999457,-0.032455,0.005713],[0.031216,-0.987968,-0.151474],[0.010560,-0.151214,0.988445]] 2025-10-29T01:09:21.417Z,1761700161.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:21.793Z,1761700161.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999468,-0.032072,0.005868],[0.030809,-0.987911,-0.151929],[0.010670,-0.151668,0.988374]] 2025-10-29T01:09:21.883Z,1761700161.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:22.255Z,1761700162.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:22.594Z,1761700162.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999437,-0.032834,0.006943],[0.031385,-0.987706,-0.153139],[0.011886,-0.152835,0.988180]] 2025-10-29T01:09:22.624Z,1761700162.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:22.998Z,1761700162.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999418,-0.033317,0.007303],[0.031788,-0.987455,-0.154667],[0.012365,-0.154345,0.987940]] 2025-10-29T01:09:23.042Z,1761700163.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:23.406Z,1761700163.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999399,-0.033751,0.007948],[0.032082,-0.987016,-0.157388],[0.013157,-0.157038,0.987505]] 2025-10-29T01:09:23.428Z,1761700163.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:23.809Z,1761700163.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999387,-0.033953,0.008592],[0.032135,-0.986500,-0.160576],[0.013928,-0.160201,0.986986]] 2025-10-29T01:09:23.843Z,1761700163.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:24.211Z,1761700164.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999369,-0.034367,0.008968],[0.032484,-0.986496,-0.160532],[0.014364,-0.160139,0.986990]] 2025-10-29T01:09:24.259Z,1761700164.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:24.621Z,1761700164.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999373,-0.034152,0.009283],[0.032189,-0.986148,-0.162717],[0.014711,-0.162316,0.986629]] 2025-10-29T01:09:24.661Z,1761700164.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:25.019Z,1761700165.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999365,-0.034427,0.009186],[0.032466,-0.986038,-0.163324],[0.014681,-0.162922,0.986530]] 2025-10-29T01:09:25.083Z,1761700165.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:25.437Z,1761700165.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999360,-0.034570,0.009170],[0.032604,-0.985964,-0.163743],[0.014702,-0.163339,0.986460]] 2025-10-29T01:09:25.460Z,1761700165.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:25.826Z,1761700165.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999376,-0.034195,0.008847],[0.032304,-0.986166,-0.162581],[0.014284,-0.162194,0.986655]] 2025-10-29T01:09:25.872Z,1761700165.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:26.227Z,1761700166.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999399,-0.033603,0.008523],[0.031807,-0.986580,-0.160153],[0.013790,-0.159785,0.987055]] 2025-10-29T01:09:26.280Z,1761700166.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:26.640Z,1761700166.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999431,-0.032603,0.008668],[0.030827,-0.986961,-0.157980],[0.013705,-0.157623,0.987404]] 2025-10-29T01:09:26.663Z,1761700166.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:27.038Z,1761700167.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999442,-0.032201,0.008845],[0.030432,-0.987316,-0.155825],[0.013750,-0.155469,0.987745]] 2025-10-29T01:09:27.081Z,1761700167.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:27.442Z,1761700167.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999423,-0.032798,0.008781],[0.031041,-0.987414,-0.155082],[0.013757,-0.154720,0.987863]] 2025-10-29T01:09:27.479Z,1761700167.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:27.843Z,1761700167.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999400,-0.033588,0.008480],[0.031881,-0.987532,-0.154159],[0.013552,-0.153796,0.988010]] 2025-10-29T01:09:27.866Z,1761700167.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:28.248Z,1761700168.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.034152,0.008288],[0.032489,-0.987758,-0.152575],[0.013398,-0.152212,0.988257]] 2025-10-29T01:09:28.298Z,1761700168.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:28.659Z,1761700168.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999356,-0.034954,0.008127],[0.033330,-0.987992,-0.150869],[0.013303,-0.150501,0.988520]] 2025-10-29T01:09:28.678Z,1761700168.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:29.059Z,1761700169.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.035295,0.008413],[0.033627,-0.988024,-0.150594],[0.013627,-0.150212,0.988560]] 2025-10-29T01:09:29.102Z,1761700169.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:29.463Z,1761700169.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999340,-0.035332,0.008391],[0.033664,-0.987984,-0.150842],[0.013620,-0.150460,0.988522]] 2025-10-29T01:09:29.502Z,1761700169.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:29.867Z,1761700169.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.035181,0.008874],[0.033421,-0.987773,-0.152278],[0.014123,-0.151881,0.988298]] 2025-10-29T01:09:29.885Z,1761700169.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:30.271Z,1761700170.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.034612,0.009219],[0.032795,-0.987664,-0.153115],[0.014405,-0.152714,0.988165]] 2025-10-29T01:09:30.308Z,1761700170.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:30.671Z,1761700170.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999366,-0.034261,0.009695],[0.032349,-0.987415,-0.154804],[0.014877,-0.154392,0.987898]] 2025-10-29T01:09:30.717Z,1761700170.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:31.075Z,1761700171.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999396,-0.033240,0.010124],[0.031234,-0.987036,-0.157433],[0.015226,-0.157022,0.987478]] 2025-10-29T01:09:31.142Z,1761700171.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:31.486Z,1761700171.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999446,-0.031615,0.010444],[0.029530,-0.986577,-0.160604],[0.015381,-0.160207,0.986964]] 2025-10-29T01:09:31.504Z,1761700171.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:31.883Z,1761700171.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999467,-0.030850,0.010648],[0.028731,-0.986496,-0.161245],[0.015478,-0.160853,0.986857]] 2025-10-29T01:09:31.910Z,1761700171.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:32.287Z,1761700172.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999524,-0.028918,0.010797],[0.026792,-0.986463,-0.161779],[0.015330,-0.161413,0.986768]] 2025-10-29T01:09:32.330Z,1761700172.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:32.690Z,1761700172.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999572,-0.026988,0.011265],[0.024856,-0.986970,-0.158975],[0.015408,-0.158627,0.987218]] 2025-10-29T01:09:32.708Z,1761700172.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:33.097Z,1761700173.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999608,-0.025686,0.011142],[0.023670,-0.987835,-0.153692],[0.014954,-0.153368,0.988056]] 2025-10-29T01:09:33.167Z,1761700173.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:33.499Z,1761700173.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999632,-0.024812,0.010972],[0.022864,-0.988187,-0.151535],[0.014602,-0.151228,0.988391]] 2025-10-29T01:09:33.532Z,1761700173.532 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:33.903Z,1761700173.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999658,-0.023825,0.010802],[0.021931,-0.988386,-0.150372],[0.014259,-0.150084,0.988570]] 2025-10-29T01:09:33.920Z,1761700173.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:34.309Z,1761700174.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999673,-0.023192,0.010814],[0.021315,-0.988515,-0.149612],[0.014160,-0.149332,0.988686]] 2025-10-29T01:09:34.345Z,1761700174.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:34.711Z,1761700174.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999676,-0.023023,0.010816],[0.021150,-0.988551,-0.149399],[0.014132,-0.149122,0.988718]] 2025-10-29T01:09:34.741Z,1761700174.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:35.178Z,1761700175.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:35.521Z,1761700175.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999674,-0.023110,0.010844],[0.021240,-0.988635,-0.148830],[0.014160,-0.148551,0.988803]] 2025-10-29T01:09:35.539Z,1761700175.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:35.924Z,1761700175.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999667,-0.023506,0.010649],[0.021680,-0.988826,-0.147492],[0.013997,-0.147212,0.989006]] 2025-10-29T01:09:35.942Z,1761700175.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:36.326Z,1761700176.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999664,-0.023646,0.010582],[0.021826,-0.988791,-0.147702],[0.013956,-0.147421,0.988975]] 2025-10-29T01:09:36.369Z,1761700176.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:36.730Z,1761700176.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999658,-0.023948,0.010490],[0.022118,-0.988583,-0.149044],[0.013939,-0.148761,0.988775]] 2025-10-29T01:09:36.768Z,1761700176.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:37.139Z,1761700177.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999656,-0.024310,0.009875],[0.022537,-0.988225,-0.151339],[0.013438,-0.151064,0.988433]] 2025-10-29T01:09:37.177Z,1761700177.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:37.538Z,1761700177.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999648,-0.024791,0.009476],[0.023048,-0.987925,-0.153206],[0.013160,-0.152934,0.988149]] 2025-10-29T01:09:37.569Z,1761700177.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:37.983Z,1761700177.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:38.361Z,1761700178.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999612,-0.026315,0.009077],[0.024608,-0.987799,-0.153778],[0.013013,-0.153495,0.988064]] 2025-10-29T01:09:38.406Z,1761700178.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:38.757Z,1761700178.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999590,-0.027191,0.009003],[0.025482,-0.987744,-0.153988],[0.013080,-0.153695,0.988032]] 2025-10-29T01:09:38.786Z,1761700178.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:39.154Z,1761700179.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999572,-0.027762,0.009181],[0.026001,-0.987523,-0.155315],[0.013378,-0.155010,0.987822]] 2025-10-29T01:09:39.206Z,1761700179.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:39.558Z,1761700179.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999520,-0.029526,0.009411],[0.027737,-0.987800,-0.153237],[0.013820,-0.152902,0.988145]] 2025-10-29T01:09:39.576Z,1761700179.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:39.968Z,1761700179.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999486,-0.030609,0.009483],[0.028797,-0.987777,-0.153189],[0.014056,-0.152837,0.988151]] 2025-10-29T01:09:39.986Z,1761700179.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:40.366Z,1761700180.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999464,-0.031345,0.009445],[0.029525,-0.987695,-0.153579],[0.014142,-0.153218,0.988091]] 2025-10-29T01:09:40.409Z,1761700180.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:40.778Z,1761700180.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999423,-0.032518,0.009841],[0.030622,-0.987656,-0.153615],[0.014715,-0.153225,0.988082]] 2025-10-29T01:09:40.812Z,1761700180.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:41.177Z,1761700181.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999393,-0.033246,0.010400],[0.031249,-0.987555,-0.154136],[0.015395,-0.153718,0.987995]] 2025-10-29T01:09:41.214Z,1761700181.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:41.624Z,1761700181.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:41.987Z,1761700181.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999362,-0.033692,0.011875],[0.031443,-0.987374,-0.155252],[0.016956,-0.154780,0.987803]] 2025-10-29T01:09:42.020Z,1761700182.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:42.387Z,1761700182.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999339,-0.034259,0.012166],[0.031997,-0.987700,-0.153053],[0.017260,-0.152562,0.988143]] 2025-10-29T01:09:42.443Z,1761700182.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:42.793Z,1761700182.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999341,-0.034194,0.012215],[0.031951,-0.987929,-0.151578],[0.017250,-0.151088,0.988370]] 2025-10-29T01:09:42.810Z,1761700182.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:43.195Z,1761700183.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999353,-0.033750,0.012407],[0.031507,-0.988151,-0.150215],[0.017330,-0.149727,0.988576]] 2025-10-29T01:09:43.238Z,1761700183.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:43.610Z,1761700183.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999349,-0.033863,0.012420],[0.031625,-0.988221,-0.149727],[0.017344,-0.149237,0.988649]] 2025-10-29T01:09:43.635Z,1761700183.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:44.003Z,1761700184.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.033783,0.011953],[0.031643,-0.988457,-0.148161],[0.016820,-0.147688,0.988891]] 2025-10-29T01:09:44.021Z,1761700184.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:44.408Z,1761700184.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.033866,0.011657],[0.031775,-0.988515,-0.147747],[0.016526,-0.147282,0.988956]] 2025-10-29T01:09:44.444Z,1761700184.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:44.810Z,1761700184.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999345,-0.034258,0.011649],[0.032168,-0.988541,-0.147484],[0.016568,-0.147013,0.988996]] 2025-10-29T01:09:44.835Z,1761700184.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:45.214Z,1761700185.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999343,-0.034294,0.011701],[0.032163,-0.988249,-0.149428],[0.016688,-0.148953,0.988703]] 2025-10-29T01:09:45.259Z,1761700185.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:45.621Z,1761700185.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999355,-0.033913,0.011848],[0.031750,-0.988131,-0.150296],[0.016804,-0.149822,0.988570]] 2025-10-29T01:09:45.639Z,1761700185.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:46.028Z,1761700186.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.033866,0.011661],[0.031707,-0.987908,-0.151764],[0.016660,-0.151297,0.988348]] 2025-10-29T01:09:46.046Z,1761700186.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:46.432Z,1761700186.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999358,-0.033917,0.011562],[0.031762,-0.987811,-0.152383],[0.016590,-0.151918,0.988254]] 2025-10-29T01:09:46.468Z,1761700186.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:46.834Z,1761700186.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999352,-0.034044,0.011705],[0.031852,-0.987679,-0.153219],[0.016777,-0.152746,0.988123]] 2025-10-29T01:09:46.861Z,1761700186.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:47.241Z,1761700187.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999354,-0.033932,0.011825],[0.031714,-0.987600,-0.153756],[0.016896,-0.153281,0.988038]] 2025-10-29T01:09:47.278Z,1761700187.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:47.643Z,1761700187.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999356,-0.033829,0.011938],[0.031588,-0.987554,-0.154078],[0.017002,-0.153602,0.987987]] 2025-10-29T01:09:47.670Z,1761700187.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:48.046Z,1761700188.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999359,-0.033859,0.011592],[0.031673,-0.987566,-0.153980],[0.016662,-0.153514,0.988006]] 2025-10-29T01:09:48.079Z,1761700188.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:48.352Z,1761700188.352 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:09:48.451Z,1761700188.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999360,-0.033874,0.011512],[0.031699,-0.987553,-0.154058],[0.016587,-0.153594,0.987995]] 2025-10-29T01:09:48.502Z,1761700188.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:48.856Z,1761700188.856 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999354,-0.034131,0.011272],[0.032001,-0.987643,-0.153417],[0.016369,-0.152957,0.988097]] 2025-10-29T01:09:48.873Z,1761700188.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:49.266Z,1761700189.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999351,-0.034295,0.011026],[0.032220,-0.987815,-0.152261],[0.016114,-0.151807,0.988279]] 2025-10-29T01:09:49.315Z,1761700189.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:49.356Z,1761700189.356 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:09:49.662Z,1761700189.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999343,-0.034619,0.010704],[0.032624,-0.988144,-0.150027],[0.015770,-0.149579,0.988624]] 2025-10-29T01:09:49.680Z,1761700189.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:50.068Z,1761700190.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999335,-0.034893,0.010543],[0.032929,-0.988228,-0.149404],[0.015632,-0.148958,0.988720]] 2025-10-29T01:09:50.120Z,1761700190.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:50.538Z,1761700190.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:50.875Z,1761700190.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999355,-0.034426,0.010195],[0.032515,-0.988209,-0.149617],[0.015226,-0.149189,0.988692]] 2025-10-29T01:09:50.900Z,1761700190.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:51.294Z,1761700191.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999379,-0.033771,0.010095],[0.031879,-0.988195,-0.149846],[0.015037,-0.149431,0.988658]] 2025-10-29T01:09:51.336Z,1761700191.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:51.682Z,1761700191.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999379,-0.033821,0.009841],[0.031974,-0.988267,-0.149353],[0.014777,-0.148946,0.988735]] 2025-10-29T01:09:51.701Z,1761700191.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:52.098Z,1761700192.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999379,-0.033865,0.009729],[0.032036,-0.988281,-0.149244],[0.014669,-0.148840,0.988752]] 2025-10-29T01:09:52.117Z,1761700192.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:52.491Z,1761700192.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999386,-0.033669,0.009717],[0.031840,-0.988248,-0.149507],[0.014637,-0.149106,0.988713]] 2025-10-29T01:09:52.534Z,1761700192.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:52.894Z,1761700192.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999403,-0.033239,0.009410],[0.031443,-0.988071,-0.150753],[0.014309,-0.150367,0.988527]] 2025-10-29T01:09:52.913Z,1761700192.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:53.337Z,1761700193.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999406,-0.033124,0.009544],[0.031310,-0.988082,-0.150708],[0.014422,-0.150319,0.988532]] 2025-10-29T01:09:53.419Z,1761700193.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:53.703Z,1761700193.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999410,-0.033034,0.009416],[0.031242,-0.988104,-0.150582],[0.014278,-0.150199,0.988553]] 2025-10-29T01:09:53.729Z,1761700193.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:54.109Z,1761700194.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999386,-0.033780,0.009251],[0.032023,-0.988282,-0.149239],[0.014184,-0.148851,0.988758]] 2025-10-29T01:09:54.147Z,1761700194.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:54.511Z,1761700194.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999382,-0.034010,0.008926],[0.032299,-0.988272,-0.149247],[0.013897,-0.148867,0.988760]] 2025-10-29T01:09:54.571Z,1761700194.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:54.916Z,1761700194.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999378,-0.034165,0.008797],[0.032470,-0.988256,-0.149320],[0.013795,-0.148941,0.988750]] 2025-10-29T01:09:54.939Z,1761700194.939 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:09:54.941Z,1761700194.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:55.062Z,1761700195.062 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:09:55.062Z,1761700195.062 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:09:55.315Z,1761700195.315 [DAT](INFO): DAT read: user:672> 2025-10-29T01:09:55.318Z,1761700195.318 [DAT](INFO): DAT read: Tx time:01:09:55.0677 2025-10-29T01:09:55.319Z,1761700195.319 [DAT](INFO): Ping request sent. 2025-10-29T01:09:55.319Z,1761700195.319 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:09:55.320Z,1761700195.320 [DAT](INFO): publishing transmit ping time 2025-10-29T01:09:55.322Z,1761700195.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002598 2025-10-29T01:09:55.362Z,1761700195.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999365,-0.034640,0.008380],[0.032978,-0.987969,-0.151092],[0.013513,-0.150720,0.988484]] 2025-10-29T01:09:55.435Z,1761700195.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:55.566Z,1761700195.566 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247136 2025-10-29T01:09:55.777Z,1761700195.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:55.817Z,1761700195.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498266 2025-10-29T01:09:56.070Z,1761700196.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750075 2025-10-29T01:09:56.138Z,1761700196.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999354,-0.034925,0.008445],[0.033201,-0.987413,-0.154637],[0.013740,-0.154256,0.987935]] 2025-10-29T01:09:56.187Z,1761700196.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:56.324Z,1761700196.324 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004084 2025-10-29T01:09:56.544Z,1761700196.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999342,-0.035345,0.008198],[0.033655,-0.987413,-0.154539],[0.013557,-0.154162,0.987953]] 2025-10-29T01:09:56.574Z,1761700196.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254728 2025-10-29T01:09:56.617Z,1761700196.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:56.825Z,1761700196.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505783 2025-10-29T01:09:56.947Z,1761700196.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999311,-0.036230,0.008038],[0.034561,-0.987450,-0.154105],[0.013520,-0.153721,0.988022]] 2025-10-29T01:09:56.971Z,1761700196.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:57.081Z,1761700197.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761365 2025-10-29T01:09:57.331Z,1761700197.331 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011758 2025-10-29T01:09:57.383Z,1761700197.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999297,-0.036710,0.007672],[0.035097,-0.987499,-0.153670],[0.013217,-0.153293,0.988092]] 2025-10-29T01:09:57.419Z,1761700197.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:57.582Z,1761700197.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262708 2025-10-29T01:09:57.761Z,1761700197.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999293,-0.036790,0.007706],[0.035178,-0.987580,-0.153126],[0.013243,-0.152747,0.988177]] 2025-10-29T01:09:57.800Z,1761700197.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:57.833Z,1761700197.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513935 2025-10-29T01:09:58.085Z,1761700198.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766352 2025-10-29T01:09:58.164Z,1761700198.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999287,-0.036865,0.008160],[0.035219,-0.987984,-0.150489],[0.013610,-0.150094,0.988578]] 2025-10-29T01:09:58.185Z,1761700198.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:58.341Z,1761700198.341 [DAT](INFO): DAT read: Rx Time:01:09:57.7226 2025-10-29T01:09:58.343Z,1761700198.343 [DAT](INFO): Rx dataTimestamp_ set to:1761700198.341390 2025-10-29T01:09:58.345Z,1761700198.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024894 2025-10-29T01:09:58.570Z,1761700198.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999273,-0.037181,0.008455],[0.035525,-0.988374,-0.147836],[0.013853,-0.147428,0.988976]] 2025-10-29T01:09:58.589Z,1761700198.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269952 2025-10-29T01:09:58.603Z,1761700198.603 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3768,-32768,V32768,-32768,-32768,V 2025-10-29T01:09:58.618Z,1761700198.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:58.842Z,1761700198.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522136 2025-10-29T01:09:58.966Z,1761700198.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999283,-0.036841,0.008774],[0.035156,-0.988542,-0.146796],[0.014081,-0.146382,0.989128]] 2025-10-29T01:09:58.985Z,1761700198.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.72 m. 2025-10-29T01:09:59.103Z,1761700199.103 [DAT](INFO): DAT read: 01:09:57.7226 LVL= 31472, 30369, 32754, 28851, AGC= 73, IDX= 197,-0.20, 1.779, 2.806, 1.915, 1.348, PHS= 0.533, 1.503, 0.523, RAW= 330.5, -42.9, CAL= 329.9, -46.0, ROT= 180.1, 46.0 2025-10-29T01:09:59.106Z,1761700199.106 [DAT](INFO): got valid direction response: 01:09:57.7226 LVL= 31472, 30369, 32754, 28851, AGC= 73, IDX= 197,-0.20, 1.779, 2.806, 1.915, 1.348, PHS= 0.533, 1.503, 0.523, RAW= 330.5, -42.9, CAL= 329.9, -46.0, ROT= 180.1, 46.0 2025-10-29T01:09:59.107Z,1761700199.107 [DAT](INFO): DAT read: Bearing 193.2, 6.0 (Local) 2025-10-29T01:09:59.107Z,1761700199.107 [DAT](INFO): Local bearing/azimuth received: Bearing 193.2, 6.0 (Local) 2025-10-29T01:09:59.109Z,1761700199.109 [DAT](INFO): DAT read: Range 11 to 50 : 188.0 m (Round-trip 250.7 ms) speed -1.1 m/s 2025-10-29T01:09:59.110Z,1761700199.110 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:09:59.111Z,1761700199.111 [DAT](INFO): direction in FSK: [-0.694657,-0.001213,-0.719340] 2025-10-29T01:09:59.111Z,1761700199.111 [DAT](INFO): publishing direction and range info 2025-10-29T01:09:59.406Z,1761700199.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999281,-0.036822,0.009014],[0.035113,-0.988662,-0.145996],[0.014288,-0.145575,0.989244]] 2025-10-29T01:09:59.454Z,1761700199.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 188.000000 m, deltaT: 120.532309 s, deltaX: 136.000000 m, approachRate: 1.128328 m/s, rangeRepo size: 4 2025-10-29T01:09:59.456Z,1761700199.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 186.997177 m, bearing: 6.785414 deg, lat: 36.779281 deg, lon: -121.859498 deg, deltaT: 120.532309 s, deltaX: 135.277649 m, approachRate: 1.122335 m/s, posRepo size: 4 2025-10-29T01:09:59.456Z,1761700199.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 187.00 m. 2025-10-29T01:09:59.457Z,1761700199.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Completed rollout at range: 188.00 m. Resuming terminal guidance. 2025-10-29T01:09:59.457Z,1761700199.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-29T01:09:59.780Z,1761700199.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999292,-0.036422,0.009389],[0.034665,-0.988696,-0.145874],[0.014596,-0.145445,0.989259]] 2025-10-29T01:09:59.807Z,1761700199.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-29T01:09:59.807Z,1761700199.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:09:59.807Z,1761700199.807 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-29T01:09:59.813Z,1761700199.813 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 188.000000 m (mode 1.000000 count ). 2025-10-29T01:09:59.813Z,1761700199.813 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-29T01:09:59.813Z,1761700199.813 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-29T01:10:00.178Z,1761700200.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999306,-0.036004,0.009596],[0.034224,-0.988730,-0.145745],[0.014735,-0.145316,0.989276]] 2025-10-29T01:10:00.198Z,1761700200.198 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-29T01:10:00.198Z,1761700200.198 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-29T01:10:00.199Z,1761700200.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:00.355Z,1761700200.355 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:00.356Z,1761700200.356 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:00.356Z,1761700200.356 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:00.591Z,1761700200.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999306,-0.035834,0.010122],[0.033995,-0.988896,-0.144667],[0.015194,-0.144223,0.989429]] 2025-10-29T01:10:00.605Z,1761700200.605 [DAT](INFO): DAT read: user:673> 2025-10-29T01:10:00.606Z,1761700200.606 [DAT](INFO): DAT read: Tx time:01:10:00.3677 2025-10-29T01:10:00.606Z,1761700200.606 [DAT](INFO): Ping request sent. 2025-10-29T01:10:00.606Z,1761700200.606 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:00.606Z,1761700200.606 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:00.607Z,1761700200.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-29T01:10:00.628Z,1761700200.628 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-29T01:10:00.628Z,1761700200.628 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-29T01:10:00.858Z,1761700200.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251457 2025-10-29T01:10:00.987Z,1761700200.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999280,-0.036316,0.010943],[0.034366,-0.988994,-0.143909],[0.016049,-0.143430,0.989530]] 2025-10-29T01:10:01.002Z,1761700201.002 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-29T01:10:01.003Z,1761700201.003 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:10:01.003Z,1761700201.003 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-29T01:10:01.003Z,1761700201.003 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:10:01.109Z,1761700201.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502810 2025-10-29T01:10:01.361Z,1761700201.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754835 2025-10-29T01:10:01.439Z,1761700201.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999223,-0.037578,0.011893],[0.035444,-0.988659,-0.145935],[0.017242,-0.145400,0.989223]] 2025-10-29T01:10:01.613Z,1761700201.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006830 2025-10-29T01:10:01.825Z,1761700201.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.999122,-0.039878,0.012856],[0.037535,-0.988229,-0.148306],[0.018619,-0.147694,0.988858]] 2025-10-29T01:10:01.865Z,1761700201.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258884 2025-10-29T01:10:02.117Z,1761700202.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510793 2025-10-29T01:10:02.230Z,1761700202.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998908,-0.044862,0.013011],[0.042333,-0.987202,-0.153753],[0.019742,-0.153034,0.988024]] 2025-10-29T01:10:02.250Z,1761700202.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:02.369Z,1761700202.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762794 2025-10-29T01:10:02.621Z,1761700202.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014833 2025-10-29T01:10:02.639Z,1761700202.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998528,-0.052713,0.012745],[0.049881,-0.984933,-0.165589],[0.021282,-0.164709,0.986113]] 2025-10-29T01:10:02.874Z,1761700202.874 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267766 2025-10-29T01:10:03.116Z,1761700203.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996997,-0.076914,0.008981],[0.073375,-0.975403,-0.207860],[0.024747,-0.206577,0.978117]] 2025-10-29T01:10:03.125Z,1761700203.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518945 2025-10-29T01:10:03.377Z,1761700203.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770739 2025-10-29T01:10:03.520Z,1761700203.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.995671,-0.092772,0.005658],[0.089082,-0.969889,-0.226671],[0.026516,-0.225186,0.973955]] 2025-10-29T01:10:03.629Z,1761700203.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022828 2025-10-29T01:10:03.881Z,1761700203.881 [DAT](INFO): DAT read: Rx Time:01:10:03.0255 2025-10-29T01:10:03.881Z,1761700203.881 [DAT](INFO): Rx dataTimestamp_ set to:1761700203.881034 2025-10-29T01:10:03.882Z,1761700203.882 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275787 2025-10-29T01:10:03.922Z,1761700203.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993820,-0.111002,0.000498],[0.107406,-0.962739,-0.248190],[0.028029,-0.246602,0.968711]] 2025-10-29T01:10:04.133Z,1761700204.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526750 2025-10-29T01:10:04.327Z,1761700204.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.991326,-0.131325,-0.005191],[0.127849,-0.954429,-0.269667],[0.030460,-0.267991,0.962940]] 2025-10-29T01:10:04.343Z,1761700204.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:04.391Z,1761700204.391 [DAT](INFO): DAT read: 01:10:03.0255 LVL= 32752, 31729, 32754, 32755, AGC= 71, IDX= 87,-0.00,-0.802, 1.231,-0.223, 0.084, PHS=-0.784, 1.192,-0.350, RAW= 318.0, -0.7, CAL= 316.4, -3.8, ROT= 193.6, 3.8 2025-10-29T01:10:04.393Z,1761700204.393 [DAT](INFO): got valid direction response: 01:10:03.0255 LVL= 32752, 31729, 32754, 32755, AGC= 71, IDX= 87,-0.00,-0.802, 1.231,-0.223, 0.084, PHS=-0.784, 1.192,-0.350, RAW= 318.0, -0.7, CAL= 316.4, -3.8, ROT= 193.6, 3.8 2025-10-29T01:10:04.394Z,1761700204.394 [DAT](INFO): DAT read: Bearing 151.9, -13.6 (Local) 2025-10-29T01:10:04.395Z,1761700204.395 [DAT](INFO): Local bearing/azimuth received: Bearing 151.9, -13.6 (Local) 2025-10-29T01:10:04.397Z,1761700204.397 [DAT](INFO): DAT read: Range 11 to 50 : 190.2 m (Round-trip 253.7 ms) speed -0.3 m/s 2025-10-29T01:10:04.398Z,1761700204.398 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:04.399Z,1761700204.399 [DAT](INFO): direction in FSK: [-0.969824,-0.234625,-0.066274] 2025-10-29T01:10:04.409Z,1761700204.409 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:04.421Z,1761700204.421 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:04.421Z,1761700204.421 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:04.421Z,1761700204.421 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:04.638Z,1761700204.638 [DAT](INFO): DAT read: user:674> 2025-10-29T01:10:04.638Z,1761700204.638 [DAT](INFO): DAT read: Tx time:01:10:04.4177 2025-10-29T01:10:04.639Z,1761700204.639 [DAT](INFO): Ping request sent. 2025-10-29T01:10:04.639Z,1761700204.639 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:04.639Z,1761700204.639 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:04.640Z,1761700204.640 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000746 2025-10-29T01:10:04.744Z,1761700204.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.988134,-0.153221,-0.010719],[0.149824,-0.946145,-0.286990],[0.033831,-0.285190,0.957874]] 2025-10-29T01:10:04.810Z,1761700204.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 190.199997 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-29T01:10:04.817Z,1761700204.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 189.185608 m, bearing: 5.494383 deg, lat: 36.779281 deg, lon: -121.859478 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-29T01:10:04.818Z,1761700204.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:04.824Z,1761700204.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 136.016647 m, bearing: 2.276350 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 358.395559 deg, new cmd heading: 2.276350 deg. 2025-10-29T01:10:04.825Z,1761700204.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039730 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:04.889Z,1761700204.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250238 2025-10-29T01:10:05.141Z,1761700205.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501895 2025-10-29T01:10:05.147Z,1761700205.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.984188,-0.176356,-0.016482],[0.173090,-0.937850,-0.300794],[0.037589,-0.298891,0.953547]] 2025-10-29T01:10:05.166Z,1761700205.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:05.168Z,1761700205.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 136.268265 m, bearing: 2.264496 deg, approach rate: 0.706479 m/s, LOS rate: -0.033223 deg/s, cmd heading: 2.276350 deg, new cmd heading: 2.264496 deg. 2025-10-29T01:10:05.169Z,1761700205.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039523 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:05.393Z,1761700205.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754003 2025-10-29T01:10:05.551Z,1761700205.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979682,-0.199367,-0.021825],[0.196172,-0.929931,-0.311039],[0.041715,-0.309000,0.950147]] 2025-10-29T01:10:05.605Z,1761700205.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:05.608Z,1761700205.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 136.543381 m, bearing: 2.247331 deg, approach rate: 0.625734 m/s, LOS rate: -0.038962 deg/s, cmd heading: 2.264496 deg, new cmd heading: 2.247331 deg. 2025-10-29T01:10:05.609Z,1761700205.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039223 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:05.645Z,1761700205.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006122 2025-10-29T01:10:05.897Z,1761700205.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257978 2025-10-29T01:10:06.000Z,1761700206.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:06.003Z,1761700206.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 136.783234 m, bearing: 2.232422 deg, approach rate: 0.607472 m/s, LOS rate: -0.037694 deg/s, cmd heading: 2.247331 deg, new cmd heading: 2.232422 deg. 2025-10-29T01:10:06.003Z,1761700206.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038963 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:06.149Z,1761700206.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509999 2025-10-29T01:10:06.354Z,1761700206.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.968929,-0.245218,-0.032316],[0.242373,-0.915294,-0.321701],[0.049308,-0.319538,0.946290]] 2025-10-29T01:10:06.383Z,1761700206.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:06.385Z,1761700206.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:06.388Z,1761700206.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 137.029236 m, bearing: 2.212086 deg, approach rate: 0.638522 m/s, LOS rate: -0.052689 deg/s, cmd heading: 2.232422 deg, new cmd heading: 2.212086 deg. 2025-10-29T01:10:06.389Z,1761700206.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038608 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:06.401Z,1761700206.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762045 2025-10-29T01:10:06.653Z,1761700206.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013948 2025-10-29T01:10:06.766Z,1761700206.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962695,-0.268298,-0.035144],[0.265307,-0.910364,-0.317567],[0.053209,-0.315044,0.947584]] 2025-10-29T01:10:06.817Z,1761700206.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:06.820Z,1761700206.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 137.297409 m, bearing: 2.190083 deg, approach rate: 0.620677 m/s, LOS rate: -0.050824 deg/s, cmd heading: 2.212086 deg, new cmd heading: 2.190083 deg. 2025-10-29T01:10:06.821Z,1761700206.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038224 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:06.905Z,1761700206.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266045 2025-10-29T01:10:07.162Z,1761700207.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523217 2025-10-29T01:10:07.286Z,1761700207.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955738,-0.291761,-0.037942],[0.288714,-0.905201,-0.311858],[0.056643,-0.309009,0.949371]] 2025-10-29T01:10:07.303Z,1761700207.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:07.306Z,1761700207.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 137.597397 m, bearing: 2.162455 deg, approach rate: 0.617421 m/s, LOS rate: -0.056739 deg/s, cmd heading: 2.190083 deg, new cmd heading: 2.162455 deg. 2025-10-29T01:10:07.307Z,1761700207.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037742 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:07.410Z,1761700207.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771219 2025-10-29T01:10:07.661Z,1761700207.661 [DAT](INFO): DAT read: Rx Time:01:10:07.0074 2025-10-29T01:10:07.661Z,1761700207.661 [DAT](INFO): Rx dataTimestamp_ set to:1761700207.661209 2025-10-29T01:10:07.662Z,1761700207.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023138 2025-10-29T01:10:07.683Z,1761700207.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948483,-0.314155,-0.041078],[0.311171,-0.899288,-0.307332],[0.059609,-0.304282,0.950715]] 2025-10-29T01:10:07.756Z,1761700207.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:07.760Z,1761700207.760 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 137.857224 m, bearing: 2.135842 deg, approach rate: 0.574600 m/s, LOS rate: -0.058745 deg/s, cmd heading: 2.162455 deg, new cmd heading: 2.135842 deg. 2025-10-29T01:10:07.773Z,1761700207.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037277 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:07.913Z,1761700207.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273967 2025-10-29T01:10:08.170Z,1761700208.170 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530507 2025-10-29T01:10:08.227Z,1761700208.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940859,-0.335914,-0.044106],[0.333165,-0.893705,-0.300487],[0.061520,-0.297411,0.952765]] 2025-10-29T01:10:08.256Z,1761700208.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:08.259Z,1761700208.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 138.152954 m, bearing: 2.102696 deg, approach rate: 0.590802 m/s, LOS rate: -0.066075 deg/s, cmd heading: 2.135842 deg, new cmd heading: 2.102696 deg. 2025-10-29T01:10:08.259Z,1761700208.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036699 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:08.422Z,1761700208.422 [DAT](INFO): DAT read: 01:10:07.0074 LVL= 32752, 32193, 32754, 32755, AGC= 71, IDX= 233, 0.44,-0.556, 1.680, 0.474, 0.547, PHS=-1.000, 1.179,-0.117, RAW= 306.2, -0.7, CAL= 304.6, -4.3, ROT= 205.4, 4.3 2025-10-29T01:10:08.423Z,1761700208.423 [DAT](INFO): got valid direction response: 01:10:07.0074 LVL= 32752, 32193, 32754, 32755, AGC= 71, IDX= 233, 0.44,-0.556, 1.680, 0.474, 0.547, PHS=-1.000, 1.179,-0.117, RAW= 306.2, -0.7, CAL= 304.6, -4.3, ROT= 205.4, 4.3 2025-10-29T01:10:08.424Z,1761700208.424 [DAT](INFO): DAT read: Bearing 145.2, -25.8 (Local) 2025-10-29T01:10:08.425Z,1761700208.425 [DAT](INFO): Local bearing/azimuth received: Bearing 145.2, -25.8 (Local) 2025-10-29T01:10:08.426Z,1761700208.426 [DAT](INFO): DAT read: Range 11 to 50 : 139.2 m (Round-trip 185.6 ms) speed -0.7 m/s 2025-10-29T01:10:08.427Z,1761700208.427 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:08.427Z,1761700208.427 [DAT](INFO): direction in FSK: [-0.900793,-0.427728,-0.074979] 2025-10-29T01:10:08.428Z,1761700208.428 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:08.431Z,1761700208.431 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:08.431Z,1761700208.431 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:08.431Z,1761700208.431 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:08.622Z,1761700208.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932976,-0.356967,-0.046152],[0.354400,-0.888633,-0.291087],[0.062896,-0.287934,0.955583]] 2025-10-29T01:10:08.669Z,1761700208.669 [DAT](INFO): DAT read: user:675> 2025-10-29T01:10:08.670Z,1761700208.670 [DAT](INFO): DAT read: Tx time:01:10:08.4176 2025-10-29T01:10:08.670Z,1761700208.670 [DAT](INFO): Ping request sent. 2025-10-29T01:10:08.670Z,1761700208.670 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:08.670Z,1761700208.670 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:08.671Z,1761700208.671 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000760 2025-10-29T01:10:08.719Z,1761700208.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 139.199997 m, deltaT: 4.031828 s, deltaX: -51.000000 m, approachRate: -12.649349 m/s, rangeRepo size: 1 2025-10-29T01:10:08.724Z,1761700208.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:08.726Z,1761700208.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 138.400864 m, bearing: 2.073066 deg, approach rate: 0.535982 m/s, LOS rate: -0.063947 deg/s, cmd heading: 2.102696 deg, new cmd heading: 2.073066 deg. 2025-10-29T01:10:08.727Z,1761700208.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036182 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:08.921Z,1761700208.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250922 2025-10-29T01:10:09.069Z,1761700209.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924241,-0.378921,-0.046881],[0.376498,-0.884076,-0.276874],[0.063467,-0.273548,0.959762]] 2025-10-29T01:10:09.107Z,1761700209.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:09.113Z,1761700209.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:09.115Z,1761700209.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 138.628860 m, bearing: 2.043594 deg, approach rate: 0.577877 m/s, LOS rate: -0.074575 deg/s, cmd heading: 2.073066 deg, new cmd heading: 2.043594 deg. 2025-10-29T01:10:09.121Z,1761700209.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035667 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:09.174Z,1761700209.174 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504063 2025-10-29T01:10:09.425Z,1761700209.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754754 2025-10-29T01:10:09.470Z,1761700209.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915364,-0.399701,-0.048455],[0.397579,-0.878319,-0.265492],[0.063559,-0.262287,0.962895]] 2025-10-29T01:10:09.552Z,1761700209.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:09.562Z,1761700209.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 138.857620 m, bearing: 2.011838 deg, approach rate: 0.528339 m/s, LOS rate: -0.073224 deg/s, cmd heading: 2.043594 deg, new cmd heading: 2.011838 deg. 2025-10-29T01:10:09.563Z,1761700209.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035113 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:09.677Z,1761700209.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006889 2025-10-29T01:10:09.871Z,1761700209.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905689,-0.420894,-0.050750],[0.419196,-0.871247,-0.255349],[0.063259,-0.252541,0.965516]] 2025-10-29T01:10:09.929Z,1761700209.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258767 2025-10-29T01:10:10.012Z,1761700210.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:10.014Z,1761700210.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 139.139877 m, bearing: 1.965006 deg, approach rate: 0.606476 m/s, LOS rate: -0.100421 deg/s, cmd heading: 2.011838 deg, new cmd heading: 1.965006 deg. 2025-10-29T01:10:10.015Z,1761700210.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034296 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:10.181Z,1761700210.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510921 2025-10-29T01:10:10.353Z,1761700210.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:10.356Z,1761700210.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 139.321640 m, bearing: 1.934959 deg, approach rate: 0.531935 m/s, LOS rate: -0.087819 deg/s, cmd heading: 1.965006 deg, new cmd heading: 1.934959 deg. 2025-10-29T01:10:10.361Z,1761700210.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033771 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:10.434Z,1761700210.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763607 2025-10-29T01:10:10.685Z,1761700210.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014778 2025-10-29T01:10:10.710Z,1761700210.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874096,-0.480936,-0.068237],[0.481833,-0.840632,-0.247337],[0.061591,-0.249075,0.966524]] 2025-10-29T01:10:10.780Z,1761700210.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:10.786Z,1761700210.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 139.544724 m, bearing: 1.893770 deg, approach rate: 0.523342 m/s, LOS rate: -0.096473 deg/s, cmd heading: 1.934959 deg, new cmd heading: 1.893770 deg. 2025-10-29T01:10:10.787Z,1761700210.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033053 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:10.937Z,1761700210.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266711 2025-10-29T01:10:11.119Z,1761700211.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.862471,-0.500289,-0.076517],[0.502455,-0.828276,-0.247989],[0.060689,-0.252330,0.965736]] 2025-10-29T01:10:11.135Z,1761700211.135 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:11.137Z,1761700211.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:11.139Z,1761700211.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 139.746445 m, bearing: 1.854243 deg, approach rate: 0.564397 m/s, LOS rate: -0.110435 deg/s, cmd heading: 1.893770 deg, new cmd heading: 1.854243 deg. 2025-10-29T01:10:11.141Z,1761700211.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032363 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:11.189Z,1761700211.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518924 2025-10-29T01:10:11.441Z,1761700211.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770829 2025-10-29T01:10:11.563Z,1761700211.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.850362,-0.519340,-0.084676],[0.522770,-0.815472,-0.248431],[0.059969,-0.255522,0.964942]] 2025-10-29T01:10:11.622Z,1761700211.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:11.625Z,1761700211.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 139.995972 m, bearing: 1.804589 deg, approach rate: 0.514272 m/s, LOS rate: -0.102153 deg/s, cmd heading: 1.854242 deg, new cmd heading: 1.804589 deg. 2025-10-29T01:10:11.626Z,1761700211.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031496 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:11.696Z,1761700211.696 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.025408 2025-10-29T01:10:11.949Z,1761700211.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278870 2025-10-29T01:10:11.973Z,1761700211.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.837268,-0.538797,-0.093172],[0.543630,-0.801947,-0.247685],[0.058733,-0.258030,0.964350]] 2025-10-29T01:10:11.991Z,1761700211.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:11.993Z,1761700211.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 140.183258 m, bearing: 1.765070 deg, approach rate: 0.507968 m/s, LOS rate: -0.107041 deg/s, cmd heading: 1.804589 deg, new cmd heading: 1.765070 deg. 2025-10-29T01:10:11.994Z,1761700211.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030806 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:12.201Z,1761700212.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530898 2025-10-29T01:10:12.433Z,1761700212.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.823911,-0.557722,-0.100579],[0.563774,-0.788551,-0.245653],[0.057695,-0.259100,0.964126]] 2025-10-29T01:10:12.453Z,1761700212.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782903 2025-10-29T01:10:12.461Z,1761700212.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:12.463Z,1761700212.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 140.418076 m, bearing: 1.712712 deg, approach rate: 0.499686 m/s, LOS rate: -0.111231 deg/s, cmd heading: 1.765070 deg, new cmd heading: 1.712712 deg. 2025-10-29T01:10:12.464Z,1761700212.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.029892 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:12.705Z,1761700212.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034949 2025-10-29T01:10:12.873Z,1761700212.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.810018,-0.576343,-0.108169],[0.583686,-0.774681,-0.243271],[0.056411,-0.260190,0.963908]] 2025-10-29T01:10:12.925Z,1761700212.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:12.927Z,1761700212.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 140.639603 m, bearing: 1.659755 deg, approach rate: 0.477568 m/s, LOS rate: -0.113984 deg/s, cmd heading: 1.712712 deg, new cmd heading: 1.659755 deg. 2025-10-29T01:10:12.932Z,1761700212.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028968 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:12.959Z,1761700212.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.288877 2025-10-29T01:10:13.209Z,1761700213.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538787 2025-10-29T01:10:13.275Z,1761700213.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.795710,-0.594763,-0.114466],[0.603173,-0.760970,-0.238973],[0.055027,-0.259196,0.964256]] 2025-10-29T01:10:13.301Z,1761700213.301 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:13.303Z,1761700213.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:13.306Z,1761700213.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 140.831039 m, bearing: 1.611591 deg, approach rate: 0.506076 m/s, LOS rate: -0.127152 deg/s, cmd heading: 1.659755 deg, new cmd heading: 1.611591 deg. 2025-10-29T01:10:13.306Z,1761700213.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028128 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:13.461Z,1761700213.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790896 2025-10-29T01:10:13.679Z,1761700213.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.780824,-0.612926,-0.120981],[0.622491,-0.746811,-0.234048],[0.053104,-0.258060,0.964668]] 2025-10-29T01:10:13.713Z,1761700213.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042948 2025-10-29T01:10:13.724Z,1761700213.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:13.726Z,1761700213.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.029114 m, bearing: 1.557629 deg, approach rate: 0.470652 m/s, LOS rate: -0.128041 deg/s, cmd heading: 1.611591 deg, new cmd heading: 1.557629 deg. 2025-10-29T01:10:13.727Z,1761700213.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.027186 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:13.965Z,1761700213.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.294760 2025-10-29T01:10:14.082Z,1761700214.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765622,-0.630733,-0.126490],[0.641254,-0.732660,-0.228040],[0.051158,-0.255705,0.965400]] 2025-10-29T01:10:14.114Z,1761700214.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:14.116Z,1761700214.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.207794 m, bearing: 1.506552 deg, approach rate: 0.458175 m/s, LOS rate: -0.130806 deg/s, cmd heading: 1.557629 deg, new cmd heading: 1.506552 deg. 2025-10-29T01:10:14.117Z,1761700214.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026294 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:14.217Z,1761700214.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546879 2025-10-29T01:10:14.469Z,1761700214.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798837 2025-10-29T01:10:14.487Z,1761700214.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750057,-0.648143,-0.131623],[0.659562,-0.718326,-0.221328],[0.048904,-0.252822,0.966276]] 2025-10-29T01:10:14.505Z,1761700214.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:14.507Z,1761700214.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.387802 m, bearing: 1.452620 deg, approach rate: 0.459867 m/s, LOS rate: -0.137606 deg/s, cmd heading: 1.506552 deg, new cmd heading: 1.452620 deg. 2025-10-29T01:10:14.509Z,1761700214.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025353 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:14.721Z,1761700214.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.050771 2025-10-29T01:10:14.891Z,1761700214.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.733886,-0.665383,-0.136667],[0.677677,-0.703404,-0.214422],[0.046541,-0.249977,0.967133]] 2025-10-29T01:10:14.933Z,1761700214.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:14.937Z,1761700214.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.582474 m, bearing: 1.393079 deg, approach rate: 0.454558 m/s, LOS rate: -0.138836 deg/s, cmd heading: 1.452620 deg, new cmd heading: 1.393079 deg. 2025-10-29T01:10:14.938Z,1761700214.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024314 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:14.974Z,1761700214.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303801 2025-10-29T01:10:15.225Z,1761700215.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.554797 2025-10-29T01:10:15.294Z,1761700215.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.717100,-0.682946,-0.139110],[0.695561,-0.688569,-0.205102],[0.044287,-0.243838,0.968804]] 2025-10-29T01:10:15.314Z,1761700215.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:15.317Z,1761700215.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:15.319Z,1761700215.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.751617 m, bearing: 1.338892 deg, approach rate: 0.441507 m/s, LOS rate: -0.141272 deg/s, cmd heading: 1.393079 deg, new cmd heading: 1.338892 deg. 2025-10-29T01:10:15.320Z,1761700215.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023368 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:15.477Z,1761700215.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806759 2025-10-29T01:10:15.698Z,1761700215.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700145,-0.699446,-0.143427],[0.712789,-0.673010,-0.197457],[0.041583,-0.240482,0.969763]] 2025-10-29T01:10:15.729Z,1761700215.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058913 2025-10-29T01:10:15.765Z,1761700215.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:15.769Z,1761700215.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 141.936951 m, bearing: 1.270548 deg, approach rate: 0.414199 m/s, LOS rate: -0.152543 deg/s, cmd heading: 1.338892 deg, new cmd heading: 1.270548 deg. 2025-10-29T01:10:15.771Z,1761700215.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022175 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:15.981Z,1761700215.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310885 2025-10-29T01:10:16.105Z,1761700216.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.682960,-0.714920,-0.149851],[0.729431,-0.656632,-0.191741],[0.038683,-0.240257,0.969938]] 2025-10-29T01:10:16.127Z,1761700216.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:16.130Z,1761700216.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.085663 m, bearing: 1.213210 deg, approach rate: 0.409644 m/s, LOS rate: -0.157778 deg/s, cmd heading: 1.270548 deg, new cmd heading: 1.213210 deg. 2025-10-29T01:10:16.130Z,1761700216.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021175 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:16.233Z,1761700216.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562785 2025-10-29T01:10:16.485Z,1761700216.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814984 2025-10-29T01:10:16.507Z,1761700216.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665378,-0.729762,-0.157228],[0.745652,-0.639630,-0.186752],[0.035717,-0.241498,0.969744]] 2025-10-29T01:10:16.557Z,1761700216.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:16.570Z,1761700216.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.250122 m, bearing: 1.146898 deg, approach rate: 0.383358 m/s, LOS rate: -0.154396 deg/s, cmd heading: 1.213210 deg, new cmd heading: 1.146898 deg. 2025-10-29T01:10:16.571Z,1761700216.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020017 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:16.737Z,1761700216.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.066782 2025-10-29T01:10:16.921Z,1761700216.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.647776,-0.743914,-0.164251],[0.761116,-0.622611,-0.181817],[0.032991,-0.242791,0.969518]] 2025-10-29T01:10:16.957Z,1761700216.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:16.960Z,1761700216.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.406448 m, bearing: 1.082452 deg, approach rate: 0.389480 m/s, LOS rate: -0.160390 deg/s, cmd heading: 1.146898 deg, new cmd heading: 1.082452 deg. 2025-10-29T01:10:16.961Z,1761700216.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018892 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:16.989Z,1761700216.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318873 2025-10-29T01:10:17.241Z,1761700217.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570841 2025-10-29T01:10:17.319Z,1761700217.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.629083,-0.758408,-0.170501],[0.776760,-0.604853,-0.175490],[0.029965,-0.242837,0.969604]] 2025-10-29T01:10:17.339Z,1761700217.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:17.357Z,1761700217.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:17.364Z,1761700217.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.547516 m, bearing: 1.021588 deg, approach rate: 0.352622 m/s, LOS rate: -0.151987 deg/s, cmd heading: 1.082451 deg, new cmd heading: 1.021588 deg. 2025-10-29T01:10:17.365Z,1761700217.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017830 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:17.493Z,1761700217.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822948 2025-10-29T01:10:17.725Z,1761700217.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609768,-0.772398,-0.177720],[0.792134,-0.586378,-0.169366],[0.026607,-0.244052,0.969397]] 2025-10-29T01:10:17.745Z,1761700217.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075239 2025-10-29T01:10:17.795Z,1761700217.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:17.806Z,1761700217.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.692642 m, bearing: 0.953798 deg, approach rate: 0.331679 m/s, LOS rate: -0.154773 deg/s, cmd heading: 1.021588 deg, new cmd heading: 0.953798 deg. 2025-10-29T01:10:17.806Z,1761700217.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016647 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:17.997Z,1761700217.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326739 2025-10-29T01:10:18.141Z,1761700218.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589892,-0.786195,-0.184188],[0.807145,-0.567512,-0.162626],[0.023327,-0.244598,0.969344]] 2025-10-29T01:10:18.168Z,1761700218.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:18.170Z,1761700218.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.823212 m, bearing: 0.889849 deg, approach rate: 0.350201 m/s, LOS rate: -0.171362 deg/s, cmd heading: 0.953798 deg, new cmd heading: 0.889849 deg. 2025-10-29T01:10:18.171Z,1761700218.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015531 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:18.250Z,1761700218.250 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579555 2025-10-29T01:10:18.501Z,1761700218.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830795 2025-10-29T01:10:18.582Z,1761700218.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:18.584Z,1761700218.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 142.959534 m, bearing: 0.823307 deg, approach rate: 0.329251 m/s, LOS rate: -0.160562 deg/s, cmd heading: 0.889849 deg, new cmd heading: 0.823307 deg. 2025-10-29T01:10:18.585Z,1761700218.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014369 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:18.753Z,1761700218.753 [DAT](INFO): Reached modem response timeout 2025-10-29T01:10:18.753Z,1761700218.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:18.754Z,1761700218.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:18.983Z,1761700218.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:18.986Z,1761700218.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.094635 m, bearing: 0.756362 deg, approach rate: 0.336528 m/s, LOS rate: -0.166598 deg/s, cmd heading: 0.823307 deg, new cmd heading: 0.756362 deg. 2025-10-29T01:10:18.987Z,1761700218.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013201 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:19.005Z,1761700219.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:19.259Z,1761700219.259 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:19.345Z,1761700219.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528451,-0.824512,-0.202285],[0.848856,-0.509366,-0.141389],[0.013539,-0.246428,0.969067]] 2025-10-29T01:10:19.361Z,1761700219.361 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:19.363Z,1761700219.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:19.366Z,1761700219.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.210312 m, bearing: 0.689646 deg, approach rate: 0.304502 m/s, LOS rate: -0.175479 deg/s, cmd heading: 0.756362 deg, new cmd heading: 0.689646 deg. 2025-10-29T01:10:19.367Z,1761700219.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012037 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:19.476Z,1761700219.476 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:10:19.509Z,1761700219.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:19.745Z,1761700219.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.506986,-0.836750,-0.206918],[0.861896,-0.489328,-0.133020],[0.010054,-0.245781,0.969273]] 2025-10-29T01:10:19.761Z,1761700219.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:19.800Z,1761700219.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:19.803Z,1761700219.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.336243 m, bearing: 0.612904 deg, approach rate: 0.288271 m/s, LOS rate: -0.175517 deg/s, cmd heading: 0.689646 deg, new cmd heading: 0.612904 deg. 2025-10-29T01:10:19.803Z,1761700219.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010697 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:20.013Z,1761700220.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:20.147Z,1761700220.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.485528,-0.848476,-0.210597],[0.874194,-0.469306,-0.124649],[0.006927,-0.244624,0.969593]] 2025-10-29T01:10:20.176Z,1761700220.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:20.178Z,1761700220.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.440628 m, bearing: 0.545973 deg, approach rate: 0.277901 m/s, LOS rate: -0.178057 deg/s, cmd heading: 0.612904 deg, new cmd heading: 0.545973 deg. 2025-10-29T01:10:20.179Z,1761700220.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009529 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:20.265Z,1761700220.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:20.482Z,1761700220.482 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:10:20.517Z,1761700220.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:20.558Z,1761700220.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.463235,-0.859838,-0.214692],[0.886229,-0.448465,-0.116097],[0.003543,-0.244046,0.969757]] 2025-10-29T01:10:20.592Z,1761700220.592 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:20.594Z,1761700220.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.547424 m, bearing: 0.473727 deg, approach rate: 0.266896 m/s, LOS rate: -0.180419 deg/s, cmd heading: 0.545973 deg, new cmd heading: 0.473727 deg. 2025-10-29T01:10:20.595Z,1761700220.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008268 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:20.769Z,1761700220.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:10:20.961Z,1761700220.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.440738,-0.870508,-0.219013],[0.897636,-0.427332,-0.107874],[0.000314,-0.244138,0.969740]] 2025-10-29T01:10:21.014Z,1761700221.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:21.023Z,1761700221.023 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:10:21.024Z,1761700221.024 [DAT](INFO): response not received 2025-10-29T01:10:21.025Z,1761700221.025 [DAT](INFO): DAT read: user:676> 2025-10-29T01:10:21.026Z,1761700221.026 [DAT](INFO): DAT read: Tx time:01:10:20.8676 2025-10-29T01:10:21.027Z,1761700221.027 [DAT](INFO): Ping request sent. 2025-10-29T01:10:21.027Z,1761700221.027 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:21.027Z,1761700221.027 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:21.029Z,1761700221.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001578 2025-10-29T01:10:21.031Z,1761700221.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.652435 m, bearing: 0.398470 deg, approach rate: 0.239846 m/s, LOS rate: -0.171761 deg/s, cmd heading: 0.473727 deg, new cmd heading: 0.398470 deg. 2025-10-29T01:10:21.036Z,1761700221.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006955 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:21.274Z,1761700221.274 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246672 2025-10-29T01:10:21.364Z,1761700221.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417981,-0.880715,-0.222787],[0.908452,-0.405940,-0.099639],[-0.002684,-0.244038,0.969762]] 2025-10-29T01:10:21.381Z,1761700221.381 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:21.383Z,1761700221.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:21.386Z,1761700221.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.744095 m, bearing: 0.328963 deg, approach rate: 0.248286 m/s, LOS rate: -0.188160 deg/s, cmd heading: 0.398470 deg, new cmd heading: 0.328963 deg. 2025-10-29T01:10:21.387Z,1761700221.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005741 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:21.526Z,1761700221.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499502 2025-10-29T01:10:21.778Z,1761700221.778 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750570 2025-10-29T01:10:21.781Z,1761700221.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395456,-0.889766,-0.227884],[0.918468,-0.384604,-0.092180],[-0.005626,-0.245757,0.969315]] 2025-10-29T01:10:21.838Z,1761700221.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:21.845Z,1761700221.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.838364 m, bearing: 0.248437 deg, approach rate: 0.207155 m/s, LOS rate: -0.176839 deg/s, cmd heading: 0.328963 deg, new cmd heading: 0.248437 deg. 2025-10-29T01:10:21.845Z,1761700221.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004336 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:22.030Z,1761700222.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002562 2025-10-29T01:10:22.171Z,1761700222.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373031,-0.898661,-0.230775],[0.927782,-0.363512,-0.084140],[-0.008277,-0.245495,0.969362]] 2025-10-29T01:10:22.201Z,1761700222.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:22.203Z,1761700222.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.917206 m, bearing: 0.176894 deg, approach rate: 0.217200 m/s, LOS rate: -0.196983 deg/s, cmd heading: 0.248437 deg, new cmd heading: 0.176894 deg. 2025-10-29T01:10:22.204Z,1761700222.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003087 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:22.281Z,1761700222.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254129 2025-10-29T01:10:22.533Z,1761700222.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506241 2025-10-29T01:10:22.575Z,1761700222.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350243,-0.907464,-0.232034],[0.936598,-0.342132,-0.075697],[-0.010694,-0.243835,0.969758]] 2025-10-29T01:10:22.612Z,1761700222.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:22.615Z,1761700222.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 143.994278 m, bearing: 0.102355 deg, approach rate: 0.195008 m/s, LOS rate: -0.188498 deg/s, cmd heading: 0.176894 deg, new cmd heading: 0.102355 deg. 2025-10-29T01:10:22.616Z,1761700222.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001786 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:22.785Z,1761700222.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757937 2025-10-29T01:10:22.980Z,1761700222.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326963,-0.915707,-0.233615],[0.944947,-0.320194,-0.067456],[-0.013032,-0.242810,0.969986]] 2025-10-29T01:10:23.021Z,1761700223.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:23.038Z,1761700223.038 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011091 2025-10-29T01:10:23.046Z,1761700223.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 144.072861 m, bearing: 0.024872 deg, approach rate: 0.185493 m/s, LOS rate: -0.182798 deg/s, cmd heading: 0.102355 deg, new cmd heading: 0.024872 deg. 2025-10-29T01:10:23.047Z,1761700223.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000434 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:23.289Z,1761700223.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262298 2025-10-29T01:10:23.408Z,1761700223.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304335,-0.923353,-0.234092],[0.952453,-0.298744,-0.059883],[-0.014641,-0.241186,0.970369]] 2025-10-29T01:10:23.441Z,1761700223.441 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:23.443Z,1761700223.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:23.445Z,1761700223.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 144.147903 m, bearing: 359.945868 deg, approach rate: 0.177419 m/s, LOS rate: -0.186687 deg/s, cmd heading: 0.024872 deg, new cmd heading: 359.945868 deg. 2025-10-29T01:10:23.446Z,1761700223.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282240 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:23.543Z,1761700223.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516063 2025-10-29T01:10:23.791Z,1761700223.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.281537,-0.930191,-0.235547],[0.959414,-0.277025,-0.052747],[-0.016188,-0.240837,0.970431]] 2025-10-29T01:10:23.793Z,1761700223.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766014 2025-10-29T01:10:23.840Z,1761700223.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:23.843Z,1761700223.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 144.211868 m, bearing: 359.870631 deg, approach rate: 0.160821 m/s, LOS rate: -0.189078 deg/s, cmd heading: 359.945860 deg, new cmd heading: 359.870631 deg. 2025-10-29T01:10:23.844Z,1761700223.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280927 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:24.046Z,1761700224.046 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.019197 2025-10-29T01:10:24.194Z,1761700224.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.258565,-0.936254,-0.237851],[0.965832,-0.255075,-0.045895],[-0.017701,-0.241590,0.970217]] 2025-10-29T01:10:24.226Z,1761700224.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:24.232Z,1761700224.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 144.268982 m, bearing: 359.798105 deg, approach rate: 0.148325 m/s, LOS rate: -0.188277 deg/s, cmd heading: 359.870619 deg, new cmd heading: 359.798105 deg. 2025-10-29T01:10:24.233Z,1761700224.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279662 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:24.298Z,1761700224.298 [DAT](INFO): DAT read: Rx Time:01:10:23.4670 2025-10-29T01:10:24.298Z,1761700224.298 [DAT](INFO): Rx dataTimestamp_ set to:1761700224.297968 2025-10-29T01:10:24.299Z,1761700224.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272149 2025-10-29T01:10:24.549Z,1761700224.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.521954 2025-10-29T01:10:24.650Z,1761700224.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.235514,-0.941918,-0.239424],[0.971679,-0.233106,-0.038748],[-0.019314,-0.241769,0.970141]] 2025-10-29T01:10:24.667Z,1761700224.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 189.19 m. 2025-10-29T01:10:24.670Z,1761700224.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 189.185608 m, nav range: 144.331009 m, bearing: 359.712691 deg, approach rate: 0.140345 m/s, LOS rate: -0.193176 deg/s, cmd heading: 359.798110 deg, new cmd heading: 359.712691 deg. 2025-10-29T01:10:24.671Z,1761700224.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278171 target range: 189.185608 and range: 190.20 m. 2025-10-29T01:10:24.806Z,1761700224.806 [DAT](INFO): DAT read: 01:10:23.4670 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 492,-0.27,-0.569, 0.809, 1.650, 0.466, PHS=-0.933, 0.388, 1.140, RAW= 249.0, -6.6, CAL= 247.0, -10.8, ROT= 263.0, 10.8 2025-10-29T01:10:24.807Z,1761700224.807 [DAT](INFO): got valid direction response: 01:10:23.4670 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 492,-0.27,-0.569, 0.809, 1.650, 0.466, PHS=-0.933, 0.388, 1.140, RAW= 249.0, -6.6, CAL= 247.0, -10.8, ROT= 263.0, 10.8 2025-10-29T01:10:24.809Z,1761700224.809 [DAT](INFO): DAT read: Bearing 148.1, -63.9 (Local) 2025-10-29T01:10:24.809Z,1761700224.809 [DAT](INFO): Local bearing/azimuth received: Bearing 148.1, -63.9 (Local) 2025-10-29T01:10:24.810Z,1761700224.810 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m (Round-trip 195.3 ms) speed 0.0 m/s 2025-10-29T01:10:24.811Z,1761700224.811 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:24.812Z,1761700224.812 [DAT](INFO): direction in FSK: [-0.119710,-0.974965,-0.187381] 2025-10-29T01:10:24.812Z,1761700224.812 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:24.816Z,1761700224.816 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:24.816Z,1761700224.816 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:24.816Z,1761700224.816 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:25.004Z,1761700225.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212002,-0.947610,-0.238938],[0.977044,-0.210765,-0.031024],[-0.020961,-0.240030,0.970539]] 2025-10-29T01:10:25.053Z,1761700225.053 [DAT](INFO): DAT read: user:677> 2025-10-29T01:10:25.054Z,1761700225.054 [DAT](INFO): DAT read: Tx time:01:10:24.8176 2025-10-29T01:10:25.054Z,1761700225.054 [DAT](INFO): Ping request sent. 2025-10-29T01:10:25.054Z,1761700225.054 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:25.054Z,1761700225.054 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:25.055Z,1761700225.055 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-29T01:10:25.088Z,1761700225.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 20.416092 s, deltaX: -43.800003 m, approachRate: -2.145367 m/s, rangeRepo size: 2 2025-10-29T01:10:25.098Z,1761700225.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.619461 m, bearing: 5.421416 deg, lat: 36.779281 deg, lon: -121.859366 deg, deltaT: 20.416092 s, deltaX: -43.566147 m, approachRate: -2.133912 m/s, posRepo size: 2 2025-10-29T01:10:25.099Z,1761700225.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:25.117Z,1761700225.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.667374 m, bearing: 3.596729 deg, approach rate: 0.000000 m/s, LOS rate: -0.193176 deg/s, cmd heading: 359.712678 deg, new cmd heading: 359.550642 deg. 2025-10-29T01:10:25.118Z,1761700225.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275342 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:25.305Z,1761700225.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250629 2025-10-29T01:10:25.411Z,1761700225.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.188490,-0.952515,-0.239136],[0.981821,-0.188307,-0.023826],[-0.022336,-0.239280,0.970694]] 2025-10-29T01:10:25.429Z,1761700225.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:25.431Z,1761700225.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.697800 m, bearing: 3.525907 deg, approach rate: 0.089049 m/s, LOS rate: -0.207231 deg/s, cmd heading: 359.550638 deg, new cmd heading: 359.409026 deg. 2025-10-29T01:10:25.432Z,1761700225.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272871 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:25.557Z,1761700225.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502998 2025-10-29T01:10:25.809Z,1761700225.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754768 2025-10-29T01:10:25.818Z,1761700225.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.164845,-0.956779,-0.239585],[0.986034,-0.165708,-0.016682],[-0.023740,-0.238989,0.970732]] 2025-10-29T01:10:25.853Z,1761700225.853 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:25.855Z,1761700225.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:25.857Z,1761700225.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.728729 m, bearing: 3.440060 deg, approach rate: 0.072608 m/s, LOS rate: -0.201486 deg/s, cmd heading: 359.409035 deg, new cmd heading: 359.237378 deg. 2025-10-29T01:10:25.858Z,1761700225.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.269875 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:26.061Z,1761700226.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006669 2025-10-29T01:10:26.220Z,1761700226.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.141425,-0.960899,-0.238061],[0.989637,-0.143267,-0.009637],[-0.024846,-0.236957,0.971202]] 2025-10-29T01:10:26.238Z,1761700226.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:26.241Z,1761700226.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.752289 m, bearing: 3.362408 deg, approach rate: 0.061480 m/s, LOS rate: -0.202605 deg/s, cmd heading: 359.237378 deg, new cmd heading: 359.082100 deg. 2025-10-29T01:10:26.242Z,1761700226.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267165 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:26.314Z,1761700226.314 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259480 2025-10-29T01:10:26.565Z,1761700226.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510745 2025-10-29T01:10:26.623Z,1761700226.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.117353,-0.963856,-0.239185],[0.992745,-0.120213,-0.002648],[-0.026200,-0.237760,0.970970]] 2025-10-29T01:10:26.653Z,1761700226.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:26.655Z,1761700226.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.772293 m, bearing: 3.280717 deg, approach rate: 0.048210 m/s, LOS rate: -0.196847 deg/s, cmd heading: 359.082087 deg, new cmd heading: 358.918728 deg. 2025-10-29T01:10:26.661Z,1761700226.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264314 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:26.823Z,1761700226.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767960 2025-10-29T01:10:27.041Z,1761700227.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.093339,-0.966057,-0.240878],[0.995258,-0.097187,0.004119],[-0.027389,-0.239351,0.970547]] 2025-10-29T01:10:27.073Z,1761700227.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019067 2025-10-29T01:10:27.095Z,1761700227.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:27.102Z,1761700227.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.784531 m, bearing: 3.193229 deg, approach rate: 0.027637 m/s, LOS rate: -0.197565 deg/s, cmd heading: 358.918736 deg, new cmd heading: 358.743777 deg. 2025-10-29T01:10:27.103Z,1761700227.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261260 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:27.325Z,1761700227.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270702 2025-10-29T01:10:27.464Z,1761700227.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.069323,-0.968177,-0.240472],[0.997194,-0.074076,0.010770],[-0.028240,-0.239051,0.970596]] 2025-10-29T01:10:27.486Z,1761700227.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:27.489Z,1761700227.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.791275 m, bearing: 3.111563 deg, approach rate: 0.017275 m/s, LOS rate: -0.209175 deg/s, cmd heading: 358.743774 deg, new cmd heading: 358.580449 deg. 2025-10-29T01:10:27.490Z,1761700227.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258410 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:27.577Z,1761700227.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522857 2025-10-29T01:10:27.829Z,1761700227.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774777 2025-10-29T01:10:27.865Z,1761700227.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.045785,-0.969883,-0.239228],[0.998534,-0.051359,0.017113],[-0.028884,-0.238094,0.970813]] 2025-10-29T01:10:27.899Z,1761700227.899 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:27.925Z,1761700227.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:27.932Z,1761700227.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.791519 m, bearing: 3.031254 deg, approach rate: 0.000556 m/s, LOS rate: -0.182780 deg/s, cmd heading: 358.580451 deg, new cmd heading: 358.419835 deg. 2025-10-29T01:10:27.933Z,1761700227.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255606 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:28.081Z,1761700228.081 [DAT](INFO): DAT read: Rx Time:01:10:27.4178 2025-10-29T01:10:28.082Z,1761700228.082 [DAT](INFO): Rx dataTimestamp_ set to:1761700228.081257 2025-10-29T01:10:28.082Z,1761700228.082 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027907 2025-10-29T01:10:28.260Z,1761700228.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.022769,-0.970343,-0.240657],[0.999297,-0.029265,0.023451],[-0.029798,-0.239954,0.970327]] 2025-10-29T01:10:28.283Z,1761700228.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:28.286Z,1761700228.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.619461 m, nav range: 144.787689 m, bearing: 2.957285 deg, approach rate: -0.010694 m/s, LOS rate: -0.206549 deg/s, cmd heading: 358.419832 deg, new cmd heading: 358.271890 deg. 2025-10-29T01:10:28.287Z,1761700228.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253024 target range: 145.619461 and range: 146.40 m. 2025-10-29T01:10:28.334Z,1761700228.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279366 2025-10-29T01:10:28.601Z,1761700228.601 [DAT](INFO): DAT read: 01:10:27.4178 LVL= 27632, 24161, 19954, 30707, AGC= 63, IDX= 452, 0.06, 1.132, 2.230,-3.091, 2.163, PHS=-0.929, 0.113, 0.985, RAW= 242.9, -2.1, CAL= 239.4, -3.3, ROT= 270.6, 3.3 2025-10-29T01:10:28.602Z,1761700228.602 [DAT](INFO): got valid direction response: 01:10:27.4178 LVL= 27632, 24161, 19954, 30707, AGC= 63, IDX= 452, 0.06, 1.132, 2.230,-3.091, 2.163, PHS=-0.929, 0.113, 0.985, RAW= 242.9, -2.1, CAL= 239.4, -3.3, ROT= 270.6, 3.3 2025-10-29T01:10:28.603Z,1761700228.603 [DAT](INFO): DAT read: Bearing 147.8, -72.7 (Local) 2025-10-29T01:10:28.603Z,1761700228.603 [DAT](INFO): Local bearing/azimuth received: Bearing 147.8, -72.7 (Local) 2025-10-29T01:10:28.605Z,1761700228.605 [DAT](INFO): DAT read: Range 11 to 50 : 147.0 m (Round-trip 196.0 ms) speed 0.0 m/s 2025-10-29T01:10:28.605Z,1761700228.605 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:28.606Z,1761700228.606 [DAT](INFO): direction in FSK: [0.010455,-0.998287,-0.057564] 2025-10-29T01:10:28.606Z,1761700228.606 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:28.610Z,1761700228.610 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:28.610Z,1761700228.610 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:28.610Z,1761700228.610 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:28.663Z,1761700228.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.001253,-0.969870,-0.243620],[0.999516,-0.006362,0.030468],[-0.031100,-0.243540,0.969392]] 2025-10-29T01:10:28.741Z,1761700228.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 3.785545 s, deltaX: 0.600006 m, approachRate: 0.158499 m/s, rangeRepo size: 3 2025-10-29T01:10:28.748Z,1761700228.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.211639 m, bearing: 0.877638 deg, lat: 36.779278 deg, lon: -121.859366 deg, deltaT: 3.785545 s, deltaX: 0.592178 m, approachRate: 0.156431 m/s, posRepo size: 3 2025-10-29T01:10:28.749Z,1761700228.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:28.757Z,1761700228.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.451889 m, bearing: 2.881907 deg, approach rate: 0.000000 m/s, LOS rate: -0.206549 deg/s, cmd heading: 358.271890 deg, new cmd heading: 358.086686 deg. 2025-10-29T01:10:28.759Z,1761700228.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249792 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:28.841Z,1761700228.841 [DAT](INFO): DAT read: user:678> 2025-10-29T01:10:28.844Z,1761700228.844 [DAT](INFO): DAT read: Tx time:01:10:28.6176 2025-10-29T01:10:28.845Z,1761700228.845 [DAT](INFO): Ping request sent. 2025-10-29T01:10:28.846Z,1761700228.846 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:28.846Z,1761700228.846 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:28.849Z,1761700228.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002858 2025-10-29T01:10:29.089Z,1761700229.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244028 2025-10-29T01:10:29.157Z,1761700229.157 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.048711,-0.968529,-0.244087],[0.998268,0.039139,0.043918],[-0.032982,-0.245804,0.968758]] 2025-10-29T01:10:29.212Z,1761700229.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:29.215Z,1761700229.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.429337 m, bearing: 2.784263 deg, approach rate: -0.046957 m/s, LOS rate: -0.203335 deg/s, cmd heading: 358.086683 deg, new cmd heading: 357.891367 deg. 2025-10-29T01:10:29.216Z,1761700229.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246383 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:29.341Z,1761700229.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495708 2025-10-29T01:10:29.560Z,1761700229.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.072926,-0.967123,-0.243627],[0.996759,0.062358,0.050822],[-0.033959,-0.246544,0.968536]] 2025-10-29T01:10:29.578Z,1761700229.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:29.581Z,1761700229.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.408844 m, bearing: 2.713320 deg, approach rate: -0.055950 m/s, LOS rate: -0.193721 deg/s, cmd heading: 357.891367 deg, new cmd heading: 357.749461 deg. 2025-10-29T01:10:29.582Z,1761700229.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243906 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:29.593Z,1761700229.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.747861 2025-10-29T01:10:29.848Z,1761700229.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002157 2025-10-29T01:10:29.962Z,1761700229.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.097196,-0.965981,-0.239654],[0.994649,0.085805,0.057542],[-0.035021,-0.243965,0.969152]] 2025-10-29T01:10:30.011Z,1761700230.011 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:30.015Z,1761700230.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:30.020Z,1761700230.020 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.371689 m, bearing: 2.629444 deg, approach rate: -0.085262 m/s, LOS rate: -0.192524 deg/s, cmd heading: 357.749463 deg, new cmd heading: 357.581668 deg. 2025-10-29T01:10:30.022Z,1761700230.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240977 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:30.097Z,1761700230.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251850 2025-10-29T01:10:30.349Z,1761700230.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503750 2025-10-29T01:10:30.491Z,1761700230.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.121161,-0.964206,-0.235855],[0.991975,0.108966,0.064122],[-0.036126,-0.241731,0.969670]] 2025-10-29T01:10:30.518Z,1761700230.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:30.537Z,1761700230.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.322220 m, bearing: 2.530794 deg, approach rate: -0.098359 m/s, LOS rate: -0.196215 deg/s, cmd heading: 357.581659 deg, new cmd heading: 357.384290 deg. 2025-10-29T01:10:30.538Z,1761700230.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237533 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:30.601Z,1761700230.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.755824 2025-10-29T01:10:30.858Z,1761700230.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012518 2025-10-29T01:10:30.989Z,1761700230.989 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.145264,-0.961026,-0.235217],[0.988686,0.132013,0.071222],[-0.037394,-0.242902,0.969330]] 2025-10-29T01:10:31.049Z,1761700231.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:31.052Z,1761700231.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.264877 m, bearing: 2.432067 deg, approach rate: -0.107687 m/s, LOS rate: -0.185479 deg/s, cmd heading: 357.384293 deg, new cmd heading: 357.186762 deg. 2025-10-29T01:10:31.053Z,1761700231.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234085 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:31.105Z,1761700231.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260018 2025-10-29T01:10:31.357Z,1761700231.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511698 2025-10-29T01:10:31.472Z,1761700231.472 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.169659,-0.957792,-0.232059],[0.984748,0.155546,0.077955],[-0.038569,-0.241745,0.969573]] 2025-10-29T01:10:31.526Z,1761700231.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:31.535Z,1761700231.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.213409 m, bearing: 2.351952 deg, approach rate: -0.108207 m/s, LOS rate: -0.168495 deg/s, cmd heading: 357.186764 deg, new cmd heading: 357.026479 deg. 2025-10-29T01:10:31.541Z,1761700231.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231287 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:31.610Z,1761700231.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764681 2025-10-29T01:10:31.868Z,1761700231.868 [DAT](INFO): DAT read: Rx Time:01:10:31.2178 2025-10-29T01:10:31.870Z,1761700231.870 [DAT](INFO): Rx dataTimestamp_ set to:1761700231.868784 2025-10-29T01:10:31.872Z,1761700231.872 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026053 2025-10-29T01:10:31.898Z,1761700231.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.193300,-0.954154,-0.228529],[0.980349,0.178484,0.084017],[-0.039376,-0.240279,0.969905]] 2025-10-29T01:10:31.982Z,1761700231.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:31.989Z,1761700231.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.141861 m, bearing: 2.262693 deg, approach rate: -0.156656 m/s, LOS rate: -0.195531 deg/s, cmd heading: 357.026474 deg, new cmd heading: 356.847867 deg. 2025-10-29T01:10:31.990Z,1761700231.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228170 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:32.117Z,1761700232.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272208 2025-10-29T01:10:32.372Z,1761700232.372 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526381 2025-10-29T01:10:32.414Z,1761700232.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.239641,-0.944837,-0.223281],[0.969997,0.223307,0.096123],[-0.040961,-0.239617,0.970003]] 2025-10-29T01:10:32.456Z,1761700232.456 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:32.458Z,1761700232.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:32.465Z,1761700232.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.211639 m, nav range: 144.064713 m, bearing: 2.179793 deg, approach rate: -0.162021 m/s, LOS rate: -0.174193 deg/s, cmd heading: 356.847878 deg, new cmd heading: 356.681989 deg. 2025-10-29T01:10:32.466Z,1761700232.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225275 target range: 146.211639 and range: 147.00 m. 2025-10-29T01:10:32.626Z,1761700232.626 [DAT](INFO): DAT read: 01:10:31.2178 LVL= 28384, 28113, 19378, 29555, AGC= 61, IDX= 420, 0.25,-0.514, 0.339, 1.612, 0.439, PHS=-0.852,-0.056, 1.129, RAW= 233.5, -2.6, CAL= 230.5, -3.3, ROT= 279.5, 3.3 2025-10-29T01:10:32.627Z,1761700232.627 [DAT](INFO): got valid direction response: 01:10:31.2178 LVL= 28384, 28113, 19378, 29555, AGC= 61, IDX= 420, 0.25,-0.514, 0.339, 1.612, 0.439, PHS=-0.852,-0.056, 1.129, RAW= 233.5, -2.6, CAL= 230.5, -3.3, ROT= 279.5, 3.3 2025-10-29T01:10:32.628Z,1761700232.628 [DAT](INFO): DAT read: Bearing 162.0, -71.6 (Local) 2025-10-29T01:10:32.629Z,1761700232.629 [DAT](INFO): Local bearing/azimuth received: Bearing 162.0, -71.6 (Local) 2025-10-29T01:10:32.630Z,1761700232.630 [DAT](INFO): DAT read: Range 11 to 50 : 147.0 m (Round-trip 196.0 ms) speed 0.0 m/s 2025-10-29T01:10:32.630Z,1761700232.630 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:32.631Z,1761700232.631 [DAT](INFO): direction in FSK: [0.164774,-0.984650,-0.057564] 2025-10-29T01:10:32.632Z,1761700232.632 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:32.635Z,1761700232.635 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:32.635Z,1761700232.635 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:32.635Z,1761700232.635 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:32.785Z,1761700232.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.261834,-0.939669,-0.220147],[0.964229,0.244937,0.101335],[-0.041299,-0.238805,0.970189]] 2025-10-29T01:10:32.824Z,1761700232.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 147.000000 m, deltaT: 4.034177 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:10:32.839Z,1761700232.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 146.209564 m, bearing: 354.866809 deg, lat: 36.779278 deg, lon: -121.859406 deg, deltaT: 4.034177 s, deltaX: -0.002075 m, approachRate: -0.000514 m/s, posRepo size: 4 2025-10-29T01:10:32.840Z,1761700232.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:32.843Z,1761700232.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.911057 m, bearing: 0.695248 deg, approach rate: 0.000000 m/s, LOS rate: -0.174193 deg/s, cmd heading: 356.681986 deg, new cmd heading: 356.554820 deg. 2025-10-29T01:10:32.844Z,1761700232.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223055 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:32.876Z,1761700232.876 [DAT](INFO): DAT read: user:679> 2025-10-29T01:10:32.879Z,1761700232.879 [DAT](INFO): DAT read: Tx time:01:10:32.6176 2025-10-29T01:10:32.880Z,1761700232.880 [DAT](INFO): Ping request sent. 2025-10-29T01:10:32.881Z,1761700232.881 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:32.882Z,1761700232.882 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:32.884Z,1761700232.884 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002795 2025-10-29T01:10:33.125Z,1761700233.125 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245090 2025-10-29T01:10:33.220Z,1761700233.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283632,-0.933558,-0.219142],[0.958043,0.266026,0.106692],[-0.041306,-0.240209,0.969842]] 2025-10-29T01:10:33.273Z,1761700233.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:33.292Z,1761700233.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.826767 m, bearing: 0.607031 deg, approach rate: -0.187678 m/s, LOS rate: -0.196537 deg/s, cmd heading: 356.554808 deg, new cmd heading: 356.378272 deg. 2025-10-29T01:10:33.298Z,1761700233.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219974 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:33.378Z,1761700233.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.497446 2025-10-29T01:10:33.624Z,1761700233.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305079,-0.927312,-0.216838],[0.951434,0.286928,0.111560],[-0.041234,-0.240342,0.969812]] 2025-10-29T01:10:33.629Z,1761700233.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748587 2025-10-29T01:10:33.667Z,1761700233.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:33.674Z,1761700233.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.756363 m, bearing: 0.537744 deg, approach rate: -0.178102 m/s, LOS rate: -0.175364 deg/s, cmd heading: 356.378261 deg, new cmd heading: 356.239618 deg. 2025-10-29T01:10:33.675Z,1761700233.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217554 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:33.885Z,1761700233.885 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003004 2025-10-29T01:10:34.034Z,1761700234.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326684,-0.920217,-0.215589],[0.944226,0.307771,0.117109],[-0.041414,-0.241822,0.969436]] 2025-10-29T01:10:34.087Z,1761700234.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:34.090Z,1761700234.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.665558 m, bearing: 0.458141 deg, approach rate: -0.216293 m/s, LOS rate: -0.189729 deg/s, cmd heading: 356.239608 deg, new cmd heading: 356.080303 deg. 2025-10-29T01:10:34.091Z,1761700234.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214774 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:34.133Z,1761700234.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253104 2025-10-29T01:10:34.385Z,1761700234.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.504506 2025-10-29T01:10:34.431Z,1761700234.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.347809,-0.912942,-0.213463],[0.936670,0.328404,0.121654],[-0.040961,-0.242257,0.969347]] 2025-10-29T01:10:34.483Z,1761700234.483 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:34.489Z,1761700234.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:34.508Z,1761700234.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.580551 m, bearing: 0.387567 deg, approach rate: -0.211437 m/s, LOS rate: -0.175644 deg/s, cmd heading: 356.080301 deg, new cmd heading: 355.939069 deg. 2025-10-29T01:10:34.510Z,1761700234.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212309 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:34.638Z,1761700234.638 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757248 2025-10-29T01:10:34.845Z,1761700234.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.368149,-0.905991,-0.208920],[0.928897,0.348682,0.124785],[-0.040207,-0.240004,0.969939]] 2025-10-29T01:10:34.892Z,1761700234.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011092 2025-10-29T01:10:34.906Z,1761700234.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:34.923Z,1761700234.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.496078 m, bearing: 0.320960 deg, approach rate: -0.205757 m/s, LOS rate: -0.162335 deg/s, cmd heading: 355.939080 deg, new cmd heading: 355.805788 deg. 2025-10-29T01:10:34.935Z,1761700234.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209982 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:35.141Z,1761700235.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260483 2025-10-29T01:10:35.292Z,1761700235.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.388431,-0.898689,-0.203662],[0.920641,0.369067,0.127317],[-0.039254,-0.236954,0.970728]] 2025-10-29T01:10:35.328Z,1761700235.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:35.331Z,1761700235.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.382141 m, bearing: 0.239696 deg, approach rate: -0.266269 m/s, LOS rate: -0.190061 deg/s, cmd heading: 355.805782 deg, new cmd heading: 355.643127 deg. 2025-10-29T01:10:35.331Z,1761700235.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207143 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:35.394Z,1761700235.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513477 2025-10-29T01:10:35.645Z,1761700235.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764581 2025-10-29T01:10:35.703Z,1761700235.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.409147,-0.890265,-0.200066],[0.911662,0.389625,0.130630],[-0.038344,-0.235840,0.971035]] 2025-10-29T01:10:35.721Z,1761700235.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:35.724Z,1761700235.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.282089 m, bearing: 0.171744 deg, approach rate: -0.254379 m/s, LOS rate: -0.172888 deg/s, cmd heading: 355.643114 deg, new cmd heading: 355.507114 deg. 2025-10-29T01:10:35.725Z,1761700235.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204770 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:35.900Z,1761700235.900 [DAT](INFO): DAT read: Rx Time:01:10:35.2170 2025-10-29T01:10:35.902Z,1761700235.902 [DAT](INFO): Rx dataTimestamp_ set to:1761700235.900904 2025-10-29T01:10:35.904Z,1761700235.904 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022718 2025-10-29T01:10:36.107Z,1761700236.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.429885,-0.880697,-0.198924],[0.902115,0.409878,0.134864],[-0.037240,-0.237429,0.970691]] 2025-10-29T01:10:36.149Z,1761700236.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269020 2025-10-29T01:10:36.166Z,1761700236.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 146.21 m. 2025-10-29T01:10:36.169Z,1761700236.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 146.209564 m, nav range: 143.162628 m, bearing: 0.091470 deg, approach rate: -0.268243 m/s, LOS rate: -0.180400 deg/s, cmd heading: 355.507112 deg, new cmd heading: 355.346431 deg. 2025-10-29T01:10:36.170Z,1761700236.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201965 target range: 146.209564 and range: 147.00 m. 2025-10-29T01:10:36.411Z,1761700236.411 [DAT](INFO): DAT read: 01:10:35.2170 LVL= 32752, 32753, 26578, 32755, AGC= 64, IDX= 413,-0.22,-2.152,-1.821,-0.061,-1.468, PHS=-0.582,-0.308, 1.364, RAW= 217.5, -5.3, CAL= 216.1, -7.9, ROT= 293.9, 7.9 2025-10-29T01:10:36.413Z,1761700236.413 [DAT](INFO): got valid direction response: 01:10:35.2170 LVL= 32752, 32753, 26578, 32755, AGC= 64, IDX= 413,-0.22,-2.152,-1.821,-0.061,-1.468, PHS=-0.582,-0.308, 1.364, RAW= 217.5, -5.3, CAL= 216.1, -7.9, ROT= 293.9, 7.9 2025-10-29T01:10:36.414Z,1761700236.414 [DAT](INFO): DAT read: Bearing 171.5, -59.6 (Local) 2025-10-29T01:10:36.414Z,1761700236.414 [DAT](INFO): Local bearing/azimuth received: Bearing 171.5, -59.6 (Local) 2025-10-29T01:10:36.441Z,1761700236.441 [DAT](INFO): DAT read: Range 11 to 50 : 146.4 m (Round-trip 195.3 ms) speed 0.0 m/s 2025-10-29T01:10:36.442Z,1761700236.442 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:36.443Z,1761700236.443 [DAT](INFO): direction in FSK: [0.401297,-0.905577,-0.137445] 2025-10-29T01:10:36.443Z,1761700236.443 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:36.455Z,1761700236.455 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:36.455Z,1761700236.455 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:36.462Z,1761700236.462 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:36.527Z,1761700236.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.450695,-0.870076,-0.199601],[0.891948,0.429886,0.140093],[-0.036086,-0.241173,0.969811]] 2025-10-29T01:10:36.575Z,1761700236.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 146.399994 m, deltaT: 3.782587 s, deltaX: -0.600006 m, approachRate: -0.158623 m/s, rangeRepo size: 4 2025-10-29T01:10:36.581Z,1761700236.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 145.616760 m, bearing: 357.091498 deg, lat: 36.779278 deg, lon: -121.859423 deg, deltaT: 3.782587 s, deltaX: -0.592804 m, approachRate: -0.156719 m/s, posRepo size: 4 2025-10-29T01:10:36.582Z,1761700236.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:36.588Z,1761700236.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 143.062164 m, bearing: 359.421845 deg, approach rate: 0.000000 m/s, LOS rate: -0.180400 deg/s, cmd heading: 355.346438 deg, new cmd heading: 355.199390 deg. 2025-10-29T01:10:36.589Z,1761700236.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199399 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:36.654Z,1761700236.654 [DAT](INFO): DAT read: user:680> 2025-10-29T01:10:36.655Z,1761700236.655 [DAT](INFO): DAT read: Tx time:01:10:36.4676 2025-10-29T01:10:36.655Z,1761700236.655 [DAT](INFO): Ping request sent. 2025-10-29T01:10:36.656Z,1761700236.656 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:36.657Z,1761700236.657 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:36.658Z,1761700236.658 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002013 2025-10-29T01:10:36.905Z,1761700236.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249294 2025-10-29T01:10:36.924Z,1761700236.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471767,-0.858491,-0.201067],[0.881019,0.449857,0.146405],[-0.035236,-0.246213,0.968575]] 2025-10-29T01:10:36.999Z,1761700236.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:37.012Z,1761700237.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:37.021Z,1761700237.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.938400 m, bearing: 359.344579 deg, approach rate: -0.285797 m/s, LOS rate: -0.178576 deg/s, cmd heading: 355.199398 deg, new cmd heading: 355.044734 deg. 2025-10-29T01:10:37.022Z,1761700237.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196700 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:37.157Z,1761700237.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501355 2025-10-29T01:10:37.313Z,1761700237.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492598,-0.847378,-0.198236],[0.869572,0.470232,0.150755],[-0.034530,-0.246642,0.968491]] 2025-10-29T01:10:37.369Z,1761700237.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:37.376Z,1761700237.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.834808 m, bearing: 359.282555 deg, approach rate: -0.286022 m/s, LOS rate: -0.171375 deg/s, cmd heading: 355.044735 deg, new cmd heading: 354.920597 deg. 2025-10-29T01:10:37.377Z,1761700237.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194533 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:37.409Z,1761700237.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753531 2025-10-29T01:10:37.661Z,1761700237.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005312 2025-10-29T01:10:37.711Z,1761700237.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513152,-0.836052,-0.194145],[0.857629,0.490532,0.154440],[-0.033886,-0.245756,0.968739]] 2025-10-29T01:10:37.729Z,1761700237.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:37.732Z,1761700237.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.721237 m, bearing: 359.217748 deg, approach rate: -0.315527 m/s, LOS rate: -0.180194 deg/s, cmd heading: 354.920590 deg, new cmd heading: 354.790871 deg. 2025-10-29T01:10:37.733Z,1761700237.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.192269 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:37.916Z,1761700237.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260020 2025-10-29T01:10:38.115Z,1761700238.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.533348,-0.824498,-0.189061],[0.845236,0.510623,0.157607],[-0.033408,-0.243861,0.969235]] 2025-10-29T01:10:38.165Z,1761700238.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509236 2025-10-29T01:10:38.275Z,1761700238.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:38.278Z,1761700238.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.569565 m, bearing: 359.136771 deg, approach rate: -0.277931 m/s, LOS rate: -0.148542 deg/s, cmd heading: 354.790871 deg, new cmd heading: 354.628746 deg. 2025-10-29T01:10:38.279Z,1761700238.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189439 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:38.418Z,1761700238.418 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761681 2025-10-29T01:10:38.621Z,1761700238.621 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553212,-0.812311,-0.184682],[0.832389,0.530259,0.161103],[-0.032936,-0.242852,0.969504]] 2025-10-29T01:10:38.639Z,1761700238.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:38.642Z,1761700238.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.432373 m, bearing: 359.066773 deg, approach rate: -0.376972 m/s, LOS rate: -0.192524 deg/s, cmd heading: 354.628749 deg, new cmd heading: 354.488619 deg. 2025-10-29T01:10:38.643Z,1761700238.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186994 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:38.669Z,1761700238.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013486 2025-10-29T01:10:38.923Z,1761700238.923 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267173 2025-10-29T01:10:39.034Z,1761700239.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572287,-0.799995,-0.180263],[0.819430,0.549296,0.163735],[-0.031969,-0.241417,0.969895]] 2025-10-29T01:10:39.068Z,1761700239.068 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:39.070Z,1761700239.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:39.073Z,1761700239.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.285675 m, bearing: 358.996441 deg, approach rate: -0.340104 m/s, LOS rate: -0.163227 deg/s, cmd heading: 354.488621 deg, new cmd heading: 354.347811 deg. 2025-10-29T01:10:39.074Z,1761700239.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184536 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:39.173Z,1761700239.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517442 2025-10-29T01:10:39.425Z,1761700239.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769274 2025-10-29T01:10:39.428Z,1761700239.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591217,-0.787332,-0.174844],[0.805894,0.568222,0.166311],[-0.031592,-0.239232,0.970448]] 2025-10-29T01:10:39.463Z,1761700239.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:39.470Z,1761700239.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.153824 m, bearing: 358.935948 deg, approach rate: -0.335486 m/s, LOS rate: -0.154062 deg/s, cmd heading: 354.347810 deg, new cmd heading: 354.226712 deg. 2025-10-29T01:10:39.471Z,1761700239.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182423 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:39.677Z,1761700239.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021212 2025-10-29T01:10:39.865Z,1761700239.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:39.867Z,1761700239.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 142.007935 m, bearing: 358.868798 deg, approach rate: -0.363134 m/s, LOS rate: -0.167314 deg/s, cmd heading: 354.226724 deg, new cmd heading: 354.092288 deg. 2025-10-29T01:10:39.869Z,1761700239.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180076 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:39.929Z,1761700239.929 [DAT](INFO): DAT read: Rx Time:01:10:39.0659 2025-10-29T01:10:39.930Z,1761700239.930 [DAT](INFO): Rx dataTimestamp_ set to:1761700239.929314 2025-10-29T01:10:39.930Z,1761700239.930 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274566 2025-10-29T01:10:40.181Z,1761700240.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525333 2025-10-29T01:10:40.261Z,1761700240.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627699,-0.760688,-0.165372],[0.777852,0.604524,0.171749],[-0.030676,-0.236442,0.971161]] 2025-10-29T01:10:40.313Z,1761700240.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 145.62 m. 2025-10-29T01:10:40.316Z,1761700240.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 145.616760 m, nav range: 141.852936 m, bearing: 358.801397 deg, approach rate: -0.345951 m/s, LOS rate: -0.150601 deg/s, cmd heading: 354.092279 deg, new cmd heading: 353.957329 deg. 2025-10-29T01:10:40.329Z,1761700240.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177721 target range: 145.616760 and range: 146.40 m. 2025-10-29T01:10:40.440Z,1761700240.440 [DAT](INFO): DAT read: 01:10:39.0659 LVL= 26288, 27585, 18354, 24723, AGC= 61, IDX= 433, 0.29, 1.851, 1.603,-2.727, 2.382, PHS=-0.429,-0.735, 1.130, RAW= 201.2, 0.4, CAL= 201.2, -2.0, ROT= 308.8, 2.0 2025-10-29T01:10:40.441Z,1761700240.441 [DAT](INFO): got valid direction response: 01:10:39.0659 LVL= 26288, 27585, 18354, 24723, AGC= 61, IDX= 433, 0.29, 1.851, 1.603,-2.727, 2.382, PHS=-0.429,-0.735, 1.130, RAW= 201.2, 0.4, CAL= 201.2, -2.0, ROT= 308.8, 2.0 2025-10-29T01:10:40.442Z,1761700240.442 [DAT](INFO): DAT read: Bearing 181.9, -50.2 (Local) 2025-10-29T01:10:40.442Z,1761700240.442 [DAT](INFO): Local bearing/azimuth received: Bearing 181.9, -50.2 (Local) 2025-10-29T01:10:40.443Z,1761700240.443 [DAT](INFO): DAT read: Range 11 to 50 : 145.6 m (Round-trip 194.2 ms) speed 0.3 m/s 2025-10-29T01:10:40.444Z,1761700240.444 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:40.445Z,1761700240.445 [DAT](INFO): direction in FSK: [0.626222,-0.778863,-0.034899] 2025-10-29T01:10:40.445Z,1761700240.445 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:40.449Z,1761700240.449 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:40.449Z,1761700240.449 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:40.449Z,1761700240.449 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:40.648Z,1761700240.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.644959,-0.746847,-0.162011],[0.763612,0.621362,0.175518],[-0.030418,-0.236916,0.971054]] 2025-10-29T01:10:40.678Z,1761700240.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 145.600006 m, deltaT: 4.029710 s, deltaX: -0.799988 m, approachRate: -0.198522 m/s, rangeRepo size: 4 2025-10-29T01:10:40.681Z,1761700240.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 144.819702 m, bearing: 359.312715 deg, lat: 36.779285 deg, lon: -121.859423 deg, deltaT: 4.029710 s, deltaX: -0.797058 m, approachRate: -0.197795 m/s, posRepo size: 4 2025-10-29T01:10:40.681Z,1761700240.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:40.685Z,1761700240.685 [DAT](INFO): DAT read: user:681> 2025-10-29T01:10:40.686Z,1761700240.686 [DAT](INFO): DAT read: Tx time:01:10:40.4675 2025-10-29T01:10:40.686Z,1761700240.686 [DAT](INFO): Ping request sent. 2025-10-29T01:10:40.686Z,1761700240.686 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:40.686Z,1761700240.686 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:40.687Z,1761700240.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724 2025-10-29T01:10:40.688Z,1761700240.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 142.410660 m, bearing: 358.749872 deg, approach rate: 0.000000 m/s, LOS rate: -0.150601 deg/s, cmd heading: 353.957342 deg, new cmd heading: 353.847581 deg. 2025-10-29T01:10:40.689Z,1761700240.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175806 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:40.937Z,1761700240.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251141 2025-10-29T01:10:41.051Z,1761700241.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662418,-0.732086,-0.158909],[0.748516,0.638190,0.180104],[-0.030437,-0.238250,0.970727]] 2025-10-29T01:10:41.099Z,1761700241.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:41.101Z,1761700241.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:41.104Z,1761700241.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 142.247940 m, bearing: 358.687213 deg, approach rate: -0.384066 m/s, LOS rate: -0.148062 deg/s, cmd heading: 353.847594 deg, new cmd heading: 353.722134 deg. 2025-10-29T01:10:41.105Z,1761700241.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173616 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:41.190Z,1761700241.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503612 2025-10-29T01:10:41.441Z,1761700241.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754694 2025-10-29T01:10:41.456Z,1761700241.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679560,-0.716912,-0.155678],[0.732995,0.654766,0.184387],[-0.030257,-0.239413,0.970446]] 2025-10-29T01:10:41.503Z,1761700241.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:41.517Z,1761700241.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 142.097488 m, bearing: 358.631721 deg, approach rate: -0.374568 m/s, LOS rate: -0.138302 deg/s, cmd heading: 353.722137 deg, new cmd heading: 353.611034 deg. 2025-10-29T01:10:41.518Z,1761700241.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171677 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:41.693Z,1761700241.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006811 2025-10-29T01:10:41.861Z,1761700241.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696420,-0.701427,-0.151654],[0.717004,0.671242,0.187987],[-0.030063,-0.239654,0.970393]] 2025-10-29T01:10:41.879Z,1761700241.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:41.882Z,1761700241.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.941040 m, bearing: 358.576491 deg, approach rate: -0.415587 m/s, LOS rate: -0.146873 deg/s, cmd heading: 353.611024 deg, new cmd heading: 353.500443 deg. 2025-10-29T01:10:41.883Z,1761700241.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169746 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:41.945Z,1761700241.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258918 2025-10-29T01:10:42.197Z,1761700242.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510734 2025-10-29T01:10:42.263Z,1761700242.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.712429,-0.685887,-0.148335],[0.701108,0.686700,0.192070],[-0.029876,-0.240835,0.970106]] 2025-10-29T01:10:42.312Z,1761700242.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:42.315Z,1761700242.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.756790 m, bearing: 358.515673 deg, approach rate: -0.425841 m/s, LOS rate: -0.140746 deg/s, cmd heading: 353.500429 deg, new cmd heading: 353.378636 deg. 2025-10-29T01:10:42.332Z,1761700242.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167621 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:42.450Z,1761700242.450 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763388 2025-10-29T01:10:42.667Z,1761700242.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728621,-0.669930,-0.142496],[0.684274,0.702999,0.193807],[-0.029662,-0.238718,0.970636]] 2025-10-29T01:10:42.685Z,1761700242.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:42.688Z,1761700242.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.594894 m, bearing: 358.464575 deg, approach rate: -0.433765 m/s, LOS rate: -0.137062 deg/s, cmd heading: 353.378633 deg, new cmd heading: 353.276321 deg. 2025-10-29T01:10:42.701Z,1761700242.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014832 2025-10-29T01:10:42.705Z,1761700242.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165835 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:42.953Z,1761700242.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266825 2025-10-29T01:10:43.077Z,1761700243.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743521,-0.654065,-0.139195],[0.668060,0.717328,0.197829],[-0.029544,-0.240080,0.970303]] 2025-10-29T01:10:43.118Z,1761700243.118 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:43.120Z,1761700243.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:43.127Z,1761700243.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.406769 m, bearing: 358.410108 deg, approach rate: -0.432816 m/s, LOS rate: -0.125479 deg/s, cmd heading: 353.276317 deg, new cmd heading: 353.167237 deg. 2025-10-29T01:10:43.128Z,1761700243.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.163931 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:43.206Z,1761700243.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519525 2025-10-29T01:10:43.457Z,1761700243.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770737 2025-10-29T01:10:43.481Z,1761700243.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.758512,-0.637586,-0.134701],[0.650985,0.731957,0.201141],[-0.029650,-0.240256,0.970257]] 2025-10-29T01:10:43.515Z,1761700243.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:43.538Z,1761700243.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.235153 m, bearing: 358.362621 deg, approach rate: -0.433841 m/s, LOS rate: -0.120191 deg/s, cmd heading: 353.167225 deg, new cmd heading: 353.072137 deg. 2025-10-29T01:10:43.539Z,1761700243.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162271 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:43.709Z,1761700243.709 [DAT](INFO): DAT read: Rx Time:01:10:43.0639 2025-10-29T01:10:43.709Z,1761700243.709 [DAT](INFO): Rx dataTimestamp_ set to:1761700243.709206 2025-10-29T01:10:43.710Z,1761700243.710 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023917 2025-10-29T01:10:43.917Z,1761700243.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:43.919Z,1761700243.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 141.056046 m, bearing: 358.312905 deg, approach rate: -0.446376 m/s, LOS rate: -0.124061 deg/s, cmd heading: 353.072149 deg, new cmd heading: 352.972591 deg. 2025-10-29T01:10:43.920Z,1761700243.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160534 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:43.961Z,1761700243.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275094 2025-10-29T01:10:44.216Z,1761700244.216 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529317 2025-10-29T01:10:44.284Z,1761700244.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787537,-0.603646,-0.124087],[0.615575,0.760996,0.204822],[-0.029210,-0.237690,0.970902]] 2025-10-29T01:10:44.321Z,1761700244.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 144.82 m. 2025-10-29T01:10:44.341Z,1761700244.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 144.819702 m, nav range: 140.868057 m, bearing: 358.266031 deg, approach rate: -0.466294 m/s, LOS rate: -0.116423 deg/s, cmd heading: 352.972592 deg, new cmd heading: 352.878720 deg. 2025-10-29T01:10:44.342Z,1761700244.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158895 target range: 144.819702 and range: 145.60 m. 2025-10-29T01:10:44.470Z,1761700244.470 [DAT](INFO): DAT read: 01:10:43.0639 LVL= 32752, 32753, 25314, 32755, AGC= 58, IDX= 429, 0.25,-0.691,-1.602, 0.595,-0.362, PHS=-0.227,-1.195, 0.913, RAW= 182.7, 5.6, CAL= 182.5, 4.4, ROT= 327.5, -4.4 2025-10-29T01:10:44.471Z,1761700244.471 [DAT](INFO): got valid direction response: 01:10:43.0639 LVL= 32752, 32753, 25314, 32755, AGC= 58, IDX= 429, 0.25,-0.691,-1.602, 0.595,-0.362, PHS=-0.227,-1.195, 0.913, RAW= 182.7, 5.6, CAL= 182.5, 4.4, ROT= 327.5, -4.4 2025-10-29T01:10:44.472Z,1761700244.472 [DAT](INFO): DAT read: Bearing 184.9, -34.4 (Local) 2025-10-29T01:10:44.473Z,1761700244.473 [DAT](INFO): Local bearing/azimuth received: Bearing 184.9, -34.4 (Local) 2025-10-29T01:10:44.474Z,1761700244.474 [DAT](INFO): DAT read: Range 11 to 50 : 144.1 m (Round-trip 192.2 ms) speed 0.4 m/s 2025-10-29T01:10:44.475Z,1761700244.475 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:44.476Z,1761700244.476 [DAT](INFO): direction in FSK: [0.840906,-0.535716,0.076719] 2025-10-29T01:10:44.476Z,1761700244.476 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:44.482Z,1761700244.482 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:44.482Z,1761700244.482 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:44.483Z,1761700244.483 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:44.687Z,1761700244.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801573,-0.586121,-0.118080],[0.597176,0.775146,0.206226],[-0.029344,-0.235820,0.971354]] 2025-10-29T01:10:44.717Z,1761700244.717 [DAT](INFO): DAT read: user:682> 2025-10-29T01:10:44.718Z,1761700244.718 [DAT](INFO): DAT read: Tx time:01:10:44.4675 2025-10-29T01:10:44.718Z,1761700244.718 [DAT](INFO): Ping request sent. 2025-10-29T01:10:44.718Z,1761700244.718 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:44.718Z,1761700244.718 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:44.719Z,1761700244.719 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000743 2025-10-29T01:10:44.720Z,1761700244.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 144.100006 m, deltaT: 4.031750 s, deltaX: -1.500000 m, approachRate: -0.372047 m/s, rangeRepo size: 4 2025-10-29T01:10:44.723Z,1761700244.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 143.330048 m, bearing: 5.990556 deg, lat: 36.779282 deg, lon: -121.859423 deg, deltaT: 4.031750 s, deltaX: -1.489655 m, approachRate: -0.369481 m/s, posRepo size: 4 2025-10-29T01:10:44.742Z,1761700244.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:44.750Z,1761700244.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 140.385559 m, bearing: 358.218206 deg, approach rate: 0.000000 m/s, LOS rate: -0.116423 deg/s, cmd heading: 352.878718 deg, new cmd heading: 352.786419 deg. 2025-10-29T01:10:44.751Z,1761700244.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157285 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:44.969Z,1761700244.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250935 2025-10-29T01:10:45.110Z,1761700245.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.815418,-0.567475,-0.114303],[0.578131,0.788349,0.210406],[-0.029290,-0.237651,0.970909]] 2025-10-29T01:10:45.149Z,1761700245.149 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:45.151Z,1761700245.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:45.154Z,1761700245.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 140.182312 m, bearing: 358.173176 deg, approach rate: -0.467358 m/s, LOS rate: -0.103696 deg/s, cmd heading: 352.786429 deg, new cmd heading: 352.696237 deg. 2025-10-29T01:10:45.155Z,1761700245.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.155711 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:45.222Z,1761700245.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503525 2025-10-29T01:10:45.473Z,1761700245.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754738 2025-10-29T01:10:45.507Z,1761700245.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.828778,-0.548711,-0.109742],[0.558825,0.801424,0.213152],[-0.029009,-0.237982,0.970836]] 2025-10-29T01:10:45.543Z,1761700245.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:45.549Z,1761700245.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 139.998062 m, bearing: 358.134486 deg, approach rate: -0.470265 m/s, LOS rate: -0.098879 deg/s, cmd heading: 352.696243 deg, new cmd heading: 352.618762 deg. 2025-10-29T01:10:45.550Z,1761700245.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154358 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:45.725Z,1761700245.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006651 2025-10-29T01:10:45.901Z,1761700245.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.841345,-0.530305,-0.104473],[0.539728,0.813988,0.214749],[-0.028843,-0.237065,0.971066]] 2025-10-29T01:10:45.919Z,1761700245.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:45.922Z,1761700245.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 139.819550 m, bearing: 358.098989 deg, approach rate: -0.474852 m/s, LOS rate: -0.094544 deg/s, cmd heading: 352.618761 deg, new cmd heading: 352.547677 deg. 2025-10-29T01:10:45.922Z,1761700245.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153118 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:45.979Z,1761700245.979 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260125 2025-10-29T01:10:46.229Z,1761700246.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510799 2025-10-29T01:10:46.303Z,1761700246.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853811,-0.510838,-0.100259],[0.519795,0.825961,0.218178],[-0.028643,-0.238397,0.970745]] 2025-10-29T01:10:46.359Z,1761700246.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:46.361Z,1761700246.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 139.598572 m, bearing: 358.057472 deg, approach rate: -0.502312 m/s, LOS rate: -0.094522 deg/s, cmd heading: 352.547673 deg, new cmd heading: 352.464508 deg. 2025-10-29T01:10:46.362Z,1761700246.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151666 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:46.483Z,1761700246.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765123 2025-10-29T01:10:46.709Z,1761700246.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.865930,-0.491008,-0.095267],[0.499316,0.837542,0.221827],[-0.029129,-0.239655,0.970421]] 2025-10-29T01:10:46.733Z,1761700246.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014877 2025-10-29T01:10:46.734Z,1761700246.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:46.736Z,1761700246.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 139.411575 m, bearing: 358.024411 deg, approach rate: -0.500983 m/s, LOS rate: -0.088694 deg/s, cmd heading: 352.464508 deg, new cmd heading: 352.398296 deg. 2025-10-29T01:10:46.737Z,1761700246.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150510 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:46.986Z,1761700246.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267517 2025-10-29T01:10:47.142Z,1761700247.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888469,-0.451021,-0.084871],[0.458016,0.859688,0.226179],[-0.029049,-0.239825,0.970381]] 2025-10-29T01:10:47.177Z,1761700247.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:47.179Z,1761700247.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:47.182Z,1761700247.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 139.172394 m, bearing: 357.985750 deg, approach rate: -0.534452 m/s, LOS rate: -0.086536 deg/s, cmd heading: 352.398283 deg, new cmd heading: 352.320828 deg. 2025-10-29T01:10:47.183Z,1761700247.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149158 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:47.238Z,1761700247.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519324 2025-10-29T01:10:47.490Z,1761700247.490 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771735 2025-10-29T01:10:47.558Z,1761700247.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:47.565Z,1761700247.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 138.975357 m, bearing: 357.953794 deg, approach rate: -0.520042 m/s, LOS rate: -0.084460 deg/s, cmd heading: 352.320828 deg, new cmd heading: 352.256827 deg. 2025-10-29T01:10:47.566Z,1761700247.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148041 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:47.742Z,1761700247.742 [DAT](INFO): DAT read: Rx Time:01:10:47.0614 2025-10-29T01:10:47.742Z,1761700247.742 [DAT](INFO): Rx dataTimestamp_ set to:1761700247.741782 2025-10-29T01:10:47.743Z,1761700247.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024779 2025-10-29T01:10:47.919Z,1761700247.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.898993,-0.430624,-0.079841],[0.436990,0.869819,0.229031],[-0.029179,-0.240787,0.970139]] 2025-10-29T01:10:47.948Z,1761700247.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 143.33 m. 2025-10-29T01:10:47.950Z,1761700247.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 143.330048 m, nav range: 138.764297 m, bearing: 357.921798 deg, approach rate: -0.542019 m/s, LOS rate: -0.082294 deg/s, cmd heading: 352.256816 deg, new cmd heading: 352.192726 deg. 2025-10-29T01:10:47.951Z,1761700247.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146923 target range: 143.330048 and range: 144.10 m. 2025-10-29T01:10:47.994Z,1761700247.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275389 2025-10-29T01:10:48.251Z,1761700248.251 [DAT](INFO): DAT read: 01:10:47.0614 LVL= 32752, 32753, 31666, 32755, AGC= 66, IDX= 419, 0.27, 3.081, 2.008,-2.125,-3.068, PHS=-0.032,-1.162, 0.900, RAW= 176.8, 3.3, CAL= 176.3, 0.9, ROT= 333.7, -0.9 2025-10-29T01:10:48.252Z,1761700248.252 [DAT](INFO): got valid direction response: 01:10:47.0614 LVL= 32752, 32753, 31666, 32755, AGC= 66, IDX= 419, 0.27, 3.081, 2.008,-2.125,-3.068, PHS=-0.032,-1.162, 0.900, RAW= 176.8, 3.3, CAL= 176.3, 0.9, ROT= 333.7, -0.9 2025-10-29T01:10:48.253Z,1761700248.253 [DAT](INFO): DAT read: Bearing 168.8, -27.1 (Local) 2025-10-29T01:10:48.253Z,1761700248.253 [DAT](INFO): Local bearing/azimuth received: Bearing 168.8, -27.1 (Local) 2025-10-29T01:10:48.255Z,1761700248.255 [DAT](INFO): DAT read: Range 11 to 50 : 142.2 m (Round-trip 189.7 ms) speed 0.4 m/s 2025-10-29T01:10:48.255Z,1761700248.255 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:48.256Z,1761700248.256 [DAT](INFO): direction in FSK: [0.896376,-0.443016,0.015707] 2025-10-29T01:10:48.257Z,1761700248.257 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:48.264Z,1761700248.264 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:48.264Z,1761700248.264 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:48.264Z,1761700248.264 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:48.323Z,1761700248.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909051,-0.409863,-0.075087],[0.415650,0.879261,0.232671],[-0.029342,-0.242720,0.969653]] 2025-10-29T01:10:48.461Z,1761700248.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 142.199997 m, deltaT: 3.780631 s, deltaX: -1.900009 m, approachRate: -0.502564 m/s, rangeRepo size: 4 2025-10-29T01:10:48.463Z,1761700248.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 141.440292 m, bearing: 359.234735 deg, lat: 36.779295 deg, lon: -121.859407 deg, deltaT: 3.780631 s, deltaX: -1.889755 m, approachRate: -0.499852 m/s, posRepo size: 4 2025-10-29T01:10:48.463Z,1761700248.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:48.470Z,1761700248.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 139.931107 m, bearing: 358.475494 deg, approach rate: 0.000000 m/s, LOS rate: -0.082294 deg/s, cmd heading: 352.192721 deg, new cmd heading: 352.109093 deg. 2025-10-29T01:10:48.471Z,1761700248.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145463 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:48.497Z,1761700248.497 [DAT](INFO): DAT read: user:683> 2025-10-29T01:10:48.499Z,1761700248.499 [DAT](INFO): DAT read: Tx time:01:10:48.2675 2025-10-29T01:10:48.499Z,1761700248.499 [DAT](INFO): Ping request sent. 2025-10-29T01:10:48.500Z,1761700248.500 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:48.500Z,1761700248.500 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:48.501Z,1761700248.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001462 2025-10-29T01:10:48.750Z,1761700248.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250158 2025-10-29T01:10:48.771Z,1761700248.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.927277,-0.368918,-0.063699],[0.373192,0.897339,0.235608],[-0.029761,-0.242245,0.969759]] 2025-10-29T01:10:48.791Z,1761700248.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:48.794Z,1761700248.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 139.743439 m, bearing: 358.454861 deg, approach rate: -0.560472 m/s, LOS rate: -0.061702 deg/s, cmd heading: 352.109092 deg, new cmd heading: 352.067772 deg. 2025-10-29T01:10:48.794Z,1761700248.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144742 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:49.002Z,1761700249.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502405 2025-10-29T01:10:49.214Z,1761700249.214 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:49.216Z,1761700249.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:49.219Z,1761700249.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 139.512817 m, bearing: 358.429434 deg, approach rate: -0.541885 m/s, LOS rate: -0.059844 deg/s, cmd heading: 352.067783 deg, new cmd heading: 352.016845 deg. 2025-10-29T01:10:49.220Z,1761700249.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143853 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:49.253Z,1761700249.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753448 2025-10-29T01:10:49.505Z,1761700249.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005924 2025-10-29T01:10:49.567Z,1761700249.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.943556,-0.327082,-0.052148],[0.329805,0.913328,0.238875],[-0.030504,-0.242590,0.969649]] 2025-10-29T01:10:49.609Z,1761700249.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:49.611Z,1761700249.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 139.301422 m, bearing: 358.410320 deg, approach rate: -0.538662 m/s, LOS rate: -0.048779 deg/s, cmd heading: 352.016858 deg, new cmd heading: 351.978572 deg. 2025-10-29T01:10:49.617Z,1761700249.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143185 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:49.758Z,1761700249.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257956 2025-10-29T01:10:49.973Z,1761700249.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951146,-0.305293,-0.046020],[0.307177,0.920763,0.240496],[-0.031049,-0.242883,0.969559]] 2025-10-29T01:10:50.009Z,1761700250.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509438 2025-10-29T01:10:50.015Z,1761700250.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:50.022Z,1761700250.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 139.073853 m, bearing: 358.392012 deg, approach rate: -0.559875 m/s, LOS rate: -0.045114 deg/s, cmd heading: 351.978581 deg, new cmd heading: 351.941906 deg. 2025-10-29T01:10:50.023Z,1761700250.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142545 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:50.262Z,1761700250.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761987 2025-10-29T01:10:50.377Z,1761700250.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957996,-0.284004,-0.039804],[0.285078,0.927995,0.239907],[-0.031196,-0.241177,0.969980]] 2025-10-29T01:10:50.429Z,1761700250.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:50.436Z,1761700250.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 138.847092 m, bearing: 358.377492 deg, approach rate: -0.547651 m/s, LOS rate: -0.035126 deg/s, cmd heading: 351.941917 deg, new cmd heading: 351.912828 deg. 2025-10-29T01:10:50.437Z,1761700250.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142037 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:50.513Z,1761700250.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013453 2025-10-29T01:10:50.624Z,1761700250.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:10:50.765Z,1761700250.765 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265678 2025-10-29T01:10:50.792Z,1761700250.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964294,-0.262714,-0.033453],[0.262951,0.934717,0.239085],[-0.031542,-0.239344,0.970422]] 2025-10-29T01:10:50.810Z,1761700250.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:50.813Z,1761700250.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 138.620941 m, bearing: 358.365170 deg, approach rate: -0.593583 m/s, LOS rate: -0.032395 deg/s, cmd heading: 351.912820 deg, new cmd heading: 351.888135 deg. 2025-10-29T01:10:50.814Z,1761700250.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141606 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:51.018Z,1761700251.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517965 2025-10-29T01:10:51.196Z,1761700251.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970197,-0.240807,-0.027009],[0.240197,0.941001,0.238374],[-0.031987,-0.237757,0.970798]] 2025-10-29T01:10:51.231Z,1761700251.231 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:51.233Z,1761700251.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:51.236Z,1761700251.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 138.376984 m, bearing: 358.354584 deg, approach rate: -0.577066 m/s, LOS rate: -0.025084 deg/s, cmd heading: 351.888122 deg, new cmd heading: 351.866914 deg. 2025-10-29T01:10:51.237Z,1761700251.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141236 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:51.269Z,1761700251.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769397 2025-10-29T01:10:51.521Z,1761700251.521 [DAT](INFO): DAT read: Rx Time:01:10:50.8587 2025-10-29T01:10:51.522Z,1761700251.522 [DAT](INFO): Rx dataTimestamp_ set to:1761700251.521233 2025-10-29T01:10:51.522Z,1761700251.522 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022487 2025-10-29T01:10:51.590Z,1761700251.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975473,-0.219134,-0.020786],[0.217753,0.946879,0.236651],[-0.032176,-0.235373,0.971372]] 2025-10-29T01:10:51.628Z,1761700251.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:10:51.630Z,1761700251.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 141.44 m. 2025-10-29T01:10:51.634Z,1761700251.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 141.440292 m, nav range: 138.157135 m, bearing: 358.347149 deg, approach rate: -0.553754 m/s, LOS rate: -0.018757 deg/s, cmd heading: 351.866921 deg, new cmd heading: 351.852028 deg. 2025-10-29T01:10:51.635Z,1761700251.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140976 target range: 141.440292 and range: 142.20 m. 2025-10-29T01:10:51.773Z,1761700251.773 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.273874 2025-10-29T01:10:52.043Z,1761700252.043 [DAT](INFO): DAT read: 01:10:50.8587 LVL= 26608, 30161, 20050, 32755, AGC= 67, IDX= 409,-0.32,-0.047,-1.396, 0.656,-0.069, PHS= 0.124,-1.283, 0.681, RAW= 166.0, 5.5, CAL= 165.2, 4.7, ROT= 344.8, -4.7 2025-10-29T01:10:52.049Z,1761700252.049 [DAT](INFO): got valid direction response: 01:10:50.8587 LVL= 26608, 30161, 20050, 32755, AGC= 67, IDX= 409,-0.32,-0.047,-1.396, 0.656,-0.069, PHS= 0.124,-1.283, 0.681, RAW= 166.0, 5.5, CAL= 165.2, 4.7, ROT= 344.8, -4.7 2025-10-29T01:10:52.063Z,1761700252.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980270,-0.197071,-0.015255],[0.195003,0.951592,0.237585],[-0.032305,-0.235872,0.971247]] 2025-10-29T01:10:52.072Z,1761700252.072 [DAT](INFO): DAT read: Bearing 163.1, -17.7 (Local) 2025-10-29T01:10:52.073Z,1761700252.073 [DAT](INFO): Local bearing/azimuth received: Bearing 163.1, -17.7 (Local) 2025-10-29T01:10:52.074Z,1761700252.074 [DAT](INFO): DAT read: Range 11 to 50 : 140.3 m (Round-trip 187.1 ms) speed 0.4 m/s 2025-10-29T01:10:52.075Z,1761700252.075 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:10:52.080Z,1761700252.080 [DAT](INFO): direction in FSK: [0.961772,-0.261308,0.081939] 2025-10-29T01:10:52.080Z,1761700252.080 [DAT](INFO): publishing direction and range info 2025-10-29T01:10:52.083Z,1761700252.083 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:10:52.083Z,1761700252.083 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:10:52.088Z,1761700252.088 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:10:52.123Z,1761700252.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.300003 m, deltaT: 3.781438 s, deltaX: -1.899994 m, approachRate: -0.502453 m/s, rangeRepo size: 4 2025-10-29T01:10:52.158Z,1761700252.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.550385 m, bearing: 357.598756 deg, lat: 36.779296 deg, lon: -121.859407 deg, deltaT: 3.781438 s, deltaX: -1.889908 m, approachRate: -0.499785 m/s, posRepo size: 4 2025-10-29T01:10:52.173Z,1761700252.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:52.190Z,1761700252.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 138.023972 m, bearing: 358.342191 deg, approach rate: 0.000000 m/s, LOS rate: -0.018757 deg/s, cmd heading: 351.852031 deg, new cmd heading: 351.834558 deg. 2025-10-29T01:10:52.191Z,1761700252.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140671 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:52.277Z,1761700252.277 [DAT](INFO): DAT read: user:684> 2025-10-29T01:10:52.278Z,1761700252.278 [DAT](INFO): DAT read: Tx time:01:10:52.0675 2025-10-29T01:10:52.278Z,1761700252.278 [DAT](INFO): Ping request sent. 2025-10-29T01:10:52.278Z,1761700252.278 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:10:52.278Z,1761700252.278 [DAT](INFO): publishing transmit ping time 2025-10-29T01:10:52.279Z,1761700252.279 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001114 2025-10-29T01:10:52.500Z,1761700252.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984549,-0.174867,-0.009219],[0.172040,0.956135,0.237082],[-0.032644,-0.235005,0.971446]] 2025-10-29T01:10:52.529Z,1761700252.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250729 2025-10-29T01:10:52.543Z,1761700252.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:52.546Z,1761700252.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 137.756592 m, bearing: 358.336434 deg, approach rate: -0.597710 m/s, LOS rate: -0.012896 deg/s, cmd heading: 351.834546 deg, new cmd heading: 351.823008 deg. 2025-10-29T01:10:52.547Z,1761700252.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140470 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:52.781Z,1761700252.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502928 2025-10-29T01:10:52.883Z,1761700252.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988355,-0.152124,-0.003502],[0.148610,0.960072,0.237017],[-0.032694,-0.234777,0.971499]] 2025-10-29T01:10:52.910Z,1761700252.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:52.913Z,1761700252.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 137.541641 m, bearing: 358.333920 deg, approach rate: -0.585660 m/s, LOS rate: -0.006859 deg/s, cmd heading: 351.823017 deg, new cmd heading: 351.817982 deg. 2025-10-29T01:10:52.914Z,1761700252.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140382 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:53.033Z,1761700253.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-10-29T01:10:53.285Z,1761700253.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006682 2025-10-29T01:10:53.289Z,1761700253.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991543,-0.129765,0.001868],[0.125577,0.962976,0.238555],[-0.032755,-0.236303,0.971127]] 2025-10-29T01:10:53.353Z,1761700253.353 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:53.355Z,1761700253.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:53.362Z,1761700253.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 137.293198 m, bearing: 358.332971 deg, approach rate: -0.558296 m/s, LOS rate: -0.002138 deg/s, cmd heading: 351.817990 deg, new cmd heading: 351.816087 deg. 2025-10-29T01:10:53.363Z,1761700253.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140349 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:53.538Z,1761700253.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259692 2025-10-29T01:10:53.692Z,1761700253.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994178,-0.107499,0.007390],[0.102614,0.965458,0.239504],[-0.032881,-0.237351,0.970867]] 2025-10-29T01:10:53.713Z,1761700253.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:53.715Z,1761700253.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 137.085083 m, bearing: 358.334176 deg, approach rate: -0.581698 m/s, LOS rate: 0.003374 deg/s, cmd heading: 351.816077 deg, new cmd heading: 351.818492 deg. 2025-10-29T01:10:53.717Z,1761700253.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140391 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:53.789Z,1761700253.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510910 2025-10-29T01:10:54.041Z,1761700254.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762670 2025-10-29T01:10:54.094Z,1761700254.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996248,-0.085586,0.012846],[0.080017,0.967453,0.240065],[-0.032974,-0.238137,0.970672]] 2025-10-29T01:10:54.137Z,1761700254.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:54.139Z,1761700254.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 136.854965 m, bearing: 358.337695 deg, approach rate: -0.543065 m/s, LOS rate: 0.008319 deg/s, cmd heading: 351.818482 deg, new cmd heading: 351.825531 deg. 2025-10-29T01:10:54.145Z,1761700254.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140514 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:54.293Z,1761700254.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015072 2025-10-29T01:10:54.504Z,1761700254.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997826,-0.063265,0.018459],[0.056915,0.968455,0.242602],[-0.033225,-0.241024,0.969950]] 2025-10-29T01:10:54.545Z,1761700254.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266754 2025-10-29T01:10:54.569Z,1761700254.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:54.571Z,1761700254.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 136.607361 m, bearing: 358.339087 deg, approach rate: -0.573221 m/s, LOS rate: 0.003228 deg/s, cmd heading: 351.825530 deg, new cmd heading: 351.828319 deg. 2025-10-29T01:10:54.576Z,1761700254.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140563 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:54.799Z,1761700254.799 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520160 2025-10-29T01:10:54.905Z,1761700254.905 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998850,-0.041390,0.024187],[0.034271,0.969314,0.243425],[-0.033520,-0.242316,0.969618]] 2025-10-29T01:10:54.923Z,1761700254.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:54.926Z,1761700254.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 136.383606 m, bearing: 358.342475 deg, approach rate: -0.631026 m/s, LOS rate: 0.009571 deg/s, cmd heading: 351.828317 deg, new cmd heading: 351.835105 deg. 2025-10-29T01:10:54.927Z,1761700254.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140681 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:55.049Z,1761700255.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770714 2025-10-29T01:10:55.305Z,1761700255.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026676 2025-10-29T01:10:55.309Z,1761700255.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999385,-0.019562,0.029088],[0.011813,0.969209,0.245956],[-0.033003,-0.245461,0.968844]] 2025-10-29T01:10:55.359Z,1761700255.359 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:55.362Z,1761700255.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:55.364Z,1761700255.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 136.134262 m, bearing: 358.347757 deg, approach rate: -0.568698 m/s, LOS rate: 0.012068 deg/s, cmd heading: 351.835093 deg, new cmd heading: 351.845675 deg. 2025-10-29T01:10:55.365Z,1761700255.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.140865 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:55.557Z,1761700255.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278673 2025-10-29T01:10:55.711Z,1761700255.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999401,0.001192,0.034586],[-0.009626,0.969546,0.244719],[-0.033241,-0.244906,0.968977]] 2025-10-29T01:10:55.736Z,1761700255.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:55.739Z,1761700255.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 135.921066 m, bearing: 358.354226 deg, approach rate: -0.569368 m/s, LOS rate: 0.017303 deg/s, cmd heading: 351.845666 deg, new cmd heading: 351.858624 deg. 2025-10-29T01:10:55.741Z,1761700255.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141091 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:55.810Z,1761700255.810 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531729 2025-10-29T01:10:56.061Z,1761700256.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782717 2025-10-29T01:10:56.115Z,1761700256.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998975,0.020827,0.040201],[-0.030048,0.969166,0.244570],[-0.033868,-0.245527,0.968798]] 2025-10-29T01:10:56.132Z,1761700256.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:56.135Z,1761700256.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 135.696091 m, bearing: 358.363026 deg, approach rate: -0.567518 m/s, LOS rate: 0.022236 deg/s, cmd heading: 351.858616 deg, new cmd heading: 351.876245 deg. 2025-10-29T01:10:56.139Z,1761700256.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141399 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:56.313Z,1761700256.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.034821 2025-10-29T01:10:56.521Z,1761700256.521 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998177,0.039908,0.045266],[-0.049811,0.968316,0.244709],[-0.034066,-0.246518,0.968539]] 2025-10-29T01:10:56.562Z,1761700256.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:56.565Z,1761700256.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.286855 2025-10-29T01:10:56.567Z,1761700256.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 135.448212 m, bearing: 358.373664 deg, approach rate: -0.576753 m/s, LOS rate: 0.024797 deg/s, cmd heading: 351.876238 deg, new cmd heading: 351.897553 deg. 2025-10-29T01:10:56.568Z,1761700256.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.141771 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:56.817Z,1761700256.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.538923 2025-10-29T01:10:56.924Z,1761700256.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997023,0.058442,0.050305],[-0.068947,0.967777,0.242186],[-0.034530,-0.244933,0.968925]] 2025-10-29T01:10:56.943Z,1761700256.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:56.945Z,1761700256.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 135.229004 m, bearing: 358.384912 deg, approach rate: -0.576221 m/s, LOS rate: 0.029615 deg/s, cmd heading: 351.897548 deg, new cmd heading: 351.920080 deg. 2025-10-29T01:10:56.946Z,1761700256.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142164 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:57.069Z,1761700257.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.790670 2025-10-29T01:10:57.321Z,1761700257.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.042776 2025-10-29T01:10:57.361Z,1761700257.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995665,0.074822,0.055259],[-0.085908,0.967486,0.237890],[-0.035663,-0.241606,0.969719]] 2025-10-29T01:10:57.415Z,1761700257.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:57.422Z,1761700257.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:57.429Z,1761700257.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 134.957230 m, bearing: 358.402854 deg, approach rate: -0.567306 m/s, LOS rate: 0.037528 deg/s, cmd heading: 351.920087 deg, new cmd heading: 351.956044 deg. 2025-10-29T01:10:57.430Z,1761700257.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.142792 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:57.574Z,1761700257.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.295340 2025-10-29T01:10:57.770Z,1761700257.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994054,0.091053,0.059713],[-0.102628,0.966715,0.234371],[-0.036386,-0.239106,0.970312]] 2025-10-29T01:10:57.797Z,1761700257.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:57.799Z,1761700257.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 134.735992 m, bearing: 358.419143 deg, approach rate: -0.589746 m/s, LOS rate: 0.043491 deg/s, cmd heading: 351.956042 deg, new cmd heading: 351.988672 deg. 2025-10-29T01:10:57.801Z,1761700257.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143361 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:57.825Z,1761700257.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.546774 2025-10-29T01:10:58.077Z,1761700258.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.798743 2025-10-29T01:10:58.169Z,1761700258.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992370,0.105396,0.063978],[-0.117450,0.965961,0.230490],[-0.037508,-0.236246,0.970969]] 2025-10-29T01:10:58.188Z,1761700258.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:58.191Z,1761700258.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 134.511322 m, bearing: 358.437224 deg, approach rate: -0.574705 m/s, LOS rate: 0.046328 deg/s, cmd heading: 351.988663 deg, new cmd heading: 352.024885 deg. 2025-10-29T01:10:58.216Z,1761700258.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.143993 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:58.330Z,1761700258.330 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.051558 2025-10-29T01:10:58.581Z,1761700258.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.302801 2025-10-29T01:10:58.582Z,1761700258.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990597,0.118396,0.068561],[-0.131129,0.964577,0.228903],[-0.039031,-0.235741,0.971032]] 2025-10-29T01:10:58.638Z,1761700258.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:58.645Z,1761700258.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 134.260223 m, bearing: 358.463061 deg, approach rate: -0.557461 m/s, LOS rate: 0.057469 deg/s, cmd heading: 352.024890 deg, new cmd heading: 352.076662 deg. 2025-10-29T01:10:58.646Z,1761700258.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.144897 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:58.833Z,1761700258.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.555015 2025-10-29T01:10:58.993Z,1761700258.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988800,0.130406,0.072593],[-0.143667,0.963427,0.226205],[-0.040440,-0.234101,0.971371]] 2025-10-29T01:10:59.011Z,1761700259.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:59.014Z,1761700259.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 134.031769 m, bearing: 358.487974 deg, approach rate: -0.611985 m/s, LOS rate: 0.066849 deg/s, cmd heading: 352.076663 deg, new cmd heading: 352.126572 deg. 2025-10-29T01:10:59.015Z,1761700259.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.145768 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:59.085Z,1761700259.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.806921 2025-10-29T01:10:59.337Z,1761700259.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.058703 2025-10-29T01:10:59.386Z,1761700259.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987234,0.139883,0.076165],[-0.153612,0.962590,0.223214],[-0.042092,-0.232064,0.971789]] 2025-10-29T01:10:59.436Z,1761700259.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:10:59.438Z,1761700259.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:59.441Z,1761700259.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 133.777008 m, bearing: 358.521327 deg, approach rate: -0.597266 m/s, LOS rate: 0.078344 deg/s, cmd heading: 352.126578 deg, new cmd heading: 352.193412 deg. 2025-10-29T01:10:59.442Z,1761700259.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.146935 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:59.589Z,1761700259.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.310655 2025-10-29T01:10:59.791Z,1761700259.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985689,0.148813,0.079193],[-0.162862,0.961919,0.219518],[-0.043510,-0.229274,0.972389]] 2025-10-29T01:10:59.815Z,1761700259.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:10:59.818Z,1761700259.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 133.552185 m, bearing: 358.551876 deg, approach rate: -0.596310 m/s, LOS rate: 0.081162 deg/s, cmd heading: 352.193404 deg, new cmd heading: 352.254605 deg. 2025-10-29T01:10:59.819Z,1761700259.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.148003 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:10:59.841Z,1761700259.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.562788 2025-10-29T01:11:00.093Z,1761700260.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.814676 2025-10-29T01:11:00.195Z,1761700260.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984523,0.155324,0.081168],[-0.169322,0.962507,0.211922],[-0.045208,-0.222385,0.973910]] 2025-10-29T01:11:00.213Z,1761700260.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:00.215Z,1761700260.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 133.316071 m, bearing: 358.584846 deg, approach rate: -0.593784 m/s, LOS rate: 0.083060 deg/s, cmd heading: 352.254603 deg, new cmd heading: 352.320659 deg. 2025-10-29T01:11:00.238Z,1761700260.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.149156 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:00.346Z,1761700260.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067416 2025-10-29T01:11:00.597Z,1761700260.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318670 2025-10-29T01:11:00.600Z,1761700260.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983465,0.161184,0.082564],[-0.174954,0.963368,0.203254],[-0.046779,-0.214338,0.975639]] 2025-10-29T01:11:00.656Z,1761700260.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:00.659Z,1761700260.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 133.057846 m, bearing: 358.625701 deg, approach rate: -0.582279 m/s, LOS rate: 0.092305 deg/s, cmd heading: 352.320664 deg, new cmd heading: 352.402533 deg. 2025-10-29T01:11:00.665Z,1761700260.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.150585 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:00.849Z,1761700260.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.570695 2025-10-29T01:11:01.041Z,1761700261.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:01.044Z,1761700261.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 132.810867 m, bearing: 358.664936 deg, approach rate: -0.641948 m/s, LOS rate: 0.102169 deg/s, cmd heading: 352.402545 deg, new cmd heading: 352.481160 deg. 2025-10-29T01:11:01.045Z,1761700261.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.151957 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:01.102Z,1761700261.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.823679 2025-10-29T01:11:01.353Z,1761700261.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.074743 2025-10-29T01:11:01.407Z,1761700261.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982482,0.166424,0.083856],[-0.179301,0.966823,0.181947],[-0.050794,-0.193795,0.979726]] 2025-10-29T01:11:01.462Z,1761700261.462 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:01.465Z,1761700261.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:01.470Z,1761700261.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 132.546967 m, bearing: 358.705775 deg, approach rate: -0.622023 m/s, LOS rate: 0.096451 deg/s, cmd heading: 352.481147 deg, new cmd heading: 352.562988 deg. 2025-10-29T01:11:01.472Z,1761700261.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.153385 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:01.605Z,1761700261.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.326696 2025-10-29T01:11:01.811Z,1761700261.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982430,0.166670,0.083980],[-0.179007,0.968811,0.171354],[-0.052801,-0.183376,0.981624]] 2025-10-29T01:11:01.838Z,1761700261.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:01.841Z,1761700261.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 132.305771 m, bearing: 358.743299 deg, approach rate: -0.646414 m/s, LOS rate: 0.100750 deg/s, cmd heading: 352.563000 deg, new cmd heading: 352.638185 deg. 2025-10-29T01:11:01.842Z,1761700261.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.154697 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:01.860Z,1761700261.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.582278 2025-10-29T01:11:02.109Z,1761700262.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.830739 2025-10-29T01:11:02.215Z,1761700262.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982472,0.166180,0.084462],[-0.178028,0.970802,0.160776],[-0.055278,-0.172994,0.983370]] 2025-10-29T01:11:02.232Z,1761700262.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:02.235Z,1761700262.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 132.056229 m, bearing: 358.782240 deg, approach rate: -0.633700 m/s, LOS rate: 0.099074 deg/s, cmd heading: 352.638186 deg, new cmd heading: 352.716214 deg. 2025-10-29T01:11:02.248Z,1761700262.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.156059 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:02.361Z,1761700262.361 [DAT](INFO): Reached modem response timeout 2025-10-29T01:11:02.362Z,1761700262.362 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:02.362Z,1761700262.362 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:02.613Z,1761700262.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:02.624Z,1761700262.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982704,0.164691,0.084673],[-0.176020,0.972766,0.150811],[-0.057530,-0.163107,0.984930]] 2025-10-29T01:11:02.660Z,1761700262.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:02.663Z,1761700262.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 131.781998 m, bearing: 358.825510 deg, approach rate: -0.641503 m/s, LOS rate: 0.101433 deg/s, cmd heading: 352.716214 deg, new cmd heading: 352.802935 deg. 2025-10-29T01:11:02.664Z,1761700262.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.157573 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:02.865Z,1761700262.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:03.022Z,1761700263.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983069,0.162564,0.084554],[-0.173173,0.975073,0.138722],[-0.059895,-0.151016,0.986715]] 2025-10-29T01:11:03.057Z,1761700263.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:03.059Z,1761700263.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 131.537125 m, bearing: 358.864060 deg, approach rate: -0.616563 m/s, LOS rate: 0.097245 deg/s, cmd heading: 352.802930 deg, new cmd heading: 352.880174 deg. 2025-10-29T01:11:03.069Z,1761700263.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.158921 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:03.117Z,1761700263.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:03.369Z,1761700263.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:03.441Z,1761700263.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983573,0.159347,0.084813],[-0.169428,0.977039,0.129182],[-0.062281,-0.141429,0.987987]] 2025-10-29T01:11:03.502Z,1761700263.502 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:03.504Z,1761700263.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:03.507Z,1761700263.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 131.240234 m, bearing: 358.905335 deg, approach rate: -0.663750 m/s, LOS rate: 0.092485 deg/s, cmd heading: 352.880166 deg, new cmd heading: 352.962902 deg. 2025-10-29T01:11:03.508Z,1761700263.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.160365 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:03.621Z,1761700263.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:03.830Z,1761700263.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984119,0.155684,0.085280],[-0.165270,0.978905,0.120128],[-0.064779,-0.132314,0.989089]] 2025-10-29T01:11:03.860Z,1761700263.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:03.863Z,1761700263.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 131.011200 m, bearing: 358.936905 deg, approach rate: -0.643469 m/s, LOS rate: 0.088852 deg/s, cmd heading: 352.962893 deg, new cmd heading: 353.026145 deg. 2025-10-29T01:11:03.864Z,1761700263.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.161469 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:03.873Z,1761700263.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:04.125Z,1761700264.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:04.237Z,1761700264.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984621,0.152158,0.085844],[-0.161343,0.980433,0.112779],[-0.067005,-0.124895,0.989905]] 2025-10-29T01:11:04.255Z,1761700264.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:04.258Z,1761700264.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 130.757034 m, bearing: 358.971642 deg, approach rate: -0.642688 m/s, LOS rate: 0.088008 deg/s, cmd heading: 353.026141 deg, new cmd heading: 353.095750 deg. 2025-10-29T01:11:04.259Z,1761700264.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.162683 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:04.377Z,1761700264.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:04.630Z,1761700264.630 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:11:04.630Z,1761700264.630 [DAT](INFO): response not received 2025-10-29T01:11:04.631Z,1761700264.631 [DAT](INFO): DAT read: user:685> 2025-10-29T01:11:04.632Z,1761700264.632 [DAT](INFO): DAT read: Tx time:01:11:04.5175 2025-10-29T01:11:04.633Z,1761700264.633 [DAT](INFO): Ping request sent. 2025-10-29T01:11:04.633Z,1761700264.633 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:04.633Z,1761700264.633 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:04.634Z,1761700264.634 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001228 2025-10-29T01:11:04.814Z,1761700264.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:04.817Z,1761700264.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 130.396011 m, bearing: 359.017646 deg, approach rate: -0.645849 m/s, LOS rate: 0.082525 deg/s, cmd heading: 353.095754 deg, new cmd heading: 353.188016 deg. 2025-10-29T01:11:04.818Z,1761700264.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.164294 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:04.881Z,1761700264.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.248645 2025-10-29T01:11:05.133Z,1761700265.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500141 2025-10-29T01:11:05.238Z,1761700265.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986344,0.138805,0.088645],[-0.147690,0.983647,0.103086],[-0.072887,-0.114770,0.990715]] 2025-10-29T01:11:05.256Z,1761700265.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:05.259Z,1761700265.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 130.109772 m, bearing: 359.052489 deg, approach rate: -0.648201 m/s, LOS rate: 0.079078 deg/s, cmd heading: 353.188016 deg, new cmd heading: 353.257857 deg. 2025-10-29T01:11:05.260Z,1761700265.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.165513 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:05.388Z,1761700265.388 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754713 2025-10-29T01:11:05.637Z,1761700265.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004158 2025-10-29T01:11:05.705Z,1761700265.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986828,0.134572,0.089788],[-0.143596,0.984259,0.103027],[-0.074510,-0.114563,0.990618]] 2025-10-29T01:11:05.766Z,1761700265.766 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:05.769Z,1761700265.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:05.789Z,1761700265.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 129.789627 m, bearing: 359.081540 deg, approach rate: -0.624272 m/s, LOS rate: 0.056788 deg/s, cmd heading: 353.257848 deg, new cmd heading: 353.316093 deg. 2025-10-29T01:11:05.790Z,1761700265.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.166529 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:05.890Z,1761700265.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256798 2025-10-29T01:11:06.106Z,1761700266.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987316,0.129894,0.091289],[-0.139110,0.984894,0.103117],[-0.076515,-0.114508,0.990471]] 2025-10-29T01:11:06.132Z,1761700266.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:06.135Z,1761700266.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 129.557480 m, bearing: 359.102214 deg, approach rate: -0.639133 m/s, LOS rate: 0.057021 deg/s, cmd heading: 353.316096 deg, new cmd heading: 353.357519 deg. 2025-10-29T01:11:06.136Z,1761700266.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.167252 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:06.141Z,1761700266.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.508253 2025-10-29T01:11:06.395Z,1761700266.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761775 2025-10-29T01:11:06.567Z,1761700266.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:06.570Z,1761700266.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 129.282120 m, bearing: 359.125759 deg, approach rate: -0.633092 m/s, LOS rate: 0.054249 deg/s, cmd heading: 353.357514 deg, new cmd heading: 353.404705 deg. 2025-10-29T01:11:06.571Z,1761700266.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168076 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:06.645Z,1761700266.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.012306 2025-10-29T01:11:06.897Z,1761700266.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264111 2025-10-29T01:11:06.915Z,1761700266.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988022,0.121804,0.094741],[-0.131839,0.985362,0.108075],[-0.080190,-0.119271,0.989618]] 2025-10-29T01:11:06.954Z,1761700266.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:06.959Z,1761700266.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 129.041214 m, bearing: 359.145629 deg, approach rate: -0.623357 m/s, LOS rate: 0.051508 deg/s, cmd heading: 353.404697 deg, new cmd heading: 353.444510 deg. 2025-10-29T01:11:06.961Z,1761700266.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.168770 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:07.151Z,1761700267.151 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518239 2025-10-29T01:11:07.322Z,1761700267.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988316,0.117940,0.096554],[-0.128367,0.985602,0.110044],[-0.082185,-0.121152,0.989226]] 2025-10-29T01:11:07.357Z,1761700267.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:07.381Z,1761700267.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 128.791992 m, bearing: 359.165862 deg, approach rate: -0.644909 m/s, LOS rate: 0.052459 deg/s, cmd heading: 353.444504 deg, new cmd heading: 353.485049 deg. 2025-10-29T01:11:07.389Z,1761700267.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.169478 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:07.404Z,1761700267.404 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770610 2025-10-29T01:11:07.653Z,1761700267.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020513 2025-10-29T01:11:07.728Z,1761700267.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988468,0.114714,0.098847],[-0.125668,0.985635,0.112830],[-0.084484,-0.123950,0.988685]] 2025-10-29T01:11:07.794Z,1761700267.794 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:07.804Z,1761700267.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:07.807Z,1761700267.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 128.504135 m, bearing: 359.189078 deg, approach rate: -0.631196 m/s, LOS rate: 0.051022 deg/s, cmd heading: 353.485048 deg, new cmd heading: 353.531585 deg. 2025-10-29T01:11:07.812Z,1761700267.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170290 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:07.905Z,1761700267.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272404 2025-10-29T01:11:08.130Z,1761700268.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988550,0.111981,0.101144],[-0.123569,0.985452,0.116684],[-0.086606,-0.127847,0.988005]] 2025-10-29T01:11:08.157Z,1761700268.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.524282 2025-10-29T01:11:08.159Z,1761700268.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:08.162Z,1761700268.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 128.274933 m, bearing: 359.207417 deg, approach rate: -0.630786 m/s, LOS rate: 0.050559 deg/s, cmd heading: 353.531575 deg, new cmd heading: 353.568317 deg. 2025-10-29T01:11:08.163Z,1761700268.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.170931 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:08.411Z,1761700268.411 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.778044 2025-10-29T01:11:08.534Z,1761700268.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988537,0.110040,0.103373],[-0.122162,0.985306,0.119370],[-0.088718,-0.130630,0.987454]] 2025-10-29T01:11:08.585Z,1761700268.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:08.587Z,1761700268.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 128.000809 m, bearing: 359.232420 deg, approach rate: -0.644332 m/s, LOS rate: 0.058897 deg/s, cmd heading: 353.568321 deg, new cmd heading: 353.618435 deg. 2025-10-29T01:11:08.589Z,1761700268.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.171806 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:08.661Z,1761700268.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.028368 2025-10-29T01:11:08.913Z,1761700268.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.280182 2025-10-29T01:11:08.998Z,1761700268.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:09.001Z,1761700269.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 127.743851 m, bearing: 359.255955 deg, approach rate: -0.621923 m/s, LOS rate: 0.057078 deg/s, cmd heading: 353.618428 deg, new cmd heading: 353.665594 deg. 2025-10-29T01:11:09.002Z,1761700269.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.172629 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:09.165Z,1761700269.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.532098 2025-10-29T01:11:09.343Z,1761700269.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988412,0.106607,0.108054],[-0.119845,0.984956,0.124496],[-0.093157,-0.136003,0.986319]] 2025-10-29T01:11:09.378Z,1761700269.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:09.381Z,1761700269.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 127.493942 m, bearing: 359.278670 deg, approach rate: -0.656926 m/s, LOS rate: 0.059827 deg/s, cmd heading: 353.665583 deg, new cmd heading: 353.711102 deg. 2025-10-29T01:11:09.382Z,1761700269.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.173423 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:09.421Z,1761700269.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787428 2025-10-29T01:11:09.669Z,1761700269.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.036143 2025-10-29T01:11:09.755Z,1761700269.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988284,0.105257,0.110529],[-0.119169,0.984601,0.127905],[-0.095364,-0.139578,0.985608]] 2025-10-29T01:11:09.809Z,1761700269.809 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:09.811Z,1761700269.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:09.814Z,1761700269.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 127.216148 m, bearing: 359.308514 deg, approach rate: -0.642439 m/s, LOS rate: 0.069168 deg/s, cmd heading: 353.711100 deg, new cmd heading: 353.770917 deg. 2025-10-29T01:11:09.815Z,1761700269.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.174467 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:09.921Z,1761700269.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.288106 2025-10-29T01:11:10.153Z,1761700270.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988211,0.103955,0.112393],[-0.118204,0.984626,0.128607],[-0.097296,-0.140376,0.985306]] 2025-10-29T01:11:10.171Z,1761700270.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:10.173Z,1761700270.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.540245 2025-10-29T01:11:10.176Z,1761700270.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 126.986168 m, bearing: 359.333218 deg, approach rate: -0.637724 m/s, LOS rate: 0.068627 deg/s, cmd heading: 353.770905 deg, new cmd heading: 353.820402 deg. 2025-10-29T01:11:10.177Z,1761700270.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.175331 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:10.428Z,1761700270.428 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794888 2025-10-29T01:11:10.609Z,1761700270.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:10.612Z,1761700270.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 126.701363 m, bearing: 359.366425 deg, approach rate: -0.650512 m/s, LOS rate: 0.076019 deg/s, cmd heading: 353.820410 deg, new cmd heading: 353.886975 deg. 2025-10-29T01:11:10.613Z,1761700270.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.176493 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:10.677Z,1761700270.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.044186 2025-10-29T01:11:10.929Z,1761700270.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.296116 2025-10-29T01:11:10.976Z,1761700270.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988096,0.101818,0.115327],[-0.115986,0.985524,0.123654],[-0.101067,-0.135559,0.985601]] 2025-10-29T01:11:11.002Z,1761700271.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:11.009Z,1761700271.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 126.450226 m, bearing: 359.395592 deg, approach rate: -0.639087 m/s, LOS rate: 0.074369 deg/s, cmd heading: 353.886963 deg, new cmd heading: 353.945412 deg. 2025-10-29T01:11:11.010Z,1761700271.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.177513 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:11.181Z,1761700271.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.548205 2025-10-29T01:11:11.436Z,1761700271.436 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802299 2025-10-29T01:11:11.500Z,1761700271.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988146,0.100863,0.115731],[-0.114792,0.986019,0.120784],[-0.101930,-0.132637,0.985910]] 2025-10-29T01:11:11.564Z,1761700271.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:11.570Z,1761700271.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 126.085052 m, bearing: 359.441307 deg, approach rate: -0.650514 m/s, LOS rate: 0.081672 deg/s, cmd heading: 353.945402 deg, new cmd heading: 354.037098 deg. 2025-10-29T01:11:11.571Z,1761700271.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.179113 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:11.685Z,1761700271.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.052141 2025-10-29T01:11:11.899Z,1761700271.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988279,0.099483,0.115792],[-0.113143,0.986537,0.118083],[-0.102486,-0.129800,0.986230]] 2025-10-29T01:11:11.922Z,1761700271.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:11.925Z,1761700271.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:11.927Z,1761700271.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 125.842155 m, bearing: 359.471684 deg, approach rate: -0.672597 m/s, LOS rate: 0.084278 deg/s, cmd heading: 354.037091 deg, new cmd heading: 354.097962 deg. 2025-10-29T01:11:11.928Z,1761700271.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.180175 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:11.939Z,1761700271.939 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.305606 2025-10-29T01:11:12.189Z,1761700272.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.556045 2025-10-29T01:11:12.299Z,1761700272.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988393,0.098380,0.115760],[-0.111801,0.986959,0.115811],[-0.102857,-0.127409,0.986503]] 2025-10-29T01:11:12.344Z,1761700272.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:12.346Z,1761700272.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 125.585892 m, bearing: 359.503706 deg, approach rate: -0.629358 m/s, LOS rate: 0.078804 deg/s, cmd heading: 354.097962 deg, new cmd heading: 354.162137 deg. 2025-10-29T01:11:12.347Z,1761700272.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.181295 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:12.446Z,1761700272.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.812043 2025-10-29T01:11:12.693Z,1761700272.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.060253 2025-10-29T01:11:12.706Z,1761700272.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988486,0.097731,0.115515],[-0.110920,0.987283,0.113880],[-0.102917,-0.125382,0.986756]] 2025-10-29T01:11:12.771Z,1761700272.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:12.791Z,1761700272.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 125.284042 m, bearing: 359.538931 deg, approach rate: -0.686722 m/s, LOS rate: 0.080333 deg/s, cmd heading: 354.162138 deg, new cmd heading: 354.232759 deg. 2025-10-29T01:11:12.796Z,1761700272.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.182528 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:12.946Z,1761700272.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.313280 2025-10-29T01:11:13.156Z,1761700273.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:13.159Z,1761700273.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 125.026588 m, bearing: 359.569115 deg, approach rate: -0.671946 m/s, LOS rate: 0.078941 deg/s, cmd heading: 354.232762 deg, new cmd heading: 354.293254 deg. 2025-10-29T01:11:13.160Z,1761700273.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.183584 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:13.197Z,1761700273.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.564024 2025-10-29T01:11:13.453Z,1761700273.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.819029 2025-10-29T01:11:13.597Z,1761700273.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988649,0.095474,0.116012],[-0.109141,0.987020,0.117813],[-0.103258,-0.129137,0.986236]] 2025-10-29T01:11:13.630Z,1761700273.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:13.637Z,1761700273.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 124.710678 m, bearing: 359.606030 deg, approach rate: -0.663955 m/s, LOS rate: 0.077782 deg/s, cmd heading: 354.293250 deg, new cmd heading: 354.367268 deg. 2025-10-29T01:11:13.638Z,1761700273.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.184875 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:13.701Z,1761700273.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.068270 2025-10-29T01:11:13.958Z,1761700273.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.325191 2025-10-29T01:11:14.040Z,1761700274.040 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:14.042Z,1761700274.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:14.045Z,1761700274.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 124.430832 m, bearing: 359.638893 deg, approach rate: -0.679989 m/s, LOS rate: 0.080032 deg/s, cmd heading: 354.367262 deg, new cmd heading: 354.433136 deg. 2025-10-29T01:11:14.046Z,1761700274.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.186025 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:14.206Z,1761700274.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.573176 2025-10-29T01:11:14.461Z,1761700274.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.827348 2025-10-29T01:11:14.522Z,1761700274.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988774,0.094215,0.115976],[-0.108580,0.986259,0.124514],[-0.102651,-0.135709,0.985417]] 2025-10-29T01:11:14.582Z,1761700274.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:14.584Z,1761700274.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 124.073105 m, bearing: 359.682600 deg, approach rate: -0.662840 m/s, LOS rate: 0.081219 deg/s, cmd heading: 354.433133 deg, new cmd heading: 354.520798 deg. 2025-10-29T01:11:14.585Z,1761700274.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.187555 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:14.709Z,1761700274.709 [DAT](INFO): Reached modem response timeout 2025-10-29T01:11:14.709Z,1761700274.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:14.710Z,1761700274.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:14.919Z,1761700274.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988814,0.094132,0.115697],[-0.108592,0.986094,0.125801],[-0.102246,-0.136957,0.985286]] 2025-10-29T01:11:14.946Z,1761700274.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:14.950Z,1761700274.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 123.837624 m, bearing: 359.711508 deg, approach rate: -0.647489 m/s, LOS rate: 0.079637 deg/s, cmd heading: 354.520805 deg, new cmd heading: 354.578730 deg. 2025-10-29T01:11:14.953Z,1761700274.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.188566 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:14.962Z,1761700274.962 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:15.213Z,1761700275.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:15.319Z,1761700275.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988828,0.094646,0.115158],[-0.109089,0.985967,0.126370],[-0.101582,-0.137521,0.985276]] 2025-10-29T01:11:15.361Z,1761700275.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:15.363Z,1761700275.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 123.573219 m, bearing: 359.744162 deg, approach rate: -0.636170 m/s, LOS rate: 0.078736 deg/s, cmd heading: 354.578725 deg, new cmd heading: 354.644173 deg. 2025-10-29T01:11:15.369Z,1761700275.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.189709 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:15.466Z,1761700275.466 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:15.717Z,1761700275.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:15.725Z,1761700275.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989035,0.093986,0.113910],[-0.108636,0.985532,0.130092],[-0.100035,-0.141041,0.984937]] 2025-10-29T01:11:15.783Z,1761700275.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:15.786Z,1761700275.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 123.278862 m, bearing: 359.779505 deg, approach rate: -0.696727 m/s, LOS rate: 0.083856 deg/s, cmd heading: 354.644185 deg, new cmd heading: 354.715041 deg. 2025-10-29T01:11:15.787Z,1761700275.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.190945 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:15.969Z,1761700275.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:16.129Z,1761700276.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989263,0.092992,0.112742],[-0.108054,0.984822,0.135830],[-0.098400,-0.146554,0.984297]] 2025-10-29T01:11:16.145Z,1761700276.145 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:16.147Z,1761700276.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:16.149Z,1761700276.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 123.037827 m, bearing: 359.808478 deg, approach rate: -0.663704 m/s, LOS rate: 0.079933 deg/s, cmd heading: 354.715028 deg, new cmd heading: 354.773086 deg. 2025-10-29T01:11:16.150Z,1761700276.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.191958 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:16.223Z,1761700276.223 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:16.479Z,1761700276.479 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:16.607Z,1761700276.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:16.609Z,1761700276.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 122.734848 m, bearing: 359.843746 deg, approach rate: -0.658600 m/s, LOS rate: 0.076855 deg/s, cmd heading: 354.773085 deg, new cmd heading: 354.843796 deg. 2025-10-29T01:11:16.610Z,1761700276.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.193192 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:16.729Z,1761700276.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:16.943Z,1761700276.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989816,0.092042,0.108594],[-0.106463,0.985043,0.135484],[-0.094500,-0.145666,0.984810]] 2025-10-29T01:11:16.977Z,1761700276.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:16.979Z,1761700276.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 122.490982 m, bearing: 359.872064 deg, approach rate: -0.658695 m/s, LOS rate: 0.076640 deg/s, cmd heading: 354.843791 deg, new cmd heading: 354.900539 deg. 2025-10-29T01:11:16.981Z,1761700276.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:16.982Z,1761700276.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.194183 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:17.233Z,1761700277.233 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:11:17.233Z,1761700277.233 [DAT](INFO): response not received 2025-10-29T01:11:17.234Z,1761700277.234 [DAT](INFO): DAT read: user:686> 2025-10-29T01:11:17.234Z,1761700277.234 [DAT](INFO): DAT read: Tx time:01:11:16.9675 2025-10-29T01:11:17.235Z,1761700277.235 [DAT](INFO): Ping request sent. 2025-10-29T01:11:17.235Z,1761700277.235 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:17.235Z,1761700277.235 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:17.236Z,1761700277.236 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T01:11:17.355Z,1761700277.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990152,0.090665,0.106671],[-0.104796,0.985242,0.135340],[-0.092826,-0.145186,0.985040]] 2025-10-29T01:11:17.413Z,1761700277.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:17.420Z,1761700277.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 122.214188 m, bearing: 359.904113 deg, approach rate: -0.634153 m/s, LOS rate: 0.073592 deg/s, cmd heading: 354.900536 deg, new cmd heading: 354.964779 deg. 2025-10-29T01:11:17.421Z,1761700277.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.195304 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:17.486Z,1761700277.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251469 2025-10-29T01:11:17.737Z,1761700277.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502091 2025-10-29T01:11:17.910Z,1761700277.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:17.913Z,1761700277.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 121.880890 m, bearing: 359.944513 deg, approach rate: -0.670792 m/s, LOS rate: 0.081531 deg/s, cmd heading: 354.964767 deg, new cmd heading: 355.045788 deg. 2025-10-29T01:11:17.914Z,1761700277.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.196718 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:17.989Z,1761700277.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754164 2025-10-29T01:11:18.241Z,1761700278.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006464 2025-10-29T01:11:18.308Z,1761700278.308 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:18.310Z,1761700278.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:18.314Z,1761700278.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 121.621170 m, bearing: 359.976154 deg, approach rate: -0.648969 m/s, LOS rate: 0.079232 deg/s, cmd heading: 355.045801 deg, new cmd heading: 355.109218 deg. 2025-10-29T01:11:18.315Z,1761700278.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.197825 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:18.496Z,1761700278.496 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260621 2025-10-29T01:11:18.724Z,1761700278.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990977,0.088015,0.101087],[-0.100963,0.986218,0.131078],[-0.088157,-0.140101,0.986205]] 2025-10-29T01:11:18.746Z,1761700278.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510589 2025-10-29T01:11:18.802Z,1761700278.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:18.809Z,1761700278.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 121.308189 m, bearing: 0.013165 deg, approach rate: -0.636793 m/s, LOS rate: 0.075497 deg/s, cmd heading: 355.109212 deg, new cmd heading: 355.183425 deg. 2025-10-29T01:11:18.810Z,1761700278.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.199120 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:18.997Z,1761700278.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761986 2025-10-29T01:11:19.179Z,1761700279.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:19.182Z,1761700279.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 121.049561 m, bearing: 0.043898 deg, approach rate: -0.686062 m/s, LOS rate: 0.081701 deg/s, cmd heading: 355.183415 deg, new cmd heading: 355.245014 deg. 2025-10-29T01:11:19.183Z,1761700279.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.200195 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:19.249Z,1761700279.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014175 2025-10-29T01:11:19.501Z,1761700279.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266069 2025-10-29T01:11:19.634Z,1761700279.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:19.636Z,1761700279.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 120.747864 m, bearing: 0.077034 deg, approach rate: -0.663370 m/s, LOS rate: 0.073040 deg/s, cmd heading: 355.245024 deg, new cmd heading: 355.311460 deg. 2025-10-29T01:11:19.637Z,1761700279.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.201355 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:19.754Z,1761700279.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518782 2025-10-29T01:11:19.978Z,1761700279.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992101,0.084578,0.092637],[-0.096244,0.986868,0.129726],[-0.080449,-0.137617,0.987213]] 2025-10-29T01:11:19.996Z,1761700279.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:19.999Z,1761700279.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 120.507141 m, bearing: 0.103021 deg, approach rate: -0.664546 m/s, LOS rate: 0.071885 deg/s, cmd heading: 355.311468 deg, new cmd heading: 355.363547 deg. 2025-10-29T01:11:19.000Z,1761700280.000 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.202264 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:20.005Z,1761700280.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770164 2025-10-29T01:11:20.257Z,1761700280.257 [DAT](INFO): DAT read: Rx Time:01:11:19.6114 2025-10-29T01:11:20.257Z,1761700280.257 [DAT](INFO): Rx dataTimestamp_ set to:1761700280.257132 2025-10-29T01:11:20.258Z,1761700280.258 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023098 2025-10-29T01:11:20.381Z,1761700280.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992475,0.083019,0.090008],[-0.094395,0.986939,0.130539],[-0.077995,-0.138053,0.987349]] 2025-10-29T01:11:20.416Z,1761700280.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:20.418Z,1761700280.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:20.427Z,1761700280.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 120.239220 m, bearing: 0.131814 deg, approach rate: -0.634395 m/s, LOS rate: 0.068328 deg/s, cmd heading: 355.363541 deg, new cmd heading: 355.421254 deg. 2025-10-29T01:11:20.433Z,1761700280.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.203271 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:20.510Z,1761700280.510 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274506 2025-10-29T01:11:20.770Z,1761700280.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534183 2025-10-29T01:11:20.807Z,1761700280.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992877,0.081303,0.087089],[-0.092376,0.986969,0.131754],[-0.075242,-0.138861,0.987449]] 2025-10-29T01:11:20.868Z,1761700280.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.55 m. 2025-10-29T01:11:20.871Z,1761700280.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.550385 m, nav range: 119.944504 m, bearing: 0.161850 deg, approach rate: -0.661376 m/s, LOS rate: 0.067571 deg/s, cmd heading: 355.421242 deg, new cmd heading: 355.481463 deg. 2025-10-29T01:11:20.876Z,1761700280.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.204322 target range: 139.550385 and range: 140.30 m. 2025-10-29T01:11:21.018Z,1761700281.018 [DAT](INFO): DAT read: 01:11:19.6114 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 10,-0.41,-1.128,-2.886,-1.003,-1.297, PHS= 0.272,-1.543, 0.251, RAW= 149.4, 11.3, CAL= 149.2, 12.4, ROT= 0.8, -12.4 2025-10-29T01:11:21.019Z,1761700281.019 [DAT](INFO): got valid direction response: 01:11:19.6114 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 10,-0.41,-1.128,-2.886,-1.003,-1.297, PHS= 0.272,-1.543, 0.251, RAW= 149.4, 11.3, CAL= 149.2, 12.4, ROT= 0.8, -12.4 2025-10-29T01:11:21.021Z,1761700281.021 [DAT](INFO): DAT read: Bearing 157.8, -5.4 (Local) 2025-10-29T01:11:21.021Z,1761700281.021 [DAT](INFO): Local bearing/azimuth received: Bearing 157.8, -5.4 (Local) 2025-10-29T01:11:21.023Z,1761700281.023 [DAT](INFO): DAT read: Range 11 to 50 : 179.7 m (Round-trip 239.7 ms) speed 0.0 m/s 2025-10-29T01:11:21.023Z,1761700281.023 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:21.025Z,1761700281.025 [DAT](INFO): direction in FSK: [0.976577,0.013636,0.214735] 2025-10-29T01:11:21.025Z,1761700281.025 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:21.028Z,1761700281.028 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:21.028Z,1761700281.028 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:21.028Z,1761700281.028 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:21.192Z,1761700281.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993250,0.079889,0.084101],[-0.090546,0.987153,0.131647],[-0.072503,-0.138373,0.987723]] 2025-10-29T01:11:21.214Z,1761700281.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 179.699997 m, deltaT: 28.985949 s, deltaX: 39.399994 m, approachRate: 1.359279 m/s, rangeRepo size: 4 2025-10-29T01:11:21.216Z,1761700281.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 178.745972 m, bearing: 357.297224 deg, lat: 36.779302 deg, lon: -121.859407 deg, deltaT: 28.985949 s, deltaX: 39.195587 m, approachRate: 1.352227 m/s, posRepo size: 4 2025-10-29T01:11:21.217Z,1761700281.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:21.219Z,1761700281.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 120.315369 m, bearing: 0.185491 deg, approach rate: 0.000000 m/s, LOS rate: 0.067571 deg/s, cmd heading: 355.481457 deg, new cmd heading: 355.528678 deg. 2025-10-29T01:11:21.220Z,1761700281.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.205146 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:21.266Z,1761700281.266 [DAT](INFO): DAT read: user:687> 2025-10-29T01:11:21.267Z,1761700281.267 [DAT](INFO): DAT read: Tx time:01:11:21.0175 2025-10-29T01:11:21.267Z,1761700281.267 [DAT](INFO): Ping request sent. 2025-10-29T01:11:21.267Z,1761700281.267 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:21.267Z,1761700281.267 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:21.269Z,1761700281.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001139 2025-10-29T01:11:21.517Z,1761700281.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250035 2025-10-29T01:11:21.631Z,1761700281.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993629,0.078368,0.080991],[-0.088572,0.987388,0.131222],[-0.069686,-0.137559,0.988039]] 2025-10-29T01:11:21.670Z,1761700281.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:21.693Z,1761700281.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 120.017517 m, bearing: 0.214635 deg, approach rate: -0.652461 m/s, LOS rate: 0.064000 deg/s, cmd heading: 355.528668 deg, new cmd heading: 355.587100 deg. 2025-10-29T01:11:21.694Z,1761700281.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.206166 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:21.757Z,1761700281.757 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:11:21.770Z,1761700281.770 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502881 2025-10-29T01:11:22.021Z,1761700282.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753753 2025-10-29T01:11:22.041Z,1761700282.041 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994000,0.076563,0.078120],[-0.086313,0.987723,0.130209],[-0.067192,-0.136170,0.988404]] 2025-10-29T01:11:22.074Z,1761700282.074 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:22.076Z,1761700282.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 119.755981 m, bearing: 0.240057 deg, approach rate: -0.647442 m/s, LOS rate: 0.063070 deg/s, cmd heading: 355.587107 deg, new cmd heading: 355.638062 deg. 2025-10-29T01:11:22.077Z,1761700282.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207055 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:22.273Z,1761700282.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006409 2025-10-29T01:11:22.485Z,1761700282.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:22.487Z,1761700282.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:22.489Z,1761700282.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 119.489243 m, bearing: 0.266101 deg, approach rate: -0.645758 m/s, LOS rate: 0.063194 deg/s, cmd heading: 355.638060 deg, new cmd heading: 355.690266 deg. 2025-10-29T01:11:22.490Z,1761700282.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.207966 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:22.526Z,1761700282.526 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258352 2025-10-29T01:11:22.765Z,1761700282.765 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:11:22.777Z,1761700282.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510437 2025-10-29T01:11:22.848Z,1761700282.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994589,0.073842,0.073071],[-0.082975,0.987893,0.131084],[-0.062507,-0.136438,0.988675]] 2025-10-29T01:11:22.888Z,1761700282.888 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:22.890Z,1761700282.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 119.224113 m, bearing: 0.291959 deg, approach rate: -0.661343 m/s, LOS rate: 0.064643 deg/s, cmd heading: 355.690270 deg, new cmd heading: 355.742100 deg. 2025-10-29T01:11:22.891Z,1761700282.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.208871 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:23.030Z,1761700283.030 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762566 2025-10-29T01:11:23.250Z,1761700283.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994862,0.072620,0.070544],[-0.081656,0.987471,0.135032],[-0.059854,-0.140099,0.988327]] 2025-10-29T01:11:23.281Z,1761700283.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013972 2025-10-29T01:11:23.290Z,1761700283.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:23.293Z,1761700283.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 118.972961 m, bearing: 0.316376 deg, approach rate: -0.659997 m/s, LOS rate: 0.064300 deg/s, cmd heading: 355.742097 deg, new cmd heading: 355.791034 deg. 2025-10-29T01:11:23.294Z,1761700283.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.209725 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:23.533Z,1761700283.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266100 2025-10-29T01:11:23.671Z,1761700283.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995075,0.072034,0.068091],[-0.080947,0.987009,0.138787],[-0.057209,-0.143615,0.987979]] 2025-10-29T01:11:23.713Z,1761700283.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:23.716Z,1761700283.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 118.673409 m, bearing: 0.346769 deg, approach rate: -0.673392 m/s, LOS rate: 0.068496 deg/s, cmd heading: 355.791029 deg, new cmd heading: 355.851968 deg. 2025-10-29T01:11:23.717Z,1761700283.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.210789 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:23.785Z,1761700283.785 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518117 2025-10-29T01:11:24.037Z,1761700284.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769801 2025-10-29T01:11:24.058Z,1761700284.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995279,0.071622,0.065505],[-0.080201,0.986979,0.139425],[-0.054666,-0.144021,0.988064]] 2025-10-29T01:11:24.095Z,1761700284.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:24.098Z,1761700284.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 118.416000 m, bearing: 0.372910 deg, approach rate: -0.673528 m/s, LOS rate: 0.068548 deg/s, cmd heading: 355.851981 deg, new cmd heading: 355.904377 deg. 2025-10-29T01:11:24.099Z,1761700284.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.211703 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:24.289Z,1761700284.289 [DAT](INFO): DAT read: Rx Time:01:11:23.6585 2025-10-29T01:11:24.290Z,1761700284.290 [DAT](INFO): Rx dataTimestamp_ set to:1761700284.289810 2025-10-29T01:11:24.291Z,1761700284.291 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023588 2025-10-29T01:11:24.464Z,1761700284.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995491,0.070990,0.062917],[-0.079228,0.986983,0.139955],[-0.052163,-0.144309,0.988157]] 2025-10-29T01:11:24.488Z,1761700284.488 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:24.490Z,1761700284.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:24.493Z,1761700284.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 118.151443 m, bearing: 0.399764 deg, approach rate: -0.670306 m/s, LOS rate: 0.068193 deg/s, cmd heading: 355.904383 deg, new cmd heading: 355.958212 deg. 2025-10-29T01:11:24.494Z,1761700284.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.212643 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:24.542Z,1761700284.542 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275131 2025-10-29T01:11:24.796Z,1761700284.796 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528374 2025-10-29T01:11:24.866Z,1761700284.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995695,0.070508,0.060163],[-0.078336,0.987103,0.139614],[-0.049543,-0.143726,0.988377]] 2025-10-29T01:11:24.926Z,1761700284.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 178.75 m. 2025-10-29T01:11:24.930Z,1761700284.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 178.745972 m, nav range: 117.859772 m, bearing: 0.432124 deg, approach rate: -0.669625 m/s, LOS rate: 0.074477 deg/s, cmd heading: 355.958205 deg, new cmd heading: 356.023085 deg. 2025-10-29T01:11:24.933Z,1761700284.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.213775 target range: 178.745972 and range: 179.70 m. 2025-10-29T01:11:25.052Z,1761700285.052 [DAT](INFO): DAT read: 01:11:23.6585 LVL= 30192, 32753, 30482, 30707, AGC= 71, IDX= 10,-0.12, 1.025,-0.744, 1.206, 0.913, PHS= 0.215,-1.611, 0.250, RAW= 150.9, 12.4, CAL= 150.9, 13.7, ROT= 359.1, -13.7 2025-10-29T01:11:25.054Z,1761700285.054 [DAT](INFO): got valid direction response: 01:11:23.6585 LVL= 30192, 32753, 30482, 30707, AGC= 71, IDX= 10,-0.12, 1.025,-0.744, 1.206, 0.913, PHS= 0.215,-1.611, 0.250, RAW= 150.9, 12.4, CAL= 150.9, 13.7, ROT= 359.1, -13.7 2025-10-29T01:11:25.055Z,1761700285.055 [DAT](INFO): DAT read: Bearing 159.9, -5.9 (Local) 2025-10-29T01:11:25.055Z,1761700285.055 [DAT](INFO): Local bearing/azimuth received: Bearing 159.9, -5.9 (Local) 2025-10-29T01:11:25.060Z,1761700285.060 [DAT](INFO): DAT read: Range 11 to 50 : 177.6 m (Round-trip 236.9 ms) speed 0.4 m/s 2025-10-29T01:11:25.061Z,1761700285.061 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:25.062Z,1761700285.062 [DAT](INFO): direction in FSK: [0.971429,-0.015260,0.236838] 2025-10-29T01:11:25.062Z,1761700285.062 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:25.066Z,1761700285.066 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:25.066Z,1761700285.066 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:25.066Z,1761700285.066 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:25.271Z,1761700285.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995878,0.070435,0.057155],[-0.077906,0.986906,0.141235],[-0.046458,-0.145106,0.988325]] 2025-10-29T01:11:25.295Z,1761700285.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.600006 m, deltaT: 4.032241 s, deltaX: -2.099991 m, approachRate: -0.520800 m/s, rangeRepo size: 4 2025-10-29T01:11:25.297Z,1761700285.297 [DAT](INFO): DAT read: user:688> 2025-10-29T01:11:25.298Z,1761700285.298 [DAT](INFO): DAT read: Tx time:01:11:25.0675 2025-10-29T01:11:25.298Z,1761700285.298 [DAT](INFO): Ping request sent. 2025-10-29T01:11:25.298Z,1761700285.298 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:25.298Z,1761700285.298 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:25.299Z,1761700285.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-29T01:11:25.301Z,1761700285.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.656784 m, bearing: 356.653885 deg, lat: 36.779303 deg, lon: -121.859428 deg, deltaT: 4.032241 s, deltaX: -2.089188 m, approachRate: -0.518121 m/s, posRepo size: 4 2025-10-29T01:11:25.301Z,1761700285.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:25.304Z,1761700285.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 117.739990 m, bearing: 359.574784 deg, approach rate: 0.000000 m/s, LOS rate: 0.074477 deg/s, cmd heading: 356.023091 deg, new cmd heading: 356.077994 deg. 2025-10-29T01:11:25.305Z,1761700285.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.214734 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:25.549Z,1761700285.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250878 2025-10-29T01:11:25.698Z,1761700285.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996040,0.070608,0.054034],[-0.077642,0.986869,0.141638],[-0.043324,-0.145272,0.988443]] 2025-10-29T01:11:25.749Z,1761700285.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:25.753Z,1761700285.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 117.431648 m, bearing: 359.609681 deg, approach rate: -0.678050 m/s, LOS rate: 0.076940 deg/s, cmd heading: 356.078006 deg, new cmd heading: 356.147983 deg. 2025-10-29T01:11:25.755Z,1761700285.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.215955 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:25.804Z,1761700285.804 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.505590 2025-10-29T01:11:26.053Z,1761700286.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754984 2025-10-29T01:11:26.075Z,1761700286.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996219,0.070496,0.050779],[-0.077062,0.986896,0.141763],[-0.040120,-0.145141,0.988597]] 2025-10-29T01:11:26.114Z,1761700286.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:26.117Z,1761700286.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 117.182701 m, bearing: 359.637918 deg, approach rate: -0.682232 m/s, LOS rate: 0.077548 deg/s, cmd heading: 356.147975 deg, new cmd heading: 356.204569 deg. 2025-10-29T01:11:26.118Z,1761700286.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.216942 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:26.305Z,1761700286.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007272 2025-10-29T01:11:26.480Z,1761700286.480 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996395,0.069798,0.048215],[-0.076085,0.986642,0.144042],[-0.037517,-0.147191,0.988396]] 2025-10-29T01:11:26.503Z,1761700286.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:26.505Z,1761700286.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:26.508Z,1761700286.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 116.918121 m, bearing: 359.667917 deg, approach rate: -0.675400 m/s, LOS rate: 0.076752 deg/s, cmd heading: 356.204556 deg, new cmd heading: 356.264689 deg. 2025-10-29T01:11:26.509Z,1761700286.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.217992 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:26.557Z,1761700286.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258879 2025-10-29T01:11:26.809Z,1761700286.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510711 2025-10-29T01:11:26.883Z,1761700286.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996465,0.070067,0.046346],[-0.076168,0.986261,0.146590],[-0.035438,-0.149602,0.988111]] 2025-10-29T01:11:26.967Z,1761700286.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:26.974Z,1761700286.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 116.615959 m, bearing: 359.702458 deg, approach rate: -0.654525 m/s, LOS rate: 0.075013 deg/s, cmd heading: 356.264689 deg, new cmd heading: 356.333949 deg. 2025-10-29T01:11:26.975Z,1761700286.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.219201 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:27.061Z,1761700287.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762888 2025-10-29T01:11:27.295Z,1761700287.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996562,0.069952,0.044389],[-0.075738,0.986392,0.145924],[-0.033577,-0.148784,0.988299]] 2025-10-29T01:11:27.313Z,1761700287.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014836 2025-10-29T01:11:27.314Z,1761700287.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:27.317Z,1761700287.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 116.380646 m, bearing: 359.729438 deg, approach rate: -0.677666 m/s, LOS rate: 0.077856 deg/s, cmd heading: 356.333947 deg, new cmd heading: 356.388017 deg. 2025-10-29T01:11:27.318Z,1761700287.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.220144 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:27.569Z,1761700287.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269989 2025-10-29T01:11:27.728Z,1761700287.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996703,0.069346,0.042120],[-0.074763,0.986637,0.144772],[-0.031517,-0.147443,0.988568]] 2025-10-29T01:11:27.783Z,1761700287.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:27.786Z,1761700287.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 116.057648 m, bearing: 359.766498 deg, approach rate: -0.688888 m/s, LOS rate: 0.079261 deg/s, cmd heading: 356.388015 deg, new cmd heading: 356.462341 deg. 2025-10-29T01:11:27.787Z,1761700287.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.221441 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:27.817Z,1761700287.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518930 2025-10-29T01:11:28.070Z,1761700288.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771265 2025-10-29T01:11:28.121Z,1761700288.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996885,0.068105,0.039773],[-0.073095,0.987218,0.141625],[-0.029619,-0.144091,0.989121]] 2025-10-29T01:11:28.155Z,1761700288.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:28.157Z,1761700288.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 115.804588 m, bearing: 359.795487 deg, approach rate: -0.681234 m/s, LOS rate: 0.078209 deg/s, cmd heading: 356.462327 deg, new cmd heading: 356.520432 deg. 2025-10-29T01:11:28.158Z,1761700288.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.222456 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:28.321Z,1761700288.321 [DAT](INFO): DAT read: Rx Time:01:11:27.7066 2025-10-29T01:11:28.321Z,1761700288.321 [DAT](INFO): Rx dataTimestamp_ set to:1761700288.321038 2025-10-29T01:11:28.322Z,1761700288.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023733 2025-10-29T01:11:28.524Z,1761700288.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997133,0.065995,0.037022],[-0.070503,0.987947,0.137804],[-0.027481,-0.140019,0.989767]] 2025-10-29T01:11:28.547Z,1761700288.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:28.549Z,1761700288.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:28.552Z,1761700288.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 115.529327 m, bearing: 359.826827 deg, approach rate: -0.697412 m/s, LOS rate: 0.079595 deg/s, cmd heading: 356.520438 deg, new cmd heading: 356.583269 deg. 2025-10-29T01:11:28.553Z,1761700288.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.223552 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:28.589Z,1761700288.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.291280 2025-10-29T01:11:28.845Z,1761700288.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.546138 2025-10-29T01:11:28.980Z,1761700288.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997414,0.063383,0.033882],[-0.067397,0.988600,0.134639],[-0.024962,-0.136574,0.990315]] 2025-10-29T01:11:29.032Z,1761700289.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.66 m. 2025-10-29T01:11:29.035Z,1761700289.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.656784 m, nav range: 115.201317 m, bearing: 359.859623 deg, approach rate: -0.679122 m/s, LOS rate: 0.068094 deg/s, cmd heading: 356.583276 deg, new cmd heading: 356.649054 deg. 2025-10-29T01:11:29.057Z,1761700289.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.224700 target range: 176.656784 and range: 177.60 m. 2025-10-29T01:11:29.101Z,1761700289.101 [DAT](INFO): DAT read: 01:11:27.7066 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 8, 0.12, 3.117, 1.384,-2.986, 2.965, PHS= 0.254,-1.536, 0.288, RAW= 150.9, 11.0, CAL= 150.8, 12.1, ROT= 359.2, -12.1 2025-10-29T01:11:29.102Z,1761700289.102 [DAT](INFO): got valid direction response: 01:11:27.7066 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 8, 0.12, 3.117, 1.384,-2.986, 2.965, PHS= 0.254,-1.536, 0.288, RAW= 150.9, 11.0, CAL= 150.8, 12.1, ROT= 359.2, -12.1 2025-10-29T01:11:29.103Z,1761700289.103 [DAT](INFO): DAT read: Bearing 159.7, -4.2 (Local) 2025-10-29T01:11:29.103Z,1761700289.103 [DAT](INFO): Local bearing/azimuth received: Bearing 159.7, -4.2 (Local) 2025-10-29T01:11:29.105Z,1761700289.105 [DAT](INFO): DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.9 ms) speed 0.3 m/s 2025-10-29T01:11:29.105Z,1761700289.105 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:29.106Z,1761700289.106 [DAT](INFO): direction in FSK: [0.977688,-0.013652,0.209619] 2025-10-29T01:11:29.106Z,1761700289.106 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:29.122Z,1761700289.122 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:29.122Z,1761700289.122 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:29.122Z,1761700289.122 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:29.345Z,1761700289.345 [DAT](INFO): DAT read: user:689> 2025-10-29T01:11:29.346Z,1761700289.346 [DAT](INFO): DAT read: Tx time:01:11:29.1175 2025-10-29T01:11:29.346Z,1761700289.346 [DAT](INFO): Ping request sent. 2025-10-29T01:11:29.346Z,1761700289.346 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:29.346Z,1761700289.346 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:29.347Z,1761700289.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T01:11:29.383Z,1761700289.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997698,0.060433,0.030775],[-0.064025,0.988962,0.133621],[-0.022360,-0.135284,0.990555]] 2025-10-29T01:11:29.465Z,1761700289.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.100006 m, deltaT: 4.048717 s, deltaX: -1.500000 m, approachRate: -0.370488 m/s, rangeRepo size: 4 2025-10-29T01:11:29.467Z,1761700289.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.166565 m, bearing: 357.193788 deg, lat: 36.779801 deg, lon: -121.859506 deg, deltaT: 4.048717 s, deltaX: -1.490219 m, approachRate: -0.368072 m/s, posRepo size: 4 2025-10-29T01:11:29.468Z,1761700289.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:29.474Z,1761700289.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 170.459564 m, bearing: 357.596621 deg, approach rate: 0.000000 m/s, LOS rate: 0.068094 deg/s, cmd heading: 356.649065 deg, new cmd heading: 356.707308 deg. 2025-10-29T01:11:29.475Z,1761700289.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.225717 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:29.597Z,1761700289.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250929 2025-10-29T01:11:29.840Z,1761700289.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997926,0.058170,0.027578],[-0.061366,0.989025,0.134403],[-0.019457,-0.135817,0.990543]] 2025-10-29T01:11:29.849Z,1761700289.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502883 2025-10-29T01:11:29.899Z,1761700289.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:29.902Z,1761700289.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 170.136719 m, bearing: 357.612234 deg, approach rate: -0.736005 m/s, LOS rate: 0.035661 deg/s, cmd heading: 356.707312 deg, new cmd heading: 356.738597 deg. 2025-10-29T01:11:29.902Z,1761700289.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226263 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:30.101Z,1761700290.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754835 2025-10-29T01:11:30.237Z,1761700290.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998138,0.056094,0.023947],[-0.058799,0.989311,0.133441],[-0.016205,-0.134600,0.990767]] 2025-10-29T01:11:30.271Z,1761700290.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:30.278Z,1761700290.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 169.899109 m, bearing: 357.623558 deg, approach rate: -0.638443 m/s, LOS rate: 0.030469 deg/s, cmd heading: 356.738595 deg, new cmd heading: 356.761274 deg. 2025-10-29T01:11:30.279Z,1761700290.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.226659 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:30.354Z,1761700290.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007180 2025-10-29T01:11:30.605Z,1761700290.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258832 2025-10-29T01:11:30.646Z,1761700290.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998293,0.054771,0.020266],[-0.056991,0.989438,0.133281],[-0.012752,-0.134208,0.990871]] 2025-10-29T01:11:30.663Z,1761700290.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:30.665Z,1761700290.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:30.667Z,1761700290.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 169.626266 m, bearing: 357.636433 deg, approach rate: -0.692413 m/s, LOS rate: 0.032727 deg/s, cmd heading: 356.761271 deg, new cmd heading: 356.787063 deg. 2025-10-29T01:11:30.669Z,1761700290.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227109 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:30.857Z,1761700290.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510868 2025-10-29T01:11:31.052Z,1761700291.052 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998452,0.053180,0.016315],[-0.054879,0.989633,0.132720],[-0.009088,-0.133410,0.991019]] 2025-10-29T01:11:31.101Z,1761700291.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:31.104Z,1761700291.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 169.325134 m, bearing: 357.650683 deg, approach rate: -0.690247 m/s, LOS rate: 0.032722 deg/s, cmd heading: 356.787062 deg, new cmd heading: 356.815613 deg. 2025-10-29T01:11:31.105Z,1761700291.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.227607 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:31.109Z,1761700291.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762932 2025-10-29T01:11:31.361Z,1761700291.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015208 2025-10-29T01:11:31.473Z,1761700291.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998597,0.051468,0.012466],[-0.052670,0.989715,0.133007],[-0.005492,-0.133477,0.991037]] 2025-10-29T01:11:31.498Z,1761700291.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:31.501Z,1761700291.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 169.050949 m, bearing: 357.663494 deg, approach rate: -0.690097 m/s, LOS rate: 0.032296 deg/s, cmd heading: 356.815612 deg, new cmd heading: 356.841275 deg. 2025-10-29T01:11:31.502Z,1761700291.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228055 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:31.616Z,1761700291.616 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270295 2025-10-29T01:11:31.869Z,1761700291.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522873 2025-10-29T01:11:31.889Z,1761700291.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998672,0.050786,0.008676],[-0.051491,0.989643,0.134000],[-0.001781,-0.134268,0.990943]] 2025-10-29T01:11:31.962Z,1761700291.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:31.965Z,1761700291.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 168.736954 m, bearing: 357.679596 deg, approach rate: -0.677101 m/s, LOS rate: 0.034786 deg/s, cmd heading: 356.841266 deg, new cmd heading: 356.873529 deg. 2025-10-29T01:11:31.966Z,1761700291.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.228618 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:32.121Z,1761700292.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774822 2025-10-29T01:11:32.284Z,1761700292.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998673,0.051224,0.005304],[-0.051468,0.989230,0.137019],[0.001772,-0.137111,0.990554]] 2025-10-29T01:11:32.302Z,1761700292.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:32.317Z,1761700292.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 168.506821 m, bearing: 357.691425 deg, approach rate: -0.677015 m/s, LOS rate: 0.034848 deg/s, cmd heading: 356.873532 deg, new cmd heading: 356.897223 deg. 2025-10-29T01:11:32.318Z,1761700292.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229032 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:32.376Z,1761700292.376 [DAT](INFO): DAT read: Rx Time:01:11:31.7141 2025-10-29T01:11:32.377Z,1761700292.377 [DAT](INFO): Rx dataTimestamp_ set to:1761700292.376373 2025-10-29T01:11:32.378Z,1761700292.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031162 2025-10-29T01:11:32.625Z,1761700292.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278798 2025-10-29T01:11:32.687Z,1761700292.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998644,0.052018,0.001964],[-0.051783,0.988864,0.139521],[0.005315,-0.139433,0.990217]] 2025-10-29T01:11:32.758Z,1761700292.758 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:32.779Z,1761700292.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:32.787Z,1761700292.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 168.226257 m, bearing: 357.705914 deg, approach rate: -0.589403 m/s, LOS rate: 0.030490 deg/s, cmd heading: 356.897219 deg, new cmd heading: 356.926246 deg. 2025-10-29T01:11:32.787Z,1761700292.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.229538 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:32.896Z,1761700292.896 [DAT](INFO): DAT read: 01:11:31.7140 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 511, 0.35, 1.260,-0.494, 1.449, 1.120, PHS= 0.242,-1.569, 0.285, RAW= 151.2, 11.4, CAL= 151.0, 12.5, ROT= 359.0, -12.5 2025-10-29T01:11:32.898Z,1761700292.898 [DAT](INFO): got valid direction response: 01:11:31.7140 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 511, 0.35, 1.260,-0.494, 1.449, 1.120, PHS= 0.242,-1.569, 0.285, RAW= 151.2, 11.4, CAL= 151.0, 12.5, ROT= 359.0, -12.5 2025-10-29T01:11:32.898Z,1761700292.898 [DAT](INFO): DAT read: Bearing 160.6, -2.6 (Local) 2025-10-29T01:11:32.899Z,1761700292.899 [DAT](INFO): Local bearing/azimuth received: Bearing 160.6, -2.6 (Local) 2025-10-29T01:11:32.905Z,1761700292.905 [DAT](INFO): DAT read: Range 11 to 50 : 144.3 m (Round-trip 192.4 ms) speed 0.6 m/s 2025-10-29T01:11:32.907Z,1761700292.907 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:32.909Z,1761700292.909 [DAT](INFO): direction in FSK: [0.976147,-0.017039,0.216440] 2025-10-29T01:11:32.910Z,1761700292.910 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:32.927Z,1761700292.927 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:32.927Z,1761700292.927 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:32.932Z,1761700292.932 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:33.129Z,1761700293.129 [DAT](INFO): DAT read: user:690> 2025-10-29T01:11:33.130Z,1761700293.130 [DAT](INFO): DAT read: Tx time:01:11:32.9174 2025-10-29T01:11:33.130Z,1761700293.130 [DAT](INFO): Ping request sent. 2025-10-29T01:11:33.130Z,1761700293.130 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:33.130Z,1761700293.130 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:33.131Z,1761700293.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T01:11:33.137Z,1761700293.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998630,0.052317,-0.001370],[-0.051602,0.988662,0.141010],[0.008731,-0.140746,0.990007]] 2025-10-29T01:11:33.219Z,1761700293.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 144.300003 m, deltaT: 3.785134 s, deltaX: -31.800003 m, approachRate: -8.401289 m/s, rangeRepo size: 4 2025-10-29T01:11:33.220Z,1761700293.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:33.222Z,1761700293.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 167.885254 m, bearing: 357.723786 deg, approach rate: -0.774596 m/s, LOS rate: 0.040678 deg/s, cmd heading: 356.926234 deg, new cmd heading: 356.962050 deg. 2025-10-29T01:11:33.223Z,1761700293.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230163 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:33.381Z,1761700293.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250639 2025-10-29T01:11:33.568Z,1761700293.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998591,0.052840,-0.004838],[-0.051603,0.988334,0.143292],[0.012354,-0.142841,0.989669]] 2025-10-29T01:11:33.608Z,1761700293.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:33.611Z,1761700293.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 167.627670 m, bearing: 357.737328 deg, approach rate: -0.661298 m/s, LOS rate: 0.034820 deg/s, cmd heading: 356.962051 deg, new cmd heading: 356.989177 deg. 2025-10-29T01:11:33.612Z,1761700293.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.230637 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:33.633Z,1761700293.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502701 2025-10-29T01:11:33.890Z,1761700293.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.760243 2025-10-29T01:11:34.039Z,1761700294.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:34.042Z,1761700294.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 167.321732 m, bearing: 357.754469 deg, approach rate: -0.710090 m/s, LOS rate: 0.039856 deg/s, cmd heading: 356.989181 deg, new cmd heading: 357.023524 deg. 2025-10-29T01:11:34.043Z,1761700294.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231236 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:34.141Z,1761700294.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.010749 2025-10-29T01:11:34.383Z,1761700294.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998429,0.053839,-0.015535],[-0.050869,0.987121,0.151675],[0.023500,-0.150646,0.988308]] 2025-10-29T01:11:34.393Z,1761700294.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262857 2025-10-29T01:11:34.409Z,1761700294.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:34.414Z,1761700294.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 167.073563 m, bearing: 357.768328 deg, approach rate: -0.671028 m/s, LOS rate: 0.037530 deg/s, cmd heading: 357.023523 deg, new cmd heading: 357.051282 deg. 2025-10-29T01:11:34.415Z,1761700294.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.231720 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:34.645Z,1761700294.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514787 2025-10-29T01:11:34.815Z,1761700294.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998313,0.054929,-0.018797],[-0.051417,0.986871,0.153107],[0.026961,-0.151882,0.988031]] 2025-10-29T01:11:34.863Z,1761700294.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:34.865Z,1761700294.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:34.868Z,1761700294.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 166.761948 m, bearing: 357.783367 deg, approach rate: -0.682648 m/s, LOS rate: 0.033008 deg/s, cmd heading: 357.051281 deg, new cmd heading: 357.081416 deg. 2025-10-29T01:11:34.869Z,1761700294.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232246 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:34.898Z,1761700294.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.767269 2025-10-29T01:11:35.149Z,1761700295.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018773 2025-10-29T01:11:35.194Z,1761700295.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998254,0.054913,-0.021744],[-0.050920,0.986724,0.154217],[0.029923,-0.152841,0.987798]] 2025-10-29T01:11:35.213Z,1761700295.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:35.215Z,1761700295.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 166.526825 m, bearing: 357.794710 deg, approach rate: -0.677845 m/s, LOS rate: 0.032746 deg/s, cmd heading: 357.081416 deg, new cmd heading: 357.104133 deg. 2025-10-29T01:11:35.217Z,1761700295.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.232643 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:35.402Z,1761700295.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272008 2025-10-29T01:11:35.591Z,1761700295.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998170,0.055273,-0.024545],[-0.050772,0.986372,0.156500],[0.032861,-0.154967,0.987373]] 2025-10-29T01:11:35.619Z,1761700295.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:35.622Z,1761700295.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 166.251816 m, bearing: 357.807996 deg, approach rate: -0.674940 m/s, LOS rate: 0.032662 deg/s, cmd heading: 357.104119 deg, new cmd heading: 357.130736 deg. 2025-10-29T01:11:35.623Z,1761700295.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233107 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:35.657Z,1761700295.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.527293 2025-10-29T01:11:35.909Z,1761700295.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779082 2025-10-29T01:11:35.994Z,1761700295.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998083,0.055670,-0.027036],[-0.050677,0.985928,0.159307],[0.035524,-0.157632,0.986859]] 2025-10-29T01:11:36.050Z,1761700296.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:36.057Z,1761700296.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 165.970016 m, bearing: 357.820548 deg, approach rate: -0.653851 m/s, LOS rate: 0.029172 deg/s, cmd heading: 357.130730 deg, new cmd heading: 357.155875 deg. 2025-10-29T01:11:36.058Z,1761700296.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233546 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:36.161Z,1761700296.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030833 2025-10-29T01:11:36.405Z,1761700296.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998021,0.055337,-0.029869],[-0.049981,0.986294,0.157247],[0.038162,-0.155443,0.987107]] 2025-10-29T01:11:36.414Z,1761700296.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283872 2025-10-29T01:11:36.435Z,1761700296.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:36.458Z,1761700296.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 165.714554 m, bearing: 357.831917 deg, approach rate: -0.664231 m/s, LOS rate: 0.029606 deg/s, cmd heading: 357.155865 deg, new cmd heading: 357.178638 deg. 2025-10-29T01:11:36.459Z,1761700296.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.233943 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:36.665Z,1761700296.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.534796 2025-10-29T01:11:36.844Z,1761700296.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997935,0.055315,-0.032638],[-0.049560,0.986436,0.156486],[0.040851,-0.154545,0.987141]] 2025-10-29T01:11:36.885Z,1761700296.885 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:36.887Z,1761700296.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:36.890Z,1761700296.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 165.410706 m, bearing: 357.841786 deg, approach rate: -0.671822 m/s, LOS rate: 0.021861 deg/s, cmd heading: 357.178650 deg, new cmd heading: 357.198424 deg. 2025-10-29T01:11:36.891Z,1761700296.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234289 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:36.934Z,1761700296.934 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.803403 2025-10-29T01:11:37.185Z,1761700297.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.055183 2025-10-29T01:11:37.213Z,1761700297.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997891,0.054591,-0.035115],[-0.048399,0.986269,0.157894],[0.043252,-0.155861,0.986832]] 2025-10-29T01:11:37.231Z,1761700297.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:37.234Z,1761700297.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 165.180084 m, bearing: 357.849203 deg, approach rate: -0.671162 m/s, LOS rate: 0.021616 deg/s, cmd heading: 357.198430 deg, new cmd heading: 357.213285 deg. 2025-10-29T01:11:37.235Z,1761700297.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234548 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:37.437Z,1761700297.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.307340 2025-10-29T01:11:37.607Z,1761700297.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997852,0.053604,-0.037644],[-0.046914,0.985939,0.160385],[0.045712,-0.158275,0.986336]] 2025-10-29T01:11:37.626Z,1761700297.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:37.644Z,1761700297.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 164.915665 m, bearing: 357.857584 deg, approach rate: -0.669756 m/s, LOS rate: 0.021263 deg/s, cmd heading: 357.213293 deg, new cmd heading: 357.230082 deg. 2025-10-29T01:11:37.645Z,1761700297.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.234841 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:37.690Z,1761700297.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.559581 2025-10-29T01:11:37.941Z,1761700297.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.810750 2025-10-29T01:11:38.016Z,1761700298.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997805,0.053028,-0.039651],[-0.045755,0.985066,0.165984],[0.047861,-0.163805,0.985331]] 2025-10-29T01:11:38.053Z,1761700298.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:38.056Z,1761700298.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 164.622818 m, bearing: 357.867469 deg, approach rate: -0.685239 m/s, LOS rate: 0.023172 deg/s, cmd heading: 357.230095 deg, new cmd heading: 357.249901 deg. 2025-10-29T01:11:38.057Z,1761700298.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235187 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:38.193Z,1761700298.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.062728 2025-10-29T01:11:38.424Z,1761700298.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997748,0.052207,-0.042103],[-0.044469,0.984881,0.167428],[0.050207,-0.165179,0.984985]] 2025-10-29T01:11:38.451Z,1761700298.451 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.320676 2025-10-29T01:11:38.501Z,1761700298.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:38.508Z,1761700298.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 164.356079 m, bearing: 357.876380 deg, approach rate: -0.594762 m/s, LOS rate: 0.019901 deg/s, cmd heading: 357.249903 deg, new cmd heading: 357.267753 deg. 2025-10-29T01:11:38.509Z,1761700298.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235498 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:38.706Z,1761700298.706 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.575830 2025-10-29T01:11:38.878Z,1761700298.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997723,0.050586,-0.044618],[-0.042562,0.985314,0.165363],[0.052327,-0.163087,0.985223]] 2025-10-29T01:11:38.953Z,1761700298.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:38.955Z,1761700298.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:38.957Z,1761700298.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.826871 2025-10-29T01:11:38.960Z,1761700298.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 164.033310 m, bearing: 357.887059 deg, approach rate: -0.711172 m/s, LOS rate: 0.023575 deg/s, cmd heading: 357.267743 deg, new cmd heading: 357.289142 deg. 2025-10-29T01:11:38.961Z,1761700298.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.235872 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:39.210Z,1761700299.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.079970 2025-10-29T01:11:39.259Z,1761700299.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997683,0.048845,-0.047353],[-0.040633,0.986105,0.161077],[0.054563,-0.158780,0.985805]] 2025-10-29T01:11:39.277Z,1761700299.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:39.280Z,1761700299.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 163.809082 m, bearing: 357.894369 deg, approach rate: -0.696209 m/s, LOS rate: 0.022728 deg/s, cmd heading: 357.289135 deg, new cmd heading: 357.303775 deg. 2025-10-29T01:11:39.281Z,1761700299.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236127 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:39.462Z,1761700299.462 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.331516 2025-10-29T01:11:39.712Z,1761700299.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997625,0.047416,-0.049963],[-0.039027,0.986789,0.157238],[0.056759,-0.154915,0.986296]] 2025-10-29T01:11:39.713Z,1761700299.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.583111 2025-10-29T01:11:39.743Z,1761700299.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:39.747Z,1761700299.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 163.505127 m, bearing: 357.904159 deg, approach rate: -0.653245 m/s, LOS rate: 0.021081 deg/s, cmd heading: 357.303779 deg, new cmd heading: 357.323397 deg. 2025-10-29T01:11:39.749Z,1761700299.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236470 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:39.965Z,1761700299.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.835095 2025-10-29T01:11:40.188Z,1761700300.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997546,0.046127,-0.052666],[-0.037504,0.987302,0.154365],[0.059118,-0.152011,0.986609]] 2025-10-29T01:11:40.217Z,1761700300.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.086774 2025-10-29T01:11:40.235Z,1761700300.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:40.237Z,1761700300.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 163.164719 m, bearing: 357.917216 deg, approach rate: -0.692026 m/s, LOS rate: 0.026598 deg/s, cmd heading: 357.323395 deg, new cmd heading: 357.349563 deg. 2025-10-29T01:11:40.238Z,1761700300.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.236927 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:40.469Z,1761700300.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.338617 2025-10-29T01:11:40.693Z,1761700300.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997449,0.045524,-0.054980],[-0.036612,0.987481,0.153432],[0.061277,-0.151027,0.986629]] 2025-10-29T01:11:40.711Z,1761700300.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:40.713Z,1761700300.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 162.835953 m, bearing: 357.929780 deg, approach rate: -0.690682 m/s, LOS rate: 0.026448 deg/s, cmd heading: 357.349569 deg, new cmd heading: 357.374748 deg. 2025-10-29T01:11:40.714Z,1761700300.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237366 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:40.721Z,1761700300.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.590903 2025-10-29T01:11:40.974Z,1761700300.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.843661 2025-10-29T01:11:41.125Z,1761700301.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997336,0.045221,-0.057242],[-0.035938,0.987430,0.153917],[0.063483,-0.151450,0.986424]] 2025-10-29T01:11:41.184Z,1761700301.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:41.186Z,1761700301.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:41.193Z,1761700301.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 162.533615 m, bearing: 357.942719 deg, approach rate: -0.635625 m/s, LOS rate: 0.027253 deg/s, cmd heading: 357.374759 deg, new cmd heading: 357.400685 deg. 2025-10-29T01:11:41.194Z,1761700301.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.237819 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:41.225Z,1761700301.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.095211 2025-10-29T01:11:41.477Z,1761700301.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.346803 2025-10-29T01:11:41.543Z,1761700301.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997225,0.045331,-0.059062],[-0.035636,0.987124,0.155939],[0.065370,-0.153401,0.985999]] 2025-10-29T01:11:41.562Z,1761700301.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:41.565Z,1761700301.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 162.267761 m, bearing: 357.954102 deg, approach rate: -0.706979 m/s, LOS rate: 0.030320 deg/s, cmd heading: 357.400686 deg, new cmd heading: 357.423489 deg. 2025-10-29T01:11:41.566Z,1761700301.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238217 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:41.729Z,1761700301.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.598706 2025-10-29T01:11:41.949Z,1761700301.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997101,0.046076,-0.060545],[-0.035991,0.986750,0.158205],[0.067033,-0.155568,0.985548]] 2025-10-29T01:11:41.984Z,1761700301.984 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.854007 2025-10-29T01:11:41.999Z,1761700301.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:42.002Z,1761700302.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 161.971939 m, bearing: 357.967618 deg, approach rate: -0.678051 m/s, LOS rate: 0.031037 deg/s, cmd heading: 357.423499 deg, new cmd heading: 357.450580 deg. 2025-10-29T01:11:42.002Z,1761700302.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.238689 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:42.233Z,1761700302.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.102809 2025-10-29T01:11:42.334Z,1761700302.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997016,0.046923,-0.061304],[-0.036628,0.986535,0.159397],[0.067958,-0.156676,0.985309]] 2025-10-29T01:11:42.422Z,1761700302.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:42.433Z,1761700302.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 161.732666 m, bearing: 357.978638 deg, approach rate: -0.565102 m/s, LOS rate: 0.026066 deg/s, cmd heading: 357.450574 deg, new cmd heading: 357.472647 deg. 2025-10-29T01:11:42.434Z,1761700302.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239075 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:42.485Z,1761700302.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.354852 2025-10-29T01:11:42.737Z,1761700302.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.606699 2025-10-29T01:11:42.803Z,1761700302.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996793,0.048808,-0.063419],[-0.037967,0.986042,0.162113],[0.070446,-0.159185,0.984732]] 2025-10-29T01:11:42.822Z,1761700302.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:42.826Z,1761700302.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 161.414368 m, bearing: 357.993496 deg, approach rate: -0.795690 m/s, LOS rate: 0.037216 deg/s, cmd heading: 357.472649 deg, new cmd heading: 357.502424 deg. 2025-10-29T01:11:42.827Z,1761700302.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.239594 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:42.989Z,1761700302.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.858791 2025-10-29T01:11:43.191Z,1761700303.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996658,0.049786,-0.064767],[-0.038694,0.985955,0.162464],[0.071946,-0.159415,0.984586]] 2025-10-29T01:11:43.233Z,1761700303.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:43.235Z,1761700303.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:43.238Z,1761700303.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 161.126709 m, bearing: 358.007846 deg, approach rate: -0.695932 m/s, LOS rate: 0.034777 deg/s, cmd heading: 357.502428 deg, new cmd heading: 357.531178 deg. 2025-10-29T01:11:43.239Z,1761700303.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240096 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:43.241Z,1761700303.241 [DAT](INFO): Reached modem response timeout 2025-10-29T01:11:43.241Z,1761700303.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:43.241Z,1761700303.241 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:43.493Z,1761700303.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:43.643Z,1761700303.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:43.645Z,1761700303.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 160.846771 m, bearing: 358.021859 deg, approach rate: -0.687264 m/s, LOS rate: 0.034464 deg/s, cmd heading: 357.531170 deg, new cmd heading: 357.559246 deg. 2025-10-29T01:11:43.646Z,1761700303.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.240586 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:43.745Z,1761700303.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:43.997Z,1761700303.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:44.004Z,1761700304.004 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996391,0.051226,-0.067677],[-0.039667,0.985948,0.162277],[0.075039,-0.159007,0.984422]] 2025-10-29T01:11:44.043Z,1761700304.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:44.046Z,1761700304.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 160.568375 m, bearing: 358.035409 deg, approach rate: -0.695506 m/s, LOS rate: 0.033909 deg/s, cmd heading: 357.559256 deg, new cmd heading: 357.586402 deg. 2025-10-29T01:11:44.047Z,1761700304.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241060 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:44.249Z,1761700304.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:44.412Z,1761700304.412 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996253,0.051850,-0.069227],[-0.040154,0.986174,0.160777],[0.076606,-0.157394,0.984560]] 2025-10-29T01:11:44.438Z,1761700304.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:44.441Z,1761700304.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 160.294128 m, bearing: 358.048867 deg, approach rate: -0.694198 m/s, LOS rate: 0.034126 deg/s, cmd heading: 357.586412 deg, new cmd heading: 357.613375 deg. 2025-10-29T01:11:44.442Z,1761700304.442 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241531 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:44.501Z,1761700304.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:44.753Z,1761700304.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:44.809Z,1761700304.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996170,0.051391,-0.070743],[-0.039648,0.986578,0.158403],[0.077934,-0.154992,0.984837]] 2025-10-29T01:11:44.826Z,1761700304.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:44.829Z,1761700304.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 160.026749 m, bearing: 358.062003 deg, approach rate: -0.688537 m/s, LOS rate: 0.033881 deg/s, cmd heading: 357.613378 deg, new cmd heading: 357.639692 deg. 2025-10-29T01:11:44.830Z,1761700304.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.241990 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:45.005Z,1761700305.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:45.211Z,1761700305.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996131,0.050521,-0.071901],[-0.038689,0.986785,0.157350],[0.078900,-0.153960,0.984922]] 2025-10-29T01:11:45.253Z,1761700305.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:45.255Z,1761700305.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:45.257Z,1761700305.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:11:45.259Z,1761700305.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 159.731842 m, bearing: 358.075320 deg, approach rate: -0.688719 m/s, LOS rate: 0.031159 deg/s, cmd heading: 357.639688 deg, new cmd heading: 357.666372 deg. 2025-10-29T01:11:45.260Z,1761700305.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242456 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:45.509Z,1761700305.509 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:11:45.509Z,1761700305.509 [DAT](INFO): response not received 2025-10-29T01:11:45.510Z,1761700305.510 [DAT](INFO): DAT read: user:691> 2025-10-29T01:11:45.510Z,1761700305.510 [DAT](INFO): DAT read: Tx time:01:11:45.3674 2025-10-29T01:11:45.511Z,1761700305.511 [DAT](INFO): Ping request sent. 2025-10-29T01:11:45.511Z,1761700305.511 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:45.511Z,1761700305.511 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:45.512Z,1761700305.512 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000726 2025-10-29T01:11:45.628Z,1761700305.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996082,0.050123,-0.072862],[-0.038124,0.986762,0.157631],[0.079799,-0.154236,0.984806]] 2025-10-29T01:11:45.662Z,1761700305.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:45.669Z,1761700305.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 159.455948 m, bearing: 358.087767 deg, approach rate: -0.676536 m/s, LOS rate: 0.030575 deg/s, cmd heading: 357.666380 deg, new cmd heading: 357.691317 deg. 2025-10-29T01:11:45.670Z,1761700305.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.242891 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:45.764Z,1761700305.764 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252412 2025-10-29T01:11:46.013Z,1761700306.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502227 2025-10-29T01:11:46.026Z,1761700306.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996014,0.049381,-0.074278],[-0.037153,0.986767,0.157828],[0.081089,-0.154439,0.984669]] 2025-10-29T01:11:46.120Z,1761700306.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:46.122Z,1761700306.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 159.141281 m, bearing: 358.102006 deg, approach rate: -0.688181 m/s, LOS rate: 0.031201 deg/s, cmd heading: 357.691324 deg, new cmd heading: 357.719857 deg. 2025-10-29T01:11:46.123Z,1761700306.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243389 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:46.265Z,1761700306.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754150 2025-10-29T01:11:46.426Z,1761700306.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995958,0.048715,-0.075463],[-0.036278,0.986742,0.158192],[0.082169,-0.154815,0.984520]] 2025-10-29T01:11:46.443Z,1761700306.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:46.446Z,1761700306.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 158.921295 m, bearing: 358.111923 deg, approach rate: -0.679393 m/s, LOS rate: 0.030671 deg/s, cmd heading: 357.719847 deg, new cmd heading: 357.739709 deg. 2025-10-29T01:11:46.447Z,1761700306.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.243736 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:46.517Z,1761700306.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006272 2025-10-29T01:11:46.769Z,1761700306.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258414 2025-10-29T01:11:46.823Z,1761700306.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995902,0.047954,-0.076674],[-0.035314,0.986736,0.158444],[0.083255,-0.155087,0.984386]] 2025-10-29T01:11:46.841Z,1761700306.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:46.843Z,1761700306.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 158.652222 m, bearing: 358.123995 deg, approach rate: -0.677402 m/s, LOS rate: 0.030443 deg/s, cmd heading: 357.739709 deg, new cmd heading: 357.763894 deg. 2025-10-29T01:11:46.844Z,1761700306.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244158 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:47.021Z,1761700307.021 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510010 2025-10-29T01:11:47.227Z,1761700307.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995868,0.047023,-0.077693],[-0.034221,0.986754,0.158571],[0.084121,-0.155257,0.984286]] 2025-10-29T01:11:47.267Z,1761700307.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:47.269Z,1761700307.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:47.273Z,1761700307.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762234 2025-10-29T01:11:47.274Z,1761700307.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 158.364563 m, bearing: 358.135087 deg, approach rate: -0.671068 m/s, LOS rate: 0.025924 deg/s, cmd heading: 357.763888 deg, new cmd heading: 357.786113 deg. 2025-10-29T01:11:47.275Z,1761700307.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244545 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:47.525Z,1761700307.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014594 2025-10-29T01:11:47.631Z,1761700307.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995826,0.046486,-0.078546],[-0.033571,0.986804,0.158404],[0.084873,-0.155106,0.984245]] 2025-10-29T01:11:47.673Z,1761700307.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:47.676Z,1761700307.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 158.096680 m, bearing: 358.145392 deg, approach rate: -0.662915 m/s, LOS rate: 0.025543 deg/s, cmd heading: 357.786100 deg, new cmd heading: 357.806744 deg. 2025-10-29T01:11:47.677Z,1761700307.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.244906 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:47.777Z,1761700307.777 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266697 2025-10-29T01:11:48.029Z,1761700308.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518171 2025-10-29T01:11:48.047Z,1761700308.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995794,0.045564,-0.079482],[-0.032524,0.986862,0.158257],[0.085649,-0.155006,0.984194]] 2025-10-29T01:11:48.101Z,1761700308.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:48.104Z,1761700308.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 157.803574 m, bearing: 358.156305 deg, approach rate: -0.684686 m/s, LOS rate: 0.025539 deg/s, cmd heading: 357.806754 deg, new cmd heading: 357.828620 deg. 2025-10-29T01:11:48.105Z,1761700308.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245287 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:48.281Z,1761700308.281 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770130 2025-10-29T01:11:48.463Z,1761700308.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995778,0.044811,-0.080113],[-0.031568,0.986689,0.159523],[0.086195,-0.156320,0.983938]] 2025-10-29T01:11:48.521Z,1761700308.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:48.524Z,1761700308.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 157.542969 m, bearing: 358.165943 deg, approach rate: -0.621455 m/s, LOS rate: 0.023022 deg/s, cmd heading: 357.828611 deg, new cmd heading: 357.847919 deg. 2025-10-29T01:11:48.525Z,1761700308.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245625 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:48.533Z,1761700308.533 [DAT](INFO): DAT read: Rx Time:01:11:47.9085 2025-10-29T01:11:48.533Z,1761700308.533 [DAT](INFO): Rx dataTimestamp_ set to:1761700308.533211 2025-10-29T01:11:48.534Z,1761700308.534 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023244 2025-10-29T01:11:48.787Z,1761700308.787 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275505 2025-10-29T01:11:48.846Z,1761700308.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995720,0.044542,-0.080981],[-0.031120,0.986622,0.160028],[0.087026,-0.156823,0.983785]] 2025-10-29T01:11:48.874Z,1761700308.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:48.879Z,1761700308.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 157.282623 m, bearing: 358.175559 deg, approach rate: -0.738062 m/s, LOS rate: 0.027307 deg/s, cmd heading: 357.847927 deg, new cmd heading: 357.867191 deg. 2025-10-29T01:11:48.881Z,1761700308.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.245961 target range: 175.166565 and range: 176.10 m. 2025-10-29T01:11:49.041Z,1761700309.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529314 2025-10-29T01:11:49.252Z,1761700309.252 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995679,0.044132,-0.081708],[-0.030568,0.986583,0.160371],[0.087689,-0.157180,0.983669]] 2025-10-29T01:11:49.287Z,1761700309.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:49.294Z,1761700309.294 [DAT](INFO): DAT read: 01:11:47.9085 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 359, 0.43,-1.151,-2.714,-0.994,-1.299, PHS= 0.250,-1.371, 0.261, RAW= 150.3, 10.6, CAL= 150.1, 11.6, ROT= 359.9, -11.6 2025-10-29T01:11:49.295Z,1761700309.295 [DAT](INFO): got valid direction response: 01:11:47.9085 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 359, 0.43,-1.151,-2.714,-0.994,-1.299, PHS= 0.250,-1.371, 0.261, RAW= 150.3, 10.6, CAL= 150.1, 11.6, ROT= 359.9, -11.6 2025-10-29T01:11:49.308Z,1761700309.308 [DAT](INFO): DAT read: Bearing 161.4, 2.9 (Local) 2025-10-29T01:11:49.309Z,1761700309.309 [DAT](INFO): Local bearing/azimuth received: Bearing 161.4, 2.9 (Local) 2025-10-29T01:11:49.310Z,1761700309.310 [DAT](INFO): DAT read: Range 11 to 50 : 102.7 m (Round-trip 137.0 ms) speed 0.6 m/s 2025-10-29T01:11:49.311Z,1761700309.311 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:49.312Z,1761700309.312 [DAT](INFO): direction in FSK: [0.979574,-0.001710,0.201078] 2025-10-29T01:11:49.312Z,1761700309.312 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:49.316Z,1761700309.316 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:49.322Z,1761700309.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.699997 m, deltaT: 20.195120 s, deltaX: -73.400009 m, approachRate: -3.634542 m/s, rangeRepo size: 4 2025-10-29T01:11:49.322Z,1761700309.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:49.316Z,1761700309.316 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:49.324Z,1761700309.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:49.329Z,1761700309.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 157.003448 m, bearing: 358.185679 deg, approach rate: -0.623782 m/s, LOS rate: 0.022650 deg/s, cmd heading: 357.867188 deg, new cmd heading: 357.887462 deg. 2025-10-29T01:11:49.330Z,1761700309.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246315 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:49.541Z,1761700309.541 [DAT](INFO): DAT read: user:692> 2025-10-29T01:11:49.542Z,1761700309.542 [DAT](INFO): DAT read: Tx time:01:11:49.3174 2025-10-29T01:11:49.542Z,1761700309.542 [DAT](INFO): Ping request sent. 2025-10-29T01:11:49.542Z,1761700309.542 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:49.542Z,1761700309.542 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:49.543Z,1761700309.543 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000731 2025-10-29T01:11:49.655Z,1761700309.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995636,0.044079,-0.082259],[-0.030371,0.986486,0.161009],[0.088244,-0.157808,0.983519]] 2025-10-29T01:11:49.692Z,1761700309.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:49.695Z,1761700309.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 156.735703 m, bearing: 358.195396 deg, approach rate: -0.721724 m/s, LOS rate: 0.026238 deg/s, cmd heading: 357.887460 deg, new cmd heading: 357.906928 deg. 2025-10-29T01:11:49.696Z,1761700309.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.246655 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:49.793Z,1761700309.793 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250954 2025-10-29T01:11:50.048Z,1761700310.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504791 2025-10-29T01:11:50.073Z,1761700310.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995580,0.044096,-0.082925],[-0.030236,0.986405,0.161528],[0.088921,-0.158306,0.983378]] 2025-10-29T01:11:50.139Z,1761700310.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:50.142Z,1761700310.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 156.451279 m, bearing: 358.207902 deg, approach rate: -0.636262 m/s, LOS rate: 0.028027 deg/s, cmd heading: 357.906940 deg, new cmd heading: 357.931997 deg. 2025-10-29T01:11:50.143Z,1761700310.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247092 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:50.297Z,1761700310.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754701 2025-10-29T01:11:50.467Z,1761700310.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995541,0.043774,-0.083562],[-0.029800,0.986392,0.161687],[0.089503,-0.158476,0.983298]] 2025-10-29T01:11:50.493Z,1761700310.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:50.495Z,1761700310.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 156.196960 m, bearing: 358.219081 deg, approach rate: -0.719112 m/s, LOS rate: 0.031663 deg/s, cmd heading: 357.931993 deg, new cmd heading: 357.954388 deg. 2025-10-29T01:11:50.497Z,1761700310.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247483 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:50.550Z,1761700310.550 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007527 2025-10-29T01:11:50.801Z,1761700310.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258741 2025-10-29T01:11:50.870Z,1761700310.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995498,0.043265,-0.084331],[-0.029193,0.986446,0.161471],[0.090174,-0.158282,0.983268]] 2025-10-29T01:11:50.921Z,1761700310.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:50.928Z,1761700310.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 155.915451 m, bearing: 358.231438 deg, approach rate: -0.656664 m/s, LOS rate: 0.028876 deg/s, cmd heading: 357.954396 deg, new cmd heading: 357.979154 deg. 2025-10-29T01:11:50.934Z,1761700310.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.247915 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:51.054Z,1761700311.054 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512288 2025-10-29T01:11:51.276Z,1761700311.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995446,0.043187,-0.084979],[-0.029104,0.986609,0.160485],[0.090772,-0.157281,0.983373]] 2025-10-29T01:11:51.305Z,1761700311.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762947 2025-10-29T01:11:51.313Z,1761700311.313 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:51.315Z,1761700311.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:51.317Z,1761700311.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 155.648895 m, bearing: 358.243459 deg, approach rate: -0.677976 m/s, LOS rate: 0.030627 deg/s, cmd heading: 357.979148 deg, new cmd heading: 358.003231 deg. 2025-10-29T01:11:51.318Z,1761700311.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248335 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:51.557Z,1761700311.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015062 2025-10-29T01:11:51.679Z,1761700311.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995393,0.043008,-0.085693],[-0.028967,0.986881,0.158830],[0.091400,-0.155616,0.983580]] 2025-10-29T01:11:51.713Z,1761700311.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:51.715Z,1761700311.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 155.394394 m, bearing: 358.254971 deg, approach rate: -0.639268 m/s, LOS rate: 0.028964 deg/s, cmd heading: 358.003218 deg, new cmd heading: 358.026280 deg. 2025-10-29T01:11:51.725Z,1761700311.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.248737 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:51.814Z,1761700311.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.272139 2025-10-29T01:11:52.076Z,1761700312.076 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.525578 2025-10-29T01:11:52.103Z,1761700312.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995341,0.043309,-0.086144],[-0.029038,0.986609,0.160498],[0.091942,-0.157248,0.983270]] 2025-10-29T01:11:52.139Z,1761700312.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:52.158Z,1761700312.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 155.098633 m, bearing: 358.269448 deg, approach rate: -0.693956 m/s, LOS rate: 0.034033 deg/s, cmd heading: 358.026277 deg, new cmd heading: 358.055286 deg. 2025-10-29T01:11:52.159Z,1761700312.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249244 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:52.317Z,1761700312.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774714 2025-10-29T01:11:52.569Z,1761700312.569 [DAT](INFO): DAT read: Rx Time:01:11:51.8550 2025-10-29T01:11:52.569Z,1761700312.569 [DAT](INFO): Rx dataTimestamp_ set to:1761700312.569130 2025-10-29T01:11:52.570Z,1761700312.570 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027842 2025-10-29T01:11:52.592Z,1761700312.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995269,0.043945,-0.086654],[-0.029473,0.986397,0.161717],[0.092581,-0.158398,0.983025]] 2025-10-29T01:11:52.628Z,1761700312.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.17 m. 2025-10-29T01:11:52.634Z,1761700312.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.166565 m, nav range: 154.782944 m, bearing: 358.285008 deg, approach rate: -0.646050 m/s, LOS rate: 0.031908 deg/s, cmd heading: 358.055291 deg, new cmd heading: 358.086475 deg. 2025-10-29T01:11:52.635Z,1761700312.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.249788 target range: 175.166565 and range: 102.70 m. 2025-10-29T01:11:52.821Z,1761700312.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278833 2025-10-29T01:11:52.889Z,1761700312.889 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:11:53.050Z,1761700313.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995238,0.044696,-0.086628],[-0.029996,0.985986,0.164111],[0.092749,-0.160731,0.982631]] 2025-10-29T01:11:53.089Z,1761700313.089 [DAT](INFO): DAT read: 01:11:51.8550 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.27, 1.568,-0.051, 1.728, 1.367, PHS= 0.302,-1.374, 0.316, RAW= 150.4, 9.0, CAL= 150.0, 9.8, ROT= 0.0, -9.8 2025-10-29T01:11:53.090Z,1761700313.090 [DAT](INFO): got valid direction response: 01:11:51.8550 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 403, 0.27, 1.568,-0.051, 1.728, 1.367, PHS= 0.302,-1.374, 0.316, RAW= 150.4, 9.0, CAL= 150.0, 9.8, ROT= 0.0, -9.8 2025-10-29T01:11:53.091Z,1761700313.091 [DAT](INFO): DAT read: Bearing 159.5, 3.6 (Local) 2025-10-29T01:11:53.091Z,1761700313.091 [DAT](INFO): Local bearing/azimuth received: Bearing 159.5, 3.6 (Local) 2025-10-29T01:11:53.111Z,1761700313.111 [DAT](INFO): DAT read: Range 11 to 50 : 100.0 m (Round-trip 133.4 ms) speed 0.6 m/s 2025-10-29T01:11:53.111Z,1761700313.111 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:53.141Z,1761700313.141 [DAT](INFO): direction in FSK: [0.985408,0.000000,0.170209] 2025-10-29T01:11:53.141Z,1761700313.141 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:53.153Z,1761700313.153 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:53.153Z,1761700313.153 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:53.153Z,1761700313.153 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:53.165Z,1761700313.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 100.000000 m, deltaT: 3.785491 s, deltaX: -2.699997 m, approachRate: -0.713249 m/s, rangeRepo size: 4 2025-10-29T01:11:53.167Z,1761700313.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.469620 m, bearing: 359.903626 deg, lat: 36.779549 deg, lon: -121.859490 deg, deltaT: 23.980611 s, deltaX: -75.696945 m, approachRate: -3.156590 m/s, posRepo size: 4 2025-10-29T01:11:53.180Z,1761700313.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:53.188Z,1761700313.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 126.412086 m, bearing: 358.560258 deg, approach rate: 0.000000 m/s, LOS rate: 0.031908 deg/s, cmd heading: 358.086464 deg, new cmd heading: 358.120446 deg. 2025-10-29T01:11:53.191Z,1761700313.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.250381 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:53.325Z,1761700313.325 [DAT](INFO): DAT read: user:693> 2025-10-29T01:11:53.326Z,1761700313.326 [DAT](INFO): DAT read: Tx time:01:11:53.1190 2025-10-29T01:11:53.326Z,1761700313.326 [DAT](INFO): Ping request sent. 2025-10-29T01:11:53.326Z,1761700313.326 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:53.326Z,1761700313.326 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:53.327Z,1761700313.327 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000735 2025-10-29T01:11:53.577Z,1761700313.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251175 2025-10-29T01:11:53.640Z,1761700313.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995253,0.045432,-0.086068],[-0.030421,0.985266,0.168304],[0.092446,-0.164887,0.981970]] 2025-10-29T01:11:53.694Z,1761700313.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:53.696Z,1761700313.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:53.698Z,1761700313.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 126.046204 m, bearing: 358.583958 deg, approach rate: -0.683267 m/s, LOS rate: 0.044387 deg/s, cmd heading: 358.120451 deg, new cmd heading: 358.167989 deg. 2025-10-29T01:11:53.699Z,1761700313.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251211 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:53.829Z,1761700313.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502721 2025-10-29T01:11:53.893Z,1761700313.893 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:11:54.026Z,1761700314.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995333,0.045346,-0.085178],[-0.030438,0.985181,0.168795],[0.091570,-0.165415,0.981964]] 2025-10-29T01:11:54.084Z,1761700314.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756845 2025-10-29T01:11:54.091Z,1761700314.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:54.113Z,1761700314.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 125.806190 m, bearing: 358.599576 deg, approach rate: -0.608979 m/s, LOS rate: 0.039705 deg/s, cmd heading: 358.167989 deg, new cmd heading: 358.199286 deg. 2025-10-29T01:11:54.114Z,1761700314.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.251757 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:54.335Z,1761700314.335 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.008457 2025-10-29T01:11:54.430Z,1761700314.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995452,0.045037,-0.083950],[-0.030357,0.985221,0.168576],[0.090301,-0.165260,0.982107]] 2025-10-29T01:11:54.486Z,1761700314.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:54.493Z,1761700314.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 125.529243 m, bearing: 358.616861 deg, approach rate: -0.698580 m/s, LOS rate: 0.043695 deg/s, cmd heading: 358.199299 deg, new cmd heading: 358.233944 deg. 2025-10-29T01:11:54.494Z,1761700314.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252362 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:54.585Z,1761700314.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259073 2025-10-29T01:11:54.835Z,1761700314.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995569,0.044712,-0.082719],[-0.030328,0.985386,0.167615],[0.089004,-0.164364,0.982376]] 2025-10-29T01:11:54.837Z,1761700314.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510862 2025-10-29T01:11:54.899Z,1761700314.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:54.907Z,1761700314.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 125.271362 m, bearing: 358.633025 deg, approach rate: -0.625273 m/s, LOS rate: 0.039273 deg/s, cmd heading: 358.233942 deg, new cmd heading: 358.266337 deg. 2025-10-29T01:11:54.909Z,1761700314.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.252927 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:55.093Z,1761700315.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766598 2025-10-29T01:11:55.238Z,1761700315.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995647,0.044996,-0.081618],[-0.030831,0.985445,0.167173],[0.087952,-0.163929,0.982543]] 2025-10-29T01:11:55.291Z,1761700315.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:55.294Z,1761700315.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 124.979874 m, bearing: 358.649766 deg, approach rate: -0.742310 m/s, LOS rate: 0.042733 deg/s, cmd heading: 358.266344 deg, new cmd heading: 358.299905 deg. 2025-10-29T01:11:55.295Z,1761700315.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.253513 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:55.342Z,1761700315.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016342 2025-10-29T01:11:55.597Z,1761700315.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270649 2025-10-29T01:11:55.660Z,1761700315.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995748,0.044597,-0.080601],[-0.030664,0.985564,0.166504],[0.086863,-0.163325,0.982741]] 2025-10-29T01:11:55.680Z,1761700315.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:55.683Z,1761700315.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 124.720245 m, bearing: 358.664726 deg, approach rate: -0.668160 m/s, LOS rate: 0.038578 deg/s, cmd heading: 358.299894 deg, new cmd heading: 358.329875 deg. 2025-10-29T01:11:55.684Z,1761700315.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254036 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:55.845Z,1761700315.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518787 2025-10-29T01:11:56.054Z,1761700316.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995842,0.044307,-0.079600],[-0.030525,0.985538,0.166685],[0.085834,-0.163562,0.982792]] 2025-10-29T01:11:56.100Z,1761700316.100 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773398 2025-10-29T01:11:56.156Z,1761700316.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:56.158Z,1761700316.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:56.165Z,1761700316.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 124.426048 m, bearing: 358.681729 deg, approach rate: -0.615187 m/s, LOS rate: 0.035639 deg/s, cmd heading: 358.329865 deg, new cmd heading: 358.363952 deg. 2025-10-29T01:11:56.166Z,1761700316.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.254631 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:56.349Z,1761700316.349 [DAT](INFO): DAT read: Rx Time:01:11:55.6532 2025-10-29T01:11:56.349Z,1761700316.349 [DAT](INFO): Rx dataTimestamp_ set to:1761700316.349058 2025-10-29T01:11:56.350Z,1761700316.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023798 2025-10-29T01:11:56.573Z,1761700316.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.47 m. 2025-10-29T01:11:56.576Z,1761700316.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.469620 m, nav range: 124.120781 m, bearing: 358.700497 deg, approach rate: -0.735759 m/s, LOS rate: 0.045347 deg/s, cmd heading: 358.363961 deg, new cmd heading: 358.401590 deg. 2025-10-29T01:11:56.577Z,1761700316.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255288 target range: 99.469620 and range: 100.00 m. 2025-10-29T01:11:56.601Z,1761700316.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274902 2025-10-29T01:11:56.858Z,1761700316.858 [DAT](INFO): DAT read: 01:11:55.6532 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.37,-2.177, 2.480,-2.029,-2.304, PHS= 0.229,-1.454, 0.231, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 2025-10-29T01:11:56.859Z,1761700316.859 [DAT](INFO): got valid direction response: 01:11:55.6532 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 400,-0.37,-2.177, 2.480,-2.029,-2.304, PHS= 0.229,-1.454, 0.231, RAW= 150.0, 11.8, CAL= 149.9, 13.0, ROT= 0.1, -13.0 2025-10-29T01:11:56.860Z,1761700316.860 [DAT](INFO): DAT read: Bearing 162.6, 2.8 (Local) 2025-10-29T01:11:56.861Z,1761700316.861 [DAT](INFO): Local bearing/azimuth received: Bearing 162.6, 2.8 (Local) 2025-10-29T01:11:56.863Z,1761700316.863 [DAT](INFO): DAT read: Range 11 to 50 : 97.5 m (Round-trip 130.0 ms) speed 0.4 m/s 2025-10-29T01:11:56.865Z,1761700316.865 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:11:56.866Z,1761700316.866 [DAT](INFO): direction in FSK: [0.974369,0.001701,0.224951] 2025-10-29T01:11:56.867Z,1761700316.867 [DAT](INFO): publishing direction and range info 2025-10-29T01:11:56.885Z,1761700316.885 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:11:56.885Z,1761700316.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:11:56.885Z,1761700316.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:11:56.945Z,1761700316.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995963,0.043185,-0.078692],[-0.029850,0.986114,0.163368],[0.084654,-0.160359,0.983422]] 2025-10-29T01:11:57.017Z,1761700317.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.500000 m, deltaT: 3.778470 s, deltaX: -2.500000 m, approachRate: -0.661643 m/s, rangeRepo size: 4 2025-10-29T01:11:57.019Z,1761700317.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.982750 m, bearing: 0.561747 deg, lat: 36.779277 deg, lon: -121.859456 deg, deltaT: 3.778470 s, deltaX: -2.486870 m, approachRate: -0.658168 m/s, posRepo size: 4 2025-10-29T01:11:57.019Z,1761700317.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:57.026Z,1761700317.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 93.518707 m, bearing: 0.149403 deg, approach rate: 0.000000 m/s, LOS rate: 0.045347 deg/s, cmd heading: 358.401582 deg, new cmd heading: 358.440647 deg. 2025-10-29T01:11:57.027Z,1761700317.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.255970 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:57.107Z,1761700317.107 [DAT](INFO): DAT read: user:694> 2025-10-29T01:11:57.111Z,1761700317.111 [DAT](INFO): DAT read: Tx time:01:11:56.8674 2025-10-29T01:11:57.112Z,1761700317.112 [DAT](INFO): Ping request sent. 2025-10-29T01:11:57.113Z,1761700317.113 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:11:57.114Z,1761700317.114 [DAT](INFO): publishing transmit ping time 2025-10-29T01:11:57.116Z,1761700317.116 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002749 2025-10-29T01:11:57.310Z,1761700317.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996042,0.042355,-0.078147],[-0.029393,0.986660,0.160120],[0.083887,-0.157189,0.983999]] 2025-10-29T01:11:57.347Z,1761700317.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:57.350Z,1761700317.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 93.290733 m, bearing: 0.170119 deg, approach rate: -0.664337 m/s, LOS rate: 0.060518 deg/s, cmd heading: 358.440651 deg, new cmd heading: 358.482185 deg. 2025-10-29T01:11:57.351Z,1761700317.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.256694 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:57.357Z,1761700317.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.244841 2025-10-29T01:11:57.609Z,1761700317.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.496689 2025-10-29T01:11:57.707Z,1761700317.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996103,0.042067,-0.077520],[-0.029362,0.986955,0.158297],[0.083168,-0.155404,0.984344]] 2025-10-29T01:11:57.725Z,1761700317.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:57.748Z,1761700317.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 93.047806 m, bearing: 0.192318 deg, approach rate: -0.641937 m/s, LOS rate: 0.058814 deg/s, cmd heading: 358.482178 deg, new cmd heading: 358.526692 deg. 2025-10-29T01:11:57.750Z,1761700317.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.257471 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:57.862Z,1761700317.862 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.749525 2025-10-29T01:11:58.118Z,1761700318.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.003297 2025-10-29T01:11:58.183Z,1761700318.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996191,0.041377,-0.076751],[-0.028950,0.987257,0.156475],[0.082247,-0.153657,0.984695]] 2025-10-29T01:11:58.217Z,1761700318.217 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:11:58.219Z,1761700318.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:58.222Z,1761700318.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 92.720222 m, bearing: 0.221133 deg, approach rate: -0.663637 m/s, LOS rate: 0.058581 deg/s, cmd heading: 358.526684 deg, new cmd heading: 358.584517 deg. 2025-10-29T01:11:58.223Z,1761700318.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.258481 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:58.366Z,1761700318.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253819 2025-10-29T01:11:58.516Z,1761700318.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996251,0.040913,-0.076227],[-0.028622,0.987363,0.155869],[0.081641,-0.153102,0.984832]] 2025-10-29T01:11:58.535Z,1761700318.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:58.543Z,1761700318.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 92.510178 m, bearing: 0.239677 deg, approach rate: -0.665215 m/s, LOS rate: 0.058860 deg/s, cmd heading: 358.584522 deg, new cmd heading: 358.621692 deg. 2025-10-29T01:11:58.544Z,1761700318.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259130 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:58.618Z,1761700318.618 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.505325 2025-10-29T01:11:58.869Z,1761700318.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756757 2025-10-29T01:11:58.919Z,1761700318.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996287,0.040388,-0.076029],[-0.028143,0.987397,0.155739],[0.081361,-0.153021,0.984868]] 2025-10-29T01:11:58.937Z,1761700318.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:58.940Z,1761700318.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 92.242531 m, bearing: 0.263347 deg, approach rate: -0.664446 m/s, LOS rate: 0.058933 deg/s, cmd heading: 358.621705 deg, new cmd heading: 358.669183 deg. 2025-10-29T01:11:58.941Z,1761700318.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.259958 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:59.123Z,1761700319.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010658 2025-10-29T01:11:59.328Z,1761700319.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996332,0.040627,-0.075308],[-0.028420,0.987252,0.156604],[0.080710,-0.153890,0.984786]] 2025-10-29T01:11:59.374Z,1761700319.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261903 2025-10-29T01:11:59.402Z,1761700319.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:59.409Z,1761700319.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 91.948570 m, bearing: 0.287820 deg, approach rate: -0.632904 m/s, LOS rate: 0.052859 deg/s, cmd heading: 358.669189 deg, new cmd heading: 358.718291 deg. 2025-10-29T01:11:59.410Z,1761700319.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.260815 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:59.625Z,1761700319.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513131 2025-10-29T01:11:59.733Z,1761700319.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996409,0.040825,-0.074177],[-0.028720,0.987103,0.157487],[0.079650,-0.154792,0.984731]] 2025-10-29T01:11:59.783Z,1761700319.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:11:59.786Z,1761700319.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 91.683830 m, bearing: 0.310038 deg, approach rate: -0.693819 m/s, LOS rate: 0.058396 deg/s, cmd heading: 358.718284 deg, new cmd heading: 358.762848 deg. 2025-10-29T01:11:59.787Z,1761700319.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.261593 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:11:59.878Z,1761700319.878 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764953 2025-10-29T01:12:00.133Z,1761700320.133 [DAT](INFO): DAT read: Rx Time:01:11:59.3983 2025-10-29T01:12:00.133Z,1761700320.133 [DAT](INFO): Rx dataTimestamp_ set to:1761700320.132986 2025-10-29T01:12:00.134Z,1761700320.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021592 2025-10-29T01:12:00.220Z,1761700320.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996439,0.041600,-0.073346],[-0.029512,0.986870,0.158796],[0.078989,-0.156066,0.984583]] 2025-10-29T01:12:00.262Z,1761700320.262 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:00.264Z,1761700320.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.98 m. 2025-10-29T01:12:00.278Z,1761700320.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.982750 m, nav range: 91.358772 m, bearing: 0.339691 deg, approach rate: -0.677038 m/s, LOS rate: 0.061982 deg/s, cmd heading: 358.762844 deg, new cmd heading: 358.822362 deg. 2025-10-29T01:12:00.279Z,1761700320.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.262631 target range: 96.982750 and range: 97.50 m. 2025-10-29T01:12:00.382Z,1761700320.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.269857 2025-10-29T01:12:00.617Z,1761700320.617 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996470,0.042006,-0.072681],[-0.029970,0.986759,0.159402],[0.078415,-0.156662,0.984535]] 2025-10-29T01:12:00.638Z,1761700320.638 [DAT](INFO): DAT read: 01:11:59.3983 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.41, 1.227,-0.428, 1.392, 1.129, PHS= 0.200,-1.512, 0.219, RAW= 150.5, 12.7, CAL= 150.5, 14.0, ROT= 359.5, -14.0 2025-10-29T01:12:00.639Z,1761700320.639 [DAT](INFO): got valid direction response: 01:11:59.3983 LVL= 32752, 32753, 32754, 32755, AGC= 74, IDX= 414,-0.41, 1.227,-0.428, 1.392, 1.129, PHS= 0.200,-1.512, 0.219, RAW= 150.5, 12.7, CAL= 150.5, 14.0, ROT= 359.5, -14.0 2025-10-29T01:12:00.641Z,1761700320.641 [DAT](INFO): DAT read: Bearing 164.1, 1.8 (Local) 2025-10-29T01:12:00.641Z,1761700320.641 [DAT](INFO): Local bearing/azimuth received: Bearing 164.1, 1.8 (Local) 2025-10-29T01:12:00.642Z,1761700320.642 [DAT](INFO): DAT read: Range 11 to 50 : 95.0 m (Round-trip 126.7 ms) speed 0.6 m/s 2025-10-29T01:12:00.643Z,1761700320.643 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:00.644Z,1761700320.644 [DAT](INFO): direction in FSK: [0.970259,-0.008467,0.241922] 2025-10-29T01:12:00.644Z,1761700320.644 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:00.647Z,1761700320.647 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:00.647Z,1761700320.647 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:00.652Z,1761700320.652 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:00.698Z,1761700320.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 95.000000 m, deltaT: 3.780068 s, deltaX: -2.500000 m, approachRate: -0.661364 m/s, rangeRepo size: 4 2025-10-29T01:12:00.705Z,1761700320.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 94.494514 m, bearing: 0.068179 deg, lat: 36.779273 deg, lon: -121.859456 deg, deltaT: 3.780068 s, deltaX: -2.488235 m, approachRate: -0.658252 m/s, posRepo size: 4 2025-10-29T01:12:00.706Z,1761700320.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:00.713Z,1761700320.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 90.679657 m, bearing: 0.364272 deg, approach rate: 0.000000 m/s, LOS rate: 0.061982 deg/s, cmd heading: 358.822349 deg, new cmd heading: 358.876168 deg. 2025-10-29T01:12:00.714Z,1761700320.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.263571 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:00.886Z,1761700320.886 [DAT](INFO): DAT read: user:695> 2025-10-29T01:12:00.887Z,1761700320.887 [DAT](INFO): DAT read: Tx time:01:12:00.6674 2025-10-29T01:12:00.888Z,1761700320.888 [DAT](INFO): Ping request sent. 2025-10-29T01:12:00.888Z,1761700320.888 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:00.888Z,1761700320.888 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:00.889Z,1761700320.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000764 2025-10-29T01:12:01.014Z,1761700321.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996512,0.042366,-0.071897],[-0.030408,0.986659,0.159937],[0.077714,-0.157193,0.984505]] 2025-10-29T01:12:01.038Z,1761700321.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:01.041Z,1761700321.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 90.417297 m, bearing: 0.388756 deg, approach rate: -0.771219 m/s, LOS rate: 0.072178 deg/s, cmd heading: 358.876171 deg, new cmd heading: 358.925279 deg. 2025-10-29T01:12:01.041Z,1761700321.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.264428 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:01.143Z,1761700321.143 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250891 2025-10-29T01:12:01.389Z,1761700321.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.500613 2025-10-29T01:12:01.463Z,1761700321.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:01.466Z,1761700321.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 90.128418 m, bearing: 0.414415 deg, approach rate: -0.680054 m/s, LOS rate: 0.060599 deg/s, cmd heading: 358.925266 deg, new cmd heading: 358.976750 deg. 2025-10-29T01:12:01.467Z,1761700321.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.265326 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:01.641Z,1761700321.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752567 2025-10-29T01:12:01.815Z,1761700321.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996630,0.042858,-0.069937],[-0.031098,0.986412,0.161318],[0.075900,-0.158600,0.984421]] 2025-10-29T01:12:01.833Z,1761700321.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:01.835Z,1761700321.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 89.876900 m, bearing: 0.436991 deg, approach rate: -0.679766 m/s, LOS rate: 0.061186 deg/s, cmd heading: 358.976738 deg, new cmd heading: 359.022017 deg. 2025-10-29T01:12:01.836Z,1761700321.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.266116 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:01.896Z,1761700321.896 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007682 2025-10-29T01:12:02.145Z,1761700322.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256659 2025-10-29T01:12:02.264Z,1761700322.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996697,0.042798,-0.069024],[-0.031230,0.986508,0.160709],[0.074971,-0.158023,0.984585]] 2025-10-29T01:12:02.319Z,1761700322.319 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:02.321Z,1761700322.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:02.324Z,1761700322.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 89.563309 m, bearing: 0.468383 deg, approach rate: -0.641973 m/s, LOS rate: 0.064489 deg/s, cmd heading: 359.022009 deg, new cmd heading: 359.085012 deg. 2025-10-29T01:12:02.325Z,1761700322.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.267216 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:02.400Z,1761700322.400 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510727 2025-10-29T01:12:02.649Z,1761700322.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.760564 2025-10-29T01:12:02.672Z,1761700322.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:02.675Z,1761700322.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 89.318642 m, bearing: 0.493031 deg, approach rate: -0.697645 m/s, LOS rate: 0.070474 deg/s, cmd heading: 359.085011 deg, new cmd heading: 359.134441 deg. 2025-10-29T01:12:02.676Z,1761700322.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268078 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:02.902Z,1761700322.902 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013227 2025-10-29T01:12:03.039Z,1761700323.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996827,0.041589,-0.067866],[-0.030372,0.986866,0.158659],[0.073573,-0.156094,0.984998]] 2025-10-29T01:12:03.057Z,1761700323.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:03.060Z,1761700323.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 89.062294 m, bearing: 0.518866 deg, approach rate: -0.665465 m/s, LOS rate: 0.067262 deg/s, cmd heading: 359.134434 deg, new cmd heading: 359.186254 deg. 2025-10-29T01:12:03.061Z,1761700323.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.268983 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:03.156Z,1761700323.156 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267054 2025-10-29T01:12:03.405Z,1761700323.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516621 2025-10-29T01:12:03.447Z,1761700323.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996909,0.040950,-0.067054],[-0.029960,0.987083,0.157385],[0.072633,-0.154889,0.985258]] 2025-10-29T01:12:03.517Z,1761700323.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:03.519Z,1761700323.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 88.757088 m, bearing: 0.551550 deg, approach rate: -0.664317 m/s, LOS rate: 0.071385 deg/s, cmd heading: 359.186261 deg, new cmd heading: 359.251854 deg. 2025-10-29T01:12:03.520Z,1761700323.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.270128 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:03.657Z,1761700323.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768677 2025-10-29T01:12:03.846Z,1761700323.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996994,0.039727,-0.066516],[-0.028968,0.987406,0.155533],[0.071857,-0.153138,0.985589]] 2025-10-29T01:12:03.896Z,1761700323.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:03.899Z,1761700323.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 88.519913 m, bearing: 0.576962 deg, approach rate: -0.631971 m/s, LOS rate: 0.067892 deg/s, cmd heading: 359.251858 deg, new cmd heading: 359.302817 deg. 2025-10-29T01:12:03.900Z,1761700323.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.271017 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:03.909Z,1761700323.909 [DAT](INFO): DAT read: Rx Time:01:12:03.1949 2025-10-29T01:12:03.910Z,1761700323.910 [DAT](INFO): Rx dataTimestamp_ set to:1761700323.909248 2025-10-29T01:12:03.910Z,1761700323.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021769 2025-10-29T01:12:04.161Z,1761700324.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272910 2025-10-29T01:12:04.276Z,1761700324.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997079,0.038303,-0.066072],[-0.027877,0.987977,0.152065],[0.071102,-0.149779,0.986160]] 2025-10-29T01:12:04.312Z,1761700324.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 94.49 m. 2025-10-29T01:12:04.314Z,1761700324.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 94.494514 m, nav range: 88.219849 m, bearing: 0.613182 deg, approach rate: -0.714910 m/s, LOS rate: 0.086590 deg/s, cmd heading: 359.302812 deg, new cmd heading: 359.375499 deg. 2025-10-29T01:12:04.315Z,1761700324.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.272286 target range: 94.494514 and range: 95.00 m. 2025-10-29T01:12:04.421Z,1761700324.421 [DAT](INFO): DAT read: 01:12:03.1949 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.05,-0.878,-2.538,-0.720,-1.024, PHS= 0.247,-1.470, 0.259, RAW= 150.4, 11.2, CAL= 150.2, 12.3, ROT= 359.8, -12.3 2025-10-29T01:12:04.423Z,1761700324.423 [DAT](INFO): got valid direction response: 01:12:03.1949 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 411,-0.05,-0.878,-2.538,-0.720,-1.024, PHS= 0.247,-1.470, 0.259, RAW= 150.4, 11.2, CAL= 150.2, 12.3, ROT= 359.8, -12.3 2025-10-29T01:12:04.424Z,1761700324.424 [DAT](INFO): DAT read: Bearing 162.6, 2.0 (Local) 2025-10-29T01:12:04.424Z,1761700324.424 [DAT](INFO): Local bearing/azimuth received: Bearing 162.6, 2.0 (Local) 2025-10-29T01:12:04.426Z,1761700324.426 [DAT](INFO): DAT read: Range 11 to 50 : 92.4 m (Round-trip 123.3 ms) speed 0.5 m/s 2025-10-29T01:12:04.427Z,1761700324.427 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:04.430Z,1761700324.430 [DAT](INFO): direction in FSK: [0.977040,-0.003411,0.213030] 2025-10-29T01:12:04.430Z,1761700324.430 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:04.435Z,1761700324.435 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:04.435Z,1761700324.435 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:04.435Z,1761700324.435 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:04.665Z,1761700324.665 [DAT](INFO): DAT read: user:696> 2025-10-29T01:12:04.666Z,1761700324.666 [DAT](INFO): DAT read: Tx time:01:12:04.4174 2025-10-29T01:12:04.666Z,1761700324.666 [DAT](INFO): Ping request sent. 2025-10-29T01:12:04.666Z,1761700324.666 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:04.666Z,1761700324.666 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:04.667Z,1761700324.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000740 2025-10-29T01:12:04.676Z,1761700324.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997143,0.037134,-0.065782],[-0.026921,0.988342,0.149850],[0.070579,-0.147651,0.986518]] 2025-10-29T01:12:04.704Z,1761700324.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.400002 m, deltaT: 3.780370 s, deltaX: -2.599998 m, approachRate: -0.687763 m/s, rangeRepo size: 4 2025-10-29T01:12:04.747Z,1761700324.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.906929 m, bearing: 0.134226 deg, lat: 36.779273 deg, lon: -121.859456 deg, deltaT: 3.780370 s, deltaX: -2.587585 m, approachRate: -0.684479 m/s, posRepo size: 4 2025-10-29T01:12:04.748Z,1761700324.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:04.752Z,1761700324.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 87.957626 m, bearing: 0.644888 deg, approach rate: 0.000000 m/s, LOS rate: 0.086590 deg/s, cmd heading: 359.375512 deg, new cmd heading: 359.442651 deg. 2025-10-29T01:12:04.753Z,1761700324.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.273458 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:04.917Z,1761700324.917 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251041 2025-10-29T01:12:05.076Z,1761700325.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997223,0.035707,-0.065351],[-0.025783,0.988823,0.146849],[0.069864,-0.144756,0.986998]] 2025-10-29T01:12:05.155Z,1761700325.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:05.157Z,1761700325.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:05.160Z,1761700325.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 87.649132 m, bearing: 0.682221 deg, approach rate: -0.673906 m/s, LOS rate: 0.081842 deg/s, cmd heading: 359.442639 deg, new cmd heading: 359.517569 deg. 2025-10-29T01:12:05.161Z,1761700325.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.274765 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:05.169Z,1761700325.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502840 2025-10-29T01:12:05.421Z,1761700325.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754762 2025-10-29T01:12:05.544Z,1761700325.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:05.547Z,1761700325.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 87.384895 m, bearing: 0.713413 deg, approach rate: -0.682797 m/s, LOS rate: 0.080844 deg/s, cmd heading: 359.517580 deg, new cmd heading: 359.580152 deg. 2025-10-29T01:12:05.548Z,1761700325.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.275857 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:05.673Z,1761700325.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006820 2025-10-29T01:12:05.925Z,1761700325.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259175 2025-10-29T01:12:05.967Z,1761700325.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:05.969Z,1761700325.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 87.116142 m, bearing: 0.745335 deg, approach rate: -0.635914 m/s, LOS rate: 0.075765 deg/s, cmd heading: 359.580145 deg, new cmd heading: 359.644185 deg. 2025-10-29T01:12:05.970Z,1761700325.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.276975 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:06.179Z,1761700326.179 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512352 2025-10-29T01:12:06.319Z,1761700326.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997401,0.033038,-0.064026],[-0.023565,0.989380,0.143432],[0.068085,-0.141550,0.987587]] 2025-10-29T01:12:06.387Z,1761700326.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:06.394Z,1761700326.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 86.838264 m, bearing: 0.777575 deg, approach rate: -0.660970 m/s, LOS rate: 0.076933 deg/s, cmd heading: 359.644184 deg, new cmd heading: 359.708871 deg. 2025-10-29T01:12:06.395Z,1761700326.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.278104 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:06.429Z,1761700326.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763003 2025-10-29T01:12:06.681Z,1761700326.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014932 2025-10-29T01:12:06.709Z,1761700326.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997476,0.032168,-0.063296],[-0.022843,0.989475,0.142892],[0.067226,-0.141086,0.987712]] 2025-10-29T01:12:06.747Z,1761700326.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:06.756Z,1761700326.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 86.591927 m, bearing: 0.806211 deg, approach rate: -0.683585 m/s, LOS rate: 0.079692 deg/s, cmd heading: 359.708880 deg, new cmd heading: 359.766316 deg. 2025-10-29T01:12:06.761Z,1761700326.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.279107 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:06.933Z,1761700326.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266991 2025-10-29T01:12:07.111Z,1761700327.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997548,0.030959,-0.062771],[-0.021815,0.989706,0.141442],[0.066504,-0.139726,0.987954]] 2025-10-29T01:12:07.129Z,1761700327.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:07.132Z,1761700327.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 86.323402 m, bearing: 0.837438 deg, approach rate: -0.703505 m/s, LOS rate: 0.082065 deg/s, cmd heading: 359.766308 deg, new cmd heading: 359.828956 deg. 2025-10-29T01:12:07.133Z,1761700327.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.280200 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:07.185Z,1761700327.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518951 2025-10-29T01:12:07.437Z,1761700327.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770807 2025-10-29T01:12:07.515Z,1761700327.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997618,0.029718,-0.062255],[-0.020713,0.989851,0.140592],[0.065801,-0.138967,0.988108]] 2025-10-29T01:12:07.564Z,1761700327.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:07.566Z,1761700327.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:07.589Z,1761700327.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 86.031105 m, bearing: 0.869279 deg, approach rate: -0.668548 m/s, LOS rate: 0.073075 deg/s, cmd heading: 359.828955 deg, new cmd heading: 359.892853 deg. 2025-10-29T01:12:07.590Z,1761700327.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.281315 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:07.689Z,1761700327.689 [DAT](INFO): DAT read: Rx Time:01:12:06.9414 2025-10-29T01:12:07.689Z,1761700327.689 [DAT](INFO): Rx dataTimestamp_ set to:1761700327.689157 2025-10-29T01:12:07.690Z,1761700327.690 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024252 2025-10-29T01:12:07.918Z,1761700327.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997693,0.028300,-0.061711],[-0.019431,0.989982,0.139847],[0.065051,-0.138325,0.988248]] 2025-10-29T01:12:07.941Z,1761700327.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274758 2025-10-29T01:12:07.953Z,1761700327.953 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.91 m. 2025-10-29T01:12:07.956Z,1761700327.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.906929 m, nav range: 85.783302 m, bearing: 0.896231 deg, approach rate: -0.640738 m/s, LOS rate: 0.069889 deg/s, cmd heading: 359.892858 deg, new cmd heading: 359.946916 deg. 2025-10-29T01:12:07.961Z,1761700327.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 6.282259 target range: 91.906929 and range: 92.40 m. 2025-10-29T01:12:08.202Z,1761700328.202 [DAT](INFO): DAT read: 01:12:06.9414 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.46, 2.545, 0.844, 2.735, 2.409, PHS= 0.239,-1.520, 0.283, RAW= 151.2, 11.2, CAL= 151.1, 12.3, ROT= 358.9, -12.3 2025-10-29T01:12:08.203Z,1761700328.203 [DAT](INFO): got valid direction response: 01:12:06.9414 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 408,-0.46, 2.545, 0.844, 2.735, 2.409, PHS= 0.239,-1.520, 0.283, RAW= 151.2, 11.2, CAL= 151.1, 12.3, ROT= 358.9, -12.3 2025-10-29T01:12:08.204Z,1761700328.204 [DAT](INFO): DAT read: Bearing 163.3, 0.9 (Local) 2025-10-29T01:12:08.205Z,1761700328.205 [DAT](INFO): Local bearing/azimuth received: Bearing 163.3, 0.9 (Local) 2025-10-29T01:12:08.206Z,1761700328.206 [DAT](INFO): DAT read: Range 11 to 50 : 89.8 m (Round-trip 119.8 ms) speed 0.5 m/s 2025-10-29T01:12:08.207Z,1761700328.207 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:08.208Z,1761700328.208 [DAT](INFO): direction in FSK: [0.976866,-0.018757,0.213030] 2025-10-29T01:12:08.208Z,1761700328.208 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:08.211Z,1761700328.211 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:08.211Z,1761700328.211 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:08.212Z,1761700328.212 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:08.362Z,1761700328.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997755,0.027285,-0.061154],[-0.018537,0.990077,0.139301],[0.064348,-0.137855,0.988360]] 2025-10-29T01:12:08.445Z,1761700328.445 [DAT](INFO): DAT read: user:697> 2025-10-29T01:12:08.446Z,1761700328.446 [DAT](INFO): DAT read: Tx time:01:12:08.2174 2025-10-29T01:12:08.446Z,1761700328.446 [DAT](INFO): Ping request sent. 2025-10-29T01:12:08.446Z,1761700328.446 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:08.446Z,1761700328.446 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:08.447Z,1761700328.447 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000765 2025-10-29T01:12:08.455Z,1761700328.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.800003 m, deltaT: 3.780101 s, deltaX: -2.599998 m, approachRate: -0.687812 m/s, rangeRepo size: 4 2025-10-29T01:12:08.497Z,1761700328.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 89.320473 m, bearing: 359.582518 deg, lat: 36.779276 deg, lon: -121.859461 deg, deltaT: 3.780101 s, deltaX: -2.586456 m, approachRate: -0.684229 m/s, posRepo size: 4 2025-10-29T01:12:08.504Z,1761700328.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:08.506Z,1761700328.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 85.728653 m, bearing: 0.614158 deg, approach rate: 0.000000 m/s, LOS rate: 0.069889 deg/s, cmd heading: 359.946926 deg, new cmd heading: 0.017051 deg. 2025-10-29T01:12:08.507Z,1761700328.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.000298 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:08.697Z,1761700328.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250864 2025-10-29T01:12:08.834Z,1761700328.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997876,0.025695,-0.059853],[-0.017183,0.990198,0.138611],[0.062828,-0.137288,0.988537]] 2025-10-29T01:12:08.861Z,1761700328.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:08.865Z,1761700328.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 85.440720 m, bearing: 0.642858 deg, approach rate: -0.711057 m/s, LOS rate: 0.071116 deg/s, cmd heading: 0.017051 deg, new cmd heading: 0.074645 deg. 2025-10-29T01:12:08.867Z,1761700328.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.001303 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:08.950Z,1761700328.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503279 2025-10-29T01:12:09.201Z,1761700329.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754752 2025-10-29T01:12:09.231Z,1761700329.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997925,0.024939,-0.059356],[-0.016501,0.990208,0.138618],[0.062232,-0.137351,0.988566]] 2025-10-29T01:12:09.329Z,1761700329.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:09.332Z,1761700329.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 85.150558 m, bearing: 0.671841 deg, approach rate: -0.618077 m/s, LOS rate: 0.061947 deg/s, cmd heading: 0.074645 deg, new cmd heading: 0.132808 deg. 2025-10-29T01:12:09.337Z,1761700329.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.002318 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:09.453Z,1761700329.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006833 2025-10-29T01:12:09.678Z,1761700329.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997956,0.025076,-0.058772],[-0.016694,0.990151,0.139002],[0.061679,-0.137737,0.988547]] 2025-10-29T01:12:09.705Z,1761700329.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258817 2025-10-29T01:12:09.715Z,1761700329.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:09.747Z,1761700329.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:09.756Z,1761700329.756 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 84.862923 m, bearing: 0.700738 deg, approach rate: -0.687719 m/s, LOS rate: 0.069325 deg/s, cmd heading: 0.132808 deg, new cmd heading: 0.190798 deg. 2025-10-29T01:12:09.761Z,1761700329.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.003330 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:09.957Z,1761700329.957 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510670 2025-10-29T01:12:10.094Z,1761700330.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997986,0.024606,-0.058474],[-0.016253,0.990123,0.139258],[0.061323,-0.138027,0.988528]] 2025-10-29T01:12:10.113Z,1761700330.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:10.115Z,1761700330.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 84.602470 m, bearing: 0.726993 deg, approach rate: -0.713183 m/s, LOS rate: 0.072113 deg/s, cmd heading: 0.190798 deg, new cmd heading: 0.243469 deg. 2025-10-29T01:12:10.116Z,1761700330.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.004249 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:10.209Z,1761700330.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763079 2025-10-29T01:12:10.461Z,1761700330.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014712 2025-10-29T01:12:10.495Z,1761700330.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998013,0.024918,-0.057866],[-0.016540,0.989872,0.140996],[0.060794,-0.139759,0.988318]] 2025-10-29T01:12:10.542Z,1761700330.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:10.545Z,1761700330.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 84.320366 m, bearing: 0.752536 deg, approach rate: -0.656452 m/s, LOS rate: 0.059637 deg/s, cmd heading: 0.243469 deg, new cmd heading: 0.294726 deg. 2025-10-29T01:12:10.546Z,1761700330.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005144 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:10.713Z,1761700330.713 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266860 2025-10-29T01:12:10.899Z,1761700330.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998027,0.025177,-0.057518],[-0.016784,0.989725,0.141997],[0.060502,-0.140751,0.988195]] 2025-10-29T01:12:10.928Z,1761700330.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:10.931Z,1761700330.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 84.065918 m, bearing: 0.775758 deg, approach rate: -0.659115 m/s, LOS rate: 0.060336 deg/s, cmd heading: 0.294726 deg, new cmd heading: 0.341311 deg. 2025-10-29T01:12:10.932Z,1761700330.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.005957 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:10.966Z,1761700330.966 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519039 2025-10-29T01:12:11.217Z,1761700331.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770710 2025-10-29T01:12:11.346Z,1761700331.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998069,0.024695,-0.056991],[-0.016347,0.989653,0.142550],[0.059922,-0.141343,0.988146]] 2025-10-29T01:12:11.401Z,1761700331.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:11.403Z,1761700331.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 83.754730 m, bearing: 0.804780 deg, approach rate: -0.659048 m/s, LOS rate: 0.061694 deg/s, cmd heading: 0.341311 deg, new cmd heading: 0.399571 deg. 2025-10-29T01:12:11.404Z,1761700331.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.006974 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:11.469Z,1761700331.469 [DAT](INFO): DAT read: Rx Time:01:12:10.7379 2025-10-29T01:12:11.469Z,1761700331.469 [DAT](INFO): Rx dataTimestamp_ set to:1761700331.469186 2025-10-29T01:12:11.470Z,1761700331.470 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023854 2025-10-29T01:12:11.705Z,1761700331.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998097,0.024477,-0.056596],[-0.016142,0.989549,0.143288],[0.059512,-0.142102,0.988061]] 2025-10-29T01:12:11.721Z,1761700331.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275031 2025-10-29T01:12:11.723Z,1761700331.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:11.725Z,1761700331.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 89.32 m. 2025-10-29T01:12:11.727Z,1761700331.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 89.320473 m, nav range: 83.542397 m, bearing: 0.824672 deg, approach rate: -0.654761 m/s, LOS rate: 0.061495 deg/s, cmd heading: 0.399571 deg, new cmd heading: 0.439456 deg. 2025-10-29T01:12:11.729Z,1761700331.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.007670 target range: 89.320473 and range: 89.80 m. 2025-10-29T01:12:11.981Z,1761700331.981 [DAT](INFO): DAT read: 01:12:10.7378 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404, 0.10,-0.769,-2.417,-0.597,-0.904, PHS= 0.237,-1.468, 0.262, RAW= 150.7, 11.3, CAL= 150.6, 12.4, ROT= 359.4, -12.4 2025-10-29T01:12:11.982Z,1761700331.982 [DAT](INFO): got valid direction response: 01:12:10.7378 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 404, 0.10,-0.769,-2.417,-0.597,-0.904, PHS= 0.237,-1.468, 0.262, RAW= 150.7, 11.3, CAL= 150.6, 12.4, ROT= 359.4, -12.4 2025-10-29T01:12:11.983Z,1761700331.983 [DAT](INFO): DAT read: Bearing 164.5, 1.1 (Local) 2025-10-29T01:12:11.984Z,1761700331.984 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, 1.1 (Local) 2025-10-29T01:12:11.986Z,1761700331.986 [DAT](INFO): DAT read: Range 11 to 50 : 87.3 m (Round-trip 116.4 ms) speed 0.7 m/s 2025-10-29T01:12:11.986Z,1761700331.986 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:11.987Z,1761700331.987 [DAT](INFO): direction in FSK: [0.976619,-0.010228,0.214735] 2025-10-29T01:12:11.988Z,1761700331.988 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:11.991Z,1761700331.991 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:11.991Z,1761700331.991 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:11.991Z,1761700331.991 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:12.115Z,1761700332.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998100,0.024392,-0.056588],[-0.015908,0.989186,0.145800],[0.059532,-0.144622,0.987694]] 2025-10-29T01:12:12.146Z,1761700332.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 87.300003 m, deltaT: 3.779718 s, deltaX: -2.500000 m, approachRate: -0.661425 m/s, rangeRepo size: 4 2025-10-29T01:12:12.148Z,1761700332.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.832687 m, bearing: 0.336704 deg, lat: 36.779276 deg, lon: -121.859465 deg, deltaT: 3.779718 s, deltaX: -2.487785 m, approachRate: -0.658193 m/s, posRepo size: 4 2025-10-29T01:12:12.148Z,1761700332.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:12.151Z,1761700332.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 83.262337 m, bearing: 0.634946 deg, approach rate: 0.000000 m/s, LOS rate: 0.061495 deg/s, cmd heading: 0.439456 deg, new cmd heading: 0.491118 deg. 2025-10-29T01:12:12.152Z,1761700332.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.008572 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:12.226Z,1761700332.226 [DAT](INFO): DAT read: user:698> 2025-10-29T01:12:12.227Z,1761700332.227 [DAT](INFO): DAT read: Tx time:01:12:11.9673 2025-10-29T01:12:12.227Z,1761700332.227 [DAT](INFO): Ping request sent. 2025-10-29T01:12:12.227Z,1761700332.227 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:12.228Z,1761700332.228 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:12.229Z,1761700332.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001392 2025-10-29T01:12:12.477Z,1761700332.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249558 2025-10-29T01:12:12.511Z,1761700332.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998123,0.024728,-0.056033],[-0.016270,0.989054,0.146653],[0.059046,-0.145466,0.987600]] 2025-10-29T01:12:12.567Z,1761700332.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:12.574Z,1761700332.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 82.985527 m, bearing: 0.663754 deg, approach rate: -0.655095 m/s, LOS rate: 0.068406 deg/s, cmd heading: 0.491118 deg, new cmd heading: 0.548928 deg. 2025-10-29T01:12:12.575Z,1761700332.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.009581 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:12.729Z,1761700332.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501473 2025-10-29T01:12:12.912Z,1761700332.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998127,0.024211,-0.056173],[-0.015709,0.988992,0.147132],[0.059117,-0.145974,0.987521]] 2025-10-29T01:12:12.938Z,1761700332.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:12.941Z,1761700332.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 82.719910 m, bearing: 0.691472 deg, approach rate: -0.717792 m/s, LOS rate: 0.075143 deg/s, cmd heading: 0.548928 deg, new cmd heading: 0.604541 deg. 2025-10-29T01:12:12.942Z,1761700332.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.010551 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:12.981Z,1761700332.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754021 2025-10-29T01:12:13.233Z,1761700333.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005558 2025-10-29T01:12:13.329Z,1761700333.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998146,0.023881,-0.055981],[-0.015346,0.988838,0.148200],[0.058895,-0.147066,0.987372]] 2025-10-29T01:12:13.402Z,1761700333.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:13.409Z,1761700333.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 82.408463 m, bearing: 0.724110 deg, approach rate: -0.669835 m/s, LOS rate: 0.070460 deg/s, cmd heading: 0.604541 deg, new cmd heading: 0.670063 deg. 2025-10-29T01:12:13.410Z,1761700333.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.011695 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:13.486Z,1761700333.486 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258194 2025-10-29T01:12:13.727Z,1761700333.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998153,0.023914,-0.055853],[-0.015343,0.988700,0.149123],[0.058788,-0.147991,0.987240]] 2025-10-29T01:12:13.737Z,1761700333.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509734 2025-10-29T01:12:13.804Z,1761700333.804 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:13.806Z,1761700333.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:13.813Z,1761700333.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 82.151367 m, bearing: 0.750109 deg, approach rate: -0.637015 m/s, LOS rate: 0.064622 deg/s, cmd heading: 0.670063 deg, new cmd heading: 0.722225 deg. 2025-10-29T01:12:13.814Z,1761700333.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.012605 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:13.989Z,1761700333.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761617 2025-10-29T01:12:14.144Z,1761700334.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998153,0.023376,-0.056078],[-0.014777,0.988708,0.149126],[0.058931,-0.148022,0.987227]] 2025-10-29T01:12:14.173Z,1761700334.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:14.175Z,1761700334.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 81.878265 m, bearing: 0.777798 deg, approach rate: -0.744875 m/s, LOS rate: 0.075772 deg/s, cmd heading: 0.722225 deg, new cmd heading: 0.777788 deg. 2025-10-29T01:12:14.176Z,1761700334.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.013575 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:14.243Z,1761700334.243 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015604 2025-10-29T01:12:14.497Z,1761700334.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269545 2025-10-29T01:12:14.551Z,1761700334.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998172,0.021695,-0.056402],[-0.013273,0.989252,0.145617],[0.058955,-0.144602,0.987732]] 2025-10-29T01:12:14.607Z,1761700334.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:14.618Z,1761700334.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 81.596771 m, bearing: 0.803812 deg, approach rate: -0.648355 m/s, LOS rate: 0.060124 deg/s, cmd heading: 0.777788 deg, new cmd heading: 0.829995 deg. 2025-10-29T01:12:14.619Z,1761700334.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.014486 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:14.750Z,1761700334.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522207 2025-10-29T01:12:14.951Z,1761700334.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998193,0.019765,-0.056739],[-0.011434,0.989575,0.143563],[0.058985,-0.142655,0.988013]] 2025-10-29T01:12:14.981Z,1761700334.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:14.983Z,1761700334.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 81.328979 m, bearing: 0.828392 deg, approach rate: -0.716172 m/s, LOS rate: 0.065951 deg/s, cmd heading: 0.829995 deg, new cmd heading: 0.879316 deg. 2025-10-29T01:12:14.984Z,1761700334.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.015347 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:15.003Z,1761700335.003 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775609 2025-10-29T01:12:15.253Z,1761700335.253 [DAT](INFO): DAT read: Rx Time:01:12:14.4844 2025-10-29T01:12:15.254Z,1761700335.254 [DAT](INFO): Rx dataTimestamp_ set to:1761700335.253597 2025-10-29T01:12:15.254Z,1761700335.254 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027080 2025-10-29T01:12:15.392Z,1761700335.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998211,0.018081,-0.056997],[-0.009761,0.989674,0.143000],[0.058994,-0.142188,0.988080]] 2025-10-29T01:12:15.425Z,1761700335.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.83 m. 2025-10-29T01:12:15.428Z,1761700335.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.832687 m, nav range: 81.026779 m, bearing: 0.855968 deg, approach rate: -0.680023 m/s, LOS rate: 0.062283 deg/s, cmd heading: 0.879316 deg, new cmd heading: 0.934673 deg. 2025-10-29T01:12:15.449Z,1761700335.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.016313 target range: 86.832687 and range: 87.30 m. 2025-10-29T01:12:15.505Z,1761700335.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277722 2025-10-29T01:12:15.766Z,1761700335.766 [DAT](INFO): DAT read: 01:12:14.4844 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 402,-0.36, 0.776,-0.929, 0.956, 0.645, PHS= 0.233,-1.529, 0.267, RAW= 151.0, 11.6, CAL= 150.8, 12.7, ROT= 359.2, -12.7 2025-10-29T01:12:15.767Z,1761700335.767 [DAT](INFO): got valid direction response: 01:12:14.4844 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 402,-0.36, 0.776,-0.929, 0.956, 0.645, PHS= 0.233,-1.529, 0.267, RAW= 151.0, 11.6, CAL= 150.8, 12.7, ROT= 359.2, -12.7 2025-10-29T01:12:15.769Z,1761700335.769 [DAT](INFO): DAT read: Bearing 166.0, 0.5 (Local) 2025-10-29T01:12:15.769Z,1761700335.769 [DAT](INFO): Local bearing/azimuth received: Bearing 166.0, 0.5 (Local) 2025-10-29T01:12:15.771Z,1761700335.771 [DAT](INFO): DAT read: Range 11 to 50 : 84.6 m (Round-trip 112.9 ms) speed 0.6 m/s 2025-10-29T01:12:15.792Z,1761700335.792 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:15.793Z,1761700335.793 [DAT](INFO): direction in FSK: [0.975439,-0.013621,0.219846] 2025-10-29T01:12:15.793Z,1761700335.793 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:15.809Z,1761700335.809 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:15.809Z,1761700335.809 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:15.809Z,1761700335.809 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:15.849Z,1761700335.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998247,0.015795,-0.057031],[-0.007503,0.989727,0.142771],[0.058701,-0.142093,0.988111]] 2025-10-29T01:12:15.969Z,1761700335.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.599998 m, deltaT: 3.784932 s, deltaX: -2.700005 m, approachRate: -0.713356 m/s, rangeRepo size: 4 2025-10-29T01:12:15.971Z,1761700335.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 84.146103 m, bearing: 0.631265 deg, lat: 36.779277 deg, lon: -121.859469 deg, deltaT: 3.784932 s, deltaX: -2.686584 m, approachRate: -0.709810 m/s, posRepo size: 4 2025-10-29T01:12:15.972Z,1761700335.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:15.978Z,1761700335.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 80.793594 m, bearing: 0.631836 deg, approach rate: 0.000000 m/s, LOS rate: 0.062283 deg/s, cmd heading: 0.934673 deg, new cmd heading: 1.001800 deg. 2025-10-29T01:12:15.979Z,1761700335.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.017485 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:16.009Z,1761700336.009 [DAT](INFO): DAT read: user:699> 2025-10-29T01:12:16.010Z,1761700336.010 [DAT](INFO): DAT read: Tx time:01:12:15.8173 2025-10-29T01:12:16.010Z,1761700336.010 [DAT](INFO): Ping request sent. 2025-10-29T01:12:16.010Z,1761700336.010 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:16.010Z,1761700336.010 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:16.011Z,1761700336.011 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-10-29T01:12:16.261Z,1761700336.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250813 2025-10-29T01:12:16.353Z,1761700336.353 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998254,0.013215,-0.057571],[-0.005056,0.990191,0.139627],[0.058851,-0.139092,0.988529]] 2025-10-29T01:12:16.444Z,1761700336.444 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:16.446Z,1761700336.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:16.453Z,1761700336.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 80.478340 m, bearing: 0.661957 deg, approach rate: -0.654025 m/s, LOS rate: 0.062734 deg/s, cmd heading: 1.001800 deg, new cmd heading: 1.062278 deg. 2025-10-29T01:12:16.454Z,1761700336.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.018540 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:16.513Z,1761700336.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502572 2025-10-29T01:12:16.766Z,1761700336.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755389 2025-10-29T01:12:16.792Z,1761700336.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998285,0.010185,-0.057648],[-0.002340,0.990906,0.134538],[0.058494,-0.134172,0.989230]] 2025-10-29T01:12:16.866Z,1761700336.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:16.868Z,1761700336.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 80.179405 m, bearing: 0.689375 deg, approach rate: -0.712342 m/s, LOS rate: 0.065579 deg/s, cmd heading: 1.062278 deg, new cmd heading: 1.117318 deg. 2025-10-29T01:12:16.869Z,1761700336.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.019501 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:17.017Z,1761700337.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006556 2025-10-29T01:12:17.198Z,1761700337.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998284,0.007401,-0.058095],[0.000298,0.991327,0.131416],[0.058564,-0.131207,0.989624]] 2025-10-29T01:12:17.222Z,1761700337.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:17.224Z,1761700337.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 79.947205 m, bearing: 0.710394 deg, approach rate: -0.652650 m/s, LOS rate: 0.059251 deg/s, cmd heading: 1.117318 deg, new cmd heading: 1.159479 deg. 2025-10-29T01:12:17.225Z,1761700337.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.020237 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:17.270Z,1761700337.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259470 2025-10-29T01:12:17.521Z,1761700337.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510551 2025-10-29T01:12:17.599Z,1761700337.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998281,0.005137,-0.058377],[0.002504,0.991502,0.130064],[0.058549,-0.129987,0.989785]] 2025-10-29T01:12:17.679Z,1761700337.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:17.681Z,1761700337.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 79.645912 m, bearing: 0.739039 deg, approach rate: -0.687402 m/s, LOS rate: 0.065600 deg/s, cmd heading: 1.159479 deg, new cmd heading: 1.216985 deg. 2025-10-29T01:12:17.682Z,1761700337.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.021240 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:17.774Z,1761700337.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763821 2025-10-29T01:12:18.003Z,1761700338.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998302,0.003002,-0.058181],[0.004555,0.991592,0.129321],[0.058080,-0.129366,0.989895]] 2025-10-29T01:12:18.025Z,1761700338.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014654 2025-10-29T01:12:18.042Z,1761700338.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:18.052Z,1761700338.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 79.401024 m, bearing: 0.762116 deg, approach rate: -0.641379 m/s, LOS rate: 0.060628 deg/s, cmd heading: 1.216985 deg, new cmd heading: 1.263282 deg. 2025-10-29T01:12:18.053Z,1761700338.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.022048 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:18.278Z,1761700338.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267256 2025-10-29T01:12:18.432Z,1761700338.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998325,0.001400,-0.057843],[0.006163,0.991448,0.130355],[0.057531,-0.130493,0.989779]] 2025-10-29T01:12:18.516Z,1761700338.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:18.518Z,1761700338.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:18.525Z,1761700338.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 79.069389 m, bearing: 0.793192 deg, approach rate: -0.696334 m/s, LOS rate: 0.065524 deg/s, cmd heading: 1.263282 deg, new cmd heading: 1.325694 deg. 2025-10-29T01:12:18.526Z,1761700338.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.023138 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:18.529Z,1761700338.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518745 2025-10-29T01:12:18.782Z,1761700338.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771315 2025-10-29T01:12:18.839Z,1761700338.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998327,0.000748,-0.057811],[0.006844,0.991356,0.131019],[0.057409,-0.131195,0.989693]] 2025-10-29T01:12:18.911Z,1761700338.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:18.918Z,1761700338.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 78.803635 m, bearing: 0.818745 deg, approach rate: -0.676314 m/s, LOS rate: 0.065249 deg/s, cmd heading: 1.325694 deg, new cmd heading: 1.376973 deg. 2025-10-29T01:12:18.919Z,1761700338.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024033 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:19.033Z,1761700339.033 [DAT](INFO): DAT read: Rx Time:01:12:18.3310 2025-10-29T01:12:19.033Z,1761700339.033 [DAT](INFO): Rx dataTimestamp_ set to:1761700339.033175 2025-10-29T01:12:19.034Z,1761700339.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023717 2025-10-29T01:12:19.236Z,1761700339.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998324,0.000370,-0.057865],[0.007382,0.990994,0.133705],[0.057393,-0.133908,0.989330]] 2025-10-29T01:12:19.254Z,1761700339.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 84.15 m. 2025-10-29T01:12:19.256Z,1761700339.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 84.146103 m, nav range: 78.561211 m, bearing: 0.842092 deg, approach rate: -0.707163 m/s, LOS rate: 0.068316 deg/s, cmd heading: 1.376973 deg, new cmd heading: 1.423812 deg. 2025-10-29T01:12:19.257Z,1761700339.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.024850 target range: 84.146103 and range: 84.60 m. 2025-10-29T01:12:19.285Z,1761700339.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274962 2025-10-29T01:12:19.542Z,1761700339.542 [DAT](INFO): DAT read: 01:12:18.3310 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 414,-0.11,-1.381,-3.032,-1.157,-1.494, PHS= 0.216,-1.492, 0.294, RAW= 152.2, 11.2, CAL= 152.1, 12.4, ROT= 357.9, -12.4 2025-10-29T01:12:19.543Z,1761700339.543 [DAT](INFO): got valid direction response: 01:12:18.3310 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 414,-0.11,-1.381,-3.032,-1.157,-1.494, PHS= 0.216,-1.492, 0.294, RAW= 152.2, 11.2, CAL= 152.1, 12.4, ROT= 357.9, -12.4 2025-10-29T01:12:19.544Z,1761700339.544 [DAT](INFO): DAT read: Bearing 167.0, -0.5 (Local) 2025-10-29T01:12:19.545Z,1761700339.545 [DAT](INFO): Local bearing/azimuth received: Bearing 167.0, -0.5 (Local) 2025-10-29T01:12:19.546Z,1761700339.546 [DAT](INFO): DAT read: Range 11 to 50 : 82.1 m (Round-trip 109.5 ms) speed 0.7 m/s 2025-10-29T01:12:19.547Z,1761700339.547 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:19.548Z,1761700339.548 [DAT](INFO): direction in FSK: [0.976016,-0.035789,0.214735] 2025-10-29T01:12:19.548Z,1761700339.548 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:19.551Z,1761700339.551 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:19.551Z,1761700339.551 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:19.552Z,1761700339.552 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:19.648Z,1761700339.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998323,0.000300,-0.057883],[0.007635,0.990568,0.136807],[0.057378,-0.137019,0.988905]] 2025-10-29T01:12:19.735Z,1761700339.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 82.099998 m, deltaT: 3.778764 s, deltaX: -2.500000 m, approachRate: -0.661592 m/s, rangeRepo size: 4 2025-10-29T01:12:19.742Z,1761700339.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.660255 m, bearing: 0.082055 deg, lat: 36.779277 deg, lon: -121.859470 deg, deltaT: 3.778764 s, deltaX: -2.485847 m, approachRate: -0.657847 m/s, posRepo size: 4 2025-10-29T01:12:19.743Z,1761700339.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:19.751Z,1761700339.751 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 78.312393 m, bearing: 0.825886 deg, approach rate: 0.000000 m/s, LOS rate: 0.068316 deg/s, cmd heading: 1.423812 deg, new cmd heading: 1.489476 deg. 2025-10-29T01:12:19.757Z,1761700339.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.025996 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:19.789Z,1761700339.789 [DAT](INFO): DAT read: user:700> 2025-10-29T01:12:19.790Z,1761700339.790 [DAT](INFO): DAT read: Tx time:01:12:19.5673 2025-10-29T01:12:19.790Z,1761700339.790 [DAT](INFO): Ping request sent. 2025-10-29T01:12:19.790Z,1761700339.790 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:19.790Z,1761700339.790 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:19.791Z,1761700339.791 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T01:12:20.041Z,1761700340.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250708 2025-10-29T01:12:20.086Z,1761700340.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:20.089Z,1761700340.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 78.059700 m, bearing: 0.852733 deg, approach rate: -0.717609 m/s, LOS rate: 0.076489 deg/s, cmd heading: 1.489476 deg, new cmd heading: 1.543344 deg. 2025-10-29T01:12:20.090Z,1761700340.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.026936 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:20.293Z,1761700340.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502703 2025-10-29T01:12:20.507Z,1761700340.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998319,-0.000854,-0.057958],[0.008931,0.990218,0.139245],[0.057272,-0.139528,0.988560]] 2025-10-29T01:12:20.545Z,1761700340.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754830 2025-10-29T01:12:20.565Z,1761700340.565 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:20.567Z,1761700340.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:20.581Z,1761700340.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 77.737259 m, bearing: 0.883492 deg, approach rate: -0.670653 m/s, LOS rate: 0.064241 deg/s, cmd heading: 1.543344 deg, new cmd heading: 1.605116 deg. 2025-10-29T01:12:20.582Z,1761700340.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028015 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:20.797Z,1761700340.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006749 2025-10-29T01:12:20.936Z,1761700340.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998329,-0.001973,-0.057750],[0.010050,0.990114,0.139905],[0.056903,-0.140252,0.988479]] 2025-10-29T01:12:20.971Z,1761700340.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:20.974Z,1761700340.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 77.466896 m, bearing: 0.909244 deg, approach rate: -0.669722 m/s, LOS rate: 0.064014 deg/s, cmd heading: 1.605116 deg, new cmd heading: 1.656800 deg. 2025-10-29T01:12:20.974Z,1761700340.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.028917 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:21.049Z,1761700341.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258765 2025-10-29T01:12:21.305Z,1761700341.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514495 2025-10-29T01:12:21.500Z,1761700341.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:21.509Z,1761700341.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 77.119171 m, bearing: 0.942633 deg, approach rate: -0.659072 m/s, LOS rate: 0.063570 deg/s, cmd heading: 1.656800 deg, new cmd heading: 1.723879 deg. 2025-10-29T01:12:21.510Z,1761700341.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.030087 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:21.553Z,1761700341.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762901 2025-10-29T01:12:21.805Z,1761700341.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014844 2025-10-29T01:12:21.839Z,1761700341.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998363,-0.004360,-0.057033],[0.012418,0.989832,0.141702],[0.055835,-0.142178,0.988265]] 2025-10-29T01:12:21.896Z,1761700341.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:21.898Z,1761700341.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 76.831009 m, bearing: 0.970068 deg, approach rate: -0.725420 m/s, LOS rate: 0.069324 deg/s, cmd heading: 1.723879 deg, new cmd heading: 1.778955 deg. 2025-10-29T01:12:21.899Z,1761700341.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031049 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:22.057Z,1761700342.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266694 2025-10-29T01:12:22.223Z,1761700342.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998407,-0.005088,-0.056192],[0.013079,0.989670,0.142767],[0.054885,-0.143274,0.988160]] 2025-10-29T01:12:22.242Z,1761700342.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:22.245Z,1761700342.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 76.600075 m, bearing: 0.992076 deg, approach rate: -0.666563 m/s, LOS rate: 0.063714 deg/s, cmd heading: 1.778955 deg, new cmd heading: 1.823103 deg. 2025-10-29T01:12:22.246Z,1761700342.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.031819 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:22.310Z,1761700342.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519718 2025-10-29T01:12:22.561Z,1761700342.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770738 2025-10-29T01:12:22.626Z,1761700342.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998475,-0.006914,-0.054766],[0.014581,0.989921,0.140871],[0.053240,-0.141455,0.988512]] 2025-10-29T01:12:22.677Z,1761700342.677 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:22.679Z,1761700342.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:22.684Z,1761700342.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 76.303764 m, bearing: 1.018513 deg, approach rate: -0.678904 m/s, LOS rate: 0.060807 deg/s, cmd heading: 1.823103 deg, new cmd heading: 1.876182 deg. 2025-10-29T01:12:22.686Z,1761700342.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.032746 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:22.813Z,1761700342.813 [DAT](INFO): DAT read: Rx Time:01:12:22.0775 2025-10-29T01:12:22.813Z,1761700342.813 [DAT](INFO): Rx dataTimestamp_ set to:1761700342.813215 2025-10-29T01:12:22.814Z,1761700342.814 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023928 2025-10-29T01:12:23.031Z,1761700343.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998558,-0.008826,-0.052953],[0.016073,0.990296,0.138042],[0.051221,-0.138694,0.989010]] 2025-10-29T01:12:23.055Z,1761700343.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.66 m. 2025-10-29T01:12:23.058Z,1761700343.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.660255 m, nav range: 76.048157 m, bearing: 1.041220 deg, approach rate: -0.678629 m/s, LOS rate: 0.060490 deg/s, cmd heading: 1.876182 deg, new cmd heading: 1.921750 deg. 2025-10-29T01:12:23.059Z,1761700343.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.033541 target range: 81.660255 and range: 82.10 m. 2025-10-29T01:12:23.065Z,1761700343.065 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274926 2025-10-29T01:12:23.326Z,1761700343.326 [DAT](INFO): DAT read: 01:12:22.0775 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.01, 2.385, 0.684, 2.602, 2.170, PHS= 0.317,-1.440, 0.388, RAW= 152.0, 8.2, CAL= 151.5, 8.8, ROT= 358.5, -8.8 2025-10-29T01:12:23.328Z,1761700343.328 [DAT](INFO): got valid direction response: 01:12:22.0775 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 410, 0.01, 2.385, 0.684, 2.602, 2.170, PHS= 0.317,-1.440, 0.388, RAW= 152.0, 8.2, CAL= 151.5, 8.8, ROT= 358.5, -8.8 2025-10-29T01:12:23.329Z,1761700343.329 [DAT](INFO): DAT read: Bearing 164.5, -0.0 (Local) 2025-10-29T01:12:23.330Z,1761700343.330 [DAT](INFO): Local bearing/azimuth received: Bearing 164.5, -0.0 (Local) 2025-10-29T01:12:23.332Z,1761700343.332 [DAT](INFO): DAT read: Range 11 to 50 : 79.5 m (Round-trip 106.0 ms) speed 0.8 m/s 2025-10-29T01:12:23.334Z,1761700343.334 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:23.335Z,1761700343.335 [DAT](INFO): direction in FSK: [0.987890,-0.025869,0.152986] 2025-10-29T01:12:23.335Z,1761700343.335 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:23.342Z,1761700343.342 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:23.342Z,1761700343.342 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:23.342Z,1761700343.342 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:23.434Z,1761700343.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998638,-0.010869,-0.051026],[0.017786,0.990395,0.137114],[0.049046,-0.137835,0.989240]] 2025-10-29T01:12:23.544Z,1761700343.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.500000 m, deltaT: 3.779964 s, deltaX: -2.599998 m, approachRate: -0.687837 m/s, rangeRepo size: 4 2025-10-29T01:12:23.550Z,1761700343.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 79.073051 m, bearing: 0.756449 deg, lat: 36.779278 deg, lon: -121.859474 deg, deltaT: 3.779964 s, deltaX: -2.587204 m, approachRate: -0.684452 m/s, posRepo size: 4 2025-10-29T01:12:23.551Z,1761700343.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:23.557Z,1761700343.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 75.867500 m, bearing: 0.771930 deg, approach rate: 0.000000 m/s, LOS rate: 0.060490 deg/s, cmd heading: 1.921750 deg, new cmd heading: 1.980754 deg. 2025-10-29T01:12:23.558Z,1761700343.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.034571 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:23.569Z,1761700343.569 [DAT](INFO): DAT read: user:701> 2025-10-29T01:12:23.570Z,1761700343.570 [DAT](INFO): DAT read: Tx time:01:12:23.3173 2025-10-29T01:12:23.570Z,1761700343.570 [DAT](INFO): Ping request sent. 2025-10-29T01:12:23.570Z,1761700343.570 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:23.570Z,1761700343.570 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:23.571Z,1761700343.571 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000742 2025-10-29T01:12:23.823Z,1761700343.823 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252294 2025-10-29T01:12:23.876Z,1761700343.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998710,-0.012541,-0.049201],[0.019122,0.990572,0.135654],[0.047036,-0.136420,0.989534]] 2025-10-29T01:12:23.918Z,1761700343.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:23.921Z,1761700343.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 75.562355 m, bearing: 0.797509 deg, approach rate: -0.813222 m/s, LOS rate: 0.068445 deg/s, cmd heading: 1.980754 deg, new cmd heading: 2.032119 deg. 2025-10-29T01:12:23.922Z,1761700343.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.035467 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:24.025Z,1761700344.025 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:12:24.073Z,1761700344.073 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502819 2025-10-29T01:12:24.279Z,1761700344.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998775,-0.014088,-0.047425],[0.020342,0.990760,0.134090],[0.045097,-0.134890,0.989834]] 2025-10-29T01:12:24.305Z,1761700344.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:24.307Z,1761700344.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 75.299805 m, bearing: 0.819452 deg, approach rate: -0.679612 m/s, LOS rate: 0.056996 deg/s, cmd heading: 2.032119 deg, new cmd heading: 2.076157 deg. 2025-10-29T01:12:24.308Z,1761700344.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.036236 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:24.326Z,1761700344.326 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756334 2025-10-29T01:12:24.577Z,1761700344.577 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006860 2025-10-29T01:12:24.683Z,1761700344.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998851,-0.015156,-0.045471],[0.021103,0.990851,0.133299],[0.043035,-0.134106,0.990032]] 2025-10-29T01:12:24.728Z,1761700344.728 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:24.730Z,1761700344.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:24.733Z,1761700344.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 75.006866 m, bearing: 0.841605 deg, approach rate: -0.687997 m/s, LOS rate: 0.052233 deg/s, cmd heading: 2.076157 deg, new cmd heading: 2.120637 deg. 2025-10-29T01:12:24.734Z,1761700344.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037012 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:24.830Z,1761700344.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259643 2025-10-29T01:12:25.028Z,1761700345.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:12:25.081Z,1761700345.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510924 2025-10-29T01:12:25.089Z,1761700345.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998902,-0.016465,-0.043853],[0.022177,0.990850,0.133132],[0.041260,-0.133958,0.990128]] 2025-10-29T01:12:25.107Z,1761700345.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:25.109Z,1761700345.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 74.747566 m, bearing: 0.861143 deg, approach rate: -0.688862 m/s, LOS rate: 0.052085 deg/s, cmd heading: 2.120637 deg, new cmd heading: 2.159849 deg. 2025-10-29T01:12:25.110Z,1761700345.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.037696 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:25.333Z,1761700345.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763380 2025-10-29T01:12:25.495Z,1761700345.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998929,-0.017956,-0.042633],[0.023480,0.990861,0.132828],[0.039858,-0.133686,0.990222]] 2025-10-29T01:12:25.585Z,1761700345.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014846 2025-10-29T01:12:25.599Z,1761700345.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:25.602Z,1761700345.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 74.430283 m, bearing: 0.884915 deg, approach rate: -0.643916 m/s, LOS rate: 0.048449 deg/s, cmd heading: 2.159849 deg, new cmd heading: 2.207595 deg. 2025-10-29T01:12:25.603Z,1761700345.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.038530 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:25.838Z,1761700345.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267845 2025-10-29T01:12:25.946Z,1761700345.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998942,-0.018919,-0.041913],[0.024363,0.990756,0.133454],[0.039001,-0.134334,0.990168]] 2025-10-29T01:12:26.007Z,1761700346.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:26.014Z,1761700346.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 74.145447 m, bearing: 0.906930 deg, approach rate: -0.698120 m/s, LOS rate: 0.054164 deg/s, cmd heading: 2.207595 deg, new cmd heading: 2.251793 deg. 2025-10-29T01:12:26.015Z,1761700346.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.039301 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:26.090Z,1761700346.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519465 2025-10-29T01:12:26.341Z,1761700346.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771040 2025-10-29T01:12:26.354Z,1761700346.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998984,-0.019996,-0.040396],[0.025301,0.990467,0.135407],[0.037303,-0.136292,0.989966]] 2025-10-29T01:12:26.372Z,1761700346.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:26.375Z,1761700346.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 73.878517 m, bearing: 0.927499 deg, approach rate: -0.732269 m/s, LOS rate: 0.056632 deg/s, cmd heading: 2.251793 deg, new cmd heading: 2.293081 deg. 2025-10-29T01:12:26.376Z,1761700346.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040022 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:26.594Z,1761700346.594 [DAT](INFO): DAT read: Rx Time:01:12:25.8241 2025-10-29T01:12:26.594Z,1761700346.594 [DAT](INFO): Rx dataTimestamp_ set to:1761700346.593843 2025-10-29T01:12:26.595Z,1761700346.595 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024634 2025-10-29T01:12:26.755Z,1761700346.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999034,-0.021069,-0.038571],[0.026098,0.990512,0.134923],[0.035362,-0.135799,0.990105]] 2025-10-29T01:12:26.813Z,1761700346.813 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:26.817Z,1761700346.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 79.07 m. 2025-10-29T01:12:26.834Z,1761700346.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 79.073051 m, nav range: 73.571495 m, bearing: 0.953925 deg, approach rate: -0.691194 m/s, LOS rate: 0.059741 deg/s, cmd heading: 2.293081 deg, new cmd heading: 2.346154 deg. 2025-10-29T01:12:26.841Z,1761700346.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.040948 target range: 79.073051 and range: 79.50 m. 2025-10-29T01:12:26.846Z,1761700346.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276209 2025-10-29T01:12:27.108Z,1761700347.108 [DAT](INFO): DAT read: 01:12:25.8241 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407,-0.24, 3.100, 1.474,-2.928, 3.065, PHS= 0.138,-1.546, 0.247, RAW= 153.1, 13.3, CAL= 153.3, 14.8, ROT= 356.7, -14.8 2025-10-29T01:12:27.110Z,1761700347.110 [DAT](INFO): got valid direction response: 01:12:25.8241 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407,-0.24, 3.100, 1.474,-2.928, 3.065, PHS= 0.138,-1.546, 0.247, RAW= 153.1, 13.3, CAL= 153.3, 14.8, ROT= 356.7, -14.8 2025-10-29T01:12:27.111Z,1761700347.111 [DAT](INFO): DAT read: Bearing 171.0, -3.6 (Local) 2025-10-29T01:12:27.111Z,1761700347.111 [DAT](INFO): Local bearing/azimuth received: Bearing 171.0, -3.6 (Local) 2025-10-29T01:12:27.114Z,1761700347.114 [DAT](INFO): DAT read: Range 11 to 50 : 76.9 m (Round-trip 102.6 ms) speed 0.7 m/s 2025-10-29T01:12:27.115Z,1761700347.115 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:27.117Z,1761700347.117 [DAT](INFO): direction in FSK: [0.965220,-0.055654,0.255446] 2025-10-29T01:12:27.117Z,1761700347.117 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:27.120Z,1761700347.120 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:27.120Z,1761700347.120 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:27.121Z,1761700347.121 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:27.205Z,1761700347.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999056,-0.021993,-0.037460],[0.026906,0.990321,0.136162],[0.034103,-0.137041,0.989978]] 2025-10-29T01:12:27.264Z,1761700347.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.900002 m, deltaT: 3.782459 s, deltaX: -2.599998 m, approachRate: -0.687383 m/s, rangeRepo size: 4 2025-10-29T01:12:27.270Z,1761700347.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.486755 m, bearing: 0.337824 deg, lat: 36.779278 deg, lon: -121.859474 deg, deltaT: 3.782459 s, deltaX: -2.586296 m, approachRate: -0.683761 m/s, posRepo size: 4 2025-10-29T01:12:27.270Z,1761700347.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:27.277Z,1761700347.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 73.283875 m, bearing: 0.978685 deg, approach rate: 0.000000 m/s, LOS rate: 0.059741 deg/s, cmd heading: 2.346154 deg, new cmd heading: 2.399529 deg. 2025-10-29T01:12:27.278Z,1761700347.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.041880 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:27.350Z,1761700347.350 [DAT](INFO): DAT read: user:702> 2025-10-29T01:12:27.351Z,1761700347.351 [DAT](INFO): DAT read: Tx time:01:12:27.1173 2025-10-29T01:12:27.351Z,1761700347.351 [DAT](INFO): Ping request sent. 2025-10-29T01:12:27.351Z,1761700347.351 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:27.352Z,1761700347.352 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:27.353Z,1761700347.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001185 2025-10-29T01:12:27.601Z,1761700347.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249738 2025-10-29T01:12:27.613Z,1761700347.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999082,-0.022701,-0.036325],[0.027502,0.990096,0.137669],[0.032840,-0.138542,0.989812]] 2025-10-29T01:12:27.674Z,1761700347.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:27.681Z,1761700347.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 72.972282 m, bearing: 1.006016 deg, approach rate: -0.757420 m/s, LOS rate: 0.066719 deg/s, cmd heading: 2.399529 deg, new cmd heading: 2.454424 deg. 2025-10-29T01:12:27.682Z,1761700347.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.042838 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:27.853Z,1761700347.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501612 2025-10-29T01:12:28.018Z,1761700348.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999108,-0.023756,-0.034921],[0.028361,0.990034,0.137944],[0.031296,-0.138811,0.989824]] 2025-10-29T01:12:28.042Z,1761700348.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:28.044Z,1761700348.044 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 72.716393 m, bearing: 1.028458 deg, approach rate: -0.696375 m/s, LOS rate: 0.061287 deg/s, cmd heading: 2.454424 deg, new cmd heading: 2.499465 deg. 2025-10-29T01:12:28.045Z,1761700348.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.043624 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:28.105Z,1761700348.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753816 2025-10-29T01:12:28.357Z,1761700348.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005677 2025-10-29T01:12:28.421Z,1761700348.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999119,-0.025065,-0.033652],[0.029468,0.990065,0.137485],[0.029871,-0.138356,0.989932]] 2025-10-29T01:12:28.455Z,1761700348.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:28.457Z,1761700348.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 72.427528 m, bearing: 1.053728 deg, approach rate: -0.699288 m/s, LOS rate: 0.061419 deg/s, cmd heading: 2.499465 deg, new cmd heading: 2.550207 deg. 2025-10-29T01:12:28.458Z,1761700348.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.044510 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:28.611Z,1761700348.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259456 2025-10-29T01:12:28.846Z,1761700348.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999163,-0.027273,-0.030477],[0.031142,0.990397,0.134703],[0.026510,-0.135539,0.990417]] 2025-10-29T01:12:28.861Z,1761700348.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509664 2025-10-29T01:12:28.927Z,1761700348.927 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:28.930Z,1761700348.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:28.932Z,1761700348.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 72.110695 m, bearing: 1.081920 deg, approach rate: -0.667468 m/s, LOS rate: 0.059653 deg/s, cmd heading: 2.550207 deg, new cmd heading: 2.606839 deg. 2025-10-29T01:12:28.933Z,1761700348.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.045498 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:29.113Z,1761700349.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761659 2025-10-29T01:12:29.256Z,1761700349.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:29.258Z,1761700349.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 71.888756 m, bearing: 1.101818 deg, approach rate: -0.680649 m/s, LOS rate: 0.061212 deg/s, cmd heading: 2.606839 deg, new cmd heading: 2.646757 deg. 2025-10-29T01:12:29.259Z,1761700349.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.046195 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:29.365Z,1761700349.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013674 2025-10-29T01:12:29.619Z,1761700349.619 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267504 2025-10-29T01:12:29.658Z,1761700349.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999182,-0.029795,-0.027352],[0.033138,0.990794,0.131257],[0.023190,-0.132056,0.990971]] 2025-10-29T01:12:29.713Z,1761700349.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:29.715Z,1761700349.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 71.585007 m, bearing: 1.131588 deg, approach rate: -0.664025 m/s, LOS rate: 0.065357 deg/s, cmd heading: 2.646757 deg, new cmd heading: 2.706550 deg. 2025-10-29T01:12:29.733Z,1761700349.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.047238 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:29.869Z,1761700349.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517668 2025-10-29T01:12:30.067Z,1761700350.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:30.070Z,1761700350.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 71.330902 m, bearing: 1.156689 deg, approach rate: -0.718081 m/s, LOS rate: 0.071185 deg/s, cmd heading: 2.706550 deg, new cmd heading: 2.756930 deg. 2025-10-29T01:12:30.071Z,1761700350.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.048118 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:30.122Z,1761700350.122 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770268 2025-10-29T01:12:30.373Z,1761700350.373 [DAT](INFO): DAT read: Rx Time:01:12:29.6207 2025-10-29T01:12:30.373Z,1761700350.373 [DAT](INFO): Rx dataTimestamp_ set to:1761700350.373057 2025-10-29T01:12:30.374Z,1761700350.374 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022632 2025-10-29T01:12:30.479Z,1761700350.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999212,-0.030851,-0.024979],[0.033894,0.990626,0.132327],[0.020662,-0.133069,0.990891]] 2025-10-29T01:12:30.506Z,1761700350.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.49 m. 2025-10-29T01:12:30.509Z,1761700350.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.486755 m, nav range: 71.028008 m, bearing: 1.186638 deg, approach rate: -0.689178 m/s, LOS rate: 0.068435 deg/s, cmd heading: 2.756931 deg, new cmd heading: 2.817085 deg. 2025-10-29T01:12:30.510Z,1761700350.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.049167 target range: 76.486755 and range: 76.90 m. 2025-10-29T01:12:30.628Z,1761700350.628 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276486 2025-10-29T01:12:30.882Z,1761700350.882 [DAT](INFO): DAT read: 01:12:29.6207 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404, 0.11, 2.946, 1.310,-3.082, 2.880, PHS= 0.168,-1.525, 0.277, RAW= 153.1, 12.3, CAL= 153.2, 13.7, ROT= 356.8, -13.7 2025-10-29T01:12:30.883Z,1761700350.883 [DAT](INFO): got valid direction response: 01:12:29.6207 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 404, 0.11, 2.946, 1.310,-3.082, 2.880, PHS= 0.168,-1.525, 0.277, RAW= 153.1, 12.3, CAL= 153.2, 13.7, ROT= 356.8, -13.7 2025-10-29T01:12:30.884Z,1761700350.884 [DAT](INFO): DAT read: Bearing 170.8, -4.1 (Local) 2025-10-29T01:12:30.884Z,1761700350.884 [DAT](INFO): Local bearing/azimuth received: Bearing 170.8, -4.1 (Local) 2025-10-29T01:12:30.886Z,1761700350.886 [DAT](INFO): DAT read: Range 11 to 50 : 74.4 m (Round-trip 99.2 ms) speed 0.6 m/s 2025-10-29T01:12:30.886Z,1761700350.886 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:30.887Z,1761700350.887 [DAT](INFO): direction in FSK: [0.970034,-0.054234,0.236838] 2025-10-29T01:12:30.888Z,1761700350.888 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:30.891Z,1761700350.891 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:30.891Z,1761700350.891 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:30.891Z,1761700350.891 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:31.007Z,1761700351.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 74.400002 m, deltaT: 3.777387 s, deltaX: -2.500000 m, approachRate: -0.661833 m/s, rangeRepo size: 4 2025-10-29T01:12:31.014Z,1761700351.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 74.000626 m, bearing: 0.622988 deg, lat: 36.779280 deg, lon: -121.859481 deg, deltaT: 3.777387 s, deltaX: -2.486130 m, approachRate: -0.658161 m/s, posRepo size: 4 2025-10-29T01:12:31.014Z,1761700351.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:31.021Z,1761700351.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 70.829987 m, bearing: 0.702355 deg, approach rate: 0.000000 m/s, LOS rate: 0.068435 deg/s, cmd heading: 2.817085 deg, new cmd heading: 2.885576 deg. 2025-10-29T01:12:31.022Z,1761700351.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.050363 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:31.129Z,1761700351.129 [DAT](INFO): DAT read: user:703> 2025-10-29T01:12:31.130Z,1761700351.130 [DAT](INFO): DAT read: Tx time:01:12:30.8673 2025-10-29T01:12:31.130Z,1761700351.130 [DAT](INFO): Ping request sent. 2025-10-29T01:12:31.130Z,1761700351.130 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:31.131Z,1761700351.131 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:31.131Z,1761700351.131 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T01:12:31.344Z,1761700351.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999198,-0.032695,-0.023113],[0.035465,0.990632,0.131872],[0.018585,-0.132586,0.990997]] 2025-10-29T01:12:31.360Z,1761700351.360 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:31.362Z,1761700351.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:31.365Z,1761700351.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 70.571480 m, bearing: 0.721236 deg, approach rate: -0.726996 m/s, LOS rate: 0.053292 deg/s, cmd heading: 2.885576 deg, new cmd heading: 2.923476 deg. 2025-10-29T01:12:31.366Z,1761700351.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051024 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:31.389Z,1761700351.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.258685 2025-10-29T01:12:31.644Z,1761700351.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.512647 2025-10-29T01:12:31.735Z,1761700351.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999185,-0.033707,-0.022207],[0.036350,0.990583,0.132002],[0.017548,-0.132702,0.991001]] 2025-10-29T01:12:31.796Z,1761700351.796 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:31.798Z,1761700351.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 70.273048 m, bearing: 0.744448 deg, approach rate: -0.688728 m/s, LOS rate: 0.053799 deg/s, cmd heading: 2.923476 deg, new cmd heading: 2.970098 deg. 2025-10-29T01:12:31.799Z,1761700351.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.051838 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:31.893Z,1761700351.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.762621 2025-10-29T01:12:32.138Z,1761700352.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999155,-0.035095,-0.021417],[0.037624,0.990517,0.132138],[0.016576,-0.132833,0.991000]] 2025-10-29T01:12:32.145Z,1761700352.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.014604 2025-10-29T01:12:32.169Z,1761700352.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:32.172Z,1761700352.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 70.015915 m, bearing: 0.764336 deg, approach rate: -0.688266 m/s, LOS rate: 0.053428 deg/s, cmd heading: 2.970098 deg, new cmd heading: 3.010019 deg. 2025-10-29T01:12:32.173Z,1761700352.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.052535 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:32.397Z,1761700352.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.266541 2025-10-29T01:12:32.542Z,1761700352.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999124,-0.036319,-0.020781],[0.038789,0.990172,0.134366],[0.015697,-0.135055,0.990714]] 2025-10-29T01:12:32.561Z,1761700352.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:32.564Z,1761700352.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 69.746597 m, bearing: 0.785041 deg, approach rate: -0.687342 m/s, LOS rate: 0.053048 deg/s, cmd heading: 3.010019 deg, new cmd heading: 3.051591 deg. 2025-10-29T01:12:32.577Z,1761700352.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053260 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:32.653Z,1761700352.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521932 2025-10-29T01:12:32.901Z,1761700352.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770551 2025-10-29T01:12:33.007Z,1761700353.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:33.009Z,1761700353.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 69.450462 m, bearing: 0.800168 deg, approach rate: -0.664530 m/s, LOS rate: 0.034088 deg/s, cmd heading: 3.051591 deg, new cmd heading: 3.081972 deg. 2025-10-29T01:12:33.010Z,1761700353.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.053791 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:33.153Z,1761700353.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.022482 2025-10-29T01:12:33.350Z,1761700353.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999045,-0.039162,-0.019394],[0.041460,0.989658,0.137321],[0.013816,-0.137994,0.990337]] 2025-10-29T01:12:33.374Z,1761700353.374 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:33.377Z,1761700353.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:33.379Z,1761700353.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 69.205109 m, bearing: 0.812226 deg, approach rate: -0.663195 m/s, LOS rate: 0.032710 deg/s, cmd heading: 3.081972 deg, new cmd heading: 3.106175 deg. 2025-10-29T01:12:33.380Z,1761700353.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054213 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:33.405Z,1761700353.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.274522 2025-10-29T01:12:33.661Z,1761700353.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530395 2025-10-29T01:12:33.762Z,1761700353.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998999,-0.040692,-0.018581],[0.042857,0.989671,0.136803],[0.012822,-0.137462,0.990424]] 2025-10-29T01:12:33.842Z,1761700353.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:33.852Z,1761700353.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 68.901764 m, bearing: 0.830112 deg, approach rate: -0.651272 m/s, LOS rate: 0.038569 deg/s, cmd heading: 3.106175 deg, new cmd heading: 3.142104 deg. 2025-10-29T01:12:33.853Z,1761700353.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.054840 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:33.910Z,1761700353.910 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779278 2025-10-29T01:12:34.161Z,1761700354.161 [DAT](INFO): DAT read: Rx Time:01:12:33.3671 2025-10-29T01:12:34.162Z,1761700354.162 [DAT](INFO): Rx dataTimestamp_ set to:1761700354.161212 2025-10-29T01:12:34.162Z,1761700354.162 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.031683 2025-10-29T01:12:34.164Z,1761700354.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998938,-0.042489,-0.017797],[0.044489,0.990051,0.133488],[0.011948,-0.134138,0.990891]] 2025-10-29T01:12:34.182Z,1761700354.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:34.184Z,1761700354.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 68.662079 m, bearing: 0.844052 deg, approach rate: -0.706629 m/s, LOS rate: 0.041241 deg/s, cmd heading: 3.142104 deg, new cmd heading: 3.170081 deg. 2025-10-29T01:12:34.185Z,1761700354.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055328 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:34.413Z,1761700354.413 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.282555 2025-10-29T01:12:34.563Z,1761700354.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998859,-0.044578,-0.017146],[0.046448,0.990250,0.131330],[0.011124,-0.131976,0.991190]] 2025-10-29T01:12:34.581Z,1761700354.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 74.00 m. 2025-10-29T01:12:34.584Z,1761700354.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 74.000626 m, nav range: 68.392563 m, bearing: 0.859417 deg, approach rate: -0.674586 m/s, LOS rate: 0.038608 deg/s, cmd heading: 3.170081 deg, new cmd heading: 3.200931 deg. 2025-10-29T01:12:34.585Z,1761700354.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.055867 target range: 74.000626 and range: 74.40 m. 2025-10-29T01:12:34.729Z,1761700354.729 [DAT](INFO): DAT read: 01:12:33.3671 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 400, 0.34,-0.393,-1.959,-0.098,-0.347, PHS= 0.056,-1.567, 0.205, RAW= 154.4, 15.2, CAL= 154.9, 17.3, ROT= 355.1, -17.3 2025-10-29T01:12:34.730Z,1761700354.730 [DAT](INFO): got valid direction response: 01:12:33.3671 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 400, 0.34,-0.393,-1.959,-0.098,-0.347, PHS= 0.056,-1.567, 0.205, RAW= 154.4, 15.2, CAL= 154.9, 17.3, ROT= 355.1, -17.3 2025-10-29T01:12:34.731Z,1761700354.731 [DAT](INFO): DAT read: Bearing 175.0, -6.7 (Local) 2025-10-29T01:12:34.731Z,1761700354.731 [DAT](INFO): Local bearing/azimuth received: Bearing 175.0, -6.7 (Local) 2025-10-29T01:12:34.737Z,1761700354.737 [DAT](INFO): DAT read: Range 11 to 50 : 71.7 m (Round-trip 95.7 ms) speed 0.8 m/s 2025-10-29T01:12:34.737Z,1761700354.737 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:34.738Z,1761700354.738 [DAT](INFO): direction in FSK: [0.951271,-0.081553,0.297375] 2025-10-29T01:12:34.738Z,1761700354.738 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:34.746Z,1761700354.746 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:34.746Z,1761700354.746 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:34.746Z,1761700354.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:34.917Z,1761700354.917 [DAT](INFO): DAT read: user:704> 2025-10-29T01:12:34.918Z,1761700354.918 [DAT](INFO): DAT read: Tx time:01:12:34.7173 2025-10-29T01:12:34.918Z,1761700354.918 [DAT](INFO): Ping request sent. 2025-10-29T01:12:34.918Z,1761700354.918 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:34.918Z,1761700354.918 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:34.919Z,1761700354.919 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000757 2025-10-29T01:12:34.975Z,1761700354.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998816,-0.045817,-0.016373],[0.047578,0.990156,0.131635],[0.010180,-0.132258,0.991163]] 2025-10-29T01:12:35.030Z,1761700355.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 71.699997 m, deltaT: 3.790284 s, deltaX: -2.700005 m, approachRate: -0.712349 m/s, rangeRepo size: 4 2025-10-29T01:12:35.032Z,1761700355.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 71.313599 m, bearing: 0.220644 deg, lat: 36.779280 deg, lon: -121.859482 deg, deltaT: 3.790284 s, deltaX: -2.687027 m, approachRate: -0.708925 m/s, posRepo size: 4 2025-10-29T01:12:35.033Z,1761700355.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:35.035Z,1761700355.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 68.088524 m, bearing: 0.805600 deg, approach rate: 0.000000 m/s, LOS rate: 0.038608 deg/s, cmd heading: 3.200931 deg, new cmd heading: 3.235509 deg. 2025-10-29T01:12:35.052Z,1761700355.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.056470 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:35.169Z,1761700355.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251053 2025-10-29T01:12:35.371Z,1761700355.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998772,-0.046947,-0.015829],[0.048636,0.989969,0.132653],[0.009443,-0.133260,0.991036]] 2025-10-29T01:12:35.395Z,1761700355.395 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:35.397Z,1761700355.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:35.399Z,1761700355.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 67.835167 m, bearing: 0.824794 deg, approach rate: -0.688966 m/s, LOS rate: 0.052390 deg/s, cmd heading: 3.235509 deg, new cmd heading: 3.274040 deg. 2025-10-29T01:12:35.400Z,1761700355.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.057143 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:35.421Z,1761700355.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502914 2025-10-29T01:12:35.676Z,1761700355.676 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757322 2025-10-29T01:12:35.779Z,1761700355.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998770,-0.047225,-0.015110],[0.048826,0.989796,0.133868],[0.008634,-0.134442,0.990884]] 2025-10-29T01:12:35.847Z,1761700355.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:35.850Z,1761700355.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 67.525032 m, bearing: 0.853904 deg, approach rate: -0.688321 m/s, LOS rate: 0.064905 deg/s, cmd heading: 3.274040 deg, new cmd heading: 3.332528 deg. 2025-10-29T01:12:35.851Z,1761700355.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058164 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:35.926Z,1761700355.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007504 2025-10-29T01:12:36.177Z,1761700356.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258724 2025-10-29T01:12:36.187Z,1761700356.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998779,-0.047193,-0.014592],[0.048722,0.989829,0.133661],[0.008135,-0.134209,0.990920]] 2025-10-29T01:12:36.205Z,1761700356.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:36.208Z,1761700356.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 67.279137 m, bearing: 0.877199 deg, approach rate: -0.686861 m/s, LOS rate: 0.065308 deg/s, cmd heading: 3.332528 deg, new cmd heading: 3.379288 deg. 2025-10-29T01:12:36.209Z,1761700356.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.058980 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:36.429Z,1761700356.429 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510832 2025-10-29T01:12:36.582Z,1761700356.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998750,-0.047925,-0.014235],[0.049387,0.990018,0.132005],[0.007767,-0.132543,0.991147]] 2025-10-29T01:12:36.621Z,1761700356.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:36.623Z,1761700356.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 67.004768 m, bearing: 0.903250 deg, approach rate: -0.660759 m/s, LOS rate: 0.062995 deg/s, cmd heading: 3.379288 deg, new cmd heading: 3.431603 deg. 2025-10-29T01:12:36.630Z,1761700356.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.059893 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:36.684Z,1761700356.684 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765122 2025-10-29T01:12:36.933Z,1761700356.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014766 2025-10-29T01:12:36.994Z,1761700356.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998721,-0.048687,-0.013612],[0.050059,0.990013,0.131787],[0.007060,-0.132300,0.991185]] 2025-10-29T01:12:37.052Z,1761700357.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:37.055Z,1761700357.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 66.697212 m, bearing: 0.936580 deg, approach rate: -0.712860 m/s, LOS rate: 0.077609 deg/s, cmd heading: 3.431603 deg, new cmd heading: 3.498570 deg. 2025-10-29T01:12:37.056Z,1761700357.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.061062 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:37.185Z,1761700357.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266687 2025-10-29T01:12:37.400Z,1761700357.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998708,-0.049094,-0.013118],[0.050411,0.989714,0.133887],[0.006410,-0.134375,0.990910]] 2025-10-29T01:12:37.416Z,1761700357.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:37.418Z,1761700357.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:37.421Z,1761700357.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 66.441162 m, bearing: 0.964465 deg, approach rate: -0.698651 m/s, LOS rate: 0.076381 deg/s, cmd heading: 3.498570 deg, new cmd heading: 3.554557 deg. 2025-10-29T01:12:37.422Z,1761700357.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.062039 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:37.440Z,1761700357.440 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.521625 2025-10-29T01:12:37.691Z,1761700357.691 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.772756 2025-10-29T01:12:37.809Z,1761700357.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998688,-0.049732,-0.012210],[0.050925,0.989596,0.134559],[0.005391,-0.135004,0.990830]] 2025-10-29T01:12:37.863Z,1761700357.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:37.867Z,1761700357.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 66.131592 m, bearing: 1.001475 deg, approach rate: -0.696083 m/s, LOS rate: 0.083607 deg/s, cmd heading: 3.554557 deg, new cmd heading: 3.628922 deg. 2025-10-29T01:12:37.868Z,1761700357.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.063337 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:37.942Z,1761700357.942 [DAT](INFO): DAT read: Rx Time:01:12:37.2135 2025-10-29T01:12:37.942Z,1761700357.942 [DAT](INFO): Rx dataTimestamp_ set to:1761700357.941899 2025-10-29T01:12:37.943Z,1761700357.943 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024898 2025-10-29T01:12:38.193Z,1761700358.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274756 2025-10-29T01:12:38.213Z,1761700358.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998624,-0.051159,-0.011518],[0.052243,0.989589,0.134104],[0.004538,-0.134521,0.990900]] 2025-10-29T01:12:38.231Z,1761700358.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 71.31 m. 2025-10-29T01:12:38.234Z,1761700358.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 71.313599 m, nav range: 65.875832 m, bearing: 1.032021 deg, approach rate: -0.695670 m/s, LOS rate: 0.083410 deg/s, cmd heading: 3.628922 deg, new cmd heading: 3.690252 deg. 2025-10-29T01:12:38.235Z,1761700358.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.064407 target range: 71.313599 and range: 71.70 m. 2025-10-29T01:12:38.453Z,1761700358.453 [DAT](INFO): DAT read: 01:12:37.2135 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.16, 1.352,-0.290, 1.649, 1.347, PHS= 0.107,-1.592, 0.258, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 2025-10-29T01:12:38.454Z,1761700358.454 [DAT](INFO): got valid direction response: 01:12:37.2135 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 411,-0.16, 1.352,-0.290, 1.649, 1.347, PHS= 0.107,-1.592, 0.258, RAW= 154.2, 13.7, CAL= 154.5, 15.4, ROT= 355.5, -15.4 2025-10-29T01:12:38.455Z,1761700358.455 [DAT](INFO): DAT read: Bearing 173.8, -6.5 (Local) 2025-10-29T01:12:38.456Z,1761700358.456 [DAT](INFO): Local bearing/azimuth received: Bearing 173.8, -6.5 (Local) 2025-10-29T01:12:38.458Z,1761700358.458 [DAT](INFO): DAT read: Range 11 to 50 : 69.0 m (Round-trip 92.0 ms) speed 0.6 m/s 2025-10-29T01:12:38.459Z,1761700358.459 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:38.460Z,1761700358.460 [DAT](INFO): direction in FSK: [0.961123,-0.075642,0.265556] 2025-10-29T01:12:38.461Z,1761700358.461 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:38.512Z,1761700358.512 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:38.512Z,1761700358.512 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:38.513Z,1761700358.513 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:38.615Z,1761700358.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998591,-0.051957,-0.010821],[0.052931,0.989843,0.131946],[0.003855,-0.132333,0.991198]] 2025-10-29T01:12:38.653Z,1761700358.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 69.000000 m, deltaT: 3.780177 s, deltaX: -2.699997 m, approachRate: -0.714251 m/s, rangeRepo size: 4 2025-10-29T01:12:38.655Z,1761700358.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 68.628563 m, bearing: 0.658254 deg, lat: 36.779283 deg, lon: -121.859483 deg, deltaT: 3.780177 s, deltaX: -2.685036 m, approachRate: -0.710294 m/s, posRepo size: 4 2025-10-29T01:12:38.656Z,1761700358.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:38.658Z,1761700358.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 65.949600 m, bearing: 0.973889 deg, approach rate: 0.000000 m/s, LOS rate: 0.083410 deg/s, cmd heading: 3.690252 deg, new cmd heading: 3.760593 deg. 2025-10-29T01:12:38.659Z,1761700358.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.065635 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:38.697Z,1761700358.697 [DAT](INFO): DAT read: user:705> 2025-10-29T01:12:38.698Z,1761700358.698 [DAT](INFO): DAT read: Tx time:01:12:38.5173 2025-10-29T01:12:38.699Z,1761700358.699 [DAT](INFO): Ping request sent. 2025-10-29T01:12:38.699Z,1761700358.699 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:38.699Z,1761700358.699 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:38.712Z,1761700358.712 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.012375 2025-10-29T01:12:38.949Z,1761700358.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250312 2025-10-29T01:12:39.018Z,1761700359.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998540,-0.053089,-0.009959],[0.053935,0.989970,0.130578],[0.002927,-0.130925,0.991388]] 2025-10-29T01:12:39.066Z,1761700359.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:39.069Z,1761700359.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 65.660141 m, bearing: 1.006299 deg, approach rate: -0.700073 m/s, LOS rate: 0.078729 deg/s, cmd heading: 3.760593 deg, new cmd heading: 3.825697 deg. 2025-10-29T01:12:39.070Z,1761700359.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.066771 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:39.201Z,1761700359.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502189 2025-10-29T01:12:39.422Z,1761700359.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998535,-0.053315,-0.009275],[0.054068,0.990082,0.129671],[0.002270,-0.129982,0.991514]] 2025-10-29T01:12:39.442Z,1761700359.442 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:39.445Z,1761700359.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:39.447Z,1761700359.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 65.397827 m, bearing: 1.035898 deg, approach rate: -0.692437 m/s, LOS rate: 0.078449 deg/s, cmd heading: 3.825697 deg, new cmd heading: 3.885134 deg. 2025-10-29T01:12:39.453Z,1761700359.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754366 2025-10-29T01:12:39.468Z,1761700359.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.067808 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:39.705Z,1761700359.705 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006228 2025-10-29T01:12:39.831Z,1761700359.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998529,-0.053580,-0.008313],[0.054206,0.990030,0.130010],[0.001264,-0.130270,0.991478]] 2025-10-29T01:12:39.874Z,1761700359.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:39.877Z,1761700359.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 65.101570 m, bearing: 1.063560 deg, approach rate: -0.690080 m/s, LOS rate: 0.064726 deg/s, cmd heading: 3.885134 deg, new cmd heading: 3.940709 deg. 2025-10-29T01:12:39.878Z,1761700359.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.068778 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:39.959Z,1761700359.959 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260062 2025-10-29T01:12:40.209Z,1761700360.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510155 2025-10-29T01:12:40.231Z,1761700360.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998532,-0.053642,-0.007570],[0.054173,0.989425,0.134547],[0.000272,-0.134760,0.990878]] 2025-10-29T01:12:40.248Z,1761700360.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:40.251Z,1761700360.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 64.843918 m, bearing: 1.087760 deg, approach rate: -0.689267 m/s, LOS rate: 0.064999 deg/s, cmd heading: 3.940708 deg, new cmd heading: 3.989302 deg. 2025-10-29T01:12:40.251Z,1761700360.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.069626 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:40.461Z,1761700360.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762323 2025-10-29T01:12:40.634Z,1761700360.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998552,-0.053286,-0.007339],[0.053788,0.988837,0.138955],[-0.000147,-0.139149,0.990272]] 2025-10-29T01:12:40.671Z,1761700360.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:40.674Z,1761700360.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 64.564957 m, bearing: 1.114204 deg, approach rate: -0.658675 m/s, LOS rate: 0.062708 deg/s, cmd heading: 3.989302 deg, new cmd heading: 4.042418 deg. 2025-10-29T01:12:40.675Z,1761700360.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.070554 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:40.715Z,1761700360.715 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.016010 2025-10-29T01:12:40.965Z,1761700360.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266261 2025-10-29T01:12:41.039Z,1761700361.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998545,-0.053458,-0.007061],[0.053918,0.988249,0.143025],[-0.000668,-0.143198,0.989694]] 2025-10-29T01:12:41.089Z,1761700361.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:41.092Z,1761700361.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 64.269966 m, bearing: 1.135801 deg, approach rate: -0.706204 m/s, LOS rate: 0.051940 deg/s, cmd heading: 4.042418 deg, new cmd heading: 4.085810 deg. 2025-10-29T01:12:41.094Z,1761700361.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071311 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:41.217Z,1761700361.217 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518269 2025-10-29T01:12:41.445Z,1761700361.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998552,-0.053347,-0.006998],[0.053796,0.987719,0.146687],[-0.000914,-0.146851,0.989158]] 2025-10-29T01:12:41.461Z,1761700361.461 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:41.463Z,1761700361.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:41.466Z,1761700361.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 64.017242 m, bearing: 1.154439 deg, approach rate: -0.675829 m/s, LOS rate: 0.050037 deg/s, cmd heading: 4.085810 deg, new cmd heading: 4.123232 deg. 2025-10-29T01:12:41.467Z,1761700361.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.071964 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:41.469Z,1761700361.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770337 2025-10-29T01:12:41.724Z,1761700361.724 [DAT](INFO): DAT read: Rx Time:01:12:41.0100 2025-10-29T01:12:41.725Z,1761700361.725 [DAT](INFO): Rx dataTimestamp_ set to:1761700361.724730 2025-10-29T01:12:41.726Z,1761700361.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027140 2025-10-29T01:12:41.847Z,1761700361.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998550,-0.053393,-0.006823],[0.053813,0.987324,0.149318],[-0.001236,-0.149469,0.988766]] 2025-10-29T01:12:41.898Z,1761700361.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 68.63 m. 2025-10-29T01:12:41.901Z,1761700361.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 68.628563 m, nav range: 63.725151 m, bearing: 1.169959 deg, approach rate: -0.671220 m/s, LOS rate: 0.035829 deg/s, cmd heading: 4.123232 deg, new cmd heading: 4.154415 deg. 2025-10-29T01:12:41.902Z,1761700361.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.072508 target range: 68.628563 and range: 69.00 m. 2025-10-29T01:12:41.973Z,1761700361.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274526 2025-10-29T01:12:42.230Z,1761700362.230 [DAT](INFO): DAT read: 01:12:41.0100 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407, 0.12,-2.465, 2.160,-2.169,-2.514, PHS= 0.151,-1.565, 0.301, RAW= 154.2, 12.4, CAL= 154.3, 13.8, ROT= 355.7, -13.8 2025-10-29T01:12:42.231Z,1761700362.231 [DAT](INFO): got valid direction response: 01:12:41.0100 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 407, 0.12,-2.465, 2.160,-2.169,-2.514, PHS= 0.151,-1.565, 0.301, RAW= 154.2, 12.4, CAL= 154.3, 13.8, ROT= 355.7, -13.8 2025-10-29T01:12:42.232Z,1761700362.232 [DAT](INFO): DAT read: Bearing 173.1, -6.6 (Local) 2025-10-29T01:12:42.233Z,1761700362.233 [DAT](INFO): Local bearing/azimuth received: Bearing 173.1, -6.6 (Local) 2025-10-29T01:12:42.234Z,1761700362.234 [DAT](INFO): DAT read: Range 11 to 50 : 66.3 m (Round-trip 88.5 ms) speed 0.5 m/s 2025-10-29T01:12:42.235Z,1761700362.235 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:42.236Z,1761700362.236 [DAT](INFO): direction in FSK: [0.968401,-0.072814,0.238533] 2025-10-29T01:12:42.241Z,1761700362.241 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:42.269Z,1761700362.269 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:42.269Z,1761700362.269 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:42.270Z,1761700362.270 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:42.294Z,1761700362.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998500,-0.054385,-0.006385],[0.054727,0.987148,0.150144],[-0.001863,-0.150268,0.988644]] 2025-10-29T01:12:42.362Z,1761700362.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 66.300003 m, deltaT: 3.777684 s, deltaX: -2.699997 m, approachRate: -0.714723 m/s, rangeRepo size: 4 2025-10-29T01:12:42.369Z,1761700362.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 65.944382 m, bearing: 1.000788 deg, lat: 36.779283 deg, lon: -121.859485 deg, deltaT: 3.777684 s, deltaX: -2.684181 m, approachRate: -0.710536 m/s, posRepo size: 4 2025-10-29T01:12:42.369Z,1761700362.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:42.377Z,1761700362.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 63.426529 m, bearing: 1.008808 deg, approach rate: 0.000000 m/s, LOS rate: 0.035829 deg/s, cmd heading: 4.154415 deg, new cmd heading: 4.187628 deg. 2025-10-29T01:12:42.378Z,1761700362.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073088 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:42.477Z,1761700362.477 [DAT](INFO): DAT read: user:706> 2025-10-29T01:12:42.478Z,1761700362.478 [DAT](INFO): DAT read: Tx time:01:12:42.2673 2025-10-29T01:12:42.478Z,1761700362.478 [DAT](INFO): Ping request sent. 2025-10-29T01:12:42.478Z,1761700362.478 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:42.478Z,1761700362.478 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:42.479Z,1761700362.479 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-29T01:12:42.664Z,1761700362.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998421,-0.055834,-0.006119],[0.056119,0.987046,0.150299],[-0.002352,-0.150405,0.988622]] 2025-10-29T01:12:42.682Z,1761700362.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:42.685Z,1761700362.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 63.195572 m, bearing: 1.020152 deg, approach rate: -0.721434 m/s, LOS rate: 0.035563 deg/s, cmd heading: 4.187628 deg, new cmd heading: 4.210398 deg. 2025-10-29T01:12:42.686Z,1761700362.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073485 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:42.729Z,1761700362.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250789 2025-10-29T01:12:42.983Z,1761700362.983 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.504782 2025-10-29T01:12:43.067Z,1761700363.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998347,-0.057188,-0.005782],[0.057408,0.986999,0.150127],[-0.002879,-0.150211,0.988650]] 2025-10-29T01:12:43.115Z,1761700363.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:43.117Z,1761700363.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 62.908581 m, bearing: 1.029142 deg, approach rate: -0.663260 m/s, LOS rate: 0.020872 deg/s, cmd heading: 4.210398 deg, new cmd heading: 4.228461 deg. 2025-10-29T01:12:43.118Z,1761700363.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.073801 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:43.233Z,1761700363.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754660 2025-10-29T01:12:43.470Z,1761700363.470 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998252,-0.058869,-0.005175],[0.058986,0.987232,0.147962],[-0.003601,-0.148008,0.988980]] 2025-10-29T01:12:43.485Z,1761700363.485 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006895 2025-10-29T01:12:43.538Z,1761700363.538 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:43.545Z,1761700363.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:43.547Z,1761700363.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 62.631355 m, bearing: 1.037528 deg, approach rate: -0.644610 m/s, LOS rate: 0.019585 deg/s, cmd heading: 4.228461 deg, new cmd heading: 4.245307 deg. 2025-10-29T01:12:43.552Z,1761700363.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074095 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:43.737Z,1761700363.737 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258721 2025-10-29T01:12:43.872Z,1761700363.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998156,-0.060541,-0.004489],[0.060551,0.987571,0.145041],[-0.004348,-0.145045,0.989415]] 2025-10-29T01:12:43.916Z,1761700363.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:43.918Z,1761700363.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 62.368889 m, bearing: 1.049126 deg, approach rate: -0.707531 m/s, LOS rate: 0.031396 deg/s, cmd heading: 4.245307 deg, new cmd heading: 4.268600 deg. 2025-10-29T01:12:43.919Z,1761700363.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074501 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:43.989Z,1761700363.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511004 2025-10-29T01:12:44.241Z,1761700364.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762687 2025-10-29T01:12:44.303Z,1761700364.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998017,-0.062823,-0.003827],[0.062735,0.988059,0.140726],[-0.005060,-0.140687,0.990041]] 2025-10-29T01:12:44.335Z,1761700364.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:44.338Z,1761700364.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 62.081062 m, bearing: 1.061405 deg, approach rate: -0.685549 m/s, LOS rate: 0.029382 deg/s, cmd heading: 4.268600 deg, new cmd heading: 4.293272 deg. 2025-10-29T01:12:44.339Z,1761700364.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.074932 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:44.493Z,1761700364.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014671 2025-10-29T01:12:44.678Z,1761700364.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997897,-0.064739,-0.003191],[0.064559,0.988321,0.138037],[-0.005782,-0.137953,0.990422]] 2025-10-29T01:12:44.703Z,1761700364.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:44.705Z,1761700364.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 61.830021 m, bearing: 1.071798 deg, approach rate: -0.683450 m/s, LOS rate: 0.028411 deg/s, cmd heading: 4.293272 deg, new cmd heading: 4.314144 deg. 2025-10-29T01:12:44.706Z,1761700364.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075296 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:44.746Z,1761700364.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267358 2025-10-29T01:12:44.997Z,1761700364.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518670 2025-10-29T01:12:45.082Z,1761700365.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997805,-0.066156,-0.002909],[0.065927,0.988309,0.137475],[-0.006220,-0.137365,0.990501]] 2025-10-29T01:12:45.135Z,1761700365.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:45.138Z,1761700365.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 61.535877 m, bearing: 1.085628 deg, approach rate: -0.679931 m/s, LOS rate: 0.032121 deg/s, cmd heading: 4.314144 deg, new cmd heading: 4.341935 deg. 2025-10-29T01:12:45.139Z,1761700365.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.075781 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:45.249Z,1761700365.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770836 2025-10-29T01:12:45.488Z,1761700365.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997736,-0.067195,-0.002696],[0.066931,0.988315,0.136948],[-0.006538,-0.136818,0.990575]] 2025-10-29T01:12:45.501Z,1761700365.501 [DAT](INFO): DAT read: Rx Time:01:12:44.7567 2025-10-29T01:12:45.502Z,1761700365.502 [DAT](INFO): Rx dataTimestamp_ set to:1761700365.501237 2025-10-29T01:12:45.502Z,1761700365.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023919 2025-10-29T01:12:45.509Z,1761700365.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:45.511Z,1761700365.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 61.284405 m, bearing: 1.097324 deg, approach rate: -0.673793 m/s, LOS rate: 0.031467 deg/s, cmd heading: 4.341935 deg, new cmd heading: 4.365424 deg. 2025-10-29T01:12:45.513Z,1761700365.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076191 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:45.754Z,1761700365.754 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275431 2025-10-29T01:12:45.929Z,1761700365.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997620,-0.068911,-0.002335],[0.068596,0.988487,0.134861],[-0.006985,-0.134701,0.990862]] 2025-10-29T01:12:45.976Z,1761700365.976 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:45.978Z,1761700365.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 65.94 m. 2025-10-29T01:12:45.981Z,1761700365.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 65.944382 m, nav range: 60.957939 m, bearing: 1.116652 deg, approach rate: -0.695370 m/s, LOS rate: 0.041389 deg/s, cmd heading: 4.365424 deg, new cmd heading: 4.404287 deg. 2025-10-29T01:12:45.982Z,1761700365.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.076869 target range: 65.944382 and range: 66.30 m. 2025-10-29T01:12:46.011Z,1761700366.011 [DAT](INFO): DAT read: 01:12:44.7567 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405, 0.00, 2.124, 0.503, 2.420, 2.138, PHS= 0.088,-1.591, 0.238, RAW= 154.2, 14.3, CAL= 154.7, 16.1, ROT= 355.3, -16.1 2025-10-29T01:12:46.013Z,1761700366.013 [DAT](INFO): got valid direction response: 01:12:44.7567 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 405, 0.00, 2.124, 0.503, 2.420, 2.138, PHS= 0.088,-1.591, 0.238, RAW= 154.2, 14.3, CAL= 154.7, 16.1, ROT= 355.3, -16.1 2025-10-29T01:12:46.014Z,1761700366.014 [DAT](INFO): DAT read: Bearing 176.5, -7.4 (Local) 2025-10-29T01:12:46.014Z,1761700366.014 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -7.4 (Local) 2025-10-29T01:12:46.017Z,1761700366.017 [DAT](INFO): DAT read: Range 11 to 50 : 63.9 m (Round-trip 85.2 ms) speed 0.5 m/s 2025-10-29T01:12:46.017Z,1761700366.017 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:46.019Z,1761700366.019 [DAT](INFO): direction in FSK: [0.957548,-0.078725,0.277315] 2025-10-29T01:12:46.019Z,1761700366.019 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:46.029Z,1761700366.029 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:46.029Z,1761700366.029 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:46.029Z,1761700366.029 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:46.257Z,1761700366.257 [DAT](INFO): DAT read: user:707> 2025-10-29T01:12:46.258Z,1761700366.258 [DAT](INFO): DAT read: Tx time:01:12:46.0173 2025-10-29T01:12:46.258Z,1761700366.258 [DAT](INFO): Ping request sent. 2025-10-29T01:12:46.258Z,1761700366.258 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:46.258Z,1761700366.258 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:46.259Z,1761700366.259 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000755 2025-10-29T01:12:46.331Z,1761700366.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997536,-0.070116,-0.002264],[0.069795,0.988684,0.132791],[-0.007073,-0.132622,0.991141]] 2025-10-29T01:12:46.353Z,1761700366.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 63.900002 m, deltaT: 3.780081 s, deltaX: -2.400002 m, approachRate: -0.634907 m/s, rangeRepo size: 4 2025-10-29T01:12:46.355Z,1761700366.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 63.554802 m, bearing: 1.540709 deg, lat: 36.779285 deg, lon: -121.859485 deg, deltaT: 3.780081 s, deltaX: -2.389580 m, approachRate: -0.632150 m/s, posRepo size: 4 2025-10-29T01:12:46.355Z,1761700366.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:46.358Z,1761700366.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 60.923126 m, bearing: 1.127591 deg, approach rate: 0.000000 m/s, LOS rate: 0.041389 deg/s, cmd heading: 4.404287 deg, new cmd heading: 4.435227 deg. 2025-10-29T01:12:46.359Z,1761700366.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077409 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:46.509Z,1761700366.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251067 2025-10-29T01:12:46.700Z,1761700366.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997464,-0.071137,-0.002170],[0.070801,0.988722,0.131966],[-0.007242,-0.131785,0.991252]] 2025-10-29T01:12:46.718Z,1761700366.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:46.721Z,1761700366.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 60.666874 m, bearing: 1.142448 deg, approach rate: -0.698980 m/s, LOS rate: 0.040697 deg/s, cmd heading: 4.435227 deg, new cmd heading: 4.465067 deg. 2025-10-29T01:12:46.722Z,1761700366.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.077930 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:46.762Z,1761700366.762 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503219 2025-10-29T01:12:47.013Z,1761700367.013 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755002 2025-10-29T01:12:47.166Z,1761700367.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:47.168Z,1761700367.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 60.355042 m, bearing: 1.159602 deg, approach rate: -0.697373 m/s, LOS rate: 0.038560 deg/s, cmd heading: 4.465067 deg, new cmd heading: 4.499551 deg. 2025-10-29T01:12:47.169Z,1761700367.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.078532 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:47.265Z,1761700367.265 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007024 2025-10-29T01:12:47.509Z,1761700367.509 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997340,-0.072849,-0.002311],[0.072511,0.988502,0.132687],[-0.007382,-0.132502,0.991155]] 2025-10-29T01:12:47.517Z,1761700367.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259010 2025-10-29T01:12:47.528Z,1761700367.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:47.530Z,1761700367.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 60.101936 m, bearing: 1.173234 deg, approach rate: -0.699303 m/s, LOS rate: 0.037822 deg/s, cmd heading: 4.499551 deg, new cmd heading: 4.526930 deg. 2025-10-29T01:12:47.531Z,1761700367.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079010 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:47.769Z,1761700367.769 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511280 2025-10-29T01:12:47.910Z,1761700367.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997324,-0.073052,-0.002899],[0.072782,0.988333,0.133796],[-0.006909,-0.133649,0.991005]] 2025-10-29T01:12:47.959Z,1761700367.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:47.962Z,1761700367.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 59.802608 m, bearing: 1.199310 deg, approach rate: -0.693132 m/s, LOS rate: 0.060684 deg/s, cmd heading: 4.526930 deg, new cmd heading: 4.579343 deg. 2025-10-29T01:12:47.963Z,1761700367.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.079925 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:48.022Z,1761700368.022 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763774 2025-10-29T01:12:48.273Z,1761700368.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014895 2025-10-29T01:12:48.324Z,1761700368.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997337,-0.072842,-0.003465],[0.072633,0.987981,0.136449],[-0.006516,-0.136337,0.990641]] 2025-10-29T01:12:48.341Z,1761700368.341 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:48.343Z,1761700368.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:48.346Z,1761700368.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 59.537121 m, bearing: 1.222662 deg, approach rate: -0.691365 m/s, LOS rate: 0.061085 deg/s, cmd heading: 4.579343 deg, new cmd heading: 4.626257 deg. 2025-10-29T01:12:48.347Z,1761700368.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.080743 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:48.525Z,1761700368.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267238 2025-10-29T01:12:48.718Z,1761700368.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997323,-0.073037,-0.003581],[0.072824,0.987596,0.139104],[-0.006624,-0.138992,0.990271]] 2025-10-29T01:12:48.736Z,1761700368.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:48.738Z,1761700368.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 59.264137 m, bearing: 1.246807 deg, approach rate: -0.695707 m/s, LOS rate: 0.061816 deg/s, cmd heading: 4.626257 deg, new cmd heading: 4.674768 deg. 2025-10-29T01:12:48.742Z,1761700368.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.081590 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:48.779Z,1761700368.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.520393 2025-10-29T01:12:49.029Z,1761700369.029 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770852 2025-10-29T01:12:49.122Z,1761700369.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997314,-0.073173,-0.003231],[0.072907,0.987513,0.139651],[-0.007028,-0.139511,0.990196]] 2025-10-29T01:12:49.171Z,1761700369.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:49.175Z,1761700369.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 58.967117 m, bearing: 1.272597 deg, approach rate: -0.682027 m/s, LOS rate: 0.059520 deg/s, cmd heading: 4.674768 deg, new cmd heading: 4.726609 deg. 2025-10-29T01:12:49.176Z,1761700369.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.082495 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:49.282Z,1761700369.282 [DAT](INFO): DAT read: Rx Time:01:12:48.5032 2025-10-29T01:12:49.283Z,1761700369.283 [DAT](INFO): Rx dataTimestamp_ set to:1761700369.282680 2025-10-29T01:12:49.285Z,1761700369.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027106 2025-10-29T01:12:49.528Z,1761700369.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997314,-0.073184,-0.003077],[0.072892,0.987454,0.140076],[-0.007213,-0.139924,0.990136]] 2025-10-29T01:12:49.533Z,1761700369.533 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275009 2025-10-29T01:12:49.547Z,1761700369.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 63.55 m. 2025-10-29T01:12:49.550Z,1761700369.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 63.554802 m, nav range: 58.710411 m, bearing: 1.295096 deg, approach rate: -0.682448 m/s, LOS rate: 0.060074 deg/s, cmd heading: 4.726609 deg, new cmd heading: 4.771803 deg. 2025-10-29T01:12:49.551Z,1761700369.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.083284 target range: 63.554802 and range: 63.90 m. 2025-10-29T01:12:49.802Z,1761700369.802 [DAT](INFO): DAT read: 01:12:48.5032 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 401,-0.20,-3.031, 1.639,-2.721,-3.039, PHS= 0.110,-1.560, 0.274, RAW= 154.6, 13.3, CAL= 154.9, 15.0, ROT= 355.1, -15.0 2025-10-29T01:12:49.807Z,1761700369.807 [DAT](INFO): got valid direction response: 01:12:48.5032 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 401,-0.20,-3.031, 1.639,-2.721,-3.039, PHS= 0.110,-1.560, 0.274, RAW= 154.6, 13.3, CAL= 154.9, 15.0, ROT= 355.1, -15.0 2025-10-29T01:12:49.809Z,1761700369.809 [DAT](INFO): DAT read: Bearing 175.6, -7.6 (Local) 2025-10-29T01:12:49.809Z,1761700369.809 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, -7.6 (Local) 2025-10-29T01:12:49.810Z,1761700369.810 [DAT](INFO): DAT read: Range 11 to 50 : 61.2 m (Round-trip 81.7 ms) speed 0.9 m/s 2025-10-29T01:12:49.811Z,1761700369.811 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:49.812Z,1761700369.812 [DAT](INFO): direction in FSK: [0.962396,-0.082506,0.258819] 2025-10-29T01:12:49.812Z,1761700369.812 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:49.840Z,1761700369.840 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:49.843Z,1761700369.843 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:49.867Z,1761700369.867 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:50.037Z,1761700370.037 [DAT](INFO): DAT read: user:708> 2025-10-29T01:12:50.038Z,1761700370.038 [DAT](INFO): DAT read: Tx time:01:12:49.8673 2025-10-29T01:12:50.038Z,1761700370.038 [DAT](INFO): Ping request sent. 2025-10-29T01:12:50.038Z,1761700370.038 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:50.038Z,1761700370.038 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:50.039Z,1761700370.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000758 2025-10-29T01:12:50.054Z,1761700370.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 61.200001 m, deltaT: 3.786521 s, deltaX: -2.700001 m, approachRate: -0.713056 m/s, rangeRepo size: 4 2025-10-29T01:12:50.060Z,1761700370.060 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 60.869690 m, bearing: 1.480048 deg, lat: 36.779286 deg, lon: -121.859485 deg, deltaT: 3.786521 s, deltaX: -2.685112 m, approachRate: -0.709124 m/s, posRepo size: 4 2025-10-29T01:12:50.061Z,1761700370.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:50.063Z,1761700370.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 58.490131 m, bearing: 1.316201 deg, approach rate: 0.000000 m/s, LOS rate: 0.060074 deg/s, cmd heading: 4.771803 deg, new cmd heading: 4.832572 deg. 2025-10-29T01:12:50.069Z,1761700370.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084344 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:50.290Z,1761700370.290 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.252001 2025-10-29T01:12:50.372Z,1761700370.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997246,-0.074096,-0.003305],[0.073812,0.987087,0.142163],[-0.007272,-0.142015,0.989838]] 2025-10-29T01:12:50.398Z,1761700370.398 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:50.400Z,1761700370.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:50.402Z,1761700370.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 58.235363 m, bearing: 1.334412 deg, approach rate: -0.735281 m/s, LOS rate: 0.052789 deg/s, cmd heading: 4.832572 deg, new cmd heading: 4.869154 deg. 2025-10-29T01:12:50.403Z,1761700370.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.084983 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:50.541Z,1761700370.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502860 2025-10-29T01:12:50.790Z,1761700370.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997235,-0.074228,-0.003396],[0.073952,0.987000,0.142692],[-0.007240,-0.142549,0.989761]] 2025-10-29T01:12:50.794Z,1761700370.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755602 2025-10-29T01:12:50.833Z,1761700370.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:50.836Z,1761700370.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 57.939243 m, bearing: 1.355733 deg, approach rate: -0.683177 m/s, LOS rate: 0.049440 deg/s, cmd heading: 4.869153 deg, new cmd heading: 4.912012 deg. 2025-10-29T01:12:50.838Z,1761700370.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.085731 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:51.049Z,1761700371.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.009636 2025-10-29T01:12:51.181Z,1761700371.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997183,-0.074924,-0.003649],[0.074681,0.987039,0.142042],[-0.007040,-0.141915,0.989854]] 2025-10-29T01:12:51.233Z,1761700371.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:51.235Z,1761700371.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 57.685463 m, bearing: 1.377235 deg, approach rate: -0.635492 m/s, LOS rate: 0.054081 deg/s, cmd heading: 4.912012 deg, new cmd heading: 4.955206 deg. 2025-10-29T01:12:51.240Z,1761700371.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.086485 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:51.298Z,1761700371.298 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259473 2025-10-29T01:12:51.549Z,1761700371.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511262 2025-10-29T01:12:51.600Z,1761700371.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997102,-0.075985,-0.003796],[0.075754,0.986992,0.141806],[-0.007028,-0.141683,0.989887]] 2025-10-29T01:12:51.640Z,1761700371.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:51.642Z,1761700371.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 57.419941 m, bearing: 1.399653 deg, approach rate: -0.651900 m/s, LOS rate: 0.055295 deg/s, cmd heading: 4.955206 deg, new cmd heading: 5.000250 deg. 2025-10-29T01:12:51.643Z,1761700371.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.087271 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:51.802Z,1761700371.802 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763840 2025-10-29T01:12:52.003Z,1761700372.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997060,-0.076522,-0.003992],[0.076317,0.987014,0.141348],[-0.006876,-0.141237,0.989952]] 2025-10-29T01:12:52.053Z,1761700372.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015039 2025-10-29T01:12:52.066Z,1761700372.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:52.077Z,1761700372.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 57.134140 m, bearing: 1.420808 deg, approach rate: -0.670337 m/s, LOS rate: 0.049867 deg/s, cmd heading: 5.000250 deg, new cmd heading: 5.042772 deg. 2025-10-29T01:12:52.078Z,1761700372.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088013 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:52.307Z,1761700372.307 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268617 2025-10-29T01:12:52.406Z,1761700372.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996995,-0.077343,-0.004379],[0.077185,0.986952,0.141312],[-0.006608,-0.141225,0.989956]] 2025-10-29T01:12:52.431Z,1761700372.431 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:52.434Z,1761700372.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:52.436Z,1761700372.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 56.866356 m, bearing: 1.440588 deg, approach rate: -0.728853 m/s, LOS rate: 0.054088 deg/s, cmd heading: 5.042772 deg, new cmd heading: 5.082516 deg. 2025-10-29T01:12:52.437Z,1761700372.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.088707 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:52.557Z,1761700372.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518893 2025-10-29T01:12:52.809Z,1761700372.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770933 2025-10-29T01:12:52.815Z,1761700372.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996915,-0.078355,-0.004637],[0.078218,0.986752,0.142136],[-0.006561,-0.142060,0.989836]] 2025-10-29T01:12:52.834Z,1761700372.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:52.837Z,1761700372.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 56.594738 m, bearing: 1.460544 deg, approach rate: -0.678392 m/s, LOS rate: 0.050083 deg/s, cmd heading: 5.082517 deg, new cmd heading: 5.122621 deg. 2025-10-29T01:12:52.838Z,1761700372.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.089407 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:53.061Z,1761700373.061 [DAT](INFO): DAT read: Rx Time:01:12:52.3496 2025-10-29T01:12:53.061Z,1761700373.061 [DAT](INFO): Rx dataTimestamp_ set to:1761700373.061171 2025-10-29T01:12:53.062Z,1761700373.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023984 2025-10-29T01:12:53.214Z,1761700373.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996836,-0.079343,-0.004704],[0.079204,0.986662,0.142217],[-0.006643,-0.142140,0.989824]] 2025-10-29T01:12:53.287Z,1761700373.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 60.87 m. 2025-10-29T01:12:53.297Z,1761700373.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 60.869690 m, nav range: 56.295464 m, bearing: 1.478250 deg, approach rate: -0.660614 m/s, LOS rate: 0.039291 deg/s, cmd heading: 5.122621 deg, new cmd heading: 5.158221 deg. 2025-10-29T01:12:53.299Z,1761700373.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090028 target range: 60.869690 and range: 61.20 m. 2025-10-29T01:12:53.313Z,1761700373.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275167 2025-10-29T01:12:53.570Z,1761700373.570 [DAT](INFO): DAT read: 01:12:52.3495 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412, 0.07,-2.421, 2.236,-2.068,-2.434, PHS= 0.115,-1.568, 0.322, RAW= 155.7, 12.6, CAL= 156.0, 14.1, ROT= 354.0, -14.1 2025-10-29T01:12:53.571Z,1761700373.571 [DAT](INFO): got valid direction response: 01:12:52.3495 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 412, 0.07,-2.421, 2.236,-2.068,-2.434, PHS= 0.115,-1.568, 0.322, RAW= 155.7, 12.6, CAL= 156.0, 14.1, ROT= 354.0, -14.1 2025-10-29T01:12:53.573Z,1761700373.573 [DAT](INFO): DAT read: Bearing 174.6, -8.3 (Local) 2025-10-29T01:12:53.573Z,1761700373.573 [DAT](INFO): Local bearing/azimuth received: Bearing 174.6, -8.3 (Local) 2025-10-29T01:12:53.574Z,1761700373.574 [DAT](INFO): DAT read: Range 11 to 50 : 58.5 m (Round-trip 78.1 ms) speed 0.6 m/s 2025-10-29T01:12:53.575Z,1761700373.575 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:12:53.576Z,1761700373.576 [DAT](INFO): direction in FSK: [0.964559,-0.101379,0.243615] 2025-10-29T01:12:53.576Z,1761700373.576 [DAT](INFO): publishing direction and range info 2025-10-29T01:12:53.579Z,1761700373.579 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:53.580Z,1761700373.580 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:53.581Z,1761700373.581 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:12:53.619Z,1761700373.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996719,-0.080816,-0.004515],[0.080637,0.986566,0.142072],[-0.007028,-0.141970,0.989846]] 2025-10-29T01:12:53.702Z,1761700373.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 58.500000 m, deltaT: 3.773488 s, deltaX: -2.700001 m, approachRate: -0.715519 m/s, rangeRepo size: 4 2025-10-29T01:12:53.703Z,1761700373.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 58.184853 m, bearing: 0.731889 deg, lat: 36.779287 deg, lon: -121.859485 deg, deltaT: 3.773488 s, deltaX: -2.684837 m, approachRate: -0.711500 m/s, posRepo size: 4 2025-10-29T01:12:53.708Z,1761700373.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:53.709Z,1761700373.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:53.711Z,1761700373.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 56.195099 m, bearing: 1.489824 deg, approach rate: 0.000000 m/s, LOS rate: 0.039291 deg/s, cmd heading: 5.158221 deg, new cmd heading: 5.190747 deg. 2025-10-29T01:12:53.717Z,1761700373.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.090596 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:53.754Z,1761700373.754 [DockingStepper](INFO): Changing to mode: 2 2025-10-29T01:12:53.817Z,1761700373.817 [DAT](INFO): DAT read: user:709> 2025-10-29T01:12:53.818Z,1761700373.818 [DAT](INFO): DAT read: Tx time:01:12:53.5672 2025-10-29T01:12:53.818Z,1761700373.818 [DAT](INFO): Ping request sent. 2025-10-29T01:12:53.818Z,1761700373.818 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:12:53.818Z,1761700373.818 [DAT](INFO): publishing transmit ping time 2025-10-29T01:12:53.819Z,1761700373.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000761 2025-10-29T01:12:54.027Z,1761700374.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996609,-0.082174,-0.004319],[0.081954,0.986493,0.141831],[-0.007394,-0.141704,0.989882]] 2025-10-29T01:12:54.069Z,1761700374.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250852 2025-10-29T01:12:54.120Z,1761700374.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:54.120Z,1761700374.120 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:54.123Z,1761700374.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 55.912144 m, bearing: 1.502636 deg, approach rate: -0.682116 m/s, LOS rate: 0.031043 deg/s, cmd heading: 5.190747 deg, new cmd heading: 5.216501 deg. 2025-10-29T01:12:54.129Z,1761700374.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091045 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:54.321Z,1761700374.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502729 2025-10-29T01:12:54.477Z,1761700374.477 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:54.479Z,1761700374.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:54.480Z,1761700374.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:54.483Z,1761700374.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 55.661350 m, bearing: 1.514101 deg, approach rate: -0.689791 m/s, LOS rate: 0.031675 deg/s, cmd heading: 5.216501 deg, new cmd heading: 5.239533 deg. 2025-10-29T01:12:54.484Z,1761700374.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091447 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:54.574Z,1761700374.574 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755462 2025-10-29T01:12:54.825Z,1761700374.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006761 2025-10-29T01:12:54.858Z,1761700374.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996084,-0.088374,-0.002462],[0.087987,0.988237,0.125086],[-0.008621,-0.124813,0.992143]] 2025-10-29T01:12:54.875Z,1761700374.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:54.876Z,1761700374.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:54.879Z,1761700374.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 55.396454 m, bearing: 1.524891 deg, approach rate: -0.668842 m/s, LOS rate: 0.027376 deg/s, cmd heading: 5.239533 deg, new cmd heading: 5.261218 deg. 2025-10-29T01:12:54.880Z,1761700374.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.091826 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:55.077Z,1761700375.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258772 2025-10-29T01:12:55.160Z,1761700375.160 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:12:55.327Z,1761700375.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:55.329Z,1761700375.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511253 2025-10-29T01:12:55.330Z,1761700375.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:55.333Z,1761700375.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 55.105526 m, bearing: 1.537020 deg, approach rate: -0.643448 m/s, LOS rate: 0.026966 deg/s, cmd heading: 5.261218 deg, new cmd heading: 5.285603 deg. 2025-10-29T01:12:55.334Z,1761700375.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092251 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:55.583Z,1761700375.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.765158 2025-10-29T01:12:55.665Z,1761700375.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995811,-0.091402,-0.002286],[0.090936,0.987521,0.128578],[-0.009495,-0.128247,0.991697]] 2025-10-29T01:12:55.682Z,1761700375.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:55.683Z,1761700375.683 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:55.698Z,1761700375.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 54.862877 m, bearing: 1.546445 deg, approach rate: -0.683545 m/s, LOS rate: 0.026668 deg/s, cmd heading: 5.285603 deg, new cmd heading: 5.304537 deg. 2025-10-29T01:12:55.699Z,1761700375.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092582 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:55.833Z,1761700375.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014792 2025-10-29T01:12:56.063Z,1761700376.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995831,-0.091182,-0.002554],[0.090684,0.986590,0.135706],[-0.009854,-0.135372,0.990746]] 2025-10-29T01:12:56.085Z,1761700376.085 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266779 2025-10-29T01:12:56.108Z,1761700376.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:56.109Z,1761700376.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:56.111Z,1761700376.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 54.576500 m, bearing: 1.557802 deg, approach rate: -0.673122 m/s, LOS rate: 0.026835 deg/s, cmd heading: 5.304537 deg, new cmd heading: 5.327370 deg. 2025-10-29T01:12:56.113Z,1761700376.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.092980 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:56.165Z,1761700376.165 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:12:56.337Z,1761700376.337 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518827 2025-10-29T01:12:56.467Z,1761700376.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995887,-0.090566,-0.002747],[0.090080,0.986353,0.137817],[-0.009773,-0.137498,0.990454]] 2025-10-29T01:12:56.489Z,1761700376.489 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:56.491Z,1761700376.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:56.492Z,1761700376.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:56.494Z,1761700376.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 54.318687 m, bearing: 1.568273 deg, approach rate: -0.672555 m/s, LOS rate: 0.027446 deg/s, cmd heading: 5.327370 deg, new cmd heading: 5.348412 deg. 2025-10-29T01:12:56.495Z,1761700376.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093347 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:56.589Z,1761700376.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771282 2025-10-29T01:12:56.841Z,1761700376.841 [DAT](INFO): DAT read: Rx Time:01:12:56.0462 2025-10-29T01:12:56.841Z,1761700376.841 [DAT](INFO): Rx dataTimestamp_ set to:1761700376.841133 2025-10-29T01:12:56.842Z,1761700376.842 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023820 2025-10-29T01:12:56.886Z,1761700376.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995891,-0.090525,-0.002583],[0.090048,0.986802,0.134584],[-0.009634,-0.134264,0.990899]] 2025-10-29T01:12:56.904Z,1761700376.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:56.905Z,1761700376.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:56.907Z,1761700376.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 54.040550 m, bearing: 1.579726 deg, approach rate: -0.673877 m/s, LOS rate: 0.027892 deg/s, cmd heading: 5.348412 deg, new cmd heading: 5.371436 deg. 2025-10-29T01:12:56.908Z,1761700376.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.093749 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:57.093Z,1761700377.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274746 2025-10-29T01:12:57.283Z,1761700377.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995941,-0.089969,-0.002480],[0.089502,0.987120,0.132605],[-0.009482,-0.132288,0.991166]] 2025-10-29T01:12:57.324Z,1761700377.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:57.325Z,1761700377.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:57.327Z,1761700377.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 53.761452 m, bearing: 1.594404 deg, approach rate: -0.664395 m/s, LOS rate: 0.035122 deg/s, cmd heading: 5.371436 deg, new cmd heading: 5.400944 deg. 2025-10-29T01:12:57.351Z,1761700377.351 [DAT](INFO): DAT read: 01:12:56.0462 LVL= 31408, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.37, 1.472,-0.197, 1.890, 1.378, PHS= 0.196,-1.530, 0.468, RAW= 157.2, 9.3, CAL= 157.0, 9.9, ROT= 353.0, -9.9 2025-10-29T01:12:57.352Z,1761700377.352 [DAT](INFO): got valid direction response: 01:12:56.0462 LVL= 31408, 32753, 32754, 32755, AGC= 68, IDX= 412,-0.37, 1.472,-0.197, 1.890, 1.378, PHS= 0.196,-1.530, 0.468, RAW= 157.2, 9.3, CAL= 157.0, 9.9, ROT= 353.0, -9.9 2025-10-29T01:12:57.353Z,1761700377.353 [DAT](INFO): DAT read: $Error in header 2025-10-29T01:12:57.353Z,1761700377.353 [DAT](INFO): Received a bad header 2025-10-29T01:12:57.357Z,1761700377.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094264 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:57.364Z,1761700377.364 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T01:12:57.365Z,1761700377.365 [DAT](INFO): direction in FSK: [0.977766,-0.120055,0.171929] 2025-10-29T01:12:57.368Z,1761700377.368 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:57.369Z,1761700377.369 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:57.369Z,1761700377.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:57.597Z,1761700377.597 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:57.597Z,1761700377.597 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:57.597Z,1761700377.597 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:57.815Z,1761700377.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995959,-0.089741,-0.003489],[0.089386,0.986766,0.135287],[-0.008698,-0.135052,0.990800]] 2025-10-29T01:12:57.833Z,1761700377.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:57.834Z,1761700377.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:57.837Z,1761700377.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 53.423061 m, bearing: 1.612407 deg, approach rate: -0.664383 m/s, LOS rate: 0.035571 deg/s, cmd heading: 5.400944 deg, new cmd heading: 5.437179 deg. 2025-10-29T01:12:57.838Z,1761700377.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.094897 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:57.849Z,1761700377.849 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:57.849Z,1761700377.849 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:57.849Z,1761700377.849 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:58.101Z,1761700378.101 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:58.101Z,1761700378.101 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:58.101Z,1761700378.101 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:58.299Z,1761700378.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996017,-0.089056,-0.004478],[0.088786,0.985844,0.142229],[-0.008252,-0.142060,0.989824]] 2025-10-29T01:12:58.351Z,1761700378.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:58.353Z,1761700378.353 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:58.353Z,1761700378.353 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:58.353Z,1761700378.353 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:58.352Z,1761700378.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:58.358Z,1761700378.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 53.086014 m, bearing: 1.632391 deg, approach rate: -0.651038 m/s, LOS rate: 0.038846 deg/s, cmd heading: 5.437178 deg, new cmd heading: 5.477400 deg. 2025-10-29T01:12:58.359Z,1761700378.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.095599 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:58.605Z,1761700378.605 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:58.605Z,1761700378.605 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:58.605Z,1761700378.605 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:58.819Z,1761700378.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996040,-0.088726,-0.005632],[0.088576,0.984926,0.148579],[-0.007636,-0.148489,0.988885]] 2025-10-29T01:12:58.837Z,1761700378.837 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:12:58.839Z,1761700378.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:58.839Z,1761700378.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:58.842Z,1761700378.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 52.748146 m, bearing: 1.652654 deg, approach rate: -0.692997 m/s, LOS rate: 0.041828 deg/s, cmd heading: 5.477400 deg, new cmd heading: 5.518186 deg. 2025-10-29T01:12:58.843Z,1761700378.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096311 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:58.859Z,1761700378.859 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:58.859Z,1761700378.859 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:58.859Z,1761700378.859 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:59.109Z,1761700379.109 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:59.109Z,1761700379.109 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:59.109Z,1761700379.109 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:59.211Z,1761700379.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995993,-0.089186,-0.006558],[0.089143,0.984305,0.152306],[-0.007129,-0.152281,0.988312]] 2025-10-29T01:12:59.249Z,1761700379.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:59.249Z,1761700379.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:59.252Z,1761700379.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 52.464783 m, bearing: 1.672151 deg, approach rate: -0.690963 m/s, LOS rate: 0.047798 deg/s, cmd heading: 5.518185 deg, new cmd heading: 5.557389 deg. 2025-10-29T01:12:59.253Z,1761700379.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.096995 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:59.362Z,1761700379.362 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:59.362Z,1761700379.362 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:59.362Z,1761700379.362 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:59.613Z,1761700379.613 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:59.613Z,1761700379.613 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:59.613Z,1761700379.613 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:12:59.616Z,1761700379.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995842,-0.090772,-0.007683],[0.090874,0.983975,0.153414],[-0.006366,-0.153475,0.988132]] 2025-10-29T01:12:59.663Z,1761700379.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:12:59.664Z,1761700379.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 58.50 m. 2025-10-29T01:12:59.664Z,1761700379.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 58.50 m. 2025-10-29T01:12:59.665Z,1761700379.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-29T01:12:59.667Z,1761700379.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 52.182034 m, bearing: 1.691259 deg, approach rate: -0.682022 m/s, LOS rate: 0.046340 deg/s, cmd heading: 5.557389 deg, new cmd heading: 5.595812 deg. 2025-10-29T01:12:59.668Z,1761700379.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.097665 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:12:59.695Z,1761700379.695 [HorizontalControl](DEBUG): kpHeading = 0.700000 2025-10-29T01:12:59.700Z,1761700379.700 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-29T01:12:59.865Z,1761700379.865 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:12:59.865Z,1761700379.865 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:12:59.865Z,1761700379.865 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:00.110Z,1761700380.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:00.113Z,1761700380.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 51.878540 m, bearing: 1.707713 deg, approach rate: -0.678747 m/s, LOS rate: 0.037015 deg/s, cmd heading: 5.595812 deg, new cmd heading: 5.628914 deg. 2025-10-29T01:13:00.114Z,1761700380.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098243 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:00.117Z,1761700380.117 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:00.117Z,1761700380.117 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:00.117Z,1761700380.117 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:00.369Z,1761700380.369 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:00.369Z,1761700380.369 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:00.369Z,1761700380.369 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:00.424Z,1761700380.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995875,-0.090233,-0.009570],[0.090627,0.983852,0.154344],[-0.004512,-0.154574,0.987971]] 2025-10-29T01:13:00.448Z,1761700380.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:00.451Z,1761700380.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 51.651978 m, bearing: 1.720175 deg, approach rate: -0.671676 m/s, LOS rate: 0.037107 deg/s, cmd heading: 5.628914 deg, new cmd heading: 5.653947 deg. 2025-10-29T01:13:00.452Z,1761700380.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.098680 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:00.621Z,1761700380.621 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:00.621Z,1761700380.621 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:00.621Z,1761700380.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:00.826Z,1761700380.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995793,-0.091081,-0.010029],[0.091552,0.984409,0.150187],[-0.003807,-0.150474,0.988607]] 2025-10-29T01:13:00.846Z,1761700380.846 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:00.848Z,1761700380.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:00.851Z,1761700380.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 51.383564 m, bearing: 1.734860 deg, approach rate: -0.670670 m/s, LOS rate: 0.036884 deg/s, cmd heading: 5.653947 deg, new cmd heading: 5.683470 deg. 2025-10-29T01:13:00.852Z,1761700380.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099195 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:00.873Z,1761700380.873 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:00.873Z,1761700380.873 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:00.873Z,1761700380.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:01.128Z,1761700381.128 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:01.129Z,1761700381.129 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:01.129Z,1761700381.129 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:01.230Z,1761700381.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995648,-0.092567,-0.010764],[0.093139,0.984589,0.148018],[-0.003103,-0.148376,0.988926]] 2025-10-29T01:13:01.297Z,1761700381.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:01.299Z,1761700381.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 51.078915 m, bearing: 1.754877 deg, approach rate: -0.678877 m/s, LOS rate: 0.044871 deg/s, cmd heading: 5.683470 deg, new cmd heading: 5.723742 deg. 2025-10-29T01:13:01.317Z,1761700381.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.099898 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:01.377Z,1761700381.377 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:01.378Z,1761700381.378 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:01.378Z,1761700381.378 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:01.629Z,1761700381.629 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:01.629Z,1761700381.629 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:01.629Z,1761700381.629 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:01.639Z,1761700381.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995488,-0.094215,-0.011295],[0.094860,0.985108,0.143399],[-0.002384,-0.143823,0.989601]] 2025-10-29T01:13:01.665Z,1761700381.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:01.668Z,1761700381.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 50.830555 m, bearing: 1.770951 deg, approach rate: -0.673518 m/s, LOS rate: 0.043805 deg/s, cmd heading: 5.723742 deg, new cmd heading: 5.756049 deg. 2025-10-29T01:13:01.669Z,1761700381.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.100462 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:01.881Z,1761700381.881 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:01.881Z,1761700381.881 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:01.881Z,1761700381.881 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:02.061Z,1761700382.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995195,-0.097145,-0.012207],[0.097901,0.985767,0.136671],[-0.001244,-0.137209,0.990541]] 2025-10-29T01:13:02.118Z,1761700382.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:02.125Z,1761700382.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 50.518616 m, bearing: 1.790397 deg, approach rate: -0.689411 m/s, LOS rate: 0.043241 deg/s, cmd heading: 5.756049 deg, new cmd heading: 5.795179 deg. 2025-10-29T01:13:02.126Z,1761700382.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101145 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:02.133Z,1761700382.133 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:02.133Z,1761700382.133 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:02.133Z,1761700382.133 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:02.386Z,1761700382.386 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:02.386Z,1761700382.386 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:02.386Z,1761700382.386 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:02.473Z,1761700382.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994386,-0.104853,-0.014196],[0.105809,0.986053,0.128469],[0.000528,-0.129250,0.991612]] 2025-10-29T01:13:02.528Z,1761700382.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:02.534Z,1761700382.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 50.249107 m, bearing: 1.801986 deg, approach rate: -0.658036 m/s, LOS rate: 0.028450 deg/s, cmd heading: 5.795179 deg, new cmd heading: 5.818484 deg. 2025-10-29T01:13:02.535Z,1761700382.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101552 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:02.637Z,1761700382.637 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:02.637Z,1761700382.637 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:02.637Z,1761700382.637 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:02.873Z,1761700382.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993982,-0.108472,-0.015270],[0.109537,0.985483,0.129708],[0.000978,-0.130600,0.991435]] 2025-10-29T01:13:02.889Z,1761700382.889 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:02.889Z,1761700382.889 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:02.889Z,1761700382.889 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:02.891Z,1761700382.891 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:02.893Z,1761700382.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:02.895Z,1761700382.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 49.991268 m, bearing: 1.812063 deg, approach rate: -0.705645 m/s, LOS rate: 0.027718 deg/s, cmd heading: 5.818484 deg, new cmd heading: 5.838740 deg. 2025-10-29T01:13:02.913Z,1761700382.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.101905 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:03.141Z,1761700383.141 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:03.141Z,1761700383.141 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:03.141Z,1761700383.141 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:03.287Z,1761700383.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993502,-0.112655,-0.016193],[0.113807,0.984737,0.131685],[0.001110,-0.132672,0.991159]] 2025-10-29T01:13:03.341Z,1761700383.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:03.344Z,1761700383.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 49.711098 m, bearing: 1.819228 deg, approach rate: -0.625138 m/s, LOS rate: 0.016077 deg/s, cmd heading: 5.838740 deg, new cmd heading: 5.853151 deg. 2025-10-29T01:13:03.345Z,1761700383.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102157 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:03.394Z,1761700383.394 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:03.394Z,1761700383.394 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:03.394Z,1761700383.394 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:03.645Z,1761700383.645 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:13:03.645Z,1761700383.645 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:13:03.645Z,1761700383.645 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:13:03.681Z,1761700383.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993129,-0.115837,-0.016600],[0.117013,0.984654,0.129480],[0.001346,-0.130533,0.991443]] 2025-10-29T01:13:03.722Z,1761700383.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:03.724Z,1761700383.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 49.459507 m, bearing: 1.824819 deg, approach rate: -0.661258 m/s, LOS rate: 0.014769 deg/s, cmd heading: 5.853151 deg, new cmd heading: 5.864389 deg. 2025-10-29T01:13:03.725Z,1761700383.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102353 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:03.899Z,1761700383.899 [DAT](INFO): Reached modem response timeout 2025-10-29T01:13:03.899Z,1761700383.899 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:03.900Z,1761700383.900 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:04.119Z,1761700384.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992655,-0.119885,-0.016213],[0.120972,0.984805,0.124596],[0.001029,-0.125642,0.992075]] 2025-10-29T01:13:04.149Z,1761700384.149 [DAT](INFO): DAT read: 2025-10-29T01:13:04.149Z,1761700384.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:04.192Z,1761700384.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:04.194Z,1761700384.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 49.141323 m, bearing: 1.829813 deg, approach rate: -0.677045 m/s, LOS rate: 0.010696 deg/s, cmd heading: 5.864389 deg, new cmd heading: 5.874443 deg. 2025-10-29T01:13:04.195Z,1761700384.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102528 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:04.401Z,1761700384.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:04.508Z,1761700384.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992244,-0.123256,-0.016099],[0.124299,0.984804,0.121290],[0.000905,-0.122350,0.992487]] 2025-10-29T01:13:04.526Z,1761700384.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:04.529Z,1761700384.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 48.915531 m, bearing: 1.832540 deg, approach rate: -0.675241 m/s, LOS rate: 0.008194 deg/s, cmd heading: 5.874443 deg, new cmd heading: 5.879923 deg. 2025-10-29T01:13:04.530Z,1761700384.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102624 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:04.653Z,1761700384.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:04.905Z,1761700384.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:04.914Z,1761700384.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991917,-0.125934,-0.015553],[0.126890,0.984847,0.118218],[0.000429,-0.119236,0.992866]] 2025-10-29T01:13:04.935Z,1761700384.935 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:04.937Z,1761700384.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:04.940Z,1761700384.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 48.641285 m, bearing: 1.835079 deg, approach rate: -0.666319 m/s, LOS rate: 0.006202 deg/s, cmd heading: 5.879923 deg, new cmd heading: 5.885028 deg. 2025-10-29T01:13:04.941Z,1761700384.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102713 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:05.159Z,1761700385.159 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:05.369Z,1761700385.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:05.372Z,1761700385.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 48.355900 m, bearing: 1.843046 deg, approach rate: -0.660751 m/s, LOS rate: 0.018557 deg/s, cmd heading: 5.885028 deg, new cmd heading: 5.901058 deg. 2025-10-29T01:13:05.373Z,1761700385.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102993 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:05.409Z,1761700385.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:05.664Z,1761700385.664 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:05.724Z,1761700385.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991557,-0.128813,-0.014914],[0.129672,0.984311,0.119657],[-0.000733,-0.120580,0.992703]] 2025-10-29T01:13:05.754Z,1761700385.754 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:05.759Z,1761700385.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 48.105633 m, bearing: 1.849257 deg, approach rate: -0.652281 m/s, LOS rate: 0.016270 deg/s, cmd heading: 5.901058 deg, new cmd heading: 5.913543 deg. 2025-10-29T01:13:05.762Z,1761700385.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103211 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:05.913Z,1761700385.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:06.164Z,1761700386.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991634,-0.128245,-0.014642],[0.129068,0.983779,0.124578],[-0.001572,-0.125425,0.992102]] 2025-10-29T01:13:06.165Z,1761700386.165 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:13:06.165Z,1761700386.165 [DAT](INFO): response not received 2025-10-29T01:13:06.166Z,1761700386.166 [DAT](INFO): DAT read: user:711>Tx time:01:13:06.0172 2025-10-29T01:13:06.167Z,1761700386.167 [DAT](ERROR): No response from remote modem. 2025-10-29T01:13:06.167Z,1761700386.167 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:06.167Z,1761700386.167 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:06.248Z,1761700386.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:06.258Z,1761700386.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 47.804852 m, bearing: 1.857400 deg, approach rate: -0.613040 m/s, LOS rate: 0.016702 deg/s, cmd heading: 5.913543 deg, new cmd heading: 5.929932 deg. 2025-10-29T01:13:06.259Z,1761700386.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103497 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:06.417Z,1761700386.417 [DAT](INFO): DAT read: 2025-10-29T01:13:06.417Z,1761700386.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:06.529Z,1761700386.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991640,-0.128195,-0.014701],[0.129015,0.983037,0.130361],[-0.002260,-0.131168,0.991358]] 2025-10-29T01:13:06.590Z,1761700386.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:06.593Z,1761700386.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 47.565979 m, bearing: 1.863891 deg, approach rate: -0.688896 m/s, LOS rate: 0.018813 deg/s, cmd heading: 5.929932 deg, new cmd heading: 5.942978 deg. 2025-10-29T01:13:06.594Z,1761700386.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103725 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:06.669Z,1761700386.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:06.921Z,1761700386.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:06.933Z,1761700386.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991673,-0.127954,-0.014593],[0.128746,0.982265,0.136310],[-0.003107,-0.137054,0.990559]] 2025-10-29T01:13:06.970Z,1761700386.970 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:06.972Z,1761700386.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:06.975Z,1761700386.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 47.311939 m, bearing: 1.870876 deg, approach rate: -0.665770 m/s, LOS rate: 0.018405 deg/s, cmd heading: 5.942978 deg, new cmd heading: 5.957024 deg. 2025-10-29T01:13:06.976Z,1761700386.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103970 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:07.175Z,1761700387.175 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:07.336Z,1761700387.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991816,-0.126871,-0.014281],[0.127605,0.981464,0.142990],[-0.004125,-0.143642,0.989621]] 2025-10-29T01:13:07.379Z,1761700387.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:07.382Z,1761700387.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 47.048222 m, bearing: 1.879594 deg, approach rate: -0.647923 m/s, LOS rate: 0.021540 deg/s, cmd heading: 5.957024 deg, new cmd heading: 5.974559 deg. 2025-10-29T01:13:07.383Z,1761700387.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104276 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:07.425Z,1761700387.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:07.677Z,1761700387.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:07.745Z,1761700387.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991906,-0.126192,-0.014057],[0.126889,0.981149,0.145756],[-0.004601,-0.146360,0.989221]] 2025-10-29T01:13:07.794Z,1761700387.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:07.801Z,1761700387.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 46.790680 m, bearing: 1.888396 deg, approach rate: -0.620342 m/s, LOS rate: 0.021318 deg/s, cmd heading: 5.974559 deg, new cmd heading: 5.992260 deg. 2025-10-29T01:13:07.802Z,1761700387.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104585 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:07.929Z,1761700387.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:08.179Z,1761700388.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991809,-0.126934,-0.014215],[0.127639,0.980845,0.147143],[-0.004735,-0.147752,0.989013]] 2025-10-29T01:13:08.184Z,1761700388.184 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:08.254Z,1761700388.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:08.258Z,1761700388.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 46.492611 m, bearing: 1.901443 deg, approach rate: -0.649716 m/s, LOS rate: 0.028619 deg/s, cmd heading: 5.992260 deg, new cmd heading: 6.018519 deg. 2025-10-29T01:13:08.261Z,1761700388.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105043 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:08.433Z,1761700388.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:08.571Z,1761700388.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991803,-0.126921,-0.014745],[0.127693,0.980425,0.149868],[-0.004565,-0.150523,0.988596]] 2025-10-29T01:13:08.590Z,1761700388.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:08.593Z,1761700388.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 46.276943 m, bearing: 1.910927 deg, approach rate: -0.639218 m/s, LOS rate: 0.028243 deg/s, cmd heading: 6.018519 deg, new cmd heading: 6.037577 deg. 2025-10-29T01:13:08.594Z,1761700388.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105376 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:08.686Z,1761700388.686 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:08.937Z,1761700388.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:09.002Z,1761700389.002 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:09.023Z,1761700389.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:09.025Z,1761700389.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 46.015873 m, bearing: 1.922528 deg, approach rate: -0.604161 m/s, LOS rate: 0.026998 deg/s, cmd heading: 6.037577 deg, new cmd heading: 6.060910 deg. 2025-10-29T01:13:09.026Z,1761700389.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105783 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:09.192Z,1761700389.192 [DAT](INFO): DAT read: Rx Time:01:13:08.4852 2025-10-29T01:13:09.194Z,1761700389.194 [DAT](INFO): Rx dataTimestamp_ set to:1761700389.193083 2025-10-29T01:13:09.195Z,1761700389.195 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:09.441Z,1761700389.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:09.443Z,1761700389.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 58.18 m. 2025-10-29T01:13:09.450Z,1761700389.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 58.184853 m, nav range: 45.741711 m, bearing: 1.943252 deg, approach rate: -0.651437 m/s, LOS rate: 0.049538 deg/s, cmd heading: 6.060910 deg, new cmd heading: 6.102606 deg. 2025-10-29T01:13:09.451Z,1761700389.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106511 target range: 58.184853 and range: 58.50 m. 2025-10-29T01:13:09.699Z,1761700389.699 [DAT](INFO): DAT read: 01:13:08.4852 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 330,-0.13, 1.302,-0.284, 1.708, 1.349, PHS= 0.055,-1.588, 0.314, RAW= 157.2, 13.6, CAL= 157.7, 15.4, ROT= 352.3, -15.4 2025-10-29T01:13:09.700Z,1761700389.700 [DAT](INFO): got valid direction response: 01:13:08.4852 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 330,-0.13, 1.302,-0.284, 1.708, 1.349, PHS= 0.055,-1.588, 0.314, RAW= 157.2, 13.6, CAL= 157.7, 15.4, ROT= 352.3, -15.4 2025-10-29T01:13:09.701Z,1761700389.701 [DAT](INFO): DAT read: Bearing 177.5, -10.0 (Local) 2025-10-29T01:13:09.701Z,1761700389.701 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, -10.0 (Local) 2025-10-29T01:13:09.703Z,1761700389.703 [DAT](INFO): DAT read: Range 11 to 50 : 47.8 m (Round-trip 63.8 ms) speed 0.8 m/s 2025-10-29T01:13:09.704Z,1761700389.704 [DAT](INFO): DAT read: user:712>Tx time:01:13:09.5672 2025-10-29T01:13:09.704Z,1761700389.704 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:09.705Z,1761700389.705 [DAT](INFO): direction in FSK: [0.955402,-0.129176,0.265556] 2025-10-29T01:13:09.706Z,1761700389.706 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:09.709Z,1761700389.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:09.709Z,1761700389.709 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:09.811Z,1761700389.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991331,-0.130166,-0.017861],[0.131357,0.979050,0.155584],[-0.002765,-0.156582,0.987661]] 2025-10-29T01:13:09.872Z,1761700389.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 47.799999 m, deltaT: 16.128048 s, deltaX: -10.700001 m, approachRate: -0.663441 m/s, rangeRepo size: 4 2025-10-29T01:13:09.874Z,1761700389.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 47.542179 m, bearing: 2.408560 deg, lat: 36.779288 deg, lon: -121.859483 deg, deltaT: 16.128048 s, deltaX: -10.642673 m, approachRate: -0.659886 m/s, posRepo size: 4 2025-10-29T01:13:09.875Z,1761700389.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:09.882Z,1761700389.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 45.559361 m, bearing: 2.178164 deg, approach rate: 0.000000 m/s, LOS rate: 0.049538 deg/s, cmd heading: 6.102606 deg, new cmd heading: 6.144590 deg. 2025-10-29T01:13:09.882Z,1761700389.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107243 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:09.945Z,1761700389.945 [DAT](INFO): DAT read: 2025-10-29T01:13:09.946Z,1761700389.946 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:10.199Z,1761700390.199 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:10.226Z,1761700390.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990980,-0.132693,-0.018719],[0.133993,0.979177,0.152504],[-0.001907,-0.153636,0.988126]] 2025-10-29T01:13:10.295Z,1761700390.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:10.298Z,1761700390.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 45.262516 m, bearing: 2.197230 deg, approach rate: -0.693238 m/s, LOS rate: 0.044818 deg/s, cmd heading: 6.144590 deg, new cmd heading: 6.182972 deg. 2025-10-29T01:13:10.299Z,1761700390.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107913 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:10.449Z,1761700390.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:10.608Z,1761700390.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990630,-0.135242,-0.019022],[0.136567,0.979632,0.147210],[-0.001275,-0.148429,0.988922]] 2025-10-29T01:13:10.627Z,1761700390.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:10.630Z,1761700390.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 45.041355 m, bearing: 2.210956 deg, approach rate: -0.667333 m/s, LOS rate: 0.041620 deg/s, cmd heading: 6.182972 deg, new cmd heading: 6.210559 deg. 2025-10-29T01:13:10.630Z,1761700390.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108395 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:10.701Z,1761700390.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:10.953Z,1761700390.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:11.015Z,1761700391.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990320,-0.137459,-0.019280],[0.138804,0.980219,0.141082],[-0.000495,-0.142393,0.989810]] 2025-10-29T01:13:11.032Z,1761700391.032 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:11.034Z,1761700391.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:11.037Z,1761700391.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 44.769459 m, bearing: 2.227356 deg, approach rate: -0.667320 m/s, LOS rate: 0.040497 deg/s, cmd heading: 6.210559 deg, new cmd heading: 6.243559 deg. 2025-10-29T01:13:11.038Z,1761700391.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108971 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:11.208Z,1761700391.208 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:11.457Z,1761700391.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:11.478Z,1761700391.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:11.481Z,1761700391.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 44.477116 m, bearing: 2.246534 deg, approach rate: -0.659177 m/s, LOS rate: 0.043525 deg/s, cmd heading: 6.243559 deg, new cmd heading: 6.282165 deg. 2025-10-29T01:13:11.482Z,1761700391.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109644 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:11.709Z,1761700391.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:11.818Z,1761700391.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989950,-0.140022,-0.019824],[0.141418,0.980671,0.135227],[0.000506,-0.136672,0.990616]] 2025-10-29T01:13:11.879Z,1761700391.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:11.890Z,1761700391.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 44.212807 m, bearing: 2.263303 deg, approach rate: -0.658839 m/s, LOS rate: 0.042051 deg/s, cmd heading: 6.282166 deg, new cmd heading: 6.315905 deg. 2025-10-29T01:13:11.891Z,1761700391.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110233 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:11.961Z,1761700391.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:12.215Z,1761700392.215 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:12.266Z,1761700392.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989905,-0.140258,-0.020372],[0.141723,0.980907,0.133177],[0.001304,-0.134720,0.990883]] 2025-10-29T01:13:12.334Z,1761700392.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:12.337Z,1761700392.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 43.914146 m, bearing: 2.277276 deg, approach rate: -0.656232 m/s, LOS rate: 0.030910 deg/s, cmd heading: 6.315905 deg, new cmd heading: 6.344041 deg. 2025-10-29T01:13:12.338Z,1761700392.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110724 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:12.465Z,1761700392.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:12.651Z,1761700392.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989811,-0.140921,-0.020382],[0.142380,0.980942,0.132217],[0.001362,-0.133772,0.991011]] 2025-10-29T01:13:12.697Z,1761700392.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:12.700Z,1761700392.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 43.675423 m, bearing: 2.288391 deg, approach rate: -0.657587 m/s, LOS rate: 0.030785 deg/s, cmd heading: 6.344041 deg, new cmd heading: 6.366393 deg. 2025-10-29T01:13:12.701Z,1761700392.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111115 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:12.719Z,1761700392.719 [DAT](INFO): DAT read: Rx Time:01:13:12.0320 2025-10-29T01:13:12.719Z,1761700392.719 [DAT](INFO): Rx dataTimestamp_ set to:1761700392.719019 2025-10-29T01:13:12.720Z,1761700392.720 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:12.969Z,1761700392.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:13.051Z,1761700393.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989698,-0.141676,-0.020611],[0.143161,0.980713,0.133064],[0.001362,-0.134644,0.990893]] 2025-10-29T01:13:13.080Z,1761700393.080 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:13.082Z,1761700393.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 47.54 m. 2025-10-29T01:13:13.085Z,1761700393.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 47.542179 m, nav range: 43.422684 m, bearing: 2.300012 deg, approach rate: -0.656228 m/s, LOS rate: 0.030350 deg/s, cmd heading: 6.366393 deg, new cmd heading: 6.389770 deg. 2025-10-29T01:13:13.086Z,1761700393.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111523 target range: 47.542179 and range: 47.80 m. 2025-10-29T01:13:13.263Z,1761700393.263 [DAT](INFO): DAT read: 01:13:12.0320 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.44, 0.992,-0.556, 1.428, 1.018, PHS= 0.076,-1.529, 0.365, RAW= 158.1, 12.3, CAL= 158.5, 13.8, ROT= 351.5, -13.8 2025-10-29T01:13:13.289Z,1761700393.289 [DAT](INFO): got valid direction response: 01:13:12.0320 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 409, 0.44, 0.992,-0.556, 1.428, 1.018, PHS= 0.076,-1.529, 0.365, RAW= 158.1, 12.3, CAL= 158.5, 13.8, ROT= 351.5, -13.8 2025-10-29T01:13:13.290Z,1761700393.290 [DAT](INFO): DAT read: Bearing 176.5, -9.9 (Local) 2025-10-29T01:13:13.290Z,1761700393.290 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -9.9 (Local) 2025-10-29T01:13:13.292Z,1761700393.292 [DAT](INFO): DAT read: Range 11 to 50 : 45.4 m (Round-trip 60.6 ms) speed 0.5 m/s 2025-10-29T01:13:13.301Z,1761700393.301 [DAT](INFO): DAT read: user:713>Tx time:01:13:13.1172 2025-10-29T01:13:13.302Z,1761700393.302 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:13.303Z,1761700393.303 [DAT](INFO): direction in FSK: [0.960467,-0.143543,0.238533] 2025-10-29T01:13:13.303Z,1761700393.303 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:13.324Z,1761700393.324 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:13.324Z,1761700393.324 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:13.472Z,1761700393.472 [DAT](INFO): DAT read: 2025-10-29T01:13:13.473Z,1761700393.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:13.560Z,1761700393.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 45.400002 m, deltaT: 3.529688 s, deltaX: -2.399998 m, approachRate: -0.679946 m/s, rangeRepo size: 4 2025-10-29T01:13:13.562Z,1761700393.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 45.155445 m, bearing: 1.687972 deg, lat: 36.779289 deg, lon: -121.859483 deg, deltaT: 3.529688 s, deltaX: -2.386734 m, approachRate: -0.676188 m/s, posRepo size: 4 2025-10-29T01:13:13.563Z,1761700393.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:13.570Z,1761700393.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 43.226692 m, bearing: 2.301752 deg, approach rate: 0.000000 m/s, LOS rate: 0.030350 deg/s, cmd heading: 6.389770 deg, new cmd heading: 6.416099 deg. 2025-10-29T01:13:13.571Z,1761700393.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111982 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:13.725Z,1761700393.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:13.924Z,1761700393.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:13.927Z,1761700393.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 42.963081 m, bearing: 2.307390 deg, approach rate: -0.646062 m/s, LOS rate: 0.013903 deg/s, cmd heading: 6.416099 deg, new cmd heading: 6.427444 deg. 2025-10-29T01:13:13.928Z,1761700393.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112180 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:13.978Z,1761700393.978 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:14.231Z,1761700394.231 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:14.302Z,1761700394.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989689,-0.141547,-0.021905],[0.143229,0.978972,0.145252],[0.000885,-0.146892,0.989152]] 2025-10-29T01:13:14.355Z,1761700394.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:14.362Z,1761700394.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 42.695271 m, bearing: 2.303885 deg, approach rate: -0.620605 m/s, LOS rate: -0.008173 deg/s, cmd heading: 6.427444 deg, new cmd heading: 6.420390 deg. 2025-10-29T01:13:14.363Z,1761700394.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.112057 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:14.482Z,1761700394.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:14.687Z,1761700394.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989563,-0.142348,-0.022399],[0.144098,0.978318,0.148757],[0.000738,-0.150432,0.988620]] 2025-10-29T01:13:14.705Z,1761700394.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:14.708Z,1761700394.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 42.459320 m, bearing: 2.300417 deg, approach rate: -0.674374 m/s, LOS rate: -0.009968 deg/s, cmd heading: 6.420390 deg, new cmd heading: 6.413415 deg. 2025-10-29T01:13:14.709Z,1761700394.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111935 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:14.733Z,1761700394.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:14.985Z,1761700394.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:15.092Z,1761700395.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989482,-0.142863,-0.022717],[0.144657,0.977705,0.152207],[0.000466,-0.153892,0.988088]] 2025-10-29T01:13:15.109Z,1761700395.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:15.111Z,1761700395.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:15.114Z,1761700395.114 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 42.198006 m, bearing: 2.296259 deg, approach rate: -0.644126 m/s, LOS rate: -0.010312 deg/s, cmd heading: 6.413415 deg, new cmd heading: 6.405048 deg. 2025-10-29T01:13:15.115Z,1761700395.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111789 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:15.238Z,1761700395.238 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:15.489Z,1761700395.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:15.496Z,1761700395.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989328,-0.143939,-0.022638],[0.145708,0.977393,0.153208],[0.000074,-0.154871,0.987935]] 2025-10-29T01:13:15.545Z,1761700395.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:15.548Z,1761700395.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 41.909866 m, bearing: 2.275237 deg, approach rate: -0.663249 m/s, LOS rate: -0.048721 deg/s, cmd heading: 6.405048 deg, new cmd heading: 6.362716 deg. 2025-10-29T01:13:15.549Z,1761700395.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111050 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:15.742Z,1761700395.742 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:15.902Z,1761700395.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989206,-0.144761,-0.022725],[0.146534,0.977408,0.152318],[0.000162,-0.154004,0.988070]] 2025-10-29T01:13:15.928Z,1761700395.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:15.931Z,1761700395.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 41.656097 m, bearing: 2.256200 deg, approach rate: -0.663344 m/s, LOS rate: -0.050066 deg/s, cmd heading: 6.362716 deg, new cmd heading: 6.324409 deg. 2025-10-29T01:13:15.932Z,1761700395.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.110382 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:15.994Z,1761700395.994 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:16.248Z,1761700396.248 [DAT](INFO): DAT read: Rx Time:01:13:15.5790 2025-10-29T01:13:16.250Z,1761700396.250 [DAT](INFO): Rx dataTimestamp_ set to:1761700396.249044 2025-10-29T01:13:16.252Z,1761700396.252 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:16.331Z,1761700396.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988940,-0.146618,-0.022380],[0.148316,0.977676,0.148834],[0.000059,-0.150507,0.988609]] 2025-10-29T01:13:16.391Z,1761700396.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 45.16 m. 2025-10-29T01:13:16.398Z,1761700396.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 45.155445 m, nav range: 41.365883 m, bearing: 2.236351 deg, approach rate: -0.626179 m/s, LOS rate: -0.043128 deg/s, cmd heading: 6.324409 deg, new cmd heading: 6.284432 deg. 2025-10-29T01:13:16.399Z,1761700396.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109684 target range: 45.155445 and range: 45.40 m. 2025-10-29T01:13:16.497Z,1761700396.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:16.783Z,1761700396.783 [DAT](INFO): DAT read: 01:13:15.5790 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410,-0.01,-3.061, 1.669,-2.632,-3.037, PHS= 0.078,-1.532, 0.361, RAW= 158.0, 12.3, CAL= 158.3, 13.9, ROT= 351.7, -13.9 2025-10-29T01:13:16.788Z,1761700396.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988695,-0.148260,-0.022383],[0.149940,0.977688,0.147122],[0.000071,-0.148815,0.988865]] 2025-10-29T01:13:16.788Z,1761700396.788 [DAT](INFO): got valid direction response: 01:13:15.5790 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 410,-0.01,-3.061, 1.669,-2.632,-3.037, PHS= 0.078,-1.532, 0.361, RAW= 158.0, 12.3, CAL= 158.3, 13.9, ROT= 351.7, -13.9 2025-10-29T01:13:16.789Z,1761700396.789 [DAT](INFO): DAT read: Bearing 176.2, -10.0 (Local) 2025-10-29T01:13:16.789Z,1761700396.789 [DAT](INFO): Local bearing/azimuth received: Bearing 176.2, -10.0 (Local) 2025-10-29T01:13:16.791Z,1761700396.791 [DAT](INFO): DAT read: Range 11 to 50 : 43.2 m (Round-trip 57.6 ms) speed 0.6 m/s 2025-10-29T01:13:16.796Z,1761700396.796 [DAT](INFO): DAT read: user:714>Tx time:01:13:16.6672 2025-10-29T01:13:16.797Z,1761700396.797 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:16.798Z,1761700396.798 [DAT](INFO): direction in FSK: [0.960549,-0.140129,0.240228] 2025-10-29T01:13:16.798Z,1761700396.798 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:16.803Z,1761700396.803 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:16.803Z,1761700396.803 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:16.863Z,1761700396.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 43.200001 m, deltaT: 3.528158 s, deltaX: -2.200001 m, approachRate: -0.623555 m/s, rangeRepo size: 4 2025-10-29T01:13:16.870Z,1761700396.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 42.966129 m, bearing: 2.513556 deg, lat: 36.779289 deg, lon: -121.859483 deg, deltaT: 3.528158 s, deltaX: -2.189316 m, approachRate: -0.620527 m/s, posRepo size: 4 2025-10-29T01:13:16.876Z,1761700396.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:16.879Z,1761700396.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 41.101318 m, bearing: 2.215872 deg, approach rate: 0.000000 m/s, LOS rate: -0.043128 deg/s, cmd heading: 6.284432 deg, new cmd heading: 6.243780 deg. 2025-10-29T01:13:16.884Z,1761700396.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108975 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:17.001Z,1761700397.001 [DAT](INFO): DAT read: 2025-10-29T01:13:17.001Z,1761700397.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:17.196Z,1761700397.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988462,-0.149792,-0.022484],[0.151470,0.977600,0.146135],[0.000091,-0.147854,0.989009]] 2025-10-29T01:13:17.228Z,1761700397.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:17.230Z,1761700397.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:17.239Z,1761700397.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 40.848446 m, bearing: 2.197014 deg, approach rate: -0.688832 m/s, LOS rate: -0.051688 deg/s, cmd heading: 6.243780 deg, new cmd heading: 6.205830 deg. 2025-10-29T01:13:17.241Z,1761700397.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108312 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:17.254Z,1761700397.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:17.505Z,1761700397.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:17.624Z,1761700397.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988242,-0.151149,-0.023059],[0.152897,0.977234,0.147091],[0.000301,-0.148888,0.988854]] 2025-10-29T01:13:17.687Z,1761700397.687 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:17.694Z,1761700397.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 40.567608 m, bearing: 2.172421 deg, approach rate: -0.614835 m/s, LOS rate: -0.054213 deg/s, cmd heading: 6.205830 deg, new cmd heading: 6.156305 deg. 2025-10-29T01:13:17.695Z,1761700397.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107448 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:17.757Z,1761700397.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:18.009Z,1761700398.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:18.040Z,1761700398.040 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988073,-0.152138,-0.023793],[0.153986,0.976791,0.148886],[0.000589,-0.150774,0.988568]] 2025-10-29T01:13:18.064Z,1761700398.064 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:18.067Z,1761700398.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 40.315651 m, bearing: 2.149641 deg, approach rate: -0.668030 m/s, LOS rate: -0.060775 deg/s, cmd heading: 6.156305 deg, new cmd heading: 6.110460 deg. 2025-10-29T01:13:18.068Z,1761700398.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106648 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:18.263Z,1761700398.263 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:18.442Z,1761700398.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988033,-0.152234,-0.024819],[0.154242,0.976059,0.153356],[0.000879,-0.155348,0.987859]] 2025-10-29T01:13:18.494Z,1761700398.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:18.497Z,1761700398.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 40.037430 m, bearing: 2.127482 deg, approach rate: -0.646048 m/s, LOS rate: -0.051812 deg/s, cmd heading: 6.110461 deg, new cmd heading: 6.065834 deg. 2025-10-29T01:13:18.498Z,1761700398.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105869 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:18.516Z,1761700398.516 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:18.765Z,1761700398.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:18.849Z,1761700398.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988029,-0.152121,-0.025634],[0.154261,0.975476,0.157000],[0.001122,-0.159075,0.987266]] 2025-10-29T01:13:18.878Z,1761700398.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:18.897Z,1761700398.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 39.796211 m, bearing: 2.107979 deg, approach rate: -0.630032 m/s, LOS rate: -0.051249 deg/s, cmd heading: 6.065834 deg, new cmd heading: 6.026591 deg. 2025-10-29T01:13:18.898Z,1761700398.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105184 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:19.017Z,1761700399.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:19.260Z,1761700399.260 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987941,-0.152629,-0.026002],[0.154824,0.975049,0.159087],[0.001072,-0.161194,0.986922]] 2025-10-29T01:13:19.269Z,1761700399.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:19.305Z,1761700399.305 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:19.321Z,1761700399.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:19.348Z,1761700399.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 39.529778 m, bearing: 2.085918 deg, approach rate: -0.608609 m/s, LOS rate: -0.050734 deg/s, cmd heading: 6.026591 deg, new cmd heading: 5.982171 deg. 2025-10-29T01:13:19.352Z,1761700399.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104409 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:19.521Z,1761700399.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:19.670Z,1761700399.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987916,-0.152770,-0.026152],[0.154990,0.974562,0.161885],[0.000756,-0.163983,0.986463]] 2025-10-29T01:13:19.750Z,1761700399.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:19.759Z,1761700399.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 39.240089 m, bearing: 2.071903 deg, approach rate: -0.666877 m/s, LOS rate: -0.032501 deg/s, cmd heading: 5.982171 deg, new cmd heading: 5.953934 deg. 2025-10-29T01:13:19.766Z,1761700399.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103916 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:19.774Z,1761700399.774 [DAT](INFO): DAT read: Rx Time:01:13:19.1260 2025-10-29T01:13:19.775Z,1761700399.775 [DAT](INFO): Rx dataTimestamp_ set to:1761700399.774468 2025-10-29T01:13:19.775Z,1761700399.775 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:20.025Z,1761700400.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:20.093Z,1761700400.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987866,-0.152952,-0.026951],[0.155304,0.974154,0.164024],[0.001167,-0.166220,0.986088]] 2025-10-29T01:13:20.112Z,1761700400.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 42.97 m. 2025-10-29T01:13:20.115Z,1761700400.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 42.966129 m, nav range: 38.991905 m, bearing: 2.059582 deg, approach rate: -0.684321 m/s, LOS rate: -0.034188 deg/s, cmd heading: 5.953934 deg, new cmd heading: 5.929136 deg. 2025-10-29T01:13:20.116Z,1761700400.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103483 target range: 42.966129 and range: 43.20 m. 2025-10-29T01:13:20.279Z,1761700400.279 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:20.492Z,1761700400.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987844,-0.153066,-0.027107],[0.155442,0.974159,0.163863],[0.001325,-0.166085,0.986111]] 2025-10-29T01:13:20.535Z,1761700400.535 [DAT](INFO): DAT read: 01:13:19.1260 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.08,-2.413, 2.353,-2.041,-2.358, PHS= 0.047,-1.528, 0.273, RAW= 156.6, 14.1, CAL= 157.2, 16.1, ROT= 352.8, -16.1 2025-10-29T01:13:20.536Z,1761700400.536 [DAT](INFO): got valid direction response: 01:13:19.1260 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 412,-0.08,-2.413, 2.353,-2.041,-2.358, PHS= 0.047,-1.528, 0.273, RAW= 156.6, 14.1, CAL= 157.2, 16.1, ROT= 352.8, -16.1 2025-10-29T01:13:20.537Z,1761700400.537 [DAT](INFO): DAT read: Bearing 178.0, -9.4 (Local) 2025-10-29T01:13:20.537Z,1761700400.537 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, -9.4 (Local) 2025-10-29T01:13:20.539Z,1761700400.539 [DAT](INFO): DAT read: Range 11 to 50 : 40.9 m (Round-trip 54.6 ms) speed 0.6 m/s 2025-10-29T01:13:20.540Z,1761700400.540 [DAT](INFO): DAT read: user:715>Tx time:01:13:20.2172 2025-10-29T01:13:20.540Z,1761700400.540 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:20.541Z,1761700400.541 [DAT](INFO): direction in FSK: [0.953203,-0.120418,0.277315] 2025-10-29T01:13:20.542Z,1761700400.542 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:20.550Z,1761700400.550 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:20.550Z,1761700400.550 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:20.598Z,1761700400.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 40.900002 m, deltaT: 3.778161 s, deltaX: -2.299999 m, approachRate: -0.608762 m/s, rangeRepo size: 4 2025-10-29T01:13:20.600Z,1761700400.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 40.677860 m, bearing: 4.579975 deg, lat: 36.779290 deg, lon: -121.859481 deg, deltaT: 3.778161 s, deltaX: -2.288269 m, approachRate: -0.605657 m/s, posRepo size: 4 2025-10-29T01:13:20.601Z,1761700400.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:20.603Z,1761700400.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 38.779106 m, bearing: 2.334937 deg, approach rate: 0.000000 m/s, LOS rate: -0.034188 deg/s, cmd heading: 5.929137 deg, new cmd heading: 5.895963 deg. 2025-10-29T01:13:20.609Z,1761700400.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.102904 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:20.781Z,1761700400.781 [DAT](INFO): DAT read: 2025-10-29T01:13:20.781Z,1761700400.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:20.929Z,1761700400.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987819,-0.153177,-0.027388],[0.155598,0.974175,0.163624],[0.001617,-0.165893,0.986142]] 2025-10-29T01:13:20.955Z,1761700400.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:20.958Z,1761700400.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 38.533535 m, bearing: 2.340057 deg, approach rate: -0.686141 m/s, LOS rate: 0.014397 deg/s, cmd heading: 5.895963 deg, new cmd heading: 5.906269 deg. 2025-10-29T01:13:20.959Z,1761700400.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103084 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:21.033Z,1761700401.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:21.286Z,1761700401.286 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:21.421Z,1761700401.421 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987856,-0.152915,-0.027516],[0.155360,0.974292,0.163152],[0.001861,-0.165446,0.986217]] 2025-10-29T01:13:21.472Z,1761700401.472 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:21.474Z,1761700401.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:21.477Z,1761700401.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 38.204861 m, bearing: 2.352230 deg, approach rate: -0.633338 m/s, LOS rate: 0.023658 deg/s, cmd heading: 5.906269 deg, new cmd heading: 5.930824 deg. 2025-10-29T01:13:21.478Z,1761700401.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103512 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:21.537Z,1761700401.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:21.789Z,1761700401.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:21.856Z,1761700401.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:21.858Z,1761700401.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 37.944588 m, bearing: 2.362019 deg, approach rate: -0.682526 m/s, LOS rate: 0.025846 deg/s, cmd heading: 5.930824 deg, new cmd heading: 5.950536 deg. 2025-10-29T01:13:21.859Z,1761700401.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.103856 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:22.041Z,1761700402.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:22.288Z,1761700402.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987771,-0.153479,-0.027432],[0.155899,0.974500,0.161385],[0.001963,-0.163688,0.986510]] 2025-10-29T01:13:22.293Z,1761700402.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:22.315Z,1761700402.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:22.318Z,1761700402.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 37.643841 m, bearing: 2.373295 deg, approach rate: -0.653836 m/s, LOS rate: 0.024710 deg/s, cmd heading: 5.950536 deg, new cmd heading: 5.973268 deg. 2025-10-29T01:13:22.320Z,1761700402.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104253 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:22.545Z,1761700402.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:22.690Z,1761700402.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987751,-0.153630,-0.027309],[0.156027,0.974547,0.160976],[0.001883,-0.163265,0.986580]] 2025-10-29T01:13:22.753Z,1761700402.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:22.758Z,1761700402.758 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 37.364918 m, bearing: 2.389272 deg, approach rate: -0.639430 m/s, LOS rate: 0.036901 deg/s, cmd heading: 5.973268 deg, new cmd heading: 6.005460 deg. 2025-10-29T01:13:22.759Z,1761700402.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.104815 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:22.799Z,1761700402.799 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:23.049Z,1761700403.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:23.095Z,1761700403.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987829,-0.153087,-0.027554],[0.155531,0.974633,0.160934],[0.002218,-0.163261,0.986580]] 2025-10-29T01:13:23.124Z,1761700403.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:23.127Z,1761700403.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 37.116631 m, bearing: 2.403890 deg, approach rate: -0.666822 m/s, LOS rate: 0.039523 deg/s, cmd heading: 6.005460 deg, new cmd heading: 6.034892 deg. 2025-10-29T01:13:23.128Z,1761700403.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105329 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:23.301Z,1761700403.301 [DAT](INFO): DAT read: Rx Time:01:13:22.6728 2025-10-29T01:13:23.301Z,1761700403.301 [DAT](INFO): Rx dataTimestamp_ set to:1761700403.301120 2025-10-29T01:13:23.302Z,1761700403.302 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:23.499Z,1761700403.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987807,-0.153124,-0.028103],[0.155653,0.974831,0.159614],[0.002955,-0.162042,0.986779]] 2025-10-29T01:13:23.553Z,1761700403.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:23.582Z,1761700403.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:23.588Z,1761700403.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:23.591Z,1761700403.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 36.827843 m, bearing: 2.421397 deg, approach rate: -0.627921 m/s, LOS rate: 0.038364 deg/s, cmd heading: 6.034893 deg, new cmd heading: 6.070181 deg. 2025-10-29T01:13:23.596Z,1761700403.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105945 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:23.807Z,1761700403.807 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:23.915Z,1761700403.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987819,-0.152870,-0.029054],[0.155557,0.974853,0.159575],[0.003930,-0.162151,0.986758]] 2025-10-29T01:13:23.934Z,1761700403.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 40.68 m. 2025-10-29T01:13:23.937Z,1761700403.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 40.677860 m, nav range: 36.597469 m, bearing: 2.435597 deg, approach rate: -0.657751 m/s, LOS rate: 0.040799 deg/s, cmd heading: 6.070181 deg, new cmd heading: 6.098760 deg. 2025-10-29T01:13:23.938Z,1761700403.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106443 target range: 40.677860 and range: 40.90 m. 2025-10-29T01:13:24.062Z,1761700404.062 [DAT](INFO): DAT read: 01:13:22.6728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411, 0.27,-1.119,-2.618,-0.694,-1.075, PHS= 0.059,-1.498, 0.337, RAW= 158.1, 12.8, CAL= 158.5, 14.5, ROT= 351.5, -14.5 2025-10-29T01:13:24.064Z,1761700404.064 [DAT](INFO): got valid direction response: 01:13:22.6728 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411, 0.27,-1.119,-2.618,-0.694,-1.075, PHS= 0.059,-1.498, 0.337, RAW= 158.1, 12.8, CAL= 158.5, 14.5, ROT= 351.5, -14.5 2025-10-29T01:13:24.065Z,1761700404.065 [DAT](INFO): DAT read: Bearing 175.9, -10.1 (Local) 2025-10-29T01:13:24.065Z,1761700404.065 [DAT](INFO): Local bearing/azimuth received: Bearing 175.9, -10.1 (Local) 2025-10-29T01:13:24.066Z,1761700404.066 [DAT](INFO): DAT read: Range 11 to 50 : 38.5 m (Round-trip 51.4 ms) speed 0.6 m/s 2025-10-29T01:13:24.067Z,1761700404.067 [DAT](INFO): DAT read: user:716>Tx time:01:13:23.7672 2025-10-29T01:13:24.068Z,1761700404.068 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:24.069Z,1761700404.069 [DAT](INFO): direction in FSK: [0.957513,-0.143101,0.250380] 2025-10-29T01:13:24.069Z,1761700404.069 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:24.075Z,1761700404.075 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:24.075Z,1761700404.075 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:13:24.307Z,1761700404.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987855,-0.152550,-0.029508],[0.155313,0.974952,0.159203],[0.004483,-0.161852,0.986805]] 2025-10-29T01:13:24.309Z,1761700404.309 [DAT](INFO): DAT read: 2025-10-29T01:13:24.309Z,1761700404.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:24.338Z,1761700404.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 38.500000 m, deltaT: 3.527844 s, deltaX: -2.400002 m, approachRate: -0.680303 m/s, rangeRepo size: 4 2025-10-29T01:13:24.357Z,1761700404.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 38.290405 m, bearing: 2.924427 deg, lat: 36.779293 deg, lon: -121.859481 deg, deltaT: 3.527844 s, deltaX: -2.387455 m, approachRate: -0.676746 m/s, posRepo size: 4 2025-10-29T01:13:24.357Z,1761700404.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:24.364Z,1761700404.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 36.659550 m, bearing: 2.500138 deg, approach rate: 0.000000 m/s, LOS rate: 0.040799 deg/s, cmd heading: 6.098760 deg, new cmd heading: 6.131649 deg. 2025-10-29T01:13:24.367Z,1761700404.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107017 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:24.561Z,1761700404.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:24.710Z,1761700404.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987854,-0.152445,-0.030091],[0.155299,0.975094,0.158350],[0.005202,-0.161099,0.986924]] 2025-10-29T01:13:24.777Z,1761700404.777 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-29T01:13:24.778Z,1761700404.778 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:13:24.778Z,1761700404.778 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-29T01:13:24.779Z,1761700404.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 38.500000 m (mode 2.000000 count ). 2025-10-29T01:13:24.779Z,1761700404.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-29T01:13:24.779Z,1761700404.779 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-29T01:13:24.782Z,1761700404.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:24.784Z,1761700404.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 36.374577 m, bearing: 2.514886 deg, approach rate: -0.641278 m/s, LOS rate: 0.033448 deg/s, cmd heading: 6.131650 deg, new cmd heading: 6.161377 deg. 2025-10-29T01:13:24.785Z,1761700404.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107536 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:24.813Z,1761700404.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:25.065Z,1761700405.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:25.115Z,1761700405.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987888,-0.152141,-0.030507],[0.155059,0.975316,0.157213],[0.005835,-0.160039,0.987093]] 2025-10-29T01:13:25.189Z,1761700405.189 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-29T01:13:25.189Z,1761700405.189 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-29T01:13:25.191Z,1761700405.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:25.194Z,1761700405.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 36.107262 m, bearing: 2.529073 deg, approach rate: -0.652946 m/s, LOS rate: 0.034910 deg/s, cmd heading: 6.161377 deg, new cmd heading: 6.189961 deg. 2025-10-29T01:13:25.195Z,1761700405.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108035 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:25.317Z,1761700405.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:25.547Z,1761700405.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988072,-0.150758,-0.031386],[0.153836,0.975471,0.157450],[0.006880,-0.160400,0.987028]] 2025-10-29T01:13:25.569Z,1761700405.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:25.607Z,1761700405.607 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-29T01:13:25.607Z,1761700405.607 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-29T01:13:25.607Z,1761700405.607 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:25.609Z,1761700405.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:25.616Z,1761700405.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 35.851124 m, bearing: 2.534943 deg, approach rate: -0.612325 m/s, LOS rate: 0.014134 deg/s, cmd heading: 6.189961 deg, new cmd heading: 6.201785 deg. 2025-10-29T01:13:25.617Z,1761700405.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108242 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:25.821Z,1761700405.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:25.991Z,1761700405.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-29T01:13:25.991Z,1761700405.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:13:25.991Z,1761700405.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-29T01:13:25.991Z,1761700405.991 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:13:25.993Z,1761700405.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:25.996Z,1761700405.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 35.595829 m, bearing: 2.540878 deg, approach rate: -0.664559 m/s, LOS rate: 0.015560 deg/s, cmd heading: 6.201785 deg, new cmd heading: 6.213740 deg. 2025-10-29T01:13:25.997Z,1761700405.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108450 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:26.073Z,1761700406.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:26.304Z,1761700406.304 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:13:26.325Z,1761700406.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:26.356Z,1761700406.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988575,-0.146873,-0.033879],[0.150434,0.975455,0.160801],[0.009430,-0.164060,0.986405]] 2025-10-29T01:13:26.390Z,1761700406.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:26.393Z,1761700406.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 35.345600 m, bearing: 2.548071 deg, approach rate: -0.631328 m/s, LOS rate: 0.018276 deg/s, cmd heading: 6.213740 deg, new cmd heading: 6.228228 deg. 2025-10-29T01:13:26.394Z,1761700406.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108703 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:26.577Z,1761700406.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:26.762Z,1761700406.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988771,-0.145176,-0.035430],[0.149032,0.975427,0.162269],[0.011002,-0.165727,0.986110]] 2025-10-29T01:13:26.810Z,1761700406.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:26.812Z,1761700406.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 35.075909 m, bearing: 2.549547 deg, approach rate: -0.642678 m/s, LOS rate: 0.003545 deg/s, cmd heading: 6.228228 deg, new cmd heading: 6.231203 deg. 2025-10-29T01:13:26.813Z,1761700406.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108755 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:26.829Z,1761700406.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:27.081Z,1761700407.081 [DAT](INFO): DAT read: Rx Time:01:13:26.2196 2025-10-29T01:13:27.081Z,1761700407.081 [DAT](INFO): Rx dataTimestamp_ set to:1761700407.081130 2025-10-29T01:13:27.082Z,1761700407.082 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:27.158Z,1761700407.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989027,-0.143118,-0.036651],[0.147220,0.975481,0.163596],[0.012339,-0.167197,0.985846]] 2025-10-29T01:13:27.193Z,1761700407.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 38.29 m. 2025-10-29T01:13:27.196Z,1761700407.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 38.290405 m, nav range: 34.831081 m, bearing: 2.551609 deg, approach rate: -0.638394 m/s, LOS rate: 0.005414 deg/s, cmd heading: 6.231203 deg, new cmd heading: 6.235356 deg. 2025-10-29T01:13:27.197Z,1761700407.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108827 target range: 38.290405 and range: 38.50 m. 2025-10-29T01:13:27.308Z,1761700407.308 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:13:27.333Z,1761700407.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:27.563Z,1761700407.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989236,-0.141485,-0.037325],[0.145725,0.975682,0.163732],[0.013252,-0.167409,0.985799]] 2025-10-29T01:13:27.591Z,1761700407.591 [DAT](INFO): DAT read: 01:13:26.2196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.28,-1.692, 3.060,-1.268,-1.653, PHS= 0.063,-1.525, 0.341, RAW= 157.9, 12.8, CAL= 158.3, 14.5, ROT= 351.7, -14.5 2025-10-29T01:13:27.592Z,1761700407.592 [DAT](INFO): got valid direction response: 01:13:26.2196 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 411,-0.28,-1.692, 3.060,-1.268,-1.653, PHS= 0.063,-1.525, 0.341, RAW= 157.9, 12.8, CAL= 158.3, 14.5, ROT= 351.7, -14.5 2025-10-29T01:13:27.593Z,1761700407.593 [DAT](INFO): DAT read: Bearing 174.8, -9.5 (Local) 2025-10-29T01:13:27.593Z,1761700407.593 [DAT](INFO): Local bearing/azimuth received: Bearing 174.8, -9.5 (Local) 2025-10-29T01:13:27.595Z,1761700407.595 [DAT](INFO): DAT read: Range 11 to 50 : 36.1 m (Round-trip 48.2 ms) speed 0.5 m/s 2025-10-29T01:13:27.596Z,1761700407.596 [DAT](INFO): DAT read: user:717>Tx time:01:13:27.3172 2025-10-29T01:13:27.596Z,1761700407.596 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:27.597Z,1761700407.597 [DAT](INFO): direction in FSK: [0.958007,-0.139758,0.250380] 2025-10-29T01:13:27.597Z,1761700407.597 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:27.637Z,1761700407.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:27.638Z,1761700407.638 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:13:27.699Z,1761700407.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.099998 m, deltaT: 3.528119 s, deltaX: -2.400002 m, approachRate: -0.680250 m/s, rangeRepo size: 4 2025-10-29T01:13:27.706Z,1761700407.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 35.902355 m, bearing: 2.643748 deg, lat: 36.779293 deg, lon: -121.859480 deg, deltaT: 3.528119 s, deltaX: -2.388050 m, approachRate: -0.676862 m/s, posRepo size: 4 2025-10-29T01:13:27.706Z,1761700407.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:27.713Z,1761700407.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 34.528580 m, bearing: 2.636609 deg, approach rate: 0.000000 m/s, LOS rate: 0.005414 deg/s, cmd heading: 6.235356 deg, new cmd heading: 6.240831 deg. 2025-10-29T01:13:27.718Z,1761700407.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108923 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:27.837Z,1761700407.837 [DAT](INFO): DAT read: 2025-10-29T01:13:27.837Z,1761700407.837 [DAT](INFO): DAT read: Tx time:01:13:27.6172 2025-10-29T01:13:27.838Z,1761700407.838 [DAT](INFO): Ping request sent. 2025-10-29T01:13:27.838Z,1761700407.838 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:13:27.838Z,1761700407.838 [DAT](INFO): publishing transmit ping time 2025-10-29T01:13:27.839Z,1761700407.839 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-29T01:13:28.031Z,1761700408.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989465,-0.139568,-0.038465],[0.144054,0.975594,0.165723],[0.014396,-0.169518,0.985422]] 2025-10-29T01:13:28.048Z,1761700408.048 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:28.050Z,1761700408.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:28.053Z,1761700408.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 34.288876 m, bearing: 2.636750 deg, approach rate: -0.681477 m/s, LOS rate: 0.000403 deg/s, cmd heading: 6.240831 deg, new cmd heading: 6.241114 deg. 2025-10-29T01:13:28.054Z,1761700408.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108928 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:28.089Z,1761700408.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251229 2025-10-29T01:13:28.341Z,1761700408.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503075 2025-10-29T01:13:28.464Z,1761700408.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989624,-0.138140,-0.039508],[0.142824,0.975764,0.165788],[0.015649,-0.169711,0.985370]] 2025-10-29T01:13:28.573Z,1761700408.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:28.576Z,1761700408.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 33.975906 m, bearing: 2.628979 deg, approach rate: -0.598395 m/s, LOS rate: -0.014994 deg/s, cmd heading: 6.241114 deg, new cmd heading: 6.225430 deg. 2025-10-29T01:13:28.577Z,1761700408.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108654 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:28.596Z,1761700408.596 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.757747 2025-10-29T01:13:28.839Z,1761700408.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989860,-0.136235,-0.040209],[0.141072,0.975947,0.166213],[0.016598,-0.170200,0.985270]] 2025-10-29T01:13:28.845Z,1761700408.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007140 2025-10-29T01:13:28.859Z,1761700408.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:28.890Z,1761700408.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 33.763412 m, bearing: 2.624253 deg, approach rate: -0.744243 m/s, LOS rate: -0.016659 deg/s, cmd heading: 6.225430 deg, new cmd heading: 6.215917 deg. 2025-10-29T01:13:28.891Z,1761700408.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108488 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:29.097Z,1761700409.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259003 2025-10-29T01:13:29.249Z,1761700409.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990064,-0.134489,-0.041070],[0.139518,0.975973,0.167365],[0.017575,-0.171432,0.985039]] 2025-10-29T01:13:29.279Z,1761700409.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:29.282Z,1761700409.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 33.498322 m, bearing: 2.618958 deg, approach rate: -0.631206 m/s, LOS rate: -0.012706 deg/s, cmd heading: 6.215917 deg, new cmd heading: 6.205244 deg. 2025-10-29T01:13:29.288Z,1761700409.288 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108302 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:29.349Z,1761700409.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511232 2025-10-29T01:13:29.601Z,1761700409.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763085 2025-10-29T01:13:29.647Z,1761700409.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990229,-0.132963,-0.042047],[0.138196,0.976025,0.168157],[0.018680,-0.172324,0.984863]] 2025-10-29T01:13:29.705Z,1761700409.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:29.707Z,1761700409.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 33.232052 m, bearing: 2.610970 deg, approach rate: -0.625509 m/s, LOS rate: -0.018917 deg/s, cmd heading: 6.205244 deg, new cmd heading: 6.189139 deg. 2025-10-29T01:13:29.713Z,1761700409.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108021 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:29.853Z,1761700409.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015129 2025-10-29T01:13:30.051Z,1761700410.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990374,-0.131586,-0.042944],[0.137005,0.976090,0.168755],[0.019711,-0.173014,0.984722]] 2025-10-29T01:13:30.091Z,1761700410.091 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:30.093Z,1761700410.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:30.096Z,1761700410.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 32.985340 m, bearing: 2.603954 deg, approach rate: -0.634765 m/s, LOS rate: -0.018185 deg/s, cmd heading: 6.189139 deg, new cmd heading: 6.175004 deg. 2025-10-29T01:13:30.097Z,1761700410.097 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107774 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:30.105Z,1761700410.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267153 2025-10-29T01:13:30.357Z,1761700410.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519126 2025-10-29T01:13:30.530Z,1761700410.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:30.533Z,1761700410.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 32.692200 m, bearing: 2.595481 deg, approach rate: -0.671009 m/s, LOS rate: -0.019569 deg/s, cmd heading: 6.175004 deg, new cmd heading: 6.157906 deg. 2025-10-29T01:13:30.534Z,1761700410.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107476 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:30.610Z,1761700410.610 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771788 2025-10-29T01:13:30.861Z,1761700410.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022977 2025-10-29T01:13:30.862Z,1761700410.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990509,-0.130219,-0.043986],[0.135849,0.976164,0.169261],[0.020896,-0.173630,0.984589]] 2025-10-29T01:13:30.936Z,1761700410.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:30.942Z,1761700410.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 32.448509 m, bearing: 2.588380 deg, approach rate: -0.600967 m/s, LOS rate: -0.017645 deg/s, cmd heading: 6.157906 deg, new cmd heading: 6.143595 deg. 2025-10-29T01:13:30.943Z,1761700410.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107226 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:31.113Z,1761700411.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275028 2025-10-29T01:13:31.303Z,1761700411.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:31.305Z,1761700411.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 32.194637 m, bearing: 2.580867 deg, approach rate: -0.691847 m/s, LOS rate: -0.020636 deg/s, cmd heading: 6.143595 deg, new cmd heading: 6.128451 deg. 2025-10-29T01:13:31.306Z,1761700411.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106962 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:31.365Z,1761700411.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527331 2025-10-29T01:13:31.617Z,1761700411.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.779032 2025-10-29T01:13:31.668Z,1761700411.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990377,-0.130832,-0.045116],[0.136580,0.976600,0.166128],[0.022326,-0.170691,0.985072]] 2025-10-29T01:13:31.749Z,1761700411.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:31.757Z,1761700411.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 31.908968 m, bearing: 2.576469 deg, approach rate: -0.647094 m/s, LOS rate: -0.010050 deg/s, cmd heading: 6.128451 deg, new cmd heading: 6.119578 deg. 2025-10-29T01:13:31.759Z,1761700411.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106807 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:31.869Z,1761700411.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.031090 2025-10-29T01:13:32.068Z,1761700412.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990355,-0.130748,-0.045856],[0.136592,0.976828,0.164772],[0.023250,-0.169447,0.985265]] 2025-10-29T01:13:32.099Z,1761700412.099 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:32.101Z,1761700412.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:32.104Z,1761700412.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 31.661053 m, bearing: 2.572610 deg, approach rate: -0.694050 m/s, LOS rate: -0.010890 deg/s, cmd heading: 6.119578 deg, new cmd heading: 6.111798 deg. 2025-10-29T01:13:32.105Z,1761700412.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106671 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:32.123Z,1761700412.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.284887 2025-10-29T01:13:32.373Z,1761700412.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535056 2025-10-29T01:13:32.475Z,1761700412.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990285,-0.130960,-0.046736],[0.136934,0.976891,0.164110],[0.024164,-0.168916,0.985334]] 2025-10-29T01:13:32.561Z,1761700412.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:32.563Z,1761700412.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 31.383829 m, bearing: 2.568060 deg, approach rate: -0.603332 m/s, LOS rate: -0.009990 deg/s, cmd heading: 6.111798 deg, new cmd heading: 6.102617 deg. 2025-10-29T01:13:32.569Z,1761700412.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106511 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:32.626Z,1761700412.626 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787899 2025-10-29T01:13:32.877Z,1761700412.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039146 2025-10-29T01:13:32.898Z,1761700412.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990315,-0.130147,-0.048346],[0.136383,0.977102,0.163316],[0.025984,-0.168328,0.985389]] 2025-10-29T01:13:32.906Z,1761700412.906 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,0005050501528110.7, 0.0,1492.4, 0 2025-10-29T01:13:32.924Z,1761700412.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:32.927Z,1761700412.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 31.110817 m, bearing: 2.563794 deg, approach rate: -0.751189 m/s, LOS rate: -0.011838 deg/s, cmd heading: 6.102617 deg, new cmd heading: 6.094012 deg. 2025-10-29T01:13:32.948Z,1761700412.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106361 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:33.129Z,1761700413.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291300 2025-10-29T01:13:33.321Z,1761700413.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:33.323Z,1761700413.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 30.845827 m, bearing: 2.559582 deg, approach rate: -0.668311 m/s, LOS rate: -0.010714 deg/s, cmd heading: 6.094012 deg, new cmd heading: 6.085516 deg. 2025-10-29T01:13:33.324Z,1761700413.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106212 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:33.382Z,1761700413.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.544006 2025-10-29T01:13:33.633Z,1761700413.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.795039 2025-10-29T01:13:33.703Z,1761700413.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990267,-0.130077,-0.049519],[0.136428,0.977598,0.160282],[0.027561,-0.165478,0.985828]] 2025-10-29T01:13:33.762Z,1761700413.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:33.766Z,1761700413.766 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 30.553749 m, bearing: 2.554902 deg, approach rate: -0.662154 m/s, LOS rate: -0.010712 deg/s, cmd heading: 6.085516 deg, new cmd heading: 6.076066 deg. 2025-10-29T01:13:33.767Z,1761700413.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106047 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:33.891Z,1761700413.891 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.052797 2025-10-29T01:13:34.108Z,1761700414.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990324,-0.129298,-0.050405],[0.135780,0.977833,0.159392],[0.028679,-0.164694,0.985928]] 2025-10-29T01:13:34.125Z,1761700414.125 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:34.127Z,1761700414.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:34.129Z,1761700414.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 30.307495 m, bearing: 2.551208 deg, approach rate: -0.674670 m/s, LOS rate: -0.010203 deg/s, cmd heading: 6.076066 deg, new cmd heading: 6.068618 deg. 2025-10-29T01:13:34.130Z,1761700414.130 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105917 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:34.141Z,1761700414.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.303209 2025-10-29T01:13:34.394Z,1761700414.394 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.556223 2025-10-29T01:13:34.511Z,1761700414.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990383,-0.128562,-0.051120],[0.135144,0.978069,0.158482],[0.029624,-0.163866,0.986038]] 2025-10-29T01:13:34.606Z,1761700414.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:34.618Z,1761700414.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 29.997505 m, bearing: 2.546875 deg, approach rate: -0.646435 m/s, LOS rate: -0.009130 deg/s, cmd heading: 6.068618 deg, new cmd heading: 6.059862 deg. 2025-10-29T01:13:34.619Z,1761700414.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.105765 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:34.645Z,1761700414.645 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:13:34.645Z,1761700414.645 [DAT](INFO): response not received 2025-10-29T01:13:34.646Z,1761700414.646 [DAT](ERROR): No response from remote modem. 2025-10-29T01:13:34.646Z,1761700414.646 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.808144 2025-10-29T01:13:34.898Z,1761700414.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.059808 2025-10-29T01:13:34.964Z,1761700414.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990525,-0.127372,-0.051340],[0.134027,0.978101,0.159232],[0.029934,-0.164604,0.985905]] 2025-10-29T01:13:35.022Z,1761700415.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:35.025Z,1761700415.025 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 29.708889 m, bearing: 2.569562 deg, approach rate: -0.694236 m/s, LOS rate: 0.055102 deg/s, cmd heading: 6.059862 deg, new cmd heading: 6.105677 deg. 2025-10-29T01:13:35.026Z,1761700415.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.106564 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:35.149Z,1761700415.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.311033 2025-10-29T01:13:35.352Z,1761700415.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990694,-0.125972,-0.051539],[0.132689,0.978221,0.159618],[0.030310,-0.164971,0.985833]] 2025-10-29T01:13:35.385Z,1761700415.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:35.387Z,1761700415.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 29.475727 m, bearing: 2.588820 deg, approach rate: -0.642744 m/s, LOS rate: 0.053508 deg/s, cmd heading: 6.105677 deg, new cmd heading: 6.144498 deg. 2025-10-29T01:13:35.389Z,1761700415.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.107242 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:35.401Z,1761700415.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.563266 2025-10-29T01:13:35.653Z,1761700415.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.815176 2025-10-29T01:13:35.762Z,1761700415.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990894,-0.124319,-0.051704],[0.131112,0.978292,0.160483],[0.030631,-0.165800,0.985684]] 2025-10-29T01:13:35.813Z,1761700415.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:35.816Z,1761700415.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 29.174185 m, bearing: 2.625115 deg, approach rate: -0.703872 m/s, LOS rate: 0.085597 deg/s, cmd heading: 6.144498 deg, new cmd heading: 6.217839 deg. 2025-10-29T01:13:35.817Z,1761700415.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.108522 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:35.905Z,1761700415.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.067169 2025-10-29T01:13:36.157Z,1761700416.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.318937 2025-10-29T01:13:36.167Z,1761700416.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991056,-0.122940,-0.051894],[0.129767,0.978547,0.160022],[0.031108,-0.165325,0.985748]] 2025-10-29T01:13:36.185Z,1761700416.185 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:36.187Z,1761700416.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:36.190Z,1761700416.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 28.919657 m, bearing: 2.657048 deg, approach rate: -0.680615 m/s, LOS rate: 0.086141 deg/s, cmd heading: 6.217839 deg, new cmd heading: 6.282266 deg. 2025-10-29T01:13:36.191Z,1761700416.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.109646 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:36.409Z,1761700416.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.571109 2025-10-29T01:13:36.598Z,1761700416.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991234,-0.121453,-0.052001],[0.128313,0.978757,0.159907],[0.031475,-0.165177,0.985762]] 2025-10-29T01:13:36.651Z,1761700416.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:36.661Z,1761700416.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.822912 2025-10-29T01:13:36.674Z,1761700416.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 28.606192 m, bearing: 2.709382 deg, approach rate: -0.675407 m/s, LOS rate: 0.113996 deg/s, cmd heading: 6.282266 deg, new cmd heading: 6.388080 deg. 2025-10-29T01:13:36.675Z,1761700416.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.111493 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:36.913Z,1761700416.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.075165 2025-10-29T01:13:37.009Z,1761700417.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991324,-0.120829,-0.051736],[0.127618,0.979029,0.158798],[0.031464,-0.164023,0.985955]] 2025-10-29T01:13:37.029Z,1761700417.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:37.031Z,1761700417.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 28.351509 m, bearing: 2.753167 deg, approach rate: -0.675022 m/s, LOS rate: 0.117094 deg/s, cmd heading: 6.388080 deg, new cmd heading: 6.476438 deg. 2025-10-29T01:13:37.032Z,1761700417.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.113035 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:37.165Z,1761700417.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.327225 2025-10-29T01:13:37.411Z,1761700417.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991368,-0.120409,-0.051874],[0.127200,0.979212,0.158002],[0.031771,-0.163237,0.986075]] 2025-10-29T01:13:37.417Z,1761700417.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.579073 2025-10-29T01:13:37.444Z,1761700417.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:37.458Z,1761700417.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 28.079943 m, bearing: 2.801006 deg, approach rate: -0.654276 m/s, LOS rate: 0.116371 deg/s, cmd heading: 6.476438 deg, new cmd heading: 6.573040 deg. 2025-10-29T01:13:37.459Z,1761700417.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.114721 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:37.670Z,1761700417.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.831917 2025-10-29T01:13:37.816Z,1761700417.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991428,-0.119847,-0.052034],[0.126649,0.979390,0.157340],[0.032105,-0.162582,0.986173]] 2025-10-29T01:13:37.853Z,1761700417.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:37.876Z,1761700417.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 27.809750 m, bearing: 2.848856 deg, approach rate: -0.659497 m/s, LOS rate: 0.117929 deg/s, cmd heading: 6.573040 deg, new cmd heading: 6.669670 deg. 2025-10-29T01:13:37.877Z,1761700417.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.116408 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:37.922Z,1761700417.922 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:13:37.922Z,1761700417.922 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:13:38.173Z,1761700418.173 [DAT](INFO): DAT read: user:718> 2025-10-29T01:13:38.173Z,1761700418.173 [DAT](INFO): DAT read: Tx time:01:13:37.9172 2025-10-29T01:13:38.174Z,1761700418.174 [DAT](INFO): Ping request sent. 2025-10-29T01:13:38.174Z,1761700418.174 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:13:38.174Z,1761700418.174 [DAT](INFO): publishing transmit ping time 2025-10-29T01:13:38.175Z,1761700418.175 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000783 2025-10-29T01:13:38.237Z,1761700418.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991483,-0.119381,-0.052060],[0.126173,0.979553,0.156706],[0.032288,-0.161940,0.986272]] 2025-10-29T01:13:38.255Z,1761700418.255 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:38.258Z,1761700418.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:38.260Z,1761700418.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 27.551580 m, bearing: 2.895750 deg, approach rate: -0.638437 m/s, LOS rate: 0.117052 deg/s, cmd heading: 6.669670 deg, new cmd heading: 6.764336 deg. 2025-10-29T01:13:38.261Z,1761700418.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.118060 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:38.425Z,1761700418.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250959 2025-10-29T01:13:38.649Z,1761700418.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991392,-0.120341,-0.051579],[0.126932,0.979997,0.153279],[0.032101,-0.158507,0.986836]] 2025-10-29T01:13:38.677Z,1761700418.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503554 2025-10-29T01:13:38.795Z,1761700418.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:38.802Z,1761700418.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 27.204683 m, bearing: 2.939213 deg, approach rate: -0.645364 m/s, LOS rate: 0.081891 deg/s, cmd heading: 6.764336 deg, new cmd heading: 6.852372 deg. 2025-10-29T01:13:38.803Z,1761700418.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.119596 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:38.929Z,1761700418.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754921 2025-10-29T01:13:39.128Z,1761700419.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991267,-0.121426,-0.051437],[0.127913,0.980201,0.151143],[0.032066,-0.156402,0.987173]] 2025-10-29T01:13:39.181Z,1761700419.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007053 2025-10-29T01:13:39.187Z,1761700419.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:39.190Z,1761700419.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 26.931936 m, bearing: 2.973694 deg, approach rate: -0.695826 m/s, LOS rate: 0.088858 deg/s, cmd heading: 6.852372 deg, new cmd heading: 6.922033 deg. 2025-10-29T01:13:39.191Z,1761700419.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.120812 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:39.433Z,1761700419.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259075 2025-10-29T01:13:39.589Z,1761700419.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:39.596Z,1761700419.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 26.662943 m, bearing: 3.008393 deg, approach rate: -0.669529 m/s, LOS rate: 0.087237 deg/s, cmd heading: 6.922033 deg, new cmd heading: 6.992130 deg. 2025-10-29T01:13:39.597Z,1761700419.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.122036 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:39.686Z,1761700419.686 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511846 2025-10-29T01:13:39.936Z,1761700419.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991012,-0.123363,-0.051733],[0.129759,0.980496,0.147614],[0.032514,-0.153000,0.987691]] 2025-10-29T01:13:39.937Z,1761700419.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763091 2025-10-29T01:13:40.018Z,1761700420.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:40.024Z,1761700420.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 26.400980 m, bearing: 3.039847 deg, approach rate: -0.611225 m/s, LOS rate: 0.074117 deg/s, cmd heading: 6.992130 deg, new cmd heading: 7.055661 deg. 2025-10-29T01:13:40.029Z,1761700420.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.123145 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:40.189Z,1761700420.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015009 2025-10-29T01:13:40.384Z,1761700420.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:40.386Z,1761700420.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 35.90 m. 2025-10-29T01:13:40.389Z,1761700420.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 35.902355 m, nav range: 26.152023 m, bearing: 3.070324 deg, approach rate: -0.675907 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.055661 deg, new cmd heading: 7.117196 deg. 2025-10-29T01:13:40.390Z,1761700420.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.124219 target range: 35.902355 and range: 36.10 m. 2025-10-29T01:13:40.442Z,1761700420.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267900 2025-10-29T01:13:40.696Z,1761700420.696 [DAT](INFO): DAT read: Rx Time:01:13:40.0823 2025-10-29T01:13:40.697Z,1761700420.697 [DAT](INFO): Rx dataTimestamp_ set to:1761700420.696430 2025-10-29T01:13:40.699Z,1761700420.699 [DAT](INFO): DAT read: Bearing 177.6, -8.3 (Local) 2025-10-29T01:13:40.700Z,1761700420.700 [DAT](INFO): Local bearing/azimuth received: Bearing 177.6, -8.3 (Local) 2025-10-29T01:13:40.704Z,1761700420.704 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.4 2025-10-29T01:13:40.711Z,1761700420.711 [DAT](INFO): DAT read: 01:13:40.0823 LVL= 32752, 32753, 32674, 32755, AGC= 69, IDX= 30,-0.20, 2.655, 1.119, 3.050, 2.758, PHS=-0.001,-1.594, 0.249, RAW= 157.2, 15.4, CAL= 158.0, 17.8, ROT= 352.0, -17.8 2025-10-29T01:13:40.713Z,1761700420.713 [DAT](INFO): got valid direction response: 01:13:40.0823 LVL= 32752, 32753, 32674, 32755, AGC= 69, IDX= 30,-0.20, 2.655, 1.119, 3.050, 2.758, PHS=-0.001,-1.594, 0.249, RAW= 157.2, 15.4, CAL= 158.0, 17.8, ROT= 352.0, -17.8 2025-10-29T01:13:40.714Z,1761700420.714 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:13:40.716Z,1761700420.716 [DAT](INFO): direction in FSK: [0.942863,-0.132511,0.305695] 2025-10-29T01:13:40.717Z,1761700420.717 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:40.724Z,1761700420.724 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.549376 2025-10-29T01:13:40.889Z,1761700420.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 13.112009 s, deltaX: -9.199999 m, approachRate: -0.701647 m/s, rangeRepo size: 4 2025-10-29T01:13:40.891Z,1761700420.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.749275 m, bearing: 2.299607 deg, lat: 36.779292 deg, lon: -121.859480 deg, deltaT: 13.112009 s, deltaX: -9.153080 m, approachRate: -0.698068 m/s, posRepo size: 4 2025-10-29T01:13:40.897Z,1761700420.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.75 m. 2025-10-29T01:13:40.906Z,1761700420.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.749275 m, nav range: 25.737305 m, bearing: 3.098082 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.117196 deg, new cmd heading: 7.200450 deg. 2025-10-29T01:13:40.907Z,1761700420.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.125672 target range: 26.749275 and range: 26.90 m. 2025-10-29T01:13:40.945Z,1761700420.945 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.771075 2025-10-29T01:13:41.199Z,1761700421.199 [DAT](INFO): DAT read: Rx Time:01:13:40.5820 2025-10-29T01:13:41.201Z,1761700421.201 [DAT](INFO): Rx dataTimestamp_ set to:1761700421.200002 2025-10-29T01:13:41.202Z,1761700421.202 [DAT](INFO): DAT read: Bearing 177.7, -8.5 (Local) 2025-10-29T01:13:41.203Z,1761700421.203 [DAT](INFO): Local bearing/azimuth received: Bearing 177.7, -8.5 (Local) 2025-10-29T01:13:41.206Z,1761700421.206 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.5 2025-10-29T01:13:41.229Z,1761700421.229 [DAT](INFO): DAT read: 01:13:40.5820 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.23, 1.148,-0.384, 1.552, 1.255, PHS=-0.005,-1.594, 0.253, RAW= 157.4, 15.4, CAL= 158.2, 17.8, ROT= 351.8, -17.8 2025-10-29T01:13:41.230Z,1761700421.230 [DAT](INFO): got valid direction response: 01:13:40.5820 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 507,-0.23, 1.148,-0.384, 1.552, 1.255, PHS=-0.005,-1.594, 0.253, RAW= 157.4, 15.4, CAL= 158.2, 17.8, ROT= 351.8, -17.8 2025-10-29T01:13:41.231Z,1761700421.231 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T01:13:41.232Z,1761700421.232 [DAT](INFO): direction in FSK: [0.942395,-0.135801,0.305695] 2025-10-29T01:13:41.252Z,1761700421.252 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:41.255Z,1761700421.255 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.081577 2025-10-29T01:13:41.259Z,1761700421.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990632,-0.126454,-0.051549],[0.132695,0.980542,0.144674],[0.032251,-0.150159,0.988136]] 2025-10-29T01:13:41.357Z,1761700421.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.503572 s, deltaX: -0.500000 m, approachRate: -0.992907 m/s, rangeRepo size: 4 2025-10-29T01:13:41.359Z,1761700421.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.251873 m, bearing: 2.212206 deg, lat: 36.779290 deg, lon: -121.859480 deg, deltaT: 0.503572 s, deltaX: -0.497402 m, approachRate: -0.987748 m/s, posRepo size: 4 2025-10-29T01:13:41.359Z,1761700421.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.25 m. 2025-10-29T01:13:41.367Z,1761700421.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.251873 m, nav range: 25.212837 m, bearing: 3.139848 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.200450 deg, new cmd heading: 7.278561 deg. 2025-10-29T01:13:41.372Z,1761700421.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.127035 target range: 26.251873 and range: 26.40 m. 2025-10-29T01:13:41.449Z,1761700421.449 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.275154 2025-10-29T01:13:41.704Z,1761700421.704 [DAT](INFO): DAT read: Rx Time:01:13:41.0819 2025-10-29T01:13:41.705Z,1761700421.705 [DAT](INFO): Rx dataTimestamp_ set to:1761700421.704467 2025-10-29T01:13:41.707Z,1761700421.707 [DAT](INFO): DAT read: Bearing 177.8, -7.9 (Local) 2025-10-29T01:13:41.707Z,1761700421.707 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, -7.9 (Local) 2025-10-29T01:13:41.716Z,1761700421.716 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.6 2025-10-29T01:13:41.754Z,1761700421.754 [DAT](INFO): DAT read: 01:13:41.0819 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506,-0.28, 2.856, 1.330,-3.047, 2.952, PHS= 0.006,-1.577, 0.240, RAW= 156.8, 15.4, CAL= 157.5, 17.7, ROT= 352.5, -17.7 2025-10-29T01:13:41.764Z,1761700421.764 [DAT](INFO): got valid direction response: 01:13:41.0819 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 506,-0.28, 2.856, 1.330,-3.047, 2.952, PHS= 0.006,-1.577, 0.240, RAW= 156.8, 15.4, CAL= 157.5, 17.7, ROT= 352.5, -17.7 2025-10-29T01:13:41.765Z,1761700421.765 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:13:41.766Z,1761700421.766 [DAT](INFO): direction in FSK: [0.944511,-0.124347,0.304033] 2025-10-29T01:13:41.767Z,1761700421.767 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:41.779Z,1761700421.779 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.605473 2025-10-29T01:13:41.877Z,1761700421.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.504465 s, deltaX: -0.100000 m, approachRate: -0.198231 m/s, rangeRepo size: 4 2025-10-29T01:13:41.879Z,1761700421.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.152433 m, bearing: 2.899277 deg, lat: 36.779287 deg, lon: -121.859482 deg, deltaT: 0.504465 s, deltaX: -0.099440 m, approachRate: -0.197119 m/s, posRepo size: 4 2025-10-29T01:13:41.880Z,1761700421.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.15 m. 2025-10-29T01:13:41.883Z,1761700421.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.152433 m, nav range: 24.502584 m, bearing: 2.899268 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.278561 deg, new cmd heading: 7.365471 deg. 2025-10-29T01:13:41.892Z,1761700421.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.128552 target range: 26.152433 and range: 26.30 m. 2025-10-29T01:13:41.954Z,1761700421.954 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.779913 2025-10-29T01:13:42.206Z,1761700422.206 [DAT](INFO): DAT read: Rx Time:01:13:41.5816 2025-10-29T01:13:42.207Z,1761700422.207 [DAT](INFO): Rx dataTimestamp_ set to:1761700422.206666 2025-10-29T01:13:42.209Z,1761700422.209 [DAT](INFO): DAT read: Bearing 178.7, -8.4 (Local) 2025-10-29T01:13:42.210Z,1761700422.210 [DAT](INFO): Local bearing/azimuth received: Bearing 178.7, -8.4 (Local) 2025-10-29T01:13:42.213Z,1761700422.213 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.7 2025-10-29T01:13:42.220Z,1761700422.220 [DAT](INFO): DAT read: 01:13:41.5816 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503,-0.39, 2.875, 1.365,-3.022, 2.998, PHS=-0.021,-1.588, 0.219, RAW= 157.0, 16.1, CAL= 157.9, 18.7, ROT= 352.1, -18.7 2025-10-29T01:13:42.223Z,1761700422.223 [DAT](INFO): got valid direction response: 01:13:41.5816 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 503,-0.39, 2.875, 1.365,-3.022, 2.998, PHS=-0.021,-1.588, 0.219, RAW= 157.0, 16.1, CAL= 157.9, 18.7, ROT= 352.1, -18.7 2025-10-29T01:13:42.223Z,1761700422.223 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T01:13:42.224Z,1761700422.224 [DAT](INFO): direction in FSK: [0.938221,-0.130189,0.320613] 2025-10-29T01:13:42.224Z,1761700422.224 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:42.228Z,1761700422.228 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.054343 2025-10-29T01:13:42.334Z,1761700422.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.502199 s, deltaX: -0.500000 m, approachRate: -0.995621 m/s, rangeRepo size: 4 2025-10-29T01:13:42.335Z,1761700422.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.655197 m, bearing: 2.662939 deg, lat: 36.779286 deg, lon: -121.859483 deg, deltaT: 0.502199 s, deltaX: -0.497236 m, approachRate: -0.990118 m/s, posRepo size: 4 2025-10-29T01:13:42.340Z,1761700422.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-29T01:13:42.343Z,1761700422.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.655197 m, nav range: 24.104528 m, bearing: 2.636880 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.365471 deg, new cmd heading: 7.442474 deg. 2025-10-29T01:13:42.345Z,1761700422.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.129896 target range: 25.655197 and range: 25.80 m. 2025-10-29T01:13:42.458Z,1761700422.458 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.283747 2025-10-29T01:13:42.711Z,1761700422.711 [DAT](INFO): DAT read: Rx Time:01:13:42.0815 2025-10-29T01:13:42.712Z,1761700422.712 [DAT](INFO): Rx dataTimestamp_ set to:1761700422.711143 2025-10-29T01:13:42.714Z,1761700422.714 [DAT](INFO): DAT read: Bearing 178.0, -8.0 (Local) 2025-10-29T01:13:42.714Z,1761700422.714 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, -8.0 (Local) 2025-10-29T01:13:42.718Z,1761700422.718 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.5 2025-10-29T01:13:42.728Z,1761700422.728 [DAT](INFO): DAT read: 01:13:42.0815 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.40,-2.536, 2.221,-2.155,-2.437, PHS= 0.002,-1.580, 0.237, RAW= 156.8, 15.5, CAL= 157.6, 17.9, ROT= 352.4, -17.9 2025-10-29T01:13:42.729Z,1761700422.729 [DAT](INFO): got valid direction response: 01:13:42.0815 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 502,-0.40,-2.536, 2.221,-2.155,-2.437, PHS= 0.002,-1.580, 0.237, RAW= 156.8, 15.5, CAL= 157.6, 17.9, ROT= 352.4, -17.9 2025-10-29T01:13:42.730Z,1761700422.730 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T01:13:42.731Z,1761700422.731 [DAT](INFO): direction in FSK: [0.943235,-0.125854,0.307357] 2025-10-29T01:13:42.731Z,1761700422.731 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:42.758Z,1761700422.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990022,-0.130695,-0.052674],[0.137166,0.979450,0.147859],[0.032268,-0.153609,0.987605]] 2025-10-29T01:13:42.809Z,1761700422.809 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.634586 2025-10-29T01:13:42.936Z,1761700422.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.504477 s, deltaX: -0.099998 m, approachRate: -0.198222 m/s, rangeRepo size: 4 2025-10-29T01:13:42.938Z,1761700422.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.555759 m, bearing: 3.159257 deg, lat: 36.779286 deg, lon: -121.859483 deg, deltaT: 0.504477 s, deltaX: -0.099438 m, approachRate: -0.197111 m/s, posRepo size: 4 2025-10-29T01:13:42.939Z,1761700422.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.56 m. 2025-10-29T01:13:42.950Z,1761700422.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.555759 m, nav range: 23.712250 m, bearing: 2.654883 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.442475 deg, new cmd heading: 7.542445 deg. 2025-10-29T01:13:42.951Z,1761700422.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.131640 target range: 25.555759 and range: 25.70 m. 2025-10-29T01:13:42.961Z,1761700422.961 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.787036 2025-10-29T01:13:43.215Z,1761700423.215 [DAT](INFO): DAT read: Rx Time:01:13:42.5812 2025-10-29T01:13:43.216Z,1761700423.216 [DAT](INFO): Rx dataTimestamp_ set to:1761700423.215239 2025-10-29T01:13:43.218Z,1761700423.218 [DAT](INFO): DAT read: Bearing 178.0, -7.9 (Local) 2025-10-29T01:13:43.218Z,1761700423.218 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, -7.9 (Local) 2025-10-29T01:13:43.222Z,1761700423.222 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed 0.5 2025-10-29T01:13:43.270Z,1761700423.270 [DAT](INFO): DAT read: 01:13:42.5812 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.50, 2.672, 1.142, 3.051, 2.769, PHS= 0.005,-1.583, 0.238, RAW= 156.8, 15.4, CAL= 157.5, 17.8, ROT= 352.5, -17.8 2025-10-29T01:13:43.272Z,1761700423.272 [DAT](INFO): got valid direction response: 01:13:42.5812 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 499,-0.50, 2.672, 1.142, 3.051, 2.769, PHS= 0.005,-1.583, 0.238, RAW= 156.8, 15.4, CAL= 157.5, 17.8, ROT= 352.5, -17.8 2025-10-29T01:13:43.277Z,1761700423.277 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T01:13:43.278Z,1761700423.278 [DAT](INFO): direction in FSK: [0.943984,-0.124278,0.305695] 2025-10-29T01:13:43.279Z,1761700423.279 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:43.287Z,1761700423.287 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.112901 2025-10-29T01:13:43.395Z,1761700423.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.504096 s, deltaX: -0.500000 m, approachRate: -0.991875 m/s, rangeRepo size: 4 2025-10-29T01:13:43.401Z,1761700423.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.058525 m, bearing: 3.242779 deg, lat: 36.779286 deg, lon: -121.859482 deg, deltaT: 0.504096 s, deltaX: -0.497234 m, approachRate: -0.986388 m/s, posRepo size: 4 2025-10-29T01:13:43.402Z,1761700423.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.06 m. 2025-10-29T01:13:43.409Z,1761700423.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.058525 m, nav range: 23.453691 m, bearing: 2.963140 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.542445 deg, new cmd heading: 7.619814 deg. 2025-10-29T01:13:43.410Z,1761700423.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.132991 target range: 25.058525 and range: 25.20 m. 2025-10-29T01:13:43.465Z,1761700423.465 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.291112 2025-10-29T01:13:43.725Z,1761700423.725 [DAT](INFO): DAT read: Rx Time:01:13:43.0810 2025-10-29T01:13:43.727Z,1761700423.727 [DAT](INFO): Rx dataTimestamp_ set to:1761700423.725576 2025-10-29T01:13:43.731Z,1761700423.731 [DAT](INFO): DAT read: Bearing 177.8, -7.8 (Local) 2025-10-29T01:13:43.732Z,1761700423.732 [DAT](INFO): Local bearing/azimuth received: Bearing 177.8, -7.8 (Local) 2025-10-29T01:13:43.752Z,1761700423.752 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.7 2025-10-29T01:13:43.786Z,1761700423.786 [DAT](INFO): DAT read: 01:13:43.0810 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.40,-2.284, 2.467,-1.907,-2.195, PHS= 0.013,-1.576, 0.243, RAW= 156.7, 15.2, CAL= 157.4, 17.5, ROT= 352.6, -17.5 2025-10-29T01:13:43.787Z,1761700423.787 [DAT](INFO): got valid direction response: 01:13:43.0810 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 496, 0.40,-2.284, 2.467,-1.907,-2.195, PHS= 0.013,-1.576, 0.243, RAW= 156.7, 15.2, CAL= 157.4, 17.5, ROT= 352.6, -17.5 2025-10-29T01:13:43.787Z,1761700423.787 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T01:13:43.804Z,1761700423.804 [DAT](INFO): direction in FSK: [0.945774,-0.122834,0.300706] 2025-10-29T01:13:43.805Z,1761700423.805 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:43.811Z,1761700423.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989784,-0.132398,-0.052892],[0.138939,0.978948,0.149521],[0.031982,-0.155342,0.987343]] 2025-10-29T01:13:43.820Z,1761700423.820 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.646513 2025-10-29T01:13:43.911Z,1761700423.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.510337 s, deltaX: -0.300001 m, approachRate: -0.587849 m/s, rangeRepo size: 4 2025-10-29T01:13:43.915Z,1761700423.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.760208 m, bearing: 3.429352 deg, lat: 36.779287 deg, lon: -121.859481 deg, deltaT: 0.510337 s, deltaX: -0.298317 m, approachRate: -0.584549 m/s, posRepo size: 4 2025-10-29T01:13:43.924Z,1761700423.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.76 m. 2025-10-29T01:13:43.927Z,1761700423.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.760208 m, nav range: 23.185736 m, bearing: 3.223453 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.619815 deg, new cmd heading: 7.706008 deg. 2025-10-29T01:13:43.932Z,1761700423.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.134495 target range: 24.760208 and range: 24.90 m. 2025-10-29T01:13:43.969Z,1761700423.969 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.795154 2025-10-29T01:13:44.222Z,1761700424.222 [DAT](INFO): DAT read: Rx Time:01:13:43.5807 2025-10-29T01:13:44.222Z,1761700424.222 [DAT](INFO): Rx dataTimestamp_ set to:1761700424.221793 2025-10-29T01:13:44.223Z,1761700424.223 [DAT](INFO): DAT read: Bearing 177.3, -8.0 (Local) 2025-10-29T01:13:44.224Z,1761700424.224 [DAT](INFO): Local bearing/azimuth received: Bearing 177.3, -8.0 (Local) 2025-10-29T01:13:44.226Z,1761700424.226 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed 0.6 2025-10-29T01:13:44.231Z,1761700424.231 [DAT](INFO): DAT read: 01:13:43.5807 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509, 0.30, 3.106, 1.570,-2.790,-3.096, PHS= 0.021,-1.572, 0.263, RAW= 157.0, 14.8, CAL= 157.6, 17.0, ROT= 352.4, -17.0 2025-10-29T01:13:44.232Z,1761700424.232 [DAT](INFO): got valid direction response: 01:13:43.5807 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 509, 0.30, 3.106, 1.570,-2.790,-3.096, PHS= 0.021,-1.572, 0.263, RAW= 157.0, 14.8, CAL= 157.6, 17.0, ROT= 352.4, -17.0 2025-10-29T01:13:44.232Z,1761700424.232 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T01:13:44.233Z,1761700424.233 [DAT](INFO): direction in FSK: [0.947904,-0.126477,0.292372] 2025-10-29T01:13:44.233Z,1761700424.233 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:44.237Z,1761700424.237 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.063192 2025-10-29T01:13:44.273Z,1761700424.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989670,-0.133103,-0.053263],[0.139660,0.979001,0.148501],[0.032379,-0.154406,0.987477]] 2025-10-29T01:13:44.349Z,1761700424.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.496217 s, deltaX: -0.299999 m, approachRate: -0.604573 m/s, rangeRepo size: 4 2025-10-29T01:13:44.351Z,1761700424.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.461843 m, bearing: 3.167234 deg, lat: 36.779287 deg, lon: -121.859481 deg, deltaT: 0.496217 s, deltaX: -0.298365 m, approachRate: -0.601279 m/s, posRepo size: 4 2025-10-29T01:13:44.352Z,1761700424.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-29T01:13:44.358Z,1761700424.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.461843 m, nav range: 22.945374 m, bearing: 3.245375 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.706008 deg, new cmd heading: 7.778463 deg. 2025-10-29T01:13:44.359Z,1761700424.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.135760 target range: 24.461843 and range: 24.60 m. 2025-10-29T01:13:44.473Z,1761700424.473 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.299068 2025-10-29T01:13:44.677Z,1761700424.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989553,-0.133939,-0.053343],[0.140520,0.978782,0.149134],[0.032237,-0.155071,0.987377]] 2025-10-29T01:13:44.729Z,1761700424.729 [DAT](INFO): DAT read: Rx Time:01:13:44.0806 2025-10-29T01:13:44.731Z,1761700424.731 [DAT](INFO): Rx dataTimestamp_ set to:1761700424.729855 2025-10-29T01:13:44.734Z,1761700424.734 [DAT](INFO): DAT read: Bearing 178.1, -8.7 (Local) 2025-10-29T01:13:44.735Z,1761700424.735 [DAT](INFO): Local bearing/azimuth received: Bearing 178.1, -8.7 (Local) 2025-10-29T01:13:44.737Z,1761700424.737 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.6 2025-10-29T01:13:44.746Z,1761700424.746 [DAT](INFO): DAT read: 01:13:44.0806 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.18,-2.216, 2.548,-1.815,-2.111, PHS=-0.003,-1.579, 0.252, RAW= 157.4, 15.3, CAL= 158.2, 17.7, ROT= 351.8, -17.7 2025-10-29T01:13:44.757Z,1761700424.757 [DAT](INFO): got valid direction response: 01:13:44.0806 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 508, 0.18,-2.216, 2.548,-1.815,-2.111, PHS=-0.003,-1.579, 0.252, RAW= 157.4, 15.3, CAL= 158.2, 17.7, ROT= 351.8, -17.7 2025-10-29T01:13:44.757Z,1761700424.757 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T01:13:44.758Z,1761700424.758 [DAT](INFO): direction in FSK: [0.942922,-0.135877,0.304033] 2025-10-29T01:13:44.759Z,1761700424.759 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:44.783Z,1761700424.783 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.608949 2025-10-29T01:13:44.893Z,1761700424.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.508062 s, deltaX: -0.100000 m, approachRate: -0.196827 m/s, rangeRepo size: 4 2025-10-29T01:13:44.895Z,1761700424.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.362406 m, bearing: 2.745896 deg, lat: 36.779287 deg, lon: -121.859481 deg, deltaT: 0.508062 s, deltaX: -0.099438 m, approachRate: -0.195720 m/s, posRepo size: 4 2025-10-29T01:13:44.901Z,1761700424.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-29T01:13:44.910Z,1761700424.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.362406 m, nav range: 22.628708 m, bearing: 3.280911 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.778463 deg, new cmd heading: 7.870087 deg. 2025-10-29T01:13:44.911Z,1761700424.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.137359 target range: 24.362406 and range: 24.50 m. 2025-10-29T01:13:44.978Z,1761700424.978 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.804219 2025-10-29T01:13:45.230Z,1761700425.230 [DAT](INFO): DAT read: Rx Time:01:13:44.5803 2025-10-29T01:13:45.230Z,1761700425.230 [DAT](INFO): Rx dataTimestamp_ set to:1761700425.229782 2025-10-29T01:13:45.231Z,1761700425.231 [DAT](INFO): DAT read: Bearing 177.9, -8.0 (Local) 2025-10-29T01:13:45.232Z,1761700425.232 [DAT](INFO): Local bearing/azimuth received: Bearing 177.9, -8.0 (Local) 2025-10-29T01:13:45.234Z,1761700425.234 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed 0.7 2025-10-29T01:13:45.242Z,1761700425.242 [DAT](INFO): DAT read: 01:13:44.5803 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505, 0.02, 2.328, 0.797, 2.709, 2.416, PHS= 0.014,-1.573, 0.249, RAW= 156.8, 15.1, CAL= 157.5, 17.4, ROT= 352.5, -17.4 2025-10-29T01:13:45.244Z,1761700425.244 [DAT](INFO): got valid direction response: 01:13:44.5803 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 505, 0.02, 2.328, 0.797, 2.709, 2.416, PHS= 0.014,-1.573, 0.249, RAW= 156.8, 15.1, CAL= 157.5, 17.4, ROT= 352.5, -17.4 2025-10-29T01:13:45.253Z,1761700425.253 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T01:13:45.254Z,1761700425.254 [DAT](INFO): direction in FSK: [0.946077,-0.124553,0.299041] 2025-10-29T01:13:45.254Z,1761700425.254 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:45.261Z,1761700425.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989437,-0.134711,-0.053540],[0.141292,0.978776,0.148439],[0.032407,-0.154436,0.987471]] 2025-10-29T01:13:45.266Z,1761700425.266 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.092057 2025-10-29T01:13:45.357Z,1761700425.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.499927 s, deltaX: -0.500000 m, approachRate: -1.000146 m/s, rangeRepo size: 4 2025-10-29T01:13:45.359Z,1761700425.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.865192 m, bearing: 3.430056 deg, lat: 36.779287 deg, lon: -121.859480 deg, deltaT: 0.499927 s, deltaX: -0.497213 m, approachRate: -0.994572 m/s, posRepo size: 4 2025-10-29T01:13:45.360Z,1761700425.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.87 m. 2025-10-29T01:13:45.366Z,1761700425.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.865192 m, nav range: 22.353233 m, bearing: 3.358165 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.870086 deg, new cmd heading: 7.946754 deg. 2025-10-29T01:13:45.367Z,1761700425.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.138697 target range: 23.865192 and range: 24.00 m. 2025-10-29T01:13:45.482Z,1761700425.482 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.307618 2025-10-29T01:13:45.677Z,1761700425.677 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989327,-0.135392,-0.053861],[0.142069,0.978417,0.150054],[0.032383,-0.156104,0.987210]] 2025-10-29T01:13:45.738Z,1761700425.738 [DAT](INFO): DAT read: Rx Time:01:13:45.0802 2025-10-29T01:13:45.740Z,1761700425.740 [DAT](INFO): Rx dataTimestamp_ set to:1761700425.738573 2025-10-29T01:13:45.745Z,1761700425.745 [DAT](INFO): DAT read: Bearing 178.3, -8.0 (Local) 2025-10-29T01:13:45.746Z,1761700425.746 [DAT](INFO): Local bearing/azimuth received: Bearing 178.3, -8.0 (Local) 2025-10-29T01:13:45.754Z,1761700425.754 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed 0.7 2025-10-29T01:13:45.777Z,1761700425.777 [DAT](INFO): DAT read: 01:13:45.0802 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.16, 2.408, 0.885, 2.786, 2.502, PHS= 0.007,-1.572, 0.240, RAW= 156.8, 15.3, CAL= 157.5, 17.7, ROT= 352.5, -17.7 2025-10-29T01:13:45.779Z,1761700425.779 [DAT](INFO): got valid direction response: 01:13:45.0802 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 504,-0.16, 2.408, 0.885, 2.786, 2.502, PHS= 0.007,-1.572, 0.240, RAW= 156.8, 15.3, CAL= 157.5, 17.7, ROT= 352.5, -17.7 2025-10-29T01:13:45.779Z,1761700425.779 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T01:13:45.784Z,1761700425.784 [DAT](INFO): direction in FSK: [0.944511,-0.124347,0.304033] 2025-10-29T01:13:45.784Z,1761700425.784 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:45.796Z,1761700425.796 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.622309 2025-10-29T01:13:45.810Z,1761700425.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.508791 s, deltaX: -0.100000 m, approachRate: -0.196545 m/s, rangeRepo size: 4 2025-10-29T01:13:45.817Z,1761700425.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.765755 m, bearing: 3.558791 deg, lat: 36.779288 deg, lon: -121.859480 deg, deltaT: 0.508791 s, deltaX: -0.099438 m, approachRate: -0.195439 m/s, posRepo size: 4 2025-10-29T01:13:45.818Z,1761700425.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-29T01:13:45.829Z,1761700425.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.765755 m, nav range: 22.096163 m, bearing: 3.467135 deg, approach rate: 0.000000 m/s, LOS rate: 0.083532 deg/s, cmd heading: 7.946754 deg, new cmd heading: 8.023341 deg. 2025-10-29T01:13:45.830Z,1761700425.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.140034 target range: 23.765755 and range: 23.90 m. 2025-10-29T01:13:45.985Z,1761700425.985 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.811165 2025-10-29T01:13:46.141Z,1761700426.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989298,-0.135485,-0.054157],[0.142201,0.978423,0.149893],[0.032681,-0.155990,0.987218]] 2025-10-29T01:13:46.190Z,1761700426.190 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:46.195Z,1761700426.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.77 m. 2025-10-29T01:13:46.200Z,1761700426.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.765755 m, nav range: 21.832865 m, bearing: 3.520653 deg, approach rate: -0.684337 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.023341 deg, new cmd heading: 8.131668 deg. 2025-10-29T01:13:46.202Z,1761700426.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.141924 target range: 23.765755 and range: 23.90 m. 2025-10-29T01:13:46.238Z,1761700426.238 [DAT](INFO): DAT read: Rx Time:01:13:45.5798 2025-10-29T01:13:46.238Z,1761700426.238 [DAT](INFO): Rx dataTimestamp_ set to:1761700426.237824 2025-10-29T01:13:46.239Z,1761700426.239 [DAT](INFO): DAT read: Bearing 177.1, -8.4 (Local) 2025-10-29T01:13:46.240Z,1761700426.240 [DAT](INFO): Local bearing/azimuth received: Bearing 177.1, -8.4 (Local) 2025-10-29T01:13:46.242Z,1761700426.242 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.7 2025-10-29T01:13:46.247Z,1761700426.247 [DAT](INFO): DAT read: 01:13:45.5798 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.42, 1.404,-0.127, 1.809, 1.481, PHS= 0.024,-1.563, 0.284, RAW= 157.5, 14.4, CAL= 158.1, 16.5, ROT= 351.9, -16.5 2025-10-29T01:13:46.248Z,1761700426.248 [DAT](INFO): got valid direction response: 01:13:45.5798 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 501,-0.42, 1.404,-0.127, 1.809, 1.481, PHS= 0.024,-1.563, 0.284, RAW= 157.5, 14.4, CAL= 158.1, 16.5, ROT= 351.9, -16.5 2025-10-29T01:13:46.248Z,1761700426.248 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T01:13:46.249Z,1761700426.249 [DAT](INFO): direction in FSK: [0.949254,-0.135099,0.284015] 2025-10-29T01:13:46.249Z,1761700426.249 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:46.265Z,1761700426.265 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.091296 2025-10-29T01:13:46.489Z,1761700426.489 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.315450 2025-10-29T01:13:46.601Z,1761700426.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989233,-0.135774,-0.054613],[0.142553,0.978398,0.149717],[0.033105,-0.155890,0.987220]] 2025-10-29T01:13:46.625Z,1761700426.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.499251 s, deltaX: -0.600000 m, approachRate: -1.201801 m/s, rangeRepo size: 4 2025-10-29T01:13:46.627Z,1761700426.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.169102 m, bearing: 2.775432 deg, lat: 36.779289 deg, lon: -121.859481 deg, deltaT: 0.499251 s, deltaX: -0.596653 m, approachRate: -1.195096 m/s, posRepo size: 4 2025-10-29T01:13:46.627Z,1761700426.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.17 m. 2025-10-29T01:13:46.630Z,1761700426.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.169102 m, nav range: 21.658077 m, bearing: 3.360123 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.131669 deg, new cmd heading: 8.252509 deg. 2025-10-29T01:13:46.631Z,1761700426.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.144033 target range: 23.169102 and range: 23.30 m. 2025-10-29T01:13:46.749Z,1761700426.749 [DAT](INFO): DAT read: Rx Time:01:13:46.0797 2025-10-29T01:13:46.750Z,1761700426.750 [DAT](INFO): Rx dataTimestamp_ set to:1761700426.749303 2025-10-29T01:13:46.755Z,1761700426.755 [DAT](INFO): DAT read: Bearing 176.5, -8.4 (Local) 2025-10-29T01:13:46.757Z,1761700426.757 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -8.4 (Local) 2025-10-29T01:13:46.763Z,1761700426.763 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.7 2025-10-29T01:13:46.773Z,1761700426.773 [DAT](INFO): DAT read: 01:13:46.0797 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.20,-1.699, 3.051,-1.285,-1.637, PHS= 0.040,-1.550, 0.308, RAW= 157.7, 13.7, CAL= 158.2, 15.7, ROT= 351.8, -15.7 2025-10-29T01:13:46.775Z,1761700426.775 [DAT](INFO): got valid direction response: 01:13:46.0797 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.20,-1.699, 3.051,-1.285,-1.637, PHS= 0.040,-1.550, 0.308, RAW= 157.7, 13.7, CAL= 158.2, 15.7, ROT= 351.8, -15.7 2025-10-29T01:13:46.776Z,1761700426.776 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T01:13:46.786Z,1761700426.786 [DAT](INFO): direction in FSK: [0.952849,-0.137308,0.270600] 2025-10-29T01:13:46.786Z,1761700426.786 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:46.799Z,1761700426.799 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.625000 2025-10-29T01:13:46.993Z,1761700426.993 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.818943 2025-10-29T01:13:47.003Z,1761700427.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989125,-0.136446,-0.054892],[0.143244,0.978373,0.149224],[0.033344,-0.155465,0.987279]] 2025-10-29T01:13:47.121Z,1761700427.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.511479 s, deltaX: -0.199999 m, approachRate: -0.391021 m/s, rangeRepo size: 4 2025-10-29T01:13:47.123Z,1761700427.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.970238 m, bearing: 2.573279 deg, lat: 36.779289 deg, lon: -121.859483 deg, deltaT: 0.511479 s, deltaX: -0.198864 m, approachRate: -0.388802 m/s, posRepo size: 4 2025-10-29T01:13:47.123Z,1761700427.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.97 m. 2025-10-29T01:13:47.131Z,1761700427.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.970238 m, nav range: 21.361731 m, bearing: 2.942004 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.252509 deg, new cmd heading: 8.392207 deg. 2025-10-29T01:13:47.136Z,1761700427.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.146472 target range: 22.970238 and range: 23.10 m. 2025-10-29T01:13:47.246Z,1761700427.246 [DAT](INFO): DAT read: Rx Time:01:13:46.5794 2025-10-29T01:13:47.246Z,1761700427.246 [DAT](INFO): Rx dataTimestamp_ set to:1761700427.245961 2025-10-29T01:13:47.248Z,1761700427.248 [DAT](INFO): DAT read: Bearing 174.7, -8.3 (Local) 2025-10-29T01:13:47.248Z,1761700427.248 [DAT](INFO): Local bearing/azimuth received: Bearing 174.7, -8.3 (Local) 2025-10-29T01:13:47.250Z,1761700427.250 [DAT](INFO): DAT read: Range 11 to 50 : 22.7 m (trip time 15.1 ms) speed 0.5 2025-10-29T01:13:47.255Z,1761700427.255 [DAT](INFO): DAT read: 01:13:46.5794 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.04, 2.651, 1.110, 3.085, 2.677, PHS= 0.076,-1.522, 0.364, RAW= 158.1, 12.3, CAL= 158.5, 13.8, ROT= 351.5, -13.8 2025-10-29T01:13:47.257Z,1761700427.257 [DAT](INFO): got valid direction response: 01:13:46.5794 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 496, 0.04, 2.651, 1.110, 3.085, 2.677, PHS= 0.076,-1.522, 0.364, RAW= 158.1, 12.3, CAL= 158.5, 13.8, ROT= 351.5, -13.8 2025-10-29T01:13:47.257Z,1761700427.257 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T01:13:47.258Z,1761700427.258 [DAT](INFO): direction in FSK: [0.960467,-0.143543,0.238533] 2025-10-29T01:13:47.258Z,1761700427.258 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:47.262Z,1761700427.262 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.088026 2025-10-29T01:13:47.497Z,1761700427.497 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.323052 2025-10-29T01:13:47.515Z,1761700427.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.700001 m, deltaT: 0.496658 s, deltaX: -0.400000 m, approachRate: -0.805382 m/s, rangeRepo size: 4 2025-10-29T01:13:47.519Z,1761700427.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.572485 m, bearing: 1.960271 deg, lat: 36.779291 deg, lon: -121.859483 deg, deltaT: 0.496658 s, deltaX: -0.397753 m, approachRate: -0.800858 m/s, posRepo size: 4 2025-10-29T01:13:47.522Z,1761700427.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.57 m. 2025-10-29T01:13:47.533Z,1761700427.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.572485 m, nav range: 21.253469 m, bearing: 2.862857 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.392207 deg, new cmd heading: 8.503204 deg. 2025-10-29T01:13:47.558Z,1761700427.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.148409 target range: 22.572485 and range: 22.70 m. 2025-10-29T01:13:47.755Z,1761700427.755 [DAT](INFO): DAT read: Rx Time:01:13:47.0792 2025-10-29T01:13:47.757Z,1761700427.757 [DAT](INFO): Rx dataTimestamp_ set to:1761700427.755325 2025-10-29T01:13:47.765Z,1761700427.765 [DAT](INFO): DAT read: Bearing 175.3, -7.8 (Local) 2025-10-29T01:13:47.766Z,1761700427.766 [DAT](INFO): Local bearing/azimuth received: Bearing 175.3, -7.8 (Local) 2025-10-29T01:13:47.783Z,1761700427.783 [DAT](INFO): DAT read: Range 11 to 50 : 22.4 m (trip time 14.9 ms) speed 0.7 2025-10-29T01:13:47.813Z,1761700427.813 [DAT](INFO): DAT read: 01:13:47.0792 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.19, 3.078, 1.546,-2.799, 3.103, PHS= 0.076,-1.512, 0.337, RAW= 157.5, 12.6, CAL= 157.8, 14.2, ROT= 352.2, -14.2 2025-10-29T01:13:47.814Z,1761700427.814 [DAT](INFO): got valid direction response: 01:13:47.0792 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 511,-0.19, 3.078, 1.546,-2.799, 3.103, PHS= 0.076,-1.512, 0.337, RAW= 157.5, 12.6, CAL= 157.8, 14.2, ROT= 352.2, -14.2 2025-10-29T01:13:47.815Z,1761700427.815 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T01:13:47.820Z,1761700427.820 [DAT](INFO): direction in FSK: [0.960476,-0.131569,0.245307] 2025-10-29T01:13:47.820Z,1761700427.820 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:47.830Z,1761700427.830 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.654753 2025-10-29T01:13:47.893Z,1761700427.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988702,-0.139131,-0.055767],[0.145964,0.978287,0.147138],[0.034085,-0.153616,0.987543]] 2025-10-29T01:13:47.985Z,1761700427.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.400000 m, deltaT: 0.509364 s, deltaX: -0.300001 m, approachRate: -0.588972 m/s, rangeRepo size: 4 2025-10-29T01:13:47.987Z,1761700427.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.274170 m, bearing: 2.854322 deg, lat: 36.779293 deg, lon: -121.859483 deg, deltaT: 0.509364 s, deltaX: -0.298315 m, approachRate: -0.585662 m/s, posRepo size: 4 2025-10-29T01:13:47.988Z,1761700427.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.27 m. 2025-10-29T01:13:47.994Z,1761700427.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.274170 m, nav range: 21.191719 m, bearing: 2.861830 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.503204 deg, new cmd heading: 8.634397 deg. 2025-10-29T01:13:47.995Z,1761700427.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.150699 target range: 22.274170 and range: 22.40 m. 2025-10-29T01:13:48.001Z,1761700428.001 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.827032 2025-10-29T01:13:48.254Z,1761700428.254 [DAT](INFO): DAT read: Rx Time:01:13:47.5790 2025-10-29T01:13:48.254Z,1761700428.254 [DAT](INFO): Rx dataTimestamp_ set to:1761700428.253721 2025-10-29T01:13:48.255Z,1761700428.255 [DAT](INFO): DAT read: Bearing 175.3, -7.9 (Local) 2025-10-29T01:13:48.256Z,1761700428.256 [DAT](INFO): Local bearing/azimuth received: Bearing 175.3, -7.9 (Local) 2025-10-29T01:13:48.258Z,1761700428.258 [DAT](INFO): DAT read: Range 11 to 50 : 21.9 m (trip time 14.6 ms) speed 0.7 2025-10-29T01:13:48.275Z,1761700428.275 [DAT](INFO): DAT read: 01:13:47.5790 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.45, 2.038, 0.507, 2.454, 2.065, PHS= 0.075,-1.513, 0.344, RAW= 157.7, 12.5, CAL= 158.0, 14.1, ROT= 352.0, -14.1 2025-10-29T01:13:48.276Z,1761700428.276 [DAT](INFO): got valid direction response: 01:13:47.5790 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 508,-0.45, 2.038, 0.507, 2.454, 2.065, PHS= 0.075,-1.513, 0.344, RAW= 157.7, 12.5, CAL= 158.0, 14.1, ROT= 352.0, -14.1 2025-10-29T01:13:48.276Z,1761700428.276 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T01:13:48.277Z,1761700428.277 [DAT](INFO): direction in FSK: [0.960433,-0.134980,0.243615] 2025-10-29T01:13:48.277Z,1761700428.277 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:48.303Z,1761700428.303 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.128776 2025-10-29T01:13:48.372Z,1761700428.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988532,-0.140163,-0.056206],[0.147041,0.978178,0.146788],[0.034406,-0.153369,0.987570]] 2025-10-29T01:13:48.425Z,1761700428.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.900000 m, deltaT: 0.498396 s, deltaX: -0.500000 m, approachRate: -1.003218 m/s, rangeRepo size: 4 2025-10-29T01:13:48.427Z,1761700428.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.776831 m, bearing: 2.695705 deg, lat: 36.779293 deg, lon: -121.859484 deg, deltaT: 0.498396 s, deltaX: -0.497339 m, approachRate: -0.997880 m/s, posRepo size: 4 2025-10-29T01:13:48.427Z,1761700428.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.78 m. 2025-10-29T01:13:48.448Z,1761700428.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.776831 m, nav range: 20.899902 m, bearing: 2.684376 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.634396 deg, new cmd heading: 8.758212 deg. 2025-10-29T01:13:48.449Z,1761700428.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.152860 target range: 21.776831 and range: 21.90 m. 2025-10-29T01:13:48.510Z,1761700428.510 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.334899 2025-10-29T01:13:48.762Z,1761700428.762 [DAT](INFO): DAT read: Rx Time:01:13:48.0789 2025-10-29T01:13:48.766Z,1761700428.766 [DAT](INFO): Rx dataTimestamp_ set to:1761700428.762981 2025-10-29T01:13:48.771Z,1761700428.771 [DAT](INFO): DAT read: Bearing 175.6, -8.1 (Local) 2025-10-29T01:13:48.773Z,1761700428.773 [DAT](INFO): Local bearing/azimuth received: Bearing 175.6, -8.1 (Local) 2025-10-29T01:13:48.782Z,1761700428.782 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.6 2025-10-29T01:13:48.794Z,1761700428.794 [DAT](INFO): DAT read: 01:13:48.0789 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.27,-2.001, 2.748,-1.578,-1.965, PHS= 0.066,-1.525, 0.343, RAW= 157.9, 12.7, CAL= 158.3, 14.4, ROT= 351.7, -14.4 2025-10-29T01:13:48.795Z,1761700428.795 [DAT](INFO): got valid direction response: 01:13:48.0789 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.27,-2.001, 2.748,-1.578,-1.965, PHS= 0.066,-1.525, 0.343, RAW= 157.9, 12.7, CAL= 158.3, 14.4, ROT= 351.7, -14.4 2025-10-29T01:13:48.832Z,1761700428.832 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T01:13:48.833Z,1761700428.833 [DAT](INFO): direction in FSK: [0.958438,-0.139821,0.248690] 2025-10-29T01:13:48.833Z,1761700428.833 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:48.846Z,1761700428.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988323,-0.141423,-0.056712],[0.148299,0.978270,0.144899],[0.034987,-0.151618,0.987820]] 2025-10-29T01:13:48.860Z,1761700428.860 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.673753 2025-10-29T01:13:48.954Z,1761700428.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.509260 s, deltaX: -0.100000 m, approachRate: -0.196364 m/s, rangeRepo size: 4 2025-10-29T01:13:48.961Z,1761700428.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.677391 m, bearing: 2.486974 deg, lat: 36.779294 deg, lon: -121.859484 deg, deltaT: 0.509260 s, deltaX: -0.099440 m, approachRate: -0.195263 m/s, posRepo size: 4 2025-10-29T01:13:48.961Z,1761700428.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:13:48.968Z,1761700428.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.677391 m, nav range: 20.626390 m, bearing: 2.658951 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.758212 deg, new cmd heading: 8.908554 deg. 2025-10-29T01:13:48.969Z,1761700428.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.155484 target range: 21.677391 and range: 21.80 m. 2025-10-29T01:13:49.012Z,1761700429.012 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.837202 2025-10-29T01:13:49.262Z,1761700429.262 [DAT](INFO): DAT read: Rx Time:01:13:48.5786 2025-10-29T01:13:49.263Z,1761700429.263 [DAT](INFO): Rx dataTimestamp_ set to:1761700429.262262 2025-10-29T01:13:49.264Z,1761700429.264 [DAT](INFO): DAT read: Bearing 174.7, -7.7 (Local) 2025-10-29T01:13:49.264Z,1761700429.264 [DAT](INFO): Local bearing/azimuth received: Bearing 174.7, -7.7 (Local) 2025-10-29T01:13:49.266Z,1761700429.266 [DAT](INFO): DAT read: Range 11 to 50 : 21.3 m (trip time 14.2 ms) speed 0.5 2025-10-29T01:13:49.271Z,1761700429.271 [DAT](INFO): DAT read: 01:13:48.5786 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.16, 2.474, 0.934, 2.896, 2.485, PHS= 0.091,-1.506, 0.367, RAW= 157.9, 11.9, CAL= 158.1, 13.3, ROT= 351.9, -13.3 2025-10-29T01:13:49.272Z,1761700429.272 [DAT](INFO): got valid direction response: 01:13:48.5786 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503, 0.16, 2.474, 0.934, 2.896, 2.485, PHS= 0.091,-1.506, 0.367, RAW= 157.9, 11.9, CAL= 158.1, 13.3, ROT= 351.9, -13.3 2025-10-29T01:13:49.272Z,1761700429.272 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T01:13:49.273Z,1761700429.273 [DAT](INFO): direction in FSK: [0.963470,-0.137122,0.230050] 2025-10-29T01:13:49.274Z,1761700429.274 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:49.278Z,1761700429.278 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.103848 2025-10-29T01:13:49.397Z,1761700429.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.299999 m, deltaT: 0.499281 s, deltaX: -0.500000 m, approachRate: -1.001440 m/s, rangeRepo size: 4 2025-10-29T01:13:49.399Z,1761700429.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.180136 m, bearing: 2.513225 deg, lat: 36.779294 deg, lon: -121.859485 deg, deltaT: 0.499281 s, deltaX: -0.497255 m, approachRate: -0.995943 m/s, posRepo size: 4 2025-10-29T01:13:49.399Z,1761700429.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m. 2025-10-29T01:13:49.402Z,1761700429.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.180136 m, nav range: 20.329649 m, bearing: 2.512285 deg, approach rate: 0.000000 m/s, LOS rate: 0.140777 deg/s, cmd heading: 8.908553 deg, new cmd heading: 9.032528 deg. 2025-10-29T01:13:49.403Z,1761700429.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157647 target range: 21.180136 and range: 21.30 m. 2025-10-29T01:13:49.518Z,1761700429.518 [DAT](INFO): DAT read: Rx Time:01:13:49.0785 2025-10-29T01:13:49.519Z,1761700429.519 [DAT](INFO): Rx dataTimestamp_ set to:1761700429.518219 2025-10-29T01:13:49.522Z,1761700429.522 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.347541 2025-10-29T01:13:49.730Z,1761700429.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987351,-0.147530,-0.058078],[0.154390,0.977976,0.140452],[0.036078,-0.147642,0.988383]] 2025-10-29T01:13:49.771Z,1761700429.771 [DAT](INFO): DAT read: Bearing 176.9, -7.8 (Local) 2025-10-29T01:13:49.773Z,1761700429.773 [DAT](INFO): Local bearing/azimuth received: Bearing 176.9, -7.8 (Local) 2025-10-29T01:13:49.779Z,1761700429.779 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 2025-10-29T01:13:49.826Z,1761700429.826 [DAT](INFO): DAT read: 01:13:49.0785 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.04,-2.787, 1.966,-2.381,-2.735, PHS= 0.050,-1.536, 0.311, RAW= 157.5, 13.5, CAL= 158.0, 15.4, ROT= 352.0, -15.4 2025-10-29T01:13:49.827Z,1761700429.827 [DAT](INFO): got valid direction response: 01:13:49.0785 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.04,-2.787, 1.966,-2.381,-2.735, PHS= 0.050,-1.536, 0.311, RAW= 157.5, 13.5, CAL= 158.0, 15.4, ROT= 352.0, -15.4 2025-10-29T01:13:49.831Z,1761700429.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:49.828Z,1761700429.828 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T01:13:49.849Z,1761700429.849 [DAT](INFO): direction in FSK: [0.954713,-0.134176,0.265556] 2025-10-29T01:13:49.849Z,1761700429.849 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:49.854Z,1761700429.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504005 s, deltaX: -0.099998 m, approachRate: -0.198408 m/s, rangeRepo size: 4 2025-10-29T01:13:49.854Z,1761700429.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m. 2025-10-29T01:13:49.865Z,1761700429.865 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.691094 2025-10-29T01:13:49.867Z,1761700429.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.180136 m, nav range: 20.065645 m, bearing: 2.510372 deg, approach rate: -0.575153 m/s, LOS rate: -0.004223 deg/s, cmd heading: 9.032528 deg, new cmd heading: 9.028652 deg. 2025-10-29T01:13:49.872Z,1761700429.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157580 target range: 21.180136 and range: 21.20 m. 2025-10-29T01:13:50.020Z,1761700430.020 [DAT](INFO): DAT read: Rx Time:01:13:49.5782 2025-10-29T01:13:50.022Z,1761700430.022 [DAT](INFO): Rx dataTimestamp_ set to:1761700430.021112 2025-10-29T01:13:50.026Z,1761700430.026 [DAT](INFO): DAT read: Bearing 177.3, -8.0 (Local) 2025-10-29T01:13:50.027Z,1761700430.027 [DAT](INFO): Local bearing/azimuth received: Bearing 177.3, -8.0 (Local) 2025-10-29T01:13:50.030Z,1761700430.030 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.855377 2025-10-29T01:13:50.202Z,1761700430.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987060,-0.149256,-0.058608],[0.156135,0.977868,0.139269],[0.036524,-0.146618,0.988519]] 2025-10-29T01:13:50.267Z,1761700430.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.18 m. 2025-10-29T01:13:50.271Z,1761700430.271 [DAT](INFO): DAT read: Range 11 to 50 : 20.7 m (trip time 13.8 ms) speed 0.5 2025-10-29T01:13:50.275Z,1761700430.275 [DAT](INFO): DAT read: 01:13:49.5782 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.02, 1.245,-0.291, 1.656, 1.302, PHS= 0.045,-1.548, 0.310, RAW= 157.6, 13.6, CAL= 158.1, 15.5, ROT= 351.9, -15.5 2025-10-29T01:13:50.276Z,1761700430.276 [DAT](INFO): got valid direction response: 01:13:49.5782 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 499, 0.02, 1.245,-0.291, 1.656, 1.302, PHS= 0.045,-1.548, 0.310, RAW= 157.6, 13.6, CAL= 158.1, 15.5, ROT= 351.9, -15.5 2025-10-29T01:13:50.277Z,1761700430.277 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T01:13:50.278Z,1761700430.278 [DAT](INFO): direction in FSK: [0.954017,-0.135777,0.267238] 2025-10-29T01:13:50.278Z,1761700430.278 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:50.282Z,1761700430.282 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.107759 2025-10-29T01:13:50.284Z,1761700430.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.180136 m, nav range: 19.753046 m, bearing: 2.505667 deg, approach rate: -0.755591 m/s, LOS rate: -0.011552 deg/s, cmd heading: 9.028651 deg, new cmd heading: 9.019093 deg. 2025-10-29T01:13:50.285Z,1761700430.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157413 target range: 21.180136 and range: 21.20 m. 2025-10-29T01:13:50.527Z,1761700430.527 [DAT](INFO): DAT read: Rx Time:01:13:50.0780 2025-10-29T01:13:50.528Z,1761700430.528 [DAT](INFO): Rx dataTimestamp_ set to:1761700430.527330 2025-10-29T01:13:50.531Z,1761700430.531 [DAT](INFO): DAT read: Bearing 174.5, -7.8 (Local) 2025-10-29T01:13:50.541Z,1761700430.541 [DAT](INFO): Local bearing/azimuth received: Bearing 174.5, -7.8 (Local) 2025-10-29T01:13:50.546Z,1761700430.546 [DAT](INFO): DAT read: Range 11 to 50 : 20.4 m (trip time 13.6 ms) speed 0.5 2025-10-29T01:13:50.565Z,1761700430.565 [DAT](ERROR): #Rx 21: Read range message, but no direction. 2025-10-29T01:13:50.604Z,1761700430.604 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.393695 2025-10-29T01:13:50.609Z,1761700430.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986756,-0.151071,-0.059081],[0.157964,0.977721,0.138233],[0.036881,-0.145735,0.988636]] 2025-10-29T01:13:50.670Z,1761700430.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.400000 m, deltaT: 0.761063 s, deltaX: -0.800001 m, approachRate: -1.051163 m/s, rangeRepo size: 4 2025-10-29T01:13:50.678Z,1761700430.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.285210 m, bearing: 3.320405 deg, lat: 36.779294 deg, lon: -121.859484 deg, deltaT: 1.265068 s, deltaX: -0.894926 m, approachRate: -0.707413 m/s, posRepo size: 4 2025-10-29T01:13:50.679Z,1761700430.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.29 m. 2025-10-29T01:13:50.717Z,1761700430.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.285210 m, nav range: 19.477655 m, bearing: 2.680506 deg, approach rate: 0.000000 m/s, LOS rate: -0.011552 deg/s, cmd heading: 9.019092 deg, new cmd heading: 9.009796 deg. 2025-10-29T01:13:50.718Z,1761700430.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157251 target range: 20.285210 and range: 20.40 m. 2025-10-29T01:13:50.789Z,1761700430.789 [DAT](INFO): DAT read: 01:13:50.0780 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.06, 0.674,-0.883, 1.109, 0.672, PHS= 0.104,-1.510, 0.393, RAW= 158.1, 11.4, CAL= 158.3, 12.7, ROT= 351.7, -12.7 2025-10-29T01:13:50.822Z,1761700430.822 [DAT](INFO): got valid direction response: 01:13:50.0780 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 497, 0.06, 0.674,-0.883, 1.109, 0.672, PHS= 0.104,-1.510, 0.393, RAW= 158.1, 11.4, CAL= 158.3, 12.7, ROT= 351.7, -12.7 2025-10-29T01:13:50.823Z,1761700430.823 [DAT](INFO): #Rx 22: Read direction message, but no range. 2025-10-29T01:13:50.824Z,1761700430.824 [DAT](INFO): direction in FSK: [0.965317,-0.140824,0.219846] 2025-10-29T01:13:50.835Z,1761700430.835 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.661271 2025-10-29T01:13:51.029Z,1761700431.029 [DAT](INFO): DAT read: Rx Time:01:13:50.5777 2025-10-29T01:13:51.030Z,1761700431.030 [DAT](INFO): Rx dataTimestamp_ set to:1761700431.029321 2025-10-29T01:13:51.033Z,1761700431.033 [DAT](INFO): DAT read: Bearing 176.8, -8.0 (Local) 2025-10-29T01:13:51.034Z,1761700431.034 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, -8.0 (Local) 2025-10-29T01:13:51.080Z,1761700431.080 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.6 2025-10-29T01:13:51.090Z,1761700431.090 [DAT](INFO): DAT read: 01:13:50.5777 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.02,-0.581,-2.103,-0.163,-0.533, PHS= 0.054,-1.525, 0.326, RAW= 157.8, 13.2, CAL= 158.3, 14.9, ROT= 351.7, -14.9 2025-10-29T01:13:51.091Z,1761700431.091 [DAT](INFO): got valid direction response: 01:13:50.5777 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 510, 0.02,-0.581,-2.103,-0.163,-0.533, PHS= 0.054,-1.525, 0.326, RAW= 157.8, 13.2, CAL= 158.3, 14.9, ROT= 351.7, -14.9 2025-10-29T01:13:51.091Z,1761700431.091 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-29T01:13:51.117Z,1761700431.117 [DAT](INFO): direction in FSK: [0.956254,-0.139502,0.257133] 2025-10-29T01:13:51.117Z,1761700431.117 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:51.125Z,1761700431.125 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.950853 2025-10-29T01:13:51.138Z,1761700431.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986356,-0.153472,-0.059572],[0.160407,0.977353,0.138023],[0.037040,-0.145695,0.988636]] 2025-10-29T01:13:51.257Z,1761700431.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.501991 s, deltaX: -0.400000 m, approachRate: -0.796826 m/s, rangeRepo size: 4 2025-10-29T01:13:51.259Z,1761700431.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.887470 m, bearing: 3.167693 deg, lat: 36.779294 deg, lon: -121.859482 deg, deltaT: 0.501991 s, deltaX: -0.397739 m, approachRate: -0.792324 m/s, posRepo size: 4 2025-10-29T01:13:51.260Z,1761700431.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-29T01:13:51.274Z,1761700431.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.887470 m, nav range: 19.107416 m, bearing: 3.134599 deg, approach rate: 0.000000 m/s, LOS rate: -0.011552 deg/s, cmd heading: 9.009796 deg, new cmd heading: 8.996240 deg. 2025-10-29T01:13:51.275Z,1761700431.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157014 target range: 19.887470 and range: 20.00 m. 2025-10-29T01:13:51.277Z,1761700431.277 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.103381 2025-10-29T01:13:51.533Z,1761700431.533 [DAT](INFO): DAT read: Rx Time:01:13:51.0776 2025-10-29T01:13:51.535Z,1761700431.535 [DAT](INFO): Rx dataTimestamp_ set to:1761700431.533984 2025-10-29T01:13:51.539Z,1761700431.539 [DAT](INFO): DAT read: Bearing 175.0, -8.0 (Local) 2025-10-29T01:13:51.542Z,1761700431.542 [DAT](INFO): Local bearing/azimuth received: Bearing 175.0, -8.0 (Local) 2025-10-29T01:13:51.550Z,1761700431.550 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.5 2025-10-29T01:13:51.581Z,1761700431.581 [DAT](ERROR): #Rx 24: Read range message, but no direction. 2025-10-29T01:13:51.581Z,1761700431.581 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.407517 2025-10-29T01:13:51.661Z,1761700431.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504663 s, deltaX: -0.200001 m, approachRate: -0.396306 m/s, rangeRepo size: 4 2025-10-29T01:13:51.662Z,1761700431.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.89 m. 2025-10-29T01:13:51.694Z,1761700431.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.887470 m, nav range: 18.836893 m, bearing: 3.142278 deg, approach rate: -0.675998 m/s, LOS rate: 0.019464 deg/s, cmd heading: 8.996239 deg, new cmd heading: 9.011817 deg. 2025-10-29T01:13:51.695Z,1761700431.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157286 target range: 19.887470 and range: 19.80 m. 2025-10-29T01:13:51.787Z,1761700431.787 [DAT](INFO): DAT read: 01:13:51.0776 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.122,-1.426, 0.562, 0.135, PHS= 0.090,-1.516, 0.383, RAW= 158.2, 11.8, CAL= 158.5, 13.1, ROT= 351.5, -13.1 2025-10-29T01:13:51.791Z,1761700431.791 [DAT](INFO): got valid direction response: 01:13:51.0776 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 509, 0.08, 0.122,-1.426, 0.562, 0.135, PHS= 0.090,-1.516, 0.383, RAW= 158.2, 11.8, CAL= 158.5, 13.1, ROT= 351.5, -13.1 2025-10-29T01:13:51.793Z,1761700431.793 [DAT](INFO): #Rx 25: Read direction message, but no range. 2025-10-29T01:13:51.797Z,1761700431.797 [DAT](INFO): direction in FSK: [0.963278,-0.143963,0.226651] 2025-10-29T01:13:51.868Z,1761700431.868 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.677832 2025-10-29T01:13:52.055Z,1761700432.055 [DAT](INFO): DAT read: Rx Time:01:13:51.5773 2025-10-29T01:13:52.084Z,1761700432.084 [DAT](INFO): Rx dataTimestamp_ set to:1761700432.083762 2025-10-29T01:13:52.085Z,1761700432.085 [DAT](INFO): DAT read: Bearing 175.7, -8.2 (Local) 2025-10-29T01:13:52.086Z,1761700432.086 [DAT](INFO): Local bearing/azimuth received: Bearing 175.7, -8.2 (Local) 2025-10-29T01:13:52.088Z,1761700432.088 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed 0.5 2025-10-29T01:13:52.121Z,1761700432.121 [DAT](INFO): DAT read: 01:13:51.5773 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.08,-0.631,-2.157,-0.192,-0.602, PHS= 0.074,-1.510, 0.366, RAW= 158.3, 12.2, CAL= 158.6, 13.7, ROT= 351.4, -13.7 2025-10-29T01:13:52.122Z,1761700432.122 [DAT](INFO): got valid direction response: 01:13:51.5773 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506, 0.08,-0.631,-2.157,-0.192,-0.602, PHS= 0.074,-1.510, 0.366, RAW= 158.3, 12.2, CAL= 158.6, 13.7, ROT= 351.4, -13.7 2025-10-29T01:13:52.122Z,1761700432.122 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-29T01:13:52.123Z,1761700432.123 [DAT](INFO): direction in FSK: [0.960625,-0.145281,0.236838] 2025-10-29T01:13:52.123Z,1761700432.123 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:52.144Z,1761700432.144 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.961825 2025-10-29T01:13:52.285Z,1761700432.285 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=14.111012 2025-10-29T01:13:52.349Z,1761700432.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.549778 s, deltaX: -0.400000 m, approachRate: -0.727566 m/s, rangeRepo size: 4 2025-10-29T01:13:52.351Z,1761700432.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.290731 m, bearing: 2.683185 deg, lat: 36.779294 deg, lon: -121.859482 deg, deltaT: 1.054441 s, deltaX: -0.596739 m, approachRate: -0.565929 m/s, posRepo size: 4 2025-10-29T01:13:52.351Z,1761700432.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T01:13:52.358Z,1761700432.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.290731 m, nav range: 18.391111 m, bearing: 3.141227 deg, approach rate: 0.000000 m/s, LOS rate: 0.019464 deg/s, cmd heading: 9.011817 deg, new cmd heading: 9.038590 deg. 2025-10-29T01:13:52.359Z,1761700432.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157753 target range: 19.290731 and range: 19.40 m. 2025-10-29T01:13:52.541Z,1761700432.541 [DAT](INFO): DAT read: Rx Time:01:13:52.0772 2025-10-29T01:13:52.543Z,1761700432.543 [DAT](INFO): Rx dataTimestamp_ set to:1761700432.541631 2025-10-29T01:13:52.546Z,1761700432.546 [DAT](INFO): DAT read: Bearing 176.8, -8.5 (Local) 2025-10-29T01:13:52.547Z,1761700432.547 [DAT](INFO): Local bearing/azimuth received: Bearing 176.8, -8.5 (Local) 2025-10-29T01:13:52.559Z,1761700432.559 [DAT](INFO): DAT read: Range 11 to 50 : 19.2 m (trip time 12.8 ms) speed 0.5 2025-10-29T01:13:52.562Z,1761700432.562 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-29T01:13:52.568Z,1761700432.568 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=14.393472 2025-10-29T01:13:52.695Z,1761700432.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985138,-0.160422,-0.061388],[0.167467,0.976505,0.135623],[0.038189,-0.143888,0.988857]] 2025-10-29T01:13:52.713Z,1761700432.713 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T01:13:52.753Z,1761700432.753 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:13:52.761Z,1761700432.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.200001 m, deltaT: 0.457869 s, deltaX: -0.199999 m, approachRate: -0.436804 m/s, rangeRepo size: 4 2025-10-29T01:13:52.762Z,1761700432.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.29 m. 2025-10-29T01:13:52.778Z,1761700432.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.290731 m, nav range: 18.115801 m, bearing: 3.134394 deg, approach rate: -0.668380 m/s, LOS rate: -0.016839 deg/s, cmd heading: 9.038590 deg, new cmd heading: 9.024717 deg. 2025-10-29T01:13:52.779Z,1761700432.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157511 target range: 19.290731 and range: 19.20 m. 2025-10-29T01:13:52.810Z,1761700432.810 [DAT](INFO): DAT read: 01:13:52.0772 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.09, 1.088,-0.445, 1.532, 1.141, PHS= 0.048,-1.541, 0.347, RAW= 158.5, 13.0, CAL= 158.9, 14.7, ROT= 351.1, -14.7 2025-10-29T01:13:52.822Z,1761700432.822 [DAT](INFO): got valid direction response: 01:13:52.0772 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 505, 0.09, 1.088,-0.445, 1.532, 1.141, PHS= 0.048,-1.541, 0.347, RAW= 158.5, 13.0, CAL= 158.9, 14.7, ROT= 351.1, -14.7 2025-10-29T01:13:52.823Z,1761700432.823 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-29T01:13:52.835Z,1761700432.835 [DAT](INFO): direction in FSK: [0.955622,-0.149646,0.253758] 2025-10-29T01:13:52.858Z,1761700432.858 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.683923 2025-10-29T01:13:53.060Z,1761700433.060 [DAT](INFO): DAT read: Rx Time:01:13:52.5769 2025-10-29T01:13:53.061Z,1761700433.061 [DAT](INFO): Rx dataTimestamp_ set to:1761700433.060435 2025-10-29T01:13:53.066Z,1761700433.066 [DAT](INFO): DAT read: Bearing 176.0, -8.2 (Local) 2025-10-29T01:13:53.067Z,1761700433.067 [DAT](INFO): Local bearing/azimuth received: Bearing 176.0, -8.2 (Local) 2025-10-29T01:13:53.077Z,1761700433.077 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.4 2025-10-29T01:13:53.084Z,1761700433.084 [DAT](INFO): DAT read: 01:13:52.5769 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.15,-0.374,-1.898, 0.066,-0.342, PHS= 0.070,-1.511, 0.364, RAW= 158.4, 12.3, CAL= 158.7, 13.8, ROT= 351.3, -13.8 2025-10-29T01:13:53.126Z,1761700433.126 [DAT](INFO): got valid direction response: 01:13:52.5769 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 502, 0.15,-0.374,-1.898, 0.066,-0.342, PHS= 0.070,-1.511, 0.364, RAW= 158.4, 12.3, CAL= 158.7, 13.8, ROT= 351.3, -13.8 2025-10-29T01:13:53.126Z,1761700433.126 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-29T01:13:53.127Z,1761700433.127 [DAT](INFO): direction in FSK: [0.959960,-0.146895,0.238533] 2025-10-29T01:13:53.127Z,1761700433.127 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:53.136Z,1761700433.136 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.961593 2025-10-29T01:13:53.181Z,1761700433.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984979,-0.161120,-0.062100],[0.168308,0.976195,0.136807],[0.038579,-0.145204,0.988649]] 2025-10-29T01:13:53.293Z,1761700433.293 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=15.119100 2025-10-29T01:13:53.305Z,1761700433.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.518804 s, deltaX: -0.400002 m, approachRate: -0.771007 m/s, rangeRepo size: 4 2025-10-29T01:13:53.313Z,1761700433.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.693777 m, bearing: 3.047095 deg, lat: 36.779294 deg, lon: -121.859482 deg, deltaT: 0.976673 s, deltaX: -0.596954 m, approachRate: -0.611212 m/s, posRepo size: 4 2025-10-29T01:13:53.314Z,1761700433.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:13:53.325Z,1761700433.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693777 m, nav range: 17.840727 m, bearing: 3.132273 deg, approach rate: 0.000000 m/s, LOS rate: -0.016839 deg/s, cmd heading: 9.024717 deg, new cmd heading: 9.006385 deg. 2025-10-29T01:13:53.326Z,1761700433.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.157191 target range: 18.693777 and range: 18.80 m. 2025-10-29T01:13:53.549Z,1761700433.549 [DAT](INFO): DAT read: Rx Time:01:13:53.0768 2025-10-29T01:13:53.551Z,1761700433.551 [DAT](INFO): Rx dataTimestamp_ set to:1761700433.549884 2025-10-29T01:13:53.554Z,1761700433.554 [DAT](INFO): DAT read: Bearing 176.1, -8.2 (Local) 2025-10-29T01:13:53.556Z,1761700433.556 [DAT](INFO): Local bearing/azimuth received: Bearing 176.1, -8.2 (Local) 2025-10-29T01:13:53.573Z,1761700433.573 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed 0.5 2025-10-29T01:13:53.621Z,1761700433.621 [DAT](INFO): DAT read: 01:13:53.0768 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.17, 1.055,-0.462, 1.493, 1.087, PHS= 0.070,-1.504, 0.362, RAW= 158.4, 12.3, CAL= 158.7, 13.8, ROT= 351.3, -13.8 2025-10-29T01:13:53.622Z,1761700433.622 [DAT](INFO): got valid direction response: 01:13:53.0768 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 501, 0.17, 1.055,-0.462, 1.493, 1.087, PHS= 0.070,-1.504, 0.362, RAW= 158.4, 12.3, CAL= 158.7, 13.8, ROT= 351.3, -13.8 2025-10-29T01:13:53.623Z,1761700433.623 [DAT](INFO): #Rx 30: Read range and direction messages. 2025-10-29T01:13:53.636Z,1761700433.636 [DAT](INFO): direction in FSK: [0.959960,-0.146895,0.238533] 2025-10-29T01:13:53.637Z,1761700433.637 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:53.649Z,1761700433.649 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.474630 2025-10-29T01:13:53.702Z,1761700433.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984740,-0.162256,-0.062927],[0.169580,0.975884,0.137454],[0.039106,-0.146028,0.988507]] 2025-10-29T01:13:53.797Z,1761700433.797 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=15.623169 2025-10-29T01:13:53.806Z,1761700433.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.489449 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:13:53.812Z,1761700433.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.693777 m, bearing: 3.133021 deg, lat: 36.779294 deg, lon: -121.859482 deg, deltaT: 0.489449 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:13:53.818Z,1761700433.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:13:53.836Z,1761700433.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693777 m, nav range: 17.523502 m, bearing: 3.140749 deg, approach rate: 0.000000 m/s, LOS rate: -0.016839 deg/s, cmd heading: 9.006385 deg, new cmd heading: 8.989377 deg. 2025-10-29T01:13:53.845Z,1761700433.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.156894 target range: 18.693777 and range: 18.80 m. 2025-10-29T01:13:54.054Z,1761700434.054 [DAT](INFO): DAT read: Rx Time:01:13:53.5765 2025-10-29T01:13:54.055Z,1761700434.055 [DAT](INFO): Rx dataTimestamp_ set to:1761700434.054191 2025-10-29T01:13:54.059Z,1761700434.059 [DAT](INFO): DAT read: Bearing 176.3, -8.5 (Local) 2025-10-29T01:13:54.060Z,1761700434.060 [DAT](INFO): Local bearing/azimuth received: Bearing 176.3, -8.5 (Local) 2025-10-29T01:13:54.066Z,1761700434.066 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.4 2025-10-29T01:13:54.069Z,1761700434.069 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-29T01:13:54.071Z,1761700434.071 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.897129 2025-10-29T01:13:54.223Z,1761700434.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984395,-0.163969,-0.063877],[0.171452,0.975433,0.138325],[0.039627,-0.147119,0.988325]] 2025-10-29T01:13:54.283Z,1761700434.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.504307 s, deltaX: -0.500000 m, approachRate: -0.991460 m/s, rangeRepo size: 4 2025-10-29T01:13:54.284Z,1761700434.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.69 m. 2025-10-29T01:13:54.290Z,1761700434.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.693777 m, nav range: 17.206411 m, bearing: 3.183275 deg, approach rate: -0.664672 m/s, LOS rate: 0.090785 deg/s, cmd heading: 8.989377 deg, new cmd heading: 9.075997 deg. 2025-10-29T01:13:54.291Z,1761700434.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.158406 target range: 18.693777 and range: 18.30 m. 2025-10-29T01:13:54.305Z,1761700434.305 [DAT](INFO): DAT read: 01:13:53.5765 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.16,-0.075,-1.583, 0.370,-0.033, PHS= 0.060,-1.505, 0.359, RAW= 158.6, 12.5, CAL= 159.0, 14.1, ROT= 351.0, -14.1 2025-10-29T01:13:54.306Z,1761700434.306 [DAT](INFO): got valid direction response: 01:13:53.5765 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.16,-0.075,-1.583, 0.370,-0.033, PHS= 0.060,-1.505, 0.359, RAW= 158.6, 12.5, CAL= 159.0, 14.1, ROT= 351.0, -14.1 2025-10-29T01:13:54.306Z,1761700434.306 [DAT](INFO): #Rx 32: Read direction message, but no range. 2025-10-29T01:13:54.307Z,1761700434.307 [DAT](INFO): direction in FSK: [0.957931,-0.151721,0.243615] 2025-10-29T01:13:54.311Z,1761700434.311 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=16.136654 2025-10-29T01:13:54.558Z,1761700434.558 [DAT](INFO): DAT read: Rx Time:01:13:54.0764 2025-10-29T01:13:54.559Z,1761700434.559 [DAT](INFO): Rx dataTimestamp_ set to:1761700434.558256 2025-10-29T01:13:54.564Z,1761700434.564 [DAT](INFO): DAT read: Bearing 176.3, -8.2 (Local) 2025-10-29T01:13:54.565Z,1761700434.565 [DAT](INFO): Local bearing/azimuth received: Bearing 176.3, -8.2 (Local) 2025-10-29T01:13:54.571Z,1761700434.571 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed 0.5 2025-10-29T01:13:54.576Z,1761700434.576 [DAT](INFO): DAT read: 01:13:54.0764 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.12, 1.466,-0.050, 1.904, 1.501, PHS= 0.067,-1.506, 0.359, RAW= 158.4, 12.4, CAL= 158.7, 13.9, ROT= 351.3, -13.9 2025-10-29T01:13:54.577Z,1761700434.577 [DAT](INFO): got valid direction response: 01:13:54.0764 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 497, 0.12, 1.466,-0.050, 1.904, 1.501, PHS= 0.067,-1.506, 0.359, RAW= 158.4, 12.4, CAL= 158.7, 13.9, ROT= 351.3, -13.9 2025-10-29T01:13:54.578Z,1761700434.578 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T01:13:54.579Z,1761700434.579 [DAT](INFO): direction in FSK: [0.959547,-0.146832,0.240228] 2025-10-29T01:13:54.579Z,1761700434.579 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:54.588Z,1761700434.588 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.413687 2025-10-29T01:13:54.666Z,1761700434.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984357,-0.164014,-0.064355],[0.171619,0.975219,0.139622],[0.039860,-0.148483,0.988111]] 2025-10-29T01:13:54.735Z,1761700434.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.504065 s, deltaX: -0.099998 m, approachRate: -0.198384 m/s, rangeRepo size: 4 2025-10-29T01:13:54.738Z,1761700434.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.096992 m, bearing: 3.303970 deg, lat: 36.779295 deg, lon: -121.859482 deg, deltaT: 1.008372 s, deltaX: -0.596785 m, approachRate: -0.591830 m/s, posRepo size: 4 2025-10-29T01:13:54.739Z,1761700434.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.10 m. 2025-10-29T01:13:54.747Z,1761700434.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.096992 m, nav range: 16.960447 m, bearing: 3.215775 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.075997 deg, new cmd heading: 9.158116 deg. 2025-10-29T01:13:54.753Z,1761700434.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159839 target range: 18.096992 and range: 18.20 m. 2025-10-29T01:13:54.806Z,1761700434.806 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.631893 2025-10-29T01:13:55.062Z,1761700435.062 [DAT](INFO): DAT read: Rx Time:01:13:54.5761 2025-10-29T01:13:55.063Z,1761700435.063 [DAT](INFO): Rx dataTimestamp_ set to:1761700435.062267 2025-10-29T01:13:55.068Z,1761700435.068 [DAT](INFO): DAT read: Bearing 176.7, -8.4 (Local) 2025-10-29T01:13:55.069Z,1761700435.069 [DAT](INFO): Local bearing/azimuth received: Bearing 176.7, -8.4 (Local) 2025-10-29T01:13:55.079Z,1761700435.079 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.6 2025-10-29T01:13:55.125Z,1761700435.125 [DAT](INFO): DAT read: 01:13:54.5761 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.07,-0.555,-2.062,-0.114,-0.510, PHS= 0.056,-1.507, 0.351, RAW= 158.5, 12.7, CAL= 158.9, 14.3, ROT= 351.1, -14.3 2025-10-29T01:13:55.126Z,1761700435.126 [DAT](INFO): got valid direction response: 01:13:54.5761 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 510, 0.07,-0.555,-2.062,-0.114,-0.510, PHS= 0.056,-1.507, 0.351, RAW= 158.5, 12.7, CAL= 158.9, 14.3, ROT= 351.1, -14.3 2025-10-29T01:13:55.126Z,1761700435.126 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T01:13:55.127Z,1761700435.127 [DAT](INFO): direction in FSK: [0.957349,-0.149917,0.246999] 2025-10-29T01:13:55.127Z,1761700435.127 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:55.129Z,1761700435.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984340,-0.163857,-0.064998],[0.171649,0.974899,0.141805],[0.040131,-0.150741,0.987758]] 2025-10-29T01:13:55.151Z,1761700435.151 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.977278 2025-10-29T01:13:55.250Z,1761700435.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.504011 s, deltaX: -0.500000 m, approachRate: -0.992042 m/s, rangeRepo size: 4 2025-10-29T01:13:55.252Z,1761700435.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.599430 m, bearing: 3.202282 deg, lat: 36.779296 deg, lon: -121.859483 deg, deltaT: 0.504011 s, deltaX: -0.497562 m, approachRate: -0.987205 m/s, posRepo size: 4 2025-10-29T01:13:55.253Z,1761700435.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.60 m. 2025-10-29T01:13:55.264Z,1761700435.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.599430 m, nav range: 16.760895 m, bearing: 3.202276 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.158117 deg, new cmd heading: 9.251539 deg. 2025-10-29T01:13:55.265Z,1761700435.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.161470 target range: 17.599430 and range: 17.70 m. 2025-10-29T01:13:55.313Z,1761700435.313 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=17.138712 2025-10-29T01:13:55.565Z,1761700435.565 [DAT](INFO): DAT read: Rx Time:01:13:55.0759 2025-10-29T01:13:55.567Z,1761700435.567 [DAT](INFO): Rx dataTimestamp_ set to:1761700435.565778 2025-10-29T01:13:55.571Z,1761700435.571 [DAT](INFO): DAT read: Bearing 176.5, -8.3 (Local) 2025-10-29T01:13:55.571Z,1761700435.571 [DAT](INFO): Local bearing/azimuth received: Bearing 176.5, -8.3 (Local) 2025-10-29T01:13:55.573Z,1761700435.573 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed 0.6 2025-10-29T01:13:55.578Z,1761700435.578 [DAT](INFO): DAT read: 01:13:55.0759 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.06,-1.127,-2.623,-0.693,-1.086, PHS= 0.062,-1.491, 0.350, RAW= 158.4, 12.6, CAL= 158.7, 14.2, ROT= 351.3, -14.2 2025-10-29T01:13:55.579Z,1761700435.579 [DAT](INFO): got valid direction response: 01:13:55.0759 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 508,-0.06,-1.127,-2.623,-0.693,-1.086, PHS= 0.062,-1.491, 0.350, RAW= 158.4, 12.6, CAL= 158.7, 14.2, ROT= 351.3, -14.2 2025-10-29T01:13:55.579Z,1761700435.579 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T01:13:55.580Z,1761700435.580 [DAT](INFO): direction in FSK: [0.958291,-0.146639,0.245307] 2025-10-29T01:13:55.581Z,1761700435.581 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:55.585Z,1761700435.585 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.411249 2025-10-29T01:13:55.622Z,1761700435.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984281,-0.163993,-0.065548],[0.171920,0.974663,0.143096],[0.040421,-0.152116,0.987536]] 2025-10-29T01:13:55.747Z,1761700435.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.503511 s, deltaX: -0.300001 m, approachRate: -0.595818 m/s, rangeRepo size: 4 2025-10-29T01:13:55.762Z,1761700435.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.301134 m, bearing: 3.425004 deg, lat: 36.779296 deg, lon: -121.859482 deg, deltaT: 0.503511 s, deltaX: -0.298296 m, approachRate: -0.592432 m/s, posRepo size: 4 2025-10-29T01:13:55.763Z,1761700435.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.30 m. 2025-10-29T01:13:55.775Z,1761700435.775 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.301134 m, nav range: 16.485540 m, bearing: 3.385574 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.251538 deg, new cmd heading: 9.341723 deg. 2025-10-29T01:13:55.784Z,1761700435.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.163044 target range: 17.301134 and range: 17.40 m. 2025-10-29T01:13:55.813Z,1761700435.813 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.639227 2025-10-29T01:13:56.070Z,1761700436.070 [DAT](INFO): DAT read: Rx Time:01:13:55.5755 2025-10-29T01:13:56.071Z,1761700436.071 [DAT](INFO): Rx dataTimestamp_ set to:1761700436.071023 2025-10-29T01:13:56.073Z,1761700436.073 [DAT](INFO): DAT read: Bearing 176.7, -9.0 (Local) 2025-10-29T01:13:56.074Z,1761700436.074 [DAT](INFO): Local bearing/azimuth received: Bearing 176.7, -9.0 (Local) 2025-10-29T01:13:56.081Z,1761700436.081 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.9 2025-10-29T01:13:56.085Z,1761700436.085 [DAT](INFO): DAT read: 01:13:55.5755 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.27,-1.359,-2.861,-0.897,-1.304, PHS= 0.047,-1.513, 0.363, RAW= 159.1, 12.6, CAL= 159.5, 14.3, ROT= 350.5, -14.3 2025-10-29T01:13:56.086Z,1761700436.086 [DAT](INFO): got valid direction response: 01:13:55.5755 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505,-0.27,-1.359,-2.861,-0.897,-1.304, PHS= 0.047,-1.513, 0.363, RAW= 159.1, 12.6, CAL= 159.5, 14.3, ROT= 350.5, -14.3 2025-10-29T01:13:56.087Z,1761700436.087 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T01:13:56.102Z,1761700436.102 [DAT](INFO): direction in FSK: [0.955726,-0.159934,0.246999] 2025-10-29T01:13:56.102Z,1761700436.102 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:56.127Z,1761700436.127 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.953197 2025-10-29T01:13:56.163Z,1761700436.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984129,-0.164481,-0.066599],[0.172580,0.974488,0.143486],[0.041300,-0.152702,0.987409]] 2025-10-29T01:13:56.277Z,1761700436.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.505245 s, deltaX: -0.600000 m, approachRate: -1.187543 m/s, rangeRepo size: 4 2025-10-29T01:13:56.279Z,1761700436.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.704287 m, bearing: 2.682324 deg, lat: 36.779296 deg, lon: -121.859482 deg, deltaT: 0.505245 s, deltaX: -0.596848 m, approachRate: -1.181303 m/s, posRepo size: 4 2025-10-29T01:13:56.279Z,1761700436.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.70 m. 2025-10-29T01:13:56.286Z,1761700436.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.704287 m, nav range: 16.121046 m, bearing: 3.477581 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.341722 deg, new cmd heading: 9.435804 deg. 2025-10-29T01:13:56.287Z,1761700436.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.164686 target range: 16.704287 and range: 16.80 m. 2025-10-29T01:13:56.318Z,1761700436.318 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=18.144165 2025-10-29T01:13:56.572Z,1761700436.572 [DAT](INFO): DAT read: Rx Time:01:13:56.0754 2025-10-29T01:13:56.573Z,1761700436.573 [DAT](INFO): Rx dataTimestamp_ set to:1761700436.572342 2025-10-29T01:13:56.574Z,1761700436.574 [DAT](INFO): DAT read: Bearing 176.4, -9.1 (Local) 2025-10-29T01:13:56.574Z,1761700436.574 [DAT](INFO): Local bearing/azimuth received: Bearing 176.4, -9.1 (Local) 2025-10-29T01:13:56.577Z,1761700436.577 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed 0.6 2025-10-29T01:13:56.582Z,1761700436.582 [DAT](INFO): DAT read: 01:13:56.0754 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.40, 1.744, 0.229, 2.218, 1.795, PHS= 0.051,-1.520, 0.379, RAW= 159.3, 12.4, CAL= 159.6, 14.0, ROT= 350.4, -14.0 2025-10-29T01:13:56.583Z,1761700436.583 [DAT](INFO): got valid direction response: 01:13:56.0754 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 503, 0.40, 1.744, 0.229, 2.218, 1.795, PHS= 0.051,-1.520, 0.379, RAW= 159.3, 12.4, CAL= 159.6, 14.0, ROT= 350.4, -14.0 2025-10-29T01:13:56.583Z,1761700436.583 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T01:13:56.636Z,1761700436.636 [DAT](INFO): direction in FSK: [0.956708,-0.161815,0.241922] 2025-10-29T01:13:56.637Z,1761700436.637 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:56.652Z,1761700436.652 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.478313 2025-10-29T01:13:56.660Z,1761700436.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984099,-0.164567,-0.066828],[0.172714,0.974418,0.143805],[0.041452,-0.153060,0.987347]] 2025-10-29T01:13:56.728Z,1761700436.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.501319 s, deltaX: -0.099998 m, approachRate: -0.199471 m/s, rangeRepo size: 4 2025-10-29T01:13:56.734Z,1761700436.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.604858 m, bearing: 2.547290 deg, lat: 36.779296 deg, lon: -121.859483 deg, deltaT: 0.501319 s, deltaX: -0.099428 m, approachRate: -0.198333 m/s, posRepo size: 4 2025-10-29T01:13:56.735Z,1761700436.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.60 m. 2025-10-29T01:13:56.742Z,1761700436.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.604858 m, nav range: 15.822269 m, bearing: 3.430556 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.435804 deg, new cmd heading: 9.519876 deg. 2025-10-29T01:13:56.743Z,1761700436.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.166153 target range: 16.604858 and range: 16.70 m. 2025-10-29T01:13:56.822Z,1761700436.822 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.647831 2025-10-29T01:13:57.074Z,1761700437.074 [DAT](INFO): DAT read: Rx Time:01:13:56.5751 2025-10-29T01:13:57.074Z,1761700437.074 [DAT](INFO): Rx dataTimestamp_ set to:1761700437.073777 2025-10-29T01:13:57.075Z,1761700437.075 [DAT](INFO): DAT read: Bearing 180.5, -9.7 (Local) 2025-10-29T01:13:57.076Z,1761700437.076 [DAT](INFO): Local bearing/azimuth received: Bearing 180.5, -9.7 (Local) 2025-10-29T01:13:57.078Z,1761700437.078 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.9 2025-10-29T01:13:57.086Z,1761700437.086 [DAT](INFO): DAT read: 01:13:56.5751 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.09, 1.603, 0.109, 2.052, 1.738, PHS=-0.033,-1.584, 0.270, RAW= 158.8, 15.5, CAL= 159.7, 18.0, ROT= 350.3, -18.0 2025-10-29T01:13:57.087Z,1761700437.087 [DAT](INFO): got valid direction response: 01:13:56.5751 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 500, 0.09, 1.603, 0.109, 2.052, 1.738, PHS=-0.033,-1.584, 0.270, RAW= 158.8, 15.5, CAL= 159.7, 18.0, ROT= 350.3, -18.0 2025-10-29T01:13:57.092Z,1761700437.092 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T01:13:57.093Z,1761700437.093 [DAT](INFO): direction in FSK: [0.937460,-0.160243,0.309017] 2025-10-29T01:13:57.093Z,1761700437.093 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:57.101Z,1761700437.101 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.926947 2025-10-29T01:13:57.107Z,1761700437.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983998,-0.165007,-0.067239],[0.173216,0.974316,0.143894],[0.041768,-0.153238,0.987306]] 2025-10-29T01:13:57.253Z,1761700437.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.501435 s, deltaX: -0.500000 m, approachRate: -0.997138 m/s, rangeRepo size: 4 2025-10-29T01:13:57.255Z,1761700437.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.107624 m, bearing: 3.128050 deg, lat: 36.779296 deg, lon: -121.859484 deg, deltaT: 0.501435 s, deltaX: -0.497234 m, approachRate: -0.991623 m/s, posRepo size: 4 2025-10-29T01:13:57.255Z,1761700437.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T01:13:57.262Z,1761700437.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.107624 m, nav range: 15.434737 m, bearing: 3.034204 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.519876 deg, new cmd heading: 9.614461 deg. 2025-10-29T01:13:57.263Z,1761700437.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.167804 target range: 16.107624 and range: 16.20 m. 2025-10-29T01:13:57.326Z,1761700437.326 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=19.151754 2025-10-29T01:13:57.428Z,1761700437.428 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:13:57.578Z,1761700437.578 [DAT](INFO): DAT read: Rx Time:01:13:57.0750 2025-10-29T01:13:57.578Z,1761700437.578 [DAT](INFO): Rx dataTimestamp_ set to:1761700437.577790 2025-10-29T01:13:57.579Z,1761700437.579 [DAT](INFO): DAT read: Bearing 181.2, -8.7 (Local) 2025-10-29T01:13:57.580Z,1761700437.580 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, -8.7 (Local) 2025-10-29T01:13:57.582Z,1761700437.582 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.5 2025-10-29T01:13:57.587Z,1761700437.587 [DAT](INFO): DAT read: 01:13:57.0750 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.11, 1.536, 0.036, 1.947, 1.667, PHS=-0.029,-1.586, 0.235, RAW= 157.7, 16.0, CAL= 158.6, 18.6, ROT= 351.4, -18.6 2025-10-29T01:13:57.588Z,1761700437.588 [DAT](INFO): got valid direction response: 01:13:57.0750 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 499,-0.11, 1.536, 0.036, 1.947, 1.667, PHS=-0.029,-1.586, 0.235, RAW= 157.7, 16.0, CAL= 158.6, 18.6, ROT= 351.4, -18.6 2025-10-29T01:13:57.588Z,1761700437.588 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T01:13:57.589Z,1761700437.589 [DAT](INFO): direction in FSK: [0.937112,-0.141725,0.318959] 2025-10-29T01:13:57.589Z,1761700437.589 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:57.601Z,1761700437.601 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.427155 2025-10-29T01:13:57.637Z,1761700437.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983893,-0.165559,-0.067411],[0.173795,0.974192,0.144033],[0.041825,-0.153429,0.987274]] 2025-10-29T01:13:57.723Z,1761700437.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504013 s, deltaX: -0.100000 m, approachRate: -0.198408 m/s, rangeRepo size: 4 2025-10-29T01:13:57.737Z,1761700437.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.008194 m, bearing: 4.377937 deg, lat: 36.779294 deg, lon: -121.859484 deg, deltaT: 0.504013 s, deltaX: -0.099430 m, approachRate: -0.197277 m/s, posRepo size: 4 2025-10-29T01:13:57.738Z,1761700437.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:13:57.746Z,1761700437.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.008194 m, nav range: 14.961472 m, bearing: 3.143791 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.614461 deg, new cmd heading: 9.700663 deg. 2025-10-29T01:13:57.747Z,1761700437.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.169309 target range: 16.008194 and range: 16.10 m. 2025-10-29T01:13:57.830Z,1761700437.830 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.655865 2025-10-29T01:13:58.082Z,1761700438.082 [DAT](INFO): DAT read: Rx Time:01:13:57.5747 2025-10-29T01:13:58.082Z,1761700438.082 [DAT](INFO): Rx dataTimestamp_ set to:1761700438.081783 2025-10-29T01:13:58.083Z,1761700438.083 [DAT](INFO): DAT read: Bearing 181.6, -8.8 (Local) 2025-10-29T01:13:58.087Z,1761700438.087 [DAT](INFO): Local bearing/azimuth received: Bearing 181.6, -8.8 (Local) 2025-10-29T01:13:58.090Z,1761700438.090 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.6 2025-10-29T01:13:58.094Z,1761700438.094 [DAT](INFO): DAT read: 01:13:57.5747 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.42, 1.046,-0.457, 1.456, 1.184, PHS=-0.036,-1.596, 0.228, RAW= 157.7, 16.2, CAL= 158.7, 18.9, ROT= 351.3, -18.9 2025-10-29T01:13:58.095Z,1761700438.095 [DAT](INFO): got valid direction response: 01:13:57.5747 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496,-0.42, 1.046,-0.457, 1.456, 1.184, PHS=-0.036,-1.596, 0.228, RAW= 157.7, 16.2, CAL= 158.7, 18.9, ROT= 351.3, -18.9 2025-10-29T01:13:58.096Z,1761700438.096 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T01:13:58.097Z,1761700438.097 [DAT](INFO): direction in FSK: [0.935200,-0.143106,0.323917] 2025-10-29T01:13:58.097Z,1761700438.097 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:58.106Z,1761700438.106 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.931662 2025-10-29T01:13:58.110Z,1761700438.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983711,-0.166552,-0.067622],[0.174743,0.974256,0.142441],[0.042157,-0.151937,0.987491]] 2025-10-29T01:13:58.269Z,1761700438.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.503993 s, deltaX: -0.600000 m, approachRate: -1.190493 m/s, rangeRepo size: 4 2025-10-29T01:13:58.271Z,1761700438.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.411588 m, bearing: 4.350615 deg, lat: 36.779293 deg, lon: -121.859484 deg, deltaT: 0.503993 s, deltaX: -0.596606 m, approachRate: -1.183759 m/s, posRepo size: 4 2025-10-29T01:13:58.271Z,1761700438.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.41 m. 2025-10-29T01:13:58.282Z,1761700438.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.411588 m, nav range: 14.427799 m, bearing: 3.291819 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.700663 deg, new cmd heading: 9.798917 deg. 2025-10-29T01:13:58.283Z,1761700438.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.171023 target range: 15.411588 and range: 15.50 m. 2025-10-29T01:13:58.334Z,1761700438.334 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=20.159817 2025-10-29T01:13:58.432Z,1761700438.432 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:13:58.586Z,1761700438.586 [DAT](INFO): DAT read: Rx Time:01:13:58.0745 2025-10-29T01:13:58.586Z,1761700438.586 [DAT](INFO): Rx dataTimestamp_ set to:1761700438.585990 2025-10-29T01:13:58.588Z,1761700438.588 [DAT](INFO): DAT read: Bearing 181.8, -9.1 (Local) 2025-10-29T01:13:58.588Z,1761700438.588 [DAT](INFO): Local bearing/azimuth received: Bearing 181.8, -9.1 (Local) 2025-10-29T01:13:58.590Z,1761700438.590 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed 0.5 2025-10-29T01:13:58.595Z,1761700438.595 [DAT](INFO): DAT read: 01:13:58.0745 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.23,-3.099, 1.676,-2.679,-2.955, PHS=-0.042,-1.607, 0.232, RAW= 157.9, 16.3, CAL= 158.9, 19.0, ROT= 351.1, -19.0 2025-10-29T01:13:58.596Z,1761700438.596 [DAT](INFO): got valid direction response: 01:13:58.0745 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 509, 0.23,-3.099, 1.676,-2.679,-2.955, PHS=-0.042,-1.607, 0.232, RAW= 157.9, 16.3, CAL= 158.9, 19.0, ROT= 351.1, -19.0 2025-10-29T01:13:58.596Z,1761700438.596 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T01:13:58.597Z,1761700438.597 [DAT](INFO): direction in FSK: [0.934134,-0.146282,0.325568] 2025-10-29T01:13:58.597Z,1761700438.597 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:58.601Z,1761700438.601 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.427139 2025-10-29T01:13:58.697Z,1761700438.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983333,-0.168418,-0.068497],[0.176684,0.974042,0.141512],[0.042885,-0.151255,0.987564]] 2025-10-29T01:13:58.757Z,1761700438.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504207 s, deltaX: -0.300000 m, approachRate: -0.594994 m/s, rangeRepo size: 4 2025-10-29T01:13:58.759Z,1761700438.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.113298 m, bearing: 4.262343 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.504207 s, deltaX: -0.298289 m, approachRate: -0.591601 m/s, posRepo size: 4 2025-10-29T01:13:58.765Z,1761700438.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-29T01:13:58.773Z,1761700438.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.113298 m, nav range: 13.993869 m, bearing: 4.250920 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.798917 deg, new cmd heading: 9.887382 deg. 2025-10-29T01:13:58.774Z,1761700438.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.172567 target range: 15.113298 and range: 15.20 m. 2025-10-29T01:13:58.838Z,1761700438.838 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.663738 2025-10-29T01:13:59.090Z,1761700439.090 [DAT](INFO): DAT read: Rx Time:01:13:58.5742 2025-10-29T01:13:59.090Z,1761700439.090 [DAT](INFO): Rx dataTimestamp_ set to:1761700439.089835 2025-10-29T01:13:59.091Z,1761700439.091 [DAT](INFO): DAT read: Bearing 178.6, -10.2 (Local) 2025-10-29T01:13:59.092Z,1761700439.092 [DAT](INFO): Local bearing/azimuth received: Bearing 178.6, -10.2 (Local) 2025-10-29T01:13:59.094Z,1761700439.094 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed 0.6 2025-10-29T01:13:59.099Z,1761700439.099 [DAT](INFO): DAT read: 01:13:58.5742 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.14,-0.073,-1.583, 0.423, 0.031, PHS=-0.003,-1.570, 0.348, RAW= 159.9, 13.8, CAL= 160.5, 15.8, ROT= 349.5, -15.8 2025-10-29T01:13:59.100Z,1761700439.100 [DAT](INFO): got valid direction response: 01:13:58.5742 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506, 0.14,-0.073,-1.583, 0.423, 0.031, PHS=-0.003,-1.570, 0.348, RAW= 159.9, 13.8, CAL= 160.5, 15.8, ROT= 349.5, -15.8 2025-10-29T01:13:59.101Z,1761700439.101 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T01:13:59.102Z,1761700439.102 [DAT](INFO): direction in FSK: [0.946106,-0.175351,0.272280] 2025-10-29T01:13:59.102Z,1761700439.102 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:59.106Z,1761700439.106 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.931564 2025-10-29T01:13:59.114Z,1761700439.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983053,-0.169992,-0.068630],[0.178182,0.974038,0.139646],[0.043110,-0.149508,0.987820]] 2025-10-29T01:13:59.257Z,1761700439.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503845 s, deltaX: -0.500000 m, approachRate: -0.992369 m/s, rangeRepo size: 4 2025-10-29T01:13:59.259Z,1761700439.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.616086 m, bearing: 2.178548 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.503845 s, deltaX: -0.497212 m, approachRate: -0.986836 m/s, posRepo size: 4 2025-10-29T01:13:59.264Z,1761700439.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.62 m. 2025-10-29T01:13:59.267Z,1761700439.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.616086 m, nav range: 13.652596 m, bearing: 4.334045 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.887382 deg, new cmd heading: 9.979232 deg. 2025-10-29T01:13:59.272Z,1761700439.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.174170 target range: 14.616086 and range: 14.70 m. 2025-10-29T01:13:59.342Z,1761700439.342 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=21.167648 2025-10-29T01:13:59.593Z,1761700439.593 [DAT](INFO): DAT read: Rx Time:01:13:59.0741 2025-10-29T01:13:59.594Z,1761700439.594 [DAT](INFO): Rx dataTimestamp_ set to:1761700439.593690 2025-10-29T01:13:59.595Z,1761700439.595 [DAT](INFO): DAT read: Bearing 181.4, -9.5 (Local) 2025-10-29T01:13:59.596Z,1761700439.596 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -9.5 (Local) 2025-10-29T01:13:59.598Z,1761700439.598 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed 0.7 2025-10-29T01:13:59.602Z,1761700439.602 [DAT](INFO): DAT read: 01:13:59.0741 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.08, 0.754,-0.749, 1.194, 0.896, PHS=-0.040,-1.600, 0.255, RAW= 158.5, 15.8, CAL= 159.5, 18.5, ROT= 350.5, -18.5 2025-10-29T01:13:59.603Z,1761700439.603 [DAT](INFO): got valid direction response: 01:13:59.0741 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 505,-0.08, 0.754,-0.749, 1.194, 0.896, PHS=-0.040,-1.600, 0.255, RAW= 158.5, 15.8, CAL= 159.5, 18.5, ROT= 350.5, -18.5 2025-10-29T01:13:59.604Z,1761700439.604 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-29T01:13:59.605Z,1761700439.605 [DAT](INFO): direction in FSK: [0.935318,-0.156518,0.317305] 2025-10-29T01:13:59.605Z,1761700439.605 [DAT](INFO): publishing direction and range info 2025-10-29T01:13:59.641Z,1761700439.641 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.467014 2025-10-29T01:13:59.707Z,1761700439.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503855 s, deltaX: -0.099999 m, approachRate: -0.198469 m/s, rangeRepo size: 4 2025-10-29T01:13:59.724Z,1761700439.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.516658 m, bearing: 3.622274 deg, lat: 36.779293 deg, lon: -121.859482 deg, deltaT: 0.503855 s, deltaX: -0.099428 m, approachRate: -0.197335 m/s, posRepo size: 4 2025-10-29T01:13:59.725Z,1761700439.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.52 m. 2025-10-29T01:13:59.727Z,1761700439.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.516658 m, nav range: 13.456958 m, bearing: 4.377313 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 9.979232 deg, new cmd heading: 10.060783 deg. 2025-10-29T01:13:59.733Z,1761700439.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.175594 target range: 14.516658 and range: 14.60 m. 2025-10-29T01:13:59.846Z,1761700439.846 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.671577 2025-10-29T01:14:00.083Z,1761700440.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982634,-0.171976,-0.069677],[0.180326,0.973574,0.140130],[0.043736,-0.150261,0.987678]] 2025-10-29T01:14:00.098Z,1761700440.098 [DAT](INFO): DAT read: Rx Time:01:13:59.5738 2025-10-29T01:14:00.098Z,1761700440.098 [DAT](INFO): Rx dataTimestamp_ set to:1761700440.097732 2025-10-29T01:14:00.099Z,1761700440.099 [DAT](INFO): DAT read: Bearing 181.2, -8.9 (Local) 2025-10-29T01:14:00.100Z,1761700440.100 [DAT](INFO): Local bearing/azimuth received: Bearing 181.2, -8.9 (Local) 2025-10-29T01:14:00.102Z,1761700440.102 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed 0.5 2025-10-29T01:14:00.106Z,1761700440.106 [DAT](INFO): DAT read: 01:13:59.5738 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.22,-1.172,-2.679,-0.752,-1.048, PHS=-0.022,-1.585, 0.252, RAW= 157.9, 15.6, CAL= 158.8, 18.1, ROT= 351.2, -18.1 2025-10-29T01:14:00.107Z,1761700440.107 [DAT](INFO): got valid direction response: 01:13:59.5738 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502,-0.22,-1.172,-2.679,-0.752,-1.048, PHS=-0.022,-1.585, 0.252, RAW= 157.9, 15.6, CAL= 158.8, 18.1, ROT= 351.2, -18.1 2025-10-29T01:14:00.114Z,1761700440.114 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-29T01:14:00.132Z,1761700440.132 [DAT](INFO): direction in FSK: [0.939327,-0.145415,0.310676] 2025-10-29T01:14:00.133Z,1761700440.133 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:00.158Z,1761700440.158 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.984070 2025-10-29T01:14:00.229Z,1761700440.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504042 s, deltaX: -0.500000 m, approachRate: -0.991981 m/s, rangeRepo size: 4 2025-10-29T01:14:00.231Z,1761700440.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.019507 m, bearing: 4.404142 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.504042 s, deltaX: -0.497150 m, approachRate: -0.986327 m/s, posRepo size: 4 2025-10-29T01:14:00.231Z,1761700440.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.02 m. 2025-10-29T01:14:00.238Z,1761700440.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.019507 m, nav range: 13.025787 m, bearing: 4.404135 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 10.060782 deg, new cmd heading: 10.154125 deg. 2025-10-29T01:14:00.239Z,1761700440.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.177223 target range: 14.019507 and range: 14.10 m. 2025-10-29T01:14:00.350Z,1761700440.350 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=22.175879 2025-10-29T01:14:00.587Z,1761700440.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982152,-0.174323,-0.070640],[0.182763,0.973228,0.139374],[0.044452,-0.149797,0.987717]] 2025-10-29T01:14:00.602Z,1761700440.602 [DAT](INFO): DAT read: Rx Time:01:14:00.0735 2025-10-29T01:14:00.602Z,1761700440.602 [DAT](INFO): Rx dataTimestamp_ set to:1761700440.601843 2025-10-29T01:14:00.603Z,1761700440.603 [DAT](INFO): DAT read: Bearing 181.0, -8.8 (Local) 2025-10-29T01:14:00.604Z,1761700440.604 [DAT](INFO): Local bearing/azimuth received: Bearing 181.0, -8.8 (Local) 2025-10-29T01:14:00.606Z,1761700440.606 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed 0.5 2025-10-29T01:14:00.610Z,1761700440.610 [DAT](INFO): DAT read: 01:14:00.0735 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.30,-0.929,-2.440,-0.508,-0.811, PHS=-0.016,-1.584, 0.260, RAW= 158.0, 15.4, CAL= 158.8, 17.8, ROT= 351.2, -17.8 2025-10-29T01:14:00.612Z,1761700440.612 [DAT](INFO): got valid direction response: 01:14:00.0735 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501,-0.30,-0.929,-2.440,-0.508,-0.811, PHS=-0.016,-1.584, 0.260, RAW= 158.0, 15.4, CAL= 158.8, 17.8, ROT= 351.2, -17.8 2025-10-29T01:14:00.612Z,1761700440.612 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T01:14:00.613Z,1761700440.613 [DAT](INFO): direction in FSK: [0.940921,-0.145662,0.305695] 2025-10-29T01:14:00.613Z,1761700440.613 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:00.618Z,1761700440.618 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.443790 2025-10-29T01:14:00.662Z,1761700440.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.504111 s, deltaX: -0.400001 m, approachRate: -0.793477 m/s, rangeRepo size: 4 2025-10-29T01:14:00.674Z,1761700440.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.621790 m, bearing: 4.486508 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.504111 s, deltaX: -0.397717 m, approachRate: -0.788948 m/s, posRepo size: 4 2025-10-29T01:14:00.684Z,1761700440.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:14:00.697Z,1761700440.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.621790 m, nav range: 12.760299 m, bearing: 4.457808 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 10.154125 deg, new cmd heading: 10.231706 deg. 2025-10-29T01:14:00.698Z,1761700440.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.178577 target range: 13.621790 and range: 13.70 m. 2025-10-29T01:14:00.853Z,1761700440.853 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.679132 2025-10-29T01:14:01.072Z,1761700441.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981892,-0.175525,-0.071273],[0.184048,0.972990,0.139347],[0.044889,-0.149941,0.987675]] 2025-10-29T01:14:01.110Z,1761700441.110 [DAT](INFO): DAT read: Rx Time:01:14:00.5732 2025-10-29T01:14:01.110Z,1761700441.110 [DAT](INFO): Rx dataTimestamp_ set to:1761700441.109745 2025-10-29T01:14:01.111Z,1761700441.111 [DAT](INFO): DAT read: Bearing 181.4, -8.8 (Local) 2025-10-29T01:14:01.112Z,1761700441.112 [DAT](INFO): Local bearing/azimuth received: Bearing 181.4, -8.8 (Local) 2025-10-29T01:14:01.118Z,1761700441.118 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed 0.5 2025-10-29T01:14:01.123Z,1761700441.123 [DAT](INFO): DAT read: 01:14:00.5732 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.41,-1.963, 2.808,-1.545,-1.840, PHS=-0.022,-1.591, 0.250, RAW= 157.9, 15.6, CAL= 158.7, 18.2, ROT= 351.3, -18.2 2025-10-29T01:14:01.124Z,1761700441.124 [DAT](INFO): got valid direction response: 01:14:00.5732 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 498,-0.41,-1.963, 2.808,-1.545,-1.840, PHS=-0.022,-1.591, 0.250, RAW= 157.9, 15.6, CAL= 158.7, 18.2, ROT= 351.3, -18.2 2025-10-29T01:14:01.124Z,1761700441.124 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-29T01:14:01.125Z,1761700441.125 [DAT](INFO): direction in FSK: [0.939042,-0.143694,0.312335] 2025-10-29T01:14:01.125Z,1761700441.125 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:01.129Z,1761700441.129 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.955145 2025-10-29T01:14:01.231Z,1761700441.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.507902 s, deltaX: -0.500000 m, approachRate: -0.984442 m/s, rangeRepo size: 4 2025-10-29T01:14:01.237Z,1761700441.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.124608 m, bearing: 4.730171 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.507902 s, deltaX: -0.497182 m, approachRate: -0.978893 m/s, posRepo size: 4 2025-10-29T01:14:01.238Z,1761700441.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-29T01:14:01.245Z,1761700441.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.124608 m, nav range: 12.435856 m, bearing: 4.532661 deg, approach rate: 0.000000 m/s, LOS rate: 0.090785 deg/s, cmd heading: 10.231706 deg, new cmd heading: 10.337591 deg. 2025-10-29T01:14:01.246Z,1761700441.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.180425 target range: 13.124608 and range: 13.20 m. 2025-10-29T01:14:01.361Z,1761700441.361 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=23.187115 2025-10-29T01:14:01.574Z,1761700441.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981551,-0.177201,-0.071814],[0.185783,0.972684,0.139175],[0.045191,-0.149950,0.987660]] 2025-10-29T01:14:01.609Z,1761700441.609 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:01.611Z,1761700441.611 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-29T01:14:01.614Z,1761700441.614 [DAT](INFO): DAT read: Rx Time:01:14:01.0731 2025-10-29T01:14:01.614Z,1761700441.614 [DAT](INFO): Rx dataTimestamp_ set to:1761700441.613789 2025-10-29T01:14:01.615Z,1761700441.615 [DAT](INFO): DAT read: Bearing 175.8, 10.2 (Local) 2025-10-29T01:14:01.616Z,1761700441.616 [DAT](INFO): Local bearing/azimuth received: Bearing 175.8, 10.2 (Local) 2025-10-29T01:14:01.618Z,1761700441.618 [DAT](INFO): DAT read: Range 11 to 50 : 13.1 m (trip time 8.7 ms) speed 0.5 2025-10-29T01:14:01.622Z,1761700441.622 [DAT](INFO): DAT read: 01:14:01.0731 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 513,-0.49, 0.734,-1.335, 0.518, 0.287, PHS= 0.549,-1.577, 0.187, RAW= 140.8, 8.6, CAL= 140.4, 9.4, ROT= 9.6, -9.4 2025-10-29T01:14:01.624Z,1761700441.624 [DAT](INFO): got valid direction response: 01:14:01.0731 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 513,-0.49, 0.734,-1.335, 0.518, 0.287, PHS= 0.549,-1.577, 0.187, RAW= 140.8, 8.6, CAL= 140.4, 9.4, ROT= 9.6, -9.4 2025-10-29T01:14:01.624Z,1761700441.624 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-29T01:14:01.625Z,1761700441.625 [DAT](INFO): direction in FSK: [0.972756,0.164529,0.163326] 2025-10-29T01:14:01.625Z,1761700441.625 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:01.630Z,1761700441.630 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.124608 m, nav range: 12.121781 m, bearing: 4.606316 deg, approach rate: -0.824919 m/s, LOS rate: 0.198470 deg/s, cmd heading: 10.337590 deg, new cmd heading: 10.488718 deg. 2025-10-29T01:14:01.631Z,1761700441.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.183063 target range: 13.124608 and range: 13.20 m. 2025-10-29T01:14:01.633Z,1761700441.633 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.459036 2025-10-29T01:14:01.866Z,1761700441.866 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.691805 2025-10-29T01:14:02.035Z,1761700442.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981238,-0.178701,-0.072375],[0.187375,0.972315,0.139626],[0.045420,-0.150567,0.987556]] 2025-10-29T01:14:02.102Z,1761700442.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.100000 m, deltaT: 0.504044 s, deltaX: -0.099999 m, approachRate: -0.198394 m/s, rangeRepo size: 4 2025-10-29T01:14:02.104Z,1761700442.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.025180 m, bearing: 21.787105 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.504044 s, deltaX: -0.099428 m, approachRate: -0.197261 m/s, posRepo size: 4 2025-10-29T01:14:02.105Z,1761700442.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.03 m. 2025-10-29T01:14:02.107Z,1761700442.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.025180 m, nav range: 11.794049 m, bearing: 4.692182 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 10.488719 deg, new cmd heading: 10.683192 deg. 2025-10-29T01:14:02.108Z,1761700442.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.186457 target range: 13.025180 and range: 13.10 m. 2025-10-29T01:14:02.121Z,1761700442.121 [DAT](INFO): DAT read: Rx Time:01:14:01.5728 2025-10-29T01:14:02.121Z,1761700442.121 [DAT](INFO): Rx dataTimestamp_ set to:1761700442.121080 2025-10-29T01:14:02.123Z,1761700442.123 [DAT](INFO): DAT read: Bearing 180.8, -9.5 (Local) 2025-10-29T01:14:02.123Z,1761700442.123 [DAT](INFO): Local bearing/azimuth received: Bearing 180.8, -9.5 (Local) 2025-10-29T01:14:02.125Z,1761700442.125 [DAT](INFO): DAT read: Range 11 to 50 : 12.6 m (trip time 8.4 ms) speed 0.5 2025-10-29T01:14:02.130Z,1761700442.130 [DAT](INFO): DAT read: 01:14:01.5728 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.39,-2.710, 2.062,-2.259,-2.588, PHS=-0.020,-1.589, 0.285, RAW= 158.7, 15.0, CAL= 159.6, 17.5, ROT= 350.4, -17.5 2025-10-29T01:14:02.131Z,1761700442.131 [DAT](INFO): got valid direction response: 01:14:01.5728 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 510,-0.39,-2.710, 2.062,-2.259,-2.588, PHS=-0.020,-1.589, 0.285, RAW= 158.7, 15.0, CAL= 159.6, 17.5, ROT= 350.4, -17.5 2025-10-29T01:14:02.131Z,1761700442.131 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T01:14:02.149Z,1761700442.149 [DAT](INFO): direction in FSK: [0.940361,-0.159050,0.300706] 2025-10-29T01:14:02.149Z,1761700442.149 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:02.153Z,1761700442.153 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.979282 2025-10-29T01:14:02.374Z,1761700442.374 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=24.199587 2025-10-29T01:14:02.460Z,1761700442.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980952,-0.179906,-0.073266],[0.188731,0.971966,0.140226],[0.045984,-0.151382,0.987405]] 2025-10-29T01:14:02.494Z,1761700442.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.600000 m, deltaT: 0.507291 s, deltaX: -0.500000 m, approachRate: -0.985628 m/s, rangeRepo size: 4 2025-10-29T01:14:02.497Z,1761700442.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.527973 m, bearing: 4.005307 deg, lat: 36.779292 deg, lon: -121.859482 deg, deltaT: 0.507291 s, deltaX: -0.497207 m, approachRate: -0.980121 m/s, posRepo size: 4 2025-10-29T01:14:02.497Z,1761700442.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.53 m. 2025-10-29T01:14:02.500Z,1761700442.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.527973 m, nav range: 11.539079 m, bearing: 4.756966 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 10.683192 deg, new cmd heading: 10.839018 deg. 2025-10-29T01:14:02.501Z,1761700442.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.189177 target range: 12.527973 and range: 12.60 m. 2025-10-29T01:14:02.622Z,1761700442.622 [DAT](INFO): DAT read: Rx Time:01:14:02.0726 2025-10-29T01:14:02.622Z,1761700442.622 [DAT](INFO): Rx dataTimestamp_ set to:1761700442.621836 2025-10-29T01:14:02.623Z,1761700442.623 [DAT](INFO): DAT read: Bearing 180.6, -9.7 (Local) 2025-10-29T01:14:02.624Z,1761700442.624 [DAT](INFO): Local bearing/azimuth received: Bearing 180.6, -9.7 (Local) 2025-10-29T01:14:02.626Z,1761700442.626 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-10-29T01:14:02.633Z,1761700442.633 [DAT](INFO): DAT read: 01:14:02.0726 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.36,-3.061, 1.708,-2.599,-2.939, PHS=-0.020,-1.590, 0.296, RAW= 159.0, 14.9, CAL= 159.8, 17.3, ROT= 350.2, -17.3 2025-10-29T01:14:02.634Z,1761700442.634 [DAT](INFO): got valid direction response: 01:14:02.0726 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 508,-0.36,-3.061, 1.708,-2.599,-2.939, PHS=-0.020,-1.590, 0.296, RAW= 159.0, 14.9, CAL= 159.8, 17.3, ROT= 350.2, -17.3 2025-10-29T01:14:02.635Z,1761700442.635 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T01:14:02.637Z,1761700442.637 [DAT](INFO): direction in FSK: [0.940829,-0.162509,0.297375] 2025-10-29T01:14:02.637Z,1761700442.637 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:02.641Z,1761700442.641 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.467171 2025-10-29T01:14:02.863Z,1761700442.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980664,-0.181281,-0.073725],[0.190169,0.971666,0.140357],[0.046192,-0.151663,0.987352]] 2025-10-29T01:14:02.873Z,1761700442.873 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.699223 2025-10-29T01:14:02.927Z,1761700442.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.500756 s, deltaX: -0.100000 m, approachRate: -0.199699 m/s, rangeRepo size: 4 2025-10-29T01:14:02.933Z,1761700442.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.428544 m, bearing: 3.859399 deg, lat: 36.779293 deg, lon: -121.859482 deg, deltaT: 0.500756 s, deltaX: -0.099429 m, approachRate: -0.198558 m/s, posRepo size: 4 2025-10-29T01:14:02.934Z,1761700442.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:14:02.951Z,1761700442.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.428544 m, nav range: 11.412127 m, bearing: 4.762083 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 10.839018 deg, new cmd heading: 11.010583 deg. 2025-10-29T01:14:02.958Z,1761700442.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.192171 target range: 12.428544 and range: 12.50 m. 2025-10-29T01:14:03.126Z,1761700443.126 [DAT](INFO): DAT read: Rx Time:01:14:02.5724 2025-10-29T01:14:03.126Z,1761700443.126 [DAT](INFO): Rx dataTimestamp_ set to:1761700443.125845 2025-10-29T01:14:03.127Z,1761700443.127 [DAT](INFO): DAT read: Bearing 180.9, -9.6 (Local) 2025-10-29T01:14:03.128Z,1761700443.128 [DAT](INFO): Local bearing/azimuth received: Bearing 180.9, -9.6 (Local) 2025-10-29T01:14:03.130Z,1761700443.130 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 2025-10-29T01:14:03.137Z,1761700443.137 [DAT](INFO): DAT read: 01:14:02.5724 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.29, 1.997, 0.483, 2.458, 2.120, PHS=-0.021,-1.592, 0.293, RAW= 159.0, 14.9, CAL= 159.8, 17.3, ROT= 350.2, -17.3 2025-10-29T01:14:03.139Z,1761700443.139 [DAT](INFO): got valid direction response: 01:14:02.5724 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.29, 1.997, 0.483, 2.458, 2.120, PHS=-0.021,-1.592, 0.293, RAW= 159.0, 14.9, CAL= 159.8, 17.3, ROT= 350.2, -17.3 2025-10-29T01:14:03.139Z,1761700443.139 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T01:14:03.141Z,1761700443.141 [DAT](INFO): direction in FSK: [0.940829,-0.162509,0.297375] 2025-10-29T01:14:03.142Z,1761700443.142 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:03.154Z,1761700443.154 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.979570 2025-10-29T01:14:03.357Z,1761700443.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979949,-0.184778,-0.074548],[0.193642,0.971335,0.137880],[0.046934,-0.149551,0.987639]] 2025-10-29T01:14:03.377Z,1761700443.377 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=25.203354 2025-10-29T01:14:03.411Z,1761700443.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504009 s, deltaX: -0.300000 m, approachRate: -0.595228 m/s, rangeRepo size: 4 2025-10-29T01:14:03.413Z,1761700443.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.130236 m, bearing: 4.019370 deg, lat: 36.779293 deg, lon: -121.859484 deg, deltaT: 0.504009 s, deltaX: -0.298308 m, approachRate: -0.591871 m/s, posRepo size: 4 2025-10-29T01:14:03.414Z,1761700443.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T01:14:03.417Z,1761700443.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.130236 m, nav range: 11.080906 m, bearing: 4.114153 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 11.010583 deg, new cmd heading: 11.202899 deg. 2025-10-29T01:14:03.418Z,1761700443.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.195527 target range: 12.130236 and range: 12.20 m. 2025-10-29T01:14:03.630Z,1761700443.630 [DAT](INFO): DAT read: Rx Time:01:14:03.0723 2025-10-29T01:14:03.630Z,1761700443.630 [DAT](INFO): Rx dataTimestamp_ set to:1761700443.629920 2025-10-29T01:14:03.631Z,1761700443.631 [DAT](INFO): DAT read: Bearing 180.5, -9.5 (Local) 2025-10-29T01:14:03.633Z,1761700443.633 [DAT](INFO): Local bearing/azimuth received: Bearing 180.5, -9.5 (Local) 2025-10-29T01:14:03.635Z,1761700443.635 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed 0.5 2025-10-29T01:14:03.641Z,1761700443.641 [DAT](INFO): DAT read: 01:14:03.0723 LVL= 32752, 32753, 30322, 32755, AGC= 57, IDX= 504,-0.24,-2.979, 1.796,-2.517,-2.864, PHS=-0.013,-1.578, 0.303, RAW= 159.0, 14.6, CAL= 159.8, 16.9, ROT= 350.2, -16.9 2025-10-29T01:14:03.643Z,1761700443.643 [DAT](INFO): got valid direction response: 01:14:03.0723 LVL= 32752, 32753, 30322, 32755, AGC= 57, IDX= 504,-0.24,-2.979, 1.796,-2.517,-2.864, PHS=-0.013,-1.578, 0.303, RAW= 159.0, 14.6, CAL= 159.8, 16.9, ROT= 350.2, -16.9 2025-10-29T01:14:03.643Z,1761700443.643 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T01:14:03.652Z,1761700443.652 [DAT](INFO): direction in FSK: [0.942852,-0.162859,0.290702] 2025-10-29T01:14:03.652Z,1761700443.652 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:03.670Z,1761700443.670 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.495537 2025-10-29T01:14:03.783Z,1761700443.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979585,-0.186496,-0.075050],[0.195399,0.971047,0.137429],[0.047247,-0.149288,0.987664]] 2025-10-29T01:14:03.841Z,1761700443.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 0.504075 s, deltaX: -0.200000 m, approachRate: -0.396766 m/s, rangeRepo size: 4 2025-10-29T01:14:03.843Z,1761700443.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.931380 m, bearing: 4.052435 deg, lat: 36.779295 deg, lon: -121.859484 deg, deltaT: 0.504075 s, deltaX: -0.198855 m, approachRate: -0.394496 m/s, posRepo size: 4 2025-10-29T01:14:03.843Z,1761700443.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-29T01:14:03.850Z,1761700443.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.931380 m, nav range: 11.006114 m, bearing: 4.091669 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 11.202899 deg, new cmd heading: 11.370197 deg. 2025-10-29T01:14:03.851Z,1761700443.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.198447 target range: 11.931380 and range: 12.00 m. 2025-10-29T01:14:03.881Z,1761700443.881 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.707029 2025-10-29T01:14:04.133Z,1761700444.133 [DAT](INFO): DAT read: Rx Time:01:14:03.5720 2025-10-29T01:14:04.134Z,1761700444.134 [DAT](INFO): Rx dataTimestamp_ set to:1761700444.133678 2025-10-29T01:14:04.135Z,1761700444.135 [DAT](INFO): DAT read: Bearing 180.7, -9.8 (Local) 2025-10-29T01:14:04.136Z,1761700444.136 [DAT](INFO): Local bearing/azimuth received: Bearing 180.7, -9.8 (Local) 2025-10-29T01:14:04.138Z,1761700444.138 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed 0.5 2025-10-29T01:14:04.142Z,1761700444.142 [DAT](INFO): DAT read: 01:14:03.5720 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.13, 2.309, 0.793, 2.783, 2.431, PHS=-0.020,-1.593, 0.308, RAW= 159.3, 14.7, CAL= 160.1, 17.0, ROT= 349.9, -17.0 2025-10-29T01:14:04.143Z,1761700444.143 [DAT](INFO): got valid direction response: 01:14:03.5720 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 501,-0.13, 2.309, 0.793, 2.783, 2.431, PHS=-0.020,-1.593, 0.308, RAW= 159.3, 14.7, CAL= 160.1, 17.0, ROT= 349.9, -17.0 2025-10-29T01:14:04.144Z,1761700444.144 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T01:14:04.145Z,1761700444.145 [DAT](INFO): direction in FSK: [0.941485,-0.167704,0.292372] 2025-10-29T01:14:04.145Z,1761700444.145 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:04.178Z,1761700444.178 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.003710 2025-10-29T01:14:04.226Z,1761700444.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979323,-0.187780,-0.075266],[0.196696,0.970810,0.137252],[0.047296,-0.149219,0.987672]] 2025-10-29T01:14:04.344Z,1761700444.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.503758 s, deltaX: -0.400000 m, approachRate: -0.794031 m/s, rangeRepo size: 4 2025-10-29T01:14:04.346Z,1761700444.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.533597 m, bearing: 3.838922 deg, lat: 36.779295 deg, lon: -121.859484 deg, deltaT: 0.503758 s, deltaX: -0.397783 m, approachRate: -0.789632 m/s, posRepo size: 4 2025-10-29T01:14:04.347Z,1761700444.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-29T01:14:04.354Z,1761700444.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.533597 m, nav range: 10.725930 m, bearing: 4.147204 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 11.370196 deg, new cmd heading: 11.571624 deg. 2025-10-29T01:14:04.355Z,1761700444.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.201963 target range: 11.533597 and range: 11.60 m. 2025-10-29T01:14:04.385Z,1761700444.385 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=26.211105 2025-10-29T01:14:04.637Z,1761700444.637 [DAT](INFO): DAT read: Rx Time:01:14:04.0719 2025-10-29T01:14:04.638Z,1761700444.638 [DAT](INFO): Rx dataTimestamp_ set to:1761700444.637590 2025-10-29T01:14:04.639Z,1761700444.639 [DAT](INFO): DAT read: Bearing 180.9, -9.8 (Local) 2025-10-29T01:14:04.639Z,1761700444.639 [DAT](INFO): Local bearing/azimuth received: Bearing 180.9, -9.8 (Local) 2025-10-29T01:14:04.642Z,1761700444.642 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.5 2025-10-29T01:14:04.646Z,1761700444.646 [DAT](INFO): DAT read: 01:14:04.0719 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.09,-2.635, 2.142,-2.164,-2.508, PHS=-0.025,-1.588, 0.300, RAW= 159.3, 14.9, CAL= 160.1, 17.3, ROT= 349.9, -17.3 2025-10-29T01:14:04.647Z,1761700444.647 [DAT](INFO): got valid direction response: 01:14:04.0719 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 500,-0.09,-2.635, 2.142,-2.164,-2.508, PHS=-0.025,-1.588, 0.300, RAW= 159.3, 14.9, CAL= 160.1, 17.3, ROT= 349.9, -17.3 2025-10-29T01:14:04.648Z,1761700444.648 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T01:14:04.649Z,1761700444.649 [DAT](INFO): direction in FSK: [0.939965,-0.167433,0.297375] 2025-10-29T01:14:04.649Z,1761700444.649 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:04.653Z,1761700444.653 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.478617 2025-10-29T01:14:04.734Z,1761700444.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979156,-0.188499,-0.075641],[0.197469,0.970642,0.137334],[0.047533,-0.149408,0.987632]] 2025-10-29T01:14:04.795Z,1761700444.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503912 s, deltaX: -0.200001 m, approachRate: -0.396896 m/s, rangeRepo size: 4 2025-10-29T01:14:04.801Z,1761700444.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.334741 m, bearing: 3.935173 deg, lat: 36.779296 deg, lon: -121.859484 deg, deltaT: 0.503912 s, deltaX: -0.198856 m, approachRate: -0.394625 m/s, posRepo size: 4 2025-10-29T01:14:04.802Z,1761700444.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.33 m. 2025-10-29T01:14:04.808Z,1761700444.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.334741 m, nav range: 10.485818 m, bearing: 4.074694 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 11.571624 deg, new cmd heading: 11.752121 deg. 2025-10-29T01:14:04.809Z,1761700444.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.205113 target range: 11.334741 and range: 11.40 m. 2025-10-29T01:14:04.891Z,1761700444.891 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.716722 2025-10-29T01:14:05.103Z,1761700445.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978914,-0.189596,-0.076027],[0.198609,0.970426,0.137218],[0.047763,-0.149425,0.987619]] 2025-10-29T01:14:05.142Z,1761700445.142 [DAT](INFO): DAT read: Rx Time:01:14:04.5716 2025-10-29T01:14:05.142Z,1761700445.142 [DAT](INFO): Rx dataTimestamp_ set to:1761700445.142146 2025-10-29T01:14:05.144Z,1761700445.144 [DAT](INFO): DAT read: Bearing 180.0, -10.2 (Local) 2025-10-29T01:14:05.144Z,1761700445.144 [DAT](INFO): Local bearing/azimuth received: Bearing 180.0, -10.2 (Local) 2025-10-29T01:14:05.146Z,1761700445.146 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.5 2025-10-29T01:14:05.151Z,1761700445.151 [DAT](INFO): DAT read: 01:14:04.5716 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.03, 2.521, 1.015, 3.019, 2.638, PHS=-0.015,-1.578, 0.337, RAW= 159.9, 14.1, CAL= 160.6, 16.3, ROT= 349.4, -16.3 2025-10-29T01:14:05.161Z,1761700445.161 [DAT](INFO): got valid direction response: 01:14:04.5716 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 497,-0.03, 2.521, 1.015, 3.019, 2.638, PHS=-0.015,-1.578, 0.337, RAW= 159.9, 14.1, CAL= 160.6, 16.3, ROT= 349.4, -16.3 2025-10-29T01:14:05.162Z,1761700445.162 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T01:14:05.163Z,1761700445.163 [DAT](INFO): direction in FSK: [0.943427,-0.176558,0.280667] 2025-10-29T01:14:05.164Z,1761700445.164 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:05.213Z,1761700445.213 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.039490 2025-10-29T01:14:05.241Z,1761700445.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504556 s, deltaX: -0.400000 m, approachRate: -0.792775 m/s, rangeRepo size: 4 2025-10-29T01:14:05.243Z,1761700445.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.936831 m, bearing: 3.336547 deg, lat: 36.779296 deg, lon: -121.859484 deg, deltaT: 0.504556 s, deltaX: -0.397909 m, approachRate: -0.788632 m/s, posRepo size: 4 2025-10-29T01:14:05.248Z,1761700445.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:14:05.251Z,1761700445.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.936831 m, nav range: 10.248087 m, bearing: 4.037505 deg, approach rate: 0.000000 m/s, LOS rate: 0.198470 deg/s, cmd heading: 11.752121 deg, new cmd heading: 11.929385 deg. 2025-10-29T01:14:05.256Z,1761700445.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.208207 target range: 10.936831 and range: 11.00 m. 2025-10-29T01:14:05.393Z,1761700445.393 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=27.219231 2025-10-29T01:14:05.541Z,1761700445.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978739,-0.190367,-0.076362],[0.199447,0.970185,0.137702],[0.047871,-0.150005,0.987526]] 2025-10-29T01:14:05.584Z,1761700445.584 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:05.586Z,1761700445.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:14:05.589Z,1761700445.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.936831 m, nav range: 10.018574 m, bearing: 4.114938 deg, approach rate: -0.664508 m/s, LOS rate: 0.229329 deg/s, cmd heading: 11.929386 deg, new cmd heading: 12.087800 deg. 2025-10-29T01:14:05.590Z,1761700445.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.210972 target range: 10.936831 and range: 11.00 m. 2025-10-29T01:14:05.647Z,1761700445.647 [DAT](INFO): DAT read: Rx Time:01:14:05.0715 2025-10-29T01:14:05.647Z,1761700445.647 [DAT](INFO): Rx dataTimestamp_ set to:1761700445.646997 2025-10-29T01:14:05.649Z,1761700445.649 [DAT](INFO): DAT read: Bearing 169.9, -3.5 (Local) 2025-10-29T01:14:05.649Z,1761700445.649 [DAT](INFO): Local bearing/azimuth received: Bearing 169.9, -3.5 (Local) 2025-10-29T01:14:05.651Z,1761700445.651 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.5 2025-10-29T01:14:05.679Z,1761700445.679 [DAT](INFO): DAT read: 01:14:05.0715 LVL= 32752, 32753, 28866, 32755, AGC= 56, IDX= 512, 0.01,-0.726,-2.240,-0.374,-0.925, PHS= 0.300,-1.270, 0.506, RAW= 156.1, 5.6, CAL= 155.3, 5.4, ROT= 354.7, -5.4 2025-10-29T01:14:05.685Z,1761700445.685 [DAT](INFO): got valid direction response: 01:14:05.0715 LVL= 32752, 32753, 28866, 32755, AGC= 56, IDX= 512, 0.01,-0.726,-2.240,-0.374,-0.925, PHS= 0.300,-1.270, 0.506, RAW= 156.1, 5.6, CAL= 155.3, 5.4, ROT= 354.7, -5.4 2025-10-29T01:14:05.686Z,1761700445.686 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T01:14:05.687Z,1761700445.687 [DAT](INFO): direction in FSK: [0.991306,-0.091961,0.094108] 2025-10-29T01:14:05.687Z,1761700445.687 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:05.710Z,1761700445.710 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.536324 2025-10-29T01:14:05.897Z,1761700445.897 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.722950 2025-10-29T01:14:05.912Z,1761700445.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978601,-0.190910,-0.076768],[0.200118,0.969836,0.139178],[0.047882,-0.151562,0.987287]] 2025-10-29T01:14:06.075Z,1761700446.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504851 s, deltaX: -0.200000 m, approachRate: -0.396156 m/s, rangeRepo size: 4 2025-10-29T01:14:06.081Z,1761700446.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.737980 m, bearing: 7.109842 deg, lat: 36.779296 deg, lon: -121.859484 deg, deltaT: 0.504851 s, deltaX: -0.198852 m, approachRate: -0.393882 m/s, posRepo size: 4 2025-10-29T01:14:06.082Z,1761700446.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.74 m. 2025-10-29T01:14:06.089Z,1761700446.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.737980 m, nav range: 9.762001 m, bearing: 4.203844 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 12.087800 deg, new cmd heading: 12.311837 deg. 2025-10-29T01:14:06.090Z,1761700446.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.214882 target range: 10.737980 and range: 10.80 m. 2025-10-29T01:14:06.155Z,1761700446.155 [DAT](INFO): DAT read: Rx Time:01:14:05.5712 2025-10-29T01:14:06.163Z,1761700446.163 [DAT](INFO): Rx dataTimestamp_ set to:1761700446.155060 2025-10-29T01:14:06.166Z,1761700446.166 [DAT](INFO): DAT read: Bearing 179.8, -10.6 (Local) 2025-10-29T01:14:06.167Z,1761700446.167 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, -10.6 (Local) 2025-10-29T01:14:06.172Z,1761700446.172 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed 0.5 2025-10-29T01:14:06.191Z,1761700446.191 [DAT](INFO): DAT read: 01:14:05.5712 LVL= 32752, 32753, 31634, 32755, AGC= 55, IDX= 509,-0.00,-2.718, 2.067,-2.198,-2.598, PHS=-0.018,-1.573, 0.356, RAW= 160.5, 13.8, CAL= 161.1, 16.0, ROT= 348.9, -16.0 2025-10-29T01:14:06.217Z,1761700446.217 [DAT](INFO): got valid direction response: 01:14:05.5712 LVL= 32752, 32753, 31634, 32755, AGC= 55, IDX= 509,-0.00,-2.718, 2.067,-2.198,-2.598, PHS=-0.018,-1.573, 0.356, RAW= 160.5, 13.8, CAL= 161.1, 16.0, ROT= 348.9, -16.0 2025-10-29T01:14:06.218Z,1761700446.218 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T01:14:06.219Z,1761700446.219 [DAT](INFO): direction in FSK: [0.943279,-0.185064,0.275637] 2025-10-29T01:14:06.233Z,1761700446.233 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:06.245Z,1761700446.245 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.070921 2025-10-29T01:14:06.405Z,1761700446.405 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=28.231453 2025-10-29T01:14:06.428Z,1761700446.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978391,-0.191987,-0.076758],[0.201121,0.969813,0.137889],[0.047968,-0.150347,0.987469]] 2025-10-29T01:14:06.565Z,1761700446.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.508063 s, deltaX: -0.400001 m, approachRate: -0.787305 m/s, rangeRepo size: 4 2025-10-29T01:14:06.567Z,1761700446.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.340101 m, bearing: 2.946560 deg, lat: 36.779296 deg, lon: -121.859484 deg, deltaT: 0.508063 s, deltaX: -0.397879 m, approachRate: -0.783129 m/s, posRepo size: 4 2025-10-29T01:14:06.572Z,1761700446.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.34 m. 2025-10-29T01:14:06.575Z,1761700446.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.340101 m, nav range: 9.440921 m, bearing: 4.249228 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 12.311837 deg, new cmd heading: 12.531254 deg. 2025-10-29T01:14:06.575Z,1761700446.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.218712 target range: 10.340101 and range: 10.40 m. 2025-10-29T01:14:06.660Z,1761700446.660 [DAT](INFO): DAT read: Rx Time:01:14:06.0710 2025-10-29T01:14:06.660Z,1761700446.660 [DAT](INFO): Rx dataTimestamp_ set to:1761700446.660008 2025-10-29T01:14:06.663Z,1761700446.663 [DAT](INFO): DAT read: Bearing 178.7, -11.1 (Local) 2025-10-29T01:14:06.663Z,1761700446.663 [DAT](INFO): Local bearing/azimuth received: Bearing 178.7, -11.1 (Local) 2025-10-29T01:14:06.667Z,1761700446.667 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.5 2025-10-29T01:14:06.674Z,1761700446.674 [DAT](INFO): DAT read: 01:14:06.0710 LVL= 32752, 32753, 28786, 32755, AGC= 54, IDX= 507,-0.01,-2.649, 2.140,-2.098,-2.540, PHS=-0.008,-1.558, 0.398, RAW= 161.3, 13.0, CAL= 161.8, 14.9, ROT= 348.2, -14.9 2025-10-29T01:14:06.679Z,1761700446.679 [DAT](INFO): got valid direction response: 01:14:06.0710 LVL= 32752, 32753, 28786, 32755, AGC= 54, IDX= 507,-0.01,-2.649, 2.140,-2.098,-2.540, PHS=-0.008,-1.558, 0.398, RAW= 161.3, 13.0, CAL= 161.8, 14.9, ROT= 348.2, -14.9 2025-10-29T01:14:06.680Z,1761700446.680 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T01:14:06.682Z,1761700446.682 [DAT](INFO): direction in FSK: [0.945954,-0.197620,0.257133] 2025-10-29T01:14:06.683Z,1761700446.683 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:06.687Z,1761700446.687 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.512774 2025-10-29T01:14:06.909Z,1761700446.909 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.734848 2025-10-29T01:14:06.938Z,1761700446.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977993,-0.193749,-0.077404],[0.202913,0.969593,0.136807],[0.048544,-0.149503,0.987569]] 2025-10-29T01:14:06.986Z,1761700446.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.504948 s, deltaX: -0.299999 m, approachRate: -0.594119 m/s, rangeRepo size: 4 2025-10-29T01:14:06.989Z,1761700446.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.041830 m, bearing: 2.155507 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.504948 s, deltaX: -0.298271 m, approachRate: -0.590697 m/s, posRepo size: 4 2025-10-29T01:14:06.989Z,1761700446.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.04 m. 2025-10-29T01:14:06.992Z,1761700446.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.041830 m, nav range: 9.391485 m, bearing: 3.533567 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 12.531254 deg, new cmd heading: 12.729498 deg. 2025-10-29T01:14:06.993Z,1761700446.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.222172 target range: 10.041830 and range: 10.10 m. 2025-10-29T01:14:07.164Z,1761700447.164 [DAT](INFO): DAT read: Rx Time:01:14:06.5708 2025-10-29T01:14:07.165Z,1761700447.165 [DAT](INFO): Rx dataTimestamp_ set to:1761700447.164710 2025-10-29T01:14:07.167Z,1761700447.167 [DAT](INFO): DAT read: Bearing 179.3, -11.5 (Local) 2025-10-29T01:14:07.168Z,1761700447.168 [DAT](INFO): Local bearing/azimuth received: Bearing 179.3, -11.5 (Local) 2025-10-29T01:14:07.172Z,1761700447.172 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.5 2025-10-29T01:14:07.185Z,1761700447.185 [DAT](INFO): DAT read: 01:14:06.5708 LVL= 32752, 32753, 25746, 32755, AGC= 54, IDX= 504,-0.07, 2.915, 1.425,-2.803, 3.043, PHS=-0.026,-1.573, 0.393, RAW= 161.7, 13.4, CAL= 162.2, 15.5, ROT= 347.8, -15.5 2025-10-29T01:14:07.186Z,1761700447.186 [DAT](INFO): got valid direction response: 01:14:06.5708 LVL= 32752, 32753, 25746, 32755, AGC= 54, IDX= 504,-0.07, 2.915, 1.425,-2.803, 3.043, PHS=-0.026,-1.573, 0.393, RAW= 161.7, 13.4, CAL= 162.2, 15.5, ROT= 347.8, -15.5 2025-10-29T01:14:07.187Z,1761700447.187 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T01:14:07.188Z,1761700447.188 [DAT](INFO): direction in FSK: [0.941868,-0.203639,0.267238] 2025-10-29T01:14:07.188Z,1761700447.188 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:07.191Z,1761700447.191 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.017557 2025-10-29T01:14:07.415Z,1761700447.415 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=29.240438 2025-10-29T01:14:07.524Z,1761700447.524 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977663,-0.195251,-0.077798],[0.204400,0.969454,0.135573],[0.048951,-0.148447,0.987708]] 2025-10-29T01:14:07.585Z,1761700447.585 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for bottom velocity. Device response is::BS, -18, +33,A 2025-10-29T01:14:07.615Z,1761700447.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.504702 s, deltaX: -0.500000 m, approachRate: -0.990684 m/s, rangeRepo size: 4 2025-10-29T01:14:07.617Z,1761700447.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.544658 m, bearing: 1.909283 deg, lat: 36.779299 deg, lon: -121.859487 deg, deltaT: 0.504702 s, deltaX: -0.497172 m, approachRate: -0.985081 m/s, posRepo size: 4 2025-10-29T01:14:07.618Z,1761700447.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.54 m. 2025-10-29T01:14:07.618Z,1761700447.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m. 2025-10-29T01:14:07.618Z,1761700447.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-29T01:14:07.621Z,1761700447.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 8.983114 m, bearing: 3.089189 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 12.729498 deg, new cmd heading: 13.018120 deg. 2025-10-29T01:14:07.622Z,1761700447.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.227209 target range: 9.544658 and range: 9.60 m. 2025-10-29T01:14:07.667Z,1761700447.667 [DAT](INFO): DAT read: Rx Time:01:14:07.0707 2025-10-29T01:14:07.668Z,1761700447.668 [DAT](INFO): Rx dataTimestamp_ set to:1761700447.667189 2025-10-29T01:14:07.670Z,1761700447.670 [DAT](INFO): DAT read: Bearing 178.0, -11.9 (Local) 2025-10-29T01:14:07.671Z,1761700447.671 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, -11.9 (Local) 2025-10-29T01:14:07.674Z,1761700447.674 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed 0.5 2025-10-29T01:14:07.687Z,1761700447.687 [DAT](INFO): DAT read: 01:14:07.0707 LVL= 32752, 32753, 26450, 32755, AGC= 53, IDX= 503,-0.10,-2.795, 2.006,-2.202,-2.684, PHS=-0.009,-1.548, 0.438, RAW= 162.4, 12.4, CAL= 162.7, 14.1, ROT= 347.3, -14.1 2025-10-29T01:14:07.692Z,1761700447.692 [DAT](INFO): got valid direction response: 01:14:07.0707 LVL= 32752, 32753, 26450, 32755, AGC= 53, IDX= 503,-0.10,-2.795, 2.006,-2.202,-2.684, PHS=-0.009,-1.548, 0.438, RAW= 162.4, 12.4, CAL= 162.7, 14.1, ROT= 347.3, -14.1 2025-10-29T01:14:07.693Z,1761700447.693 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T01:14:07.694Z,1761700447.694 [DAT](INFO): direction in FSK: [0.946144,-0.213223,0.243615] 2025-10-29T01:14:07.694Z,1761700447.694 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:07.703Z,1761700447.703 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.528801 2025-10-29T01:14:07.919Z,1761700447.919 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.744545 2025-10-29T01:14:07.970Z,1761700447.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977199,-0.197516,-0.077908],[0.206610,0.969134,0.134504],[0.048937,-0.147534,0.987846]] 2025-10-29T01:14:08.066Z,1761700448.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.502479 s, deltaX: -0.100000 m, approachRate: -0.199014 m/s, rangeRepo size: 4 2025-10-29T01:14:08.081Z,1761700448.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.445233 m, bearing: 1.306145 deg, lat: 36.779300 deg, lon: -121.859488 deg, deltaT: 0.502479 s, deltaX: -0.099424 m, approachRate: -0.197868 m/s, posRepo size: 4 2025-10-29T01:14:08.089Z,1761700448.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.45 m. 9.54 m. 2025-10-29T01:14:08.098Z,1761700448.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 8.727691 m, bearing: 3.141353 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 13.018119 deg, new cmd heading: 13.218617 deg. 2025-10-29T01:14:08.098Z,1761700448.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.230708 target range: 9.544658 and range: 9.50 m. 2025-10-29T01:14:08.171Z,1761700448.171 [DAT](INFO): DAT read: Rx Time:01:14:07.5704 2025-10-29T01:14:08.172Z,1761700448.172 [DAT](INFO): Rx dataTimestamp_ set to:1761700448.171233 2025-10-29T01:14:08.174Z,1761700448.174 [DAT](INFO): DAT read: Bearing 178.8, -12.6 (Local) 2025-10-29T01:14:08.175Z,1761700448.175 [DAT](INFO): Local bearing/azimuth received: Bearing 178.8, -12.6 (Local) 2025-10-29T01:14:08.179Z,1761700448.179 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed 0.5 2025-10-29T01:14:08.188Z,1761700448.188 [DAT](INFO): DAT read: 01:14:07.5704 LVL= 32752, 32753, 25122, 32755, AGC= 52, IDX= 500,-0.21, 2.671, 1.193,-2.995, 2.809, PHS=-0.036,-1.571, 0.435, RAW= 163.0, 12.8, CAL= 163.4, 14.8, ROT= 346.6, -14.8 2025-10-29T01:14:08.189Z,1761700448.189 [DAT](INFO): got valid direction response: 01:14:07.5704 LVL= 32752, 32753, 25122, 32755, AGC= 52, IDX= 500,-0.21, 2.671, 1.193,-2.995, 2.809, PHS=-0.036,-1.571, 0.435, RAW= 163.0, 12.8, CAL= 163.4, 14.8, ROT= 346.6, -14.8 2025-10-29T01:14:08.190Z,1761700448.190 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T01:14:08.191Z,1761700448.191 [DAT](INFO): direction in FSK: [0.940502,-0.224059,0.255446] 2025-10-29T01:14:08.191Z,1761700448.191 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:08.195Z,1761700448.195 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.020864 2025-10-29T01:14:08.421Z,1761700448.421 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=30.247051 2025-10-29T01:14:08.573Z,1761700448.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976279,-0.202025,-0.077881],[0.210825,0.968921,0.129405],[0.049318,-0.142754,0.988529]] 2025-10-29T01:14:08.675Z,1761700448.675 [DAT](INFO): DAT read: Rx Time:01:14:08.0703 2025-10-29T01:14:08.676Z,1761700448.676 [DAT](INFO): Rx dataTimestamp_ set to:1761700448.675429 2025-10-29T01:14:08.678Z,1761700448.678 [DAT](INFO): DAT read: Bearing 177.4, -13.1 (Local) 2025-10-29T01:14:08.679Z,1761700448.679 [DAT](INFO): Local bearing/azimuth received: Bearing 177.4, -13.1 (Local) 2025-10-29T01:14:08.682Z,1761700448.682 [DAT](INFO): DAT read: Range 11 to 50 : 8.9 m (trip time 5.9 ms) speed 0.5 2025-10-29T01:14:08.686Z,1761700448.686 [DAT](INFO): DAT read: 01:14:08.0703 LVL= 32752, 32753, 25954, 32755, AGC= 53, IDX= 499,-0.30,-3.072, 1.746,-2.416,-2.949, PHS=-0.020,-1.543, 0.489, RAW= 163.9, 11.7, CAL= 164.1, 13.3, ROT= 345.9, -13.3 2025-10-29T01:14:08.687Z,1761700448.687 [DAT](INFO): got valid direction response: 01:14:08.0703 LVL= 32752, 32753, 25954, 32755, AGC= 53, IDX= 499,-0.30,-3.072, 1.746,-2.416,-2.949, PHS=-0.020,-1.543, 0.489, RAW= 163.9, 11.7, CAL= 164.1, 13.3, ROT= 345.9, -13.3 2025-10-29T01:14:08.707Z,1761700448.707 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T01:14:08.708Z,1761700448.708 [DAT](INFO): direction in FSK: [0.943859,-0.237081,0.230050] 2025-10-29T01:14:08.708Z,1761700448.708 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:08.713Z,1761700448.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 0.504044 s, deltaX: -0.500000 m, approachRate: -0.991977 m/s, rangeRepo size: 4 2025-10-29T01:14:08.715Z,1761700448.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.948008 m, bearing: 0.864731 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 1.006523 s, deltaX: -0.596650 m, approachRate: -0.592783 m/s, posRepo size: 4 2025-10-29T01:14:08.728Z,1761700448.728 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.554407 2025-10-29T01:14:08.729Z,1761700448.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.95 m. 9.54 m. 2025-10-29T01:14:08.732Z,1761700448.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 8.289523 m, bearing: 3.221398 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 13.218617 deg, new cmd heading: 13.521898 deg. 2025-10-29T01:14:08.733Z,1761700448.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.236002 target range: 9.544658 and range: 9.00 m. 2025-10-29T01:14:08.928Z,1761700448.928 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.753546 2025-10-29T01:14:09.103Z,1761700449.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975733,-0.204477,-0.078316],[0.213257,0.968558,0.128130],[0.049654,-0.141722,0.988660]] 2025-10-29T01:14:09.145Z,1761700449.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.900000 m, deltaT: 0.504196 s, deltaX: -0.100000 m, approachRate: -0.198336 m/s, rangeRepo size: 4 2025-10-29T01:14:09.166Z,1761700449.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.848585 m, bearing: 0.068315 deg, lat: 36.779301 deg, lon: -121.859490 deg, deltaT: 1.510719 s, deltaX: -0.696073 m, approachRate: -0.460756 m/s, posRepo size: 4 2025-10-29T01:14:09.168Z,1761700449.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.85 m. 9.54 m. 2025-10-29T01:14:09.179Z,1761700449.179 [DAT](INFO): DAT read: Rx Time:01:14:08.5699 2025-10-29T01:14:09.179Z,1761700449.179 [DAT](INFO): Rx dataTimestamp_ set to:1761700449.179181 2025-10-29T01:14:09.181Z,1761700449.181 [DAT](INFO): DAT read: Bearing 178.3, -14.0 (Local) 2025-10-29T01:14:09.181Z,1761700449.181 [DAT](INFO): Local bearing/azimuth received: Bearing 178.3, -14.0 (Local) 2025-10-29T01:14:09.183Z,1761700449.183 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed 0.5 2025-10-29T01:14:09.193Z,1761700449.193 [DAT](INFO): DAT read: 01:14:08.5699 LVL= 32752, 32753, 24082, 32755, AGC= 52, IDX= 495, 0.47,-2.389, 2.436,-1.697,-2.233, PHS=-0.054,-1.569, 0.492, RAW= 164.8, 12.2, CAL= 165.1, 14.1, ROT= 344.9, -14.1 2025-10-29T01:14:09.194Z,1761700449.194 [DAT](INFO): got valid direction response: 01:14:08.5699 LVL= 32752, 32753, 24082, 32755, AGC= 52, IDX= 495, 0.47,-2.389, 2.436,-1.697,-2.233, PHS=-0.054,-1.569, 0.492, RAW= 164.8, 12.2, CAL= 165.1, 14.1, ROT= 344.9, -14.1 2025-10-29T01:14:09.194Z,1761700449.194 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T01:14:09.195Z,1761700449.195 [DAT](INFO): direction in FSK: [0.936385,-0.252656,0.243615] 2025-10-29T01:14:09.196Z,1761700449.196 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:09.203Z,1761700449.203 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.029366 2025-10-29T01:14:09.205Z,1761700449.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 7.980065 m, bearing: 3.277208 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 13.521898 deg, new cmd heading: 13.719899 deg. 2025-10-29T01:14:09.206Z,1761700449.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.239457 target range: 9.544658 and range: 8.90 m. 2025-10-29T01:14:09.429Z,1761700449.429 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=31.255220 2025-10-29T01:14:09.578Z,1761700449.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.503752 s, deltaX: -0.599999 m, approachRate: -1.191061 m/s, rangeRepo size: 4 2025-10-29T01:14:09.581Z,1761700449.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.251945 m, bearing: 359.164059 deg, lat: 36.779301 deg, lon: -121.859490 deg, deltaT: 2.014471 s, deltaX: -1.292713 m, approachRate: -0.641713 m/s, posRepo size: 4 2025-10-29T01:14:09.582Z,1761700449.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.25 m. 9.54 m. 2025-10-29T01:14:09.584Z,1761700449.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 7.694800 m, bearing: 3.332632 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 13.719898 deg, new cmd heading: 13.918658 deg. 2025-10-29T01:14:09.585Z,1761700449.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.242926 target range: 9.544658 and range: 8.30 m. 2025-10-29T01:14:09.682Z,1761700449.682 [DAT](INFO): DAT read: Rx Time:01:14:09.0698 2025-10-29T01:14:09.682Z,1761700449.682 [DAT](INFO): Rx dataTimestamp_ set to:1761700449.681902 2025-10-29T01:14:09.683Z,1761700449.683 [DAT](INFO): DAT read: Bearing 179.0, -14.6 (Local) 2025-10-29T01:14:09.684Z,1761700449.684 [DAT](INFO): Local bearing/azimuth received: Bearing 179.0, -14.6 (Local) 2025-10-29T01:14:09.687Z,1761700449.687 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed 0.5 2025-10-29T01:14:09.694Z,1761700449.694 [DAT](INFO): DAT read: 01:14:09.0698 LVL= 32752, 32753, 25074, 32755, AGC= 51, IDX= 510, 0.27,-0.829,-2.274,-0.114,-0.649, PHS=-0.077,-1.580, 0.492, RAW= 165.4, 12.5, CAL= 165.7, 14.6, ROT= 344.3, -14.6 2025-10-29T01:14:09.696Z,1761700449.696 [DAT](INFO): got valid direction response: 01:14:09.0698 LVL= 32752, 32753, 25074, 32755, AGC= 51, IDX= 510, 0.27,-0.829,-2.274,-0.114,-0.649, PHS=-0.077,-1.580, 0.492, RAW= 165.4, 12.5, CAL= 165.7, 14.6, ROT= 344.3, -14.6 2025-10-29T01:14:09.696Z,1761700449.696 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T01:14:09.697Z,1761700449.697 [DAT](INFO): direction in FSK: [0.931606,-0.261863,0.252069] 2025-10-29T01:14:09.697Z,1761700449.697 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:09.702Z,1761700449.702 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.527996 2025-10-29T01:14:09.933Z,1761700449.933 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.758991 2025-10-29T01:14:09.954Z,1761700449.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.502721 s, deltaX: -0.200000 m, approachRate: -0.397835 m/s, rangeRepo size: 4 2025-10-29T01:14:09.956Z,1761700449.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.053102 m, bearing: 358.623210 deg, lat: 36.779301 deg, lon: -121.859492 deg, deltaT: 2.517192 s, deltaX: -1.491555 m, approachRate: -0.592547 m/s, posRepo size: 4 2025-10-29T01:14:09.957Z,1761700449.957 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.05 m. 9.54 m. 2025-10-29T01:14:09.959Z,1761700449.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 7.446390 m, bearing: 3.384355 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 13.918658 deg, new cmd heading: 14.090777 deg. 2025-10-29T01:14:09.960Z,1761700449.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.245930 target range: 9.544658 and range: 8.10 m. 2025-10-29T01:14:10.186Z,1761700450.186 [DAT](INFO): DAT read: Rx Time:01:14:09.5695 2025-10-29T01:14:10.186Z,1761700450.186 [DAT](INFO): Rx dataTimestamp_ set to:1761700450.185827 2025-10-29T01:14:10.187Z,1761700450.187 [DAT](INFO): DAT read: Bearing 177.9, -15.7 (Local) 2025-10-29T01:14:10.192Z,1761700450.192 [DAT](INFO): Local bearing/azimuth received: Bearing 177.9, -15.7 (Local) 2025-10-29T01:14:10.194Z,1761700450.194 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.6 2025-10-29T01:14:10.198Z,1761700450.198 [DAT](INFO): DAT read: 01:14:09.5695 LVL= 32752, 32753, 23186, 32755, AGC= 52, IDX= 507, 0.19,-2.822, 2.035,-2.047,-2.640, PHS=-0.080,-1.563, 0.548, RAW= 166.8, 11.6, CAL= 167.0, 13.4, ROT= 343.0, -13.4 2025-10-29T01:14:10.199Z,1761700450.199 [DAT](INFO): got valid direction response: 01:14:09.5695 LVL= 32752, 32753, 23186, 32755, AGC= 52, IDX= 507, 0.19,-2.822, 2.035,-2.047,-2.640, PHS=-0.080,-1.563, 0.548, RAW= 166.8, 11.6, CAL= 167.0, 13.4, ROT= 343.0, -13.4 2025-10-29T01:14:10.200Z,1761700450.200 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T01:14:10.201Z,1761700450.201 [DAT](INFO): direction in FSK: [0.930270,-0.284412,0.231748] 2025-10-29T01:14:10.201Z,1761700450.201 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:10.209Z,1761700450.209 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.035034 2025-10-29T01:14:10.311Z,1761700450.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973870,-0.212619,-0.079817],[0.221215,0.967627,0.121499],[0.051400,-0.135981,0.989377]] 2025-10-29T01:14:10.393Z,1761700450.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 0.503925 s, deltaX: -0.400001 m, approachRate: -0.793770 m/s, rangeRepo size: 4 2025-10-29T01:14:10.395Z,1761700450.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.655342 m, bearing: 357.507805 deg, lat: 36.779300 deg, lon: -121.859493 deg, deltaT: 3.021117 s, deltaX: -1.889316 m, approachRate: -0.625370 m/s, posRepo size: 4 2025-10-29T01:14:10.400Z,1761700450.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.54 m. 2025-10-29T01:14:10.403Z,1761700450.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 7.167705 m, bearing: 3.381668 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 14.090777 deg, new cmd heading: 14.292336 deg. 2025-10-29T01:14:10.403Z,1761700450.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.249448 target range: 9.544658 and range: 7.70 m. 2025-10-29T01:14:10.439Z,1761700450.439 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=32.264816 2025-10-29T01:14:10.690Z,1761700450.690 [DAT](INFO): DAT read: Rx Time:01:14:10.0693 2025-10-29T01:14:10.690Z,1761700450.690 [DAT](INFO): Rx dataTimestamp_ set to:1761700450.689713 2025-10-29T01:14:10.691Z,1761700450.691 [DAT](INFO): DAT read: Bearing 177.5, -16.9 (Local) 2025-10-29T01:14:10.692Z,1761700450.692 [DAT](INFO): Local bearing/azimuth received: Bearing 177.5, -16.9 (Local) 2025-10-29T01:14:10.694Z,1761700450.694 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed 0.5 2025-10-29T01:14:10.698Z,1761700450.698 [DAT](INFO): DAT read: 01:14:10.0693 LVL= 32752, 32753, 21986, 32755, AGC= 51, IDX= 505, 0.13, 2.813, 1.401,-2.634, 3.013, PHS=-0.098,-1.567, 0.592, RAW= 168.3, 11.2, CAL= 168.3, 12.9, ROT= 341.7, -12.9 2025-10-29T01:14:10.700Z,1761700450.700 [DAT](INFO): got valid direction response: 01:14:10.0693 LVL= 32752, 32753, 21986, 32755, AGC= 51, IDX= 505, 0.13, 2.813, 1.401,-2.634, 3.013, PHS=-0.098,-1.567, 0.592, RAW= 168.3, 11.2, CAL= 168.3, 12.9, ROT= 341.7, -12.9 2025-10-29T01:14:10.705Z,1761700450.705 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T01:14:10.706Z,1761700450.706 [DAT](INFO): direction in FSK: [0.925463,-0.306067,0.223250] 2025-10-29T01:14:10.706Z,1761700450.706 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:10.714Z,1761700450.714 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.540260 2025-10-29T01:14:10.766Z,1761700450.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973121,-0.215672,-0.080758],[0.224275,0.967163,0.119568],[0.052319,-0.134466,0.989536]] 2025-10-29T01:14:10.843Z,1761700450.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.503886 s, deltaX: -0.300000 m, approachRate: -0.595372 m/s, rangeRepo size: 4 2025-10-29T01:14:10.846Z,1761700450.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.357082 m, bearing: 356.274459 deg, lat: 36.779300 deg, lon: -121.859494 deg, deltaT: 3.525003 s, deltaX: -2.187575 m, approachRate: -0.620588 m/s, posRepo size: 4 2025-10-29T01:14:10.846Z,1761700450.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.36 m. 9.54 m. 2025-10-29T01:14:10.869Z,1761700450.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 6.872292 m, bearing: 3.371086 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 14.292336 deg, new cmd heading: 14.498659 deg. 2025-10-29T01:14:10.870Z,1761700450.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.253049 target range: 9.544658 and range: 7.40 m. 2025-10-29T01:14:10.941Z,1761700450.941 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.767178 2025-10-29T01:14:11.194Z,1761700451.194 [DAT](INFO): DAT read: Rx Time:01:14:10.5690 2025-10-29T01:14:11.194Z,1761700451.194 [DAT](INFO): Rx dataTimestamp_ set to:1761700451.193840 2025-10-29T01:14:11.195Z,1761700451.195 [DAT](INFO): DAT read: Bearing 179.2, -17.0 (Local) 2025-10-29T01:14:11.196Z,1761700451.196 [DAT](INFO): Local bearing/azimuth received: Bearing 179.2, -17.0 (Local) 2025-10-29T01:14:11.198Z,1761700451.198 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.5 2025-10-29T01:14:11.202Z,1761700451.202 [DAT](INFO): DAT read: 01:14:10.5690 LVL= 32752, 32753, 26162, 32755, AGC= 52, IDX= 502, 0.02, 2.015, 0.617, 2.837, 2.243, PHS=-0.126,-1.581, 0.550, RAW= 168.1, 12.2, CAL= 168.3, 14.4, ROT= 341.7, -14.4 2025-10-29T01:14:11.204Z,1761700451.204 [DAT](INFO): got valid direction response: 01:14:10.5690 LVL= 32752, 32753, 26162, 32755, AGC= 52, IDX= 502, 0.02, 2.015, 0.617, 2.837, 2.243, PHS=-0.126,-1.581, 0.550, RAW= 168.1, 12.2, CAL= 168.3, 14.4, ROT= 341.7, -14.4 2025-10-29T01:14:11.204Z,1761700451.204 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T01:14:11.205Z,1761700451.205 [DAT](INFO): direction in FSK: [0.919598,-0.304127,0.248690] 2025-10-29T01:14:11.205Z,1761700451.205 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:11.213Z,1761700451.213 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.038719 2025-10-29T01:14:11.214Z,1761700451.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972409,-0.218485,-0.081765],[0.227180,0.966545,0.119079],[0.053013,-0.134369,0.989512]] 2025-10-29T01:14:11.333Z,1761700451.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.504127 s, deltaX: -0.500000 m, approachRate: -0.991814 m/s, rangeRepo size: 4 2025-10-29T01:14:11.335Z,1761700451.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.859901 m, bearing: 356.626796 deg, lat: 36.779300 deg, lon: -121.859495 deg, deltaT: 4.029130 s, deltaX: -2.684757 m, approachRate: -0.666337 m/s, posRepo size: 4 2025-10-29T01:14:11.340Z,1761700451.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.54 m. 2025-10-29T01:14:11.343Z,1761700451.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 6.574032 m, bearing: 3.379755 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 14.498659 deg, new cmd heading: 14.719116 deg. 2025-10-29T01:14:11.343Z,1761700451.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256897 target range: 9.544658 and range: 6.90 m. 2025-10-29T01:14:11.446Z,1761700451.446 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=33.271446 2025-10-29T01:14:11.658Z,1761700451.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971613,-0.221619,-0.082784],[0.230330,0.966032,0.117179],[0.054003,-0.132920,0.989654]] 2025-10-29T01:14:11.683Z,1761700451.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:11.685Z,1761700451.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:11.689Z,1761700451.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 6.320764 m, bearing: 3.380556 deg, approach rate: -0.699527 m/s, LOS rate: 0.002302 deg/s, cmd heading: 14.719116 deg, new cmd heading: 14.720782 deg. 2025-10-29T01:14:11.690Z,1761700451.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.256926 target range: 9.544658 and range: 6.90 m. 2025-10-29T01:14:11.698Z,1761700451.698 [DAT](INFO): DAT read: Rx Time:01:14:11.0689 2025-10-29T01:14:11.698Z,1761700451.698 [DAT](INFO): Rx dataTimestamp_ set to:1761700451.697776 2025-10-29T01:14:11.699Z,1761700451.699 [DAT](INFO): DAT read: Bearing 179.8, -18.1 (Local) 2025-10-29T01:14:11.700Z,1761700451.700 [DAT](INFO): Local bearing/azimuth received: Bearing 179.8, -18.1 (Local) 2025-10-29T01:14:11.702Z,1761700451.702 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed 0.5 2025-10-29T01:14:11.715Z,1761700451.715 [DAT](INFO): DAT read: 01:14:11.0689 LVL= 32752, 32753, 27282, 32755, AGC= 51, IDX= 501,-0.02, 2.503, 1.133,-2.909, 2.765, PHS=-0.160,-1.588, 0.565, RAW= 169.3, 12.4, CAL= 169.6, 14.8, ROT= 340.4, -14.8 2025-10-29T01:14:11.716Z,1761700451.716 [DAT](INFO): got valid direction response: 01:14:11.0689 LVL= 32752, 32753, 27282, 32755, AGC= 51, IDX= 501,-0.02, 2.503, 1.133,-2.909, 2.765, PHS=-0.160,-1.588, 0.565, RAW= 169.3, 12.4, CAL= 169.6, 14.8, ROT= 340.4, -14.8 2025-10-29T01:14:11.716Z,1761700451.716 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T01:14:11.717Z,1761700451.717 [DAT](INFO): direction in FSK: [0.910803,-0.324323,0.255446] 2025-10-29T01:14:11.717Z,1761700451.717 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:11.752Z,1761700451.752 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.577587 2025-10-29T01:14:11.950Z,1761700451.950 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.775650 2025-10-29T01:14:12.077Z,1761700452.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970846,-0.224692,-0.083497],[0.233362,0.965564,0.115019],[0.054778,-0.131151,0.989848]] 2025-10-29T01:14:12.173Z,1761700452.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503936 s, deltaX: -0.100000 m, approachRate: -0.198438 m/s, rangeRepo size: 4 2025-10-29T01:14:12.175Z,1761700452.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.760482 m, bearing: 355.647415 deg, lat: 36.779300 deg, lon: -121.859495 deg, deltaT: 4.533066 s, deltaX: -2.784175 m, approachRate: -0.614193 m/s, posRepo size: 4 2025-10-29T01:14:12.177Z,1761700452.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.76 m. 9.54 m. 2025-10-29T01:14:12.179Z,1761700452.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 6.053228 m, bearing: 3.373879 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 14.720782 deg, new cmd heading: 14.941796 deg. 2025-10-29T01:14:12.189Z,1761700452.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.260784 target range: 9.544658 and range: 6.80 m. 2025-10-29T01:14:12.202Z,1761700452.202 [DAT](INFO): DAT read: Rx Time:01:14:11.5685 2025-10-29T01:14:12.202Z,1761700452.202 [DAT](INFO): Rx dataTimestamp_ set to:1761700452.201736 2025-10-29T01:14:12.203Z,1761700452.203 [DAT](INFO): DAT read: Bearing 180.9, -18.4 (Local) 2025-10-29T01:14:12.204Z,1761700452.204 [DAT](INFO): Local bearing/azimuth received: Bearing 180.9, -18.4 (Local) 2025-10-29T01:14:12.206Z,1761700452.206 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 2025-10-29T01:14:12.211Z,1761700452.211 [DAT](INFO): DAT read: 01:14:11.5685 LVL= 32752, 32753, 29170, 32755, AGC= 52, IDX= 498,-0.05, 1.139,-0.216, 2.018, 1.426, PHS=-0.186,-1.597, 0.548, RAW= 169.7, 13.0, CAL= 169.9, 15.7, ROT= 340.1, -15.7 2025-10-29T01:14:12.216Z,1761700452.216 [DAT](INFO): got valid direction response: 01:14:11.5685 LVL= 32752, 32753, 29170, 32755, AGC= 52, IDX= 498,-0.05, 1.139,-0.216, 2.018, 1.426, PHS=-0.186,-1.597, 0.548, RAW= 169.7, 13.0, CAL= 169.9, 15.7, ROT= 340.1, -15.7 2025-10-29T01:14:12.217Z,1761700452.217 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T01:14:12.218Z,1761700452.218 [DAT](INFO): direction in FSK: [0.905208,-0.327680,0.270600] 2025-10-29T01:14:12.218Z,1761700452.218 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:12.222Z,1761700452.222 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.048267 2025-10-29T01:14:12.454Z,1761700452.454 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=34.280525 2025-10-29T01:14:12.574Z,1761700452.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969595,-0.229270,-0.085567],[0.238085,0.964623,0.113215],[0.056583,-0.130145,0.989879]] 2025-10-29T01:14:12.625Z,1761700452.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.503960 s, deltaX: -0.600000 m, approachRate: -1.190571 m/s, rangeRepo size: 4 2025-10-29T01:14:12.627Z,1761700452.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.163816 m, bearing: 355.697911 deg, lat: 36.779300 deg, lon: -121.859495 deg, deltaT: 5.037026 s, deltaX: -3.380841 m, approachRate: -0.671198 m/s, posRepo size: 4 2025-10-29T01:14:12.628Z,1761700452.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m. 2025-10-29T01:14:12.631Z,1761700452.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 5.721933 m, bearing: 3.393095 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 14.941797 deg, new cmd heading: 15.151224 deg. 2025-10-29T01:14:12.631Z,1761700452.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.264439 target range: 9.544658 and range: 6.20 m. 2025-10-29T01:14:12.706Z,1761700452.706 [DAT](INFO): DAT read: Rx Time:01:14:12.0684 2025-10-29T01:14:12.706Z,1761700452.706 [DAT](INFO): Rx dataTimestamp_ set to:1761700452.705941 2025-10-29T01:14:12.707Z,1761700452.707 [DAT](INFO): DAT read: Bearing 182.4, -24.1 (Local) 2025-10-29T01:14:12.708Z,1761700452.708 [DAT](INFO): Local bearing/azimuth received: Bearing 182.4, -24.1 (Local) 2025-10-29T01:14:12.710Z,1761700452.710 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.5 2025-10-29T01:14:12.715Z,1761700452.715 [DAT](INFO): DAT read: 01:14:12.0684 LVL= 32752, 32753, 27618, 32755, AGC= 52, IDX= 513, 0.01,-2.739, 2.436,-1.693,-2.315, PHS=-0.322,-1.487, 0.578, RAW= 175.8, 13.6, CAL= 175.9, 17.1, ROT= 334.1, -17.1 2025-10-29T01:14:12.716Z,1761700452.716 [DAT](INFO): got valid direction response: 01:14:12.0684 LVL= 32752, 32753, 27618, 32755, AGC= 52, IDX= 513, 0.01,-2.739, 2.436,-1.693,-2.315, PHS=-0.322,-1.487, 0.578, RAW= 175.8, 13.6, CAL= 175.9, 17.1, ROT= 334.1, -17.1 2025-10-29T01:14:12.716Z,1761700452.716 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T01:14:12.717Z,1761700452.717 [DAT](INFO): direction in FSK: [0.859791,-0.417492,0.294040] 2025-10-29T01:14:12.718Z,1761700452.718 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:12.721Z,1761700452.721 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.547520 2025-10-29T01:14:12.958Z,1761700452.958 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.783623 2025-10-29T01:14:12.000Z,1761700453.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968765,-0.232415,-0.086473],[0.241172,0.964179,0.110429],[0.057710,-0.127835,0.990115]] 2025-10-29T01:14:13.158Z,1761700453.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504205 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:13.161Z,1761700453.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.163816 m, bearing: 349.802689 deg, lat: 36.779300 deg, lon: -121.859496 deg, deltaT: 5.541231 s, deltaX: -3.380841 m, approachRate: -0.610125 m/s, posRepo size: 4 2025-10-29T01:14:13.163Z,1761700453.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.16 m. 9.54 m. 2025-10-29T01:14:13.176Z,1761700453.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 5.441404 m, bearing: 3.402183 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.151224 deg, new cmd heading: 15.392331 deg. 2025-10-29T01:14:13.177Z,1761700453.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.268647 target range: 9.544658 and range: 6.20 m. 2025-10-29T01:14:13.210Z,1761700453.210 [DAT](INFO): DAT read: Rx Time:01:14:12.5681 2025-10-29T01:14:13.210Z,1761700453.210 [DAT](INFO): Rx dataTimestamp_ set to:1761700453.209792 2025-10-29T01:14:13.211Z,1761700453.211 [DAT](INFO): DAT read: Bearing 179.0, -21.1 (Local) 2025-10-29T01:14:13.212Z,1761700453.212 [DAT](INFO): Local bearing/azimuth received: Bearing 179.0, -21.1 (Local) 2025-10-29T01:14:13.214Z,1761700453.214 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.5 2025-10-29T01:14:13.222Z,1761700453.222 [DAT](INFO): DAT read: 01:14:12.5681 LVL= 32752, 32753, 26034, 32755, AGC= 52, IDX= 510, 0.12, 1.469, 0.140, 2.510, 1.791, PHS=-0.220,-1.606, 0.675, RAW= 172.9, 11.6, CAL= 173.0, 13.7, ROT= 337.0, -13.7 2025-10-29T01:14:13.223Z,1761700453.223 [DAT](INFO): got valid direction response: 01:14:12.5681 LVL= 32752, 32753, 26034, 32755, AGC= 52, IDX= 510, 0.12, 1.469, 0.140, 2.510, 1.791, PHS=-0.220,-1.606, 0.675, RAW= 172.9, 11.6, CAL= 173.0, 13.7, ROT= 337.0, -13.7 2025-10-29T01:14:13.224Z,1761700453.224 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T01:14:13.225Z,1761700453.225 [DAT](INFO): direction in FSK: [0.894316,-0.379614,0.236838] 2025-10-29T01:14:13.225Z,1761700453.225 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:13.235Z,1761700453.235 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.061279 2025-10-29T01:14:13.462Z,1761700453.462 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=35.288143 2025-10-29T01:14:13.547Z,1761700453.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968158,-0.234652,-0.087232],[0.243420,0.963760,0.109144],[0.058460,-0.126902,0.990191]] 2025-10-29T01:14:13.651Z,1761700453.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503851 s, deltaX: -0.500000 m, approachRate: -0.992357 m/s, rangeRepo size: 4 2025-10-29T01:14:13.659Z,1761700453.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.666669 m, bearing: 352.541228 deg, lat: 36.779300 deg, lon: -121.859496 deg, deltaT: 6.045082 s, deltaX: -3.877988 m, approachRate: -0.641511 m/s, posRepo size: 4 2025-10-29T01:14:13.666Z,1761700453.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.54 m. 2025-10-29T01:14:13.674Z,1761700453.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 5.079756 m, bearing: 3.383349 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.392332 deg, new cmd heading: 15.621714 deg. 2025-10-29T01:14:13.674Z,1761700453.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.272650 target range: 9.544658 and range: 5.70 m. 2025-10-29T01:14:13.714Z,1761700453.714 [DAT](INFO): DAT read: Rx Time:01:14:13.0680 2025-10-29T01:14:13.714Z,1761700453.714 [DAT](INFO): Rx dataTimestamp_ set to:1761700453.713788 2025-10-29T01:14:13.715Z,1761700453.715 [DAT](INFO): DAT read: Bearing 178.6, -22.4 (Local) 2025-10-29T01:14:13.716Z,1761700453.716 [DAT](INFO): Local bearing/azimuth received: Bearing 178.6, -22.4 (Local) 2025-10-29T01:14:13.718Z,1761700453.718 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 2025-10-29T01:14:13.722Z,1761700453.722 [DAT](INFO): DAT read: 01:14:13.0680 LVL= 32752, 32753, 24178, 32755, AGC= 51, IDX= 509, 0.23, 2.624, 1.314,-2.547, 2.970, PHS=-0.244,-1.610, 0.722, RAW= 174.3, 11.2, CAL= 174.3, 13.1, ROT= 335.7, -13.1 2025-10-29T01:14:13.724Z,1761700453.724 [DAT](INFO): got valid direction response: 01:14:13.0680 LVL= 32752, 32753, 24178, 32755, AGC= 51, IDX= 509, 0.23, 2.624, 1.314,-2.547, 2.970, PHS=-0.244,-1.610, 0.722, RAW= 174.3, 11.2, CAL= 174.3, 13.1, ROT= 335.7, -13.1 2025-10-29T01:14:13.724Z,1761700453.724 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T01:14:13.725Z,1761700453.725 [DAT](INFO): direction in FSK: [0.887685,-0.400805,0.226651] 2025-10-29T01:14:13.725Z,1761700453.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:13.739Z,1761700453.739 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.564838 2025-10-29T01:14:13.966Z,1761700453.966 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.792221 2025-10-29T01:14:14.062Z,1761700454.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967721,-0.236234,-0.087808],[0.245078,0.963322,0.109308],[0.058765,-0.127299,0.990122]] 2025-10-29T01:14:14.086Z,1761700454.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503996 s, deltaX: -0.100000 m, approachRate: -0.198414 m/s, rangeRepo size: 4 2025-10-29T01:14:14.088Z,1761700454.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.567255 m, bearing: 351.247015 deg, lat: 36.779301 deg, lon: -121.859498 deg, deltaT: 6.549078 s, deltaX: -3.977403 m, approachRate: -0.607323 m/s, posRepo size: 4 2025-10-29T01:14:14.089Z,1761700454.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.54 m. 2025-10-29T01:14:14.091Z,1761700454.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 4.791170 m, bearing: 3.360295 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.621713 deg, new cmd heading: 15.821491 deg. 2025-10-29T01:14:14.092Z,1761700454.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.276137 target range: 9.544658 and range: 5.60 m. 2025-10-29T01:14:14.227Z,1761700454.227 [DAT](INFO): DAT read: Rx Time:01:14:13.5680 2025-10-29T01:14:14.228Z,1761700454.228 [DAT](INFO): Rx dataTimestamp_ set to:1761700454.227310 2025-10-29T01:14:14.229Z,1761700454.229 [DAT](INFO): DAT read: Bearing 178.2, -23.7 (Local) 2025-10-29T01:14:14.229Z,1761700454.229 [DAT](INFO): Local bearing/azimuth received: Bearing 178.2, -23.7 (Local) 2025-10-29T01:14:14.233Z,1761700454.233 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.4 2025-10-29T01:14:14.239Z,1761700454.239 [DAT](INFO): DAT read: 01:14:13.5680 LVL= 32752, 32753, 26018, 32755, AGC= 50, IDX= 506, 0.44, 1.356, 0.052, 2.557, 1.734, PHS=-0.276,-1.636, 0.779, RAW= 175.8, 10.8, CAL= 175.8, 12.7, ROT= 334.2, -12.7 2025-10-29T01:14:14.261Z,1761700454.261 [DAT](INFO): got valid direction response: 01:14:13.5680 LVL= 32752, 32753, 26018, 32755, AGC= 50, IDX= 506, 0.44, 1.356, 0.052, 2.557, 1.734, PHS=-0.276,-1.636, 0.779, RAW= 175.8, 10.8, CAL= 175.8, 12.7, ROT= 334.2, -12.7 2025-10-29T01:14:14.261Z,1761700454.261 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T01:14:14.262Z,1761700454.262 [DAT](INFO): direction in FSK: [0.878292,-0.424583,0.219846] 2025-10-29T01:14:14.262Z,1761700454.262 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:14.270Z,1761700454.270 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.096310 2025-10-29T01:14:14.473Z,1761700454.473 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=36.299030 2025-10-29T01:14:14.562Z,1761700454.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.513522 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:14.568Z,1761700454.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.567220 m, bearing: 349.667313 deg, lat: 36.779301 deg, lon: -121.859499 deg, deltaT: 7.062600 s, deltaX: -3.977437 m, approachRate: -0.563169 m/s, posRepo size: 4 2025-10-29T01:14:14.569Z,1761700454.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.54 m. 2025-10-29T01:14:14.573Z,1761700454.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 4.530251 m, bearing: 3.361930 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.821491 deg, new cmd heading: 16.040132 deg. 2025-10-29T01:14:14.574Z,1761700454.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.279953 target range: 9.544658 and range: 5.60 m. 2025-10-29T01:14:14.725Z,1761700454.725 [DAT](INFO): DAT read: Rx Time:01:14:14.0679 2025-10-29T01:14:14.726Z,1761700454.726 [DAT](INFO): Rx dataTimestamp_ set to:1761700454.725655 2025-10-29T01:14:14.727Z,1761700454.727 [DAT](INFO): DAT read: Bearing 178.0, -25.0 (Local) 2025-10-29T01:14:14.727Z,1761700454.727 [DAT](INFO): Local bearing/azimuth received: Bearing 178.0, -25.0 (Local) 2025-10-29T01:14:14.730Z,1761700454.730 [DAT](INFO): DAT read: Range 11 to 50 : 5.4 m (trip time 3.6 ms) speed 0.4 2025-10-29T01:14:14.734Z,1761700454.734 [DAT](INFO): DAT read: 01:14:14.0679 LVL= 32752, 32753, 28530, 32755, AGC= 49, IDX= 505,-0.27,-0.274,-1.586, 1.034, 0.147, PHS=-0.318,-1.687, 0.843, RAW= 177.3, 10.6, CAL= 177.2, 12.4, ROT= 332.8, -12.4 2025-10-29T01:14:14.735Z,1761700454.735 [DAT](INFO): got valid direction response: 01:14:14.0679 LVL= 32752, 32753, 28530, 32755, AGC= 49, IDX= 505,-0.27,-0.274,-1.586, 1.034, 0.147, PHS=-0.318,-1.687, 0.843, RAW= 177.3, 10.6, CAL= 177.2, 12.4, ROT= 332.8, -12.4 2025-10-29T01:14:14.736Z,1761700454.736 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T01:14:14.737Z,1761700454.737 [DAT](INFO): direction in FSK: [0.868668,-0.446435,0.214735] 2025-10-29T01:14:14.737Z,1761700454.737 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:14.742Z,1761700454.742 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.567596 2025-10-29T01:14:14.883Z,1761700454.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966605,-0.239897,-0.090133],[0.249043,0.962267,0.109637],[0.060431,-0.128422,0.989877]] 2025-10-29T01:14:14.940Z,1761700454.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.400000 m, deltaT: 0.498345 s, deltaX: -0.200000 m, approachRate: -0.401328 m/s, rangeRepo size: 4 2025-10-29T01:14:14.942Z,1761700454.942 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.368391 m, bearing: 348.438998 deg, lat: 36.779303 deg, lon: -121.859500 deg, deltaT: 7.560945 s, deltaX: -4.176267 m, approachRate: -0.552347 m/s, posRepo size: 4 2025-10-29T01:14:14.943Z,1761700454.943 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.37 m. 9.54 m. 2025-10-29T01:14:14.950Z,1761700454.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 4.276906 m, bearing: 3.349567 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 16.040132 deg, new cmd heading: 16.211606 deg. 2025-10-29T01:14:14.951Z,1761700454.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.282946 target range: 9.544658 and range: 5.40 m. 2025-10-29T01:14:14.977Z,1761700454.977 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.803066 2025-10-29T01:14:15.229Z,1761700455.229 [DAT](INFO): DAT read: Rx Time:01:14:14.5676 2025-10-29T01:14:15.230Z,1761700455.230 [DAT](INFO): Rx dataTimestamp_ set to:1761700455.229226 2025-10-29T01:14:15.231Z,1761700455.231 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.4 2025-10-29T01:14:15.231Z,1761700455.231 [DAT](ERROR): #Rx 74: Read range message, but no direction. 2025-10-29T01:14:15.232Z,1761700455.232 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.058315 2025-10-29T01:14:15.311Z,1761700455.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966194,-0.241399,-0.090530],[0.250587,0.961870,0.109597],[0.060621,-0.128578,0.989845]] 2025-10-29T01:14:15.383Z,1761700455.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:15.390Z,1761700455.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.503571 s, deltaX: -0.400000 m, approachRate: -0.794327 m/s, rangeRepo size: 4 2025-10-29T01:14:15.391Z,1761700455.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:15.395Z,1761700455.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 3.989347 m, bearing: 3.234422 deg, approach rate: -0.633412 m/s, LOS rate: -0.271916 deg/s, cmd heading: 16.211606 deg, new cmd heading: 15.964717 deg. 2025-10-29T01:14:15.395Z,1761700455.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278637 target range: 9.544658 and range: 5.00 m. 2025-10-29T01:14:15.482Z,1761700455.482 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=37.308479 2025-10-29T01:14:15.703Z,1761700455.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965524,-0.243702,-0.091508],[0.252931,0.961395,0.108378],[0.061564,-0.127787,0.989889]] 2025-10-29T01:14:15.722Z,1761700455.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:15.724Z,1761700455.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 3.778211 m, bearing: 3.131115 deg, approach rate: -0.636228 m/s, LOS rate: -0.328694 deg/s, cmd heading: 15.964717 deg, new cmd heading: 15.746559 deg. 2025-10-29T01:14:15.725Z,1761700455.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.274829 target range: 9.544658 and range: 5.00 m. 2025-10-29T01:14:15.735Z,1761700455.735 [DAT](INFO): DAT read: Rx Time:01:14:15.0675 2025-10-29T01:14:15.735Z,1761700455.735 [DAT](INFO): Rx dataTimestamp_ set to:1761700455.734785 2025-10-29T01:14:15.736Z,1761700455.736 [DAT](INFO): DAT read: Bearing 183.7, -27.8 (Local) 2025-10-29T01:14:15.737Z,1761700455.737 [DAT](INFO): Local bearing/azimuth received: Bearing 183.7, -27.8 (Local) 2025-10-29T01:14:15.739Z,1761700455.739 [DAT](INFO): DAT read: Range 11 to 50 : 4.8 m (trip time 3.2 ms) speed 0.4 2025-10-29T01:14:15.761Z,1761700455.761 [DAT](INFO): DAT read: 01:14:15.0675 LVL= 27808, 19617, 20434, 32131, AGC= 44, IDX= 501, 0.28, 0.944,-0.245, 2.358, 1.548, PHS=-0.502,-1.748, 0.766, RAW= 180.3, 13.5, CAL= 180.2, 17.3, ROT= 329.8, -17.3 2025-10-29T01:14:15.763Z,1761700455.763 [DAT](INFO): got valid direction response: 01:14:15.0675 LVL= 27808, 19617, 20434, 32131, AGC= 44, IDX= 501, 0.28, 0.944,-0.245, 2.358, 1.548, PHS=-0.502,-1.748, 0.766, RAW= 180.3, 13.5, CAL= 180.2, 17.3, ROT= 329.8, -17.3 2025-10-29T01:14:15.763Z,1761700455.763 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T01:14:15.765Z,1761700455.765 [DAT](INFO): direction in FSK: [0.825176,-0.480264,0.297375] 2025-10-29T01:14:15.766Z,1761700455.766 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:15.790Z,1761700455.790 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.615635 2025-10-29T01:14:15.985Z,1761700455.985 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.811005 2025-10-29T01:14:16.103Z,1761700456.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964891,-0.245783,-0.092610],[0.255107,0.960889,0.107762],[0.062501,-0.127604,0.989854]] 2025-10-29T01:14:16.202Z,1761700456.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.800000 m, deltaT: 0.505559 s, deltaX: -0.200000 m, approachRate: -0.395601 m/s, rangeRepo size: 4 2025-10-29T01:14:16.216Z,1761700456.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.771858 m, bearing: 346.131113 deg, lat: 36.779305 deg, lon: -121.859500 deg, deltaT: 8.570075 s, deltaX: -4.772800 m, approachRate: -0.556915 m/s, posRepo size: 4 2025-10-29T01:14:16.217Z,1761700456.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.77 m. 9.54 m. 2025-10-29T01:14:16.220Z,1761700456.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 3.525056 m, bearing: 2.981703 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.746559 deg, new cmd heading: 15.963287 deg. 2025-10-29T01:14:16.225Z,1761700456.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.278612 target range: 9.544658 and range: 4.80 m. 2025-10-29T01:14:16.237Z,1761700456.237 [DAT](INFO): DAT read: Rx Time:01:14:15.5673 2025-10-29T01:14:16.238Z,1761700456.238 [DAT](INFO): Rx dataTimestamp_ set to:1761700456.237687 2025-10-29T01:14:16.239Z,1761700456.239 [DAT](INFO): DAT read: Bearing 192.6, -28.4 (Local) 2025-10-29T01:14:16.240Z,1761700456.240 [DAT](INFO): Local bearing/azimuth received: Bearing 192.6, -28.4 (Local) 2025-10-29T01:14:16.242Z,1761700456.242 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed 0.4 2025-10-29T01:14:16.246Z,1761700456.246 [DAT](INFO): DAT read: 01:14:15.5673 LVL= 29072, 20641, 21090, 31315, AGC= 44, IDX= 499,-0.18,-3.036, 2.149,-1.628,-2.254, PHS=-0.679,-1.835, 0.582, RAW= 181.4, 18.1, CAL= 181.3, 25.0, ROT= 328.7, -25.0 2025-10-29T01:14:16.247Z,1761700456.247 [DAT](INFO): got valid direction response: 01:14:15.5673 LVL= 29072, 20641, 21090, 31315, AGC= 44, IDX= 499,-0.18,-3.036, 2.149,-1.628,-2.254, PHS=-0.679,-1.835, 0.582, RAW= 181.4, 18.1, CAL= 181.3, 25.0, ROT= 328.7, -25.0 2025-10-29T01:14:16.248Z,1761700456.248 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T01:14:16.249Z,1761700456.249 [DAT](INFO): direction in FSK: [0.774403,-0.470844,0.422618] 2025-10-29T01:14:16.249Z,1761700456.249 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:16.253Z,1761700456.253 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.078835 2025-10-29T01:14:16.489Z,1761700456.489 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=38.315014 2025-10-29T01:14:16.600Z,1761700456.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.502902 s, deltaX: -0.300000 m, approachRate: -0.596538 m/s, rangeRepo size: 4 2025-10-29T01:14:16.602Z,1761700456.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.473560 m, bearing: 345.742652 deg, lat: 36.779305 deg, lon: -121.859500 deg, deltaT: 9.072977 s, deltaX: -5.071098 m, approachRate: -0.558923 m/s, posRepo size: 4 2025-10-29T01:14:16.603Z,1761700456.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.47 m. 9.54 m. 2025-10-29T01:14:16.605Z,1761700456.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 3.228212 m, bearing: 2.728504 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 15.963286 deg, new cmd heading: 16.149102 deg. 2025-10-29T01:14:16.606Z,1761700456.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.281855 target range: 9.544658 and range: 4.50 m. 2025-10-29T01:14:16.743Z,1761700456.743 [DAT](INFO): DAT read: Rx Time:01:14:16.0670 2025-10-29T01:14:16.743Z,1761700456.743 [DAT](INFO): Rx dataTimestamp_ set to:1761700456.742969 2025-10-29T01:14:16.745Z,1761700456.745 [DAT](INFO): DAT read: Bearing 203.1, -28.4 (Local) 2025-10-29T01:14:16.746Z,1761700456.746 [DAT](INFO): Local bearing/azimuth received: Bearing 203.1, -28.4 (Local) 2025-10-29T01:14:16.749Z,1761700456.749 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.4 2025-10-29T01:14:16.755Z,1761700456.755 [DAT](INFO): DAT read: 01:14:16.0670 LVL= 27632, 21585, 17730, 30323, AGC= 43, IDX= 498, 0.22,-0.710,-1.600, 0.599, 0.205, PHS=-0.813,-1.760, 0.350, RAW= 183.4, 23.2, CAL= 182.8, 34.0, ROT= 327.2, -34.0 2025-10-29T01:14:16.757Z,1761700456.757 [DAT](INFO): got valid direction response: 01:14:16.0670 LVL= 27632, 21585, 17730, 30323, AGC= 43, IDX= 498, 0.22,-0.710,-1.600, 0.599, 0.205, PHS=-0.813,-1.760, 0.350, RAW= 183.4, 23.2, CAL= 182.8, 34.0, ROT= 327.2, -34.0 2025-10-29T01:14:16.758Z,1761700456.758 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T01:14:16.759Z,1761700456.759 [DAT](INFO): direction in FSK: [0.696861,-0.449096,0.559193] 2025-10-29T01:14:16.759Z,1761700456.759 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:16.765Z,1761700456.765 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.591125 2025-10-29T01:14:16.911Z,1761700456.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.963211,-0.251060,-0.095884],[0.260719,0.959492,0.106773],[0.065194,-0.127844,0.989649]] 2025-10-29T01:14:16.958Z,1761700456.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.505282 s, deltaX: -0.400000 m, approachRate: -0.791637 m/s, rangeRepo size: 4 2025-10-29T01:14:16.960Z,1761700456.960 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.075910 m, bearing: 345.453743 deg, lat: 36.779305 deg, lon: -121.859500 deg, deltaT: 9.578259 s, deltaX: -5.468748 m, approachRate: -0.570954 m/s, posRepo size: 4 2025-10-29T01:14:16.961Z,1761700456.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.54 m. 2025-10-29T01:14:16.963Z,1761700456.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 2.999987 m, bearing: 2.474213 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 16.149101 deg, new cmd heading: 16.313380 deg. 2025-10-29T01:14:16.964Z,1761700456.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.284722 target range: 9.544658 and range: 4.10 m. 2025-10-29T01:14:16.994Z,1761700456.994 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.819721 2025-10-29T01:14:17.246Z,1761700457.246 [DAT](INFO): DAT read: Rx Time:01:14:16.5668 2025-10-29T01:14:17.246Z,1761700457.246 [DAT](INFO): Rx dataTimestamp_ set to:1761700457.245725 2025-10-29T01:14:17.247Z,1761700457.247 [DAT](INFO): DAT read: Bearing 215.7, -29.1 (Local) 2025-10-29T01:14:17.248Z,1761700457.248 [DAT](INFO): Local bearing/azimuth received: Bearing 215.7, -29.1 (Local) 2025-10-29T01:14:17.250Z,1761700457.250 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-29T01:14:17.255Z,1761700457.255 [DAT](INFO): DAT read: 01:14:16.5668 LVL= 32752, 30033, 23682, 32755, AGC= 45, IDX= 496,-0.11, 1.211, 0.667, 2.403, 2.316, PHS=-1.003,-1.604, 0.043, RAW= 188.9, 32.1, CAL= 187.2, 44.3, ROT= 322.8, -44.3 2025-10-29T01:14:17.256Z,1761700457.256 [DAT](INFO): got valid direction response: 01:14:16.5668 LVL= 32752, 30033, 23682, 32755, AGC= 45, IDX= 496,-0.11, 1.211, 0.667, 2.403, 2.316, PHS=-1.003,-1.604, 0.043, RAW= 188.9, 32.1, CAL= 187.2, 44.3, ROT= 322.8, -44.3 2025-10-29T01:14:17.256Z,1761700457.256 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T01:14:17.257Z,1761700457.257 [DAT](INFO): direction in FSK: [0.570071,-0.432707,0.698415] 2025-10-29T01:14:17.258Z,1761700457.258 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:17.261Z,1761700457.261 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.087231 2025-10-29T01:14:17.315Z,1761700457.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962345,-0.253576,-0.097940],[0.263514,0.958692,0.107101],[0.066736,-0.128877,0.989412]] 2025-10-29T01:14:17.446Z,1761700457.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.502756 s, deltaX: -0.300000 m, approachRate: -0.596711 m/s, rangeRepo size: 4 2025-10-29T01:14:17.452Z,1761700457.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.777622 m, bearing: 342.164255 deg, lat: 36.779303 deg, lon: -121.859499 deg, deltaT: 10.081015 s, deltaX: -5.767035 m, approachRate: -0.572069 m/s, posRepo size: 4 2025-10-29T01:14:17.453Z,1761700457.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.54 m. 2025-10-29T01:14:17.455Z,1761700457.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 2.703978 m, bearing: 1.969318 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 16.313379 deg, new cmd heading: 16.537250 deg. 2025-10-29T01:14:17.461Z,1761700457.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.288629 target range: 9.544658 and range: 3.80 m. 2025-10-29T01:14:17.497Z,1761700457.497 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=39.323090 2025-10-29T01:14:17.750Z,1761700457.750 [DAT](INFO): DAT read: Rx Time:01:14:17.0668 2025-10-29T01:14:17.751Z,1761700457.751 [DAT](INFO): Rx dataTimestamp_ set to:1761700457.750369 2025-10-29T01:14:17.753Z,1761700457.753 [DAT](INFO): DAT read: Bearing 239.9, -33.1 (Local) 2025-10-29T01:14:17.753Z,1761700457.753 [DAT](INFO): Local bearing/azimuth received: Bearing 239.9, -33.1 (Local) 2025-10-29T01:14:17.756Z,1761700457.756 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.4 2025-10-29T01:14:17.762Z,1761700457.762 [DAT](INFO): DAT read: 01:14:17.0668 LVL= 32752, 32753, 27234, 32755, AGC= 45, IDX= 512,-0.47, 1.850, 1.963, 2.897,-2.988, PHS=-1.342,-1.286,-0.442, RAW= 213.2, 51.2, CAL= 211.4, 59.2, ROT= 298.6, -59.2 2025-10-29T01:14:17.764Z,1761700457.764 [DAT](INFO): got valid direction response: 01:14:17.0668 LVL= 32752, 32753, 27234, 32755, AGC= 45, IDX= 512,-0.47, 1.850, 1.963, 2.897,-2.988, PHS=-1.342,-1.286,-0.442, RAW= 213.2, 51.2, CAL= 211.4, 59.2, ROT= 298.6, -59.2 2025-10-29T01:14:17.764Z,1761700457.764 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T01:14:17.766Z,1761700457.766 [DAT](INFO): direction in FSK: [0.245111,-0.449565,0.858960] 2025-10-29T01:14:17.766Z,1761700457.766 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:17.771Z,1761700457.771 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.597271 2025-10-29T01:14:17.824Z,1761700457.824 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959917,-0.260703,-0.102928],[0.271298,0.956468,0.107545],[0.070410,-0.131159,0.988858]] 2025-10-29T01:14:17.880Z,1761700457.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.504644 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:17.882Z,1761700457.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.777622 m, bearing: 314.246146 deg, lat: 36.779299 deg, lon: -121.859499 deg, deltaT: 10.585659 s, deltaX: -5.767035 m, approachRate: -0.544797 m/s, posRepo size: 4 2025-10-29T01:14:17.883Z,1761700457.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.78 m. 9.54 m. 2025-10-29T01:14:17.890Z,1761700457.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 2.441817 m, bearing: 1.368235 deg, approach rate: 0.000000 m/s, LOS rate: 0.229329 deg/s, cmd heading: 16.537251 deg, new cmd heading: 16.734587 deg. 2025-10-29T01:14:17.891Z,1761700457.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.292074 target range: 9.544658 and range: 3.80 m. 2025-10-29T01:14:18.004Z,1761700458.004 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.829693 2025-10-29T01:14:18.253Z,1761700458.253 [DAT](INFO): DAT read: Rx Time:01:14:17.5672 2025-10-29T01:14:18.254Z,1761700458.254 [DAT](INFO): Rx dataTimestamp_ set to:1761700458.253408 2025-10-29T01:14:18.255Z,1761700458.255 [DAT](INFO): DAT read: Range 11 to 50 : 4.4 m (trip time 2.9 ms) speed 0.4 2025-10-29T01:14:18.255Z,1761700458.255 [DAT](ERROR): #Rx 80: Read range message, but no direction. 2025-10-29T01:14:18.256Z,1761700458.256 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.082493 2025-10-29T01:14:18.257Z,1761700458.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958736,-0.264299,-0.104742],[0.275001,0.955596,0.105879],[0.072108,-0.130314,0.988847]] 2025-10-29T01:14:18.343Z,1761700458.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:18.350Z,1761700458.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.400000 m, deltaT: 0.503039 s, deltaX: 0.600000 m, approachRate: 1.192751 m/s, rangeRepo size: 4 2025-10-29T01:14:18.351Z,1761700458.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:18.357Z,1761700458.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 2.138408 m, bearing: 0.415012 deg, approach rate: -0.640527 m/s, LOS rate: -2.297765 deg/s, cmd heading: 16.734587 deg, new cmd heading: 14.558791 deg. 2025-10-29T01:14:18.358Z,1761700458.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.254099 target range: 9.544658 and range: 4.40 m. 2025-10-29T01:14:18.508Z,1761700458.508 [DAT](INFO): DAT read: Rx Time:01:14:18.0666 2025-10-29T01:14:18.510Z,1761700458.510 [DAT](INFO): Rx dataTimestamp_ set to:1761700458.508872 2025-10-29T01:14:18.512Z,1761700458.512 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=40.337521 2025-10-29T01:14:18.688Z,1761700458.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957437,-0.268112,-0.106910],[0.278998,0.954569,0.104686],[0.073986,-0.130058,0.988742]] 2025-10-29T01:14:18.727Z,1761700458.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 4.40 m. 2025-10-29T01:14:18.727Z,1761700458.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:18.730Z,1761700458.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 1.905305 m, bearing: 359.444555 deg, approach rate: -0.617866 m/s, LOS rate: -2.886885 deg/s, cmd heading: 14.558791 deg, new cmd heading: 12.381569 deg. 2025-10-29T01:14:18.731Z,1761700458.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.216099 target range: 9.544658 and range: 4.40 m. 2025-10-29T01:14:18.758Z,1761700458.758 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.4 2025-10-29T01:14:18.759Z,1761700458.759 [DAT](ERROR): #Rx 81: Read range message, but no direction. 2025-10-29T01:14:18.761Z,1761700458.761 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.586662 2025-10-29T01:14:19.012Z,1761700459.012 [DAT](INFO): DAT read: Rx Time:01:14:18.5663 2025-10-29T01:14:19.014Z,1761700459.014 [DAT](INFO): Rx dataTimestamp_ set to:1761700459.012628 2025-10-29T01:14:19.015Z,1761700459.015 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.841293 2025-10-29T01:14:19.092Z,1761700459.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955937,-0.272471,-0.109289],[0.283661,0.953188,0.104729],[0.075637,-0.131115,0.988477]] 2025-10-29T01:14:19.111Z,1761700459.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.503222 s, deltaX: -1.100000 m, approachRate: -2.185914 m/s, rangeRepo size: 4 2025-10-29T01:14:19.112Z,1761700459.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.30 m. 2025-10-29T01:14:19.113Z,1761700459.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.54 m. 9.54 m. 2025-10-29T01:14:19.115Z,1761700459.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.544658 m, nav range: 1.653881 m, bearing: 358.042403 deg, approach rate: -0.654150 m/s, LOS rate: -4.202257 deg/s, cmd heading: 12.381570 deg, new cmd heading: 9.154694 deg. 2025-10-29T01:14:19.116Z,1761700459.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 0.159780 target range: 9.544658 and range: 3.30 m. 2025-10-29T01:14:19.266Z,1761700459.266 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.3 2025-10-29T01:14:19.266Z,1761700459.266 [DAT](ERROR): #Rx 82: Read range message, but no direction. 2025-10-29T01:14:19.268Z,1761700459.268 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=41.093739 2025-10-29T01:14:19.495Z,1761700459.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.954547,-0.276254,-0.111911],[0.287816,0.951894,0.105167],[0.077475,-0.132596,0.988138]] 2025-10-29T01:14:19.517Z,1761700459.517 [DAT](INFO): DAT read: Rx Time:01:14:19.0663 2025-10-29T01:14:19.519Z,1761700459.519 [DAT](INFO): Rx dataTimestamp_ set to:1761700459.517566 2025-10-29T01:14:19.522Z,1761700459.522 [DAT](INFO): DAT read: Bearing 214.9, -27.7 (Local) 2025-10-29T01:14:19.523Z,1761700459.523 [DAT](INFO): Local bearing/azimuth received: Bearing 214.9, -27.7 (Local) 2025-10-29T01:14:19.527Z,1761700459.527 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.2 2025-10-29T01:14:19.534Z,1761700459.534 [DAT](ERROR): #Rx 83: Read range message, but no direction. 2025-10-29T01:14:19.538Z,1761700459.538 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.362949 2025-10-29T01:14:19.710Z,1761700459.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.760936 s, deltaX: -0.400000 m, approachRate: -0.525668 m/s, rangeRepo size: 4 2025-10-29T01:14:19.711Z,1761700459.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-29T01:14:19.711Z,1761700459.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-29T01:14:19.771Z,1761700459.771 [DAT](INFO): DAT read: 01:14:19.0663 LVL= 22000, 12625, 31714, 21875, AGC= 43, IDX= 505, 0.30,-0.705,-1.531, 0.743, 0.604, PHS=-1.207,-2.090, 0.095, RAW= 186.3, 30.7, CAL= 185.0, 43.2, ROT= 325.0, -43.2 2025-10-29T01:14:19.773Z,1761700459.773 [DAT](INFO): got valid direction response: 01:14:19.0663 LVL= 22000, 12625, 31714, 21875, AGC= 43, IDX= 505, 0.30,-0.705,-1.531, 0.743, 0.604, PHS=-1.207,-2.090, 0.095, RAW= 186.3, 30.7, CAL= 185.0, 43.2, ROT= 325.0, -43.2 2025-10-29T01:14:19.773Z,1761700459.773 [DAT](INFO): #Rx 84: Read direction message, but no range. 2025-10-29T01:14:19.775Z,1761700459.775 [DAT](INFO): direction in FSK: [0.597136,-0.418119,0.684547] 2025-10-29T01:14:19.779Z,1761700459.779 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.605038 2025-10-29T01:14:20.020Z,1761700460.020 [DAT](INFO): DAT read: Rx Time:01:14:19.5661 2025-10-29T01:14:20.021Z,1761700460.021 [DAT](INFO): Rx dataTimestamp_ set to:1761700460.020458 2025-10-29T01:14:20.027Z,1761700460.027 [DAT](INFO): DAT read: Bearing 252.4, -40.9 (Local) 2025-10-29T01:14:20.029Z,1761700460.029 [DAT](INFO): Local bearing/azimuth received: Bearing 252.4, -40.9 (Local) 2025-10-29T01:14:20.042Z,1761700460.042 [DAT](INFO): DAT read: Range 11 to 50 : 2.6 m (trip time 1.7 ms) speed 0.2 2025-10-29T01:14:20.049Z,1761700460.049 [DAT](ERROR): #Rx 85: Read range message, but no direction. 2025-10-29T01:14:20.060Z,1761700460.060 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.877533 2025-10-29T01:14:20.078Z,1761700460.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953134,-0.279819,-0.115052],[0.291905,0.950494,0.106551],[0.079541,-0.135141,0.987629]] 2025-10-29T01:14:20.172Z,1761700460.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.600000 m, deltaT: 0.502892 s, deltaX: -0.300000 m, approachRate: -0.596550 m/s, rangeRepo size: 4 2025-10-29T01:14:20.174Z,1761700460.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.584608 m, bearing: 346.112467 deg, lat: 36.779299 deg, lon: -121.859497 deg, deltaT: 12.855748 s, deltaX: -6.960050 m, approachRate: -0.541396 m/s, posRepo size: 4 2025-10-29T01:14:20.276Z,1761700460.276 [DAT](INFO): DAT read: 01:14:19.5661 LVL= 32752, 22577, 32754, 32755, AGC= 52, IDX= 504, 0.42, 1.261, 1.775, 2.641, 3.110, PHS=-1.747,-1.290,-0.513, RAW= 231.5, 49.3, CAL= 233.7, 56.6, ROT= 276.3, -56.6 2025-10-29T01:14:20.277Z,1761700460.277 [DAT](INFO): got valid direction response: 01:14:19.5661 LVL= 32752, 22577, 32754, 32755, AGC= 52, IDX= 504, 0.42, 1.261, 1.775, 2.641, 3.110, PHS=-1.747,-1.290,-0.513, RAW= 231.5, 49.3, CAL= 233.7, 56.6, ROT= 276.3, -56.6 2025-10-29T01:14:20.277Z,1761700460.277 [DAT](INFO): #Rx 86: Read direction message, but no range. 2025-10-29T01:14:20.278Z,1761700460.278 [DAT](INFO): direction in FSK: [0.060406,-0.547156,0.834848] 2025-10-29T01:14:20.282Z,1761700460.282 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.108063 2025-10-29T01:14:20.443Z,1761700460.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951954,-0.282716,-0.117708],[0.295205,0.949412,0.107103],[0.081474,-0.136705,0.987256]] 2025-10-29T01:14:20.500Z,1761700460.500 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:20.521Z,1761700460.521 [DAT](INFO): DAT read: Rx Time:01:14:20.0662 2025-10-29T01:14:20.522Z,1761700460.522 [DAT](INFO): Rx dataTimestamp_ set to:1761700460.521364 2025-10-29T01:14:20.523Z,1761700460.523 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.0 2025-10-29T01:14:20.523Z,1761700460.523 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-29T01:14:20.524Z,1761700460.524 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.350468 2025-10-29T01:14:20.774Z,1761700460.774 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.599564 2025-10-29T01:14:20.847Z,1761700460.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950600,-0.285947,-0.120807],[0.299027,0.947986,0.109109],[0.083324,-0.139844,0.986661]] 2025-10-29T01:14:20.892Z,1761700460.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.500906 s, deltaX: 0.100000 m, approachRate: 0.199639 m/s, rangeRepo size: 4 2025-10-29T01:14:21.030Z,1761700461.030 [DAT](INFO): DAT read: Rx Time:01:14:20.5663 2025-10-29T01:14:21.031Z,1761700461.031 [DAT](INFO): Rx dataTimestamp_ set to:1761700461.030329 2025-10-29T01:14:21.039Z,1761700461.039 [DAT](INFO): DAT read: Bearing 263.2, -40.7 (Local) 2025-10-29T01:14:21.042Z,1761700461.042 [DAT](INFO): Local bearing/azimuth received: Bearing 263.2, -40.7 (Local) 2025-10-29T01:14:21.065Z,1761700461.065 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.1 2025-10-29T01:14:21.086Z,1761700461.086 [DAT](INFO): DAT read: 01:14:20.5663 LVL= 32752, 27569, 32754, 32755, AGC= 50, IDX= 505,-0.14,-2.149,-1.204,-0.507, 0.312, PHS=-2.359,-1.471,-0.863, RAW= 246.2, 51.9, CAL= 248.5, 57.9, ROT= 261.5, -57.9 2025-10-29T01:14:21.087Z,1761700461.087 [DAT](INFO): got valid direction response: 01:14:20.5663 LVL= 32752, 27569, 32754, 32755, AGC= 50, IDX= 505,-0.14,-2.149,-1.204,-0.507, 0.312, PHS=-2.359,-1.471,-0.863, RAW= 246.2, 51.9, CAL= 248.5, 57.9, ROT= 261.5, -57.9 2025-10-29T01:14:21.087Z,1761700461.087 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-29T01:14:21.100Z,1761700461.100 [DAT](INFO): direction in FSK: [-0.078546,-0.525562,0.847122] 2025-10-29T01:14:21.101Z,1761700461.101 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:21.113Z,1761700461.113 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.938656 2025-10-29T01:14:21.277Z,1761700461.277 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=43.102989 2025-10-29T01:14:21.284Z,1761700461.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949800,-0.286889,-0.124803],[0.301009,0.946716,0.114549],[0.085291,-0.146366,0.985547]] 2025-10-29T01:14:21.349Z,1761700461.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.508965 s, deltaX: 0.200000 m, approachRate: 0.392954 m/s, rangeRepo size: 4 2025-10-29T01:14:21.351Z,1761700461.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.882639 m, bearing: 266.015011 deg, lat: 36.779296 deg, lon: -121.859497 deg, deltaT: 1.009871 s, deltaX: 0.298031 m, approachRate: 0.295118 m/s, posRepo size: 4 2025-10-29T01:14:21.533Z,1761700461.533 [DAT](INFO): DAT read: Rx Time:01:14:21.0663 2025-10-29T01:14:21.535Z,1761700461.535 [DAT](INFO): Rx dataTimestamp_ set to:1761700461.533949 2025-10-29T01:14:21.543Z,1761700461.543 [DAT](INFO): DAT read: Bearing 257.1, -37.4 (Local) 2025-10-29T01:14:21.544Z,1761700461.544 [DAT](INFO): Local bearing/azimuth received: Bearing 257.1, -37.4 (Local) 2025-10-29T01:14:21.561Z,1761700461.561 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed -0.1 2025-10-29T01:14:21.606Z,1761700461.606 [DAT](INFO): DAT read: 01:14:21.0663 LVL= 32752, 22257, 27026, 32755, AGC= 51, IDX= 506, 0.39,-3.002,-2.408,-1.675,-0.910, PHS=-1.990,-1.453,-0.809, RAW= 237.0, 55.7, CAL= 239.3, 61.6, ROT= 270.7, -61.6 2025-10-29T01:14:21.607Z,1761700461.607 [DAT](INFO): got valid direction response: 01:14:21.0663 LVL= 32752, 22257, 27026, 32755, AGC= 51, IDX= 506, 0.39,-3.002,-2.408,-1.675,-0.910, PHS=-1.990,-1.453,-0.809, RAW= 237.0, 55.7, CAL= 239.3, 61.6, ROT= 270.7, -61.6 2025-10-29T01:14:21.607Z,1761700461.607 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-29T01:14:21.619Z,1761700461.619 [DAT](INFO): direction in FSK: [0.005811,-0.475589,0.879649] 2025-10-29T01:14:21.637Z,1761700461.637 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:21.674Z,1761700461.674 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.499790 2025-10-29T01:14:21.687Z,1761700461.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.949622,-0.285411,-0.129456],[0.300852,0.945903,0.121471],[0.087784,-0.154298,0.984117]] 2025-10-29T01:14:21.784Z,1761700461.784 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=43.610085 2025-10-29T01:14:21.794Z,1761700461.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503620 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:21.800Z,1761700461.800 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.882639 m, bearing: 274.587206 deg, lat: 36.779296 deg, lon: -121.859496 deg, deltaT: 0.503620 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:14:21.801Z,1761700461.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.90 m. 2025-10-29T01:14:22.050Z,1761700462.050 [DAT](INFO): DAT read: Rx Time:01:14:21.5662 2025-10-29T01:14:22.054Z,1761700462.054 [DAT](INFO): Rx dataTimestamp_ set to:1761700462.050979 2025-10-29T01:14:22.075Z,1761700462.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950405,-0.279793,-0.135814],[0.297556,0.945069,0.135294],[0.090500,-0.168996,0.981453]] 2025-10-29T01:14:22.085Z,1761700462.085 [DAT](INFO): DAT read: Bearing 262.1, -52.8 (Local) 2025-10-29T01:14:22.085Z,1761700462.085 [DAT](INFO): Local bearing/azimuth received: Bearing 262.1, -52.8 (Local) 2025-10-29T01:14:22.087Z,1761700462.087 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed -0.3 2025-10-29T01:14:22.108Z,1761700462.108 [DAT](INFO): DAT read: 01:14:21.5662 LVL= 32752, 32753, 19858, 32755, AGC= 49, IDX= 505, 0.36,-3.062,-2.025,-1.158,-0.870, PHS=-2.090,-1.110,-0.332, RAW= 243.8, 39.3, CAL= 247.0, 47.5, ROT= 263.0, -47.5 2025-10-29T01:14:22.109Z,1761700462.109 [DAT](INFO): got valid direction response: 01:14:21.5662 LVL= 32752, 32753, 19858, 32755, AGC= 49, IDX= 505, 0.36,-3.062,-2.025,-1.158,-0.870, PHS=-2.090,-1.110,-0.332, RAW= 243.8, 39.3, CAL= 247.0, 47.5, ROT= 263.0, -47.5 2025-10-29T01:14:22.110Z,1761700462.110 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-29T01:14:22.111Z,1761700462.111 [DAT](INFO): direction in FSK: [-0.082334,-0.670554,0.737277] 2025-10-29T01:14:22.111Z,1761700462.111 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:22.123Z,1761700462.123 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.948673 2025-10-29T01:14:22.179Z,1761700462.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.517030 s, deltaX: -0.200000 m, approachRate: -0.386825 m/s, rangeRepo size: 4 2025-10-29T01:14:22.185Z,1761700462.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.683836 m, bearing: 270.947223 deg, lat: 36.779300 deg, lon: -121.859497 deg, deltaT: 0.517030 s, deltaX: -0.198803 m, approachRate: -0.384509 m/s, posRepo size: 4 2025-10-29T01:14:22.289Z,1761700462.289 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=44.114422 2025-10-29T01:14:22.492Z,1761700462.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.951775,-0.272255,-0.141425],[0.292323,0.944689,0.148694],[0.093120,-0.182866,0.978718]] 2025-10-29T01:14:22.545Z,1761700462.545 [DAT](INFO): DAT read: Rx Time:01:14:22.0664 2025-10-29T01:14:22.547Z,1761700462.547 [DAT](INFO): Rx dataTimestamp_ set to:1761700462.545870 2025-10-29T01:14:22.552Z,1761700462.552 [DAT](INFO): DAT read: Bearing 279.8, -55.7 (Local) 2025-10-29T01:14:22.553Z,1761700462.553 [DAT](INFO): Local bearing/azimuth received: Bearing 279.8, -55.7 (Local) 2025-10-29T01:14:22.574Z,1761700462.574 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.4 2025-10-29T01:14:22.587Z,1761700462.587 [DAT](INFO): DAT read: 01:14:22.0664 LVL= 24912, 22209, 12738, 23475, AGC= 45, IDX= 506, 0.38,-2.880,-1.380,-0.905,-0.626, PHS=-2.152,-0.708,-0.322, RAW= 258.5, 34.0, CAL= 260.8, 42.8, ROT= 249.2, -42.8 2025-10-29T01:14:22.600Z,1761700462.600 [DAT](INFO): got valid direction response: 01:14:22.0664 LVL= 24912, 22209, 12738, 23475, AGC= 45, IDX= 506, 0.38,-2.880,-1.380,-0.905,-0.626, PHS=-2.152,-0.708,-0.322, RAW= 258.5, 34.0, CAL= 260.8, 42.8, ROT= 249.2, -42.8 2025-10-29T01:14:22.600Z,1761700462.600 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T01:14:22.601Z,1761700462.601 [DAT](INFO): direction in FSK: [-0.260553,-0.685910,0.679441] 2025-10-29T01:14:22.601Z,1761700462.601 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:22.617Z,1761700462.617 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.443260 2025-10-29T01:14:22.669Z,1761700462.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.494891 s, deltaX: 0.300000 m, approachRate: 0.606194 m/s, rangeRepo size: 4 2025-10-29T01:14:22.671Z,1761700462.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.981999 m, bearing: 255.828970 deg, lat: 36.779300 deg, lon: -121.859497 deg, deltaT: 0.494891 s, deltaX: 0.298163 m, approachRate: 0.602482 m/s, posRepo size: 4 2025-10-29T01:14:22.671Z,1761700462.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.00 m. 2025-10-29T01:14:22.789Z,1761700462.789 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=44.615189 2025-10-29T01:14:23.045Z,1761700463.045 [DAT](INFO): DAT read: Rx Time:01:14:22.5664 2025-10-29T01:14:23.047Z,1761700463.047 [DAT](INFO): Rx dataTimestamp_ set to:1761700463.046124 2025-10-29T01:14:23.052Z,1761700463.052 [DAT](INFO): DAT read: Bearing 308.9, -57.9 (Local) 2025-10-29T01:14:23.053Z,1761700463.053 [DAT](INFO): Local bearing/azimuth received: Bearing 308.9, -57.9 (Local) 2025-10-29T01:14:23.062Z,1761700463.062 [DAT](INFO): DAT read: Range 11 to 50 : 3.0 m (trip time 2.0 ms) speed -0.5 2025-10-29T01:14:23.066Z,1761700463.066 [DAT](INFO): DAT read: 01:14:22.5664 LVL= 28464, 23537, 12482, 22355, AGC= 46, IDX= 507,-0.38,-2.672,-0.635,-0.645,-0.498, PHS=-2.071,-0.091,-0.191, RAW= 272.6, 23.3, CAL= 274.0, 31.1, ROT= 236.0, -31.1 2025-10-29T01:14:23.067Z,1761700463.067 [DAT](INFO): got valid direction response: 01:14:22.5664 LVL= 28464, 23537, 12482, 22355, AGC= 46, IDX= 507,-0.38,-2.672,-0.635,-0.645,-0.498, PHS=-2.071,-0.091,-0.191, RAW= 272.6, 23.3, CAL= 274.0, 31.1, ROT= 236.0, -31.1 2025-10-29T01:14:23.069Z,1761700463.069 [DAT](INFO): #Rx 92: Read range and direction messages. 2025-10-29T01:14:23.125Z,1761700463.125 [DAT](INFO): direction in FSK: [-0.478818,-0.709878,0.516533] 2025-10-29T01:14:23.126Z,1761700463.126 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:23.145Z,1761700463.145 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.971348 2025-10-29T01:14:23.173Z,1761700463.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955219,-0.253862,-0.152023],[0.279002,0.943844,0.176961],[0.098563,-0.211451,0.972406]] 2025-10-29T01:14:23.249Z,1761700463.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.000000 m, deltaT: 0.500254 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:23.289Z,1761700463.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.981999 m, bearing: 243.461272 deg, lat: 36.779300 deg, lon: -121.859499 deg, deltaT: 0.500254 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:14:23.291Z,1761700463.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 3.00 m. 2025-10-29T01:14:23.297Z,1761700463.297 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=45.122540 2025-10-29T01:14:23.546Z,1761700463.546 [DAT](INFO): DAT read: Rx Time:01:14:23.0666 2025-10-29T01:14:23.546Z,1761700463.546 [DAT](INFO): Rx dataTimestamp_ set to:1761700463.545951 2025-10-29T01:14:23.547Z,1761700463.547 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.4 2025-10-29T01:14:23.548Z,1761700463.548 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-29T01:14:23.549Z,1761700463.549 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.375114 2025-10-29T01:14:23.759Z,1761700463.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.959090,-0.234769,-0.158208],[0.263384,0.944864,0.194580],[0.103803,-0.228289,0.968044]] 2025-10-29T01:14:23.797Z,1761700463.797 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=45.623051 2025-10-29T01:14:23.824Z,1761700463.824 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:23.827Z,1761700463.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.499827 s, deltaX: 0.500000 m, approachRate: 1.000346 m/s, rangeRepo size: 4 2025-10-29T01:14:23.827Z,1761700463.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 3.50 m. 2025-10-29T01:14:24.050Z,1761700464.050 [DAT](INFO): DAT read: Rx Time:01:14:23.5666 2025-10-29T01:14:24.051Z,1761700464.051 [DAT](INFO): Rx dataTimestamp_ set to:1761700464.049924 2025-10-29T01:14:24.053Z,1761700464.053 [DAT](INFO): DAT read: Range 11 to 50 : 3.5 m (trip time 2.3 ms) speed -0.5 2025-10-29T01:14:24.054Z,1761700464.054 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-29T01:14:24.056Z,1761700464.056 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.881378 2025-10-29T01:14:24.167Z,1761700464.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960863,-0.226380,-0.159670],[0.255944,0.945988,0.198994],[0.105998,-0.232073,0.966906]] 2025-10-29T01:14:24.186Z,1761700464.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.500000 m, deltaT: 0.503973 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:24.305Z,1761700464.305 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=46.129745 2025-10-29T01:14:24.553Z,1761700464.553 [DAT](INFO): DAT read: Rx Time:01:14:24.0669 2025-10-29T01:14:24.553Z,1761700464.553 [DAT](INFO): Rx dataTimestamp_ set to:1761700464.553204 2025-10-29T01:14:24.555Z,1761700464.555 [DAT](INFO): DAT read: Range 11 to 50 : 3.9 m (trip time 2.6 ms) speed -0.5 2025-10-29T01:14:24.555Z,1761700464.555 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-29T01:14:24.556Z,1761700464.556 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.382324 2025-10-29T01:14:24.603Z,1761700464.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962591,-0.218393,-0.160381],[0.248688,0.947084,0.202942],[0.107574,-0.235235,0.965967]] 2025-10-29T01:14:24.680Z,1761700464.680 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.900000 m, deltaT: 0.503280 s, deltaX: 0.400000 m, approachRate: 0.794786 m/s, rangeRepo size: 4 2025-10-29T01:14:24.806Z,1761700464.806 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=46.631336 2025-10-29T01:14:24.974Z,1761700464.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964171,-0.210900,-0.160922],[0.241663,0.948487,0.204871],[0.109425,-0.236419,0.965470]] 2025-10-29T01:14:25.061Z,1761700465.061 [DAT](INFO): DAT read: Rx Time:01:14:24.5670 2025-10-29T01:14:25.062Z,1761700465.062 [DAT](INFO): Rx dataTimestamp_ set to:1761700465.061416 2025-10-29T01:14:25.063Z,1761700465.063 [DAT](INFO): DAT read: Bearing 358.7, -65.2 (Local) 2025-10-29T01:14:25.063Z,1761700465.063 [DAT](INFO): Local bearing/azimuth received: Bearing 358.7, -65.2 (Local) 2025-10-29T01:14:25.066Z,1761700465.066 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed -0.5 2025-10-29T01:14:25.070Z,1761700465.070 [DAT](INFO): DAT read: 01:14:24.5670 LVL= 23920, 14241, 7922, 14483, AGC= 49, IDX= 3,-0.10,-2.584,-0.516,-0.513,-0.884, PHS=-1.598, 0.414, 0.327, RAW= 272.2, 8.7, CAL= 270.8, 7.8, ROT= 239.2, -7.8 2025-10-29T01:14:25.071Z,1761700465.071 [DAT](INFO): got valid direction response: 01:14:24.5670 LVL= 23920, 14241, 7922, 14483, AGC= 49, IDX= 3,-0.10,-2.584,-0.516,-0.513,-0.884, PHS=-1.598, 0.414, 0.327, RAW= 272.2, 8.7, CAL= 270.8, 7.8, ROT= 239.2, -7.8 2025-10-29T01:14:25.076Z,1761700465.076 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-29T01:14:25.077Z,1761700465.077 [DAT](INFO): direction in FSK: [-0.507305,-0.851013,0.135716] 2025-10-29T01:14:25.077Z,1761700465.077 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:25.086Z,1761700465.086 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.912277 2025-10-29T01:14:25.312Z,1761700465.312 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=47.137291 2025-10-29T01:14:25.384Z,1761700465.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.965632,-0.204049,-0.160995],[0.235056,0.949928,0.205877],[0.110925,-0.236644,0.965244]] 2025-10-29T01:14:25.438Z,1761700465.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.508212 s, deltaX: 0.200000 m, approachRate: 0.393536 m/s, rangeRepo size: 4 2025-10-29T01:14:25.441Z,1761700465.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.075533 m, bearing: 249.405906 deg, lat: 36.779300 deg, lon: -121.859503 deg, deltaT: 2.015292 s, deltaX: 1.093534 m, approachRate: 0.542618 m/s, posRepo size: 4 2025-10-29T01:14:25.565Z,1761700465.565 [DAT](INFO): DAT read: Rx Time:01:14:25.0673 2025-10-29T01:14:25.565Z,1761700465.565 [DAT](INFO): Rx dataTimestamp_ set to:1761700465.564755 2025-10-29T01:14:25.567Z,1761700465.567 [DAT](INFO): DAT read: Bearing 335.6, -33.4 (Local) 2025-10-29T01:14:25.567Z,1761700465.567 [DAT](INFO): Local bearing/azimuth received: Bearing 335.6, -33.4 (Local) 2025-10-29T01:14:25.569Z,1761700465.569 [DAT](INFO): DAT read: Range 11 to 50 : 4.5 m (trip time 3.0 ms) speed -0.5 2025-10-29T01:14:25.574Z,1761700465.574 [DAT](INFO): DAT read: 01:14:25.0673 LVL= 22256, 12593, 12866, 19635, AGC= 45, IDX= 502,-0.24, 0.636, 2.704, 1.562, 2.026, PHS=-1.288, 0.722,-0.509, RAW= 307.4, 12.2, CAL= 305.4, 16.2, ROT= 204.6, -16.2 2025-10-29T01:14:25.575Z,1761700465.575 [DAT](INFO): got valid direction response: 01:14:25.0673 LVL= 22256, 12593, 12866, 19635, AGC= 45, IDX= 502,-0.24, 0.636, 2.704, 1.562, 2.026, PHS=-1.288, 0.722,-0.509, RAW= 307.4, 12.2, CAL= 305.4, 16.2, ROT= 204.6, -16.2 2025-10-29T01:14:25.575Z,1761700465.575 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T01:14:25.585Z,1761700465.585 [DAT](INFO): direction in FSK: [-0.873134,-0.399752,0.278991] 2025-10-29T01:14:25.586Z,1761700465.586 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:25.598Z,1761700465.598 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.424294 2025-10-29T01:14:25.788Z,1761700465.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967047,-0.197582,-0.160564],[0.228542,0.951604,0.205470],[0.112196,-0.235395,0.965402]] 2025-10-29T01:14:25.813Z,1761700465.813 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=47.638950 2025-10-29T01:14:25.836Z,1761700465.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.500000 m, deltaT: 0.503339 s, deltaX: 0.400000 m, approachRate: 0.794693 m/s, rangeRepo size: 4 2025-10-29T01:14:25.838Z,1761700465.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.473146 m, bearing: 212.825381 deg, lat: 36.779300 deg, lon: -121.859505 deg, deltaT: 0.503339 s, deltaX: 0.397613 m, approachRate: 0.789951 m/s, posRepo size: 4 2025-10-29T01:14:26.065Z,1761700466.065 [DAT](INFO): DAT read: Rx Time:01:14:25.5674 2025-10-29T01:14:26.066Z,1761700466.066 [DAT](INFO): Rx dataTimestamp_ set to:1761700466.065244 2025-10-29T01:14:26.067Z,1761700466.067 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed -0.5 2025-10-29T01:14:26.067Z,1761700466.067 [DAT](ERROR): #Rx 98: Read range message, but no direction. 2025-10-29T01:14:26.068Z,1761700466.068 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.894402 2025-10-29T01:14:26.287Z,1761700466.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:14:26.320Z,1761700466.320 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=48.145569 2025-10-29T01:14:26.330Z,1761700466.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 0.500489 s, deltaX: 0.200000 m, approachRate: 0.399609 m/s, rangeRepo size: 4 2025-10-29T01:14:26.337Z,1761700466.337 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): Target missed at range: 4.70 m. Rolling out. 2025-10-29T01:14:26.338Z,1761700466.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: ROLLOUT 2025-10-29T01:14:26.387Z,1761700466.387 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-29T01:14:26.387Z,1761700466.387 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-29T01:14:26.556Z,1761700466.556 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T01:14:26.570Z,1761700466.570 [DAT](INFO): DAT read: Rx Time:01:14:26.0677 2025-10-29T01:14:26.570Z,1761700466.570 [DAT](INFO): Rx dataTimestamp_ set to:1761700466.569813 2025-10-29T01:14:26.571Z,1761700466.571 [DAT](INFO): DAT read: Bearing 314.9, 0.1 (Local) 2025-10-29T01:14:26.572Z,1761700466.572 [DAT](INFO): Local bearing/azimuth received: Bearing 314.9, 0.1 (Local) 2025-10-29T01:14:26.575Z,1761700466.575 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed -0.6 2025-10-29T01:14:26.583Z,1761700466.583 [DAT](INFO): DAT read: 01:14:26.0677 LVL= 28992, 13025, 28226, 22387, AGC= 53, IDX= 503, 0.02,-0.148, 1.376,-0.541, 1.017, PHS=-1.063, 0.404,-1.602, RAW= 345.0, 24.0, CAL= 344.7, 28.8, ROT= 165.3, -28.8 2025-10-29T01:14:26.585Z,1761700466.585 [DAT](INFO): got valid direction response: 01:14:26.0677 LVL= 28992, 13025, 28226, 22387, AGC= 53, IDX= 503, 0.02,-0.148, 1.376,-0.541, 1.017, PHS=-1.063, 0.404,-1.602, RAW= 345.0, 24.0, CAL= 344.7, 28.8, ROT= 165.3, -28.8 2025-10-29T01:14:26.586Z,1761700466.586 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-29T01:14:26.587Z,1761700466.587 [DAT](INFO): direction in FSK: [-0.847623,0.222370,0.481754] 2025-10-29T01:14:26.587Z,1761700466.587 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:26.594Z,1761700466.594 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.419838 2025-10-29T01:14:26.816Z,1761700466.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969821,-0.185652,-0.158053],[0.215969,0.954963,0.203476],[0.113159,-0.231470,0.966238]] 2025-10-29T01:14:26.821Z,1761700466.821 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=48.646828 2025-10-29T01:14:26.935Z,1761700466.935 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Running Loop=1 2025-10-29T01:14:26.935Z,1761700466.935 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:14:26.935Z,1761700466.935 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Running Loop=1 2025-10-29T01:14:26.948Z,1761700466.948 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A](INFO): Entering Midcourse tracking update period 60.000000 s sec at 4.700000 m (mode 5.000000 count ). 2025-10-29T01:14:26.948Z,1761700466.948 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:A] Stopped 2025-10-29T01:14:26.948Z,1761700466.948 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Running Loop=1 2025-10-29T01:14:26.949Z,1761700466.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Running Loop=1 2025-10-29T01:14:26.949Z,1761700466.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:14:26.949Z,1761700466.949 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Running Loop=1 2025-10-29T01:14:26.950Z,1761700466.950 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A](INFO): Resuming normal ranging with 1.000000 count pings 4.700000 m (mode 5.000000 count ). 2025-10-29T01:14:26.950Z,1761700466.950 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:A] Stopped 2025-10-29T01:14:26.950Z,1761700466.950 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Running Loop=1 2025-10-29T01:14:26.965Z,1761700466.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.100000 m, deltaT: 0.504569 s, deltaX: 0.400000 m, approachRate: 0.792756 m/s, rangeRepo size: 4 2025-10-29T01:14:26.967Z,1761700466.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.069671 m, bearing: 172.282097 deg, lat: 36.779298 deg, lon: -121.859505 deg, deltaT: 1.005058 s, deltaX: 0.596525 m, approachRate: 0.593523 m/s, posRepo size: 4 2025-10-29T01:14:26.972Z,1761700466.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.07 m. 2025-10-29T01:14:26.974Z,1761700466.974 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-29T01:14:26.974Z,1761700466.974 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T01:14:26.974Z,1761700466.974 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-29T01:14:26.974Z,1761700466.974 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-29T01:14:27.074Z,1761700467.074 [DAT](INFO): DAT read: Rx Time:01:14:26.5678 2025-10-29T01:14:27.074Z,1761700467.074 [DAT](INFO): Rx dataTimestamp_ set to:1761700467.073927 2025-10-29T01:14:27.075Z,1761700467.075 [DAT](INFO): DAT read: Bearing 351.6, -25.3 (Local) 2025-10-29T01:14:27.076Z,1761700467.076 [DAT](INFO): Local bearing/azimuth received: Bearing 351.6, -25.3 (Local) 2025-10-29T01:14:27.078Z,1761700467.078 [DAT](INFO): DAT read: Range 11 to 50 : 5.3 m (trip time 3.5 ms) speed -0.6 2025-10-29T01:14:27.083Z,1761700467.083 [DAT](INFO): DAT read: 01:14:26.5678 LVL= 18656, 12657, 19410, 20467, AGC= 52, IDX= 506, 0.39, 0.626, 3.054, 1.491, 1.843, PHS=-1.115, 1.256,-0.396, RAW= 312.8, 2.5, CAL= 310.5, -0.5, ROT= 199.5, 0.5 2025-10-29T01:14:27.084Z,1761700467.084 [DAT](INFO): got valid direction response: 01:14:26.5678 LVL= 18656, 12657, 19410, 20467, AGC= 52, IDX= 506, 0.39, 0.626, 3.054, 1.491, 1.843, PHS=-1.115, 1.256,-0.396, RAW= 312.8, 2.5, CAL= 310.5, -0.5, ROT= 199.5, 0.5 2025-10-29T01:14:27.084Z,1761700467.084 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-29T01:14:27.085Z,1761700467.085 [DAT](INFO): direction in FSK: [-0.942606,-0.333794,-0.008727] 2025-10-29T01:14:27.086Z,1761700467.086 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:27.089Z,1761700467.089 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.915260 2025-10-29T01:14:27.328Z,1761700467.328 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=49.153290 2025-10-29T01:14:27.542Z,1761700467.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:B] Stopped 2025-10-29T01:14:27.542Z,1761700467.542 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Running Loop=1 2025-10-29T01:14:27.542Z,1761700467.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:B] Stopped 2025-10-29T01:14:27.542Z,1761700467.542 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Running Loop=1 2025-10-29T01:14:27.549Z,1761700467.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.300000 m, deltaT: 0.504114 s, deltaX: 0.200000 m, approachRate: 0.396736 m/s, rangeRepo size: 4 2025-10-29T01:14:27.551Z,1761700467.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.268603 m, bearing: 211.633635 deg, lat: 36.779293 deg, lon: -121.859506 deg, deltaT: 0.504114 s, deltaX: 0.198932 m, approachRate: 0.394617 m/s, posRepo size: 4 2025-10-29T01:14:27.552Z,1761700467.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:27.577Z,1761700467.577 [DAT](INFO): DAT read: Rx Time:01:14:27.0681 2025-10-29T01:14:27.578Z,1761700467.578 [DAT](INFO): Rx dataTimestamp_ set to:1761700467.577308 2025-10-29T01:14:27.579Z,1761700467.579 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed -0.6 2025-10-29T01:14:27.579Z,1761700467.579 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-29T01:14:27.580Z,1761700467.580 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.406471 2025-10-29T01:14:27.829Z,1761700467.829 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=49.655209 2025-10-29T01:14:27.886Z,1761700467.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972407,-0.177049,-0.151912],[0.204232,0.960790,0.187540],[0.112752,-0.213391,0.970439]] 2025-10-29T01:14:27.911Z,1761700467.911 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:C] Stopped 2025-10-29T01:14:27.911Z,1761700467.911 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Running Loop=1 2025-10-29T01:14:27.912Z,1761700467.912 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:C] Stopped 2025-10-29T01:14:27.912Z,1761700467.912 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Running Loop=1 2025-10-29T01:14:27.915Z,1761700467.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503381 s, deltaX: 0.400000 m, approachRate: 0.794626 m/s, rangeRepo size: 4 2025-10-29T01:14:27.915Z,1761700467.915 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:28.081Z,1761700468.081 [DAT](INFO): DAT read: Rx Time:01:14:27.5682 2025-10-29T01:14:28.082Z,1761700468.082 [DAT](INFO): Rx dataTimestamp_ set to:1761700468.081296 2025-10-29T01:14:28.083Z,1761700468.083 [DAT](INFO): DAT read: Range 11 to 50 : 5.9 m (trip time 3.9 ms) speed -0.5 2025-10-29T01:14:28.083Z,1761700468.083 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-29T01:14:28.085Z,1761700468.085 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.911045 2025-10-29T01:14:28.283Z,1761700468.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972896,-0.177194,-0.148577],[0.201954,0.964052,0.172679],[0.112638,-0.198004,0.973708]] 2025-10-29T01:14:28.315Z,1761700468.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse:D] Stopped 2025-10-29T01:14:28.315Z,1761700468.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:14:28.315Z,1761700468.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse] Stopped 2025-10-29T01:14:28.315Z,1761700468.315 [lineCaptureHoming:UpdatePingUpdateRate_Midcourse](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Midcourse 2025-10-29T01:14:28.316Z,1761700468.316 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR:D] Stopped 2025-10-29T01:14:28.317Z,1761700468.317 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:14:28.317Z,1761700468.317 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR] Stopped 2025-10-29T01:14:28.317Z,1761700468.317 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsATR 2025-10-29T01:14:28.319Z,1761700468.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.900000 m, deltaT: 0.503988 s, deltaX: 0.200000 m, approachRate: 0.396835 m/s, rangeRepo size: 4 2025-10-29T01:14:28.320Z,1761700468.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:28.336Z,1761700468.336 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=50.161415 2025-10-29T01:14:28.586Z,1761700468.586 [DAT](INFO): DAT read: Rx Time:01:14:28.0686 2025-10-29T01:14:28.586Z,1761700468.586 [DAT](INFO): Rx dataTimestamp_ set to:1761700468.585811 2025-10-29T01:14:28.587Z,1761700468.587 [DAT](INFO): DAT read: Range 11 to 50 : 6.3 m (trip time 4.2 ms) speed -0.3 2025-10-29T01:14:28.588Z,1761700468.588 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:14:28.589Z,1761700468.589 [DAT](ERROR): #Rx 103: Read range message, but no direction. 2025-10-29T01:14:28.590Z,1761700468.590 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.416023 2025-10-29T01:14:28.683Z,1761700468.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973599,-0.176833,-0.144342],[0.199174,0.967020,0.158752],[0.111509,-0.183310,0.976710]] 2025-10-29T01:14:28.731Z,1761700468.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.300000 m, deltaT: 0.504515 s, deltaX: 0.400000 m, approachRate: 0.792841 m/s, rangeRepo size: 4 2025-10-29T01:14:28.731Z,1761700468.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:28.837Z,1761700468.837 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=50.663399 2025-10-29T01:14:29.086Z,1761700469.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974224,-0.176685,-0.140253],[0.196892,0.969433,0.146398],[0.110099,-0.170239,0.979233]] 2025-10-29T01:14:29.089Z,1761700469.089 [DAT](INFO): DAT read: Rx Time:01:14:28.5688 2025-10-29T01:14:29.090Z,1761700469.090 [DAT](INFO): Rx dataTimestamp_ set to:1761700469.089277 2025-10-29T01:14:29.091Z,1761700469.091 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.7 2025-10-29T01:14:29.091Z,1761700469.091 [DAT](ERROR): #Rx 104: Read range message, but no direction. 2025-10-29T01:14:29.092Z,1761700469.092 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.918423 2025-10-29T01:14:29.175Z,1761700469.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.503466 s, deltaX: 0.300000 m, approachRate: 0.595869 m/s, rangeRepo size: 4 2025-10-29T01:14:29.175Z,1761700469.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:29.346Z,1761700469.346 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=51.171017 2025-10-29T01:14:29.491Z,1761700469.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974722,-0.176983,-0.136361],[0.195489,0.971090,0.136999],[0.108172,-0.160193,0.981141]] 2025-10-29T01:14:29.554Z,1761700469.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:29.594Z,1761700469.594 [DAT](INFO): DAT read: Rx Time:01:14:29.0688 2025-10-29T01:14:29.594Z,1761700469.594 [DAT](INFO): Rx dataTimestamp_ set to:1761700469.593916 2025-10-29T01:14:29.596Z,1761700469.596 [DAT](INFO): DAT read: Range 11 to 50 : 6.6 m (trip time 4.4 ms) speed -0.5 2025-10-29T01:14:29.597Z,1761700469.597 [DAT](ERROR): #Rx 105: Read range message, but no direction. 2025-10-29T01:14:29.598Z,1761700469.598 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.424366 2025-10-29T01:14:29.599Z,1761700469.599 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:14:29.845Z,1761700469.845 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=51.670967 2025-10-29T01:14:29.906Z,1761700469.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975223,-0.176902,-0.132835],[0.194045,0.972389,0.129636],[0.106234,-0.152200,0.982624]] 2025-10-29T01:14:29.934Z,1761700469.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.600000 m, deltaT: 0.504639 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:29.934Z,1761700469.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 5.27 m. 2025-10-29T01:14:30.097Z,1761700470.097 [DAT](INFO): DAT read: Rx Time:01:14:29.5689 2025-10-29T01:14:30.098Z,1761700470.098 [DAT](INFO): Rx dataTimestamp_ set to:1761700470.097681 2025-10-29T01:14:30.099Z,1761700470.099 [DAT](INFO): DAT read: Bearing 336.6, -37.8 (Local) 2025-10-29T01:14:30.100Z,1761700470.100 [DAT](INFO): Local bearing/azimuth received: Bearing 336.6, -37.8 (Local) 2025-10-29T01:14:30.102Z,1761700470.102 [DAT](INFO): DAT read: Range 11 to 50 : 6.8 m (trip time 4.5 ms) speed -0.5 2025-10-29T01:14:30.115Z,1761700470.115 [DAT](INFO): DAT read: 01:14:29.5689 LVL= 28144, 23009, 32754, 32755, AGC= 61, IDX= 500, 0.09, 2.828,-0.968,-2.154,-1.836, PHS=-1.518, 0.913,-0.363, RAW= 301.6, 9.2, CAL= 299.1, 11.0, ROT= 210.9, -11.0 2025-10-29T01:14:30.125Z,1761700470.125 [DAT](INFO): got valid direction response: 01:14:29.5689 LVL= 28144, 23009, 32754, 32755, AGC= 61, IDX= 500, 0.09, 2.828,-0.968,-2.154,-1.836, PHS=-1.518, 0.913,-0.363, RAW= 301.6, 9.2, CAL= 299.1, 11.0, ROT= 210.9, -11.0 2025-10-29T01:14:30.126Z,1761700470.126 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T01:14:30.128Z,1761700470.128 [DAT](INFO): direction in FSK: [-0.842300,-0.504106,0.190809] 2025-10-29T01:14:30.134Z,1761700470.134 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:30.162Z,1761700470.162 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.987602 2025-10-29T01:14:30.349Z,1761700470.349 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=52.175190 2025-10-29T01:14:30.351Z,1761700470.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.800000 m, deltaT: 0.503765 s, deltaX: 0.200000 m, approachRate: 0.397011 m/s, rangeRepo size: 4 2025-10-29T01:14:30.353Z,1761700470.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.759637 m, bearing: 219.696649 deg, lat: 36.779293 deg, lon: -121.859510 deg, deltaT: 3.023754 s, deltaX: 1.491035 m, approachRate: 0.493107 m/s, posRepo size: 4 2025-10-29T01:14:30.354Z,1761700470.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 6.76 m. 2025-10-29T01:14:30.603Z,1761700470.603 [DAT](INFO): DAT read: Rx Time:01:14:30.0692 2025-10-29T01:14:30.604Z,1761700470.604 [DAT](INFO): Rx dataTimestamp_ set to:1761700470.603488 2025-10-29T01:14:30.605Z,1761700470.605 [DAT](INFO): DAT read: Bearing 333.2, -30.8 (Local) 2025-10-29T01:14:30.606Z,1761700470.606 [DAT](INFO): Local bearing/azimuth received: Bearing 333.2, -30.8 (Local) 2025-10-29T01:14:30.608Z,1761700470.608 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed -0.8 2025-10-29T01:14:30.615Z,1761700470.615 [DAT](INFO): DAT read: 01:14:30.0692 LVL= 32752, 28081, 32754, 32595, AGC= 61, IDX= 503,-0.02,-2.322, 0.026,-1.317,-0.819, PHS=-1.401, 0.890,-0.542, RAW= 308.2, 10.5, CAL= 306.2, 13.1, ROT= 203.8, -13.1 2025-10-29T01:14:30.617Z,1761700470.617 [DAT](INFO): got valid direction response: 01:14:30.0692 LVL= 32752, 28081, 32754, 32595, AGC= 61, IDX= 503,-0.02,-2.322, 0.026,-1.317,-0.819, PHS=-1.401, 0.890,-0.542, RAW= 308.2, 10.5, CAL= 306.2, 13.1, ROT= 203.8, -13.1 2025-10-29T01:14:30.618Z,1761700470.618 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-29T01:14:30.621Z,1761700470.621 [DAT](INFO): direction in FSK: [-0.891149,-0.393043,0.226651] 2025-10-29T01:14:30.622Z,1761700470.622 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:30.630Z,1761700470.630 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.455982 2025-10-29T01:14:30.719Z,1761700470.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976167,-0.176372,-0.126459],[0.191396,0.974329,0.118535],[0.102306,-0.139914,0.984864]] 2025-10-29T01:14:30.811Z,1761700470.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.505807 s, deltaX: 0.400000 m, approachRate: 0.790815 m/s, rangeRepo size: 4 2025-10-29T01:14:30.817Z,1761700470.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.157263 m, bearing: 212.419287 deg, lat: 36.779293 deg, lon: -121.859510 deg, deltaT: 0.505807 s, deltaX: 0.397625 m, approachRate: 0.786121 m/s, posRepo size: 4 2025-10-29T01:14:30.817Z,1761700470.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.16 m. 2025-10-29T01:14:30.853Z,1761700470.853 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=52.679108 2025-10-29T01:14:31.106Z,1761700471.106 [DAT](INFO): DAT read: Rx Time:01:14:30.5693 2025-10-29T01:14:31.106Z,1761700471.106 [DAT](INFO): Rx dataTimestamp_ set to:1761700471.105784 2025-10-29T01:14:31.107Z,1761700471.107 [DAT](INFO): DAT read: Bearing 335.8, -24.1 (Local) 2025-10-29T01:14:31.108Z,1761700471.108 [DAT](INFO): Local bearing/azimuth received: Bearing 335.8, -24.1 (Local) 2025-10-29T01:14:31.110Z,1761700471.110 [DAT](INFO): DAT read: Range 11 to 50 : 7.4 m (trip time 4.9 ms) speed -0.6 2025-10-29T01:14:31.119Z,1761700471.119 [DAT](INFO): DAT read: 01:14:30.5693 LVL= 32752, 21089, 32754, 32755, AGC= 60, IDX= 488,-0.01, 2.075,-2.014, 2.815,-2.909, PHS=-1.196, 0.940,-0.603, RAW= 314.4, 9.0, CAL= 312.6, 10.1, ROT= 197.4, -10.1 2025-10-29T01:14:31.121Z,1761700471.121 [DAT](INFO): got valid direction response: 01:14:30.5693 LVL= 32752, 21089, 32754, 32755, AGC= 60, IDX= 488,-0.01, 2.075,-2.014, 2.815,-2.909, PHS=-1.196, 0.940,-0.603, RAW= 314.4, 9.0, CAL= 312.6, 10.1, ROT= 197.4, -10.1 2025-10-29T01:14:31.121Z,1761700471.121 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-29T01:14:31.123Z,1761700471.123 [DAT](INFO): direction in FSK: [-0.939453,-0.294407,0.175367] 2025-10-29T01:14:31.123Z,1761700471.123 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:31.132Z,1761700471.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976596,-0.175854,-0.123837],[0.190200,0.974927,0.115502],[0.100421,-0.136353,0.985557]] 2025-10-29T01:14:31.165Z,1761700471.165 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.990788 2025-10-29T01:14:31.217Z,1761700471.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.400000 m, deltaT: 0.502296 s, deltaX: 0.200000 m, approachRate: 0.398172 m/s, rangeRepo size: 4 2025-10-29T01:14:31.219Z,1761700471.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.356076 m, bearing: 206.655280 deg, lat: 36.779294 deg, lon: -121.859515 deg, deltaT: 0.502296 s, deltaX: 0.198813 m, approachRate: 0.395808 m/s, posRepo size: 4 2025-10-29T01:14:31.224Z,1761700471.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-29T01:14:31.360Z,1761700471.360 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=53.185452 2025-10-29T01:14:31.537Z,1761700471.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977159,-0.174691,-0.121012],[0.188424,0.975537,0.113239],[0.098270,-0.133454,0.986171]] 2025-10-29T01:14:31.601Z,1761700471.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.36 m. 2025-10-29T01:14:31.611Z,1761700471.611 [DAT](INFO): DAT read: Rx Time:01:14:31.0696 2025-10-29T01:14:31.612Z,1761700471.612 [DAT](INFO): Rx dataTimestamp_ set to:1761700471.610982 2025-10-29T01:14:31.614Z,1761700471.614 [DAT](INFO): DAT read: Bearing 340.2, -18.6 (Local) 2025-10-29T01:14:31.615Z,1761700471.615 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, -18.6 (Local) 2025-10-29T01:14:31.619Z,1761700471.619 [DAT](INFO): DAT read: Range 11 to 50 : 7.8 m (trip time 5.2 ms) speed -0.4 2025-10-29T01:14:31.626Z,1761700471.626 [DAT](INFO): DAT read: 01:14:31.0696 LVL= 32752, 26241, 32754, 32755, AGC= 59, IDX= 507,-0.04, 2.408,-1.737, 2.964,-2.746, PHS=-1.026, 1.054,-0.617, RAW= 319.3, 6.2, CAL= 317.6, 5.3, ROT= 192.4, -5.3 2025-10-29T01:14:31.627Z,1761700471.627 [DAT](INFO): got valid direction response: 01:14:31.0696 LVL= 32752, 26241, 32754, 32755, AGC= 59, IDX= 507,-0.04, 2.408,-1.737, 2.964,-2.746, PHS=-1.026, 1.054,-0.617, RAW= 319.3, 6.2, CAL= 317.6, 5.3, ROT= 192.4, -5.3 2025-10-29T01:14:31.648Z,1761700471.648 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-29T01:14:31.649Z,1761700471.649 [DAT](INFO): direction in FSK: [-0.972497,-0.213817,0.092371] 2025-10-29T01:14:31.649Z,1761700471.649 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:31.657Z,1761700471.657 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.483109 2025-10-29T01:14:31.861Z,1761700471.861 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=53.687061 2025-10-29T01:14:31.931Z,1761700471.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977682,-0.173615,-0.118303],[0.186809,0.976057,0.111420],[0.096126,-0.131033,0.986707]] 2025-10-29T01:14:31.954Z,1761700471.954 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.800000 m, deltaT: 0.505198 s, deltaX: 0.400000 m, approachRate: 0.791769 m/s, rangeRepo size: 4 2025-10-29T01:14:31.973Z,1761700471.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.753591 m, bearing: 202.346206 deg, lat: 36.779294 deg, lon: -121.859515 deg, deltaT: 0.505198 s, deltaX: 0.397515 m, approachRate: 0.786850 m/s, posRepo size: 4 2025-10-29T01:14:31.973Z,1761700471.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.75 m. 2025-10-29T01:14:32.116Z,1761700472.116 [DAT](INFO): DAT read: Rx Time:01:14:31.5697 2025-10-29T01:14:32.117Z,1761700472.117 [DAT](INFO): Rx dataTimestamp_ set to:1761700472.116703 2025-10-29T01:14:32.119Z,1761700472.119 [DAT](INFO): DAT read: Bearing 341.1, -15.2 (Local) 2025-10-29T01:14:32.120Z,1761700472.120 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, -15.2 (Local) 2025-10-29T01:14:32.123Z,1761700472.123 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed -0.4 2025-10-29T01:14:32.137Z,1761700472.137 [DAT](INFO): DAT read: 01:14:31.5697 LVL= 31008, 26721, 32754, 32755, AGC= 59, IDX= 508,-0.08, 0.923, 2.973, 1.358, 1.951, PHS=-0.926, 1.067,-0.636, RAW= 322.3, 5.4, CAL= 320.7, 3.9, ROT= 189.3, -3.9 2025-10-29T01:14:32.138Z,1761700472.138 [DAT](INFO): got valid direction response: 01:14:31.5697 LVL= 31008, 26721, 32754, 32755, AGC= 59, IDX= 508,-0.08, 0.923, 2.973, 1.358, 1.951, PHS=-0.926, 1.067,-0.636, RAW= 322.3, 5.4, CAL= 320.7, 3.9, ROT= 189.3, -3.9 2025-10-29T01:14:32.139Z,1761700472.139 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-29T01:14:32.147Z,1761700472.147 [DAT](INFO): direction in FSK: [-0.984570,-0.161230,0.068015] 2025-10-29T01:14:32.152Z,1761700472.152 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:32.160Z,1761700472.160 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.981674 2025-10-29T01:14:32.318Z,1761700472.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978308,-0.171925,-0.115568],[0.184626,0.976632,0.110012],[0.093954,-0.128963,0.987189]] 2025-10-29T01:14:32.365Z,1761700472.365 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=54.191044 2025-10-29T01:14:32.377Z,1761700472.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.000000 m, deltaT: 0.505721 s, deltaX: 0.200000 m, approachRate: 0.395475 m/s, rangeRepo size: 4 2025-10-29T01:14:32.379Z,1761700472.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.952425 m, bearing: 199.375671 deg, lat: 36.779294 deg, lon: -121.859515 deg, deltaT: 0.505721 s, deltaX: 0.198834 m, approachRate: 0.393170 m/s, posRepo size: 4 2025-10-29T01:14:32.379Z,1761700472.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 7.95 m. 2025-10-29T01:14:32.621Z,1761700472.621 [DAT](INFO): DAT read: Rx Time:01:14:32.0698 2025-10-29T01:14:32.621Z,1761700472.621 [DAT](INFO): Rx dataTimestamp_ set to:1761700472.621003 2025-10-29T01:14:32.624Z,1761700472.624 [DAT](INFO): DAT read: Bearing 342.4, -13.1 (Local) 2025-10-29T01:14:32.624Z,1761700472.624 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, -13.1 (Local) 2025-10-29T01:14:32.627Z,1761700472.627 [DAT](INFO): DAT read: Range 11 to 50 : 8.1 m (trip time 5.4 ms) speed -0.4 2025-10-29T01:14:32.635Z,1761700472.635 [DAT](INFO): DAT read: 01:14:32.0698 LVL= 32752, 19105, 32754, 32755, AGC= 61, IDX= 511,-0.15, 1.715,-2.561, 2.085, 2.672, PHS=-0.855, 1.095,-0.631, RAW= 324.0, 4.3, CAL= 322.4, 2.2, ROT= 187.6, -2.2 2025-10-29T01:14:32.655Z,1761700472.655 [DAT](INFO): got valid direction response: 01:14:32.0698 LVL= 32752, 19105, 32754, 32755, AGC= 61, IDX= 511,-0.15, 1.715,-2.561, 2.085, 2.672, PHS=-0.855, 1.095,-0.631, RAW= 324.0, 4.3, CAL= 322.4, 2.2, ROT= 187.6, -2.2 2025-10-29T01:14:32.655Z,1761700472.655 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-29T01:14:32.665Z,1761700472.665 [DAT](INFO): direction in FSK: [-0.990485,-0.132159,0.038388] 2025-10-29T01:14:32.665Z,1761700472.665 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:32.669Z,1761700472.669 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.494598 2025-10-29T01:14:32.739Z,1761700472.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979216,-0.168841,-0.112374],[0.180894,0.977617,0.107436],[0.091719,-0.125531,0.987841]] 2025-10-29T01:14:32.869Z,1761700472.869 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=54.695087 2025-10-29T01:14:32.875Z,1761700472.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.100000 m, deltaT: 0.504300 s, deltaX: 0.100000 m, approachRate: 0.198295 m/s, rangeRepo size: 4 2025-10-29T01:14:32.878Z,1761700472.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.051831 m, bearing: 197.725135 deg, lat: 36.779293 deg, lon: -121.859511 deg, deltaT: 0.504300 s, deltaX: 0.099406 m, approachRate: 0.197117 m/s, posRepo size: 4 2025-10-29T01:14:32.878Z,1761700472.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m. 2025-10-29T01:14:33.122Z,1761700473.122 [DAT](INFO): DAT read: Rx Time:01:14:32.5699 2025-10-29T01:14:33.123Z,1761700473.123 [DAT](INFO): Rx dataTimestamp_ set to:1761700473.122450 2025-10-29T01:14:33.125Z,1761700473.125 [DAT](INFO): DAT read: Range 11 to 50 : 8.3 m (trip time 5.5 ms) speed -0.5 2025-10-29T01:14:33.126Z,1761700473.126 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-29T01:14:33.127Z,1761700473.127 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.952808 2025-10-29T01:14:33.169Z,1761700473.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980036,-0.165904,-0.109565],[0.177486,0.978388,0.106091],[0.089596,-0.123419,0.988302]] 2025-10-29T01:14:33.208Z,1761700473.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.300000 m, deltaT: 0.501447 s, deltaX: 0.200000 m, approachRate: 0.398845 m/s, rangeRepo size: 4 2025-10-29T01:14:33.209Z,1761700473.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m. 2025-10-29T01:14:33.375Z,1761700473.375 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=55.201149 2025-10-29T01:14:33.626Z,1761700473.626 [DAT](INFO): DAT read: Rx Time:01:14:33.0701 2025-10-29T01:14:33.627Z,1761700473.627 [DAT](INFO): Rx dataTimestamp_ set to:1761700473.626382 2025-10-29T01:14:33.629Z,1761700473.629 [DAT](INFO): DAT read: Range 11 to 50 : 8.6 m (trip time 5.7 ms) speed -0.4 2025-10-29T01:14:33.630Z,1761700473.630 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-29T01:14:33.632Z,1761700473.632 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.458225 2025-10-29T01:14:33.711Z,1761700473.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.600000 m, deltaT: 0.503932 s, deltaX: 0.300000 m, approachRate: 0.595319 m/s, rangeRepo size: 4 2025-10-29T01:14:33.711Z,1761700473.711 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m. 2025-10-29T01:14:33.877Z,1761700473.877 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=55.702965 2025-10-29T01:14:34.079Z,1761700474.079 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981385,-0.161426,-0.104041],[0.171776,0.980083,0.099649],[0.085883,-0.115665,0.989568]] 2025-10-29T01:14:34.125Z,1761700474.125 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.05 m. 2025-10-29T01:14:34.131Z,1761700474.131 [DAT](INFO): DAT read: Rx Time:01:14:33.5702 2025-10-29T01:14:34.131Z,1761700474.131 [DAT](INFO): Rx dataTimestamp_ set to:1761700474.130975 2025-10-29T01:14:34.134Z,1761700474.134 [DAT](INFO): DAT read: Bearing 344.4, -7.8 (Local) 2025-10-29T01:14:34.134Z,1761700474.134 [DAT](INFO): Local bearing/azimuth received: Bearing 344.4, -7.8 (Local) 2025-10-29T01:14:34.138Z,1761700474.138 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed -0.6 2025-10-29T01:14:34.143Z,1761700474.143 [DAT](INFO): DAT read: 01:14:33.5702 LVL= 21984, 14897, 21714, 26675, AGC= 65, IDX= 3,-0.40,-1.563, 0.361,-1.353,-0.760, PHS=-0.701, 1.165,-0.638, RAW= 328.3, 1.9, CAL= 327.0, -0.9, ROT= 183.0, 0.9 2025-10-29T01:14:34.144Z,1761700474.144 [DAT](INFO): got valid direction response: 01:14:33.5702 LVL= 21984, 14897, 21714, 26675, AGC= 65, IDX= 3,-0.40,-1.563, 0.361,-1.353,-0.760, PHS=-0.701, 1.165,-0.638, RAW= 328.3, 1.9, CAL= 327.0, -0.9, ROT= 183.0, 0.9 2025-10-29T01:14:34.164Z,1761700474.164 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-29T01:14:34.165Z,1761700474.165 [DAT](INFO): direction in FSK: [-0.998506,-0.052330,-0.015707] 2025-10-29T01:14:34.165Z,1761700474.165 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:34.177Z,1761700474.177 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.003216 2025-10-29T01:14:34.381Z,1761700474.381 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=56.206997 2025-10-29T01:14:34.571Z,1761700474.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982584,-0.157405,-0.098759],[0.166753,0.981426,0.094849],[0.081994,-0.109665,0.990581]] 2025-10-29T01:14:34.635Z,1761700474.635 [DAT](INFO): DAT read: Rx Time:01:14:34.0704 2025-10-29T01:14:34.636Z,1761700474.636 [DAT](INFO): Rx dataTimestamp_ set to:1761700474.635183 2025-10-29T01:14:34.638Z,1761700474.638 [DAT](INFO): DAT read: Bearing 344.2, -6.3 (Local) 2025-10-29T01:14:34.638Z,1761700474.638 [DAT](INFO): Local bearing/azimuth received: Bearing 344.2, -6.3 (Local) 2025-10-29T01:14:34.640Z,1761700474.640 [DAT](INFO): DAT read: Range 11 to 50 : 9.0 m (trip time 6.0 ms) speed -0.4 2025-10-29T01:14:34.645Z,1761700474.645 [DAT](INFO): DAT read: 01:14:34.0704 LVL= 32752, 23665, 32754, 32755, AGC= 63, IDX= 501, 0.41, 0.933, 2.832, 1.097, 1.708, PHS=-0.674, 1.168,-0.655, RAW= 329.5, 1.8, CAL= 328.3, -1.1, ROT= 181.7, 1.1 2025-10-29T01:14:34.646Z,1761700474.646 [DAT](INFO): got valid direction response: 01:14:34.0704 LVL= 32752, 23665, 32754, 32755, AGC= 63, IDX= 501, 0.41, 0.933, 2.832, 1.097, 1.708, PHS=-0.674, 1.168,-0.655, RAW= 329.5, 1.8, CAL= 328.3, -1.1, ROT= 181.7, 1.1 2025-10-29T01:14:34.646Z,1761700474.646 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-29T01:14:34.647Z,1761700474.647 [DAT](INFO): direction in FSK: [-0.999376,-0.029661,-0.019197] 2025-10-29T01:14:34.647Z,1761700474.647 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:34.659Z,1761700474.659 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.485252 2025-10-29T01:14:34.662Z,1761700474.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.000000 m, deltaT: 1.008801 s, deltaX: 0.400000 m, approachRate: 0.396510 m/s, rangeRepo size: 4 2025-10-29T01:14:34.664Z,1761700474.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.648787 m, bearing: 192.725435 deg, lat: 36.779293 deg, lon: -121.859508 deg, deltaT: 1.509972 s, deltaX: 0.596956 m, approachRate: 0.395343 m/s, posRepo size: 4 2025-10-29T01:14:34.668Z,1761700474.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-29T01:14:34.885Z,1761700474.885 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=56.711212 2025-10-29T01:14:34.963Z,1761700474.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983176,-0.155393,-0.096007],[0.164258,0.982062,0.092589],[0.079898,-0.106801,0.991065]] 2025-10-29T01:14:34.986Z,1761700474.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 8.65 m. 2025-10-29T01:14:35.138Z,1761700475.138 [DAT](INFO): DAT read: Rx Time:01:14:34.5705 2025-10-29T01:14:35.138Z,1761700475.138 [DAT](INFO): Rx dataTimestamp_ set to:1761700475.137990 2025-10-29T01:14:35.140Z,1761700475.140 [DAT](INFO): DAT read: Bearing 344.8, -4.5 (Local) 2025-10-29T01:14:35.141Z,1761700475.141 [DAT](INFO): Local bearing/azimuth received: Bearing 344.8, -4.5 (Local) 2025-10-29T01:14:35.143Z,1761700475.143 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed -0.4 2025-10-29T01:14:35.157Z,1761700475.157 [DAT](INFO): DAT read: 01:14:34.5705 LVL= 32736, 20721, 32754, 32755, AGC= 62, IDX= 502, 0.30,-0.509, 1.363,-0.397, 0.214, PHS=-0.621, 1.194,-0.655, RAW= 330.9, 0.9, CAL= 329.9, -1.9, ROT= 180.1, 1.9 2025-10-29T01:14:35.158Z,1761700475.158 [DAT](INFO): got valid direction response: 01:14:34.5705 LVL= 32736, 20721, 32754, 32755, AGC= 62, IDX= 502, 0.30,-0.509, 1.363,-0.397, 0.214, PHS=-0.621, 1.194,-0.655, RAW= 330.9, 0.9, CAL= 329.9, -1.9, ROT= 180.1, 1.9 2025-10-29T01:14:35.159Z,1761700475.159 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-29T01:14:35.160Z,1761700475.160 [DAT](INFO): direction in FSK: [-0.999449,-0.001745,-0.033155] 2025-10-29T01:14:35.160Z,1761700475.160 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:35.196Z,1761700475.196 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.989666 2025-10-29T01:14:35.389Z,1761700475.389 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=57.215054 2025-10-29T01:14:35.562Z,1761700475.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.502807 s, deltaX: 0.200000 m, approachRate: 0.397767 m/s, rangeRepo size: 4 2025-10-29T01:14:35.569Z,1761700475.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.145884 m, bearing: 189.789612 deg, lat: 36.779293 deg, lon: -121.859500 deg, deltaT: 1.007015 s, deltaX: 0.497096 m, approachRate: 0.493633 m/s, posRepo size: 4 2025-10-29T01:14:35.570Z,1761700475.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.15 m. 2025-10-29T01:14:35.642Z,1761700475.642 [DAT](INFO): DAT read: Rx Time:01:14:35.0706 2025-10-29T01:14:35.642Z,1761700475.642 [DAT](INFO): Rx dataTimestamp_ set to:1761700475.642031 2025-10-29T01:14:35.644Z,1761700475.644 [DAT](INFO): DAT read: Bearing 345.0, -3.1 (Local) 2025-10-29T01:14:35.644Z,1761700475.644 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, -3.1 (Local) 2025-10-29T01:14:35.646Z,1761700475.646 [DAT](INFO): DAT read: Range 11 to 50 : 9.3 m (trip time 6.2 ms) speed -0.4 2025-10-29T01:14:35.651Z,1761700475.651 [DAT](INFO): DAT read: 01:14:35.0706 LVL= 32240, 19425, 31266, 32755, AGC= 64, IDX= 505, 0.15, 0.145, 2.010, 0.214, 0.837, PHS=-0.589, 1.219,-0.666, RAW= 332.1, 0.4, CAL= 331.1, -2.5, ROT= 178.9, 2.5 2025-10-29T01:14:35.652Z,1761700475.652 [DAT](INFO): got valid direction response: 01:14:35.0706 LVL= 32240, 19425, 31266, 32755, AGC= 64, IDX= 505, 0.15, 0.145, 2.010, 0.214, 0.837, PHS=-0.589, 1.219,-0.666, RAW= 332.1, 0.4, CAL= 331.1, -2.5, ROT= 178.9, 2.5 2025-10-29T01:14:35.652Z,1761700475.652 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T01:14:35.653Z,1761700475.653 [DAT](INFO): direction in FSK: [-0.998864,0.019179,-0.043619] 2025-10-29T01:14:35.654Z,1761700475.654 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:35.658Z,1761700475.658 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.483543 2025-10-29T01:14:35.893Z,1761700475.893 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=57.718876 2025-10-29T01:14:35.943Z,1761700475.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984247,-0.151907,-0.090457],[0.159656,0.983450,0.085649],[0.075949,-0.098742,0.992211]] 2025-10-29T01:14:36.001Z,1761700476.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.300000 m, deltaT: 0.504041 s, deltaX: 0.100000 m, approachRate: 0.198397 m/s, rangeRepo size: 4 2025-10-29T01:14:36.006Z,1761700476.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.245296 m, bearing: 188.361461 deg, lat: 36.779293 deg, lon: -121.859499 deg, deltaT: 0.504041 s, deltaX: 0.099412 m, approachRate: 0.197230 m/s, posRepo size: 4 2025-10-29T01:14:36.007Z,1761700476.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.25 m. 2025-10-29T01:14:36.146Z,1761700476.146 [DAT](INFO): DAT read: Rx Time:01:14:35.5707 2025-10-29T01:14:36.147Z,1761700476.147 [DAT](INFO): Rx dataTimestamp_ set to:1761700476.146123 2025-10-29T01:14:36.151Z,1761700476.151 [DAT](INFO): DAT read: Bearing 345.0, -1.5 (Local) 2025-10-29T01:14:36.153Z,1761700476.153 [DAT](INFO): Local bearing/azimuth received: Bearing 345.0, -1.5 (Local) 2025-10-29T01:14:36.155Z,1761700476.155 [DAT](INFO): DAT read: Range 11 to 50 : 9.5 m (trip time 6.3 ms) speed -0.4 2025-10-29T01:14:36.160Z,1761700476.160 [DAT](INFO): DAT read: 01:14:35.5707 LVL= 32752, 22161, 32754, 32755, AGC= 64, IDX= 506, 0.04,-1.812, 0.020,-1.793,-1.154, PHS=-0.556, 1.220,-0.683, RAW= 333.4, 0.2, CAL= 332.6, -2.7, ROT= 177.4, 2.7 2025-10-29T01:14:36.161Z,1761700476.161 [DAT](INFO): got valid direction response: 01:14:35.5707 LVL= 32752, 22161, 32754, 32755, AGC= 64, IDX= 506, 0.04,-1.812, 0.020,-1.793,-1.154, PHS=-0.556, 1.220,-0.683, RAW= 333.4, 0.2, CAL= 332.6, -2.7, ROT= 177.4, 2.7 2025-10-29T01:14:36.161Z,1761700476.161 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-29T01:14:36.162Z,1761700476.162 [DAT](INFO): direction in FSK: [-0.997862,0.045313,-0.047106] 2025-10-29T01:14:36.162Z,1761700476.162 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:36.166Z,1761700476.166 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.991890 2025-10-29T01:14:36.347Z,1761700476.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984769,-0.150227,-0.087527],[0.157509,0.984003,0.083244],[0.073622,-0.095763,0.992678]] 2025-10-29T01:14:36.380Z,1761700476.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.500000 m, deltaT: 0.504092 s, deltaX: 0.200000 m, approachRate: 0.396753 m/s, rangeRepo size: 4 2025-10-29T01:14:36.382Z,1761700476.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.444109 m, bearing: 186.743218 deg, lat: 36.779294 deg, lon: -121.859497 deg, deltaT: 0.504092 s, deltaX: 0.198813 m, approachRate: 0.394399 m/s, posRepo size: 4 2025-10-29T01:14:36.383Z,1761700476.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.44 m. 2025-10-29T01:14:36.397Z,1761700476.397 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=58.223156 2025-10-29T01:14:36.649Z,1761700476.649 [DAT](INFO): DAT read: Rx Time:01:14:36.0711 2025-10-29T01:14:36.650Z,1761700476.650 [DAT](INFO): Rx dataTimestamp_ set to:1761700476.649637 2025-10-29T01:14:36.651Z,1761700476.651 [DAT](INFO): DAT read: Bearing 345.6, 0.0 (Local) 2025-10-29T01:14:36.651Z,1761700476.651 [DAT](INFO): Local bearing/azimuth received: Bearing 345.6, 0.0 (Local) 2025-10-29T01:14:36.654Z,1761700476.654 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed -0.6 2025-10-29T01:14:36.659Z,1761700476.659 [DAT](INFO): DAT read: 01:14:36.0711 LVL= 32752, 25137, 32754, 32755, AGC= 65, IDX= 509,-0.06,-3.034,-1.220,-3.058,-2.422, PHS=-0.510, 1.248,-0.680, RAW= 334.6, -0.6, CAL= 333.8, -3.5, ROT= 176.2, 3.5 2025-10-29T01:14:36.660Z,1761700476.660 [DAT](INFO): got valid direction response: 01:14:36.0711 LVL= 32752, 25137, 32754, 32755, AGC= 65, IDX= 509,-0.06,-3.034,-1.220,-3.058,-2.422, PHS=-0.510, 1.248,-0.680, RAW= 334.6, -0.6, CAL= 333.8, -3.5, ROT= 176.2, 3.5 2025-10-29T01:14:36.660Z,1761700476.660 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T01:14:36.661Z,1761700476.661 [DAT](INFO): direction in FSK: [-0.995940,0.066150,-0.061049] 2025-10-29T01:14:36.662Z,1761700476.662 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:36.665Z,1761700476.665 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.491177 2025-10-29T01:14:36.830Z,1761700476.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503514 s, deltaX: 0.700000 m, approachRate: 1.390229 m/s, rangeRepo size: 4 2025-10-29T01:14:36.833Z,1761700476.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.139990 m, bearing: 185.614001 deg, lat: 36.779293 deg, lon: -121.859495 deg, deltaT: 0.503514 s, deltaX: 0.695881 m, approachRate: 1.382049 m/s, posRepo size: 4 2025-10-29T01:14:36.833Z,1761700476.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:14:36.901Z,1761700476.901 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=58.727207 2025-10-29T01:14:37.154Z,1761700477.154 [DAT](INFO): DAT read: Rx Time:01:14:36.5712 2025-10-29T01:14:37.154Z,1761700477.154 [DAT](INFO): Rx dataTimestamp_ set to:1761700477.153690 2025-10-29T01:14:37.155Z,1761700477.155 [DAT](INFO): DAT read: Bearing 345.4, 1.2 (Local) 2025-10-29T01:14:37.156Z,1761700477.156 [DAT](INFO): Local bearing/azimuth received: Bearing 345.4, 1.2 (Local) 2025-10-29T01:14:37.158Z,1761700477.158 [DAT](INFO): DAT read: Range 11 to 50 : 10.4 m (trip time 6.9 ms) speed -0.4 2025-10-29T01:14:37.162Z,1761700477.162 [DAT](INFO): DAT read: 01:14:36.5712 LVL= 32752, 20945, 32754, 32755, AGC= 67, IDX= 510,-0.2,-2.468, 1.942, 2.603, PHS=-0.494, 1.257,-0.704, RAW= 335.6, -0.6, CAL= 334.9, -3.5, ROT= 175.1, 3.5 2025-10-29T01:14:37.163Z,1761700477.163 [DAT](INFO): unknown deviceResponse_: 01:14:36.5712 LVL= 32752, 20945, 32754, 32755, AGC= 67, IDX= 510,-0.2,-2.468, 1.942, 2.603, PHS=-0.494, 1.257,-0.704, RAW= 335.6, -0.6, CAL= 334.9, -3.5, ROT= 175.1, 3.5 2025-10-29T01:14:37.165Z,1761700477.165 [DAT](ERROR): #Rx 120: Read range message, but no direction. 2025-10-29T01:14:37.168Z,1761700477.168 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:14:37.169Z,1761700477.169 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:14:37.171Z,1761700477.171 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:37.239Z,1761700477.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985702,-0.147650,-0.081180],[0.153927,0.985046,0.077403],[0.068537,-0.088792,0.993689]] 2025-10-29T01:14:37.310Z,1761700477.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.400000 m, deltaT: 0.504053 s, deltaX: 0.200000 m, approachRate: 0.396783 m/s, rangeRepo size: 4 2025-10-29T01:14:37.311Z,1761700477.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:14:37.405Z,1761700477.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:37.658Z,1761700477.658 [DAT](INFO): DAT read: Rx Time:01:14:37.0714 2025-10-29T01:14:37.658Z,1761700477.658 [DAT](INFO): Rx dataTimestamp_ set to:1761700477.657743 2025-10-29T01:14:37.659Z,1761700477.659 [DAT](INFO): DAT read: Bearing 344.9, 2.6 (Local) 2025-10-29T01:14:37.660Z,1761700477.660 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 2.6 (Local) 2025-10-29T01:14:37.662Z,1761700477.662 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.4 2025-10-29T01:14:37.666Z,1761700477.666 [DAT](INFO): DAT read: 01:14:37.0714 LVL= 32752, 22561, 32754, 32755, AGC= 67, IDX= 511, 0.42, 2.934,-1.568, 2.822,-2.765, PHS=-0.483, 1.242,-0.741, RAW= 336.9, -0.2, CAL= 336.2, -3.1, ROT= 173.8, 3.1 2025-10-29T01:14:37.667Z,1761700477.667 [DAT](INFO): got valid direction response: 01:14:37.0714 LVL= 32752, 22561, 32754, 32755, AGC= 67, IDX= 511, 0.42, 2.934,-1.568, 2.822,-2.765, PHS=-0.483, 1.242,-0.741, RAW= 336.9, -0.2, CAL= 336.2, -3.1, ROT= 173.8, 3.1 2025-10-29T01:14:37.668Z,1761700477.668 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:37.669Z,1761700477.669 [DAT](INFO): direction in FSK: [-0.992696,0.107841,-0.054079] 2025-10-29T01:14:37.669Z,1761700477.669 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:37.678Z,1761700477.678 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:37.690Z,1761700477.690 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:37.728Z,1761700477.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986065,-0.146824,-0.078226],[0.152618,0.985503,0.074099],[0.066212,-0.085005,0.994178]] 2025-10-29T01:14:37.843Z,1761700477.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.504053 s, deltaX: 0.300000 m, approachRate: 0.595176 m/s, rangeRepo size: 4 2025-10-29T01:14:37.850Z,1761700477.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.637060 m, bearing: 182.845646 deg, lat: 36.779293 deg, lon: -121.859492 deg, deltaT: 1.008106 s, deltaX: 0.497070 m, approachRate: 0.493073 m/s, posRepo size: 4 2025-10-29T01:14:37.851Z,1761700477.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:14:37.909Z,1761700477.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:38.161Z,1761700478.161 [DAT](INFO): DAT read: Rx Time:01:14:37.5714 2025-10-29T01:14:38.161Z,1761700478.161 [DAT](INFO): Rx dataTimestamp_ set to:1761700478.161184 2025-10-29T01:14:38.163Z,1761700478.163 [DAT](INFO): DAT read: Range 11 to 50 : 10.7 m (trip time 7.1 ms) speed -0.5 2025-10-29T01:14:38.163Z,1761700478.163 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T01:14:38.164Z,1761700478.164 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:38.164Z,1761700478.164 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:38.239Z,1761700478.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986640,-0.145937,-0.072416],[0.150929,0.986130,0.069053],[0.061334,-0.079060,0.994981]] 2025-10-29T01:14:38.275Z,1761700478.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.700000 m, deltaT: 0.503441 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:38.275Z,1761700478.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.64 m. 2025-10-29T01:14:38.413Z,1761700478.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:38.661Z,1761700478.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986784,-0.146322,-0.069629],[0.150933,0.986316,0.066329],[0.058971,-0.075962,0.995365]] 2025-10-29T01:14:38.666Z,1761700478.666 [DAT](INFO): DAT read: Rx Time:01:14:38.0717 2025-10-29T01:14:38.666Z,1761700478.666 [DAT](INFO): Rx dataTimestamp_ set to:1761700478.665823 2025-10-29T01:14:38.667Z,1761700478.667 [DAT](INFO): DAT read: Bearing 344.9, 4.7 (Local) 2025-10-29T01:14:38.668Z,1761700478.668 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 4.7 (Local) 2025-10-29T01:14:38.670Z,1761700478.670 [DAT](INFO): DAT read: Range 11 to 50 : 11.1 m (trip time 7.4 ms) speed -0.5 2025-10-29T01:14:38.674Z,1761700478.674 [DAT](INFO): DAT read: 01:14:38.0717 LVL= 20464, 17009, 18978, 30707, AGC= 70, IDX= 3,-0.12, 0.198, 1.957, 0.021, 0.749, PHS=-0.450, 1.252,-0.772, RAW= 338.5, -0.3, CAL= 338.0, -3.2, ROT= 172.0, 3.2 2025-10-29T01:14:38.676Z,1761700478.676 [DAT](INFO): got valid direction response: 01:14:38.0717 LVL= 20464, 17009, 18978, 30707, AGC= 70, IDX= 3,-0.12, 0.198, 1.957, 0.021, 0.749, PHS=-0.450, 1.252,-0.772, RAW= 338.5, -0.3, CAL= 338.0, -3.2, ROT= 172.0, 3.2 2025-10-29T01:14:38.676Z,1761700478.676 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:38.677Z,1761700478.677 [DAT](INFO): direction in FSK: [-0.988724,0.138956,-0.055822] 2025-10-29T01:14:38.677Z,1761700478.677 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:38.681Z,1761700478.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:38.681Z,1761700478.681 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:38.823Z,1761700478.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.100000 m, deltaT: 0.504639 s, deltaX: 0.400001 m, approachRate: 0.792647 m/s, rangeRepo size: 4 2025-10-29T01:14:38.825Z,1761700478.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.034627 m, bearing: 180.916934 deg, lat: 36.779290 deg, lon: -121.859491 deg, deltaT: 1.008080 s, deltaX: 0.397567 m, approachRate: 0.394380 m/s, posRepo size: 4 2025-10-29T01:14:38.825Z,1761700478.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.03 m. 2025-10-29T01:14:38.917Z,1761700478.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:39.169Z,1761700479.169 [DAT](INFO): DAT read: Rx Time:01:14:38.5718 2025-10-29T01:14:39.170Z,1761700479.170 [DAT](INFO): Rx dataTimestamp_ set to:1761700479.169622 2025-10-29T01:14:39.171Z,1761700479.171 [DAT](INFO): DAT read: Bearing 344.9, 5.5 (Local) 2025-10-29T01:14:39.171Z,1761700479.171 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 5.5 (Local) 2025-10-29T01:14:39.174Z,1761700479.174 [DAT](INFO): DAT read: Range 11 to 50 : 11.3 m (trip time 7.5 ms) speed -0.4 2025-10-29T01:14:39.178Z,1761700479.178 [DAT](INFO): DAT read: 01:14:38.5718 LVL= 32752, 20401, 32754, 32755, AGC= 68, IDX= 499, 0.36, 1.384, 3.132, 1.177, 1.919, PHS=-0.433, 1.258,-0.786, RAW= 339.3, -0.4, CAL= 338.8, -3.3, ROT= 171.2, 3.3 2025-10-29T01:14:39.179Z,1761700479.179 [DAT](INFO): got valid direction response: 01:14:38.5718 LVL= 32752, 20401, 32754, 32755, AGC= 68, IDX= 499, 0.36, 1.384, 3.132, 1.177, 1.919, PHS=-0.433, 1.258,-0.786, RAW= 339.3, -0.4, CAL= 338.8, -3.3, ROT= 171.2, 3.3 2025-10-29T01:14:39.180Z,1761700479.180 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:39.181Z,1761700479.181 [DAT](INFO): direction in FSK: [-0.986590,0.152732,-0.057564] 2025-10-29T01:14:39.181Z,1761700479.181 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:39.187Z,1761700479.187 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:39.187Z,1761700479.187 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:39.263Z,1761700479.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986900,-0.146675,-0.067190],[0.151035,0.986377,0.065186],[0.056713,-0.074480,0.995609]] 2025-10-29T01:14:39.303Z,1761700479.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.300000 m, deltaT: 0.503799 s, deltaX: 0.200000 m, approachRate: 0.396983 m/s, rangeRepo size: 4 2025-10-29T01:14:39.313Z,1761700479.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.233449 m, bearing: 180.121882 deg, lat: 36.779290 deg, lon: -121.859487 deg, deltaT: 0.503799 s, deltaX: 0.198822 m, approachRate: 0.394646 m/s, posRepo size: 4 2025-10-29T01:14:39.314Z,1761700479.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.23 m. 2025-10-29T01:14:39.421Z,1761700479.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:39.674Z,1761700479.674 [DAT](INFO): DAT read: Rx Time:01:14:39.0720 2025-10-29T01:14:39.674Z,1761700479.674 [DAT](INFO): Rx dataTimestamp_ set to:1761700479.673742 2025-10-29T01:14:39.675Z,1761700479.675 [DAT](INFO): DAT read: Bearing 344.1, 6.3 (Local) 2025-10-29T01:14:39.676Z,1761700479.676 [DAT](INFO): Local bearing/azimuth received: Bearing 344.1, 6.3 (Local) 2025-10-29T01:14:39.678Z,1761700479.678 [DAT](INFO): DAT read: Range 11 to 50 : 11.6 m (trip time 7.7 ms) speed -0.4 2025-10-29T01:14:39.682Z,1761700479.682 [DAT](INFO): DAT read: 01:14:39.0720 LVL= 32752, 22193, 32754, 32755, AGC= 69, IDX= 502,-0.08, 1.820,-2.780, 1.600, 2.353, PHS=-0.432, 1.195,-0.798, RAW= 339.9, 0.4, CAL= 339.4, -2.5, ROT= 170.6, 2.5 2025-10-29T01:14:39.684Z,1761700479.684 [DAT](INFO): got valid direction response: 01:14:39.0720 LVL= 32752, 22193, 32754, 32755, AGC= 69, IDX= 502,-0.08, 1.820,-2.780, 1.600, 2.353, PHS=-0.432, 1.195,-0.798, RAW= 339.9, 0.4, CAL= 339.4, -2.5, ROT= 170.6, 2.5 2025-10-29T01:14:39.684Z,1761700479.684 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:39.685Z,1761700479.685 [DAT](INFO): direction in FSK: [-0.985633,0.163170,-0.043619] 2025-10-29T01:14:39.685Z,1761700479.685 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:39.705Z,1761700479.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:39.706Z,1761700479.706 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:39.727Z,1761700479.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986951,-0.147331,-0.064977],[0.151464,0.986384,0.064067],[0.054653,-0.073073,0.995828]] 2025-10-29T01:14:39.880Z,1761700479.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.600000 m, deltaT: 0.504120 s, deltaX: 0.300000 m, approachRate: 0.595097 m/s, rangeRepo size: 4 2025-10-29T01:14:39.893Z,1761700479.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.531521 m, bearing: 179.488963 deg, lat: 36.779289 deg, lon: -121.859484 deg, deltaT: 0.504120 s, deltaX: 0.298072 m, approachRate: 0.591272 m/s, posRepo size: 4 2025-10-29T01:14:39.894Z,1761700479.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.53 m. 2025-10-29T01:14:39.925Z,1761700479.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:40.178Z,1761700480.178 [DAT](INFO): DAT read: Rx Time:01:14:39.5721 2025-10-29T01:14:40.178Z,1761700480.178 [DAT](INFO): Rx dataTimestamp_ set to:1761700480.177707 2025-10-29T01:14:40.179Z,1761700480.179 [DAT](INFO): DAT read: Bearing 344.2, 7.6 (Local) 2025-10-29T01:14:40.180Z,1761700480.180 [DAT](INFO): Local bearing/azimuth received: Bearing 344.2, 7.6 (Local) 2025-10-29T01:14:40.182Z,1761700480.182 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed -0.3 2025-10-29T01:14:40.186Z,1761700480.186 [DAT](INFO): DAT read: 01:14:39.5721 LVL= 32752, 20785, 32754, 32755, AGC= 69, IDX= 502, 0.28, 2.838,-1.771, 2.574,-2.935, PHS=-0.408, 1.209,-0.818, RAW= 341.0, 0.2, CAL= 340.6, -2.7, ROT= 169.4, 2.7 2025-10-29T01:14:40.187Z,1761700480.187 [DAT](INFO): got valid direction response: 01:14:39.5721 LVL= 32752, 20785, 32754, 32755, AGC= 69, IDX= 502, 0.28, 2.838,-1.771, 2.574,-2.935, PHS=-0.408, 1.209,-0.818, RAW= 341.0, 0.2, CAL= 340.6, -2.7, ROT= 169.4, 2.7 2025-10-29T01:14:40.188Z,1761700480.188 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:40.189Z,1761700480.189 [DAT](INFO): direction in FSK: [-0.981844,0.183747,-0.047106] 2025-10-29T01:14:40.189Z,1761700480.189 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:40.193Z,1761700480.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:40.193Z,1761700480.193 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:14:40.287Z,1761700480.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986928,-0.149142,-0.061076],[0.152981,0.986160,0.063908],[0.050699,-0.072416,0.996085]] 2025-10-29T01:14:40.332Z,1761700480.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503965 s, deltaX: 0.099999 m, approachRate: 0.198425 m/s, rangeRepo size: 4 2025-10-29T01:14:40.338Z,1761700480.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.630930 m, bearing: 178.386285 deg, lat: 36.779289 deg, lon: -121.859482 deg, deltaT: 0.503965 s, deltaX: 0.099409 m, approachRate: 0.197254 m/s, posRepo size: 4 2025-10-29T01:14:40.338Z,1761700480.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:40.429Z,1761700480.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:14:40.684Z,1761700480.684 [DAT](INFO): DAT read: user:719> 2025-10-29T01:14:40.685Z,1761700480.685 [DAT](INFO): DAT read: 20 2025-10-29T01:14:40.685Z,1761700480.685 [DAT](INFO): unknown deviceResponse_: 20 2025-10-29T01:14:40.685Z,1761700480.685 [DAT](INFO): DAT read: Ok 2025-10-29T01:14:40.685Z,1761700480.685 [DAT](INFO): unknown deviceResponse_: Ok 2025-10-29T01:14:40.686Z,1761700480.686 [DAT](INFO): DAT read: user:720> 2025-10-29T01:14:40.687Z,1761700480.687 [DAT](INFO): DAT read: Tx time:01:14:40.5169 2025-10-29T01:14:40.687Z,1761700480.687 [DAT](INFO): Ping request sent. 2025-10-29T01:14:40.687Z,1761700480.687 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:14:40.687Z,1761700480.687 [DAT](INFO): publishing transmit ping time 2025-10-29T01:14:40.688Z,1761700480.688 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000745 2025-10-29T01:14:40.824Z,1761700480.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:40.933Z,1761700480.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.245992 2025-10-29T01:14:41.185Z,1761700481.185 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498019 2025-10-29T01:14:41.240Z,1761700481.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:41.438Z,1761700481.438 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750326 2025-10-29T01:14:41.638Z,1761700481.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986447,-0.154482,-0.055302],[0.157774,0.985580,0.061155],[0.045057,-0.069052,0.996595]] 2025-10-29T01:14:41.684Z,1761700481.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:41.689Z,1761700481.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.002110 2025-10-29T01:14:41.941Z,1761700481.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.253944 2025-10-29T01:14:42.039Z,1761700482.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986226,-0.156474,-0.053617],[0.159670,0.985242,0.061668],[0.043176,-0.069379,0.996656]] 2025-10-29T01:14:42.057Z,1761700482.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:42.193Z,1761700482.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506000 2025-10-29T01:14:42.443Z,1761700482.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985985,-0.158482,-0.052129],[0.161567,0.984942,0.061518],[0.041594,-0.069078,0.996744]] 2025-10-29T01:14:42.445Z,1761700482.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.757924 2025-10-29T01:14:42.463Z,1761700482.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:42.697Z,1761700482.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.010480 2025-10-29T01:14:42.848Z,1761700482.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985739,-0.160475,-0.050664],[0.163454,0.984634,0.061474],[0.040020,-0.068879,0.996822]] 2025-10-29T01:14:42.887Z,1761700482.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.63 m. 2025-10-29T01:14:42.949Z,1761700482.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262187 2025-10-29T01:14:43.202Z,1761700483.202 [DAT](INFO): DAT read: Rx Time:01:14:42.6621 2025-10-29T01:14:43.202Z,1761700483.202 [DAT](INFO): Rx dataTimestamp_ set to:1761700483.201714 2025-10-29T01:14:43.203Z,1761700483.203 [DAT](INFO): DAT read: Bearing 343.2, 9.5 (Local) 2025-10-29T01:14:43.204Z,1761700483.204 [DAT](INFO): Local bearing/azimuth received: Bearing 343.2, 9.5 (Local) 2025-10-29T01:14:43.206Z,1761700483.206 [DAT](INFO): DAT read: Range 11 to 50 : 12.0 m (trip time 8.0 ms) speed -0.4 2025-10-29T01:14:43.210Z,1761700483.210 [DAT](INFO): DAT read: 01:14:42.6621 LVL= 26704, 21617, 32658, 32755, AGC= 69, IDX= 112,-0.15,-0.536, 1.059,-0.832,-0.030, PHS=-0.404, 1.134,-0.846, RAW= 342.3, 1.3, CAL= 341.8, -1.6, ROT= 168.2, 1.6 2025-10-29T01:14:43.211Z,1761700483.211 [DAT](INFO): got valid direction response: 01:14:42.6621 LVL= 26704, 21617, 32658, 32755, AGC= 69, IDX= 112,-0.15,-0.536, 1.059,-0.832,-0.030, PHS=-0.404, 1.134,-0.846, RAW= 342.3, 1.3, CAL= 341.8, -1.6, ROT= 168.2, 1.6 2025-10-29T01:14:43.224Z,1761700483.224 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:14:43.225Z,1761700483.225 [DAT](INFO): direction in FSK: [-0.978486,0.204416,-0.027922] 2025-10-29T01:14:43.225Z,1761700483.225 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:43.229Z,1761700483.229 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.541961 2025-10-29T01:14:43.267Z,1761700483.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985604,-0.161740,-0.049248],[0.164666,0.984357,0.062659],[0.038343,-0.069866,0.996819]] 2025-10-29T01:14:43.353Z,1761700483.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.000000 m, deltaT: 3.024007 s, deltaX: 0.300000 m, approachRate: 0.099206 m/s, rangeRepo size: 4 2025-10-29T01:14:43.361Z,1761700483.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.928847 m, bearing: 177.795392 deg, lat: 36.779290 deg, lon: -121.859481 deg, deltaT: 3.024007 s, deltaX: 0.297917 m, approachRate: 0.098517 m/s, posRepo size: 4 2025-10-29T01:14:43.362Z,1761700483.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-29T01:14:43.453Z,1761700483.453 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.766064 2025-10-29T01:14:43.706Z,1761700483.706 [DAT](INFO): DAT read: Rx Time:01:14:43.1622 2025-10-29T01:14:43.706Z,1761700483.706 [DAT](INFO): Rx dataTimestamp_ set to:1761700483.706016 2025-10-29T01:14:43.708Z,1761700483.708 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed -0.3 2025-10-29T01:14:43.709Z,1761700483.709 [DAT](ERROR): #Rx 2: Read range message, but no direction. 2025-10-29T01:14:43.710Z,1761700483.710 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.023390 2025-10-29T01:14:43.733Z,1761700483.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985514,-0.162719,-0.047811],[0.165547,0.984203,0.062764],[0.036842,-0.069770,0.996883]] 2025-10-29T01:14:43.822Z,1761700483.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.504302 s, deltaX: 0.200000 m, approachRate: 0.396587 m/s, rangeRepo size: 4 2025-10-29T01:14:43.822Z,1761700483.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.93 m. 2025-10-29T01:14:43.957Z,1761700483.957 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=3.269998 2025-10-29T01:14:44.205Z,1761700484.205 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985381,-0.164261,-0.045185],[0.166882,0.984019,0.062099],[0.034263,-0.068732,0.997047]] 2025-10-29T01:14:44.210Z,1761700484.210 [DAT](INFO): DAT read: Rx Time:01:14:43.6623 2025-10-29T01:14:44.210Z,1761700484.210 [DAT](INFO): Rx dataTimestamp_ set to:1761700484.209830 2025-10-29T01:14:44.211Z,1761700484.211 [DAT](INFO): DAT read: Bearing 342.7, 8.9 (Local) 2025-10-29T01:14:44.212Z,1761700484.212 [DAT](INFO): Local bearing/azimuth received: Bearing 342.7, 8.9 (Local) 2025-10-29T01:14:44.214Z,1761700484.214 [DAT](INFO): DAT read: Range 11 to 50 : 12.3 m (trip time 8.2 ms) speed -0.1 2025-10-29T01:14:44.219Z,1761700484.219 [DAT](INFO): DAT read: 01:14:43.6623 LVL= 28144, 20529, 26610, 32755, AGC= 69, IDX= 2,-0.46,-1.406, 0.204,-1.676,-0.867, PHS=-0.437, 1.116,-0.853, RAW= 341.5, 2.0, CAL= 341.1, -0.9, ROT= 168.9, 0.9 2025-10-29T01:14:44.220Z,1761700484.220 [DAT](INFO): got valid direction response: 01:14:43.6623 LVL= 28144, 20529, 26610, 32755, AGC= 69, IDX= 2,-0.46,-1.406, 0.204,-1.676,-0.867, PHS=-0.437, 1.116,-0.853, RAW= 341.5, 2.0, CAL= 341.1, -0.9, ROT= 168.9, 0.9 2025-10-29T01:14:44.220Z,1761700484.220 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:14:44.221Z,1761700484.221 [DAT](INFO): direction in FSK: [-0.981172,0.192498,-0.015707] 2025-10-29T01:14:44.221Z,1761700484.221 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:44.226Z,1761700484.226 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.538613 2025-10-29T01:14:44.284Z,1761700484.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.300000 m, deltaT: 0.503814 s, deltaX: 0.100000 m, approachRate: 0.198487 m/s, rangeRepo size: 4 2025-10-29T01:14:44.286Z,1761700484.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.227126 m, bearing: 178.581468 deg, lat: 36.779290 deg, lon: -121.859481 deg, deltaT: 1.008116 s, deltaX: 0.298279 m, approachRate: 0.295877 m/s, posRepo size: 4 2025-10-29T01:14:44.286Z,1761700484.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-29T01:14:44.461Z,1761700484.461 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.774006 2025-10-29T01:14:44.659Z,1761700484.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985264,-0.165245,-0.044134],[0.167793,0.983862,0.062131],[0.033155,-0.068621,0.997092]] 2025-10-29T01:14:44.703Z,1761700484.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.23 m. 2025-10-29T01:14:44.714Z,1761700484.714 [DAT](INFO): DAT read: Rx Time:01:14:44.1625 2025-10-29T01:14:44.714Z,1761700484.714 [DAT](INFO): Rx dataTimestamp_ set to:1761700484.713823 2025-10-29T01:14:44.715Z,1761700484.715 [DAT](INFO): DAT read: Bearing 343.0, 9.2 (Local) 2025-10-29T01:14:44.716Z,1761700484.716 [DAT](INFO): Local bearing/azimuth received: Bearing 343.0, 9.2 (Local) 2025-10-29T01:14:44.718Z,1761700484.718 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-29T01:14:44.723Z,1761700484.723 [DAT](INFO): DAT read: 01:14:44.1625 LVL= 32752, 22481, 32754, 32755, AGC= 66, IDX= 500,-0.07,-0.339, 1.262,-0.616, 0.188, PHS=-0.425, 1.118,-0.848, RAW= 341.8, 1.8, CAL= 341.3, -1.1, ROT= 168.7, 1.1 2025-10-29T01:14:44.725Z,1761700484.725 [DAT](INFO): got valid direction response: 01:14:44.1625 LVL= 32752, 22481, 32754, 32755, AGC= 66, IDX= 500,-0.07,-0.339, 1.262,-0.616, 0.188, PHS=-0.425, 1.118,-0.848, RAW= 341.8, 1.8, CAL= 341.3, -1.1, ROT= 168.7, 1.1 2025-10-29T01:14:44.725Z,1761700484.725 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T01:14:44.726Z,1761700484.726 [DAT](INFO): direction in FSK: [-0.980434,0.195910,-0.019197] 2025-10-29T01:14:44.726Z,1761700484.726 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:44.747Z,1761700484.747 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.060144 2025-10-29T01:14:44.965Z,1761700484.965 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=4.278201 2025-10-29T01:14:45.010Z,1761700485.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985069,-0.166465,-0.043911],[0.168996,0.983657,0.062128],[0.032851,-0.068622,0.997102]] 2025-10-29T01:14:45.037Z,1761700485.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503993 s, deltaX: 0.200000 m, approachRate: 0.396831 m/s, rangeRepo size: 4 2025-10-29T01:14:45.039Z,1761700485.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.425347 m, bearing: 178.517008 deg, lat: 36.779298 deg, lon: -121.859481 deg, deltaT: 0.503993 s, deltaX: 0.198221 m, approachRate: 0.393302 m/s, posRepo size: 4 2025-10-29T01:14:45.039Z,1761700485.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:14:45.218Z,1761700485.218 [DAT](INFO): DAT read: Rx Time:01:14:44.6625 2025-10-29T01:14:45.218Z,1761700485.218 [DAT](INFO): Rx dataTimestamp_ set to:1761700485.217702 2025-10-29T01:14:45.219Z,1761700485.219 [DAT](INFO): DAT read: Bearing 342.9, 9.0 (Local) 2025-10-29T01:14:45.220Z,1761700485.220 [DAT](INFO): Local bearing/azimuth received: Bearing 342.9, 9.0 (Local) 2025-10-29T01:14:45.222Z,1761700485.222 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed -0.1 2025-10-29T01:14:45.226Z,1761700485.226 [DAT](INFO): DAT read: 01:14:44.6625 LVL= 31776, 19185, 32754, 32755, AGC= 66, IDX= 500, 0.25,-0.086, 1.540,-0.360, 0.456, PHS=-0.441, 1.129,-0.860, RAW= 341.5, 1.9, CAL= 341.0, -1.0, ROT= 169.0, 1.0 2025-10-29T01:14:45.227Z,1761700485.227 [DAT](INFO): got valid direction response: 01:14:44.6625 LVL= 31776, 19185, 32754, 32755, AGC= 66, IDX= 500, 0.25,-0.086, 1.540,-0.360, 0.456, PHS=-0.441, 1.129,-0.860, RAW= 341.5, 1.9, CAL= 341.0, -1.0, ROT= 169.0, 1.0 2025-10-29T01:14:45.228Z,1761700485.228 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T01:14:45.229Z,1761700485.229 [DAT](INFO): direction in FSK: [-0.981478,0.190780,-0.017452] 2025-10-29T01:14:45.229Z,1761700485.229 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:45.233Z,1761700485.233 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.546157 2025-10-29T01:14:45.404Z,1761700485.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984871,-0.167609,-0.043997],[0.170145,0.983457,0.062159],[0.032850,-0.068705,0.997096]] 2025-10-29T01:14:45.435Z,1761700485.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.503879 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:45.437Z,1761700485.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.425329 m, bearing: 178.877820 deg, lat: 36.779298 deg, lon: -121.859481 deg, deltaT: 0.503879 s, deltaX: -0.000018 m, approachRate: -0.000036 m/s, posRepo size: 4 2025-10-29T01:14:45.438Z,1761700485.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:14:45.469Z,1761700485.469 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.782130 2025-10-29T01:14:45.721Z,1761700485.721 [DAT](INFO): DAT read: Rx Time:01:14:45.1626 2025-10-29T01:14:45.722Z,1761700485.722 [DAT](INFO): Rx dataTimestamp_ set to:1761700485.721660 2025-10-29T01:14:45.723Z,1761700485.723 [DAT](INFO): DAT read: Bearing 343.1, 9.2 (Local) 2025-10-29T01:14:45.724Z,1761700485.724 [DAT](INFO): Local bearing/azimuth received: Bearing 343.1, 9.2 (Local) 2025-10-29T01:14:45.726Z,1761700485.726 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-29T01:14:45.730Z,1761700485.730 [DAT](INFO): DAT read: 01:14:45.1626 LVL= 32240, 21201, 32754, 32755, AGC= 67, IDX= 502,-0.23,-2.671,-1.070,-2.944,-2.141, PHS=-0.428, 1.116,-0.847, RAW= 341.7, 1.8, CAL= 341.2, -1.1, ROT= 168.8, 1.1 2025-10-29T01:14:45.731Z,1761700485.731 [DAT](INFO): got valid direction response: 01:14:45.1626 LVL= 32240, 21201, 32754, 32755, AGC= 67, IDX= 502,-0.23,-2.671,-1.070,-2.944,-2.141, PHS=-0.428, 1.116,-0.847, RAW= 341.7, 1.8, CAL= 341.2, -1.1, ROT= 168.8, 1.1 2025-10-29T01:14:45.732Z,1761700485.732 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T01:14:45.733Z,1761700485.733 [DAT](INFO): direction in FSK: [-0.980774,0.194199,-0.019197] 2025-10-29T01:14:45.733Z,1761700485.733 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:45.737Z,1761700485.737 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.050138 2025-10-29T01:14:45.841Z,1761700485.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984682,-0.168745,-0.043892],[0.171275,0.983256,0.062228],[0.032656,-0.068792,0.997096]] 2025-10-29T01:14:45.945Z,1761700485.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503958 s, deltaX: 0.300000 m, approachRate: 0.595288 m/s, rangeRepo size: 4 2025-10-29T01:14:45.947Z,1761700485.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.723537 m, bearing: 178.749926 deg, lat: 36.779299 deg, lon: -121.859481 deg, deltaT: 0.503958 s, deltaX: 0.298208 m, approachRate: 0.591732 m/s, posRepo size: 4 2025-10-29T01:14:45.947Z,1761700485.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-29T01:14:45.973Z,1761700485.973 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=5.286031 2025-10-29T01:14:46.225Z,1761700486.225 [DAT](INFO): DAT read: Rx Time:01:14:45.6626 2025-10-29T01:14:46.226Z,1761700486.226 [DAT](INFO): Rx dataTimestamp_ set to:1761700486.225688 2025-10-29T01:14:46.227Z,1761700486.227 [DAT](INFO): DAT read: Bearing 342.9, 8.8 (Local) 2025-10-29T01:14:46.228Z,1761700486.228 [DAT](INFO): Local bearing/azimuth received: Bearing 342.9, 8.8 (Local) 2025-10-29T01:14:46.230Z,1761700486.230 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed -0.3 2025-10-29T01:14:46.234Z,1761700486.234 [DAT](INFO): DAT read: 01:14:45.6626 LVL= 30928, 19697, 32754, 32755, AGC= 67, IDX= 502, 0.15,-2.890,-1.271, 3.133,-2.340, PHS=-0.448, 1.114,-0.855, RAW= 341.3, 2.1, CAL= 340.8, -0.7, ROT= 169.2, 0.7 2025-10-29T01:14:46.235Z,1761700486.235 [DAT](INFO): got valid direction response: 01:14:45.6626 LVL= 30928, 19697, 32754, 32755, AGC= 67, IDX= 502, 0.15,-2.890,-1.271, 3.133,-2.340, PHS=-0.448, 1.114,-0.855, RAW= 341.3, 2.1, CAL= 340.8, -0.7, ROT= 169.2, 0.7 2025-10-29T01:14:46.236Z,1761700486.236 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T01:14:46.237Z,1761700486.237 [DAT](INFO): direction in FSK: [-0.982214,0.187367,-0.012217] 2025-10-29T01:14:46.237Z,1761700486.237 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:46.241Z,1761700486.241 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.553758 2025-10-29T01:14:46.330Z,1761700486.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984467,-0.170028,-0.043773],[0.172542,0.983045,0.062063],[0.032479,-0.068652,0.997112]] 2025-10-29T01:14:46.444Z,1761700486.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.504028 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:46.446Z,1761700486.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.723451 m, bearing: 179.198860 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.504028 s, deltaX: -0.000087 m, approachRate: -0.000172 m/s, posRepo size: 4 2025-10-29T01:14:46.446Z,1761700486.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.72 m. 2025-10-29T01:14:46.490Z,1761700486.490 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.802943 2025-10-29T01:14:46.725Z,1761700486.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984098,-0.172191,-0.043610],[0.174659,0.982732,0.061093],[0.032337,-0.067738,0.997179]] 2025-10-29T01:14:46.742Z,1761700486.742 [DAT](INFO): DAT read: Rx Time:01:14:46.1629 2025-10-29T01:14:46.743Z,1761700486.743 [DAT](INFO): Rx dataTimestamp_ set to:1761700486.742388 2025-10-29T01:14:46.745Z,1761700486.745 [DAT](INFO): DAT read: Bearing 342.8, 8.5 (Local) 2025-10-29T01:14:46.745Z,1761700486.745 [DAT](INFO): Local bearing/azimuth received: Bearing 342.8, 8.5 (Local) 2025-10-29T01:14:46.748Z,1761700486.748 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.3 2025-10-29T01:14:46.755Z,1761700486.755 [DAT](INFO): DAT read: 01:14:46.1629 LVL= 32752, 23937, 32754, 32755, AGC= 69, IDX= 505,-0.25, 1.620,-3.050, 1.373, 2.181, PHS=-0.459, 1.097,-0.853, RAW= 341.0, 2.4, CAL= 340.5, -0.4, ROT= 169.5, 0.4 2025-10-29T01:14:46.761Z,1761700486.761 [DAT](INFO): got valid direction response: 01:14:46.1629 LVL= 32752, 23937, 32754, 32755, AGC= 69, IDX= 505,-0.25, 1.620,-3.050, 1.373, 2.181, PHS=-0.459, 1.097,-0.853, RAW= 341.0, 2.4, CAL= 340.5, -0.4, ROT= 169.5, 0.4 2025-10-29T01:14:46.761Z,1761700486.761 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T01:14:46.762Z,1761700486.762 [DAT](INFO): direction in FSK: [-0.983231,0.182231,-0.006981] 2025-10-29T01:14:46.763Z,1761700486.763 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:46.787Z,1761700486.787 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.099835 2025-10-29T01:14:46.841Z,1761700486.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.516700 s, deltaX: 0.400000 m, approachRate: 0.774143 m/s, rangeRepo size: 4 2025-10-29T01:14:46.843Z,1761700486.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.121058 m, bearing: 179.602563 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 0.516700 s, deltaX: 0.397607 m, approachRate: 0.769512 m/s, posRepo size: 4 2025-10-29T01:14:46.852Z,1761700486.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-29T01:14:46.993Z,1761700486.993 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=6.306164 2025-10-29T01:14:47.162Z,1761700487.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983817,-0.173784,-0.043635],[0.176228,0.982496,0.060377],[0.032379,-0.067090,0.997221]] 2025-10-29T01:14:47.197Z,1761700487.197 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-29T01:14:47.247Z,1761700487.247 [DAT](INFO): DAT read: Rx Time:01:14:46.6629 2025-10-29T01:14:47.247Z,1761700487.247 [DAT](INFO): Rx dataTimestamp_ set to:1761700487.246956 2025-10-29T01:14:47.249Z,1761700487.249 [DAT](INFO): DAT read: Bearing 342.8, 8.2 (Local) 2025-10-29T01:14:47.250Z,1761700487.250 [DAT](INFO): Local bearing/azimuth received: Bearing 342.8, 8.2 (Local) 2025-10-29T01:14:47.253Z,1761700487.253 [DAT](INFO): DAT read: Range 11 to 50 : 13.2 m (trip time 8.8 ms) speed -0.1 2025-10-29T01:14:47.263Z,1761700487.263 [DAT](INFO): DAT read: 01:14:46.6629 LVL= 32752, 24817, 32754, 32755, AGC= 69, IDX= 505, 0.18, 1.629,-3.001, 1.383, 2.209, PHS=-0.478, 1.118,-0.870, RAW= 340.7, 2.6, CAL= 340.2, -0.3, ROT= 169.8, 0.3 2025-10-29T01:14:47.264Z,1761700487.264 [DAT](INFO): got valid direction response: 01:14:46.6629 LVL= 32752, 24817, 32754, 32755, AGC= 69, IDX= 505, 0.18, 1.629,-3.001, 1.383, 2.209, PHS=-0.478, 1.118,-0.870, RAW= 340.7, 2.6, CAL= 340.2, -0.3, ROT= 169.8, 0.3 2025-10-29T01:14:47.265Z,1761700487.265 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T01:14:47.266Z,1761700487.266 [DAT](INFO): direction in FSK: [-0.984182,0.177082,-0.005236] 2025-10-29T01:14:47.266Z,1761700487.266 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:47.287Z,1761700487.287 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.599758 2025-10-29T01:14:47.497Z,1761700487.497 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.809949 2025-10-29T01:14:47.530Z,1761700487.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983570,-0.174998,-0.044334],[0.177486,0.982272,0.060331],[0.032990,-0.067208,0.997193]] 2025-10-29T01:14:47.641Z,1761700487.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.200000 m, deltaT: 0.504568 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:47.659Z,1761700487.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.120583 m, bearing: 180.060332 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 0.504568 s, deltaX: -0.000475 m, approachRate: -0.000941 m/s, posRepo size: 4 2025-10-29T01:14:47.664Z,1761700487.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.12 m. 2025-10-29T01:14:47.751Z,1761700487.751 [DAT](INFO): DAT read: Rx Time:01:14:47.1631 2025-10-29T01:14:47.752Z,1761700487.752 [DAT](INFO): Rx dataTimestamp_ set to:1761700487.751128 2025-10-29T01:14:47.753Z,1761700487.753 [DAT](INFO): DAT read: Bearing 343.3, 8.4 (Local) 2025-10-29T01:14:47.754Z,1761700487.754 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, 8.4 (Local) 2025-10-29T01:14:47.757Z,1761700487.757 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed -0.3 2025-10-29T01:14:47.768Z,1761700487.768 [DAT](INFO): DAT read: 01:14:47.1631 LVL= 32752, 21953, 32754, 32755, AGC= 70, IDX= 508,-0.22,-0.273, 1.368,-0.522, 0.288, PHS=-0.459, 1.125,-0.854, RAW= 340.9, 2.1, CAL= 340.4, -0.8, ROT= 169.6, 0.8 2025-10-29T01:14:47.770Z,1761700487.770 [DAT](INFO): got valid direction response: 01:14:47.1631 LVL= 32752, 21953, 32754, 32755, AGC= 70, IDX= 508,-0.22,-0.273, 1.368,-0.522, 0.288, PHS=-0.459, 1.125,-0.854, RAW= 340.9, 2.1, CAL= 340.4, -0.8, ROT= 169.6, 0.8 2025-10-29T01:14:47.770Z,1761700487.770 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T01:14:47.772Z,1761700487.772 [DAT](INFO): direction in FSK: [-0.983476,0.180501,-0.013962] 2025-10-29T01:14:47.772Z,1761700487.772 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:47.778Z,1761700487.778 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.090757 2025-10-29T01:14:47.934Z,1761700487.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983375,-0.175899,-0.045079],[0.178435,0.982104,0.060275],[0.033670,-0.067317,0.997163]] 2025-10-29T01:14:47.986Z,1761700487.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.504172 s, deltaX: 0.300000 m, approachRate: 0.595035 m/s, rangeRepo size: 4 2025-10-29T01:14:47.988Z,1761700487.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.418778 m, bearing: 179.945873 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.504172 s, deltaX: 0.298196 m, approachRate: 0.591457 m/s, posRepo size: 4 2025-10-29T01:14:47.988Z,1761700487.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.42 m. 2025-10-29T01:14:48.001Z,1761700488.001 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=7.313925 2025-10-29T01:14:48.253Z,1761700488.253 [DAT](INFO): DAT read: Rx Time:01:14:47.6632 2025-10-29T01:14:48.254Z,1761700488.254 [DAT](INFO): Rx dataTimestamp_ set to:1761700488.253676 2025-10-29T01:14:48.255Z,1761700488.255 [DAT](INFO): DAT read: Bearing 343.4, 8.1 (Local) 2025-10-29T01:14:48.256Z,1761700488.256 [DAT](INFO): Local bearing/azimuth received: Bearing 343.4, 8.1 (Local) 2025-10-29T01:14:48.258Z,1761700488.258 [DAT](INFO): DAT read: Range 11 to 50 : 13.7 m (trip time 9.1 ms) speed -0.3 2025-10-29T01:14:48.262Z,1761700488.262 [DAT](INFO): DAT read: 01:14:47.6632 LVL= 31984, 22241, 32754, 32755, AGC= 69, IDX= 508, 0.11, 0.131, 1.800,-0.115, 0.703, PHS=-0.470, 1.143,-0.861, RAW= 340.6, 2.1, CAL= 340.1, -0.8, ROT= 169.9, 0.8 2025-10-29T01:14:48.263Z,1761700488.263 [DAT](INFO): got valid direction response: 01:14:47.6632 LVL= 31984, 22241, 32754, 32755, AGC= 69, IDX= 508, 0.11, 0.131, 1.800,-0.115, 0.703, PHS=-0.470, 1.143,-0.861, RAW= 340.6, 2.1, CAL= 340.1, -0.8, ROT= 169.9, 0.8 2025-10-29T01:14:48.270Z,1761700488.270 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T01:14:48.271Z,1761700488.271 [DAT](INFO): direction in FSK: [-0.984407,0.175350,-0.013962] 2025-10-29T01:14:48.271Z,1761700488.271 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:48.274Z,1761700488.274 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.587459 2025-10-29T01:14:48.417Z,1761700488.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.700000 m, deltaT: 0.502548 s, deltaX: 0.200000 m, approachRate: 0.397972 m/s, rangeRepo size: 4 2025-10-29T01:14:48.419Z,1761700488.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.617467 m, bearing: 180.245815 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.502548 s, deltaX: 0.198689 m, approachRate: 0.395362 m/s, posRepo size: 4 2025-10-29T01:14:48.419Z,1761700488.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:14:48.505Z,1761700488.505 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.818248 2025-10-29T01:14:48.758Z,1761700488.758 [DAT](INFO): DAT read: Rx Time:01:14:48.1634 2025-10-29T01:14:48.759Z,1761700488.759 [DAT](INFO): Rx dataTimestamp_ set to:1761700488.758536 2025-10-29T01:14:48.761Z,1761700488.761 [DAT](INFO): DAT read: Bearing 341.6, 8.3 (Local) 2025-10-29T01:14:48.761Z,1761700488.761 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, 8.3 (Local) 2025-10-29T01:14:48.764Z,1761700488.764 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed -0.4 2025-10-29T01:14:48.769Z,1761700488.769 [DAT](INFO): DAT read: 01:14:48.1634 LVL= 32752, 25169, 32754, 32755, AGC= 69, IDX= 510, 0.49, .08, 1.960.500, 1.03, RAW= 341.1, 3.5, CAL= 340.6, 1.1, ROT= 169.4, -1.1 2025-10-29T01:14:48.770Z,1761700488.770 [DAT](INFO): unknown deviceResponse_: 01:14:48.1634 LVL= 32752, 25169, 32754, 32755, AGC= 69, IDX= 510, 0.49, .08, 1.960.500, 1.03, RAW= 341.1, 3.5, CAL= 340.6, 1.1, ROT= 169.4, -1.1 2025-10-29T01:14:48.770Z,1761700488.770 [DAT](ERROR): #Rx 12: Read range message, but no direction. 2025-10-29T01:14:48.771Z,1761700488.771 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.084502 2025-10-29T01:14:48.802Z,1761700488.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983033,-0.176970,-0.048244],[0.179741,0.981829,0.060875],[0.036594,-0.068514,0.996979]] 2025-10-29T01:14:48.840Z,1761700488.840 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050505030895,35.1492.40, 70.66, 74.40, 73.04 2025-10-29T01:14:48.880Z,1761700488.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504860 s, deltaX: 0.300000 m, approachRate: 0.594225 m/s, rangeRepo size: 4 2025-10-29T01:14:48.881Z,1761700488.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:14:49.009Z,1761700489.009 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=8.321891 2025-10-29T01:14:49.172Z,1761700489.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982798,-0.177860,-0.049737],[0.180741,0.981630,0.061115],[0.037954,-0.069053,0.996891]] 2025-10-29T01:14:49.190Z,1761700489.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.62 m. 2025-10-29T01:14:49.262Z,1761700489.262 [DAT](INFO): DAT read: Rx Time:01:14:48.6635 2025-10-29T01:14:49.263Z,1761700489.263 [DAT](INFO): Rx dataTimestamp_ set to:1761700489.262667 2025-10-29T01:14:49.265Z,1761700489.265 [DAT](INFO): DAT read: Bearing 343.6, 8.3 (Local) 2025-10-29T01:14:49.266Z,1761700489.266 [DAT](INFO): Local bearing/azimuth received: Bearing 343.6, 8.3 (Local) 2025-10-29T01:14:49.269Z,1761700489.269 [DAT](INFO): DAT read: Range 11 to 50 : 14.1 m (trip time 9.4 ms) speed -0.3 2025-10-29T01:14:49.280Z,1761700489.280 [DAT](INFO): DAT read: 01:14:48.6635 LVL= 32752, 21441, 32754, 32755, AGC= 70, IDX= 511,-0.09,-1.562, 0.106,-1.826,-1.000, PHS=-0.460, 1.151,-0.870, RAW= 341.1, 2.0, CAL= 340.6, -0.9, ROT= 169.4, 0.9 2025-10-29T01:14:49.281Z,1761700489.281 [DAT](INFO): got valid direction response: 01:14:48.6635 LVL= 32752, 21441, 32754, 32755, AGC= 70, IDX= 511,-0.09,-1.562, 0.106,-1.826,-1.000, PHS=-0.460, 1.151,-0.870, RAW= 341.1, 2.0, CAL= 340.6, -0.9, ROT= 169.4, 0.9 2025-10-29T01:14:49.281Z,1761700489.281 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T01:14:49.282Z,1761700489.282 [DAT](INFO): direction in FSK: [-0.982814,0.183929,-0.015707] 2025-10-29T01:14:49.283Z,1761700489.283 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:49.286Z,1761700489.286 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.599382 2025-10-29T01:14:49.513Z,1761700489.513 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.825944 2025-10-29T01:14:49.574Z,1761700489.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982507,-0.179129,-0.050911],[0.182062,0.981432,0.060371],[0.039151,-0.068584,0.996877]] 2025-10-29T01:14:49.706Z,1761700489.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.100000 m, deltaT: 0.504131 s, deltaX: 0.100000 m, approachRate: 0.198362 m/s, rangeRepo size: 4 2025-10-29T01:14:49.712Z,1761700489.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.014963 m, bearing: 179.963663 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 1.008991 s, deltaX: 0.397496 m, approachRate: 0.393954 m/s, posRepo size: 4 2025-10-29T01:14:49.712Z,1761700489.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.01 m. 2025-10-29T01:14:49.770Z,1761700489.770 [DAT](INFO): DAT read: Rx Time:01:14:49.1636 2025-10-29T01:14:49.770Z,1761700489.770 [DAT](INFO): Rx dataTimestamp_ set to:1761700489.770137 2025-10-29T01:14:49.773Z,1761700489.773 [DAT](INFO): DAT read: Bearing 1.1, 17.4 (Local) 2025-10-29T01:14:49.773Z,1761700489.773 [DAT](INFO): Local bearing/azimuth received: Bearing 1.1, 17.4 (Local) 2025-10-29T01:14:49.776Z,1761700489.776 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.4 2025-10-29T01:14:49.783Z,1761700489.783 [DAT](INFO): DAT read: 01:14:49.1636 LVL= 31776, 21169, 32754, 32755, AGC= 70, IDX= 512, 0.09,-2.068,-0.862,-2.519,-2.175, PHS= 0.209, 1.358,-0.388, RAW= 349.7, -15.2, CAL= 349.3, -18.2, ROT= 160.7, 18.2 2025-10-29T01:14:49.785Z,1761700489.785 [DAT](INFO): got valid direction response: 01:14:49.1636 LVL= 31776, 21169, 32754, 32755, AGC= 70, IDX= 512, 0.09,-2.068,-0.862,-2.519,-2.175, PHS= 0.209, 1.358,-0.388, RAW= 349.7, -15.2, CAL= 349.3, -18.2, ROT= 160.7, 18.2 2025-10-29T01:14:49.785Z,1761700489.785 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T01:14:49.786Z,1761700489.786 [DAT](INFO): direction in FSK: [-0.896584,0.313980,-0.312335] 2025-10-29T01:14:49.787Z,1761700489.787 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:49.799Z,1761700489.799 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.112091 2025-10-29T01:14:49.974Z,1761700489.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982114,-0.180796,-0.052589],[0.183732,0.981281,0.057706],[0.041172,-0.066336,0.996947]] 2025-10-29T01:14:50.021Z,1761700490.021 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=9.334115 2025-10-29T01:14:50.034Z,1761700490.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.507470 s, deltaX: 0.200000 m, approachRate: 0.394112 m/s, rangeRepo size: 4 2025-10-29T01:14:50.036Z,1761700490.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213757 m, bearing: 172.248812 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.507470 s, deltaX: 0.198793 m, approachRate: 0.391734 m/s, posRepo size: 4 2025-10-29T01:14:50.037Z,1761700490.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-29T01:14:50.274Z,1761700490.274 [DAT](INFO): DAT read: Rx Time:01:14:49.6636 2025-10-29T01:14:50.275Z,1761700490.275 [DAT](INFO): Rx dataTimestamp_ set to:1761700490.274434 2025-10-29T01:14:50.277Z,1761700490.277 [DAT](INFO): DAT read: Bearing 332.6, -2.0 (Local) 2025-10-29T01:14:50.277Z,1761700490.277 [DAT](INFO): Local bearing/azimuth received: Bearing 332.6, -2.0 (Local) 2025-10-29T01:14:50.280Z,1761700490.280 [DAT](INFO): DAT read: Range 11 to 50 : 14.3 m (trip time 9.5 ms) speed -0.3 2025-10-29T01:14:50.285Z,1761700490.285 [DAT](INFO): DAT read: 01:14:49.6636 LVL= 29232, 21265, 32754, 32755, AGC= 69, IDX= 512, 0.33,-3.001,-1.122,-2.921,-2.011, PHS=-0.888, 0.933,-0.954, RAW= 331.8, 9.8, CAL= 331.3, 11.0, ROT= 178.7, -11.0 2025-10-29T01:14:50.286Z,1761700490.286 [DAT](INFO): got valid direction response: 01:14:49.6636 LVL= 29232, 21265, 32754, 32755, AGC= 69, IDX= 512, 0.33,-3.001,-1.122,-2.921,-2.011, PHS=-0.888, 0.933,-0.954, RAW= 331.8, 9.8, CAL= 331.3, 11.0, ROT= 178.7, -11.0 2025-10-29T01:14:50.286Z,1761700490.286 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T01:14:50.287Z,1761700490.287 [DAT](INFO): direction in FSK: [-0.981375,0.022270,0.190809] 2025-10-29T01:14:50.287Z,1761700490.287 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:50.315Z,1761700490.315 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.628087 2025-10-29T01:14:50.457Z,1761700490.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981707,-0.182588,-0.053966],[0.185504,0.981098,0.055099],[0.042885,-0.064102,0.997021]] 2025-10-29T01:14:50.496Z,1761700490.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.300000 m, deltaT: 0.504297 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:50.498Z,1761700490.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.213576 m, bearing: 188.703647 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.504297 s, deltaX: -0.000180 m, approachRate: -0.000357 m/s, posRepo size: 4 2025-10-29T01:14:50.499Z,1761700490.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.21 m. 2025-10-29T01:14:50.525Z,1761700490.525 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.838100 2025-10-29T01:14:50.778Z,1761700490.778 [DAT](INFO): DAT read: Rx Time:01:14:50.1638 2025-10-29T01:14:50.779Z,1761700490.779 [DAT](INFO): Rx dataTimestamp_ set to:1761700490.778431 2025-10-29T01:14:50.780Z,1761700490.780 [DAT](INFO): DAT read: Bearing 343.5, 8.1 (Local) 2025-10-29T01:14:50.780Z,1761700490.780 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, 8.1 (Local) 2025-10-29T01:14:50.782Z,1761700490.782 [DAT](INFO): DAT read: Range 11 to 50 : 14.6 m (trip time 9.7 ms) speed -0.1 2025-10-29T01:14:50.787Z,1761700490.787 [DAT](INFO): DAT read: 01:14:50.1638 LVL= 30352, 25777, 27570, 26867, AGC= 72, IDX= 3,-0.45, 0.888, 2.559, 0.617, 1.461, PHS=-0.471, 1.143,-0.888, RAW= 341.2, 2.4, CAL= 340.7, -0.5, ROT= 169.3, 0.5 2025-10-29T01:14:50.788Z,1761700490.788 [DAT](INFO): got valid direction response: 01:14:50.1638 LVL= 30352, 25777, 27570, 26867, AGC= 72, IDX= 3,-0.45, 0.888, 2.559, 0.617, 1.461, PHS=-0.471, 1.143,-0.888, RAW= 341.2, 2.4, CAL= 340.7, -0.5, ROT= 169.3, 0.5 2025-10-29T01:14:50.789Z,1761700490.789 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T01:14:50.790Z,1761700490.790 [DAT](INFO): direction in FSK: [-0.982575,0.185659,-0.008727] 2025-10-29T01:14:50.790Z,1761700490.790 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:50.794Z,1761700490.794 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.106779 2025-10-29T01:14:50.898Z,1761700490.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981338,-0.184243,-0.055043],[0.187177,0.980844,0.053952],[0.044048,-0.063248,0.997025]] 2025-10-29T01:14:50.959Z,1761700490.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.600000 m, deltaT: 0.503997 s, deltaX: 0.300000 m, approachRate: 0.595242 m/s, rangeRepo size: 4 2025-10-29T01:14:50.961Z,1761700490.961 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.511764 m, bearing: 180.131078 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.503997 s, deltaX: 0.298187 m, approachRate: 0.591645 m/s, posRepo size: 4 2025-10-29T01:14:50.963Z,1761700490.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.51 m. 2025-10-29T01:14:51.030Z,1761700491.030 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=10.342795 2025-10-29T01:14:51.282Z,1761700491.282 [DAT](INFO): DAT read: Rx Time:01:14:50.6639 2025-10-29T01:14:51.282Z,1761700491.282 [DAT](INFO): Rx dataTimestamp_ set to:1761700491.281730 2025-10-29T01:14:51.283Z,1761700491.283 [DAT](INFO): DAT read: Bearing 343.7, 8.2 (Local) 2025-10-29T01:14:51.284Z,1761700491.284 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, 8.2 (Local) 2025-10-29T01:14:51.286Z,1761700491.286 [DAT](INFO): DAT read: Range 11 to 50 : 14.7 m (trip time 9.8 ms) speed -0.3 2025-10-29T01:14:51.290Z,1761700491.290 [DAT](INFO): DAT read: 01:14:50.6639 LVL= 29744, 21681, 32754, 32755, AGC= 69, IDX= 499,-0.26, 0.070, 1.734,-0.206, 0.639, PHS=-0.467, 1.140,-0.889, RAW= 341.4, 2.4, CAL= 340.9, -0.5, ROT= 169.1, 0.5 2025-10-29T01:14:51.291Z,1761700491.291 [DAT](INFO): got valid direction response: 01:14:50.6639 LVL= 29744, 21681, 32754, 32755, AGC= 69, IDX= 499,-0.26, 0.070, 1.734,-0.206, 0.639, PHS=-0.467, 1.140,-0.889, RAW= 341.4, 2.4, CAL= 340.9, -0.5, ROT= 169.1, 0.5 2025-10-29T01:14:51.292Z,1761700491.292 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T01:14:51.293Z,1761700491.293 [DAT](INFO): direction in FSK: [-0.981921,0.189088,-0.008727] 2025-10-29T01:14:51.293Z,1761700491.293 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:51.297Z,1761700491.297 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.609927 2025-10-29T01:14:51.308Z,1761700491.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980973,-0.185891,-0.056005],[0.188853,0.980561,0.053235],[0.045021,-0.062799,0.997010]] 2025-10-29T01:14:51.384Z,1761700491.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.700000 m, deltaT: 0.503299 s, deltaX: 0.099999 m, approachRate: 0.198688 m/s, rangeRepo size: 4 2025-10-29T01:14:51.386Z,1761700491.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.611158 m, bearing: 180.028165 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 0.503299 s, deltaX: 0.099395 m, approachRate: 0.197487 m/s, posRepo size: 4 2025-10-29T01:14:51.387Z,1761700491.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-29T01:14:51.533Z,1761700491.533 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.846256 2025-10-29T01:14:51.725Z,1761700491.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980486,-0.187905,-0.057784],[0.191029,0.980080,0.054329],[0.046425,-0.064307,0.996850]] 2025-10-29T01:14:51.786Z,1761700491.786 [DAT](INFO): DAT read: Rx Time:01:14:51.1642 2025-10-29T01:14:51.786Z,1761700491.786 [DAT](INFO): Rx dataTimestamp_ set to:1761700491.785771 2025-10-29T01:14:51.787Z,1761700491.787 [DAT](INFO): DAT read: Bearing 343.9, 8.4 (Local) 2025-10-29T01:14:51.788Z,1761700491.788 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 8.4 (Local) 2025-10-29T01:14:51.790Z,1761700491.790 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.4 2025-10-29T01:14:51.794Z,1761700491.794 [DAT](INFO): DAT read: 01:14:51.1642 LVL= 30240, 21265, 32754, 32755, AGC= 68, IDX= 502,-0.10, 2.703,-1.923, 2.418,-3.021, PHS=-0.457, 1.143,-0.889, RAW= 341.6, 2.2, CAL= 341.1, -0.7, ROT= 168.9, 0.7 2025-10-29T01:14:51.796Z,1761700491.796 [DAT](INFO): got valid direction response: 01:14:51.1642 LVL= 30240, 21265, 32754, 32755, AGC= 68, IDX= 502,-0.10, 2.703,-1.923, 2.418,-3.021, PHS=-0.457, 1.143,-0.889, RAW= 341.6, 2.2, CAL= 341.1, -0.7, ROT= 168.9, 0.7 2025-10-29T01:14:51.812Z,1761700491.812 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T01:14:51.813Z,1761700491.813 [DAT](INFO): direction in FSK: [-0.981219,0.192508,-0.012217] 2025-10-29T01:14:51.813Z,1761700491.813 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:51.817Z,1761700491.817 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.130156 2025-10-29T01:14:51.819Z,1761700491.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.504041 s, deltaX: 0.500000 m, approachRate: 0.991983 m/s, rangeRepo size: 4 2025-10-29T01:14:51.820Z,1761700491.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-29T01:14:52.037Z,1761700492.037 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=11.349977 2025-10-29T01:14:52.148Z,1761700492.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980006,-0.189832,-0.059607],[0.193163,0.979556,0.056199],[0.047720,-0.066590,0.996639]] 2025-10-29T01:14:52.194Z,1761700492.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.61 m. 2025-10-29T01:14:52.289Z,1761700492.289 [DAT](INFO): DAT read: Rx Time:01:14:51.6642 2025-10-29T01:14:52.290Z,1761700492.290 [DAT](INFO): Rx dataTimestamp_ set to:1761700492.289690 2025-10-29T01:14:52.291Z,1761700492.291 [DAT](INFO): DAT read: Bearing 343.9, 9.0 (Local) 2025-10-29T01:14:52.292Z,1761700492.292 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 9.0 (Local) 2025-10-29T01:14:52.294Z,1761700492.294 [DAT](INFO): DAT read: Range 11 to 50 : 15.2 m (trip time 10.1 ms) speed -0.1 2025-10-29T01:14:52.298Z,1761700492.298 [DAT](INFO): DAT read: 01:14:51.6642 LVL= 28880, 19841, 32754, 32755, AGC= 68, IDX= 502,-0.03, 2.744,-1.911, 2.436,-2.994, PHS=-0.443, 1.128,-0.897, RAW= 342.3, 2.3, CAL= 341.8, -0.6, ROT= 168.2, 0.6 2025-10-29T01:14:52.299Z,1761700492.299 [DAT](INFO): got valid direction response: 01:14:51.6642 LVL= 28880, 19841, 32754, 32755, AGC= 68, IDX= 502,-0.03, 2.744,-1.911, 2.436,-2.994, PHS=-0.443, 1.128,-0.897, RAW= 342.3, 2.3, CAL= 341.8, -0.6, ROT= 168.2, 0.6 2025-10-29T01:14:52.300Z,1761700492.300 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T01:14:52.301Z,1761700492.301 [DAT](INFO): direction in FSK: [-0.978814,0.204485,-0.010472] 2025-10-29T01:14:52.301Z,1761700492.301 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:52.305Z,1761700492.305 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.617670 2025-10-29T01:14:52.504Z,1761700492.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979516,-0.191851,-0.061164],[0.195361,0.979031,0.057729],[0.048806,-0.068496,0.996457]] 2025-10-29T01:14:52.534Z,1761700492.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.200000 m, deltaT: 0.503919 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:52.536Z,1761700492.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.107738 m, bearing: 179.519140 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 1.007960 s, deltaX: 0.496579 m, approachRate: 0.492658 m/s, posRepo size: 4 2025-10-29T01:14:52.536Z,1761700492.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.11 m. 2025-10-29T01:14:52.541Z,1761700492.541 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.854070 2025-10-29T01:14:52.793Z,1761700492.793 [DAT](INFO): DAT read: Rx Time:01:14:52.1643 2025-10-29T01:14:52.794Z,1761700492.794 [DAT](INFO): Rx dataTimestamp_ set to:1761700492.793632 2025-10-29T01:14:52.795Z,1761700492.795 [DAT](INFO): DAT read: Bearing 343.2, 9.1 (Local) 2025-10-29T01:14:52.795Z,1761700492.795 [DAT](INFO): Local bearing/azimuth received: Bearing 343.2, 9.1 (Local) 2025-10-29T01:14:52.798Z,1761700492.798 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.4 2025-10-29T01:14:52.802Z,1761700492.802 [DAT](INFO): DAT read: 01:14:52.1643 LVL= 29040, 24017, 32754, 32755, AGC= 68, IDX= 503, 0.05,-1.813,-0.189,-2.131,-1.250, PHS=-0.461, 1.106,-0.926, RAW= 342.6, 3.1, CAL= 342.1, 0.3, ROT= 167.9, -0.3 2025-10-29T01:14:52.803Z,1761700492.803 [DAT](INFO): got valid direction response: 01:14:52.1643 LVL= 29040, 24017, 32754, 32755, AGC= 68, IDX= 503, 0.05,-1.813,-0.189,-2.131,-1.250, PHS=-0.461, 1.106,-0.926, RAW= 342.6, 3.1, CAL= 342.1, 0.3, ROT= 167.9, -0.3 2025-10-29T01:14:52.804Z,1761700492.804 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T01:14:52.805Z,1761700492.805 [DAT](INFO): direction in FSK: [-0.977770,0.209616,0.005236] 2025-10-29T01:14:52.805Z,1761700492.805 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:52.809Z,1761700492.809 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.121723 2025-10-29T01:14:52.919Z,1761700492.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979061,-0.193754,-0.062437],[0.197390,0.978577,0.058520],[0.049761,-0.069619,0.996332]] 2025-10-29T01:14:52.982Z,1761700492.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503942 s, deltaX: 0.100000 m, approachRate: 0.198436 m/s, rangeRepo size: 4 2025-10-29T01:14:52.984Z,1761700492.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.207130 m, bearing: 179.286620 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 0.503942 s, deltaX: 0.099393 m, approachRate: 0.197231 m/s, posRepo size: 4 2025-10-29T01:14:52.985Z,1761700492.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T01:14:53.046Z,1761700493.046 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=12.358915 2025-10-29T01:14:53.297Z,1761700493.297 [DAT](INFO): DAT read: Rx Time:01:14:52.6643 2025-10-29T01:14:53.298Z,1761700493.298 [DAT](INFO): Rx dataTimestamp_ set to:1761700493.297604 2025-10-29T01:14:53.299Z,1761700493.299 [DAT](INFO): DAT read: Bearing 343.7, 8.8 (Local) 2025-10-29T01:14:53.299Z,1761700493.299 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, 8.8 (Local) 2025-10-29T01:14:53.302Z,1761700493.302 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed -0.3 2025-10-29T01:14:53.306Z,1761700493.306 [DAT](INFO): DAT read: 01:14:52.6643 LVL= 32336, 24049, 32754, 32755, AGC= 67, IDX= 503, 0.19, 2.848,-1.792, 2.540,-2.870, PHS=-0.464, 1.122,-0.918, RAW= 342.3, 2.8, CAL= 341.8, -0.1, ROT= 168.2, 0.1 2025-10-29T01:14:53.307Z,1761700493.307 [DAT](INFO): got valid direction response: 01:14:52.6643 LVL= 32336, 24049, 32754, 32755, AGC= 67, IDX= 503, 0.19, 2.848,-1.792, 2.540,-2.870, PHS=-0.464, 1.122,-0.918, RAW= 342.3, 2.8, CAL= 341.8, -0.1, ROT= 168.2, 0.1 2025-10-29T01:14:53.308Z,1761700493.308 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T01:14:53.309Z,1761700493.309 [DAT](INFO): direction in FSK: [-0.978866,0.204496,-0.001745] 2025-10-29T01:14:53.309Z,1761700493.309 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:53.315Z,1761700493.315 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.628295 2025-10-29T01:14:53.460Z,1761700493.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503972 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:53.462Z,1761700493.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.206860 m, bearing: 179.609887 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 0.503972 s, deltaX: -0.000271 m, approachRate: -0.000537 m/s, posRepo size: 4 2025-10-29T01:14:53.462Z,1761700493.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T01:14:53.550Z,1761700493.550 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.862944 2025-10-29T01:14:53.758Z,1761700493.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978324,-0.196938,-0.064016],[0.200604,0.978014,0.056986],[0.051386,-0.068592,0.996320]] 2025-10-29T01:14:53.802Z,1761700493.802 [DAT](INFO): DAT read: Rx Time:01:14:53.1646 2025-10-29T01:14:53.802Z,1761700493.802 [DAT](INFO): Rx dataTimestamp_ set to:1761700493.801774 2025-10-29T01:14:53.803Z,1761700493.803 [DAT](INFO): DAT read: Bearing 344.2, 9.0 (Local) 2025-10-29T01:14:53.804Z,1761700493.804 [DAT](INFO): Local bearing/azimuth received: Bearing 344.2, 9.0 (Local) 2025-10-29T01:14:53.806Z,1761700493.806 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.3 2025-10-29T01:14:53.810Z,1761700493.810 [DAT](INFO): DAT read: 01:14:53.1646 LVL= 29456, 21681, 32754, 32755, AGCX= 505, 0.36,-2.04,-2.461,-1.590, PHS=-0.451, 1.131,-0.915, RAW= 342.5, 2.6, CAL= 342.0, -0.3, ROT= 168.0, 0.3 2025-10-29T01:14:53.811Z,1761700493.811 [DAT](INFO): unknown deviceResponse_: 01:14:53.1646 LVL= 29456, 21681, 32754, 32755, AGCX= 505, 0.36,-2.04,-2.461,-1.590, PHS=-0.451, 1.131,-0.915, RAW= 342.5, 2.6, CAL= 342.0, -0.3, ROT= 168.0, 0.3 2025-10-29T01:14:53.811Z,1761700493.811 [DAT](ERROR): #Rx 22: Read range message, but no direction. 2025-10-29T01:14:53.812Z,1761700493.812 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.125017 2025-10-29T01:14:53.913Z,1761700493.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.504170 s, deltaX: 0.500000 m, approachRate: 0.991729 m/s, rangeRepo size: 4 2025-10-29T01:14:53.913Z,1761700493.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T01:14:54.053Z,1761700494.053 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=13.366012 2025-10-29T01:14:54.191Z,1761700494.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977466,-0.200755,-0.065247],[0.204411,0.977328,0.055201],[0.052685,-0.067294,0.996341]] 2025-10-29T01:14:54.228Z,1761700494.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.21 m. 2025-10-29T01:14:54.305Z,1761700494.305 [DAT](INFO): DAT read: Rx Time:01:14:53.6646 2025-10-29T01:14:54.306Z,1761700494.306 [DAT](INFO): Rx dataTimestamp_ set to:1761700494.305630 2025-10-29T01:14:54.308Z,1761700494.308 [DAT](INFO): DAT read: Bearing 344.0, 9.4 (Local) 2025-10-29T01:14:54.309Z,1761700494.309 [DAT](INFO): Local bearing/azimuth received: Bearing 344.0, 9.4 (Local) 2025-10-29T01:14:54.312Z,1761700494.312 [DAT](INFO): DAT read: Range 11 to 50 : 15.8 m (trip time 10.5 ms) speed -0.1 2025-10-29T01:14:54.318Z,1761700494.318 [DAT](INFO): DAT read: 01:14:53.6646 LVL= 32448, 25745, 32754, 32755, AGC= 69, IDX= 506,-0.43, 0.932, 2.565, 0.597, 1.488, PHS=-0.454, 1.122,-0.935, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0 2025-10-29T01:14:54.319Z,1761700494.319 [DAT](INFO): got valid direction response: 01:14:53.6646 LVL= 32448, 25745, 32754, 32755, AGC= 69, IDX= 506,-0.43, 0.932, 2.565, 0.597, 1.488, PHS=-0.454, 1.122,-0.935, RAW= 342.9, 2.9, CAL= 342.4, 0.0, ROT= 167.6, -0.0 2025-10-29T01:14:54.319Z,1761700494.319 [DAT](INFO): #Rx 23: Read range and direction messages. 2025-10-29T01:14:54.321Z,1761700494.321 [DAT](INFO): direction in FSK: [-0.976672,0.214735,0.000000] 2025-10-29T01:14:54.321Z,1761700494.321 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:54.333Z,1761700494.333 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.646451 2025-10-29T01:14:54.557Z,1761700494.557 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=13.870007 2025-10-29T01:14:54.599Z,1761700494.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977052,-0.202616,-0.065696],[0.206275,0.976964,0.054695],[0.053100,-0.066992,0.996339]] 2025-10-29T01:14:54.706Z,1761700494.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.800000 m, deltaT: 0.503856 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:54.712Z,1761700494.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.703868 m, bearing: 179.521930 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 1.008026 s, deltaX: 0.497008 m, approachRate: 0.493051 m/s, posRepo size: 4 2025-10-29T01:14:54.713Z,1761700494.713 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.70 m. 2025-10-29T01:14:54.810Z,1761700494.810 [DAT](INFO): DAT read: Rx Time:01:14:54.1647 2025-10-29T01:14:54.810Z,1761700494.810 [DAT](INFO): Rx dataTimestamp_ set to:1761700494.809789 2025-10-29T01:14:54.811Z,1761700494.811 [DAT](INFO): DAT read: Bearing 344.8, 8.8 (Local) 2025-10-29T01:14:54.812Z,1761700494.812 [DAT](INFO): Local bearing/azimuth received: Bearing 344.8, 8.8 (Local) 2025-10-29T01:14:54.814Z,1761700494.814 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.3 2025-10-29T01:14:54.821Z,1761700494.821 [DAT](INFO): DAT read: 01:14:54.1647 LVL= 32752, 24737, 32754, 32755, AGC= 69, IDX= 508,-0.17, 0.677, 2.342, 0.359, 1.233, PHS=-0.454, 1.154,-0.918, RAW= 342.3, 2.3, CAL= 341.8, -0.5, ROT= 168.2, 0.5 2025-10-29T01:14:54.822Z,1761700494.822 [DAT](INFO): got valid direction response: 01:14:54.1647 LVL= 32752, 24737, 32754, 32755, AGC= 69, IDX= 508,-0.17, 0.677, 2.342, 0.359, 1.233, PHS=-0.454, 1.154,-0.918, RAW= 342.3, 2.3, CAL= 341.8, -0.5, ROT= 168.2, 0.5 2025-10-29T01:14:54.823Z,1761700494.823 [DAT](INFO): #Rx 24: Read range and direction messages. 2025-10-29T01:14:54.825Z,1761700494.825 [DAT](INFO): direction in FSK: [-0.978830,0.204488,-0.008727] 2025-10-29T01:14:54.825Z,1761700494.825 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:54.831Z,1761700494.831 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.143537 2025-10-29T01:14:55.003Z,1761700495.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976527,-0.205042,-0.065972],[0.208673,0.976504,0.053815],[0.053388,-0.066318,0.996369]] 2025-10-29T01:14:55.046Z,1761700495.046 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504159 s, deltaX: 0.099999 m, approachRate: 0.198349 m/s, rangeRepo size: 4 2025-10-29T01:14:55.048Z,1761700495.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.803259 m, bearing: 180.289655 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 0.504159 s, deltaX: 0.099391 m, approachRate: 0.197142 m/s, posRepo size: 4 2025-10-29T01:14:55.061Z,1761700495.061 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=14.373857 2025-10-29T01:14:55.068Z,1761700495.068 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-29T01:14:55.314Z,1761700495.314 [DAT](INFO): DAT read: Rx Time:01:14:54.6647 2025-10-29T01:14:55.315Z,1761700495.315 [DAT](INFO): Rx dataTimestamp_ set to:1761700495.314268 2025-10-29T01:14:55.317Z,1761700495.317 [DAT](INFO): DAT read: Bearing 344.6, 9.3 (Local) 2025-10-29T01:14:55.317Z,1761700495.317 [DAT](INFO): Local bearing/azimuth received: Bearing 344.6, 9.3 (Local) 2025-10-29T01:14:55.320Z,1761700495.320 [DAT](INFO): DAT read: Range 11 to 50 : 15.9 m (trip time 10.6 ms) speed -0.6 2025-10-29T01:14:55.327Z,1761700495.327 [DAT](INFO): DAT read: 01:14:54.6647 LVL= 30272, 20849, 32754, 32755, AGC= 69, IDX= 508,-0.05,-0.724, 0.929,-1.065,-0.169, PHS=-0.453, 1.143,-0.940, RAW= 342.9, 2.7, CAL= 342.4, -0.2, ROT= 167.6, 0.2 2025-10-29T01:14:55.329Z,1761700495.329 [DAT](INFO): got valid direction response: 01:14:54.6647 LVL= 30272, 20849, 32754, 32755, AGC= 69, IDX= 508,-0.05,-0.724, 0.929,-1.065,-0.169, PHS=-0.453, 1.143,-0.940, RAW= 342.9, 2.7, CAL= 342.4, -0.2, ROT= 167.6, 0.2 2025-10-29T01:14:55.330Z,1761700495.330 [DAT](INFO): #Rx 25: Read range and direction messages. 2025-10-29T01:14:55.331Z,1761700495.331 [DAT](INFO): direction in FSK: [-0.976666,0.214734,-0.003491] 2025-10-29T01:14:55.331Z,1761700495.331 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:55.370Z,1761700495.370 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.682503 2025-10-29T01:14:55.503Z,1761700495.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976082,-0.207047,-0.066298],[0.210669,0.976106,0.053247],[0.053689,-0.065941,0.996378]] 2025-10-29T01:14:55.527Z,1761700495.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.900000 m, deltaT: 0.504479 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:55.529Z,1761700495.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.803382 m, bearing: 179.789558 deg, lat: 36.779299 deg, lon: -121.859490 deg, deltaT: 0.504479 s, deltaX: 0.000123 m, approachRate: 0.000244 m/s, posRepo size: 4 2025-10-29T01:14:55.530Z,1761700495.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.80 m. 2025-10-29T01:14:55.565Z,1761700495.565 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=14.877799 2025-10-29T01:14:55.817Z,1761700495.817 [DAT](INFO): DAT read: Rx Time:01:14:55.1649 2025-10-29T01:14:55.818Z,1761700495.818 [DAT](INFO): Rx dataTimestamp_ set to:1761700495.817686 2025-10-29T01:14:55.819Z,1761700495.819 [DAT](INFO): DAT read: Bearing 344.9, 9.9 (Local) 2025-10-29T01:14:55.820Z,1761700495.820 [DAT](INFO): Local bearing/azimuth received: Bearing 344.9, 9.9 (Local) 2025-10-29T01:14:55.822Z,1761700495.822 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.4 2025-10-29T01:14:55.826Z,1761700495.826 [DAT](INFO): DAT read: 01:14:55.1649 LVL= 30448, 27345, 32754, 32755, AGC= 69, IDX= 510, 0.06, 1.480, 3.119, 1.117, 2.018, PHS=-0.436, 1.146,-0.945, RAW= 343.5, 2.5, CAL= 343.0, -0.4, ROT= 167.0, 0.4 2025-10-29T01:14:55.827Z,1761700495.827 [DAT](INFO): got valid direction response: 01:14:55.1649 LVL= 30448, 27345, 32754, 32755, AGC= 69, IDX= 510, 0.06, 1.480, 3.119, 1.117, 2.018, PHS=-0.436, 1.146,-0.945, RAW= 343.5, 2.5, CAL= 343.0, -0.4, ROT= 167.0, 0.4 2025-10-29T01:14:55.828Z,1761700495.828 [DAT](INFO): #Rx 26: Read range and direction messages. 2025-10-29T01:14:55.829Z,1761700495.829 [DAT](INFO): direction in FSK: [-0.974346,0.224946,-0.006981] 2025-10-29T01:14:55.829Z,1761700495.829 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:55.833Z,1761700495.833 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.145851 2025-10-29T01:14:55.903Z,1761700495.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975580,-0.209334,-0.066498],[0.212932,0.975653,0.052550],[0.053878,-0.065426,0.996402]] 2025-10-29T01:14:56.023Z,1761700496.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.503418 s, deltaX: 0.300001 m, approachRate: 0.595929 m/s, rangeRepo size: 4 2025-10-29T01:14:56.029Z,1761700496.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.101561 m, bearing: 179.331630 deg, lat: 36.779299 deg, lon: -121.859490 deg, deltaT: 0.503418 s, deltaX: 0.298179 m, approachRate: 0.592308 m/s, posRepo size: 4 2025-10-29T01:14:56.030Z,1761700496.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-29T01:14:56.071Z,1761700496.071 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=15.383284 2025-10-29T01:14:56.309Z,1761700496.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974991,-0.212027,-0.066607],[0.215572,0.975132,0.051440],[0.054044,-0.064512,0.996452]] 2025-10-29T01:14:56.322Z,1761700496.322 [DAT](INFO): DAT read: Rx Time:01:14:55.6649 2025-10-29T01:14:56.322Z,1761700496.322 [DAT](INFO): Rx dataTimestamp_ set to:1761700496.321786 2025-10-29T01:14:56.323Z,1761700496.323 [DAT](INFO): DAT read: Bearing 345.9, 10.2 (Local) 2025-10-29T01:14:56.324Z,1761700496.324 [DAT](INFO): Local bearing/azimuth received: Bearing 345.9, 10.2 (Local) 2025-10-29T01:14:56.326Z,1761700496.326 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed -0.3 2025-10-29T01:14:56.330Z,1761700496.330 [DAT](INFO): DAT read: 01:14:55.6649 LVL= 27808, 20449, 32754, 32755, AGC= 69, IDX= 510, 0.13,-0.183, 1.446,-0.552, 0.324, PHS=-0.405, 1.167,-0.920, RAW= 343.7, 1.7, CAL= 343.2, -1.2, ROT= 166.8, 1.2 2025-10-29T01:14:56.332Z,1761700496.332 [DAT](INFO): got valid direction response: 01:14:55.6649 LVL= 27808, 20449, 32754, 32755, AGC= 69, IDX= 510, 0.13,-0.183, 1.446,-0.552, 0.324, PHS=-0.405, 1.167,-0.920, RAW= 343.7, 1.7, CAL= 343.2, -1.2, ROT= 166.8, 1.2 2025-10-29T01:14:56.332Z,1761700496.332 [DAT](INFO): #Rx 27: Read range and direction messages. 2025-10-29T01:14:56.333Z,1761700496.333 [DAT](INFO): direction in FSK: [-0.973365,0.228301,-0.020942] 2025-10-29T01:14:56.333Z,1761700496.333 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:56.345Z,1761700496.345 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.657994 2025-10-29T01:14:56.412Z,1761700496.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.504100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:56.414Z,1761700496.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.101561 m, bearing: 179.326080 deg, lat: 36.779299 deg, lon: -121.859490 deg, deltaT: 0.504100 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:14:56.415Z,1761700496.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-29T01:14:56.576Z,1761700496.576 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=15.889437 2025-10-29T01:14:56.818Z,1761700496.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.10 m. 2025-10-29T01:14:56.826Z,1761700496.826 [DAT](INFO): DAT read: Rx Time:01:14:56.1650 2025-10-29T01:14:56.826Z,1761700496.826 [DAT](INFO): Rx dataTimestamp_ set to:1761700496.825816 2025-10-29T01:14:56.827Z,1761700496.827 [DAT](INFO): DAT read: Bearing 344.3, 10.6 (Local) 2025-10-29T01:14:56.828Z,1761700496.828 [DAT](INFO): Local bearing/azimuth received: Bearing 344.3, 10.6 (Local) 2025-10-29T01:14:56.830Z,1761700496.830 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed 3.8 2025-10-29T01:14:56.834Z,1761700496.834 [DAT](INFO): DAT read: 01:14:56.1650 LVL= 31008, 23713, 32754, 32755, AGC= 69, IDX= 511, 0.12, 1.160, 2.784, 0.768, 1.705, PHS=-0.443, 1.124,-0.980, RAW= 344.2, 3.2, CAL= 343.8, 0.4, ROT= 166.2, -0.4 2025-10-29T01:14:56.836Z,1761700496.836 [DAT](INFO): got valid direction response: 01:14:56.1650 LVL= 31008, 23713, 32754, 32755, AGC= 69, IDX= 511, 0.12, 1.160, 2.784, 0.768, 1.705, PHS=-0.443, 1.124,-0.980, RAW= 344.2, 3.2, CAL= 343.8, 0.4, ROT= 166.2, -0.4 2025-10-29T01:14:56.836Z,1761700496.836 [DAT](INFO): #Rx 28: Read range and direction messages. 2025-10-29T01:14:56.837Z,1761700496.837 [DAT](INFO): direction in FSK: [-0.971111,0.238528,0.006981] 2025-10-29T01:14:56.837Z,1761700496.837 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:56.845Z,1761700496.845 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.158056 2025-10-29T01:14:57.078Z,1761700497.078 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=16.390423 2025-10-29T01:14:57.178Z,1761700497.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973727,-0.217715,-0.066750],[0.221118,0.974034,0.048636],[0.054428,-0.062118,0.996584]] 2025-10-29T01:14:57.221Z,1761700497.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504030 s, deltaX: 0.199999 m, approachRate: 0.396800 m/s, rangeRepo size: 4 2025-10-29T01:14:57.223Z,1761700497.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.300167 m, bearing: 178.969949 deg, lat: 36.779300 deg, lon: -121.859490 deg, deltaT: 0.504030 s, deltaX: 0.198606 m, approachRate: 0.394037 m/s, posRepo size: 4 2025-10-29T01:14:57.223Z,1761700497.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-29T01:14:57.330Z,1761700497.330 [DAT](INFO): DAT read: Rx Time:01:14:56.6650 2025-10-29T01:14:57.331Z,1761700497.331 [DAT](INFO): Rx dataTimestamp_ set to:1761700497.330343 2025-10-29T01:14:57.332Z,1761700497.332 [DAT](INFO): DAT read: Bearing 343.3, 10.8 (Local) 2025-10-29T01:14:57.332Z,1761700497.332 [DAT](INFO): Local bearing/azimuth received: Bearing 343.3, 10.8 (Local) 2025-10-29T01:14:57.334Z,1761700497.334 [DAT](INFO): DAT read: Range 11 to 50 : 16.4 m (trip time 10.9 ms) speed -0.3 2025-10-29T01:14:57.340Z,1761700497.340 [DAT](INFO): DAT read: 01:14:56.6650 LVL= 32752, 26097, 32754, 32755, AGC= 70, IDX= 511, 0.05, 1.115, 2.722, 0.720, 1.675, PHS=-0.458, 1.092,-0.999, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 2025-10-29T01:14:57.341Z,1761700497.341 [DAT](INFO): got valid direction response: 01:14:56.6650 LVL= 32752, 26097, 32754, 32755, AGC= 70, IDX= 511, 0.05, 1.115, 2.722, 0.720, 1.675, PHS=-0.458, 1.092,-0.999, RAW= 344.4, 3.9, CAL= 344.0, 1.6, ROT= 166.0, -1.6 2025-10-29T01:14:57.341Z,1761700497.341 [DAT](INFO): #Rx 29: Read range and direction messages. 2025-10-29T01:14:57.342Z,1761700497.342 [DAT](INFO): direction in FSK: [-0.969917,0.241828,0.027922] 2025-10-29T01:14:57.342Z,1761700497.342 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:57.354Z,1761700497.354 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.667355 2025-10-29T01:14:57.583Z,1761700497.583 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=16.895548 2025-10-29T01:14:57.590Z,1761700497.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.400000 m, deltaT: 0.504527 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:57.598Z,1761700497.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.299986 m, bearing: 178.713146 deg, lat: 36.779300 deg, lon: -121.859490 deg, deltaT: 0.504527 s, deltaX: -0.000181 m, approachRate: -0.000359 m/s, posRepo size: 4 2025-10-29T01:14:57.605Z,1761700497.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-29T01:14:57.833Z,1761700497.833 [DAT](INFO): DAT read: Rx Time:01:14:57.1652 2025-10-29T01:14:57.833Z,1761700497.833 [DAT](INFO): Rx dataTimestamp_ set to:1761700497.833191 2025-10-29T01:14:57.835Z,1761700497.835 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 2025-10-29T01:14:57.835Z,1761700497.835 [DAT](ERROR): #Rx 30: Read range message, but no direction. 2025-10-29T01:14:57.836Z,1761700497.836 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.149364 2025-10-29T01:14:57.923Z,1761700497.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973206,-0.219967,-0.066959],[0.223457,0.973431,0.049982],[0.054186,-0.063605,0.996503]] 2025-10-29T01:14:57.976Z,1761700497.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.502848 s, deltaX: 0.300001 m, approachRate: 0.596604 m/s, rangeRepo size: 4 2025-10-29T01:14:57.976Z,1761700497.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-29T01:14:58.086Z,1761700498.086 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=17.398523 2025-10-29T01:14:58.337Z,1761700498.337 [DAT](INFO): DAT read: Rx Time:01:14:57.6652 2025-10-29T01:14:58.338Z,1761700498.338 [DAT](INFO): Rx dataTimestamp_ set to:1761700498.337415 2025-10-29T01:14:58.339Z,1761700498.339 [DAT](INFO): DAT read: Range 11 to 50 : 16.7 m (trip time 11.1 ms) speed -0.3 2025-10-29T01:14:58.340Z,1761700498.340 [DAT](ERROR): #Rx 31: Read range message, but no direction. 2025-10-29T01:14:58.341Z,1761700498.341 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.653555 2025-10-29T01:14:58.342Z,1761700498.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973016,-0.220865,-0.066778],[0.224371,0.973195,0.050484],[0.053838,-0.064105,0.996490]] 2025-10-29T01:14:58.394Z,1761700498.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.700001 m, deltaT: 0.504224 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:58.395Z,1761700498.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-29T01:14:58.593Z,1761700498.593 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=17.905542 2025-10-29T01:14:58.741Z,1761700498.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972897,-0.221434,-0.066624],[0.224967,0.973021,0.051187],[0.053492,-0.064788,0.996464]] 2025-10-29T01:14:58.785Z,1761700498.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.30 m. 2025-10-29T01:14:58.843Z,1761700498.843 [DAT](INFO): DAT read: Rx Time:01:14:58.1654 2025-10-29T01:14:58.843Z,1761700498.843 [DAT](INFO): Rx dataTimestamp_ set to:1761700498.843088 2025-10-29T01:14:58.845Z,1761700498.845 [DAT](INFO): DAT read: Bearing 344.0, 11.7 (Local) 2025-10-29T01:14:58.845Z,1761700498.845 [DAT](INFO): Local bearing/azimuth received: Bearing 344.0, 11.7 (Local) 2025-10-29T01:14:58.847Z,1761700498.847 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.2 2025-10-29T01:14:58.852Z,1761700498.852 [DAT](INFO): DAT read: 01:14:58.1654 LVL= 25328, 19937, 28594, 32659, AGC= 70, IDX= 3,-0.07,-2.483,-0.918,-2.902,-1.961, PHS=-0.420, 1.089,-0.985, RAW= 345.3, 3.4, CAL= 344.8, 0.8, ROT= 165.2, -0.8 2025-10-29T01:14:58.853Z,1761700498.853 [DAT](INFO): got valid direction response: 01:14:58.1654 LVL= 25328, 19937, 28594, 32659, AGC= 70, IDX= 3,-0.07,-2.483,-0.918,-2.902,-1.961, PHS=-0.420, 1.089,-0.985, RAW= 345.3, 3.4, CAL= 344.8, 0.8, ROT= 165.2, -0.8 2025-10-29T01:14:58.854Z,1761700498.854 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-29T01:14:58.854Z,1761700498.854 [DAT](INFO): direction in FSK: [-0.966729,0.255421,0.013962] 2025-10-29T01:14:58.855Z,1761700498.855 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:58.863Z,1761700498.863 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.175619 2025-10-29T01:14:59.094Z,1761700499.094 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=18.406826 2025-10-29T01:14:59.188Z,1761700499.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972853,-0.221560,-0.066848],[0.225194,0.972883,0.052782],[0.053341,-0.066403,0.996366]] 2025-10-29T01:14:59.235Z,1761700499.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.505673 s, deltaX: 0.299999 m, approachRate: 0.593267 m/s, rangeRepo size: 4 2025-10-29T01:14:59.237Z,1761700499.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.896641 m, bearing: 178.190457 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 1.512745 s, deltaX: 0.596655 m, approachRate: 0.394419 m/s, posRepo size: 4 2025-10-29T01:14:59.238Z,1761700499.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-29T01:14:59.346Z,1761700499.346 [DAT](INFO): DAT read: Rx Time:01:14:58.6654 2025-10-29T01:14:59.346Z,1761700499.346 [DAT](INFO): Rx dataTimestamp_ set to:1761700499.345800 2025-10-29T01:14:59.347Z,1761700499.347 [DAT](INFO): DAT read: Bearing 341.1, 10.6 (Local) 2025-10-29T01:14:59.348Z,1761700499.348 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 10.6 (Local) 2025-10-29T01:14:59.350Z,1761700499.350 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed -0.3 2025-10-29T01:14:59.355Z,1761700499.355 [DAT](INFO): DAT read: 01:14:58.6654 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 499,-0.15,-2.960,-1.381, 2.948,-2.366, PHS=-0.493, 1.030,-1.014, RAW= 344.2, 5.2, CAL= 343.9, 3.6, ROT= 166.1, -3.6 2025-10-29T01:14:59.356Z,1761700499.356 [DAT](INFO): got valid direction response: 01:14:58.6654 LVL= 32752, 26609, 32754, 32755, AGC= 68, IDX= 499,-0.15,-2.960,-1.381, 2.948,-2.366, PHS=-0.493, 1.030,-1.014, RAW= 344.2, 5.2, CAL= 343.9, 3.6, ROT= 166.1, -3.6 2025-10-29T01:14:59.356Z,1761700499.356 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T01:14:59.357Z,1761700499.357 [DAT](INFO): direction in FSK: [-0.968801,0.239754,0.062791] 2025-10-29T01:14:59.357Z,1761700499.357 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:59.362Z,1761700499.362 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.674538 2025-10-29T01:14:59.559Z,1761700499.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972899,-0.221271,-0.067134],[0.225040,0.972799,0.054944],[0.053150,-0.068563,0.996230]] 2025-10-29T01:14:59.597Z,1761700499.597 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=18.910290 2025-10-29T01:14:59.678Z,1761700499.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.502712 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:14:59.684Z,1761700499.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.896929 m, bearing: 178.930574 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 0.502712 s, deltaX: 0.000288 m, approachRate: 0.000573 m/s, posRepo size: 4 2025-10-29T01:14:59.684Z,1761700499.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.90 m. 2025-10-29T01:14:59.721Z,1761700499.721 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:14:59.850Z,1761700499.850 [DAT](INFO): DAT read: Rx Time:01:14:59.1656 2025-10-29T01:14:59.850Z,1761700499.850 [DAT](INFO): Rx dataTimestamp_ set to:1761700499.849851 2025-10-29T01:14:59.851Z,1761700499.851 [DAT](INFO): DAT read: Bearing 343.7, 11.5 (Local) 2025-10-29T01:14:59.852Z,1761700499.852 [DAT](INFO): Local bearing/azimuth received: Bearing 343.7, 11.5 (Local) 2025-10-29T01:14:59.854Z,1761700499.854 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-29T01:14:59.859Z,1761700499.859 [DAT](INFO): DAT read: 01:14:59.1656 LVL= 30352, 27121, 32754, 32755, AGC= 66, IDX= 501,-0.12,-2.488,-0.901,-2.901,-1.954, PHS=-0.432, 1.098,-0.991, RAW= 345.0, 3.5, CAL= 344.5, 0.9, ROT= 165.5, -0.9 2025-10-29T01:14:59.860Z,1761700499.860 [DAT](INFO): got valid direction response: 01:14:59.1656 LVL= 30352, 27121, 32754, 32755, AGC= 66, IDX= 501,-0.12,-2.488,-0.901,-2.901,-1.954, PHS=-0.432, 1.098,-0.991, RAW= 345.0, 3.5, CAL= 344.5, 0.9, ROT= 165.5, -0.9 2025-10-29T01:14:59.860Z,1761700499.860 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T01:14:59.861Z,1761700499.861 [DAT](INFO): direction in FSK: [-0.968028,0.250349,0.015707] 2025-10-29T01:14:59.861Z,1761700499.861 [DAT](INFO): publishing direction and range info 2025-10-29T01:14:59.866Z,1761700499.866 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.178572 2025-10-29T01:14:59.963Z,1761700499.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973178,-0.220010,-0.067229],[0.223901,0.972937,0.057120],[0.052842,-0.070640,0.996101]] 2025-10-29T01:15:00.104Z,1761700500.104 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=19.416670 2025-10-29T01:15:00.169Z,1761700500.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.299999 m, deltaT: 0.504051 s, deltaX: 0.299999 m, approachRate: 0.595176 m/s, rangeRepo size: 4 2025-10-29T01:15:00.177Z,1761700500.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.195110 m, bearing: 178.408842 deg, lat: 36.779299 deg, lon: -121.859488 deg, deltaT: 0.504051 s, deltaX: 0.298182 m, approachRate: 0.591570 m/s, posRepo size: 4 2025-10-29T01:15:00.177Z,1761700500.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-29T01:15:00.353Z,1761700500.353 [DAT](INFO): DAT read: Rx Time:01:14:59.6656 2025-10-29T01:15:00.354Z,1761700500.354 [DAT](INFO): Rx dataTimestamp_ set to:1761700500.353677 2025-10-29T01:15:00.355Z,1761700500.355 [DAT](INFO): DAT read: Bearing 343.5, 12.0 (Local) 2025-10-29T01:15:00.356Z,1761700500.356 [DAT](INFO): Local bearing/azimuth received: Bearing 343.5, 12.0 (Local) 2025-10-29T01:15:00.358Z,1761700500.358 [DAT](INFO): DAT read: Range 11 to 50 : 17.3 m (trip time 11.5 ms) speed -0.3 2025-10-29T01:15:00.364Z,1761700500.364 [DAT](INFO): DAT read: 01:14:59.6656 LVL= 32752, 24801, 32754, 32755, AGC= 67, IDX= 501,-0.09, 2.524,-2.181, 2.089, 3.048, PHS=-0.422, 1.100,-1.003, RAW= 345.5, 3.5, CAL= 345.1, 0.9, ROT= 164.9, -0.9 2025-10-29T01:15:00.366Z,1761700500.366 [DAT](INFO): got valid direction response: 01:14:59.6656 LVL= 32752, 24801, 32754, 32755, AGC= 67, IDX= 501,-0.09, 2.524,-2.181, 2.089, 3.048, PHS=-0.422, 1.100,-1.003, RAW= 345.5, 3.5, CAL= 345.1, 0.9, ROT= 164.9, -0.9 2025-10-29T01:15:00.366Z,1761700500.366 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T01:15:00.369Z,1761700500.369 [DAT](INFO): direction in FSK: [-0.965354,0.260472,0.015707] 2025-10-29T01:15:00.369Z,1761700500.369 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:00.376Z,1761700500.376 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=19.688700 2025-10-29T01:15:00.567Z,1761700500.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973452,-0.218827,-0.067127],[0.222716,0.973203,0.057218],[0.052807,-0.070650,0.996103]] 2025-10-29T01:15:00.625Z,1761700500.625 [DAT](INFO): DAT read: Rx Time:01:15:00.1657 2025-10-29T01:15:00.626Z,1761700500.626 [DAT](INFO): Rx dataTimestamp_ set to:1761700500.625393 2025-10-29T01:15:00.630Z,1761700500.630 [DAT](INFO): DAT read: Bearing 344.4, 11.9 (Local) 2025-10-29T01:15:00.631Z,1761700500.631 [DAT](INFO): Local bearing/azimuth received: Bearing 344.4, 11.9 (Local) 2025-10-29T01:15:00.660Z,1761700500.660 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.3 2025-10-29T01:15:00.673Z,1761700500.673 [DAT](INFO): DAT read: 01:15:00.1657 LVL= 30112, 21905, 32754, 32755, AGC= 65, IDX= 502,-0.10, 2.456,-2.241, 2.026, 2.966, PHS=-0.408, 1.121,-0.984, RAW= 345.4, 2.9, CAL= 344.9, -0.0, ROT= 165.1, 0.0 2025-10-29T01:15:00.675Z,1761700500.675 [DAT](INFO): got valid direction response: 01:15:00.1657 LVL= 30112, 21905, 32754, 32755, AGC= 65, IDX= 502,-0.10, 2.456,-2.241, 2.026, 2.966, PHS=-0.408, 1.121,-0.984, RAW= 345.4, 2.9, CAL= 344.9, -0.0, ROT= 165.1, 0.0 2025-10-29T01:15:00.675Z,1761700500.675 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T01:15:00.684Z,1761700500.684 [DAT](INFO): direction in FSK: [-0.966376,0.257133,-0.000000] 2025-10-29T01:15:00.684Z,1761700500.684 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:00.691Z,1761700500.691 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.004301 2025-10-29T01:15:00.696Z,1761700500.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.775542 s, deltaX: 0.100000 m, approachRate: 0.128943 m/s, rangeRepo size: 4 2025-10-29T01:15:00.698Z,1761700500.698 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.195049 m, bearing: 177.739210 deg, lat: 36.779299 deg, lon: -121.859488 deg, deltaT: 0.503826 s, deltaX: -0.000061 m, approachRate: -0.000121 m/s, posRepo size: 4 2025-10-29T01:15:00.699Z,1761700500.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-29T01:15:00.724Z,1761700500.724 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:15:00.873Z,1761700500.873 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=20.186216 2025-10-29T01:15:01.007Z,1761700501.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974282,-0.215470,-0.065940],[0.219156,0.974144,0.054904],[0.052405,-0.067943,0.996312]] 2025-10-29T01:15:01.077Z,1761700501.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.20 m. 2025-10-29T01:15:01.129Z,1761700501.129 [DAT](INFO): DAT read: Rx Time:01:15:00.6657 2025-10-29T01:15:01.131Z,1761700501.131 [DAT](INFO): Rx dataTimestamp_ set to:1761700501.129839 2025-10-29T01:15:01.135Z,1761700501.135 [DAT](INFO): DAT read: Bearing 343.9, 11.7 (Local) 2025-10-29T01:15:01.136Z,1761700501.136 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 11.7 (Local) 2025-10-29T01:15:01.151Z,1761700501.151 [DAT](INFO): DAT read: Range 11 to 50 : 17.4 m (trip time 11.6 ms) speed -0.3 2025-10-29T01:15:01.175Z,1761700501.175 [DAT](INFO): DAT read: 01:15:00.6657 LVL= 32752, 24561, 32754, 32755, AGC= 67, IDX= 502,-0.09, 1.418, 3.017, 0.992, 1.941, PHS=-0.421, 1.121,-0.992, RAW= 345.2, 3.1, CAL= 344.7, 0.3, ROT= 165.3, -0.3 2025-10-29T01:15:01.181Z,1761700501.181 [DAT](INFO): got valid direction response: 01:15:00.6657 LVL= 32752, 24561, 32754, 32755, AGC= 67, IDX= 502,-0.09, 1.418, 3.017, 0.992, 1.941, PHS=-0.421, 1.121,-0.992, RAW= 345.2, 3.1, CAL= 344.7, 0.3, ROT= 165.3, -0.3 2025-10-29T01:15:01.181Z,1761700501.181 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T01:15:01.182Z,1761700501.182 [DAT](INFO): direction in FSK: [-0.967255,0.253754,0.005236] 2025-10-29T01:15:01.182Z,1761700501.182 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:01.204Z,1761700501.204 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.517305 2025-10-29T01:15:01.379Z,1761700501.379 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=20.691561 2025-10-29T01:15:01.405Z,1761700501.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974801,-0.213234,-0.065537],[0.216868,0.974682,0.054430],[0.052272,-0.067271,0.996365]] 2025-10-29T01:15:01.457Z,1761700501.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.400000 m, deltaT: 0.504446 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:01.458Z,1761700501.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.294346 m, bearing: 177.826664 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.776162 s, deltaX: 0.099297 m, approachRate: 0.127933 m/s, posRepo size: 4 2025-10-29T01:15:01.459Z,1761700501.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.29 m. 2025-10-29T01:15:01.633Z,1761700501.633 [DAT](INFO): DAT read: Rx Time:01:15:01.1659 2025-10-29T01:15:01.635Z,1761700501.635 [DAT](INFO): Rx dataTimestamp_ set to:1761700501.633615 2025-10-29T01:15:01.639Z,1761700501.639 [DAT](INFO): DAT read: Bearing 342.8, 11.6 (Local) 2025-10-29T01:15:01.640Z,1761700501.640 [DAT](INFO): Local bearing/azimuth received: Bearing 342.8, 11.6 (Local) 2025-10-29T01:15:01.669Z,1761700501.669 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed -0.3 2025-10-29T01:15:01.677Z,1761700501.677 [DAT](INFO): DAT read: 01:15:01.1659 LVL= 31712, 23841, 32754, 32755, AGC= 67, IDX= 504,-0.08, 2.942,-1.760, 2.530,-2.802, PHS=-0.437, 1.087,-0.995, RAW= 345.0, 3.7, CAL= 344.6, 1.3, ROT= 165.4, -1.3 2025-10-29T01:15:01.679Z,1761700501.679 [DAT](INFO): got valid direction response: 01:15:01.1659 LVL= 31712, 23841, 32754, 32755, AGC= 67, IDX= 504,-0.08, 2.942,-1.760, 2.530,-2.802, PHS=-0.437, 1.087,-0.995, RAW= 345.0, 3.7, CAL= 344.6, 1.3, ROT= 165.4, -1.3 2025-10-29T01:15:01.680Z,1761700501.680 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T01:15:01.685Z,1761700501.685 [DAT](INFO): direction in FSK: [-0.967460,0.252005,0.022687] 2025-10-29T01:15:01.686Z,1761700501.686 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:01.696Z,1761700501.696 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.008280 2025-10-29T01:15:01.879Z,1761700501.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975292,-0.211077,-0.065208],[0.214692,0.975161,0.054478],[0.052089,-0.067131,0.996384]] 2025-10-29T01:15:01.881Z,1761700501.881 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=21.194082 2025-10-29T01:15:01.916Z,1761700501.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.503776 s, deltaX: 0.300001 m, approachRate: 0.595505 m/s, rangeRepo size: 4 2025-10-29T01:15:01.918Z,1761700501.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.592525 m, bearing: 177.746844 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.503776 s, deltaX: 0.298180 m, approachRate: 0.591889 m/s, posRepo size: 4 2025-10-29T01:15:01.919Z,1761700501.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m. 2025-10-29T01:15:02.141Z,1761700502.141 [DAT](INFO): DAT read: Rx Time:01:15:01.6659 2025-10-29T01:15:02.142Z,1761700502.142 [DAT](INFO): Rx dataTimestamp_ set to:1761700502.141451 2025-10-29T01:15:02.147Z,1761700502.147 [DAT](INFO): DAT read: Bearing 343.9, 11.6 (Local) 2025-10-29T01:15:02.148Z,1761700502.148 [DAT](INFO): Local bearing/azimuth received: Bearing 343.9, 11.6 (Local) 2025-10-29T01:15:02.179Z,1761700502.179 [DAT](INFO): DAT read: Range 11 to 50 : 17.7 m (trip time 11.8 ms) speed 0.0 2025-10-29T01:15:02.209Z,1761700502.209 [DAT](INFO): DAT read: 01:15:01.6659 LVL= 30768, 20849, 32754, 32755, AGC= 67, IDX= 504,-0.01, 1.625,-3.072, 1.213, 2.142, PHS=-0.414, 1.114,-0.973, RAW= 345.0, 2.9, CAL= 344.5, 0.0, ROT= 165.5, -0.0 2025-10-29T01:15:02.210Z,1761700502.210 [DAT](INFO): got valid direction response: 01:15:01.6659 LVL= 30768, 20849, 32754, 32755, AGC= 67, IDX= 504,-0.01, 1.625,-3.072, 1.213, 2.142, PHS=-0.414, 1.114,-0.973, RAW= 345.0, 2.9, CAL= 344.5, 0.0, ROT= 165.5, -0.0 2025-10-29T01:15:02.210Z,1761700502.210 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T01:15:02.211Z,1761700502.211 [DAT](INFO): direction in FSK: [-0.968148,0.250380,0.000000] 2025-10-29T01:15:02.212Z,1761700502.212 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:02.219Z,1761700502.219 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.532354 2025-10-29T01:15:02.337Z,1761700502.337 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975849,-0.208499,-0.065169],[0.212161,0.975662,0.055427],[0.052026,-0.067915,0.996334]] 2025-10-29T01:15:02.360Z,1761700502.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.700001 m, deltaT: 0.507836 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:02.362Z,1761700502.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.592525 m, bearing: 177.766515 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.507836 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:02.363Z,1761700502.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.59 m. 2025-10-29T01:15:02.385Z,1761700502.385 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=21.697851 2025-10-29T01:15:02.641Z,1761700502.641 [DAT](INFO): DAT read: Rx Time:01:15:02.1661 2025-10-29T01:15:02.643Z,1761700502.643 [DAT](INFO): Rx dataTimestamp_ set to:1761700502.641562 2025-10-29T01:15:02.646Z,1761700502.646 [DAT](INFO): DAT read: Bearing 341.2, 11.3 (Local) 2025-10-29T01:15:02.647Z,1761700502.647 [DAT](INFO): Local bearing/azimuth received: Bearing 341.2, 11.3 (Local) 2025-10-29T01:15:02.665Z,1761700502.665 [DAT](INFO): DAT read: Range 11 to 50 : 18.0 m (trip time 12.0 ms) speed -0.5 2025-10-29T01:15:02.694Z,1761700502.694 [DAT](INFO): DAT read: 01:15:02.1661 LVL= 31504, 24561, 32754, 32755, AGC= 68, IDX= 506, 0.06,-2.760,-1.186, 3.127,-2.195, PHS=-0.463, 1.054,-1.005, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 2025-10-29T01:15:02.695Z,1761700502.695 [DAT](INFO): got valid direction response: 01:15:02.1661 LVL= 31504, 24561, 32754, 32755, AGC= 68, IDX= 506, 0.06,-2.760,-1.186, 3.127,-2.195, PHS=-0.463, 1.054,-1.005, RAW= 344.7, 4.5, CAL= 344.4, 2.5, ROT= 165.6, -2.5 2025-10-29T01:15:02.695Z,1761700502.695 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T01:15:02.708Z,1761700502.708 [DAT](INFO): direction in FSK: [-0.967661,0.248453,0.043619] 2025-10-29T01:15:02.708Z,1761700502.708 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:02.717Z,1761700502.717 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.029678 2025-10-29T01:15:02.766Z,1761700502.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976447,-0.205657,-0.065248],[0.209407,0.976166,0.057005],[0.051969,-0.069326,0.996240]] 2025-10-29T01:15:02.877Z,1761700502.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.000000 m, deltaT: 0.500111 s, deltaX: 0.299999 m, approachRate: 0.599865 m/s, rangeRepo size: 4 2025-10-29T01:15:02.892Z,1761700502.892 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=22.204594 2025-10-29T01:15:02.897Z,1761700502.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.890806 m, bearing: 177.570227 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.500111 s, deltaX: 0.298281 m, approachRate: 0.596429 m/s, posRepo size: 4 2025-10-29T01:15:02.899Z,1761700502.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.89 m. 2025-10-29T01:15:03.146Z,1761700503.146 [DAT](INFO): DAT read: Rx Time:01:15:02.6662 2025-10-29T01:15:03.148Z,1761700503.148 [DAT](INFO): Rx dataTimestamp_ set to:1761700503.146777 2025-10-29T01:15:03.164Z,1761700503.164 [DAT](INFO): DAT read: Bearing 343.0, 10.8 (Local) 2025-10-29T01:15:03.164Z,1761700503.164 [DAT](INFO): Local bearing/azimuth received: Bearing 343.0, 10.8 (Local) 2025-10-29T01:15:03.166Z,1761700503.166 [DAT](INFO): DAT read: Range 11 to 50 : 18.2 m (trip time 12.1 ms) speed -0.1 2025-10-29T01:15:03.171Z,1761700503.171 [DAT](INFO): DAT read: 01:15:02.6662 LVL= 29600, 24625, 32754, 32755, AGC= 67, IDX= 506, 0.36,-0.105, 1.504,-0.485, 0.442, PHS=-0.445, 1.107,-0.971, RAW= 344.1, 3.4, CAL= 343.6, 0.7, ROT= 166.4, -0.7 2025-10-29T01:15:03.185Z,1761700503.185 [DAT](INFO): got valid direction response: 01:15:02.6662 LVL= 29600, 24625, 32754, 32755, AGC= 67, IDX= 506, 0.36,-0.105, 1.504,-0.485, 0.442, PHS=-0.445, 1.107,-0.971, RAW= 344.1, 3.4, CAL= 343.6, 0.7, ROT= 166.4, -0.7 2025-10-29T01:15:03.185Z,1761700503.185 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T01:15:03.186Z,1761700503.186 [DAT](INFO): direction in FSK: [-0.971888,0.235125,0.012217] 2025-10-29T01:15:03.186Z,1761700503.186 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:03.190Z,1761700503.190 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.503527 2025-10-29T01:15:03.393Z,1761700503.393 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=22.706026 2025-10-29T01:15:03.394Z,1761700503.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.200001 m, deltaT: 0.505215 s, deltaX: 0.200001 m, approachRate: 0.395873 m/s, rangeRepo size: 4 2025-10-29T01:15:03.396Z,1761700503.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.089594 m, bearing: 178.467922 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.505215 s, deltaX: 0.198788 m, approachRate: 0.393471 m/s, posRepo size: 4 2025-10-29T01:15:03.399Z,1761700503.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.09 m. 2025-10-29T01:15:03.651Z,1761700503.651 [DAT](INFO): DAT read: Rx Time:01:15:03.1664 2025-10-29T01:15:03.653Z,1761700503.653 [DAT](INFO): Rx dataTimestamp_ set to:1761700503.651863 2025-10-29T01:15:03.657Z,1761700503.657 [DAT](INFO): DAT read: Bearing 342.4, 10.1 (Local) 2025-10-29T01:15:03.658Z,1761700503.658 [DAT](INFO): Local bearing/azimuth received: Bearing 342.4, 10.1 (Local) 2025-10-29T01:15:03.681Z,1761700503.681 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.1 2025-10-29T01:15:03.686Z,1761700503.686 [DAT](INFO): DAT read: 01:15:03.1664 LVL= 32368, 26705, 32754, 32755, AGC= 69, IDX= 509,-0.24, 3.034,-1.649, 2.687,-2.687, PHS=-0.460, 1.083,-0.953, RAW= 343.4, 3.6, CAL= 343.0, 1.1, ROT= 167.0, -1.1 2025-10-29T01:15:03.687Z,1761700503.687 [DAT](INFO): got valid direction response: 01:15:03.1664 LVL= 32368, 26705, 32754, 32755, AGC= 69, IDX= 509,-0.24, 3.034,-1.649, 2.687,-2.687, PHS=-0.460, 1.083,-0.953, RAW= 343.4, 3.6, CAL= 343.0, 1.1, ROT= 167.0, -1.1 2025-10-29T01:15:03.688Z,1761700503.688 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T01:15:03.697Z,1761700503.697 [DAT](INFO): direction in FSK: [-0.974190,0.224910,0.019197] 2025-10-29T01:15:03.697Z,1761700503.697 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:03.717Z,1761700503.717 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.030081 2025-10-29T01:15:03.752Z,1761700503.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977752,-0.199426,-0.065045],[0.203268,0.977344,0.058998],[0.051806,-0.070907,0.996137]] 2025-10-29T01:15:03.824Z,1761700503.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.505086 s, deltaX: 0.299999 m, approachRate: 0.593957 m/s, rangeRepo size: 4 2025-10-29T01:15:03.826Z,1761700503.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.388990 m, bearing: 178.684916 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.505086 s, deltaX: 0.299397 m, approachRate: 0.592763 m/s, posRepo size: 4 2025-10-29T01:15:03.827Z,1761700503.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T01:15:03.902Z,1761700503.902 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=23.215099 2025-10-29T01:15:04.158Z,1761700504.158 [DAT](INFO): DAT read: Rx Time:01:15:03.6664 2025-10-29T01:15:04.159Z,1761700504.159 [DAT](INFO): Rx dataTimestamp_ set to:1761700504.158185 2025-10-29T01:15:04.162Z,1761700504.162 [DAT](INFO): DAT read: Bearing 343.4, 11.1 (Local) 2025-10-29T01:15:04.163Z,1761700504.163 [DAT](INFO): Local bearing/azimuth received: Bearing 343.4, 11.1 (Local) 2025-10-29T01:15:04.165Z,1761700504.165 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 2025-10-29T01:15:04.190Z,1761700504.190 [DAT](INFO): DAT read: 01:15:03.6664 LVL= 30800, 23537, 32754, 32755, AGC= 70, IDX= 509,-0.20, 2.803,-1.899, 2.419,-2.959, PHS=-0.419, 1.106,-0.949, RAW= 344.4, 2.9, CAL= 343.9, -0.1, ROT= 166.1, 0.1 2025-10-29T01:15:04.191Z,1761700504.191 [DAT](INFO): got valid direction response: 01:15:03.6664 LVL= 30800, 23537, 32754, 32755, AGC= 70, IDX= 509,-0.20, 2.803,-1.899, 2.419,-2.959, PHS=-0.419, 1.106,-0.949, RAW= 344.4, 2.9, CAL= 343.9, -0.1, ROT= 166.1, 0.1 2025-10-29T01:15:04.191Z,1761700504.191 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-29T01:15:04.200Z,1761700504.200 [DAT](INFO): direction in FSK: [-0.970715,0.240228,-0.001745] 2025-10-29T01:15:04.201Z,1761700504.201 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:04.215Z,1761700504.215 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.527678 2025-10-29T01:15:04.221Z,1761700504.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979016,-0.193560,-0.063731],[0.197119,0.978821,0.055263],[0.051684,-0.066666,0.996436]] 2025-10-29T01:15:04.318Z,1761700504.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.506322 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:04.325Z,1761700504.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.388990 m, bearing: 177.489762 deg, lat: 36.779298 deg, lon: -121.859487 deg, deltaT: 0.506322 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:04.325Z,1761700504.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T01:15:04.406Z,1761700504.406 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=23.718765 2025-10-29T01:15:04.591Z,1761700504.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979597,-0.190627,-0.063649],[0.194190,0.979396,0.055438],[0.051770,-0.066667,0.996431]] 2025-10-29T01:15:04.662Z,1761700504.662 [DAT](INFO): DAT read: Rx Time:01:15:04.1665 2025-10-29T01:15:04.663Z,1761700504.663 [DAT](INFO): Rx dataTimestamp_ set to:1761700504.662500 2025-10-29T01:15:04.664Z,1761700504.664 [DAT](INFO): DAT read: Bearing 342.2, 11.1 (Local) 2025-10-29T01:15:04.665Z,1761700504.665 [DAT](INFO): Local bearing/azimuth received: Bearing 342.2, 11.1 (Local) 2025-10-29T01:15:04.667Z,1761700504.667 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed -0.1 2025-10-29T01:15:04.684Z,1761700504.684 [DAT](INFO): DAT read: 01:15:04.1665 LVL= 32752, 23617, 32754, 32755, AGC= 72, IDX= 510,-0.30,-2.005,-0.420,-2.391,-1.463, PHS=-0.440, 1.088,-0.972, RAW= 344.4, 3.5, CAL= 344.0, 1.0, ROT= 166.0, -1.0 2025-10-29T01:15:04.685Z,1761700504.685 [DAT](INFO): got valid direction response: 01:15:04.1665 LVL= 32752, 23617, 32754, 32755, AGC= 72, IDX= 510,-0.30,-2.005,-0.420,-2.391,-1.463, PHS=-0.440, 1.088,-0.972, RAW= 344.4, 3.5, CAL= 344.0, 1.0, ROT= 166.0, -1.0 2025-10-29T01:15:04.685Z,1761700504.685 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-29T01:15:04.686Z,1761700504.686 [DAT](INFO): direction in FSK: [-0.970148,0.241885,0.017452] 2025-10-29T01:15:04.687Z,1761700504.687 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:04.714Z,1761700504.714 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.027315 2025-10-29T01:15:04.737Z,1761700504.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504315 s, deltaX: 0.100000 m, approachRate: 0.198290 m/s, rangeRepo size: 4 2025-10-29T01:15:04.739Z,1761700504.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.488569 m, bearing: 177.160675 deg, lat: 36.779298 deg, lon: -121.859487 deg, deltaT: 0.504315 s, deltaX: 0.099579 m, approachRate: 0.197454 m/s, posRepo size: 4 2025-10-29T01:15:04.739Z,1761700504.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m. 2025-10-29T01:15:04.913Z,1761700504.913 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=24.225546 2025-10-29T01:15:05.029Z,1761700505.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980149,-0.187728,-0.063771],[0.191380,0.979862,0.056964],[0.051793,-0.068037,0.996337]] 2025-10-29T01:15:05.110Z,1761700505.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.49 m. 2025-10-29T01:15:05.163Z,1761700505.163 [DAT](INFO): DAT read: Rx Time:01:15:04.6664 2025-10-29T01:15:05.164Z,1761700505.164 [DAT](INFO): Rx dataTimestamp_ set to:1761700505.163270 2025-10-29T01:15:05.165Z,1761700505.165 [DAT](INFO): DAT read: Bearing 342.3, 10.9 (Local) 2025-10-29T01:15:05.165Z,1761700505.165 [DAT](INFO): Local bearing/azimuth received: Bearing 342.3, 10.9 (Local) 2025-10-29T01:15:05.167Z,1761700505.167 [DAT](INFO): DAT read: Range 11 to 50 : 18.5 m (trip time 12.3 ms) speed -0.3 2025-10-29T01:15:05.172Z,1761700505.172 [DAT](INFO): DAT read: 01:15:04.6664 LVL= 32752, 23137, 32754, 32755, AGC= 72, IDX= 510,-0.39,-1.164, 0.437,-1.548,-0.620, PHS=-0.442, 1.101,-0.972, RAW= 344.2, 3.4, CAL= 343.8, 0.7, ROT= 166.2, -0.7 2025-10-29T01:15:05.173Z,1761700505.173 [DAT](INFO): got valid direction response: 01:15:04.6664 LVL= 32752, 23137, 32754, 32755, AGC= 72, IDX= 510,-0.39,-1.164, 0.437,-1.548,-0.620, PHS=-0.442, 1.101,-0.972, RAW= 344.2, 3.4, CAL= 343.8, 0.7, ROT= 166.2, -0.7 2025-10-29T01:15:05.174Z,1761700505.174 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T01:15:05.175Z,1761700505.175 [DAT](INFO): direction in FSK: [-0.971062,0.238516,0.012217] 2025-10-29T01:15:05.175Z,1761700505.175 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:05.183Z,1761700505.183 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.495640 2025-10-29T01:15:05.413Z,1761700505.413 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=24.726498 2025-10-29T01:15:05.452Z,1761700505.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980706,-0.184714,-0.064008],[0.188478,0.980315,0.058810],[0.051885,-0.069739,0.996215]] 2025-10-29T01:15:05.492Z,1761700505.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.500000 m, deltaT: 0.500770 s, deltaX: -0.100000 m, approachRate: -0.199693 m/s, rangeRepo size: 4 2025-10-29T01:15:05.494Z,1761700505.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.388550 m, bearing: 177.042645 deg, lat: 36.779298 deg, lon: -121.859487 deg, deltaT: 0.500770 s, deltaX: -0.100019 m, approachRate: -0.199731 m/s, posRepo size: 4 2025-10-29T01:15:05.495Z,1761700505.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T01:15:05.665Z,1761700505.665 [DAT](INFO): DAT read: Rx Time:01:15:05.1666 2025-10-29T01:15:05.666Z,1761700505.666 [DAT](INFO): Rx dataTimestamp_ set to:1761700505.665318 2025-10-29T01:15:05.667Z,1761700505.667 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.4 2025-10-29T01:15:05.667Z,1761700505.667 [DAT](ERROR): #Rx 46: Read range message, but no direction. 2025-10-29T01:15:05.669Z,1761700505.669 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=24.981537 2025-10-29T01:15:05.919Z,1761700505.919 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=25.232183 2025-10-29T01:15:05.941Z,1761700505.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981298,-0.181494,-0.064146],[0.185381,0.980775,0.060949],[0.051851,-0.071701,0.996078]] 2025-10-29T01:15:05.986Z,1761700505.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.502048 s, deltaX: 0.299999 m, approachRate: 0.597551 m/s, rangeRepo size: 4 2025-10-29T01:15:05.986Z,1761700505.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T01:15:06.170Z,1761700506.170 [DAT](INFO): DAT read: Rx Time:01:15:05.6666 2025-10-29T01:15:06.171Z,1761700506.171 [DAT](INFO): Rx dataTimestamp_ set to:1761700506.170009 2025-10-29T01:15:06.172Z,1761700506.172 [DAT](INFO): DAT read: Range 11 to 50 : 18.8 m (trip time 12.5 ms) speed -0.2 2025-10-29T01:15:06.173Z,1761700506.173 [DAT](ERROR): #Rx 47: Read range message, but no direction. 2025-10-29T01:15:06.175Z,1761700506.175 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.487450 2025-10-29T01:15:06.343Z,1761700506.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981768,-0.178893,-0.064252],[0.182873,0.981145,0.062542],[0.051853,-0.073151,0.995972]] 2025-10-29T01:15:06.362Z,1761700506.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.799999 m, deltaT: 0.504691 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:06.363Z,1761700506.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.39 m. 2025-10-29T01:15:06.421Z,1761700506.421 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=25.734203 2025-10-29T01:15:06.677Z,1761700506.677 [DAT](INFO): DAT read: Rx Time:01:15:06.1667 2025-10-29T01:15:06.677Z,1761700506.677 [DAT](INFO): Rx dataTimestamp_ set to:1761700506.676759 2025-10-29T01:15:06.678Z,1761700506.678 [DAT](INFO): DAT read: Bearing 325.8, 13.8 (Local) 2025-10-29T01:15:06.679Z,1761700506.679 [DAT](INFO): Local bearing/azimuth received: Bearing 325.8, 13.8 (Local) 2025-10-29T01:15:06.681Z,1761700506.681 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.3 2025-10-29T01:15:06.688Z,1761700506.688 [DAT](INFO): DAT read: 01:15:06.1667 LVL= 32752, 28577, 32754, 32755, AGC= 70, IDX= 514,-0.48,-0.662, 0.785,-1.164, 0.082, PHS=-0.642, 0.749,-1.290, RAW= 348.1, 13.1, CAL= 348.5, 15.9, ROT= 161.5, -15.9 2025-10-29T01:15:06.694Z,1761700506.694 [DAT](INFO): got valid direction response: 01:15:06.1667 LVL= 32752, 28577, 32754, 32755, AGC= 70, IDX= 514,-0.48,-0.662, 0.785,-1.164, 0.082, PHS=-0.642, 0.749,-1.290, RAW= 348.1, 13.1, CAL= 348.5, 15.9, ROT= 161.5, -15.9 2025-10-29T01:15:06.694Z,1761700506.694 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T01:15:06.695Z,1761700506.695 [DAT](INFO): direction in FSK: [-0.912042,0.305165,0.273959] 2025-10-29T01:15:06.695Z,1761700506.695 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:06.719Z,1761700506.719 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.032331 2025-10-29T01:15:06.772Z,1761700506.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982225,-0.176359,-0.064285],[0.180408,0.981520,0.063811],[0.051844,-0.074274,0.995889]] 2025-10-29T01:15:06.834Z,1761700506.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.506750 s, deltaX: 0.100000 m, approachRate: 0.197337 m/s, rangeRepo size: 4 2025-10-29T01:15:06.841Z,1761700506.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.787134 m, bearing: 171.042310 deg, lat: 36.779298 deg, lon: -121.859486 deg, deltaT: 1.513489 s, deltaX: 0.398584 m, approachRate: 0.263355 m/s, posRepo size: 4 2025-10-29T01:15:06.841Z,1761700506.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-29T01:15:06.928Z,1761700506.928 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=26.240332 2025-10-29T01:15:07.178Z,1761700507.178 [DAT](INFO): DAT read: Rx Time:01:15:06.6667 2025-10-29T01:15:07.179Z,1761700507.179 [DAT](INFO): Rx dataTimestamp_ set to:1761700507.178590 2025-10-29T01:15:07.180Z,1761700507.180 [DAT](INFO): DAT read: Bearing 328.1, 13.0 (Local) 2025-10-29T01:15:07.181Z,1761700507.181 [DAT](INFO): Local bearing/azimuth received: Bearing 328.1, 13.0 (Local) 2025-10-29T01:15:07.183Z,1761700507.183 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed -0.2 2025-10-29T01:15:07.187Z,1761700507.187 [DAT](INFO): DAT read: 01:15:06.6667 LVL= 32752, 26129, 32754, 32755, AGC= 71, IDX= 514,-0.42,-2.518,-1.002,-3.000,-1.779, PHS=-0.637, 0.822,-1.265, RAW= 347.0, 11.6, CAL= 347.3, 13.7, ROT= 162.7, -13.7 2025-10-29T01:15:07.189Z,1761700507.189 [DAT](INFO): got valid direction response: 01:15:06.6667 LVL= 32752, 26129, 32754, 32755, AGC= 71, IDX= 514,-0.42,-2.518,-1.002,-3.000,-1.779, PHS=-0.637, 0.822,-1.265, RAW= 347.0, 11.6, CAL= 347.3, 13.7, ROT= 162.7, -13.7 2025-10-29T01:15:07.189Z,1761700507.189 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T01:15:07.190Z,1761700507.190 [DAT](INFO): direction in FSK: [-0.927597,0.288914,0.236838] 2025-10-29T01:15:07.190Z,1761700507.190 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:07.226Z,1761700507.226 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.539106 2025-10-29T01:15:07.250Z,1761700507.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982560,-0.174502,-0.064228],[0.178566,0.981835,0.064138],[0.051869,-0.074489,0.995872]] 2025-10-29T01:15:07.358Z,1761700507.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.501831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:07.364Z,1761700507.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.787134 m, bearing: 172.235649 deg, lat: 36.779301 deg, lon: -121.859486 deg, deltaT: 0.501831 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:07.365Z,1761700507.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.79 m. 2025-10-29T01:15:07.429Z,1761700507.429 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=26.742270 2025-10-29T01:15:07.682Z,1761700507.682 [DAT](INFO): DAT read: Rx Time:01:15:07.1670 2025-10-29T01:15:07.682Z,1761700507.682 [DAT](INFO): Rx dataTimestamp_ set to:1761700507.681788 2025-10-29T01:15:07.683Z,1761700507.683 [DAT](INFO): DAT read: Bearing 341.5, 11.4 (Local) 2025-10-29T01:15:07.684Z,1761700507.684 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, 11.4 (Local) 2025-10-29T01:15:07.686Z,1761700507.686 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.3 2025-10-29T01:15:07.692Z,1761700507.692 [DAT](INFO): DAT read: 01:15:07.1670 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 4,-0.31, 1.128, 2.715, 0.728, 1.663, PHS=-0.433, 1.096,-0.979, RAW= 344.7, 3.4, CAL= 344.3, 0.8, ROT= 165.7, -0.8 2025-10-29T01:15:07.693Z,1761700507.693 [DAT](INFO): got valid direction response: 01:15:07.1670 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 4,-0.31, 1.128, 2.715, 0.728, 1.663, PHS=-0.433, 1.096,-0.979, RAW= 344.7, 3.4, CAL= 344.3, 0.8, ROT= 165.7, -0.8 2025-10-29T01:15:07.694Z,1761700507.694 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T01:15:07.695Z,1761700507.695 [DAT](INFO): direction in FSK: [-0.968921,0.246975,0.013962] 2025-10-29T01:15:07.695Z,1761700507.695 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:07.724Z,1761700507.724 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.036636 2025-10-29T01:15:07.803Z,1761700507.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983140,-0.171350,-0.063834],[0.175245,0.982608,0.061405],[0.052203,-0.071556,0.996070]] 2025-10-29T01:15:07.938Z,1761700507.938 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=27.248362 2025-10-29T01:15:07.982Z,1761700507.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.503198 s, deltaX: 0.500000 m, approachRate: 0.993645 m/s, rangeRepo size: 4 2025-10-29T01:15:07.988Z,1761700507.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.284252 m, bearing: 175.764972 deg, lat: 36.779301 deg, lon: -121.859484 deg, deltaT: 0.503198 s, deltaX: 0.497118 m, approachRate: 0.987917 m/s, posRepo size: 4 2025-10-29T01:15:07.989Z,1761700507.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m. 2025-10-29T01:15:08.186Z,1761700508.186 [DAT](INFO): DAT read: Rx Time:01:15:07.6670 2025-10-29T01:15:08.186Z,1761700508.186 [DAT](INFO): Rx dataTimestamp_ set to:1761700508.185959 2025-10-29T01:15:08.188Z,1761700508.188 [DAT](INFO): DAT read: Bearing 341.5, 11.0 (Local) 2025-10-29T01:15:08.188Z,1761700508.188 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, 11.0 (Local) 2025-10-29T01:15:08.190Z,1761700508.190 [DAT](INFO): DAT read: Range 11 to 50 : 19.4 m (trip time 12.9 ms) speed -0.2 2025-10-29T01:15:08.195Z,1761700508.195 [DAT](INFO): DAT read: 01:15:07.6670 LVL= 32752, 25137, 32754, 32755, AGC= 73, IDX= 500,-0.21,-1.569, 0.032,-1.957,-1.024, PHS=-0.442, 1.101,-0.976, RAW= 344.3, 3.4, CAL= 343.9, 0.8, ROT= 166.1, -0.8 2025-10-29T01:15:08.196Z,1761700508.196 [DAT](INFO): got valid direction response: 01:15:07.6670 LVL= 32752, 25137, 32754, 32755, AGC= 73, IDX= 500,-0.21,-1.569, 0.032,-1.957,-1.024, PHS=-0.442, 1.101,-0.976, RAW= 344.3, 3.4, CAL= 343.9, 0.8, ROT= 166.1, -0.8 2025-10-29T01:15:08.196Z,1761700508.196 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T01:15:08.197Z,1761700508.197 [DAT](INFO): direction in FSK: [-0.970622,0.240204,0.013962] 2025-10-29T01:15:08.197Z,1761700508.197 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:08.226Z,1761700508.226 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.539211 2025-10-29T01:15:08.274Z,1761700508.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983307,-0.170431,-0.063721],[0.174196,0.982936,0.059098],[0.052561,-0.069212,0.996216]] 2025-10-29T01:15:08.378Z,1761700508.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.400000 m, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:08.385Z,1761700508.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.284252 m, bearing: 176.103716 deg, lat: 36.779301 deg, lon: -121.859484 deg, deltaT: 0.504171 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:08.385Z,1761700508.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.28 m. 2025-10-29T01:15:08.438Z,1761700508.438 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=27.750725 2025-10-29T01:15:08.690Z,1761700508.690 [DAT](INFO): DAT read: Rx Time:01:15:08.1671 2025-10-29T01:15:08.690Z,1761700508.690 [DAT](INFO): Rx dataTimestamp_ set to:1761700508.689743 2025-10-29T01:15:08.691Z,1761700508.691 [DAT](INFO): DAT read: Bearing 341.9, 11.2 (Local) 2025-10-29T01:15:08.692Z,1761700508.692 [DAT](INFO): Local bearing/azimuth received: Bearing 341.9, 11.2 (Local) 2025-10-29T01:15:08.694Z,1761700508.694 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.2 2025-10-29T01:15:08.698Z,1761700508.698 [DAT](INFO): DAT read: 01:15:08.1671 LVL= 32752, 25041, 32754, 32755, AGC= 73, IDX= 501,-0.07, 2.968,-1.731, 2.577,-2.787, PHS=-0.425, 1.101,-0.963, RAW= 344.5, 3.1, CAL= 344.1, 0.3, ROT= 165.9, -0.3 2025-10-29T01:15:08.700Z,1761700508.700 [DAT](INFO): got valid direction response: 01:15:08.1671 LVL= 32752, 25041, 32754, 32755, AGC= 73, IDX= 501,-0.07, 2.968,-1.731, 2.577,-2.787, PHS=-0.425, 1.101,-0.963, RAW= 344.5, 3.1, CAL= 344.1, 0.3, ROT= 165.9, -0.3 2025-10-29T01:15:08.700Z,1761700508.700 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T01:15:08.701Z,1761700508.701 [DAT](INFO): direction in FSK: [-0.969859,0.243612,0.005236] 2025-10-29T01:15:08.701Z,1761700508.701 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:08.709Z,1761700508.709 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.022041 2025-10-29T01:15:08.771Z,1761700508.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983397,-0.169941,-0.063641],[0.173594,0.983162,0.057073],[0.052870,-0.067173,0.996339]] 2025-10-29T01:15:08.849Z,1761700508.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.503784 s, deltaX: 0.100000 m, approachRate: 0.198499 m/s, rangeRepo size: 4 2025-10-29T01:15:08.851Z,1761700508.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.383677 m, bearing: 175.894890 deg, lat: 36.779299 deg, lon: -121.859484 deg, deltaT: 0.503784 s, deltaX: 0.099424 m, approachRate: 0.197355 m/s, posRepo size: 4 2025-10-29T01:15:08.851Z,1761700508.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-29T01:15:08.949Z,1761700508.949 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=28.260380 2025-10-29T01:15:09.170Z,1761700509.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983508,-0.169212,-0.063864],[0.172821,0.983362,0.055971],[0.053330,-0.066085,0.996388]] 2025-10-29T01:15:09.198Z,1761700509.198 [DAT](INFO): DAT read: Rx Time:01:15:08.6671 2025-10-29T01:15:09.198Z,1761700509.198 [DAT](INFO): Rx dataTimestamp_ set to:1761700509.197786 2025-10-29T01:15:09.199Z,1761700509.199 [DAT](INFO): DAT read: Bearing 340.2, 10.7 (Local) 2025-10-29T01:15:09.210Z,1761700509.210 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, 10.7 (Local) 2025-10-29T01:15:09.213Z,1761700509.213 [DAT](INFO): DAT read: Range 11 to 50 : 19.5 m (trip time 13.0 ms) speed -0.1 2025-10-29T01:15:09.217Z,1761700509.217 [DAT](INFO): DAT read: 01:15:08.6671 LVL= 32752, 31057, 32754, 32755, AGC= 71, IDX= 501,-0.08, 1.142, 2.742, 0.763, 1.711, PHS=-0.467, 1.076,-0.992, RAW= 344.1, 4.2, CAL= 343.8, 1.9, ROT= 166.2, -1.9 2025-10-29T01:15:09.219Z,1761700509.219 [DAT](INFO): got valid direction response: 01:15:08.6671 LVL= 32752, 31057, 32754, 32755, AGC= 71, IDX= 501,-0.08, 1.142, 2.742, 0.763, 1.711, PHS=-0.467, 1.076,-0.992, RAW= 344.1, 4.2, CAL= 343.8, 1.9, ROT= 166.2, -1.9 2025-10-29T01:15:09.219Z,1761700509.219 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T01:15:09.244Z,1761700509.244 [DAT](INFO): direction in FSK: [-0.970600,0.238402,0.033155] 2025-10-29T01:15:09.244Z,1761700509.244 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:09.256Z,1761700509.256 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.569086 2025-10-29T01:15:09.315Z,1761700509.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.500000 m, deltaT: 0.508043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:09.321Z,1761700509.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.383677 m, bearing: 176.066888 deg, lat: 36.779299 deg, lon: -121.859485 deg, deltaT: 0.508043 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:09.322Z,1761700509.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-29T01:15:09.449Z,1761700509.449 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=28.762011 2025-10-29T01:15:09.545Z,1761700509.545 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983547,-0.168904,-0.064084],[0.172477,0.983475,0.055032],[0.053730,-0.065180,0.996426]] 2025-10-29T01:15:09.580Z,1761700509.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.38 m. 2025-10-29T01:15:09.701Z,1761700509.701 [DAT](INFO): DAT read: Rx Time:01:15:09.1673 2025-10-29T01:15:09.702Z,1761700509.702 [DAT](INFO): Rx dataTimestamp_ set to:1761700509.701694 2025-10-29T01:15:09.703Z,1761700509.703 [DAT](INFO): DAT read: Bearing 341.8, 10.5 (Local) 2025-10-29T01:15:09.704Z,1761700509.704 [DAT](INFO): Local bearing/azimuth received: Bearing 341.8, 10.5 (Local) 2025-10-29T01:15:09.707Z,1761700509.707 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-29T01:15:09.711Z,1761700509.711 [DAT](INFO): DAT read: 01:15:09.1673 LVL= 31456, 24689, 32754, 32755, AGC= 70, IDX= 503,-0.26,-3.071,-1.465, 2.843,-2.528, PHS=-0.441, 1.107,-0.956, RAW= 343.9, 3.2, CAL= 343.4, 0.4, ROT= 166.6, -0.4 2025-10-29T01:15:09.716Z,1761700509.716 [DAT](INFO): got valid direction response: 01:15:09.1673 LVL= 31456, 24689, 32754, 32755, AGC= 70, IDX= 503,-0.26,-3.071,-1.465, 2.843,-2.528, PHS=-0.441, 1.107,-0.956, RAW= 343.9, 3.2, CAL= 343.4, 0.4, ROT= 166.6, -0.4 2025-10-29T01:15:09.716Z,1761700509.716 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T01:15:09.717Z,1761700509.717 [DAT](INFO): direction in FSK: [-0.972752,0.231742,0.006981] 2025-10-29T01:15:09.718Z,1761700509.718 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:09.722Z,1761700509.722 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.034571 2025-10-29T01:15:09.957Z,1761700509.957 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=29.268646 2025-10-29T01:15:10.014Z,1761700510.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983547,-0.168839,-0.064249],[0.172406,0.983505,0.054710],[0.053952,-0.064887,0.996433]] 2025-10-29T01:15:10.101Z,1761700510.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.503908 s, deltaX: 0.299999 m, approachRate: 0.595345 m/s, rangeRepo size: 4 2025-10-29T01:15:10.111Z,1761700510.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.681870 m, bearing: 176.519722 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.503908 s, deltaX: 0.298193 m, approachRate: 0.591761 m/s, posRepo size: 4 2025-10-29T01:15:10.117Z,1761700510.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-29T01:15:10.207Z,1761700510.207 [DAT](INFO): DAT read: Rx Time:01:15:09.6673 2025-10-29T01:15:10.207Z,1761700510.207 [DAT](INFO): Rx dataTimestamp_ set to:1761700510.206777 2025-10-29T01:15:10.209Z,1761700510.209 [DAT](INFO): DAT read: Bearing 339.9, 11.2 (Local) 2025-10-29T01:15:10.210Z,1761700510.210 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 11.2 (Local) 2025-10-29T01:15:10.213Z,1761700510.213 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed -0.2 2025-10-29T01:15:10.222Z,1761700510.222 [DAT](INFO): DAT read: 01:15:09.6673 LVL= 32752, 24881, 32754, 32755, AGC= 68, IDX= 502, 0.29,-0.186, 1.401,-0.587, 0.375, PHS=-0.459, 1.071,-1.006, RAW= 344.7, 4.3, CAL= 344.4, 2.1, ROT= 165.6, -2.1 2025-10-29T01:15:10.224Z,1761700510.224 [DAT](INFO): got valid direction response: 01:15:09.6673 LVL= 32752, 24881, 32754, 32755, AGC= 68, IDX= 502, 0.29,-0.186, 1.401,-0.587, 0.375, PHS=-0.459, 1.071,-1.006, RAW= 344.7, 4.3, CAL= 344.4, 2.1, ROT= 165.6, -2.1 2025-10-29T01:15:10.225Z,1761700510.225 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T01:15:10.226Z,1761700510.226 [DAT](INFO): direction in FSK: [-0.967933,0.248523,0.036644] 2025-10-29T01:15:10.226Z,1761700510.226 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:10.230Z,1761700510.230 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.542681 2025-10-29T01:15:10.416Z,1761700510.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983515,-0.169008,-0.064305],[0.172546,0.983514,0.054105],[0.054101,-0.064308,0.996462]] 2025-10-29T01:15:10.450Z,1761700510.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.505083 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:10.452Z,1761700510.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.681870 m, bearing: 175.443878 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.505083 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:10.453Z,1761700510.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.68 m. 2025-10-29T01:15:10.473Z,1761700510.473 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=29.786011 2025-10-29T01:15:10.726Z,1761700510.726 [DAT](INFO): DAT read: Rx Time:01:15:10.1674 2025-10-29T01:15:10.726Z,1761700510.726 [DAT](INFO): Rx dataTimestamp_ set to:1761700510.725818 2025-10-29T01:15:10.727Z,1761700510.727 [DAT](INFO): DAT read: Bearing 339.9, 11.1 (Local) 2025-10-29T01:15:10.728Z,1761700510.728 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 11.1 (Local) 2025-10-29T01:15:10.730Z,1761700510.730 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed -0.3 2025-10-29T01:15:10.735Z,1761700510.735 [DAT](INFO): DAT read: 01:15:10.1674 LVL= 30544, 25329, 32754, 32755, AGC= 67, IDX= 504, 0.04, 2.039,-2.667, 1.647, 2.600, PHS=-0.459, 1.062,-0.997, RAW= 344.6, 4.3, CAL= 344.2, 2.2, ROT= 165.8, -2.2 2025-10-29T01:15:10.736Z,1761700510.736 [DAT](INFO): got valid direction response: 01:15:10.1674 LVL= 30544, 25329, 32754, 32755, AGC= 67, IDX= 504, 0.04, 2.039,-2.667, 1.647, 2.600, PHS=-0.459, 1.062,-0.997, RAW= 344.6, 4.3, CAL= 344.2, 2.2, ROT= 165.8, -2.2 2025-10-29T01:15:10.736Z,1761700510.736 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T01:15:10.737Z,1761700510.737 [DAT](INFO): direction in FSK: [-0.968731,0.245127,0.038388] 2025-10-29T01:15:10.737Z,1761700510.737 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:10.742Z,1761700510.742 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.055447 2025-10-29T01:15:10.823Z,1761700510.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983439,-0.169466,-0.064257],[0.172937,0.983509,0.052934],[0.054227,-0.063170,0.996528]] 2025-10-29T01:15:10.903Z,1761700510.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.519041 s, deltaX: 0.200001 m, approachRate: 0.385327 m/s, rangeRepo size: 4 2025-10-29T01:15:10.909Z,1761700510.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.881418 m, bearing: 175.663147 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.519041 s, deltaX: 0.199549 m, approachRate: 0.384457 m/s, posRepo size: 4 2025-10-29T01:15:10.910Z,1761700510.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-29T01:15:10.980Z,1761700510.980 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=30.292532 2025-10-29T01:15:11.230Z,1761700511.230 [DAT](INFO): DAT read: Rx Time:01:15:10.6674 2025-10-29T01:15:11.230Z,1761700511.230 [DAT](INFO): Rx dataTimestamp_ set to:1761700511.229753 2025-10-29T01:15:11.231Z,1761700511.231 [DAT](INFO): DAT read: Bearing 342.0, 11.3 (Local) 2025-10-29T01:15:11.232Z,1761700511.232 [DAT](INFO): Local bearing/azimuth received: Bearing 342.0, 11.3 (Local) 2025-10-29T01:15:11.234Z,1761700511.234 [DAT](INFO): DAT read: Range 11 to 50 : 20.0 m (trip time 13.3 ms) speed 0.1 2025-10-29T01:15:11.238Z,1761700511.238 [DAT](INFO): DAT read: 01:15:10.6674 LVL= 28512, 22257, 32754, 32755, AGC= 67, IDX= 504,-0.10,-0.356, 1.232,-0.764, 0.163, PHS=-0.417, 1.114,-0.971, RAW= 344.9, 3.0, CAL= 344.4, 0.1, ROT= 165.6, -0.1 2025-10-29T01:15:11.239Z,1761700511.239 [DAT](INFO): got valid direction response: 01:15:10.6674 LVL= 28512, 22257, 32754, 32755, AGC= 67, IDX= 504,-0.10,-0.356, 1.232,-0.764, 0.163, PHS=-0.417, 1.114,-0.971, RAW= 344.9, 3.0, CAL= 344.4, 0.1, ROT= 165.6, -0.1 2025-10-29T01:15:11.243Z,1761700511.243 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T01:15:11.280Z,1761700511.280 [DAT](INFO): direction in FSK: [-0.968582,0.248689,0.001745] 2025-10-29T01:15:11.280Z,1761700511.280 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:11.292Z,1761700511.292 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.596865 2025-10-29T01:15:11.392Z,1761700511.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.000000 m, deltaT: 0.503935 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:11.394Z,1761700511.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.881418 m, bearing: 175.563861 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.503935 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:11.395Z,1761700511.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-29T01:15:11.481Z,1761700511.481 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=30.794516 2025-10-29T01:15:11.714Z,1761700511.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.88 m. 2025-10-29T01:15:11.736Z,1761700511.736 [DAT](INFO): DAT read: Rx Time:01:15:11.1676 2025-10-29T01:15:11.736Z,1761700511.736 [DAT](INFO): Rx dataTimestamp_ set to:1761700511.736142 2025-10-29T01:15:11.738Z,1761700511.738 [DAT](INFO): DAT read: Bearing 340.4, 11.5 (Local) 2025-10-29T01:15:11.738Z,1761700511.738 [DAT](INFO): Local bearing/azimuth received: Bearing 340.4, 11.5 (Local) 2025-10-29T01:15:11.741Z,1761700511.741 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.0 2025-10-29T01:15:11.747Z,1761700511.747 [DAT](INFO): DAT read: 01:15:11.1676 LVL= 31728, 22369, 32754, 32755, AGC= 67, IDX= 506,-0.34, 1.397, 2.985, 0.978, 1.945, PHS=-0.446, 1.085,-1.011, RAW= 345.1, 4.0, CAL= 344.7, 1.7, ROT= 165.3, -1.7 2025-10-29T01:15:11.761Z,1761700511.761 [DAT](INFO): got valid direction response: 01:15:11.1676 LVL= 31728, 22369, 32754, 32755, AGC= 67, IDX= 506,-0.34, 1.397, 2.985, 0.978, 1.945, PHS=-0.446, 1.085,-1.011, RAW= 345.1, 4.0, CAL= 344.7, 1.7, ROT= 165.3, -1.7 2025-10-29T01:15:11.762Z,1761700511.762 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T01:15:11.763Z,1761700511.763 [DAT](INFO): direction in FSK: [-0.966842,0.253646,0.029666] 2025-10-29T01:15:11.764Z,1761700511.764 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:11.777Z,1761700511.777 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.090164 2025-10-29T01:15:11.989Z,1761700511.989 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=31.301661 2025-10-29T01:15:12.043Z,1761700512.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983334,-0.170139,-0.064079],[0.173538,0.983463,0.051825],[0.054202,-0.062081,0.996598]] 2025-10-29T01:15:12.158Z,1761700512.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.506389 s, deltaX: 0.299999 m, approachRate: 0.592428 m/s, rangeRepo size: 4 2025-10-29T01:15:12.166Z,1761700512.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.180370 m, bearing: 175.223626 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.506389 s, deltaX: 0.298952 m, approachRate: 0.590361 m/s, posRepo size: 4 2025-10-29T01:15:12.166Z,1761700512.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m. 2025-10-29T01:15:12.239Z,1761700512.239 [DAT](INFO): DAT read: Rx Time:01:15:11.6676 2025-10-29T01:15:12.239Z,1761700512.239 [DAT](INFO): Rx dataTimestamp_ set to:1761700512.238739 2025-10-29T01:15:12.241Z,1761700512.241 [DAT](INFO): DAT read: Bearing 340.3, 11.8 (Local) 2025-10-29T01:15:12.241Z,1761700512.241 [DAT](INFO): Local bearing/azimuth received: Bearing 340.3, 11.8 (Local) 2025-10-29T01:15:12.243Z,1761700512.243 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.2 2025-10-29T01:15:12.248Z,1761700512.248 [DAT](INFO): DAT read: 01:15:11.6676 LVL= 32752, 21393, 32754, 32755, AGC= 68, IDX= 505, 0.32, 1.987,-2.732, 1.563, 2.525, PHS=-0.436, 1.071,-1.006, RAW= 345.4, 4.0, CAL= 345.0, 1.7, ROT= 165.0, -1.7 2025-10-29T01:15:12.249Z,1761700512.249 [DAT](INFO): got valid direction response: 01:15:11.6676 LVL= 32752, 21393, 32754, 32755, AGC= 68, IDX= 505, 0.32, 1.987,-2.732, 1.563, 2.525, PHS=-0.436, 1.071,-1.006, RAW= 345.4, 4.0, CAL= 345.0, 1.7, ROT= 165.0, -1.7 2025-10-29T01:15:12.249Z,1761700512.249 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T01:15:12.250Z,1761700512.250 [DAT](INFO): direction in FSK: [-0.965501,0.258705,0.029666] 2025-10-29T01:15:12.251Z,1761700512.251 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:12.254Z,1761700512.254 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.567432 2025-10-29T01:15:12.489Z,1761700512.489 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=31.801880 2025-10-29T01:15:12.505Z,1761700512.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.502597 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:12.507Z,1761700512.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.180450 m, bearing: 174.923844 deg, lat: 36.779299 deg, lon: -121.859485 deg, deltaT: 0.502597 s, deltaX: 0.000080 m, approachRate: 0.000159 m/s, posRepo size: 4 2025-10-29T01:15:12.516Z,1761700512.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m. 2025-10-29T01:15:12.748Z,1761700512.748 [DAT](INFO): DAT read: Rx Time:01:15:12.1676 2025-10-29T01:15:12.749Z,1761700512.749 [DAT](INFO): Rx dataTimestamp_ set to:1761700512.748374 2025-10-29T01:15:12.751Z,1761700512.751 [DAT](INFO): DAT read: Bearing 339.8, 11.6 (Local) 2025-10-29T01:15:12.751Z,1761700512.751 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 11.6 (Local) 2025-10-29T01:15:12.754Z,1761700512.754 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-29T01:15:12.765Z,1761700512.765 [DAT](INFO): DAT read: 01:15:12.1676 LVL= 32560, 25953, 32754, 32755, AGC= 68, IDX= 506, 0.11, 2.340,-2.380, 1.931, 2.892, PHS=-0.450, 1.056,-1.005, RAW= 345.1, 4.4, CAL= 344.7, 2.3, ROT= 165.3, -2.3 2025-10-29T01:15:12.766Z,1761700512.766 [DAT](INFO): got valid direction response: 01:15:12.1676 LVL= 32560, 25953, 32754, 32755, AGC= 68, IDX= 506, 0.11, 2.340,-2.380, 1.931, 2.892, PHS=-0.450, 1.056,-1.005, RAW= 345.1, 4.4, CAL= 344.7, 2.3, ROT= 165.3, -2.3 2025-10-29T01:15:12.766Z,1761700512.766 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T01:15:12.777Z,1761700512.777 [DAT](INFO): direction in FSK: [-0.966489,0.253553,0.040132] 2025-10-29T01:15:12.777Z,1761700512.777 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:12.786Z,1761700512.786 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.098888 2025-10-29T01:15:12.921Z,1761700512.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983200,-0.171125,-0.063510],[0.174428,0.983364,0.050691],[0.053779,-0.060917,0.996693]] 2025-10-29T01:15:12.945Z,1761700512.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.509635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:12.947Z,1761700512.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.180450 m, bearing: 175.249418 deg, lat: 36.779299 deg, lon: -121.859485 deg, deltaT: 0.509635 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:12.947Z,1761700512.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m. 2025-10-29T01:15:13.000Z,1761700513.000 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=32.312370 2025-10-29T01:15:13.249Z,1761700513.249 [DAT](INFO): DAT read: Rx Time:01:15:12.6676 2025-10-29T01:15:13.250Z,1761700513.250 [DAT](INFO): Rx dataTimestamp_ set to:1761700513.249614 2025-10-29T01:15:13.251Z,1761700513.251 [DAT](INFO): DAT read: Bearing 341.3, 11.2 (Local) 2025-10-29T01:15:13.251Z,1761700513.251 [DAT](INFO): Local bearing/azimuth received: Bearing 341.3, 11.2 (Local) 2025-10-29T01:15:13.254Z,1761700513.254 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed -0.1 2025-10-29T01:15:13.258Z,1761700513.258 [DAT](INFO): DAT read: 01:15:12.6676 LVL= 30784, 27345, 32754, 32755, AGC= 68, IDX= 506,-0.03,-0.725, 0.867,-1.128,-0.190, PHS=-0.433, 1.101,-0.982, RAW= 344.7, 3.4, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-29T01:15:13.259Z,1761700513.259 [DAT](INFO): got valid direction response: 01:15:12.6676 LVL= 30784, 27345, 32754, 32755, AGC= 68, IDX= 506,-0.03,-0.725, 0.867,-1.128,-0.190, PHS=-0.433, 1.101,-0.982, RAW= 344.7, 3.4, CAL= 344.3, 0.7, ROT= 165.7, -0.7 2025-10-29T01:15:13.260Z,1761700513.260 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T01:15:13.261Z,1761700513.261 [DAT](INFO): direction in FSK: [-0.968943,0.246981,0.012217] 2025-10-29T01:15:13.261Z,1761700513.261 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:13.265Z,1761700513.265 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.577652 2025-10-29T01:15:13.414Z,1761700513.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983232,-0.171131,-0.063002],[0.174376,0.983399,0.050188],[0.053367,-0.060333,0.996751]] 2025-10-29T01:15:13.501Z,1761700513.501 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=32.814339 2025-10-29T01:15:13.526Z,1761700513.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501240 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:13.528Z,1761700513.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.180519 m, bearing: 175.719258 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.501240 s, deltaX: 0.000069 m, approachRate: 0.000137 m/s, posRepo size: 4 2025-10-29T01:15:13.528Z,1761700513.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.18 m. 2025-10-29T01:15:13.755Z,1761700513.755 [DAT](INFO): DAT read: Rx Time:01:15:13.1678 2025-10-29T01:15:13.755Z,1761700513.755 [DAT](INFO): Rx dataTimestamp_ set to:1761700513.754752 2025-10-29T01:15:13.757Z,1761700513.757 [DAT](INFO): DAT read: Bearing 340.7, 10.4 (Local) 2025-10-29T01:15:13.758Z,1761700513.758 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 10.4 (Local) 2025-10-29T01:15:13.762Z,1761700513.762 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.2 2025-10-29T01:15:13.779Z,1761700513.779 [DAT](INFO): DAT read: 01:15:13.1678 LVL= 32752, 24657, 32754, 32755, AGC= 67, IDX= 508,-0.14,-0.770, 0.833,-1.139,-0.208, PHS=-0.459, 1.087,-0.974, RAW= 343.9, 3.8, CAL= 343.5, 1.4, ROT= 166.5, -1.4 2025-10-29T01:15:13.780Z,1761700513.780 [DAT](INFO): got valid direction response: 01:15:13.1678 LVL= 32752, 24657, 32754, 32755, AGC= 67, IDX= 508,-0.14,-0.770, 0.833,-1.139,-0.208, PHS=-0.459, 1.087,-0.974, RAW= 343.9, 3.8, CAL= 343.5, 1.4, ROT= 166.5, -1.4 2025-10-29T01:15:13.780Z,1761700513.780 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T01:15:13.781Z,1761700513.781 [DAT](INFO): direction in FSK: [-0.972080,0.233376,0.024432] 2025-10-29T01:15:13.781Z,1761700513.781 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:13.797Z,1761700513.797 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.110378 2025-10-29T01:15:13.823Z,1761700513.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983286,-0.170995,-0.062528],[0.174208,0.983432,0.050130],[0.052920,-0.060185,0.996783]] 2025-10-29T01:15:13.909Z,1761700513.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.505138 s, deltaX: 0.300001 m, approachRate: 0.593899 m/s, rangeRepo size: 4 2025-10-29T01:15:13.911Z,1761700513.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.478754 m, bearing: 176.477424 deg, lat: 36.779299 deg, lon: -121.859485 deg, deltaT: 0.505138 s, deltaX: 0.298235 m, approachRate: 0.590403 m/s, posRepo size: 4 2025-10-29T01:15:13.912Z,1761700513.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m. 2025-10-29T01:15:14.009Z,1761700514.009 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=33.321632 2025-10-29T01:15:14.220Z,1761700514.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983357,-0.170779,-0.061991],[0.173941,0.983498,0.049771],[0.052468,-0.059726,0.996835]] 2025-10-29T01:15:14.258Z,1761700514.258 [DAT](INFO): DAT read: Rx Time:01:15:13.6678 2025-10-29T01:15:14.258Z,1761700514.258 [DAT](INFO): Rx dataTimestamp_ set to:1761700514.257745 2025-10-29T01:15:14.259Z,1761700514.259 [DAT](INFO): DAT read: Bearing 341.5, 11.0 (Local) 2025-10-29T01:15:14.260Z,1761700514.260 [DAT](INFO): Local bearing/azimuth received: Bearing 341.5, 11.0 (Local) 2025-10-29T01:15:14.262Z,1761700514.262 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed -0.1 2025-10-29T01:15:14.267Z,1761700514.267 [DAT](INFO): DAT read: 01:15:13.6678 LVL= 29392, 23281, 32754, 32755, AGC= 68, IDX= 508,-0.26,-3.062,-1.468, 2.832,-2.526, PHS=-0.434, 1.103,-0.969, RAW= 344.4, 3.3, CAL= 344.0, 0.5, ROT= 166.0, -0.5 2025-10-29T01:15:14.281Z,1761700514.281 [DAT](INFO): got valid direction response: 01:15:13.6678 LVL= 29392, 23281, 32754, 32755, AGC= 68, IDX= 508,-0.26,-3.062,-1.468, 2.832,-2.526, PHS=-0.434, 1.103,-0.969, RAW= 344.4, 3.3, CAL= 344.0, 0.5, ROT= 166.0, -0.5 2025-10-29T01:15:14.281Z,1761700514.281 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T01:15:14.282Z,1761700514.282 [DAT](INFO): direction in FSK: [-0.970259,0.241913,0.008727] 2025-10-29T01:15:14.282Z,1761700514.282 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:14.294Z,1761700514.294 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.607407 2025-10-29T01:15:14.350Z,1761700514.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.502993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:14.365Z,1761700514.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.478754 m, bearing: 176.003285 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.502993 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:14.365Z,1761700514.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m. 2025-10-29T01:15:14.509Z,1761700514.509 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=33.822159 2025-10-29T01:15:14.664Z,1761700514.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983451,-0.170427,-0.061475],[0.173531,0.983596,0.049253],[0.052072,-0.059105,0.996893]] 2025-10-29T01:15:14.701Z,1761700514.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.48 m. 2025-10-29T01:15:14.763Z,1761700514.763 [DAT](INFO): DAT read: Rx Time:01:15:14.1680 2025-10-29T01:15:14.763Z,1761700514.763 [DAT](INFO): Rx dataTimestamp_ set to:1761700514.762847 2025-10-29T01:15:14.765Z,1761700514.765 [DAT](INFO): DAT read: Bearing 342.5, 11.2 (Local) 2025-10-29T01:15:14.766Z,1761700514.766 [DAT](INFO): Local bearing/azimuth received: Bearing 342.5, 11.2 (Local) 2025-10-29T01:15:14.769Z,1761700514.769 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed -0.1 2025-10-29T01:15:14.775Z,1761700514.775 [DAT](INFO): DAT read: 01:15:14.1680 LVL= 29280, 23969, 32754, 32755, AGC= 68, IDX= 510,-0.32, 2.786,-1.889, 2.384,-2.982, PHS=-0.413, 1.139,-0.961, RAW= 344.6, 2.5, CAL= 344.1, -0.4, ROT= 165.9, 0.4 2025-10-29T01:15:14.785Z,1761700514.785 [DAT](INFO): got valid direction response: 01:15:14.1680 LVL= 29280, 23969, 32754, 32755, AGC= 68, IDX= 510,-0.32, 2.786,-1.889, 2.384,-2.982, PHS=-0.413, 1.139,-0.961, RAW= 344.6, 2.5, CAL= 344.1, -0.4, ROT= 165.9, 0.4 2025-10-29T01:15:14.785Z,1761700514.785 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T01:15:14.786Z,1761700514.786 [DAT](INFO): direction in FSK: [-0.969848,0.243609,-0.006981] 2025-10-29T01:15:14.786Z,1761700514.786 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:14.802Z,1761700514.802 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.114815 2025-10-29T01:15:15.013Z,1761700515.013 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=34.326073 2025-10-29T01:15:15.207Z,1761700515.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.505102 s, deltaX: 0.299999 m, approachRate: 0.593938 m/s, rangeRepo size: 4 2025-10-29T01:15:15.214Z,1761700515.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.777006 m, bearing: 175.919721 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 0.505102 s, deltaX: 0.298252 m, approachRate: 0.590479 m/s, posRepo size: 4 2025-10-29T01:15:15.214Z,1761700515.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.78 m. 2025-10-29T01:15:15.266Z,1761700515.266 [DAT](INFO): DAT read: Rx Time:01:15:14.6680 2025-10-29T01:15:15.266Z,1761700515.266 [DAT](INFO): Rx dataTimestamp_ set to:1761700515.265901 2025-10-29T01:15:15.267Z,1761700515.267 [DAT](INFO): DAT read: Bearing 342.0, 10.9 (Local) 2025-10-29T01:15:15.268Z,1761700515.268 [DAT](INFO): Local bearing/azimuth received: Bearing 342.0, 10.9 (Local) 2025-10-29T01:15:15.270Z,1761700515.270 [DAT](INFO): DAT read: Range 11 to 50 : 20.9 m (trip time 13.9 ms) speed 0.0 2025-10-29T01:15:15.275Z,1761700515.275 [DAT](INFO): DAT read: 01:15:14.6680 LVL= 31584, 25201, 32754, 32755, AGC= 70, IDX= 510,-0.48, 0.854, 2.476, 0.461, 1.391, PHS=-0.436, 1.129,-0.975, RAW= 344.3, 3.0, CAL= 343.8, 0.1, ROT= 166.2, -0.1 2025-10-29T01:15:15.276Z,1761700515.276 [DAT](INFO): got valid direction response: 01:15:14.6680 LVL= 31584, 25201, 32754, 32755, AGC= 70, IDX= 510,-0.48, 0.854, 2.476, 0.461, 1.391, PHS=-0.436, 1.129,-0.975, RAW= 344.3, 3.0, CAL= 343.8, 0.1, ROT= 166.2, -0.1 2025-10-29T01:15:15.276Z,1761700515.276 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T01:15:15.277Z,1761700515.277 [DAT](INFO): direction in FSK: [-0.971133,0.238533,0.001745] 2025-10-29T01:15:15.277Z,1761700515.277 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:15.285Z,1761700515.285 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.598042 2025-10-29T01:15:15.517Z,1761700515.517 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=34.830170 2025-10-29T01:15:15.670Z,1761700515.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983691,-0.169400,-0.060464],[0.172468,0.983760,0.049720],[0.051060,-0.059337,0.996931]] 2025-10-29T01:15:15.694Z,1761700515.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.900000 m, deltaT: 0.503054 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:15.697Z,1761700515.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.777010 m, bearing: 176.136093 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 0.503054 s, deltaX: 0.000004 m, approachRate: 0.000008 m/s, posRepo size: 4 2025-10-29T01:15:15.697Z,1761700515.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.78 m. 2025-10-29T01:15:15.771Z,1761700515.771 [DAT](INFO): DAT read: Rx Time:01:15:15.1682 2025-10-29T01:15:15.771Z,1761700515.771 [DAT](INFO): Rx dataTimestamp_ set to:1761700515.771079 2025-10-29T01:15:15.774Z,1761700515.774 [DAT](INFO): DAT read: Bearing 342.9, 11.7 (Local) 2025-10-29T01:15:15.774Z,1761700515.774 [DAT](INFO): Local bearing/azimuth received: Bearing 342.9, 11.7 (Local) 2025-10-29T01:15:15.777Z,1761700515.777 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.2 2025-10-29T01:15:15.782Z,1761700515.782 [DAT](INFO): DAT read: 01:15:15.1682 LVL= 31984, 21713, 32754, 32755, AGC= 69, IDX= 511, 0.43, 2.289,-2.383, 1.863, 2.785, PHS=-0.395, 1.160,-0.966, RAW= 345.0, 2.1, CAL= 344.6, -0.8, ROT= 165.4, 0.8 2025-10-29T01:15:15.783Z,1761700515.783 [DAT](INFO): got valid direction response: 01:15:15.1682 LVL= 31984, 21713, 32754, 32755, AGC= 69, IDX= 511, 0.43, 2.289,-2.383, 1.863, 2.785, PHS=-0.395, 1.160,-0.966, RAW= 345.0, 2.1, CAL= 344.6, -0.8, ROT= 165.4, 0.8 2025-10-29T01:15:15.783Z,1761700515.783 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T01:15:15.785Z,1761700515.785 [DAT](INFO): direction in FSK: [-0.967615,0.252045,-0.013962] 2025-10-29T01:15:15.786Z,1761700515.786 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:15.795Z,1761700515.795 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.107655 2025-10-29T01:15:16.024Z,1761700516.024 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=35.336559 2025-10-29T01:15:16.089Z,1761700516.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983882,-0.168503,-0.059850],[0.171564,0.983888,0.050302],[0.050409,-0.059759,0.996939]] 2025-10-29T01:15:16.274Z,1761700516.274 [DAT](INFO): DAT read: Rx Time:01:15:15.6681 2025-10-29T01:15:16.274Z,1761700516.274 [DAT](INFO): Rx dataTimestamp_ set to:1761700516.273736 2025-10-29T01:15:16.275Z,1761700516.275 [DAT](INFO): DAT read: Bearing 342.2, 12.2 (Local) 2025-10-29T01:15:16.276Z,1761700516.276 [DAT](INFO): Local bearing/azimuth received: Bearing 342.2, 12.2 (Local) 2025-10-29T01:15:16.278Z,1761700516.278 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed -0.3 2025-10-29T01:15:16.283Z,1761700516.283 [DAT](INFO): DAT read: 01:15:15.6681 LVL= 28336, 22513, 32754, 32755, AGC= 70, IDX= 511, 0.28, 1.035, 2.597, 0.609, 1.532, PHS=-0.394, 1.110,-0.967, RAW= 345.5, 2.7, CAL= 345.0, -0.2, ROT= 165.0, 0.2 2025-10-29T01:15:16.284Z,1761700516.284 [DAT](INFO): got valid direction response: 01:15:15.6681 LVL= 28336, 22513, 32754, 32755, AGC= 70, IDX= 511, 0.28, 1.035, 2.597, 0.609, 1.532, PHS=-0.394, 1.110,-0.967, RAW= 345.5, 2.7, CAL= 345.0, -0.2, ROT= 165.0, 0.2 2025-10-29T01:15:16.284Z,1761700516.284 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T01:15:16.285Z,1761700516.285 [DAT](INFO): direction in FSK: [-0.965920,0.258818,-0.003491] 2025-10-29T01:15:16.285Z,1761700516.285 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:16.289Z,1761700516.289 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.602196 2025-10-29T01:15:16.310Z,1761700516.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 1.007835 s, deltaX: 0.100000 m, approachRate: 0.099223 m/s, rangeRepo size: 4 2025-10-29T01:15:16.348Z,1761700516.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.876421 m, bearing: 174.896317 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 1.007835 s, deltaX: 0.099411 m, approachRate: 0.098638 m/s, posRepo size: 4 2025-10-29T01:15:16.349Z,1761700516.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-29T01:15:16.525Z,1761700516.525 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=35.838123 2025-10-29T01:15:16.599Z,1761700516.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984139,-0.167265,-0.059106],[0.170286,0.984105,0.050406],[0.049735,-0.059671,0.996978]] 2025-10-29T01:15:16.671Z,1761700516.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.88 m. 2025-10-29T01:15:16.778Z,1761700516.778 [DAT](INFO): DAT read: Rx Time:01:15:16.1682 2025-10-29T01:15:16.779Z,1761700516.779 [DAT](INFO): Rx dataTimestamp_ set to:1761700516.778394 2025-10-29T01:15:16.780Z,1761700516.780 [DAT](INFO): DAT read: Bearing 319.7, 3.9 (Local) 2025-10-29T01:15:16.780Z,1761700516.780 [DAT](INFO): Local bearing/azimuth received: Bearing 319.7, 3.9 (Local) 2025-10-29T01:15:16.782Z,1761700516.782 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed -0.3 2025-10-29T01:15:16.787Z,1761700516.787 [DAT](INFO): DAT read: 01:15:16.1682 LVL= 32368, 21985, 32754, 32755, AGC= 72, IDX= 512, 0.15,-1.022, 0.296,-1.111,-0.146, PHS=-0.773, 0.487,-1.009, RAW= 338.4, 18.2, CAL= 338.6, 22.7, ROT= 171.4, -22.7 2025-10-29T01:15:16.789Z,1761700516.789 [DAT](INFO): got valid direction response: 01:15:16.1682 LVL= 32368, 21985, 32754, 32755, AGC= 72, IDX= 512, 0.15,-1.022, 0.296,-1.111,-0.146, PHS=-0.773, 0.487,-1.009, RAW= 338.4, 18.2, CAL= 338.6, 22.7, ROT= 171.4, -22.7 2025-10-29T01:15:16.789Z,1761700516.789 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T01:15:16.790Z,1761700516.790 [DAT](INFO): direction in FSK: [-0.912165,0.137952,0.385906] 2025-10-29T01:15:16.790Z,1761700516.790 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:16.794Z,1761700516.794 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.107155 2025-10-29T01:15:16.997Z,1761700516.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984520,-0.165610,-0.057387],[0.168440,0.984515,0.048562],[0.048456,-0.057477,0.997170]] 2025-10-29T01:15:17.033Z,1761700517.033 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=36.345390 2025-10-29T01:15:17.047Z,1761700517.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504658 s, deltaX: 0.200001 m, approachRate: 0.396309 m/s, rangeRepo size: 4 2025-10-29T01:15:17.057Z,1761700517.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.075306 m, bearing: 179.944609 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 0.504658 s, deltaX: 0.198885 m, approachRate: 0.394099 m/s, posRepo size: 4 2025-10-29T01:15:17.059Z,1761700517.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m. 2025-10-29T01:15:17.281Z,1761700517.281 [DAT](INFO): DAT read: Rx Time:01:15:16.6682 2025-10-29T01:15:17.281Z,1761700517.281 [DAT](INFO): Rx dataTimestamp_ set to:1761700517.281208 2025-10-29T01:15:17.283Z,1761700517.283 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.0 2025-10-29T01:15:17.283Z,1761700517.283 [DAT](ERROR): #Rx 69: Read range message, but no direction. 2025-10-29T01:15:17.284Z,1761700517.284 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.597382 2025-10-29T01:15:17.399Z,1761700517.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984754,-0.164462,-0.056682],[0.167233,0.984739,0.048185],[0.047893,-0.056930,0.997229]] 2025-10-29T01:15:17.447Z,1761700517.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.502814 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:17.447Z,1761700517.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.08 m. 2025-10-29T01:15:17.534Z,1761700517.534 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=36.846424 2025-10-29T01:15:17.785Z,1761700517.785 [DAT](INFO): DAT read: Rx Time:01:15:17.1684 2025-10-29T01:15:17.786Z,1761700517.786 [DAT](INFO): Rx dataTimestamp_ set to:1761700517.785666 2025-10-29T01:15:17.787Z,1761700517.787 [DAT](INFO): DAT read: Bearing 340.8, 12.4 (Local) 2025-10-29T01:15:17.788Z,1761700517.788 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 12.4 (Local) 2025-10-29T01:15:17.795Z,1761700517.795 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 2025-10-29T01:15:17.800Z,1761700517.800 [DAT](INFO): DAT read: 01:15:17.1684 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 2,-0.19,-2.844,-1.304, 3.019,-2.325, PHS=-0.417, 1.066,-0.984, RAW= 345.5, 3.7, CAL= 345.1, 1.2, ROT= 164.9, -1.2 2025-10-29T01:15:17.801Z,1761700517.801 [DAT](INFO): got valid direction response: 01:15:17.1684 LVL= 32752, 32753, 32754, 32755, AGC= 75, IDX= 2,-0.19,-2.844,-1.304, 3.019,-2.325, PHS=-0.417, 1.066,-0.984, RAW= 345.5, 3.7, CAL= 345.1, 1.2, ROT= 164.9, -1.2 2025-10-29T01:15:17.801Z,1761700517.801 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T01:15:17.802Z,1761700517.802 [DAT](INFO): direction in FSK: [-0.965261,0.260447,0.020942] 2025-10-29T01:15:17.802Z,1761700517.802 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:17.831Z,1761700517.831 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.143684 2025-10-29T01:15:17.855Z,1761700517.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984980,-0.163312,-0.056072],[0.166054,0.984933,0.048308],[0.047338,-0.056893,0.997257]] 2025-10-29T01:15:17.911Z,1761700517.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504458 s, deltaX: 0.299999 m, approachRate: 0.594696 m/s, rangeRepo size: 4 2025-10-29T01:15:17.917Z,1761700517.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.373543 m, bearing: 174.414816 deg, lat: 36.779299 deg, lon: -121.859489 deg, deltaT: 1.007272 s, deltaX: 0.298237 m, approachRate: 0.296084 m/s, posRepo size: 4 2025-10-29T01:15:17.918Z,1761700517.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-29T01:15:18.039Z,1761700518.039 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=37.351784 2025-10-29T01:15:18.290Z,1761700518.290 [DAT](INFO): DAT read: Rx Time:01:15:17.6684 2025-10-29T01:15:18.290Z,1761700518.290 [DAT](INFO): Rx dataTimestamp_ set to:1761700518.289826 2025-10-29T01:15:18.291Z,1761700518.291 [DAT](INFO): DAT read: Bearing 340.6, 12.5 (Local) 2025-10-29T01:15:18.292Z,1761700518.292 [DAT](INFO): Local bearing/azimuth received: Bearing 340.6, 12.5 (Local) 2025-10-29T01:15:18.294Z,1761700518.294 [DAT](INFO): DAT read: Range 11 to 50 : 21.5 m (trip time 14.3 ms) speed -0.2 2025-10-29T01:15:18.302Z,1761700518.302 [DAT](INFO): DAT read: 01:15:17.6684 LVL= 32752, 25537, 32754, 32755, AGC= 71, IDX= 498,-0.33,-2.975,-1.414, 2.878,-2.446, PHS=-0.427, 1.077,-1.003, RAW= 345.6, 3.8, CAL= 345.1, 1.4, ROT= 164.9, -1.4 2025-10-29T01:15:18.311Z,1761700518.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985151,-0.162445,-0.055575],[0.165180,0.985057,0.048760],[0.046824,-0.057215,0.997263]] 2025-10-29T01:15:18.304Z,1761700518.304 [DAT](INFO): got valid direction response: 01:15:17.6684 LVL= 32752, 25537, 32754, 32755, AGC= 71, IDX= 498,-0.33,-2.975,-1.414, 2.878,-2.446, PHS=-0.427, 1.077,-1.003, RAW= 345.6, 3.8, CAL= 345.1, 1.4, ROT= 164.9, -1.4 2025-10-29T01:15:18.312Z,1761700518.312 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T01:15:18.313Z,1761700518.313 [DAT](INFO): direction in FSK: [-0.965184,0.260427,0.024432] 2025-10-29T01:15:18.313Z,1761700518.313 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:18.317Z,1761700518.317 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.629997 2025-10-29T01:15:18.452Z,1761700518.452 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.500000 m, deltaT: 0.504160 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:18.458Z,1761700518.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.373543 m, bearing: 174.355243 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.504160 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:18.459Z,1761700518.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-29T01:15:18.542Z,1761700518.542 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=37.854782 2025-10-29T01:15:18.724Z,1761700518.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985383,-0.161173,-0.055161],[0.163910,0.985242,0.049305],[0.046400,-0.057626,0.997259]] 2025-10-29T01:15:18.779Z,1761700518.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-29T01:15:18.793Z,1761700518.793 [DAT](INFO): DAT read: Rx Time:01:15:18.1685 2025-10-29T01:15:18.794Z,1761700518.794 [DAT](INFO): Rx dataTimestamp_ set to:1761700518.793593 2025-10-29T01:15:18.795Z,1761700518.795 [DAT](INFO): DAT read: Bearing 340.1, 12.6 (Local) 2025-10-29T01:15:18.795Z,1761700518.795 [DAT](INFO): Local bearing/azimuth received: Bearing 340.1, 12.6 (Local) 2025-10-29T01:15:18.798Z,1761700518.798 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.2 2025-10-29T01:15:18.803Z,1761700518.803 [DAT](INFO): DAT read: 01:15:18.1685 LVL= 32752, 30529, 32754, 32755, AGC= 70, IDX= 50-0.538, 1.028,-0.977, 0.000, PHS=-0.436, 1.073,-1.021, RAW= 345.7, 4.2, CAL= 345.3, 1.9, ROT= 164.7, -1.9 2025-10-29T01:15:18.803Z,1761700518.803 [DAT](INFO): unknown deviceResponse_: 01:15:18.1685 LVL= 32752, 30529, 32754, 32755, AGC= 70, IDX= 50-0.538, 1.028,-0.977, 0.000, PHS=-0.436, 1.073,-1.021, RAW= 345.7, 4.2, CAL= 345.3, 1.9, ROT= 164.7, -1.9 2025-10-29T01:15:18.804Z,1761700518.804 [DAT](ERROR): #Rx 72: Read range message, but no direction. 2025-10-29T01:15:18.809Z,1761700518.809 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.121571 2025-10-29T01:15:19.046Z,1761700519.046 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=38.358700 2025-10-29T01:15:19.169Z,1761700519.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985531,-0.160457,-0.054618],[0.163165,0.985363,0.049363],[0.045898,-0.057561,0.997286]] 2025-10-29T01:15:19.235Z,1761700519.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.503767 s, deltaX: 0.100000 m, approachRate: 0.198505 m/s, rangeRepo size: 4 2025-10-29T01:15:19.235Z,1761700519.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.37 m. 2025-10-29T01:15:19.298Z,1761700519.298 [DAT](INFO): DAT read: Rx Time:01:15:18.6685 2025-10-29T01:15:19.298Z,1761700519.298 [DAT](INFO): Rx dataTimestamp_ set to:1761700519.297783 2025-10-29T01:15:19.299Z,1761700519.299 [DAT](INFO): DAT read: Bearing 340.9, 12.8 (Local) 2025-10-29T01:15:19.300Z,1761700519.300 [DAT](INFO): Local bearing/azimuth received: Bearing 340.9, 12.8 (Local) 2025-10-29T01:15:19.302Z,1761700519.302 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed -0.3 2025-10-29T01:15:19.313Z,1761700519.313 [DAT](INFO): DAT read: 01:15:18.6685 LVL= 32752, 25697, 32754, 32755, AGC= 68, IDX= 499, 0.47,-0.298, 1.280,-0.746, 0.227, PHS=-0.424, 1.098,-1.018, RAW= 345.8, 3.7, CAL= 345.4, 1.1, ROT= 164.6, -1.1 2025-10-29T01:15:19.315Z,1761700519.315 [DAT](INFO): got valid direction response: 01:15:18.6685 LVL= 32752, 25697, 32754, 32755, AGC= 68, IDX= 499, 0.47,-0.298, 1.280,-0.746, 0.227, PHS=-0.424, 1.098,-1.018, RAW= 345.8, 3.7, CAL= 345.4, 1.1, ROT= 164.6, -1.1 2025-10-29T01:15:19.316Z,1761700519.316 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T01:15:19.317Z,1761700519.317 [DAT](INFO): direction in FSK: [-0.963918,0.265507,0.019197] 2025-10-29T01:15:19.318Z,1761700519.318 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:19.338Z,1761700519.338 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.649822 2025-10-29T01:15:19.532Z,1761700519.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985636,-0.159998,-0.054067],[0.162670,0.985450,0.049264],[0.045398,-0.057351,0.997321]] 2025-10-29T01:15:19.550Z,1761700519.550 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=38.862762 2025-10-29T01:15:19.588Z,1761700519.588 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504190 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:19.590Z,1761700519.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.472969 m, bearing: 173.922511 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 1.007957 s, deltaX: 0.099426 m, approachRate: 0.098641 m/s, posRepo size: 4 2025-10-29T01:15:19.591Z,1761700519.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.47 m. 2025-10-29T01:15:19.801Z,1761700519.801 [DAT](INFO): DAT read: Rx Time:01:15:19.1686 2025-10-29T01:15:19.802Z,1761700519.802 [DAT](INFO): Rx dataTimestamp_ set to:1761700519.801645 2025-10-29T01:15:19.803Z,1761700519.803 [DAT](INFO): DAT read: Bearing 338.6, 13.1 (Local) 2025-10-29T01:15:19.803Z,1761700519.803 [DAT](INFO): Local bearing/azimuth received: Bearing 338.6, 13.1 (Local) 2025-10-29T01:15:19.806Z,1761700519.806 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 2025-10-29T01:15:19.810Z,1761700519.810 [DAT](INFO): DAT read: 01:15:19.1686 LVL= 32752, 29649, 32754, 32755, AGC= 71, IDX= 500, 0.49,-0.285, 1.251,-0.732, 0.266, PHS=-0.449, 1.030,-1.042, RAW= 346.1, 5.0, CAL= 345.8, 3.3, ROT= 164.2, -3.3 2025-10-29T01:15:19.811Z,1761700519.811 [DAT](INFO): got valid direction response: 01:15:19.1686 LVL= 32752, 29649, 32754, 32755, AGC= 71, IDX= 500, 0.49,-0.285, 1.251,-0.732, 0.266, PHS=-0.449, 1.030,-1.042, RAW= 346.1, 5.0, CAL= 345.8, 3.3, ROT= 164.2, -3.3 2025-10-29T01:15:19.815Z,1761700519.815 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T01:15:19.816Z,1761700519.816 [DAT](INFO): direction in FSK: [-0.960622,0.271829,0.057564] 2025-10-29T01:15:19.817Z,1761700519.817 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:19.821Z,1761700519.821 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.133896 2025-10-29T01:15:19.935Z,1761700519.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985757,-0.159396,-0.053637],[0.162045,0.985552,0.049292],[0.045005,-0.057281,0.997343]] 2025-10-29T01:15:19.994Z,1761700519.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.503862 s, deltaX: 0.199999 m, approachRate: 0.396932 m/s, rangeRepo size: 4 2025-10-29T01:15:19.996Z,1761700519.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.671791 m, bearing: 173.392056 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.503862 s, deltaX: 0.198822 m, approachRate: 0.394596 m/s, posRepo size: 4 2025-10-29T01:15:19.996Z,1761700519.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m. 2025-10-29T01:15:20.054Z,1761700520.054 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=39.366322 2025-10-29T01:15:20.306Z,1761700520.306 [DAT](INFO): DAT read: Rx Time:01:15:19.6686 2025-10-29T01:15:20.306Z,1761700520.306 [DAT](INFO): Rx dataTimestamp_ set to:1761700520.305698 2025-10-29T01:15:20.307Z,1761700520.307 [DAT](INFO): DAT read: Bearing 338.9, 12.9 (Local) 2025-10-29T01:15:20.308Z,1761700520.308 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 12.9 (Local) 2025-10-29T01:15:20.310Z,1761700520.310 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed -0.3 2025-10-29T01:15:20.314Z,1761700520.314 [DAT](INFO): DAT read: 01:15:19.6686 LVL= 32752, 26353, 32754, 32755, AGC= 71, IDX= 500, 0.48,-1.472, 0.079,-1.917,-0.920, PHS=-0.450, 1.043,-1.041, RAW= 346.0, 4.9, CAL= 345.6, 3.0, ROT= 164.4, -3.0 2025-10-29T01:15:20.315Z,1761700520.315 [DAT](INFO): got valid direction response: 01:15:19.6686 LVL= 32752, 26353, 32754, 32755, AGC= 71, IDX= 500, 0.48,-1.472, 0.079,-1.917,-0.920, PHS=-0.450, 1.043,-1.041, RAW= 346.0, 4.9, CAL= 345.6, 3.0, ROT= 164.4, -3.0 2025-10-29T01:15:20.319Z,1761700520.319 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T01:15:20.320Z,1761700520.320 [DAT](INFO): direction in FSK: [-0.961843,0.268551,0.052336] 2025-10-29T01:15:20.320Z,1761700520.320 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:20.324Z,1761700520.324 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.636597 2025-10-29T01:15:20.339Z,1761700520.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985787,-0.159314,-0.053321],[0.161940,0.985574,0.049191],[0.044715,-0.057127,0.997365]] 2025-10-29T01:15:20.450Z,1761700520.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:20.457Z,1761700520.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.671791 m, bearing: 173.598621 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.504053 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:20.457Z,1761700520.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.67 m. 2025-10-29T01:15:20.558Z,1761700520.558 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=39.871300 2025-10-29T01:15:20.810Z,1761700520.810 [DAT](INFO): DAT read: Rx Time:01:15:20.1689 2025-10-29T01:15:20.810Z,1761700520.810 [DAT](INFO): Rx dataTimestamp_ set to:1761700520.809763 2025-10-29T01:15:20.811Z,1761700520.811 [DAT](INFO): DAT read: Bearing 339.1, 12.6 (Local) 2025-10-29T01:15:20.812Z,1761700520.812 [DAT](INFO): Local bearing/azimuth received: Bearing 339.1, 12.6 (Local) 2025-10-29T01:15:20.814Z,1761700520.814 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.3 2025-10-29T01:15:20.819Z,1761700520.819 [DAT](INFO): DAT read: 01:15:20.1689 LVL= 32752, 26721, 32754, 32755, AGC= 71, IDX= 503,-0.47,-1.790,-0.241,-2.219,-1.237, PHS=-0.451, 1.041,-1.027, RAW= 345.6, 4.8, CAL= 345.3, 2.9, ROT= 164.7, -2.9 2025-10-29T01:15:20.823Z,1761700520.823 [DAT](INFO): got valid direction response: 01:15:20.1689 LVL= 32752, 26721, 32754, 32755, AGC= 71, IDX= 503,-0.47,-1.790,-0.241,-2.219,-1.237, PHS=-0.451, 1.041,-1.027, RAW= 345.6, 4.8, CAL= 345.3, 2.9, ROT= 164.7, -2.9 2025-10-29T01:15:20.825Z,1761700520.825 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T01:15:20.826Z,1761700520.826 [DAT](INFO): direction in FSK: [-0.963322,0.263535,0.050593] 2025-10-29T01:15:20.826Z,1761700520.826 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:20.829Z,1761700520.829 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.142494 2025-10-29T01:15:20.938Z,1761700520.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504065 s, deltaX: 0.400002 m, approachRate: 0.793552 m/s, rangeRepo size: 4 2025-10-29T01:15:20.944Z,1761700520.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.069420 m, bearing: 173.902276 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.504065 s, deltaX: 0.397629 m, approachRate: 0.788844 m/s, posRepo size: 4 2025-10-29T01:15:20.945Z,1761700520.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m. 2025-10-29T01:15:21.061Z,1761700521.061 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=40.374413 2025-10-29T01:15:21.314Z,1761700521.314 [DAT](INFO): DAT read: Rx Time:01:15:20.6689 2025-10-29T01:15:21.314Z,1761700521.314 [DAT](INFO): Rx dataTimestamp_ set to:1761700521.313845 2025-10-29T01:15:21.315Z,1761700521.315 [DAT](INFO): DAT read: Bearing 339.3, 12.7 (Local) 2025-10-29T01:15:21.316Z,1761700521.316 [DAT](INFO): Local bearing/azimuth received: Bearing 339.3, 12.7 (Local) 2025-10-29T01:15:21.318Z,1761700521.318 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed -0.1 2025-10-29T01:15:21.323Z,1761700521.323 [DAT](INFO): DAT read: 01:15:20.6689 LVL= 32752, 27409, 32754, 32755, AGC= 72, IDX= 503,-0.33, 1.524, 3.081, 1.091, 2.073, PHS=-0.448, 1.052,-1.027, RAW= 345.7, 4.6, CAL= 345.3, 2.6, ROT= 164.7, -2.6 2025-10-29T01:15:21.327Z,1761700521.327 [DAT](INFO): got valid direction response: 01:15:20.6689 LVL= 32752, 27409, 32754, 32755, AGC= 72, IDX= 503,-0.33, 1.524, 3.081, 1.091, 2.073, PHS=-0.448, 1.052,-1.027, RAW= 345.7, 4.6, CAL= 345.3, 2.6, ROT= 164.7, -2.6 2025-10-29T01:15:21.327Z,1761700521.327 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T01:15:21.328Z,1761700521.328 [DAT](INFO): direction in FSK: [-0.963564,0.263601,0.045363] 2025-10-29T01:15:21.328Z,1761700521.328 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:21.356Z,1761700521.356 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.644859 2025-10-29T01:15:21.373Z,1761700521.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985767,-0.159657,-0.052652],[0.162245,0.985523,0.049210],[0.044033,-0.057052,0.997400]] 2025-10-29T01:15:21.509Z,1761700521.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.504082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:21.511Z,1761700521.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.069437 m, bearing: 173.932999 deg, lat: 36.779300 deg, lon: -121.859487 deg, deltaT: 0.504082 s, deltaX: 0.000017 m, approachRate: 0.000034 m/s, posRepo size: 4 2025-10-29T01:15:21.511Z,1761700521.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.07 m. 2025-10-29T01:15:21.566Z,1761700521.566 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=40.878620 2025-10-29T01:15:21.817Z,1761700521.817 [DAT](INFO): DAT read: Rx Time:01:15:21.1691 2025-10-29T01:15:21.818Z,1761700521.818 [DAT](INFO): Rx dataTimestamp_ set to:1761700521.817648 2025-10-29T01:15:21.819Z,1761700521.819 [DAT](INFO): DAT read: Bearing 340.8, 12.5 (Local) 2025-10-29T01:15:21.820Z,1761700521.820 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 12.5 (Local) 2025-10-29T01:15:21.822Z,1761700521.822 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.2 2025-10-29T01:15:21.826Z,1761700521.826 [DAT](INFO): DAT read: 01:15:21.1691 LVL= 32752, 26097, 32754, 32755, AGC= 72, IDX= 505,-0.19, 0.623, 2.193, 0.195, 1.151, PHS=-0.426, 1.087,-1.000, RAW= 345.4, 3.7, CAL= 345.0, 1.1, ROT= 165.0, -1.1 2025-10-29T01:15:21.827Z,1761700521.827 [DAT](INFO): got valid direction response: 01:15:21.1691 LVL= 32752, 26097, 32754, 32755, AGC= 72, IDX= 505,-0.19, 0.623, 2.193, 0.195, 1.151, PHS=-0.426, 1.087,-1.000, RAW= 345.4, 3.7, CAL= 345.0, 1.1, ROT= 165.0, -1.1 2025-10-29T01:15:21.832Z,1761700521.832 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T01:15:21.833Z,1761700521.833 [DAT](INFO): direction in FSK: [-0.965748,0.258771,0.019197] 2025-10-29T01:15:21.833Z,1761700521.833 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:21.837Z,1761700521.837 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.149876 2025-10-29T01:15:21.915Z,1761700521.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985823,-0.159419,-0.052331],[0.162001,0.985551,0.049456],[0.043691,-0.057232,0.997404]] 2025-10-29T01:15:21.993Z,1761700521.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.503803 s, deltaX: 0.299999 m, approachRate: 0.595469 m/s, rangeRepo size: 4 2025-10-29T01:15:21.995Z,1761700521.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.367672 m, bearing: 174.283784 deg, lat: 36.779299 deg, lon: -121.859487 deg, deltaT: 0.503803 s, deltaX: 0.298235 m, approachRate: 0.591967 m/s, posRepo size: 4 2025-10-29T01:15:21.996Z,1761700521.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m. 2025-10-29T01:15:22.070Z,1761700522.070 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=41.382801 2025-10-29T01:15:22.296Z,1761700522.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985799,-0.159568,-0.052327],[0.162137,0.985541,0.049193],[0.043721,-0.056979,0.997418]] 2025-10-29T01:15:22.321Z,1761700522.321 [DAT](INFO): DAT read: Rx Time:01:15:21.6691 2025-10-29T01:15:22.322Z,1761700522.322 [DAT](INFO): Rx dataTimestamp_ set to:1761700522.321655 2025-10-29T01:15:22.323Z,1761700522.323 [DAT](INFO): DAT read: Bearing 340.7, 12.7 (Local) 2025-10-29T01:15:22.323Z,1761700522.323 [DAT](INFO): Local bearing/azimuth received: Bearing 340.7, 12.7 (Local) 2025-10-29T01:15:22.326Z,1761700522.326 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed -0.3 2025-10-29T01:15:22.330Z,1761700522.330 [DAT](INFO): DAT read: 01:15:21.6691 LVL= 32368, 26769, 32754, 32755, AGC= 71, IDX= 505,-0.19,-2.012,-0.454,-2.443,-1.489, PHS=-0.422, 1.080,-0.999, RAW= 345.6, 3.7, CAL= 345.2, 1.2, ROT= 164.8, -1.2 2025-10-29T01:15:22.331Z,1761700522.331 [DAT](INFO): got valid direction response: 01:15:21.6691 LVL= 32368, 26769, 32754, 32755, AGC= 71, IDX= 505,-0.19,-2.012,-0.454,-2.443,-1.489, PHS=-0.422, 1.080,-0.999, RAW= 345.6, 3.7, CAL= 345.2, 1.2, ROT= 164.8, -1.2 2025-10-29T01:15:22.336Z,1761700522.336 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T01:15:22.337Z,1761700522.337 [DAT](INFO): direction in FSK: [-0.964805,0.262132,0.020942] 2025-10-29T01:15:22.337Z,1761700522.337 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:22.341Z,1761700522.341 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.654133 2025-10-29T01:15:22.516Z,1761700522.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504007 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:22.518Z,1761700522.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.367655 m, bearing: 174.087560 deg, lat: 36.779298 deg, lon: -121.859488 deg, deltaT: 0.504007 s, deltaX: -0.000017 m, approachRate: -0.000034 m/s, posRepo size: 4 2025-10-29T01:15:22.519Z,1761700522.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.37 m. 2025-10-29T01:15:22.573Z,1761700522.573 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=41.886070 2025-10-29T01:15:22.809Z,1761700522.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985754,-0.159829,-0.052381],[0.162388,0.985515,0.048900],[0.043806,-0.056709,0.997429]] 2025-10-29T01:15:22.826Z,1761700522.826 [DAT](INFO): DAT read: Rx Time:01:15:22.1693 2025-10-29T01:15:22.826Z,1761700522.826 [DAT](INFO): Rx dataTimestamp_ set to:1761700522.825801 2025-10-29T01:15:22.827Z,1761700522.827 [DAT](INFO): DAT read: Bearing 340.8, 12.0 (Local) 2025-10-29T01:15:22.828Z,1761700522.828 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 12.0 (Local) 2025-10-29T01:15:22.830Z,1761700522.830 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.1 2025-10-29T01:15:22.839Z,1761700522.839 [DAT](INFO): DAT read: 01:15:22.1693 LVL= 30992, 27009, 32754, 32755, AGC= 70, IDX= 507,-0.43,-0.843, 0.732,-1.249,-0.308, PHS=-0.433, 1.085,-0.986, RAW= 344.9, 3.6, CAL= 344.5, 1.1, ROT= 165.5, -1.1 2025-10-29T01:15:22.841Z,1761700522.841 [DAT](INFO): got valid direction response: 01:15:22.1693 LVL= 30992, 27009, 32754, 32755, AGC= 70, IDX= 507,-0.43,-0.843, 0.732,-1.249,-0.308, PHS=-0.433, 1.085,-0.986, RAW= 344.9, 3.6, CAL= 344.5, 1.1, ROT= 165.5, -1.1 2025-10-29T01:15:22.841Z,1761700522.841 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T01:15:22.842Z,1761700522.842 [DAT](INFO): direction in FSK: [-0.967969,0.250334,0.019197] 2025-10-29T01:15:22.842Z,1761700522.842 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:22.855Z,1761700522.855 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.167595 2025-10-29T01:15:22.884Z,1761700522.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.504146 s, deltaX: 0.299999 m, approachRate: 0.595064 m/s, rangeRepo size: 4 2025-10-29T01:15:22.890Z,1761700522.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.665890 m, bearing: 174.806298 deg, lat: 36.779298 deg, lon: -121.859489 deg, deltaT: 0.504146 s, deltaX: 0.298235 m, approachRate: 0.591565 m/s, posRepo size: 4 2025-10-29T01:15:22.890Z,1761700522.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:15:23.081Z,1761700523.081 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=42.394363 2025-10-29T01:15:23.214Z,1761700523.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985692,-0.160177,-0.052483],[0.162738,0.985462,0.048800],[0.043904,-0.056642,0.997429]] 2025-10-29T01:15:23.286Z,1761700523.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:15:23.334Z,1761700523.334 [DAT](INFO): DAT read: Rx Time:01:15:22.6693 2025-10-29T01:15:23.335Z,1761700523.335 [DAT](INFO): Rx dataTimestamp_ set to:1761700523.334579 2025-10-29T01:15:23.337Z,1761700523.337 [DAT](INFO): DAT read: Bearing 338.9, 12.1 (Local) 2025-10-29T01:15:23.337Z,1761700523.337 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 12.1 (Local) 2025-10-29T01:15:23.345Z,1761700523.345 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.1 2025-10-29T01:15:23.352Z,1761700523.352 [DAT](INFO): DAT read: 01:15:22.6693 LVL= 31888, 25377, 32754, 32755, AGC= 69, IDX= 506, 0.14, 0.774, 2.347, 0.362, 1.341, PHS=-0.465, 1.051,-1.023, RAW= 345.1, 4.8, CAL= 344.7, 2.9, ROT= 165.3, -2.9 2025-10-29T01:15:23.353Z,1761700523.353 [DAT](INFO): got valid direction response: 01:15:22.6693 LVL= 31888, 25377, 32754, 32755, AGC= 69, IDX= 506, 0.14, 0.774, 2.347, 0.362, 1.341, PHS=-0.465, 1.051,-1.023, RAW= 345.1, 4.8, CAL= 344.7, 2.9, ROT= 165.3, -2.9 2025-10-29T01:15:23.354Z,1761700523.354 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T01:15:23.355Z,1761700523.355 [DAT](INFO): direction in FSK: [-0.966029,0.253433,0.050593] 2025-10-29T01:15:23.358Z,1761700523.358 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:23.365Z,1761700523.365 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.677849 2025-10-29T01:15:23.585Z,1761700523.585 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=42.898018 2025-10-29T01:15:23.683Z,1761700523.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985646,-0.160364,-0.052767],[0.162945,0.985423,0.048884],[0.044158,-0.056781,0.997410]] 2025-10-29T01:15:23.730Z,1761700523.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.508778 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:23.732Z,1761700523.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.665865 m, bearing: 174.559936 deg, lat: 36.779297 deg, lon: -121.859489 deg, deltaT: 0.508778 s, deltaX: -0.000025 m, approachRate: -0.000049 m/s, posRepo size: 4 2025-10-29T01:15:23.732Z,1761700523.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:15:23.838Z,1761700523.838 [DAT](INFO): DAT read: Rx Time:01:15:23.1693 2025-10-29T01:15:23.838Z,1761700523.838 [DAT](INFO): Rx dataTimestamp_ set to:1761700523.837772 2025-10-29T01:15:23.839Z,1761700523.839 [DAT](INFO): DAT read: Bearing 338.1, 11.3 (Local) 2025-10-29T01:15:23.840Z,1761700523.840 [DAT](INFO): Local bearing/azimuth received: Bearing 338.1, 11.3 (Local) 2025-10-29T01:15:23.842Z,1761700523.842 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-29T01:15:23.850Z,1761700523.850 [DAT](INFO): DAT read: 01:15:23.1693 LVL= 32752, 26417, 32754, 32755, AGC= 69, IDX= 507,-0.24, 1.028, 2.612, 0.642, 1.622, PHS=-0.492, 1.035,-1.024, RAW= 344.4, 5.2, CAL= 344.1, 3.7, ROT= 165.9, -3.7 2025-10-29T01:15:23.852Z,1761700523.852 [DAT](INFO): got valid direction response: 01:15:23.1693 LVL= 32752, 26417, 32754, 32755, AGC= 69, IDX= 507,-0.24, 1.028, 2.612, 0.642, 1.622, PHS=-0.492, 1.035,-1.024, RAW= 344.4, 5.2, CAL= 344.1, 3.7, ROT= 165.9, -3.7 2025-10-29T01:15:23.852Z,1761700523.852 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T01:15:23.853Z,1761700523.853 [DAT](INFO): direction in FSK: [-0.967850,0.243107,0.064532] 2025-10-29T01:15:23.853Z,1761700523.853 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:23.858Z,1761700523.858 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.170765 2025-10-29T01:15:24.084Z,1761700524.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985653,-0.160238,-0.053029],[0.162840,0.985434,0.049028],[0.044401,-0.056960,0.997389]] 2025-10-29T01:15:24.089Z,1761700524.089 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=43.402321 2025-10-29T01:15:24.149Z,1761700524.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503193 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:24.167Z,1761700524.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.665865 m, bearing: 175.116649 deg, lat: 36.779297 deg, lon: -121.859491 deg, deltaT: 0.503193 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:24.173Z,1761700524.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:15:24.342Z,1761700524.342 [DAT](INFO): DAT read: Rx Time:01:15:23.6693 2025-10-29T01:15:24.342Z,1761700524.342 [DAT](INFO): Rx dataTimestamp_ set to:1761700524.341710 2025-10-29T01:15:24.343Z,1761700524.343 [DAT](INFO): DAT read: Bearing 338.0, 12.4 (Local) 2025-10-29T01:15:24.344Z,1761700524.344 [DAT](INFO): Local bearing/azimuth received: Bearing 338.0, 12.4 (Local) 2025-10-29T01:15:24.346Z,1761700524.346 [DAT](INFO): DAT read: Range 11 to 50 : 22.8 m (trip time 15.2 ms) speed -0.2 2025-10-29T01:15:24.354Z,1761700524.354 [DAT](INFO): DAT read: 01:15:23.6693 LVL= 30416, 25073, 32754, 32755, AGC= 68, IDX= 506, 0.27, 2.436,-2.320, 2.023, 3.000, PHS=-0.462, 1.009,-1.021, RAW= 345.5, 5.3, CAL= 345.2, 3.7, ROT= 164.8, -3.7 2025-10-29T01:15:24.355Z,1761700524.355 [DAT](INFO): got valid direction response: 01:15:23.6693 LVL= 30416, 25073, 32754, 32755, AGC= 68, IDX= 506, 0.27, 2.436,-2.320, 2.023, 3.000, PHS=-0.462, 1.009,-1.021, RAW= 345.5, 5.3, CAL= 345.2, 3.7, ROT= 164.8, -3.7 2025-10-29T01:15:24.355Z,1761700524.355 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T01:15:24.356Z,1761700524.356 [DAT](INFO): direction in FSK: [-0.963005,0.261643,0.064532] 2025-10-29T01:15:24.356Z,1761700524.356 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:24.360Z,1761700524.360 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.673252 2025-10-29T01:15:24.483Z,1761700524.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985661,-0.160065,-0.053401],[0.162681,0.985467,0.048877],[0.044802,-0.056863,0.997376]] 2025-10-29T01:15:24.566Z,1761700524.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.799999 m, deltaT: 0.503938 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:24.569Z,1761700524.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.665773 m, bearing: 174.011231 deg, lat: 36.779298 deg, lon: -121.859491 deg, deltaT: 0.503938 s, deltaX: -0.000092 m, approachRate: -0.000182 m/s, posRepo size: 4 2025-10-29T01:15:24.569Z,1761700524.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.67 m. 2025-10-29T01:15:24.593Z,1761700524.593 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=43.906029 2025-10-29T01:15:24.846Z,1761700524.846 [DAT](INFO): DAT read: Rx Time:01:15:24.1694 2025-10-29T01:15:24.846Z,1761700524.846 [DAT](INFO): Rx dataTimestamp_ set to:1761700524.845695 2025-10-29T01:15:24.847Z,1761700524.847 [DAT](INFO): DAT read: Bearing 338.7, 12.0 (Local) 2025-10-29T01:15:24.848Z,1761700524.848 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, 12.0 (Local) 2025-10-29T01:15:24.850Z,1761700524.850 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 2025-10-29T01:15:24.858Z,1761700524.858 [DAT](INFO): DAT read: 01:15:24.1694 LVL= 30128, 26673, 32754, 32755, AGC= 68, IDX= 508,-0.01, 2.498,-2.221, 2.087, 3.063, PHS=-0.463, 1.045,-1.020, RAW= 345.1, 4.8, CAL= 344.8, 2.9, ROT= 165.2, -2.9 2025-10-29T01:15:24.859Z,1761700524.859 [DAT](INFO): got valid direction response: 01:15:24.1694 LVL= 30128, 26673, 32754, 32755, AGC= 68, IDX= 508,-0.01, 2.498,-2.221, 2.087, 3.063, PHS=-0.463, 1.045,-1.020, RAW= 345.1, 4.8, CAL= 344.8, 2.9, ROT= 165.2, -2.9 2025-10-29T01:15:24.859Z,1761700524.859 [DAT](INFO): #Rx 84: Read range and direction messages. 2025-10-29T01:15:24.861Z,1761700524.861 [DAT](INFO): direction in FSK: [-0.965585,0.255119,0.050593] 2025-10-29T01:15:24.862Z,1761700524.862 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:24.865Z,1761700524.865 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.178253 2025-10-29T01:15:24.886Z,1761700524.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985718,-0.159645,-0.053612],[0.162262,0.985548,0.048635],[0.045073,-0.056640,0.997377]] 2025-10-29T01:15:24.967Z,1761700524.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.503985 s, deltaX: 0.200001 m, approachRate: 0.396839 m/s, rangeRepo size: 4 2025-10-29T01:15:24.974Z,1761700524.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.864595 m, bearing: 174.421068 deg, lat: 36.779298 deg, lon: -121.859491 deg, deltaT: 0.503985 s, deltaX: 0.198822 m, approachRate: 0.394500 m/s, posRepo size: 4 2025-10-29T01:15:24.974Z,1761700524.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m. 2025-10-29T01:15:25.097Z,1761700525.097 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=44.410133 2025-10-29T01:15:25.291Z,1761700525.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985711,-0.159581,-0.053926],[0.162186,0.985594,0.047964],[0.045495,-0.056025,0.997392]] 2025-10-29T01:15:25.346Z,1761700525.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m. 2025-10-29T01:15:25.350Z,1761700525.350 [DAT](INFO): DAT read: Rx Time:01:15:24.6694 2025-10-29T01:15:25.350Z,1761700525.350 [DAT](INFO): Rx dataTimestamp_ set to:1761700525.349777 2025-10-29T01:15:25.351Z,1761700525.351 [DAT](INFO): DAT read: Bearing 338.6, 11.7 (Local) 2025-10-29T01:15:25.352Z,1761700525.352 [DAT](INFO): Local bearing/azimuth received: Bearing 338.6, 11.7 (Local) 2025-10-29T01:15:25.354Z,1761700525.354 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed -0.2 2025-10-29T01:15:25.362Z,1761700525.362 [DAT](INFO): DAT read: 01:15:24.6694 LVL= 32752, 26849, 32754, 32755, AGC= 70, IDX= 508,-0.37, 0.770, 2.334, 0.372, 1.340, PHS=-0.468, 1.039,-1.012, RAW= 344.8, 4.8, CAL= 344.5, 3.0, ROT= 165.5, -3.0 2025-10-29T01:15:25.363Z,1761700525.363 [DAT](INFO): got valid direction response: 01:15:24.6694 LVL= 32752, 26849, 32754, 32755, AGC= 70, IDX= 508,-0.37, 0.770, 2.334, 0.372, 1.340, PHS=-0.468, 1.039,-1.012, RAW= 344.8, 4.8, CAL= 344.5, 3.0, ROT= 165.5, -3.0 2025-10-29T01:15:25.363Z,1761700525.363 [DAT](INFO): #Rx 85: Read range and direction messages. 2025-10-29T01:15:25.373Z,1761700525.373 [DAT](INFO): direction in FSK: [-0.966821,0.250037,0.052336] 2025-10-29T01:15:25.373Z,1761700525.373 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:25.390Z,1761700525.390 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.702675 2025-10-29T01:15:25.602Z,1761700525.602 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=44.915508 2025-10-29T01:15:25.695Z,1761700525.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985735,-0.159256,-0.054438],[0.161867,0.985670,0.047478],[0.046096,-0.055613,0.997388]] 2025-10-29T01:15:25.729Z,1761700525.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504082 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:25.731Z,1761700525.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.864408 m, bearing: 174.695783 deg, lat: 36.779298 deg, lon: -121.859491 deg, deltaT: 0.504082 s, deltaX: -0.000187 m, approachRate: -0.000371 m/s, posRepo size: 4 2025-10-29T01:15:25.731Z,1761700525.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m. 2025-10-29T01:15:25.853Z,1761700525.853 [DAT](INFO): DAT read: Rx Time:01:15:25.1695 2025-10-29T01:15:25.854Z,1761700525.854 [DAT](INFO): Rx dataTimestamp_ set to:1761700525.853669 2025-10-29T01:15:25.855Z,1761700525.855 [DAT](INFO): DAT read: Bearing 338.7, 12.0 (Local) 2025-10-29T01:15:25.856Z,1761700525.856 [DAT](INFO): Local bearing/azimuth received: Bearing 338.7, 12.0 (Local) 2025-10-29T01:15:25.858Z,1761700525.858 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed -0.1 2025-10-29T01:15:25.867Z,1761700525.867 [DAT](INFO): DAT read: 01:15:25.1695 LVL= 31632, 29121, 32754, 32755, AGC= 70, IDX= 509, 0.24,-2.992,-1.439, 2.880,-2.433, PHS=-0.457, 1.039,-1.014, RAW= 345.2, 4.8, CAL= 344.9, 2.9, ROT= 165.1, -2.9 2025-10-29T01:15:25.868Z,1761700525.868 [DAT](INFO): got valid direction response: 01:15:25.1695 LVL= 31632, 29121, 32754, 32755, AGC= 70, IDX= 509, 0.24,-2.992,-1.439, 2.880,-2.433, PHS=-0.457, 1.039,-1.014, RAW= 345.2, 4.8, CAL= 344.9, 2.9, ROT= 165.1, -2.9 2025-10-29T01:15:25.868Z,1761700525.868 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-29T01:15:25.869Z,1761700525.869 [DAT](INFO): direction in FSK: [-0.965139,0.256803,0.050593] 2025-10-29T01:15:25.869Z,1761700525.869 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:25.917Z,1761700525.917 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.230244 2025-10-29T01:15:26.106Z,1761700526.106 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=45.418365 2025-10-29T01:15:26.249Z,1761700526.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.503892 s, deltaX: 0.100000 m, approachRate: 0.198456 m/s, rangeRepo size: 4 2025-10-29T01:15:26.250Z,1761700526.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.963820 m, bearing: 174.300863 deg, lat: 36.779299 deg, lon: -121.859491 deg, deltaT: 0.503892 s, deltaX: 0.099411 m, approachRate: 0.197286 m/s, posRepo size: 4 2025-10-29T01:15:26.251Z,1761700526.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.96 m. 2025-10-29T01:15:26.358Z,1761700526.358 [DAT](INFO): DAT read: Rx Time:01:15:25.6694 2025-10-29T01:15:26.358Z,1761700526.358 [DAT](INFO): Rx dataTimestamp_ set to:1761700526.357708 2025-10-29T01:15:26.359Z,1761700526.359 [DAT](INFO): DAT read: Bearing 339.6, 12.2 (Local) 2025-10-29T01:15:26.360Z,1761700526.360 [DAT](INFO): Local bearing/azimuth received: Bearing 339.6, 12.2 (Local) 2025-10-29T01:15:26.362Z,1761700526.362 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.0 2025-10-29T01:15:26.370Z,1761700526.370 [DAT](INFO): DAT read: 01:15:25.6694 LVL= 31568, 25457, 32754, 32755, AGC= 69, IDX= 509, 0.02, 0.130, 1.701,-0.298, 0.674, PHS=-0.443, 1.072,-1.016, RAW= 345.4, 4.2, CAL= 345.0, 2.0, ROT= 165.0, -2.0 2025-10-29T01:15:26.371Z,1761700526.371 [DAT](INFO): got valid direction response: 01:15:25.6694 LVL= 31568, 25457, 32754, 32755, AGC= 69, IDX= 509, 0.02, 0.130, 1.701,-0.298, 0.674, PHS=-0.443, 1.072,-1.016, RAW= 345.4, 4.2, CAL= 345.0, 2.0, ROT= 165.0, -2.0 2025-10-29T01:15:26.372Z,1761700526.372 [DAT](INFO): #Rx 87: Read range and direction messages. 2025-10-29T01:15:26.373Z,1761700526.373 [DAT](INFO): direction in FSK: [-0.965337,0.258661,0.034899] 2025-10-29T01:15:26.373Z,1761700526.373 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:26.381Z,1761700526.381 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.694122 2025-10-29T01:15:26.612Z,1761700526.612 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=45.924248 2025-10-29T01:15:26.686Z,1761700526.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985941,-0.157451,-0.055945],[0.160136,0.985964,0.047248],[0.047720,-0.055542,0.997315]] 2025-10-29T01:15:26.745Z,1761700526.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.504039 s, deltaX: -0.100000 m, approachRate: -0.198398 m/s, rangeRepo size: 4 2025-10-29T01:15:26.752Z,1761700526.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.864120 m, bearing: 174.138258 deg, lat: 36.779299 deg, lon: -121.859491 deg, deltaT: 0.504039 s, deltaX: -0.099699 m, approachRate: -0.197800 m/s, posRepo size: 4 2025-10-29T01:15:26.753Z,1761700526.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.86 m. 2025-10-29T01:15:26.862Z,1761700526.862 [DAT](INFO): DAT read: Rx Time:01:15:26.1696 2025-10-29T01:15:26.863Z,1761700526.863 [DAT](INFO): Rx dataTimestamp_ set to:1761700526.862294 2025-10-29T01:15:26.864Z,1761700526.864 [DAT](INFO): DAT read: Bearing 341.1, 11.2 (Local) 2025-10-29T01:15:26.864Z,1761700526.864 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 11.2 (Local) 2025-10-29T01:15:26.867Z,1761700526.867 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.1 2025-10-29T01:15:26.875Z,1761700526.875 [DAT](INFO): DAT read: 01:15:26.1696 LVL= 31584, 26545, 32754, 32755, AGC= 68, IDX= 511,-0.15,-1.288, 0.307,-1.681,-0.751, PHS=-0.436, 1.102,-0.974, RAW= 344.5, 3.3, CAL= 344.0, 0.6, ROT= 166.0, -0.6 2025-10-29T01:15:26.877Z,1761700526.877 [DAT](INFO): got valid direction response: 01:15:26.1696 LVL= 31584, 26545, 32754, 32755, AGC= 68, IDX= 511,-0.15,-1.288, 0.307,-1.681,-0.751, PHS=-0.436, 1.102,-0.974, RAW= 344.5, 3.3, CAL= 344.0, 0.6, ROT= 166.0, -0.6 2025-10-29T01:15:26.877Z,1761700526.877 [DAT](INFO): #Rx 88: Read range and direction messages. 2025-10-29T01:15:26.878Z,1761700526.878 [DAT](INFO): direction in FSK: [-0.970243,0.241909,0.010472] 2025-10-29T01:15:26.878Z,1761700526.878 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:26.883Z,1761700526.883 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.195610 2025-10-29T01:15:27.070Z,1761700527.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986076,-0.156401,-0.056504],[0.159115,0.986131,0.047209],[0.048337,-0.055543,0.997286]] 2025-10-29T01:15:27.107Z,1761700527.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504586 s, deltaX: 0.299999 m, approachRate: 0.594545 m/s, rangeRepo size: 4 2025-10-29T01:15:27.117Z,1761700527.117 [DAT](INFO): DAT read: Rx Time:01:15:26.6696 2025-10-29T01:15:27.118Z,1761700527.118 [DAT](INFO): Rx dataTimestamp_ set to:1761700527.117491 2025-10-29T01:15:27.122Z,1761700527.122 [DAT](INFO): DAT read: Bearing 341.0, 12.0 (Local) 2025-10-29T01:15:27.123Z,1761700527.123 [DAT](INFO): Local bearing/azimuth received: Bearing 341.0, 12.0 (Local) 2025-10-29T01:15:27.130Z,1761700527.130 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=46.442051 2025-10-29T01:15:27.149Z,1761700527.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.162348 m, bearing: 175.137006 deg, lat: 36.779299 deg, lon: -121.859491 deg, deltaT: 0.504586 s, deltaX: 0.298227 m, approachRate: 0.591034 m/s, posRepo size: 4 2025-10-29T01:15:27.151Z,1761700527.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m. 2025-10-29T01:15:27.366Z,1761700527.366 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-29T01:15:27.371Z,1761700527.371 [DAT](INFO): DAT read: 01:15:26.6696 LVL= 31472, 23281, 32754, 32755, AGC= 69, IDX= 511,-0.46,-2.678,-1.116,-3.095,-2.159, PHS=-0.416, 1.088,-0.979, RAW= 345.3, 3.4, CAL= 344.8, 0.7, ROT= 165.2, -0.7 2025-10-29T01:15:27.375Z,1761700527.375 [DAT](INFO): got valid direction response: 01:15:26.6696 LVL= 31472, 23281, 32754, 32755, AGC= 69, IDX= 511,-0.46,-2.678,-1.116,-3.095,-2.159, PHS=-0.416, 1.088,-0.979, RAW= 345.3, 3.4, CAL= 344.8, 0.7, ROT= 165.2, -0.7 2025-10-29T01:15:27.376Z,1761700527.376 [DAT](INFO): #Rx 89: Read range and direction messages. 2025-10-29T01:15:27.377Z,1761700527.377 [DAT](INFO): direction in FSK: [-0.966751,0.255427,0.012217] 2025-10-29T01:15:27.377Z,1761700527.377 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:27.403Z,1761700527.403 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.715900 2025-10-29T01:15:27.474Z,1761700527.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986253,-0.155061,-0.057111],[0.157795,0.986356,0.046934],[0.049054,-0.055301,0.997264]] 2025-10-29T01:15:27.569Z,1761700527.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.502011 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:27.571Z,1761700527.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.162292 m, bearing: 174.255702 deg, lat: 36.779299 deg, lon: -121.859492 deg, deltaT: 0.502011 s, deltaX: -0.000055 m, approachRate: -0.000110 m/s, posRepo size: 4 2025-10-29T01:15:27.571Z,1761700527.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m. 2025-10-29T01:15:27.621Z,1761700527.621 [DAT](INFO): DAT read: Rx Time:01:15:27.1696 2025-10-29T01:15:27.622Z,1761700527.622 [DAT](INFO): Rx dataTimestamp_ set to:1761700527.621110 2025-10-29T01:15:27.625Z,1761700527.625 [DAT](INFO): DAT read: Bearing 341.8, 12.5 (Local) 2025-10-29T01:15:27.627Z,1761700527.627 [DAT](INFO): Local bearing/azimuth received: Bearing 341.8, 12.5 (Local) 2025-10-29T01:15:27.629Z,1761700527.629 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=46.941139 2025-10-29T01:15:27.871Z,1761700527.871 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed -0.2 2025-10-29T01:15:27.879Z,1761700527.879 [DAT](INFO): DAT read: 01:15:27.1696 LVL= 31520, 24913, 32754, 32755, AGC= 70, IDX= 511, 0.22,-1.945,-0.396,-2.385,-1.451, PHS=-0.391, 1.101,-0.978, RAW= 345.9, 2.9, CAL= 345.4, -0.0, ROT= 164.6, 0.0 2025-10-29T01:15:27.881Z,1761700527.881 [DAT](INFO): got valid direction response: 01:15:27.1696 LVL= 31520, 24913, 32754, 32755, AGC= 70, IDX= 511, 0.22,-1.945,-0.396,-2.385,-1.451, PHS=-0.391, 1.101,-0.978, RAW= 345.9, 2.9, CAL= 345.4, -0.0, ROT= 164.6, 0.0 2025-10-29T01:15:27.881Z,1761700527.881 [DAT](INFO): #Rx 90: Read range and direction messages. 2025-10-29T01:15:27.882Z,1761700527.882 [DAT](INFO): direction in FSK: [-0.964095,0.265556,-0.000000] 2025-10-29T01:15:27.882Z,1761700527.882 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:27.891Z,1761700527.891 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=47.204159 2025-10-29T01:15:27.915Z,1761700527.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986480,-0.153410,-0.057649],[0.156162,0.986627,0.046703],[0.049714,-0.055074,0.997244]] 2025-10-29T01:15:28.002Z,1761700528.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:28.008Z,1761700528.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.162292 m, bearing: 173.588509 deg, lat: 36.779299 deg, lon: -121.859491 deg, deltaT: 0.504109 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:28.009Z,1761700528.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m. 2025-10-29T01:15:28.124Z,1761700528.124 [DAT](INFO): DAT read: Rx Time:01:15:27.6696 2025-10-29T01:15:28.125Z,1761700528.125 [DAT](INFO): Rx dataTimestamp_ set to:1761700528.124647 2025-10-29T01:15:28.128Z,1761700528.128 [DAT](INFO): DAT read: Bearing 341.4, 12.5 (Local) 2025-10-29T01:15:28.129Z,1761700528.129 [DAT](INFO): Local bearing/azimuth received: Bearing 341.4, 12.5 (Local) 2025-10-29T01:15:28.134Z,1761700528.134 [DAT](INFO): DAT read: Range 11 to 50 : 23.3 m (trip time 15.5 ms) speed 0.0 2025-10-29T01:15:28.136Z,1761700528.136 [DAT](ERROR): #Rx 91: Read range message, but no direction. 2025-10-29T01:15:28.139Z,1761700528.139 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=47.451660 2025-10-29T01:15:28.283Z,1761700528.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986713,-0.151668,-0.058259],[0.154447,0.986903,0.046576],[0.050432,-0.054955,0.997214]] 2025-10-29T01:15:28.332Z,1761700528.332 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:15:28.335Z,1761700528.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.299999 m, deltaT: 0.256233 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:28.335Z,1761700528.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.16 m. 2025-10-29T01:15:28.378Z,1761700528.378 [DAT](INFO): DAT read: 01:15:27.6696 LVL= 30112, 28785, 32754, 32755, AGC= 71, IDX= 511,-0.05, 2.169,-2.551, 1.721, 2.672, PHS=-0.401, 1.105,-0.995, RAW= 345.9, 3.1, CAL= 345.5, 0.3, ROT= 164.5, -0.3 2025-10-29T01:15:28.379Z,1761700528.379 [DAT](INFO): got valid direction response: 01:15:27.6696 LVL= 30112, 28785, 32754, 32755, AGC= 71, IDX= 511,-0.05, 2.169,-2.551, 1.721, 2.672, PHS=-0.401, 1.105,-0.995, RAW= 345.9, 3.1, CAL= 345.5, 0.3, ROT= 164.5, -0.3 2025-10-29T01:15:28.379Z,1761700528.379 [DAT](INFO): #Rx 92: Read direction message, but no range. 2025-10-29T01:15:28.383Z,1761700528.383 [DAT](INFO): direction in FSK: [-0.963617,0.267235,0.005236] 2025-10-29T01:15:28.387Z,1761700528.387 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=47.699585 2025-10-29T01:15:28.625Z,1761700528.625 [DAT](INFO): DAT read: Rx Time:01:15:28.1698 2025-10-29T01:15:28.626Z,1761700528.626 [DAT](INFO): Rx dataTimestamp_ set to:1761700528.625315 2025-10-29T01:15:28.627Z,1761700528.627 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed -0.1 2025-10-29T01:15:28.627Z,1761700528.627 [DAT](ERROR): #Rx 93: Read range message, but no direction. 2025-10-29T01:15:28.628Z,1761700528.628 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=47.941479 2025-10-29T01:15:28.706Z,1761700528.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986957,-0.149797,-0.058965],[0.152617,0.987185,0.046615],[0.051227,-0.055006,0.997171]] 2025-10-29T01:15:28.762Z,1761700528.762 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.500668 s, deltaX: 0.300001 m, approachRate: 0.599202 m/s, rangeRepo size: 4 2025-10-29T01:15:28.770Z,1761700528.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.460878 m, bearing: 173.269855 deg, lat: 36.779299 deg, lon: -121.859491 deg, deltaT: 0.756901 s, deltaX: 0.298586 m, approachRate: 0.394485 m/s, posRepo size: 4 2025-10-29T01:15:28.771Z,1761700528.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m. 2025-10-29T01:15:28.877Z,1761700528.877 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=48.189987 2025-10-29T01:15:29.090Z,1761700529.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987215,-0.147836,-0.059589],[0.150704,0.987466,0.046904],[0.051908,-0.055285,0.997120]] 2025-10-29T01:15:29.129Z,1761700529.129 [DAT](INFO): DAT read: Rx Time:01:15:28.6697 2025-10-29T01:15:29.130Z,1761700529.130 [DAT](INFO): Rx dataTimestamp_ set to:1761700529.129305 2025-10-29T01:15:29.131Z,1761700529.131 [DAT](INFO): DAT read: Range 11 to 50 : 23.4 m (trip time 15.6 ms) speed 0.0 2025-10-29T01:15:29.131Z,1761700529.131 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-29T01:15:29.132Z,1761700529.132 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.445446 2025-10-29T01:15:29.145Z,1761700529.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.400000 m, deltaT: 0.503990 s, deltaX: -0.200001 m, approachRate: -0.396835 m/s, rangeRepo size: 4 2025-10-29T01:15:29.146Z,1761700529.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m. 2025-10-29T01:15:29.381Z,1761700529.381 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=48.693901 2025-10-29T01:15:29.496Z,1761700529.496 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987487,-0.145756,-0.060208],[0.148673,0.987760,0.047192],[0.052592,-0.055553,0.997070]] 2025-10-29T01:15:29.574Z,1761700529.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.46 m. 2025-10-29T01:15:29.638Z,1761700529.638 [DAT](INFO): DAT read: Rx Time:01:15:29.1699 2025-10-29T01:15:29.639Z,1761700529.639 [DAT](INFO): Rx dataTimestamp_ set to:1761700529.638328 2025-10-29T01:15:29.645Z,1761700529.645 [DAT](INFO): DAT read: Bearing 341.1, 13.6 (Local) 2025-10-29T01:15:29.646Z,1761700529.646 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 13.6 (Local) 2025-10-29T01:15:29.669Z,1761700529.669 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.2 2025-10-29T01:15:29.679Z,1761700529.679 [DAT](INFO): DAT read: 01:15:29.1699 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 2, 0.04, 1.313, 2.831, 0.822, 1.787, PHS=-0.373, 1.089,-1.010, RAW= 347.2, 3.2, CAL= 346.8, 0.3, ROT= 163.2, -0.3 2025-10-29T01:15:29.688Z,1761700529.688 [DAT](INFO): got valid direction response: 01:15:29.1699 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 2, 0.04, 1.313, 2.831, 0.822, 1.787, PHS=-0.373, 1.089,-1.010, RAW= 347.2, 3.2, CAL= 346.8, 0.3, ROT= 163.2, -0.3 2025-10-29T01:15:29.689Z,1761700529.689 [DAT](INFO): #Rx 95: Read range and direction messages. 2025-10-29T01:15:29.689Z,1761700529.689 [DAT](INFO): direction in FSK: [-0.957306,0.289028,0.005236] 2025-10-29T01:15:29.690Z,1761700529.690 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:29.695Z,1761700529.695 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.008286 2025-10-29T01:15:29.885Z,1761700529.885 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=49.197903 2025-10-29T01:15:29.901Z,1761700529.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987755,-0.143643,-0.060884],[0.146598,0.988070,0.047199],[0.053378,-0.055546,0.997028]] 2025-10-29T01:15:29.956Z,1761700529.956 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.509023 s, deltaX: 0.300001 m, approachRate: 0.589367 m/s, rangeRepo size: 4 2025-10-29T01:15:29.958Z,1761700529.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.560381 m, bearing: 171.618250 deg, lat: 36.779299 deg, lon: -121.859490 deg, deltaT: 1.013013 s, deltaX: 0.099503 m, approachRate: 0.098224 m/s, posRepo size: 4 2025-10-29T01:15:29.958Z,1761700529.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m. 2025-10-29T01:15:30.141Z,1761700530.141 [DAT](INFO): DAT read: Rx Time:01:15:29.6699 2025-10-29T01:15:30.143Z,1761700530.143 [DAT](INFO): Rx dataTimestamp_ set to:1761700530.141630 2025-10-29T01:15:30.174Z,1761700530.174 [DAT](INFO): DAT read: Bearing 338.4, 12.7 (Local) 2025-10-29T01:15:30.174Z,1761700530.174 [DAT](INFO): Local bearing/azimuth received: Bearing 338.4, 12.7 (Local) 2025-10-29T01:15:30.177Z,1761700530.177 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed -0.1 2025-10-29T01:15:30.183Z,1761700530.183 [DAT](INFO): DAT read: 01:15:29.6699 LVL= 32752, 27361, 32754, 32755, AGC= 72, IDX= 498,-0.21, 0.714, 2.252, 0.253, 1.255, PHS=-0.439, 1.042,-1.046, RAW= 346.4, 4.8, CAL= 346.1, 2.9, ROT= 163.9, -2.9 2025-10-29T01:15:30.184Z,1761700530.184 [DAT](INFO): got valid direction response: 01:15:29.6699 LVL= 32752, 27361, 32754, 32755, AGC= 72, IDX= 498,-0.21, 0.714, 2.252, 0.253, 1.255, PHS=-0.439, 1.042,-1.046, RAW= 346.4, 4.8, CAL= 346.1, 2.9, ROT= 163.9, -2.9 2025-10-29T01:15:30.185Z,1761700530.185 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-29T01:15:30.186Z,1761700530.186 [DAT](INFO): direction in FSK: [-0.959549,0.276960,0.050593] 2025-10-29T01:15:30.186Z,1761700530.186 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:30.196Z,1761700530.196 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.509117 2025-10-29T01:15:30.305Z,1761700530.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988020,-0.141507,-0.061576],[0.144477,0.988402,0.046778],[0.054242,-0.055114,0.997006]] 2025-10-29T01:15:30.389Z,1761700530.389 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=49.702084 2025-10-29T01:15:30.411Z,1761700530.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.503302 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:30.413Z,1761700530.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.560381 m, bearing: 172.096718 deg, lat: 36.779300 deg, lon: -121.859489 deg, deltaT: 0.503302 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:30.414Z,1761700530.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.56 m. 2025-10-29T01:15:30.647Z,1761700530.647 [DAT](INFO): DAT read: Rx Time:01:15:30.1701 2025-10-29T01:15:30.649Z,1761700530.649 [DAT](INFO): Rx dataTimestamp_ set to:1761700530.648106 2025-10-29T01:15:30.667Z,1761700530.667 [DAT](INFO): DAT read: Bearing 339.9, 13.1 (Local) 2025-10-29T01:15:30.668Z,1761700530.668 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 13.1 (Local) 2025-10-29T01:15:30.670Z,1761700530.670 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.4 2025-10-29T01:15:30.691Z,1761700530.691 [DAT](INFO): DAT read: 01:15:30.1701 LVL= 32752, 22849, 32754, 32755, AGC= 71, IDX= 500,-0.27, 1.431, 2.995, 0.942, 1.944, PHS=-0.411, 1.096,-1.046, RAW= 346.8, 3.8, CAL= 346.4, 1.4, ROT= 163.6, -1.4 2025-10-29T01:15:30.716Z,1761700530.716 [DAT](INFO): got valid direction response: 01:15:30.1701 LVL= 32752, 22849, 32754, 32755, AGC= 71, IDX= 500,-0.27, 1.431, 2.995, 0.942, 1.944, PHS=-0.411, 1.096,-1.046, RAW= 346.8, 3.8, CAL= 346.4, 1.4, ROT= 163.6, -1.4 2025-10-29T01:15:30.716Z,1761700530.716 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T01:15:30.717Z,1761700530.717 [DAT](INFO): direction in FSK: [-0.959028,0.282257,0.024432] 2025-10-29T01:15:30.718Z,1761700530.718 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:30.738Z,1761700530.738 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.050934 2025-10-29T01:15:30.824Z,1761700530.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.506476 s, deltaX: 0.299999 m, approachRate: 0.592327 m/s, rangeRepo size: 4 2025-10-29T01:15:30.826Z,1761700530.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.858633 m, bearing: 171.853680 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.506476 s, deltaX: 0.298252 m, approachRate: 0.588877 m/s, posRepo size: 4 2025-10-29T01:15:30.826Z,1761700530.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-29T01:15:30.884Z,1761700530.884 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:15:30.893Z,1761700530.893 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=50.206242 2025-10-29T01:15:31.153Z,1761700531.153 [DAT](INFO): DAT read: Rx Time:01:15:30.6700 2025-10-29T01:15:31.154Z,1761700531.154 [DAT](INFO): Rx dataTimestamp_ set to:1761700531.153352 2025-10-29T01:15:31.159Z,1761700531.159 [DAT](INFO): DAT read: Bearing 338.9, 12.6 (Local) 2025-10-29T01:15:31.161Z,1761700531.161 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 12.6 (Local) 2025-10-29T01:15:31.200Z,1761700531.200 [DAT](INFO): DAT read: Range 11 to 50 : 23.9 m (trip time 15.9 ms) speed -0.3 2025-10-29T01:15:31.217Z,1761700531.217 [DAT](INFO): DAT read: 01:15:30.6700 LVL= 32752, 29969, 32754, 32755, AGC= 71, IDX= 500,-0.42, 0.806, 2.365, 0.340, 1.342, PHS=-0.434, 1.068,-1.046, RAW= 346.3, 4.4, CAL= 346.0, 2.3, ROT= 164.0, -2.3 2025-10-29T01:15:31.218Z,1761700531.218 [DAT](INFO): got valid direction response: 01:15:30.6700 LVL= 32752, 29969, 32754, 32755, AGC= 71, IDX= 500,-0.42, 0.806, 2.365, 0.340, 1.342, PHS=-0.434, 1.068,-1.046, RAW= 346.3, 4.4, CAL= 346.0, 2.3, ROT= 164.0, -2.3 2025-10-29T01:15:31.218Z,1761700531.218 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-29T01:15:31.219Z,1761700531.219 [DAT](INFO): direction in FSK: [-0.960487,0.275415,0.040132] 2025-10-29T01:15:31.219Z,1761700531.219 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:31.230Z,1761700531.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988446,-0.137897,-0.062915],[0.140912,0.988939,0.046291],[0.055835,-0.054621,0.996945]] 2025-10-29T01:15:31.235Z,1761700531.235 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.548176 2025-10-29T01:15:31.347Z,1761700531.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.900000 m, deltaT: 0.505246 s, deltaX: -0.100000 m, approachRate: -0.197924 m/s, rangeRepo size: 4 2025-10-29T01:15:31.353Z,1761700531.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.759222 m, bearing: 172.013532 deg, lat: 36.779301 deg, lon: -121.859485 deg, deltaT: 0.505246 s, deltaX: -0.099411 m, approachRate: -0.196758 m/s, posRepo size: 4 2025-10-29T01:15:31.353Z,1761700531.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.76 m. 2025-10-29T01:15:31.398Z,1761700531.398 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=50.710712 2025-10-29T01:15:31.601Z,1761700531.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988615,-0.136363,-0.063611],[0.139429,0.989138,0.046527],[0.056576,-0.054867,0.996890]] 2025-10-29T01:15:31.654Z,1761700531.654 [DAT](INFO): DAT read: Rx Time:01:15:31.1701 2025-10-29T01:15:31.655Z,1761700531.655 [DAT](INFO): Rx dataTimestamp_ set to:1761700531.654188 2025-10-29T01:15:31.665Z,1761700531.665 [DAT](INFO): DAT read: Bearing 338.8, 13.6 (Local) 2025-10-29T01:15:31.666Z,1761700531.666 [DAT](INFO): Local bearing/azimuth received: Bearing 338.8, 13.6 (Local) 2025-10-29T01:15:31.673Z,1761700531.673 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.2 2025-10-29T01:15:31.694Z,1761700531.694 [DAT](INFO): DAT read: 01:15:31.1701 LVL= 32752, 27553, 32754, 32755, AGC= 72, IDX= 501,-0.47, 0.881, 2.411, 0.378, 1.395, PHS=-0.412, 1.061,-1.061, RAW= 347.4, 4.4, CAL= 347.0, 2.3, ROT= 163.0, -2.3 2025-10-29T01:15:31.695Z,1761700531.695 [DAT](INFO): got valid direction response: 01:15:31.1701 LVL= 32752, 27553, 32754, 32755, AGC= 72, IDX= 501,-0.47, 0.881, 2.411, 0.378, 1.395, PHS=-0.412, 1.061,-1.061, RAW= 347.4, 4.4, CAL= 347.0, 2.3, ROT= 163.0, -2.3 2025-10-29T01:15:31.696Z,1761700531.696 [DAT](INFO): #Rx 99: Read range and direction messages. 2025-10-29T01:15:31.713Z,1761700531.713 [DAT](INFO): direction in FSK: [-0.955534,0.292136,0.040132] 2025-10-29T01:15:31.713Z,1761700531.713 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:31.725Z,1761700531.725 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.037910 2025-10-29T01:15:31.869Z,1761700531.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.500836 s, deltaX: 0.100000 m, approachRate: 0.199667 m/s, rangeRepo size: 4 2025-10-29T01:15:31.871Z,1761700531.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.858559 m, bearing: 170.928172 deg, lat: 36.779301 deg, lon: -121.859485 deg, deltaT: 0.500836 s, deltaX: 0.099337 m, approachRate: 0.198342 m/s, posRepo size: 4 2025-10-29T01:15:31.871Z,1761700531.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-29T01:15:31.890Z,1761700531.890 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:15:31.902Z,1761700531.902 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=51.214790 2025-10-29T01:15:32.097Z,1761700532.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988787,-0.134743,-0.064385],[0.137880,0.989332,0.047028],[0.057362,-0.055378,0.996816]] 2025-10-29T01:15:32.158Z,1761700532.158 [DAT](INFO): DAT read: Rx Time:01:15:31.6701 2025-10-29T01:15:32.159Z,1761700532.159 [DAT](INFO): Rx dataTimestamp_ set to:1761700532.158468 2025-10-29T01:15:32.166Z,1761700532.166 [DAT](INFO): DAT read: Bearing 339.8, 13.2 (Local) 2025-10-29T01:15:32.167Z,1761700532.167 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 13.2 (Local) 2025-10-29T01:15:32.170Z,1761700532.170 [DAT](INFO): DAT read: Range 11 to 50 : 24.0 m (trip time 16.0 ms) speed -0.3 2025-10-29T01:15:32.186Z,1761700532.186 [DAT](INFO): DAT read: 01:15:31.6701 LVL= 32752, 25697, 32754, 32755, AGC= 70, IDX= 500, 0.36, 1.960,-2.777, 1.464, 2.461, PHS=-0.399, 1.090,-1.041, RAW= 347.1, 3.7, CAL= 346.7, 1.2, ROT= 163.3, -1.2 2025-10-29T01:15:32.188Z,1761700532.188 [DAT](INFO): got valid direction response: 01:15:31.6701 LVL= 32752, 25697, 32754, 32755, AGC= 70, IDX= 500, 0.36, 1.960,-2.777, 1.464, 2.461, PHS=-0.399, 1.090,-1.041, RAW= 347.1, 3.7, CAL= 346.7, 1.2, ROT= 163.3, -1.2 2025-10-29T01:15:32.194Z,1761700532.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-29T01:15:32.196Z,1761700532.196 [DAT](INFO): #Rx 100: Read range and direction messages. 2025-10-29T01:15:32.197Z,1761700532.197 [DAT](INFO): direction in FSK: [-0.957612,0.287297,0.020942] 2025-10-29T01:15:32.197Z,1761700532.197 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:32.209Z,1761700532.209 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.522228 2025-10-29T01:15:32.408Z,1761700532.408 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=51.721085 2025-10-29T01:15:32.498Z,1761700532.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988903,-0.133509,-0.065157],[0.136695,0.989490,0.047152],[0.058177,-0.055535,0.996760]] 2025-10-29T01:15:32.597Z,1761700532.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.000000 m, deltaT: 0.504280 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:32.599Z,1761700532.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.858471 m, bearing: 171.108489 deg, lat: 36.779301 deg, lon: -121.859485 deg, deltaT: 0.504280 s, deltaX: -0.000088 m, approachRate: -0.000174 m/s, posRepo size: 4 2025-10-29T01:15:32.599Z,1761700532.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.86 m. 2025-10-29T01:15:32.662Z,1761700532.662 [DAT](INFO): DAT read: Rx Time:01:15:32.1704 2025-10-29T01:15:32.664Z,1761700532.664 [DAT](INFO): Rx dataTimestamp_ set to:1761700532.662537 2025-10-29T01:15:32.668Z,1761700532.668 [DAT](INFO): DAT read: Bearing 339.9, 13.7 (Local) 2025-10-29T01:15:32.668Z,1761700532.668 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 13.7 (Local) 2025-10-29T01:15:32.670Z,1761700532.670 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed -0.2 2025-10-29T01:15:32.679Z,1761700532.679 [DAT](INFO): DAT read: 01:15:32.1704 LVL= 32752, 23409, 32754, 32755, AGC= 71, IDX= 502, 0.39, 1.936,-2.812, 1.422, 2.424, PHS=-0.386, 1.092,-1.046, RAW= 347.5, 3.6, CAL= 347.1, 1.0, ROT= 162.9, -1.0 2025-10-29T01:15:32.693Z,1761700532.693 [DAT](INFO): got valid direction response: 01:15:32.1704 LVL= 32752, 23409, 32754, 32755, AGC= 71, IDX= 502, 0.39, 1.936,-2.812, 1.422, 2.424, PHS=-0.386, 1.092,-1.046, RAW= 347.5, 3.6, CAL= 347.1, 1.0, ROT= 162.9, -1.0 2025-10-29T01:15:32.693Z,1761700532.693 [DAT](INFO): #Rx 101: Read range and direction messages. 2025-10-29T01:15:32.694Z,1761700532.694 [DAT](INFO): direction in FSK: [-0.955647,0.293996,0.017452] 2025-10-29T01:15:32.694Z,1761700532.694 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:32.703Z,1761700532.703 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.015614 2025-10-29T01:15:32.903Z,1761700532.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989067,-0.131970,-0.065800],[0.135196,0.989692,0.047242],[0.058887,-0.055622,0.996714]] 2025-10-29T01:15:32.909Z,1761700532.909 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=52.221966 2025-10-29T01:15:32.966Z,1761700532.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.504069 s, deltaX: 0.500000 m, approachRate: 0.991928 m/s, rangeRepo size: 4 2025-10-29T01:15:32.969Z,1761700532.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.355522 m, bearing: 170.628316 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.504069 s, deltaX: 0.497051 m, approachRate: 0.986078 m/s, posRepo size: 4 2025-10-29T01:15:32.969Z,1761700532.969 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.36 m. 2025-10-29T01:15:33.165Z,1761700533.165 [DAT](INFO): DAT read: Rx Time:01:15:32.6703 2025-10-29T01:15:33.167Z,1761700533.167 [DAT](INFO): Rx dataTimestamp_ set to:1761700533.165685 2025-10-29T01:15:33.169Z,1761700533.169 [DAT](INFO): DAT read: Bearing 339.9, 13.0 (Local) 2025-10-29T01:15:33.169Z,1761700533.169 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 13.0 (Local) 2025-10-29T01:15:33.171Z,1761700533.171 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed -0.3 2025-10-29T01:15:33.176Z,1761700533.176 [DAT](INFO): DAT read: 01:15:32.6703 LVL= 32752, 27761, 32754, 32755, AGC= 71, IDX= 502, 0.29, 1.528, 3.075, 1.038, 2.026, PHS=-0.396, 1.094,-1.033, RAW= 346.9, 3.6, CAL= 346.5, 1.0, ROT= 163.5, -1.0 2025-10-29T01:15:33.178Z,1761700533.178 [DAT](INFO): got valid direction response: 01:15:32.6703 LVL= 32752, 27761, 32754, 32755, AGC= 71, IDX= 502, 0.29, 1.528, 3.075, 1.038, 2.026, PHS=-0.396, 1.094,-1.033, RAW= 346.9, 3.6, CAL= 346.5, 1.0, ROT= 163.5, -1.0 2025-10-29T01:15:33.178Z,1761700533.178 [DAT](INFO): #Rx 102: Read range and direction messages. 2025-10-29T01:15:33.179Z,1761700533.179 [DAT](INFO): direction in FSK: [-0.958674,0.283972,0.017452] 2025-10-29T01:15:33.179Z,1761700533.179 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:33.189Z,1761700533.189 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.501842 2025-10-29T01:15:33.365Z,1761700533.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989225,-0.130409,-0.066537],[0.133663,0.989909,0.047051],[0.059730,-0.055437,0.996674]] 2025-10-29T01:15:33.413Z,1761700533.413 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=52.726013 2025-10-29T01:15:33.431Z,1761700533.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.503148 s, deltaX: -0.200001 m, approachRate: -0.397499 m/s, rangeRepo size: 4 2025-10-29T01:15:33.437Z,1761700533.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.156700 m, bearing: 171.139667 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.503148 s, deltaX: -0.198822 m, approachRate: -0.395156 m/s, posRepo size: 4 2025-10-29T01:15:33.438Z,1761700533.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.16 m. 2025-10-29T01:15:33.669Z,1761700533.669 [DAT](INFO): DAT read: Rx Time:01:15:33.1705 2025-10-29T01:15:33.669Z,1761700533.669 [DAT](INFO): Rx dataTimestamp_ set to:1761700533.668774 2025-10-29T01:15:33.670Z,1761700533.670 [DAT](INFO): DAT read: Bearing 341.1, 13.2 (Local) 2025-10-29T01:15:33.671Z,1761700533.671 [DAT](INFO): Local bearing/azimuth received: Bearing 341.1, 13.2 (Local) 2025-10-29T01:15:33.673Z,1761700533.673 [DAT](INFO): DAT read: Range 11 to 50 : 24.6 m (trip time 16.4 ms) speed -0.3 2025-10-29T01:15:33.678Z,1761700533.678 [DAT](INFO): DAT read: 01:15:33.1705 LVL= 29792, 22129, 32418, 32755, AGC= 71, IDX= 504, 0.31, 1.846,-2.884, 1.345, 2.316, PHS=-0.368, 1.128,-1.015, RAW= 347.1, 2.7, CAL= 346.7, -0.3, ROT= 163.3, 0.3 2025-10-29T01:15:33.679Z,1761700533.679 [DAT](INFO): got valid direction response: 01:15:33.1705 LVL= 29792, 22129, 32418, 32755, AGC= 71, IDX= 504, 0.31, 1.846,-2.884, 1.345, 2.316, PHS=-0.368, 1.128,-1.015, RAW= 347.1, 2.7, CAL= 346.7, -0.3, ROT= 163.3, 0.3 2025-10-29T01:15:33.680Z,1761700533.680 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-29T01:15:33.681Z,1761700533.681 [DAT](INFO): direction in FSK: [-0.957809,0.287357,-0.005236] 2025-10-29T01:15:33.681Z,1761700533.681 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:33.685Z,1761700533.685 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=52.997925 2025-10-29T01:15:33.783Z,1761700533.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989394,-0.128818,-0.067119],[0.132097,0.990125,0.046930],[0.060411,-0.055299,0.996641]] 2025-10-29T01:15:33.844Z,1761700533.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.600000 m, deltaT: 0.503089 s, deltaX: 0.300001 m, approachRate: 0.596318 m/s, rangeRepo size: 4 2025-10-29T01:15:33.846Z,1761700533.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.455055 m, bearing: 170.895005 deg, lat: 36.779301 deg, lon: -121.859483 deg, deltaT: 0.503089 s, deltaX: 0.298355 m, approachRate: 0.593046 m/s, posRepo size: 4 2025-10-29T01:15:33.846Z,1761700533.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.46 m. 2025-10-29T01:15:33.918Z,1761700533.918 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=53.230808 2025-10-29T01:15:34.170Z,1761700534.170 [DAT](INFO): DAT read: Rx Time:01:15:33.6706 2025-10-29T01:15:34.171Z,1761700534.171 [DAT](INFO): Rx dataTimestamp_ set to:1761700534.170245 2025-10-29T01:15:34.172Z,1761700534.172 [DAT](INFO): DAT read: Bearing 339.8, 12.8 (Local) 2025-10-29T01:15:34.172Z,1761700534.172 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 12.8 (Local) 2025-10-29T01:15:34.174Z,1761700534.174 [DAT](INFO): DAT read: Range 11 to 50 : 24.8 m (trip time 16.5 ms) speed -0.5 2025-10-29T01:15:34.179Z,1761700534.179 [DAT](INFO): DAT read: 01:15:33.6706 LVL= 32752, 30081, 32754, 32755, AGC= 73, IDX= 504, 0.34,-0.964, 0.563,-1.439,-0.469, PHS=-0.393, 1.078,-1.014, RAW= 346.8, 3.6, CAL= 346.4, 1.0, ROT= 163.6, -1.0 2025-10-29T01:15:34.180Z,1761700534.180 [DAT](INFO): got valid direction response: 01:15:33.6706 LVL= 32752, 30081, 32754, 32755, AGC= 73, IDX= 504, 0.34,-0.964, 0.563,-1.439,-0.469, PHS=-0.393, 1.078,-1.014, RAW= 346.8, 3.6, CAL= 346.4, 1.0, ROT= 163.6, -1.0 2025-10-29T01:15:34.180Z,1761700534.180 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T01:15:34.181Z,1761700534.181 [DAT](INFO): direction in FSK: [-0.959168,0.282298,0.017452] 2025-10-29T01:15:34.182Z,1761700534.182 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:34.214Z,1761700534.214 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.527245 2025-10-29T01:15:34.223Z,1761700534.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989660,-0.126216,-0.068134],[0.129563,0.990449,0.047162],[0.061531,-0.055502,0.996561]] 2025-10-29T01:15:34.297Z,1761700534.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.799999 m, deltaT: 0.501471 s, deltaX: 0.199999 m, approachRate: 0.398824 m/s, rangeRepo size: 4 2025-10-29T01:15:34.313Z,1761700534.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.653875 m, bearing: 171.001467 deg, lat: 36.779300 deg, lon: -121.859483 deg, deltaT: 0.501471 s, deltaX: 0.198820 m, approachRate: 0.396474 m/s, posRepo size: 4 2025-10-29T01:15:34.314Z,1761700534.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.65 m. 2025-10-29T01:15:34.422Z,1761700534.422 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=53.734665 2025-10-29T01:15:34.674Z,1761700534.674 [DAT](INFO): DAT read: Rx Time:01:15:34.1707 2025-10-29T01:15:34.674Z,1761700534.674 [DAT](INFO): Rx dataTimestamp_ set to:1761700534.673785 2025-10-29T01:15:34.675Z,1761700534.675 [DAT](INFO): DAT read: Bearing 341.6, 13.2 (Local) 2025-10-29T01:15:34.676Z,1761700534.676 [DAT](INFO): Local bearing/azimuth received: Bearing 341.6, 13.2 (Local) 2025-10-29T01:15:34.678Z,1761700534.678 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.0 2025-10-29T01:15:34.682Z,1761700534.682 [DAT](INFO): DAT read: 01:15:34.1707 LVL= 29040, 27121, 32754, 32755, AGC= 72, IDX= 506, 0.43,-1.908,-0.352,-2.408,-1.459, PHS=-0.347, 1.152,-0.993, RAW= 347.1, 2.0, CAL= 346.6, -1.0, ROT= 163.4, 1.0 2025-10-29T01:15:34.683Z,1761700534.683 [DAT](INFO): got valid direction response: 01:15:34.1707 LVL= 29040, 27121, 32754, 32755, AGC= 72, IDX= 506, 0.43,-1.908,-0.352,-2.408,-1.459, PHS=-0.347, 1.152,-0.993, RAW= 347.1, 2.0, CAL= 346.6, -1.0, ROT= 163.4, 1.0 2025-10-29T01:15:34.684Z,1761700534.684 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T01:15:34.685Z,1761700534.685 [DAT](INFO): direction in FSK: [-0.958177,0.285645,-0.017452] 2025-10-29T01:15:34.685Z,1761700534.685 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:34.689Z,1761700534.689 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.002087 2025-10-29T01:15:34.757Z,1761700534.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503540 s, deltaX: 0.100000 m, approachRate: 0.198595 m/s, rangeRepo size: 4 2025-10-29T01:15:34.768Z,1761700534.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.753304 m, bearing: 170.872909 deg, lat: 36.779299 deg, lon: -121.859483 deg, deltaT: 0.503540 s, deltaX: 0.099428 m, approachRate: 0.197458 m/s, posRepo size: 4 2025-10-29T01:15:34.769Z,1761700534.769 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-29T01:15:34.925Z,1761700534.925 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=54.238064 2025-10-29T01:15:35.025Z,1761700535.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989870,-0.123921,-0.069294],[0.127387,0.990689,0.048035],[0.062696,-0.056376,0.996439]] 2025-10-29T01:15:35.069Z,1761700535.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-29T01:15:35.177Z,1761700535.177 [DAT](INFO): DAT read: Rx Time:01:15:34.6708 2025-10-29T01:15:35.178Z,1761700535.178 [DAT](INFO): Rx dataTimestamp_ set to:1761700535.177674 2025-10-29T01:15:35.179Z,1761700535.179 [DAT](INFO): DAT read: Bearing 339.8, 12.2 (Local) 2025-10-29T01:15:35.180Z,1761700535.180 [DAT](INFO): Local bearing/azimuth received: Bearing 339.8, 12.2 (Local) 2025-10-29T01:15:35.182Z,1761700535.182 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.0 2025-10-29T01:15:35.186Z,1761700535.186 [DAT](INFO): DAT read: 01:15:34.6708 LVL= 32752, 27185, 32754, 32755, AGC= 72, IDX= 506, 0.28, 2.704,-2.028, 2.247,-3.074, PHS=-0.403, 1.091,-1.006, RAW= 346.2, 3.4, CAL= 345.8, 0.8, ROT= 164.2, -0.8 2025-10-29T01:15:35.187Z,1761700535.187 [DAT](INFO): got valid direction response: 01:15:34.6708 LVL= 32752, 27185, 32754, 32755, AGC= 72, IDX= 506, 0.28, 2.704,-2.028, 2.247,-3.074, PHS=-0.403, 1.091,-1.006, RAW= 346.2, 3.4, CAL= 345.8, 0.8, ROT= 164.2, -0.8 2025-10-29T01:15:35.188Z,1761700535.188 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T01:15:35.189Z,1761700535.189 [DAT](INFO): direction in FSK: [-0.962124,0.272254,0.013962] 2025-10-29T01:15:35.189Z,1761700535.189 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:35.193Z,1761700535.193 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.505836 2025-10-29T01:15:35.419Z,1761700535.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989955,-0.122827,-0.070025],[0.126357,0.990803,0.048418],[0.063434,-0.056779,0.996370]] 2025-10-29T01:15:35.429Z,1761700535.429 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=54.741985 2025-10-29T01:15:35.471Z,1761700535.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:35.494Z,1761700535.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.753304 m, bearing: 171.422507 deg, lat: 36.779299 deg, lon: -121.859483 deg, deltaT: 0.503889 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:35.494Z,1761700535.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-29T01:15:35.682Z,1761700535.682 [DAT](INFO): DAT read: Rx Time:01:15:35.1708 2025-10-29T01:15:35.682Z,1761700535.682 [DAT](INFO): Rx dataTimestamp_ set to:1761700535.681832 2025-10-29T01:15:35.683Z,1761700535.683 [DAT](INFO): DAT read: Bearing 340.6, 12.4 (Local) 2025-10-29T01:15:35.684Z,1761700535.684 [DAT](INFO): Local bearing/azimuth received: Bearing 340.6, 12.4 (Local) 2025-10-29T01:15:35.686Z,1761700535.686 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 2025-10-29T01:15:35.718Z,1761700535.718 [DAT](INFO): DAT read: 01:15:35.1708 LVL= 31088, 28625, 32754, 32755, AGC= 73, IDX= 507, 0.16, 1.646,-3.068, 1.176, 2.135, PHS=-0.387, 1.126,-1.003, RAW= 346.3, 2.8, CAL= 345.9, -0.1, ROT= 164.1, 0.1 2025-10-29T01:15:35.719Z,1761700535.719 [DAT](INFO): got valid direction response: 01:15:35.1708 LVL= 31088, 28625, 32754, 32755, AGC= 73, IDX= 507, 0.16, 1.646,-3.068, 1.176, 2.135, PHS=-0.387, 1.126,-1.003, RAW= 346.3, 2.8, CAL= 345.9, -0.1, ROT= 164.1, 0.1 2025-10-29T01:15:35.719Z,1761700535.719 [DAT](INFO): #Rx 107: Read range and direction messages. 2025-10-29T01:15:35.721Z,1761700535.721 [DAT](INFO): direction in FSK: [-0.961740,0.273959,-0.001745] 2025-10-29T01:15:35.721Z,1761700535.721 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:35.755Z,1761700535.755 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.068001 2025-10-29T01:15:35.823Z,1761700535.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990024,-0.122041,-0.070411],[0.125601,0.990892,0.048548],[0.063845,-0.056908,0.996336]] 2025-10-29T01:15:35.870Z,1761700535.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504158 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:35.872Z,1761700535.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.753313 m, bearing: 171.312075 deg, lat: 36.779299 deg, lon: -121.859483 deg, deltaT: 0.504158 s, deltaX: 0.000010 m, approachRate: 0.000019 m/s, posRepo size: 4 2025-10-29T01:15:35.873Z,1761700535.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-29T01:15:35.933Z,1761700535.933 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=55.246147 2025-10-29T01:15:36.186Z,1761700536.186 [DAT](INFO): DAT read: Rx Time:01:15:35.6708 2025-10-29T01:15:36.186Z,1761700536.186 [DAT](INFO): Rx dataTimestamp_ set to:1761700536.185905 2025-10-29T01:15:36.187Z,1761700536.187 [DAT](INFO): DAT read: Bearing 339.0, 11.8 (Local) 2025-10-29T01:15:36.188Z,1761700536.188 [DAT](INFO): Local bearing/azimuth received: Bearing 339.0, 11.8 (Local) 2025-10-29T01:15:36.190Z,1761700536.190 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed -0.2 2025-10-29T01:15:36.195Z,1761700536.195 [DAT](INFO): DAT read: 01:15:35.6708 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 507,-0.13, 0.208, 1.783,-0.243, 0.736, PHS=-0.426, 1.093,-1.022, RAW= 345.9, 3.8, CAL= 345.5, 1.4, ROT= 164.5, -1.4 2025-10-29T01:15:36.196Z,1761700536.196 [DAT](INFO): got valid direction response: 01:15:35.6708 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 507,-0.13, 0.208, 1.783,-0.243, 0.736, PHS=-0.426, 1.093,-1.022, RAW= 345.9, 3.8, CAL= 345.5, 1.4, ROT= 164.5, -1.4 2025-10-29T01:15:36.196Z,1761700536.196 [DAT](INFO): #Rx 108: Read range and direction messages. 2025-10-29T01:15:36.197Z,1761700536.197 [DAT](INFO): direction in FSK: [-0.963343,0.267159,0.024432] 2025-10-29T01:15:36.197Z,1761700536.197 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:36.201Z,1761700536.201 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.514076 2025-10-29T01:15:36.250Z,1761700536.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990083,-0.121306,-0.070853],[0.124884,0.990988,0.048453],[0.064336,-0.056820,0.996309]] 2025-10-29T01:15:36.334Z,1761700536.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 0.504073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:36.350Z,1761700536.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.753313 m, bearing: 171.614522 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.504073 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:36.351Z,1761700536.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.75 m. 2025-10-29T01:15:36.438Z,1761700536.438 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=55.750763 2025-10-29T01:15:36.670Z,1761700536.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990212,-0.120163,-0.071006],[0.123745,0.991134,0.048383],[0.064563,-0.056696,0.996302]] 2025-10-29T01:15:36.689Z,1761700536.689 [DAT](INFO): DAT read: Rx Time:01:15:36.1709 2025-10-29T01:15:36.690Z,1761700536.690 [DAT](INFO): Rx dataTimestamp_ set to:1761700536.689636 2025-10-29T01:15:36.691Z,1761700536.691 [DAT](INFO): DAT read: Bearing 340.2, 12.3 (Local) 2025-10-29T01:15:36.691Z,1761700536.691 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, 12.3 (Local) 2025-10-29T01:15:36.705Z,1761700536.705 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.3 2025-10-29T01:15:36.709Z,1761700536.709 [DAT](INFO): DAT read: 01:15:36.1709 LVL= 32752, 30129, 32754, 32755, AGC= 71, IDX= 508, 0.50, 2.781,-1.970, 2.324,-3.018, PHS=-0.383, 1.093,-0.986, RAW= 346.4, 3.0, CAL= 345.9, 0.1, ROT= 164.1, -0.1 2025-10-29T01:15:36.711Z,1761700536.711 [DAT](INFO): got valid direction response: 01:15:36.1709 LVL= 32752, 30129, 32754, 32755, AGC= 71, IDX= 508, 0.50, 2.781,-1.970, 2.324,-3.018, PHS=-0.383, 1.093,-0.986, RAW= 346.4, 3.0, CAL= 345.9, 0.1, ROT= 164.1, -0.1 2025-10-29T01:15:36.711Z,1761700536.711 [DAT](INFO): #Rx 109: Read range and direction messages. 2025-10-29T01:15:36.740Z,1761700536.740 [DAT](INFO): direction in FSK: [-0.961740,0.273959,0.001745] 2025-10-29T01:15:36.740Z,1761700536.740 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:36.754Z,1761700536.754 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.066898 2025-10-29T01:15:36.901Z,1761700536.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503731 s, deltaX: 0.300001 m, approachRate: 0.595558 m/s, rangeRepo size: 4 2025-10-29T01:15:36.903Z,1761700536.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.051571 m, bearing: 171.196551 deg, lat: 36.779299 deg, lon: -121.859486 deg, deltaT: 0.503731 s, deltaX: 0.298258 m, approachRate: 0.592097 m/s, posRepo size: 4 2025-10-29T01:15:36.903Z,1761700536.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m. 2025-10-29T01:15:36.941Z,1761700536.941 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=56.254093 2025-10-29T01:15:37.193Z,1761700537.193 [DAT](INFO): DAT read: Rx Time:01:15:36.6709 2025-10-29T01:15:37.194Z,1761700537.194 [DAT](INFO): Rx dataTimestamp_ set to:1761700537.193607 2025-10-29T01:15:37.195Z,1761700537.195 [DAT](INFO): DAT read: Bearing 339.3, 12.1 (Local) 2025-10-29T01:15:37.195Z,1761700537.195 [DAT](INFO): Local bearing/azimuth received: Bearing 339.3, 12.1 (Local) 2025-10-29T01:15:37.198Z,1761700537.198 [DAT](INFO): DAT read: Range 11 to 50 : 25.2 m (trip time 16.8 ms) speed -0.2 2025-10-29T01:15:37.202Z,1761700537.202 [DAT](INFO): DAT read: 01:15:36.6709 LVL= 32752, 30769, 32754, 32755, AGC= 71, IDX= 508, 0.10, 1.922,-2.806, 1.462, 2.429, PHS=-0.406, 1.092,-1.012, RAW= 346.2, 3.5, CAL= 345.8, 0.9, ROT= 164.2, -0.9 2025-10-29T01:15:37.203Z,1761700537.203 [DAT](INFO): got valid direction response: 01:15:36.6709 LVL= 32752, 30769, 32754, 32755, AGC= 71, IDX= 508, 0.10, 1.922,-2.806, 1.462, 2.429, PHS=-0.406, 1.092,-1.012, RAW= 346.2, 3.5, CAL= 345.8, 0.9, ROT= 164.2, -0.9 2025-10-29T01:15:37.204Z,1761700537.204 [DAT](INFO): #Rx 110: Read range and direction messages. 2025-10-29T01:15:37.205Z,1761700537.205 [DAT](INFO): direction in FSK: [-0.962099,0.272247,0.015707] 2025-10-29T01:15:37.205Z,1761700537.205 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:37.209Z,1761700537.209 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.521645 2025-10-29T01:15:37.281Z,1761700537.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990267,-0.119620,-0.071148],[0.123184,0.991222,0.048008],[0.064781,-0.056305,0.996310]] 2025-10-29T01:15:37.366Z,1761700537.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.200001 m, deltaT: 0.503971 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:37.381Z,1761700537.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.051571 m, bearing: 171.234626 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.503971 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:37.383Z,1761700537.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.05 m. 2025-10-29T01:15:37.446Z,1761700537.446 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=56.758987 2025-10-29T01:15:37.697Z,1761700537.697 [DAT](INFO): DAT read: Rx Time:01:15:37.1710 2025-10-29T01:15:37.698Z,1761700537.698 [DAT](INFO): Rx dataTimestamp_ set to:1761700537.697610 2025-10-29T01:15:37.699Z,1761700537.699 [DAT](INFO): DAT read: Bearing 340.8, 11.5 (Local) 2025-10-29T01:15:37.699Z,1761700537.699 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 11.5 (Local) 2025-10-29T01:15:37.702Z,1761700537.702 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed 0.0 2025-10-29T01:15:37.706Z,1761700537.706 [DAT](INFO): DAT read: 01:15:37.1710 LVL= 27728, 28529, 32754, 32755, AGC= 70, IDX= 510,-0.16, 1.187, 2.762, 0.745, 1.669, PHS=-0.381, 1.138,-0.968, RAW= 345.7, 2.3, CAL= 345.2, -0.7, ROT= 164.8, 0.7 2025-10-29T01:15:37.707Z,1761700537.707 [DAT](INFO): got valid direction response: 01:15:37.1710 LVL= 27728, 28529, 32754, 32755, AGC= 70, IDX= 510,-0.16, 1.187, 2.762, 0.745, 1.669, PHS=-0.381, 1.138,-0.968, RAW= 345.7, 2.3, CAL= 345.2, -0.7, ROT= 164.8, 0.7 2025-10-29T01:15:37.708Z,1761700537.708 [DAT](INFO): #Rx 111: Read range and direction messages. 2025-10-29T01:15:37.711Z,1761700537.711 [DAT](INFO): direction in FSK: [-0.964945,0.262170,-0.012217] 2025-10-29T01:15:37.712Z,1761700537.712 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:37.715Z,1761700537.715 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.028316 2025-10-29T01:15:37.860Z,1761700537.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504003 s, deltaX: 0.199999 m, approachRate: 0.396821 m/s, rangeRepo size: 4 2025-10-29T01:15:37.862Z,1761700537.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.250402 m, bearing: 171.895402 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.504003 s, deltaX: 0.198832 m, approachRate: 0.394505 m/s, posRepo size: 4 2025-10-29T01:15:37.862Z,1761700537.862 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.25 m. 2025-10-29T01:15:37.949Z,1761700537.949 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=57.262115 2025-10-29T01:15:38.104Z,1761700538.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990428,-0.117957,-0.071685],[0.121568,0.991409,0.048268],[0.065375,-0.056521,0.996259]] 2025-10-29T01:15:38.184Z,1761700538.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.25 m. 2025-10-29T01:15:38.202Z,1761700538.202 [DAT](INFO): DAT read: Rx Time:01:15:37.6710 2025-10-29T01:15:38.202Z,1761700538.202 [DAT](INFO): Rx dataTimestamp_ set to:1761700538.201814 2025-10-29T01:15:38.203Z,1761700538.203 [DAT](INFO): DAT read: Bearing 340.8, 12.3 (Local) 2025-10-29T01:15:38.204Z,1761700538.204 [DAT](INFO): Local bearing/azimuth received: Bearing 340.8, 12.3 (Local) 2025-10-29T01:15:38.206Z,1761700538.206 [DAT](INFO): DAT read: Range 11 to 50 : 25.4 m (trip time 16.9 ms) speed -0.3 2025-10-29T01:15:38.215Z,1761700538.215 [DAT](INFO): DAT read: 01:15:37.6710 LVL= 30528, 26337, 32754, 32755, AGC= 70, IDX= 509, 0.35, 1.922,-2.810, 1.452, 2.384, PHS=-0.360, 1.135,-0.976, RAW= 346.5, 2.2, CAL= 346.0, -0.8, ROT= 164.0, 0.8 2025-10-29T01:15:38.217Z,1761700538.217 [DAT](INFO): got valid direction response: 01:15:37.6710 LVL= 30528, 26337, 32754, 32755, AGC= 70, IDX= 509, 0.35, 1.922,-2.810, 1.452, 2.384, PHS=-0.360, 1.135,-0.976, RAW= 346.5, 2.2, CAL= 346.0, -0.8, ROT= 164.0, 0.8 2025-10-29T01:15:38.217Z,1761700538.217 [DAT](INFO): #Rx 112: Read range and direction messages. 2025-10-29T01:15:38.218Z,1761700538.218 [DAT](INFO): direction in FSK: [-0.961168,0.275610,-0.013962] 2025-10-29T01:15:38.218Z,1761700538.218 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:38.222Z,1761700538.222 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.535099 2025-10-29T01:15:38.453Z,1761700538.453 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=57.765957 2025-10-29T01:15:38.533Z,1761700538.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990494,-0.117323,-0.071806],[0.120968,0.991462,0.048688],[0.065481,-0.056912,0.996230]] 2025-10-29T01:15:38.617Z,1761700538.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.400000 m, deltaT: 0.504204 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:38.633Z,1761700538.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.250357 m, bearing: 170.968309 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.504204 s, deltaX: -0.000046 m, approachRate: -0.000091 m/s, posRepo size: 4 2025-10-29T01:15:38.635Z,1761700538.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.25 m. 2025-10-29T01:15:38.709Z,1761700538.709 [DAT](INFO): DAT read: Rx Time:01:15:38.1711 2025-10-29T01:15:38.709Z,1761700538.709 [DAT](INFO): Rx dataTimestamp_ set to:1761700538.708899 2025-10-29T01:15:38.710Z,1761700538.710 [DAT](INFO): DAT read: Bearing 340.2, 12.2 (Local) 2025-10-29T01:15:38.711Z,1761700538.711 [DAT](INFO): Local bearing/azimuth received: Bearing 340.2, 12.2 (Local) 2025-10-29T01:15:38.714Z,1761700538.714 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.2 2025-10-29T01:15:38.719Z,1761700538.719 [DAT](INFO): DAT read: 01:15:38.1711 LVL= 29488, 23393, 32754, 32755, AGC= 71, IDX= 511, 0.04, 2.262,-2.472, 1.796, 2.739, PHS=-0.375, 1.117,-0.988, RAW= 346.4, 2.7, CAL= 346.0, -0.3, ROT= 164.0, 0.3 2025-10-29T01:15:38.725Z,1761700538.725 [DAT](INFO): got valid direction response: 01:15:38.1711 LVL= 29488, 23393, 32754, 32755, AGC= 71, IDX= 511, 0.04, 2.262,-2.472, 1.796, 2.739, PHS=-0.375, 1.117,-0.988, RAW= 346.4, 2.7, CAL= 346.0, -0.3, ROT= 164.0, 0.3 2025-10-29T01:15:38.725Z,1761700538.725 [DAT](INFO): #Rx 113: Read range and direction messages. 2025-10-29T01:15:38.727Z,1761700538.727 [DAT](INFO): direction in FSK: [-0.961249,0.275634,-0.005236] 2025-10-29T01:15:38.727Z,1761700538.727 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:38.737Z,1761700538.737 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.049938 2025-10-29T01:15:38.915Z,1761700538.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990601,-0.116232,-0.072108],[0.119926,0.991563,0.049204],[0.065781,-0.057389,0.996182]] 2025-10-29T01:15:38.957Z,1761700538.957 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=58.270077 2025-10-29T01:15:38.982Z,1761700538.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.507085 s, deltaX: 0.100000 m, approachRate: 0.197206 m/s, rangeRepo size: 4 2025-10-29T01:15:38.988Z,1761700538.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.349768 m, bearing: 170.889750 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.507085 s, deltaX: 0.099411 m, approachRate: 0.196044 m/s, posRepo size: 4 2025-10-29T01:15:38.989Z,1761700538.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-29T01:15:39.210Z,1761700539.210 [DAT](INFO): DAT read: Rx Time:01:15:38.6711 2025-10-29T01:15:39.211Z,1761700539.211 [DAT](INFO): Rx dataTimestamp_ set to:1761700539.210571 2025-10-29T01:15:39.213Z,1761700539.213 [DAT](INFO): DAT read: Bearing 339.9, 11.6 (Local) 2025-10-29T01:15:39.214Z,1761700539.214 [DAT](INFO): Local bearing/azimuth received: Bearing 339.9, 11.6 (Local) 2025-10-29T01:15:39.216Z,1761700539.216 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.0 2025-10-29T01:15:39.221Z,1761700539.221 [DAT](INFO): DAT read: 01:15:38.6711 LVL= 29552, 29489, 32754, 32755, AGC= 71, IDX= 511,-0.35, 0.176, 1.784,-0.284, 0.682, PHS=-0.404, 1.147,-1.011, RAW= 345.8, 2.8, CAL= 345.3, -0.1, ROT= 164.7, 0.1 2025-10-29T01:15:39.222Z,1761700539.222 [DAT](INFO): got valid direction response: 01:15:38.6711 LVL= 29552, 29489, 32754, 32755, AGC= 71, IDX= 511,-0.35, 0.176, 1.784,-0.284, 0.682, PHS=-0.404, 1.147,-1.011, RAW= 345.8, 2.8, CAL= 345.3, -0.1, ROT= 164.7, 0.1 2025-10-29T01:15:39.222Z,1761700539.222 [DAT](INFO): #Rx 114: Read range and direction messages. 2025-10-29T01:15:39.223Z,1761700539.223 [DAT](INFO): direction in FSK: [-0.964556,0.263873,-0.001745] 2025-10-29T01:15:39.223Z,1761700539.223 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:39.227Z,1761700539.227 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.540276 2025-10-29T01:15:39.447Z,1761700539.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990827,-0.114103,-0.072403],[0.117805,0.991823,0.049085],[0.066211,-0.057164,0.996167]] 2025-10-29T01:15:39.461Z,1761700539.461 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=58.774067 2025-10-29T01:15:39.502Z,1761700539.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.501672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:39.527Z,1761700539.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.349768 m, bearing: 171.460918 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.501672 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:39.527Z,1761700539.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-29T01:15:39.713Z,1761700539.713 [DAT](INFO): DAT read: Rx Time:01:15:39.1712 2025-10-29T01:15:39.714Z,1761700539.714 [DAT](INFO): Rx dataTimestamp_ set to:1761700539.713590 2025-10-29T01:15:39.715Z,1761700539.715 [DAT](INFO): DAT read: Bearing 338.9, 12.4 (Local) 2025-10-29T01:15:39.715Z,1761700539.715 [DAT](INFO): Local bearing/azimuth received: Bearing 338.9, 12.4 (Local) 2025-10-29T01:15:39.718Z,1761700539.718 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed -0.2 2025-10-29T01:15:39.722Z,1761700539.722 [DAT](INFO): DAT read: 01:15:39.1712 LVL= 29744, 26993, 32754, 32755, AGC= 72, IDX= 511, 0.18, 2.100,-2.619, 1.618, 2.601, PHS=-0.399, 1.108,-1.028, RAW= 346.6, 3.4, CAL= 346.2, 0.7, ROT= 163.8, -0.7 2025-10-29T01:15:39.723Z,1761700539.723 [DAT](INFO): got valid direction response: 01:15:39.1712 LVL= 29744, 26993, 32754, 32755, AGC= 72, IDX= 511, 0.18, 2.100,-2.619, 1.618, 2.601, PHS=-0.399, 1.108,-1.028, RAW= 346.6, 3.4, CAL= 346.2, 0.7, ROT= 163.8, -0.7 2025-10-29T01:15:39.724Z,1761700539.724 [DAT](INFO): #Rx 115: Read range and direction messages. 2025-10-29T01:15:39.725Z,1761700539.725 [DAT](INFO): direction in FSK: [-0.960222,0.278970,0.012217] 2025-10-29T01:15:39.725Z,1761700539.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:39.731Z,1761700539.731 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.044384 2025-10-29T01:15:39.881Z,1761700539.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503019 s, deltaX: 0.200001 m, approachRate: 0.397601 m/s, rangeRepo size: 4 2025-10-29T01:15:39.883Z,1761700539.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.548342 m, bearing: 170.529277 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.503019 s, deltaX: 0.198574 m, approachRate: 0.394765 m/s, posRepo size: 4 2025-10-29T01:15:39.883Z,1761700539.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.55 m. 2025-10-29T01:15:39.966Z,1761700539.966 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=59.279022 2025-10-29T01:15:40.217Z,1761700540.217 [DAT](INFO): DAT read: Rx Time:01:15:39.6711 2025-10-29T01:15:40.218Z,1761700540.218 [DAT](INFO): Rx dataTimestamp_ set to:1761700540.217669 2025-10-29T01:15:40.219Z,1761700540.219 [DAT](INFO): DAT read: Bearing 339.5, 11.2 (Local) 2025-10-29T01:15:40.220Z,1761700540.220 [DAT](INFO): Local bearing/azimuth received: Bearing 339.5, 11.2 (Local) 2025-10-29T01:15:40.222Z,1761700540.222 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed -0.1 2025-10-29T01:15:40.226Z,1761700540.226 [DAT](INFO): DAT read: 01:15:39.6711 LVL= 32752, 26641, 32754, 32755, AGC= 72, IDX= 511,-0.09,-1.076, 0.511,-1.513,-0.564, PHS=-0.410, 1.120,-0.992, RAW= 345.5, 3.0, CAL= 345.0, 0.1, ROT= 165.0, -0.1 2025-10-29T01:15:40.227Z,1761700540.227 [DAT](INFO): got valid direction response: 01:15:39.6711 LVL= 32752, 26641, 32754, 32755, AGC= 72, IDX= 511,-0.09,-1.076, 0.511,-1.513,-0.564, PHS=-0.410, 1.120,-0.992, RAW= 345.5, 3.0, CAL= 345.0, 0.1, ROT= 165.0, -0.1 2025-10-29T01:15:40.228Z,1761700540.228 [DAT](INFO): #Rx 116: Read range and direction messages. 2025-10-29T01:15:40.229Z,1761700540.229 [DAT](INFO): direction in FSK: [-0.965924,0.258819,0.001745] 2025-10-29T01:15:40.229Z,1761700540.229 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:40.232Z,1761700540.232 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.545536 2025-10-29T01:15:40.238Z,1761700540.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991084,-0.111679,-0.072667],[0.115357,0.992137,0.048553],[0.066673,-0.056503,0.996174]] 2025-10-29T01:15:40.311Z,1761700540.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504079 s, deltaX: -0.200001 m, approachRate: -0.396765 m/s, rangeRepo size: 4 2025-10-29T01:15:40.314Z,1761700540.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.349522 m, bearing: 171.611867 deg, lat: 36.779300 deg, lon: -121.859485 deg, deltaT: 0.504079 s, deltaX: -0.198820 m, approachRate: -0.394423 m/s, posRepo size: 4 2025-10-29T01:15:40.314Z,1761700540.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-29T01:15:40.469Z,1761700540.469 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=59.782188 2025-10-29T01:15:40.718Z,1761700540.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.35 m. 2025-10-29T01:15:40.722Z,1761700540.722 [DAT](INFO): DAT read: Rx Time:01:15:40.1713 2025-10-29T01:15:40.722Z,1761700540.722 [DAT](INFO): Rx dataTimestamp_ set to:1761700540.721799 2025-10-29T01:15:40.723Z,1761700540.723 [DAT](INFO): DAT read: Bearing 316.6, -2.4 (Local) 2025-10-29T01:15:40.724Z,1761700540.724 [DAT](INFO): Local bearing/azimuth received: Bearing 316.6, -2.4 (Local) 2025-10-29T01:15:40.726Z,1761700540.726 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed -0.2 2025-10-29T01:15:40.730Z,1761700540.730 [DAT](INFO): DAT read: 01:15:40.1713 LVL= 30576, 23249, 32754, 32755, AGC= 74, IDX= 513,-0.45,-1.843, 0.080,-1.809,-0.526, PHS=-1.215, 0.652,-1.327, RAW= 332.9, 19.1, CAL= 332.8, 23.8, ROT= 177.2, -23.8 2025-10-29T01:15:40.732Z,1761700540.732 [DAT](INFO): got valid direction response: 01:15:40.1713 LVL= 30576, 23249, 32754, 32755, AGC= 74, IDX= 513,-0.45,-1.843, 0.080,-1.809,-0.526, PHS=-1.215, 0.652,-1.327, RAW= 332.9, 19.1, CAL= 332.8, 23.8, ROT= 177.2, -23.8 2025-10-29T01:15:40.732Z,1761700540.732 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T01:15:40.733Z,1761700540.733 [DAT](INFO): direction in FSK: [-0.913867,0.044696,0.403545] 2025-10-29T01:15:40.733Z,1761700540.733 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:40.742Z,1761700540.742 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.054462 2025-10-29T01:15:40.973Z,1761700540.973 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=60.286003 2025-10-29T01:15:41.046Z,1761700541.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991490,-0.107833,-0.072940],[0.111545,0.992557,0.048875],[0.067127,-0.056596,0.996138]] 2025-10-29T01:15:41.077Z,1761700541.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.504130 s, deltaX: 0.299999 m, approachRate: 0.595083 m/s, rangeRepo size: 4 2025-10-29T01:15:41.079Z,1761700541.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.647907 m, bearing: 182.305041 deg, lat: 36.779300 deg, lon: -121.859488 deg, deltaT: 0.504130 s, deltaX: 0.298386 m, approachRate: 0.591882 m/s, posRepo size: 4 2025-10-29T01:15:41.079Z,1761700541.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m. 2025-10-29T01:15:41.225Z,1761700541.225 [DAT](INFO): DAT read: Rx Time:01:15:40.6712 2025-10-29T01:15:41.225Z,1761700541.225 [DAT](INFO): Rx dataTimestamp_ set to:1761700541.225195 2025-10-29T01:15:41.227Z,1761700541.227 [DAT](INFO): DAT read: Range 11 to 50 : 25.7 m (trip time 17.1 ms) speed 0.1 2025-10-29T01:15:41.227Z,1761700541.227 [DAT](ERROR): #Rx 118: Read range message, but no direction. 2025-10-29T01:15:41.229Z,1761700541.229 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.541786 2025-10-29T01:15:41.471Z,1761700541.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991691,-0.105822,-0.073149],[0.109555,0.992770,0.049044],[0.067430,-0.056650,0.996114]] 2025-10-29T01:15:41.477Z,1761700541.477 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=60.790073 2025-10-29T01:15:41.558Z,1761700541.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.700001 m, deltaT: 0.503396 s, deltaX: -0.099998 m, approachRate: -0.198648 m/s, rangeRepo size: 4 2025-10-29T01:15:41.558Z,1761700541.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.65 m. 2025-10-29T01:15:41.729Z,1761700541.729 [DAT](INFO): DAT read: Rx Time:01:15:41.1714 2025-10-29T01:15:41.730Z,1761700541.730 [DAT](INFO): Rx dataTimestamp_ set to:1761700541.729663 2025-10-29T01:15:41.731Z,1761700541.731 [DAT](INFO): DAT read: Bearing 338.4, 11.7 (Local) 2025-10-29T01:15:41.732Z,1761700541.732 [DAT](INFO): Local bearing/azimuth received: Bearing 338.4, 11.7 (Local) 2025-10-29T01:15:41.734Z,1761700541.734 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.2 2025-10-29T01:15:41.739Z,1761700541.739 [DAT](INFO): DAT read: 01:15:41.1714 LVL= 32752, 31697, 32754, 32755, AGC= 74, IDX= 2,-0.14, 1.513, 3.072, 1.061, 2.025, PHS=-0.411, 1.092,-1.009, RAW= 346.0, 3.5, CAL= 345.6, 0.9, ROT= 164.4, -0.9 2025-10-29T01:15:41.741Z,1761700541.741 [DAT](INFO): got valid direction response: 01:15:41.1714 LVL= 32752, 31697, 32754, 32755, AGC= 74, IDX= 2,-0.14, 1.513, 3.072, 1.061, 2.025, PHS=-0.411, 1.092,-1.009, RAW= 346.0, 3.5, CAL= 345.6, 0.9, ROT= 164.4, -0.9 2025-10-29T01:15:41.741Z,1761700541.741 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T01:15:41.743Z,1761700541.743 [DAT](INFO): direction in FSK: [-0.963044,0.268887,0.015707] 2025-10-29T01:15:41.743Z,1761700541.743 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:41.749Z,1761700541.749 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.061680 2025-10-29T01:15:41.840Z,1761700541.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991956,-0.103167,-0.073345],[0.106936,0.993035,0.049453],[0.067732,-0.056898,0.996080]] 2025-10-29T01:15:41.930Z,1761700541.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504468 s, deltaX: 0.299999 m, approachRate: 0.594684 m/s, rangeRepo size: 4 2025-10-29T01:15:41.933Z,1761700541.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.846727 m, bearing: 170.493748 deg, lat: 36.779300 deg, lon: -121.859488 deg, deltaT: 1.007864 s, deltaX: 0.198820 m, approachRate: 0.197269 m/s, posRepo size: 4 2025-10-29T01:15:41.933Z,1761700541.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.85 m. 2025-10-29T01:15:41.986Z,1761700541.986 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=61.297840 2025-10-29T01:15:42.234Z,1761700542.234 [DAT](INFO): DAT read: Rx Time:01:15:41.6714 2025-10-29T01:15:42.234Z,1761700542.234 [DAT](INFO): Rx dataTimestamp_ set to:1761700542.233766 2025-10-29T01:15:42.235Z,1761700542.235 [DAT](INFO): DAT read: Bearing 338.2, 12.1 (Local) 2025-10-29T01:15:42.236Z,1761700542.236 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, 12.1 (Local) 2025-10-29T01:15:42.238Z,1761700542.238 [DAT](INFO): DAT read: Range 11 to 50 : 26.0 m (trip time 17.3 ms) speed -0.1 2025-10-29T01:15:42.243Z,1761700542.243 [DAT](INFO): DAT read: 01:15:41.6714 LVL= 32752, 27985, 32754, 32755, AGC= 75, IDX= 497, 0.40, 3.040,-1.690, 2.571,-2.734, PHS=-0.407, 1.089,-1.022, RAW= 346.4, 3.7, CAL= 346.0, 1.1, ROT= 164.0, -1.1 2025-10-29T01:15:42.244Z,1761700542.244 [DAT](INFO): got valid direction response: 01:15:41.6714 LVL= 32752, 27985, 32754, 32755, AGC= 75, IDX= 497, 0.40, 3.040,-1.690, 2.571,-2.734, PHS=-0.407, 1.089,-1.022, RAW= 346.4, 3.7, CAL= 346.0, 1.1, ROT= 164.0, -1.1 2025-10-29T01:15:42.244Z,1761700542.244 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-29T01:15:42.245Z,1761700542.245 [DAT](INFO): direction in FSK: [-0.961085,0.275587,0.019197] 2025-10-29T01:15:42.245Z,1761700542.245 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:42.254Z,1761700542.254 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:15:42.254Z,1761700542.254 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:15:42.254Z,1761700542.254 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:15:42.257Z,1761700542.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992170,-0.100986,-0.073489],[0.104771,0.993258,0.049608],[0.067984,-0.056920,0.996061]] 2025-10-29T01:15:42.294Z,1761700542.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.000000 m, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:15:42.309Z,1761700542.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.846727 m, bearing: 169.960823 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.504103 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:15:42.309Z,1761700542.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.85 m. 2025-10-29T01:15:42.485Z,1761700542.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:42.673Z,1761700542.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992350,-0.099146,-0.073561],[0.102949,0.993437,0.049842],[0.068136,-0.057034,0.996044]] 2025-10-29T01:15:42.722Z,1761700542.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.85 m. 2025-10-29T01:15:42.738Z,1761700542.738 [DAT](INFO): DAT read: Rx Time:01:15:42.1715 2025-10-29T01:15:42.738Z,1761700542.738 [DAT](INFO): Rx dataTimestamp_ set to:1761700542.737741 2025-10-29T01:15:42.739Z,1761700542.739 [DAT](INFO): DAT read: Bearing 338.2, 12.3 (Local) 2025-10-29T01:15:42.740Z,1761700542.740 [DAT](INFO): Local bearing/azimuth received: Bearing 338.2, 12.3 (Local) 2025-10-29T01:15:42.743Z,1761700542.743 [DAT](INFO): DAT read: Range 11 to 50 : 26.1 m (trip time 17.4 ms) speed -0.1 2025-10-29T01:15:42.758Z,1761700542.758 [DAT](INFO): DAT read: 01:15:42.1715 LVL= 31504, 24193, 32754, 32755, AGC= 74, IDX= 499, 0.08,-1.307, 0.256,-1.791,-0.801, PHS=-0.404, 1.102,-1.034, RAW= 346.7, 3.6, CAL= 346.3, 1.0, ROT= 163.7, -1.0 2025-10-29T01:15:42.759Z,1761700542.759 [DAT](INFO): got valid direction response: 01:15:42.1715 LVL= 31504, 24193, 32754, 32755, AGC= 74, IDX= 499, 0.08,-1.307, 0.256,-1.791,-0.801, PHS=-0.404, 1.102,-1.034, RAW= 346.7, 3.6, CAL= 346.3, 1.0, ROT= 163.7, -1.0 2025-10-29T01:15:42.760Z,1761700542.760 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:15:42.765Z,1761700542.765 [DAT](INFO): direction in FSK: [-0.959659,0.280624,0.017452] 2025-10-29T01:15:42.766Z,1761700542.766 [DAT](INFO): publishing direction and range info 2025-10-29T01:15:42.786Z,1761700542.786 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:42.786Z,1761700542.786 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:15:42.989Z,1761700542.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:43.046Z,1761700543.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992500,-0.097445,-0.073816],[0.101276,0.993598,0.050062],[0.068465,-0.057162,0.996015]] 2025-10-29T01:15:43.082Z,1761700543.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.100000 m, deltaT: 0.503975 s, deltaX: 0.100000 m, approachRate: 0.198423 m/s, rangeRepo size: 4 2025-10-29T01:15:43.088Z,1761700543.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.946135 m, bearing: 169.461885 deg, lat: 36.779300 deg, lon: -121.859486 deg, deltaT: 0.503975 s, deltaX: 0.099407 m, approachRate: 0.197246 m/s, posRepo size: 4 2025-10-29T01:15:43.089Z,1761700543.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:43.241Z,1761700543.241 [DAT](INFO): DAT read: user:721> 2025-10-29T01:15:43.242Z,1761700543.242 [DAT](INFO): DAT read: Command 'r50' not found 2025-10-29T01:15:43.242Z,1761700543.242 [DAT](INFO): unknown deviceResponse_: Command 'r50' not found 2025-10-29T01:15:43.242Z,1761700543.242 [DAT](INFO): DAT read: Error 2025-10-29T01:15:43.243Z,1761700543.243 [DAT](INFO): unknown deviceResponse_: Error 2025-10-29T01:15:43.243Z,1761700543.243 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:43.483Z,1761700543.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992616,-0.096083,-0.074037],[0.099931,0.993730,0.050149],[0.068754,-0.057177,0.995994]] 2025-10-29T01:15:43.496Z,1761700543.496 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:43.556Z,1761700543.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:43.745Z,1761700543.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:43.850Z,1761700543.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992695,-0.095132,-0.074200],[0.098991,0.993822,0.050178],[0.068968,-0.057157,0.995980]] 2025-10-29T01:15:43.869Z,1761700543.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:43.998Z,1761700543.998 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:44.249Z,1761700544.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:44.256Z,1761700544.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992765,-0.094192,-0.074473],[0.098073,0.993908,0.050283],[0.069283,-0.057223,0.995954]] 2025-10-29T01:15:44.274Z,1761700544.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:44.502Z,1761700544.502 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:44.665Z,1761700544.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992814,-0.093510,-0.074680],[0.097412,0.993965,0.050445],[0.069512,-0.057358,0.995931]] 2025-10-29T01:15:44.754Z,1761700544.754 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:44.787Z,1761700544.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:45.005Z,1761700545.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:45.067Z,1761700545.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992823,-0.093310,-0.074799],[0.097208,0.993993,0.050277],[0.069659,-0.057187,0.995930]] 2025-10-29T01:15:45.121Z,1761700545.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:45.257Z,1761700545.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:45.512Z,1761700545.512 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:45.551Z,1761700545.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992849,-0.092863,-0.075011],[0.096776,0.994033,0.050321],[0.069890,-0.057220,0.995912]] 2025-10-29T01:15:45.620Z,1761700545.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:45.761Z,1761700545.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:45.977Z,1761700545.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992864,-0.092632,-0.075101],[0.096547,0.994058,0.050282],[0.069997,-0.057174,0.995907]] 2025-10-29T01:15:46.013Z,1761700546.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:46.047Z,1761700546.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:46.265Z,1761700546.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:46.413Z,1761700546.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992804,-0.093181,-0.075211],[0.097089,0.994015,0.050087],[0.070093,-0.057029,0.995909]] 2025-10-29T01:15:46.457Z,1761700546.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:46.521Z,1761700546.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:46.769Z,1761700546.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:46.876Z,1761700546.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992761,-0.093661,-0.075191],[0.097553,0.993980,0.049864],[0.070068,-0.056838,0.995922]] 2025-10-29T01:15:46.923Z,1761700546.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:47.022Z,1761700547.022 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:47.273Z,1761700547.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:47.280Z,1761700547.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992741,-0.094007,-0.075022],[0.097875,0.993960,0.049648],[0.069901,-0.056630,0.995945]] 2025-10-29T01:15:47.300Z,1761700547.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:47.528Z,1761700547.528 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:47.685Z,1761700547.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992765,-0.094069,-0.074620],[0.097908,0.993960,0.049576],[0.069506,-0.056523,0.995979]] 2025-10-29T01:15:47.723Z,1761700547.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:47.779Z,1761700547.779 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:48.029Z,1761700548.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:48.129Z,1761700548.129 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992820,-0.093729,-0.074324],[0.097562,0.993986,0.049729],[0.069216,-0.056623,0.995993]] 2025-10-29T01:15:48.147Z,1761700548.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:48.281Z,1761700548.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:48.536Z,1761700548.536 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:48.570Z,1761700548.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992883,-0.093535,-0.073720],[0.097342,0.994001,0.049856],[0.068615,-0.056677,0.996032]] 2025-10-29T01:15:48.648Z,1761700548.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:48.785Z,1761700548.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:48.942Z,1761700548.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992980,-0.093003,-0.073079],[0.096791,0.994042,0.050122],[0.067982,-0.056844,0.996066]] 2025-10-29T01:15:48.990Z,1761700548.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:49.037Z,1761700549.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:49.289Z,1761700549.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:49.347Z,1761700549.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993034,-0.093179,-0.072114],[0.096898,0.994042,0.049918],[0.067033,-0.056558,0.996147]] 2025-10-29T01:15:49.385Z,1761700549.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:49.543Z,1761700549.543 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:49.746Z,1761700549.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993114,-0.093112,-0.071104],[0.096760,0.994065,0.049714],[0.066053,-0.056252,0.996229]] 2025-10-29T01:15:49.793Z,1761700549.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:49.809Z,1761700549.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:50.045Z,1761700550.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:50.163Z,1761700550.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993214,-0.093016,-0.069809],[0.096578,0.994093,0.049514],[0.064791,-0.055920,0.996331]] 2025-10-29T01:15:50.182Z,1761700550.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:50.297Z,1761700550.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:50.575Z,1761700550.575 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:50.606Z,1761700550.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993338,-0.092743,-0.068392],[0.096222,0.994130,0.049462],[0.063403,-0.055714,0.996432]] 2025-10-29T01:15:50.662Z,1761700550.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:50.825Z,1761700550.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:51.017Z,1761700551.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:51.077Z,1761700551.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:51.329Z,1761700551.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:51.371Z,1761700551.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993603,-0.092073,-0.065383],[0.095414,0.994183,0.049958],[0.060403,-0.055877,0.996609]] 2025-10-29T01:15:51.467Z,1761700551.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:51.583Z,1761700551.583 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:51.782Z,1761700551.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993692,-0.092297,-0.063703],[0.095549,0.994166,0.050036],[0.058713,-0.055807,0.996714]] 2025-10-29T01:15:51.833Z,1761700551.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:51.856Z,1761700551.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:52.085Z,1761700552.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:52.179Z,1761700552.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993813,-0.092265,-0.061823],[0.095429,0.994162,0.050345],[0.056817,-0.055933,0.996817]] 2025-10-29T01:15:52.220Z,1761700552.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:52.337Z,1761700552.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:52.591Z,1761700552.591 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:52.663Z,1761700552.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994034,-0.092354,-0.058020],[0.095314,0.994166,0.050495],[0.053018,-0.055724,0.997038]] 2025-10-29T01:15:52.733Z,1761700552.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:52.841Z,1761700552.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:53.037Z,1761700553.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994130,-0.092588,-0.055979],[0.095427,0.994161,0.050365],[0.050989,-0.055411,0.997161]] 2025-10-29T01:15:53.055Z,1761700553.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:53.093Z,1761700553.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:53.345Z,1761700553.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:53.441Z,1761700553.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994239,-0.092638,-0.053921],[0.095358,0.994173,0.050278],[0.048949,-0.055130,0.997279]] 2025-10-29T01:15:53.459Z,1761700553.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:53.599Z,1761700553.599 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:53.843Z,1761700553.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994357,-0.092558,-0.051841],[0.095164,0.994192,0.050266],[0.046887,-0.054916,0.997389]] 2025-10-29T01:15:53.849Z,1761700553.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:53.893Z,1761700553.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:54.104Z,1761700554.104 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:54.243Z,1761700554.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994488,-0.092277,-0.049790],[0.094774,0.994224,0.050358],[0.044856,-0.054800,0.997489]] 2025-10-29T01:15:54.270Z,1761700554.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:54.353Z,1761700554.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:54.608Z,1761700554.608 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:54.683Z,1761700554.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994637,-0.091739,-0.047770],[0.094134,0.994274,0.050577],[0.042857,-0.054803,0.997577]] 2025-10-29T01:15:54.726Z,1761700554.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:54.857Z,1761700554.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:55.072Z,1761700555.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994790,-0.091073,-0.045813],[0.093376,0.994327,0.050938],[0.040914,-0.054950,0.997651]] 2025-10-29T01:15:55.091Z,1761700555.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:55.109Z,1761700555.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:55.361Z,1761700555.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:55.485Z,1761700555.485 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994962,-0.090110,-0.043936],[0.092328,0.994402,0.051377],[0.039060,-0.055175,0.997712]] 2025-10-29T01:15:55.512Z,1761700555.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:55.613Z,1761700555.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:55.865Z,1761700555.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:55.880Z,1761700555.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995114,-0.089363,-0.041974],[0.091482,0.994469,0.051607],[0.037130,-0.055195,0.997785]] 2025-10-29T01:15:55.925Z,1761700555.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:56.117Z,1761700556.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:56.283Z,1761700556.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995258,-0.088602,-0.040139],[0.090625,0.994541,0.051730],[0.035336,-0.055122,0.997854]] 2025-10-29T01:15:56.302Z,1761700556.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:56.369Z,1761700556.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:56.623Z,1761700556.623 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:56.697Z,1761700556.697 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995380,-0.088012,-0.038378],[0.089937,0.994605,0.051692],[0.033622,-0.054905,0.997925]] 2025-10-29T01:15:56.734Z,1761700556.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:56.873Z,1761700556.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:57.090Z,1761700557.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995517,-0.087137,-0.036774],[0.088977,0.994687,0.051769],[0.032068,-0.054809,0.997982]] 2025-10-29T01:15:57.125Z,1761700557.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:57.134Z,1761700557.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:57.377Z,1761700557.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:57.504Z,1761700557.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995666,-0.086093,-0.035166],[0.087851,0.994779,0.051942],[0.030510,-0.054806,0.998031]] 2025-10-29T01:15:57.539Z,1761700557.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:57.631Z,1761700557.631 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:57.881Z,1761700557.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:57.900Z,1761700557.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995780,-0.085329,-0.033773],[0.087011,0.994852,0.051946],[0.029167,-0.054666,0.998079]] 2025-10-29T01:15:58.016Z,1761700558.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:58.133Z,1761700558.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:58.304Z,1761700558.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995893,-0.084531,-0.032432],[0.086142,0.994926,0.051985],[0.027873,-0.054565,0.998121]] 2025-10-29T01:15:58.329Z,1761700558.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:58.385Z,1761700558.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:58.637Z,1761700558.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:58.733Z,1761700558.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996004,-0.083686,-0.031200],[0.085231,0.995003,0.051998],[0.026692,-0.054449,0.998160]] 2025-10-29T01:15:58.798Z,1761700558.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:58.889Z,1761700558.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:59.110Z,1761700559.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996077,-0.083210,-0.030111],[0.084691,0.995059,0.051817],[0.025651,-0.054164,0.998203]] 2025-10-29T01:15:59.141Z,1761700559.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:59.170Z,1761700559.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:59.393Z,1761700559.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:59.516Z,1761700559.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996178,-0.082314,-0.029219],[0.083750,0.995134,0.051910],[0.024804,-0.054159,0.998224]] 2025-10-29T01:15:59.535Z,1761700559.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:15:59.645Z,1761700559.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:59.897Z,1761700559.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:15:59.918Z,1761700559.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996285,-0.081293,-0.028423],[0.082691,0.995213,0.052085],[0.024053,-0.054242,0.998238]] 2025-10-29T01:15:59.972Z,1761700559.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:00.149Z,1761700560.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:00.322Z,1761700560.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996323,-0.081024,-0.027857],[0.082387,0.995248,0.051905],[0.023519,-0.054009,0.998263]] 2025-10-29T01:16:00.341Z,1761700560.341 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:00.401Z,1761700560.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:00.653Z,1761700560.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:00.750Z,1761700560.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996370,-0.080627,-0.027332],[0.081962,0.995285,0.051860],[0.023021,-0.053912,0.998280]] 2025-10-29T01:16:00.801Z,1761700560.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:00.905Z,1761700560.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:01.132Z,1761700561.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996367,-0.080750,-0.027043],[0.082064,0.995289,0.051619],[0.022747,-0.053651,0.998301]] 2025-10-29T01:16:01.157Z,1761700561.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:01.161Z,1761700561.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:01.409Z,1761700561.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:01.534Z,1761700561.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996406,-0.080322,-0.026884],[0.081630,0.995319,0.051736],[0.022602,-0.053744,0.998299]] 2025-10-29T01:16:01.560Z,1761700561.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:01.661Z,1761700561.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:01.913Z,1761700561.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:01.938Z,1761700561.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996413,-0.080238,-0.026874],[0.081546,0.995326,0.051732],[0.022597,-0.053738,0.998299]] 2025-10-29T01:16:01.999Z,1761700561.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:02.024Z,1761700562.024 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:16:02.169Z,1761700562.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:02.342Z,1761700562.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996395,-0.080429,-0.026974],[0.081740,0.995315,0.051645],[0.022693,-0.053663,0.998301]] 2025-10-29T01:16:02.362Z,1761700562.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:02.417Z,1761700562.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:02.669Z,1761700562.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:02.778Z,1761700562.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996384,-0.080500,-0.027180],[0.081821,0.995308,0.051641],[0.022895,-0.053678,0.998296]] 2025-10-29T01:16:02.822Z,1761700562.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:02.921Z,1761700562.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:03.028Z,1761700563.028 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:16:03.151Z,1761700563.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996380,-0.080464,-0.027435],[0.081800,0.995308,0.051684],[0.023148,-0.053741,0.998287]] 2025-10-29T01:16:03.173Z,1761700563.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:03.189Z,1761700563.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:03.425Z,1761700563.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:03.554Z,1761700563.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996362,-0.080551,-0.027830],[0.081907,0.995303,0.051608],[0.023542,-0.053699,0.998280]] 2025-10-29T01:16:03.586Z,1761700563.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:03.677Z,1761700563.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:03.929Z,1761700563.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:03.961Z,1761700563.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996363,-0.080353,-0.028374],[0.081737,0.995319,0.051560],[0.024098,-0.053692,0.998267]] 2025-10-29T01:16:04.019Z,1761700564.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:04.182Z,1761700564.182 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:04.385Z,1761700564.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996353,-0.080311,-0.028819],[0.081714,0.995333,0.051333],[0.024562,-0.053501,0.998266]] 2025-10-29T01:16:04.403Z,1761700564.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:04.433Z,1761700564.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:04.685Z,1761700564.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:04.817Z,1761700564.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996376,-0.079799,-0.029453],[0.081236,0.995372,0.051329],[0.025220,-0.053536,0.998247]] 2025-10-29T01:16:04.863Z,1761700564.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:04.937Z,1761700564.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:05.189Z,1761700565.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:05.248Z,1761700565.248 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996410,-0.079093,-0.030197],[0.080568,0.995431,0.051243],[0.026007,-0.053492,0.998230]] 2025-10-29T01:16:05.284Z,1761700565.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:05.441Z,1761700565.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:05.623Z,1761700565.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996471,-0.078122,-0.030695],[0.079627,0.995503,0.051311],[0.026548,-0.053574,0.998211]] 2025-10-29T01:16:05.693Z,1761700565.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:05.735Z,1761700565.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:05.945Z,1761700565.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:06.135Z,1761700566.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996527,-0.077189,-0.031243],[0.078724,0.995576,0.051293],[0.027145,-0.053574,0.998195]] 2025-10-29T01:16:06.197Z,1761700566.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:06.180Z,1761700566.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:06.451Z,1761700566.451 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:06.534Z,1761700566.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996593,-0.076060,-0.031891],[0.077631,0.995660,0.051318],[0.027850,-0.053619,0.998173]] 2025-10-29T01:16:06.574Z,1761700566.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:06.705Z,1761700566.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:06.938Z,1761700566.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996644,-0.075142,-0.032462],[0.076738,0.995740,0.051115],[0.028483,-0.053435,0.998165]] 2025-10-29T01:16:06.958Z,1761700566.958 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:07.014Z,1761700567.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:07.209Z,1761700567.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:07.344Z,1761700567.344 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996719,-0.074001,-0.032803],[0.075615,0.995830,0.051045],[0.028888,-0.053358,0.998158]] 2025-10-29T01:16:07.362Z,1761700567.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:07.462Z,1761700567.462 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:07.713Z,1761700567.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:07.765Z,1761700567.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996792,-0.072911,-0.033014],[0.074534,0.995917,0.050930],[0.029166,-0.053228,0.998156]] 2025-10-29T01:16:07.793Z,1761700567.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:07.965Z,1761700567.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:08.217Z,1761700568.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:08.289Z,1761700568.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:08.470Z,1761700568.470 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:08.618Z,1761700568.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996988,-0.070197,-0.032973],[0.071825,0.996108,0.051090],[0.029258,-0.053304,0.998150]] 2025-10-29T01:16:08.658Z,1761700568.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:08.721Z,1761700568.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:08.973Z,1761700568.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:09.025Z,1761700569.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997082,-0.068964,-0.032719],[0.070581,0.996193,0.051170],[0.029065,-0.053330,0.998154]] 2025-10-29T01:16:09.089Z,1761700569.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:09.225Z,1761700569.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:09.426Z,1761700569.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997157,-0.068133,-0.032193],[0.069721,0.996258,0.051075],[0.028592,-0.053174,0.998176]] 2025-10-29T01:16:09.463Z,1761700569.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:09.478Z,1761700569.478 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:09.729Z,1761700569.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:09.859Z,1761700569.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997289,-0.066650,-0.031170],[0.068184,0.996367,0.051037],[0.027655,-0.053024,0.998210]] 2025-10-29T01:16:09.916Z,1761700569.916 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:09.981Z,1761700569.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:10.233Z,1761700570.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:10.299Z,1761700570.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:10.489Z,1761700570.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:10.642Z,1761700570.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997332,-0.066321,-0.030498],[0.067818,0.996394,0.050995],[0.027006,-0.052927,0.998233]] 2025-10-29T01:16:10.663Z,1761700570.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:10.738Z,1761700570.738 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:10.989Z,1761700570.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:11.050Z,1761700571.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997437,-0.065622,-0.028527],[0.067021,0.996437,0.051193],[0.025066,-0.052974,0.998281]] 2025-10-29T01:16:11.165Z,1761700571.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:11.242Z,1761700571.242 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:11.457Z,1761700571.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997458,-0.065756,-0.027440],[0.067093,0.996440,0.051049],[0.023985,-0.052760,0.998319]] 2025-10-29T01:16:11.493Z,1761700571.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:11.501Z,1761700571.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:11.745Z,1761700571.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:11.866Z,1761700571.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997473,-0.066047,-0.026186],[0.067313,0.996436,0.050840],[0.022735,-0.052474,0.998363]] 2025-10-29T01:16:11.940Z,1761700571.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:11.997Z,1761700571.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:12.249Z,1761700572.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:12.263Z,1761700572.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997493,-0.066235,-0.024919],[0.067432,0.996433,0.050737],[0.021470,-0.052290,0.998401]] 2025-10-29T01:16:12.331Z,1761700572.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:12.501Z,1761700572.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:12.662Z,1761700572.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997514,-0.066435,-0.023503],[0.067558,0.996424,0.050736],[0.020049,-0.052197,0.998436]] 2025-10-29T01:16:12.681Z,1761700572.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:12.753Z,1761700572.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:13.005Z,1761700573.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:13.062Z,1761700573.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997522,-0.066840,-0.021946],[0.067881,0.996403,0.050726],[0.018476,-0.052090,0.998471]] 2025-10-29T01:16:13.106Z,1761700573.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:13.257Z,1761700573.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:13.475Z,1761700573.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997550,-0.066927,-0.020354],[0.067889,0.996391,0.050942],[0.016871,-0.052199,0.998494]] 2025-10-29T01:16:13.509Z,1761700573.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:13.509Z,1761700573.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:13.761Z,1761700573.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:13.874Z,1761700573.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997548,-0.067409,-0.018801],[0.068290,0.996364,0.050948],[0.015299,-0.052107,0.998524]] 2025-10-29T01:16:13.979Z,1761700573.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:14.013Z,1761700574.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:14.265Z,1761700574.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:14.286Z,1761700574.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997530,-0.068098,-0.017207],[0.068893,0.996327,0.050857],[0.013680,-0.051917,0.998558]] 2025-10-29T01:16:14.338Z,1761700574.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:14.517Z,1761700574.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:14.679Z,1761700574.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997526,-0.068553,-0.015602],[0.069264,0.996301,0.050868],[0.012057,-0.051822,0.998584]] 2025-10-29T01:16:14.714Z,1761700574.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:14.769Z,1761700574.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:15.021Z,1761700575.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:15.083Z,1761700575.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997506,-0.069187,-0.013941],[0.069810,0.996269,0.050740],[0.010379,-0.051586,0.998615]] 2025-10-29T01:16:15.133Z,1761700575.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:15.273Z,1761700575.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:15.488Z,1761700575.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997481,-0.069844,-0.012368],[0.070384,0.996236,0.050599],[0.008787,-0.051342,0.998642]] 2025-10-29T01:16:15.507Z,1761700575.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:15.542Z,1761700575.542 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:15.793Z,1761700575.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:15.891Z,1761700575.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997473,-0.070239,-0.010682],[0.070693,0.996208,0.050709],[0.007079,-0.051336,0.998656]] 2025-10-29T01:16:15.919Z,1761700575.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:16.045Z,1761700576.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:16.294Z,1761700576.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997457,-0.070694,-0.009038],[0.071064,0.996175,0.050848],[0.005409,-0.051361,0.998666]] 2025-10-29T01:16:16.297Z,1761700576.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:16.345Z,1761700576.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:16.549Z,1761700576.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:16.709Z,1761700576.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997443,-0.071063,-0.007622],[0.071361,0.996139,0.051139],[0.003959,-0.051552,0.998662]] 2025-10-29T01:16:16.731Z,1761700576.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:16.802Z,1761700576.802 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:17.053Z,1761700577.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:17.122Z,1761700577.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997420,-0.071518,-0.006180],[0.071742,0.996097,0.051413],[0.002479,-0.051723,0.998658]] 2025-10-29T01:16:17.175Z,1761700577.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:17.305Z,1761700577.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:17.515Z,1761700577.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997379,-0.072190,-0.004875],[0.072346,0.996052,0.051450],[0.001142,-0.051667,0.998664]] 2025-10-29T01:16:17.540Z,1761700577.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:17.559Z,1761700577.559 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:17.809Z,1761700577.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:17.919Z,1761700577.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997331,-0.072925,-0.003501],[0.073009,0.996005,0.051413],[-0.000263,-0.051531,0.998671]] 2025-10-29T01:16:18.027Z,1761700578.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:18.061Z,1761700578.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:18.313Z,1761700578.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:18.329Z,1761700578.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997259,-0.073955,-0.002324],[0.073977,0.995947,0.051154],[-0.001468,-0.051186,0.998688]] 2025-10-29T01:16:18.381Z,1761700578.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:18.565Z,1761700578.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:18.745Z,1761700578.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997211,-0.074625,-0.001285],[0.074593,0.995904,0.051098],[-0.002533,-0.051052,0.998693]] 2025-10-29T01:16:18.772Z,1761700578.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:18.817Z,1761700578.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:19.069Z,1761700579.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:19.131Z,1761700579.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997142,-0.075543,-0.000202],[0.075455,0.995846,0.050959],[-0.003648,-0.050829,0.998701]] 2025-10-29T01:16:19.175Z,1761700579.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:19.321Z,1761700579.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:19.535Z,1761700579.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997083,-0.076320,0.000732],[0.076184,0.995790,0.050981],[-0.004620,-0.050777,0.998699]] 2025-10-29T01:16:19.554Z,1761700579.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:19.573Z,1761700579.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:19.825Z,1761700579.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:19.945Z,1761700579.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997002,-0.077363,0.001348],[0.077195,0.995718,0.050862],[-0.005278,-0.050605,0.998705]] 2025-10-29T01:16:20.077Z,1761700580.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:20.153Z,1761700580.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:20.332Z,1761700580.332 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:20.427Z,1761700580.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:20.581Z,1761700580.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:20.820Z,1761700580.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996858,-0.079176,0.002333],[0.078955,0.995576,0.050929],[-0.006355,-0.050585,0.998699]] 2025-10-29T01:16:20.848Z,1761700580.848 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:20.884Z,1761700580.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:21.085Z,1761700581.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:21.215Z,1761700581.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996782,-0.080115,0.002571],[0.079880,0.995498,0.051027],[-0.006647,-0.050657,0.998694]] 2025-10-29T01:16:21.292Z,1761700581.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:21.337Z,1761700581.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:21.589Z,1761700581.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:21.683Z,1761700581.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996737,-0.080667,0.002738],[0.080421,0.995438,0.051344],[-0.006867,-0.050957,0.998677]] 2025-10-29T01:16:21.718Z,1761700581.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:21.841Z,1761700581.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:22.091Z,1761700582.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996679,-0.081383,0.002621],[0.081140,0.995366,0.051609],[-0.006809,-0.051225,0.998664]] 2025-10-29T01:16:22.093Z,1761700582.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:22.146Z,1761700582.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:22.345Z,1761700582.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:22.479Z,1761700582.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996605,-0.082297,0.002317],[0.082068,0.995286,0.051670],[-0.006559,-0.051304,0.998662]] 2025-10-29T01:16:22.508Z,1761700582.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:22.597Z,1761700582.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:22.849Z,1761700582.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:22.886Z,1761700582.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996561,-0.082844,0.001901],[0.082635,0.995231,0.051825],[-0.006186,-0.051490,0.998654]] 2025-10-29T01:16:22.917Z,1761700582.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:23.101Z,1761700583.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:23.285Z,1761700583.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996475,-0.083872,0.001609],[0.083678,0.995158,0.051567],[-0.005927,-0.051251,0.998668]] 2025-10-29T01:16:23.322Z,1761700583.322 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:23.353Z,1761700583.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:23.605Z,1761700583.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:23.727Z,1761700583.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996448,-0.084198,0.001228],[0.084023,0.995129,0.051560],[-0.005564,-0.051274,0.998669]] 2025-10-29T01:16:23.774Z,1761700583.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:23.858Z,1761700583.858 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:24.109Z,1761700584.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:24.127Z,1761700584.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996416,-0.084582,0.000689],[0.084435,0.995104,0.051373],[-0.005031,-0.051131,0.998679]] 2025-10-29T01:16:24.229Z,1761700584.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:24.361Z,1761700584.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:24.532Z,1761700584.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996404,-0.084733,0.000084],[0.084617,0.995091,0.051320],[-0.004432,-0.051129,0.998682]] 2025-10-29T01:16:24.557Z,1761700584.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:24.613Z,1761700584.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:24.865Z,1761700584.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:24.945Z,1761700584.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996394,-0.084851,-0.000422],[0.084760,0.995078,0.051333],[-0.003936,-0.051184,0.998681]] 2025-10-29T01:16:24.984Z,1761700584.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:25.117Z,1761700585.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:25.369Z,1761700585.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:25.403Z,1761700585.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:25.621Z,1761700585.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:25.744Z,1761700585.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996439,-0.084301,-0.001351],[0.084258,0.995107,0.051606],[-0.003006,-0.051536,0.998667]] 2025-10-29T01:16:25.794Z,1761700585.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:25.873Z,1761700585.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:26.127Z,1761700586.127 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:26.150Z,1761700586.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996464,-0.084006,-0.001826],[0.083988,0.995132,0.051557],[-0.002514,-0.051528,0.998668]] 2025-10-29T01:16:26.187Z,1761700586.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:26.377Z,1761700586.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:26.550Z,1761700586.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996457,-0.084075,-0.002231],[0.084078,0.995137,0.051307],[-0.002093,-0.051313,0.998680]] 2025-10-29T01:16:26.580Z,1761700586.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:26.629Z,1761700586.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:26.881Z,1761700586.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:26.960Z,1761700586.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996473,-0.083870,-0.002776],[0.083902,0.995159,0.051171],[-0.001529,-0.051223,0.998686]] 2025-10-29T01:16:26.988Z,1761700586.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:27.133Z,1761700587.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:27.359Z,1761700587.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996495,-0.083593,-0.003051],[0.083639,0.995179,0.051211],[-0.001244,-0.051287,0.998683]] 2025-10-29T01:16:27.385Z,1761700587.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:27.441Z,1761700587.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:27.637Z,1761700587.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:27.773Z,1761700587.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996508,-0.083430,-0.003262],[0.083487,0.995189,0.051265],[-0.001030,-0.051358,0.998680]] 2025-10-29T01:16:27.795Z,1761700587.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:27.889Z,1761700587.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:28.144Z,1761700588.144 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:28.176Z,1761700588.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996537,-0.083071,-0.003543],[0.083143,0.995208,0.051462],[-0.000749,-0.051578,0.998669]] 2025-10-29T01:16:28.213Z,1761700588.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:28.393Z,1761700588.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:28.570Z,1761700588.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996520,-0.083268,-0.003769],[0.083351,0.995195,0.051385],[-0.000528,-0.051520,0.998672]] 2025-10-29T01:16:28.587Z,1761700588.587 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:16:28.606Z,1761700588.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:28.645Z,1761700588.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:28.897Z,1761700588.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:28.973Z,1761700588.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996472,-0.083832,-0.004030],[0.083928,0.995161,0.051093],[-0.000273,-0.051251,0.998686]] 2025-10-29T01:16:28.991Z,1761700588.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:29.151Z,1761700589.151 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:29.377Z,1761700589.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996479,-0.083740,-0.004175],[0.083844,0.995166,0.051145],[-0.000128,-0.051315,0.998683]] 2025-10-29T01:16:29.401Z,1761700589.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:29.419Z,1761700589.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:29.653Z,1761700589.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:29.797Z,1761700589.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996457,-0.083994,-0.004217],[0.084100,0.995145,0.051126],[-0.000097,-0.051300,0.998683]] 2025-10-29T01:16:29.815Z,1761700589.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:29.905Z,1761700589.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:30.159Z,1761700590.159 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:30.199Z,1761700590.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996476,-0.083775,-0.004178],[0.083879,0.995148,0.051419],[-0.000150,-0.051588,0.998668]] 2025-10-29T01:16:30.243Z,1761700590.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:30.409Z,1761700590.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:30.589Z,1761700590.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996487,-0.083650,-0.004150],[0.083753,0.995149,0.051612],[-0.000188,-0.051778,0.998659]] 2025-10-29T01:16:30.608Z,1761700590.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:30.664Z,1761700590.664 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:30.913Z,1761700590.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:30.992Z,1761700590.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996445,-0.084141,-0.004077],[0.084239,0.995116,0.051460],[-0.000273,-0.051620,0.998667]] 2025-10-29T01:16:31.016Z,1761700591.016 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:31.167Z,1761700591.167 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:31.394Z,1761700591.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996437,-0.084252,-0.003979],[0.084345,0.995111,0.051373],[-0.000369,-0.051525,0.998672]] 2025-10-29T01:16:31.418Z,1761700591.418 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:31.479Z,1761700591.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:31.669Z,1761700591.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:31.799Z,1761700591.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996405,-0.084634,-0.003787],[0.084717,0.995089,0.051190],[-0.000564,-0.051327,0.998682]] 2025-10-29T01:16:31.834Z,1761700591.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:31.922Z,1761700591.922 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:32.175Z,1761700592.175 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:32.227Z,1761700592.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996416,-0.084510,-0.003507],[0.084579,0.995093,0.051347],[-0.000850,-0.051460,0.998675]] 2025-10-29T01:16:32.274Z,1761700592.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:32.425Z,1761700592.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:32.609Z,1761700592.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996438,-0.084258,-0.003319],[0.084317,0.995099,0.051656],[-0.001050,-0.051752,0.998659]] 2025-10-29T01:16:32.627Z,1761700592.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:32.677Z,1761700592.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:32.930Z,1761700592.930 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:33.010Z,1761700593.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996456,-0.084063,-0.003094],[0.084110,0.995100,0.051975],[-0.001291,-0.052051,0.998644]] 2025-10-29T01:16:33.042Z,1761700593.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:33.158Z,1761700593.158 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:16:33.183Z,1761700593.183 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:33.423Z,1761700593.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996465,-0.083967,-0.002803],[0.083998,0.995093,0.052281],[-0.001600,-0.052331,0.998628]] 2025-10-29T01:16:33.433Z,1761700593.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:33.487Z,1761700593.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:33.685Z,1761700593.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:33.820Z,1761700593.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996459,-0.084038,-0.002568],[0.084057,0.995087,0.052306],[-0.001840,-0.052337,0.998628]] 2025-10-29T01:16:33.839Z,1761700593.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:33.938Z,1761700593.938 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:34.162Z,1761700594.162 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:16:34.191Z,1761700594.191 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:34.281Z,1761700594.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996456,-0.084096,-0.001876],[0.084079,0.995092,0.052171],[-0.002520,-0.052143,0.998636]] 2025-10-29T01:16:34.403Z,1761700594.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:34.441Z,1761700594.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:34.689Z,1761700594.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996476,-0.083862,-0.001464],[0.083824,0.995108,0.052285],[-0.002928,-0.052224,0.998631]] 2025-10-29T01:16:34.693Z,1761700594.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:34.717Z,1761700594.717 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:34.945Z,1761700594.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:35.133Z,1761700595.133 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:35.199Z,1761700595.199 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:35.449Z,1761700595.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:35.491Z,1761700595.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996560,-0.082877,-0.000497],[0.082788,0.995175,0.052663],[-0.003870,-0.052523,0.998612]] 2025-10-29T01:16:35.547Z,1761700595.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:35.701Z,1761700595.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:35.895Z,1761700595.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996598,-0.082416,0.000023],[0.082301,0.995215,0.052673],[-0.004364,-0.052492,0.998612]] 2025-10-29T01:16:35.953Z,1761700595.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:35.955Z,1761700595.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:36.205Z,1761700596.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:36.299Z,1761700596.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996624,-0.082101,0.000680],[0.081952,0.995250,0.052556],[-0.004992,-0.052323,0.998618]] 2025-10-29T01:16:36.355Z,1761700596.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:36.457Z,1761700596.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:36.711Z,1761700596.711 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:36.728Z,1761700596.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996702,-0.081139,0.001452],[0.080950,0.995325,0.052685],[-0.005720,-0.052394,0.998610]] 2025-10-29T01:16:36.750Z,1761700596.750 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:36.961Z,1761700596.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:37.132Z,1761700597.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996765,-0.080343,0.002243],[0.080113,0.995387,0.052789],[-0.006474,-0.052438,0.998603]] 2025-10-29T01:16:37.151Z,1761700597.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:37.214Z,1761700597.214 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:37.465Z,1761700597.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:37.535Z,1761700597.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996832,-0.079481,0.003087],[0.079207,0.995448,0.053004],[-0.007285,-0.052592,0.998590]] 2025-10-29T01:16:37.631Z,1761700597.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:37.718Z,1761700597.718 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:38.008Z,1761700598.008 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:38.036Z,1761700598.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:38.224Z,1761700598.224 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:38.345Z,1761700598.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996970,-0.077612,0.005209],[0.077224,0.995576,0.053533],[-0.009340,-0.052969,0.998552]] 2025-10-29T01:16:38.415Z,1761700598.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:38.473Z,1761700598.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:38.725Z,1761700598.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:38.797Z,1761700598.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997030,-0.076764,0.006205],[0.076323,0.995641,0.053615],[-0.010294,-0.052982,0.998542]] 2025-10-29T01:16:38.829Z,1761700598.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:38.977Z,1761700598.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:39.199Z,1761700599.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997089,-0.075898,0.007288],[0.075402,0.995714,0.053555],[-0.011322,-0.052850,0.998538]] 2025-10-29T01:16:39.225Z,1761700599.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:39.231Z,1761700599.231 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:39.481Z,1761700599.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:39.602Z,1761700599.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997125,-0.075280,0.008589],[0.074719,0.995779,0.053310],[-0.012566,-0.052515,0.998541]] 2025-10-29T01:16:39.660Z,1761700599.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:39.733Z,1761700599.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:39.985Z,1761700599.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:40.016Z,1761700600.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997169,-0.074555,0.009793],[0.073934,0.995846,0.053147],[-0.013715,-0.052272,0.998539]] 2025-10-29T01:16:40.034Z,1761700600.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:40.237Z,1761700600.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:40.424Z,1761700600.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997238,-0.073462,0.010967],[0.072779,0.995923,0.053303],[-0.014838,-0.052357,0.998518]] 2025-10-29T01:16:40.464Z,1761700600.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:40.489Z,1761700600.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:40.741Z,1761700600.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:40.847Z,1761700600.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997280,-0.072700,0.012103],[0.071958,0.995979,0.053357],[-0.015933,-0.052341,0.998502]] 2025-10-29T01:16:40.865Z,1761700600.865 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:40.993Z,1761700600.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:41.242Z,1761700601.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997327,-0.071831,0.013364],[0.071020,0.996035,0.053582],[-0.017160,-0.052489,0.998474]] 2025-10-29T01:16:41.245Z,1761700601.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:41.287Z,1761700601.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:41.497Z,1761700601.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:41.647Z,1761700601.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997365,-0.071087,0.014489],[0.070216,0.996085,0.053698],[-0.018250,-0.052539,0.998452]] 2025-10-29T01:16:41.693Z,1761700601.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:41.750Z,1761700601.750 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:42.001Z,1761700602.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:42.057Z,1761700602.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997380,-0.070643,0.015612],[0.069715,0.996126,0.053597],[-0.019338,-0.052369,0.998441]] 2025-10-29T01:16:42.075Z,1761700602.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:42.253Z,1761700602.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:42.455Z,1761700602.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997377,-0.070438,0.016676],[0.069459,0.996153,0.053422],[-0.020375,-0.052124,0.998433]] 2025-10-29T01:16:42.496Z,1761700602.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:42.505Z,1761700602.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:42.757Z,1761700602.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:42.858Z,1761700602.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997409,-0.069724,0.017739],[0.068687,0.996200,0.053558],[-0.021406,-0.052201,0.998407]] 2025-10-29T01:16:42.909Z,1761700602.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:43.009Z,1761700603.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:43.261Z,1761700603.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:43.264Z,1761700603.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997424,-0.069234,0.018742],[0.068142,0.996229,0.053707],[-0.022390,-0.052292,0.998381]] 2025-10-29T01:16:43.298Z,1761700603.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:43.513Z,1761700603.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:43.666Z,1761700603.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997414,-0.069145,0.019625],[0.068008,0.996240,0.053667],[-0.023262,-0.052194,0.998366]] 2025-10-29T01:16:43.738Z,1761700603.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:43.765Z,1761700603.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:44.017Z,1761700604.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:44.072Z,1761700604.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997392,-0.069165,0.020601],[0.067977,0.996242,0.053673],[-0.024236,-0.052132,0.998346]] 2025-10-29T01:16:44.096Z,1761700604.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:44.269Z,1761700604.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:44.475Z,1761700604.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997386,-0.069030,0.021367],[0.067800,0.996250,0.053745],[-0.024997,-0.052156,0.998326]] 2025-10-29T01:16:44.521Z,1761700604.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:44.525Z,1761700604.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:44.773Z,1761700604.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:44.878Z,1761700604.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997390,-0.068722,0.022142],[0.067448,0.996267,0.053885],[-0.025762,-0.052250,0.998302]] 2025-10-29T01:16:44.936Z,1761700604.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:45.025Z,1761700605.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:45.277Z,1761700605.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:45.285Z,1761700605.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997395,-0.068409,0.022867],[0.067097,0.996288,0.053931],[-0.026471,-0.052256,0.998283]] 2025-10-29T01:16:45.305Z,1761700605.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:45.529Z,1761700605.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:45.686Z,1761700605.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997412,-0.067913,0.023616],[0.066559,0.996319,0.054029],[-0.027199,-0.052317,0.998260]] 2025-10-29T01:16:45.737Z,1761700605.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:45.781Z,1761700605.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:46.033Z,1761700606.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:46.090Z,1761700606.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997433,-0.067427,0.024104],[0.066050,0.996354,0.053995],[-0.027657,-0.052264,0.998250]] 2025-10-29T01:16:46.109Z,1761700606.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:46.286Z,1761700606.286 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:46.495Z,1761700606.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997472,-0.066730,0.024436],[0.065334,0.996399,0.054034],[-0.027954,-0.052301,0.998240]] 2025-10-29T01:16:46.537Z,1761700606.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:46.556Z,1761700606.556 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:46.789Z,1761700606.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:46.910Z,1761700606.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997526,-0.065813,0.024695],[0.064402,0.996454,0.054138],[-0.028171,-0.052413,0.998228]] 2025-10-29T01:16:46.934Z,1761700606.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:47.041Z,1761700607.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:47.293Z,1761700607.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:47.304Z,1761700607.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997562,-0.065112,0.025118],[0.063678,0.996497,0.054208],[-0.028560,-0.052476,0.998214]] 2025-10-29T01:16:47.338Z,1761700607.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:47.545Z,1761700607.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:47.707Z,1761700607.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997632,-0.063971,0.025263],[0.062524,0.996559,0.054418],[-0.028657,-0.052710,0.998199]] 2025-10-29T01:16:47.779Z,1761700607.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:47.797Z,1761700607.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:48.049Z,1761700608.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:48.111Z,1761700608.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997659,-0.063488,0.025409],[0.062041,0.996603,0.054161],[-0.028761,-0.052458,0.998209]] 2025-10-29T01:16:48.136Z,1761700608.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:48.302Z,1761700608.302 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:48.517Z,1761700608.517 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997726,-0.062393,0.025493],[0.060946,0.996676,0.054056],[-0.028781,-0.052379,0.998212]] 2025-10-29T01:16:48.553Z,1761700608.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:48.638Z,1761700608.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:48.805Z,1761700608.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:48.924Z,1761700608.924 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997818,-0.060820,0.025692],[0.059365,0.996772,0.054041],[-0.028896,-0.052398,0.998208]] 2025-10-29T01:16:48.979Z,1761700608.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:49.057Z,1761700609.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:49.309Z,1761700609.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:49.324Z,1761700609.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997902,-0.059429,0.025684],[0.057981,0.996863,0.053872],[-0.028805,-0.052270,0.998218]] 2025-10-29T01:16:49.369Z,1761700609.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:49.563Z,1761700609.563 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:49.727Z,1761700609.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998025,-0.057364,0.025603],[0.055914,0.996967,0.054133],[-0.028630,-0.052595,0.998205]] 2025-10-29T01:16:49.798Z,1761700609.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:49.813Z,1761700609.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:50.065Z,1761700610.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:50.132Z,1761700610.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998122,-0.055704,0.025500],[0.054258,0.997053,0.054239],[-0.028447,-0.052753,0.998202]] 2025-10-29T01:16:50.159Z,1761700610.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:50.317Z,1761700610.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:50.535Z,1761700610.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998213,-0.054173,0.025205],[0.052747,0.997138,0.054171],[-0.028067,-0.052745,0.998214]] 2025-10-29T01:16:50.569Z,1761700610.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:50.582Z,1761700610.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:50.821Z,1761700610.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:50.939Z,1761700610.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998321,-0.052306,0.024892],[0.050898,0.997233,0.054185],[-0.027658,-0.052827,0.998221]] 2025-10-29T01:16:51.026Z,1761700611.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:51.073Z,1761700611.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:51.325Z,1761700611.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:51.387Z,1761700611.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998411,-0.050664,0.024674],[0.049274,0.997324,0.054000],[-0.027344,-0.052698,0.998236]] 2025-10-29T01:16:51.465Z,1761700611.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:51.577Z,1761700611.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:51.829Z,1761700611.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:51.849Z,1761700611.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:52.081Z,1761700612.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:52.249Z,1761700612.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:52.333Z,1761700612.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:52.585Z,1761700612.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:52.593Z,1761700612.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998646,-0.046296,0.023710],[0.044974,0.997552,0.053548],[-0.026131,-0.052409,0.998284]] 2025-10-29T01:16:52.643Z,1761700612.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:52.837Z,1761700612.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:52.994Z,1761700612.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998724,-0.044809,0.023294],[0.043506,0.997608,0.053722],[-0.025645,-0.052640,0.998284]] 2025-10-29T01:16:53.022Z,1761700613.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:53.089Z,1761700613.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:53.344Z,1761700613.344 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:53.407Z,1761700613.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998781,-0.043713,0.022915],[0.042431,0.997654,0.053724],[-0.025210,-0.052687,0.998293]] 2025-10-29T01:16:53.427Z,1761700613.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:53.593Z,1761700613.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:53.802Z,1761700613.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998827,-0.042832,0.022578],[0.041571,0.997695,0.053638],[-0.024823,-0.052636,0.998305]] 2025-10-29T01:16:53.845Z,1761700613.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:53.848Z,1761700613.848 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:54.097Z,1761700614.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:54.206Z,1761700614.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998869,-0.042081,0.022129],[0.040851,0.997738,0.053389],[-0.024325,-0.052424,0.998329]] 2025-10-29T01:16:54.232Z,1761700614.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:54.349Z,1761700614.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:54.605Z,1761700614.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:54.614Z,1761700614.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998921,-0.041049,0.021744],[0.039841,0.997782,0.053328],[-0.023885,-0.052404,0.998340]] 2025-10-29T01:16:54.685Z,1761700614.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:54.857Z,1761700614.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:55.014Z,1761700615.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998949,-0.040574,0.021348],[0.039393,0.997813,0.053072],[-0.023455,-0.052175,0.998362]] 2025-10-29T01:16:55.042Z,1761700615.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:55.110Z,1761700615.110 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:55.361Z,1761700615.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:55.420Z,1761700615.420 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998997,-0.039606,0.020902],[0.038449,0.997846,0.053153],[-0.022962,-0.052296,0.998368]] 2025-10-29T01:16:55.455Z,1761700615.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:55.613Z,1761700615.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:55.865Z,1761700615.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:55.894Z,1761700615.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:56.117Z,1761700616.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:56.280Z,1761700616.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999078,-0.037809,0.020342],[0.036673,0.997890,0.053574],[-0.022325,-0.052779,0.998357]] 2025-10-29T01:16:56.303Z,1761700616.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:56.369Z,1761700616.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:56.621Z,1761700616.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:56.678Z,1761700616.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999117,-0.036967,0.019987],[0.035849,0.997917,0.053634],[-0.021928,-0.052870,0.998361]] 2025-10-29T01:16:56.727Z,1761700616.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:56.874Z,1761700616.874 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:57.082Z,1761700617.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999139,-0.036530,0.019683],[0.035433,0.997941,0.053460],[-0.021595,-0.052717,0.998376]] 2025-10-29T01:16:57.125Z,1761700617.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:57.127Z,1761700617.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:57.378Z,1761700617.378 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:57.494Z,1761700617.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999212,-0.034793,0.019106],[0.033733,0.998010,0.053267],[-0.020921,-0.052581,0.998398]] 2025-10-29T01:16:57.553Z,1761700617.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:57.629Z,1761700617.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:57.881Z,1761700617.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:57.917Z,1761700617.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999250,-0.033770,0.018924],[0.032719,0.998040,0.053336],[-0.020688,-0.052677,0.998397]] 2025-10-29T01:16:57.974Z,1761700617.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:58.134Z,1761700618.134 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:58.331Z,1761700618.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999274,-0.033103,0.018836],[0.032061,0.998071,0.053169],[-0.020559,-0.052526,0.998408]] 2025-10-29T01:16:58.349Z,1761700618.349 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:58.386Z,1761700618.386 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:58.637Z,1761700618.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:58.760Z,1761700618.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999294,-0.032542,0.018783],[0.031508,0.998100,0.052948],[-0.020470,-0.052319,0.998421]] 2025-10-29T01:16:58.815Z,1761700618.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:58.889Z,1761700618.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:59.139Z,1761700619.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999325,-0.031664,0.018653],[0.030640,0.998132,0.052861],[-0.020292,-0.052253,0.998428]] 2025-10-29T01:16:59.141Z,1761700619.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:59.159Z,1761700619.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:59.394Z,1761700619.394 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:59.561Z,1761700619.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999360,-0.030535,0.018646],[0.029512,0.998164,0.052891],[-0.020227,-0.052307,0.998426]] 2025-10-29T01:16:59.635Z,1761700619.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:16:59.645Z,1761700619.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:59.897Z,1761700619.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:16:59.947Z,1761700619.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999390,-0.029512,0.018661],[0.028490,0.998196,0.052843],[-0.020187,-0.052279,0.998428]] 2025-10-29T01:16:59.997Z,1761700619.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:00.149Z,1761700620.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:00.401Z,1761700620.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:00.403Z,1761700620.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:00.653Z,1761700620.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:00.835Z,1761700620.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:00.905Z,1761700620.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:01.157Z,1761700621.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:01.223Z,1761700621.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:01.409Z,1761700621.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:01.615Z,1761700621.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999509,-0.025007,0.018903],[0.023975,0.998309,0.052949],[-0.020195,-0.052470,0.998418]] 2025-10-29T01:17:01.661Z,1761700621.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:01.704Z,1761700621.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:01.913Z,1761700621.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:01.987Z,1761700621.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999534,-0.023958,0.018939],[0.022926,0.998335,0.052932],[-0.020175,-0.052473,0.998419]] 2025-10-29T01:17:02.014Z,1761700622.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:02.166Z,1761700622.166 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:02.398Z,1761700622.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999544,-0.023353,0.019159],[0.022316,0.998362,0.052680],[-0.020358,-0.052229,0.998428]] 2025-10-29T01:17:02.417Z,1761700622.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:02.434Z,1761700622.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:02.670Z,1761700622.670 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:02.796Z,1761700622.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999567,-0.022279,0.019204],[0.021241,0.998387,0.052660],[-0.020347,-0.052229,0.998428]] 2025-10-29T01:17:02.917Z,1761700622.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:02.921Z,1761700622.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:03.173Z,1761700623.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:03.207Z,1761700623.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999584,-0.021470,0.019279],[0.020430,0.998406,0.052618],[-0.020378,-0.052202,0.998429]] 2025-10-29T01:17:03.234Z,1761700623.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:03.425Z,1761700623.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:03.627Z,1761700623.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999596,-0.020782,0.019416],[0.019736,0.998421,0.052588],[-0.020478,-0.052183,0.998428]] 2025-10-29T01:17:03.685Z,1761700623.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:03.767Z,1761700623.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:03.937Z,1761700623.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:04.151Z,1761700624.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:04.206Z,1761700624.206 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:04.288Z,1761700624.288 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:17:04.426Z,1761700624.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999615,-0.019451,0.019783],[0.018384,0.998439,0.052732],[-0.020778,-0.052348,0.998413]] 2025-10-29T01:17:04.457Z,1761700624.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:04.476Z,1761700624.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:04.709Z,1761700624.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:04.831Z,1761700624.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999613,-0.019291,0.020046],[0.018214,0.998451,0.052570],[-0.021029,-0.052185,0.998416]] 2025-10-29T01:17:04.948Z,1761700624.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:04.961Z,1761700624.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:05.213Z,1761700625.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:05.243Z,1761700625.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999611,-0.019135,0.020279],[0.018050,0.998464,0.052383],[-0.021250,-0.051997,0.998421]] 2025-10-29T01:17:05.281Z,1761700625.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:05.297Z,1761700625.297 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:17:05.465Z,1761700625.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:05.717Z,1761700625.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:05.722Z,1761700625.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999612,-0.018987,0.020401],[0.017899,0.998475,0.052223],[-0.021362,-0.051838,0.998427]] 2025-10-29T01:17:05.785Z,1761700625.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:05.969Z,1761700625.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:06.086Z,1761700626.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999613,-0.018728,0.020590],[0.017632,0.998482,0.052190],[-0.021537,-0.051807,0.998425]] 2025-10-29T01:17:06.109Z,1761700626.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:06.221Z,1761700626.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:06.473Z,1761700626.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:06.494Z,1761700626.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999605,-0.018861,0.020844],[0.017754,0.998485,0.052087],[-0.021794,-0.051697,0.998425]] 2025-10-29T01:17:06.517Z,1761700626.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:06.727Z,1761700626.727 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:06.948Z,1761700626.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:06.977Z,1761700626.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:07.229Z,1761700627.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:07.298Z,1761700627.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999595,-0.018949,0.021255],[0.017818,0.998479,0.052181],[-0.022212,-0.051781,0.998411]] 2025-10-29T01:17:07.335Z,1761700627.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:07.481Z,1761700627.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:07.733Z,1761700627.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:07.750Z,1761700627.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999591,-0.018892,0.021452],[0.017747,0.998470,0.052374],[-0.022409,-0.051972,0.998397]] 2025-10-29T01:17:07.809Z,1761700627.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:07.985Z,1761700627.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:08.111Z,1761700628.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999586,-0.018967,0.021613],[0.017812,0.998465,0.052453],[-0.022575,-0.052047,0.998389]] 2025-10-29T01:17:08.132Z,1761700628.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:08.237Z,1761700628.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:08.489Z,1761700628.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:08.514Z,1761700628.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999574,-0.019379,0.021829],[0.018215,0.998465,0.052304],[-0.022809,-0.051884,0.998393]] 2025-10-29T01:17:08.543Z,1761700628.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:08.745Z,1761700628.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:08.918Z,1761700628.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999561,-0.019907,0.021959],[0.018742,0.998470,0.052027],[-0.022961,-0.051593,0.998404]] 2025-10-29T01:17:08.981Z,1761700628.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:08.993Z,1761700628.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:09.245Z,1761700629.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:09.323Z,1761700629.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999551,-0.020290,0.022068],[0.019125,0.998476,0.051760],[-0.023084,-0.051315,0.998416]] 2025-10-29T01:17:09.346Z,1761700629.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:09.500Z,1761700629.500 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:09.753Z,1761700629.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:09.781Z,1761700629.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999549,-0.020248,0.022199],[0.019075,0.998474,0.051826],[-0.023215,-0.051379,0.998409]] 2025-10-29T01:17:09.817Z,1761700629.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:10.005Z,1761700630.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:10.188Z,1761700630.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999540,-0.020462,0.022378],[0.019278,0.998465,0.051926],[-0.023406,-0.051471,0.998400]] 2025-10-29T01:17:10.216Z,1761700630.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:10.257Z,1761700630.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:10.509Z,1761700630.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:10.590Z,1761700630.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999533,-0.020580,0.022586],[0.019381,0.998454,0.052098],[-0.023623,-0.051636,0.998387]] 2025-10-29T01:17:10.625Z,1761700630.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:10.764Z,1761700630.764 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:10.994Z,1761700630.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999529,-0.020705,0.022647],[0.019498,0.998444,0.052243],[-0.023694,-0.051777,0.998378]] 2025-10-29T01:17:11.013Z,1761700631.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:11.056Z,1761700631.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:11.265Z,1761700631.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:11.400Z,1761700631.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999521,-0.020996,0.022750],[0.019785,0.998439,0.052234],[-0.023811,-0.051759,0.998376]] 2025-10-29T01:17:11.418Z,1761700631.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:11.517Z,1761700631.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:11.774Z,1761700631.774 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:11.804Z,1761700631.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999509,-0.021464,0.022810],[0.020255,0.998444,0.051955],[-0.023889,-0.051468,0.998389]] 2025-10-29T01:17:11.846Z,1761700631.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:12.026Z,1761700632.026 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:12.231Z,1761700632.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999498,-0.021903,0.022881],[0.020697,0.998448,0.051696],[-0.023977,-0.051197,0.998401]] 2025-10-29T01:17:12.253Z,1761700632.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:12.277Z,1761700632.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:12.529Z,1761700632.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:12.630Z,1761700632.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999489,-0.022237,0.022952],[0.021029,0.998447,0.051598],[-0.024064,-0.051089,0.998404]] 2025-10-29T01:17:12.660Z,1761700632.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:12.783Z,1761700632.783 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:13.033Z,1761700633.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:13.036Z,1761700633.036 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999485,-0.022446,0.022935],[0.021236,0.998435,0.051729],[-0.024060,-0.051215,0.998398]] 2025-10-29T01:17:13.087Z,1761700633.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:13.285Z,1761700633.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:13.439Z,1761700633.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999480,-0.022637,0.022974],[0.021419,0.998419,0.051967],[-0.024114,-0.051448,0.998385]] 2025-10-29T01:17:13.458Z,1761700633.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:13.537Z,1761700633.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:13.793Z,1761700633.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:13.845Z,1761700633.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999476,-0.022854,0.022915],[0.021633,0.998403,0.052183],[-0.024071,-0.051660,0.998375]] 2025-10-29T01:17:13.911Z,1761700633.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:14.045Z,1761700634.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:14.246Z,1761700634.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999466,-0.023377,0.022816],[0.022161,0.998392,0.052170],[-0.023999,-0.051637,0.998378]] 2025-10-29T01:17:14.289Z,1761700634.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:14.297Z,1761700634.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:14.549Z,1761700634.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:14.656Z,1761700634.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999449,-0.024098,0.022843],[0.022884,0.998386,0.051970],[-0.024059,-0.051419,0.998387]] 2025-10-29T01:17:14.675Z,1761700634.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:14.803Z,1761700634.803 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:15.053Z,1761700635.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:15.127Z,1761700635.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:15.305Z,1761700635.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:15.462Z,1761700635.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999414,-0.025716,0.022604],[0.024525,0.998372,0.051504],[-0.023891,-0.050920,0.998417]] 2025-10-29T01:17:15.487Z,1761700635.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:15.558Z,1761700635.558 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:15.812Z,1761700635.812 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:15.875Z,1761700635.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999394,-0.026436,0.022653],[0.025241,0.998354,0.051495],[-0.023977,-0.050892,0.998416]] 2025-10-29T01:17:15.925Z,1761700635.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:16.061Z,1761700636.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:16.274Z,1761700636.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999387,-0.026892,0.022437],[0.025704,0.998334,0.051667],[-0.023789,-0.051058,0.998412]] 2025-10-29T01:17:16.293Z,1761700636.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:16.313Z,1761700636.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:16.565Z,1761700636.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:16.678Z,1761700636.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999371,-0.027520,0.022359],[0.026330,0.998306,0.051890],[-0.023749,-0.051268,0.998402]] 2025-10-29T01:17:16.697Z,1761700636.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:16.819Z,1761700636.819 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:17.069Z,1761700637.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:17.080Z,1761700637.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999356,-0.028207,0.022161],[0.027024,0.998281,0.051998],[-0.023590,-0.051366,0.998401]] 2025-10-29T01:17:17.240Z,1761700637.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:17.322Z,1761700637.322 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:17.490Z,1761700637.490 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999339,-0.028905,0.022062],[0.027723,0.998257,0.052099],[-0.023530,-0.051453,0.998398]] 2025-10-29T01:17:17.550Z,1761700637.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:17.574Z,1761700637.574 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:17.827Z,1761700637.827 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:17.893Z,1761700637.893 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999314,-0.029898,0.021873],[0.028728,0.998236,0.051961],[-0.023388,-0.051297,0.998410]] 2025-10-29T01:17:17.964Z,1761700637.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:18.077Z,1761700638.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:18.298Z,1761700638.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999277,-0.031188,0.021742],[0.030029,0.998211,0.051701],[-0.023315,-0.051011,0.998426]] 2025-10-29T01:17:18.333Z,1761700638.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:18.377Z,1761700638.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:18.585Z,1761700638.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:18.698Z,1761700638.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999249,-0.032244,0.021509],[0.031097,0.998179,0.051682],[-0.023136,-0.050975,0.998432]] 2025-10-29T01:17:18.765Z,1761700638.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:18.837Z,1761700638.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:19.089Z,1761700639.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:19.111Z,1761700639.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999210,-0.033406,0.021514],[0.032251,0.998130,0.051927],[-0.023208,-0.051192,0.998419]] 2025-10-29T01:17:19.166Z,1761700639.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:19.342Z,1761700639.342 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:19.515Z,1761700639.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999141,-0.035712,0.021047],[0.034567,0.998024,0.052468],[-0.022879,-0.051695,0.998401]] 2025-10-29T01:17:19.533Z,1761700639.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:19.593Z,1761700639.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:19.847Z,1761700639.847 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:19.997Z,1761700639.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:20.097Z,1761700640.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:20.323Z,1761700640.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999032,-0.038687,0.020943],[0.037542,0.997913,0.052535],[-0.022931,-0.051698,0.998399]] 2025-10-29T01:17:20.350Z,1761700640.350 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:20.371Z,1761700640.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:20.601Z,1761700640.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:20.724Z,1761700640.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998959,-0.040614,0.020766],[0.039484,0.997855,0.052219],[-0.022842,-0.051345,0.998420]] 2025-10-29T01:17:20.745Z,1761700640.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:20.853Z,1761700640.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:21.105Z,1761700641.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:21.130Z,1761700641.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998894,-0.042285,0.020554],[0.041167,0.997794,0.052080],[-0.022711,-0.051176,0.998431]] 2025-10-29T01:17:21.167Z,1761700641.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:21.357Z,1761700641.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:21.528Z,1761700641.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998839,-0.043642,0.020396],[0.042529,0.997732,0.052167],[-0.022627,-0.051239,0.998430]] 2025-10-29T01:17:21.554Z,1761700641.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:21.609Z,1761700641.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:21.863Z,1761700641.863 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:21.947Z,1761700641.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998778,-0.045028,0.020389],[0.043909,0.997664,0.052326],[-0.022697,-0.051367,0.998422]] 2025-10-29T01:17:21.990Z,1761700641.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:22.113Z,1761700642.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:22.345Z,1761700642.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998716,-0.046419,0.020273],[0.045302,0.997596,0.052449],[-0.022659,-0.051463,0.998418]] 2025-10-29T01:17:22.365Z,1761700642.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:22.393Z,1761700642.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:22.617Z,1761700642.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:22.769Z,1761700642.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998651,-0.047815,0.020265],[0.046695,0.997527,0.052535],[-0.022727,-0.051518,0.998414]] 2025-10-29T01:17:22.802Z,1761700642.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:22.872Z,1761700642.872 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:23.125Z,1761700643.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:23.162Z,1761700643.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998571,-0.049515,0.020128],[0.048405,0.997455,0.052350],[-0.022669,-0.051300,0.998426]] 2025-10-29T01:17:23.224Z,1761700643.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:23.377Z,1761700643.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:23.568Z,1761700643.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998503,-0.050909,0.020016],[0.049805,0.997391,0.052253],[-0.022624,-0.051178,0.998433]] 2025-10-29T01:17:23.587Z,1761700643.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:23.629Z,1761700643.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:23.881Z,1761700643.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:23.981Z,1761700643.981 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998430,-0.052334,0.019948],[0.051235,0.997326,0.052109],[-0.022622,-0.051005,0.998442]] 2025-10-29T01:17:24.022Z,1761700644.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:24.133Z,1761700644.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:24.378Z,1761700644.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998365,-0.053591,0.019890],[0.052493,0.997259,0.052135],[-0.022629,-0.051006,0.998442]] 2025-10-29T01:17:24.385Z,1761700644.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:24.419Z,1761700644.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:24.637Z,1761700644.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:24.789Z,1761700644.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998300,-0.054828,0.019796],[0.053730,0.997187,0.052251],[-0.022605,-0.051098,0.998438]] 2025-10-29T01:17:24.807Z,1761700644.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:24.889Z,1761700644.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:25.141Z,1761700645.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:25.274Z,1761700645.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:25.393Z,1761700645.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:25.622Z,1761700645.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998130,-0.057859,0.019725],[0.056760,0.997015,0.052347],[-0.022695,-0.051129,0.998434]] 2025-10-29T01:17:25.649Z,1761700645.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:25.657Z,1761700645.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:25.905Z,1761700645.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:26.033Z,1761700646.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998054,-0.059204,0.019567],[0.058109,0.996933,0.052426],[-0.022611,-0.051187,0.998433]] 2025-10-29T01:17:26.098Z,1761700646.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:26.153Z,1761700646.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:26.405Z,1761700646.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:26.469Z,1761700646.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997957,-0.060822,0.019580],[0.059728,0.996843,0.052321],[-0.022701,-0.051045,0.998438]] 2025-10-29T01:17:26.495Z,1761700646.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:26.657Z,1761700646.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:26.875Z,1761700646.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997871,-0.062285,0.019355],[0.061203,0.996759,0.052205],[-0.022544,-0.050910,0.998449]] 2025-10-29T01:17:26.909Z,1761700646.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:26.914Z,1761700646.914 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:27.161Z,1761700647.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:27.275Z,1761700647.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997789,-0.063599,0.019290],[0.062521,0.996683,0.052097],[-0.022539,-0.050775,0.998456]] 2025-10-29T01:17:27.334Z,1761700647.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:27.413Z,1761700647.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:27.665Z,1761700647.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:27.728Z,1761700647.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997740,-0.064386,0.019219],[0.063306,0.996621,0.052328],[-0.022524,-0.050993,0.998445]] 2025-10-29T01:17:27.763Z,1761700647.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:27.920Z,1761700647.920 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:28.133Z,1761700648.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997677,-0.065434,0.018953],[0.064365,0.996550,0.052395],[-0.022316,-0.051054,0.998447]] 2025-10-29T01:17:28.169Z,1761700648.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:28.180Z,1761700648.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:28.421Z,1761700648.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:28.535Z,1761700648.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997591,-0.066771,0.018811],[0.065709,0.996465,0.052351],[-0.022240,-0.050989,0.998452]] 2025-10-29T01:17:28.554Z,1761700648.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:28.673Z,1761700648.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:28.925Z,1761700648.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:28.949Z,1761700648.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997489,-0.068337,0.018610],[0.067284,0.996364,0.052273],[-0.022114,-0.050889,0.998459]] 2025-10-29T01:17:28.966Z,1761700648.966 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:17:28.968Z,1761700648.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:29.177Z,1761700649.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:29.420Z,1761700649.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:29.429Z,1761700649.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:29.681Z,1761700649.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:29.750Z,1761700649.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997256,-0.071825,0.017940],[0.070807,0.996130,0.052074],[-0.021610,-0.050660,0.998482]] 2025-10-29T01:17:29.794Z,1761700649.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:29.933Z,1761700649.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:30.150Z,1761700650.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997162,-0.073193,0.017637],[0.072186,0.996024,0.052205],[-0.021388,-0.050783,0.998481]] 2025-10-29T01:17:30.185Z,1761700650.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:30.256Z,1761700650.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:30.438Z,1761700650.438 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:30.616Z,1761700650.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997026,-0.075117,0.017237],[0.074130,0.995884,0.052146],[-0.021083,-0.050713,0.998491]] 2025-10-29T01:17:30.642Z,1761700650.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:30.690Z,1761700650.690 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:30.941Z,1761700650.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:31.019Z,1761700651.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996897,-0.076908,0.016763],[0.075941,0.995743,0.052237],[-0.020709,-0.050802,0.998494]] 2025-10-29T01:17:31.101Z,1761700651.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:31.193Z,1761700651.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:31.419Z,1761700651.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996750,-0.078899,0.016259],[0.077953,0.995583,0.052322],[-0.020316,-0.050884,0.998498]] 2025-10-29T01:17:31.445Z,1761700651.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:31.575Z,1761700651.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:31.697Z,1761700651.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:31.829Z,1761700651.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996575,-0.081159,0.015830],[0.080232,0.995400,0.052362],[-0.020007,-0.050913,0.998503]] 2025-10-29T01:17:31.889Z,1761700651.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:31.949Z,1761700651.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:32.201Z,1761700652.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:32.229Z,1761700652.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996428,-0.083042,0.015328],[0.082134,0.995236,0.052519],[-0.019617,-0.051073,0.998502]] 2025-10-29T01:17:32.298Z,1761700652.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:32.453Z,1761700652.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:32.660Z,1761700652.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996266,-0.085050,0.014846],[0.084166,0.995069,0.052481],[-0.019236,-0.051036,0.998512]] 2025-10-29T01:17:32.705Z,1761700652.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:32.712Z,1761700652.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:32.957Z,1761700652.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:33.121Z,1761700653.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996103,-0.087017,0.014398],[0.086156,0.994906,0.052343],[-0.018879,-0.050899,0.998525]] 2025-10-29T01:17:33.209Z,1761700653.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:33.230Z,1761700653.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:33.461Z,1761700653.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:33.477Z,1761700653.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995920,-0.089155,0.013922],[0.088319,0.994725,0.052166],[-0.018500,-0.050724,0.998541]] 2025-10-29T01:17:33.513Z,1761700653.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:33.713Z,1761700653.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:33.878Z,1761700653.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995751,-0.091082,0.013558],[0.090261,0.994548,0.052231],[-0.018241,-0.050785,0.998543]] 2025-10-29T01:17:33.897Z,1761700653.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:33.965Z,1761700653.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:34.217Z,1761700654.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:34.283Z,1761700654.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995539,-0.093446,0.013049],[0.092647,0.994326,0.052270],[-0.017859,-0.050828,0.998548]] 2025-10-29T01:17:34.359Z,1761700654.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:34.469Z,1761700654.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:34.722Z,1761700654.722 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:34.750Z,1761700654.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995151,-0.097640,0.011851],[0.096891,0.993904,0.052609],[-0.016916,-0.051206,0.998545]] 2025-10-29T01:17:34.777Z,1761700654.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:34.973Z,1761700654.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:35.160Z,1761700655.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994934,-0.099895,0.011292],[0.099174,0.993684,0.052498],[-0.016465,-0.051112,0.998557]] 2025-10-29T01:17:35.221Z,1761700655.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:35.225Z,1761700655.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:35.424Z,1761700655.424 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:17:35.477Z,1761700655.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:35.550Z,1761700655.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994735,-0.101921,0.010740],[0.101228,0.993487,0.052308],[-0.016001,-0.050945,0.998573]] 2025-10-29T01:17:35.587Z,1761700655.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:35.729Z,1761700655.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:35.981Z,1761700655.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:36.008Z,1761700656.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:36.233Z,1761700656.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:36.360Z,1761700656.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994414,-0.105091,0.009799],[0.104445,0.993162,0.052166],[-0.015214,-0.050851,0.998590]] 2025-10-29T01:17:36.398Z,1761700656.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:36.428Z,1761700656.428 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:17:36.485Z,1761700656.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:36.737Z,1761700656.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:36.773Z,1761700656.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994244,-0.106730,0.009393],[0.106103,0.992990,0.052078],[-0.014886,-0.050782,0.998599]] 2025-10-29T01:17:36.793Z,1761700656.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:36.989Z,1761700656.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:37.241Z,1761700657.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:37.254Z,1761700657.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:37.493Z,1761700657.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:37.570Z,1761700657.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993971,-0.109300,0.008612],[0.108707,0.992698,0.052284],[-0.014263,-0.051033,0.998595]] 2025-10-29T01:17:37.589Z,1761700657.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:37.745Z,1761700657.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:37.979Z,1761700657.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993827,-0.110644,0.008082],[0.110074,0.992539,0.052439],[-0.013823,-0.051226,0.998591]] 2025-10-29T01:17:37.997Z,1761700657.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:37.999Z,1761700657.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:38.249Z,1761700658.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:38.378Z,1761700658.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993645,-0.112288,0.007836],[0.111729,0.992356,0.052402],[-0.013660,-0.051194,0.998595]] 2025-10-29T01:17:38.426Z,1761700658.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:38.501Z,1761700658.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:38.754Z,1761700658.754 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:38.814Z,1761700658.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993493,-0.113642,0.007517],[0.113096,0.992196,0.052501],[-0.013424,-0.051309,0.998593]] 2025-10-29T01:17:38.846Z,1761700658.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:39.005Z,1761700659.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:39.223Z,1761700659.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993308,-0.115269,0.007284],[0.114735,0.992017,0.052334],[-0.013259,-0.051148,0.998603]] 2025-10-29T01:17:39.257Z,1761700659.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:39.271Z,1761700659.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:39.509Z,1761700659.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:39.622Z,1761700659.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993085,-0.117182,0.007150],[0.116656,0.991805,0.052097],[-0.013196,-0.050903,0.998616]] 2025-10-29T01:17:39.660Z,1761700659.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:39.761Z,1761700659.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:40.013Z,1761700660.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:40.028Z,1761700660.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992893,-0.118806,0.007032],[0.118284,0.991612,0.052105],[-0.013164,-0.050903,0.998617]] 2025-10-29T01:17:40.048Z,1761700660.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:40.265Z,1761700660.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:40.432Z,1761700660.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992723,-0.120213,0.007001],[0.119688,0.991435,0.052267],[-0.013225,-0.051049,0.998609]] 2025-10-29T01:17:40.490Z,1761700660.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:40.517Z,1761700660.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:40.769Z,1761700660.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:40.843Z,1761700660.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992586,-0.121352,0.006808],[0.120834,0.991288,0.052416],[-0.013109,-0.051205,0.998602]] 2025-10-29T01:17:40.868Z,1761700660.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:41.021Z,1761700661.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:41.250Z,1761700661.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992391,-0.122932,0.006861],[0.122410,0.991098,0.052355],[-0.013236,-0.051117,0.998605]] 2025-10-29T01:17:41.273Z,1761700661.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:41.353Z,1761700661.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:41.525Z,1761700661.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:41.642Z,1761700661.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992211,-0.124369,0.006978],[0.123840,0.990922,0.052312],[-0.013420,-0.051041,0.998606]] 2025-10-29T01:17:41.699Z,1761700661.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:41.777Z,1761700661.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:42.029Z,1761700662.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:42.049Z,1761700662.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992065,-0.125522,0.007133],[0.124983,0.990777,0.052355],[-0.013639,-0.051048,0.998603]] 2025-10-29T01:17:42.072Z,1761700662.072 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:42.281Z,1761700662.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:42.450Z,1761700662.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991877,-0.126989,0.007363],[0.126436,0.990596,0.052284],[-0.013933,-0.050928,0.998605]] 2025-10-29T01:17:42.503Z,1761700662.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:42.533Z,1761700662.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:42.785Z,1761700662.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:42.854Z,1761700662.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991709,-0.128281,0.007638],[0.127713,0.990431,0.052298],[-0.014274,-0.050889,0.998602]] 2025-10-29T01:17:42.899Z,1761700662.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:43.037Z,1761700663.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:43.279Z,1761700663.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991570,-0.129331,0.007903],[0.128746,0.990288,0.052480],[-0.014614,-0.051021,0.998591]] 2025-10-29T01:17:43.289Z,1761700663.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:43.342Z,1761700663.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:43.541Z,1761700663.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:43.715Z,1761700663.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991371,-0.130824,0.008281],[0.130217,0.990094,0.052512],[-0.015069,-0.050981,0.998586]] 2025-10-29T01:17:43.735Z,1761700663.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:43.793Z,1761700663.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:44.045Z,1761700664.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:44.116Z,1761700664.116 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991196,-0.132118,0.008725],[0.131483,0.989915,0.052740],[-0.015605,-0.051128,0.998570]] 2025-10-29T01:17:44.155Z,1761700664.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:44.298Z,1761700664.298 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:44.529Z,1761700664.529 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990897,-0.134311,0.009096],[0.133655,0.989626,0.052698],[-0.016080,-0.051003,0.998569]] 2025-10-29T01:17:44.549Z,1761700664.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:44.583Z,1761700664.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:44.802Z,1761700664.802 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:44.956Z,1761700664.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990613,-0.136375,0.009416],[0.135698,0.989343,0.052782],[-0.016514,-0.051009,0.998562]] 2025-10-29T01:17:44.988Z,1761700664.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:45.053Z,1761700665.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:45.309Z,1761700665.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:45.351Z,1761700665.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990306,-0.138559,0.009753],[0.137862,0.989043,0.052794],[-0.016961,-0.050938,0.998558]] 2025-10-29T01:17:45.408Z,1761700665.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:45.557Z,1761700665.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:45.774Z,1761700665.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990016,-0.140584,0.010255],[0.139859,0.988763,0.052785],[-0.017560,-0.050824,0.998553]] 2025-10-29T01:17:45.811Z,1761700665.811 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:45.878Z,1761700665.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:46.061Z,1761700666.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:46.172Z,1761700666.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989765,-0.142293,0.010830],[0.141534,0.988516,0.052954],[-0.018241,-0.050879,0.998538]] 2025-10-29T01:17:46.198Z,1761700666.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:46.313Z,1761700666.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:46.565Z,1761700666.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:46.576Z,1761700666.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989539,-0.143819,0.011358],[0.143025,0.988285,0.053259],[-0.018884,-0.051078,0.998516]] 2025-10-29T01:17:46.626Z,1761700666.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:46.818Z,1761700666.818 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:46.978Z,1761700666.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989274,-0.145593,0.011805],[0.144770,0.988020,0.053467],[-0.019448,-0.051184,0.998500]] 2025-10-29T01:17:47.024Z,1761700667.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:47.069Z,1761700667.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:47.324Z,1761700667.324 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:47.385Z,1761700667.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989012,-0.147325,0.012294],[0.146468,0.987751,0.053808],[-0.020071,-0.051416,0.998476]] 2025-10-29T01:17:47.446Z,1761700667.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:47.573Z,1761700667.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:47.790Z,1761700667.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988703,-0.149347,0.012702],[0.148464,0.987444,0.053964],[-0.020602,-0.051468,0.998462]] 2025-10-29T01:17:47.825Z,1761700667.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:47.826Z,1761700667.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:48.077Z,1761700668.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:48.190Z,1761700668.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988374,-0.151473,0.013111],[0.150567,0.987127,0.053940],[-0.021112,-0.051339,0.998458]] 2025-10-29T01:17:48.223Z,1761700668.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:48.330Z,1761700668.330 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:48.581Z,1761700668.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:48.664Z,1761700668.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:48.833Z,1761700668.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:49.019Z,1761700669.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987797,-0.155146,0.013664],[0.154205,0.986564,0.053965],[-0.021853,-0.051200,0.998449]] 2025-10-29T01:17:49.042Z,1761700669.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:49.085Z,1761700669.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:49.339Z,1761700669.339 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:49.419Z,1761700669.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987504,-0.156978,0.013944],[0.156021,0.986277,0.053994],[-0.022228,-0.051144,0.998444]] 2025-10-29T01:17:49.462Z,1761700669.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:49.589Z,1761700669.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:49.828Z,1761700669.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987258,-0.158498,0.014113],[0.157526,0.986028,0.054172],[-0.022502,-0.051258,0.998432]] 2025-10-29T01:17:49.841Z,1761700669.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:49.863Z,1761700669.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:50.093Z,1761700670.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:50.227Z,1761700670.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987004,-0.160057,0.014294],[0.159069,0.985769,0.054378],[-0.022794,-0.051397,0.998418]] 2025-10-29T01:17:50.252Z,1761700670.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:50.348Z,1761700670.348 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:50.597Z,1761700670.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:50.702Z,1761700670.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:50.849Z,1761700670.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:51.068Z,1761700671.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986461,-0.163374,0.014286],[0.162380,0.985224,0.054455],[-0.022971,-0.051398,0.998414]] 2025-10-29T01:17:51.087Z,1761700671.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:51.101Z,1761700671.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:51.355Z,1761700671.355 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:51.466Z,1761700671.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986244,-0.164691,0.014163],[0.163701,0.985003,0.054503],[-0.022926,-0.051435,0.998413]] 2025-10-29T01:17:51.516Z,1761700671.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:51.605Z,1761700671.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:51.857Z,1761700671.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:51.872Z,1761700671.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985990,-0.166211,0.014071],[0.165228,0.984756,0.054363],[-0.022892,-0.051276,0.998422]] 2025-10-29T01:17:51.906Z,1761700671.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:52.109Z,1761700672.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:52.275Z,1761700672.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985831,-0.167179,0.013760],[0.166209,0.984589,0.054400],[-0.022642,-0.051342,0.998424]] 2025-10-29T01:17:52.318Z,1761700672.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:52.364Z,1761700672.364 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:52.613Z,1761700672.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:52.753Z,1761700672.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985607,-0.168533,0.013220],[0.167586,0.984346,0.054574],[-0.022210,-0.051573,0.998422]] 2025-10-29T01:17:52.839Z,1761700672.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:52.865Z,1761700672.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:53.117Z,1761700673.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:53.206Z,1761700673.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985498,-0.169202,0.012851],[0.168272,0.984227,0.054604],[-0.021888,-0.051649,0.998425]] 2025-10-29T01:17:53.224Z,1761700673.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:53.371Z,1761700673.371 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:53.621Z,1761700673.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:53.629Z,1761700673.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985413,-0.169729,0.012340],[0.168825,0.984131,0.054625],[-0.021416,-0.051745,0.998431]] 2025-10-29T01:17:53.676Z,1761700673.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:53.874Z,1761700673.874 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:54.027Z,1761700674.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985321,-0.170301,0.011814],[0.169423,0.984030,0.054606],[-0.020925,-0.051803,0.998438]] 2025-10-29T01:17:54.047Z,1761700674.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:54.125Z,1761700674.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:54.379Z,1761700674.379 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:54.437Z,1761700674.437 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985182,-0.171137,0.011373],[0.170283,0.983885,0.054530],[-0.020522,-0.051785,0.998447]] 2025-10-29T01:17:54.474Z,1761700674.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:54.629Z,1761700674.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:54.831Z,1761700674.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984997,-0.172229,0.010854],[0.171404,0.983702,0.054328],[-0.020034,-0.051652,0.998464]] 2025-10-29T01:17:54.867Z,1761700674.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:54.881Z,1761700674.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:55.133Z,1761700675.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:55.234Z,1761700675.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984842,-0.173144,0.010368],[0.172345,0.983545,0.054198],[-0.019581,-0.051589,0.998476]] 2025-10-29T01:17:55.257Z,1761700675.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:55.387Z,1761700675.387 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:55.637Z,1761700675.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:55.716Z,1761700675.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:55.889Z,1761700675.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:56.073Z,1761700676.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984499,-0.175140,0.009349],[0.174398,0.983200,0.053873],[-0.018628,-0.051408,0.998504]] 2025-10-29T01:17:56.092Z,1761700676.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:56.141Z,1761700676.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:56.395Z,1761700676.395 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:56.487Z,1761700676.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984292,-0.176334,0.008645],[0.175630,0.982993,0.053658],[-0.017960,-0.051297,0.998522]] 2025-10-29T01:17:56.549Z,1761700676.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:56.645Z,1761700676.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:56.892Z,1761700676.892 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984159,-0.177114,0.007879],[0.176446,0.982840,0.053775],[-0.017268,-0.051533,0.998522]] 2025-10-29T01:17:56.897Z,1761700676.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:56.912Z,1761700676.912 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:57.149Z,1761700677.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:57.305Z,1761700677.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983923,-0.178447,0.007265],[0.177810,0.982597,0.053737],[-0.016728,-0.051581,0.998529]] 2025-10-29T01:17:57.330Z,1761700677.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:57.402Z,1761700677.402 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:57.653Z,1761700677.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:57.699Z,1761700677.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983681,-0.179802,0.006561],[0.179200,0.982349,0.053651],[-0.016091,-0.051599,0.998538]] 2025-10-29T01:17:57.757Z,1761700677.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:57.905Z,1761700677.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:58.133Z,1761700678.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983467,-0.180995,0.005761],[0.180434,0.982125,0.053606],[-0.015360,-0.051680,0.998546]] 2025-10-29T01:17:58.157Z,1761700678.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:58.173Z,1761700678.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:58.409Z,1761700678.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:58.589Z,1761700678.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:58.661Z,1761700678.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:58.913Z,1761700678.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:58.943Z,1761700678.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982971,-0.183717,0.004088],[0.183244,0.981623,0.053265],[-0.013798,-0.051609,0.998572]] 2025-10-29T01:17:58.962Z,1761700678.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:59.165Z,1761700679.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:59.350Z,1761700679.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982718,-0.185079,0.003290],[0.184646,0.981366,0.053164],[-0.013068,-0.051637,0.998580]] 2025-10-29T01:17:59.368Z,1761700679.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:59.418Z,1761700679.418 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:59.669Z,1761700679.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:17:59.759Z,1761700679.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982434,-0.186597,0.002342],[0.186213,0.981077,0.053023],[-0.012192,-0.051656,0.998591]] 2025-10-29T01:17:59.822Z,1761700679.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:17:59.921Z,1761700679.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:00.167Z,1761700680.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982195,-0.187858,0.001195],[0.187532,0.980829,0.052965],[-0.011122,-0.051798,0.998596]] 2025-10-29T01:18:00.173Z,1761700680.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:00.283Z,1761700680.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:00.425Z,1761700680.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:00.559Z,1761700680.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981905,-0.189372,0.000075],[0.189104,0.980537,0.052797],[-0.010072,-0.051828,0.998605]] 2025-10-29T01:18:00.637Z,1761700680.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:00.677Z,1761700680.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:00.929Z,1761700680.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:01.085Z,1761700681.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:01.181Z,1761700681.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:01.433Z,1761700681.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:01.508Z,1761700681.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981443,-0.191739,-0.002237],[0.191590,0.980065,0.052590],[-0.007892,-0.052042,0.998614]] 2025-10-29T01:18:01.591Z,1761700681.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:01.685Z,1761700681.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:01.872Z,1761700681.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981199,-0.192971,-0.003388],[0.192882,0.979824,0.052357],[-0.006783,-0.052026,0.998623]] 2025-10-29T01:18:01.907Z,1761700681.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:01.937Z,1761700681.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:02.189Z,1761700682.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:02.278Z,1761700682.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980968,-0.194115,-0.004608],[0.194089,0.979603,0.052041],[-0.005588,-0.051945,0.998634]] 2025-10-29T01:18:02.323Z,1761700682.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:02.441Z,1761700682.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:02.693Z,1761700682.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:02.710Z,1761700682.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980819,-0.194831,-0.005922],[0.194873,0.979453,0.051924],[-0.004316,-0.052082,0.998634]] 2025-10-29T01:18:02.790Z,1761700682.790 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:02.945Z,1761700682.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:03.159Z,1761700683.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:03.197Z,1761700683.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:03.449Z,1761700683.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:03.565Z,1761700683.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980560,-0.196031,-0.008611],[0.196212,0.979201,0.051631],[-0.001690,-0.052317,0.998629]] 2025-10-29T01:18:03.621Z,1761700683.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:03.702Z,1761700683.702 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:03.955Z,1761700683.955 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:03.963Z,1761700683.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:04.205Z,1761700684.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:04.323Z,1761700684.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980334,-0.197030,-0.011152],[0.197343,0.979001,0.051112],[0.000847,-0.052308,0.998631]] 2025-10-29T01:18:04.357Z,1761700684.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:04.457Z,1761700684.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:04.709Z,1761700684.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:04.727Z,1761700684.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980258,-0.197323,-0.012524],[0.197708,0.978943,0.050811],[0.002234,-0.052284,0.998630]] 2025-10-29T01:18:04.813Z,1761700684.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:04.961Z,1761700684.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:05.131Z,1761700685.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980143,-0.197805,-0.013877],[0.198258,0.978852,0.050422],[0.003610,-0.052172,0.998632]] 2025-10-29T01:18:05.151Z,1761700685.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:05.213Z,1761700685.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:05.465Z,1761700685.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:05.556Z,1761700685.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980031,-0.198267,-0.015128],[0.198784,0.978766,0.050020],[0.004889,-0.052028,0.998634]] 2025-10-29T01:18:05.618Z,1761700685.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:05.717Z,1761700685.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:05.939Z,1761700685.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979998,-0.198325,-0.016448],[0.198910,0.978746,0.049916],[0.006199,-0.052190,0.998618]] 2025-10-29T01:18:05.969Z,1761700685.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:05.988Z,1761700685.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:06.221Z,1761700686.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:06.382Z,1761700686.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:06.473Z,1761700686.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:06.562Z,1761700686.562 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:18:06.725Z,1761700686.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:06.766Z,1761700686.766 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979708,-0.199435,-0.019950],[0.200195,0.978523,0.049147],[0.009720,-0.052143,0.998592]] 2025-10-29T01:18:06.820Z,1761700686.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:06.977Z,1761700686.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:07.212Z,1761700687.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979693,-0.199394,-0.021054],[0.200210,0.978523,0.049069],[0.010818,-0.052288,0.998573]] 2025-10-29T01:18:07.229Z,1761700687.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:07.242Z,1761700687.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:07.482Z,1761700687.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:07.567Z,1761700687.567 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:18:07.647Z,1761700687.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979623,-0.199637,-0.021979],[0.200500,0.978472,0.048906],[0.011743,-0.052317,0.998562]] 2025-10-29T01:18:07.702Z,1761700687.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:07.733Z,1761700687.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:07.985Z,1761700687.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:08.084Z,1761700688.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:08.237Z,1761700688.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:08.456Z,1761700688.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979416,-0.200462,-0.023668],[0.201406,0.978310,0.048431],[0.013446,-0.052201,0.998546]] 2025-10-29T01:18:08.475Z,1761700688.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:08.489Z,1761700688.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:08.741Z,1761700688.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:08.858Z,1761700688.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979344,-0.200728,-0.024364],[0.201707,0.978252,0.048343],[0.014131,-0.052259,0.998534]] 2025-10-29T01:18:08.903Z,1761700688.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:08.993Z,1761700688.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:09.245Z,1761700689.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:09.285Z,1761700689.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979270,-0.201018,-0.024924],[0.202025,0.978191,0.048250],[0.014681,-0.052285,0.998524]] 2025-10-29T01:18:09.312Z,1761700689.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:09.497Z,1761700689.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:09.672Z,1761700689.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979114,-0.201712,-0.025462],[0.202741,0.978056,0.047978],[0.015225,-0.052138,0.998524]] 2025-10-29T01:18:09.733Z,1761700689.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:09.749Z,1761700689.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:10.001Z,1761700690.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:10.141Z,1761700690.141 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:10.253Z,1761700690.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:10.503Z,1761700690.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978905,-0.202640,-0.026130],[0.203702,0.977862,0.047879],[0.015849,-0.052191,0.998511]] 2025-10-29T01:18:10.505Z,1761700690.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:10.523Z,1761700690.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:10.761Z,1761700690.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:10.968Z,1761700690.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:11.009Z,1761700691.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:11.261Z,1761700691.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:11.335Z,1761700691.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978632,-0.203925,-0.026362],[0.204995,0.977600,0.047696],[0.016045,-0.052081,0.998514]] 2025-10-29T01:18:11.354Z,1761700691.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:11.513Z,1761700691.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:11.750Z,1761700691.750 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978495,-0.204561,-0.026502],[0.205638,0.977465,0.047709],[0.016146,-0.052133,0.998510]] 2025-10-29T01:18:11.766Z,1761700691.766 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:11.811Z,1761700691.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:12.018Z,1761700692.018 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:12.174Z,1761700692.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978338,-0.205304,-0.026531],[0.206382,0.977309,0.047689],[0.016138,-0.052132,0.998510]] 2025-10-29T01:18:12.192Z,1761700692.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:12.270Z,1761700692.270 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:12.521Z,1761700692.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:12.578Z,1761700692.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978170,-0.206105,-0.026542],[0.207182,0.977140,0.047679],[0.016108,-0.052138,0.998510]] 2025-10-29T01:18:12.597Z,1761700692.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:12.773Z,1761700692.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:12.979Z,1761700692.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978034,-0.206753,-0.026500],[0.207828,0.976999,0.047757],[0.016016,-0.052216,0.998507]] 2025-10-29T01:18:13.023Z,1761700693.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:13.025Z,1761700693.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:13.278Z,1761700693.278 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:13.382Z,1761700693.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977859,-0.207607,-0.026293],[0.208671,0.976818,0.047785],[0.015763,-0.052213,0.998512]] 2025-10-29T01:18:13.426Z,1761700693.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:13.529Z,1761700693.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:13.788Z,1761700693.788 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:13.823Z,1761700693.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977713,-0.208305,-0.026187],[0.209363,0.976668,0.047828],[0.015613,-0.052244,0.998512]] 2025-10-29T01:18:13.869Z,1761700693.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:14.037Z,1761700694.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:14.237Z,1761700694.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977537,-0.209177,-0.025809],[0.210214,0.976486,0.047794],[0.015205,-0.052146,0.998524]] 2025-10-29T01:18:14.285Z,1761700694.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:14.297Z,1761700694.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:14.545Z,1761700694.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:14.642Z,1761700694.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977389,-0.209908,-0.025477],[0.210927,0.976330,0.047842],[0.014831,-0.052134,0.998530]] 2025-10-29T01:18:14.797Z,1761700694.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:14.861Z,1761700694.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:15.049Z,1761700695.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:15.109Z,1761700695.109 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977343,-0.210146,-0.025273],[0.211158,0.976269,0.048072],[0.014571,-0.052319,0.998524]] 2025-10-29T01:18:15.155Z,1761700695.155 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:15.301Z,1761700695.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:15.511Z,1761700695.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977228,-0.210716,-0.025004],[0.211714,0.976147,0.048107],[0.014270,-0.052305,0.998529]] 2025-10-29T01:18:15.553Z,1761700695.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:15.569Z,1761700695.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:15.805Z,1761700695.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:15.915Z,1761700695.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977239,-0.210690,-0.024766],[0.211679,0.976140,0.048401],[0.013978,-0.052542,0.998521]] 2025-10-29T01:18:15.971Z,1761700695.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:16.057Z,1761700696.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:16.309Z,1761700696.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:16.320Z,1761700696.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977221,-0.210811,-0.024454],[0.211785,0.976113,0.048479],[0.013650,-0.052554,0.998525]] 2025-10-29T01:18:16.339Z,1761700696.339 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:16.561Z,1761700696.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:16.770Z,1761700696.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977213,-0.210876,-0.024195],[0.211837,0.976101,0.048500],[0.013390,-0.052520,0.998530]] 2025-10-29T01:18:16.813Z,1761700696.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:16.844Z,1761700696.844 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:17.065Z,1761700697.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:17.171Z,1761700697.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:17.317Z,1761700697.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:17.534Z,1761700697.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977321,-0.210447,-0.023584],[0.211377,0.976197,0.048565],[0.012803,-0.052449,0.998542]] 2025-10-29T01:18:17.562Z,1761700697.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:17.569Z,1761700697.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:17.821Z,1761700697.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:17.938Z,1761700697.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977434,-0.209955,-0.023259],[0.210870,0.976301,0.048677],[0.012487,-0.052483,0.998544]] 2025-10-29T01:18:17.987Z,1761700697.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:18.073Z,1761700698.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:18.325Z,1761700698.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:18.345Z,1761700698.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977564,-0.209398,-0.022830],[0.210292,0.976419,0.048810],[0.012071,-0.052516,0.998547]] 2025-10-29T01:18:18.367Z,1761700698.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:18.577Z,1761700698.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:18.829Z,1761700698.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:18.871Z,1761700698.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:19.081Z,1761700699.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:19.215Z,1761700699.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977807,-0.208329,-0.022173],[0.209191,0.976656,0.048798],[0.011489,-0.052354,0.998563]] 2025-10-29T01:18:19.233Z,1761700699.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:19.337Z,1761700699.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:19.589Z,1761700699.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:19.615Z,1761700699.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977895,-0.207948,-0.021900],[0.208797,0.976735,0.048923],[0.011217,-0.052414,0.998562]] 2025-10-29T01:18:19.646Z,1761700699.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:19.841Z,1761700699.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:20.019Z,1761700700.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977953,-0.207688,-0.021743],[0.208530,0.976787,0.049012],[0.011059,-0.052466,0.998561]] 2025-10-29T01:18:20.071Z,1761700700.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:20.093Z,1761700700.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:20.345Z,1761700700.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:20.423Z,1761700700.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977910,-0.207899,-0.021674],[0.208735,0.976750,0.048875],[0.011009,-0.052319,0.998570]] 2025-10-29T01:18:20.448Z,1761700700.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:20.597Z,1761700700.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:20.849Z,1761700700.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:20.895Z,1761700700.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:21.102Z,1761700701.102 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:21.259Z,1761700701.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977762,-0.208608,-0.021536],[0.209435,0.976609,0.048700],[0.010874,-0.052127,0.998581]] 2025-10-29T01:18:21.285Z,1761700701.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:21.353Z,1761700701.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:21.605Z,1761700701.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:21.672Z,1761700701.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977732,-0.208743,-0.021593],[0.209573,0.976575,0.048781],[0.010905,-0.052220,0.998576]] 2025-10-29T01:18:21.693Z,1761700701.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:21.857Z,1761700701.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:22.078Z,1761700702.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977603,-0.209341,-0.021658],[0.210173,0.976453,0.048649],[0.010963,-0.052112,0.998581]] 2025-10-29T01:18:22.109Z,1761700702.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:22.117Z,1761700702.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:22.361Z,1761700702.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:22.506Z,1761700702.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:22.613Z,1761700702.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:22.865Z,1761700702.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:22.884Z,1761700702.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977457,-0.210013,-0.021730],[0.210849,0.976298,0.048837],[0.010959,-0.052317,0.998570]] 2025-10-29T01:18:22.930Z,1761700702.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:23.117Z,1761700703.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:23.287Z,1761700703.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977346,-0.210494,-0.022056],[0.211347,0.976191,0.048815],[0.011255,-0.052371,0.998564]] 2025-10-29T01:18:23.313Z,1761700703.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:23.369Z,1761700703.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:23.621Z,1761700703.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:23.692Z,1761700703.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977177,-0.211275,-0.022075],[0.212127,0.976028,0.048705],[0.011256,-0.052276,0.998569]] 2025-10-29T01:18:23.823Z,1761700703.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:23.873Z,1761700703.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:24.125Z,1761700704.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:24.259Z,1761700704.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976979,-0.212189,-0.022077],[0.213038,0.975838,0.048538],[0.011244,-0.052124,0.998577]] 2025-10-29T01:18:24.274Z,1761700704.274 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050505064413,35.0, +10.6, 0.0 0 2025-10-29T01:18:24.321Z,1761700704.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:24.377Z,1761700704.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:24.629Z,1761700704.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:24.745Z,1761700704.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:24.881Z,1761700704.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:25.125Z,1761700705.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976724,-0.213320,-0.022449],[0.214188,0.975584,0.048575],[0.011539,-0.052252,0.998567]] 2025-10-29T01:18:25.136Z,1761700705.136 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:25.177Z,1761700705.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:25.393Z,1761700705.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:25.565Z,1761700705.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976592,-0.213906,-0.022619],[0.214781,0.975454,0.048565],[0.011676,-0.052286,0.998564]] 2025-10-29T01:18:25.590Z,1761700705.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:25.641Z,1761700705.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:25.895Z,1761700705.895 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:25.968Z,1761700705.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976532,-0.214148,-0.022934],[0.215041,0.975389,0.048721],[0.011936,-0.052509,0.998549]] 2025-10-29T01:18:26.010Z,1761700706.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:26.145Z,1761700706.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:26.372Z,1761700706.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976353,-0.214930,-0.023214],[0.215835,0.975224,0.048519],[0.012210,-0.052382,0.998552]] 2025-10-29T01:18:26.397Z,1761700706.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:26.416Z,1761700706.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:26.651Z,1761700706.651 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:26.825Z,1761700706.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:26.901Z,1761700706.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:27.153Z,1761700707.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:27.246Z,1761700707.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975883,-0.216952,-0.024168],[0.217898,0.974791,0.047990],[0.013147,-0.052098,0.998555]] 2025-10-29T01:18:27.301Z,1761700707.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:27.405Z,1761700707.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:27.657Z,1761700707.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:27.671Z,1761700707.671 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975794,-0.217308,-0.024553],[0.218273,0.974708,0.047975],[0.013506,-0.052173,0.998547]] 2025-10-29T01:18:27.706Z,1761700707.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:27.910Z,1761700707.910 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:28.071Z,1761700708.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975662,-0.217829,-0.025200],[0.218826,0.974588,0.047886],[0.014128,-0.052235,0.998535]] 2025-10-29T01:18:28.135Z,1761700708.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:28.161Z,1761700708.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:28.413Z,1761700708.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:28.476Z,1761700708.476 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975532,-0.218338,-0.025797],[0.219364,0.974471,0.047817],[0.014698,-0.052306,0.998523]] 2025-10-29T01:18:28.495Z,1761700708.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:28.665Z,1761700708.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:28.919Z,1761700708.919 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:28.935Z,1761700708.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975404,-0.218821,-0.026555],[0.219884,0.974362,0.047633],[0.015451,-0.052300,0.998512]] 2025-10-29T01:18:29.077Z,1761700709.077 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:18:29.079Z,1761700709.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:29.169Z,1761700709.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:29.311Z,1761700709.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975280,-0.219285,-0.027261],[0.220382,0.974257,0.047489],[0.016146,-0.052323,0.998500]] 2025-10-29T01:18:29.338Z,1761700709.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:29.421Z,1761700709.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:29.674Z,1761700709.674 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:29.706Z,1761700709.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975146,-0.219775,-0.028086],[0.220910,0.974149,0.047240],[0.016978,-0.052270,0.998489]] 2025-10-29T01:18:29.787Z,1761700709.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:29.927Z,1761700709.927 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:30.110Z,1761700710.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974996,-0.220339,-0.028867],[0.221512,0.974023,0.047027],[0.017755,-0.052246,0.998476]] 2025-10-29T01:18:30.177Z,1761700710.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:30.183Z,1761700710.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:30.429Z,1761700710.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:30.516Z,1761700710.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974838,-0.220928,-0.029705],[0.222139,0.973892,0.046781],[0.018594,-0.052203,0.998463]] 2025-10-29T01:18:30.534Z,1761700710.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:30.681Z,1761700710.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:30.936Z,1761700710.936 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:31.019Z,1761700711.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:31.185Z,1761700711.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:31.322Z,1761700711.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974682,-0.221350,-0.031609],[0.222659,0.973778,0.046687],[0.020446,-0.052543,0.998409]] 2025-10-29T01:18:31.358Z,1761700711.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:31.437Z,1761700711.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:31.692Z,1761700711.692 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:31.737Z,1761700711.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974565,-0.221712,-0.032678],[0.223070,0.973697,0.046407],[0.021530,-0.052516,0.998388]] 2025-10-29T01:18:31.785Z,1761700711.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:31.943Z,1761700711.943 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:32.193Z,1761700712.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:32.203Z,1761700712.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:32.445Z,1761700712.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:32.547Z,1761700712.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974332,-0.222446,-0.034579],[0.223890,0.973537,0.045805],[0.023475,-0.052371,0.998352]] 2025-10-29T01:18:32.572Z,1761700712.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:32.697Z,1761700712.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:32.951Z,1761700712.951 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:32.000Z,1761700713.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974202,-0.222855,-0.035583],[0.224343,0.973450,0.045450],[0.024509,-0.052260,0.998333]] 2025-10-29T01:18:33.043Z,1761700713.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:33.201Z,1761700713.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:33.354Z,1761700713.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974096,-0.223164,-0.036538],[0.224693,0.973385,0.045117],[0.025497,-0.052158,0.998313]] 2025-10-29T01:18:33.388Z,1761700713.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:33.454Z,1761700713.454 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:33.705Z,1761700713.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:33.765Z,1761700713.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974022,-0.223329,-0.037482],[0.224903,0.973345,0.044934],[0.026448,-0.052196,0.998287]] 2025-10-29T01:18:33.827Z,1761700713.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:33.959Z,1761700713.959 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:34.192Z,1761700714.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973884,-0.223786,-0.038348],[0.225396,0.973245,0.044619],[0.027337,-0.052097,0.998268]] 2025-10-29T01:18:34.210Z,1761700714.210 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:34.270Z,1761700714.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:34.461Z,1761700714.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:34.594Z,1761700714.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973795,-0.224023,-0.039207],[0.225675,0.973186,0.044500],[0.028186,-0.052182,0.998240]] 2025-10-29T01:18:34.614Z,1761700714.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:34.713Z,1761700714.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:34.967Z,1761700714.967 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:35.027Z,1761700715.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973656,-0.224495,-0.039947],[0.226180,0.973076,0.044340],[0.028917,-0.052208,0.998218]] 2025-10-29T01:18:35.071Z,1761700715.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:35.217Z,1761700715.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:35.404Z,1761700715.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973549,-0.224821,-0.040706],[0.226545,0.972993,0.044300],[0.029647,-0.052350,0.998189]] 2025-10-29T01:18:35.428Z,1761700715.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:35.469Z,1761700715.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:35.722Z,1761700715.722 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:35.807Z,1761700715.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973358,-0.225524,-0.041379],[0.227276,0.972833,0.044073],[0.030316,-0.052303,0.998171]] 2025-10-29T01:18:35.834Z,1761700715.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:35.973Z,1761700715.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:36.210Z,1761700716.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973091,-0.226577,-0.041927],[0.228346,0.972597,0.043746],[0.030866,-0.052142,0.998163]] 2025-10-29T01:18:36.225Z,1761700716.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:36.276Z,1761700716.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:36.477Z,1761700716.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:36.614Z,1761700716.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972924,-0.227189,-0.042470],[0.228988,0.972444,0.043782],[0.031353,-0.052322,0.998138]] 2025-10-29T01:18:36.635Z,1761700716.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:36.730Z,1761700716.730 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:36.981Z,1761700716.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:37.059Z,1761700717.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972686,-0.228118,-0.042933],[0.229938,0.972223,0.043702],[0.031771,-0.052380,0.998122]] 2025-10-29T01:18:37.102Z,1761700717.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:37.233Z,1761700717.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:37.468Z,1761700717.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972431,-0.229160,-0.043172],[0.230993,0.971972,0.043726],[0.031941,-0.052493,0.998110]] 2025-10-29T01:18:37.485Z,1761700717.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:37.510Z,1761700717.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:37.696Z,1761700717.696 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:18:37.738Z,1761700717.738 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:37.884Z,1761700717.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972130,-0.230403,-0.043340],[0.232242,0.971678,0.043647],[0.032056,-0.052496,0.998106]] 2025-10-29T01:18:37.911Z,1761700717.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:37.990Z,1761700717.990 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:38.241Z,1761700718.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:38.281Z,1761700718.281 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971839,-0.231605,-0.043459],[0.233451,0.971386,0.043696],[0.032095,-0.052611,0.998099]] 2025-10-29T01:18:38.318Z,1761700718.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:38.493Z,1761700718.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:38.679Z,1761700718.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971498,-0.233056,-0.043317],[0.234893,0.971041,0.043636],[0.031893,-0.052567,0.998108]] 2025-10-29T01:18:38.700Z,1761700718.700 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:18:38.726Z,1761700718.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:38.745Z,1761700718.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:38.999Z,1761700718.999 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:39.091Z,1761700719.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971111,-0.234667,-0.043305],[0.236495,0.970661,0.043435],[0.031841,-0.052422,0.998117]] 2025-10-29T01:18:39.137Z,1761700719.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:39.249Z,1761700719.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:39.491Z,1761700719.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970748,-0.236180,-0.043200],[0.237999,0.970299,0.043312],[0.031688,-0.052327,0.998127]] 2025-10-29T01:18:39.501Z,1761700719.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:39.530Z,1761700719.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:39.753Z,1761700719.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:39.891Z,1761700719.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970498,-0.237245,-0.043002],[0.239058,0.970031,0.043486],[0.031396,-0.052483,0.998128]] 2025-10-29T01:18:39.918Z,1761700719.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:40.005Z,1761700720.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:40.257Z,1761700720.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:40.295Z,1761700720.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970192,-0.238565,-0.042604],[0.240358,0.969707,0.043556],[0.030923,-0.052498,0.998142]] 2025-10-29T01:18:40.344Z,1761700720.344 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:40.509Z,1761700720.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:40.700Z,1761700720.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969953,-0.239601,-0.042227],[0.241382,0.969441,0.043799],[0.030443,-0.052676,0.998148]] 2025-10-29T01:18:40.731Z,1761700720.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:40.761Z,1761700720.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:41.013Z,1761700721.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:41.126Z,1761700721.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969762,-0.240474,-0.041647],[0.242234,0.969214,0.044137],[0.029751,-0.052890,0.998157]] 2025-10-29T01:18:41.183Z,1761700721.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:41.265Z,1761700721.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:41.517Z,1761700721.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:41.540Z,1761700721.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969558,-0.241394,-0.041057],[0.243127,0.968981,0.044328],[0.029083,-0.052960,0.998173]] 2025-10-29T01:18:41.568Z,1761700721.568 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:41.769Z,1761700721.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:41.911Z,1761700721.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969292,-0.242568,-0.040418],[0.244268,0.968693,0.044345],[0.028396,-0.052856,0.998198]] 2025-10-29T01:18:41.929Z,1761700721.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:42.021Z,1761700722.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:42.273Z,1761700722.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:42.318Z,1761700722.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969066,-0.243589,-0.039693],[0.245249,0.968446,0.044323],[0.027644,-0.052686,0.998228]] 2025-10-29T01:18:42.380Z,1761700722.380 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:42.525Z,1761700722.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:42.735Z,1761700722.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968909,-0.244328,-0.038980],[0.245953,0.968263,0.044425],[0.026889,-0.052631,0.998252]] 2025-10-29T01:18:42.761Z,1761700722.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:42.777Z,1761700722.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:43.029Z,1761700723.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:43.163Z,1761700723.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968737,-0.245127,-0.038221],[0.246714,0.968066,0.044512],[0.026089,-0.052550,0.998277]] 2025-10-29T01:18:43.281Z,1761700723.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:43.315Z,1761700723.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:43.533Z,1761700723.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:43.673Z,1761700723.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968472,-0.246417,-0.036622],[0.247931,0.967729,0.045052],[0.024338,-0.052712,0.998313]] 2025-10-29T01:18:43.702Z,1761700723.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:43.786Z,1761700723.786 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:44.037Z,1761700724.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:44.070Z,1761700724.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968323,-0.247111,-0.035861],[0.248590,0.967552,0.045247],[0.023516,-0.052728,0.998332]] 2025-10-29T01:18:44.174Z,1761700724.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:44.289Z,1761700724.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:44.474Z,1761700724.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968207,-0.247670,-0.035141],[0.249116,0.967404,0.045494],[0.022728,-0.052802,0.998346]] 2025-10-29T01:18:44.541Z,1761700724.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:44.543Z,1761700724.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:44.795Z,1761700724.795 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:44.880Z,1761700724.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968081,-0.248266,-0.034393],[0.249677,0.967250,0.045700],[0.021921,-0.052828,0.998363]] 2025-10-29T01:18:44.899Z,1761700724.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:45.045Z,1761700725.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:45.297Z,1761700725.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:45.332Z,1761700725.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:45.551Z,1761700725.551 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:45.723Z,1761700725.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967851,-0.249354,-0.032973],[0.250696,0.966968,0.046085],[0.020393,-0.052870,0.998393]] 2025-10-29T01:18:45.749Z,1761700725.749 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:45.801Z,1761700725.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:46.053Z,1761700726.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:46.111Z,1761700726.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967735,-0.249873,-0.032432],[0.251191,0.966829,0.046314],[0.019783,-0.052966,0.998400]] 2025-10-29T01:18:46.205Z,1761700726.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:46.305Z,1761700726.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:46.514Z,1761700726.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967592,-0.250497,-0.031896],[0.251789,0.966664,0.046509],[0.019183,-0.053032,0.998408]] 2025-10-29T01:18:46.557Z,1761700726.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:46.579Z,1761700726.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:46.809Z,1761700726.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:46.919Z,1761700726.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967470,-0.251032,-0.031375],[0.252300,0.966521,0.046701],[0.018601,-0.053098,0.998416]] 2025-10-29T01:18:46.938Z,1761700726.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:47.061Z,1761700727.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:47.313Z,1761700727.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:47.372Z,1761700727.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:47.565Z,1761700727.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:47.732Z,1761700727.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967312,-0.251755,-0.030458],[0.252981,0.966324,0.047101],[0.017575,-0.053266,0.998426]] 2025-10-29T01:18:47.781Z,1761700727.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:47.817Z,1761700727.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:48.069Z,1761700728.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:48.141Z,1761700728.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967265,-0.251998,-0.029926],[0.253199,0.966258,0.047280],[0.017002,-0.053309,0.998433]] 2025-10-29T01:18:48.231Z,1761700728.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:48.321Z,1761700728.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:48.573Z,1761700728.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:48.613Z,1761700728.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967171,-0.252404,-0.029547],[0.253583,0.966158,0.047276],[0.016614,-0.053217,0.998445]] 2025-10-29T01:18:48.658Z,1761700728.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:48.825Z,1761700728.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:49.025Z,1761700729.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967202,-0.252313,-0.029289],[0.253483,0.966174,0.047481],[0.016318,-0.053348,0.998443]] 2025-10-29T01:18:49.043Z,1761700729.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:49.077Z,1761700729.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:49.329Z,1761700729.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:49.483Z,1761700729.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:49.581Z,1761700729.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:49.833Z,1761700729.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:49.834Z,1761700729.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967230,-0.252244,-0.028984],[0.253400,0.966187,0.047658],[0.015982,-0.053441,0.998443]] 2025-10-29T01:18:49.853Z,1761700729.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:50.085Z,1761700730.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:50.264Z,1761700730.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967175,-0.252484,-0.028728],[0.253624,0.966136,0.047496],[0.015763,-0.053223,0.998458]] 2025-10-29T01:18:50.316Z,1761700730.316 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:50.337Z,1761700730.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:50.589Z,1761700730.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:50.667Z,1761700730.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967295,-0.252037,-0.028599],[0.253173,0.966247,0.047654],[0.015623,-0.053336,0.998454]] 2025-10-29T01:18:50.686Z,1761700730.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:50.844Z,1761700730.844 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:51.069Z,1761700731.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967346,-0.251853,-0.028484],[0.252982,0.966300,0.047592],[0.015538,-0.053244,0.998461]] 2025-10-29T01:18:51.093Z,1761700731.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:51.104Z,1761700731.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:51.345Z,1761700731.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:51.471Z,1761700731.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967462,-0.251403,-0.028523],[0.252535,0.966414,0.047635],[0.015590,-0.053288,0.998457]] 2025-10-29T01:18:51.479Z,1761700731.479 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050505071152,35.0, 0.0,1492.0, 0 2025-10-29T01:18:51.515Z,1761700731.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:51.600Z,1761700731.600 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:51.852Z,1761700731.852 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:51.889Z,1761700731.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967545,-0.251093,-0.028435],[0.252221,0.966493,0.047703],[0.015504,-0.053327,0.998457]] 2025-10-29T01:18:51.907Z,1761700731.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:52.101Z,1761700732.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:52.302Z,1761700732.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967566,-0.250982,-0.028698],[0.252123,0.966524,0.047605],[0.015790,-0.053297,0.998454]] 2025-10-29T01:18:52.353Z,1761700732.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:52.364Z,1761700732.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:52.608Z,1761700732.608 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:52.708Z,1761700732.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967676,-0.250520,-0.029034],[0.251681,0.966633,0.047718],[0.016111,-0.053483,0.998439]] 2025-10-29T01:18:52.730Z,1761700732.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:52.857Z,1761700732.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:53.102Z,1761700733.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967612,-0.250724,-0.029403],[0.251901,0.966588,0.047463],[0.016520,-0.053332,0.998440]] 2025-10-29T01:18:53.109Z,1761700733.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:53.145Z,1761700733.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:53.361Z,1761700733.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:53.557Z,1761700733.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:53.613Z,1761700733.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:53.865Z,1761700733.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:53.909Z,1761700733.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967600,-0.250668,-0.030252],[0.251886,0.966604,0.047219],[0.017406,-0.053310,0.998426]] 2025-10-29T01:18:53.928Z,1761700733.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:54.120Z,1761700734.120 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:54.329Z,1761700734.329 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967513,-0.250935,-0.030817],[0.252178,0.966539,0.046986],[0.017995,-0.053231,0.998420]] 2025-10-29T01:18:54.367Z,1761700734.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:54.377Z,1761700734.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:54.633Z,1761700734.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:54.773Z,1761700734.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967511,-0.250849,-0.031577],[0.252134,0.966552,0.046973],[0.018737,-0.053408,0.998397]] 2025-10-29T01:18:54.810Z,1761700734.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:54.882Z,1761700734.882 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:55.133Z,1761700735.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:55.169Z,1761700735.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967478,-0.250892,-0.032238],[0.252213,0.966529,0.047012],[0.019364,-0.053614,0.998374]] 2025-10-29T01:18:55.195Z,1761700735.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:55.385Z,1761700735.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:55.572Z,1761700735.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967437,-0.250924,-0.033208],[0.252296,0.966509,0.046974],[0.020309,-0.053822,0.998344]] 2025-10-29T01:18:55.618Z,1761700735.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:55.637Z,1761700735.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:55.889Z,1761700735.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:55.975Z,1761700735.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967363,-0.251105,-0.033988],[0.252517,0.966456,0.046872],[0.021078,-0.053925,0.998322]] 2025-10-29T01:18:56.009Z,1761700736.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:56.146Z,1761700736.146 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:56.379Z,1761700736.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967262,-0.251364,-0.034922],[0.252820,0.966390,0.046615],[0.022031,-0.053918,0.998302]] 2025-10-29T01:18:56.397Z,1761700736.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:56.450Z,1761700736.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:56.649Z,1761700736.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:56.786Z,1761700736.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967320,-0.250992,-0.035984],[0.252506,0.966472,0.046617],[0.023077,-0.054179,0.998265]] 2025-10-29T01:18:56.810Z,1761700736.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:56.902Z,1761700736.902 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:57.153Z,1761700737.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:57.200Z,1761700737.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967336,-0.250779,-0.037028],[0.252346,0.966521,0.046452],[0.024139,-0.054278,0.998234]] 2025-10-29T01:18:57.225Z,1761700737.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:57.405Z,1761700737.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:57.591Z,1761700737.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967402,-0.250389,-0.037938],[0.252002,0.966618,0.046312],[0.025075,-0.054363,0.998206]] 2025-10-29T01:18:57.657Z,1761700737.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:57.789Z,1761700737.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:57.909Z,1761700737.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:58.033Z,1761700738.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967677,-0.248998,-0.040020],[0.250718,0.966965,0.046025],[0.027238,-0.054571,0.998138]] 2025-10-29T01:18:58.070Z,1761700738.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:58.165Z,1761700738.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:58.421Z,1761700738.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:58.432Z,1761700738.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.967921,-0.247886,-0.041003],[0.249659,0.967244,0.045931],[0.028274,-0.054694,0.998103]] 2025-10-29T01:18:58.517Z,1761700738.517 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:58.673Z,1761700738.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:58.852Z,1761700738.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968248,-0.246451,-0.041934],[0.248273,0.967604,0.045856],[0.029274,-0.054811,0.998067]] 2025-10-29T01:18:58.892Z,1761700738.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:58.925Z,1761700738.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:59.178Z,1761700739.178 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:59.239Z,1761700739.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968542,-0.245166,-0.042664],[0.247021,0.967937,0.045596],[0.030118,-0.054701,0.998048]] 2025-10-29T01:18:59.258Z,1761700739.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:59.429Z,1761700739.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:59.649Z,1761700739.649 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.968950,-0.243408,-0.043453],[0.245305,0.968377,0.045515],[0.031001,-0.054761,0.998018]] 2025-10-29T01:18:59.682Z,1761700739.682 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:18:59.732Z,1761700739.732 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:18:59.936Z,1761700739.936 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:00.047Z,1761700740.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969343,-0.241712,-0.044154],[0.243641,0.968808,0.045274],[0.031833,-0.054644,0.997998]] 2025-10-29T01:19:00.080Z,1761700740.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:00.185Z,1761700740.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:00.437Z,1761700740.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:00.452Z,1761700740.452 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.969851,-0.239561,-0.044714],[0.241520,0.969341,0.045237],[0.032506,-0.054672,0.997975]] 2025-10-29T01:19:00.509Z,1761700740.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:00.689Z,1761700740.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:00.855Z,1761700740.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970354,-0.237406,-0.045291],[0.239395,0.969872,0.045145],[0.033209,-0.054649,0.997953]] 2025-10-29T01:19:00.874Z,1761700740.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:00.941Z,1761700740.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:01.194Z,1761700741.194 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:01.259Z,1761700741.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970834,-0.235352,-0.045724],[0.237360,0.970380,0.044973],[0.033785,-0.054515,0.997941]] 2025-10-29T01:19:01.283Z,1761700741.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:01.446Z,1761700741.446 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:01.666Z,1761700741.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971324,-0.233289,-0.045892],[0.235303,0.970887,0.044848],[0.034094,-0.054360,0.997939]] 2025-10-29T01:19:01.698Z,1761700741.698 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:01.757Z,1761700741.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:01.949Z,1761700741.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:02.066Z,1761700742.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.971834,-0.231113,-0.046096],[0.233137,0.971411,0.044814],[0.034421,-0.054299,0.997931]] 2025-10-29T01:19:02.085Z,1761700742.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:02.202Z,1761700742.202 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:02.453Z,1761700742.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:02.478Z,1761700742.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972323,-0.229007,-0.046290],[0.231041,0.971915,0.044736],[0.034745,-0.054193,0.997926]] 2025-10-29T01:19:02.533Z,1761700742.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:02.705Z,1761700742.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:02.876Z,1761700742.876 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972789,-0.227007,-0.046364],[0.229045,0.972387,0.044741],[0.034928,-0.054143,0.997922]] 2025-10-29T01:19:02.897Z,1761700742.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:02.958Z,1761700742.958 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:03.213Z,1761700743.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:03.278Z,1761700743.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973174,-0.225345,-0.046397],[0.227383,0.972782,0.044638],[0.035075,-0.053990,0.997925]] 2025-10-29T01:19:03.311Z,1761700743.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:03.461Z,1761700743.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:03.695Z,1761700743.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973592,-0.223539,-0.046360],[0.225581,0.973193,0.044825],[0.035097,-0.054099,0.997919]] 2025-10-29T01:19:03.714Z,1761700743.714 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:03.781Z,1761700743.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:03.965Z,1761700743.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:04.142Z,1761700744.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.973999,-0.221774,-0.046279],[0.223821,0.973588,0.045060],[0.035063,-0.054247,0.997912]] 2025-10-29T01:19:04.161Z,1761700744.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:04.217Z,1761700744.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:04.470Z,1761700744.470 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:04.544Z,1761700744.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974274,-0.220596,-0.046129],[0.222634,0.973862,0.045025],[0.034991,-0.054137,0.997920]] 2025-10-29T01:19:04.583Z,1761700744.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:04.721Z,1761700744.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:04.946Z,1761700744.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974554,-0.219379,-0.046003],[0.221414,0.974137,0.045090],[0.034922,-0.054129,0.997923]] 2025-10-29T01:19:04.973Z,1761700744.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:04.976Z,1761700744.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:05.225Z,1761700745.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:05.350Z,1761700745.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974835,-0.218184,-0.045747],[0.220209,0.974405,0.045199],[0.034715,-0.054136,0.997930]] 2025-10-29T01:19:05.388Z,1761700745.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:05.477Z,1761700745.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:05.729Z,1761700745.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:05.809Z,1761700745.809 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975203,-0.216560,-0.045611],[0.218590,0.974754,0.045538],[0.034598,-0.054379,0.997921]] 2025-10-29T01:19:05.866Z,1761700745.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:05.981Z,1761700745.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:06.219Z,1761700746.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975499,-0.215326,-0.045127],[0.217337,0.975024,0.045743],[0.034151,-0.054431,0.997933]] 2025-10-29T01:19:06.233Z,1761700746.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:06.239Z,1761700746.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:06.487Z,1761700746.487 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:06.614Z,1761700746.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975767,-0.214200,-0.044694],[0.216190,0.975276,0.045806],[0.033777,-0.054358,0.997950]] 2025-10-29T01:19:06.662Z,1761700746.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:06.737Z,1761700746.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:06.989Z,1761700746.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:07.018Z,1761700747.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976081,-0.212906,-0.044003],[0.214865,0.975561,0.045981],[0.033138,-0.054336,0.997973]] 2025-10-29T01:19:07.037Z,1761700747.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:07.244Z,1761700747.244 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:07.426Z,1761700747.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976399,-0.211607,-0.043216],[0.213528,0.975849,0.046096],[0.032419,-0.054236,0.998002]] 2025-10-29T01:19:07.495Z,1761700747.495 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:07.514Z,1761700747.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:07.746Z,1761700747.746 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:07.884Z,1761700747.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.976791,-0.209955,-0.042406],[0.211842,0.976203,0.046368],[0.031662,-0.054276,0.998024]] 2025-10-29T01:19:07.920Z,1761700747.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:07.997Z,1761700747.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:08.249Z,1761700748.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:08.282Z,1761700748.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977262,-0.207942,-0.041452],[0.209793,0.976623,0.046837],[0.030743,-0.054469,0.998042]] 2025-10-29T01:19:08.309Z,1761700748.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:08.503Z,1761700748.503 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:08.753Z,1761700748.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:08.774Z,1761700748.774 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:08.838Z,1761700748.838 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:19:09.005Z,1761700749.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:09.090Z,1761700749.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978240,-0.203708,-0.039368],[0.205474,0.977498,0.047726],[0.028760,-0.054776,0.998084]] 2025-10-29T01:19:09.116Z,1761700749.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:09.257Z,1761700749.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:09.511Z,1761700749.511 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:09.538Z,1761700749.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.978666,-0.201885,-0.038144],[0.203587,0.977890,0.047794],[0.027652,-0.054540,0.998129]] 2025-10-29T01:19:09.581Z,1761700749.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:09.761Z,1761700749.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:09.840Z,1761700749.840 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:19:09.932Z,1761700749.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:10.014Z,1761700750.014 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:10.265Z,1761700750.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:10.302Z,1761700750.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.979623,-0.197663,-0.035601],[0.199237,0.978774,0.048017],[0.025355,-0.054132,0.998212]] 2025-10-29T01:19:10.338Z,1761700750.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:10.519Z,1761700750.519 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:10.706Z,1761700750.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980186,-0.195110,-0.034165],[0.196615,0.979290,0.048311],[0.024031,-0.054071,0.998248]] 2025-10-29T01:19:10.769Z,1761700750.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:10.780Z,1761700750.780 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:11.021Z,1761700751.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:11.153Z,1761700751.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980803,-0.192205,-0.032901],[0.193656,0.979857,0.048762],[0.022866,-0.054197,0.998268]] 2025-10-29T01:19:11.196Z,1761700751.196 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:11.273Z,1761700751.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:11.527Z,1761700751.527 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:11.568Z,1761700751.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981373,-0.189514,-0.031472],[0.190899,0.980376,0.049190],[0.021532,-0.054282,0.998293]] 2025-10-29T01:19:11.613Z,1761700751.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:11.777Z,1761700751.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:11.959Z,1761700751.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.981880,-0.187085,-0.030188],[0.188408,0.980845,0.049449],[0.020359,-0.054240,0.998320]] 2025-10-29T01:19:12.029Z,1761700752.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:12.056Z,1761700752.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:12.281Z,1761700752.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:12.365Z,1761700752.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982367,-0.184717,-0.028904],[0.185978,0.981296,0.049704],[0.019182,-0.054203,0.998346]] 2025-10-29T01:19:12.391Z,1761700752.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:12.535Z,1761700752.535 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:12.785Z,1761700752.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:12.860Z,1761700752.860 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:13.037Z,1761700753.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:13.213Z,1761700753.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983253,-0.180328,-0.026354],[0.181459,0.982134,0.049852],[0.016894,-0.053799,0.998409]] 2025-10-29T01:19:13.261Z,1761700753.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:13.289Z,1761700753.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:13.544Z,1761700753.544 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:13.616Z,1761700753.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983682,-0.178139,-0.025225],[0.179212,0.982544,0.049905],[0.015895,-0.053611,0.998435]] 2025-10-29T01:19:13.695Z,1761700753.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:13.793Z,1761700753.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:14.023Z,1761700754.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.984173,-0.175570,-0.024059],[0.176588,0.983003,0.050206],[0.014836,-0.053660,0.998449]] 2025-10-29T01:19:14.045Z,1761700754.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:14.048Z,1761700754.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:14.297Z,1761700754.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:14.428Z,1761700754.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985029,-0.170951,-0.022216],[0.171885,0.983803,0.050869],[0.013160,-0.053926,0.998458]] 2025-10-29T01:19:14.463Z,1761700754.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:14.550Z,1761700754.550 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:14.801Z,1761700754.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:14.840Z,1761700754.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985396,-0.168916,-0.021498],[0.169818,0.984145,0.051196],[0.012510,-0.054099,0.998457]] 2025-10-29T01:19:14.892Z,1761700754.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:15.053Z,1761700755.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:15.236Z,1761700755.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985732,-0.167030,-0.020806],[0.167899,0.984466,0.051350],[0.011905,-0.054110,0.998464]] 2025-10-29T01:19:15.254Z,1761700755.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:15.305Z,1761700755.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:15.559Z,1761700755.559 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:15.638Z,1761700755.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986051,-0.165206,-0.020283],[0.166049,0.984781,0.051329],[0.011495,-0.053981,0.998476]] 2025-10-29T01:19:15.695Z,1761700755.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:15.809Z,1761700755.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:16.039Z,1761700756.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986408,-0.163117,-0.019789],[0.163936,0.985134,0.051348],[0.011119,-0.053894,0.998485]] 2025-10-29T01:19:16.058Z,1761700756.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:16.061Z,1761700756.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:16.313Z,1761700756.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:16.442Z,1761700756.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986764,-0.161008,-0.019337],[0.161806,0.985482,0.051427],[0.010776,-0.053876,0.998489]] 2025-10-29T01:19:16.461Z,1761700756.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:16.565Z,1761700756.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:16.817Z,1761700756.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:16.855Z,1761700756.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987151,-0.158654,-0.019015],[0.159441,0.985859,0.051591],[0.010561,-0.053960,0.998487]] 2025-10-29T01:19:16.909Z,1761700756.909 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:17.069Z,1761700757.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:17.250Z,1761700757.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987490,-0.156562,-0.018752],[0.157338,0.986193,0.051657],[0.010406,-0.053961,0.998489]] 2025-10-29T01:19:17.278Z,1761700757.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:17.321Z,1761700757.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:17.573Z,1761700757.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:17.667Z,1761700757.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.987872,-0.154141,-0.018695],[0.154918,0.986565,0.051859],[0.010450,-0.054127,0.998479]] 2025-10-29T01:19:17.714Z,1761700757.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:17.825Z,1761700757.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:18.058Z,1761700758.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988188,-0.152104,-0.018666],[0.152881,0.986889,0.051745],[0.010550,-0.053987,0.998486]] 2025-10-29T01:19:18.077Z,1761700758.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:18.078Z,1761700758.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:18.329Z,1761700758.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:18.464Z,1761700758.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988536,-0.149821,-0.018730],[0.150604,0.987241,0.051713],[0.010744,-0.053941,0.998486]] 2025-10-29T01:19:18.483Z,1761700758.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:18.581Z,1761700758.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:18.835Z,1761700758.835 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:18.879Z,1761700758.879 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988878,-0.147552,-0.018695],[0.148336,0.987585,0.051695],[0.010835,-0.053893,0.998488]] 2025-10-29T01:19:18.923Z,1761700758.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:19.085Z,1761700759.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:19.271Z,1761700759.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989133,-0.145808,-0.018869],[0.146602,0.987857,0.051451],[0.011138,-0.053658,0.998497]] 2025-10-29T01:19:19.312Z,1761700759.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:19.337Z,1761700759.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:19.589Z,1761700759.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:19.688Z,1761700759.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989423,-0.143786,-0.019167],[0.144599,0.988147,0.051543],[0.011528,-0.053769,0.998487]] 2025-10-29T01:19:19.731Z,1761700759.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:19.841Z,1761700759.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:20.080Z,1761700760.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989706,-0.141767,-0.019621],[0.142609,0.988428,0.051695],[0.012066,-0.053961,0.998470]] 2025-10-29T01:19:20.093Z,1761700760.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:20.100Z,1761700760.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:20.345Z,1761700760.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:20.484Z,1761700760.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.989933,-0.140104,-0.020105],[0.140973,0.988666,0.051639],[0.012642,-0.053953,0.998463]] 2025-10-29T01:19:20.526Z,1761700760.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:20.597Z,1761700760.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:20.849Z,1761700760.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:20.887Z,1761700760.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990162,-0.138397,-0.020611],[0.139295,0.988908,0.051556],[0.013247,-0.053920,0.998457]] 2025-10-29T01:19:20.938Z,1761700760.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:21.101Z,1761700761.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:21.291Z,1761700761.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990449,-0.136256,-0.021103],[0.137184,0.989200,0.051615],[0.013843,-0.054017,0.998444]] 2025-10-29T01:19:21.309Z,1761700761.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:21.353Z,1761700761.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:21.605Z,1761700761.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:21.715Z,1761700761.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990665,-0.134590,-0.021625],[0.135545,0.989436,0.051412],[0.014477,-0.053864,0.998443]] 2025-10-29T01:19:21.785Z,1761700761.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:21.857Z,1761700761.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:22.109Z,1761700762.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:22.138Z,1761700762.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:22.361Z,1761700762.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:22.503Z,1761700762.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991059,-0.131455,-0.022824],[0.132474,0.989867,0.051130],[0.015871,-0.053696,0.998431]] 2025-10-29T01:19:22.526Z,1761700762.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:22.613Z,1761700762.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:22.865Z,1761700762.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:22.932Z,1761700762.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991292,-0.129577,-0.023466],[0.130635,0.990107,0.051222],[0.016597,-0.053841,0.998412]] 2025-10-29T01:19:22.977Z,1761700762.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:23.117Z,1761700763.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:23.336Z,1761700763.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991513,-0.127735,-0.024211],[0.128838,0.990334,0.051366],[0.017415,-0.054050,0.998386]] 2025-10-29T01:19:23.358Z,1761700763.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:23.369Z,1761700763.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:23.621Z,1761700763.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:23.755Z,1761700763.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991676,-0.126307,-0.025002],[0.127452,0.990519,0.051266],[0.018290,-0.054026,0.998372]] 2025-10-29T01:19:23.818Z,1761700763.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:23.873Z,1761700763.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:24.125Z,1761700764.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:24.151Z,1761700764.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.991874,-0.124582,-0.025805],[0.125773,0.990731,0.051311],[0.019174,-0.054139,0.998349]] 2025-10-29T01:19:24.188Z,1761700764.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:24.382Z,1761700764.382 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:24.553Z,1761700764.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992001,-0.123441,-0.026378],[0.124658,0.990891,0.050955],[0.019848,-0.053836,0.998353]] 2025-10-29T01:19:24.572Z,1761700764.572 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:24.634Z,1761700764.634 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:24.885Z,1761700764.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:24.955Z,1761700764.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992242,-0.121339,-0.027075],[0.122592,0.991157,0.050794],[0.020672,-0.053719,0.998342]] 2025-10-29T01:19:24.992Z,1761700764.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:25.138Z,1761700765.138 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:25.354Z,1761700765.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992492,-0.119150,-0.027626],[0.120432,0.991431,0.050605],[0.021360,-0.053553,0.998336]] 2025-10-29T01:19:25.389Z,1761700765.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:25.393Z,1761700765.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:25.641Z,1761700765.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:25.779Z,1761700765.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992748,-0.116890,-0.028074],[0.118194,0.991710,0.050403],[0.021950,-0.053356,0.998334]] 2025-10-29T01:19:25.822Z,1761700765.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:25.894Z,1761700765.894 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:26.146Z,1761700766.146 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:26.170Z,1761700766.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993033,-0.114304,-0.028630],[0.115642,0.992005,0.050532],[0.022625,-0.053490,0.998312]] 2025-10-29T01:19:26.265Z,1761700766.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:26.397Z,1761700766.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:26.572Z,1761700766.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993261,-0.112199,-0.029050],[0.113563,0.992244,0.050553],[0.023153,-0.053511,0.998299]] 2025-10-29T01:19:26.599Z,1761700766.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:26.600Z,1761700766.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Resuming propulsion at range: 26.10 m and bearing: 149.352131 deg. Not drifting fast enough. 2025-10-29T01:19:26.649Z,1761700766.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:26.901Z,1761700766.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:26.971Z,1761700766.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993467,-0.110237,-0.029499],[0.111629,0.992458,0.050658],[0.023693,-0.053620,0.998280]] 2025-10-29T01:19:27.023Z,1761700767.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:27.025Z,1761700767.025 [lineCaptureHoming:LineCapture:HoldBuoyancy] Running Loop=1 2025-10-29T01:19:27.025Z,1761700767.025 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T01:19:27.025Z,1761700767.025 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Running Loop=1 2025-10-29T01:19:27.025Z,1761700767.025 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-29T01:19:27.154Z,1761700767.154 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:27.374Z,1761700767.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993619,-0.108781,-0.029802],[0.110190,0.992621,0.050623],[0.024076,-0.053583,0.998273]] 2025-10-29T01:19:27.405Z,1761700767.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:27.425Z,1761700767.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:27.662Z,1761700767.662 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:27.858Z,1761700767.858 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:27.913Z,1761700767.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:28.165Z,1761700768.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:28.220Z,1761700768.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:28.417Z,1761700768.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:28.586Z,1761700768.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993959,-0.105444,-0.030442],[0.106886,0.992991,0.050443],[0.024910,-0.053392,0.998263]] 2025-10-29T01:19:28.615Z,1761700768.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:28.669Z,1761700768.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:28.921Z,1761700768.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:28.990Z,1761700768.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994048,-0.104565,-0.030584],[0.106015,0.993086,0.050412],[0.025101,-0.053354,0.998260]] 2025-10-29T01:19:29.034Z,1761700769.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:29.173Z,1761700769.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:29.395Z,1761700769.395 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994159,-0.103519,-0.030537],[0.104972,0.993187,0.050598],[0.025091,-0.053508,0.998252]] 2025-10-29T01:19:29.414Z,1761700769.414 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:19:29.416Z,1761700769.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:29.433Z,1761700769.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:29.685Z,1761700769.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:29.832Z,1761700769.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994260,-0.102595,-0.030365],[0.104046,0.993273,0.050830],[0.024946,-0.053698,0.998246]] 2025-10-29T01:19:29.876Z,1761700769.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:29.942Z,1761700769.942 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:30.193Z,1761700770.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:30.236Z,1761700770.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:30.445Z,1761700770.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:30.606Z,1761700770.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994411,-0.101329,-0.029645],[0.102742,0.993408,0.050844],[0.024298,-0.053605,0.998267]] 2025-10-29T01:19:30.643Z,1761700770.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:30.697Z,1761700770.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:30.949Z,1761700770.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:31.010Z,1761700771.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994485,-0.100742,-0.029174],[0.102128,0.993477,0.050732],[0.023873,-0.053432,0.998286]] 2025-10-29T01:19:31.107Z,1761700771.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:31.201Z,1761700771.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:31.427Z,1761700771.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994576,-0.100231,-0.027793],[0.101563,0.993491,0.051575],[0.022443,-0.054118,0.998282]] 2025-10-29T01:19:31.446Z,1761700771.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:31.453Z,1761700771.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:31.705Z,1761700771.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:31.907Z,1761700771.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:31.957Z,1761700771.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:32.209Z,1761700772.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:32.230Z,1761700772.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994917,-0.097736,-0.024247],[0.099321,0.992130,0.076250],[0.016604,-0.078271,0.996794]] 2025-10-29T01:19:32.259Z,1761700772.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:32.461Z,1761700772.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:32.645Z,1761700772.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995272,-0.094216,-0.023601],[0.096015,0.991052,0.092724],[0.014654,-0.094552,0.995412]] 2025-10-29T01:19:32.674Z,1761700772.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:32.713Z,1761700772.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:32.965Z,1761700772.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:33.038Z,1761700773.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995575,-0.091215,-0.022602],[0.093022,0.990703,0.099273],[0.013337,-0.100936,0.994804]] 2025-10-29T01:19:33.091Z,1761700773.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:33.217Z,1761700773.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:33.446Z,1761700773.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995838,-0.088623,-0.021295],[0.090258,0.991379,0.094985],[0.012694,-0.096512,0.995251]] 2025-10-29T01:19:33.465Z,1761700773.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:33.469Z,1761700773.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:33.721Z,1761700773.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:33.906Z,1761700773.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996091,-0.086064,-0.019906],[0.087465,0.992464,0.085824],[0.012370,-0.087230,0.996111]] 2025-10-29T01:19:33.919Z,1761700773.919 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-3268,-32768,V 2025-10-29T01:19:33.934Z,1761700773.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:33.973Z,1761700773.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:34.225Z,1761700774.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:34.256Z,1761700774.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996304,-0.083719,-0.019216],[0.084993,0.993202,0.079538],[0.012427,-0.080877,0.996647]] 2025-10-29T01:19:34.286Z,1761700774.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:34.477Z,1761700774.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:34.661Z,1761700774.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996551,-0.080796,-0.018936],[0.082067,0.993376,0.080433],[0.012312,-0.081709,0.996580]] 2025-10-29T01:19:34.679Z,1761700774.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:34.729Z,1761700774.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:34.981Z,1761700774.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:35.063Z,1761700775.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996895,-0.076379,-0.019166],[0.077771,0.993130,0.087431],[0.012356,-0.088650,0.995986]] 2025-10-29T01:19:35.121Z,1761700775.121 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:35.233Z,1761700775.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:35.474Z,1761700775.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997280,-0.071048,-0.019599],[0.072602,0.992798,0.095299],[0.012688,-0.096462,0.995256]] 2025-10-29T01:19:35.485Z,1761700775.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:35.495Z,1761700775.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:35.737Z,1761700775.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:35.912Z,1761700775.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997696,-0.064892,-0.019786],[0.066558,0.992729,0.100295],[0.013134,-0.101381,0.994761]] 2025-10-29T01:19:35.965Z,1761700775.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:35.989Z,1761700775.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:36.241Z,1761700776.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:36.274Z,1761700776.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998095,-0.058422,-0.019807],[0.060149,0.992935,0.102280],[0.013691,-0.103276,0.994558]] 2025-10-29T01:19:36.293Z,1761700776.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:36.493Z,1761700776.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:36.678Z,1761700776.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998433,-0.052291,-0.019920],[0.054081,0.993148,0.103601],[0.014366,-0.104516,0.994419]] 2025-10-29T01:19:36.697Z,1761700776.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:36.746Z,1761700776.746 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:36.997Z,1761700776.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:37.082Z,1761700777.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998752,-0.045721,-0.020118],[0.047607,0.993198,0.106260],[0.015122,-0.107085,0.994135]] 2025-10-29T01:19:37.156Z,1761700777.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:37.249Z,1761700777.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:37.487Z,1761700777.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999055,-0.038381,-0.020393],[0.040420,0.992956,0.111380],[0.015975,-0.112099,0.993569]] 2025-10-29T01:19:37.501Z,1761700777.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:37.523Z,1761700777.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:37.755Z,1761700777.755 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:38.002Z,1761700778.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999319,-0.030524,-0.020747],[0.032755,0.992541,0.117426],[0.017008,-0.118025,0.992865]] 2025-10-29T01:19:38.005Z,1761700778.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:38.055Z,1761700778.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:38.257Z,1761700778.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:38.419Z,1761700778.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999555,-0.021539,-0.020633],[0.023929,0.992039,0.123636],[0.017805,-0.124075,0.992113]] 2025-10-29T01:19:38.438Z,1761700778.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:38.509Z,1761700778.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:38.762Z,1761700778.762 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:38.944Z,1761700778.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:39.013Z,1761700779.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:39.265Z,1761700779.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:39.308Z,1761700779.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999756,0.010206,-0.019576],[-0.007353,0.990035,0.140633],[0.020816,-0.140455,0.989868]] 2025-10-29T01:19:39.346Z,1761700779.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:39.517Z,1761700779.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:39.724Z,1761700779.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999597,0.021421,-0.018648],[-0.018511,0.989369,0.144242],[0.021540,-0.143839,0.989367]] 2025-10-29T01:19:39.757Z,1761700779.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:39.769Z,1761700779.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:39.962Z,1761700779.962 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:19:40.022Z,1761700780.022 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:40.107Z,1761700780.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999299,0.033204,-0.017306],[-0.030300,0.988638,0.147234],[0.021998,-0.146606,0.988950]] 2025-10-29T01:19:40.166Z,1761700780.166 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:40.273Z,1761700780.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:40.514Z,1761700780.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998865,0.044986,-0.015660],[-0.042124,0.987715,0.150484],[0.022238,-0.149654,0.988488]] 2025-10-29T01:19:40.525Z,1761700780.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:40.629Z,1761700780.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:40.778Z,1761700780.778 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:40.966Z,1761700780.966 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:19:40.979Z,1761700780.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998311,0.056430,-0.013788],[-0.053633,0.986558,0.154362],[0.022313,-0.153361,0.987918]] 2025-10-29T01:19:41.029Z,1761700781.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:41.080Z,1761700781.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:41.281Z,1761700781.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:41.407Z,1761700781.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997557,0.068835,-0.011940],[-0.066077,0.985115,0.158688],[0.022686,-0.157511,0.987257]] 2025-10-29T01:19:41.445Z,1761700781.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:41.534Z,1761700781.534 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:41.785Z,1761700781.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:41.806Z,1761700781.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996575,0.082089,-0.010026],[-0.079360,0.983384,0.163275],[0.023263,-0.161920,0.986530]] 2025-10-29T01:19:41.845Z,1761700781.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:42.037Z,1761700782.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:42.210Z,1761700782.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995334,0.096172,-0.007848],[-0.093467,0.981146,0.169162],[0.023968,-0.167639,0.985557]] 2025-10-29T01:19:42.257Z,1761700782.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:42.290Z,1761700782.290 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:42.541Z,1761700782.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:42.624Z,1761700782.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993877,0.110362,-0.005415],[-0.107655,0.978211,0.177521],[0.024888,-0.175851,0.984102]] 2025-10-29T01:19:42.664Z,1761700782.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:42.793Z,1761700782.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:43.045Z,1761700783.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:43.055Z,1761700783.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992220,0.124461,-0.003094],[-0.121708,0.974903,0.186418],[0.026219,-0.184591,0.982466]] 2025-10-29T01:19:43.100Z,1761700783.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:43.297Z,1761700783.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:43.423Z,1761700783.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990403,0.138209,-0.000969],[-0.135421,0.971778,0.193155],[0.027637,-0.191170,0.981168]] 2025-10-29T01:19:43.457Z,1761700783.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:43.549Z,1761700783.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:43.801Z,1761700783.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:43.827Z,1761700783.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988293,0.152568,0.000214],[-0.149579,0.968653,0.198338],[0.030052,-0.196048,0.980134]] 2025-10-29T01:19:43.845Z,1761700783.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:44.053Z,1761700784.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:44.234Z,1761700784.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985952,0.167028,0.001077],[-0.163784,0.965494,0.202477],[0.032780,-0.199809,0.979286]] 2025-10-29T01:19:44.271Z,1761700784.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:44.305Z,1761700784.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:44.557Z,1761700784.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:44.645Z,1761700784.645 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983518,0.180801,0.001980],[-0.177292,0.962163,0.206908],[0.035504,-0.203848,0.978358]] 2025-10-29T01:19:44.664Z,1761700784.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:44.809Z,1761700784.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:45.062Z,1761700785.062 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:45.087Z,1761700785.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980774,0.195128,0.002582],[-0.191291,0.958706,0.210453],[0.038590,-0.206901,0.977601]] 2025-10-29T01:19:45.144Z,1761700785.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:45.313Z,1761700785.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:45.494Z,1761700785.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:45.565Z,1761700785.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:45.817Z,1761700785.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:45.858Z,1761700785.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.974355,0.224997,0.002984],[-0.220398,0.951594,0.214228],[0.045361,-0.209392,0.976779]] 2025-10-29T01:19:45.903Z,1761700785.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:46.075Z,1761700786.075 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:46.325Z,1761700786.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:46.346Z,1761700786.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:46.577Z,1761700786.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:46.666Z,1761700786.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966653,0.256036,0.005229],[-0.250717,0.942018,0.223032],[0.052179,-0.216906,0.974797]] 2025-10-29T01:19:46.704Z,1761700786.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:46.829Z,1761700786.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:47.083Z,1761700787.083 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:47.125Z,1761700787.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.962307,0.271876,0.006950],[-0.266197,0.936355,0.228862],[0.055714,-0.222086,0.973434]] 2025-10-29T01:19:47.179Z,1761700787.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:47.333Z,1761700787.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:47.474Z,1761700787.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.957583,0.288002,0.009427],[-0.282054,0.930104,0.235270],[0.058990,-0.227950,0.971884]] 2025-10-29T01:19:47.493Z,1761700787.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:47.586Z,1761700787.586 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:47.837Z,1761700787.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:47.881Z,1761700787.881 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952376,0.304695,0.011914],[-0.298470,0.923499,0.240966],[0.062419,-0.233046,0.970460]] 2025-10-29T01:19:47.900Z,1761700787.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:48.091Z,1761700788.091 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:48.282Z,1761700788.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946910,0.321202,0.013795],[-0.314624,0.916984,0.245260],[0.066129,-0.236579,0.969359]] 2025-10-29T01:19:48.328Z,1761700788.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:48.341Z,1761700788.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:48.593Z,1761700788.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:48.686Z,1761700788.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.941126,0.337678,0.016006],[-0.330787,0.910087,0.249644],[0.069732,-0.240241,0.968205]] 2025-10-29T01:19:48.720Z,1761700788.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:48.846Z,1761700788.846 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:49.101Z,1761700789.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:49.138Z,1761700789.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.935153,0.353816,0.017424],[-0.346528,0.903467,0.252321],[0.073533,-0.241996,0.967487]] 2025-10-29T01:19:49.193Z,1761700789.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:49.349Z,1761700789.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:49.497Z,1761700789.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928972,0.369699,0.018276],[-0.361955,0.896962,0.253867],[0.077462,-0.242450,0.967066]] 2025-10-29T01:19:49.516Z,1761700789.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:49.602Z,1761700789.602 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:49.853Z,1761700789.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:49.901Z,1761700789.901 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.922586,0.385342,0.018603],[-0.377100,0.890579,0.254293],[0.081422,-0.241622,0.966948]] 2025-10-29T01:19:49.919Z,1761700789.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:50.123Z,1761700790.123 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:50.302Z,1761700790.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915908,0.400920,0.019379],[-0.392196,0.883616,0.255745],[0.085410,-0.241840,0.966550]] 2025-10-29T01:19:50.352Z,1761700790.352 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:50.369Z,1761700790.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:50.621Z,1761700790.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:50.706Z,1761700790.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909328,0.415552,0.020982],[-0.406496,0.876487,0.257938],[0.088796,-0.243079,0.965934]] 2025-10-29T01:19:50.725Z,1761700790.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:50.873Z,1761700790.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:51.127Z,1761700791.127 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:51.170Z,1761700791.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902390,0.430287,0.023355],[-0.420986,0.868720,0.260953],[0.091996,-0.245313,0.965069]] 2025-10-29T01:19:51.222Z,1761700791.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:51.377Z,1761700791.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:51.515Z,1761700791.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.895252,0.444788,0.026223],[-0.435302,0.860570,0.264446],[0.095056,-0.248161,0.964044]] 2025-10-29T01:19:51.539Z,1761700791.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:51.630Z,1761700791.630 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:51.881Z,1761700791.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:51.919Z,1761700791.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888510,0.457939,0.029009],[-0.448370,0.853027,0.267040],[0.097542,-0.250274,0.963249]] 2025-10-29T01:19:51.952Z,1761700791.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:52.135Z,1761700792.135 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:52.323Z,1761700792.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.881950,0.470331,0.030865],[-0.460674,0.846286,0.267543],[0.099713,-0.250178,0.963051]] 2025-10-29T01:19:52.373Z,1761700792.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:52.385Z,1761700792.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:52.637Z,1761700792.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:52.729Z,1761700792.729 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.875525,0.482145,0.031492],[-0.472330,0.840328,0.265995],[0.101784,-0.247760,0.963460]] 2025-10-29T01:19:52.753Z,1761700792.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:52.889Z,1761700792.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:53.143Z,1761700793.143 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:53.195Z,1761700793.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.869884,0.492214,0.032059],[-0.482314,0.835173,0.264309],[0.103322,-0.245381,0.963905]] 2025-10-29T01:19:53.239Z,1761700793.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:53.393Z,1761700793.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:53.571Z,1761700793.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.864564,0.501500,0.032041],[-0.491479,0.830551,0.261982],[0.104772,-0.242248,0.964541]] 2025-10-29T01:19:53.595Z,1761700793.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:53.645Z,1761700793.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:53.897Z,1761700793.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:54.066Z,1761700794.066 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855864,0.516352,0.029611],[-0.506186,0.824509,0.252904],[0.106172,-0.231440,0.967038]] 2025-10-29T01:19:54.118Z,1761700794.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:54.151Z,1761700794.151 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:54.401Z,1761700794.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:54.469Z,1761700794.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852791,0.521491,0.028172],[-0.511367,0.822846,0.247846],[0.106068,-0.225768,0.968390]] 2025-10-29T01:19:54.524Z,1761700794.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:54.653Z,1761700794.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:54.873Z,1761700794.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850240,0.525773,0.025583],[-0.515660,0.822150,0.241174],[0.105770,-0.218248,0.970145]] 2025-10-29T01:19:54.891Z,1761700794.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:54.905Z,1761700794.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:55.159Z,1761700795.159 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:55.276Z,1761700795.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848393,0.528896,0.022322],[-0.518776,0.822287,0.233914],[0.105361,-0.210031,0.972001]] 2025-10-29T01:19:55.320Z,1761700795.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:55.409Z,1761700795.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:55.665Z,1761700795.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:55.687Z,1761700795.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847036,0.531201,0.018871],[-0.521037,0.822759,0.227132],[0.105127,-0.202221,0.973681]] 2025-10-29T01:19:55.718Z,1761700795.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:55.917Z,1761700795.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:56.080Z,1761700796.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846419,0.532318,0.014556],[-0.522098,0.824169,0.219453],[0.104822,-0.193349,0.975515]] 2025-10-29T01:19:56.116Z,1761700796.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:56.171Z,1761700796.171 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:56.421Z,1761700796.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:56.484Z,1761700796.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846527,0.532238,0.010717],[-0.522046,0.826038,0.212435],[0.104213,-0.185426,0.977116]] 2025-10-29T01:19:56.530Z,1761700796.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:56.673Z,1761700796.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:56.886Z,1761700796.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846779,0.531898,0.007014],[-0.521712,0.827845,0.206128],[0.103832,-0.178205,0.978500]] 2025-10-29T01:19:56.921Z,1761700796.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:56.925Z,1761700796.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:57.177Z,1761700797.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:57.290Z,1761700797.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846989,0.531602,0.003078],[-0.521401,0.829578,0.199854],[0.103690,-0.170879,0.979821]] 2025-10-29T01:19:57.346Z,1761700797.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:57.429Z,1761700797.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:57.681Z,1761700797.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:57.698Z,1761700797.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847337,0.531054,-0.001073],[-0.520853,0.831450,0.193399],[0.103598,-0.163315,0.981120]] 2025-10-29T01:19:57.727Z,1761700797.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:57.933Z,1761700797.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:58.112Z,1761700798.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847699,0.530464,-0.003870],[-0.520190,0.832667,0.189914],[0.103965,-0.158977,0.981793]] 2025-10-29T01:19:58.134Z,1761700798.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:58.187Z,1761700798.187 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:58.437Z,1761700798.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:58.503Z,1761700798.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847952,0.530036,-0.006301],[-0.519702,0.833641,0.186957],[0.104347,-0.155256,0.982348]] 2025-10-29T01:19:58.547Z,1761700798.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:58.689Z,1761700798.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:58.941Z,1761700798.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:58.987Z,1761700798.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:59.193Z,1761700799.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:59.310Z,1761700799.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847784,0.530296,-0.006973],[-0.519871,0.833572,0.186793],[0.104868,-0.154735,0.982375]] 2025-10-29T01:19:59.370Z,1761700799.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:59.445Z,1761700799.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:59.697Z,1761700799.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:19:59.711Z,1761700799.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847565,0.530657,-0.006004],[-0.520226,0.833034,0.188202],[0.104872,-0.156390,0.982112]] 2025-10-29T01:19:59.757Z,1761700799.757 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:19:59.949Z,1761700799.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:00.118Z,1761700800.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847170,0.531296,-0.005206],[-0.520843,0.832359,0.189478],[0.105003,-0.157809,0.981871]] 2025-10-29T01:20:00.173Z,1761700800.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:00.201Z,1761700800.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:00.453Z,1761700800.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:00.570Z,1761700800.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:00.705Z,1761700800.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:00.922Z,1761700800.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846207,0.532837,-0.004317],[-0.522365,0.831121,0.190715],[0.105208,-0.159129,0.981636]] 2025-10-29T01:20:00.957Z,1761700800.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:00.958Z,1761700800.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:01.210Z,1761700801.210 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:01.326Z,1761700801.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845587,0.533825,-0.003706],[-0.523358,0.830336,0.191411],[0.105258,-0.159915,0.981503]] 2025-10-29T01:20:01.383Z,1761700801.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:01.461Z,1761700801.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:01.713Z,1761700801.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:01.807Z,1761700801.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845379,0.534153,-0.003855],[-0.523804,0.830371,0.190033],[0.104708,-0.158631,0.981770]] 2025-10-29T01:20:01.842Z,1761700801.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:01.965Z,1761700801.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:02.210Z,1761700802.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845268,0.534325,-0.004351],[-0.524140,0.830684,0.187724],[0.103920,-0.156396,0.982212]] 2025-10-29T01:20:02.217Z,1761700802.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:02.234Z,1761700802.234 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:02.471Z,1761700802.471 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:02.655Z,1761700802.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845162,0.534495,-0.004026],[-0.524533,0.830811,0.186058],[0.102792,-0.155137,0.982531]] 2025-10-29T01:20:02.716Z,1761700802.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:02.721Z,1761700802.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:02.973Z,1761700802.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:03.118Z,1761700803.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845094,0.534603,-0.004063],[-0.524898,0.831147,0.183511],[0.101482,-0.152951,0.983009]] 2025-10-29T01:20:03.157Z,1761700803.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:03.225Z,1761700803.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:03.477Z,1761700803.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:03.522Z,1761700803.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844907,0.534901,-0.003711],[-0.525417,0.831188,0.181834],[0.100347,-0.151683,0.983322]] 2025-10-29T01:20:03.585Z,1761700803.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:03.729Z,1761700803.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:03.932Z,1761700803.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844722,0.535197,-0.002984],[-0.525947,0.831128,0.180573],[0.099123,-0.150964,0.983557]] 2025-10-29T01:20:03.958Z,1761700803.958 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:03.981Z,1761700803.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:04.233Z,1761700804.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:04.351Z,1761700804.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844740,0.535172,-0.002210],[-0.526144,0.831231,0.179522],[0.097912,-0.150486,0.983752]] 2025-10-29T01:20:04.405Z,1761700804.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:04.486Z,1761700804.486 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:04.734Z,1761700804.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844855,0.534993,-0.001481],[-0.526171,0.831418,0.178574],[0.096767,-0.150090,0.983925]] 2025-10-29T01:20:04.737Z,1761700804.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:04.781Z,1761700804.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:04.989Z,1761700804.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:05.138Z,1761700805.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844748,0.535163,-0.001254],[-0.526469,0.831441,0.177582],[0.096078,-0.149352,0.984105]] 2025-10-29T01:20:05.183Z,1761700805.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:05.242Z,1761700805.242 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:05.493Z,1761700805.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:05.546Z,1761700805.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844891,0.534938,-0.000963],[-0.526375,0.831684,0.176725],[0.095338,-0.148807,0.984260]] 2025-10-29T01:20:05.616Z,1761700805.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:05.745Z,1761700805.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:05.948Z,1761700805.948 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844725,0.535200,-0.000567],[-0.526711,0.831513,0.176529],[0.094950,-0.148820,0.984295]] 2025-10-29T01:20:05.994Z,1761700805.994 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:05.997Z,1761700805.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:06.249Z,1761700806.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:06.375Z,1761700806.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.844998,0.534769,0.000003],[-0.526457,0.831865,0.175624],[0.093916,-0.148404,0.984457]] 2025-10-29T01:20:06.413Z,1761700806.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:06.501Z,1761700806.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:06.753Z,1761700806.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:06.762Z,1761700806.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845128,0.534564,0.000726],[-0.526373,0.831940,0.175518],[0.093222,-0.148717,0.984476]] 2025-10-29T01:20:06.805Z,1761700806.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:07.005Z,1761700807.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:07.159Z,1761700807.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845533,0.533923,0.000678],[-0.525896,0.832600,0.173814],[0.092239,-0.147322,0.984778]] 2025-10-29T01:20:07.195Z,1761700807.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:07.258Z,1761700807.258 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:07.509Z,1761700807.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:07.568Z,1761700807.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845870,0.533388,0.001377],[-0.525489,0.832895,0.173630],[0.091465,-0.147592,0.984810]] 2025-10-29T01:20:07.661Z,1761700807.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:07.761Z,1761700807.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:08.006Z,1761700808.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846599,0.532230,0.000994],[-0.524541,0.834050,0.170934],[0.090147,-0.145234,0.985282]] 2025-10-29T01:20:08.013Z,1761700808.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:08.026Z,1761700808.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:08.269Z,1761700808.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:08.422Z,1761700808.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847004,0.531584,0.001568],[-0.524036,0.834475,0.170407],[0.089277,-0.145157,0.985373]] 2025-10-29T01:20:08.483Z,1761700808.483 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:08.517Z,1761700808.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:08.769Z,1761700808.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:08.812Z,1761700808.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847140,0.531364,0.002363],[-0.523940,0.834547,0.170346],[0.088544,-0.145545,0.985381]] 2025-10-29T01:20:08.846Z,1761700808.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:09.021Z,1761700809.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:09.241Z,1761700809.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:09.277Z,1761700809.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:09.525Z,1761700809.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:09.620Z,1761700809.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848006,0.529967,0.004591],[-0.522956,0.835319,0.169588],[0.086041,-0.146212,0.985504]] 2025-10-29T01:20:09.658Z,1761700809.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:09.777Z,1761700809.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:10.023Z,1761700810.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848485,0.529191,0.005439],[-0.522370,0.835813,0.168953],[0.084863,-0.146195,0.985609]] 2025-10-29T01:20:10.029Z,1761700810.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:10.053Z,1761700810.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:10.281Z,1761700810.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:10.513Z,1761700810.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:10.533Z,1761700810.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:10.785Z,1761700810.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:10.831Z,1761700810.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848417,0.529245,0.009367],[-0.522767,0.834992,0.171768],[0.083086,-0.150627,0.985093]] 2025-10-29T01:20:10.856Z,1761700810.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:11.037Z,1761700811.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:11.097Z,1761700811.097 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:20:11.239Z,1761700811.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848498,0.529093,0.010582],[-0.522798,0.834966,0.171795],[0.082059,-0.151300,0.985076]] 2025-10-29T01:20:11.258Z,1761700811.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:11.289Z,1761700811.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:11.541Z,1761700811.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:11.639Z,1761700811.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848743,0.528667,0.012082],[-0.522540,0.834962,0.172602],[0.081161,-0.152808,0.984918]] 2025-10-29T01:20:11.686Z,1761700811.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:11.793Z,1761700811.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:12.045Z,1761700812.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:12.081Z,1761700812.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848886,0.528388,0.014090],[-0.522387,0.834583,0.174879],[0.080645,-0.155813,0.984489]] 2025-10-29T01:20:12.100Z,1761700812.100 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:20:12.194Z,1761700812.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:12.297Z,1761700812.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:12.484Z,1761700812.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848466,0.529020,0.015620],[-0.523169,0.833888,0.175856],[0.080006,-0.157380,0.984292]] 2025-10-29T01:20:12.549Z,1761700812.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:12.573Z,1761700812.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:12.801Z,1761700812.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:12.883Z,1761700812.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848447,0.529052,0.015520],[-0.523228,0.833963,0.175323],[0.079812,-0.156873,0.984389]] 2025-10-29T01:20:12.928Z,1761700812.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:13.053Z,1761700813.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:13.305Z,1761700813.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:13.342Z,1761700813.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:13.558Z,1761700813.558 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:13.693Z,1761700813.693 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848323,0.529253,0.015449],[-0.523562,0.834137,0.173486],[0.078931,-0.155261,0.984715]] 2025-10-29T01:20:13.734Z,1761700813.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:13.809Z,1761700813.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:14.062Z,1761700814.062 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:14.097Z,1761700814.097 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848464,0.529042,0.014971],[-0.523474,0.834692,0.171068],[0.078006,-0.152982,0.985146]] 2025-10-29T01:20:14.126Z,1761700814.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:14.313Z,1761700814.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:14.502Z,1761700814.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848293,0.529315,0.014968],[-0.523895,0.834823,0.169129],[0.077027,-0.151312,0.985480]] 2025-10-29T01:20:14.545Z,1761700814.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:14.565Z,1761700814.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:14.817Z,1761700814.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:14.903Z,1761700814.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848045,0.529695,0.015568],[-0.524481,0.834772,0.167558],[0.075759,-0.150262,0.985739]] 2025-10-29T01:20:14.921Z,1761700814.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:15.070Z,1761700815.070 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:15.315Z,1761700815.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847753,0.530156,0.015813],[-0.525121,0.834764,0.165582],[0.074585,-0.148677,0.986069]] 2025-10-29T01:20:15.321Z,1761700815.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:15.334Z,1761700815.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:15.573Z,1761700815.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:15.711Z,1761700815.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847568,0.530436,0.016321],[-0.525613,0.834824,0.163706],[0.073210,-0.147330,0.986374]] 2025-10-29T01:20:15.793Z,1761700815.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:15.825Z,1761700815.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:16.079Z,1761700816.079 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:16.115Z,1761700816.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847169,0.531056,0.016850],[-0.526312,0.834412,0.163563],[0.072801,-0.147434,0.986389]] 2025-10-29T01:20:16.134Z,1761700816.134 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:16.329Z,1761700816.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:16.582Z,1761700816.582 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:16.633Z,1761700816.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:16.834Z,1761700816.834 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:16.945Z,1761700816.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846543,0.531972,0.019234],[-0.527498,0.833475,0.164517],[0.071487,-0.149417,0.986187]] 2025-10-29T01:20:16.963Z,1761700816.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:17.085Z,1761700817.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:17.337Z,1761700817.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:17.387Z,1761700817.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846437,0.532087,0.020702],[-0.527813,0.833227,0.164761],[0.070418,-0.150386,0.986116]] 2025-10-29T01:20:17.413Z,1761700817.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:17.589Z,1761700817.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:17.797Z,1761700817.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846241,0.532362,0.021602],[-0.528267,0.833075,0.164073],[0.069350,-0.150257,0.986212]] 2025-10-29T01:20:17.841Z,1761700817.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:17.847Z,1761700817.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:18.093Z,1761700818.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:18.195Z,1761700818.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846300,0.532236,0.022374],[-0.528384,0.833353,0.162272],[0.067721,-0.149154,0.986492]] 2025-10-29T01:20:18.214Z,1761700818.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:18.345Z,1761700818.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:18.597Z,1761700818.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:18.601Z,1761700818.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.846427,0.531989,0.023429],[-0.528343,0.833509,0.161607],[0.066445,-0.149167,0.986577]] 2025-10-29T01:20:18.643Z,1761700818.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:18.849Z,1761700818.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:19.036Z,1761700819.036 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:19.101Z,1761700819.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:19.353Z,1761700819.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:19.407Z,1761700819.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847008,0.530941,0.026079],[-0.527812,0.834158,0.159983],[0.063188,-0.149272,0.986775]] 2025-10-29T01:20:19.444Z,1761700819.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:19.605Z,1761700819.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:19.814Z,1761700819.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847426,0.530201,0.027483],[-0.527381,0.834700,0.158574],[0.061136,-0.148874,0.986964]] 2025-10-29T01:20:19.857Z,1761700819.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:19.881Z,1761700819.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:20.109Z,1761700820.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:20.217Z,1761700820.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848079,0.529082,0.028889],[-0.526583,0.835499,0.157009],[0.058934,-0.148369,0.987175]] 2025-10-29T01:20:20.236Z,1761700820.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:20.361Z,1761700820.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:20.613Z,1761700820.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:20.620Z,1761700820.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848918,0.527602,0.031212],[-0.525517,0.836323,0.156190],[0.056303,-0.148995,0.987234]] 2025-10-29T01:20:20.663Z,1761700820.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:20.865Z,1761700820.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:21.023Z,1761700821.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849622,0.526354,0.033054],[-0.524633,0.837115,0.154915],[0.053870,-0.148960,0.987375]] 2025-10-29T01:20:21.070Z,1761700821.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:21.117Z,1761700821.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:21.373Z,1761700821.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:21.467Z,1761700821.467 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:21.625Z,1761700821.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:21.838Z,1761700821.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851322,0.523493,0.034734],[-0.522362,0.839593,0.149070],[0.048875,-0.145050,0.988216]] 2025-10-29T01:20:21.877Z,1761700821.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:21.903Z,1761700821.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:22.129Z,1761700822.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:22.235Z,1761700822.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852129,0.522117,0.035652],[-0.521259,0.840724,0.146534],[0.046534,-0.143450,0.988563]] 2025-10-29T01:20:22.259Z,1761700822.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:22.381Z,1761700822.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:22.633Z,1761700822.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:22.640Z,1761700822.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852859,0.520871,0.036397],[-0.520252,0.841785,0.144000],[0.044367,-0.141748,0.988908]] 2025-10-29T01:20:22.690Z,1761700822.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:22.888Z,1761700822.888 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:23.048Z,1761700823.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853669,0.519531,0.036548],[-0.519108,0.843096,0.140416],[0.042137,-0.138841,0.989418]] 2025-10-29T01:20:23.089Z,1761700823.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:23.137Z,1761700823.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:23.389Z,1761700823.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:23.450Z,1761700823.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854129,0.518800,0.036197],[-0.518518,0.844171,0.136065],[0.040034,-0.134986,0.990038]] 2025-10-29T01:20:23.468Z,1761700823.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:23.641Z,1761700823.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:23.861Z,1761700823.861 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854563,0.518043,0.036796],[-0.517956,0.844943,0.133389],[0.038011,-0.133047,0.990381]] 2025-10-29T01:20:23.893Z,1761700823.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:23.934Z,1761700823.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:24.145Z,1761700824.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:24.255Z,1761700824.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854767,0.517550,0.038936],[-0.517761,0.845095,0.133183],[0.036024,-0.134000,0.990326]] 2025-10-29T01:20:24.289Z,1761700824.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:24.397Z,1761700824.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:24.649Z,1761700824.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:24.661Z,1761700824.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854560,0.517627,0.042297],[-0.518215,0.844472,0.135349],[0.034342,-0.137582,0.989895]] 2025-10-29T01:20:24.710Z,1761700824.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:24.901Z,1761700824.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:25.071Z,1761700825.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854252,0.517815,0.046049],[-0.518830,0.843641,0.138146],[0.032685,-0.141903,0.989341]] 2025-10-29T01:20:25.146Z,1761700825.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:25.153Z,1761700825.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:25.405Z,1761700825.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:25.469Z,1761700825.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853649,0.518577,0.048602],[-0.519900,0.842745,0.139585],[0.031427,-0.144424,0.989017]] 2025-10-29T01:20:25.496Z,1761700825.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:25.659Z,1761700825.659 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:25.874Z,1761700825.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853021,0.519553,0.049196],[-0.521001,0.842338,0.137933],[0.030224,-0.143291,0.989219]] 2025-10-29T01:20:25.909Z,1761700825.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:25.948Z,1761700825.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:26.161Z,1761700826.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:26.274Z,1761700826.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852578,0.520262,0.049380],[-0.521789,0.842187,0.135855],[0.029093,-0.141592,0.989497]] 2025-10-29T01:20:26.318Z,1761700826.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:26.413Z,1761700826.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:26.667Z,1761700826.667 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:26.741Z,1761700826.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:26.917Z,1761700826.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:27.088Z,1761700827.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851188,0.522238,0.052411],[-0.524156,0.840622,0.136434],[0.027193,-0.143603,0.989262]] 2025-10-29T01:20:27.106Z,1761700827.106 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:27.169Z,1761700827.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:27.421Z,1761700827.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:27.491Z,1761700827.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850388,0.523169,0.055987],[-0.525504,0.839212,0.139890],[0.026202,-0.148382,0.988583]] 2025-10-29T01:20:27.522Z,1761700827.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:27.675Z,1761700827.675 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:27.899Z,1761700827.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849598,0.523830,0.061519],[-0.526844,0.837364,0.145798],[0.024860,-0.156281,0.987400]] 2025-10-29T01:20:27.925Z,1761700827.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:27.950Z,1761700827.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:28.177Z,1761700828.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:28.298Z,1761700828.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848915,0.524496,0.065164],[-0.528010,0.836152,0.148508],[0.023405,-0.160478,0.986762]] 2025-10-29T01:20:28.317Z,1761700828.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:28.433Z,1761700828.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:28.683Z,1761700828.683 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:28.713Z,1761700828.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848814,0.524447,0.066856],[-0.528238,0.836048,0.148285],[0.021872,-0.161182,0.986682]] 2025-10-29T01:20:28.771Z,1761700828.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:28.933Z,1761700828.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:29.107Z,1761700829.107 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848806,0.524192,0.068925],[-0.528308,0.835888,0.148935],[0.020457,-0.162831,0.986442]] 2025-10-29T01:20:29.131Z,1761700829.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:29.185Z,1761700829.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:29.437Z,1761700829.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:29.511Z,1761700829.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848863,0.524044,0.069349],[-0.528267,0.836227,0.147169],[0.019132,-0.161561,0.986677]] 2025-10-29T01:20:29.547Z,1761700829.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:29.560Z,1761700829.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:29.691Z,1761700829.691 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:29.941Z,1761700829.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:29.978Z,1761700829.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:30.193Z,1761700830.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:30.320Z,1761700830.320 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.849569,0.523046,0.068227],[-0.527177,0.837596,0.143236],[0.017772,-0.157657,0.987334]] 2025-10-29T01:20:30.338Z,1761700830.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:30.445Z,1761700830.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:30.699Z,1761700830.699 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:30.786Z,1761700830.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850064,0.522442,0.066679],[-0.526394,0.838598,0.140221],[0.017341,-0.154297,0.987872]] 2025-10-29T01:20:30.828Z,1761700830.828 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:30.949Z,1761700830.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:31.178Z,1761700831.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850757,0.521569,0.064647],[-0.525282,0.839851,0.136857],[0.017087,-0.150390,0.988479]] 2025-10-29T01:20:31.201Z,1761700831.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:31.217Z,1761700831.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:31.453Z,1761700831.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:31.628Z,1761700831.628 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851378,0.520716,0.063320],[-0.524282,0.840843,0.134580],[0.016836,-0.147776,0.988878]] 2025-10-29T01:20:31.647Z,1761700831.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:31.707Z,1761700831.707 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:31.957Z,1761700831.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:32.101Z,1761700832.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:32.209Z,1761700832.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:32.434Z,1761700832.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851915,0.519601,0.065234],[-0.523476,0.841465,0.133827],[0.014644,-0.148157,0.988855]] 2025-10-29T01:20:32.461Z,1761700832.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:32.465Z,1761700832.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:32.715Z,1761700832.715 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:32.838Z,1761700832.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852417,0.518674,0.066047],[-0.522696,0.842142,0.132608],[0.013159,-0.147560,0.988966]] 2025-10-29T01:20:32.906Z,1761700832.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:32.965Z,1761700832.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:33.217Z,1761700833.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:33.242Z,1761700833.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853091,0.517453,0.066920],[-0.521637,0.843029,0.131138],[0.011442,-0.146781,0.989103]] 2025-10-29T01:20:33.261Z,1761700833.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:33.469Z,1761700833.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:33.648Z,1761700833.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853211,0.517146,0.067756],[-0.521468,0.843307,0.130017],[0.010099,-0.146265,0.989194]] 2025-10-29T01:20:33.666Z,1761700833.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:33.724Z,1761700833.724 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:33.973Z,1761700833.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:34.058Z,1761700834.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853575,0.516432,0.068613],[-0.520902,0.843890,0.128494],[0.008457,-0.145420,0.989334]] 2025-10-29T01:20:34.107Z,1761700834.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:34.227Z,1761700834.227 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:34.455Z,1761700834.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853822,0.515625,0.071540],[-0.520529,0.844060,0.128892],[0.006076,-0.147290,0.989075]] 2025-10-29T01:20:34.477Z,1761700834.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:34.482Z,1761700834.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:34.733Z,1761700834.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:34.859Z,1761700834.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853824,0.515172,0.074720],[-0.520550,0.843947,0.129546],[0.003679,-0.149504,0.988754]] 2025-10-29T01:20:34.913Z,1761700834.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:34.981Z,1761700834.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:35.233Z,1761700835.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:35.263Z,1761700835.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854142,0.514436,0.076144],[-0.520038,0.844456,0.128280],[0.001691,-0.149167,0.988811]] 2025-10-29T01:20:35.303Z,1761700835.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:35.488Z,1761700835.488 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:35.667Z,1761700835.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854330,0.513912,0.077555],[-0.519731,0.844895,0.126618],[-0.000455,-0.148482,0.988915]] 2025-10-29T01:20:35.685Z,1761700835.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:35.740Z,1761700835.740 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:35.989Z,1761700835.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:36.072Z,1761700836.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854505,0.513403,0.078987],[-0.519438,0.845271,0.125303],[-0.002434,-0.148100,0.988969]] 2025-10-29T01:20:36.113Z,1761700836.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:36.241Z,1761700836.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:36.475Z,1761700836.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854351,0.513109,0.082482],[-0.519671,0.845038,0.125908],[-0.005096,-0.150433,0.988607]] 2025-10-29T01:20:36.493Z,1761700836.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:36.514Z,1761700836.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:36.745Z,1761700836.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:36.878Z,1761700836.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.854273,0.512663,0.085993],[-0.519768,0.844855,0.126728],[-0.007683,-0.152957,0.988203]] 2025-10-29T01:20:36.927Z,1761700836.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:36.997Z,1761700836.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:37.249Z,1761700837.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:37.282Z,1761700837.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853967,0.512659,0.089002],[-0.520228,0.844556,0.126840],[-0.010142,-0.154618,0.987922]] 2025-10-29T01:20:37.306Z,1761700837.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:37.502Z,1761700837.502 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:37.688Z,1761700837.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853812,0.512681,0.090352],[-0.520445,0.844615,0.125550],[-0.011946,-0.154219,0.987964]] 2025-10-29T01:20:37.712Z,1761700837.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:37.754Z,1761700837.754 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:38.005Z,1761700838.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:38.090Z,1761700838.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853715,0.512702,0.091143],[-0.520558,0.844870,0.123341],[-0.013767,-0.152743,0.988170]] 2025-10-29T01:20:38.257Z,1761700838.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:38.270Z,1761700838.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:38.517Z,1761700838.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:38.572Z,1761700838.572 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853554,0.512765,0.092292],[-0.520722,0.845438,0.118671],[-0.017177,-0.149350,0.988635]] 2025-10-29T01:20:38.597Z,1761700838.597 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:38.761Z,1761700838.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:39.014Z,1761700839.014 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:39.058Z,1761700839.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:39.265Z,1761700839.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:39.375Z,1761700839.375 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853479,0.512570,0.094049],[-0.520726,0.845897,0.115339],[-0.020437,-0.147413,0.988864]] 2025-10-29T01:20:39.409Z,1761700839.409 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:39.518Z,1761700839.518 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:39.773Z,1761700839.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:39.784Z,1761700839.784 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853339,0.512507,0.095656],[-0.520884,0.845908,0.114546],[-0.022210,-0.147572,0.988802]] 2025-10-29T01:20:39.891Z,1761700839.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:40.026Z,1761700840.026 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:40.194Z,1761700840.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853265,0.512357,0.097102],[-0.520933,0.845976,0.113813],[-0.023833,-0.147696,0.988746]] 2025-10-29T01:20:40.247Z,1761700840.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:40.277Z,1761700840.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:40.529Z,1761700840.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:40.595Z,1761700840.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853202,0.512231,0.098312],[-0.520957,0.846121,0.112621],[-0.025496,-0.147305,0.988762]] 2025-10-29T01:20:40.619Z,1761700840.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:40.781Z,1761700840.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:41.002Z,1761700841.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853232,0.511976,0.099378],[-0.520824,0.846383,0.111257],[-0.027151,-0.146686,0.988810]] 2025-10-29T01:20:41.033Z,1761700841.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:41.076Z,1761700841.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:41.285Z,1761700841.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:41.402Z,1761700841.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853033,0.512111,0.100388],[-0.521077,0.846369,0.110174],[-0.028544,-0.146291,0.988830]] 2025-10-29T01:20:41.421Z,1761700841.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:41.538Z,1761700841.538 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:41.789Z,1761700841.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:41.808Z,1761700841.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852972,0.512110,0.100910],[-0.521122,0.846471,0.109169],[-0.029511,-0.145704,0.988888]] 2025-10-29T01:20:41.831Z,1761700841.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:42.041Z,1761700842.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:42.210Z,1761700842.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852960,0.512010,0.101511],[-0.521075,0.846652,0.107989],[-0.030653,-0.145005,0.988956]] 2025-10-29T01:20:42.232Z,1761700842.232 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:20:42.257Z,1761700842.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:42.295Z,1761700842.295 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:42.545Z,1761700842.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:42.614Z,1761700842.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853040,0.511635,0.102724],[-0.520856,0.846878,0.107268],[-0.032112,-0.145008,0.988909]] 2025-10-29T01:20:42.649Z,1761700842.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:42.797Z,1761700842.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:43.029Z,1761700843.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852975,0.511393,0.104451],[-0.520876,0.846840,0.107474],[-0.033491,-0.146079,0.988706]] 2025-10-29T01:20:43.057Z,1761700843.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:43.086Z,1761700843.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:43.236Z,1761700843.236 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:20:43.310Z,1761700843.310 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:43.425Z,1761700843.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852758,0.511364,0.106350],[-0.521139,0.846632,0.107838],[-0.034894,-0.147383,0.988464]] 2025-10-29T01:20:43.448Z,1761700843.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:43.449Z,1761700843.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Running Loop=1 2025-10-29T01:20:43.450Z,1761700843.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-29T01:20:43.450Z,1761700843.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Running Loop=1 2025-10-29T01:20:43.451Z,1761700843.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A](IMPORTANT): Transitioning to midcourse guidance. Received last range of 26.100000 m 5.005846 min ago. 2025-10-29T01:20:43.451Z,1761700843.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:A] Stopped 2025-10-29T01:20:43.451Z,1761700843.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Running Loop=1 2025-10-29T01:20:43.561Z,1761700843.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:43.813Z,1761700843.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:43.828Z,1761700843.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852786,0.510991,0.107905],[-0.520988,0.846767,0.107503],[-0.036437,-0.147894,0.988332]] 2025-10-29T01:20:43.847Z,1761700843.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.95 m. 2025-10-29T01:20:43.869Z,1761700843.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange:B] Stopped 2025-10-29T01:20:43.869Z,1761700843.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-29T01:20:43.869Z,1761700843.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange] Stopped 2025-10-29T01:20:43.869Z,1761700843.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:CheckRange 2025-10-29T01:20:44.065Z,1761700844.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:44.236Z,1761700844.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852915,0.510414,0.109607],[-0.520648,0.847041,0.106991],[-0.038232,-0.148321,0.988200]] 2025-10-29T01:20:44.279Z,1761700844.279 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-29T01:20:44.279Z,1761700844.279 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-29T01:20:44.280Z,1761700844.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-29T01:20:44.280Z,1761700844.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-29T01:20:44.281Z,1761700844.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Running Loop=1 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Running Loop=1 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Running Loop=1 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Initialize. 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Running Loop=1 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch](DEBUG): Initialize. 2025-10-29T01:20:44.282Z,1761700844.282 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Running Loop=1 2025-10-29T01:20:44.284Z,1761700844.284 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A](INFO): Navigating to dock waypoint ( 36.779130 arcdeg , -121.859630 arcdeg ) 2025-10-29T01:20:44.285Z,1761700844.285 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:A] Stopped 2025-10-29T01:20:44.285Z,1761700844.285 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Running Loop=1 2025-10-29T01:20:44.285Z,1761700844.285 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Initialize WaypointComponent. 2025-10-29T01:20:44.286Z,1761700844.286 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Navigating to waypoint: 36.779130,-121.859630 2025-10-29T01:20:44.317Z,1761700844.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:44.573Z,1761700844.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:44.638Z,1761700844.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853290,0.509492,0.110965],[-0.519879,0.847690,0.105582],[-0.040271,-0.147781,0.988200]] 2025-10-29T01:20:44.662Z,1761700844.662 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Running Loop=1 2025-10-29T01:20:44.662Z,1761700844.662 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:20:44.662Z,1761700844.662 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Running Loop=1 2025-10-29T01:20:44.663Z,1761700844.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A](INFO): Entering Terminal tracking update period 2.000000 s sec at 26.100000 m (mode 0.000000 count ). 2025-10-29T01:20:44.663Z,1761700844.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:A] Stopped 2025-10-29T01:20:44.663Z,1761700844.663 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Running Loop=1 2025-10-29T01:20:44.699Z,1761700844.699 [HorizontalControl](DEBUG): kpHeading = 0.400000 2025-10-29T01:20:44.704Z,1761700844.704 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-29T01:20:44.825Z,1761700844.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:45.055Z,1761700845.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853212,0.509336,0.112273],[-0.519887,0.847780,0.104820],[-0.041794,-0.147803,0.988133]] 2025-10-29T01:20:45.077Z,1761700845.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:45.110Z,1761700845.110 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:B] Stopped 2025-10-29T01:20:45.110Z,1761700845.110 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Running Loop=1 2025-10-29T01:20:45.112Z,1761700845.112 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:45.329Z,1761700845.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:45.454Z,1761700845.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853161,0.509184,0.113350],[-0.519860,0.847898,0.103994],[-0.043157,-0.147650,0.988098]] 2025-10-29T01:20:45.486Z,1761700845.486 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:C] Stopped 2025-10-29T01:20:45.486Z,1761700845.486 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Running Loop=1 2025-10-29T01:20:45.581Z,1761700845.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:45.833Z,1761700845.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:45.863Z,1761700845.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853384,0.508661,0.114018],[-0.519341,0.848483,0.101794],[-0.044963,-0.146084,0.988250]] 2025-10-29T01:20:45.879Z,1761700845.879 [lineCaptureHoming:UpdatePingUpdateRate_Terminal:D] Stopped 2025-10-29T01:20:45.879Z,1761700845.879 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](INFO): Completed lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:20:45.879Z,1761700845.879 [lineCaptureHoming:UpdatePingUpdateRate_Terminal] Stopped 2025-10-29T01:20:45.879Z,1761700845.879 [lineCaptureHoming:UpdatePingUpdateRate_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdatePingUpdateRate_Terminal 2025-10-29T01:20:46.085Z,1761700846.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:46.265Z,1761700846.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853625,0.507939,0.115424],[-0.518811,0.848854,0.101396],[-0.046476,-0.146438,0.988128]] 2025-10-29T01:20:46.337Z,1761700846.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:46.589Z,1761700846.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:46.667Z,1761700846.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.853330,0.508151,0.116665],[-0.519259,0.848446,0.102517],[-0.046890,-0.148060,0.987866]] 2025-10-29T01:20:46.841Z,1761700846.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:47.071Z,1761700847.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.852466,0.509346,0.117762],[-0.520691,0.847364,0.104191],[-0.046718,-0.150137,0.987561]] 2025-10-29T01:20:47.093Z,1761700847.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:47.121Z,1761700847.121 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:47.345Z,1761700847.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:47.475Z,1761700847.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.850972,0.511115,0.120860],[-0.523191,0.845111,0.109810],[-0.046015,-0.156678,0.986577]] 2025-10-29T01:20:47.597Z,1761700847.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:47.849Z,1761700847.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:47.888Z,1761700847.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.848583,0.514076,0.125029],[-0.527176,0.841544,0.117852],[-0.044633,-0.165919,0.985129]] 2025-10-29T01:20:48.101Z,1761700848.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:48.283Z,1761700848.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845030,0.518347,0.131302],[-0.532988,0.836245,0.128911],[-0.042980,-0.178917,0.982925]] 2025-10-29T01:20:48.353Z,1761700848.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:48.605Z,1761700848.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:48.857Z,1761700848.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:49.109Z,1761700849.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:49.146Z,1761700849.146 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:49.361Z,1761700849.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:49.500Z,1761700849.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.823882,0.543204,0.161705],[-0.565686,0.805709,0.175592],[-0.034904,-0.236141,0.971092]] 2025-10-29T01:20:49.613Z,1761700849.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:49.865Z,1761700849.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:49.899Z,1761700849.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.813705,0.554438,0.174592],[-0.580449,0.791059,0.193143],[-0.031027,-0.258504,0.965512]] 2025-10-29T01:20:50.117Z,1761700850.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:50.302Z,1761700850.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.801226,0.568366,0.187077],[-0.597777,0.774139,0.208260],[-0.026455,-0.278693,0.960016]] 2025-10-29T01:20:50.369Z,1761700850.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:50.621Z,1761700850.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:50.707Z,1761700850.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787280,0.584172,0.197317],[-0.616233,0.756419,0.219287],[-0.021153,-0.294234,0.955499]] 2025-10-29T01:20:50.873Z,1761700850.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:51.114Z,1761700851.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.772737,0.600180,0.206547],[-0.634529,0.738568,0.227793],[-0.015832,-0.307084,0.951551]] 2025-10-29T01:20:51.125Z,1761700851.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:51.235Z,1761700851.235 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:51.377Z,1761700851.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:51.525Z,1761700851.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.757932,0.616097,0.214390],[-0.652247,0.721101,0.233640],[-0.010652,-0.316919,0.948393]] 2025-10-29T01:20:51.629Z,1761700851.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:51.881Z,1761700851.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:51.918Z,1761700851.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742555,0.632380,0.220698],[-0.669764,0.703671,0.237197],[-0.005300,-0.323947,0.946060]] 2025-10-29T01:20:52.133Z,1761700852.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:52.323Z,1761700852.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726593,0.649467,0.224179],[-0.687068,0.686741,0.237328],[0.000184,-0.326467,0.945209]] 2025-10-29T01:20:52.385Z,1761700852.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:52.637Z,1761700852.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:52.889Z,1761700852.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:53.137Z,1761700853.137 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.695168,0.682716,0.225033],[-0.718784,0.656041,0.230128],[0.009481,-0.321728,0.946785]] 2025-10-29T01:20:53.141Z,1761700853.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:53.393Z,1761700853.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:53.535Z,1761700853.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.679289,0.699662,0.221449],[-0.733740,0.641813,0.222938],[0.013853,-0.313926,0.949346]] 2025-10-29T01:20:53.562Z,1761700853.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:53.645Z,1761700853.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:53.897Z,1761700853.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:53.949Z,1761700853.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663049,0.716731,0.216014],[-0.748363,0.627784,0.214101],[0.017842,-0.303616,0.952627]] 2025-10-29T01:20:54.149Z,1761700854.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:54.342Z,1761700854.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646260,0.733190,0.211613],[-0.762813,0.612838,0.206264],[0.021546,-0.294721,0.955340]] 2025-10-29T01:20:54.401Z,1761700854.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:54.653Z,1761700854.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:54.751Z,1761700854.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.629126,0.748924,0.208121],[-0.776894,0.597143,0.199639],[0.025236,-0.287287,0.957512]] 2025-10-29T01:20:54.905Z,1761700854.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:55.151Z,1761700855.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611373,0.763595,0.207714],[-0.790837,0.580177,0.194863],[0.028285,-0.283401,0.958584]] 2025-10-29T01:20:55.157Z,1761700855.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:55.410Z,1761700855.410 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:55.554Z,1761700855.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.593329,0.778217,0.205764],[-0.804358,0.563309,0.188919],[0.031111,-0.277599,0.960193]] 2025-10-29T01:20:55.571Z,1761700855.571 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:55.661Z,1761700855.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:55.913Z,1761700855.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:55.976Z,1761700855.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.574266,0.792538,0.205187],[-0.817958,0.545011,0.184140],[0.034108,-0.273580,0.961244]] 2025-10-29T01:20:56.165Z,1761700856.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:56.378Z,1761700856.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554835,0.805429,0.208430],[-0.831172,0.525731,0.180996],[0.036201,-0.273664,0.961144]] 2025-10-29T01:20:56.417Z,1761700856.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:56.669Z,1761700856.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:56.803Z,1761700856.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.534276,0.818486,0.211257],[-0.844446,0.505493,0.177165],[0.038218,-0.273050,0.961240]] 2025-10-29T01:20:56.923Z,1761700856.923 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:57.173Z,1761700857.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:57.206Z,1761700857.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.513854,0.830636,0.214473],[-0.856963,0.485459,0.173044],[0.039619,-0.272715,0.961279]] 2025-10-29T01:20:57.425Z,1761700857.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:57.612Z,1761700857.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.492771,0.843555,0.213521],[-0.869194,0.465619,0.166437],[0.040979,-0.267606,0.962657]] 2025-10-29T01:20:57.629Z,1761700857.629 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:57.677Z,1761700857.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:57.929Z,1761700857.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:58.019Z,1761700858.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.471400,0.856159,0.211600],[-0.880916,0.445664,0.159284],[0.042070,-0.261489,0.964289]] 2025-10-29T01:20:58.181Z,1761700858.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:58.418Z,1761700858.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.449452,0.867955,0.211298],[-0.892256,0.424729,0.153244],[0.043264,-0.257408,0.965334]] 2025-10-29T01:20:58.433Z,1761700858.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:58.685Z,1761700858.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:58.823Z,1761700858.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.427282,0.878453,0.213894],[-0.903052,0.403174,0.148148],[0.043905,-0.256458,0.965558]] 2025-10-29T01:20:58.938Z,1761700858.938 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:59.193Z,1761700859.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:59.226Z,1761700859.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.404751,0.889244,0.213126],[-0.913347,0.381815,0.141471],[0.044428,-0.251918,0.966728]] 2025-10-29T01:20:59.441Z,1761700859.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:59.630Z,1761700859.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.382620,0.898704,0.214320],[-0.922849,0.360665,0.135169],[0.044180,-0.249503,0.967366]] 2025-10-29T01:20:59.647Z,1761700859.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:20:59.693Z,1761700859.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:20:59.945Z,1761700859.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:00.035Z,1761700860.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.360451,0.907529,0.215561],[-0.931762,0.339524,0.128624],[0.043542,-0.247214,0.967982]] 2025-10-29T01:21:00.197Z,1761700860.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:00.449Z,1761700860.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:00.701Z,1761700860.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:00.842Z,1761700860.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.314378,0.922915,0.222246],[-0.948354,0.294901,0.116868],[0.042319,-0.247508,0.967961]] 2025-10-29T01:21:00.953Z,1761700860.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:01.205Z,1761700861.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:01.246Z,1761700861.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.291438,0.929597,0.225641],[-0.955689,0.272717,0.110831],[0.041492,-0.247943,0.967886]] 2025-10-29T01:21:01.457Z,1761700861.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:01.667Z,1761700861.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.268371,0.935579,0.229496],[-0.962448,0.250299,0.105096],[0.040883,-0.249083,0.967619]] 2025-10-29T01:21:01.684Z,1761700861.684 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:01.709Z,1761700861.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:01.961Z,1761700861.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:02.069Z,1761700862.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245856,0.940630,0.234029],[-0.968493,0.228492,0.099061],[0.039706,-0.251010,0.967170]] 2025-10-29T01:21:02.213Z,1761700862.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:02.465Z,1761700862.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:02.515Z,1761700862.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.223049,0.946568,0.232936],[-0.974053,0.207021,0.091450],[0.038341,-0.247289,0.968183]] 2025-10-29T01:21:02.717Z,1761700862.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:02.969Z,1761700862.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:03.221Z,1761700863.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:03.319Z,1761700863.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.176129,0.955659,0.235997],[-0.983718,0.162177,0.077441],[0.035734,-0.245794,0.968663]] 2025-10-29T01:21:03.473Z,1761700863.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:03.722Z,1761700863.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.152647,0.958799,0.239590],[-0.987688,0.139606,0.070592],[0.034235,-0.247416,0.968304]] 2025-10-29T01:21:03.729Z,1761700863.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:03.802Z,1761700863.802 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:03.978Z,1761700863.978 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:04.133Z,1761700864.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.106465,0.964094,0.243285],[-0.993845,0.095641,0.055910],[0.030635,-0.247740,0.968342]] 2025-10-29T01:21:04.231Z,1761700864.231 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:04.482Z,1761700864.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:04.537Z,1761700864.537 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.083385,0.965762,0.245663],[-0.996099,0.073633,0.048634],[0.028880,-0.248760,0.968134]] 2025-10-29T01:21:04.733Z,1761700864.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:04.949Z,1761700864.949 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.060227,0.967560,0.245360],[-0.997812,0.051639,0.041292],[0.027282,-0.247310,0.968552]] 2025-10-29T01:21:04.986Z,1761700864.986 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:05.238Z,1761700865.238 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:05.343Z,1761700865.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.037163,0.968458,0.246389],[-0.998978,0.029661,0.034091],[0.025707,-0.247404,0.968571]] 2025-10-29T01:21:05.489Z,1761700865.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:05.742Z,1761700865.742 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:05.756Z,1761700865.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014531,0.968660,0.247967],[-0.999606,0.008111,0.026891],[0.024037,-0.248260,0.968395]] 2025-10-29T01:21:05.993Z,1761700865.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:06.148Z,1761700866.148 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.008454,0.969158,0.246293],[-0.999712,-0.013724,0.019692],[0.022464,-0.246056,0.968995]] 2025-10-29T01:21:06.169Z,1761700866.169 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:06.247Z,1761700866.247 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:06.497Z,1761700866.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:06.551Z,1761700866.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.031164,0.968494,0.247079],[-0.999299,-0.035322,0.012411],[0.020748,-0.246519,0.968916]] 2025-10-29T01:21:06.749Z,1761700866.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:06.958Z,1761700866.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053738,0.967313,0.247828],[-0.998371,-0.056817,0.005284],[0.019192,-0.247140,0.968790]] 2025-10-29T01:21:07.001Z,1761700867.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:07.255Z,1761700867.255 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:07.361Z,1761700867.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077000,0.966052,0.246607],[-0.996867,-0.079080,-0.001477],[0.018075,-0.245948,0.969114]] 2025-10-29T01:21:07.505Z,1761700867.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:07.757Z,1761700867.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:07.776Z,1761700867.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.099808,0.964153,0.245862],[-0.994865,-0.100867,-0.008317],[0.016780,-0.245430,0.969269]] 2025-10-29T01:21:08.009Z,1761700868.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:08.166Z,1761700868.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.122551,0.962150,0.243412],[-0.992342,-0.122616,-0.014941],[0.015470,-0.243379,0.969808]] 2025-10-29T01:21:08.183Z,1761700868.183 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:08.263Z,1761700868.263 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:08.513Z,1761700868.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:08.571Z,1761700868.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.145614,0.959371,0.241668],[-0.989236,-0.144751,-0.021418],[0.014434,-0.242186,0.970122]] 2025-10-29T01:21:08.766Z,1761700868.766 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:09.017Z,1761700869.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:09.271Z,1761700869.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:09.379Z,1761700869.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.191987,0.952285,0.237263],[-0.981311,-0.189493,-0.033497],[0.013061,-0.239260,0.970868]] 2025-10-29T01:21:09.521Z,1761700869.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:09.773Z,1761700869.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:09.787Z,1761700869.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215435,0.947464,0.236432],[-0.976438,-0.212115,-0.039707],[0.012530,-0.239416,0.970836]] 2025-10-29T01:21:10.025Z,1761700870.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:10.187Z,1761700870.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.238626,0.941951,0.236192],[-0.971038,-0.234442,-0.046075],[0.011973,-0.240346,0.970613]] 2025-10-29T01:21:10.210Z,1761700870.210 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:10.279Z,1761700870.279 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:10.529Z,1761700870.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:10.592Z,1761700870.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.260677,0.936598,0.234164],[-0.965361,-0.255689,-0.051969],[0.011199,-0.239600,0.970807]] 2025-10-29T01:21:10.781Z,1761700870.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:11.007Z,1761700871.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.282828,0.930103,0.234345],[-0.959110,-0.276978,-0.058226],[0.010752,-0.241230,0.970408]] 2025-10-29T01:21:11.033Z,1761700871.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:11.287Z,1761700871.287 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:11.398Z,1761700871.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.304723,0.922877,0.235461],[-0.952385,-0.297916,-0.064869],[0.010281,-0.244016,0.969717]] 2025-10-29T01:21:11.537Z,1761700871.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:11.789Z,1761700871.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:11.805Z,1761700871.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326895,0.915498,0.234528],[-0.945008,-0.319268,-0.070906],[0.009963,-0.244809,0.969520]] 2025-10-29T01:21:12.041Z,1761700872.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:12.207Z,1761700872.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348573,0.907934,0.232706],[-0.937234,-0.340139,-0.076796],[0.009426,-0.244869,0.969510]] 2025-10-29T01:21:12.224Z,1761700872.224 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:12.295Z,1761700872.295 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:12.545Z,1761700872.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:12.610Z,1761700872.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369602,0.899623,0.232537],[-0.929151,-0.360138,-0.083548],[0.008584,-0.246941,0.968992]] 2025-10-29T01:21:12.797Z,1761700872.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:13.014Z,1761700873.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390630,0.890841,0.231971],[-0.920511,-0.380242,-0.089859],[0.008155,-0.248633,0.968563]] 2025-10-29T01:21:13.049Z,1761700873.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:13.303Z,1761700873.303 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:13.384Z,1761700873.384 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:21:13.424Z,1761700873.424 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411534,0.881895,0.230000],[-0.911362,-0.400335,-0.095667],[0.007709,-0.248984,0.968477]] 2025-10-29T01:21:13.553Z,1761700873.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:13.805Z,1761700873.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:13.823Z,1761700873.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431927,0.872917,0.226836],[-0.901880,-0.420037,-0.100902],[0.007200,-0.248161,0.968692]] 2025-10-29T01:21:14.057Z,1761700874.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:14.227Z,1761700874.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452339,0.864094,0.220751],[-0.891819,-0.440190,-0.104364],[0.006992,-0.244077,0.969731]] 2025-10-29T01:21:14.243Z,1761700874.243 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:14.310Z,1761700874.310 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:14.389Z,1761700874.389 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:21:14.561Z,1761700874.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:14.666Z,1761700874.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471877,0.855009,0.215155],[-0.881641,-0.459366,-0.108129],[0.006383,-0.240713,0.970575]] 2025-10-29T01:21:14.813Z,1761700874.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:15.062Z,1761700875.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491396,0.845097,0.210571],[-0.870916,-0.478464,-0.112154],[0.005970,-0.238502,0.971124]] 2025-10-29T01:21:15.065Z,1761700875.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:15.317Z,1761700875.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:15.499Z,1761700875.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510973,0.834457,0.206367],[-0.859580,-0.497518,-0.116613],[0.005363,-0.236975,0.971501]] 2025-10-29T01:21:15.569Z,1761700875.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:15.824Z,1761700875.824 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:15.944Z,1761700875.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530928,0.822609,0.203542],[-0.847404,-0.516713,-0.122121],[0.004715,-0.237320,0.971420]] 2025-10-29T01:21:16.074Z,1761700876.074 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:16.325Z,1761700876.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:16.384Z,1761700876.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550115,0.810474,0.201259],[-0.835082,-0.534875,-0.128632],[0.003396,-0.238831,0.971055]] 2025-10-29T01:21:16.465Z,1761700876.465 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:16.577Z,1761700876.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:16.755Z,1761700876.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569506,0.797309,0.199902],[-0.821984,-0.553044,-0.135956],[0.002155,-0.241744,0.970338]] 2025-10-29T01:21:16.829Z,1761700876.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:17.081Z,1761700877.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:17.155Z,1761700877.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589282,0.783489,0.197208],[-0.807927,-0.571744,-0.142702],[0.000947,-0.243421,0.969920]] 2025-10-29T01:21:17.334Z,1761700877.334 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:17.559Z,1761700877.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608488,0.769856,0.192523],[-0.793563,-0.590052,-0.148648],[-0.000839,-0.243229,0.969968]] 2025-10-29T01:21:17.585Z,1761700877.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:17.837Z,1761700877.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:17.974Z,1761700877.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627240,0.756167,0.186498],[-0.778820,-0.608053,-0.153982],[-0.003035,-0.241832,0.970313]] 2025-10-29T01:21:18.089Z,1761700878.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:18.341Z,1761700878.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:18.371Z,1761700878.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645619,0.741539,0.182469],[-0.763644,-0.625371,-0.160496],[-0.004904,-0.242961,0.970024]] 2025-10-29T01:21:18.593Z,1761700878.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:18.777Z,1761700878.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.663666,0.726544,0.177995],[-0.747995,-0.642306,-0.167172],[-0.007131,-0.244086,0.969727]] 2025-10-29T01:21:18.839Z,1761700878.839 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:18.861Z,1761700878.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:19.113Z,1761700879.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:19.174Z,1761700879.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.680921,0.711444,0.173767],[-0.732293,-0.658282,-0.174388],[-0.009680,-0.245993,0.969223]] 2025-10-29T01:21:19.365Z,1761700879.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:19.617Z,1761700879.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:19.869Z,1761700879.869 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:19.986Z,1761700879.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713937,0.680564,0.164701],[-0.700037,-0.688504,-0.189502],[-0.015570,-0.250589,0.967968]] 2025-10-29T01:21:20.121Z,1761700880.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:20.373Z,1761700880.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:20.387Z,1761700880.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.730260,0.664792,0.157390],[-0.682934,-0.704328,-0.193711],[-0.017923,-0.248946,0.968351]] 2025-10-29T01:21:20.625Z,1761700880.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:20.792Z,1761700880.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.745622,0.649588,0.148607],[-0.666056,-0.719660,-0.196111],[-0.020445,-0.245205,0.969256]] 2025-10-29T01:21:20.878Z,1761700880.878 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:21.129Z,1761700881.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:21.196Z,1761700881.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.761116,0.633685,0.138369],[-0.648206,-0.735547,-0.196975],[-0.023043,-0.239612,0.970595]] 2025-10-29T01:21:21.213Z,1761700881.213 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:21.381Z,1761700881.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:21.598Z,1761700881.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.774917,0.618536,0.130065],[-0.631537,-0.749307,-0.199249],[-0.025784,-0.236542,0.971279]] 2025-10-29T01:21:21.633Z,1761700881.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:21.885Z,1761700881.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:22.007Z,1761700882.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.788644,0.602388,0.123164],[-0.614209,-0.762705,-0.202557],[-0.028080,-0.235394,0.971494]] 2025-10-29T01:21:22.137Z,1761700882.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:22.389Z,1761700882.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:22.414Z,1761700882.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801638,0.586210,0.117191],[-0.597062,-0.775306,-0.205954],[-0.029874,-0.235071,0.971519]] 2025-10-29T01:21:22.641Z,1761700882.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:22.812Z,1761700882.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814777,0.569086,0.110808],[-0.578918,-0.788195,-0.208814],[-0.031495,-0.234286,0.971657]] 2025-10-29T01:21:22.893Z,1761700882.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:23.145Z,1761700883.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:23.215Z,1761700883.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.827159,0.551821,0.106308],[-0.561003,-0.799746,-0.213735],[-0.032924,-0.236432,0.971090]] 2025-10-29T01:21:23.240Z,1761700883.240 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:23.397Z,1761700883.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:23.619Z,1761700883.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.839420,0.534003,0.101067],[-0.542423,-0.811562,-0.217128],[-0.033925,-0.237083,0.970897]] 2025-10-29T01:21:23.649Z,1761700883.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:23.901Z,1761700883.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:24.026Z,1761700884.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851475,0.515379,0.096821],[-0.523288,-0.823082,-0.220693],[-0.034049,-0.238580,0.970526]] 2025-10-29T01:21:24.153Z,1761700884.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:24.405Z,1761700884.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:24.430Z,1761700884.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863354,0.496077,0.092348],[-0.503420,-0.834288,-0.224794],[-0.034470,-0.240567,0.970020]] 2025-10-29T01:21:24.660Z,1761700884.660 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:24.830Z,1761700884.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.874418,0.476938,0.089013],[-0.483932,-0.844259,-0.230296],[-0.034686,-0.244451,0.969041]] 2025-10-29T01:21:24.909Z,1761700884.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:25.161Z,1761700885.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:25.234Z,1761700885.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.885196,0.457309,0.085416],[-0.463927,-0.854063,-0.235262],[-0.034636,-0.247880,0.968171]] 2025-10-29T01:21:25.251Z,1761700885.251 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:25.413Z,1761700885.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:25.639Z,1761700885.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895557,0.437533,0.080882],[-0.443630,-0.864060,-0.237893],[-0.034199,-0.248928,0.967918]] 2025-10-29T01:21:25.665Z,1761700885.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:25.917Z,1761700885.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:26.042Z,1761700886.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905281,0.418152,0.074937],[-0.423443,-0.874048,-0.238193],[-0.034102,-0.247363,0.968323]] 2025-10-29T01:21:26.169Z,1761700886.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:26.421Z,1761700886.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:26.455Z,1761700886.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914640,0.398478,0.068186],[-0.402856,-0.884289,-0.236094],[-0.033782,-0.243410,0.969335]] 2025-10-29T01:21:26.673Z,1761700886.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:26.926Z,1761700886.926 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:27.177Z,1761700887.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:27.256Z,1761700887.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932399,0.356828,0.057497],[-0.359872,-0.901796,-0.239282],[-0.033532,-0.243798,0.969246]] 2025-10-29T01:21:27.273Z,1761700887.273 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:27.429Z,1761700887.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:27.681Z,1761700887.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:27.934Z,1761700887.934 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:28.062Z,1761700888.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947999,0.314822,0.046751],[-0.316468,-0.916766,-0.243697],[-0.033862,-0.245820,0.968724]] 2025-10-29T01:21:28.185Z,1761700888.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:28.438Z,1761700888.438 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:28.489Z,1761700888.489 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955093,0.293592,0.040022],[-0.294286,-0.924132,-0.243673],[-0.034555,-0.244508,0.969031]] 2025-10-29T01:21:28.689Z,1761700888.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:28.891Z,1761700888.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961675,0.272209,0.032902],[-0.271882,-0.931147,-0.242991],[-0.035508,-0.242624,0.969470]] 2025-10-29T01:21:28.943Z,1761700888.943 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:29.193Z,1761700889.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:29.339Z,1761700889.339 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:29.446Z,1761700889.446 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:29.697Z,1761700889.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:29.701Z,1761700889.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.973165,0.229479,0.016990],[-0.226787,-0.944010,-0.239608],[-0.038946,-0.237032,0.970721]] 2025-10-29T01:21:29.949Z,1761700889.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:30.102Z,1761700890.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.978254,0.207224,0.008745],[-0.203352,-0.949970,-0.237078],[-0.040821,-0.233701,0.971451]] 2025-10-29T01:21:30.201Z,1761700890.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:30.453Z,1761700890.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:30.506Z,1761700890.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.982631,0.185569,0.000968],[-0.180459,-0.954331,-0.238092],[-0.043258,-0.234131,0.971242]] 2025-10-29T01:21:30.705Z,1761700890.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:30.910Z,1761700890.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.986472,0.163800,-0.006479],[-0.157538,-0.958203,-0.238809],[-0.045325,-0.234557,0.971045]] 2025-10-29T01:21:30.958Z,1761700890.958 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:31.209Z,1761700891.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:31.316Z,1761700891.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.989840,0.141482,-0.014102],[-0.134089,-0.961875,-0.238362],[-0.047288,-0.234049,0.971074]] 2025-10-29T01:21:31.354Z,1761700891.354 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:31.461Z,1761700891.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:31.713Z,1761700891.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:31.720Z,1761700891.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.992616,0.119354,-0.021643],[-0.110794,-0.964731,-0.238787],[-0.049379,-0.234626,0.970831]] 2025-10-29T01:21:31.965Z,1761700891.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:32.122Z,1761700892.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.994841,0.097162,-0.029168],[-0.087452,-0.967117,-0.238824],[-0.051414,-0.235041,0.970625]] 2025-10-29T01:21:32.217Z,1761700892.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:32.469Z,1761700892.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:32.526Z,1761700892.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996502,0.075105,-0.036635],[-0.064283,-0.969091,-0.238179],[-0.053391,-0.234991,0.970530]] 2025-10-29T01:21:32.721Z,1761700892.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:32.979Z,1761700892.979 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:33.225Z,1761700893.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:33.335Z,1761700893.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998207,0.030567,-0.051457],[-0.017277,-0.970312,-0.241240],[-0.057303,-0.239918,0.969100]] 2025-10-29T01:21:33.367Z,1761700893.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:33.477Z,1761700893.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:33.729Z,1761700893.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:33.740Z,1761700893.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.998237,0.008210,-0.058775],[0.006180,-0.970618,-0.240547],[-0.059023,-0.240486,0.968856]] 2025-10-29T01:21:33.981Z,1761700893.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:34.146Z,1761700894.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.997737,-0.013269,-0.065916],[0.028917,-0.969723,-0.242490],[-0.060703,-0.243847,0.967912]] 2025-10-29T01:21:34.233Z,1761700894.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:34.487Z,1761700894.487 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:34.549Z,1761700894.549 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.996725,-0.035413,-0.072700],[0.051971,-0.969287,-0.240377],[-0.061955,-0.243368,0.967953]] 2025-10-29T01:21:34.743Z,1761700894.743 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:34.968Z,1761700894.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.993113,-0.080159,-0.085443],[0.098021,-0.967953,-0.231210],[-0.064171,-0.237993,0.969145]] 2025-10-29T01:21:34.993Z,1761700894.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:35.245Z,1761700895.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:35.388Z,1761700895.388 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:35.497Z,1761700895.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:35.749Z,1761700895.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:35.772Z,1761700895.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.987295,-0.125604,-0.097329],[0.144641,-0.963983,-0.223196],[-0.065789,-0.234437,0.969902]] 2025-10-29T01:21:36.001Z,1761700896.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:36.169Z,1761700896.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.983618,-0.147617,-0.103469],[0.167470,-0.960682,-0.221458],[-0.066710,-0.235158,0.969665]] 2025-10-29T01:21:36.253Z,1761700896.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:36.505Z,1761700896.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:36.583Z,1761700896.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.979352,-0.169381,-0.110357],[0.190402,-0.956289,-0.221944],[-0.067941,-0.238374,0.968794]] 2025-10-29T01:21:36.759Z,1761700896.759 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:36.978Z,1761700896.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.974708,-0.190451,-0.116929],[0.212548,-0.951660,-0.221734],[-0.069047,-0.240979,0.968071]] 2025-10-29T01:21:37.009Z,1761700897.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:37.261Z,1761700897.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:37.415Z,1761700897.415 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:37.513Z,1761700897.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:37.768Z,1761700897.768 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:37.812Z,1761700897.812 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.963681,-0.233379,-0.129817],[0.257535,-0.940773,-0.220506],[-0.070667,-0.245930,0.966708]] 2025-10-29T01:21:38.017Z,1761700898.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:38.214Z,1761700898.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957391,-0.254914,-0.135728],[0.279701,-0.935472,-0.216010],[-0.071906,-0.244769,0.966911]] 2025-10-29T01:21:38.271Z,1761700898.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:38.521Z,1761700898.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:38.640Z,1761700898.640 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950664,-0.275881,-0.141872],[0.301416,-0.929617,-0.212039],[-0.073389,-0.244341,0.966908]] 2025-10-29T01:21:38.773Z,1761700898.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:39.025Z,1761700899.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:39.088Z,1761700899.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943401,-0.297209,-0.147180],[0.323123,-0.923681,-0.205926],[-0.074745,-0.241828,0.967436]] 2025-10-29T01:21:39.277Z,1761700899.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:39.478Z,1761700899.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936012,-0.317436,-0.152041],[0.343626,-0.917662,-0.199544],[-0.076179,-0.239021,0.968022]] 2025-10-29T01:21:39.513Z,1761700899.513 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:39.529Z,1761700899.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:39.781Z,1761700899.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:39.882Z,1761700899.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928081,-0.337326,-0.157726],[0.364156,-0.910674,-0.195097],[-0.077826,-0.238502,0.968018]] 2025-10-29T01:21:40.033Z,1761700900.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:40.285Z,1761700900.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:40.288Z,1761700900.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919434,-0.357915,-0.162903],[0.385109,-0.903345,-0.188834],[-0.079571,-0.236356,0.968403]] 2025-10-29T01:21:40.537Z,1761700900.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:40.692Z,1761700900.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910247,-0.378333,-0.168267],[0.405996,-0.895325,-0.183195],[-0.081345,-0.235069,0.968569]] 2025-10-29T01:21:40.789Z,1761700900.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:41.041Z,1761700901.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:41.095Z,1761700901.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.900391,-0.398973,-0.173541],[0.427106,-0.886553,-0.177777],[-0.082925,-0.234189,0.968648]] 2025-10-29T01:21:41.293Z,1761700901.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:41.502Z,1761700901.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890141,-0.419089,-0.178925],[0.447820,-0.877161,-0.173336],[-0.084303,-0.234419,0.968473]] 2025-10-29T01:21:41.519Z,1761700901.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:41.545Z,1761700901.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:41.797Z,1761700901.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:41.903Z,1761700901.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879370,-0.438825,-0.184774],[0.468384,-0.867010,-0.170031],[-0.085587,-0.236065,0.967961]] 2025-10-29T01:21:42.049Z,1761700902.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:42.301Z,1761700902.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:42.311Z,1761700902.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867634,-0.459370,-0.190237],[0.489524,-0.856220,-0.165090],[-0.087047,-0.236363,0.967758]] 2025-10-29T01:21:42.553Z,1761700902.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:42.710Z,1761700902.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.855548,-0.479108,-0.196197],[0.510167,-0.844690,-0.161954],[-0.088132,-0.238653,0.967098]] 2025-10-29T01:21:42.807Z,1761700902.807 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:43.057Z,1761700903.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:43.115Z,1761700903.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.842711,-0.498842,-0.202473],[0.530936,-0.832334,-0.159144],[-0.089138,-0.241613,0.966270]] 2025-10-29T01:21:43.309Z,1761700903.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:43.522Z,1761700903.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.829254,-0.518909,-0.207538],[0.551571,-0.819727,-0.154328],[-0.090042,-0.242450,0.965976]] 2025-10-29T01:21:43.561Z,1761700903.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:43.615Z,1761700903.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:43.813Z,1761700903.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:43.934Z,1761700903.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.815270,-0.538179,-0.213771],[0.571867,-0.806333,-0.150981],[-0.091116,-0.245339,0.965146]] 2025-10-29T01:21:44.065Z,1761700904.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:44.317Z,1761700904.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:44.328Z,1761700904.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.801218,-0.557354,-0.217729],[0.591277,-0.793315,-0.145063],[-0.091876,-0.244965,0.965169]] 2025-10-29T01:21:44.517Z,1761700904.517 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:21:44.570Z,1761700904.570 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:44.730Z,1761700904.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786064,-0.576884,-0.222055],[0.611042,-0.779465,-0.138064],[-0.093437,-0.244212,0.965210]] 2025-10-29T01:21:44.823Z,1761700904.823 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:45.073Z,1761700905.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:45.141Z,1761700905.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.770976,-0.594736,-0.227784],[0.629771,-0.765188,-0.133697],[-0.094783,-0.246529,0.964489]] 2025-10-29T01:21:45.329Z,1761700905.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:45.520Z,1761700905.520 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:21:45.543Z,1761700905.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755576,-0.612304,-0.232786],[0.647925,-0.750876,-0.127981],[-0.096430,-0.247527,0.964070]] 2025-10-29T01:21:45.577Z,1761700905.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:45.831Z,1761700905.831 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:45.946Z,1761700905.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.740101,-0.628826,-0.238387],[0.665307,-0.736335,-0.123195],[-0.098065,-0.249777,0.963325]] 2025-10-29T01:21:45.991Z,1761700905.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:46.081Z,1761700906.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:46.333Z,1761700906.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:46.350Z,1761700906.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.723950,-0.646134,-0.241674],[0.682533,-0.721774,-0.114853],[-0.100223,-0.248098,0.963537]] 2025-10-29T01:21:46.585Z,1761700906.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:46.757Z,1761700906.757 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.707973,-0.662486,-0.244717],[0.698744,-0.707412,-0.106415],[-0.102617,-0.246334,0.963737]] 2025-10-29T01:21:46.839Z,1761700906.839 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:47.089Z,1761700907.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:47.155Z,1761700907.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.692014,-0.678372,-0.246835],[0.714147,-0.693260,-0.096871],[-0.105407,-0.243313,0.964204]] 2025-10-29T01:21:47.341Z,1761700907.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:47.562Z,1761700907.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.675889,-0.693807,-0.248608],[0.728967,-0.679016,-0.086865],[-0.108541,-0.239938,0.964701]] 2025-10-29T01:21:47.593Z,1761700907.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:47.847Z,1761700907.847 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:47.962Z,1761700907.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659353,-0.709202,-0.249572],[0.743422,-0.664522,-0.075722],[-0.112144,-0.235464,0.965391]] 2025-10-29T01:21:48.013Z,1761700908.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:48.097Z,1761700908.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:48.349Z,1761700908.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:48.370Z,1761700908.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.643361,-0.722796,-0.252295],[0.756785,-0.650218,-0.067028],[-0.115599,-0.234056,0.965326]] 2025-10-29T01:21:48.601Z,1761700908.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:48.780Z,1761700908.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627352,-0.735575,-0.255654],[0.769551,-0.635866,-0.058877],[-0.119254,-0.233675,0.964974]] 2025-10-29T01:21:48.855Z,1761700908.855 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:49.105Z,1761700909.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:49.174Z,1761700909.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611811,-0.747276,-0.259356],[0.781421,-0.621870,-0.051563],[-0.122754,-0.234213,0.964404]] 2025-10-29T01:21:49.357Z,1761700909.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:49.582Z,1761700909.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596876,-0.757831,-0.263498],[0.792378,-0.608350,-0.045254],[-0.126004,-0.235801,0.963598]] 2025-10-29T01:21:49.609Z,1761700909.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:49.863Z,1761700909.863 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:49.984Z,1761700909.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582039,-0.767864,-0.267610],[0.802807,-0.594969,-0.038900],[-0.129350,-0.237481,0.962742]] 2025-10-29T01:21:50.019Z,1761700910.019 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:50.113Z,1761700910.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:50.365Z,1761700910.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:50.387Z,1761700910.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568188,-0.776643,-0.272009],[0.812193,-0.582419,-0.033628],[-0.132306,-0.240031,0.961707]] 2025-10-29T01:21:50.617Z,1761700910.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:50.791Z,1761700910.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555185,-0.784212,-0.277095],[0.820692,-0.570612,-0.029431],[-0.135034,-0.243749,0.960392]] 2025-10-29T01:21:50.871Z,1761700910.871 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:51.121Z,1761700911.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:51.194Z,1761700911.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542456,-0.791844,-0.280580],[0.828673,-0.559224,-0.023880],[-0.137998,-0.245463,0.959533]] 2025-10-29T01:21:51.376Z,1761700911.376 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:51.602Z,1761700911.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531143,-0.799090,-0.281677],[0.835559,-0.549113,-0.017787],[-0.140459,-0.244805,0.959344]] 2025-10-29T01:21:51.625Z,1761700911.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:51.879Z,1761700911.879 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:52.003Z,1761700912.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520462,-0.806233,-0.281260],[0.841789,-0.539702,-0.010643],[-0.143216,-0.242301,0.959572]] 2025-10-29T01:21:52.047Z,1761700912.047 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:52.129Z,1761700912.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:52.381Z,1761700912.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:52.416Z,1761700912.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510335,-0.813160,-0.279873],[0.847485,-0.530810,-0.003102],[-0.146037,-0.238772,0.960032]] 2025-10-29T01:21:52.633Z,1761700912.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:52.810Z,1761700912.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501011,-0.819423,-0.278451],[0.852520,-0.522678,0.004211],[-0.148990,-0.235275,0.960441]] 2025-10-29T01:21:52.885Z,1761700912.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:53.137Z,1761700913.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:53.215Z,1761700913.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491779,-0.825432,-0.277155],[0.857281,-0.514713,0.011790],[-0.152387,-0.231802,0.960753]] 2025-10-29T01:21:53.389Z,1761700913.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:53.619Z,1761700913.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483134,-0.830868,-0.276114],[0.861568,-0.507288,0.018964],[-0.155826,-0.228729,0.960938]] 2025-10-29T01:21:53.641Z,1761700913.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:53.896Z,1761700913.896 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:54.023Z,1761700914.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.475534,-0.835547,-0.275188],[0.865162,-0.500836,0.025650],[-0.159256,-0.225885,0.961048]] 2025-10-29T01:21:54.067Z,1761700914.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:54.145Z,1761700914.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:54.397Z,1761700914.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:54.431Z,1761700914.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.468277,-0.840413,-0.272806],[0.868500,-0.494598,0.032874],[-0.162557,-0.221538,0.961507]] 2025-10-29T01:21:54.649Z,1761700914.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:54.833Z,1761700914.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.461337,-0.844278,-0.272694],[0.871548,-0.488772,0.038807],[-0.166049,-0.219763,0.961318]] 2025-10-29T01:21:54.902Z,1761700914.902 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:55.153Z,1761700915.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:55.234Z,1761700915.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454442,-0.848061,-0.272536],[0.874457,-0.483020,0.044915],[-0.169731,-0.217909,0.961097]] 2025-10-29T01:21:55.405Z,1761700915.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:55.646Z,1761700915.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446929,-0.852202,-0.272042],[0.877497,-0.476765,0.051908],[-0.173936,-0.215517,0.960884]] 2025-10-29T01:21:55.657Z,1761700915.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:55.911Z,1761700915.911 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:56.044Z,1761700916.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439999,-0.855948,-0.271577],[0.880236,-0.470952,0.058205],[-0.177720,-0.213441,0.960655]] 2025-10-29T01:21:56.079Z,1761700916.079 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:56.161Z,1761700916.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:56.413Z,1761700916.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:56.446Z,1761700916.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433257,-0.859671,-0.270655],[0.882792,-0.465285,0.064717],[-0.181567,-0.210893,0.960499]] 2025-10-29T01:21:56.665Z,1761700916.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:56.851Z,1761700916.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426815,-0.863283,-0.269390],[0.885094,-0.459895,0.071453],[-0.185575,-0.207938,0.960377]] 2025-10-29T01:21:56.918Z,1761700916.918 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:57.169Z,1761700917.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:57.421Z,1761700917.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:57.659Z,1761700917.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414232,-0.870458,-0.265923],[0.889244,-0.449341,0.085659],[-0.194053,-0.200987,0.960181]] 2025-10-29T01:21:57.673Z,1761700917.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:57.925Z,1761700917.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:58.064Z,1761700918.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.409415,-0.873055,-0.264868],[0.890617,-0.445436,0.091586],[-0.197941,-0.198399,0.959926]] 2025-10-29T01:21:58.098Z,1761700918.098 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:21:58.177Z,1761700918.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:58.429Z,1761700918.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:58.466Z,1761700918.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405199,-0.875111,-0.264566],[0.891693,-0.442158,0.096853],[-0.201737,-0.196666,0.959492]] 2025-10-29T01:21:58.685Z,1761700918.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:58.870Z,1761700918.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400333,-0.877651,-0.263558],[0.892897,-0.438276,0.103196],[-0.206081,-0.194017,0.959108]] 2025-10-29T01:21:58.933Z,1761700918.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:59.185Z,1761700919.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:59.437Z,1761700919.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:59.686Z,1761700919.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391177,-0.882009,-0.262756],[0.895002,-0.431085,0.114620],[-0.214366,-0.190330,0.958030]] 2025-10-29T01:21:59.689Z,1761700919.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:21:59.941Z,1761700919.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:00.082Z,1761700920.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385689,-0.884640,-0.262025],[0.896199,-0.426703,0.121457],[-0.219252,-0.187982,0.957388]] 2025-10-29T01:22:00.123Z,1761700920.123 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:00.193Z,1761700920.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:00.445Z,1761700920.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:00.512Z,1761700920.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381069,-0.886500,-0.262498],[0.897052,-0.423247,0.127124],[-0.223796,-0.187032,0.956522]] 2025-10-29T01:22:00.697Z,1761700920.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:00.917Z,1761700920.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377156,-0.887995,-0.263093],[0.897626,-0.420439,0.132282],[-0.228080,-0.186269,0.955659]] 2025-10-29T01:22:00.949Z,1761700920.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:01.201Z,1761700921.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:01.453Z,1761700921.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:01.705Z,1761700921.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:01.776Z,1761700921.776 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.370804,-0.891513,-0.260209],[0.898323,-0.415391,0.143059],[-0.235628,-0.180705,0.954896]] 2025-10-29T01:22:01.957Z,1761700921.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:02.200Z,1761700922.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366090,-0.894107,-0.257975],[0.898481,-0.411791,0.152188],[-0.242304,-0.176071,0.954090]] 2025-10-29T01:22:02.209Z,1761700922.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:02.225Z,1761700922.225 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:02.461Z,1761700922.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:02.713Z,1761700922.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:02.965Z,1761700922.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:02.987Z,1761700922.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363872,-0.895530,-0.256170],[0.898530,-0.409946,0.156805],[-0.245440,-0.173119,0.953829]] 2025-10-29T01:22:03.221Z,1761700923.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:03.402Z,1761700923.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358765,-0.898418,-0.253244],[0.898940,-0.405617,0.165474],[-0.251385,-0.168286,0.953145]] 2025-10-29T01:22:03.469Z,1761700923.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:03.721Z,1761700923.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:03.798Z,1761700923.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356331,-0.899582,-0.252549],[0.899235,-0.403585,0.168809],[-0.253782,-0.166949,0.952745]] 2025-10-29T01:22:03.973Z,1761700923.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:04.202Z,1761700924.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353945,-0.900261,-0.253484],[0.899498,-0.401904,0.171395],[-0.256176,-0.167344,0.952035]] 2025-10-29T01:22:04.225Z,1761700924.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:04.254Z,1761700924.254 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:04.477Z,1761700924.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:04.603Z,1761700924.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351413,-0.901315,-0.253259],[0.899787,-0.399875,0.174593],[-0.258635,-0.166525,0.951513]] 2025-10-29T01:22:04.729Z,1761700924.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:04.981Z,1761700924.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:05.007Z,1761700925.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348957,-0.902127,-0.253763],[0.900001,-0.398083,0.177564],[-0.261204,-0.166424,0.950829]] 2025-10-29T01:22:05.233Z,1761700925.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:05.413Z,1761700925.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346547,-0.902985,-0.254014],[0.900247,-0.396245,0.180406],[-0.263556,-0.166157,0.950227]] 2025-10-29T01:22:05.486Z,1761700925.486 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:05.737Z,1761700925.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:05.810Z,1761700925.810 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.345146,-0.903631,-0.253625],[0.900337,-0.395098,0.182455],[-0.265079,-0.165374,0.949939]] 2025-10-29T01:22:05.989Z,1761700925.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:06.218Z,1761700926.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344624,-0.903772,-0.253832],[0.900298,-0.394787,0.183323],[-0.265892,-0.165347,0.949717]] 2025-10-29T01:22:06.241Z,1761700926.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:06.278Z,1761700926.278 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:06.493Z,1761700926.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:06.619Z,1761700926.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343214,-0.904578,-0.252869],[0.900449,-0.393474,0.185394],[-0.267201,-0.164066,0.949572]] 2025-10-29T01:22:06.745Z,1761700926.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:06.997Z,1761700926.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:07.022Z,1761700927.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342118,-0.905350,-0.251589],[0.900546,-0.392350,0.187293],[-0.268277,-0.162491,0.949539]] 2025-10-29T01:22:07.249Z,1761700927.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:07.426Z,1761700927.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341760,-0.905940,-0.249945],[0.900481,-0.391785,0.188781],[-0.268949,-0.160553,0.949678]] 2025-10-29T01:22:07.501Z,1761700927.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:07.753Z,1761700927.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:07.830Z,1761700927.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341407,-0.906224,-0.249399],[0.900405,-0.391456,0.189825],[-0.269653,-0.159753,0.949614]] 2025-10-29T01:22:08.005Z,1761700928.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:08.250Z,1761700928.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340231,-0.907328,-0.246980],[0.900530,-0.390002,0.192208],[-0.270718,-0.157018,0.949767]] 2025-10-29T01:22:08.257Z,1761700928.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:08.298Z,1761700928.298 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:08.509Z,1761700928.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:08.639Z,1761700928.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339016,-0.908198,-0.245448],[0.900615,-0.388722,0.194392],[-0.271957,-0.155152,0.949719]] 2025-10-29T01:22:08.761Z,1761700928.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:09.013Z,1761700929.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:09.042Z,1761700929.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338417,-0.908677,-0.244499],[0.900591,-0.388083,0.195775],[-0.272782,-0.153940,0.949680]] 2025-10-29T01:22:09.265Z,1761700929.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:09.449Z,1761700929.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336900,-0.909515,-0.243475],[0.900761,-0.386625,0.197864],[-0.274094,-0.152653,0.949510]] 2025-10-29T01:22:09.519Z,1761700929.519 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:09.769Z,1761700929.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:09.850Z,1761700929.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336033,-0.909970,-0.242973],[0.900831,-0.385822,0.199109],[-0.274928,-0.151970,0.949379]] 2025-10-29T01:22:10.021Z,1761700930.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:10.258Z,1761700930.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334600,-0.910880,-0.241536],[0.900989,-0.384335,0.201262],[-0.276156,-0.150279,0.949291]] 2025-10-29T01:22:10.273Z,1761700930.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:10.310Z,1761700930.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:10.525Z,1761700930.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:10.658Z,1761700930.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334066,-0.911206,-0.241047],[0.900974,-0.383828,0.202291],[-0.276849,-0.149599,0.949197]] 2025-10-29T01:22:10.777Z,1761700930.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:11.029Z,1761700931.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:11.065Z,1761700931.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332462,-0.912350,-0.238928],[0.901118,-0.382053,0.204993],[-0.278308,-0.147150,0.949153]] 2025-10-29T01:22:11.281Z,1761700931.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:11.466Z,1761700931.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331054,-0.913279,-0.237329],[0.901233,-0.380550,0.207272],[-0.279613,-0.145270,0.949059]] 2025-10-29T01:22:11.533Z,1761700931.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:11.785Z,1761700931.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:11.878Z,1761700931.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.329376,-0.913939,-0.237123],[0.901424,-0.379110,0.209071],[-0.280974,-0.144885,0.948716]] 2025-10-29T01:22:12.037Z,1761700932.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:12.278Z,1761700932.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327515,-0.914391,-0.237958],[0.901746,-0.377697,0.210236],[-0.282113,-0.145722,0.948250]] 2025-10-29T01:22:12.289Z,1761700932.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:12.334Z,1761700932.334 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:12.541Z,1761700932.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:12.681Z,1761700932.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326203,-0.913854,-0.241791],[0.902084,-0.377389,0.209335],[-0.282551,-0.149830,0.947479]] 2025-10-29T01:22:12.793Z,1761700932.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:13.045Z,1761700933.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:13.083Z,1761700933.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.324570,-0.914005,-0.243413],[0.902442,-0.376317,0.209726],[-0.283291,-0.151595,0.946977]] 2025-10-29T01:22:13.298Z,1761700933.298 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:13.488Z,1761700933.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322998,-0.913930,-0.245772],[0.902834,-0.375442,0.209605],[-0.283837,-0.154189,0.946394]] 2025-10-29T01:22:13.549Z,1761700933.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:13.801Z,1761700933.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:13.896Z,1761700933.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321932,-0.913840,-0.247498],[0.903137,-0.374858,0.209342],[-0.284082,-0.156131,0.946003]] 2025-10-29T01:22:14.053Z,1761700934.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:14.299Z,1761700934.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321168,-0.913472,-0.249839],[0.903299,-0.374723,0.208888],[-0.284433,-0.158591,0.945487]] 2025-10-29T01:22:14.305Z,1761700934.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:14.358Z,1761700934.358 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:14.557Z,1761700934.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:14.699Z,1761700934.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320213,-0.913813,-0.249818],[0.903432,-0.373917,0.209753],[-0.285086,-0.158528,0.945301]] 2025-10-29T01:22:14.809Z,1761700934.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:15.061Z,1761700935.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:15.102Z,1761700935.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319795,-0.913564,-0.251262],[0.903449,-0.373922,0.209672],[-0.285501,-0.159950,0.944937]] 2025-10-29T01:22:15.313Z,1761700935.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:15.506Z,1761700935.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320085,-0.913657,-0.250553],[0.903363,-0.374027,0.209853],[-0.285447,-0.159169,0.945085]] 2025-10-29T01:22:15.565Z,1761700935.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:15.656Z,1761700935.656 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:22:15.820Z,1761700935.820 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:15.932Z,1761700935.932 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320407,-0.914086,-0.248570],[0.903357,-0.373820,0.210249],[-0.285106,-0.157182,0.945520]] 2025-10-29T01:22:16.069Z,1761700936.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:16.325Z,1761700936.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:16.336Z,1761700936.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320671,-0.914894,-0.245233],[0.903408,-0.373226,0.211084],[-0.284647,-0.153857,0.946205]] 2025-10-29T01:22:16.402Z,1761700936.402 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:16.578Z,1761700936.578 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:16.660Z,1761700936.660 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:22:16.789Z,1761700936.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.320651,-0.915321,-0.243662],[0.903508,-0.372794,0.211420],[-0.284353,-0.152358,0.946536]] 2025-10-29T01:22:16.829Z,1761700936.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:17.081Z,1761700937.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:17.183Z,1761700937.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321260,-0.915550,-0.241992],[0.903599,-0.372828,0.210970],[-0.283375,-0.150887,0.947065]] 2025-10-29T01:22:17.333Z,1761700937.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:17.585Z,1761700937.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:17.588Z,1761700937.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.322392,-0.915598,-0.240297],[0.903652,-0.373283,0.209934],[-0.281914,-0.149464,0.947726]] 2025-10-29T01:22:17.837Z,1761700937.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:17.992Z,1761700937.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323577,-0.916035,-0.237019],[0.903762,-0.373390,0.209272],[-0.280201,-0.146493,0.948698]] 2025-10-29T01:22:18.089Z,1761700938.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:18.341Z,1761700938.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:18.396Z,1761700938.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325316,-0.916265,-0.233724],[0.903824,-0.373954,0.207990],[-0.277976,-0.143583,0.949796]] 2025-10-29T01:22:18.439Z,1761700938.439 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:18.593Z,1761700938.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:18.798Z,1761700938.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326298,-0.916471,-0.231538],[0.904060,-0.374100,0.206699],[-0.276052,-0.141879,0.950613]] 2025-10-29T01:22:18.845Z,1761700938.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:19.097Z,1761700939.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:19.202Z,1761700939.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327412,-0.916599,-0.229449],[0.904245,-0.374401,0.205342],[-0.274122,-0.140246,0.951414]] 2025-10-29T01:22:19.349Z,1761700939.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:19.601Z,1761700939.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:19.610Z,1761700939.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.327999,-0.916732,-0.228078],[0.904523,-0.374409,0.204097],[-0.272497,-0.139359,0.952011]] 2025-10-29T01:22:19.853Z,1761700939.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:20.011Z,1761700940.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328981,-0.916508,-0.227561],[0.904662,-0.374987,0.202414],[-0.270846,-0.139276,0.952494]] 2025-10-29T01:22:20.105Z,1761700940.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:20.357Z,1761700940.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:20.415Z,1761700940.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330047,-0.916531,-0.225918],[0.904745,-0.375411,0.201255],[-0.269268,-0.137975,0.953130]] 2025-10-29T01:22:20.458Z,1761700940.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:20.609Z,1761700940.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:20.818Z,1761700940.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.330806,-0.916711,-0.224071],[0.904896,-0.375519,0.200370],[-0.267825,-0.136478,0.953753]] 2025-10-29T01:22:20.861Z,1761700940.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:21.113Z,1761700941.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:21.224Z,1761700941.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.331939,-0.916423,-0.223574],[0.904898,-0.376291,0.198909],[-0.266414,-0.136285,0.954175]] 2025-10-29T01:22:21.367Z,1761700941.367 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:21.617Z,1761700941.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:21.629Z,1761700941.629 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.332797,-0.915904,-0.224425],[0.904937,-0.377121,0.197153],[-0.265209,-0.137479,0.954340]] 2025-10-29T01:22:21.869Z,1761700941.869 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:22.030Z,1761700942.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334136,-0.915583,-0.223741],[0.904887,-0.378037,0.195621],[-0.263690,-0.137097,0.954815]] 2025-10-29T01:22:22.121Z,1761700942.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:22.378Z,1761700942.378 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:22.435Z,1761700942.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335024,-0.915586,-0.222397],[0.904955,-0.378402,0.194597],[-0.262326,-0.136065,0.955338]] 2025-10-29T01:22:22.498Z,1761700942.498 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:22.630Z,1761700942.630 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:22.840Z,1761700942.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335796,-0.915398,-0.222006],[0.905022,-0.378882,0.193350],[-0.261106,-0.135994,0.955683]] 2025-10-29T01:22:22.881Z,1761700942.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:23.133Z,1761700943.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:23.242Z,1761700943.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336642,-0.915108,-0.221923],[0.905081,-0.379487,0.191882],[-0.259809,-0.136263,0.955998]] 2025-10-29T01:22:23.387Z,1761700943.387 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:23.637Z,1761700943.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:23.648Z,1761700943.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337349,-0.915088,-0.220930],[0.905115,-0.379807,0.191087],[-0.258772,-0.135504,0.956387]] 2025-10-29T01:22:23.889Z,1761700943.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:24.050Z,1761700944.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.337745,-0.915128,-0.220156],[0.905203,-0.379905,0.190473],[-0.257945,-0.134955,0.956688]] 2025-10-29T01:22:24.141Z,1761700944.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:24.395Z,1761700944.395 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:24.456Z,1761700944.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.338886,-0.914277,-0.221932],[0.905106,-0.381202,0.188330],[-0.256787,-0.137049,0.956702]] 2025-10-29T01:22:24.645Z,1761700944.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:24.874Z,1761700944.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339808,-0.913901,-0.222073],[0.905027,-0.381980,0.187129],[-0.255845,-0.137394,0.956905]] 2025-10-29T01:22:24.893Z,1761700944.893 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:24.897Z,1761700944.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:25.149Z,1761700945.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:25.267Z,1761700945.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340598,-0.913556,-0.222282],[0.904960,-0.382663,0.186057],[-0.255032,-0.137785,0.957065]] 2025-10-29T01:22:25.402Z,1761700945.402 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:25.653Z,1761700945.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:25.905Z,1761700945.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:26.072Z,1761700946.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341903,-0.913388,-0.220961],[0.904886,-0.383432,0.184826],[-0.253542,-0.136752,0.957609]] 2025-10-29T01:22:26.157Z,1761700946.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:26.411Z,1761700946.411 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:26.475Z,1761700946.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.342702,-0.913342,-0.219913],[0.905040,-0.383749,0.183412],[-0.251910,-0.136174,0.958122]] 2025-10-29T01:22:26.663Z,1761700946.663 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:26.884Z,1761700946.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.343999,-0.913380,-0.217722],[0.905571,-0.384014,0.180209],[-0.248208,-0.135171,0.959230]] 2025-10-29T01:22:26.913Z,1761700946.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:26.922Z,1761700946.922 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:27.165Z,1761700947.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:27.283Z,1761700947.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346523,-0.913325,-0.213914],[0.906345,-0.384771,0.174612],[-0.241786,-0.133373,0.961120]] 2025-10-29T01:22:27.419Z,1761700947.419 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:27.669Z,1761700947.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:27.687Z,1761700947.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348930,-0.913535,-0.209052],[0.907438,-0.385078,0.168142],[-0.234105,-0.131032,0.963341]] 2025-10-29T01:22:27.921Z,1761700947.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:28.090Z,1761700948.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.351537,-0.913368,-0.205379],[0.908643,-0.385699,0.160013],[-0.225365,-0.130366,0.965513]] 2025-10-29T01:22:28.173Z,1761700948.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:28.427Z,1761700948.427 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:28.495Z,1761700948.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353866,-0.913132,-0.202407],[0.909963,-0.386149,0.151185],[-0.216211,-0.130683,0.967561]] 2025-10-29T01:22:28.677Z,1761700948.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:28.907Z,1761700948.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.356226,-0.912806,-0.199720],[0.911235,-0.386664,0.141918],[-0.206768,-0.131437,0.969521]] 2025-10-29T01:22:28.924Z,1761700948.924 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:28.929Z,1761700948.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:29.181Z,1761700949.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:29.302Z,1761700949.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.358550,-0.912214,-0.198262],[0.912451,-0.387323,0.131960],[-0.197167,-0.133590,0.971225]] 2025-10-29T01:22:29.435Z,1761700949.435 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:29.685Z,1761700949.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:29.707Z,1761700949.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361175,-0.911370,-0.197375],[0.913450,-0.388345,0.121646],[-0.187514,-0.136357,0.972751]] 2025-10-29T01:22:29.937Z,1761700949.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:30.111Z,1761700950.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.362759,-0.911065,-0.195875],[0.914671,-0.388316,0.112193],[-0.178276,-0.138462,0.974190]] 2025-10-29T01:22:30.189Z,1761700950.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:30.444Z,1761700950.444 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:30.516Z,1761700950.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.365664,-0.910145,-0.194747],[0.915295,-0.389602,0.102203],[-0.168893,-0.140879,0.975514]] 2025-10-29T01:22:30.693Z,1761700950.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:30.921Z,1761700950.921 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.368612,-0.909424,-0.192543],[0.915751,-0.390852,0.092928],[-0.159767,-0.142067,0.976878]] 2025-10-29T01:22:30.945Z,1761700950.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:30.953Z,1761700950.953 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:31.197Z,1761700951.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:31.450Z,1761700951.450 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:31.701Z,1761700951.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:31.730Z,1761700951.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.373627,-0.908800,-0.185702],[0.916647,-0.392394,0.076056],[-0.141988,-0.141807,0.979658]] 2025-10-29T01:22:31.953Z,1761700951.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:32.130Z,1761700952.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376064,-0.908447,-0.182482],[0.916958,-0.393192,0.067731],[-0.133281,-0.141857,0.980873]] 2025-10-29T01:22:32.209Z,1761700952.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:32.457Z,1761700952.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:32.539Z,1761700952.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378204,-0.908181,-0.179355],[0.917266,-0.393777,0.059698],[-0.124843,-0.141938,0.981971]] 2025-10-29T01:22:32.709Z,1761700952.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:32.941Z,1761700952.941 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380541,-0.908150,-0.174507],[0.917398,-0.394498,0.052468],[-0.116491,-0.140126,0.983257]] 2025-10-29T01:22:32.961Z,1761700952.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:32.995Z,1761700952.995 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:33.213Z,1761700953.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:33.364Z,1761700953.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382474,-0.908402,-0.168875],[0.917586,-0.394877,0.045919],[-0.108398,-0.137394,0.984567]] 2025-10-29T01:22:33.465Z,1761700953.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:33.717Z,1761700953.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:33.759Z,1761700953.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384198,-0.908548,-0.164108],[0.917773,-0.395171,0.039150],[-0.100420,-0.135573,0.985665]] 2025-10-29T01:22:33.972Z,1761700953.972 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:34.221Z,1761700954.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:34.237Z,1761700954.237 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386850,-0.908908,-0.155669],[0.918159,-0.395325,0.026495],[-0.085621,-0.132679,0.987454]] 2025-10-29T01:22:34.473Z,1761700954.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:34.642Z,1761700954.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388081,-0.908516,-0.154895],[0.918247,-0.395535,0.019341],[-0.078838,-0.134726,0.987742]] 2025-10-29T01:22:34.725Z,1761700954.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:34.977Z,1761700954.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:35.043Z,1761700955.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389455,-0.907939,-0.154825],[0.918211,-0.395909,0.012011],[-0.072202,-0.137484,0.987869]] 2025-10-29T01:22:35.065Z,1761700955.065 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:35.229Z,1761700955.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:35.446Z,1761700955.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390603,-0.907655,-0.153594],[0.918201,-0.396076,0.005528],[-0.065852,-0.138871,0.988119]] 2025-10-29T01:22:35.483Z,1761700955.483 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:35.737Z,1761700955.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:35.858Z,1761700955.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391942,-0.907332,-0.152088],[0.918063,-0.396434,-0.000857],[-0.059515,-0.139962,0.988367]] 2025-10-29T01:22:35.989Z,1761700955.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:36.241Z,1761700956.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:36.258Z,1761700956.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393514,-0.906839,-0.150963],[0.917766,-0.397056,-0.007205],[-0.053406,-0.141384,0.988513]] 2025-10-29T01:22:36.493Z,1761700956.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:36.658Z,1761700956.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394866,-0.906453,-0.149744],[0.917503,-0.397512,-0.013118],[-0.047634,-0.142571,0.988638]] 2025-10-29T01:22:36.745Z,1761700956.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:36.997Z,1761700956.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:37.063Z,1761700957.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396343,-0.906062,-0.148202],[0.917127,-0.398169,-0.018432],[-0.042309,-0.143226,0.988785]] 2025-10-29T01:22:37.092Z,1761700957.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:37.249Z,1761700957.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:37.466Z,1761700957.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397548,-0.905539,-0.148172],[0.916798,-0.398666,-0.023380],[-0.037899,-0.145138,0.988685]] 2025-10-29T01:22:37.501Z,1761700957.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:37.756Z,1761700957.756 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:37.871Z,1761700957.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398426,-0.905414,-0.146570],[0.916554,-0.399028,-0.026561],[-0.034437,-0.144922,0.988844]] 2025-10-29T01:22:38.009Z,1761700958.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:38.261Z,1761700958.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:38.278Z,1761700958.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399214,-0.905421,-0.144366],[0.916315,-0.399416,-0.028861],[-0.031531,-0.143806,0.989103]] 2025-10-29T01:22:38.513Z,1761700958.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:38.679Z,1761700958.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399771,-0.905279,-0.143713],[0.916155,-0.399594,-0.031371],[-0.029027,-0.144205,0.989122]] 2025-10-29T01:22:38.765Z,1761700958.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:39.019Z,1761700959.019 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:39.082Z,1761700959.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400100,-0.905122,-0.143783],[0.916074,-0.399595,-0.033656],[-0.026992,-0.145182,0.989037]] 2025-10-29T01:22:39.122Z,1761700959.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:39.269Z,1761700959.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:39.491Z,1761700959.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400549,-0.905131,-0.142469],[0.915938,-0.399747,-0.035480],[-0.024838,-0.144704,0.989163]] 2025-10-29T01:22:39.521Z,1761700959.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:39.773Z,1761700959.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:39.891Z,1761700959.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401085,-0.904880,-0.142561],[0.915760,-0.399931,-0.037939],[-0.022684,-0.145768,0.989059]] 2025-10-29T01:22:40.025Z,1761700960.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:40.277Z,1761700960.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:40.295Z,1761700960.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.401041,-0.904940,-0.142302],[0.915821,-0.399614,-0.039742],[-0.020901,-0.146262,0.989025]] 2025-10-29T01:22:40.529Z,1761700960.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:40.699Z,1761700960.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.400465,-0.905168,-0.142476],[0.916106,-0.398805,-0.041288],[-0.019448,-0.147057,0.988937]] 2025-10-29T01:22:40.781Z,1761700960.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:41.033Z,1761700961.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:41.104Z,1761700961.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399915,-0.905203,-0.143788],[0.916376,-0.397961,-0.043376],[-0.017958,-0.149111,0.988657]] 2025-10-29T01:22:41.285Z,1761700961.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:41.519Z,1761700961.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399738,-0.905115,-0.144831],[0.916487,-0.397436,-0.045775],[-0.016130,-0.151034,0.988397]] 2025-10-29T01:22:41.537Z,1761700961.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:41.544Z,1761700961.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:41.789Z,1761700961.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:42.041Z,1761700962.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:42.293Z,1761700962.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:42.318Z,1761700962.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397932,-0.905327,-0.148437],[0.917309,-0.395108,-0.049343],[-0.013977,-0.155798,0.987690]] 2025-10-29T01:22:42.545Z,1761700962.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:42.797Z,1761700962.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:43.049Z,1761700963.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:43.122Z,1761700963.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397121,-0.905173,-0.151514],[0.917670,-0.394027,-0.051240],[-0.013319,-0.159388,0.987126]] 2025-10-29T01:22:43.301Z,1761700963.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:43.530Z,1761700963.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.396328,-0.905341,-0.152581],[0.918011,-0.393201,-0.051466],[-0.013400,-0.160469,0.986950]] 2025-10-29T01:22:43.577Z,1761700963.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:43.590Z,1761700963.590 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:43.805Z,1761700963.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:43.931Z,1761700963.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395494,-0.905499,-0.153807],[0.918367,-0.392352,-0.051588],[-0.013634,-0.161654,0.986753]] 2025-10-29T01:22:44.057Z,1761700964.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:44.309Z,1761700964.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:44.354Z,1761700964.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394852,-0.905740,-0.154035],[0.918641,-0.391732,-0.051416],[-0.013771,-0.161804,0.986727]] 2025-10-29T01:22:44.561Z,1761700964.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:44.738Z,1761700964.738 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394398,-0.905947,-0.153984],[0.918837,-0.391288,-0.051314],[-0.013764,-0.161724,0.986740]] 2025-10-29T01:22:44.814Z,1761700964.814 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:45.065Z,1761700965.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:45.143Z,1761700965.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.393027,-0.906646,-0.153368],[0.919416,-0.390064,-0.050238],[-0.014275,-0.160754,0.986891]] 2025-10-29T01:22:45.317Z,1761700965.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:45.550Z,1761700965.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.391860,-0.907232,-0.152894],[0.919907,-0.389021,-0.049330],[-0.014725,-0.159978,0.987011]] 2025-10-29T01:22:45.569Z,1761700965.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:45.821Z,1761700965.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:45.952Z,1761700965.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390813,-0.907766,-0.152398],[0.920347,-0.388079,-0.048547],[-0.015073,-0.159232,0.987126]] 2025-10-29T01:22:46.029Z,1761700966.029 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:46.073Z,1761700966.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:46.325Z,1761700966.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:46.359Z,1761700966.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390326,-0.908011,-0.152191],[0.920551,-0.387632,-0.048233],[-0.015198,-0.158926,0.987173]] 2025-10-29T01:22:46.577Z,1761700966.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:46.768Z,1761700966.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389298,-0.908515,-0.151812],[0.920981,-0.386693,-0.047555],[-0.015500,-0.158329,0.987265]] 2025-10-29T01:22:46.800Z,1761700966.800 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:22:46.829Z,1761700966.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:47.081Z,1761700967.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:47.167Z,1761700967.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.388525,-0.908713,-0.152605],[0.921297,-0.385997,-0.047094],[-0.016110,-0.158891,0.987165]] 2025-10-29T01:22:47.334Z,1761700967.334 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:47.574Z,1761700967.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387416,-0.909182,-0.152635],[0.921740,-0.385129,-0.045501],[-0.017416,-0.158318,0.987235]] 2025-10-29T01:22:47.585Z,1761700967.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:47.805Z,1761700967.805 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:22:47.837Z,1761700967.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:47.974Z,1761700967.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386257,-0.909547,-0.153396],[0.922189,-0.384272,-0.043605],[-0.019285,-0.158303,0.987202]] 2025-10-29T01:22:48.090Z,1761700968.090 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:48.341Z,1761700968.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:48.378Z,1761700968.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.385594,-0.909610,-0.154685],[0.922422,-0.383909,-0.041848],[-0.021319,-0.158821,0.987077]] 2025-10-29T01:22:48.412Z,1761700968.412 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:48.593Z,1761700968.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:48.785Z,1761700968.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384212,-0.910252,-0.154344],[0.922938,-0.382988,-0.038798],[-0.023796,-0.157357,0.987255]] 2025-10-29T01:22:48.845Z,1761700968.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:49.097Z,1761700969.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:49.187Z,1761700969.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383882,-0.910190,-0.155526],[0.923017,-0.382982,-0.036926],[-0.025954,-0.157729,0.987141]] 2025-10-29T01:22:49.349Z,1761700969.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:49.598Z,1761700969.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383496,-0.910293,-0.155879],[0.923118,-0.382940,-0.034795],[-0.028019,-0.157238,0.987163]] 2025-10-29T01:22:49.601Z,1761700969.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:49.853Z,1761700969.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:49.994Z,1761700969.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.383501,-0.910208,-0.156361],[0.923055,-0.383254,-0.032947],[-0.029937,-0.156965,0.987150]] 2025-10-29T01:22:50.105Z,1761700970.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:50.357Z,1761700970.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:50.398Z,1761700970.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382875,-0.910231,-0.157752],[0.923242,-0.382960,-0.031091],[-0.032112,-0.157547,0.986989]] 2025-10-29T01:22:50.418Z,1761700970.418 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:50.609Z,1761700970.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:50.818Z,1761700970.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382377,-0.910452,-0.157689],[0.923375,-0.382820,-0.028779],[-0.034164,-0.156611,0.987069]] 2025-10-29T01:22:50.861Z,1761700970.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:51.113Z,1761700971.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:51.209Z,1761700971.209 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382424,-0.910432,-0.157689],[0.923293,-0.383144,-0.027032],[-0.035807,-0.155931,0.987119]] 2025-10-29T01:22:51.365Z,1761700971.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:51.611Z,1761700971.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382175,-0.910365,-0.158676],[0.923305,-0.383255,-0.024974],[-0.038078,-0.156051,0.987015]] 2025-10-29T01:22:51.617Z,1761700971.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:51.869Z,1761700971.869 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:52.121Z,1761700972.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:52.373Z,1761700972.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:52.419Z,1761700972.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380986,-0.910640,-0.159952],[0.923540,-0.383026,-0.019110],[-0.043863,-0.155003,0.986940]] 2025-10-29T01:22:52.435Z,1761700972.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:52.625Z,1761700972.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:52.839Z,1761700972.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380650,-0.910619,-0.160870],[0.923537,-0.383160,-0.016360],[-0.046741,-0.154797,0.986840]] 2025-10-29T01:22:52.877Z,1761700972.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:53.129Z,1761700973.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:53.227Z,1761700973.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379636,-0.910680,-0.162906],[0.923787,-0.382664,-0.013615],[-0.049940,-0.155659,0.986548]] 2025-10-29T01:22:53.384Z,1761700973.384 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:53.633Z,1761700973.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:53.635Z,1761700973.635 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379144,-0.910857,-0.163065],[0.923809,-0.382720,-0.010140],[-0.053172,-0.154485,0.986563]] 2025-10-29T01:22:53.885Z,1761700973.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:54.039Z,1761700974.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378663,-0.911261,-0.161920],[0.923788,-0.382862,-0.005666],[-0.056830,-0.151726,0.986788]] 2025-10-29T01:22:54.137Z,1761700974.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:54.389Z,1761700974.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:54.442Z,1761700974.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.378913,-0.911562,-0.159626],[0.923456,-0.383704,-0.000869],[-0.060457,-0.147737,0.987177]] 2025-10-29T01:22:54.458Z,1761700974.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:54.641Z,1761700974.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:54.865Z,1761700974.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379203,-0.911941,-0.156745],[0.923083,-0.384576,0.004299],[-0.064201,-0.143058,0.987630]] 2025-10-29T01:22:54.893Z,1761700974.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:55.145Z,1761700975.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:55.246Z,1761700975.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379507,-0.912187,-0.154561],[0.922671,-0.385472,0.009462],[-0.068210,-0.139018,0.987938]] 2025-10-29T01:22:55.397Z,1761700975.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:55.649Z,1761700975.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:55.656Z,1761700975.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379719,-0.912422,-0.152642],[0.922278,-0.386253,0.014536],[-0.072221,-0.135258,0.988175]] 2025-10-29T01:22:55.902Z,1761700975.902 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:56.054Z,1761700976.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.379871,-0.912695,-0.150616],[0.921884,-0.386960,0.019785],[-0.076340,-0.131335,0.988394]] 2025-10-29T01:22:56.153Z,1761700976.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:56.405Z,1761700976.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:56.459Z,1761700976.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380843,-0.912752,-0.147791],[0.921166,-0.388376,0.024842],[-0.080073,-0.126679,0.988707]] 2025-10-29T01:22:56.487Z,1761700976.487 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:56.657Z,1761700976.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:56.891Z,1761700976.891 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382013,-0.912721,-0.144940],[0.920317,-0.390000,0.030273],[-0.084158,-0.121826,0.988977]] 2025-10-29T01:22:56.909Z,1761700976.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:57.161Z,1761700977.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:57.268Z,1761700977.268 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.384060,-0.912346,-0.141858],[0.919089,-0.392436,0.035615],[-0.088163,-0.116702,0.989246]] 2025-10-29T01:22:57.413Z,1761700977.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:57.665Z,1761700977.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:57.682Z,1761700977.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.386644,-0.911729,-0.138769],[0.917595,-0.395386,0.041091],[-0.092331,-0.111446,0.989472]] 2025-10-29T01:22:57.917Z,1761700977.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:58.074Z,1761700978.074 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390281,-0.910351,-0.137633],[0.915670,-0.399387,0.045150],[-0.096072,-0.108405,0.989454]] 2025-10-29T01:22:58.169Z,1761700978.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:58.421Z,1761700978.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:58.478Z,1761700978.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.394492,-0.908687,-0.136615],[0.913478,-0.403932,0.048958],[-0.099671,-0.105481,0.989414]] 2025-10-29T01:22:58.553Z,1761700978.553 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:22:58.673Z,1761700978.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:58.918Z,1761700978.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398299,-0.907170,-0.135649],[0.911412,-0.408077,0.052932],[-0.103374,-0.102550,0.989342]] 2025-10-29T01:22:58.925Z,1761700978.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:59.178Z,1761700979.178 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:59.289Z,1761700979.289 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.402313,-0.905319,-0.136171],[0.909207,-0.412515,0.056339],[-0.107177,-0.101141,0.989082]] 2025-10-29T01:22:59.429Z,1761700979.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:59.681Z,1761700979.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:22:59.692Z,1761700979.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.406672,-0.903227,-0.137106],[0.906844,-0.417287,0.059203],[-0.110687,-0.100258,0.988786]] 2025-10-29T01:22:59.936Z,1761700979.936 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:00.094Z,1761700980.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.410611,-0.901358,-0.137663],[0.904599,-0.421645,0.062580],[-0.114452,-0.098834,0.988500]] 2025-10-29T01:23:00.185Z,1761700980.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:00.437Z,1761700980.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:00.501Z,1761700980.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.415522,-0.899150,-0.137374],[0.901885,-0.426887,0.066112],[-0.118087,-0.096424,0.988311]] 2025-10-29T01:23:00.689Z,1761700980.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:00.943Z,1761700980.943 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:00.947Z,1761700980.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421356,-0.896794,-0.134980],[0.898713,-0.432852,0.070388],[-0.121550,-0.091650,0.988345]] 2025-10-29T01:23:00.991Z,1761700980.991 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:01.193Z,1761700981.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:01.315Z,1761700981.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427297,-0.894308,-0.132782],[0.895435,-0.438905,0.074552],[-0.124951,-0.087041,0.988338]] 2025-10-29T01:23:01.445Z,1761700981.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:01.701Z,1761700981.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:01.712Z,1761700981.712 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.433690,-0.891441,-0.131323],[0.891874,-0.445444,0.078359],[-0.128350,-0.083140,0.988238]] 2025-10-29T01:23:01.955Z,1761700981.955 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:02.115Z,1761700982.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439182,-0.888997,-0.129633],[0.888693,-0.451043,0.082372],[-0.131698,-0.079028,0.988135]] 2025-10-29T01:23:02.205Z,1761700982.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:02.457Z,1761700982.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:02.519Z,1761700982.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444071,-0.886654,-0.129022],[0.885818,-0.456091,0.085482],[-0.134639,-0.076330,0.987950]] 2025-10-29T01:23:02.709Z,1761700982.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:02.958Z,1761700982.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.449653,-0.883772,-0.129459],[0.882605,-0.461887,0.087573],[-0.137190,-0.074883,0.987710]] 2025-10-29T01:23:02.963Z,1761700982.963 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:03.025Z,1761700983.025 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:03.213Z,1761700983.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:03.327Z,1761700983.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455425,-0.880524,-0.131400],[0.879249,-0.468015,0.088785],[-0.139675,-0.075099,0.987345]] 2025-10-29T01:23:03.465Z,1761700983.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:03.717Z,1761700983.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:03.741Z,1761700983.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460967,-0.877268,-0.133831],[0.875962,-0.473966,0.089706],[-0.142128,-0.075879,0.986936]] 2025-10-29T01:23:03.971Z,1761700983.971 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:04.135Z,1761700984.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.466811,-0.873839,-0.135990],[0.872501,-0.480170,0.090435],[-0.144324,-0.076435,0.986574]] 2025-10-29T01:23:04.221Z,1761700984.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:04.473Z,1761700984.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:04.540Z,1761700984.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473841,-0.869884,-0.137027],[0.868446,-0.487378,0.090912],[-0.145867,-0.075922,0.986387]] 2025-10-29T01:23:04.725Z,1761700984.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:04.959Z,1761700984.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480846,-0.866148,-0.136289],[0.864317,-0.494377,0.092453],[-0.147456,-0.073341,0.986346]] 2025-10-29T01:23:04.987Z,1761700984.987 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:05.229Z,1761700985.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:05.348Z,1761700985.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487588,-0.862591,-0.134883],[0.860182,-0.501072,0.094940],[-0.149481,-0.069732,0.986303]] 2025-10-29T01:23:05.383Z,1761700985.383 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:05.482Z,1761700985.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:05.733Z,1761700985.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:05.987Z,1761700985.987 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:06.154Z,1761700986.154 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502064,-0.854414,-0.133825],[0.851224,-0.515554,0.098095],[-0.152808,-0.064665,0.986138]] 2025-10-29T01:23:06.237Z,1761700986.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:06.489Z,1761700986.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:06.558Z,1761700986.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509279,-0.850173,-0.133571],[0.846672,-0.522776,0.099256],[-0.154212,-0.062542,0.986056]] 2025-10-29T01:23:06.741Z,1761700986.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:06.968Z,1761700986.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515642,-0.846028,-0.135462],[0.842400,-0.529465,0.100141],[-0.156445,-0.062477,0.985709]] 2025-10-29T01:23:06.995Z,1761700986.995 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:07.245Z,1761700987.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:07.366Z,1761700987.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521941,-0.841968,-0.136628],[0.838077,-0.536012,0.101576],[-0.158758,-0.061488,0.985401]] 2025-10-29T01:23:07.408Z,1761700987.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:07.497Z,1761700987.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:07.749Z,1761700987.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:07.785Z,1761700987.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528213,-0.838635,-0.132974],[0.833732,-0.541917,0.105911],[-0.160881,-0.054921,0.985445]] 2025-10-29T01:23:08.003Z,1761700988.003 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:08.176Z,1761700988.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534522,-0.834968,-0.130825],[0.829266,-0.548026,0.109481],[-0.163108,-0.049968,0.985342]] 2025-10-29T01:23:08.253Z,1761700988.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:08.505Z,1761700988.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:08.578Z,1761700988.578 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541264,-0.830423,-0.132026],[0.824416,-0.554995,0.110993],[-0.165445,-0.048768,0.985013]] 2025-10-29T01:23:08.757Z,1761700988.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:08.983Z,1761700988.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547792,-0.825576,-0.135460],[0.819512,-0.562084,0.111628],[-0.168297,-0.049862,0.984474]] 2025-10-29T01:23:09.011Z,1761700989.011 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:09.261Z,1761700989.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:09.420Z,1761700989.420 [RDI_Pathfinder](ERROR): only read 1 of 4 data items for bottom velocity. Device response is::BS, +8 +0,A 2025-10-29T01:23:09.434Z,1761700989.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:09.513Z,1761700989.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:09.765Z,1761700989.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:09.806Z,1761700989.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561787,-0.814915,-0.142506],[0.808770,-0.577244,0.112613],[-0.174031,-0.051991,0.983367]] 2025-10-29T01:23:10.019Z,1761700990.019 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:10.196Z,1761700990.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568825,-0.809647,-0.144602],[0.803265,-0.584658,0.113755],[-0.176644,-0.051447,0.982929]] 2025-10-29T01:23:10.270Z,1761700990.270 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:10.521Z,1761700990.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:10.598Z,1761700990.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576328,-0.803699,-0.148031],[0.797398,-0.592700,0.113421],[-0.178894,-0.052672,0.982458]] 2025-10-29T01:23:10.774Z,1761700990.774 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:11.003Z,1761700991.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584203,-0.797568,-0.150310],[0.791238,-0.600920,0.113306],[-0.180694,-0.052737,0.982125]] 2025-10-29T01:23:11.025Z,1761700991.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:11.277Z,1761700991.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:11.407Z,1761700991.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592105,-0.791692,-0.150453],[0.785011,-0.608838,0.114340],[-0.182124,-0.050406,0.981983]] 2025-10-29T01:23:11.453Z,1761700991.453 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:11.529Z,1761700991.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:11.781Z,1761700991.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:11.815Z,1761700991.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600191,-0.785180,-0.152524],[0.778574,-0.617197,0.113538],[-0.183285,-0.050607,0.981756]] 2025-10-29T01:23:12.033Z,1761700992.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:12.214Z,1761700992.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608060,-0.778614,-0.154992],[0.772220,-0.625385,0.112116],[-0.184225,-0.051515,0.981533]] 2025-10-29T01:23:12.285Z,1761700992.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:12.537Z,1761700992.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:12.620Z,1761700992.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616008,-0.772074,-0.156319],[0.765858,-0.633434,0.110562],[-0.184380,-0.051611,0.981499]] 2025-10-29T01:23:12.789Z,1761700992.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:13.022Z,1761700993.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.623598,-0.765238,-0.159802],[0.759687,-0.641422,0.107020],[-0.184396,-0.054662,0.981331]] 2025-10-29T01:23:13.041Z,1761700993.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:13.293Z,1761700993.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:13.427Z,1761700993.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.631253,-0.758078,-0.163818],[0.753428,-0.649508,0.102396],[-0.184025,-0.058787,0.981162]] 2025-10-29T01:23:13.492Z,1761700993.492 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:13.547Z,1761700993.547 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:13.797Z,1761700993.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:13.831Z,1761700993.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638731,-0.751606,-0.164652],[0.747223,-0.656968,0.100254],[-0.183523,-0.058996,0.981243]] 2025-10-29T01:23:14.049Z,1761700994.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:14.236Z,1761700994.236 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645955,-0.745489,-0.164277],[0.741065,-0.664031,0.099426],[-0.183207,-0.057515,0.981390]] 2025-10-29T01:23:14.301Z,1761700994.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:14.553Z,1761700994.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:14.638Z,1761700994.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.652587,-0.739716,-0.164170],[0.735234,-0.670569,0.098839],[-0.183200,-0.056202,0.981468]] 2025-10-29T01:23:14.805Z,1761700994.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:15.043Z,1761700995.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.659045,-0.733905,-0.164447],[0.729463,-0.676984,0.097861],[-0.183148,-0.055463,0.981520]] 2025-10-29T01:23:15.058Z,1761700995.058 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:15.309Z,1761700995.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:15.447Z,1761700995.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.665302,-0.728174,-0.164729],[0.723799,-0.683193,0.096754],[-0.182996,-0.054860,0.981582]] 2025-10-29T01:23:15.507Z,1761700995.507 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:15.561Z,1761700995.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:15.813Z,1761700995.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:15.866Z,1761700995.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.676380,-0.717093,-0.168189],[0.713303,-0.694643,0.093113],[-0.183603,-0.056990,0.981347]] 2025-10-29T01:23:16.065Z,1761700996.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:16.333Z,1761700996.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:16.585Z,1761700996.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:16.665Z,1761700996.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.688421,-0.705462,-0.168524],[0.701384,-0.706679,0.093090],[-0.184764,-0.054115,0.981292]] 2025-10-29T01:23:16.841Z,1761700996.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:17.068Z,1761700997.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694454,-0.699701,-0.167788],[0.695309,-0.712572,0.093731],[-0.185145,-0.051572,0.981357]] 2025-10-29T01:23:17.093Z,1761700997.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:17.345Z,1761700997.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:17.473Z,1761700997.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.700336,-0.693787,-0.167896],[0.689504,-0.718367,0.092374],[-0.184699,-0.051072,0.981467]] 2025-10-29T01:23:17.528Z,1761700997.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:17.597Z,1761700997.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:17.849Z,1761700997.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:17.874Z,1761700997.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.706767,-0.687124,-0.168347],[0.683242,-0.724691,0.089460],[-0.183470,-0.051795,0.981660]] 2025-10-29T01:23:17.941Z,1761700997.941 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:23:18.101Z,1761700998.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:18.282Z,1761700998.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.713250,-0.680223,-0.169029],[0.676855,-0.731080,0.085967],[-0.182050,-0.053092,0.981855]] 2025-10-29T01:23:18.353Z,1761700998.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:18.605Z,1761700998.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:18.679Z,1761700998.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.720118,-0.673216,-0.167957],[0.670024,-0.737599,0.083756],[-0.180271,-0.052221,0.982230]] 2025-10-29T01:23:18.857Z,1761700998.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:18.944Z,1761700998.944 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:23:19.086Z,1761700999.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.726582,-0.666374,-0.167403],[0.663586,-0.743759,0.080475],[-0.178134,-0.052615,0.982598]] 2025-10-29T01:23:19.109Z,1761700999.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:19.361Z,1761700999.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:19.487Z,1761700999.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.732886,-0.658686,-0.170327],[0.657229,-0.750146,0.073018],[-0.175867,-0.058430,0.982678]] 2025-10-29T01:23:19.540Z,1761700999.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:19.613Z,1761700999.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:19.865Z,1761700999.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:19.890Z,1761700999.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.739006,-0.650988,-0.173450],[0.650961,-0.756316,0.065083],[-0.173551,-0.064812,0.982690]] 2025-10-29T01:23:20.117Z,1761701000.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:20.296Z,1761701000.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.744654,-0.643921,-0.175660],[0.645026,-0.761912,0.058578],[-0.171558,-0.069685,0.982706]] 2025-10-29T01:23:20.369Z,1761701000.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:20.621Z,1761701000.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:20.701Z,1761701000.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.750179,-0.637376,-0.176018],[0.639039,-0.767230,0.054655],[-0.169882,-0.071482,0.982868]] 2025-10-29T01:23:20.873Z,1761701000.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:21.102Z,1761701001.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.755331,-0.631158,-0.176393],[0.633255,-0.772229,0.051483],[-0.168709,-0.072815,0.982973]] 2025-10-29T01:23:21.125Z,1761701001.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:21.377Z,1761701001.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:21.511Z,1761701001.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.760637,-0.624834,-0.176108],[0.627234,-0.777303,0.048766],[-0.167360,-0.073367,0.983162]] 2025-10-29T01:23:21.562Z,1761701001.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:21.629Z,1761701001.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:21.884Z,1761701001.884 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:21.910Z,1761701001.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.765938,-0.618688,-0.174828],[0.621077,-0.782310,0.047471],[-0.166140,-0.072222,0.983454]] 2025-10-29T01:23:22.137Z,1761701002.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:22.315Z,1761701002.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.771470,-0.612367,-0.172747],[0.614489,-0.787503,0.047362],[-0.165041,-0.069613,0.983827]] 2025-10-29T01:23:22.389Z,1761701002.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:22.641Z,1761701002.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:22.721Z,1761701002.721 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.776669,-0.606080,-0.171616],[0.608104,-0.792483,0.046693],[-0.164302,-0.068095,0.984057]] 2025-10-29T01:23:22.893Z,1761701002.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:23.123Z,1761701003.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.781774,-0.599718,-0.170785],[0.601647,-0.797428,0.046144],[-0.163862,-0.066678,0.984227]] 2025-10-29T01:23:23.145Z,1761701003.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:23.397Z,1761701003.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:23.527Z,1761701003.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.786489,-0.593548,-0.170693],[0.595466,-0.802095,0.045429],[-0.163876,-0.065913,0.984276]] 2025-10-29T01:23:23.573Z,1761701003.573 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:23.649Z,1761701003.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:23.901Z,1761701003.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:23.931Z,1761701003.931 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.790690,-0.587729,-0.171420],[0.589755,-0.806361,0.044383],[-0.164311,-0.066003,0.984198]] 2025-10-29T01:23:24.153Z,1761701004.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:24.336Z,1761701004.336 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.794739,-0.581828,-0.172821],[0.584104,-0.810551,0.042769],[-0.164964,-0.066955,0.984024]] 2025-10-29T01:23:24.405Z,1761701004.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:24.657Z,1761701004.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:24.739Z,1761701004.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.798339,-0.576595,-0.173760],[0.578902,-0.814296,0.042349],[-0.165910,-0.066782,0.983877]] 2025-10-29T01:23:24.909Z,1761701004.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:25.142Z,1761701005.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.802005,-0.571346,-0.174217],[0.573583,-0.818053,0.042332],[-0.166705,-0.065977,0.983797]] 2025-10-29T01:23:25.161Z,1761701005.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:25.413Z,1761701005.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:25.548Z,1761701005.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805577,-0.566030,-0.175090],[0.568368,-0.821729,0.041463],[-0.167346,-0.066114,0.983679]] 2025-10-29T01:23:25.652Z,1761701005.652 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:25.665Z,1761701005.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:25.917Z,1761701005.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:25.954Z,1761701005.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.808504,-0.561328,-0.176724],[0.563857,-0.824881,0.040452],[-0.168484,-0.066941,0.983429]] 2025-10-29T01:23:26.172Z,1761701006.172 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:26.354Z,1761701006.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.811719,-0.556044,-0.178682],[0.558941,-0.828314,0.038486],[-0.169405,-0.068633,0.983154]] 2025-10-29T01:23:26.421Z,1761701006.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:26.673Z,1761701006.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:26.769Z,1761701006.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.814961,-0.550722,-0.180399],[0.553985,-0.831728,0.036443],[-0.170113,-0.070238,0.982918]] 2025-10-29T01:23:26.925Z,1761701006.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:27.163Z,1761701007.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.818195,-0.545368,-0.182021],[0.549112,-0.835068,0.033726],[-0.170393,-0.072356,0.982716]] 2025-10-29T01:23:27.177Z,1761701007.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:27.429Z,1761701007.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:27.574Z,1761701007.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.821847,-0.539243,-0.183804],[0.543675,-0.838766,0.029820],[-0.170249,-0.075422,0.982510]] 2025-10-29T01:23:27.681Z,1761701007.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:27.933Z,1761701007.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:27.971Z,1761701007.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.825876,-0.532876,-0.184313],[0.537764,-0.842674,0.026662],[-0.169524,-0.077097,0.982506]] 2025-10-29T01:23:27.996Z,1761701007.996 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:28.185Z,1761701008.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:28.379Z,1761701008.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.830210,-0.526335,-0.183641],[0.531388,-0.846771,0.024620],[-0.168460,-0.077145,0.982685]] 2025-10-29T01:23:28.437Z,1761701008.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:28.689Z,1761701008.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:28.783Z,1761701008.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.834523,-0.519462,-0.183658],[0.524817,-0.850929,0.022072],[-0.167746,-0.077967,0.982742]] 2025-10-29T01:23:28.941Z,1761701008.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:29.183Z,1761701009.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.838858,-0.512799,-0.182631],[0.518040,-0.855087,0.021496],[-0.167188,-0.076578,0.982946]] 2025-10-29T01:23:29.193Z,1761701009.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:29.445Z,1761701009.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:29.592Z,1761701009.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.843215,-0.506561,-0.179958],[0.511191,-0.859154,0.023173],[-0.166350,-0.072453,0.983401]] 2025-10-29T01:23:29.697Z,1761701009.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:29.949Z,1761701009.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:29.991Z,1761701009.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.847412,-0.499993,-0.178604],[0.504429,-0.863147,0.022998],[-0.165661,-0.070604,0.983652]] 2025-10-29T01:23:30.018Z,1761701010.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:30.201Z,1761701010.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:30.406Z,1761701010.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.851113,-0.493936,-0.177857],[0.498258,-0.866732,0.022691],[-0.165363,-0.069306,0.983795]] 2025-10-29T01:23:30.453Z,1761701010.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:30.705Z,1761701010.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:30.799Z,1761701010.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.854725,-0.487624,-0.177956],[0.492189,-0.870245,0.020604],[-0.164912,-0.069977,0.983823]] 2025-10-29T01:23:30.957Z,1761701010.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:31.204Z,1761701011.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857981,-0.481599,-0.178696],[0.486479,-0.873499,0.018387],[-0.164946,-0.071156,0.983733]] 2025-10-29T01:23:31.209Z,1761701011.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:31.461Z,1761701011.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:31.606Z,1761701011.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.860682,-0.476038,-0.180596],[0.481524,-0.876304,0.015037],[-0.165415,-0.074019,0.983442]] 2025-10-29T01:23:31.713Z,1761701011.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:31.965Z,1761701011.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:32.011Z,1761701012.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.863387,-0.470135,-0.183129],[0.476515,-0.879106,0.010278],[-0.165822,-0.078390,0.983035]] 2025-10-29T01:23:32.028Z,1761701012.028 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:32.217Z,1761701012.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:32.436Z,1761701012.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.865702,-0.465006,-0.185283],[0.472107,-0.881517,0.006511],[-0.166358,-0.081837,0.982664]] 2025-10-29T01:23:32.469Z,1761701012.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:32.721Z,1761701012.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:32.820Z,1761701012.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.867806,-0.460181,-0.187474],[0.468037,-0.883705,0.002660],[-0.166896,-0.085436,0.982266]] 2025-10-29T01:23:32.973Z,1761701012.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:33.222Z,1761701013.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869870,-0.455616,-0.189049],[0.464009,-0.885831,-0.000152],[-0.167396,-0.087852,0.981968]] 2025-10-29T01:23:33.233Z,1761701013.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:33.485Z,1761701013.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:33.626Z,1761701013.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.871912,-0.451013,-0.190676],[0.460004,-0.887911,-0.003270],[-0.167829,-0.090563,0.981648]] 2025-10-29T01:23:33.737Z,1761701013.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:33.989Z,1761701013.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:34.031Z,1761701014.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.873821,-0.446746,-0.191977],[0.456204,-0.889857,-0.005733],[-0.168270,-0.092590,0.981383]] 2025-10-29T01:23:34.081Z,1761701014.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:34.241Z,1761701014.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:34.475Z,1761701014.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.875539,-0.442974,-0.192888],[0.452765,-0.891598,-0.007562],[-0.168629,-0.093954,0.981192]] 2025-10-29T01:23:34.493Z,1761701014.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:34.749Z,1761701014.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:34.878Z,1761701014.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.877393,-0.438730,-0.194156],[0.449094,-0.893422,-0.010614],[-0.168807,-0.096507,0.980913]] 2025-10-29T01:23:34.997Z,1761701014.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:35.249Z,1761701015.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:35.283Z,1761701015.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.879065,-0.434285,-0.196575],[0.445544,-0.895137,-0.014840],[-0.169516,-0.100628,0.980376]] 2025-10-29T01:23:35.501Z,1761701015.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:35.687Z,1761701015.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880738,-0.429872,-0.198772],[0.441846,-0.896909,-0.018083],[-0.170507,-0.103753,0.979879]] 2025-10-29T01:23:35.754Z,1761701015.754 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:36.005Z,1761701016.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:36.092Z,1761701016.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.882599,-0.425089,-0.200796],[0.437767,-0.898835,-0.021355],[-0.171404,-0.106750,0.979400]] 2025-10-29T01:23:36.109Z,1761701016.109 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:36.257Z,1761701016.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:36.500Z,1761701016.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.884267,-0.420605,-0.202888],[0.433833,-0.900684,-0.023617],[-0.172804,-0.108903,0.978917]] 2025-10-29T01:23:36.509Z,1761701016.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:36.761Z,1761701016.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:36.898Z,1761701016.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.886255,-0.415652,-0.204417],[0.429232,-0.902844,-0.025146],[-0.174104,-0.110028,0.978561]] 2025-10-29T01:23:37.013Z,1761701017.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:37.265Z,1761701017.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:37.302Z,1761701017.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.888201,-0.411074,-0.205225],[0.424553,-0.905070,-0.024545],[-0.175653,-0.108929,0.978407]] 2025-10-29T01:23:37.517Z,1761701017.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:37.706Z,1761701017.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.890158,-0.406396,-0.206062],[0.419752,-0.907326,-0.023837],[-0.177278,-0.107714,0.978248]] 2025-10-29T01:23:37.769Z,1761701017.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:38.021Z,1761701018.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:38.110Z,1761701018.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.892072,-0.401544,-0.207291],[0.414844,-0.909594,-0.023296],[-0.179196,-0.106776,0.978002]] 2025-10-29T01:23:38.127Z,1761701018.127 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:38.273Z,1761701018.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:38.525Z,1761701018.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:38.534Z,1761701018.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.894065,-0.396861,-0.207721],[0.409810,-0.911914,-0.021631],[-0.180840,-0.104466,0.977949]] 2025-10-29T01:23:38.777Z,1761701018.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:38.919Z,1761701018.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.895898,-0.392194,-0.208690],[0.404907,-0.914132,-0.020310],[-0.182805,-0.102696,0.977771]] 2025-10-29T01:23:39.030Z,1761701019.030 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:39.281Z,1761701019.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:39.323Z,1761701019.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.898124,-0.386438,-0.209854],[0.399161,-0.916656,-0.020324],[-0.184510,-0.102019,0.977521]] 2025-10-29T01:23:39.533Z,1761701019.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:39.735Z,1761701019.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.899661,-0.381905,-0.211560],[0.394681,-0.918597,-0.020147],[-0.186644,-0.101624,0.977157]] 2025-10-29T01:23:39.785Z,1761701019.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:40.037Z,1761701020.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:40.130Z,1761701020.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.901204,-0.377030,-0.213727],[0.390147,-0.920507,-0.021256],[-0.188723,-0.102541,0.976662]] 2025-10-29T01:23:40.167Z,1761701020.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:40.289Z,1761701020.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:40.544Z,1761701020.544 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:40.559Z,1761701020.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902737,-0.371672,-0.216624],[0.385676,-0.922301,-0.024789],[-0.190579,-0.105925,0.975940]] 2025-10-29T01:23:40.793Z,1761701020.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:40.938Z,1761701020.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.904112,-0.366889,-0.219031],[0.381494,-0.923977,-0.027007],[-0.192471,-0.107976,0.975344]] 2025-10-29T01:23:41.045Z,1761701021.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:41.297Z,1761701021.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:41.345Z,1761701021.345 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.905241,-0.362912,-0.220983],[0.377874,-0.925429,-0.028139],[-0.194292,-0.108977,0.974872]] 2025-10-29T01:23:41.549Z,1761701021.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:41.758Z,1761701021.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.906340,-0.358462,-0.223724],[0.374251,-0.926803,-0.031174],[-0.196173,-0.111983,0.974154]] 2025-10-29T01:23:41.801Z,1761701021.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:42.053Z,1761701022.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:42.151Z,1761701022.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.907528,-0.353742,-0.226404],[0.370465,-0.928197,-0.034739],[-0.197859,-0.115401,0.973414]] 2025-10-29T01:23:42.305Z,1761701022.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:42.559Z,1761701022.559 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:42.597Z,1761701022.597 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.908590,-0.349484,-0.228746],[0.366975,-0.929472,-0.037572],[-0.199482,-0.118082,0.972761]] 2025-10-29T01:23:42.647Z,1761701022.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:42.809Z,1761701022.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:42.960Z,1761701022.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.909620,-0.345553,-0.230618],[0.363601,-0.930714,-0.039580],[-0.200962,-0.119856,0.972239]] 2025-10-29T01:23:43.061Z,1761701023.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:43.313Z,1761701023.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:43.363Z,1761701023.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.910631,-0.341851,-0.232139],[0.360419,-0.931863,-0.041574],[-0.202109,-0.121526,0.971794]] 2025-10-29T01:23:43.567Z,1761701023.567 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:43.771Z,1761701023.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911428,-0.338512,-0.233898],[0.357630,-0.932850,-0.043497],[-0.203468,-0.123293,0.971288]] 2025-10-29T01:23:43.817Z,1761701023.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:44.069Z,1761701024.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:44.170Z,1761701024.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911923,-0.336191,-0.235313],[0.355570,-0.933608,-0.044116],[-0.204859,-0.123901,0.970918]] 2025-10-29T01:23:44.321Z,1761701024.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:44.580Z,1761701024.580 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:44.624Z,1761701024.624 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.912656,-0.333432,-0.236393],[0.352978,-0.934570,-0.044552],[-0.206070,-0.124102,0.970636]] 2025-10-29T01:23:44.661Z,1761701024.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:44.829Z,1761701024.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:44.978Z,1761701024.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913056,-0.331287,-0.237860],[0.351053,-0.935277,-0.044926],[-0.207581,-0.124521,0.970260]] 2025-10-29T01:23:45.082Z,1761701025.082 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:45.333Z,1761701025.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:45.382Z,1761701025.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.913549,-0.328793,-0.239424],[0.348947,-0.936010,-0.046054],[-0.208961,-0.125619,0.969822]] 2025-10-29T01:23:45.587Z,1761701025.587 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:45.789Z,1761701025.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914183,-0.326306,-0.240403],[0.346616,-0.936856,-0.046460],[-0.210063,-0.125801,0.969561]] 2025-10-29T01:23:45.837Z,1761701025.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:46.089Z,1761701026.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:46.192Z,1761701026.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914439,-0.324724,-0.241570],[0.345130,-0.937409,-0.046369],[-0.211392,-0.125775,0.969275]] 2025-10-29T01:23:46.341Z,1761701026.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:46.595Z,1761701026.595 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:46.650Z,1761701026.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.914646,-0.322894,-0.243232],[0.343726,-0.937867,-0.047514],[-0.212778,-0.127064,0.968804]] 2025-10-29T01:23:46.698Z,1761701026.698 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:46.845Z,1761701026.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:46.999Z,1761701026.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915145,-0.320521,-0.244493],[0.341741,-0.938528,-0.048773],[-0.213831,-0.128188,0.968424]] 2025-10-29T01:23:47.097Z,1761701027.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:47.349Z,1761701027.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:47.404Z,1761701027.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.915586,-0.318727,-0.245186],[0.339937,-0.939196,-0.048514],[-0.214815,-0.127767,0.968261]] 2025-10-29T01:23:47.603Z,1761701027.603 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:47.806Z,1761701027.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916082,-0.316673,-0.245993],[0.338036,-0.939859,-0.048948],[-0.215698,-0.127994,0.968035]] 2025-10-29T01:23:47.853Z,1761701027.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:48.105Z,1761701028.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:48.216Z,1761701028.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916574,-0.314874,-0.246469],[0.336397,-0.940414,-0.049587],[-0.216169,-0.128362,0.967881]] 2025-10-29T01:23:48.357Z,1761701028.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:48.627Z,1761701028.627 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:48.680Z,1761701028.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.916907,-0.313106,-0.247478],[0.334807,-0.940961,-0.049969],[-0.217222,-0.128674,0.967604]] 2025-10-29T01:23:48.759Z,1761701028.759 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:48.877Z,1761701028.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:49.019Z,1761701029.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917392,-0.310910,-0.248449],[0.332943,-0.941561,-0.051109],[-0.218040,-0.129606,0.967296]] 2025-10-29T01:23:49.064Z,1761701029.064 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:23:49.129Z,1761701029.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:49.381Z,1761701029.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:49.422Z,1761701029.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.917774,-0.309246,-0.249113],[0.331434,-0.942067,-0.051584],[-0.218729,-0.129907,0.967100]] 2025-10-29T01:23:49.635Z,1761701029.635 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:49.885Z,1761701029.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:50.068Z,1761701030.068 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:23:50.137Z,1761701030.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:50.389Z,1761701030.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:50.643Z,1761701030.643 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:50.692Z,1761701030.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.918562,-0.305367,-0.250987],[0.328352,-0.942987,-0.054404],[-0.220064,-0.132385,0.966460]] 2025-10-29T01:23:50.779Z,1761701030.779 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:50.893Z,1761701030.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:51.145Z,1761701031.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:51.397Z,1761701031.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:51.445Z,1761701031.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919227,-0.301411,-0.253324],[0.325916,-0.943490,-0.060051],[-0.220909,-0.137763,0.965516]] 2025-10-29T01:23:51.651Z,1761701031.651 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:51.848Z,1761701031.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919594,-0.299817,-0.253884],[0.324695,-0.943817,-0.061505],[-0.221180,-0.138994,0.965277]] 2025-10-29T01:23:51.901Z,1761701031.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:52.153Z,1761701032.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:52.251Z,1761701032.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919857,-0.298540,-0.254436],[0.323641,-0.944129,-0.062269],[-0.221631,-0.139624,0.965083]] 2025-10-29T01:23:52.405Z,1761701032.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:52.657Z,1761701032.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:52.663Z,1761701032.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920336,-0.297364,-0.254081],[0.322148,-0.944706,-0.061251],[-0.221818,-0.138223,0.965241]] 2025-10-29T01:23:52.803Z,1761701032.803 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T01:23:52.835Z,1761701032.835 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:52.909Z,1761701032.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:53.067Z,1761701033.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920565,-0.296776,-0.253936],[0.321174,-0.945135,-0.059734],[-0.222276,-0.136546,0.965375]] 2025-10-29T01:23:53.161Z,1761701033.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:53.413Z,1761701033.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:53.466Z,1761701033.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.920771,-0.295841,-0.254281],[0.320227,-0.945466,-0.059573],[-0.222790,-0.136280,0.965294]] 2025-10-29T01:23:53.667Z,1761701033.667 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:53.917Z,1761701033.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:54.169Z,1761701034.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:54.275Z,1761701034.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921430,-0.293913,-0.254131],[0.318232,-0.946138,-0.059600],[-0.222926,-0.135790,0.965332]] 2025-10-29T01:23:54.421Z,1761701034.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:54.673Z,1761701034.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:54.703Z,1761701034.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.921633,-0.293192,-0.254228],[0.317428,-0.946429,-0.059264],[-0.223233,-0.135319,0.965327]] 2025-10-29T01:23:54.925Z,1761701034.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:55.134Z,1761701035.134 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:55.177Z,1761701035.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:55.429Z,1761701035.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:55.487Z,1761701035.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922209,-0.291027,-0.254626],[0.315642,-0.946922,-0.060906],[-0.223386,-0.136539,0.965120]] 2025-10-29T01:23:55.681Z,1761701035.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:55.890Z,1761701035.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922421,-0.290300,-0.254688],[0.314902,-0.947169,-0.060896],[-0.223555,-0.136374,0.965104]] 2025-10-29T01:23:55.933Z,1761701035.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:56.185Z,1761701036.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:56.302Z,1761701036.302 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922470,-0.290054,-0.254790],[0.314304,-0.947466,-0.059340],[-0.224193,-0.134821,0.965174]] 2025-10-29T01:23:56.437Z,1761701036.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:56.689Z,1761701036.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:56.718Z,1761701036.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922478,-0.289818,-0.255028],[0.313957,-0.947618,-0.058747],[-0.224644,-0.134260,0.965147]] 2025-10-29T01:23:56.941Z,1761701036.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:57.108Z,1761701037.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922612,-0.289408,-0.255009],[0.313412,-0.947830,-0.058228],[-0.224853,-0.133645,0.965184]] 2025-10-29T01:23:57.155Z,1761701037.155 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:57.194Z,1761701037.194 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:57.445Z,1761701037.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:57.512Z,1761701037.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.922793,-0.288980,-0.254842],[0.312857,-0.948038,-0.057831],[-0.224888,-0.133095,0.965252]] 2025-10-29T01:23:57.698Z,1761701037.698 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:57.913Z,1761701037.913 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923065,-0.288208,-0.254730],[0.312160,-0.948238,-0.058313],[-0.224738,-0.133343,0.965252]] 2025-10-29T01:23:57.957Z,1761701037.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:58.210Z,1761701038.210 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:58.315Z,1761701038.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923259,-0.287604,-0.254709],[0.311514,-0.948456,-0.058218],[-0.224837,-0.133096,0.965264]] 2025-10-29T01:23:58.461Z,1761701038.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:58.713Z,1761701038.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:58.725Z,1761701038.725 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923685,-0.286516,-0.254390],[0.310433,-0.948789,-0.058567],[-0.224582,-0.133068,0.965327]] 2025-10-29T01:23:58.965Z,1761701038.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:59.123Z,1761701039.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.923830,-0.286290,-0.254119],[0.310148,-0.948887,-0.058503],[-0.224381,-0.132861,0.965402]] 2025-10-29T01:23:59.177Z,1761701039.177 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:23:59.219Z,1761701039.219 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:59.473Z,1761701039.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:59.725Z,1761701039.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:23:59.933Z,1761701039.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924436,-0.284697,-0.253704],[0.308607,-0.949348,-0.059165],[-0.224009,-0.132989,0.965471]] 2025-10-29T01:23:59.977Z,1761701039.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:00.229Z,1761701040.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:00.335Z,1761701040.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.924709,-0.283810,-0.253702],[0.307834,-0.949561,-0.059765],[-0.223943,-0.133363,0.965434]] 2025-10-29T01:24:00.481Z,1761701040.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:00.733Z,1761701040.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:00.742Z,1761701040.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925012,-0.282896,-0.253618],[0.307039,-0.949776,-0.060434],[-0.223784,-0.133773,0.965415]] 2025-10-29T01:24:00.985Z,1761701040.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:01.143Z,1761701041.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925290,-0.281998,-0.253606],[0.306278,-0.949977,-0.061133],[-0.223680,-0.134240,0.965374]] 2025-10-29T01:24:01.207Z,1761701041.207 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:01.237Z,1761701041.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:01.489Z,1761701041.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:01.548Z,1761701041.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925419,-0.281664,-0.253505],[0.305949,-0.950075,-0.061258],[-0.223594,-0.134249,0.965393]] 2025-10-29T01:24:01.741Z,1761701041.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:01.950Z,1761701041.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925584,-0.281093,-0.253537],[0.305461,-0.950206,-0.061661],[-0.223579,-0.134518,0.965359]] 2025-10-29T01:24:01.993Z,1761701041.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:02.245Z,1761701042.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:02.354Z,1761701042.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.925954,-0.279784,-0.253634],[0.304415,-0.950461,-0.062888],[-0.223474,-0.135442,0.965254]] 2025-10-29T01:24:02.497Z,1761701042.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:02.752Z,1761701042.752 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:02.765Z,1761701042.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926250,-0.279089,-0.253319],[0.303740,-0.950653,-0.063249],[-0.223166,-0.135528,0.965313]] 2025-10-29T01:24:03.009Z,1761701043.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:03.164Z,1761701043.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926497,-0.278002,-0.253611],[0.302975,-0.950807,-0.064585],[-0.223181,-0.136676,0.965148]] 2025-10-29T01:24:03.241Z,1761701043.241 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:03.257Z,1761701043.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:03.509Z,1761701043.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:03.567Z,1761701043.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926945,-0.276664,-0.253436],[0.301775,-0.951130,-0.065444],[-0.222945,-0.137144,0.965136]] 2025-10-29T01:24:03.761Z,1761701043.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:03.971Z,1761701043.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927330,-0.275897,-0.252862],[0.300813,-0.951463,-0.065043],[-0.222643,-0.136380,0.965314]] 2025-10-29T01:24:04.013Z,1761701044.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:04.265Z,1761701044.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:04.517Z,1761701044.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:04.769Z,1761701044.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:04.799Z,1761701044.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.927931,-0.273968,-0.252755],[0.298981,-0.951991,-0.065751],[-0.222606,-0.136581,0.965294]] 2025-10-29T01:24:05.021Z,1761701045.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:05.220Z,1761701045.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.928441,-0.272203,-0.252789],[0.297495,-0.952360,-0.067138],[-0.222471,-0.137537,0.965189]] 2025-10-29T01:24:05.271Z,1761701045.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:05.273Z,1761701045.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:05.525Z,1761701045.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:05.611Z,1761701045.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929003,-0.270294,-0.252773],[0.295890,-0.952750,-0.068682],[-0.222265,-0.138599,0.965085]] 2025-10-29T01:24:05.777Z,1761701045.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:06.015Z,1761701046.015 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929412,-0.269572,-0.252041],[0.294957,-0.953066,-0.068306],[-0.221798,-0.137826,0.965303]] 2025-10-29T01:24:06.029Z,1761701046.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:06.281Z,1761701046.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:06.419Z,1761701046.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.929753,-0.268578,-0.251842],[0.294127,-0.953254,-0.069259],[-0.221468,-0.138467,0.965287]] 2025-10-29T01:24:06.534Z,1761701046.534 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:06.785Z,1761701046.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:06.822Z,1761701046.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930268,-0.267025,-0.251593],[0.292812,-0.953558,-0.070631],[-0.221048,-0.139375,0.965252]] 2025-10-29T01:24:07.038Z,1761701047.038 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:07.233Z,1761701047.233 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.930708,-0.266266,-0.250770],[0.291959,-0.953804,-0.070832],[-0.220326,-0.139138,0.965452]] 2025-10-29T01:24:07.284Z,1761701047.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:07.289Z,1761701047.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:07.541Z,1761701047.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:07.631Z,1761701047.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931237,-0.264916,-0.250234],[0.290769,-0.954078,-0.072031],[-0.219660,-0.139838,0.965502]] 2025-10-29T01:24:07.793Z,1761701047.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:08.035Z,1761701048.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.931662,-0.264512,-0.249076],[0.290117,-0.954299,-0.071732],[-0.218719,-0.139091,0.965824]] 2025-10-29T01:24:08.045Z,1761701048.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:08.297Z,1761701048.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:08.439Z,1761701048.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932109,-0.263617,-0.248352],[0.289250,-0.954510,-0.072424],[-0.217962,-0.139343,0.965959]] 2025-10-29T01:24:08.549Z,1761701048.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:08.801Z,1761701048.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:08.845Z,1761701048.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932625,-0.262395,-0.247707],[0.288147,-0.954761,-0.073509],[-0.217213,-0.139932,0.966042]] 2025-10-29T01:24:09.053Z,1761701049.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:09.247Z,1761701049.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933103,-0.261202,-0.247169],[0.287212,-0.954916,-0.075138],[-0.216399,-0.141101,0.966055]] 2025-10-29T01:24:09.300Z,1761701049.300 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:09.305Z,1761701049.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:09.557Z,1761701049.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:09.651Z,1761701049.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933462,-0.260388,-0.246672],[0.286625,-0.954978,-0.076576],[-0.215627,-0.142183,0.966069]] 2025-10-29T01:24:09.809Z,1761701049.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:10.055Z,1761701050.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.933687,-0.260140,-0.246080],[0.286388,-0.955011,-0.077049],[-0.214965,-0.142414,0.966182]] 2025-10-29T01:24:10.061Z,1761701050.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:10.313Z,1761701050.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:10.459Z,1761701050.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934039,-0.259683,-0.245227],[0.285821,-0.955170,-0.077178],[-0.214192,-0.142178,0.966389]] 2025-10-29T01:24:10.565Z,1761701050.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:10.817Z,1761701050.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:10.862Z,1761701050.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934205,-0.259475,-0.244814],[0.285623,-0.955201,-0.077527],[-0.213730,-0.142350,0.966466]] 2025-10-29T01:24:11.069Z,1761701051.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:11.266Z,1761701051.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934414,-0.259483,-0.244005],[0.285479,-0.955255,-0.077388],[-0.213006,-0.141971,0.966681]] 2025-10-29T01:24:11.315Z,1761701051.315 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:11.321Z,1761701051.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:11.573Z,1761701051.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:11.676Z,1761701051.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934579,-0.259800,-0.243034],[0.285501,-0.955306,-0.076675],[-0.212252,-0.141045,0.966983]] 2025-10-29T01:24:11.825Z,1761701051.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:12.077Z,1761701052.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:12.077Z,1761701052.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.934838,-0.259522,-0.242335],[0.285096,-0.955433,-0.076598],[-0.211656,-0.140695,0.967164]] 2025-10-29T01:24:12.329Z,1761701052.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:12.478Z,1761701052.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935059,-0.259247,-0.241775],[0.284722,-0.955548,-0.076554],[-0.211181,-0.140421,0.967308]] 2025-10-29T01:24:12.581Z,1761701052.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:12.833Z,1761701052.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:12.882Z,1761701052.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935436,-0.258777,-0.240820],[0.284091,-0.955740,-0.076511],[-0.210362,-0.139986,0.967549]] 2025-10-29T01:24:13.085Z,1761701053.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:13.288Z,1761701053.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.935831,-0.258188,-0.239916],[0.283365,-0.955952,-0.076555],[-0.209582,-0.139626,0.967771]] 2025-10-29T01:24:13.337Z,1761701053.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:13.344Z,1761701053.344 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:13.589Z,1761701053.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:13.699Z,1761701053.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936107,-0.258000,-0.239037],[0.282822,-0.956194,-0.075530],[-0.209079,-0.138310,0.968068]] 2025-10-29T01:24:13.841Z,1761701053.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:14.093Z,1761701054.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:14.111Z,1761701054.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936491,-0.257421,-0.238155],[0.282070,-0.956429,-0.075374],[-0.208376,-0.137763,0.968298]] 2025-10-29T01:24:14.345Z,1761701054.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:14.499Z,1761701054.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.936841,-0.257214,-0.237003],[0.281491,-0.956672,-0.074441],[-0.207587,-0.136454,0.968653]] 2025-10-29T01:24:14.597Z,1761701054.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:14.849Z,1761701054.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:14.903Z,1761701054.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937271,-0.256213,-0.236384],[0.280487,-0.956928,-0.074942],[-0.207001,-0.136544,0.968765]] 2025-10-29T01:24:15.101Z,1761701055.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:15.310Z,1761701055.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937796,-0.255231,-0.235365],[0.279404,-0.957221,-0.075249],[-0.206090,-0.136330,0.968990]] 2025-10-29T01:24:15.361Z,1761701055.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:15.367Z,1761701055.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:15.613Z,1761701055.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:15.711Z,1761701055.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938293,-0.254252,-0.234440],[0.278372,-0.957484,-0.075724],[-0.205219,-0.136312,0.969177]] 2025-10-29T01:24:15.865Z,1761701055.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:16.114Z,1761701056.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.938748,-0.252791,-0.234198],[0.277175,-0.957707,-0.077274],[-0.204759,-0.137455,0.969113]] 2025-10-29T01:24:16.117Z,1761701056.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:16.371Z,1761701056.371 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:16.519Z,1761701056.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939269,-0.251631,-0.233358],[0.276042,-0.957968,-0.078089],[-0.203900,-0.137763,0.969250]] 2025-10-29T01:24:16.622Z,1761701056.622 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:16.873Z,1761701056.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:16.925Z,1761701056.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.939758,-0.250498,-0.232604],[0.274951,-0.958214,-0.078918],[-0.203116,-0.138119,0.969364]] 2025-10-29T01:24:17.125Z,1761701057.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:17.324Z,1761701057.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940204,-0.249426,-0.231956],[0.273921,-0.958447,-0.079669],[-0.202446,-0.138443,0.969458]] 2025-10-29T01:24:17.373Z,1761701057.373 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:17.377Z,1761701057.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:17.629Z,1761701057.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:17.727Z,1761701057.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.940780,-0.248179,-0.230956],[0.272677,-0.958732,-0.080497],[-0.201447,-0.138707,0.969629]] 2025-10-29T01:24:17.881Z,1761701057.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:18.133Z,1761701058.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:18.385Z,1761701058.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:18.536Z,1761701058.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.941957,-0.245659,-0.228844],[0.270160,-0.959297,-0.082233],[-0.199328,-0.139285,0.969984]] 2025-10-29T01:24:18.637Z,1761701058.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:18.889Z,1761701058.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:18.939Z,1761701058.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.942505,-0.244680,-0.227632],[0.269221,-0.959462,-0.083382],[-0.198002,-0.139871,0.970171]] 2025-10-29T01:24:19.141Z,1761701059.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:19.347Z,1761701059.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943122,-0.243375,-0.226471],[0.268035,-0.959659,-0.084921],[-0.196667,-0.140793,0.970309]] 2025-10-29T01:24:19.393Z,1761701059.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:19.405Z,1761701059.405 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:19.645Z,1761701059.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:19.751Z,1761701059.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.943641,-0.242484,-0.225262],[0.267202,-0.959780,-0.086172],[-0.195307,-0.141506,0.970480]] 2025-10-29T01:24:19.897Z,1761701059.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:20.149Z,1761701060.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:20.153Z,1761701060.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944144,-0.241645,-0.224054],[0.266489,-0.959833,-0.087771],[-0.193845,-0.142577,0.970616]] 2025-10-29T01:24:20.188Z,1761701060.188 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:24:20.401Z,1761701060.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:20.555Z,1761701060.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944562,-0.241156,-0.222814],[0.266055,-0.959839,-0.089016],[-0.192399,-0.143362,0.970788]] 2025-10-29T01:24:20.653Z,1761701060.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:20.905Z,1761701060.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:20.961Z,1761701060.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944879,-0.240715,-0.221945],[0.265758,-0.959788,-0.090443],[-0.191249,-0.144441,0.970855]] 2025-10-29T01:24:21.158Z,1761701061.158 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:21.192Z,1761701061.192 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:24:21.362Z,1761701061.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945271,-0.240135,-0.220904],[0.265387,-0.959708,-0.092363],[-0.189823,-0.145933,0.970912]] 2025-10-29T01:24:21.409Z,1761701061.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:21.416Z,1761701061.416 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:21.661Z,1761701061.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:21.774Z,1761701061.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945548,-0.240003,-0.219860],[0.265334,-0.959603,-0.093599],[-0.188514,-0.146839,0.971031]] 2025-10-29T01:24:21.913Z,1761701061.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:22.170Z,1761701062.170 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:22.181Z,1761701062.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.945713,-0.240154,-0.218982],[0.265521,-0.959466,-0.094468],[-0.187419,-0.147484,0.971145]] 2025-10-29T01:24:22.421Z,1761701062.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:22.576Z,1761701062.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946067,-0.239622,-0.218031],[0.265083,-0.959459,-0.095759],[-0.186246,-0.148391,0.971232]] 2025-10-29T01:24:22.674Z,1761701062.674 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:22.925Z,1761701062.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:22.979Z,1761701062.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946286,-0.239491,-0.217226],[0.264974,-0.959411,-0.096540],[-0.185288,-0.148914,0.971336]] 2025-10-29T01:24:23.178Z,1761701063.178 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:23.382Z,1761701063.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946615,-0.239356,-0.215939],[0.264648,-0.959495,-0.096597],[-0.184071,-0.148588,0.971617]] 2025-10-29T01:24:23.429Z,1761701063.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:23.432Z,1761701063.432 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:23.681Z,1761701063.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:23.791Z,1761701063.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.946860,-0.239385,-0.214827],[0.264466,-0.959566,-0.096385],[-0.183068,-0.148078,0.971884]] 2025-10-29T01:24:23.933Z,1761701063.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:24.185Z,1761701064.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:24.196Z,1761701064.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947161,-0.239106,-0.213808],[0.263911,-0.959781,-0.095772],[-0.182309,-0.147138,0.972170]] 2025-10-29T01:24:24.437Z,1761701064.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:24.595Z,1761701064.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947446,-0.238956,-0.212712],[0.263543,-0.959907,-0.095514],[-0.181360,-0.146553,0.972435]] 2025-10-29T01:24:24.689Z,1761701064.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:24.941Z,1761701064.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:24.998Z,1761701064.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.947759,-0.238566,-0.211750],[0.263081,-0.959991,-0.095944],[-0.180389,-0.146640,0.972603]] 2025-10-29T01:24:25.195Z,1761701065.195 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:25.445Z,1761701065.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:25.457Z,1761701065.457 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:25.697Z,1761701065.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:25.813Z,1761701065.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948370,-0.237909,-0.209749],[0.262233,-0.960156,-0.096613],[-0.178406,-0.146628,0.972970]] 2025-10-29T01:24:25.949Z,1761701065.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:26.206Z,1761701066.206 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:26.222Z,1761701066.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948696,-0.237550,-0.208675],[0.261776,-0.960243,-0.096994],[-0.177338,-0.146644,0.973163]] 2025-10-29T01:24:26.457Z,1761701066.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:26.614Z,1761701066.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948986,-0.237953,-0.206890],[0.261659,-0.960415,-0.095594],[-0.175953,-0.144852,0.973683]] 2025-10-29T01:24:26.710Z,1761701066.710 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:26.961Z,1761701066.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:27.018Z,1761701067.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949269,-0.237882,-0.205669],[0.261435,-0.960458,-0.095770],[-0.174755,-0.144681,0.973924]] 2025-10-29T01:24:27.215Z,1761701067.215 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:27.427Z,1761701067.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949592,-0.237674,-0.204416],[0.261122,-0.960496,-0.096247],[-0.173466,-0.144772,0.974141]] 2025-10-29T01:24:27.469Z,1761701067.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:27.478Z,1761701067.478 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:27.721Z,1761701067.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:27.835Z,1761701067.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949804,-0.238464,-0.202500],[0.261430,-0.960527,-0.095093],[-0.171831,-0.143259,0.974654]] 2025-10-29T01:24:27.973Z,1761701067.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:28.231Z,1761701068.231 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:28.250Z,1761701068.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950000,-0.238761,-0.201227],[0.261803,-0.960276,-0.096590],[-0.170172,-0.144443,0.974771]] 2025-10-29T01:24:28.481Z,1761701068.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:28.634Z,1761701068.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950316,-0.238813,-0.199671],[0.261747,-0.960218,-0.097309],[-0.168489,-0.144737,0.975019]] 2025-10-29T01:24:28.733Z,1761701068.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:28.985Z,1761701068.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:29.038Z,1761701069.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950561,-0.239030,-0.198236],[0.261818,-0.960160,-0.097696],[-0.166986,-0.144768,0.975273]] 2025-10-29T01:24:29.239Z,1761701069.239 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:29.442Z,1761701069.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950761,-0.239153,-0.197127],[0.261896,-0.960067,-0.098399],[-0.165723,-0.145181,0.975427]] 2025-10-29T01:24:29.489Z,1761701069.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:29.493Z,1761701069.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:29.741Z,1761701069.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:29.847Z,1761701069.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950996,-0.239305,-0.195806],[0.261952,-0.959989,-0.099001],[-0.164280,-0.145442,0.975632]] 2025-10-29T01:24:29.993Z,1761701069.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:30.247Z,1761701070.247 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:30.277Z,1761701070.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951156,-0.239535,-0.194745],[0.262120,-0.959885,-0.099570],[-0.163083,-0.145753,0.975787]] 2025-10-29T01:24:30.497Z,1761701070.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:30.672Z,1761701070.672 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951386,-0.239703,-0.193410],[0.262295,-0.959707,-0.100813],[-0.161451,-0.146642,0.975925]] 2025-10-29T01:24:30.749Z,1761701070.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:31.001Z,1761701071.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:31.063Z,1761701071.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951663,-0.239351,-0.192478],[0.262103,-0.959562,-0.102672],[-0.160120,-0.148159,0.975915]] 2025-10-29T01:24:31.255Z,1761701071.255 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:31.468Z,1761701071.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951976,-0.239194,-0.191123],[0.261944,-0.959470,-0.103936],[-0.158516,-0.149008,0.976048]] 2025-10-29T01:24:31.505Z,1761701071.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:31.519Z,1761701071.519 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:31.757Z,1761701071.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:31.872Z,1761701071.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952241,-0.239110,-0.189903],[0.262102,-0.959134,-0.106610],[-0.156650,-0.151292,0.975998]] 2025-10-29T01:24:32.009Z,1761701072.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:32.271Z,1761701072.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:32.306Z,1761701072.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952525,-0.239433,-0.188065],[0.262552,-0.958718,-0.109212],[-0.154152,-0.153403,0.976066]] 2025-10-29T01:24:32.513Z,1761701072.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:32.679Z,1761701072.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952954,-0.239289,-0.186060],[0.262717,-0.958205,-0.113236],[-0.151188,-0.156790,0.975991]] 2025-10-29T01:24:32.765Z,1761701072.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:33.017Z,1761701073.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:33.082Z,1761701073.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953421,-0.239306,-0.183634],[0.262792,-0.957830,-0.116194],[-0.148085,-0.159040,0.976103]] 2025-10-29T01:24:33.271Z,1761701073.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:33.491Z,1761701073.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953823,-0.239877,-0.180777],[0.263174,-0.957499,-0.118048],[-0.144776,-0.160173,0.976414]] 2025-10-29T01:24:33.521Z,1761701073.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:33.547Z,1761701073.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:33.773Z,1761701073.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:33.890Z,1761701073.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954432,-0.239784,-0.177661],[0.262818,-0.957384,-0.119760],[-0.141373,-0.160995,0.976777]] 2025-10-29T01:24:34.025Z,1761701074.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:34.279Z,1761701074.279 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:34.335Z,1761701074.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954822,-0.240686,-0.174315],[0.263123,-0.957344,-0.119415],[-0.138137,-0.159886,0.977422]] 2025-10-29T01:24:34.529Z,1761701074.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:34.699Z,1761701074.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955379,-0.240808,-0.171062],[0.262959,-0.957164,-0.121202],[-0.134548,-0.160776,0.977777]] 2025-10-29T01:24:34.781Z,1761701074.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:35.033Z,1761701075.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:35.103Z,1761701075.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955969,-0.241004,-0.167452],[0.262647,-0.957169,-0.121836],[-0.130917,-0.160453,0.978323]] 2025-10-29T01:24:35.285Z,1761701075.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:35.508Z,1761701075.508 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956403,-0.241620,-0.164051],[0.262774,-0.957070,-0.122340],[-0.127448,-0.160114,0.978836]] 2025-10-29T01:24:35.537Z,1761701075.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:35.555Z,1761701075.555 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:35.789Z,1761701075.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:35.911Z,1761701075.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956753,-0.242545,-0.160609],[0.263151,-0.956952,-0.122453],[-0.123994,-0.159422,0.979393]] 2025-10-29T01:24:36.041Z,1761701076.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:36.295Z,1761701076.295 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:36.545Z,1761701076.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:36.797Z,1761701076.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:37.049Z,1761701077.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:37.126Z,1761701077.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957211,-0.246570,-0.151494],[0.265888,-0.955988,-0.124054],[-0.114239,-0.159026,0.980643]] 2025-10-29T01:24:37.301Z,1761701077.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:37.527Z,1761701077.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957271,-0.247994,-0.148763],[0.267020,-0.955500,-0.125381],[-0.111050,-0.159746,0.980892]] 2025-10-29T01:24:37.553Z,1761701077.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:37.574Z,1761701077.574 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:37.805Z,1761701077.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:37.930Z,1761701077.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957368,-0.249191,-0.146117],[0.267982,-0.954994,-0.127170],[-0.107851,-0.160905,0.981059]] 2025-10-29T01:24:38.058Z,1761701078.058 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:38.309Z,1761701078.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:38.383Z,1761701078.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957506,-0.251703,-0.140815],[0.269784,-0.954280,-0.128708],[-0.101981,-0.161228,0.981634]] 2025-10-29T01:24:38.561Z,1761701078.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:38.746Z,1761701078.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957592,-0.252776,-0.138278],[0.270479,-0.954029,-0.129111],[-0.099285,-0.161037,0.981942]] 2025-10-29T01:24:38.813Z,1761701078.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:39.065Z,1761701079.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:39.219Z,1761701079.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957731,-0.253158,-0.136614],[0.270641,-0.953911,-0.129641],[-0.097498,-0.161134,0.982105]] 2025-10-29T01:24:39.320Z,1761701079.320 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:39.551Z,1761701079.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957962,-0.253707,-0.133946],[0.270745,-0.953893,-0.129560],[-0.094899,-0.160379,0.982483]] 2025-10-29T01:24:39.569Z,1761701079.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:39.596Z,1761701079.596 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:39.821Z,1761701079.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:39.954Z,1761701079.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958266,-0.253485,-0.132178],[0.270335,-0.953868,-0.130597],[-0.092976,-0.160879,0.982585]] 2025-10-29T01:24:40.073Z,1761701080.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:40.325Z,1761701080.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:40.385Z,1761701080.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958554,-0.253443,-0.130157],[0.270040,-0.953839,-0.131411],[-0.090844,-0.161112,0.982746]] 2025-10-29T01:24:40.577Z,1761701080.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:40.768Z,1761701080.768 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958830,-0.253548,-0.127898],[0.269865,-0.953753,-0.132390],[-0.088416,-0.161455,0.982911]] 2025-10-29T01:24:40.829Z,1761701080.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:41.081Z,1761701081.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:41.163Z,1761701081.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959184,-0.253393,-0.125531],[0.269426,-0.953717,-0.133544],[-0.085882,-0.161914,0.983061]] 2025-10-29T01:24:41.333Z,1761701081.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:41.567Z,1761701081.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959553,-0.253278,-0.122918],[0.268944,-0.953753,-0.134251],[-0.083231,-0.161880,0.983294]] 2025-10-29T01:24:41.585Z,1761701081.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:41.636Z,1761701081.636 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:41.837Z,1761701081.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:41.972Z,1761701081.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959888,-0.253234,-0.120366],[0.268543,-0.953766,-0.134965],[-0.080624,-0.161875,0.983512]] 2025-10-29T01:24:42.089Z,1761701082.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:42.343Z,1761701082.343 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:42.378Z,1761701082.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960175,-0.253366,-0.117774],[0.268284,-0.953779,-0.135387],[-0.078028,-0.161592,0.983768]] 2025-10-29T01:24:42.593Z,1761701082.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:42.782Z,1761701082.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960514,-0.253183,-0.115371],[0.267786,-0.953781,-0.136356],[-0.075515,-0.161866,0.983919]] 2025-10-29T01:24:42.845Z,1761701082.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:43.097Z,1761701083.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:43.182Z,1761701083.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960724,-0.253528,-0.112836],[0.267739,-0.953751,-0.136659],[-0.072971,-0.161502,0.984171]] 2025-10-29T01:24:43.349Z,1761701083.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:43.590Z,1761701083.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960828,-0.254227,-0.110356],[0.268037,-0.953649,-0.136780],[-0.070468,-0.161002,0.984435]] 2025-10-29T01:24:43.601Z,1761701083.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:43.666Z,1761701083.666 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:43.853Z,1761701083.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:43.991Z,1761701083.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960882,-0.255065,-0.107927],[0.268482,-0.953511,-0.136873],[-0.067998,-0.160495,0.984692]] 2025-10-29T01:24:44.109Z,1761701084.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:44.357Z,1761701084.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:44.399Z,1761701084.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960980,-0.255562,-0.105851],[0.268769,-0.953150,-0.138811],[-0.065417,-0.161845,0.984646]] 2025-10-29T01:24:44.609Z,1761701084.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:44.798Z,1761701084.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960948,-0.256587,-0.103644],[0.269440,-0.952931,-0.139015],[-0.063096,-0.161512,0.984852]] 2025-10-29T01:24:44.861Z,1761701084.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:45.113Z,1761701085.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:45.203Z,1761701085.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960917,-0.257345,-0.102044],[0.270040,-0.952504,-0.140767],[-0.060972,-0.162821,0.984770]] 2025-10-29T01:24:45.365Z,1761701085.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:45.615Z,1761701085.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960847,-0.258385,-0.100049],[0.270771,-0.952231,-0.141207],[-0.058784,-0.162769,0.984912]] 2025-10-29T01:24:45.618Z,1761701085.618 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:45.726Z,1761701085.726 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:45.869Z,1761701085.869 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:46.010Z,1761701086.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960880,-0.259017,-0.098083],[0.271125,-0.952005,-0.142049],[-0.056582,-0.163085,0.984988]] 2025-10-29T01:24:46.125Z,1761701086.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:46.373Z,1761701086.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:46.415Z,1761701086.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960722,-0.260310,-0.096182],[0.272092,-0.951735,-0.142010],[-0.054573,-0.162602,0.985181]] 2025-10-29T01:24:46.626Z,1761701086.626 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:46.819Z,1761701086.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960656,-0.261222,-0.094359],[0.272707,-0.951533,-0.142180],[-0.052645,-0.162319,0.985333]] 2025-10-29T01:24:46.877Z,1761701086.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:47.129Z,1761701087.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:47.224Z,1761701087.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960637,-0.261928,-0.092572],[0.273129,-0.951373,-0.142442],[-0.050761,-0.162119,0.985465]] 2025-10-29T01:24:47.381Z,1761701087.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:47.638Z,1761701087.638 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:47.641Z,1761701087.641 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960639,-0.262594,-0.090649],[0.273477,-0.951267,-0.142481],[-0.048817,-0.161663,0.985638]] 2025-10-29T01:24:47.885Z,1761701087.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:48.030Z,1761701088.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960717,-0.262949,-0.088775],[0.273532,-0.951231,-0.142620],[-0.046944,-0.161300,0.985788]] 2025-10-29T01:24:48.067Z,1761701088.067 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:48.138Z,1761701088.138 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:48.389Z,1761701088.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:48.435Z,1761701088.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960915,-0.262791,-0.087078],[0.273124,-0.951270,-0.143135],[-0.045220,-0.161324,0.985865]] 2025-10-29T01:24:48.641Z,1761701088.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:48.841Z,1761701088.841 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961181,-0.262371,-0.085399],[0.272431,-0.951489,-0.143006],[-0.043736,-0.160720,0.986031]] 2025-10-29T01:24:48.893Z,1761701088.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:49.148Z,1761701089.148 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:49.243Z,1761701089.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961397,-0.262163,-0.083587],[0.271951,-0.951563,-0.143423],[-0.041938,-0.160618,0.986125]] 2025-10-29T01:24:49.397Z,1761701089.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:49.649Z,1761701089.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:49.653Z,1761701089.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961680,-0.261662,-0.081887],[0.271208,-0.951676,-0.144079],[-0.040230,-0.160766,0.986172]] 2025-10-29T01:24:49.901Z,1761701089.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:50.086Z,1761701090.086 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:50.153Z,1761701090.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:50.405Z,1761701090.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:50.454Z,1761701090.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961943,-0.261650,-0.078774],[0.270708,-0.951767,-0.144419],[-0.037187,-0.160247,0.986376]] 2025-10-29T01:24:50.657Z,1761701090.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:50.859Z,1761701090.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962130,-0.261331,-0.077542],[0.270238,-0.951722,-0.145589],[-0.035752,-0.161030,0.986302]] 2025-10-29T01:24:50.909Z,1761701090.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:51.161Z,1761701091.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:51.264Z,1761701091.264 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.962133,-0.261627,-0.076493],[0.270426,-0.951387,-0.147422],[-0.034204,-0.162525,0.986111]] 2025-10-29T01:24:51.325Z,1761701091.325 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:24:51.413Z,1761701091.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:51.665Z,1761701091.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:51.668Z,1761701091.668 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961894,-0.262760,-0.075609],[0.271449,-0.950872,-0.148852],[-0.032782,-0.163704,0.985965]] 2025-10-29T01:24:51.917Z,1761701091.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:52.070Z,1761701092.070 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961412,-0.264759,-0.074769],[0.273311,-0.950222,-0.149595],[-0.031440,-0.164257,0.985916]] 2025-10-29T01:24:52.087Z,1761701092.087 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:52.169Z,1761701092.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:52.328Z,1761701092.328 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:24:52.421Z,1761701092.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:52.477Z,1761701092.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.961117,-0.266065,-0.073922],[0.274512,-0.949622,-0.151199],[-0.029969,-0.165613,0.985735]] 2025-10-29T01:24:52.673Z,1761701092.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:52.878Z,1761701092.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960746,-0.267754,-0.072623],[0.275968,-0.949186,-0.151283],[-0.028426,-0.165386,0.985819]] 2025-10-29T01:24:52.925Z,1761701092.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:53.177Z,1761701093.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:53.283Z,1761701093.283 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.960290,-0.269525,-0.072109],[0.277690,-0.948352,-0.153351],[-0.027052,-0.167285,0.985537]] 2025-10-29T01:24:53.429Z,1761701093.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:53.681Z,1761701093.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:53.688Z,1761701093.688 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959713,-0.271726,-0.071520],[0.279763,-0.947749,-0.153309],[-0.026125,-0.167141,0.985587]] 2025-10-29T01:24:53.933Z,1761701093.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:54.091Z,1761701094.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.959033,-0.274161,-0.071354],[0.282181,-0.946770,-0.154922],[-0.025083,-0.168710,0.985346]] 2025-10-29T01:24:54.156Z,1761701094.156 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:54.185Z,1761701094.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:54.437Z,1761701094.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:54.495Z,1761701094.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.958493,-0.276228,-0.070634],[0.284111,-0.946122,-0.155352],[-0.023916,-0.168971,0.985331]] 2025-10-29T01:24:54.689Z,1761701094.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:54.902Z,1761701094.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957887,-0.278480,-0.070003],[0.286239,-0.945401,-0.155834],[-0.022784,-0.169309,0.985300]] 2025-10-29T01:24:54.941Z,1761701094.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:55.193Z,1761701095.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:55.303Z,1761701095.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.957291,-0.280721,-0.069209],[0.288305,-0.944852,-0.155353],[-0.021781,-0.168671,0.985432]] 2025-10-29T01:24:55.445Z,1761701095.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:55.701Z,1761701095.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:55.711Z,1761701095.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956732,-0.282735,-0.068731],[0.290211,-0.944274,-0.155319],[-0.020987,-0.168545,0.985470]] 2025-10-29T01:24:55.956Z,1761701095.956 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:56.123Z,1761701096.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.956243,-0.284518,-0.068187],[0.291876,-0.943788,-0.155153],[-0.020211,-0.168266,0.985534]] 2025-10-29T01:24:56.205Z,1761701096.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:56.457Z,1761701096.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:56.515Z,1761701096.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955651,-0.286757,-0.067097],[0.293873,-0.943420,-0.153616],[-0.019251,-0.166521,0.985850]] 2025-10-29T01:24:56.663Z,1761701096.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:56.709Z,1761701096.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:56.929Z,1761701096.929 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.955177,-0.288514,-0.066311],[0.295478,-0.942901,-0.153719],[-0.018175,-0.166422,0.985887]] 2025-10-29T01:24:56.963Z,1761701096.963 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:57.213Z,1761701097.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:57.332Z,1761701097.332 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954881,-0.289711,-0.065351],[0.296508,-0.942493,-0.154242],[-0.016907,-0.166660,0.985869]] 2025-10-29T01:24:57.465Z,1761701097.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:57.717Z,1761701097.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:57.735Z,1761701097.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954727,-0.290497,-0.064086],[0.297085,-0.942197,-0.154937],[-0.015373,-0.166962,0.985843]] 2025-10-29T01:24:57.969Z,1761701097.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:58.139Z,1761701098.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954699,-0.290962,-0.062378],[0.297280,-0.941878,-0.156493],[-0.013219,-0.167947,0.985707]] 2025-10-29T01:24:58.221Z,1761701098.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:58.473Z,1761701098.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:58.542Z,1761701098.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954646,-0.291646,-0.059948],[0.297550,-0.941750,-0.156754],[-0.010739,-0.167482,0.985817]] 2025-10-29T01:24:58.704Z,1761701098.704 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:24:58.725Z,1761701098.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:58.952Z,1761701098.952 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954720,-0.291793,-0.058031],[0.297385,-0.941580,-0.158078],[-0.008515,-0.168178,0.985720]] 2025-10-29T01:24:58.977Z,1761701098.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:59.229Z,1761701099.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:59.350Z,1761701099.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954744,-0.292144,-0.055819],[0.297372,-0.941251,-0.160052],[-0.005782,-0.169407,0.985529]] 2025-10-29T01:24:59.481Z,1761701099.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:59.733Z,1761701099.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:24:59.760Z,1761701099.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954857,-0.292190,-0.053611],[0.297050,-0.941081,-0.161640],[-0.003222,-0.170268,0.985393]] 2025-10-29T01:24:59.985Z,1761701099.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:00.159Z,1761701100.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954794,-0.292930,-0.050607],[0.297270,-0.940930,-0.162116],[-0.000129,-0.169831,0.985473]] 2025-10-29T01:25:00.237Z,1761701100.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:00.489Z,1761701100.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:00.563Z,1761701100.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954842,-0.293155,-0.048332],[0.297102,-0.940739,-0.163522],[0.002470,-0.170497,0.985355]] 2025-10-29T01:25:00.741Z,1761701100.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:00.971Z,1761701100.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954893,-0.293375,-0.045945],[0.296906,-0.940556,-0.164928],[0.005172,-0.171130,0.985235]] 2025-10-29T01:25:00.993Z,1761701100.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:01.007Z,1761701101.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:01.245Z,1761701101.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:01.371Z,1761701101.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954795,-0.294136,-0.043018],[0.297151,-0.940360,-0.165606],[0.008259,-0.170902,0.985253]] 2025-10-29T01:25:01.497Z,1761701101.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:01.749Z,1761701101.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:01.779Z,1761701101.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954704,-0.294799,-0.040412],[0.297347,-0.940110,-0.166670],[0.011143,-0.171137,0.985184]] 2025-10-29T01:25:02.001Z,1761701102.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:02.179Z,1761701102.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954479,-0.295864,-0.037879],[0.297951,-0.939748,-0.167628],[0.013998,-0.171284,0.985122]] 2025-10-29T01:25:02.253Z,1761701102.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:02.505Z,1761701102.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:02.587Z,1761701102.587 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.954336,-0.296610,-0.035585],[0.298266,-0.939366,-0.169203],[0.016760,-0.172090,0.984939]] 2025-10-29T01:25:02.761Z,1761701102.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:02.987Z,1761701102.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953949,-0.298117,-0.033297],[0.299340,-0.938865,-0.170084],[0.019444,-0.172219,0.984867]] 2025-10-29T01:25:03.009Z,1761701103.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:03.035Z,1761701103.035 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:03.261Z,1761701103.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:03.390Z,1761701103.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953583,-0.299530,-0.031018],[0.300317,-0.938372,-0.171078],[0.022136,-0.172452,0.984769]] 2025-10-29T01:25:03.513Z,1761701103.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:03.767Z,1761701103.767 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:03.794Z,1761701103.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.953167,-0.301088,-0.028600],[0.301419,-0.937906,-0.171691],[0.024870,-0.172271,0.984736]] 2025-10-29T01:25:04.017Z,1761701104.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:04.198Z,1761701104.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952601,-0.303066,-0.026477],[0.302992,-0.937339,-0.172020],[0.027315,-0.171889,0.984738]] 2025-10-29T01:25:04.235Z,1761701104.235 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](IMPORTANT): Reached waypoint: 36.779130,-121.859630 2025-10-29T01:25:04.235Z,1761701104.235 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint] Stopped 2025-10-29T01:25:04.235Z,1761701104.235 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:E.Waypoint](DEBUG): Uninitialize WaypointComponent. 2025-10-29T01:25:04.236Z,1761701104.236 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Running Loop=1 2025-10-29T01:25:04.269Z,1761701104.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:04.521Z,1761701104.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:04.609Z,1761701104.609 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.952089,-0.304873,-0.024079],[0.304360,-0.936906,-0.171965],[0.029868,-0.171055,0.984809]] 2025-10-29T01:25:04.643Z,1761701104.643 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F](INFO): Executing search pattern. 2025-10-29T01:25:04.643Z,1761701104.643 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:F] Stopped 2025-10-29T01:25:04.644Z,1761701104.644 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Running Loop=1 2025-10-29T01:25:04.644Z,1761701104.644 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern 2025-10-29T01:25:04.645Z,1761701104.645 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1 2025-10-29T01:25:04.645Z,1761701104.645 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Initialize CircleComponent. 2025-10-29T01:25:04.645Z,1761701104.645 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Running Loop=1 2025-10-29T01:25:04.645Z,1761701104.645 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Initialize Wait Component. 2025-10-29T01:25:04.775Z,1761701104.775 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:05.007Z,1761701105.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.951498,-0.306888,-0.021725],[0.305954,-0.936452,-0.171610],[0.032320,-0.169933,0.984926]] 2025-10-29T01:25:05.025Z,1761701105.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:05.049Z,1761701105.049 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:05.050Z,1761701105.050 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Running Loop=1 2025-10-29T01:25:05.277Z,1761701105.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:05.411Z,1761701105.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950920,-0.308806,-0.019756],[0.307493,-0.935872,-0.172021],[0.034633,-0.169653,0.984895]] 2025-10-29T01:25:05.529Z,1761701105.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:05.783Z,1761701105.783 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:05.819Z,1761701105.819 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.950366,-0.310621,-0.017848],[0.308938,-0.935303,-0.172528],[0.036897,-0.169478,0.984843]] 2025-10-29T01:25:06.033Z,1761701106.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:06.224Z,1761701106.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949847,-0.312286,-0.016364],[0.310280,-0.934649,-0.173661],[0.038938,-0.170028,0.984670]] 2025-10-29T01:25:06.285Z,1761701106.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:06.537Z,1761701106.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:06.625Z,1761701106.625 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.949239,-0.314168,-0.015609],[0.311874,-0.933519,-0.176851],[0.040989,-0.172742,0.984114]] 2025-10-29T01:25:06.791Z,1761701106.791 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:07.026Z,1761701107.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.948233,-0.317232,-0.014735],[0.314620,-0.932089,-0.179513],[0.043213,-0.174856,0.983645]] 2025-10-29T01:25:07.041Z,1761701107.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:07.081Z,1761701107.081 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:07.293Z,1761701107.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:07.545Z,1761701107.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:07.799Z,1761701107.799 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:07.847Z,1761701107.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.944349,-0.328576,-0.015567],[0.325393,-0.926175,-0.190578],[0.048202,-0.185037,0.981549]] 2025-10-29T01:25:08.049Z,1761701108.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:08.301Z,1761701108.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:08.553Z,1761701108.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:08.643Z,1761701108.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.937616,-0.347001,-0.021597],[0.343370,-0.914486,-0.214039],[0.054522,-0.208103,0.976586]] 2025-10-29T01:25:08.818Z,1761701108.818 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:09.047Z,1761701109.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.932874,-0.359212,-0.026708],[0.355453,-0.906030,-0.229700],[0.058313,-0.223775,0.972895]] 2025-10-29T01:25:09.073Z,1761701109.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:09.104Z,1761701109.104 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:09.326Z,1761701109.326 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:09.451Z,1761701109.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.926911,-0.373778,-0.033556],[0.369990,-0.895220,-0.248370],[0.062796,-0.242633,0.968084]] 2025-10-29T01:25:09.578Z,1761701109.578 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:09.831Z,1761701109.831 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:09.877Z,1761701109.877 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.919873,-0.390060,-0.041059],[0.386341,-0.883065,-0.266339],[0.067631,-0.260861,0.963004]] 2025-10-29T01:25:10.081Z,1761701110.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:10.262Z,1761701110.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.911723,-0.407934,-0.048491],[0.404319,-0.870158,-0.281692],[0.072717,-0.276431,0.958279]] 2025-10-29T01:25:10.333Z,1761701110.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:10.585Z,1761701110.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:10.662Z,1761701110.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.902218,-0.427585,-0.056335],[0.424087,-0.855813,-0.296200],[0.078438,-0.291127,0.953463]] 2025-10-29T01:25:10.843Z,1761701110.843 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:11.067Z,1761701111.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.891945,-0.447619,-0.063812],[0.444148,-0.840972,-0.309028],[0.084662,-0.303978,0.948910]] 2025-10-29T01:25:11.090Z,1761701111.090 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:11.189Z,1761701111.189 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:11.341Z,1761701111.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:11.473Z,1761701111.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.880648,-0.468497,-0.070496],[0.464954,-0.826065,-0.318487],[0.090976,-0.313252,0.945302]] 2025-10-29T01:25:11.593Z,1761701111.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:11.848Z,1761701111.848 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:11.904Z,1761701111.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.869034,-0.488889,-0.075952],[0.485118,-0.811860,-0.324875],[0.097165,-0.319174,0.942702]] 2025-10-29T01:25:12.098Z,1761701112.098 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:12.282Z,1761701112.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.857060,-0.508837,-0.080824],[0.504830,-0.798046,-0.329042],[0.102927,-0.322811,0.940850]] 2025-10-29T01:25:12.349Z,1761701112.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:12.601Z,1761701112.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:12.704Z,1761701112.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.844828,-0.528522,-0.083249],[0.523966,-0.785779,-0.328650],[0.108283,-0.321272,0.940776]] 2025-10-29T01:25:12.856Z,1761701112.856 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:13.105Z,1761701113.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:13.110Z,1761701113.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.832165,-0.548141,-0.083928],[0.542847,-0.774349,-0.325117],[0.113220,-0.316111,0.941942]] 2025-10-29T01:25:13.358Z,1761701113.358 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:13.511Z,1761701113.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.819196,-0.567547,-0.082515],[0.561305,-0.763887,-0.318454],[0.117706,-0.307192,0.944340]] 2025-10-29T01:25:13.528Z,1761701113.528 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:13.609Z,1761701113.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:13.863Z,1761701113.863 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:13.935Z,1761701113.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.805929,-0.586557,-0.080179],[0.579418,-0.753730,-0.310105],[0.121461,-0.296380,0.947315]] 2025-10-29T01:25:14.113Z,1761701114.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:14.318Z,1761701114.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.792380,-0.605040,-0.077845],[0.597174,-0.743286,-0.301512],[0.124566,-0.285399,0.950279]] 2025-10-29T01:25:14.365Z,1761701114.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:14.617Z,1761701114.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:14.722Z,1761701114.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.778401,-0.623275,-0.074976],[0.614743,-0.732592,-0.292234],[0.127216,-0.273566,0.953403]] 2025-10-29T01:25:14.873Z,1761701114.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:15.121Z,1761701115.121 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:15.131Z,1761701115.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.764108,-0.640904,-0.073359],[0.632000,-0.720957,-0.284250],[0.129288,-0.263561,0.955940]] 2025-10-29T01:25:15.373Z,1761701115.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:15.557Z,1761701115.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.749937,-0.657442,-0.073250],[0.648473,-0.708760,-0.277744],[0.130684,-0.255791,0.957858]] 2025-10-29T01:25:15.591Z,1761701115.591 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:15.625Z,1761701115.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:15.878Z,1761701115.878 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:15.968Z,1761701115.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.735882,-0.672789,-0.076374],[0.664223,-0.695369,-0.274354],[0.131474,-0.252621,0.958591]] 2025-10-29T01:25:16.129Z,1761701116.129 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:16.381Z,1761701116.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:16.382Z,1761701116.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.721819,-0.687231,-0.081797],[0.679422,-0.681146,-0.272810],[0.131768,-0.252494,0.958584]] 2025-10-29T01:25:16.634Z,1761701116.634 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:16.783Z,1761701116.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.694596,-0.712653,-0.098300],[0.707383,-0.651714,-0.273640],[0.130947,-0.259604,0.956796]] 2025-10-29T01:25:16.885Z,1761701116.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:17.137Z,1761701117.137 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:17.183Z,1761701117.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.681605,-0.723562,-0.108956],[0.720090,-0.636851,-0.275484],[0.129941,-0.266230,0.955111]] 2025-10-29T01:25:17.390Z,1761701117.390 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:17.595Z,1761701117.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.668990,-0.733846,-0.117990],[0.732078,-0.623115,-0.275298],[0.128505,-0.270550,0.954091]] 2025-10-29T01:25:17.611Z,1761701117.611 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:17.641Z,1761701117.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:17.893Z,1761701117.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:18.010Z,1761701118.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.656611,-0.743857,-0.124651],[0.743475,-0.610540,-0.272920],[0.126909,-0.271877,0.953927]] 2025-10-29T01:25:18.146Z,1761701118.146 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:18.392Z,1761701118.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.645224,-0.753126,-0.128400],[0.753694,-0.599969,-0.268296],[0.125025,-0.269886,0.954741]] 2025-10-29T01:25:18.397Z,1761701118.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:18.649Z,1761701118.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:18.794Z,1761701118.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634520,-0.762057,-0.129047],[0.763051,-0.591059,-0.261537],[0.123032,-0.264420,0.956528]] 2025-10-29T01:25:18.901Z,1761701118.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:19.153Z,1761701119.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:19.202Z,1761701119.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.625006,-0.770106,-0.127685],[0.771177,-0.583764,-0.253980],[0.121054,-0.257207,0.958744]] 2025-10-29T01:25:19.405Z,1761701119.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:19.602Z,1761701119.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616662,-0.777271,-0.124808],[0.778182,-0.577901,-0.245892],[0.118998,-0.248755,0.961228]] 2025-10-29T01:25:19.631Z,1761701119.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:19.657Z,1761701119.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:19.909Z,1761701119.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:20.026Z,1761701120.026 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609119,-0.783819,-0.120839],[0.784430,-0.573002,-0.237355],[0.116802,-0.239367,0.963878]] 2025-10-29T01:25:20.161Z,1761701120.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:20.413Z,1761701120.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:20.415Z,1761701120.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.602078,-0.789885,-0.116551],[0.790190,-0.568550,-0.228804],[0.114464,-0.229856,0.966470]] 2025-10-29T01:25:20.665Z,1761701120.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:20.816Z,1761701120.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596175,-0.794826,-0.113259],[0.794975,-0.564704,-0.221641],[0.112208,-0.222175,0.968529]] 2025-10-29T01:25:20.917Z,1761701120.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:21.169Z,1761701121.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:21.219Z,1761701121.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590954,-0.799139,-0.110227],[0.799222,-0.561412,-0.214618],[0.109626,-0.214925,0.970458]] 2025-10-29T01:25:21.421Z,1761701121.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:21.622Z,1761701121.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586778,-0.802585,-0.107466],[0.802616,-0.558889,-0.208451],[0.107238,-0.208568,0.972111]] 2025-10-29T01:25:21.640Z,1761701121.640 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:21.673Z,1761701121.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:21.925Z,1761701121.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:22.068Z,1761701122.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583656,-0.805234,-0.104610],[0.805203,-0.557311,-0.202615],[0.104852,-0.202490,0.973655]] 2025-10-29T01:25:22.177Z,1761701122.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:22.429Z,1761701122.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:22.433Z,1761701122.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581266,-0.807295,-0.102005],[0.807230,-0.556291,-0.197282],[0.102520,-0.197015,0.975026]] 2025-10-29T01:25:22.448Z,1761701122.448 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:25:22.681Z,1761701122.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:22.834Z,1761701122.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579498,-0.808901,-0.099308],[0.808806,-0.555863,-0.191961],[0.100076,-0.191562,0.976365]] 2025-10-29T01:25:22.933Z,1761701122.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:23.185Z,1761701123.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:23.238Z,1761701123.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578243,-0.810086,-0.096926],[0.810003,-0.555808,-0.187010],[0.097622,-0.186648,0.977565]] 2025-10-29T01:25:23.437Z,1761701123.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:23.452Z,1761701123.452 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:25:23.643Z,1761701123.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577195,-0.811154,-0.094212],[0.811055,-0.556012,-0.181770],[0.095060,-0.181328,0.978818]] 2025-10-29T01:25:23.660Z,1761701123.660 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:23.689Z,1761701123.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:23.941Z,1761701123.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:24.087Z,1761701124.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576584,-0.811724,-0.093033],[0.811768,-0.556228,-0.177885],[0.092646,-0.178087,0.979644]] 2025-10-29T01:25:24.193Z,1761701124.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:24.445Z,1761701124.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:24.453Z,1761701124.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576176,-0.812182,-0.091556],[0.812298,-0.556622,-0.174194],[0.090515,-0.174737,0.980446]] 2025-10-29T01:25:24.698Z,1761701124.698 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:24.855Z,1761701124.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575822,-0.812656,-0.089554],[0.812770,-0.557135,-0.170308],[0.088508,-0.170853,0.981313]] 2025-10-29T01:25:24.949Z,1761701124.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:25.201Z,1761701125.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:25.258Z,1761701125.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575673,-0.812846,-0.088784],[0.813082,-0.557552,-0.167432],[0.086595,-0.168575,0.981878]] 2025-10-29T01:25:25.453Z,1761701125.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:25.663Z,1761701125.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575792,-0.812792,-0.088497],[0.813192,-0.558106,-0.165038],[0.084750,-0.166992,0.982309]] 2025-10-29T01:25:25.705Z,1761701125.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:25.777Z,1761701125.777 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:25.957Z,1761701125.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:26.106Z,1761701126.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576196,-0.812654,-0.087128],[0.813081,-0.559115,-0.162140],[0.083049,-0.164266,0.982914]] 2025-10-29T01:25:26.213Z,1761701126.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:26.461Z,1761701126.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:26.473Z,1761701126.473 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576633,-0.812484,-0.085816],[0.812929,-0.560108,-0.159455],[0.081488,-0.161709,0.983468]] 2025-10-29T01:25:26.713Z,1761701126.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:26.874Z,1761701126.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576717,-0.812385,-0.086191],[0.813015,-0.560405,-0.157969],[0.080030,-0.161178,0.983675]] 2025-10-29T01:25:26.965Z,1761701126.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:27.217Z,1761701127.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:27.280Z,1761701127.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576829,-0.812180,-0.087362],[0.813071,-0.560563,-0.157112],[0.078631,-0.161659,0.983709]] 2025-10-29T01:25:27.469Z,1761701127.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:27.683Z,1761701127.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576641,-0.812403,-0.086520],[0.813326,-0.560794,-0.154955],[0.077366,-0.159723,0.984126]] 2025-10-29T01:25:27.721Z,1761701127.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:27.973Z,1761701127.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:28.138Z,1761701128.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576025,-0.812778,-0.087102],[0.813873,-0.560320,-0.153789],[0.076192,-0.159476,0.984257]] 2025-10-29T01:25:28.198Z,1761701128.198 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:28.233Z,1761701128.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:28.485Z,1761701128.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:28.495Z,1761701128.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575243,-0.813265,-0.087723],[0.814541,-0.559694,-0.152530],[0.074949,-0.159196,0.984398]] 2025-10-29T01:25:28.737Z,1761701128.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:28.894Z,1761701128.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573955,-0.814169,-0.087781],[0.815579,-0.558716,-0.150557],[0.073534,-0.158005,0.984697]] 2025-10-29T01:25:28.990Z,1761701128.990 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:29.241Z,1761701129.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:29.299Z,1761701129.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572386,-0.815061,-0.089723],[0.816827,-0.557165,-0.149537],[0.071891,-0.158881,0.984677]] 2025-10-29T01:25:29.493Z,1761701129.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:29.703Z,1761701129.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570579,-0.816183,-0.091027],[0.818233,-0.555503,-0.148028],[0.070252,-0.158943,0.984785]] 2025-10-29T01:25:29.745Z,1761701129.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:29.997Z,1761701129.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:30.133Z,1761701130.133 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568240,-0.817691,-0.092113],[0.820012,-0.553402,-0.146033],[0.068434,-0.158516,0.984982]] 2025-10-29T01:25:30.249Z,1761701130.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:30.502Z,1761701130.502 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:30.512Z,1761701130.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565855,-0.819114,-0.094124],[0.821814,-0.551106,-0.144583],[0.066557,-0.159165,0.985006]] 2025-10-29T01:25:30.562Z,1761701130.562 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:30.753Z,1761701130.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:30.915Z,1761701130.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563198,-0.820743,-0.095856],[0.823799,-0.548631,-0.142684],[0.064517,-0.159325,0.985116]] 2025-10-29T01:25:31.005Z,1761701131.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:31.257Z,1761701131.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:31.318Z,1761701131.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560842,-0.822009,-0.098780],[0.825551,-0.546215,-0.141827],[0.062628,-0.161090,0.984951]] 2025-10-29T01:25:31.509Z,1761701131.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:31.723Z,1761701131.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558565,-0.823299,-0.100916],[0.827227,-0.543997,-0.140582],[0.060843,-0.162005,0.984912]] 2025-10-29T01:25:31.761Z,1761701131.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:32.013Z,1761701132.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:32.141Z,1761701132.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556620,-0.824417,-0.102519],[0.828639,-0.542123,-0.139502],[0.059430,-0.162601,0.984901]] 2025-10-29T01:25:32.265Z,1761701132.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:32.517Z,1761701132.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:32.533Z,1761701132.533 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554830,-0.825535,-0.103225],[0.829921,-0.540502,-0.138161],[0.058263,-0.162325,0.985016]] 2025-10-29T01:25:32.632Z,1761701132.632 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:32.769Z,1761701132.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:32.934Z,1761701132.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553351,-0.826475,-0.103638],[0.830984,-0.539219,-0.136779],[0.057161,-0.161808,0.985165]] 2025-10-29T01:25:33.021Z,1761701133.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:33.273Z,1761701133.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:33.340Z,1761701133.340 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551794,-0.827430,-0.104319],[0.832104,-0.537842,-0.135387],[0.055916,-0.161510,0.985286]] 2025-10-29T01:25:33.528Z,1761701133.528 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:33.744Z,1761701133.744 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550445,-0.828217,-0.105194],[0.833075,-0.536624,-0.134239],[0.054729,-0.161526,0.985350]] 2025-10-29T01:25:33.777Z,1761701133.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:34.029Z,1761701134.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:34.195Z,1761701134.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549519,-0.828674,-0.106430],[0.833755,-0.535732,-0.133583],[0.053679,-0.162143,0.985306]] 2025-10-29T01:25:34.281Z,1761701134.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:34.534Z,1761701134.534 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:34.563Z,1761701134.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548908,-0.829135,-0.105996],[0.834216,-0.535386,-0.132082],[0.052765,-0.160925,0.985555]] 2025-10-29T01:25:34.785Z,1761701134.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:34.954Z,1761701134.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548537,-0.829500,-0.105058],[0.834518,-0.535356,-0.130282],[0.051825,-0.159137,0.985895]] 2025-10-29T01:25:34.982Z,1761701134.982 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:35.037Z,1761701135.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:35.289Z,1761701135.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:35.358Z,1761701135.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548606,-0.829608,-0.103837],[0.834509,-0.535723,-0.128820],[0.051242,-0.157325,0.986217]] 2025-10-29T01:25:35.541Z,1761701135.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:35.767Z,1761701135.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548766,-0.829641,-0.102721],[0.834453,-0.536202,-0.127184],[0.050438,-0.155510,0.986546]] 2025-10-29T01:25:35.793Z,1761701135.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:36.045Z,1761701136.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:36.168Z,1761701136.168 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549133,-0.829515,-0.101772],[0.834260,-0.536854,-0.125686],[0.049622,-0.153923,0.986836]] 2025-10-29T01:25:36.299Z,1761701136.299 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:36.549Z,1761701136.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:36.571Z,1761701136.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549407,-0.829350,-0.101643],[0.834132,-0.537299,-0.124638],[0.048755,-0.153260,0.986982]] 2025-10-29T01:25:36.801Z,1761701136.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:36.975Z,1761701136.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549550,-0.829314,-0.101161],[0.834076,-0.537633,-0.123567],[0.048088,-0.152282,0.987167]] 2025-10-29T01:25:37.017Z,1761701137.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:37.054Z,1761701137.054 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:37.305Z,1761701137.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:37.557Z,1761701137.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:37.786Z,1761701137.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549962,-0.828978,-0.101667],[0.833860,-0.538136,-0.122831],[0.047114,-0.152328,0.987206]] 2025-10-29T01:25:37.809Z,1761701137.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:38.061Z,1761701138.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:38.187Z,1761701138.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550041,-0.828954,-0.101439],[0.833825,-0.538302,-0.122336],[0.046806,-0.151872,0.987291]] 2025-10-29T01:25:38.316Z,1761701138.316 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:38.565Z,1761701138.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:38.591Z,1761701138.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550201,-0.828708,-0.102571],[0.833730,-0.538326,-0.122881],[0.046616,-0.153125,0.987107]] 2025-10-29T01:25:38.817Z,1761701138.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:38.995Z,1761701138.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550361,-0.828630,-0.102344],[0.833637,-0.538556,-0.122504],[0.046393,-0.152739,0.987177]] 2025-10-29T01:25:39.069Z,1761701139.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:39.321Z,1761701139.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:39.400Z,1761701139.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550397,-0.828637,-0.102098],[0.833630,-0.538683,-0.121990],[0.046087,-0.152255,0.987266]] 2025-10-29T01:25:39.435Z,1761701139.435 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:39.573Z,1761701139.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:39.803Z,1761701139.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550301,-0.828692,-0.102171],[0.833706,-0.538620,-0.121752],[0.045864,-0.152181,0.987288]] 2025-10-29T01:25:39.825Z,1761701139.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:40.077Z,1761701140.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:40.206Z,1761701140.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550073,-0.828764,-0.102816],[0.833883,-0.538393,-0.121539],[0.045372,-0.152592,0.987247]] 2025-10-29T01:25:40.329Z,1761701140.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:40.581Z,1761701140.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:40.620Z,1761701140.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549299,-0.829279,-0.102802],[0.834429,-0.537762,-0.120587],[0.044717,-0.152019,0.987365]] 2025-10-29T01:25:40.833Z,1761701140.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:41.023Z,1761701141.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548782,-0.829461,-0.104083],[0.834797,-0.537168,-0.120685],[0.044194,-0.153118,0.987219]] 2025-10-29T01:25:41.087Z,1761701141.087 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:41.341Z,1761701141.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:41.422Z,1761701141.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547926,-0.830008,-0.104232],[0.835398,-0.536452,-0.119702],[0.043439,-0.152663,0.987323]] 2025-10-29T01:25:41.468Z,1761701141.468 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:41.600Z,1761701141.600 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:41.826Z,1761701141.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547159,-0.830464,-0.104622],[0.835934,-0.535767,-0.119034],[0.042801,-0.152587,0.987363]] 2025-10-29T01:25:41.849Z,1761701141.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:42.101Z,1761701142.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:42.230Z,1761701142.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545947,-0.831137,-0.105604],[0.836771,-0.534612,-0.118339],[0.041898,-0.152973,0.987342]] 2025-10-29T01:25:42.353Z,1761701142.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:42.605Z,1761701142.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:42.638Z,1761701142.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545120,-0.831591,-0.106302],[0.837341,-0.533821,-0.117873],[0.041276,-0.153266,0.987322]] 2025-10-29T01:25:42.857Z,1761701142.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:43.049Z,1761701143.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544376,-0.831820,-0.108305],[0.837861,-0.532949,-0.118130],[0.040542,-0.155052,0.987074]] 2025-10-29T01:25:43.109Z,1761701143.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:43.361Z,1761701143.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:43.442Z,1761701143.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543531,-0.832413,-0.107999],[0.838445,-0.532303,-0.116892],[0.039815,-0.154086,0.987255]] 2025-10-29T01:25:43.493Z,1761701143.493 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:43.613Z,1761701143.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:43.847Z,1761701143.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542570,-0.832888,-0.109160],[0.839105,-0.531358,-0.116454],[0.038990,-0.154781,0.987179]] 2025-10-29T01:25:43.865Z,1761701143.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:44.117Z,1761701144.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:44.251Z,1761701144.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541817,-0.833321,-0.109590],[0.839627,-0.530706,-0.115665],[0.038227,-0.154684,0.987224]] 2025-10-29T01:25:44.371Z,1761701144.371 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:44.621Z,1761701144.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:44.654Z,1761701144.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541214,-0.833582,-0.110578],[0.840047,-0.530112,-0.115335],[0.037523,-0.155312,0.987153]] 2025-10-29T01:25:44.873Z,1761701144.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:45.061Z,1761701145.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541276,-0.833463,-0.111178],[0.840031,-0.530185,-0.115120],[0.037003,-0.155705,0.987110]] 2025-10-29T01:25:45.125Z,1761701145.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:45.377Z,1761701145.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:45.462Z,1761701145.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541051,-0.833834,-0.109473],[0.840205,-0.530322,-0.113203],[0.036336,-0.153228,0.987523]] 2025-10-29T01:25:45.503Z,1761701145.503 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:45.629Z,1761701145.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:45.866Z,1761701145.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540867,-0.833868,-0.110121],[0.840355,-0.530192,-0.112694],[0.035587,-0.153494,0.987509]] 2025-10-29T01:25:45.889Z,1761701145.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:46.133Z,1761701146.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:46.270Z,1761701146.270 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541109,-0.833592,-0.111026],[0.840219,-0.530390,-0.112778],[0.035124,-0.154311,0.987398]] 2025-10-29T01:25:46.387Z,1761701146.387 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:46.637Z,1761701146.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:46.678Z,1761701146.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541425,-0.833218,-0.112277],[0.840034,-0.530616,-0.113090],[0.034653,-0.155546,0.987221]] 2025-10-29T01:25:46.889Z,1761701146.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:47.081Z,1761701147.081 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541789,-0.832981,-0.112280],[0.839819,-0.531053,-0.112639],[0.034199,-0.155321,0.987272]] 2025-10-29T01:25:47.141Z,1761701147.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:47.395Z,1761701147.395 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:47.483Z,1761701147.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542080,-0.832821,-0.112063],[0.839652,-0.531460,-0.111961],[0.033686,-0.154785,0.987374]] 2025-10-29T01:25:47.545Z,1761701147.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:47.645Z,1761701147.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:47.887Z,1761701147.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542664,-0.832341,-0.112801],[0.839285,-0.531980,-0.112244],[0.033418,-0.155583,0.987257]] 2025-10-29T01:25:47.897Z,1761701147.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:48.149Z,1761701148.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:48.292Z,1761701148.292 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543182,-0.831902,-0.113548],[0.838966,-0.532460,-0.112350],[0.033004,-0.156289,0.987160]] 2025-10-29T01:25:48.406Z,1761701148.406 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:48.653Z,1761701148.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:48.905Z,1761701148.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:49.157Z,1761701149.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:49.411Z,1761701149.411 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:49.503Z,1761701149.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545089,-0.830673,-0.113401],[0.837784,-0.534603,-0.110987],[0.031570,-0.155503,0.987331]] 2025-10-29T01:25:49.559Z,1761701149.559 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:49.661Z,1761701149.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:49.909Z,1761701149.909 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545843,-0.830229,-0.113028],[0.837303,-0.535439,-0.110587],[0.031293,-0.155002,0.987418]] 2025-10-29T01:25:49.913Z,1761701149.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:50.165Z,1761701150.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:50.311Z,1761701150.311 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546187,-0.830088,-0.112394],[0.837097,-0.535949,-0.109669],[0.030798,-0.153985,0.987593]] 2025-10-29T01:25:50.419Z,1761701150.419 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:50.669Z,1761701150.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:50.714Z,1761701150.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546248,-0.829988,-0.112835],[0.837085,-0.536092,-0.109065],[0.030032,-0.154029,0.987610]] 2025-10-29T01:25:50.921Z,1761701150.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:51.125Z,1761701151.125 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546393,-0.829845,-0.113189],[0.837007,-0.536270,-0.108782],[0.029572,-0.154178,0.987601]] 2025-10-29T01:25:51.173Z,1761701151.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:51.427Z,1761701151.427 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:51.595Z,1761701151.595 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:51.677Z,1761701151.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:51.926Z,1761701151.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545727,-0.830215,-0.113694],[0.837487,-0.535799,-0.107398],[0.028246,-0.153827,0.987694]] 2025-10-29T01:25:51.929Z,1761701151.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:52.181Z,1761701152.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:52.330Z,1761701152.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545789,-0.830117,-0.114106],[0.837462,-0.535891,-0.107137],[0.027788,-0.154034,0.987675]] 2025-10-29T01:25:52.436Z,1761701152.436 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:52.685Z,1761701152.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:52.735Z,1761701152.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545601,-0.830242,-0.114094],[0.837597,-0.535780,-0.106635],[0.027404,-0.153745,0.987730]] 2025-10-29T01:25:52.937Z,1761701152.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:53.163Z,1761701153.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544838,-0.830599,-0.115139],[0.838103,-0.534954,-0.106809],[0.027122,-0.154692,0.987590]] 2025-10-29T01:25:53.189Z,1761701153.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:53.443Z,1761701153.443 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:53.553Z,1761701153.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544145,-0.831152,-0.114423],[0.838562,-0.534422,-0.105862],[0.026837,-0.153555,0.987776]] 2025-10-29T01:25:53.612Z,1761701153.612 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:25:53.693Z,1761701153.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:53.946Z,1761701153.946 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:53.956Z,1761701153.956 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542964,-0.831987,-0.113961],[0.839330,-0.533349,-0.105183],[0.026730,-0.152762,0.987901]] 2025-10-29T01:25:53.983Z,1761701153.983 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:54.197Z,1761701154.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:54.358Z,1761701154.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541764,-0.832690,-0.114539],[0.840117,-0.532173,-0.104855],[0.026357,-0.153033,0.987870]] 2025-10-29T01:25:54.449Z,1761701154.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:54.616Z,1761701154.616 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:25:54.701Z,1761701154.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:54.767Z,1761701154.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540844,-0.833258,-0.114754],[0.840718,-0.531299,-0.104470],[0.026082,-0.152978,0.987885]] 2025-10-29T01:25:54.953Z,1761701154.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:55.171Z,1761701155.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539695,-0.833934,-0.115256],[0.841477,-0.530235,-0.103768],[0.025423,-0.152989,0.987901]] 2025-10-29T01:25:55.205Z,1761701155.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:55.457Z,1761701155.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:55.570Z,1761701155.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538660,-0.834516,-0.115881],[0.842168,-0.529324,-0.102808],[0.024456,-0.152970,0.987928]] 2025-10-29T01:25:55.709Z,1761701155.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:55.961Z,1761701155.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:55.976Z,1761701155.976 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538237,-0.834910,-0.115009],[0.842461,-0.529158,-0.101249],[0.023676,-0.151387,0.988191]] 2025-10-29T01:25:56.030Z,1761701156.030 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:56.213Z,1761701156.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:56.378Z,1761701156.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538056,-0.835086,-0.114572],[0.842586,-0.529095,-0.100536],[0.023336,-0.150631,0.988315]] 2025-10-29T01:25:56.465Z,1761701156.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:56.717Z,1761701156.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:56.785Z,1761701156.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537384,-0.835339,-0.115877],[0.843038,-0.528436,-0.100212],[0.022477,-0.151541,0.988195]] 2025-10-29T01:25:56.969Z,1761701156.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:57.187Z,1761701157.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536841,-0.835619,-0.116375],[0.843400,-0.527954,-0.099702],[0.021872,-0.151675,0.988188]] 2025-10-29T01:25:57.221Z,1761701157.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:57.475Z,1761701157.475 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:57.590Z,1761701157.590 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536871,-0.835593,-0.116420],[0.843387,-0.528019,-0.099472],[0.021646,-0.151590,0.988206]] 2025-10-29T01:25:57.726Z,1761701157.726 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:57.977Z,1761701157.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:58.005Z,1761701158.005 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536819,-0.835636,-0.116351],[0.843426,-0.528020,-0.099130],[0.021401,-0.151348,0.988249]] 2025-10-29T01:25:58.229Z,1761701158.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:58.399Z,1761701158.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536870,-0.835640,-0.116087],[0.843401,-0.528152,-0.098644],[0.021119,-0.150867,0.988328]] 2025-10-29T01:25:58.430Z,1761701158.430 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:25:58.482Z,1761701158.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:58.733Z,1761701158.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:58.803Z,1761701158.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536845,-0.835608,-0.116438],[0.843427,-0.528159,-0.098386],[0.020714,-0.151024,0.988313]] 2025-10-29T01:25:58.985Z,1761701158.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:59.218Z,1761701159.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537154,-0.835331,-0.116997],[0.843235,-0.528433,-0.098553],[0.020500,-0.151594,0.988230]] 2025-10-29T01:25:59.237Z,1761701159.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:59.490Z,1761701159.490 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:59.618Z,1761701159.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537372,-0.835102,-0.117627],[0.843102,-0.528616,-0.098712],[0.020255,-0.152217,0.988140]] 2025-10-29T01:25:59.745Z,1761701159.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:25:59.993Z,1761701159.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:00.030Z,1761701160.030 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537990,-0.834665,-0.117902],[0.842710,-0.529206,-0.098894],[0.020149,-0.152561,0.988089]] 2025-10-29T01:26:00.245Z,1761701160.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:00.423Z,1761701160.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538491,-0.834220,-0.118761],[0.842393,-0.529614,-0.099410],[0.020032,-0.153575,0.987934]] 2025-10-29T01:26:00.458Z,1761701160.458 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:00.497Z,1761701160.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:00.749Z,1761701160.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:00.827Z,1761701160.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539075,-0.833768,-0.119287],[0.842021,-0.530136,-0.099783],[0.019957,-0.154233,0.987833]] 2025-10-29T01:26:01.001Z,1761701161.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:01.239Z,1761701161.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539617,-0.833400,-0.119407],[0.841674,-0.530651,-0.099970],[0.019951,-0.154447,0.987800]] 2025-10-29T01:26:01.253Z,1761701161.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:01.505Z,1761701161.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:01.634Z,1761701161.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540034,-0.833121,-0.119468],[0.841409,-0.531070,-0.099981],[0.019850,-0.154514,0.987791]] 2025-10-29T01:26:01.757Z,1761701161.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:02.009Z,1761701162.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:02.034Z,1761701162.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540061,-0.833235,-0.118547],[0.841400,-0.531273,-0.098968],[0.019483,-0.153194,0.988004]] 2025-10-29T01:26:02.261Z,1761701162.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:02.439Z,1761701162.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540664,-0.832826,-0.118672],[0.841014,-0.531857,-0.099112],[0.019426,-0.153391,0.987975]] 2025-10-29T01:26:02.514Z,1761701162.514 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:02.765Z,1761701162.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:02.842Z,1761701162.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541271,-0.832447,-0.118561],[0.840623,-0.532457,-0.099209],[0.019458,-0.153364,0.987978]] 2025-10-29T01:26:02.888Z,1761701162.888 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:03.017Z,1761701163.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:03.249Z,1761701163.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541531,-0.832291,-0.118474],[0.840460,-0.532755,-0.098993],[0.019274,-0.153181,0.988010]] 2025-10-29T01:26:03.269Z,1761701163.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:03.521Z,1761701163.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:03.658Z,1761701163.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541514,-0.832284,-0.118604],[0.840480,-0.532794,-0.098612],[0.018882,-0.153084,0.988033]] 2025-10-29T01:26:03.773Z,1761701163.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:04.025Z,1761701164.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:04.057Z,1761701164.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541682,-0.832139,-0.118851],[0.840378,-0.532984,-0.098452],[0.018580,-0.153209,0.988019]] 2025-10-29T01:26:04.277Z,1761701164.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:04.458Z,1761701164.458 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541735,-0.832083,-0.119003],[0.840352,-0.533079,-0.098161],[0.018240,-0.153181,0.988030]] 2025-10-29T01:26:04.529Z,1761701164.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:04.781Z,1761701164.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:04.862Z,1761701164.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542110,-0.831842,-0.118975],[0.840112,-0.533473,-0.098069],[0.018108,-0.153117,0.988042]] 2025-10-29T01:26:04.903Z,1761701164.903 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:05.035Z,1761701165.035 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:05.266Z,1761701165.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542328,-0.831687,-0.119070],[0.839978,-0.533723,-0.097867],[0.017844,-0.153092,0.988051]] 2025-10-29T01:26:05.289Z,1761701165.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:05.541Z,1761701165.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:05.685Z,1761701165.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542337,-0.831714,-0.118836],[0.839976,-0.533803,-0.097437],[0.017605,-0.152663,0.988121]] 2025-10-29T01:26:05.793Z,1761701165.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:06.045Z,1761701166.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:06.078Z,1761701166.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542137,-0.831816,-0.119037],[0.840116,-0.533674,-0.096937],[0.017107,-0.152558,0.988147]] 2025-10-29T01:26:06.297Z,1761701166.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:06.484Z,1761701166.484 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542283,-0.831708,-0.119127],[0.840028,-0.533864,-0.096658],[0.016794,-0.152486,0.988163]] 2025-10-29T01:26:06.549Z,1761701166.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:06.801Z,1761701166.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:06.882Z,1761701166.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542301,-0.831637,-0.119538],[0.840031,-0.533974,-0.096016],[0.016020,-0.152486,0.988176]] 2025-10-29T01:26:06.926Z,1761701166.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:07.053Z,1761701167.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:07.286Z,1761701167.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542245,-0.831489,-0.120811],[0.840094,-0.534043,-0.095078],[0.014538,-0.153048,0.988112]] 2025-10-29T01:26:07.305Z,1761701167.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:07.557Z,1761701167.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:07.713Z,1761701167.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542360,-0.831393,-0.120959],[0.840053,-0.534503,-0.092835],[0.012530,-0.151962,0.988307]] 2025-10-29T01:26:07.809Z,1761701167.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:08.061Z,1761701168.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:08.095Z,1761701168.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543071,-0.830915,-0.121054],[0.839618,-0.535513,-0.090919],[0.010720,-0.151014,0.988473]] 2025-10-29T01:26:08.313Z,1761701168.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:08.505Z,1761701168.505 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543303,-0.830576,-0.122335],[0.839492,-0.535959,-0.089454],[0.008732,-0.151300,0.988449]] 2025-10-29T01:26:08.565Z,1761701168.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:08.817Z,1761701168.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:08.902Z,1761701168.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544006,-0.829822,-0.124311],[0.839053,-0.536755,-0.088796],[0.006961,-0.152609,0.988262]] 2025-10-29T01:26:09.017Z,1761701169.017 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:09.069Z,1761701169.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:09.307Z,1761701169.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544169,-0.829690,-0.124476],[0.838961,-0.537275,-0.086481],[0.004875,-0.151491,0.988447]] 2025-10-29T01:26:09.321Z,1761701169.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:09.573Z,1761701169.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:09.740Z,1761701169.740 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545089,-0.829105,-0.124346],[0.838371,-0.538433,-0.084997],[0.003520,-0.150579,0.988592]] 2025-10-29T01:26:09.825Z,1761701169.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:10.077Z,1761701170.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:10.114Z,1761701170.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545366,-0.828921,-0.124362],[0.838196,-0.539002,-0.083096],[0.001849,-0.149557,0.988751]] 2025-10-29T01:26:10.329Z,1761701170.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:10.520Z,1761701170.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546097,-0.828283,-0.125404],[0.837722,-0.539855,-0.082331],[0.000493,-0.150015,0.988684]] 2025-10-29T01:26:10.581Z,1761701170.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:10.833Z,1761701170.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:10.922Z,1761701170.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546259,-0.827987,-0.126646],[0.837616,-0.540166,-0.081366],[-0.001040,-0.150528,0.988605]] 2025-10-29T01:26:11.085Z,1761701171.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:11.326Z,1761701171.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546503,-0.827835,-0.126588],[0.837454,-0.540668,-0.079680],[-0.002480,-0.149557,0.988750]] 2025-10-29T01:26:11.337Z,1761701171.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:11.367Z,1761701171.367 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:11.589Z,1761701171.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:11.769Z,1761701171.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546787,-0.827563,-0.127133],[0.837266,-0.541031,-0.079198],[-0.003241,-0.149748,0.988719]] 2025-10-29T01:26:11.841Z,1761701171.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:12.093Z,1761701172.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:12.138Z,1761701172.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546392,-0.827706,-0.127902],[0.837518,-0.540794,-0.078140],[-0.004492,-0.149815,0.988704]] 2025-10-29T01:26:12.345Z,1761701172.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:12.539Z,1761701172.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546060,-0.827743,-0.129071],[0.837726,-0.540594,-0.077290],[-0.005798,-0.150331,0.988619]] 2025-10-29T01:26:12.597Z,1761701172.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:12.849Z,1761701172.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:12.943Z,1761701172.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545580,-0.827951,-0.129764],[0.838028,-0.540304,-0.076032],[-0.007161,-0.150228,0.988626]] 2025-10-29T01:26:13.101Z,1761701173.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:13.353Z,1761701173.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:13.354Z,1761701173.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545160,-0.828112,-0.130502],[0.838290,-0.540054,-0.074916],[-0.008439,-0.150239,0.988614]] 2025-10-29T01:26:13.370Z,1761701173.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:13.605Z,1761701173.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:13.794Z,1761701173.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544614,-0.828470,-0.130508],[0.838633,-0.539707,-0.073564],[-0.009491,-0.149512,0.988714]] 2025-10-29T01:26:13.857Z,1761701173.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:14.109Z,1761701174.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:14.188Z,1761701174.188 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543918,-0.828748,-0.131643],[0.839070,-0.539144,-0.072702],[-0.010723,-0.150002,0.988627]] 2025-10-29T01:26:14.361Z,1761701174.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:14.559Z,1761701174.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543774,-0.828764,-0.132138],[0.839152,-0.539111,-0.071995],[-0.011570,-0.150033,0.988613]] 2025-10-29T01:26:14.614Z,1761701174.614 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:14.865Z,1761701174.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:14.965Z,1761701174.965 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543603,-0.828780,-0.132739],[0.839255,-0.538991,-0.071694],[-0.012126,-0.150375,0.988555]] 2025-10-29T01:26:15.117Z,1761701175.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:15.369Z,1761701175.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:15.378Z,1761701175.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543247,-0.828908,-0.133397],[0.839474,-0.538722,-0.071146],[-0.012890,-0.150633,0.988506]] 2025-10-29T01:26:15.394Z,1761701175.394 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:15.621Z,1761701175.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:15.813Z,1761701175.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542901,-0.829031,-0.134036],[0.839685,-0.538476,-0.070521],[-0.013711,-0.150834,0.988464]] 2025-10-29T01:26:15.873Z,1761701175.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:16.125Z,1761701176.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:16.175Z,1761701176.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542806,-0.828953,-0.134905],[0.839733,-0.538450,-0.070138],[-0.014499,-0.151355,0.988373]] 2025-10-29T01:26:16.377Z,1761701176.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:16.579Z,1761701176.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543036,-0.828669,-0.135722],[0.839574,-0.538719,-0.069985],[-0.015122,-0.151953,0.988272]] 2025-10-29T01:26:16.629Z,1761701176.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:16.881Z,1761701176.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:16.991Z,1761701176.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543540,-0.828312,-0.135881],[0.839241,-0.539260,-0.069808],[-0.015453,-0.151980,0.988263]] 2025-10-29T01:26:17.133Z,1761701177.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:17.385Z,1761701177.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:17.390Z,1761701177.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543706,-0.828077,-0.136643],[0.839118,-0.539509,-0.069365],[-0.016280,-0.152374,0.988189]] 2025-10-29T01:26:17.427Z,1761701177.427 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:17.637Z,1761701177.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:17.803Z,1761701177.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543815,-0.827831,-0.137698],[0.839027,-0.539717,-0.068852],[-0.017320,-0.152974,0.988078]] 2025-10-29T01:26:17.889Z,1761701177.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:18.141Z,1761701178.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:18.194Z,1761701178.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543709,-0.827854,-0.137979],[0.839069,-0.539813,-0.067570],[-0.018544,-0.152512,0.988128]] 2025-10-29T01:26:18.393Z,1761701178.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:18.599Z,1761701178.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544120,-0.827361,-0.139308],[0.838783,-0.540266,-0.067499],[-0.019417,-0.153577,0.987946]] 2025-10-29T01:26:18.645Z,1761701178.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:18.897Z,1761701178.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:19.002Z,1761701179.002 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544549,-0.827091,-0.139237],[0.838486,-0.540835,-0.066627],[-0.020198,-0.153030,0.988015]] 2025-10-29T01:26:19.149Z,1761701179.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:19.401Z,1761701179.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:19.408Z,1761701179.408 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544943,-0.826822,-0.139295],[0.838213,-0.541343,-0.065930],[-0.020894,-0.152687,0.988054]] 2025-10-29T01:26:19.436Z,1761701179.436 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:19.653Z,1761701179.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:19.817Z,1761701179.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545052,-0.826639,-0.139952],[0.838117,-0.541575,-0.065238],[-0.021866,-0.152854,0.988007]] 2025-10-29T01:26:19.906Z,1761701179.906 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:20.157Z,1761701180.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:20.214Z,1761701180.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545130,-0.826523,-0.140329],[0.838043,-0.541781,-0.064476],[-0.022737,-0.152750,0.988003]] 2025-10-29T01:26:20.409Z,1761701180.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:20.618Z,1761701180.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545232,-0.826443,-0.140403],[0.837955,-0.542018,-0.063626],[-0.023518,-0.152342,0.988048]] 2025-10-29T01:26:20.661Z,1761701180.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:20.915Z,1761701180.915 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:21.022Z,1761701181.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544727,-0.826720,-0.140737],[0.838250,-0.541705,-0.062380],[-0.024667,-0.151953,0.988080]] 2025-10-29T01:26:21.165Z,1761701181.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:21.422Z,1761701181.422 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:21.429Z,1761701181.429 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544510,-0.826747,-0.141418],[0.838358,-0.541643,-0.061468],[-0.025779,-0.152029,0.988040]] 2025-10-29T01:26:21.446Z,1761701181.446 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:21.673Z,1761701181.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:21.830Z,1761701181.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544307,-0.826762,-0.142107],[0.838457,-0.541585,-0.060632],[-0.026835,-0.152153,0.987993]] 2025-10-29T01:26:21.925Z,1761701181.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:22.177Z,1761701182.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:22.234Z,1761701182.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544425,-0.826613,-0.142521],[0.838352,-0.541824,-0.059930],[-0.027682,-0.152111,0.987976]] 2025-10-29T01:26:22.429Z,1761701182.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:22.638Z,1761701182.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544273,-0.826673,-0.142753],[0.838419,-0.541832,-0.058916],[-0.028644,-0.151753,0.988003]] 2025-10-29T01:26:22.681Z,1761701182.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:22.935Z,1761701182.935 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:23.044Z,1761701183.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544545,-0.826580,-0.142251],[0.838220,-0.542252,-0.057881],[-0.029292,-0.150756,0.988137]] 2025-10-29T01:26:23.185Z,1761701183.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:23.437Z,1761701183.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:23.450Z,1761701183.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544823,-0.826405,-0.142205],[0.838017,-0.542641,-0.057165],[-0.029925,-0.150315,0.988185]] 2025-10-29T01:26:23.546Z,1761701183.546 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:23.689Z,1761701183.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:23.850Z,1761701183.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544984,-0.826186,-0.142856],[0.837882,-0.542904,-0.056646],[-0.030757,-0.150568,0.988121]] 2025-10-29T01:26:23.947Z,1761701183.947 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:24.194Z,1761701184.194 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:24.265Z,1761701184.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545231,-0.825931,-0.143391],[0.837691,-0.543257,-0.056086],[-0.031575,-0.150697,0.988076]] 2025-10-29T01:26:24.445Z,1761701184.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:24.658Z,1761701184.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545847,-0.825404,-0.144081],[0.837263,-0.543941,-0.055845],[-0.032277,-0.151116,0.987989]] 2025-10-29T01:26:24.697Z,1761701184.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:24.736Z,1761701184.736 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:26:24.951Z,1761701184.951 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:25.062Z,1761701185.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546347,-0.825040,-0.144273],[0.836908,-0.544551,-0.055217],[-0.033007,-0.150911,0.987996]] 2025-10-29T01:26:25.201Z,1761701185.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:25.453Z,1761701185.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:25.479Z,1761701185.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547271,-0.824464,-0.144060],[0.836287,-0.545550,-0.054767],[-0.033438,-0.150448,0.988052]] 2025-10-29T01:26:25.705Z,1761701185.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:25.740Z,1761701185.740 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:26:25.872Z,1761701185.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547754,-0.824190,-0.143796],[0.835949,-0.546141,-0.054037],[-0.033996,-0.149805,0.988131]] 2025-10-29T01:26:25.889Z,1761701185.889 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:25.960Z,1761701185.960 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:26.209Z,1761701186.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:26.274Z,1761701186.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548842,-0.823448,-0.143895],[0.835221,-0.547262,-0.053947],[-0.034326,-0.149792,0.988121]] 2025-10-29T01:26:26.461Z,1761701186.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:26.679Z,1761701186.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549607,-0.823084,-0.143052],[0.834699,-0.548148,-0.053020],[-0.034774,-0.148545,0.988294]] 2025-10-29T01:26:26.713Z,1761701186.713 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:26.967Z,1761701186.967 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:27.084Z,1761701187.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550136,-0.822472,-0.144534],[0.834327,-0.548673,-0.053452],[-0.035339,-0.149994,0.988055]] 2025-10-29T01:26:27.217Z,1761701187.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:27.470Z,1761701187.470 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:27.492Z,1761701187.492 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550661,-0.822080,-0.144764],[0.833955,-0.549280,-0.053013],[-0.035935,-0.149919,0.988045]] 2025-10-29T01:26:27.721Z,1761701187.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:27.890Z,1761701187.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551336,-0.821534,-0.145293],[0.833500,-0.549947,-0.053258],[-0.036150,-0.150465,0.987954]] 2025-10-29T01:26:27.929Z,1761701187.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:27.975Z,1761701187.975 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:28.225Z,1761701188.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:28.299Z,1761701188.299 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551746,-0.821084,-0.146278],[0.833220,-0.550319,-0.053788],[-0.036335,-0.151559,0.987780]] 2025-10-29T01:26:28.477Z,1761701188.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:28.701Z,1761701188.701 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551807,-0.820991,-0.146572],[0.833159,-0.550448,-0.053425],[-0.036819,-0.151598,0.987756]] 2025-10-29T01:26:28.729Z,1761701188.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:28.983Z,1761701188.983 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:29.103Z,1761701189.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551933,-0.820814,-0.147089],[0.833056,-0.550618,-0.053273],[-0.037263,-0.151937,0.987688]] 2025-10-29T01:26:29.233Z,1761701189.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:29.485Z,1761701189.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:29.507Z,1761701189.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552143,-0.820618,-0.147393],[0.832904,-0.550857,-0.053179],[-0.037552,-0.152127,0.987647]] 2025-10-29T01:26:29.737Z,1761701189.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:29.911Z,1761701189.911 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551748,-0.820826,-0.147713],[0.833138,-0.550560,-0.052589],[-0.038158,-0.152082,0.987631]] 2025-10-29T01:26:29.991Z,1761701189.991 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:30.043Z,1761701190.043 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:30.241Z,1761701190.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:30.314Z,1761701190.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551246,-0.821134,-0.147874],[0.833442,-0.550167,-0.051869],[-0.038764,-0.151837,0.987645]] 2025-10-29T01:26:30.493Z,1761701190.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:30.745Z,1761701190.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:30.997Z,1761701190.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:31.123Z,1761701191.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550397,-0.821673,-0.148046],[0.833940,-0.549565,-0.050223],[-0.040094,-0.151104,0.987704]] 2025-10-29T01:26:31.249Z,1761701191.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:31.501Z,1761701191.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:31.536Z,1761701191.536 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549923,-0.822056,-0.147675],[0.834220,-0.549245,-0.049071],[-0.040770,-0.150179,0.987818]] 2025-10-29T01:26:31.753Z,1761701191.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:31.933Z,1761701191.933 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549728,-0.822362,-0.146697],[0.834307,-0.549260,-0.047384],[-0.041608,-0.148439,0.988046]] 2025-10-29T01:26:32.007Z,1761701192.007 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:32.257Z,1761701192.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:32.387Z,1761701192.387 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:32.509Z,1761701192.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:32.739Z,1761701192.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548538,-0.823177,-0.146580],[0.834994,-0.548429,-0.044838],[-0.043479,-0.146989,0.988182]] 2025-10-29T01:26:32.761Z,1761701192.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:33.015Z,1761701193.015 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:33.143Z,1761701193.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548373,-0.823277,-0.146633],[0.835063,-0.548397,-0.043941],[-0.044238,-0.146543,0.988215]] 2025-10-29T01:26:33.265Z,1761701193.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:33.517Z,1761701193.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:33.546Z,1761701193.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548303,-0.823213,-0.147255],[0.835063,-0.548447,-0.043313],[-0.045106,-0.146716,0.988150]] 2025-10-29T01:26:33.769Z,1761701193.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:33.958Z,1761701193.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548206,-0.823076,-0.148377],[0.835072,-0.548467,-0.042871],[-0.046094,-0.147408,0.988001]] 2025-10-29T01:26:34.021Z,1761701194.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:34.273Z,1761701194.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:34.360Z,1761701194.360 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548520,-0.822838,-0.148538],[0.834835,-0.548866,-0.042385],[-0.046652,-0.147254,0.987998]] 2025-10-29T01:26:34.401Z,1761701194.401 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:34.525Z,1761701194.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:34.764Z,1761701194.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548705,-0.822703,-0.148599],[0.834676,-0.549162,-0.041682],[-0.047313,-0.146903,0.988019]] 2025-10-29T01:26:34.778Z,1761701194.778 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:35.029Z,1761701195.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:35.163Z,1761701195.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549146,-0.822376,-0.148784],[0.834354,-0.549683,-0.041242],[-0.047868,-0.146787,0.988009]] 2025-10-29T01:26:35.281Z,1761701195.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:35.533Z,1761701195.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:35.567Z,1761701195.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549539,-0.822059,-0.149086],[0.834061,-0.550161,-0.040810],[-0.048473,-0.146773,0.987982]] 2025-10-29T01:26:35.785Z,1761701195.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:35.973Z,1761701195.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550031,-0.821648,-0.149537],[0.833712,-0.550697,-0.040717],[-0.048895,-0.147066,0.987918]] 2025-10-29T01:26:36.037Z,1761701196.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:36.289Z,1761701196.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:36.374Z,1761701196.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550193,-0.821449,-0.150030],[0.833575,-0.550920,-0.040484],[-0.049399,-0.147335,0.987852]] 2025-10-29T01:26:36.421Z,1761701196.421 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:36.541Z,1761701196.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:36.782Z,1761701196.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550793,-0.821031,-0.150118],[0.833179,-0.551506,-0.040672],[-0.049398,-0.147476,0.987831]] 2025-10-29T01:26:36.793Z,1761701196.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:37.045Z,1761701197.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:37.183Z,1761701197.183 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551291,-0.820651,-0.150366],[0.832874,-0.551909,-0.041439],[-0.048982,-0.148081,0.987762]] 2025-10-29T01:26:37.297Z,1761701197.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:37.549Z,1761701197.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:37.589Z,1761701197.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551537,-0.820390,-0.150888],[0.832756,-0.551987,-0.042752],[-0.048215,-0.149233,0.987626]] 2025-10-29T01:26:37.801Z,1761701197.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:37.990Z,1761701197.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551437,-0.820368,-0.151373],[0.832847,-0.551787,-0.043561],[-0.047789,-0.150091,0.987517]] 2025-10-29T01:26:38.055Z,1761701198.055 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:38.305Z,1761701198.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:38.394Z,1761701198.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551143,-0.820393,-0.152302],[0.833064,-0.551375,-0.044607],[-0.047380,-0.151463,0.987327]] 2025-10-29T01:26:38.494Z,1761701198.494 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:38.557Z,1761701198.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:38.800Z,1761701198.800 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551186,-0.820325,-0.152515],[0.833042,-0.551385,-0.044888],[-0.047271,-0.151793,0.987281]] 2025-10-29T01:26:38.809Z,1761701198.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:39.061Z,1761701199.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:39.225Z,1761701199.225 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551279,-0.820138,-0.153185],[0.833015,-0.551328,-0.046083],[-0.046661,-0.153010,0.987122]] 2025-10-29T01:26:39.313Z,1761701199.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:39.565Z,1761701199.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:39.607Z,1761701199.607 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551443,-0.820217,-0.152167],[0.832945,-0.551418,-0.046266],[-0.045960,-0.152260,0.987271]] 2025-10-29T01:26:39.817Z,1761701199.817 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:40.010Z,1761701200.010 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551011,-0.820293,-0.153318],[0.833241,-0.550894,-0.047164],[-0.045774,-0.153739,0.987051]] 2025-10-29T01:26:40.071Z,1761701200.071 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:40.321Z,1761701200.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:40.416Z,1761701200.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550774,-0.820534,-0.152877],[0.833411,-0.550642,-0.047104],[-0.045530,-0.153353,0.987122]] 2025-10-29T01:26:40.578Z,1761701200.578 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:40.818Z,1761701200.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550663,-0.820717,-0.152297],[0.833501,-0.550514,-0.047028],[-0.045245,-0.152836,0.987215]] 2025-10-29T01:26:40.829Z,1761701200.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:40.843Z,1761701200.843 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:41.081Z,1761701201.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:41.227Z,1761701201.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550571,-0.820788,-0.152244],[0.833569,-0.550401,-0.047136],[-0.045107,-0.152858,0.987218]] 2025-10-29T01:26:41.333Z,1761701201.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:41.585Z,1761701201.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:41.627Z,1761701201.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550701,-0.820783,-0.151800],[0.833501,-0.550493,-0.047266],[-0.044770,-0.152555,0.987280]] 2025-10-29T01:26:41.837Z,1761701201.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:42.034Z,1761701202.034 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550765,-0.820715,-0.151936],[0.833472,-0.550503,-0.047658],[-0.044528,-0.152883,0.987241]] 2025-10-29T01:26:42.089Z,1761701202.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:42.341Z,1761701202.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:42.445Z,1761701202.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550687,-0.820808,-0.151714],[0.833533,-0.550405,-0.047717],[-0.044338,-0.152736,0.987272]] 2025-10-29T01:26:42.593Z,1761701202.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:42.840Z,1761701202.840 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551498,-0.820434,-0.150790],[0.833035,-0.551124,-0.048123],[-0.043622,-0.152154,0.987394]] 2025-10-29T01:26:42.845Z,1761701202.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:42.874Z,1761701202.874 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:43.097Z,1761701203.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:43.261Z,1761701203.261 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551999,-0.820340,-0.149464],[0.832738,-0.551571,-0.048141],[-0.042947,-0.151038,0.987595]] 2025-10-29T01:26:43.349Z,1761701203.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:43.601Z,1761701203.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:43.646Z,1761701203.646 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552265,-0.820314,-0.148622],[0.832586,-0.551794,-0.048207],[-0.042464,-0.150364,0.987718]] 2025-10-29T01:26:43.853Z,1761701203.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:44.050Z,1761701204.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552652,-0.820174,-0.147951],[0.832356,-0.552117,-0.048470],[-0.041932,-0.149935,0.987806]] 2025-10-29T01:26:44.105Z,1761701204.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:44.357Z,1761701204.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:44.462Z,1761701204.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553195,-0.819948,-0.147174],[0.832026,-0.552588,-0.048777],[-0.041331,-0.149436,0.987907]] 2025-10-29T01:26:44.609Z,1761701204.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:44.862Z,1761701204.862 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:44.866Z,1761701204.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553952,-0.819704,-0.145680],[0.831580,-0.553209,-0.049346],[-0.040143,-0.148480,0.988100]] 2025-10-29T01:26:44.890Z,1761701204.890 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:45.113Z,1761701205.113 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:45.282Z,1761701205.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554646,-0.819219,-0.145766],[0.831152,-0.553754,-0.050425],[-0.039410,-0.149122,0.988033]] 2025-10-29T01:26:45.369Z,1761701205.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:45.621Z,1761701205.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:45.673Z,1761701205.673 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555214,-0.818866,-0.145585],[0.830805,-0.554202,-0.051224],[-0.038738,-0.149393,0.988019]] 2025-10-29T01:26:45.873Z,1761701205.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:46.077Z,1761701206.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555195,-0.818940,-0.145242],[0.830837,-0.554130,-0.051486],[-0.038319,-0.149257,0.988056]] 2025-10-29T01:26:46.125Z,1761701206.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:46.377Z,1761701206.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:46.477Z,1761701206.477 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555712,-0.818453,-0.146008],[0.830518,-0.554484,-0.052803],[-0.037742,-0.150605,0.987873]] 2025-10-29T01:26:46.629Z,1761701206.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:46.878Z,1761701206.878 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555977,-0.818350,-0.145579],[0.830368,-0.554660,-0.053300],[-0.037128,-0.150517,0.987910]] 2025-10-29T01:26:46.881Z,1761701206.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:46.897Z,1761701206.897 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:47.133Z,1761701207.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:47.308Z,1761701207.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556271,-0.818264,-0.144938],[0.830204,-0.554854,-0.053828],[-0.036374,-0.150272,0.987975]] 2025-10-29T01:26:47.385Z,1761701207.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:47.637Z,1761701207.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:47.689Z,1761701207.689 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556573,-0.817941,-0.145597],[0.830028,-0.554998,-0.055052],[-0.035777,-0.151490,0.987811]] 2025-10-29T01:26:47.889Z,1761701207.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:48.090Z,1761701208.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556688,-0.817941,-0.145160],[0.829972,-0.555050,-0.055373],[-0.035279,-0.151304,0.987858]] 2025-10-29T01:26:48.141Z,1761701208.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:48.393Z,1761701208.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:48.495Z,1761701208.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556379,-0.818231,-0.144710],[0.830187,-0.554745,-0.055208],[-0.035104,-0.150853,0.987933]] 2025-10-29T01:26:48.645Z,1761701208.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:48.897Z,1761701208.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:48.900Z,1761701208.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556607,-0.818202,-0.143998],[0.830054,-0.554931,-0.055338],[-0.034631,-0.150327,0.988030]] 2025-10-29T01:26:48.931Z,1761701208.931 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:49.149Z,1761701209.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:49.338Z,1761701209.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556957,-0.818056,-0.143469],[0.829839,-0.555220,-0.055650],[-0.034132,-0.150051,0.988089]] 2025-10-29T01:26:49.401Z,1761701209.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:49.653Z,1761701209.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:49.707Z,1761701209.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557382,-0.817943,-0.142462],[0.829582,-0.555584,-0.055857],[-0.033462,-0.149318,0.988223]] 2025-10-29T01:26:49.905Z,1761701209.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:50.110Z,1761701210.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557670,-0.817829,-0.141987],[0.829408,-0.555810,-0.056192],[-0.032962,-0.149102,0.988272]] 2025-10-29T01:26:50.157Z,1761701210.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:50.410Z,1761701210.410 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:50.514Z,1761701210.514 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557842,-0.818011,-0.140250],[0.829308,-0.556027,-0.055519],[-0.032567,-0.147281,0.988558]] 2025-10-29T01:26:50.661Z,1761701210.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:50.913Z,1761701210.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:50.934Z,1761701210.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558388,-0.817752,-0.139589],[0.828967,-0.556487,-0.056000],[-0.031885,-0.146984,0.988625]] 2025-10-29T01:26:50.951Z,1761701210.951 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:51.165Z,1761701211.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:51.362Z,1761701211.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558701,-0.817638,-0.139000],[0.828772,-0.556759,-0.056181],[-0.031453,-0.146588,0.988697]] 2025-10-29T01:26:51.417Z,1761701211.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:51.669Z,1761701211.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:51.727Z,1761701211.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558665,-0.817819,-0.138079],[0.828807,-0.556737,-0.055873],[-0.031180,-0.145655,0.988844]] 2025-10-29T01:26:51.921Z,1761701211.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:52.134Z,1761701212.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558860,-0.817746,-0.137717],[0.828684,-0.556916,-0.055930],[-0.030960,-0.145380,0.988891]] 2025-10-29T01:26:52.173Z,1761701212.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:52.425Z,1761701212.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:52.535Z,1761701212.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559123,-0.817486,-0.138192],[0.828509,-0.557129,-0.056396],[-0.030887,-0.146026,0.988798]] 2025-10-29T01:26:52.677Z,1761701212.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:52.936Z,1761701212.936 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:52.942Z,1761701212.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558996,-0.817634,-0.137836],[0.828593,-0.557039,-0.056053],[-0.030949,-0.145543,0.988868]] 2025-10-29T01:26:52.978Z,1761701212.978 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:53.185Z,1761701213.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:53.383Z,1761701213.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559026,-0.817622,-0.137782],[0.828569,-0.557090,-0.055897],[-0.031054,-0.145410,0.988884]] 2025-10-29T01:26:53.452Z,1761701213.452 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:53.689Z,1761701213.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:53.752Z,1761701213.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559138,-0.817340,-0.138995],[0.828489,-0.557134,-0.056633],[-0.031150,-0.146822,0.988672]] 2025-10-29T01:26:53.941Z,1761701213.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:54.159Z,1761701214.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559469,-0.817083,-0.139176],[0.828267,-0.557440,-0.056873],[-0.031112,-0.147093,0.988633]] 2025-10-29T01:26:54.193Z,1761701214.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:54.445Z,1761701214.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:54.555Z,1761701214.555 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559780,-0.816855,-0.139264],[0.828068,-0.557685,-0.057358],[-0.030813,-0.147428,0.988593]] 2025-10-29T01:26:54.697Z,1761701214.697 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:54.953Z,1761701214.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:54.960Z,1761701214.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559815,-0.816856,-0.139117],[0.828052,-0.557693,-0.057517],[-0.030601,-0.147395,0.988604]] 2025-10-29T01:26:55.034Z,1761701215.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:55.205Z,1761701215.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:55.382Z,1761701215.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560013,-0.816627,-0.139666],[0.827940,-0.557741,-0.058647],[-0.030005,-0.148479,0.988460]] 2025-10-29T01:26:55.457Z,1761701215.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:55.709Z,1761701215.709 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:55.773Z,1761701215.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560503,-0.816327,-0.139454],[0.827630,-0.558131,-0.059314],[-0.029414,-0.148662,0.988451]] 2025-10-29T01:26:55.860Z,1761701215.860 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:26:55.961Z,1761701215.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:56.173Z,1761701216.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561208,-0.815906,-0.139081],[0.827184,-0.558688,-0.060288],[-0.028514,-0.148880,0.988444]] 2025-10-29T01:26:56.213Z,1761701216.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:56.465Z,1761701216.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:56.574Z,1761701216.574 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561787,-0.815542,-0.138878],[0.826829,-0.559064,-0.061651],[-0.027363,-0.149464,0.988389]] 2025-10-29T01:26:56.717Z,1761701216.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:56.864Z,1761701216.864 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:26:56.969Z,1761701216.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:56.980Z,1761701216.980 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562617,-0.815041,-0.138456],[0.826308,-0.559668,-0.063144],[-0.026024,-0.149933,0.988354]] 2025-10-29T01:26:57.221Z,1761701217.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:57.391Z,1761701217.391 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563351,-0.814594,-0.138101],[0.825846,-0.560188,-0.064557],[-0.024774,-0.150418,0.988312]] 2025-10-29T01:26:57.473Z,1761701217.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:57.499Z,1761701217.499 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:57.725Z,1761701217.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:57.788Z,1761701217.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564024,-0.814320,-0.136968],[0.825425,-0.560701,-0.065485],[-0.023472,-0.149992,0.988409]] 2025-10-29T01:26:57.977Z,1761701217.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:58.191Z,1761701218.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564892,-0.813787,-0.136558],[0.824883,-0.561236,-0.067689],[-0.021557,-0.150881,0.988317]] 2025-10-29T01:26:58.233Z,1761701218.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:58.485Z,1761701218.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:58.596Z,1761701218.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565550,-0.813520,-0.135423],[0.824470,-0.561703,-0.068840],[-0.020065,-0.150584,0.988394]] 2025-10-29T01:26:58.737Z,1761701218.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:58.989Z,1761701218.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:58.000Z,1761701219.000 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566218,-0.813035,-0.135543],[0.824055,-0.562000,-0.071337],[-0.018176,-0.152087,0.988200]] 2025-10-29T01:26:59.246Z,1761701219.246 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:59.413Z,1761701219.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566962,-0.812640,-0.134797],[0.823575,-0.562521,-0.072765],[-0.016694,-0.152271,0.988198]] 2025-10-29T01:26:59.497Z,1761701219.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:59.516Z,1761701219.516 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:26:59.749Z,1761701219.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:26:59.807Z,1761701219.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567535,-0.812412,-0.133756],[0.823211,-0.562886,-0.074053],[-0.015127,-0.152137,0.988244]] 2025-10-29T01:27:00.001Z,1761701220.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:00.212Z,1761701220.212 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567807,-0.812155,-0.134160],[0.823052,-0.562796,-0.076456],[-0.013410,-0.153833,0.988006]] 2025-10-29T01:27:00.253Z,1761701220.253 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:00.505Z,1761701220.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:00.614Z,1761701220.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568023,-0.812046,-0.133906],[0.822925,-0.562770,-0.078004],[-0.012015,-0.154503,0.987919]] 2025-10-29T01:27:00.757Z,1761701220.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:01.009Z,1761701221.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:01.020Z,1761701221.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568464,-0.811892,-0.132964],[0.822641,-0.563006,-0.079284],[-0.010489,-0.154452,0.987945]] 2025-10-29T01:27:01.261Z,1761701221.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:01.426Z,1761701221.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569043,-0.811353,-0.133779],[0.822260,-0.563178,-0.081964],[-0.008840,-0.156642,0.987616]] 2025-10-29T01:27:01.515Z,1761701221.515 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:01.765Z,1761701221.765 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:01.827Z,1761701221.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569298,-0.811354,-0.132686],[0.822098,-0.563270,-0.082956],[-0.007431,-0.156307,0.987681]] 2025-10-29T01:27:01.863Z,1761701221.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:02.017Z,1761701222.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:02.230Z,1761701222.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569154,-0.811584,-0.131893],[0.822207,-0.562994,-0.083746],[-0.006288,-0.156108,0.987720]] 2025-10-29T01:27:02.269Z,1761701222.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:02.521Z,1761701222.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:02.634Z,1761701222.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569170,-0.811603,-0.131706],[0.822204,-0.562814,-0.084982],[-0.005155,-0.156659,0.987639]] 2025-10-29T01:27:02.773Z,1761701222.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:03.025Z,1761701223.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:03.042Z,1761701223.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569361,-0.811568,-0.131096],[0.822079,-0.562823,-0.086118],[-0.003893,-0.156804,0.987622]] 2025-10-29T01:27:03.279Z,1761701223.279 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:03.444Z,1761701223.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569482,-0.811620,-0.130241],[0.821999,-0.562800,-0.087021],[-0.002672,-0.156615,0.987656]] 2025-10-29T01:27:03.531Z,1761701223.531 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:03.781Z,1761701223.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:03.846Z,1761701223.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569749,-0.811419,-0.130329],[0.821817,-0.562847,-0.088429],[-0.001603,-0.157489,0.987519]] 2025-10-29T01:27:03.909Z,1761701223.909 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:04.033Z,1761701224.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:04.253Z,1761701224.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569873,-0.811503,-0.129260],[0.821732,-0.562911,-0.088808],[-0.000694,-0.156826,0.987626]] 2025-10-29T01:27:04.285Z,1761701224.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:04.541Z,1761701224.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:04.655Z,1761701224.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570022,-0.811532,-0.128418],[0.821629,-0.562951,-0.089508],[0.000345,-0.156533,0.987673]] 2025-10-29T01:27:04.789Z,1761701224.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:05.041Z,1761701225.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:05.061Z,1761701225.061 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570330,-0.811628,-0.126425],[0.821415,-0.563287,-0.089362],[0.001316,-0.154813,0.987943]] 2025-10-29T01:27:05.293Z,1761701225.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:05.467Z,1761701225.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570421,-0.811677,-0.125704],[0.821350,-0.563292,-0.089928],[0.002184,-0.154544,0.987984]] 2025-10-29T01:27:05.547Z,1761701225.547 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:05.797Z,1761701225.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:05.867Z,1761701225.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570679,-0.811583,-0.125137],[0.821168,-0.563439,-0.090666],[0.003075,-0.154500,0.987988]] 2025-10-29T01:27:05.929Z,1761701225.929 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:06.049Z,1761701226.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:06.274Z,1761701226.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571247,-0.811244,-0.124737],[0.820768,-0.563856,-0.091685],[0.004045,-0.154754,0.987945]] 2025-10-29T01:27:06.301Z,1761701226.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:06.555Z,1761701226.555 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:06.676Z,1761701226.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571680,-0.811042,-0.124066],[0.820462,-0.564191,-0.092359],[0.004910,-0.154591,0.987966]] 2025-10-29T01:27:06.805Z,1761701226.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:07.057Z,1761701227.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:07.078Z,1761701227.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571980,-0.810907,-0.123568],[0.820248,-0.564403,-0.092964],[0.005643,-0.154530,0.987972]] 2025-10-29T01:27:07.309Z,1761701227.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:07.487Z,1761701227.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572311,-0.810784,-0.122836],[0.820011,-0.564661,-0.093485],[0.006436,-0.154230,0.988014]] 2025-10-29T01:27:07.563Z,1761701227.563 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:07.813Z,1761701227.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:07.896Z,1761701227.896 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572880,-0.810476,-0.122216],[0.819607,-0.565135,-0.094162],[0.007247,-0.154112,0.988027]] 2025-10-29T01:27:08.013Z,1761701228.013 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:08.070Z,1761701228.070 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:08.301Z,1761701228.301 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573315,-0.810171,-0.122200],[0.819296,-0.565421,-0.095148],[0.007991,-0.154668,0.987934]] 2025-10-29T01:27:08.321Z,1761701228.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:08.575Z,1761701228.575 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:08.694Z,1761701228.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573996,-0.809783,-0.121572],[0.818810,-0.565993,-0.095927],[0.008871,-0.154606,0.987936]] 2025-10-29T01:27:08.825Z,1761701228.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:09.077Z,1761701229.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:09.099Z,1761701229.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574266,-0.809711,-0.120774],[0.818612,-0.566209,-0.096345],[0.009628,-0.154195,0.987994]] 2025-10-29T01:27:09.329Z,1761701229.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:09.506Z,1761701229.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575002,-0.809119,-0.121236],[0.818085,-0.566711,-0.097859],[0.010473,-0.155451,0.987788]] 2025-10-29T01:27:09.584Z,1761701229.584 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:09.833Z,1761701229.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:09.912Z,1761701229.912 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575330,-0.809000,-0.120472],[0.817844,-0.566981,-0.098301],[0.011220,-0.155083,0.987838]] 2025-10-29T01:27:10.086Z,1761701230.086 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:10.313Z,1761701230.313 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575456,-0.808922,-0.120396],[0.817744,-0.566954,-0.099291],[0.012060,-0.155591,0.987748]] 2025-10-29T01:27:10.337Z,1761701230.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:10.343Z,1761701230.343 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:10.591Z,1761701230.591 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:10.714Z,1761701230.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576033,-0.808532,-0.120259],[0.817322,-0.567341,-0.100540],[0.013062,-0.156204,0.987638]] 2025-10-29T01:27:10.841Z,1761701230.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:11.093Z,1761701231.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:11.122Z,1761701231.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576488,-0.808382,-0.119084],[0.816983,-0.567721,-0.101155],[0.014165,-0.155604,0.987718]] 2025-10-29T01:27:11.345Z,1761701231.345 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:11.527Z,1761701231.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576800,-0.808236,-0.118560],[0.816746,-0.567917,-0.101960],[0.015075,-0.155644,0.987698]] 2025-10-29T01:27:11.597Z,1761701231.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:11.849Z,1761701231.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:11.927Z,1761701231.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577094,-0.808038,-0.118474],[0.816521,-0.568034,-0.103112],[0.016021,-0.156242,0.987589]] 2025-10-29T01:27:12.101Z,1761701232.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:12.333Z,1761701232.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577170,-0.808107,-0.117636],[0.816449,-0.568045,-0.103620],[0.016914,-0.155850,0.987636]] 2025-10-29T01:27:12.349Z,1761701232.349 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:12.353Z,1761701232.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:12.607Z,1761701232.607 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:12.734Z,1761701232.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577513,-0.807918,-0.117246],[0.816187,-0.568260,-0.104492],[0.017795,-0.156041,0.987590]] 2025-10-29T01:27:12.857Z,1761701232.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:13.109Z,1761701233.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:13.138Z,1761701233.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577808,-0.807800,-0.116608],[0.815958,-0.568452,-0.105241],[0.018728,-0.155956,0.987586]] 2025-10-29T01:27:13.361Z,1761701233.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:13.542Z,1761701233.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578289,-0.807618,-0.115475],[0.815593,-0.568877,-0.105764],[0.019726,-0.155342,0.987664]] 2025-10-29T01:27:13.615Z,1761701233.615 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:13.866Z,1761701233.866 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:14.117Z,1761701234.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:14.354Z,1761701234.354 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579682,-0.806691,-0.114969],[0.814557,-0.569945,-0.107982],[0.021582,-0.156244,0.987483]] 2025-10-29T01:27:14.369Z,1761701234.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:14.397Z,1761701234.397 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:14.621Z,1761701234.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:14.759Z,1761701234.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580312,-0.806340,-0.114256],[0.814081,-0.570460,-0.108843],[0.022586,-0.156177,0.987471]] 2025-10-29T01:27:14.874Z,1761701234.874 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:15.125Z,1761701235.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:15.158Z,1761701235.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580894,-0.806025,-0.113517],[0.813639,-0.570950,-0.109576],[0.023508,-0.156014,0.987475]] 2025-10-29T01:27:15.377Z,1761701235.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:15.567Z,1761701235.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581419,-0.805732,-0.112906],[0.813244,-0.571406,-0.110134],[0.024223,-0.155854,0.987483]] 2025-10-29T01:27:15.629Z,1761701235.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:15.881Z,1761701235.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:15.967Z,1761701235.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581901,-0.805533,-0.111835],[0.812880,-0.571903,-0.110241],[0.024844,-0.155058,0.987593]] 2025-10-29T01:27:16.133Z,1761701236.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:16.380Z,1761701236.380 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582650,-0.804986,-0.111877],[0.812323,-0.572501,-0.111239],[0.025496,-0.155694,0.987476]] 2025-10-29T01:27:16.385Z,1761701236.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:16.413Z,1761701236.413 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:16.637Z,1761701236.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:16.779Z,1761701236.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583638,-0.804357,-0.111244],[0.811585,-0.573382,-0.112080],[0.026367,-0.155698,0.987453]] 2025-10-29T01:27:16.893Z,1761701236.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:17.145Z,1761701237.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:17.182Z,1761701237.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584155,-0.804094,-0.110434],[0.811199,-0.573914,-0.112157],[0.026805,-0.155101,0.987535]] 2025-10-29T01:27:17.397Z,1761701237.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:17.583Z,1761701237.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584994,-0.803666,-0.109102],[0.810568,-0.574766,-0.112355],[0.027588,-0.154161,0.987660]] 2025-10-29T01:27:17.649Z,1761701237.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:17.901Z,1761701237.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:17.987Z,1761701237.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585549,-0.803332,-0.108580],[0.810148,-0.575274,-0.112784],[0.028140,-0.154007,0.987669]] 2025-10-29T01:27:18.153Z,1761701238.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:18.399Z,1761701238.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586040,-0.803006,-0.108341],[0.809777,-0.575694,-0.113308],[0.028616,-0.154135,0.987635]] 2025-10-29T01:27:18.405Z,1761701238.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:18.417Z,1761701238.417 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:18.657Z,1761701238.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:18.796Z,1761701238.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586666,-0.802515,-0.108592],[0.809311,-0.576199,-0.114066],[0.028970,-0.154803,0.987520]] 2025-10-29T01:27:18.909Z,1761701238.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:19.161Z,1761701239.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:19.198Z,1761701239.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586994,-0.802281,-0.108551],[0.809063,-0.576468,-0.114463],[0.029255,-0.155014,0.987479]] 2025-10-29T01:27:19.413Z,1761701239.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:19.603Z,1761701239.603 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587550,-0.801782,-0.109227],[0.808644,-0.576834,-0.115575],[0.029660,-0.156232,0.987275]] 2025-10-29T01:27:19.665Z,1761701239.665 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:19.917Z,1761701239.917 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:20.007Z,1761701240.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587923,-0.801599,-0.108560],[0.808359,-0.577221,-0.115636],[0.030031,-0.155741,0.987341]] 2025-10-29T01:27:20.169Z,1761701240.169 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:20.417Z,1761701240.417 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587780,-0.801716,-0.108472],[0.808456,-0.577058,-0.115769],[0.030220,-0.155742,0.987336]] 2025-10-29T01:27:20.421Z,1761701240.421 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:20.434Z,1761701240.434 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:20.673Z,1761701240.673 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:20.815Z,1761701240.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587742,-0.801682,-0.108929],[0.808481,-0.576937,-0.116203],[0.030312,-0.156365,0.987234]] 2025-10-29T01:27:20.925Z,1761701240.925 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:21.177Z,1761701241.177 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:21.219Z,1761701241.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587861,-0.801542,-0.109319],[0.808386,-0.576956,-0.116764],[0.030519,-0.157013,0.987125]] 2025-10-29T01:27:21.429Z,1761701241.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:21.622Z,1761701241.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587836,-0.801468,-0.109991],[0.808397,-0.576796,-0.117478],[0.030712,-0.157974,0.986966]] 2025-10-29T01:27:21.681Z,1761701241.681 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:21.933Z,1761701241.933 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:22.185Z,1761701242.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:22.430Z,1761701242.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587293,-0.801599,-0.111921],[0.808800,-0.576032,-0.118444],[0.030475,-0.160083,0.986633]] 2025-10-29T01:27:22.437Z,1761701242.437 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:22.464Z,1761701242.464 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:22.689Z,1761701242.689 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:22.834Z,1761701242.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586746,-0.801925,-0.112457],[0.809208,-0.575477,-0.118355],[0.030196,-0.160445,0.986583]] 2025-10-29T01:27:22.941Z,1761701242.941 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:23.193Z,1761701243.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:23.238Z,1761701243.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586524,-0.802139,-0.112083],[0.809371,-0.575330,-0.117962],[0.030137,-0.159904,0.986672]] 2025-10-29T01:27:23.445Z,1761701243.445 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:23.644Z,1761701243.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586305,-0.802270,-0.112291],[0.809536,-0.575121,-0.117843],[0.029961,-0.159995,0.986663]] 2025-10-29T01:27:23.699Z,1761701243.699 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:23.949Z,1761701243.949 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:24.046Z,1761701244.046 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585903,-0.802558,-0.112331],[0.809834,-0.574764,-0.117537],[0.029767,-0.159835,0.986695]] 2025-10-29T01:27:24.201Z,1761701244.201 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:24.451Z,1761701244.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585533,-0.802823,-0.112366],[0.810110,-0.574442,-0.117211],[0.029552,-0.159660,0.986730]] 2025-10-29T01:27:24.453Z,1761701244.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:24.469Z,1761701244.469 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:24.705Z,1761701244.705 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:24.867Z,1761701244.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585528,-0.802835,-0.112305],[0.810114,-0.574448,-0.117150],[0.029539,-0.159575,0.986744]] 2025-10-29T01:27:24.957Z,1761701244.957 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:25.209Z,1761701245.209 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:25.262Z,1761701245.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585741,-0.802712,-0.112077],[0.809954,-0.574659,-0.117225],[0.029692,-0.159441,0.986761]] 2025-10-29T01:27:25.461Z,1761701245.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:25.663Z,1761701245.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585454,-0.802825,-0.112762],[0.810175,-0.574352,-0.117198],[0.029325,-0.159971,0.986686]] 2025-10-29T01:27:25.714Z,1761701245.714 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:25.965Z,1761701245.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:26.067Z,1761701246.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585646,-0.802693,-0.112710],[0.810031,-0.574516,-0.117395],[0.029478,-0.160050,0.986669]] 2025-10-29T01:27:26.217Z,1761701246.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:26.469Z,1761701246.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:26.474Z,1761701246.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585937,-0.802527,-0.112374],[0.809812,-0.574801,-0.117512],[0.029714,-0.159857,0.986693]] 2025-10-29T01:27:26.491Z,1761701246.491 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:26.721Z,1761701246.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:26.887Z,1761701246.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586326,-0.802316,-0.111856],[0.809519,-0.575193,-0.117613],[0.030024,-0.159509,0.986740]] 2025-10-29T01:27:26.973Z,1761701246.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:26.988Z,1761701246.988 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:27:27.225Z,1761701247.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:27.279Z,1761701247.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586649,-0.802054,-0.112040],[0.809277,-0.575440,-0.118063],[0.030221,-0.159933,0.986665]] 2025-10-29T01:27:27.477Z,1761701247.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:27.682Z,1761701247.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586987,-0.801965,-0.110894],[0.809022,-0.575885,-0.117643],[0.030483,-0.158771,0.986845]] 2025-10-29T01:27:27.729Z,1761701247.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:27.981Z,1761701247.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:27.992Z,1761701247.992 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:27:28.087Z,1761701248.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587384,-0.801772,-0.110191],[0.808720,-0.576300,-0.117685],[0.030853,-0.158240,0.986919]] 2025-10-29T01:27:28.233Z,1761701248.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:28.485Z,1761701248.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:28.506Z,1761701248.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587424,-0.801784,-0.109886],[0.808691,-0.576381,-0.117490],[0.030865,-0.157880,0.986976]] 2025-10-29T01:27:28.524Z,1761701248.524 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:28.737Z,1761701248.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:28.914Z,1761701248.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588087,-0.801228,-0.110397],[0.808199,-0.576900,-0.118326],[0.031118,-0.158808,0.986819]] 2025-10-29T01:27:28.989Z,1761701248.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:29.242Z,1761701249.242 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:29.493Z,1761701249.493 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:29.708Z,1761701249.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588949,-0.800403,-0.111780],[0.807538,-0.577360,-0.120576],[0.031972,-0.161280,0.986391]] 2025-10-29T01:27:29.745Z,1761701249.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:29.997Z,1761701249.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:30.114Z,1761701250.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589176,-0.800272,-0.111522],[0.807359,-0.577555,-0.120836],[0.032292,-0.161232,0.986388]] 2025-10-29T01:27:30.249Z,1761701250.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:30.504Z,1761701250.504 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:30.526Z,1761701250.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589485,-0.800043,-0.111526],[0.807111,-0.577743,-0.121594],[0.032847,-0.161692,0.986295]] 2025-10-29T01:27:30.542Z,1761701250.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:30.753Z,1761701250.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:30.942Z,1761701250.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589812,-0.799806,-0.111499],[0.806864,-0.578021,-0.121908],[0.033054,-0.161868,0.986259]] 2025-10-29T01:27:31.005Z,1761701251.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:31.257Z,1761701251.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:31.321Z,1761701251.321 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590094,-0.799629,-0.111277],[0.806646,-0.578271,-0.122166],[0.033339,-0.161851,0.986252]] 2025-10-29T01:27:31.509Z,1761701251.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:31.724Z,1761701251.724 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590714,-0.799136,-0.111529],[0.806178,-0.578762,-0.122928],[0.033688,-0.162527,0.986129]] 2025-10-29T01:27:31.761Z,1761701251.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:32.013Z,1761701252.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:32.126Z,1761701252.126 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591437,-0.798641,-0.111245],[0.805620,-0.579376,-0.123693],[0.034333,-0.162778,0.986065]] 2025-10-29T01:27:32.265Z,1761701252.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:32.517Z,1761701252.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:32.532Z,1761701252.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591735,-0.798368,-0.111620],[0.805392,-0.579559,-0.124321],[0.034564,-0.163462,0.985944]] 2025-10-29T01:27:32.564Z,1761701252.564 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:32.769Z,1761701252.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:32.968Z,1761701252.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591839,-0.798269,-0.111774],[0.805307,-0.579599,-0.124681],[0.034745,-0.163803,0.985881]] 2025-10-29T01:27:33.021Z,1761701253.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:33.273Z,1761701253.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:33.347Z,1761701253.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591942,-0.798213,-0.111625],[0.805222,-0.579677,-0.124873],[0.034969,-0.163800,0.985874]] 2025-10-29T01:27:33.525Z,1761701253.525 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:33.749Z,1761701253.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592083,-0.798171,-0.111177],[0.805107,-0.579834,-0.124881],[0.035212,-0.163449,0.985923]] 2025-10-29T01:27:33.777Z,1761701253.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:34.029Z,1761701254.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:34.147Z,1761701254.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592099,-0.798298,-0.110177],[0.805092,-0.579990,-0.124251],[0.035287,-0.162271,0.986115]] 2025-10-29T01:27:34.281Z,1761701254.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:34.533Z,1761701254.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:34.551Z,1761701254.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592109,-0.798349,-0.109754],[0.805083,-0.580059,-0.123986],[0.035320,-0.161775,0.986195]] 2025-10-29T01:27:34.568Z,1761701254.568 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:34.785Z,1761701254.785 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:34.991Z,1761701254.991 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592424,-0.798167,-0.109381],[0.804843,-0.580379,-0.124048],[0.035529,-0.161524,0.986229]] 2025-10-29T01:27:35.037Z,1761701255.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:35.289Z,1761701255.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:35.366Z,1761701255.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592304,-0.798292,-0.109112],[0.804933,-0.580317,-0.123751],[0.035470,-0.161126,0.986296]] 2025-10-29T01:27:35.541Z,1761701255.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:35.767Z,1761701255.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592030,-0.798624,-0.108164],[0.805139,-0.580217,-0.122880],[0.035376,-0.159836,0.986510]] 2025-10-29T01:27:35.793Z,1761701255.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:36.045Z,1761701256.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:36.166Z,1761701256.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591570,-0.798907,-0.108593],[0.805488,-0.579756,-0.122769],[0.035124,-0.160097,0.986476]] 2025-10-29T01:27:36.297Z,1761701256.297 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:36.549Z,1761701256.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:36.573Z,1761701256.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591064,-0.799243,-0.108878],[0.805874,-0.579286,-0.122452],[0.034797,-0.160119,0.986484]] 2025-10-29T01:27:36.625Z,1761701256.625 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:36.801Z,1761701256.801 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:37.012Z,1761701257.012 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590438,-0.799615,-0.109535],[0.806342,-0.578626,-0.122493],[0.034568,-0.160647,0.986406]] 2025-10-29T01:27:37.053Z,1761701257.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:37.305Z,1761701257.305 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:37.379Z,1761701257.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589539,-0.800150,-0.110475],[0.807025,-0.577730,-0.122222],[0.033972,-0.161210,0.986335]] 2025-10-29T01:27:37.557Z,1761701257.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:37.785Z,1761701257.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589160,-0.800377,-0.110846],[0.807307,-0.577331,-0.122249],[0.033850,-0.161511,0.986290]] 2025-10-29T01:27:37.813Z,1761701257.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:38.069Z,1761701258.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:38.187Z,1761701258.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588381,-0.800857,-0.111515],[0.807891,-0.576550,-0.122078],[0.033473,-0.161920,0.986236]] 2025-10-29T01:27:38.317Z,1761701258.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:38.569Z,1761701258.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:38.602Z,1761701258.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587375,-0.801538,-0.111927],[0.808644,-0.575619,-0.121482],[0.032945,-0.161864,0.986263]] 2025-10-29T01:27:38.821Z,1761701258.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:39.021Z,1761701259.021 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586582,-0.802101,-0.112051],[0.809232,-0.574895,-0.120992],[0.032631,-0.161647,0.986309]] 2025-10-29T01:27:39.073Z,1761701259.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:39.088Z,1761701259.088 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:39.326Z,1761701259.326 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:39.398Z,1761701259.398 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585944,-0.802478,-0.112687],[0.809704,-0.574229,-0.121000],[0.032392,-0.162143,0.986235]] 2025-10-29T01:27:39.577Z,1761701259.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:39.803Z,1761701259.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584867,-0.803337,-0.112160],[0.810498,-0.573344,-0.119870],[0.031990,-0.161014,0.986434]] 2025-10-29T01:27:39.837Z,1761701259.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:40.089Z,1761701260.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:40.208Z,1761701260.208 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584444,-0.803717,-0.111640],[0.810802,-0.573007,-0.119429],[0.032017,-0.160318,0.986546]] 2025-10-29T01:27:40.341Z,1761701260.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:40.593Z,1761701260.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:40.622Z,1761701260.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583937,-0.804137,-0.111266],[0.811167,-0.572572,-0.119032],[0.032011,-0.159762,0.986636]] 2025-10-29T01:27:40.845Z,1761701260.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:41.037Z,1761701261.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583953,-0.804059,-0.111746],[0.811156,-0.572517,-0.119375],[0.032008,-0.160353,0.986541]] 2025-10-29T01:27:41.097Z,1761701261.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:41.114Z,1761701261.114 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:41.350Z,1761701261.350 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:41.419Z,1761701261.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584223,-0.803981,-0.110893],[0.810958,-0.572886,-0.118949],[0.032104,-0.159422,0.986688]] 2025-10-29T01:27:41.601Z,1761701261.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:41.827Z,1761701261.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584496,-0.803839,-0.110488],[0.810749,-0.573147,-0.119117],[0.032425,-0.159201,0.986714]] 2025-10-29T01:27:41.853Z,1761701261.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:42.107Z,1761701262.107 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:42.228Z,1761701262.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585052,-0.803425,-0.110556],[0.810334,-0.573612,-0.119699],[0.032752,-0.159617,0.986636]] 2025-10-29T01:27:42.357Z,1761701262.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:42.609Z,1761701262.609 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:42.631Z,1761701262.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585145,-0.803340,-0.110681],[0.810270,-0.573698,-0.119718],[0.032676,-0.159734,0.986619]] 2025-10-29T01:27:42.861Z,1761701262.861 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:43.038Z,1761701263.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585503,-0.803097,-0.110551],[0.810013,-0.574076,-0.119646],[0.032623,-0.159601,0.986642]] 2025-10-29T01:27:43.115Z,1761701263.115 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:43.122Z,1761701263.122 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:43.365Z,1761701263.365 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:43.438Z,1761701263.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586082,-0.802704,-0.110336],[0.809589,-0.574641,-0.119806],[0.032765,-0.159543,0.986647]] 2025-10-29T01:27:43.617Z,1761701263.617 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:43.850Z,1761701263.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586430,-0.802384,-0.110816],[0.809342,-0.574930,-0.120090],[0.032647,-0.160113,0.986559]] 2025-10-29T01:27:43.869Z,1761701263.869 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:44.123Z,1761701264.123 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:44.273Z,1761701264.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586838,-0.801978,-0.111595],[0.809056,-0.575258,-0.120439],[0.032393,-0.160965,0.986428]] 2025-10-29T01:27:44.373Z,1761701264.373 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:44.625Z,1761701264.625 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:44.651Z,1761701264.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587053,-0.801761,-0.112022],[0.808910,-0.575450,-0.120509],[0.032156,-0.161360,0.986372]] 2025-10-29T01:27:44.877Z,1761701264.877 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:45.055Z,1761701265.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587360,-0.801466,-0.112515],[0.808697,-0.575725,-0.120622],[0.031897,-0.161839,0.986302]] 2025-10-29T01:27:45.131Z,1761701265.131 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:45.381Z,1761701265.381 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:45.459Z,1761701265.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587551,-0.801230,-0.113199],[0.808576,-0.575898,-0.120605],[0.031441,-0.162392,0.986225]] 2025-10-29T01:27:45.501Z,1761701265.501 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:45.633Z,1761701265.633 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:45.862Z,1761701265.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587677,-0.801017,-0.114049],[0.808503,-0.575994,-0.120637],[0.030941,-0.163105,0.986123]] 2025-10-29T01:27:45.885Z,1761701265.885 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:46.139Z,1761701266.139 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:46.266Z,1761701266.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587581,-0.801012,-0.114579],[0.808591,-0.575915,-0.120425],[0.030474,-0.163407,0.986088]] 2025-10-29T01:27:46.389Z,1761701266.389 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:46.641Z,1761701266.641 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:46.674Z,1761701266.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587458,-0.801078,-0.114751],[0.808696,-0.575852,-0.120025],[0.030070,-0.163308,0.986117]] 2025-10-29T01:27:46.893Z,1761701266.893 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:47.075Z,1761701267.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586755,-0.801515,-0.115295],[0.809236,-0.575254,-0.119249],[0.029256,-0.163271,0.986147]] 2025-10-29T01:27:47.147Z,1761701267.147 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:47.397Z,1761701267.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:47.478Z,1761701267.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586316,-0.801802,-0.115531],[0.809575,-0.574914,-0.118583],[0.028660,-0.163058,0.986200]] 2025-10-29T01:27:47.529Z,1761701267.529 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:47.653Z,1761701267.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:47.883Z,1761701267.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585527,-0.802525,-0.114510],[0.810161,-0.574380,-0.117164],[0.028255,-0.161374,0.986489]] 2025-10-29T01:27:47.905Z,1761701267.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:48.159Z,1761701268.159 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:48.287Z,1761701268.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584777,-0.802996,-0.115031],[0.810724,-0.573710,-0.116544],[0.027590,-0.161410,0.986502]] 2025-10-29T01:27:48.413Z,1761701268.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:48.661Z,1761701268.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:48.690Z,1761701268.690 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584014,-0.803562,-0.114956],[0.811290,-0.573073,-0.115744],[0.027130,-0.160859,0.986605]] 2025-10-29T01:27:48.913Z,1761701268.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:49.095Z,1761701269.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582834,-0.804394,-0.115129],[0.812161,-0.572036,-0.114760],[0.026455,-0.160390,0.986699]] 2025-10-29T01:27:49.167Z,1761701269.167 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:49.417Z,1761701269.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:49.500Z,1761701269.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581975,-0.804922,-0.115780],[0.812791,-0.571202,-0.114449],[0.025988,-0.160711,0.986659]] 2025-10-29T01:27:49.534Z,1761701269.534 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:49.669Z,1761701269.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:49.902Z,1761701269.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581115,-0.805529,-0.115879],[0.813411,-0.570381,-0.114147],[0.025853,-0.160589,0.986683]] 2025-10-29T01:27:49.921Z,1761701269.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:50.175Z,1761701270.175 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:50.310Z,1761701270.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579819,-0.806431,-0.116098],[0.814344,-0.569148,-0.113639],[0.025565,-0.160434,0.986715]] 2025-10-29T01:27:50.425Z,1761701270.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:50.677Z,1761701270.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:50.711Z,1761701270.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578418,-0.807437,-0.116090],[0.815347,-0.567840,-0.112989],[0.025311,-0.160008,0.986791]] 2025-10-29T01:27:50.717Z,1761701270.717 [BPC1](ERROR): BPC1B: No match for serial number 1717 in BPC1B's battery stick inventory (sticks 32-62 in onboard configuration file). 2025-10-29T01:27:50.929Z,1761701270.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:51.115Z,1761701271.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577248,-0.808229,-0.116407],[0.816184,-0.566707,-0.112634],[0.025065,-0.160028,0.986794]] 2025-10-29T01:27:51.183Z,1761701271.183 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:51.433Z,1761701271.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:51.518Z,1761701271.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576089,-0.809011,-0.116714],[0.817009,-0.565580,-0.112319],[0.024856,-0.160062,0.986794]] 2025-10-29T01:27:51.566Z,1761701271.566 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:51.685Z,1761701271.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:51.922Z,1761701271.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575472,-0.809367,-0.117294],[0.817432,-0.564826,-0.113031],[0.025233,-0.160926,0.986644]] 2025-10-29T01:27:51.937Z,1761701271.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:52.189Z,1761701272.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:52.333Z,1761701272.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574276,-0.810150,-0.117746],[0.818281,-0.563652,-0.112752],[0.024978,-0.161100,0.986622]] 2025-10-29T01:27:52.441Z,1761701272.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:52.693Z,1761701272.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:52.734Z,1761701272.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573374,-0.810788,-0.117749],[0.818914,-0.562784,-0.112490],[0.024938,-0.160925,0.986651]] 2025-10-29T01:27:52.945Z,1761701272.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:53.134Z,1761701273.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572744,-0.811252,-0.117624],[0.819359,-0.562214,-0.112100],[0.024812,-0.160581,0.986711]] 2025-10-29T01:27:53.198Z,1761701273.198 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:53.449Z,1761701273.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:53.538Z,1761701273.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572414,-0.811578,-0.116973],[0.819587,-0.561970,-0.111655],[0.024881,-0.159782,0.986839]] 2025-10-29T01:27:53.589Z,1761701273.589 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:53.701Z,1761701273.701 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:53.943Z,1761701273.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572181,-0.811855,-0.116187],[0.819748,-0.561839,-0.111132],[0.024945,-0.158832,0.986990]] 2025-10-29T01:27:53.953Z,1761701273.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:54.205Z,1761701274.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:54.347Z,1761701274.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571932,-0.812070,-0.115914],[0.819923,-0.561644,-0.110823],[0.024894,-0.158424,0.987057]] 2025-10-29T01:27:54.368Z,1761701274.368 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for water velocity. Device response is::WS,-32768,-32768,-327WE,-32768,-32768,-32768,V 2025-10-29T01:27:54.458Z,1761701274.458 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:54.712Z,1761701274.712 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:54.754Z,1761701274.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572320,-0.811840,-0.115609],[0.819642,-0.561998,-0.111109],[0.025231,-0.158348,0.987061]] 2025-10-29T01:27:54.965Z,1761701274.965 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:55.155Z,1761701275.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572674,-0.811595,-0.115575],[0.819399,-0.562367,-0.111036],[0.025120,-0.158290,0.987073]] 2025-10-29T01:27:55.217Z,1761701275.217 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:55.469Z,1761701275.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:55.558Z,1761701275.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573522,-0.811276,-0.113592],[0.818810,-0.563492,-0.109666],[0.024961,-0.155907,0.987456]] 2025-10-29T01:27:55.610Z,1761701275.610 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:55.721Z,1761701275.721 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:55.964Z,1761701275.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574457,-0.810667,-0.113219],[0.818148,-0.564419,-0.109838],[0.025139,-0.155727,0.987480]] 2025-10-29T01:27:55.973Z,1761701275.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:56.225Z,1761701276.225 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:56.366Z,1761701276.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574983,-0.810353,-0.112793],[0.817783,-0.565015,-0.109495],[0.025000,-0.155198,0.987567]] 2025-10-29T01:27:56.479Z,1761701276.479 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:56.729Z,1761701276.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:56.775Z,1761701276.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575570,-0.809934,-0.112814],[0.817367,-0.565562,-0.109772],[0.025104,-0.155392,0.987534]] 2025-10-29T01:27:56.983Z,1761701276.983 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:57.176Z,1761701277.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576197,-0.809486,-0.112822],[0.816924,-0.566161,-0.109987],[0.025157,-0.155541,0.987509]] 2025-10-29T01:27:57.233Z,1761701277.233 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:57.485Z,1761701277.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:57.580Z,1761701277.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576210,-0.809434,-0.113130],[0.816927,-0.566208,-0.109722],[0.024758,-0.155642,0.987503]] 2025-10-29T01:27:57.615Z,1761701277.615 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:57.737Z,1761701277.737 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:57.982Z,1761701277.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576711,-0.809032,-0.113455],[0.816580,-0.566696,-0.109790],[0.024529,-0.155962,0.987458]] 2025-10-29T01:27:57.989Z,1761701277.989 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:58.120Z,1761701278.120 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:27:58.241Z,1761701278.241 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:58.387Z,1761701278.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576121,-0.809507,-0.113063],[0.817017,-0.566309,-0.108521],[0.023820,-0.154896,0.987644]] 2025-10-29T01:27:58.494Z,1761701278.494 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:58.745Z,1761701278.745 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:58.794Z,1761701278.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575576,-0.809811,-0.113658],[0.817423,-0.565844,-0.107889],[0.023056,-0.155005,0.987645]] 2025-10-29T01:27:58.997Z,1761701278.997 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:59.124Z,1761701279.124 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:27:59.196Z,1761701279.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574771,-0.810264,-0.114498],[0.818016,-0.565130,-0.107139],[0.022104,-0.155241,0.987629]] 2025-10-29T01:27:59.250Z,1761701279.250 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:59.501Z,1761701279.501 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:27:59.599Z,1761701279.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573606,-0.810852,-0.116165],[0.818862,-0.563985,-0.106703],[0.021005,-0.156329,0.987482]] 2025-10-29T01:27:59.646Z,1761701279.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:27:59.753Z,1761701279.753 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:00.003Z,1761701280.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572301,-0.811612,-0.117292],[0.819805,-0.562804,-0.105691],[0.019767,-0.156644,0.987457]] 2025-10-29T01:28:00.005Z,1761701280.005 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:00.257Z,1761701280.257 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:00.407Z,1761701280.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570454,-0.812693,-0.118794],[0.821123,-0.561071,-0.104673],[0.018416,-0.157255,0.987386]] 2025-10-29T01:28:00.509Z,1761701280.509 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:00.761Z,1761701280.761 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:00.820Z,1761701280.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568846,-0.813626,-0.120115],[0.822267,-0.559589,-0.103622],[0.017094,-0.157711,0.987337]] 2025-10-29T01:28:01.013Z,1761701281.013 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:01.215Z,1761701281.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566948,-0.814786,-0.121220],[0.823604,-0.557872,-0.102247],[0.015684,-0.157806,0.987346]] 2025-10-29T01:28:01.265Z,1761701281.265 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:01.517Z,1761701281.517 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:01.618Z,1761701281.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565171,-0.815856,-0.122310],[0.824850,-0.556278,-0.100880],[0.014265,-0.157902,0.987352]] 2025-10-29T01:28:01.663Z,1761701281.663 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:01.769Z,1761701281.769 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:02.021Z,1761701282.021 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:02.023Z,1761701282.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563489,-0.816855,-0.123400],[0.826024,-0.554783,-0.099502],[0.012819,-0.158000,0.987356]] 2025-10-29T01:28:02.273Z,1761701282.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:02.430Z,1761701282.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562059,-0.817790,-0.123730],[0.827021,-0.553656,-0.097479],[0.011213,-0.157116,0.987516]] 2025-10-29T01:28:02.526Z,1761701282.526 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:02.777Z,1761701282.777 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:02.830Z,1761701282.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561190,-0.818264,-0.124540],[0.827626,-0.552928,-0.096470],[0.010076,-0.157211,0.987514]] 2025-10-29T01:28:03.029Z,1761701283.029 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:03.234Z,1761701283.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560478,-0.818764,-0.124458],[0.828125,-0.552527,-0.094463],[0.008576,-0.156011,0.987718]] 2025-10-29T01:28:03.281Z,1761701283.281 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:03.533Z,1761701283.533 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:03.639Z,1761701283.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559951,-0.819289,-0.123374],[0.828496,-0.552412,-0.091846],[0.007095,-0.153644,0.988101]] 2025-10-29T01:28:03.694Z,1761701283.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:03.786Z,1761701283.786 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:04.037Z,1761701284.037 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:04.049Z,1761701284.049 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559615,-0.819495,-0.123525],[0.828730,-0.552255,-0.090663],[0.006080,-0.153105,0.988191]] 2025-10-29T01:28:04.289Z,1761701284.289 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:04.456Z,1761701284.456 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559087,-0.819874,-0.123404],[0.829094,-0.551957,-0.089142],[0.004972,-0.152152,0.988345]] 2025-10-29T01:28:04.541Z,1761701284.541 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:04.793Z,1761701284.793 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:04.851Z,1761701284.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559373,-0.819614,-0.123834],[0.828905,-0.552314,-0.088687],[0.004294,-0.152256,0.988332]] 2025-10-29T01:28:05.045Z,1761701285.045 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:05.259Z,1761701285.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559782,-0.819287,-0.124150],[0.828632,-0.552828,-0.088033],[0.003490,-0.152154,0.988351]] 2025-10-29T01:28:05.298Z,1761701285.298 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:05.549Z,1761701285.549 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:05.742Z,1761701285.742 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:05.802Z,1761701285.802 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:06.053Z,1761701286.053 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:06.064Z,1761701286.064 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560373,-0.818746,-0.125048],[0.828238,-0.553598,-0.086899],[0.001922,-0.152265,0.988338]] 2025-10-29T01:28:06.306Z,1761701286.306 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:06.483Z,1761701286.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561181,-0.818148,-0.125340],[0.827692,-0.554412,-0.086914],[0.001618,-0.152518,0.988299]] 2025-10-29T01:28:06.557Z,1761701286.557 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:06.809Z,1761701286.809 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:06.871Z,1761701286.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561687,-0.817761,-0.125598],[0.827349,-0.554951,-0.086735],[0.001227,-0.152631,0.988282]] 2025-10-29T01:28:07.061Z,1761701287.061 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:07.278Z,1761701287.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562183,-0.817437,-0.125488],[0.827013,-0.555551,-0.086096],[0.000663,-0.152182,0.988352]] 2025-10-29T01:28:07.313Z,1761701287.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:07.565Z,1761701287.565 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:07.678Z,1761701287.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562124,-0.817467,-0.125557],[0.827053,-0.555632,-0.085187],[-0.000126,-0.151728,0.988422]] 2025-10-29T01:28:07.721Z,1761701287.721 [CTD_Seabird](ERROR): Failed to parse device response: 50.69,11.0385, 2025-10-29T01:28:07.818Z,1761701287.818 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:08.069Z,1761701288.069 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:08.084Z,1761701288.084 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562457,-0.817135,-0.126222],[0.826826,-0.556001,-0.084978],[-0.000741,-0.152160,0.988356]] 2025-10-29T01:28:08.107Z,1761701288.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:08.321Z,1761701288.321 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:08.511Z,1761701288.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562702,-0.816941,-0.126389],[0.826659,-0.556316,-0.084546],[-0.001243,-0.152055,0.988371]] 2025-10-29T01:28:08.573Z,1761701288.573 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:08.825Z,1761701288.825 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:08.890Z,1761701288.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562396,-0.817042,-0.127091],[0.826865,-0.556122,-0.083802],[-0.002209,-0.152217,0.988345]] 2025-10-29T01:28:09.077Z,1761701289.077 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:09.316Z,1761701289.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561851,-0.817383,-0.127315],[0.827233,-0.555731,-0.082761],[-0.003106,-0.151819,0.988403]] 2025-10-29T01:28:09.329Z,1761701289.329 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:09.581Z,1761701289.581 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:09.700Z,1761701289.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561289,-0.817637,-0.128159],[0.827611,-0.555242,-0.082260],[-0.003900,-0.152237,0.988336]] 2025-10-29T01:28:09.833Z,1761701289.833 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:10.085Z,1761701290.085 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:10.103Z,1761701290.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560330,-0.818448,-0.127178],[0.828257,-0.554531,-0.080538],[-0.004609,-0.150464,0.988605]] 2025-10-29T01:28:10.129Z,1761701290.129 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:10.337Z,1761701290.337 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:10.538Z,1761701290.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559236,-0.819125,-0.127629],[0.828990,-0.553603,-0.079373],[-0.005639,-0.150192,0.988641]] 2025-10-29T01:28:10.589Z,1761701290.589 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:10.841Z,1761701290.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:10.910Z,1761701290.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558311,-0.819672,-0.128166],[0.829604,-0.552846,-0.078219],[-0.006742,-0.149997,0.988663]] 2025-10-29T01:28:11.093Z,1761701291.093 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:11.323Z,1761701291.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557338,-0.820255,-0.128673],[0.830249,-0.552027,-0.077148],[-0.007750,-0.149829,0.988682]] 2025-10-29T01:28:11.346Z,1761701291.346 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:11.597Z,1761701291.597 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:11.719Z,1761701291.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556363,-0.820823,-0.129264],[0.830893,-0.551195,-0.076162],[-0.008734,-0.149779,0.988681]] 2025-10-29T01:28:11.849Z,1761701291.849 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:12.101Z,1761701292.101 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:12.123Z,1761701292.123 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555609,-0.821167,-0.130319],[0.831388,-0.550515,-0.075675],[-0.009601,-0.150392,0.988580]] 2025-10-29T01:28:12.139Z,1761701292.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:12.353Z,1761701292.353 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:12.566Z,1761701292.566 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554498,-0.821884,-0.130533],[0.832112,-0.549668,-0.073859],[-0.011047,-0.149572,0.988689]] 2025-10-29T01:28:12.605Z,1761701292.605 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:12.857Z,1761701292.857 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:13.109Z,1761701293.109 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:13.334Z,1761701293.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554242,-0.822064,-0.130485],[0.832271,-0.549567,-0.072804],[-0.011861,-0.148950,0.988774]] 2025-10-29T01:28:13.361Z,1761701293.361 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:13.613Z,1761701293.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:13.739Z,1761701293.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554221,-0.822195,-0.129745],[0.832276,-0.549723,-0.071561],[-0.012486,-0.147644,0.988962]] 2025-10-29T01:28:13.865Z,1761701293.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:14.117Z,1761701294.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:14.149Z,1761701294.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554080,-0.822257,-0.129958],[0.832361,-0.549671,-0.070975],[-0.013075,-0.147498,0.988976]] 2025-10-29T01:28:14.166Z,1761701294.166 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:14.369Z,1761701294.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:14.594Z,1761701294.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554034,-0.822263,-0.130112],[0.832369,-0.549845,-0.069510],[-0.014386,-0.146813,0.989060]] 2025-10-29T01:28:14.621Z,1761701294.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:14.873Z,1761701294.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:14.955Z,1761701294.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554992,-0.821598,-0.130235],[0.831730,-0.550791,-0.069680],[-0.014484,-0.146992,0.989032]] 2025-10-29T01:28:15.125Z,1761701295.125 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:15.359Z,1761701295.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555505,-0.821204,-0.130533],[0.831380,-0.551339,-0.069511],[-0.014885,-0.147137,0.989004]] 2025-10-29T01:28:15.377Z,1761701295.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:15.629Z,1761701295.629 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:15.772Z,1761701295.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556024,-0.820809,-0.130807],[0.831025,-0.551901,-0.069295],[-0.015315,-0.147234,0.988983]] 2025-10-29T01:28:15.881Z,1761701295.881 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:16.133Z,1761701296.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:16.167Z,1761701296.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556804,-0.820233,-0.131098],[0.830498,-0.552688,-0.069351],[-0.015572,-0.147492,0.988941]] 2025-10-29T01:28:16.184Z,1761701296.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:16.385Z,1761701296.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:16.601Z,1761701296.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557342,-0.819772,-0.131699],[0.830129,-0.553243,-0.069344],[-0.016015,-0.147975,0.988861]] 2025-10-29T01:28:16.637Z,1761701296.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:16.889Z,1761701296.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:16.971Z,1761701296.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558258,-0.819144,-0.131723],[0.829507,-0.554189,-0.069228],[-0.016292,-0.147912,0.988866]] 2025-10-29T01:28:17.141Z,1761701297.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:17.374Z,1761701297.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558884,-0.818696,-0.131854],[0.829080,-0.554844,-0.069097],[-0.016589,-0.147935,0.988858]] 2025-10-29T01:28:17.393Z,1761701297.393 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:17.645Z,1761701297.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:17.793Z,1761701297.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559670,-0.817918,-0.133340],[0.828540,-0.555578,-0.069682],[-0.017086,-0.149476,0.988618]] 2025-10-29T01:28:17.897Z,1761701297.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:18.152Z,1761701298.152 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:18.182Z,1761701298.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559934,-0.817643,-0.133915],[0.828348,-0.555898,-0.069401],[-0.017697,-0.149788,0.988560]] 2025-10-29T01:28:18.211Z,1761701298.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:18.401Z,1761701298.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:18.598Z,1761701298.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560062,-0.817485,-0.134346],[0.828248,-0.556102,-0.068963],[-0.018334,-0.149896,0.988532]] 2025-10-29T01:28:18.655Z,1761701298.655 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:18.905Z,1761701298.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:18.990Z,1761701298.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560105,-0.817339,-0.135049],[0.828203,-0.556209,-0.068636],[-0.019016,-0.150292,0.988459]] 2025-10-29T01:28:19.157Z,1761701299.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:19.394Z,1761701299.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560243,-0.817218,-0.135212],[0.828098,-0.556427,-0.068139],[-0.019551,-0.150143,0.988471]] 2025-10-29T01:28:19.409Z,1761701299.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:19.661Z,1761701299.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:19.803Z,1761701299.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560207,-0.817162,-0.135701],[0.828106,-0.556472,-0.067673],[-0.020214,-0.150286,0.988436]] 2025-10-29T01:28:19.913Z,1761701299.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:20.165Z,1761701300.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:20.207Z,1761701300.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559964,-0.817271,-0.136041],[0.828251,-0.556341,-0.066963],[-0.020958,-0.150173,0.988438]] 2025-10-29T01:28:20.250Z,1761701300.250 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:20.417Z,1761701300.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:20.615Z,1761701300.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559366,-0.817629,-0.136357],[0.828634,-0.555882,-0.066035],[-0.021806,-0.149928,0.988456]] 2025-10-29T01:28:20.671Z,1761701300.671 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:20.921Z,1761701300.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:21.017Z,1761701301.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558774,-0.818040,-0.136317],[0.829014,-0.555437,-0.065012],[-0.022533,-0.149336,0.988530]] 2025-10-29T01:28:21.173Z,1761701301.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:21.418Z,1761701301.418 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558187,-0.818399,-0.136569],[0.829389,-0.554974,-0.064171],[-0.023275,-0.149089,0.988550]] 2025-10-29T01:28:21.425Z,1761701301.425 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:21.679Z,1761701301.679 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:21.822Z,1761701301.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557840,-0.818525,-0.137226],[0.829607,-0.554674,-0.063937],[-0.023782,-0.149511,0.988474]] 2025-10-29T01:28:21.930Z,1761701301.930 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:22.181Z,1761701302.181 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:22.227Z,1761701302.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557129,-0.818966,-0.137485],[0.830064,-0.554091,-0.063068],[-0.024529,-0.149259,0.988494]] 2025-10-29T01:28:22.433Z,1761701302.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:22.636Z,1761701302.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556423,-0.819401,-0.137748],[0.830518,-0.553489,-0.062365],[-0.025140,-0.149104,0.988502]] 2025-10-29T01:28:22.672Z,1761701302.672 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:22.687Z,1761701302.687 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:22.937Z,1761701302.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:23.035Z,1761701303.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556059,-0.819595,-0.138067],[0.830747,-0.553195,-0.061918],[-0.025630,-0.149128,0.988486]] 2025-10-29T01:28:23.189Z,1761701303.189 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:23.441Z,1761701303.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:23.447Z,1761701303.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555499,-0.820014,-0.137832],[0.831108,-0.552745,-0.061094],[-0.026088,-0.148491,0.988570]] 2025-10-29T01:28:23.695Z,1761701303.695 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:23.845Z,1761701303.845 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554738,-0.820569,-0.137597],[0.831601,-0.552100,-0.060212],[-0.026559,-0.147827,0.988657]] 2025-10-29T01:28:23.946Z,1761701303.946 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:24.197Z,1761701304.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:24.249Z,1761701304.249 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554231,-0.820941,-0.137417],[0.831927,-0.551682,-0.059536],[-0.026935,-0.147317,0.988722]] 2025-10-29T01:28:24.449Z,1761701304.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:24.651Z,1761701304.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553752,-0.821271,-0.137379],[0.832238,-0.551258,-0.059116],[-0.027181,-0.147068,0.988753]] 2025-10-29T01:28:24.703Z,1761701304.703 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:24.953Z,1761701304.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:25.055Z,1761701305.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553837,-0.821190,-0.137520],[0.832184,-0.551317,-0.059324],[-0.027101,-0.147298,0.988721]] 2025-10-29T01:28:25.090Z,1761701305.090 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:25.205Z,1761701305.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:25.457Z,1761701305.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:25.468Z,1761701305.468 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553700,-0.821130,-0.138422],[0.832270,-0.551143,-0.059731],[-0.027243,-0.148278,0.988570]] 2025-10-29T01:28:25.711Z,1761701305.711 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:25.862Z,1761701305.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553668,-0.821180,-0.138258],[0.832289,-0.551139,-0.059505],[-0.027335,-0.148017,0.988607]] 2025-10-29T01:28:25.961Z,1761701305.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:26.213Z,1761701306.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:26.273Z,1761701306.273 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553103,-0.821545,-0.138354],[0.832652,-0.550646,-0.058992],[-0.027720,-0.147829,0.988624]] 2025-10-29T01:28:26.465Z,1761701306.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:26.670Z,1761701306.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553433,-0.821217,-0.138976],[0.832435,-0.550911,-0.059573],[-0.027641,-0.148658,0.988502]] 2025-10-29T01:28:26.719Z,1761701306.719 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:26.969Z,1761701306.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:27.077Z,1761701307.077 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553812,-0.820980,-0.138866],[0.832189,-0.551257,-0.059811],[-0.027447,-0.148687,0.988503]] 2025-10-29T01:28:27.111Z,1761701307.111 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:27.221Z,1761701307.221 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:27.473Z,1761701307.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:27.481Z,1761701307.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554083,-0.820887,-0.138336],[0.832020,-0.551500,-0.059921],[-0.027104,-0.148299,0.988571]] 2025-10-29T01:28:27.727Z,1761701307.727 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:27.977Z,1761701307.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:28.229Z,1761701308.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:28.287Z,1761701308.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554652,-0.820554,-0.138030],[0.831674,-0.551897,-0.061059],[-0.026076,-0.148662,0.988544]] 2025-10-29T01:28:28.482Z,1761701308.482 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:28.691Z,1761701308.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555318,-0.819991,-0.138695],[0.831255,-0.552348,-0.062658],[-0.025229,-0.150087,0.988351]] 2025-10-29T01:28:28.733Z,1761701308.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:28.985Z,1761701308.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:29.094Z,1761701309.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555704,-0.819651,-0.139161],[0.831015,-0.552583,-0.063761],[-0.024636,-0.151077,0.988215]] 2025-10-29T01:28:29.139Z,1761701309.139 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:29.237Z,1761701309.237 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:29.247Z,1761701309.247 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:28:29.489Z,1761701309.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:29.500Z,1761701309.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555452,-0.819906,-0.138665],[0.831189,-0.552344,-0.063572],[-0.024468,-0.150568,0.988297]] 2025-10-29T01:28:29.744Z,1761701309.744 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:29.902Z,1761701309.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555426,-0.820087,-0.137690],[0.831220,-0.552310,-0.063466],[-0.024000,-0.149701,0.988440]] 2025-10-29T01:28:29.993Z,1761701309.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:30.245Z,1761701310.245 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:30.249Z,1761701310.249 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:28:30.310Z,1761701310.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555744,-0.819936,-0.137307],[0.831024,-0.552547,-0.063967],[-0.023420,-0.149655,0.988461]] 2025-10-29T01:28:30.497Z,1761701310.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:30.711Z,1761701310.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556118,-0.819772,-0.136771],[0.830794,-0.552820,-0.064583],[-0.022666,-0.149545,0.988495]] 2025-10-29T01:28:30.749Z,1761701310.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:31.001Z,1761701311.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:31.114Z,1761701311.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556033,-0.819930,-0.136167],[0.830866,-0.552688,-0.064796],[-0.022129,-0.149165,0.988565]] 2025-10-29T01:28:31.167Z,1761701311.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:31.254Z,1761701311.254 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:31.505Z,1761701311.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:31.527Z,1761701311.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556208,-0.819894,-0.135669],[0.830764,-0.552790,-0.065222],[-0.021521,-0.148986,0.988605]] 2025-10-29T01:28:31.757Z,1761701311.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:31.922Z,1761701311.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556739,-0.819564,-0.135489],[0.830435,-0.553142,-0.066423],[-0.020507,-0.149495,0.988550]] 2025-10-29T01:28:32.009Z,1761701312.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:32.261Z,1761701312.261 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:32.327Z,1761701312.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557229,-0.819372,-0.134630],[0.830129,-0.553520,-0.067093],[-0.019546,-0.149146,0.988622]] 2025-10-29T01:28:32.513Z,1761701312.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:32.731Z,1761701312.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557477,-0.819349,-0.133746],[0.829982,-0.553686,-0.067541],[-0.018714,-0.148659,0.988711]] 2025-10-29T01:28:32.766Z,1761701312.766 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:33.017Z,1761701313.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:33.134Z,1761701313.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557712,-0.819269,-0.133252],[0.829841,-0.553814,-0.068216],[-0.017909,-0.148623,0.988732]] 2025-10-29T01:28:33.237Z,1761701313.237 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:33.269Z,1761701313.269 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:33.521Z,1761701313.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:33.538Z,1761701313.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558221,-0.818963,-0.132999],[0.829515,-0.554194,-0.069090],[-0.017125,-0.148892,0.988705]] 2025-10-29T01:28:33.773Z,1761701313.773 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:33.943Z,1761701313.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558673,-0.818669,-0.132912],[0.829226,-0.554516,-0.069978],[-0.016413,-0.149308,0.988654]] 2025-10-29T01:28:34.025Z,1761701314.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:34.277Z,1761701314.277 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:34.349Z,1761701314.349 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559226,-0.818539,-0.131375],[0.828869,-0.555035,-0.070087],[-0.015548,-0.148087,0.988852]] 2025-10-29T01:28:34.529Z,1761701314.529 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:34.758Z,1761701314.758 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559389,-0.818599,-0.130304],[0.828771,-0.555173,-0.070155],[-0.014912,-0.147237,0.988989]] 2025-10-29T01:28:34.781Z,1761701314.781 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:35.033Z,1761701315.033 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:35.161Z,1761701315.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559750,-0.818389,-0.130079],[0.828539,-0.555428,-0.070867],[-0.014253,-0.147443,0.988968]] 2025-10-29T01:28:35.285Z,1761701315.285 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:35.537Z,1761701315.537 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:35.564Z,1761701315.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559698,-0.818456,-0.129879],[0.828581,-0.555322,-0.071212],[-0.013841,-0.147473,0.988969]] 2025-10-29T01:28:35.586Z,1761701315.586 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:35.789Z,1761701315.789 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:35.964Z,1761701315.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559695,-0.818481,-0.129734],[0.828591,-0.555251,-0.071654],[-0.013387,-0.147601,0.988956]] 2025-10-29T01:28:36.041Z,1761701316.041 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:36.293Z,1761701316.293 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:36.367Z,1761701316.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559481,-0.818665,-0.129493],[0.828741,-0.554991,-0.071923],[-0.012987,-0.147556,0.988968]] 2025-10-29T01:28:36.545Z,1761701316.545 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:36.785Z,1761701316.785 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559116,-0.818885,-0.129679],[0.828990,-0.554591,-0.072142],[-0.012843,-0.147838,0.988928]] 2025-10-29T01:28:36.797Z,1761701316.797 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:37.049Z,1761701317.049 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:37.175Z,1761701317.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559557,-0.818586,-0.129660],[0.828702,-0.554911,-0.072992],[-0.012200,-0.148293,0.988868]] 2025-10-29T01:28:37.301Z,1761701317.301 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:37.553Z,1761701317.553 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:37.581Z,1761701317.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559681,-0.818507,-0.129626],[0.828625,-0.554953,-0.073544],[-0.011740,-0.148572,0.988832]] 2025-10-29T01:28:37.599Z,1761701317.599 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:37.805Z,1761701317.805 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:37.982Z,1761701317.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559534,-0.818640,-0.129421],[0.828729,-0.554764,-0.073790],[-0.011391,-0.148543,0.988840]] 2025-10-29T01:28:38.057Z,1761701318.057 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:38.309Z,1761701318.309 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:38.387Z,1761701318.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559273,-0.818979,-0.128403],[0.828909,-0.554558,-0.073322],[-0.011157,-0.147441,0.989008]] 2025-10-29T01:28:38.561Z,1761701318.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:38.791Z,1761701318.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559082,-0.819074,-0.128629],[0.829039,-0.554322,-0.073626],[-0.010996,-0.147801,0.988956]] 2025-10-29T01:28:38.813Z,1761701318.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:39.065Z,1761701319.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:39.196Z,1761701319.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558990,-0.819271,-0.127765],[0.829105,-0.554260,-0.073353],[-0.010719,-0.146935,0.989088]] 2025-10-29T01:28:39.317Z,1761701319.317 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:39.569Z,1761701319.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:39.599Z,1761701319.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558684,-0.819803,-0.125675],[0.829313,-0.554114,-0.072090],[-0.010538,-0.144500,0.989449]] 2025-10-29T01:28:39.633Z,1761701319.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:39.821Z,1761701319.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:40.003Z,1761701320.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558234,-0.820136,-0.125502],[0.829616,-0.553688,-0.071874],[-0.010542,-0.144241,0.989487]] 2025-10-29T01:28:40.073Z,1761701320.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:40.325Z,1761701320.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:40.407Z,1761701320.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558095,-0.820287,-0.125136],[0.829713,-0.553543,-0.071883],[-0.010303,-0.143945,0.989532]] 2025-10-29T01:28:40.577Z,1761701320.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:40.811Z,1761701320.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557955,-0.820440,-0.124760],[0.829811,-0.553383,-0.071974],[-0.009990,-0.143685,0.989573]] 2025-10-29T01:28:40.829Z,1761701320.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:41.081Z,1761701321.081 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:41.214Z,1761701321.214 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557835,-0.820340,-0.125950],[0.829893,-0.553143,-0.072870],[-0.009890,-0.145175,0.989357]] 2025-10-29T01:28:41.333Z,1761701321.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:41.585Z,1761701321.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:41.618Z,1761701321.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557971,-0.820207,-0.126210],[0.829805,-0.553205,-0.073411],[-0.009608,-0.145691,0.989284]] 2025-10-29T01:28:41.658Z,1761701321.658 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:41.837Z,1761701321.837 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:42.022Z,1761701322.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558162,-0.820025,-0.126550],[0.829680,-0.553314,-0.073999],[-0.009341,-0.146299,0.989196]] 2025-10-29T01:28:42.089Z,1761701322.089 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:42.341Z,1761701322.341 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:42.428Z,1761701322.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558636,-0.819687,-0.126648],[0.829366,-0.553677,-0.074793],[-0.008815,-0.146819,0.989124]] 2025-10-29T01:28:42.593Z,1761701322.593 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:42.830Z,1761701322.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558622,-0.819775,-0.126138],[0.829378,-0.553673,-0.074696],[-0.008605,-0.146343,0.989197]] 2025-10-29T01:28:42.845Z,1761701322.845 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:43.097Z,1761701323.097 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:43.242Z,1761701323.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558764,-0.819651,-0.126311],[0.829285,-0.553754,-0.075123],[-0.008371,-0.146724,0.989142]] 2025-10-29T01:28:43.349Z,1761701323.349 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:43.601Z,1761701323.601 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:43.638Z,1761701323.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559305,-0.819319,-0.126070],[0.828922,-0.554260,-0.075391],[-0.008107,-0.146669,0.989152]] 2025-10-29T01:28:43.853Z,1761701323.853 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:44.043Z,1761701324.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560038,-0.818846,-0.125888],[0.828432,-0.554906,-0.076027],[-0.007601,-0.146868,0.989127]] 2025-10-29T01:28:44.082Z,1761701324.082 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:44.105Z,1761701324.105 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:44.357Z,1761701324.357 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:44.446Z,1761701324.446 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560504,-0.818556,-0.125701],[0.828119,-0.555336,-0.076297],[-0.007353,-0.146860,0.989130]] 2025-10-29T01:28:44.613Z,1761701324.613 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:44.850Z,1761701324.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560994,-0.818234,-0.125613],[0.827788,-0.555801,-0.076494],[-0.007226,-0.146894,0.989126]] 2025-10-29T01:28:44.865Z,1761701324.865 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:45.117Z,1761701325.117 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:45.256Z,1761701325.256 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561804,-0.817628,-0.125941],[0.827240,-0.556547,-0.077006],[-0.007130,-0.147446,0.989044]] 2025-10-29T01:28:45.369Z,1761701325.369 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:45.621Z,1761701325.621 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:45.661Z,1761701325.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562561,-0.817081,-0.126107],[0.826725,-0.557262,-0.077354],[-0.007070,-0.147772,0.988996]] 2025-10-29T01:28:45.873Z,1761701325.873 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:46.063Z,1761701326.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563649,-0.816392,-0.125711],[0.825985,-0.558352,-0.077414],[-0.006990,-0.147470,0.989042]] 2025-10-29T01:28:46.108Z,1761701326.108 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:46.133Z,1761701326.133 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:46.385Z,1761701326.385 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:46.467Z,1761701326.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564979,-0.815652,-0.124544],[0.825076,-0.559765,-0.076893],[-0.006998,-0.146201,0.989230]] 2025-10-29T01:28:46.637Z,1761701326.637 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:46.871Z,1761701326.871 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565646,-0.815392,-0.123210],[0.824620,-0.560524,-0.076256],[-0.006884,-0.144735,0.989447]] 2025-10-29T01:28:46.889Z,1761701326.889 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:47.141Z,1761701327.141 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:47.276Z,1761701327.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566287,-0.815270,-0.121053],[0.824181,-0.561318,-0.075153],[-0.006679,-0.142328,0.989797]] 2025-10-29T01:28:47.394Z,1761701327.394 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:47.645Z,1761701327.645 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:47.678Z,1761701327.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566621,-0.815278,-0.119423],[0.823953,-0.561755,-0.074383],[-0.006444,-0.140546,0.990053]] 2025-10-29T01:28:47.897Z,1761701327.897 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:48.087Z,1761701328.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567049,-0.815119,-0.118475],[0.823661,-0.562206,-0.074208],[-0.006120,-0.139663,0.990180]] 2025-10-29T01:28:48.149Z,1761701328.149 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:48.167Z,1761701328.167 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:48.401Z,1761701328.401 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:48.488Z,1761701328.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567761,-0.814648,-0.118307],[0.823174,-0.562849,-0.074737],[-0.005705,-0.139820,0.990161]] 2025-10-29T01:28:48.653Z,1761701328.653 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:48.900Z,1761701328.900 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567780,-0.814555,-0.118854],[0.823163,-0.562765,-0.075485],[-0.005400,-0.140695,0.990038]] 2025-10-29T01:28:48.905Z,1761701328.905 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:49.157Z,1761701329.157 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:49.322Z,1761701329.322 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567556,-0.814333,-0.121416],[0.823317,-0.562320,-0.077113],[-0.005479,-0.143730,0.989602]] 2025-10-29T01:28:49.409Z,1761701329.409 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:49.661Z,1761701329.661 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:49.699Z,1761701329.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567499,-0.814239,-0.122306],[0.823356,-0.562175,-0.077746],[-0.005453,-0.144822,0.989443]] 2025-10-29T01:28:49.913Z,1761701329.913 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:50.119Z,1761701330.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566742,-0.814517,-0.123958],[0.823874,-0.561353,-0.078189],[-0.005898,-0.146439,0.989202]] 2025-10-29T01:28:50.165Z,1761701330.165 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:50.174Z,1761701330.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:50.417Z,1761701330.417 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:50.507Z,1761701330.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566119,-0.814577,-0.126390],[0.824300,-0.560584,-0.079224],[-0.006318,-0.149034,0.988812]] 2025-10-29T01:28:50.669Z,1761701330.669 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:50.910Z,1761701330.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565526,-0.814890,-0.127025],[0.824703,-0.560021,-0.079008],[-0.006754,-0.149439,0.988748]] 2025-10-29T01:28:50.921Z,1761701330.921 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:51.173Z,1761701331.173 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:51.316Z,1761701331.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564871,-0.815145,-0.128293],[0.825146,-0.559364,-0.079025],[-0.007345,-0.150499,0.988583]] 2025-10-29T01:28:51.429Z,1761701331.429 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:51.677Z,1761701331.677 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:51.726Z,1761701331.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564066,-0.815580,-0.129070],[0.825692,-0.558604,-0.078704],[-0.007910,-0.150966,0.988507]] 2025-10-29T01:28:51.929Z,1761701331.929 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:52.144Z,1761701332.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563431,-0.815854,-0.130105],[0.826119,-0.558001,-0.078504],[-0.008551,-0.151714,0.988387]] 2025-10-29T01:28:52.185Z,1761701332.185 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:52.199Z,1761701332.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:52.433Z,1761701332.433 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:52.527Z,1761701332.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563296,-0.816119,-0.129025],[0.826210,-0.557999,-0.077557],[-0.008700,-0.150289,0.988604]] 2025-10-29T01:28:52.685Z,1761701332.685 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:52.937Z,1761701332.937 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:52.939Z,1761701332.939 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562934,-0.816514,-0.128104],[0.826451,-0.557815,-0.076294],[-0.009163,-0.148820,0.988822]] 2025-10-29T01:28:53.193Z,1761701333.193 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:53.335Z,1761701333.335 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562290,-0.817082,-0.127308],[0.826883,-0.557356,-0.074959],[-0.009708,-0.147417,0.989027]] 2025-10-29T01:28:53.441Z,1761701333.441 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:53.693Z,1761701333.693 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:53.742Z,1761701333.742 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561970,-0.817223,-0.127811],[0.827097,-0.557058,-0.074818],[-0.010055,-0.147758,0.988972]] 2025-10-29T01:28:53.945Z,1761701333.945 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:54.173Z,1761701334.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561625,-0.817346,-0.128541],[0.827326,-0.556730,-0.074730],[-0.010482,-0.148315,0.988885]] 2025-10-29T01:28:54.197Z,1761701334.197 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:54.247Z,1761701334.247 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:54.449Z,1761701334.449 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:54.548Z,1761701334.548 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561355,-0.817513,-0.128656],[0.827504,-0.556516,-0.074343],[-0.010823,-0.148196,0.988899]] 2025-10-29T01:28:54.702Z,1761701334.702 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:54.950Z,1761701334.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561282,-0.817622,-0.128287],[0.827553,-0.556485,-0.074027],[-0.010864,-0.147714,0.988970]] 2025-10-29T01:28:54.953Z,1761701334.953 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:55.205Z,1761701335.205 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:55.355Z,1761701335.355 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561110,-0.817705,-0.128503],[0.827667,-0.556333,-0.073896],[-0.011066,-0.147822,0.988952]] 2025-10-29T01:28:55.457Z,1761701335.457 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:55.710Z,1761701335.710 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:55.763Z,1761701335.763 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561268,-0.817611,-0.128416],[0.827560,-0.556490,-0.073907],[-0.011035,-0.147754,0.988963]] 2025-10-29T01:28:55.961Z,1761701335.961 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:56.213Z,1761701336.213 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:56.218Z,1761701336.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562783,-0.816538,-0.128616],[0.826540,-0.557842,-0.075134],[-0.010398,-0.148591,0.988844]] 2025-10-29T01:28:56.276Z,1761701336.276 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:56.465Z,1761701336.465 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:56.717Z,1761701336.717 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:56.969Z,1761701336.969 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:56.972Z,1761701336.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563479,-0.816032,-0.128779],[0.826067,-0.558476,-0.075613],[-0.010217,-0.148987,0.988786]] 2025-10-29T01:28:57.223Z,1761701337.223 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:57.374Z,1761701337.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564427,-0.815391,-0.128684],[0.825423,-0.559367,-0.076063],[-0.009960,-0.149151,0.988764]] 2025-10-29T01:28:57.473Z,1761701337.473 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:57.725Z,1761701337.725 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:57.786Z,1761701337.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565361,-0.814814,-0.128236],[0.824785,-0.560295,-0.076151],[-0.009801,-0.148820,0.988816]] 2025-10-29T01:28:57.977Z,1761701337.977 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:58.229Z,1761701338.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:58.242Z,1761701338.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566915,-0.813947,-0.126877],[0.823720,-0.561920,-0.075707],[-0.009674,-0.147430,0.989025]] 2025-10-29T01:28:58.277Z,1761701338.277 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:28:58.481Z,1761701338.481 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:58.733Z,1761701338.733 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:58.985Z,1761701338.985 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:58.998Z,1761701338.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568177,-0.813327,-0.125197],[0.822847,-0.563353,-0.074544],[-0.009902,-0.145372,0.989327]] 2025-10-29T01:28:59.239Z,1761701339.239 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:59.400Z,1761701339.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568830,-0.812818,-0.125534],[0.822395,-0.563964,-0.074902],[-0.009915,-0.145846,0.989258]] 2025-10-29T01:28:59.489Z,1761701339.489 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:59.741Z,1761701339.741 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:28:59.805Z,1761701339.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568847,-0.812727,-0.126052],[0.822381,-0.563981,-0.074940],[-0.010185,-0.146292,0.989189]] 2025-10-29T01:28:59.993Z,1761701339.993 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:00.247Z,1761701340.247 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:00.267Z,1761701340.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569250,-0.812355,-0.126626],[0.822101,-0.564329,-0.075385],[-0.010219,-0.147012,0.989082]] 2025-10-29T01:29:00.310Z,1761701340.310 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:00.368Z,1761701340.368 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:29:00.497Z,1761701340.497 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:00.608Z,1761701340.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569530,-0.812094,-0.127040],[0.821907,-0.564561,-0.075762],[-0.010196,-0.147564,0.989000]] 2025-10-29T01:29:00.749Z,1761701340.749 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:01.001Z,1761701341.001 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:01.013Z,1761701341.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569446,-0.812037,-0.127779],[0.821967,-0.564391,-0.076377],[-0.010096,-0.148523,0.988857]] 2025-10-29T01:29:01.255Z,1761701341.255 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:01.373Z,1761701341.373 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:29:01.414Z,1761701341.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568971,-0.812125,-0.129323],[0.822293,-0.563811,-0.077142],[-0.010265,-0.150233,0.988597]] 2025-10-29T01:29:01.505Z,1761701341.505 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:01.757Z,1761701341.757 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:01.818Z,1761701341.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568831,-0.812074,-0.130262],[0.822390,-0.563592,-0.077710],[-0.010308,-0.151330,0.988430]] 2025-10-29T01:29:02.009Z,1761701342.009 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:02.263Z,1761701342.263 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:02.285Z,1761701342.285 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568309,-0.812320,-0.131004],[0.822747,-0.563061,-0.077775],[-0.010585,-0.151983,0.988326]] 2025-10-29T01:29:02.351Z,1761701342.351 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:02.513Z,1761701342.513 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:02.627Z,1761701342.627 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568129,-0.812356,-0.131556],[0.822871,-0.562836,-0.078099],[-0.010600,-0.152624,0.988227]] 2025-10-29T01:29:02.788Z,1761701342.788 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:03.017Z,1761701343.017 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:03.031Z,1761701343.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567769,-0.812501,-0.132211],[0.823117,-0.562458,-0.078229],[-0.010802,-0.153241,0.988130]] 2025-10-29T01:29:03.271Z,1761701343.271 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:03.434Z,1761701343.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567361,-0.812767,-0.132328],[0.823395,-0.562095,-0.077907],[-0.011061,-0.153160,0.988140]] 2025-10-29T01:29:03.521Z,1761701343.521 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:03.773Z,1761701343.773 [DAT](INFO): DAT read: user:722>Rx Time:01:29:02.9332 2025-10-29T01:29:03.774Z,1761701343.774 [DAT](INFO): Rx dataTimestamp_ set to:1761701343.773846 2025-10-29T01:29:03.775Z,1761701343.775 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:03.839Z,1761701343.839 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566784,-0.813328,-0.131352],[0.823786,-0.561699,-0.076619],[-0.011464,-0.151632,0.988371]] 2025-10-29T01:29:04.025Z,1761701344.025 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:04.265Z,1761701344.265 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566408,-0.813881,-0.129532],[0.824042,-0.561543,-0.074997],[-0.011699,-0.149219,0.988735]] 2025-10-29T01:29:04.335Z,1761701344.335 [DAT](INFO): DAT read: 01:29:02.9332 LVL= 32752, 31393, 32754, 32755, AGC= 68, IDX= 371,-0.32, 0.409, 1.731, 0.740, 0.336, PHS= 0.175, 1.440, 0.360, RAW= 322.2, -30.6, CAL= 321.4, -34.4, ROT= 188.6, 34.4 2025-10-29T01:29:04.344Z,1761701344.344 [DAT](INFO): got valid direction response: 01:29:02.9332 LVL= 32752, 31393, 32754, 32755, AGC= 68, IDX= 371,-0.32, 0.409, 1.731, 0.740, 0.336, PHS= 0.175, 1.440, 0.360, RAW= 322.2, -30.6, CAL= 321.4, -34.4, ROT= 188.6, 34.4 2025-10-29T01:29:04.345Z,1761701344.345 [DAT](INFO): DAT read: bearing request 2025-10-29T01:29:04.345Z,1761701344.345 [DAT](INFO): received a bearing request message 2025-10-29T01:29:04.346Z,1761701344.346 [DAT](INFO): DAT read: Tx time:01:29:04.5360 2025-10-29T01:29:04.346Z,1761701344.346 [DAT](INFO): Ping request sent. 2025-10-29T01:29:04.346Z,1761701344.346 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:04.346Z,1761701344.346 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T01:29:04.347Z,1761701344.347 [DAT](INFO): direction in FSK: [-0.815836,-0.123384,-0.564967] 2025-10-29T01:29:04.347Z,1761701344.347 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:04.356Z,1761701344.356 [DAT](INFO): publishing range request flag 2025-10-29T01:29:04.359Z,1761701344.359 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:04.359Z,1761701344.359 [DAT](INFO): publishing range request flag 2025-10-29T01:29:04.443Z,1761701344.443 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:04.529Z,1761701344.529 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:04.529Z,1761701344.529 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:04.529Z,1761701344.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:04.648Z,1761701344.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566099,-0.814118,-0.129396],[0.824250,-0.561301,-0.074514],[-0.011967,-0.148837,0.988789]] 2025-10-29T01:29:04.781Z,1761701344.781 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:04.781Z,1761701344.781 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:04.781Z,1761701344.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:05.033Z,1761701345.033 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:05.033Z,1761701345.033 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:05.033Z,1761701345.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:05.050Z,1761701345.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566084,-0.814062,-0.129818],[0.824257,-0.561290,-0.074522],[-0.012200,-0.149190,0.988733]] 2025-10-29T01:29:05.288Z,1761701345.288 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:05.288Z,1761701345.288 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:05.288Z,1761701345.288 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:05.454Z,1761701345.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565952,-0.814052,-0.130457],[0.824343,-0.561162,-0.074532],[-0.012535,-0.149723,0.988649]] 2025-10-29T01:29:05.537Z,1761701345.537 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:05.537Z,1761701345.537 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:05.537Z,1761701345.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:05.789Z,1761701345.789 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:05.789Z,1761701345.789 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:05.789Z,1761701345.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:05.859Z,1761701345.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566029,-0.813856,-0.131336],[0.824286,-0.561208,-0.074829],[-0.012807,-0.150614,0.988510]] 2025-10-29T01:29:06.041Z,1761701346.041 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:06.041Z,1761701346.041 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:06.041Z,1761701346.041 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:06.286Z,1761701346.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565889,-0.813892,-0.131718],[0.824375,-0.561116,-0.074533],[-0.013247,-0.150763,0.988481]] 2025-10-29T01:29:06.295Z,1761701346.295 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:06.296Z,1761701346.296 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:06.297Z,1761701346.297 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:06.545Z,1761701346.545 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:06.545Z,1761701346.545 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:06.545Z,1761701346.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:06.667Z,1761701346.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566169,-0.813680,-0.131823],[0.824180,-0.561411,-0.074465],[-0.013417,-0.150806,0.988472]] 2025-10-29T01:29:06.722Z,1761701346.722 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:06.797Z,1761701346.797 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:06.797Z,1761701346.797 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:06.797Z,1761701346.797 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:07.049Z,1761701347.049 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:07.049Z,1761701347.049 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:07.049Z,1761701347.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:07.071Z,1761701347.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566198,-0.813658,-0.131837],[0.824157,-0.561470,-0.074271],[-0.013592,-0.150707,0.988485]] 2025-10-29T01:29:07.301Z,1761701347.301 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:07.301Z,1761701347.301 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:07.301Z,1761701347.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:07.475Z,1761701347.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566892,-0.813135,-0.132078],[0.823684,-0.562080,-0.074903],[-0.013332,-0.151252,0.988405]] 2025-10-29T01:29:07.553Z,1761701347.553 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:07.553Z,1761701347.553 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:07.553Z,1761701347.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:07.805Z,1761701347.805 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:07.805Z,1761701347.805 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:07.805Z,1761701347.805 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:07.880Z,1761701347.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567904,-0.812406,-0.132218],[0.822998,-0.562928,-0.076068],[-0.012631,-0.152014,0.988298]] 2025-10-29T01:29:08.057Z,1761701348.057 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:08.057Z,1761701348.057 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:08.057Z,1761701348.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:08.282Z,1761701348.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568581,-0.812191,-0.130624],[0.822543,-0.563581,-0.076150],[-0.011769,-0.150742,0.988503]] 2025-10-29T01:29:08.311Z,1761701348.311 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:08.312Z,1761701348.312 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:08.312Z,1761701348.312 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:08.561Z,1761701348.561 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:08.561Z,1761701348.561 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:08.561Z,1761701348.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:08.696Z,1761701348.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569028,-0.812217,-0.128494],[0.822246,-0.564063,-0.075790],[-0.010921,-0.148780,0.988810]] 2025-10-29T01:29:08.751Z,1761701348.751 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:08.813Z,1761701348.813 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:08.813Z,1761701348.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:08.813Z,1761701348.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:09.065Z,1761701349.065 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:09.065Z,1761701349.065 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:09.065Z,1761701349.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:09.091Z,1761701349.091 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569515,-0.812145,-0.126783],[0.821923,-0.564492,-0.076102],[-0.009762,-0.147547,0.989007]] 2025-10-29T01:29:09.317Z,1761701349.317 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:09.317Z,1761701349.317 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:09.317Z,1761701349.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:09.495Z,1761701349.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569899,-0.811996,-0.126008],[0.821666,-0.564803,-0.076570],[-0.008995,-0.147174,0.989070]] 2025-10-29T01:29:09.569Z,1761701349.569 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:09.569Z,1761701349.569 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:09.569Z,1761701349.569 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:09.821Z,1761701349.821 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:09.821Z,1761701349.821 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:09.821Z,1761701349.821 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:09.898Z,1761701349.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570209,-0.811844,-0.125582],[0.821460,-0.564985,-0.077433],[-0.008088,-0.147314,0.989057]] 2025-10-29T01:29:10.073Z,1761701350.073 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:10.073Z,1761701350.073 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:10.073Z,1761701350.073 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:10.306Z,1761701350.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570475,-0.811631,-0.125753],[0.821284,-0.565054,-0.078779],[-0.007118,-0.148221,0.988929]] 2025-10-29T01:29:10.326Z,1761701350.326 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:10.327Z,1761701350.327 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:10.327Z,1761701350.327 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:10.577Z,1761701350.577 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:10.577Z,1761701350.577 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:10.577Z,1761701350.577 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:10.710Z,1761701350.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570844,-0.811486,-0.125011],[0.821036,-0.565290,-0.079667],[-0.006019,-0.148116,0.988952]] 2025-10-29T01:29:10.757Z,1761701350.757 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:10.829Z,1761701350.829 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:10.829Z,1761701350.829 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:10.829Z,1761701350.829 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:11.081Z,1761701351.081 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:11.081Z,1761701351.081 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:11.081Z,1761701351.081 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:11.111Z,1761701351.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571112,-0.811335,-0.124765],[0.820856,-0.565418,-0.080609],[-0.005143,-0.148451,0.988906]] 2025-10-29T01:29:11.333Z,1761701351.333 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:11.333Z,1761701351.333 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:11.333Z,1761701351.333 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:11.515Z,1761701351.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571387,-0.811132,-0.124825],[0.820670,-0.565510,-0.081855],[-0.004195,-0.149211,0.988796]] 2025-10-29T01:29:11.585Z,1761701351.585 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:11.585Z,1761701351.585 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:11.585Z,1761701351.585 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:11.837Z,1761701351.837 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:11.837Z,1761701351.837 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:11.837Z,1761701351.837 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:11.920Z,1761701351.920 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571765,-0.810881,-0.124728],[0.820412,-0.565698,-0.083128],[-0.003152,-0.149858,0.988702]] 2025-10-29T01:29:12.089Z,1761701352.089 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:12.089Z,1761701352.089 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:12.089Z,1761701352.089 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:12.323Z,1761701352.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571941,-0.810767,-0.124660],[0.820292,-0.565690,-0.084356],[-0.002126,-0.150504,0.988607]] 2025-10-29T01:29:12.341Z,1761701352.341 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:12.341Z,1761701352.341 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:12.341Z,1761701352.341 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:12.593Z,1761701352.593 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:12.593Z,1761701352.593 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:12.593Z,1761701352.593 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:12.727Z,1761701352.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572202,-0.810569,-0.124754],[0.820113,-0.565698,-0.086032],[-0.000838,-0.151540,0.988451]] 2025-10-29T01:29:12.785Z,1761701352.785 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:12.846Z,1761701352.846 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:12.846Z,1761701352.846 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:12.846Z,1761701352.846 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:13.097Z,1761701353.097 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:13.097Z,1761701353.097 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:13.097Z,1761701353.097 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:13.130Z,1761701353.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572578,-0.810221,-0.125282],[0.819850,-0.565775,-0.088004],[0.000421,-0.153101,0.988210]] 2025-10-29T01:29:13.349Z,1761701353.349 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:13.349Z,1761701353.349 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:13.349Z,1761701353.349 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:13.534Z,1761701353.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572921,-0.810086,-0.124591],[0.819610,-0.566006,-0.088758],[0.001382,-0.152967,0.988230]] 2025-10-29T01:29:13.621Z,1761701353.621 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:13.621Z,1761701353.621 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:13.621Z,1761701353.621 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:13.873Z,1761701353.873 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:13.873Z,1761701353.873 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:13.873Z,1761701353.873 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:13.940Z,1761701353.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573393,-0.809877,-0.123774],[0.819276,-0.566344,-0.089672],[0.002524,-0.152823,0.988250]] 2025-10-29T01:29:14.125Z,1761701354.125 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:14.125Z,1761701354.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:14.125Z,1761701354.125 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:29:14.348Z,1761701354.348 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573918,-0.809531,-0.123606],[0.818905,-0.566659,-0.091064],[0.003677,-0.153485,0.988144]] 2025-10-29T01:29:14.377Z,1761701354.377 [DAT](INFO): Reached modem response timeout 2025-10-29T01:29:14.377Z,1761701354.377 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:14.377Z,1761701354.377 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:14.629Z,1761701354.629 [DAT](INFO): DAT read: 2025-10-29T01:29:14.629Z,1761701354.629 [DAT](INFO): DAT read: Tx time:01:29:14.3659 2025-10-29T01:29:14.630Z,1761701354.630 [DAT](INFO): Ping request sent. 2025-10-29T01:29:14.630Z,1761701354.630 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:14.630Z,1761701354.630 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:14.631Z,1761701354.631 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000749 2025-10-29T01:29:14.749Z,1761701354.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574073,-0.809741,-0.121492],[0.818790,-0.566840,-0.090964],[0.004791,-0.151696,0.988415]] 2025-10-29T01:29:14.797Z,1761701354.797 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:14.881Z,1761701354.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251029 2025-10-29T01:29:15.133Z,1761701355.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502992 2025-10-29T01:29:15.151Z,1761701355.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574417,-0.809708,-0.120074],[0.818543,-0.567151,-0.091258],[0.005792,-0.150706,0.988562]] 2025-10-29T01:29:15.385Z,1761701355.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755254 2025-10-29T01:29:15.556Z,1761701355.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574823,-0.809530,-0.119329],[0.818249,-0.567435,-0.092118],[0.006861,-0.150592,0.988572]] 2025-10-29T01:29:15.637Z,1761701355.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007494 2025-10-29T01:29:15.889Z,1761701355.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259091 2025-10-29T01:29:15.959Z,1761701355.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575275,-0.809225,-0.119219],[0.817922,-0.567713,-0.093302],[0.007820,-0.151186,0.988474]] 2025-10-29T01:29:16.141Z,1761701356.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511095 2025-10-29T01:29:16.362Z,1761701356.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576056,-0.808734,-0.118783],[0.817360,-0.568289,-0.094716],[0.009097,-0.151650,0.988392]] 2025-10-29T01:29:16.393Z,1761701356.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763062 2025-10-29T01:29:16.645Z,1761701356.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015055 2025-10-29T01:29:16.771Z,1761701356.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576565,-0.808374,-0.118759],[0.816989,-0.568611,-0.095970],[0.010052,-0.152358,0.988274]] 2025-10-29T01:29:16.831Z,1761701356.831 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:16.897Z,1761701356.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267350 2025-10-29T01:29:17.149Z,1761701357.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519024 2025-10-29T01:29:17.178Z,1761701357.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576798,-0.808299,-0.118142],[0.816812,-0.568725,-0.096800],[0.011053,-0.152334,0.988267]] 2025-10-29T01:29:17.401Z,1761701357.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771062 2025-10-29T01:29:17.576Z,1761701357.576 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576689,-0.808453,-0.117619],[0.816878,-0.568537,-0.097342],[0.011826,-0.152217,0.988276]] 2025-10-29T01:29:17.653Z,1761701357.653 [DAT](INFO): DAT read: Rx Time:01:29:17.0152 2025-10-29T01:29:17.654Z,1761701357.654 [DAT](INFO): Rx dataTimestamp_ set to:1761701357.653221 2025-10-29T01:29:17.654Z,1761701357.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024223 2025-10-29T01:29:17.905Z,1761701357.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275022 2025-10-29T01:29:17.978Z,1761701357.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576757,-0.808504,-0.116929],[0.816817,-0.568518,-0.097970],[0.012733,-0.152015,0.988296]] 2025-10-29T01:29:18.160Z,1761701358.160 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529636 2025-10-29T01:29:18.382Z,1761701358.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576887,-0.808487,-0.116404],[0.816710,-0.568542,-0.098710],[0.013625,-0.152013,0.988285]] 2025-10-29T01:29:18.414Z,1761701358.414 [DAT](INFO): DAT read: 01:29:17.0152 LVL= 32752, 30113, 32754, 32755, AGC= 72, IDX= 450,-0.24, 3.048,-1.904,-2.983, 3.049, PHS= 0.102, 1.375, 0.208, RAW= 325.7, -25.9, CAL= 325.5, -29.6, ROT= 184.5, 29.6 2025-10-29T01:29:18.415Z,1761701358.415 [DAT](INFO): got valid direction response: 01:29:17.0152 LVL= 32752, 30113, 32754, 32755, AGC= 72, IDX= 450,-0.24, 3.048,-1.904,-2.983, 3.049, PHS= 0.102, 1.375, 0.208, RAW= 325.7, -25.9, CAL= 325.5, -29.6, ROT= 184.5, 29.6 2025-10-29T01:29:18.416Z,1761701358.416 [DAT](INFO): DAT read: Bearing 130.9, -0.3 (Local) 2025-10-29T01:29:18.417Z,1761701358.417 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, -0.3 (Local) 2025-10-29T01:29:18.418Z,1761701358.418 [DAT](INFO): DAT read: Range 11 to 50 : 183.9 m (Round-trip 245.2 ms) speed -0.7 m/s 2025-10-29T01:29:18.419Z,1761701358.419 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:18.420Z,1761701358.420 [DAT](INFO): direction in FSK: [-0.866815,-0.068220,-0.493942] 2025-10-29T01:29:18.420Z,1761701358.420 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:18.423Z,1761701358.423 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:18.423Z,1761701358.423 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:18.424Z,1761701358.424 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:18.662Z,1761701358.662 [DAT](INFO): DAT read: user:723> 2025-10-29T01:29:18.663Z,1761701358.663 [DAT](INFO): DAT read: Tx time:01:29:18.4159 2025-10-29T01:29:18.664Z,1761701358.664 [DAT](INFO): Ping request sent. 2025-10-29T01:29:18.664Z,1761701358.664 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:18.664Z,1761701358.664 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:18.665Z,1761701358.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001563 2025-10-29T01:29:18.788Z,1761701358.788 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576632,-0.808609,-0.116815],[0.816879,-0.568123,-0.099725],[0.014273,-0.152929,0.988134]] 2025-10-29T01:29:18.834Z,1761701358.834 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Running Loop=1 2025-10-29T01:29:18.834Z,1761701358.834 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T01:29:18.834Z,1761701358.834 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Running Loop=1 2025-10-29T01:29:18.835Z,1761701358.835 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A](INFO): Transitioning to terminal guidance at range 183.899994 m 2025-10-29T01:29:18.835Z,1761701358.835 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:A] Stopped 2025-10-29T01:29:18.835Z,1761701358.835 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Running Loop=1 2025-10-29T01:29:18.913Z,1761701358.913 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249407 2025-10-29T01:29:19.165Z,1761701359.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501436 2025-10-29T01:29:19.195Z,1761701359.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576687,-0.808636,-0.116363],[0.816825,-0.568069,-0.100474],[0.015145,-0.152990,0.988112]] 2025-10-29T01:29:19.211Z,1761701359.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:19.214Z,1761701359.214 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange:B] Stopped 2025-10-29T01:29:19.214Z,1761701359.214 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T01:29:19.215Z,1761701359.215 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange] Stopped 2025-10-29T01:29:19.215Z,1761701359.215 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:CheckRange 2025-10-29T01:29:19.417Z,1761701359.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753111 2025-10-29T01:29:19.595Z,1761701359.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576212,-0.809176,-0.114951],[0.817147,-0.567651,-0.100217],[0.015841,-0.151678,0.988303]] 2025-10-29T01:29:19.630Z,1761701359.630 [lineCaptureHoming:UpdateNumPings_Terminal] Running Loop=1 2025-10-29T01:29:19.631Z,1761701359.631 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-29T01:29:19.632Z,1761701359.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Running Loop=1 2025-10-29T01:29:19.632Z,1761701359.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Running Loop=1 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Running Loop=1 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Running Loop=1 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Initialize. 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Running Loop=1 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::initialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Running Loop=1 2025-10-29T01:29:19.633Z,1761701359.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch](DEBUG): Initialize. 2025-10-29T01:29:19.634Z,1761701359.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Running Loop=1 2025-10-29T01:29:19.634Z,1761701359.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Running Loop=1 2025-10-29T01:29:19.634Z,1761701359.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Running Loop=1 2025-10-29T01:29:19.635Z,1761701359.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl] Stopped 2025-10-29T01:29:19.635Z,1761701359.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl 2025-10-29T01:29:19.635Z,1761701359.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:depthControl:A.Pitch] Stopped 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A](INFO): Terminal guidance. 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:A] Stopped 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Running Loop=1 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initialize. 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](DEBUG): Initializing internal variables to default values. 2025-10-29T01:29:19.636Z,1761701359.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-29T01:29:19.637Z,1761701359.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Rollout timeout set to 300.00 sec. 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): IIR filter is initialized with decay: 0.00. 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: TERMINAL_GUIDANCE 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance] Stopped 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide] Stopped 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed] Stopped 2025-10-29T01:29:19.638Z,1761701359.638 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:C.SetSpeed](DEBUG): Uninitialize. 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:D.Pitch] Stopped 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern] Stopped 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle] Stopped 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:A.Circle](DEBUG): Uninitialize. 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait] Stopped 2025-10-29T01:29:19.639Z,1761701359.639 [lineCaptureHoming:LineCapture:HomingSequence:MidcourseGuidance:guide:SearchPattern:B.Wait](DEBUG): Uninitialize Wait Component. 2025-10-29T01:29:19.670Z,1761701359.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006223 2025-10-29T01:29:19.921Z,1761701359.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257053 2025-10-29T01:29:19.998Z,1761701359.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575596,-0.809667,-0.114584],[0.817572,-0.567009,-0.100386],[0.016309,-0.151463,0.988328]] 2025-10-29T01:29:20.053Z,1761701360.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 183.899994 m, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, rangeRepo size: 1 2025-10-29T01:29:20.055Z,1761701360.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 183.025055 m, bearing: 314.642801 deg, lat: 36.779300 deg, lon: -121.859484 deg, deltaT: nan s, deltaX: nan m, approachRate: -1.000000 m/s, posRepo size: 1 2025-10-29T01:29:20.056Z,1761701360.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:20.058Z,1761701360.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 166.519623 m, bearing: 313.855781 deg, approach rate: 0.000000 m/s, LOS rate: 0.000000 deg/s, cmd heading: 125.189595 deg, new cmd heading: 313.855781 deg. 2025-10-29T01:29:20.059Z,1761701360.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477817 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:20.070Z,1761701360.070 [HorizontalControl](DEBUG): kpHeading = 0.800000 2025-10-29T01:29:20.071Z,1761701360.071 [HorizontalControl](DEBUG): kiHeading = 0.004000 2025-10-29T01:29:20.173Z,1761701360.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509690 2025-10-29T01:29:20.406Z,1761701360.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575469,-0.809815,-0.114174],[0.817646,-0.566797,-0.100978],[0.017060,-0.151464,0.988316]] 2025-10-29T01:29:20.425Z,1761701360.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761229 2025-10-29T01:29:20.425Z,1761701360.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:20.429Z,1761701360.429 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 166.770645 m, bearing: 313.848233 deg, approach rate: 0.674730 m/s, LOS rate: -0.020257 deg/s, cmd heading: 313.855771 deg, new cmd heading: 313.848233 deg. 2025-10-29T01:29:20.430Z,1761701360.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477685 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:20.678Z,1761701360.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013530 2025-10-29T01:29:20.806Z,1761701360.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577195,-0.809340,-0.108697],[0.816392,-0.568859,-0.099519],[0.018712,-0.146181,0.989081]] 2025-10-29T01:29:20.851Z,1761701360.851 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:20.854Z,1761701360.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 167.040726 m, bearing: 313.841799 deg, approach rate: 0.632227 m/s, LOS rate: -0.015036 deg/s, cmd heading: 313.848231 deg, new cmd heading: 313.841799 deg. 2025-10-29T01:29:20.854Z,1761701360.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477573 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:20.868Z,1761701360.868 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-29T01:29:20.929Z,1761701360.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265219 2025-10-29T01:29:20.989Z,1761701360.989 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-29T01:29:21.182Z,1761701361.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518002 2025-10-29T01:29:21.211Z,1761701361.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577558,-0.809896,-0.102448],[0.816123,-0.569875,-0.095839],[0.019237,-0.138963,0.990111]] 2025-10-29T01:29:21.227Z,1761701361.227 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:21.230Z,1761701361.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:21.232Z,1761701361.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 167.280746 m, bearing: 313.836133 deg, approach rate: 0.633886 m/s, LOS rate: -0.014943 deg/s, cmd heading: 313.841810 deg, new cmd heading: 313.836133 deg. 2025-10-29T01:29:21.233Z,1761701361.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477474 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:21.433Z,1761701361.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769164 2025-10-29T01:29:21.614Z,1761701361.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577769,-0.810261,-0.098289],[0.815969,-0.570535,-0.093190],[0.019431,-0.134043,0.990785]] 2025-10-29T01:29:21.675Z,1761701361.675 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:21.687Z,1761701361.687 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023155 2025-10-29T01:29:21.702Z,1761701361.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 167.556488 m, bearing: 313.828441 deg, approach rate: 0.619132 m/s, LOS rate: -0.017242 deg/s, cmd heading: 313.836127 deg, new cmd heading: 313.828441 deg. 2025-10-29T01:29:21.703Z,1761701361.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477340 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:21.937Z,1761701361.937 [DAT](INFO): DAT read: Rx Time:01:29:21.0918 2025-10-29T01:29:21.937Z,1761701361.937 [DAT](INFO): Rx dataTimestamp_ set to:1761701361.937109 2025-10-29T01:29:21.938Z,1761701361.938 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274170 2025-10-29T01:29:22.019Z,1761701362.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577503,-0.810812,-0.095257],[0.816159,-0.570629,-0.090920],[0.019363,-0.130252,0.991292]] 2025-10-29T01:29:22.067Z,1761701362.067 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 183.03 m. 2025-10-29T01:29:22.069Z,1761701362.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav pure pursuit: ac range: 183.025055 m, nav range: 167.805832 m, bearing: 313.821471 deg, approach rate: 0.636413 m/s, LOS rate: -0.017763 deg/s, cmd heading: 313.828450 deg, new cmd heading: 313.821471 deg. 2025-10-29T01:29:22.070Z,1761701362.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477218 target range: 183.025055 and range: 183.90 m. 2025-10-29T01:29:22.190Z,1761701362.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.525939 2025-10-29T01:29:22.431Z,1761701362.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576333,-0.811799,-0.093930],[0.816984,-0.569620,-0.089832],[0.019421,-0.128512,0.991518]] 2025-10-29T01:29:22.446Z,1761701362.446 [DAT](INFO): DAT read: 01:29:21.0918 LVL= 32752, 32337, 32754, 32755, AGC= 74, IDX= 188,-0.04,-1.311, 0.165,-0.940,-1.321, PHS= 0.112, 1.532, 0.338, RAW= 321.5, -27.9, CAL= 321.0, -31.8, ROT= 189.0, 31.8 2025-10-29T01:29:22.447Z,1761701362.447 [DAT](INFO): got valid direction response: 01:29:21.0918 LVL= 32752, 32337, 32754, 32755, AGC= 74, IDX= 188,-0.04,-1.311, 0.165,-0.940,-1.321, PHS= 0.112, 1.532, 0.338, RAW= 321.5, -27.9, CAL= 321.0, -31.8, ROT= 189.0, 31.8 2025-10-29T01:29:22.448Z,1761701362.448 [DAT](INFO): DAT read: Bearing 133.9, -4.4 (Local) 2025-10-29T01:29:22.449Z,1761701362.449 [DAT](INFO): Local bearing/azimuth received: Bearing 133.9, -4.4 (Local) 2025-10-29T01:29:22.450Z,1761701362.450 [DAT](INFO): DAT read: Range 11 to 50 : 203.8 m (Round-trip 271.8 ms) speed 0.0 m/s 2025-10-29T01:29:22.451Z,1761701362.451 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:22.452Z,1761701362.452 [DAT](INFO): direction in FSK: [-0.839429,-0.132952,-0.526956] 2025-10-29T01:29:22.452Z,1761701362.452 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:22.455Z,1761701362.455 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:22.455Z,1761701362.455 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:22.460Z,1761701362.460 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:22.493Z,1761701362.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 203.800003 m, deltaT: 4.032010 s, deltaX: 19.900009 m, approachRate: 4.935506 m/s, rangeRepo size: 2 2025-10-29T01:29:22.495Z,1761701362.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 202.830063 m, bearing: 318.729925 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 4.032010 s, deltaX: 19.805008 m, approachRate: 4.911944 m/s, posRepo size: 2 2025-10-29T01:29:22.495Z,1761701362.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:22.508Z,1761701362.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 167.956528 m, bearing: 313.846954 deg, approach rate: 0.000000 m/s, LOS rate: -0.017763 deg/s, cmd heading: 313.821484 deg, new cmd heading: 313.807088 deg. 2025-10-29T01:29:22.513Z,1761701362.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476967 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:22.693Z,1761701362.693 [DAT](INFO): DAT read: user:724> 2025-10-29T01:29:22.694Z,1761701362.694 [DAT](INFO): DAT read: Tx time:01:29:22.4659 2025-10-29T01:29:22.694Z,1761701362.694 [DAT](INFO): Ping request sent. 2025-10-29T01:29:22.694Z,1761701362.694 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:22.694Z,1761701362.694 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:22.695Z,1761701362.695 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724 2025-10-29T01:29:22.827Z,1761701362.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573275,-0.813724,-0.095964],[0.819128,-0.566362,-0.090904],[0.019620,-0.130719,0.991225]] 2025-10-29T01:29:22.874Z,1761701362.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:22.877Z,1761701362.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 168.208572 m, bearing: 313.838413 deg, approach rate: 0.626431 m/s, LOS rate: -0.021196 deg/s, cmd heading: 313.807085 deg, new cmd heading: 313.790029 deg. 2025-10-29T01:29:22.878Z,1761701362.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476669 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:22.946Z,1761701362.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251877 2025-10-29T01:29:23.197Z,1761701363.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502729 2025-10-29T01:29:23.231Z,1761701363.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568673,-0.816052,-0.103293],[0.822326,-0.560994,-0.095212],[0.019751,-0.139085,0.990083]] 2025-10-29T01:29:23.257Z,1761701363.257 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:23.259Z,1761701363.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:23.262Z,1761701363.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 168.445770 m, bearing: 313.829968 deg, approach rate: 0.616515 m/s, LOS rate: -0.021919 deg/s, cmd heading: 313.790037 deg, new cmd heading: 313.773171 deg. 2025-10-29T01:29:23.263Z,1761701363.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476375 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:23.449Z,1761701363.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754763 2025-10-29T01:29:23.634Z,1761701363.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563095,-0.818628,-0.113010],[0.826141,-0.554269,-0.101373],[0.020349,-0.150445,0.988409]] 2025-10-29T01:29:23.693Z,1761701363.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:23.701Z,1761701363.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006892 2025-10-29T01:29:23.708Z,1761701363.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 168.714035 m, bearing: 313.817945 deg, approach rate: 0.617941 m/s, LOS rate: -0.027651 deg/s, cmd heading: 313.773180 deg, new cmd heading: 313.749173 deg. 2025-10-29T01:29:23.709Z,1761701363.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475956 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:23.953Z,1761701363.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258732 2025-10-29T01:29:24.038Z,1761701364.038 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555137,-0.822277,-0.125235],[0.831494,-0.544828,-0.108540],[0.021018,-0.164387,0.986172]] 2025-10-29T01:29:24.089Z,1761701364.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:24.091Z,1761701364.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 168.945068 m, bearing: 313.806890 deg, approach rate: 0.585682 m/s, LOS rate: -0.027987 deg/s, cmd heading: 313.749165 deg, new cmd heading: 313.727086 deg. 2025-10-29T01:29:24.093Z,1761701364.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475571 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:24.205Z,1761701364.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510730 2025-10-29T01:29:24.451Z,1761701364.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544865,-0.826516,-0.141396],[0.838228,-0.532391,-0.118044],[0.022288,-0.182841,0.982890]] 2025-10-29T01:29:24.457Z,1761701364.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762924 2025-10-29T01:29:24.472Z,1761701364.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:24.475Z,1761701364.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 169.193466 m, bearing: 313.794030 deg, approach rate: 0.646741 m/s, LOS rate: -0.033435 deg/s, cmd heading: 313.727090 deg, new cmd heading: 313.701407 deg. 2025-10-29T01:29:24.475Z,1761701364.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475122 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:24.502Z,1761701364.502 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T01:29:24.709Z,1761701364.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014738 2025-10-29T01:29:24.900Z,1761701364.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:24.903Z,1761701364.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 169.455750 m, bearing: 313.779284 deg, approach rate: 0.612302 m/s, LOS rate: -0.034370 deg/s, cmd heading: 313.701409 deg, new cmd heading: 313.671963 deg. 2025-10-29T01:29:24.904Z,1761701364.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474608 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:24.961Z,1761701364.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267178 2025-10-29T01:29:25.213Z,1761701365.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518823 2025-10-29T01:29:25.251Z,1761701365.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516999,-0.837405,-0.177383],[0.855585,-0.499194,-0.137043],[0.026212,-0.222617,0.974554]] 2025-10-29T01:29:25.284Z,1761701365.284 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:25.286Z,1761701365.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:25.289Z,1761701365.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 169.690033 m, bearing: 313.763527 deg, approach rate: 0.607158 m/s, LOS rate: -0.040778 deg/s, cmd heading: 313.671957 deg, new cmd heading: 313.640487 deg. 2025-10-29T01:29:25.290Z,1761701365.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474059 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:25.469Z,1761701365.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775256 2025-10-29T01:29:25.669Z,1761701365.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500547,-0.844262,-0.191506],[0.865233,-0.480543,-0.143004],[0.028706,-0.237277,0.971018]] 2025-10-29T01:29:25.717Z,1761701365.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022881 2025-10-29T01:29:25.718Z,1761701365.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:25.720Z,1761701365.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 169.946457 m, bearing: 313.743449 deg, approach rate: 0.596465 m/s, LOS rate: -0.046634 deg/s, cmd heading: 313.640484 deg, new cmd heading: 313.600387 deg. 2025-10-29T01:29:25.721Z,1761701365.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473359 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:25.969Z,1761701365.969 [DAT](INFO): DAT read: Rx Time:01:29:25.1449 2025-10-29T01:29:25.969Z,1761701365.969 [DAT](INFO): Rx dataTimestamp_ set to:1761701365.969128 2025-10-29T01:29:25.970Z,1761701365.970 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275834 2025-10-29T01:29:26.139Z,1761701366.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:26.142Z,1761701366.142 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 170.198837 m, bearing: 313.723748 deg, approach rate: 0.596262 m/s, LOS rate: -0.046476 deg/s, cmd heading: 313.600377 deg, new cmd heading: 313.561033 deg. 2025-10-29T01:29:26.143Z,1761701366.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472672 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:26.221Z,1761701366.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526926 2025-10-29T01:29:26.477Z,1761701366.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.782541 2025-10-29T01:29:26.535Z,1761701366.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465861,-0.858538,-0.214210],[0.884167,-0.442090,-0.151012],[0.034950,-0.259748,0.965044]] 2025-10-29T01:29:26.569Z,1761701366.569 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:26.571Z,1761701366.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 170.449829 m, bearing: 313.700659 deg, approach rate: 0.584052 m/s, LOS rate: -0.053647 deg/s, cmd heading: 313.561035 deg, new cmd heading: 313.514926 deg. 2025-10-29T01:29:26.573Z,1761701366.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471868 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:26.725Z,1761701366.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.030830 2025-10-29T01:29:26.977Z,1761701366.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.282842 2025-10-29T01:29:27.094Z,1761701367.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.428856,-0.874042,-0.228325],[0.902408,-0.402811,-0.152980],[0.041739,-0.271649,0.961491]] 2025-10-29T01:29:27.163Z,1761701367.163 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:27.169Z,1761701367.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 170.790390 m, bearing: 313.665857 deg, approach rate: 0.573848 m/s, LOS rate: -0.058526 deg/s, cmd heading: 313.514917 deg, new cmd heading: 313.445451 deg. 2025-10-29T01:29:27.171Z,1761701367.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470655 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:27.230Z,1761701367.230 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.535583 2025-10-29T01:29:27.481Z,1761701367.481 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.787327 2025-10-29T01:29:27.536Z,1761701367.536 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:27.538Z,1761701367.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:27.541Z,1761701367.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 171.010712 m, bearing: 313.643419 deg, approach rate: 0.586096 m/s, LOS rate: -0.059611 deg/s, cmd heading: 313.445441 deg, new cmd heading: 313.400624 deg. 2025-10-29T01:29:27.542Z,1761701367.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469873 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:27.733Z,1761701367.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.039322 2025-10-29T01:29:27.903Z,1761701367.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389501,-0.890612,-0.234731],[0.919795,-0.362962,-0.149119],[0.047608,-0.273986,0.960554]] 2025-10-29T01:29:27.946Z,1761701367.946 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:27.949Z,1761701367.949 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 171.229340 m, bearing: 313.616452 deg, approach rate: 0.536620 m/s, LOS rate: -0.066105 deg/s, cmd heading: 313.400635 deg, new cmd heading: 313.346770 deg. 2025-10-29T01:29:27.950Z,1761701367.950 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468933 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:27.985Z,1761701367.985 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.291306 2025-10-29T01:29:28.238Z,1761701368.238 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.543446 2025-10-29T01:29:28.307Z,1761701368.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.369345,-0.898945,-0.235546],[0.927942,-0.343106,-0.145608],[0.050076,-0.272353,0.960894]] 2025-10-29T01:29:28.350Z,1761701368.350 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:28.353Z,1761701368.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 171.434937 m, bearing: 313.589454 deg, approach rate: 0.532061 m/s, LOS rate: -0.069785 deg/s, cmd heading: 313.346758 deg, new cmd heading: 313.292826 deg. 2025-10-29T01:29:28.354Z,1761701368.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467991 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:28.489Z,1761701368.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.794708 2025-10-29T01:29:28.741Z,1761701368.741 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.047015 2025-10-29T01:29:28.783Z,1761701368.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:28.786Z,1761701368.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 171.667709 m, bearing: 313.560545 deg, approach rate: 0.515854 m/s, LOS rate: -0.063979 deg/s, cmd heading: 313.292827 deg, new cmd heading: 313.235087 deg. 2025-10-29T01:29:28.787Z,1761701368.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466984 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:28.993Z,1761701368.993 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.298886 2025-10-29T01:29:29.114Z,1761701369.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328726,-0.915941,-0.230199],[0.942842,-0.304170,-0.136121],[0.054659,-0.261788,0.963576]] 2025-10-29T01:29:29.148Z,1761701369.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:29.152Z,1761701369.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 171.851395 m, bearing: 313.534760 deg, approach rate: 0.505231 m/s, LOS rate: -0.070847 deg/s, cmd heading: 313.235098 deg, new cmd heading: 313.183583 deg. 2025-10-29T01:29:29.154Z,1761701369.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466084 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:29.246Z,1761701369.246 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.551721 2025-10-29T01:29:29.497Z,1761701369.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.802784 2025-10-29T01:29:29.518Z,1761701369.518 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307937,-0.924346,-0.225297],[0.949729,-0.284596,-0.130459],[0.056470,-0.254145,0.965516]] 2025-10-29T01:29:29.544Z,1761701369.544 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:29.546Z,1761701369.546 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:29.553Z,1761701369.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 172.051254 m, bearing: 313.505069 deg, approach rate: 0.500247 m/s, LOS rate: -0.074229 deg/s, cmd heading: 313.183571 deg, new cmd heading: 313.124259 deg. 2025-10-29T01:29:29.554Z,1761701369.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465049 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:29.750Z,1761701369.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.055311 2025-10-29T01:29:29.925Z,1761701369.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286603,-0.932076,-0.221568],[0.956296,-0.264337,-0.124994],[0.057935,-0.247708,0.967101]] 2025-10-29T01:29:30.001Z,1761701370.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.306802 2025-10-29T01:29:30.045Z,1761701370.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:30.052Z,1761701370.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 172.288818 m, bearing: 313.469828 deg, approach rate: 0.476352 m/s, LOS rate: -0.070566 deg/s, cmd heading: 313.124258 deg, new cmd heading: 313.053873 deg. 2025-10-29T01:29:30.057Z,1761701370.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463821 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:30.253Z,1761701370.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.558739 2025-10-29T01:29:30.327Z,1761701370.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.264321,-0.939347,-0.218546],[0.962630,-0.243108,-0.119336],[0.058967,-0.241922,0.968502]] 2025-10-29T01:29:30.375Z,1761701370.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:30.378Z,1761701370.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 172.457748 m, bearing: 313.443268 deg, approach rate: 0.511607 m/s, LOS rate: -0.080358 deg/s, cmd heading: 313.053880 deg, new cmd heading: 313.000812 deg. 2025-10-29T01:29:30.379Z,1761701370.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462895 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:30.505Z,1761701370.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.810788 2025-10-29T01:29:30.758Z,1761701370.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.063432 2025-10-29T01:29:30.786Z,1761701370.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241978,-0.945870,-0.216280],[0.968427,-0.221661,-0.114090],[0.059973,-0.237058,0.969643]] 2025-10-29T01:29:30.849Z,1761701370.849 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:30.852Z,1761701370.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 172.683578 m, bearing: 313.406418 deg, approach rate: 0.476621 m/s, LOS rate: -0.077671 deg/s, cmd heading: 313.000823 deg, new cmd heading: 312.927220 deg. 2025-10-29T01:29:30.853Z,1761701370.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461610 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:31.009Z,1761701371.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.314767 2025-10-29T01:29:31.195Z,1761701371.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.219097,-0.951259,-0.217033],[0.973821,-0.199385,-0.109174],[0.060580,-0.235271,0.970040]] 2025-10-29T01:29:31.232Z,1761701371.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:31.235Z,1761701371.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 172.863983 m, bearing: 313.375293 deg, approach rate: 0.471426 m/s, LOS rate: -0.081250 deg/s, cmd heading: 312.927221 deg, new cmd heading: 312.865035 deg. 2025-10-29T01:29:31.236Z,1761701371.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460525 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:31.261Z,1761701371.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.566891 2025-10-29T01:29:31.500Z,1761701371.500 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:29:31.513Z,1761701371.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.818864 2025-10-29T01:29:31.728Z,1761701371.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.196808,-0.955761,-0.218603],[0.978543,-0.177612,-0.104437],[0.060990,-0.234467,0.970209]] 2025-10-29T01:29:31.774Z,1761701371.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.079450 2025-10-29T01:29:31.806Z,1761701371.806 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:31.810Z,1761701371.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:31.813Z,1761701371.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 173.137070 m, bearing: 313.326856 deg, approach rate: 0.472487 m/s, LOS rate: -0.083673 deg/s, cmd heading: 312.865038 deg, new cmd heading: 312.768317 deg. 2025-10-29T01:29:31.814Z,1761701371.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458837 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:32.025Z,1761701372.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.330931 2025-10-29T01:29:32.139Z,1761701372.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.174118,-0.959263,-0.222480],[0.982829,-0.155275,-0.099685],[0.061079,-0.236017,0.969827]] 2025-10-29T01:29:32.190Z,1761701372.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:32.192Z,1761701372.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 173.311447 m, bearing: 313.294283 deg, approach rate: 0.459044 m/s, LOS rate: -0.085662 deg/s, cmd heading: 312.768323 deg, new cmd heading: 312.703242 deg. 2025-10-29T01:29:32.193Z,1761701372.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457701 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:32.278Z,1761701372.278 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.583895 2025-10-29T01:29:32.504Z,1761701372.504 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:29:32.529Z,1761701372.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.834850 2025-10-29T01:29:32.540Z,1761701372.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.151551,-0.961999,-0.227135],[0.986567,-0.133039,-0.094797],[0.060977,-0.238451,0.969238]] 2025-10-29T01:29:32.577Z,1761701372.577 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:32.580Z,1761701372.580 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 173.504745 m, bearing: 313.256320 deg, approach rate: 0.498963 m/s, LOS rate: -0.097884 deg/s, cmd heading: 312.703245 deg, new cmd heading: 312.627404 deg. 2025-10-29T01:29:32.581Z,1761701372.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456378 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:32.781Z,1761701372.781 [DAT](INFO): Reached modem response timeout 2025-10-29T01:29:32.782Z,1761701372.782 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:29:32.782Z,1761701372.782 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:32.943Z,1761701372.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.128751,-0.964263,-0.231561],[0.989809,-0.110631,-0.089662],[0.060840,-0.240745,0.968680]] 2025-10-29T01:29:32.985Z,1761701372.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:32.988Z,1761701372.988 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 173.699448 m, bearing: 313.216535 deg, approach rate: 0.476878 m/s, LOS rate: -0.097336 deg/s, cmd heading: 312.627403 deg, new cmd heading: 312.547921 deg. 2025-10-29T01:29:32.989Z,1761701372.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454990 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:33.035Z,1761701373.035 [DAT](INFO): DAT read: 01:29:25.1449 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2> 2025-10-29T01:29:33.036Z,1761701373.036 [DAT](INFO): unknown deviceResponse_: 01:29:25.1449 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 2> 2025-10-29T01:29:33.037Z,1761701373.037 [DAT](INFO): DAT read: Tx time:01:29:32.7659 2025-10-29T01:29:33.037Z,1761701373.037 [DAT](INFO): Ping request sent. 2025-10-29T01:29:33.038Z,1761701373.038 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:33.038Z,1761701373.038 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:33.039Z,1761701373.039 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001072 2025-10-29T01:29:33.285Z,1761701373.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247270 2025-10-29T01:29:33.347Z,1761701373.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.105834,-0.965971,-0.236005],[0.992547,-0.088200,-0.084095],[0.060418,-0.243146,0.968106]] 2025-10-29T01:29:33.373Z,1761701373.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:33.375Z,1761701373.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 173.881638 m, bearing: 313.177467 deg, approach rate: 0.470348 m/s, LOS rate: -0.100752 deg/s, cmd heading: 312.547926 deg, new cmd heading: 312.469874 deg. 2025-10-29T01:29:33.377Z,1761701373.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453628 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:33.537Z,1761701373.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.499397 2025-10-29T01:29:33.774Z,1761701373.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.083392,-0.967824,-0.237407],[0.994695,-0.066445,-0.078523],[0.060222,-0.242695,0.968232]] 2025-10-29T01:29:33.789Z,1761701373.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.751314 2025-10-29T01:29:33.818Z,1761701373.818 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:33.824Z,1761701373.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:33.829Z,1761701373.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 174.093506 m, bearing: 313.128307 deg, approach rate: 0.472063 m/s, LOS rate: -0.109401 deg/s, cmd heading: 312.469871 deg, new cmd heading: 312.371670 deg. 2025-10-29T01:29:33.830Z,1761701373.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451914 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:34.042Z,1761701374.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004415 2025-10-29T01:29:34.165Z,1761701374.165 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.060788,-0.969595,-0.237045],[0.996348,-0.044675,-0.072771],[0.059969,-0.240603,0.968769]] 2025-10-29T01:29:34.200Z,1761701374.200 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:34.203Z,1761701374.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 174.263580 m, bearing: 313.087016 deg, approach rate: 0.469171 m/s, LOS rate: -0.113794 deg/s, cmd heading: 312.371680 deg, new cmd heading: 312.289180 deg. 2025-10-29T01:29:34.208Z,1761701374.208 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450474 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:34.294Z,1761701374.294 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.256385 2025-10-29T01:29:34.549Z,1761701374.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511301 2025-10-29T01:29:34.560Z,1761701374.560 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.038247,-0.970917,-0.236340],[0.997489,-0.022986,-0.066992],[0.059611,-0.238308,0.969358]] 2025-10-29T01:29:34.599Z,1761701374.599 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:34.602Z,1761701374.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 174.453705 m, bearing: 313.038757 deg, approach rate: 0.458442 m/s, LOS rate: -0.116239 deg/s, cmd heading: 312.289172 deg, new cmd heading: 312.192759 deg. 2025-10-29T01:29:34.602Z,1761701374.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448792 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:34.801Z,1761701374.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763816 2025-10-29T01:29:35.027Z,1761701375.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:35.030Z,1761701375.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 174.650986 m, bearing: 312.987104 deg, approach rate: 0.464089 m/s, LOS rate: -0.121374 deg/s, cmd heading: 312.192757 deg, new cmd heading: 312.089566 deg. 2025-10-29T01:29:35.031Z,1761701375.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446990 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:35.053Z,1761701375.053 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015332 2025-10-29T01:29:35.305Z,1761701375.305 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267210 2025-10-29T01:29:35.366Z,1761701375.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.007058,-0.972099,-0.234465],[0.998265,0.020556,-0.055172],[0.058453,-0.233668,0.970558]] 2025-10-29T01:29:35.405Z,1761701375.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:35.407Z,1761701375.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 174.822891 m, bearing: 312.937874 deg, approach rate: 0.451440 m/s, LOS rate: -0.129156 deg/s, cmd heading: 312.089566 deg, new cmd heading: 311.991203 deg. 2025-10-29T01:29:35.408Z,1761701375.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445274 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:35.557Z,1761701375.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519659 2025-10-29T01:29:35.799Z,1761701375.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.030020,-0.971596,-0.234733],[0.997886,0.042674,-0.049014],[0.057639,-0.232765,0.970823]] 2025-10-29T01:29:35.809Z,1761701375.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771408 2025-10-29T01:29:35.863Z,1761701375.863 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:35.874Z,1761701375.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:35.880Z,1761701375.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 175.009384 m, bearing: 312.878352 deg, approach rate: 0.397733 m/s, LOS rate: -0.126807 deg/s, cmd heading: 311.991211 deg, new cmd heading: 311.872294 deg. 2025-10-29T01:29:35.881Z,1761701375.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443198 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:36.061Z,1761701376.061 [DAT](INFO): DAT read: Rx Time:01:29:35.4040 2025-10-29T01:29:36.061Z,1761701376.061 [DAT](INFO): Rx dataTimestamp_ set to:1761701376.061121 2025-10-29T01:29:36.062Z,1761701376.062 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024328 2025-10-29T01:29:36.190Z,1761701376.190 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.052832,-0.970333,-0.235928],[0.996976,0.064735,-0.042988],[0.056985,-0.232943,0.970819]] 2025-10-29T01:29:36.249Z,1761701376.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 202.83 m. 2025-10-29T01:29:36.251Z,1761701376.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 202.830063 m, nav range: 175.164917 m, bearing: 312.826537 deg, approach rate: 0.414583 m/s, LOS rate: -0.137993 deg/s, cmd heading: 311.872284 deg, new cmd heading: 311.768747 deg. 2025-10-29T01:29:36.253Z,1761701376.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441391 target range: 202.830063 and range: 203.80 m. 2025-10-29T01:29:36.313Z,1761701376.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.275441 2025-10-29T01:29:36.586Z,1761701376.586 [DAT](INFO): DAT read: 01:29:35.4040 LVL= 25680, 21057, 24434, 25955, AGC= 65, IDX= 8, 0.30, 0.448, 2.452, 1.791, 1.844, PHS=-1.294, 0.652,-0.098, RAW= 292.4, 8.7, CAL= 290.0, 9.8, ROT= 220.0, -9.8 2025-10-29T01:29:36.593Z,1761701376.593 [DAT](INFO): got valid direction response: 01:29:35.4040 LVL= 25680, 21057, 24434, 25955, AGC= 65, IDX= 8, 0.30, 0.448, 2.452, 1.791, 1.844, PHS=-1.294, 0.652,-0.098, RAW= 292.4, 8.7, CAL= 290.0, 9.8, ROT= 220.0, -9.8 2025-10-29T01:29:36.594Z,1761701376.594 [DAT](INFO): DAT read: Bearing 61.5, -44.4 (Local) 2025-10-29T01:29:36.594Z,1761701376.594 [DAT](INFO): Local bearing/azimuth received: Bearing 61.5, -44.4 (Local) 2025-10-29T01:29:36.595Z,1761701376.595 [DAT](INFO): DAT read: Range 11 to 50 : 175.4 m (Round-trip 233.9 ms) speed -0.4 m/s 2025-10-29T01:29:36.596Z,1761701376.596 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:36.597Z,1761701376.597 [DAT](INFO): direction in FSK: [-0.754866,-0.633408,0.170209] 2025-10-29T01:29:36.597Z,1761701376.597 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:36.613Z,1761701376.613 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:36.613Z,1761701376.613 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:36.613Z,1761701376.613 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:36.662Z,1761701376.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.099512,-0.965760,-0.239595],[0.993497,0.109825,-0.030049],[0.055334,-0.235046,0.970408]] 2025-10-29T01:29:36.810Z,1761701376.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 175.399994 m, deltaT: 14.125287 s, deltaX: -28.400009 m, approachRate: -2.010579 m/s, rangeRepo size: 3 2025-10-29T01:29:36.812Z,1761701376.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 174.556427 m, bearing: 301.016790 deg, lat: 36.779300 deg, lon: -121.859482 deg, deltaT: 14.125287 s, deltaX: -28.273636 m, approachRate: -2.001633 m/s, posRepo size: 3 2025-10-29T01:29:36.817Z,1761701376.817 [DAT](INFO): DAT read: user:726> 2025-10-29T01:29:36.818Z,1761701376.818 [DAT](INFO): DAT read: Tx time:01:29:36.6159 2025-10-29T01:29:36.818Z,1761701376.818 [DAT](INFO): Ping request sent. 2025-10-29T01:29:36.818Z,1761701376.818 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:36.818Z,1761701376.818 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:36.819Z,1761701376.819 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000752 2025-10-29T01:29:36.824Z,1761701376.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:36.827Z,1761701376.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 175.360977 m, bearing: 312.754999 deg, approach rate: 0.000000 m/s, LOS rate: -0.137993 deg/s, cmd heading: 311.768738 deg, new cmd heading: 311.614099 deg. 2025-10-29T01:29:36.827Z,1761701376.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438692 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:37.070Z,1761701377.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251351 2025-10-29T01:29:37.142Z,1761701377.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.123413,-0.962469,-0.241709],[0.990858,0.132892,-0.023250],[0.054498,-0.236630,0.970070]] 2025-10-29T01:29:37.204Z,1761701377.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:37.207Z,1761701377.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 175.526657 m, bearing: 312.688100 deg, approach rate: 0.427968 m/s, LOS rate: -0.172645 deg/s, cmd heading: 311.614103 deg, new cmd heading: 311.480430 deg. 2025-10-29T01:29:37.212Z,1761701377.212 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436359 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:37.321Z,1761701377.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502750 2025-10-29T01:29:37.532Z,1761701377.532 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.147837,-0.958826,-0.242481],[0.987570,0.156348,-0.016130],[0.053377,-0.237082,0.970022]] 2025-10-29T01:29:37.552Z,1761701377.552 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:37.555Z,1761701377.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 175.649155 m, bearing: 312.636217 deg, approach rate: 0.344384 m/s, LOS rate: -0.145759 deg/s, cmd heading: 311.480423 deg, new cmd heading: 311.376730 deg. 2025-10-29T01:29:37.555Z,1761701377.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434549 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:37.573Z,1761701377.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754789 2025-10-29T01:29:37.830Z,1761701377.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011125 2025-10-29T01:29:37.990Z,1761701377.990 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:37.993Z,1761701377.993 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:37.995Z,1761701377.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 175.788223 m, bearing: 312.574487 deg, approach rate: 0.315564 m/s, LOS rate: -0.139962 deg/s, cmd heading: 311.376740 deg, new cmd heading: 311.253378 deg. 2025-10-29T01:29:37.996Z,1761701377.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432396 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:38.078Z,1761701378.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259978 2025-10-29T01:29:38.329Z,1761701378.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510824 2025-10-29T01:29:38.339Z,1761701378.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.195576,-0.951269,-0.238407],[0.979331,0.202234,-0.003544],[0.051586,-0.232786,0.971159]] 2025-10-29T01:29:38.377Z,1761701378.377 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:38.379Z,1761701378.379 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 175.896164 m, bearing: 312.521540 deg, approach rate: 0.280976 m/s, LOS rate: -0.137739 deg/s, cmd heading: 311.253387 deg, new cmd heading: 311.147558 deg. 2025-10-29T01:29:38.385Z,1761701378.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430549 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:38.581Z,1761701378.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762777 2025-10-29T01:29:38.747Z,1761701378.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220295,-0.946183,-0.237080],[0.974139,0.225922,0.003518],[0.050233,-0.231724,0.971484]] 2025-10-29T01:29:38.827Z,1761701378.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:38.833Z,1761701378.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014886 2025-10-29T01:29:38.835Z,1761701378.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 176.017075 m, bearing: 312.459040 deg, approach rate: 0.268518 m/s, LOS rate: -0.138704 deg/s, cmd heading: 311.147546 deg, new cmd heading: 311.022632 deg. 2025-10-29T01:29:38.840Z,1761701378.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428369 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:39.089Z,1761701379.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270574 2025-10-29T01:29:39.164Z,1761701379.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.245458,-0.939465,-0.239072],[0.968185,0.249957,0.011805],[0.048667,-0.234363,0.970930]] 2025-10-29T01:29:39.201Z,1761701379.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:39.204Z,1761701379.204 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 176.119797 m, bearing: 312.399907 deg, approach rate: 0.274661 m/s, LOS rate: -0.158021 deg/s, cmd heading: 311.022636 deg, new cmd heading: 310.904438 deg. 2025-10-29T01:29:39.205Z,1761701379.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426306 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:39.338Z,1761701379.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519369 2025-10-29T01:29:39.557Z,1761701379.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.271135,-0.932508,-0.238568],[0.961395,0.274456,0.019847],[0.046969,-0.234739,0.970923]] 2025-10-29T01:29:39.576Z,1761701379.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:39.579Z,1761701379.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 176.208130 m, bearing: 312.345890 deg, approach rate: 0.235460 m/s, LOS rate: -0.143913 deg/s, cmd heading: 310.904446 deg, new cmd heading: 310.796468 deg. 2025-10-29T01:29:39.584Z,1761701379.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424422 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:39.589Z,1761701379.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770889 2025-10-29T01:29:39.845Z,1761701379.845 [DAT](INFO): DAT read: Rx Time:01:29:39.2559 2025-10-29T01:29:39.846Z,1761701379.846 [DAT](INFO): Rx dataTimestamp_ set to:1761701379.845190 2025-10-29T01:29:39.848Z,1761701379.848 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.029218 2025-10-29T01:29:40.006Z,1761701380.006 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:40.008Z,1761701380.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:40.011Z,1761701380.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 176.308014 m, bearing: 312.287201 deg, approach rate: 0.231385 m/s, LOS rate: -0.135880 deg/s, cmd heading: 310.796475 deg, new cmd heading: 310.679162 deg. 2025-10-29T01:29:40.011Z,1761701380.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422374 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:40.094Z,1761701380.094 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276038 2025-10-29T01:29:40.345Z,1761701380.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526728 2025-10-29T01:29:40.369Z,1761701380.369 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.320851,-0.917457,-0.235219],[0.946124,0.321909,0.034975],[0.043631,-0.233768,0.971313]] 2025-10-29T01:29:40.446Z,1761701380.446 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 174.56 m. 2025-10-29T01:29:40.453Z,1761701380.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 174.556427 m, nav range: 176.392578 m, bearing: 312.230935 deg, approach rate: 0.192855 m/s, LOS rate: -0.128257 deg/s, cmd heading: 310.679159 deg, new cmd heading: 310.566682 deg. 2025-10-29T01:29:40.454Z,1761701380.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420411 target range: 174.556427 and range: 175.40 m. 2025-10-29T01:29:40.602Z,1761701380.602 [DAT](INFO): DAT read: 01:29:39.2559 LVL= 32752, 25841, 27586, 32755, AGC= 64, IDX= 445,-0.43,-1.567, 0.174, 0.131,-0.129, PHS=-1.336, 0.348, 0.216, RAW= 274.0, 9.5, CAL= 272.9, 10.1, ROT= 237.1, -10.1 2025-10-29T01:29:40.603Z,1761701380.603 [DAT](INFO): got valid direction response: 01:29:39.2559 LVL= 32752, 25841, 27586, 32755, AGC= 64, IDX= 445,-0.43,-1.567, 0.174, 0.131,-0.129, PHS=-1.336, 0.348, 0.216, RAW= 274.0, 9.5, CAL= 272.9, 10.1, ROT= 237.1, -10.1 2025-10-29T01:29:40.604Z,1761701380.604 [DAT](INFO): DAT read: Bearing 52.8, -60.4 (Local) 2025-10-29T01:29:40.605Z,1761701380.605 [DAT](INFO): Local bearing/azimuth received: Bearing 52.8, -60.4 (Local) 2025-10-29T01:29:40.606Z,1761701380.606 [DAT](INFO): DAT read: Range 11 to 50 : 176.9 m (Round-trip 235.9 ms) speed -0.2 m/s 2025-10-29T01:29:40.607Z,1761701380.607 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:40.608Z,1761701380.608 [DAT](INFO): direction in FSK: [-0.534757,-0.826609,0.175367] 2025-10-29T01:29:40.608Z,1761701380.608 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:40.611Z,1761701380.611 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:40.611Z,1761701380.611 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:40.612Z,1761701380.612 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:40.791Z,1761701380.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.345653,-0.908351,-0.235421],[0.937434,0.345423,0.043590],[0.041725,-0.235759,0.970915]] 2025-10-29T01:29:40.852Z,1761701380.852 [DAT](INFO): DAT read: user:727> 2025-10-29T01:29:40.854Z,1761701380.854 [DAT](INFO): DAT read: Tx time:01:29:40.6159 2025-10-29T01:29:40.854Z,1761701380.854 [DAT](INFO): Ping request sent. 2025-10-29T01:29:40.854Z,1761701380.854 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:40.854Z,1761701380.854 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:40.855Z,1761701380.855 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000741 2025-10-29T01:29:40.893Z,1761701380.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.899994 m, deltaT: 4.030715 s, deltaX: 1.500000 m, approachRate: 0.372142 m/s, rangeRepo size: 4 2025-10-29T01:29:40.895Z,1761701380.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.040497 m, bearing: 303.957458 deg, lat: 36.779277 deg, lon: -121.859482 deg, deltaT: 4.030715 s, deltaX: 1.484070 m, approachRate: 0.368190 m/s, posRepo size: 4 2025-10-29T01:29:40.907Z,1761701380.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:40.918Z,1761701380.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 174.753403 m, bearing: 311.536220 deg, approach rate: 0.000000 m/s, LOS rate: -0.128257 deg/s, cmd heading: 310.566680 deg, new cmd heading: 310.453510 deg. 2025-10-29T01:29:40.918Z,1761701380.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418436 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:41.101Z,1761701381.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.246721 2025-10-29T01:29:41.227Z,1761701381.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.370518,-0.898760,-0.234408],[0.927978,0.368974,0.052104],[0.039661,-0.236831,0.970741]] 2025-10-29T01:29:41.269Z,1761701381.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:41.272Z,1761701381.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 174.835541 m, bearing: 311.477898 deg, approach rate: 0.215056 m/s, LOS rate: -0.152628 deg/s, cmd heading: 310.453517 deg, new cmd heading: 310.336929 deg. 2025-10-29T01:29:41.273Z,1761701381.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416401 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:41.353Z,1761701381.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498787 2025-10-29T01:29:41.605Z,1761701381.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750704 2025-10-29T01:29:41.654Z,1761701381.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.394960,-0.887991,-0.235538],[0.917921,0.391980,0.061424],[0.037782,-0.240466,0.969922]] 2025-10-29T01:29:41.693Z,1761701381.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:41.696Z,1761701381.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 174.916611 m, bearing: 311.416298 deg, approach rate: 0.191263 m/s, LOS rate: -0.145261 deg/s, cmd heading: 310.336940 deg, new cmd heading: 310.213798 deg. 2025-10-29T01:29:41.697Z,1761701381.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414252 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:41.860Z,1761701381.860 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004993 2025-10-29T01:29:42.037Z,1761701382.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.419745,-0.876815,-0.234542],[0.906944,0.415307,0.070513],[0.035580,-0.242314,0.969545]] 2025-10-29T01:29:42.071Z,1761701382.071 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:42.073Z,1761701382.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:42.076Z,1761701382.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 174.993332 m, bearing: 311.359355 deg, approach rate: 0.201921 m/s, LOS rate: -0.149804 deg/s, cmd heading: 310.213805 deg, new cmd heading: 310.099967 deg. 2025-10-29T01:29:42.077Z,1761701382.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412265 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:42.109Z,1761701382.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254849 2025-10-29T01:29:42.361Z,1761701382.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.507097 2025-10-29T01:29:42.439Z,1761701382.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.443086,-0.865711,-0.232851],[0.895834,0.437421,0.078382],[0.033998,-0.243326,0.969349]] 2025-10-29T01:29:42.465Z,1761701382.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:42.468Z,1761701382.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.067535 m, bearing: 311.300374 deg, approach rate: 0.189381 m/s, LOS rate: -0.150465 deg/s, cmd heading: 310.099959 deg, new cmd heading: 309.982049 deg. 2025-10-29T01:29:42.469Z,1761701382.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410207 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:42.613Z,1761701382.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758809 2025-10-29T01:29:42.869Z,1761701382.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014760 2025-10-29T01:29:42.937Z,1761701382.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:42.940Z,1761701382.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.167343 m, bearing: 311.226434 deg, approach rate: 0.211466 m/s, LOS rate: -0.156571 deg/s, cmd heading: 309.982043 deg, new cmd heading: 309.834247 deg. 2025-10-29T01:29:42.941Z,1761701382.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407628 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:43.119Z,1761701383.119 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.264595 2025-10-29T01:29:43.251Z,1761701383.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.488734,-0.842838,-0.225305],[0.871895,0.480929,0.092229],[0.030621,-0.241518,0.969913]] 2025-10-29T01:29:43.270Z,1761701383.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:43.273Z,1761701383.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.229553 m, bearing: 311.173247 deg, approach rate: 0.186943 m/s, LOS rate: -0.159772 deg/s, cmd heading: 309.834238 deg, new cmd heading: 309.727901 deg. 2025-10-29T01:29:43.274Z,1761701383.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405772 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:43.369Z,1761701383.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.514864 2025-10-29T01:29:43.622Z,1761701383.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.767895 2025-10-29T01:29:43.659Z,1761701383.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510421,-0.830703,-0.222266],[0.859432,0.501542,0.099159],[0.029105,-0.241636,0.969931]] 2025-10-29T01:29:43.693Z,1761701383.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:43.703Z,1761701383.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.302490 m, bearing: 311.106130 deg, approach rate: 0.172243 m/s, LOS rate: -0.158432 deg/s, cmd heading: 309.727905 deg, new cmd heading: 309.593728 deg. 2025-10-29T01:29:43.704Z,1761701383.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403430 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:43.876Z,1761701383.876 [DAT](INFO): DAT read: Rx Time:01:29:43.2571 2025-10-29T01:29:43.878Z,1761701383.878 [DAT](INFO): Rx dataTimestamp_ set to:1761701383.876477 2025-10-29T01:29:43.879Z,1761701383.879 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.024503 2025-10-29T01:29:44.057Z,1761701384.057 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.531842,-0.817837,-0.219741],[0.846397,0.521780,0.106573],[0.027497,-0.242668,0.969720]] 2025-10-29T01:29:44.092Z,1761701384.092 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:44.115Z,1761701384.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:44.126Z,1761701384.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271918 2025-10-29T01:29:44.137Z,1761701384.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.381332 m, bearing: 311.035049 deg, approach rate: 0.187170 m/s, LOS rate: -0.168668 deg/s, cmd heading: 309.593733 deg, new cmd heading: 309.451636 deg. 2025-10-29T01:29:44.138Z,1761701384.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400950 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:44.378Z,1761701384.378 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523012 2025-10-29T01:29:44.464Z,1761701384.464 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552892,-0.804361,-0.217516],[0.832847,0.541608,0.114133],[0.026004,-0.244261,0.969361]] 2025-10-29T01:29:44.491Z,1761701384.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.04 m. 2025-10-29T01:29:44.494Z,1761701384.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.040497 m, nav range: 175.453140 m, bearing: 310.965223 deg, approach rate: 0.190720 m/s, LOS rate: -0.185382 deg/s, cmd heading: 309.451638 deg, new cmd heading: 309.312042 deg. 2025-10-29T01:29:44.495Z,1761701384.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398513 target range: 176.040497 and range: 176.90 m. 2025-10-29T01:29:44.642Z,1761701384.642 [DAT](INFO): DAT read: 01:29:43.2571 LVL= 32752, 23905, 24514, 29875, AGC= 61, IDX= 440, 0.28,-1.480,-0.117, 0.804,-0.228, PHS=-1.150, 0.156, 0.989, RAW= 247.3, 0.1, CAL= 243.1, -1.0, ROT= 266.9, 1.0 2025-10-29T01:29:44.644Z,1761701384.644 [DAT](INFO): got valid direction response: 01:29:43.2571 LVL= 32752, 23905, 24514, 29875, AGC= 61, IDX= 440, 0.28,-1.480,-0.117, 0.804,-0.228, PHS=-1.150, 0.156, 0.989, RAW= 247.3, 0.1, CAL= 243.1, -1.0, ROT= 266.9, 1.0 2025-10-29T01:29:44.646Z,1761701384.646 [DAT](INFO): DAT read: Bearing 119.3, -74.2 (Local) 2025-10-29T01:29:44.647Z,1761701384.647 [DAT](INFO): Local bearing/azimuth received: Bearing 119.3, -74.2 (Local) 2025-10-29T01:29:44.659Z,1761701384.659 [DAT](INFO): DAT read: Range 11 to 50 : 177.8 m (Round-trip 237.1 ms) speed -0.1 m/s 2025-10-29T01:29:44.660Z,1761701384.660 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:44.661Z,1761701384.661 [DAT](INFO): direction in FSK: [-0.054071,-0.998385,-0.017452] 2025-10-29T01:29:44.661Z,1761701384.661 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:44.683Z,1761701384.683 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:44.683Z,1761701384.683 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:44.683Z,1761701384.683 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:44.883Z,1761701384.883 [DAT](INFO): DAT read: user:728> 2025-10-29T01:29:44.886Z,1761701384.886 [DAT](INFO): DAT read: Tx time:01:29:44.6659 2025-10-29T01:29:44.887Z,1761701384.887 [DAT](INFO): Ping request sent. 2025-10-29T01:29:44.887Z,1761701384.887 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:44.888Z,1761701384.888 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:44.890Z,1761701384.890 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002747 2025-10-29T01:29:44.926Z,1761701384.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572901,-0.791638,-0.212353],[0.819250,0.560913,0.119186],[0.024760,-0.242252,0.969897]] 2025-10-29T01:29:45.008Z,1761701385.008 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.800003 m, deltaT: 4.032742 s, deltaX: 0.900009 m, approachRate: 0.223175 m/s, rangeRepo size: 4 2025-10-29T01:29:45.010Z,1761701385.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.930252 m, bearing: 321.527724 deg, lat: 36.779277 deg, lon: -121.859419 deg, deltaT: 4.032742 s, deltaX: 0.889755 m, approachRate: 0.220633 m/s, posRepo size: 4 2025-10-29T01:29:45.011Z,1761701385.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:45.014Z,1761701385.014 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.354889 m, bearing: 312.096631 deg, approach rate: 0.000000 m/s, LOS rate: -0.185382 deg/s, cmd heading: 309.312029 deg, new cmd heading: 309.121997 deg. 2025-10-29T01:29:45.015Z,1761701385.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395196 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:45.134Z,1761701385.134 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247127 2025-10-29T01:29:45.381Z,1761701385.381 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592637,-0.778172,-0.207917],[0.805127,0.579836,0.124742],[0.023486,-0.241326,0.970160]] 2025-10-29T01:29:45.385Z,1761701385.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498198 2025-10-29T01:29:45.401Z,1761701385.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:45.404Z,1761701385.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.416351 m, bearing: 312.018133 deg, approach rate: 0.154589 m/s, LOS rate: -0.197365 deg/s, cmd heading: 309.121986 deg, new cmd heading: 308.965046 deg. 2025-10-29T01:29:45.405Z,1761701385.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392457 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:45.639Z,1761701385.639 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.752240 2025-10-29T01:29:45.786Z,1761701385.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611912,-0.763899,-0.204994],[0.790614,0.598050,0.131401],[0.022219,-0.242477,0.969903]] 2025-10-29T01:29:45.815Z,1761701385.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:45.818Z,1761701385.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.470978 m, bearing: 311.941272 deg, approach rate: 0.131959 m/s, LOS rate: -0.185611 deg/s, cmd heading: 308.965055 deg, new cmd heading: 308.811383 deg. 2025-10-29T01:29:45.819Z,1761701385.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.389775 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:45.892Z,1761701385.892 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.004504 2025-10-29T01:29:46.142Z,1761701386.142 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254551 2025-10-29T01:29:46.187Z,1761701386.187 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630614,-0.749361,-0.201949],[0.775806,0.615786,0.137596],[0.021249,-0.243444,0.969682]] 2025-10-29T01:29:46.229Z,1761701386.229 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:46.231Z,1761701386.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:46.238Z,1761701386.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.518692 m, bearing: 311.856882 deg, approach rate: 0.114838 m/s, LOS rate: -0.203055 deg/s, cmd heading: 308.811376 deg, new cmd heading: 308.642642 deg. 2025-10-29T01:29:46.239Z,1761701386.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386830 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:46.393Z,1761701386.393 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506177 2025-10-29T01:29:46.593Z,1761701386.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649249,-0.733839,-0.199890],[0.760316,0.633089,0.145324],[0.019904,-0.246331,0.968981]] 2025-10-29T01:29:46.618Z,1761701386.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:46.623Z,1761701386.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.556351 m, bearing: 311.780782 deg, approach rate: 0.097308 m/s, LOS rate: -0.196594 deg/s, cmd heading: 308.642643 deg, new cmd heading: 308.490477 deg. 2025-10-29T01:29:46.625Z,1761701386.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384174 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:46.645Z,1761701386.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758177 2025-10-29T01:29:46.901Z,1761701386.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013152 2025-10-29T01:29:46.994Z,1761701386.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667460,-0.718298,-0.196327],[0.744403,0.650358,0.151320],[0.018990,-0.247147,0.968792]] 2025-10-29T01:29:47.052Z,1761701387.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:47.055Z,1761701387.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.582825 m, bearing: 311.696970 deg, approach rate: 0.061550 m/s, LOS rate: -0.194824 deg/s, cmd heading: 308.490466 deg, new cmd heading: 308.322869 deg. 2025-10-29T01:29:47.056Z,1761701387.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381249 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:47.149Z,1761701387.149 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262295 2025-10-29T01:29:47.401Z,1761701387.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.513982 2025-10-29T01:29:47.403Z,1761701387.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685772,-0.702020,-0.192054],[0.727594,0.667790,0.157044],[0.018004,-0.247434,0.968738]] 2025-10-29T01:29:47.421Z,1761701387.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:47.424Z,1761701387.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.601944 m, bearing: 311.618908 deg, approach rate: 0.051214 m/s, LOS rate: -0.209078 deg/s, cmd heading: 308.322881 deg, new cmd heading: 308.166775 deg. 2025-10-29T01:29:47.425Z,1761701387.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378525 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:47.653Z,1761701387.653 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.766437 2025-10-29T01:29:47.802Z,1761701387.802 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703571,-0.685481,-0.187362],[0.710419,0.684831,0.162208],[0.017120,-0.247230,0.968805]] 2025-10-29T01:29:47.843Z,1761701387.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:47.846Z,1761701387.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.615982 m, bearing: 311.538557 deg, approach rate: 0.033308 m/s, LOS rate: -0.190635 deg/s, cmd heading: 308.166770 deg, new cmd heading: 308.006081 deg. 2025-10-29T01:29:47.847Z,1761701387.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375720 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:47.905Z,1761701387.905 [DAT](INFO): DAT read: Rx Time:01:29:47.3078 2025-10-29T01:29:47.906Z,1761701387.906 [DAT](INFO): Rx dataTimestamp_ set to:1761701387.905420 2025-10-29T01:29:47.908Z,1761701387.908 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020504 2025-10-29T01:29:48.157Z,1761701388.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.270139 2025-10-29T01:29:48.213Z,1761701388.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721004,-0.668289,-0.183147],[0.692736,0.701437,0.167639],[0.016435,-0.247741,0.968687]] 2025-10-29T01:29:48.267Z,1761701388.267 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:48.269Z,1761701388.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.93 m. 2025-10-29T01:29:48.271Z,1761701388.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.930252 m, nav range: 171.606125 m, bearing: 311.451120 deg, approach rate: -0.023124 m/s, LOS rate: -0.205129 deg/s, cmd heading: 308.006069 deg, new cmd heading: 307.831186 deg. 2025-10-29T01:29:48.272Z,1761701388.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.372668 target range: 176.930252 and range: 177.80 m. 2025-10-29T01:29:48.409Z,1761701388.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.522066 2025-10-29T01:29:48.619Z,1761701388.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738051,-0.651100,-0.177056],[0.674563,0.718078,0.171256],[0.015635,-0.245831,0.969186]] 2025-10-29T01:29:48.674Z,1761701388.674 [DAT](INFO): DAT read: 01:29:47.3078 LVL= 25744, 24849, 19090, 26099, AGC= 63, IDX= 431, 0.16, 1.987, 3.091,-2.090, 3.083, PHS=-0.993, 0.054, 1.067, RAW= 240.5, -1.4, CAL= 236.9, -2.1, ROT= 273.1, 2.1 2025-10-29T01:29:48.676Z,1761701388.676 [DAT](INFO): got valid direction response: 01:29:47.3078 LVL= 25744, 24849, 19090, 26099, AGC= 63, IDX= 431, 0.16, 1.987, 3.091,-2.090, 3.083, PHS=-0.993, 0.054, 1.067, RAW= 240.5, -1.4, CAL= 236.9, -2.1, ROT= 273.1, 2.1 2025-10-29T01:29:48.677Z,1761701388.677 [DAT](INFO): DAT read: Bearing 121.4, -72.3 (Local) 2025-10-29T01:29:48.677Z,1761701388.677 [DAT](INFO): Local bearing/azimuth received: Bearing 121.4, -72.3 (Local) 2025-10-29T01:29:48.679Z,1761701388.679 [DAT](INFO): DAT read: Range 11 to 50 : 178.2 m (Round-trip 237.7 ms) speed -0.2 m/s 2025-10-29T01:29:48.679Z,1761701388.679 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:48.680Z,1761701388.680 [DAT](INFO): direction in FSK: [0.054043,-0.997866,-0.036644] 2025-10-29T01:29:48.681Z,1761701388.681 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:48.710Z,1761701388.710 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:48.710Z,1761701388.710 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:48.710Z,1761701388.710 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:48.845Z,1761701388.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 178.199997 m, deltaT: 4.039370 s, deltaX: 0.399994 m, approachRate: 0.099024 m/s, rangeRepo size: 4 2025-10-29T01:29:48.847Z,1761701388.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 177.322357 m, bearing: 315.402804 deg, lat: 36.779367 deg, lon: -121.859404 deg, deltaT: 4.039370 s, deltaX: 0.392105 m, approachRate: 0.097071 m/s, posRepo size: 4 2025-10-29T01:29:48.852Z,1761701388.852 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:48.854Z,1761701388.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.398407 m, bearing: 314.090346 deg, approach rate: 0.000000 m/s, LOS rate: -0.205129 deg/s, cmd heading: 307.831189 deg, new cmd heading: 307.594991 deg. 2025-10-29T01:29:48.855Z,1761701388.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.368546 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:48.924Z,1761701388.924 [DAT](INFO): DAT read: user:729> 2025-10-29T01:29:48.927Z,1761701388.927 [DAT](INFO): DAT read: Tx time:01:29:48.7159 2025-10-29T01:29:48.930Z,1761701388.930 [DAT](INFO): Ping request sent. 2025-10-29T01:29:48.930Z,1761701388.930 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:48.931Z,1761701388.931 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:48.933Z,1761701388.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.002951 2025-10-29T01:29:49.141Z,1761701389.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.770694,-0.615198,-0.166017],[0.637045,0.749726,0.179121],[0.014272,-0.243808,0.969719]] 2025-10-29T01:29:49.173Z,1761701389.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.243509 2025-10-29T01:29:49.214Z,1761701389.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:49.228Z,1761701389.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.350189 m, bearing: 314.019169 deg, approach rate: -0.130680 m/s, LOS rate: -0.192955 deg/s, cmd heading: 307.595001 deg, new cmd heading: 307.452609 deg. 2025-10-29T01:29:49.229Z,1761701389.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366060 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:49.425Z,1761701389.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.495416 2025-10-29T01:29:49.525Z,1761701389.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.786680,-0.595862,-0.161503],[0.617211,0.764880,0.184415],[0.013644,-0.244757,0.969488]] 2025-10-29T01:29:49.581Z,1761701389.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:49.584Z,1761701389.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.302429 m, bearing: 313.956036 deg, approach rate: -0.136398 m/s, LOS rate: -0.180349 deg/s, cmd heading: 307.452605 deg, new cmd heading: 307.326306 deg. 2025-10-29T01:29:49.585Z,1761701389.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363856 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:49.678Z,1761701389.678 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.748074 2025-10-29T01:29:49.929Z,1761701389.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.999555 2025-10-29T01:29:49.951Z,1761701389.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802691,-0.575846,-0.155209],[0.596252,0.780555,0.187662],[0.013085,-0.243178,0.969894]] 2025-10-29T01:29:50.015Z,1761701390.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:50.018Z,1761701390.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.234528 m, bearing: 313.875106 deg, approach rate: -0.150388 m/s, LOS rate: -0.179312 deg/s, cmd heading: 307.326301 deg, new cmd heading: 307.164380 deg. 2025-10-29T01:29:50.019Z,1761701390.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361030 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:50.181Z,1761701390.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.251474 2025-10-29T01:29:50.330Z,1761701390.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817885,-0.555595,-0.149594],[0.575248,0.795185,0.191758],[0.012415,-0.242890,0.969975]] 2025-10-29T01:29:50.379Z,1761701390.379 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:50.381Z,1761701390.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:50.384Z,1761701390.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.170532 m, bearing: 313.812218 deg, approach rate: -0.174898 m/s, LOS rate: -0.171935 deg/s, cmd heading: 307.164371 deg, new cmd heading: 307.038549 deg. 2025-10-29T01:29:50.385Z,1761701390.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358834 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:50.434Z,1761701390.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.503957 2025-10-29T01:29:50.689Z,1761701390.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.759476 2025-10-29T01:29:50.734Z,1761701390.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832972,-0.533924,-0.145195],[0.553190,0.809167,0.198064],[0.011736,-0.245302,0.969376]] 2025-10-29T01:29:50.773Z,1761701390.773 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:50.777Z,1761701390.777 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.097565 m, bearing: 313.746217 deg, approach rate: -0.186357 m/s, LOS rate: -0.168634 deg/s, cmd heading: 307.038559 deg, new cmd heading: 306.906504 deg. 2025-10-29T01:29:50.778Z,1761701390.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356529 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:50.944Z,1761701390.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013866 2025-10-29T01:29:51.143Z,1761701391.143 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.847324,-0.512609,-0.138828],[0.530953,0.823299,0.200669],[0.011432,-0.243742,0.969773]] 2025-10-29T01:29:51.193Z,1761701391.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263542 2025-10-29T01:29:51.202Z,1761701391.202 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:51.205Z,1761701391.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 177.007507 m, bearing: 313.672830 deg, approach rate: -0.209881 m/s, LOS rate: -0.171117 deg/s, cmd heading: 306.906491 deg, new cmd heading: 306.759643 deg. 2025-10-29T01:29:51.205Z,1761701391.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353966 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:51.446Z,1761701391.446 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.516345 2025-10-29T01:29:51.542Z,1761701391.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.861050,-0.491461,-0.130607],[0.508404,0.837459,0.200469],[0.010855,-0.239015,0.970955]] 2025-10-29T01:29:51.561Z,1761701391.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:51.563Z,1761701391.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 176.927490 m, bearing: 313.612158 deg, approach rate: -0.222718 m/s, LOS rate: -0.168952 deg/s, cmd heading: 306.759642 deg, new cmd heading: 306.638242 deg. 2025-10-29T01:29:51.565Z,1761701391.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351847 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:51.698Z,1761701391.698 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768681 2025-10-29T01:29:51.949Z,1761701391.949 [DAT](INFO): DAT read: Rx Time:01:29:51.3575 2025-10-29T01:29:51.949Z,1761701391.949 [DAT](INFO): Rx dataTimestamp_ set to:1761701391.949019 2025-10-29T01:29:51.950Z,1761701391.950 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020390 2025-10-29T01:29:51.961Z,1761701391.961 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.874022,-0.469593,-0.124770],[0.485779,0.849932,0.204044],[0.010228,-0.238949,0.970978]] 2025-10-29T01:29:52.062Z,1761701392.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:52.069Z,1761701392.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 176.812363 m, bearing: 313.530490 deg, approach rate: -0.232500 m/s, LOS rate: -0.165035 deg/s, cmd heading: 306.638228 deg, new cmd heading: 306.474787 deg. 2025-10-29T01:29:52.070Z,1761701392.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348994 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:52.202Z,1761701392.202 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.272565 2025-10-29T01:29:52.453Z,1761701392.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.523556 2025-10-29T01:29:52.475Z,1761701392.475 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:52.478Z,1761701392.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.32 m. 2025-10-29T01:29:52.482Z,1761701392.482 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.322357 m, nav range: 176.722198 m, bearing: 313.459906 deg, approach rate: -0.213805 m/s, LOS rate: -0.167459 deg/s, cmd heading: 306.474795 deg, new cmd heading: 306.333557 deg. 2025-10-29T01:29:52.488Z,1761701392.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346529 target range: 177.322357 and range: 178.20 m. 2025-10-29T01:29:52.710Z,1761701392.710 [DAT](INFO): DAT read: 01:29:51.3575 LVL= 27536, 25217, 18546, 27443, AGC= 59, IDX= 428, 0.29,-0.790,-0.007, 1.346, 0.168, PHS=-0.856,-0.130, 1.134, RAW= 231.1, -1.7, CAL= 228.1, -2.1, ROT= 281.9, 2.1 2025-10-29T01:29:52.711Z,1761701392.711 [DAT](INFO): got valid direction response: 01:29:51.3575 LVL= 27536, 25217, 18546, 27443, AGC= 59, IDX= 428, 0.29,-0.790,-0.007, 1.346, 0.168, PHS=-0.856,-0.130, 1.134, RAW= 231.1, -1.7, CAL= 228.1, -2.1, ROT= 281.9, 2.1 2025-10-29T01:29:52.712Z,1761701392.712 [DAT](INFO): DAT read: Bearing 131.8, -69.7 (Local) 2025-10-29T01:29:52.713Z,1761701392.713 [DAT](INFO): Local bearing/azimuth received: Bearing 131.8, -69.7 (Local) 2025-10-29T01:29:52.714Z,1761701392.714 [DAT](INFO): DAT read: Range 11 to 50 : 178.1 m (Round-trip 237.5 ms) speed 0.0 m/s 2025-10-29T01:29:52.715Z,1761701392.715 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:52.716Z,1761701392.716 [DAT](INFO): direction in FSK: [0.206066,-0.977852,-0.036644] 2025-10-29T01:29:52.718Z,1761701392.718 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:52.731Z,1761701392.731 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:52.731Z,1761701392.731 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:52.731Z,1761701392.731 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:52.844Z,1761701392.844 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.897971,-0.424818,-0.114792],[0.439957,0.872167,0.213922],[0.009240,-0.242599,0.970083]] 2025-10-29T01:29:52.897Z,1761701392.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 178.100006 m, deltaT: 4.035908 s, deltaX: -0.099991 m, approachRate: -0.024775 m/s, rangeRepo size: 4 2025-10-29T01:29:52.899Z,1761701392.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 177.213806 m, bearing: 308.140382 deg, lat: 36.779240 deg, lon: -121.859495 deg, deltaT: 4.035908 s, deltaX: -0.108551 m, approachRate: -0.026896 m/s, posRepo size: 4 2025-10-29T01:29:52.904Z,1761701392.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:52.907Z,1761701392.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.501877 m, bearing: 308.141016 deg, approach rate: 0.000000 m/s, LOS rate: -0.167459 deg/s, cmd heading: 306.333547 deg, new cmd heading: 306.193309 deg. 2025-10-29T01:29:52.908Z,1761701392.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344081 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:52.958Z,1761701392.958 [DAT](INFO): DAT read: user:730> 2025-10-29T01:29:52.959Z,1761701392.959 [DAT](INFO): DAT read: Tx time:01:29:52.7159 2025-10-29T01:29:52.959Z,1761701392.959 [DAT](INFO): Ping request sent. 2025-10-29T01:29:52.959Z,1761701392.959 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:52.960Z,1761701392.960 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:52.961Z,1761701392.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001152 2025-10-29T01:29:53.209Z,1761701393.209 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249672 2025-10-29T01:29:53.251Z,1761701393.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.908984,-0.402561,-0.108134],[0.416744,0.882988,0.216001],[0.008527,-0.241405,0.970387]] 2025-10-29T01:29:53.302Z,1761701393.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:53.305Z,1761701393.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.425583 m, bearing: 308.066974 deg, approach rate: -0.188297 m/s, LOS rate: -0.182819 deg/s, cmd heading: 306.193310 deg, new cmd heading: 306.045162 deg. 2025-10-29T01:29:53.305Z,1761701393.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341496 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:53.461Z,1761701393.461 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501452 2025-10-29T01:29:53.648Z,1761701393.648 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919203,-0.380158,-0.102694],[0.393701,0.892578,0.219780],[0.008112,-0.242453,0.970129]] 2025-10-29T01:29:53.667Z,1761701393.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:53.670Z,1761701393.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.355804 m, bearing: 308.004193 deg, approach rate: -0.191102 m/s, LOS rate: -0.172007 deg/s, cmd heading: 306.045149 deg, new cmd heading: 305.919537 deg. 2025-10-29T01:29:53.671Z,1761701393.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339303 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:53.714Z,1761701393.714 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754231 2025-10-29T01:29:53.965Z,1761701393.965 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005555 2025-10-29T01:29:54.069Z,1761701394.069 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.928552,-0.358540,-0.096123],[0.371126,0.901934,0.220864],[0.007508,-0.240757,0.970556]] 2025-10-29T01:29:54.147Z,1761701394.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:54.153Z,1761701394.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.272736 m, bearing: 307.923458 deg, approach rate: -0.173199 m/s, LOS rate: -0.168414 deg/s, cmd heading: 305.919528 deg, new cmd heading: 305.757981 deg. 2025-10-29T01:29:54.154Z,1761701394.154 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336483 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:54.218Z,1761701394.218 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258359 2025-10-29T01:29:54.454Z,1761701394.454 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.937172,-0.336872,-0.090700],[0.348801,0.909909,0.224507],[0.006898,-0.242038,0.970242]] 2025-10-29T01:29:54.469Z,1761701394.469 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509661 2025-10-29T01:29:54.490Z,1761701394.490 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:54.492Z,1761701394.492 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:54.495Z,1761701394.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.202438 m, bearing: 307.859840 deg, approach rate: -0.203613 m/s, LOS rate: -0.184341 deg/s, cmd heading: 305.757981 deg, new cmd heading: 305.630694 deg. 2025-10-29T01:29:54.495Z,1761701394.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334262 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:54.721Z,1761701394.721 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.761531 2025-10-29T01:29:54.858Z,1761701394.858 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.944987,-0.315868,-0.085008],[0.327048,0.917287,0.227208],[0.006209,-0.242511,0.970129]] 2025-10-29T01:29:54.877Z,1761701394.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:54.880Z,1761701394.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.123184 m, bearing: 307.792689 deg, approach rate: -0.205687 m/s, LOS rate: -0.174356 deg/s, cmd heading: 305.630693 deg, new cmd heading: 305.496330 deg. 2025-10-29T01:29:54.881Z,1761701394.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331917 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:54.974Z,1761701394.974 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014266 2025-10-29T01:29:55.225Z,1761701395.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265720 2025-10-29T01:29:55.262Z,1761701395.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.952118,-0.295111,-0.079886],[0.305678,0.923782,0.230622],[0.005738,-0.243999,0.969759]] 2025-10-29T01:29:55.351Z,1761701395.351 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:55.358Z,1761701395.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 173.026169 m, bearing: 307.710128 deg, approach rate: -0.204611 m/s, LOS rate: -0.174223 deg/s, cmd heading: 305.496330 deg, new cmd heading: 305.331116 deg. 2025-10-29T01:29:55.359Z,1761701395.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.329033 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:55.477Z,1761701395.477 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517589 2025-10-29T01:29:55.718Z,1761701395.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.958724,-0.274372,-0.074618],[0.284285,0.929985,0.233047],[0.005452,-0.244640,0.969599]] 2025-10-29T01:29:55.729Z,1761701395.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769591 2025-10-29T01:29:55.778Z,1761701395.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:55.785Z,1761701395.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 172.934082 m, bearing: 307.636332 deg, approach rate: -0.215569 m/s, LOS rate: -0.172844 deg/s, cmd heading: 305.331121 deg, new cmd heading: 305.183450 deg. 2025-10-29T01:29:55.786Z,1761701395.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326456 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:55.981Z,1761701395.981 [DAT](INFO): DAT read: Rx Time:01:29:55.3564 2025-10-29T01:29:55.981Z,1761701395.981 [DAT](INFO): Rx dataTimestamp_ set to:1761701395.981047 2025-10-29T01:29:55.982Z,1761701395.982 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022518 2025-10-29T01:29:56.132Z,1761701396.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964912,-0.253390,-0.068834],[0.262519,0.936292,0.233328],[0.005325,-0.243211,0.969959]] 2025-10-29T01:29:56.183Z,1761701396.183 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:56.185Z,1761701396.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 172.836411 m, bearing: 307.564753 deg, approach rate: -0.241578 m/s, LOS rate: -0.177142 deg/s, cmd heading: 305.183453 deg, new cmd heading: 305.040213 deg. 2025-10-29T01:29:56.186Z,1761701396.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323956 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:56.234Z,1761701396.234 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274054 2025-10-29T01:29:56.488Z,1761701396.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528338 2025-10-29T01:29:56.556Z,1761701396.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.970556,-0.232641,-0.062443],[0.240823,0.942572,0.231437],[0.005015,-0.239661,0.970844]] 2025-10-29T01:29:56.585Z,1761701396.585 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:56.587Z,1761701396.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 177.21 m. 2025-10-29T01:29:56.603Z,1761701396.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 177.213806 m, nav range: 172.739075 m, bearing: 307.497233 deg, approach rate: -0.240728 m/s, LOS rate: -0.167082 deg/s, cmd heading: 305.040210 deg, new cmd heading: 304.905094 deg. 2025-10-29T01:29:56.612Z,1761701396.612 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321598 target range: 177.213806 and range: 178.10 m. 2025-10-29T01:29:56.744Z,1761701396.744 [DAT](INFO): DAT read: 01:29:55.3564 LVL= 29728, 31889, 18594, 30995, AGC= 57, IDX= 434,-0.50,-2.194,-2.036,-0.062,-1.486, PHS=-0.606,-0.506, 1.379, RAW= 212.6, -2.8, CAL= 211.5, -4.9, ROT= 298.5, 4.9 2025-10-29T01:29:56.746Z,1761701396.746 [DAT](INFO): got valid direction response: 01:29:55.3564 LVL= 29728, 31889, 18594, 30995, AGC= 57, IDX= 434,-0.50,-2.194,-2.036,-0.062,-1.486, PHS=-0.606,-0.506, 1.379, RAW= 212.6, -2.8, CAL= 211.5, -4.9, ROT= 298.5, 4.9 2025-10-29T01:29:56.747Z,1761701396.747 [DAT](INFO): DAT read: Bearing 137.1, -55.9 (Local) 2025-10-29T01:29:56.748Z,1761701396.748 [DAT](INFO): Local bearing/azimuth received: Bearing 137.1, -55.9 (Local) 2025-10-29T01:29:56.750Z,1761701396.750 [DAT](INFO): DAT read: Range 11 to 50 : 177.3 m (Round-trip 236.4 ms) speed 0.0 m/s 2025-10-29T01:29:56.750Z,1761701396.750 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:29:56.752Z,1761701396.752 [DAT](INFO): direction in FSK: [0.475415,-0.875605,-0.085417] 2025-10-29T01:29:56.752Z,1761701396.752 [DAT](INFO): publishing direction and range info 2025-10-29T01:29:56.757Z,1761701396.757 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:29:56.757Z,1761701396.757 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:29:56.758Z,1761701396.758 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:29:56.953Z,1761701396.953 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.975875,-0.210787,-0.056895],[0.218275,0.947776,0.232544],[0.004906,-0.239352,0.970920]] 2025-10-29T01:29:56.976Z,1761701396.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 177.300003 m, deltaT: 4.031769 s, deltaX: -0.800003 m, approachRate: -0.198425 m/s, rangeRepo size: 4 2025-10-29T01:29:56.978Z,1761701396.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 176.417572 m, bearing: 311.214102 deg, lat: 36.779333 deg, lon: -121.859433 deg, deltaT: 4.031769 s, deltaX: -0.796234 m, approachRate: -0.197490 m/s, posRepo size: 4 2025-10-29T01:29:56.978Z,1761701396.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:56.981Z,1761701396.981 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.943375 m, bearing: 311.214735 deg, approach rate: 0.000000 m/s, LOS rate: -0.167082 deg/s, cmd heading: 304.905081 deg, new cmd heading: 304.775465 deg. 2025-10-29T01:29:56.982Z,1761701396.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319335 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:56.989Z,1761701396.989 [DAT](INFO): DAT read: user:731> 2025-10-29T01:29:56.990Z,1761701396.990 [DAT](INFO): DAT read: Tx time:01:29:56.7659 2025-10-29T01:29:56.990Z,1761701396.990 [DAT](INFO): Ping request sent. 2025-10-29T01:29:56.990Z,1761701396.990 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:29:56.990Z,1761701396.990 [DAT](INFO): publishing transmit ping time 2025-10-29T01:29:56.991Z,1761701396.991 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000734 2025-10-29T01:29:57.242Z,1761701397.242 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251296 2025-10-29T01:29:57.423Z,1761701397.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:57.426Z,1761701397.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.809525 m, bearing: 311.145639 deg, approach rate: -0.298910 m/s, LOS rate: -0.154423 deg/s, cmd heading: 304.775472 deg, new cmd heading: 304.637172 deg. 2025-10-29T01:29:57.427Z,1761701397.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316922 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:57.493Z,1761701397.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502966 2025-10-29T01:29:57.745Z,1761701397.745 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755139 2025-10-29T01:29:57.764Z,1761701397.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.985025,-0.165845,-0.047128],[0.172304,0.956584,0.235071],[0.006097,-0.239672,0.970835]] 2025-10-29T01:29:57.806Z,1761701397.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:57.809Z,1761701397.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.678070 m, bearing: 311.084140 deg, approach rate: -0.343006 m/s, LOS rate: -0.160591 deg/s, cmd heading: 304.637174 deg, new cmd heading: 304.514084 deg. 2025-10-29T01:29:57.810Z,1761701397.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314774 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:57.997Z,1761701397.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006706 2025-10-29T01:29:58.160Z,1761701398.160 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.988849,-0.142926,-0.041840],[0.148785,0.960256,0.236161],[0.006423,-0.239753,0.970813]] 2025-10-29T01:29:58.217Z,1761701398.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:58.220Z,1761701398.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.529572 m, bearing: 311.023051 deg, approach rate: -0.361146 m/s, LOS rate: -0.148694 deg/s, cmd heading: 304.514094 deg, new cmd heading: 304.391812 deg. 2025-10-29T01:29:58.221Z,1761701398.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312639 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:58.251Z,1761701398.251 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.260439 2025-10-29T01:29:58.501Z,1761701398.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510853 2025-10-29T01:29:58.563Z,1761701398.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992149,-0.119706,-0.036218],[0.124888,0.963704,0.235960],[0.006658,-0.238631,0.971088]] 2025-10-29T01:29:58.588Z,1761701398.588 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:29:58.593Z,1761701398.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:58.598Z,1761701398.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.390976 m, bearing: 310.968613 deg, approach rate: -0.370099 m/s, LOS rate: -0.145483 deg/s, cmd heading: 304.391806 deg, new cmd heading: 304.282845 deg. 2025-10-29T01:29:58.600Z,1761701398.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310738 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:58.753Z,1761701398.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763292 2025-10-29T01:29:58.975Z,1761701398.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.994912,-0.095848,-0.031036],[0.100500,0.965807,0.238991],[0.007068,-0.240894,0.970526]] 2025-10-29T01:29:59.009Z,1761701399.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.018828 2025-10-29T01:29:59.030Z,1761701399.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:59.033Z,1761701399.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.233551 m, bearing: 310.909614 deg, approach rate: -0.359267 m/s, LOS rate: -0.134764 deg/s, cmd heading: 304.282851 deg, new cmd heading: 304.164748 deg. 2025-10-29T01:29:59.034Z,1761701399.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308676 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:59.262Z,1761701399.262 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.271414 2025-10-29T01:29:59.386Z,1761701399.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997124,-0.071403,-0.025422],[0.075445,0.967168,0.242682],[0.007259,-0.243902,0.969773]] 2025-10-29T01:29:59.433Z,1761701399.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:59.436Z,1761701399.436 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 174.054825 m, bearing: 310.849285 deg, approach rate: -0.443097 m/s, LOS rate: -0.149721 deg/s, cmd heading: 304.164744 deg, new cmd heading: 304.043962 deg. 2025-10-29T01:29:59.437Z,1761701399.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306568 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:29:59.514Z,1761701399.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.523432 2025-10-29T01:29:59.766Z,1761701399.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.775148 2025-10-29T01:29:59.801Z,1761701399.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998677,-0.047419,-0.019878],[0.050851,0.968091,0.245385],[0.007607,-0.246071,0.969222]] 2025-10-29T01:29:59.820Z,1761701399.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:29:59.823Z,1761701399.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 173.890747 m, bearing: 310.796408 deg, approach rate: -0.424204 m/s, LOS rate: -0.136837 deg/s, cmd heading: 304.043958 deg, new cmd heading: 303.938105 deg. 2025-10-29T01:29:59.824Z,1761701399.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304721 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:30:00.017Z,1761701400.017 [DAT](INFO): DAT read: Rx Time:01:29:59.4048 2025-10-29T01:30:00.017Z,1761701400.017 [DAT](INFO): Rx dataTimestamp_ set to:1761701400.017138 2025-10-29T01:30:00.018Z,1761701400.018 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027815 2025-10-29T01:30:00.197Z,1761701400.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999624,-0.023490,-0.014147],[0.026256,0.968723,0.246753],[0.007909,-0.247032,0.968975]] 2025-10-29T01:30:00.266Z,1761701400.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:30:00.269Z,1761701400.269 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.278862 2025-10-29T01:30:00.273Z,1761701400.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 173.706436 m, bearing: 310.739179 deg, approach rate: -0.412973 m/s, LOS rate: -0.128366 deg/s, cmd heading: 303.938118 deg, new cmd heading: 303.823538 deg. 2025-10-29T01:30:00.274Z,1761701400.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302721 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:30:00.521Z,1761701400.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.530762 2025-10-29T01:30:00.637Z,1761701400.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999962,0.000661,-0.008672],[0.001504,0.968943,0.247278],[0.008566,-0.247282,0.968906]] 2025-10-29T01:30:00.689Z,1761701400.689 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:00.691Z,1761701400.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 176.42 m. 2025-10-29T01:30:00.695Z,1761701400.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 176.417572 m, nav range: 173.511795 m, bearing: 310.681495 deg, approach rate: -0.458335 m/s, LOS rate: -0.135984 deg/s, cmd heading: 303.823535 deg, new cmd heading: 303.708038 deg. 2025-10-29T01:30:00.696Z,1761701400.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300705 target range: 176.417572 and range: 177.30 m. 2025-10-29T01:30:00.783Z,1761701400.783 [DAT](INFO): DAT read: 01:29:59.4048 LVL= 28048, 30321, 20066, 31331, AGC= 60, IDX= 433, 0.33, 3.030, 2.462,-1.602,-2.678, PHS=-0.473,-1.099, 1.032, RAW= 193.4, 5.7, CAL= 193.6, 4.8, ROT= 316.4, -4.8 2025-10-29T01:30:00.784Z,1761701400.784 [DAT](INFO): got valid direction response: 01:29:59.4048 LVL= 28048, 30321, 20066, 31331, AGC= 60, IDX= 433, 0.33, 3.030, 2.462,-1.602,-2.678, PHS=-0.473,-1.099, 1.032, RAW= 193.4, 5.7, CAL= 193.6, 4.8, ROT= 316.4, -4.8 2025-10-29T01:30:00.785Z,1761701400.785 [DAT](INFO): DAT read: Bearing 148.0, -43.4 (Local) 2025-10-29T01:30:00.786Z,1761701400.786 [DAT](INFO): Local bearing/azimuth received: Bearing 148.0, -43.4 (Local) 2025-10-29T01:30:00.787Z,1761701400.787 [DAT](INFO): DAT read: Range 11 to 50 : 176.1 m (Round-trip 234.8 ms) speed 0.4 m/s 2025-10-29T01:30:00.788Z,1761701400.788 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:00.789Z,1761701400.789 [DAT](INFO): direction in FSK: [0.721632,-0.687201,0.083678] 2025-10-29T01:30:00.789Z,1761701400.789 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:00.793Z,1761701400.793 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:00.793Z,1761701400.793 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:00.793Z,1761701400.793 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:01.003Z,1761701401.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999702,0.024119,-0.003722],[-0.022484,0.969553,0.243849],[0.009490,-0.243692,0.969806]] 2025-10-29T01:30:01.025Z,1761701401.025 [DAT](INFO): DAT read: user:732> 2025-10-29T01:30:01.026Z,1761701401.026 [DAT](INFO): DAT read: Tx time:01:30:00.7674 2025-10-29T01:30:01.026Z,1761701401.026 [DAT](INFO): Ping request sent. 2025-10-29T01:30:01.026Z,1761701401.026 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:01.026Z,1761701401.026 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:01.027Z,1761701401.027 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000724 2025-10-29T01:30:01.057Z,1761701401.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 176.100006 m, deltaT: 4.037064 s, deltaX: -1.199997 m, approachRate: -0.297245 m/s, rangeRepo size: 4 2025-10-29T01:30:01.059Z,1761701401.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 175.226944 m, bearing: 316.778408 deg, lat: 36.779367 deg, lon: -121.859340 deg, deltaT: 4.037064 s, deltaX: -1.190628 m, approachRate: -0.294924 m/s, posRepo size: 4 2025-10-29T01:30:01.076Z,1761701401.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:01.079Z,1761701401.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 169.741547 m, bearing: 313.456312 deg, approach rate: 0.000000 m/s, LOS rate: -0.135984 deg/s, cmd heading: 303.708050 deg, new cmd heading: 303.608634 deg. 2025-10-29T01:30:01.079Z,1761701401.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298970 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:01.277Z,1761701401.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251012 2025-10-29T01:30:01.435Z,1761701401.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.998894,0.047004,0.001235],[-0.045926,0.969659,0.240108],[0.010088,-0.239899,0.970745]] 2025-10-29T01:30:01.496Z,1761701401.496 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:01.499Z,1761701401.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 169.520050 m, bearing: 313.399842 deg, approach rate: -0.503436 m/s, LOS rate: -0.128518 deg/s, cmd heading: 303.608630 deg, new cmd heading: 303.495541 deg. 2025-10-29T01:30:01.516Z,1761701401.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296997 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:01.529Z,1761701401.529 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503116 2025-10-29T01:30:01.783Z,1761701401.783 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.756382 2025-10-29T01:30:01.835Z,1761701401.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.997528,0.070008,0.006027],[-0.069428,0.968772,0.238035],[0.010825,-0.237865,0.971238]] 2025-10-29T01:30:01.918Z,1761701401.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:01.921Z,1761701401.921 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 169.300964 m, bearing: 313.346512 deg, approach rate: -0.519434 m/s, LOS rate: -0.126605 deg/s, cmd heading: 303.495549 deg, new cmd heading: 303.388751 deg. 2025-10-29T01:30:01.922Z,1761701401.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295133 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:02.033Z,1761701402.033 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006788 2025-10-29T01:30:02.239Z,1761701402.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.995578,0.093326,0.010707],[-0.093204,0.967120,0.236626],[0.011728,-0.236578,0.971542]] 2025-10-29T01:30:02.285Z,1761701402.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259089 2025-10-29T01:30:02.328Z,1761701402.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:02.331Z,1761701402.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 169.104736 m, bearing: 313.298288 deg, approach rate: -0.483867 m/s, LOS rate: -0.119050 deg/s, cmd heading: 303.388752 deg, new cmd heading: 303.292193 deg. 2025-10-29T01:30:02.332Z,1761701402.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293447 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:02.538Z,1761701402.538 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511463 2025-10-29T01:30:02.624Z,1761701402.624 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:30:02.642Z,1761701402.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.993080,0.116439,0.015266],[-0.116758,0.965037,0.234671],[0.012593,-0.234829,0.971955]] 2025-10-29T01:30:02.721Z,1761701402.721 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:02.723Z,1761701402.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:02.726Z,1761701402.726 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 168.900482 m, bearing: 313.250415 deg, approach rate: -0.511671 m/s, LOS rate: -0.120069 deg/s, cmd heading: 303.292201 deg, new cmd heading: 303.196340 deg. 2025-10-29T01:30:02.727Z,1761701402.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291774 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:02.789Z,1761701402.789 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763029 2025-10-29T01:30:03.041Z,1761701403.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014959 2025-10-29T01:30:03.055Z,1761701403.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990077,0.139073,0.020140],[-0.139889,0.961835,0.235169],[0.013334,-0.235653,0.971746]] 2025-10-29T01:30:03.150Z,1761701403.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:03.167Z,1761701403.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 168.710159 m, bearing: 313.207873 deg, approach rate: -0.447162 m/s, LOS rate: -0.100066 deg/s, cmd heading: 303.196332 deg, new cmd heading: 303.111151 deg. 2025-10-29T01:30:03.176Z,1761701403.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290287 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:03.293Z,1761701403.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267102 2025-10-29T01:30:03.497Z,1761701403.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.982377,0.184391,0.030587],[-0.186354,0.953631,0.236347],[0.014412,-0.237882,0.971187]] 2025-10-29T01:30:03.544Z,1761701403.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:03.545Z,1761701403.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518954 2025-10-29T01:30:03.548Z,1761701403.548 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 168.482269 m, bearing: 313.160424 deg, approach rate: -0.577029 m/s, LOS rate: -0.120305 deg/s, cmd heading: 303.111146 deg, new cmd heading: 303.016120 deg. 2025-10-29T01:30:03.549Z,1761701403.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288629 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:03.628Z,1761701403.628 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:30:03.797Z,1761701403.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770833 2025-10-29T01:30:03.899Z,1761701403.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.977753,0.206675,0.035840],[-0.209228,0.948788,0.236696],[0.014914,-0.238929,0.970923]] 2025-10-29T01:30:03.923Z,1761701403.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:03.926Z,1761701403.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 168.286545 m, bearing: 313.121653 deg, approach rate: -0.515547 m/s, LOS rate: -0.102244 deg/s, cmd heading: 303.016124 deg, new cmd heading: 302.938492 deg. 2025-10-29T01:30:03.927Z,1761701403.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287274 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:04.049Z,1761701404.049 [DAT](INFO): DAT read: Rx Time:01:30:03.4041 2025-10-29T01:30:04.049Z,1761701404.049 [DAT](INFO): Rx dataTimestamp_ set to:1761701404.049094 2025-10-29T01:30:04.050Z,1761701404.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023868 2025-10-29T01:30:04.301Z,1761701404.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274818 2025-10-29T01:30:04.304Z,1761701404.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972590,0.228983,0.040438],[-0.232006,0.943991,0.234636],[0.015555,-0.237587,0.971242]] 2025-10-29T01:30:04.394Z,1761701404.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:04.401Z,1761701404.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 168.041214 m, bearing: 313.074645 deg, approach rate: -0.520775 m/s, LOS rate: -0.099930 deg/s, cmd heading: 302.938479 deg, new cmd heading: 302.844327 deg. 2025-10-29T01:30:04.402Z,1761701404.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285631 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:04.556Z,1761701404.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.529302 2025-10-29T01:30:04.708Z,1761701404.708 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.966968,0.250777,0.045645],[-0.254393,0.938206,0.234633],[0.016016,-0.238495,0.971012]] 2025-10-29T01:30:04.733Z,1761701404.733 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:04.735Z,1761701404.735 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 175.23 m. 2025-10-29T01:30:04.738Z,1761701404.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 175.226944 m, nav range: 167.854279 m, bearing: 313.040632 deg, approach rate: -0.547875 m/s, LOS rate: -0.099798 deg/s, cmd heading: 302.844331 deg, new cmd heading: 302.776229 deg. 2025-10-29T01:30:04.739Z,1761701404.739 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284442 target range: 175.226944 and range: 176.10 m. 2025-10-29T01:30:04.811Z,1761701404.811 [DAT](INFO): DAT read: 01:30:03.4041 LVL= 31808, 32241, 18482, 32755, AGC= 62, IDX= 425, 0.37,-1.803,-2.809,-0.510,-1.509, PHS=-0.192,-1.255, 0.956, RAW= 181.3, 5.2, CAL= 181.0, 3.7, ROT= 329.0, -3.7 2025-10-29T01:30:04.812Z,1761701404.812 [DAT](INFO): got valid direction response: 01:30:03.4041 LVL= 31808, 32241, 18482, 32755, AGC= 62, IDX= 425, 0.37,-1.803,-2.809,-0.510,-1.509, PHS=-0.192,-1.255, 0.956, RAW= 181.3, 5.2, CAL= 181.0, 3.7, ROT= 329.0, -3.7 2025-10-29T01:30:04.813Z,1761701404.813 [DAT](INFO): DAT read: Bearing 137.8, -30.8 (Local) 2025-10-29T01:30:04.813Z,1761701404.813 [DAT](INFO): Local bearing/azimuth received: Bearing 137.8, -30.8 (Local) 2025-10-29T01:30:04.815Z,1761701404.815 [DAT](INFO): DAT read: Range 11 to 50 : 174.3 m (Round-trip 232.5 ms) speed 0.4 m/s 2025-10-29T01:30:04.815Z,1761701404.815 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:04.816Z,1761701404.816 [DAT](INFO): direction in FSK: [0.855381,-0.513965,0.064532] 2025-10-29T01:30:04.817Z,1761701404.817 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:04.820Z,1761701404.820 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:04.820Z,1761701404.820 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:04.820Z,1761701404.820 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:05.057Z,1761701405.057 [DAT](INFO): DAT read: user:733> 2025-10-29T01:30:05.058Z,1761701405.058 [DAT](INFO): DAT read: Tx time:01:30:04.8174 2025-10-29T01:30:05.058Z,1761701405.058 [DAT](INFO): Ping request sent. 2025-10-29T01:30:05.058Z,1761701405.058 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:05.059Z,1761701405.059 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:05.059Z,1761701405.059 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000728 2025-10-29T01:30:05.138Z,1761701405.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.960857,0.272403,0.050499],[-0.276573,0.932530,0.232152],[0.016147,-0.237031,0.971368]] 2025-10-29T01:30:05.246Z,1761701405.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 174.300003 m, deltaT: 4.031407 s, deltaX: -1.800003 m, approachRate: -0.446495 m/s, rangeRepo size: 4 2025-10-29T01:30:05.252Z,1761701405.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 173.437866 m, bearing: 314.349808 deg, lat: 36.779367 deg, lon: -121.859340 deg, deltaT: 4.031407 s, deltaX: -1.789078 m, approachRate: -0.443785 m/s, posRepo size: 4 2025-10-29T01:30:05.253Z,1761701405.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:05.255Z,1761701405.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 167.586563 m, bearing: 312.994451 deg, approach rate: 0.000000 m/s, LOS rate: -0.099798 deg/s, cmd heading: 302.776221 deg, new cmd heading: 302.674489 deg. 2025-10-29T01:30:05.260Z,1761701405.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282666 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:05.309Z,1761701405.309 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250699 2025-10-29T01:30:05.561Z,1761701405.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502473 2025-10-29T01:30:05.573Z,1761701405.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.953998,0.294684,0.055220],[-0.299358,0.926108,0.229582],[0.016515,-0.235551,0.971722]] 2025-10-29T01:30:05.638Z,1761701405.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:05.641Z,1761701405.641 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 167.360687 m, bearing: 312.958503 deg, approach rate: -0.575235 m/s, LOS rate: -0.091672 deg/s, cmd heading: 302.674478 deg, new cmd heading: 302.602485 deg. 2025-10-29T01:30:05.642Z,1761701405.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281410 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:05.813Z,1761701405.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754366 2025-10-29T01:30:05.974Z,1761701405.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946557,0.316776,0.060692],[-0.322106,0.918669,0.228681],[0.016685,-0.236009,0.971608]] 2025-10-29T01:30:05.999Z,1761701405.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:06.002Z,1761701406.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 167.158218 m, bearing: 312.928188 deg, approach rate: -0.560081 m/s, LOS rate: -0.083961 deg/s, cmd heading: 302.602488 deg, new cmd heading: 302.541784 deg. 2025-10-29T01:30:06.003Z,1761701406.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280350 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:06.070Z,1761701406.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.011491 2025-10-29T01:30:06.321Z,1761701406.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262433 2025-10-29T01:30:06.383Z,1761701406.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.938312,0.339329,0.066529],[-0.345384,0.910380,0.227857],[0.016752,-0.236779,0.971419]] 2025-10-29T01:30:06.440Z,1761701406.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:06.443Z,1761701406.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 166.918823 m, bearing: 312.896228 deg, approach rate: -0.548278 m/s, LOS rate: -0.073301 deg/s, cmd heading: 302.541781 deg, new cmd heading: 302.477771 deg. 2025-10-29T01:30:06.448Z,1761701406.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279233 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:06.573Z,1761701406.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.514534 2025-10-29T01:30:06.786Z,1761701406.786 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.929339,0.362154,0.071929],[-0.368838,0.901626,0.225895],[0.016956,-0.236464,0.971492]] 2025-10-29T01:30:06.825Z,1761701406.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.766402 2025-10-29T01:30:06.827Z,1761701406.827 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:06.836Z,1761701406.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:06.839Z,1761701406.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 166.698105 m, bearing: 312.868851 deg, approach rate: -0.555960 m/s, LOS rate: -0.069050 deg/s, cmd heading: 302.477769 deg, new cmd heading: 302.422943 deg. 2025-10-29T01:30:06.840Z,1761701406.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278276 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:07.078Z,1761701407.078 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.019698 2025-10-29T01:30:07.304Z,1761701407.304 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919838,0.384468,0.077991],[-0.391926,0.891955,0.225413],[0.017100,-0.237910,0.971137]] 2025-10-29T01:30:07.329Z,1761701407.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.270511 2025-10-29T01:30:07.378Z,1761701407.378 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:07.385Z,1761701407.385 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 166.367157 m, bearing: 312.832687 deg, approach rate: -0.607490 m/s, LOS rate: -0.066516 deg/s, cmd heading: 302.422936 deg, new cmd heading: 302.350463 deg. 2025-10-29T01:30:07.386Z,1761701407.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277011 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:07.583Z,1761701407.583 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.524133 2025-10-29T01:30:07.833Z,1761701407.833 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.774496 2025-10-29T01:30:07.850Z,1761701407.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.909697,0.406614,0.084355],[-0.414915,0.881540,0.225239],[0.017223,-0.239900,0.970645]] 2025-10-29T01:30:07.902Z,1761701407.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:07.910Z,1761701407.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 166.058578 m, bearing: 312.801750 deg, approach rate: -0.589129 m/s, LOS rate: -0.059174 deg/s, cmd heading: 302.350454 deg, new cmd heading: 302.288464 deg. 2025-10-29T01:30:07.911Z,1761701407.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275929 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:08.089Z,1761701408.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.030190 2025-10-29T01:30:08.337Z,1761701408.337 [DAT](INFO): DAT read: Rx Time:01:30:07.4995 2025-10-29T01:30:08.337Z,1761701408.337 [DAT](INFO): Rx dataTimestamp_ set to:1761701408.337130 2025-10-29T01:30:08.338Z,1761701408.338 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.279485 2025-10-29T01:30:08.350Z,1761701408.350 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.887745,0.450088,0.096589],[-0.459994,0.859271,0.223737],[0.017705,-0.243052,0.969852]] 2025-10-29T01:30:08.417Z,1761701408.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:08.420Z,1761701408.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 165.741989 m, bearing: 312.774649 deg, approach rate: -0.613807 m/s, LOS rate: -0.052644 deg/s, cmd heading: 302.288463 deg, new cmd heading: 302.234158 deg. 2025-10-29T01:30:08.421Z,1761701408.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274981 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:08.590Z,1761701408.590 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.531267 2025-10-29T01:30:08.753Z,1761701408.753 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.876066,0.471074,0.102941],[-0.481867,0.847473,0.222696],[0.017666,-0.244700,0.969438]] 2025-10-29T01:30:08.781Z,1761701408.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:08.784Z,1761701408.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 165.522507 m, bearing: 312.757780 deg, approach rate: -0.603158 m/s, LOS rate: -0.046417 deg/s, cmd heading: 302.234150 deg, new cmd heading: 302.200368 deg. 2025-10-29T01:30:08.785Z,1761701408.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274392 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:08.846Z,1761701408.846 [DAT](INFO): DAT read: 01:30:07.4995 LVL= 32064, 32753, 24818, 32755, AGC= 67, IDX= 142, 0.35,-1.792,-3.034,-0.823,-1.717, PHS= 0.027,-1.272, 0.850, RAW= 172.6, 4.3, CAL= 171.9, 2.6, ROT= 338.1, -2.6 2025-10-29T01:30:08.848Z,1761701408.848 [DAT](INFO): got valid direction response: 01:30:07.4995 LVL= 32064, 32753, 24818, 32755, AGC= 67, IDX= 142, 0.35,-1.792,-3.034,-0.823,-1.717, PHS= 0.027,-1.272, 0.850, RAW= 172.6, 4.3, CAL= 171.9, 2.6, ROT= 338.1, -2.6 2025-10-29T01:30:08.849Z,1761701408.849 [DAT](INFO): DAT read: Bearing 124.7, -21.5 (Local) 2025-10-29T01:30:08.850Z,1761701408.850 [DAT](INFO): Local bearing/azimuth received: Bearing 124.7, -21.5 (Local) 2025-10-29T01:30:08.852Z,1761701408.852 [DAT](INFO): DAT read: Range 11 to 50 : 208.4 m (Round-trip 277.9 ms) speed 0.1 m/s 2025-10-29T01:30:08.853Z,1761701408.853 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:08.854Z,1761701408.854 [DAT](INFO): direction in FSK: [0.926881,-0.372604,0.045363] 2025-10-29T01:30:08.855Z,1761701408.855 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:08.860Z,1761701408.860 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:08.876Z,1761701408.876 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:08.876Z,1761701408.876 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:09.093Z,1761701409.093 [DAT](INFO): DAT read: user:734> 2025-10-29T01:30:09.095Z,1761701409.095 [DAT](INFO): DAT read: Tx time:01:30:08.8659 2025-10-29T01:30:09.095Z,1761701409.095 [DAT](INFO): Ping request sent. 2025-10-29T01:30:09.095Z,1761701409.095 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:09.096Z,1761701409.096 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:09.097Z,1761701409.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001092 2025-10-29T01:30:09.178Z,1761701409.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.863992,0.491870,0.107619],[-0.503186,0.835885,0.219318],[0.017918,-0.243641,0.969700]] 2025-10-29T01:30:09.278Z,1761701409.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](ERROR): addTargetRange::Rejecting new target range. Approach rate out of bounds. range: 208.399994 m, deltaT: 4.035901 s, deltaX: 34.099991 m, approachRate: 8.449164 m/s, rangeRepo size: 4 2025-10-29T01:30:09.279Z,1761701409.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:09.282Z,1761701409.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 165.257645 m, bearing: 312.739718 deg, approach rate: -0.533415 m/s, LOS rate: -0.036436 deg/s, cmd heading: 302.200381 deg, new cmd heading: 302.164197 deg. 2025-10-29T01:30:09.283Z,1761701409.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273760 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:09.346Z,1761701409.346 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.249843 2025-10-29T01:30:09.554Z,1761701409.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.851174,0.512626,0.112771],[-0.524564,0.823290,0.216854],[0.018321,-0.243736,0.969669]] 2025-10-29T01:30:09.598Z,1761701409.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502221 2025-10-29T01:30:09.626Z,1761701409.626 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:09.632Z,1761701409.632 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:09.635Z,1761701409.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 165.011230 m, bearing: 312.725193 deg, approach rate: -0.703177 m/s, LOS rate: -0.041510 deg/s, cmd heading: 302.164208 deg, new cmd heading: 302.135115 deg. 2025-10-29T01:30:09.640Z,1761701409.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273252 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:09.849Z,1761701409.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.753921 2025-10-29T01:30:09.959Z,1761701409.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.838441,0.532425,0.116365],[-0.544675,0.811334,0.212289],[0.018617,-0.241373,0.970254]] 2025-10-29T01:30:09.987Z,1761701409.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:09.990Z,1761701409.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 164.784058 m, bearing: 312.713700 deg, approach rate: -0.633756 m/s, LOS rate: -0.032106 deg/s, cmd heading: 302.135112 deg, new cmd heading: 302.112095 deg. 2025-10-29T01:30:09.991Z,1761701409.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272851 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:10.102Z,1761701410.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006476 2025-10-29T01:30:10.353Z,1761701410.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257424 2025-10-29T01:30:10.365Z,1761701410.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.825370,0.551587,0.120482],[-0.564275,0.798758,0.208755],[0.018911,-0.240285,0.970518]] 2025-10-29T01:30:10.418Z,1761701410.418 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:10.421Z,1761701410.421 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 164.519852 m, bearing: 312.701707 deg, approach rate: -0.612853 m/s, LOS rate: -0.027863 deg/s, cmd heading: 302.112108 deg, new cmd heading: 302.088084 deg. 2025-10-29T01:30:10.422Z,1761701410.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272432 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:10.609Z,1761701410.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.512914 2025-10-29T01:30:10.775Z,1761701410.775 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.811823,0.570351,0.125073],[-0.583592,0.785571,0.205666],[0.019048,-0.239956,0.970597]] 2025-10-29T01:30:10.795Z,1761701410.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:10.798Z,1761701410.798 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 164.287766 m, bearing: 312.693078 deg, approach rate: -0.614622 m/s, LOS rate: -0.022884 deg/s, cmd heading: 302.088093 deg, new cmd heading: 302.070810 deg. 2025-10-29T01:30:10.799Z,1761701410.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272130 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:10.858Z,1761701410.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762124 2025-10-29T01:30:11.109Z,1761701411.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.013379 2025-10-29T01:30:11.171Z,1761701411.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.797844,0.588868,0.129148],[-0.602550,0.772011,0.202317],[0.019434,-0.239235,0.970767]] 2025-10-29T01:30:11.189Z,1761701411.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:11.192Z,1761701411.192 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 164.045273 m, bearing: 312.686054 deg, approach rate: -0.615934 m/s, LOS rate: -0.017869 deg/s, cmd heading: 302.070799 deg, new cmd heading: 302.056729 deg. 2025-10-29T01:30:11.193Z,1761701411.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271884 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:11.361Z,1761701411.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265462 2025-10-29T01:30:11.581Z,1761701411.581 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.783808,0.606366,0.134030],[-0.620696,0.758179,0.199753],[0.019505,-0.239760,0.970636]] 2025-10-29T01:30:11.613Z,1761701411.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517432 2025-10-29T01:30:11.633Z,1761701411.633 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:11.635Z,1761701411.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:11.654Z,1761701411.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 163.773590 m, bearing: 312.678273 deg, approach rate: -0.609170 m/s, LOS rate: -0.017475 deg/s, cmd heading: 302.056729 deg, new cmd heading: 302.041141 deg. 2025-10-29T01:30:11.655Z,1761701411.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271612 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:11.865Z,1761701411.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769529 2025-10-29T01:30:11.983Z,1761701411.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.769482,0.623442,0.138627],[-0.638371,0.744168,0.196712],[0.019476,-0.239862,0.970612]] 2025-10-29T01:30:12.001Z,1761701412.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:12.003Z,1761701412.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 163.549759 m, bearing: 312.673636 deg, approach rate: -0.611872 m/s, LOS rate: -0.012693 deg/s, cmd heading: 302.041128 deg, new cmd heading: 302.031842 deg. 2025-10-29T01:30:12.005Z,1761701412.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271450 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:12.117Z,1761701412.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.021499 2025-10-29T01:30:12.369Z,1761701412.369 [DAT](INFO): DAT read: Rx Time:01:30:11.5446 2025-10-29T01:30:12.369Z,1761701412.369 [DAT](INFO): Rx dataTimestamp_ set to:1761701412.369037 2025-10-29T01:30:12.370Z,1761701412.370 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274351 2025-10-29T01:30:12.385Z,1761701412.385 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754849,0.639979,0.143631],[-0.655606,0.729658,0.194369],[0.019591,-0.240885,0.970356]] 2025-10-29T01:30:12.453Z,1761701412.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:12.456Z,1761701412.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 163.278976 m, bearing: 312.667828 deg, approach rate: -0.598650 m/s, LOS rate: -0.012862 deg/s, cmd heading: 302.031839 deg, new cmd heading: 302.020204 deg. 2025-10-29T01:30:12.457Z,1761701412.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271247 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:12.622Z,1761701412.622 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526127 2025-10-29T01:30:12.790Z,1761701412.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739294,0.656706,0.148934],[-0.673089,0.714132,0.192268],[0.019905,-0.242388,0.969975]] 2025-10-29T01:30:12.816Z,1761701412.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 173.44 m. 2025-10-29T01:30:12.819Z,1761701412.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 173.437866 m, nav range: 163.061386 m, bearing: 312.664936 deg, approach rate: -0.599890 m/s, LOS rate: -0.007985 deg/s, cmd heading: 302.020201 deg, new cmd heading: 302.014408 deg. 2025-10-29T01:30:12.820Z,1761701412.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271146 target range: 173.437866 and range: 174.30 m. 2025-10-29T01:30:12.885Z,1761701412.885 [DAT](INFO): DAT read: 01:30:11.5446 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.35,-0.145,-1.590, 0.399,-0.172, PHS= 0.129,-1.374, 0.527, RAW= 161.5, 8.3, CAL= 161.1, 8.6, ROT= 348.9, -8.6 2025-10-29T01:30:12.886Z,1761701412.886 [DAT](INFO): got valid direction response: 01:30:11.5446 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 163,-0.35,-0.145,-1.590, 0.399,-0.172, PHS= 0.129,-1.374, 0.527, RAW= 161.5, 8.3, CAL= 161.1, 8.6, ROT= 348.9, -8.6 2025-10-29T01:30:12.887Z,1761701412.887 [DAT](INFO): DAT read: Bearing 118.8, -12.0 (Local) 2025-10-29T01:30:12.888Z,1761701412.888 [DAT](INFO): Local bearing/azimuth received: Bearing 118.8, -12.0 (Local) 2025-10-29T01:30:12.899Z,1761701412.899 [DAT](INFO): DAT read: Range 11 to 50 : 205.9 m (Round-trip 274.6 ms) speed 0.4 m/s 2025-10-29T01:30:12.904Z,1761701412.904 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:12.906Z,1761701412.906 [DAT](INFO): direction in FSK: [0.970259,-0.190357,0.149535] 2025-10-29T01:30:12.906Z,1761701412.906 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:12.914Z,1761701412.914 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:12.914Z,1761701412.914 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:12.914Z,1761701412.914 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:13.125Z,1761701413.125 [DAT](INFO): DAT read: user:735> 2025-10-29T01:30:13.126Z,1761701413.126 [DAT](INFO): DAT read: Tx time:01:30:12.9159 2025-10-29T01:30:13.126Z,1761701413.126 [DAT](INFO): Ping request sent. 2025-10-29T01:30:13.126Z,1761701413.126 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:13.126Z,1761701413.126 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:13.127Z,1761701413.127 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000768 2025-10-29T01:30:13.192Z,1761701413.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.723705,0.672631,0.154334],[-0.689820,0.698606,0.189993],[0.019976,-0.243962,0.969579]] 2025-10-29T01:30:13.215Z,1761701413.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 205.899994 m, deltaT: 8.068463 s, deltaX: 31.599991 m, approachRate: 3.916482 m/s, rangeRepo size: 4 2025-10-29T01:30:13.218Z,1761701413.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 204.882278 m, bearing: 307.658178 deg, lat: 36.779428 deg, lon: -121.859433 deg, deltaT: 8.068463 s, deltaX: 31.444412 m, approachRate: 3.897200 m/s, posRepo size: 4 2025-10-29T01:30:13.218Z,1761701413.218 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:13.221Z,1761701413.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 173.498581 m, bearing: 312.426828 deg, approach rate: 0.000000 m/s, LOS rate: -0.007985 deg/s, cmd heading: 302.014409 deg, new cmd heading: 302.008038 deg. 2025-10-29T01:30:13.222Z,1761701413.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271035 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:13.377Z,1761701413.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251347 2025-10-29T01:30:13.601Z,1761701413.601 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707520,0.688409,0.159717],[-0.706403,0.682445,0.187786],[0.020275,-0.245687,0.969137]] 2025-10-29T01:30:13.629Z,1761701413.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502984 2025-10-29T01:30:13.648Z,1761701413.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:13.650Z,1761701413.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:13.653Z,1761701413.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 173.236786 m, bearing: 312.426808 deg, approach rate: -0.601099 m/s, LOS rate: -0.000047 deg/s, cmd heading: 302.008043 deg, new cmd heading: 302.008002 deg. 2025-10-29T01:30:13.654Z,1761701413.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271034 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:13.881Z,1761701413.881 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754876 2025-10-29T01:30:13.998Z,1761701413.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691432,0.703804,0.163042],[-0.722149,0.666898,0.183704],[0.020559,-0.244759,0.969366]] 2025-10-29T01:30:14.027Z,1761701414.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:14.030Z,1761701414.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 173.011963 m, bearing: 312.428469 deg, approach rate: -0.596661 m/s, LOS rate: 0.004415 deg/s, cmd heading: 302.007988 deg, new cmd heading: 302.011315 deg. 2025-10-29T01:30:14.031Z,1761701414.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271092 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:14.133Z,1761701414.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.007036 2025-10-29T01:30:14.385Z,1761701414.385 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258923 2025-10-29T01:30:14.444Z,1761701414.444 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, .+1217.21, +11.71, 21.72, 0.00 2025-10-29T01:30:14.459Z,1761701414.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:14.462Z,1761701414.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 172.754395 m, bearing: 312.430378 deg, approach rate: -0.595924 m/s, LOS rate: 0.004423 deg/s, cmd heading: 302.011321 deg, new cmd heading: 302.015144 deg. 2025-10-29T01:30:14.463Z,1761701414.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271159 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:14.637Z,1761701414.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510867 2025-10-29T01:30:14.806Z,1761701414.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657993,0.733190,0.171693],[-0.752712,0.633831,0.177997],[0.021682,-0.246356,0.968937]] 2025-10-29T01:30:14.889Z,1761701414.889 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763259 2025-10-29T01:30:14.891Z,1761701414.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:14.894Z,1761701414.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 172.498703 m, bearing: 312.436131 deg, approach rate: -0.592106 m/s, LOS rate: 0.013342 deg/s, cmd heading: 302.015146 deg, new cmd heading: 302.026670 deg. 2025-10-29T01:30:14.895Z,1761701414.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271360 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:15.141Z,1761701415.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.015138 2025-10-29T01:30:15.210Z,1761701415.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.641322,0.746440,0.177579],[-0.766954,0.616990,0.176365],[0.022081,-0.249302,0.968174]] 2025-10-29T01:30:15.266Z,1761701415.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:15.273Z,1761701415.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 172.290558 m, bearing: 312.442348 deg, approach rate: -0.570667 m/s, LOS rate: 0.017066 deg/s, cmd heading: 302.026676 deg, new cmd heading: 302.039125 deg. 2025-10-29T01:30:15.273Z,1761701415.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271577 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:15.395Z,1761701415.395 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268598 2025-10-29T01:30:15.615Z,1761701415.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625410,0.758761,0.182055],[-0.779972,0.601167,0.173902],[0.022505,-0.250757,0.967788]] 2025-10-29T01:30:15.645Z,1761701415.645 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518954 2025-10-29T01:30:15.694Z,1761701415.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:15.697Z,1761701415.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:15.699Z,1761701415.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 172.030914 m, bearing: 312.453560 deg, approach rate: -0.589021 m/s, LOS rate: 0.025474 deg/s, cmd heading: 302.039134 deg, new cmd heading: 302.061592 deg. 2025-10-29T01:30:15.709Z,1761701415.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.271969 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:15.897Z,1761701415.897 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770926 2025-10-29T01:30:16.019Z,1761701416.019 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608995,0.771115,0.185761],[-0.792832,0.584921,0.171128],[0.023304,-0.251494,0.967578]] 2025-10-29T01:30:16.058Z,1761701416.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:16.062Z,1761701416.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 171.799454 m, bearing: 312.465225 deg, approach rate: -0.640446 m/s, LOS rate: 0.032321 deg/s, cmd heading: 302.061592 deg, new cmd heading: 302.084954 deg. 2025-10-29T01:30:16.065Z,1761701416.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272377 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:16.150Z,1761701416.150 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023807 2025-10-29T01:30:16.401Z,1761701416.401 [DAT](INFO): DAT read: Rx Time:01:30:15.5922 2025-10-29T01:30:16.402Z,1761701416.402 [DAT](INFO): Rx dataTimestamp_ set to:1761701416.401387 2025-10-29T01:30:16.402Z,1761701416.402 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276210 2025-10-29T01:30:16.435Z,1761701416.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592975,0.783093,0.187469],[-0.804869,0.569551,0.166724],[0.023787,-0.249752,0.968018]] 2025-10-29T01:30:16.487Z,1761701416.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 204.88 m. 2025-10-29T01:30:16.490Z,1761701416.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 204.882278 m, nav range: 171.532318 m, bearing: 312.481891 deg, approach rate: -0.623112 m/s, LOS rate: 0.038934 deg/s, cmd heading: 302.084951 deg, new cmd heading: 302.118334 deg. 2025-10-29T01:30:16.491Z,1761701416.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.272960 target range: 204.882278 and range: 205.90 m. 2025-10-29T01:30:16.654Z,1761701416.654 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.528089 2025-10-29T01:30:16.912Z,1761701416.912 [DAT](INFO): DAT read: 01:30:15.5922 LVL= 31472, 32753, 32754, 32755, AGC= 68, IDX= 164,-0.19,-0.538,-2.214,-0.396,-0.680, PHS= 0.244,-1.489, 0.240, RAW= 149.9, 11.6, CAL= 149.8, 12.8, ROT= 0.2, -12.8 2025-10-29T01:30:16.913Z,1761701416.913 [DAT](INFO): got valid direction response: 01:30:15.5922 LVL= 31472, 32753, 32754, 32755, AGC= 68, IDX= 164,-0.19,-0.538,-2.214,-0.396,-0.680, PHS= 0.244,-1.489, 0.240, RAW= 149.9, 11.6, CAL= 149.8, 12.8, ROT= 0.2, -12.8 2025-10-29T01:30:16.914Z,1761701416.914 [DAT](INFO): DAT read: Bearing 111.4, -1.5 (Local) 2025-10-29T01:30:16.915Z,1761701416.915 [DAT](INFO): Local bearing/azimuth received: Bearing 111.4, -1.5 (Local) 2025-10-29T01:30:16.916Z,1761701416.916 [DAT](INFO): DAT read: Range 11 to 50 : 204.1 m (Round-trip 272.2 ms) speed 0.4 m/s 2025-10-29T01:30:16.917Z,1761701416.917 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:16.918Z,1761701416.918 [DAT](INFO): direction in FSK: [0.975143,0.003404,0.221548] 2025-10-29T01:30:16.918Z,1761701416.918 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:16.922Z,1761701416.922 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:16.922Z,1761701416.922 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:16.922Z,1761701416.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:16.999Z,1761701416.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.577927,0.793850,0.189218],[-0.815738,0.555138,0.162461],[0.023928,-0.248243,0.968402]] 2025-10-29T01:30:17.056Z,1761701417.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 204.100006 m, deltaT: 4.032001 s, deltaX: -1.799988 m, approachRate: -0.446425 m/s, rangeRepo size: 4 2025-10-29T01:30:17.058Z,1761701417.058 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 203.105423 m, bearing: 308.757522 deg, lat: 36.779475 deg, lon: -121.859744 deg, deltaT: 4.032001 s, deltaX: -1.776855 m, approachRate: -0.440688 m/s, posRepo size: 4 2025-10-29T01:30:17.059Z,1761701417.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:17.075Z,1761701417.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 195.730515 m, bearing: 308.176352 deg, approach rate: 0.000000 m/s, LOS rate: 0.038934 deg/s, cmd heading: 302.118337 deg, new cmd heading: 302.162292 deg. 2025-10-29T01:30:17.081Z,1761701417.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.273727 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:17.157Z,1761701417.157 [DAT](INFO): DAT read: user:736> 2025-10-29T01:30:17.158Z,1761701417.158 [DAT](INFO): DAT read: Tx time:01:30:16.9159 2025-10-29T01:30:17.158Z,1761701417.158 [DAT](INFO): Ping request sent. 2025-10-29T01:30:17.158Z,1761701417.158 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:17.158Z,1761701417.158 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:17.159Z,1761701417.159 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000744 2025-10-29T01:30:17.409Z,1761701417.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251115 2025-10-29T01:30:17.441Z,1761701417.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.563493,0.803439,0.192253],[-0.825776,0.541075,0.159157],[0.023850,-0.248442,0.968353]] 2025-10-29T01:30:17.497Z,1761701417.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:17.499Z,1761701417.499 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 195.432587 m, bearing: 308.187855 deg, approach rate: -0.668862 m/s, LOS rate: 0.025864 deg/s, cmd heading: 302.162296 deg, new cmd heading: 302.185337 deg. 2025-10-29T01:30:17.500Z,1761701417.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274129 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:17.661Z,1761701417.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502909 2025-10-29T01:30:17.830Z,1761701417.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549897,0.812365,0.194104],[-0.834886,0.527928,0.155744],[0.024049,-0.247698,0.968539]] 2025-10-29T01:30:17.855Z,1761701417.855 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:17.857Z,1761701417.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:17.859Z,1761701417.859 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 195.201172 m, bearing: 308.197949 deg, approach rate: -0.642432 m/s, LOS rate: 0.028055 deg/s, cmd heading: 302.185327 deg, new cmd heading: 302.205539 deg. 2025-10-29T01:30:17.861Z,1761701417.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274482 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:17.914Z,1761701417.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.755341 2025-10-29T01:30:18.165Z,1761701418.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006594 2025-10-29T01:30:18.235Z,1761701418.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538007,0.820162,0.194635],[-0.842597,0.516665,0.151947],[0.024060,-0.245747,0.969035]] 2025-10-29T01:30:18.253Z,1761701418.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:18.256Z,1761701418.256 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 194.946533 m, bearing: 308.210170 deg, approach rate: -0.642331 m/s, LOS rate: 0.030868 deg/s, cmd heading: 302.205545 deg, new cmd heading: 302.230019 deg. 2025-10-29T01:30:18.257Z,1761701418.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.274909 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:18.420Z,1761701418.420 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.261391 2025-10-29T01:30:18.639Z,1761701418.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.527878,0.826809,0.194246],[-0.848976,0.507170,0.148386],[0.024171,-0.243240,0.969665]] 2025-10-29T01:30:18.670Z,1761701418.670 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511981 2025-10-29T01:30:18.688Z,1761701418.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:18.691Z,1761701418.691 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 194.662872 m, bearing: 308.224714 deg, approach rate: -0.652598 m/s, LOS rate: 0.033508 deg/s, cmd heading: 302.230024 deg, new cmd heading: 302.259153 deg. 2025-10-29T01:30:18.692Z,1761701418.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275417 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:18.921Z,1761701418.921 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762675 2025-10-29T01:30:19.105Z,1761701419.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:19.107Z,1761701419.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 194.400482 m, bearing: 308.238205 deg, approach rate: -0.629786 m/s, LOS rate: 0.032426 deg/s, cmd heading: 302.259148 deg, new cmd heading: 302.286168 deg. 2025-10-29T01:30:19.108Z,1761701419.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.275889 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:19.173Z,1761701419.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014733 2025-10-29T01:30:19.425Z,1761701419.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266620 2025-10-29T01:30:19.459Z,1761701419.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.512666,0.837636,0.188520],[-0.858237,0.493676,0.140401],[0.024537,-0.233774,0.971981]] 2025-10-29T01:30:19.485Z,1761701419.485 [RDI_Pathfinder](ERROR): only read 3 of 4 data items for beam range. Device response is::RA, 0.00, 251.85, 184.55, 214.12, 2025-10-29T01:30:19.501Z,1761701419.501 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:19.503Z,1761701419.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 194.133118 m, bearing: 308.253460 deg, approach rate: -0.674853 m/s, LOS rate: 0.038557 deg/s, cmd heading: 302.286168 deg, new cmd heading: 302.316719 deg. 2025-10-29T01:30:19.505Z,1761701419.505 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276422 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:19.677Z,1761701419.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518688 2025-10-29T01:30:19.846Z,1761701419.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507459,0.842298,0.181714],[-0.861318,0.489763,0.135140],[0.024831,-0.225092,0.974021]] 2025-10-29T01:30:19.883Z,1761701419.883 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:19.890Z,1761701419.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:19.895Z,1761701419.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 193.885880 m, bearing: 308.268077 deg, approach rate: -0.635763 m/s, LOS rate: 0.037635 deg/s, cmd heading: 302.316713 deg, new cmd heading: 302.345984 deg. 2025-10-29T01:30:19.895Z,1761701419.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.276933 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:19.929Z,1761701419.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.770653 2025-10-29T01:30:20.181Z,1761701420.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022577 2025-10-29T01:30:20.257Z,1761701420.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504278,0.845899,0.173666],[-0.863192,0.488049,0.129260],[0.024584,-0.215090,0.976285]] 2025-10-29T01:30:20.308Z,1761701420.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:20.311Z,1761701420.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 193.626770 m, bearing: 308.283746 deg, approach rate: -0.625136 m/s, LOS rate: 0.037855 deg/s, cmd heading: 302.345973 deg, new cmd heading: 302.377354 deg. 2025-10-29T01:30:20.320Z,1761701420.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.277481 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:20.436Z,1761701420.436 [DAT](INFO): DAT read: Rx Time:01:30:19.5893 2025-10-29T01:30:20.438Z,1761701420.438 [DAT](INFO): Rx dataTimestamp_ set to:1761701420.436642 2025-10-29T01:30:20.439Z,1761701420.439 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.280712 2025-10-29T01:30:20.655Z,1761701420.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501846,0.848825,0.166271],[-0.864612,0.486864,0.124131],[0.024414,-0.206055,0.978236]] 2025-10-29T01:30:20.685Z,1761701420.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.526667 2025-10-29T01:30:20.707Z,1761701420.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 203.11 m. 2025-10-29T01:30:20.709Z,1761701420.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 203.105423 m, nav range: 193.348770 m, bearing: 308.299346 deg, approach rate: -0.690705 m/s, LOS rate: 0.038814 deg/s, cmd heading: 302.377365 deg, new cmd heading: 302.408609 deg. 2025-10-29T01:30:20.710Z,1761701420.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278026 target range: 203.105423 and range: 204.10 m. 2025-10-29T01:30:20.942Z,1761701420.942 [DAT](INFO): DAT read: 01:30:19.5893 LVL= 28256, 32753, 32754, 32755, AGC= 71, IDX= 162,-0.26, 1.477,-0.280, 1.356, 1.266, PHS= 0.313,-1.501, 0.046, RAW= 142.2, 13.4, CAL= 141.6, 14.5, ROT= 8.4, -14.5 2025-10-29T01:30:20.944Z,1761701420.944 [DAT](INFO): got valid direction response: 01:30:19.5893 LVL= 28256, 32753, 32754, 32755, AGC= 71, IDX= 162,-0.26, 1.477,-0.280, 1.356, 1.266, PHS= 0.313,-1.501, 0.046, RAW= 142.2, 13.4, CAL= 141.6, 14.5, ROT= 8.4, -14.5 2025-10-29T01:30:20.945Z,1761701420.945 [DAT](INFO): DAT read: Bearing 108.4, 6.2 (Local) 2025-10-29T01:30:20.945Z,1761701420.945 [DAT](INFO): Local bearing/azimuth received: Bearing 108.4, 6.2 (Local) 2025-10-29T01:30:20.946Z,1761701420.946 [DAT](INFO): DAT read: Range 11 to 50 : 201.9 m (Round-trip 269.3 ms) speed 0.4 m/s 2025-10-29T01:30:20.947Z,1761701420.947 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:20.968Z,1761701420.968 [DAT](INFO): direction in FSK: [0.957762,0.141430,0.250380] 2025-10-29T01:30:20.969Z,1761701420.969 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:20.972Z,1761701420.972 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:20.973Z,1761701420.973 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:20.973Z,1761701420.973 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:21.101Z,1761701421.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501146,0.852344,0.149540],[-0.865043,0.488732,0.113320],[0.023503,-0.186149,0.982240]] 2025-10-29T01:30:21.151Z,1761701421.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 201.899994 m, deltaT: 4.031454 s, deltaX: -2.200012 m, approachRate: -0.545712 m/s, rangeRepo size: 4 2025-10-29T01:30:21.161Z,1761701421.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 200.905945 m, bearing: 311.111847 deg, lat: 36.779498 deg, lon: -121.859744 deg, deltaT: 4.031454 s, deltaX: -2.199478 m, approachRate: -0.545579 m/s, posRepo size: 4 2025-10-29T01:30:21.161Z,1761701421.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:21.170Z,1761701421.170 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 194.659378 m, bearing: 308.903968 deg, approach rate: 0.000000 m/s, LOS rate: 0.038814 deg/s, cmd heading: 302.408620 deg, new cmd heading: 302.443029 deg. 2025-10-29T01:30:21.171Z,1761701421.171 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.278626 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:21.189Z,1761701421.189 [DAT](INFO): DAT read: user:737> 2025-10-29T01:30:21.190Z,1761701421.190 [DAT](INFO): DAT read: Tx time:01:30:20.9659 2025-10-29T01:30:21.190Z,1761701421.190 [DAT](INFO): Ping request sent. 2025-10-29T01:30:21.190Z,1761701421.190 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:21.190Z,1761701421.190 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:21.191Z,1761701421.191 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000727 2025-10-29T01:30:21.445Z,1761701421.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.253040 2025-10-29T01:30:21.493Z,1761701421.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.502408,0.852978,0.141475],[-0.864323,0.491097,0.108486],[0.023058,-0.176784,0.983979]] 2025-10-29T01:30:21.535Z,1761701421.535 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:21.538Z,1761701421.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 194.388901 m, bearing: 308.918332 deg, approach rate: -0.701977 m/s, LOS rate: 0.037329 deg/s, cmd heading: 302.443017 deg, new cmd heading: 302.471783 deg. 2025-10-29T01:30:21.539Z,1761701421.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279129 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:21.693Z,1761701421.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502774 2025-10-29T01:30:21.887Z,1761701421.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.504559,0.852920,0.133971],[-0.863083,0.494229,0.104041],[0.022526,-0.168123,0.985509]] 2025-10-29T01:30:21.914Z,1761701421.914 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:21.917Z,1761701421.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:21.919Z,1761701421.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 194.131439 m, bearing: 308.931880 deg, approach rate: -0.674918 m/s, LOS rate: 0.035562 deg/s, cmd heading: 302.471786 deg, new cmd heading: 302.498917 deg. 2025-10-29T01:30:21.920Z,1761701421.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.279602 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:21.945Z,1761701421.945 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754819 2025-10-29T01:30:22.197Z,1761701422.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006878 2025-10-29T01:30:22.294Z,1761701422.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.507204,0.852660,0.125355],[-0.861543,0.497923,0.099074],[0.022059,-0.158250,0.987153]] 2025-10-29T01:30:22.313Z,1761701422.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:22.315Z,1761701422.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 193.863586 m, bearing: 308.945799 deg, approach rate: -0.676116 m/s, LOS rate: 0.035185 deg/s, cmd heading: 302.498915 deg, new cmd heading: 302.526793 deg. 2025-10-29T01:30:22.317Z,1761701422.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280088 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:22.454Z,1761701422.454 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.262753 2025-10-29T01:30:22.695Z,1761701422.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.510272,0.852024,0.116954],[-0.859739,0.501935,0.094398],[0.021726,-0.148718,0.988641]] 2025-10-29T01:30:22.701Z,1761701422.701 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510939 2025-10-29T01:30:22.755Z,1761701422.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:22.759Z,1761701422.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 193.577026 m, bearing: 308.960793 deg, approach rate: -0.648436 m/s, LOS rate: 0.033979 deg/s, cmd heading: 302.526782 deg, new cmd heading: 302.556814 deg. 2025-10-29T01:30:22.761Z,1761701422.761 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.280612 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:22.953Z,1761701422.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.763339 2025-10-29T01:30:23.205Z,1761701423.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014686 2025-10-29T01:30:23.222Z,1761701423.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:23.225Z,1761701423.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 193.267807 m, bearing: 308.977024 deg, approach rate: -0.661791 m/s, LOS rate: 0.034793 deg/s, cmd heading: 302.556808 deg, new cmd heading: 302.589321 deg. 2025-10-29T01:30:23.226Z,1761701423.226 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281180 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:23.460Z,1761701423.460 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.269487 2025-10-29T01:30:23.612Z,1761701423.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.516422,0.850112,0.103045],[-0.856060,0.509460,0.087242],[0.021668,-0.133266,0.990843]] 2025-10-29T01:30:23.678Z,1761701423.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:23.681Z,1761701423.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 192.967957 m, bearing: 308.991874 deg, approach rate: -0.657214 m/s, LOS rate: 0.032599 deg/s, cmd heading: 302.589319 deg, new cmd heading: 302.619066 deg. 2025-10-29T01:30:23.682Z,1761701423.682 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.281699 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:23.709Z,1761701423.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.518898 2025-10-29T01:30:23.961Z,1761701423.961 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771347 2025-10-29T01:30:24.178Z,1761701424.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519130,0.849299,0.095892],[-0.854407,0.512764,0.084036],[0.022201,-0.125556,0.991838]] 2025-10-29T01:30:24.199Z,1761701424.199 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:24.201Z,1761701424.201 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:24.203Z,1761701424.203 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 192.625229 m, bearing: 309.008596 deg, approach rate: -0.655691 m/s, LOS rate: 0.032049 deg/s, cmd heading: 302.619072 deg, new cmd heading: 302.652576 deg. 2025-10-29T01:30:24.205Z,1761701424.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282284 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:24.213Z,1761701424.213 [DAT](INFO): DAT read: Rx Time:01:30:23.5864 2025-10-29T01:30:24.213Z,1761701424.213 [DAT](INFO): Rx dataTimestamp_ set to:1761701424.213214 2025-10-29T01:30:24.214Z,1761701424.214 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.023911 2025-10-29T01:30:24.467Z,1761701424.467 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.276711 2025-10-29T01:30:24.613Z,1761701424.613 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.521394,0.848375,0.091699],[-0.853005,0.515285,0.082849],[0.023035,-0.121417,0.992334]] 2025-10-29T01:30:24.671Z,1761701424.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:24.678Z,1761701424.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 192.330933 m, bearing: 309.024356 deg, approach rate: -0.628050 m/s, LOS rate: 0.033684 deg/s, cmd heading: 302.652567 deg, new cmd heading: 302.684135 deg. 2025-10-29T01:30:24.679Z,1761701424.679 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.282835 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:24.724Z,1761701424.724 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.533075 2025-10-29T01:30:24.974Z,1761701424.974 [DAT](INFO): DAT read: 01:30:23.5864 LVL= 26224, 32753, 31346, 32755, AGC= 67, IDX= 404, 0.31,-0.355,-2.237,-0.487,-0.585, PHS= 0.332,-1.607, 0.054, RAW= 142.4, 13.4, CAL= 141.8, 14.5, ROT= 8.2, -14.5 2025-10-29T01:30:24.975Z,1761701424.975 [DAT](INFO): got valid direction response: 01:30:23.5864 LVL= 26224, 32753, 31346, 32755, AGC= 67, IDX= 404, 0.31,-0.355,-2.237,-0.487,-0.585, PHS= 0.332,-1.607, 0.054, RAW= 142.4, 13.4, CAL= 141.8, 14.5, ROT= 8.2, -14.5 2025-10-29T01:30:24.976Z,1761701424.976 [DAT](INFO): DAT read: Bearing 109.4, 7.0 (Local) 2025-10-29T01:30:24.976Z,1761701424.976 [DAT](INFO): Local bearing/azimuth received: Bearing 109.4, 7.0 (Local) 2025-10-29T01:30:24.977Z,1761701424.977 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T01:30:24.977Z,1761701424.977 [DAT](INFO): direction in FSK: [0.958250,0.138086,0.250380] 2025-10-29T01:30:24.987Z,1761701424.987 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:24.987Z,1761701424.987 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:24.987Z,1761701424.987 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:25.099Z,1761701425.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:25.113Z,1761701425.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 192.042465 m, bearing: 309.039852 deg, approach rate: -0.672475 m/s, LOS rate: 0.036178 deg/s, cmd heading: 302.684122 deg, new cmd heading: 302.715160 deg. 2025-10-29T01:30:25.117Z,1761701425.117 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283376 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:25.221Z,1761701425.221 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:25.221Z,1761701425.221 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:25.221Z,1761701425.221 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:25.301Z,1761701425.301 [CTD_Seabird](ERROR): Failed to parse device response: 51.12,10.9827,3.76863, 2025-10-29T01:30:25.419Z,1761701425.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.525372,0.846261,0.088470],[-0.850493,0.519186,0.084303],[0.025410,-0.119534,0.992505]] 2025-10-29T01:30:25.477Z,1761701425.477 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:25.477Z,1761701425.477 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:25.478Z,1761701425.478 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:25.497Z,1761701425.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:25.514Z,1761701425.514 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 191.815659 m, bearing: 309.051744 deg, approach rate: -0.583289 m/s, LOS rate: 0.030620 deg/s, cmd heading: 302.715159 deg, new cmd heading: 302.738971 deg. 2025-10-29T01:30:25.515Z,1761701425.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.283792 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:25.725Z,1761701425.725 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:25.725Z,1761701425.725 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:25.725Z,1761701425.725 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:25.893Z,1761701425.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:25.895Z,1761701425.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 191.513687 m, bearing: 309.066654 deg, approach rate: -0.744737 m/s, LOS rate: 0.036831 deg/s, cmd heading: 302.738983 deg, new cmd heading: 302.768850 deg. 2025-10-29T01:30:25.897Z,1761701425.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284313 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:25.977Z,1761701425.977 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:25.978Z,1761701425.978 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:25.978Z,1761701425.978 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:26.226Z,1761701426.226 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.528244,0.844412,0.089026],[-0.848595,0.521437,0.089388],[0.029059,-0.122766,0.992010]] 2025-10-29T01:30:26.229Z,1761701426.229 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:26.229Z,1761701426.229 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:26.229Z,1761701426.229 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:26.269Z,1761701426.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:26.272Z,1761701426.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:26.278Z,1761701426.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 191.262970 m, bearing: 309.078798 deg, approach rate: -0.663106 m/s, LOS rate: 0.032160 deg/s, cmd heading: 302.768844 deg, new cmd heading: 302.793163 deg. 2025-10-29T01:30:26.279Z,1761701426.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.284738 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:26.486Z,1761701426.486 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:26.486Z,1761701426.486 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:26.487Z,1761701426.487 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:26.632Z,1761701426.632 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.529506,0.843451,0.090633],[-0.847741,0.522227,0.092811],[0.030951,-0.125977,0.991550]] 2025-10-29T01:30:26.670Z,1761701426.670 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:26.692Z,1761701426.692 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 191.000381 m, bearing: 309.091195 deg, approach rate: -0.658108 m/s, LOS rate: 0.031113 deg/s, cmd heading: 302.793160 deg, new cmd heading: 302.817988 deg. 2025-10-29T01:30:26.693Z,1761701426.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285171 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:26.738Z,1761701426.738 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:26.738Z,1761701426.738 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:26.738Z,1761701426.738 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:26.989Z,1761701426.989 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:26.989Z,1761701426.989 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:26.989Z,1761701426.989 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:27.065Z,1761701427.065 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.530894,0.842441,0.091897],[-0.846797,0.523149,0.096174],[0.032946,-0.128877,0.991113]] 2025-10-29T01:30:27.098Z,1761701427.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:27.101Z,1761701427.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 190.718857 m, bearing: 309.104371 deg, approach rate: -0.657324 m/s, LOS rate: 0.030811 deg/s, cmd heading: 302.817994 deg, new cmd heading: 302.844386 deg. 2025-10-29T01:30:27.102Z,1761701427.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.285632 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:27.241Z,1761701427.241 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:27.241Z,1761701427.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:27.241Z,1761701427.241 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:27.495Z,1761701427.495 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:27.495Z,1761701427.495 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:27.495Z,1761701427.495 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:27.554Z,1761701427.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:27.563Z,1761701427.563 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 190.467987 m, bearing: 309.116146 deg, approach rate: -0.550568 m/s, LOS rate: 0.025874 deg/s, cmd heading: 302.844386 deg, new cmd heading: 302.867966 deg. 2025-10-29T01:30:27.573Z,1761701427.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286043 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:27.745Z,1761701427.745 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:27.745Z,1761701427.745 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:27.745Z,1761701427.745 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:27.898Z,1761701427.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.535346,0.839948,0.088838],[-0.843733,0.526954,0.102150],[0.038986,-0.129641,0.990794]] 2025-10-29T01:30:27.997Z,1761701427.997 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:27.997Z,1761701427.997 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:27.997Z,1761701427.997 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:27.999Z,1761701427.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:28.002Z,1761701428.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 190.126678 m, bearing: 309.133628 deg, approach rate: -0.766932 m/s, LOS rate: 0.039354 deg/s, cmd heading: 302.867964 deg, new cmd heading: 302.902992 deg. 2025-10-29T01:30:28.003Z,1761701428.003 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.286654 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:28.250Z,1761701428.250 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:28.250Z,1761701428.250 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:28.250Z,1761701428.250 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:28.347Z,1761701428.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.536673,0.839215,0.087751],[-0.842790,0.528068,0.104162],[0.041076,-0.129857,0.990682]] 2025-10-29T01:30:28.370Z,1761701428.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:28.373Z,1761701428.373 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:28.375Z,1761701428.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 189.879807 m, bearing: 309.146189 deg, approach rate: -0.660587 m/s, LOS rate: 0.033653 deg/s, cmd heading: 302.902989 deg, new cmd heading: 302.928143 deg. 2025-10-29T01:30:28.376Z,1761701428.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287094 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:28.501Z,1761701428.501 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:28.501Z,1761701428.501 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:28.502Z,1761701428.502 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:28.746Z,1761701428.746 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.537785,0.838532,0.087473],[-0.841980,0.528879,0.106573],[0.043102,-0.130963,0.990450]] 2025-10-29T01:30:28.753Z,1761701428.753 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:28.753Z,1761701428.753 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:28.753Z,1761701428.753 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:28.841Z,1761701428.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:28.845Z,1761701428.845 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 189.573196 m, bearing: 309.163102 deg, approach rate: -0.654384 m/s, LOS rate: 0.036157 deg/s, cmd heading: 302.928151 deg, new cmd heading: 302.962034 deg. 2025-10-29T01:30:28.846Z,1761701428.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.287685 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:29.005Z,1761701429.005 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:29.005Z,1761701429.005 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:29.005Z,1761701429.005 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:29.150Z,1761701429.150 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538595,0.838066,0.086954],[-0.841352,0.529412,0.108855],[0.045193,-0.131788,0.990247]] 2025-10-29T01:30:29.206Z,1761701429.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:29.209Z,1761701429.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 189.327103 m, bearing: 309.176640 deg, approach rate: -0.709576 m/s, LOS rate: 0.039083 deg/s, cmd heading: 302.962029 deg, new cmd heading: 302.989139 deg. 2025-10-29T01:30:29.210Z,1761701429.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288158 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:29.257Z,1761701429.257 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:29.257Z,1761701429.257 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:29.257Z,1761701429.257 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:29.511Z,1761701429.511 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:29.511Z,1761701429.511 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:29.512Z,1761701429.512 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:29.645Z,1761701429.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:29.648Z,1761701429.648 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 189.012100 m, bearing: 309.195438 deg, approach rate: -0.688670 m/s, LOS rate: 0.041165 deg/s, cmd heading: 302.989131 deg, new cmd heading: 303.026790 deg. 2025-10-29T01:30:29.649Z,1761701429.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.288815 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:29.761Z,1761701429.761 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:29.762Z,1761701429.762 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:29.762Z,1761701429.762 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:30.013Z,1761701430.013 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:30.013Z,1761701430.013 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:30.014Z,1761701430.014 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:30.103Z,1761701430.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540440,0.836863,0.087088],[-0.839945,0.530572,0.113956],[0.049159,-0.134735,0.989661]] 2025-10-29T01:30:30.138Z,1761701430.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:30.145Z,1761701430.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 188.677933 m, bearing: 309.215205 deg, approach rate: -0.678460 m/s, LOS rate: 0.040206 deg/s, cmd heading: 303.026779 deg, new cmd heading: 303.066385 deg. 2025-10-29T01:30:30.146Z,1761701430.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.289506 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:30.266Z,1761701430.266 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:30.266Z,1761701430.266 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:30.266Z,1761701430.266 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:30.499Z,1761701430.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541025,0.836495,0.086996],[-0.839459,0.530860,0.116176],[0.050998,-0.135883,0.989411]] 2025-10-29T01:30:30.517Z,1761701430.517 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:30.517Z,1761701430.517 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:30.517Z,1761701430.517 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:30.578Z,1761701430.578 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:30.596Z,1761701430.596 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:30.609Z,1761701430.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 188.397247 m, bearing: 309.231799 deg, approach rate: -0.615542 m/s, LOS rate: 0.036443 deg/s, cmd heading: 303.066394 deg, new cmd heading: 303.099630 deg. 2025-10-29T01:30:30.610Z,1761701430.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290087 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:30.770Z,1761701430.770 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:30.770Z,1761701430.770 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:30.770Z,1761701430.770 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:30.990Z,1761701430.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541399,0.836333,0.086221],[-0.839070,0.530946,0.118567],[0.053383,-0.136537,0.989196]] 2025-10-29T01:30:31.021Z,1761701431.021 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:31.021Z,1761701431.021 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:31.021Z,1761701431.021 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:30:31.031Z,1761701431.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:31.034Z,1761701431.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 188.051590 m, bearing: 309.253421 deg, approach rate: -0.790790 m/s, LOS rate: 0.049558 deg/s, cmd heading: 303.099644 deg, new cmd heading: 303.142968 deg. 2025-10-29T01:30:31.053Z,1761701431.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.290843 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:31.273Z,1761701431.273 [DAT](INFO): Reached modem response timeout 2025-10-29T01:30:31.273Z,1761701431.273 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:31.273Z,1761701431.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:31.392Z,1761701431.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541867,0.835962,0.086875],[-0.838589,0.530862,0.122286],[0.056107,-0.139115,0.988685]] 2025-10-29T01:30:31.416Z,1761701431.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:31.419Z,1761701431.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 187.782104 m, bearing: 309.270278 deg, approach rate: -0.700151 m/s, LOS rate: 0.043859 deg/s, cmd heading: 303.142975 deg, new cmd heading: 303.176737 deg. 2025-10-29T01:30:31.420Z,1761701431.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.291432 target range: 200.905945 and range: 201.90 m. 2025-10-29T01:30:31.527Z,1761701431.527 [DAT](INFO): DAT read: Range 11 to 50 : 162.3 m (Round-trip 216.4 ms38> 2025-10-29T01:30:31.527Z,1761701431.527 [DAT](INFO): DAT read: Tx time:01:30:31.2659 2025-10-29T01:30:31.528Z,1761701431.528 [DAT](INFO): Ping request sent. 2025-10-29T01:30:31.528Z,1761701431.528 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:31.528Z,1761701431.528 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T01:30:31.528Z,1761701431.528 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:31.529Z,1761701431.529 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:31.794Z,1761701431.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542217,0.835720,0.087019],[-0.838173,0.530717,0.125722],[0.058886,-0.141106,0.988242]] 2025-10-29T01:30:31.846Z,1761701431.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 162.300003 m, deltaT: 10.588793 s, deltaX: -39.599991 m, approachRate: -3.739802 m/s, rangeRepo size: 4 2025-10-29T01:30:31.846Z,1761701431.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:31.850Z,1761701431.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 187.462418 m, bearing: 309.289730 deg, approach rate: -0.745149 m/s, LOS rate: 0.045417 deg/s, cmd heading: 303.176743 deg, new cmd heading: 303.215713 deg. 2025-10-29T01:30:31.850Z,1761701431.850 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292112 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:32.199Z,1761701432.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542070,0.835834,0.086845],[-0.838030,0.530044,0.129456],[0.062172,-0.142953,0.987775]] 2025-10-29T01:30:32.217Z,1761701432.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:32.220Z,1761701432.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 187.184830 m, bearing: 309.306679 deg, approach rate: -0.745471 m/s, LOS rate: 0.045585 deg/s, cmd heading: 303.215702 deg, new cmd heading: 303.249651 deg. 2025-10-29T01:30:32.221Z,1761701432.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.292705 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:32.636Z,1761701432.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541965,0.835931,0.086565],[-0.837848,0.529423,0.133124],[0.065453,-0.144677,0.987312]] 2025-10-29T01:30:32.683Z,1761701432.683 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:32.685Z,1761701432.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:32.688Z,1761701432.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 186.840790 m, bearing: 309.328319 deg, approach rate: -0.734924 m/s, LOS rate: 0.046312 deg/s, cmd heading: 303.249662 deg, new cmd heading: 303.293023 deg. 2025-10-29T01:30:32.689Z,1761701432.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.293462 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:32.785Z,1761701432.785 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:32.785Z,1761701432.785 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:32.785Z,1761701432.785 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:33.006Z,1761701433.006 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541357,0.836368,0.086151],[-0.837972,0.528315,0.136699],[0.068815,-0.146195,0.986859]] 2025-10-29T01:30:33.028Z,1761701433.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:33.031Z,1761701433.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 186.583740 m, bearing: 309.344586 deg, approach rate: -0.750431 m/s, LOS rate: 0.047556 deg/s, cmd heading: 303.293020 deg, new cmd heading: 303.325599 deg. 2025-10-29T01:30:33.042Z,1761701433.042 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.513787 2025-10-29T01:30:33.048Z,1761701433.048 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294030 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:33.293Z,1761701433.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.764844 2025-10-29T01:30:33.411Z,1761701433.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541171,0.836541,0.085629],[-0.837815,0.527643,0.140208],[0.072108,-0.147618,0.986412]] 2025-10-29T01:30:33.430Z,1761701433.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:33.433Z,1761701433.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 186.282532 m, bearing: 309.363714 deg, approach rate: -0.749805 m/s, LOS rate: 0.047691 deg/s, cmd heading: 303.325586 deg, new cmd heading: 303.363903 deg. 2025-10-29T01:30:33.433Z,1761701433.433 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.294699 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:33.546Z,1761701433.546 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.017259 2025-10-29T01:30:33.757Z,1761701433.757 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:30:33.797Z,1761701433.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.268808 2025-10-29T01:30:33.814Z,1761701433.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540941,0.836727,0.085270],[-0.837675,0.526900,0.143796],[0.075389,-0.149214,0.985927]] 2025-10-29T01:30:33.871Z,1761701433.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:33.874Z,1761701433.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 185.944748 m, bearing: 309.382111 deg, approach rate: -0.765627 m/s, LOS rate: 0.041776 deg/s, cmd heading: 303.363890 deg, new cmd heading: 303.400752 deg. 2025-10-29T01:30:33.875Z,1761701433.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295342 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:34.050Z,1761701434.050 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.522003 2025-10-29T01:30:34.220Z,1761701434.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540728,0.836921,0.084717],[-0.837504,0.526191,0.147342],[0.078736,-0.150623,0.985451]] 2025-10-29T01:30:34.239Z,1761701434.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:34.241Z,1761701434.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 185.663223 m, bearing: 309.397501 deg, approach rate: -0.765793 m/s, LOS rate: 0.041926 deg/s, cmd heading: 303.400746 deg, new cmd heading: 303.431572 deg. 2025-10-29T01:30:34.242Z,1761701434.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.295880 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:34.301Z,1761701434.301 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.773122 2025-10-29T01:30:34.553Z,1761701434.553 [DAT](INFO): DAT read: Rx Time:01:30:33.8765 2025-10-29T01:30:34.555Z,1761701434.555 [DAT](INFO): Rx dataTimestamp_ set to:1761701434.553929 2025-10-29T01:30:34.556Z,1761701434.556 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.027289 2025-10-29T01:30:34.723Z,1761701434.723 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:34.725Z,1761701434.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 200.91 m. 2025-10-29T01:30:34.727Z,1761701434.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 200.905945 m, nav range: 185.295441 m, bearing: 309.416598 deg, approach rate: -0.756287 m/s, LOS rate: 0.039349 deg/s, cmd heading: 303.431564 deg, new cmd heading: 303.469834 deg. 2025-10-29T01:30:34.729Z,1761701434.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.296548 target range: 200.905945 and range: 162.30 m. 2025-10-29T01:30:34.760Z,1761701434.760 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:30:34.805Z,1761701434.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.277058 2025-10-29T01:30:35.071Z,1761701435.071 [DAT](INFO): DAT read: 01:30:33.8765 LVL= 26960, 32753, 30706, 32755, AGC= 70, IDX= 336,-0.40, 0.046,-1.754,-0.067,-0.261, PHS= 0.409,-1.447, 0.150, RAW= 142.6, 10.2, CAL= 142.1, 11.1, ROT= 7.9, -11.1 2025-10-29T01:30:35.076Z,1761701435.076 [DAT](INFO): got valid direction response: 01:30:33.8765 LVL= 26960, 32753, 30706, 32755, AGC= 70, IDX= 336,-0.40, 0.046,-1.754,-0.067,-0.261, PHS= 0.409,-1.447, 0.150, RAW= 142.6, 10.2, CAL= 142.1, 11.1, ROT= 7.9, -11.1 2025-10-29T01:30:35.077Z,1761701435.077 [DAT](INFO): DAT read: Bearing 111.1, 10.1 (Local) 2025-10-29T01:30:35.077Z,1761701435.077 [DAT](INFO): Local bearing/azimuth received: Bearing 111.1, 10.1 (Local) 2025-10-29T01:30:35.079Z,1761701435.079 [DAT](INFO): DAT read: Range 11 to 50 : 154.8 m (Round-trip 206.5 ms) speed 0.8 m/s 2025-10-29T01:30:35.104Z,1761701435.104 [DAT](INFO): DAT read: user:739> 2025-10-29T01:30:35.105Z,1761701435.105 [DAT](INFO): DAT read: Tx time:01:30:34.9659 2025-10-29T01:30:35.105Z,1761701435.105 [DAT](INFO): Ping request sent. 2025-10-29T01:30:35.105Z,1761701435.105 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:35.105Z,1761701435.105 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:35.106Z,1761701435.106 [DAT](INFO): direction in FSK: [0.971980,0.134873,0.192522] 2025-10-29T01:30:35.107Z,1761701435.107 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:35.107Z,1761701435.107 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:35.122Z,1761701435.122 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:35.123Z,1761701435.123 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:35.210Z,1761701435.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 154.800003 m, deltaT: 3.532813 s, deltaX: -7.500000 m, approachRate: -2.122954 m/s, rangeRepo size: 4 2025-10-29T01:30:35.216Z,1761701435.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 154.033051 m, bearing: 312.493972 deg, lat: 36.779498 deg, lon: -121.859744 deg, deltaT: 14.121606 s, deltaX: -46.872894 m, approachRate: -3.319232 m/s, posRepo size: 4 2025-10-29T01:30:35.217Z,1761701435.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:35.220Z,1761701435.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 184.940659 m, bearing: 309.435093 deg, approach rate: 0.000000 m/s, LOS rate: 0.039349 deg/s, cmd heading: 303.469840 deg, new cmd heading: 303.507973 deg. 2025-10-29T01:30:35.222Z,1761701435.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297214 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:35.557Z,1761701435.557 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540065,0.837821,0.079917],[-0.836659,0.524154,0.158951],[0.091284,-0.152706,0.984047]] 2025-10-29T01:30:35.586Z,1761701435.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:35.589Z,1761701435.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 184.646896 m, bearing: 309.450466 deg, approach rate: -0.780375 m/s, LOS rate: 0.040905 deg/s, cmd heading: 303.507980 deg, new cmd heading: 303.538776 deg. 2025-10-29T01:30:35.590Z,1761701435.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.297751 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:35.946Z,1761701435.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.539844,0.838122,0.078237],[-0.836471,0.523719,0.161350],[0.094256,-0.152546,0.983791]] 2025-10-29T01:30:35.983Z,1761701435.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:35.985Z,1761701435.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 184.351822 m, bearing: 309.463661 deg, approach rate: -0.743665 m/s, LOS rate: 0.033308 deg/s, cmd heading: 303.538770 deg, new cmd heading: 303.565202 deg. 2025-10-29T01:30:35.986Z,1761701435.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298212 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:36.388Z,1761701436.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:36.391Z,1761701436.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 184.053009 m, bearing: 309.477067 deg, approach rate: -0.737092 m/s, LOS rate: 0.033123 deg/s, cmd heading: 303.565190 deg, new cmd heading: 303.592045 deg. 2025-10-29T01:30:36.412Z,1761701436.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.298681 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:36.756Z,1761701436.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.540890,0.837850,0.073796],[-0.835111,0.524525,0.165719],[0.100140,-0.151264,0.983408]] 2025-10-29T01:30:36.808Z,1761701436.808 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:36.810Z,1761701436.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:36.829Z,1761701436.829 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:36.829Z,1761701436.829 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:36.829Z,1761701436.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:36.841Z,1761701436.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 183.752335 m, bearing: 309.488709 deg, approach rate: -0.712310 m/s, LOS rate: 0.027626 deg/s, cmd heading: 303.592046 deg, new cmd heading: 303.615369 deg. 2025-10-29T01:30:36.842Z,1761701436.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299088 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:37.084Z,1761701437.084 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.977904 2025-10-29T01:30:37.155Z,1761701437.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542375,0.836996,0.072573],[-0.833824,0.525718,0.168401],[0.102798,-0.151849,0.983043]] 2025-10-29T01:30:37.174Z,1761701437.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:37.176Z,1761701437.176 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 183.492859 m, bearing: 309.498622 deg, approach rate: -0.713828 m/s, LOS rate: 0.027308 deg/s, cmd heading: 303.615378 deg, new cmd heading: 303.635231 deg. 2025-10-29T01:30:37.177Z,1761701437.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299435 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:37.329Z,1761701437.329 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.223579 2025-10-29T01:30:37.570Z,1761701437.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543622,0.836352,0.070643],[-0.832654,0.526789,0.170822],[0.105653,-0.151684,0.982766]] 2025-10-29T01:30:37.581Z,1761701437.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475747 2025-10-29T01:30:37.590Z,1761701437.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:37.593Z,1761701437.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 183.197052 m, bearing: 309.509800 deg, approach rate: -0.710922 m/s, LOS rate: 0.026908 deg/s, cmd heading: 303.635240 deg, new cmd heading: 303.657633 deg. 2025-10-29T01:30:37.594Z,1761701437.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.299826 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:37.836Z,1761701437.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730897 2025-10-29T01:30:37.962Z,1761701437.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544903,0.835698,0.068477],[-0.831464,0.527968,0.172967],[0.108395,-0.151187,0.982544]] 2025-10-29T01:30:38.013Z,1761701438.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:38.015Z,1761701438.015 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 182.906799 m, bearing: 309.518375 deg, approach rate: -0.686130 m/s, LOS rate: 0.020303 deg/s, cmd heading: 303.657643 deg, new cmd heading: 303.674821 deg. 2025-10-29T01:30:38.017Z,1761701438.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300126 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:38.089Z,1761701438.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.983968 2025-10-29T01:30:38.341Z,1761701438.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.235631 2025-10-29T01:30:38.378Z,1761701438.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546373,0.834897,0.066515],[-0.830151,0.529314,0.175145],[0.111020,-0.150912,0.982293]] 2025-10-29T01:30:38.397Z,1761701438.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:38.400Z,1761701438.400 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 182.643997 m, bearing: 309.526001 deg, approach rate: -0.683697 m/s, LOS rate: 0.019866 deg/s, cmd heading: 303.674828 deg, new cmd heading: 303.690100 deg. 2025-10-29T01:30:38.401Z,1761701438.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300392 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:38.598Z,1761701438.598 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.491569 2025-10-29T01:30:38.777Z,1761701438.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547842,0.834024,0.065368],[-0.828858,0.530530,0.177575],[0.113422,-0.151464,0.981934]] 2025-10-29T01:30:38.820Z,1761701438.820 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:38.822Z,1761701438.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:38.825Z,1761701438.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 182.363373 m, bearing: 309.533965 deg, approach rate: -0.660184 m/s, LOS rate: 0.018766 deg/s, cmd heading: 303.690100 deg, new cmd heading: 303.706054 deg. 2025-10-29T01:30:38.826Z,1761701438.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300671 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:38.845Z,1761701438.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.739596 2025-10-29T01:30:39.098Z,1761701439.098 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.992609 2025-10-29T01:30:39.177Z,1761701439.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549361,0.833099,0.064403],[-0.827547,0.531793,0.179893],[0.115619,-0.152123,0.981576]] 2025-10-29T01:30:39.195Z,1761701439.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:39.199Z,1761701439.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 182.116470 m, bearing: 309.540832 deg, approach rate: -0.661822 m/s, LOS rate: 0.018433 deg/s, cmd heading: 303.706055 deg, new cmd heading: 303.719809 deg. 2025-10-29T01:30:39.199Z,1761701439.199 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.300910 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:39.349Z,1761701439.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.243599 2025-10-29T01:30:39.583Z,1761701439.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550251,0.832545,0.063980],[-0.826608,0.532283,0.182741],[0.118084,-0.153440,0.981077]] 2025-10-29T01:30:39.601Z,1761701439.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.495774 2025-10-29T01:30:39.618Z,1761701439.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:39.620Z,1761701439.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 181.837463 m, bearing: 309.548496 deg, approach rate: -0.660686 m/s, LOS rate: 0.018175 deg/s, cmd heading: 303.719798 deg, new cmd heading: 303.735148 deg. 2025-10-29T01:30:39.621Z,1761701439.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301178 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:39.853Z,1761701439.853 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.747657 2025-10-29T01:30:39.984Z,1761701439.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551326,0.831933,0.062668],[-0.825601,0.533231,0.184520],[0.120091,-0.153469,0.980829]] 2025-10-29T01:30:40.024Z,1761701440.024 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:40.045Z,1761701440.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 181.579803 m, bearing: 309.556650 deg, approach rate: -0.635618 m/s, LOS rate: 0.020143 deg/s, cmd heading: 303.735152 deg, new cmd heading: 303.751483 deg. 2025-10-29T01:30:40.047Z,1761701440.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301464 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:40.105Z,1761701440.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.000136 2025-10-29T01:30:40.357Z,1761701440.357 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.251682 2025-10-29T01:30:40.387Z,1761701440.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551831,0.831691,0.061427],[-0.824943,0.533584,0.186433],[0.122278,-0.153553,0.980546]] 2025-10-29T01:30:40.419Z,1761701440.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:40.426Z,1761701440.426 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 181.326736 m, bearing: 309.564617 deg, approach rate: -0.638719 m/s, LOS rate: 0.020136 deg/s, cmd heading: 303.751490 deg, new cmd heading: 303.767446 deg. 2025-10-29T01:30:40.427Z,1761701440.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.301742 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:40.613Z,1761701440.613 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.507980 2025-10-29T01:30:40.792Z,1761701440.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551998,0.831619,0.060902],[-0.824510,0.533462,0.188683],[0.124424,-0.154367,0.980148]] 2025-10-29T01:30:40.861Z,1761701440.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.755993 2025-10-29T01:30:40.892Z,1761701440.892 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:40.894Z,1761701440.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:40.897Z,1761701440.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 181.011108 m, bearing: 309.576075 deg, approach rate: -0.664161 m/s, LOS rate: 0.024153 deg/s, cmd heading: 303.767445 deg, new cmd heading: 303.790401 deg. 2025-10-29T01:30:40.898Z,1761701440.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302143 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:41.114Z,1761701441.114 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.008111 2025-10-29T01:30:41.194Z,1761701441.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551541,0.832002,0.059793],[-0.824472,0.532854,0.190561],[0.126686,-0.154400,0.979853]] 2025-10-29T01:30:41.220Z,1761701441.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:41.222Z,1761701441.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 180.794998 m, bearing: 309.583968 deg, approach rate: -0.664421 m/s, LOS rate: 0.024298 deg/s, cmd heading: 303.790395 deg, new cmd heading: 303.806201 deg. 2025-10-29T01:30:41.223Z,1761701441.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302419 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:41.366Z,1761701441.366 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.260255 2025-10-29T01:30:41.599Z,1761701441.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551428,0.832067,0.059928],[-0.824267,0.532375,0.192771],[0.128495,-0.155696,0.979412]] 2025-10-29T01:30:41.617Z,1761701441.617 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.511525 2025-10-29T01:30:41.656Z,1761701441.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:41.659Z,1761701441.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 180.506195 m, bearing: 309.594544 deg, approach rate: -0.662506 m/s, LOS rate: 0.024300 deg/s, cmd heading: 303.806213 deg, new cmd heading: 303.827399 deg. 2025-10-29T01:30:41.660Z,1761701441.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.302788 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:41.870Z,1761701441.870 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.764964 2025-10-29T01:30:41.998Z,1761701441.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550737,0.832505,0.060201],[-0.824445,0.531309,0.194938],[0.130301,-0.156992,0.978966]] 2025-10-29T01:30:42.080Z,1761701442.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:42.082Z,1761701442.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 180.214615 m, bearing: 309.608388 deg, approach rate: -0.687542 m/s, LOS rate: 0.032697 deg/s, cmd heading: 303.827387 deg, new cmd heading: 303.855119 deg. 2025-10-29T01:30:42.083Z,1761701442.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303272 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:42.121Z,1761701442.121 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.016032 2025-10-29T01:30:42.373Z,1761701442.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.267747 2025-10-29T01:30:42.413Z,1761701442.413 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.549747,0.833206,0.059543],[-0.824780,0.530129,0.196727],[0.132349,-0.157260,0.978649]] 2025-10-29T01:30:42.432Z,1761701442.432 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:42.434Z,1761701442.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 179.972214 m, bearing: 309.620012 deg, approach rate: -0.688870 m/s, LOS rate: 0.033079 deg/s, cmd heading: 303.855117 deg, new cmd heading: 303.878397 deg. 2025-10-29T01:30:42.435Z,1761701442.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.303679 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:42.625Z,1761701442.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.519703 2025-10-29T01:30:42.877Z,1761701442.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.771719 2025-10-29T01:30:42.886Z,1761701442.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.548886,0.833852,0.058432],[-0.825055,0.529220,0.198014],[0.134191,-0.156897,0.978456]] 2025-10-29T01:30:42.938Z,1761701442.938 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:42.944Z,1761701442.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:42.947Z,1761701442.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 179.625824 m, bearing: 309.637826 deg, approach rate: -0.681546 m/s, LOS rate: 0.035118 deg/s, cmd heading: 303.878395 deg, new cmd heading: 303.914091 deg. 2025-10-29T01:30:42.947Z,1761701442.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304302 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:43.129Z,1761701443.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.023652 2025-10-29T01:30:43.287Z,1761701443.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.547974,0.834506,0.057653],[-0.825354,0.528178,0.199547],[0.136072,-0.156931,0.978191]] 2025-10-29T01:30:43.305Z,1761701443.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:43.308Z,1761701443.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 179.356613 m, bearing: 309.651804 deg, approach rate: -0.736718 m/s, LOS rate: 0.038307 deg/s, cmd heading: 303.914103 deg, new cmd heading: 303.942099 deg. 2025-10-29T01:30:43.309Z,1761701443.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.304790 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:43.381Z,1761701443.381 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.275819 2025-10-29T01:30:43.637Z,1761701443.637 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.531328 2025-10-29T01:30:43.691Z,1761701443.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546887,0.835229,0.057502],[-0.825694,0.526743,0.201922],[0.138362,-0.157907,0.977712]] 2025-10-29T01:30:43.714Z,1761701443.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:43.722Z,1761701443.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 179.069138 m, bearing: 309.666879 deg, approach rate: -0.703953 m/s, LOS rate: 0.036976 deg/s, cmd heading: 303.942107 deg, new cmd heading: 303.972307 deg. 2025-10-29T01:30:43.725Z,1761701443.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305317 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:43.886Z,1761701443.886 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.780320 2025-10-29T01:30:44.090Z,1761701444.090 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546081,0.835845,0.056195],[-0.825765,0.525770,0.204149],[0.141091,-0.157886,0.977326]] 2025-10-29T01:30:44.137Z,1761701444.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.031825 2025-10-29T01:30:44.144Z,1761701444.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:44.147Z,1761701444.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 178.753571 m, bearing: 309.683951 deg, approach rate: -0.733624 m/s, LOS rate: 0.039758 deg/s, cmd heading: 303.972296 deg, new cmd heading: 304.006500 deg. 2025-10-29T01:30:44.148Z,1761701444.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.305914 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:44.390Z,1761701444.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.284329 2025-10-29T01:30:44.497Z,1761701444.497 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545276,0.836485,0.054469],[-0.825754,0.524828,0.206606],[0.144236,-0.157635,0.976907]] 2025-10-29T01:30:44.519Z,1761701444.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:44.525Z,1761701444.525 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 178.478745 m, bearing: 309.698934 deg, approach rate: -0.732770 m/s, LOS rate: 0.040010 deg/s, cmd heading: 304.006502 deg, new cmd heading: 304.036513 deg. 2025-10-29T01:30:44.526Z,1761701444.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.306438 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:44.642Z,1761701444.642 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.536353 2025-10-29T01:30:44.893Z,1761701444.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.787816 2025-10-29T01:30:44.902Z,1761701444.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544616,0.836981,0.053449],[-0.825586,0.523800,0.209860],[0.147652,-0.158419,0.976269]] 2025-10-29T01:30:44.939Z,1761701444.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:44.962Z,1761701444.962 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 178.165146 m, bearing: 309.716522 deg, approach rate: -0.746392 m/s, LOS rate: 0.041936 deg/s, cmd heading: 304.036500 deg, new cmd heading: 304.071739 deg. 2025-10-29T01:30:44.963Z,1761701444.963 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307053 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:45.144Z,1761701445.144 [DAT](INFO): Reached modem response timeout 2025-10-29T01:30:45.145Z,1761701445.145 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:45.145Z,1761701445.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:45.305Z,1761701445.305 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543960,0.837500,0.051971],[-0.825366,0.522858,0.213052],[0.151257,-0.158787,0.975658]] 2025-10-29T01:30:45.323Z,1761701445.323 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:45.325Z,1761701445.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:45.328Z,1761701445.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 177.880173 m, bearing: 309.732603 deg, approach rate: -0.737340 m/s, LOS rate: 0.041675 deg/s, cmd heading: 304.071744 deg, new cmd heading: 304.103958 deg. 2025-10-29T01:30:45.329Z,1761701445.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.307615 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:45.397Z,1761701445.397 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:45.649Z,1761701445.649 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:45.706Z,1761701445.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543136,0.838133,0.050363],[-0.825180,0.521732,0.216504],[0.155183,-0.159150,0.974982]] 2025-10-29T01:30:45.725Z,1761701445.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:45.727Z,1761701445.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 177.583466 m, bearing: 309.749465 deg, approach rate: -0.742938 m/s, LOS rate: 0.042290 deg/s, cmd heading: 304.103955 deg, new cmd heading: 304.137734 deg. 2025-10-29T01:30:45.729Z,1761701445.729 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308205 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:45.901Z,1761701445.901 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:46.110Z,1761701446.110 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542864,0.838481,0.047428],[-0.824666,0.521536,0.218920],[0.158825,-0.157956,0.974589]] 2025-10-29T01:30:46.153Z,1761701446.153 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:46.165Z,1761701446.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:46.167Z,1761701446.167 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 177.249237 m, bearing: 309.769128 deg, approach rate: -0.759665 m/s, LOS rate: 0.044777 deg/s, cmd heading: 304.137723 deg, new cmd heading: 304.177124 deg. 2025-10-29T01:30:46.168Z,1761701446.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.308892 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:46.405Z,1761701446.405 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:46.523Z,1761701446.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542631,0.838711,0.045991],[-0.824117,0.521002,0.222235],[0.162429,-0.158494,0.973908]] 2025-10-29T01:30:46.551Z,1761701446.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:46.553Z,1761701446.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 176.955963 m, bearing: 309.786437 deg, approach rate: -0.759816 m/s, LOS rate: 0.044917 deg/s, cmd heading: 304.177120 deg, new cmd heading: 304.211794 deg. 2025-10-29T01:30:46.554Z,1761701446.554 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.309497 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:46.657Z,1761701446.657 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:46.909Z,1761701446.909 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:46.919Z,1761701446.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541944,0.839267,0.043908],[-0.823802,0.520168,0.225334],[0.166276,-0.158290,0.973292]] 2025-10-29T01:30:46.964Z,1761701446.964 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:46.967Z,1761701446.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 176.641495 m, bearing: 309.805249 deg, approach rate: -0.760169 m/s, LOS rate: 0.045557 deg/s, cmd heading: 304.211790 deg, new cmd heading: 304.249482 deg. 2025-10-29T01:30:46.968Z,1761701446.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310155 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:47.161Z,1761701447.161 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:47.355Z,1761701447.355 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:47.357Z,1761701447.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:47.359Z,1761701447.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 176.344101 m, bearing: 309.823105 deg, approach rate: -0.757958 m/s, LOS rate: 0.045584 deg/s, cmd heading: 304.249493 deg, new cmd heading: 304.285263 deg. 2025-10-29T01:30:47.361Z,1761701447.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.310780 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:47.413Z,1761701447.413 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:30:47.665Z,1761701447.665 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:30:47.665Z,1761701447.665 [DAT](INFO): response not received 2025-10-29T01:30:47.666Z,1761701447.666 [DAT](INFO): DAT read: user:740> 2025-10-29T01:30:47.666Z,1761701447.666 [DAT](INFO): DAT read: Tx time:01:30:47.4159 2025-10-29T01:30:47.667Z,1761701447.667 [DAT](INFO): Ping request sent. 2025-10-29T01:30:47.667Z,1761701447.667 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:47.667Z,1761701447.667 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:47.667Z,1761701447.667 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000736 2025-10-29T01:30:47.727Z,1761701447.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541821,0.839558,0.039653],[-0.822526,0.519944,0.230454],[0.172863,-0.157480,0.972275]] 2025-10-29T01:30:47.830Z,1761701447.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:47.846Z,1761701447.846 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 176.026993 m, bearing: 309.842162 deg, approach rate: -0.678785 m/s, LOS rate: 0.040867 deg/s, cmd heading: 304.285255 deg, new cmd heading: 304.323439 deg. 2025-10-29T01:30:47.847Z,1761701447.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.311446 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:47.918Z,1761701447.918 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250963 2025-10-29T01:30:48.169Z,1761701448.169 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502166 2025-10-29T01:30:48.177Z,1761701448.177 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541769,0.839746,0.036222],[-0.821888,0.520238,0.232063],[0.176030,-0.155495,0.972026]] 2025-10-29T01:30:48.239Z,1761701448.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:48.243Z,1761701448.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 175.696915 m, bearing: 309.862012 deg, approach rate: -0.801308 m/s, LOS rate: 0.048279 deg/s, cmd heading: 304.323450 deg, new cmd heading: 304.363224 deg. 2025-10-29T01:30:48.244Z,1761701448.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312140 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:48.421Z,1761701448.421 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754123 2025-10-29T01:30:48.567Z,1761701448.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541857,0.839790,0.033824],[-0.821124,0.520370,0.234457],[0.179293,-0.154816,0.971538]] 2025-10-29T01:30:48.604Z,1761701448.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:48.606Z,1761701448.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 175.420700 m, bearing: 309.878644 deg, approach rate: -0.751065 m/s, LOS rate: 0.045296 deg/s, cmd heading: 304.363229 deg, new cmd heading: 304.396545 deg. 2025-10-29T01:30:48.607Z,1761701448.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.312722 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:48.673Z,1761701448.673 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006349 2025-10-29T01:30:48.925Z,1761701448.925 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258089 2025-10-29T01:30:48.971Z,1761701448.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.541927,0.839859,0.030847],[-0.820402,0.520695,0.236257],[0.182361,-0.153341,0.971201]] 2025-10-29T01:30:49.038Z,1761701449.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:49.047Z,1761701449.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 175.118210 m, bearing: 309.895396 deg, approach rate: -0.697348 m/s, LOS rate: 0.038685 deg/s, cmd heading: 304.396533 deg, new cmd heading: 304.430094 deg. 2025-10-29T01:30:49.052Z,1761701449.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313307 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:49.177Z,1761701449.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510232 2025-10-29T01:30:49.374Z,1761701449.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542141,0.839835,0.027560],[-0.819627,0.521299,0.237612],[0.185188,-0.151409,0.970969]] 2025-10-29T01:30:49.426Z,1761701449.426 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:49.437Z,1761701449.437 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.770205 2025-10-29T01:30:49.445Z,1761701449.445 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:49.447Z,1761701449.447 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 174.814499 m, bearing: 309.912236 deg, approach rate: -0.745934 m/s, LOS rate: 0.041432 deg/s, cmd heading: 304.430083 deg, new cmd heading: 304.463822 deg. 2025-10-29T01:30:49.450Z,1761701449.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.313896 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:49.689Z,1761701449.689 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.021988 2025-10-29T01:30:49.803Z,1761701449.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.542753,0.839516,0.025128],[-0.818603,0.522065,0.239452],[0.187905,-0.150533,0.970583]] 2025-10-29T01:30:49.889Z,1761701449.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:49.891Z,1761701449.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 174.491226 m, bearing: 309.930120 deg, approach rate: -0.727528 m/s, LOS rate: 0.040323 deg/s, cmd heading: 304.463824 deg, new cmd heading: 304.499658 deg. 2025-10-29T01:30:49.904Z,1761701449.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.314522 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:49.944Z,1761701449.944 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.277015 2025-10-29T01:30:50.197Z,1761701450.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530575 2025-10-29T01:30:50.229Z,1761701450.229 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543190,0.839306,0.022593],[-0.817692,0.522711,0.241147],[0.190587,-0.149463,0.970226]] 2025-10-29T01:30:50.292Z,1761701450.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:50.297Z,1761701450.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 174.215744 m, bearing: 309.945684 deg, approach rate: -0.690587 m/s, LOS rate: 0.039079 deg/s, cmd heading: 304.499669 deg, new cmd heading: 304.530847 deg. 2025-10-29T01:30:50.301Z,1761701450.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315066 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:50.449Z,1761701450.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782123 2025-10-29T01:30:50.620Z,1761701450.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.543986,0.838848,0.020314],[-0.816567,0.523654,0.242907],[0.193125,-0.148726,0.969837]] 2025-10-29T01:30:50.647Z,1761701450.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:50.650Z,1761701450.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 173.950455 m, bearing: 309.960613 deg, approach rate: -0.739278 m/s, LOS rate: 0.041664 deg/s, cmd heading: 304.530842 deg, new cmd heading: 304.560744 deg. 2025-10-29T01:30:50.651Z,1761701450.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.315588 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:50.702Z,1761701450.702 [DAT](INFO): DAT read: Rx Time:01:30:50.0110 2025-10-29T01:30:50.703Z,1761701450.703 [DAT](INFO): Rx dataTimestamp_ set to:1761701450.702280 2025-10-29T01:30:50.703Z,1761701450.703 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036654 2025-10-29T01:30:50.953Z,1761701450.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.286234 2025-10-29T01:30:51.033Z,1761701451.033 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.544685,0.838430,0.018824],[-0.815491,0.524278,0.245167],[0.195686,-0.148889,0.969298]] 2025-10-29T01:30:51.082Z,1761701451.082 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 154.03 m. 2025-10-29T01:30:51.085Z,1761701451.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 154.033051 m, nav range: 173.659393 m, bearing: 309.975688 deg, approach rate: -0.668664 m/s, LOS rate: 0.034692 deg/s, cmd heading: 304.560731 deg, new cmd heading: 304.590933 deg. 2025-10-29T01:30:51.086Z,1761701451.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316114 target range: 154.033051 and range: 154.80 m. 2025-10-29T01:30:51.213Z,1761701451.213 [DAT](INFO): DAT read: 01:30:50.0110 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 256, 0.46,-0.083,-1.763,-0.209,-0.353, PHS= 0.372,-1.365, 0.100, RAW= 141.6, 11.0, CAL= 141.1, 12.0, ROT= 8.9, -12.0 2025-10-29T01:30:51.215Z,1761701451.215 [DAT](INFO): got valid direction response: 01:30:50.0110 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 256, 0.46,-0.083,-1.763,-0.209,-0.353, PHS= 0.372,-1.365, 0.100, RAW= 141.6, 11.0, CAL= 141.1, 12.0, ROT= 8.9, -12.0 2025-10-29T01:30:51.215Z,1761701451.215 [DAT](INFO): DAT read: Bearing 113.0, 17.6 (Local) 2025-10-29T01:30:51.216Z,1761701451.216 [DAT](INFO): Local bearing/azimuth received: Bearing 113.0, 17.6 (Local) 2025-10-29T01:30:51.217Z,1761701451.217 [DAT](INFO): DAT read: Range 11 to 50 : 143.2 m (Round-trip 191.0 ms) speed 0.5 m/s 2025-10-29T01:30:51.218Z,1761701451.218 [DAT](INFO): DAT read: user:741> 2025-10-29T01:30:51.219Z,1761701451.219 [DAT](INFO): DAT read: Tx time:01:30:51.1159 2025-10-29T01:30:51.219Z,1761701451.219 [DAT](INFO): Ping request sent. 2025-10-29T01:30:51.219Z,1761701451.219 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:51.219Z,1761701451.219 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:51.221Z,1761701451.221 [DAT](INFO): direction in FSK: [0.966371,0.151330,0.207912] 2025-10-29T01:30:51.221Z,1761701451.221 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:51.221Z,1761701451.221 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:51.224Z,1761701451.224 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:51.225Z,1761701451.225 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:51.430Z,1761701451.430 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.545526,0.837929,0.016618],[-0.814373,0.525298,0.246695],[0.197984,-0.148112,0.968951]] 2025-10-29T01:30:51.454Z,1761701451.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 143.199997 m, deltaT: 16.146638 s, deltaX: -11.600006 m, approachRate: -0.718416 m/s, rangeRepo size: 4 2025-10-29T01:30:51.456Z,1761701451.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 142.473846 m, bearing: 315.053930 deg, lat: 36.779475 deg, lon: -121.859692 deg, deltaT: 16.146638 s, deltaX: -11.559204 m, approachRate: -0.715889 m/s, posRepo size: 4 2025-10-29T01:30:51.476Z,1761701451.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:51.479Z,1761701451.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 168.237411 m, bearing: 310.334665 deg, approach rate: 0.000000 m/s, LOS rate: 0.034692 deg/s, cmd heading: 304.590920 deg, new cmd heading: 304.616661 deg. 2025-10-29T01:30:51.481Z,1761701451.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.316564 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:51.835Z,1761701451.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.546783,0.837136,0.015190],[-0.813045,0.526540,0.248421],[0.199964,-0.148182,0.968533]] 2025-10-29T01:30:51.917Z,1761701451.917 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:51.919Z,1761701451.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:51.922Z,1761701451.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 167.923355 m, bearing: 310.351871 deg, approach rate: -0.673240 m/s, LOS rate: 0.036952 deg/s, cmd heading: 304.616656 deg, new cmd heading: 304.651131 deg. 2025-10-29T01:30:51.923Z,1761701451.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317165 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:51.961Z,1761701451.961 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:51.961Z,1761701451.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:51.962Z,1761701451.962 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:52.213Z,1761701452.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.993613 2025-10-29T01:30:52.320Z,1761701452.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:52.323Z,1761701452.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 167.690063 m, bearing: 310.362803 deg, approach rate: -0.594322 m/s, LOS rate: 0.027890 deg/s, cmd heading: 304.651135 deg, new cmd heading: 304.673030 deg. 2025-10-29T01:30:52.332Z,1761701452.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.317547 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:52.465Z,1761701452.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.246093 2025-10-29T01:30:52.717Z,1761701452.717 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.497749 2025-10-29T01:30:52.731Z,1761701452.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:52.737Z,1761701452.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 167.410919 m, bearing: 310.375924 deg, approach rate: -0.666644 m/s, LOS rate: 0.031387 deg/s, cmd heading: 304.673019 deg, new cmd heading: 304.699305 deg. 2025-10-29T01:30:52.738Z,1761701452.738 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318006 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:52.969Z,1761701452.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.750048 2025-10-29T01:30:53.127Z,1761701453.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:53.146Z,1761701453.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 167.140213 m, bearing: 310.387428 deg, approach rate: -0.682600 m/s, LOS rate: 0.029054 deg/s, cmd heading: 304.699301 deg, new cmd heading: 304.722346 deg. 2025-10-29T01:30:53.147Z,1761701453.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318408 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:53.222Z,1761701453.222 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002431 2025-10-29T01:30:53.473Z,1761701453.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.253758 2025-10-29T01:30:53.479Z,1761701453.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552172,0.833650,0.011583],[-0.807872,0.531562,0.254528],[0.206031,-0.149901,0.966996]] 2025-10-29T01:30:53.530Z,1761701453.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:53.537Z,1761701453.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 166.895645 m, bearing: 310.397205 deg, approach rate: -0.608856 m/s, LOS rate: 0.024376 deg/s, cmd heading: 304.722333 deg, new cmd heading: 304.741916 deg. 2025-10-29T01:30:53.538Z,1761701453.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.318750 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:53.725Z,1761701453.725 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.505705 2025-10-29T01:30:53.977Z,1761701453.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758070 2025-10-29T01:30:54.055Z,1761701454.055 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:54.057Z,1761701454.057 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:54.059Z,1761701454.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 166.534454 m, bearing: 310.413738 deg, approach rate: -0.684191 m/s, LOS rate: 0.031385 deg/s, cmd heading: 304.741922 deg, new cmd heading: 304.775059 deg. 2025-10-29T01:30:54.061Z,1761701454.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319328 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:54.229Z,1761701454.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.009637 2025-10-29T01:30:54.356Z,1761701454.356 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555192,0.831662,0.009995],[-0.804764,0.534123,0.258973],[0.210039,-0.151823,0.965833]] 2025-10-29T01:30:54.386Z,1761701454.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:54.397Z,1761701454.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 166.319412 m, bearing: 310.423286 deg, approach rate: -0.653181 m/s, LOS rate: 0.029038 deg/s, cmd heading: 304.775062 deg, new cmd heading: 304.794182 deg. 2025-10-29T01:30:54.407Z,1761701454.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.319662 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:54.483Z,1761701454.483 [DAT](INFO): DAT read: Rx Time:01:30:53.7077 2025-10-29T01:30:54.483Z,1761701454.483 [DAT](INFO): Rx dataTimestamp_ set to:1761701454.482803 2025-10-29T01:30:54.484Z,1761701454.484 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.265267 2025-10-29T01:30:54.733Z,1761701454.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513806 2025-10-29T01:30:54.765Z,1761701454.765 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556248,0.830955,0.010137],[-0.803742,0.534851,0.260641],[0.211159,-0.153128,0.965383]] 2025-10-29T01:30:54.804Z,1761701454.804 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 142.47 m. 2025-10-29T01:30:54.807Z,1761701454.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 142.473846 m, nav range: 166.047012 m, bearing: 310.435271 deg, approach rate: -0.652169 m/s, LOS rate: 0.028742 deg/s, cmd heading: 304.794186 deg, new cmd heading: 304.818197 deg. 2025-10-29T01:30:54.808Z,1761701454.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320081 target range: 142.473846 and range: 143.20 m. 2025-10-29T01:30:54.991Z,1761701454.991 [DAT](INFO): DAT read: 01:30:53.7077 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 415, 0.10,-0.050,-1.851,-0.191,-0.425, PHS= 0.476,-1.381, 0.189, RAW= 141.8, 8.3, CAL= 141.3, 9.1, ROT= 8.7, -9.1 2025-10-29T01:30:54.992Z,1761701454.992 [DAT](INFO): got valid direction response: 01:30:53.7077 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 415, 0.10,-0.050,-1.851,-0.191,-0.425, PHS= 0.476,-1.381, 0.189, RAW= 141.8, 8.3, CAL= 141.3, 9.1, ROT= 8.7, -9.1 2025-10-29T01:30:54.993Z,1761701454.993 [DAT](INFO): DAT read: Bearing 110.6, 19.0 (Local) 2025-10-29T01:30:54.993Z,1761701454.993 [DAT](INFO): Local bearing/azimuth received: Bearing 110.6, 19.0 (Local) 2025-10-29T01:30:54.995Z,1761701454.995 [DAT](INFO): DAT read: Range 11 to 50 : 140.7 m (Round-trip 187.7 ms) speed 0.4 m/s 2025-10-29T01:30:54.996Z,1761701454.996 [DAT](INFO): DAT read: user:742> 2025-10-29T01:30:54.997Z,1761701454.997 [DAT](INFO): DAT read: Tx time:01:30:54.8158 2025-10-29T01:30:54.998Z,1761701454.998 [DAT](INFO): Ping request sent. 2025-10-29T01:30:54.998Z,1761701454.998 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:54.999Z,1761701454.999 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:55.005Z,1761701455.005 [DAT](INFO): direction in FSK: [0.976053,0.149357,0.158158] 2025-10-29T01:30:55.005Z,1761701455.005 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:55.006Z,1761701455.006 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:55.015Z,1761701455.015 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:55.015Z,1761701455.015 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:55.163Z,1761701455.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556511,0.830774,0.010490],[-0.803327,0.534817,0.261986],[0.212041,-0.154225,0.965015]] 2025-10-29T01:30:55.243Z,1761701455.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 140.699997 m, deltaT: 3.779528 s, deltaX: -2.500000 m, approachRate: -0.661458 m/s, rangeRepo size: 4 2025-10-29T01:30:55.249Z,1761701455.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 139.984619 m, bearing: 315.264573 deg, lat: 36.779350 deg, lon: -121.859376 deg, deltaT: 3.779528 s, deltaX: -2.489227 m, approachRate: -0.658608 m/s, posRepo size: 4 2025-10-29T01:30:55.250Z,1761701455.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:55.257Z,1761701455.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 135.557709 m, bearing: 313.691429 deg, approach rate: 0.000000 m/s, LOS rate: 0.028742 deg/s, cmd heading: 304.818201 deg, new cmd heading: 304.843413 deg. 2025-10-29T01:30:55.258Z,1761701455.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.320521 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:55.605Z,1761701455.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:55.607Z,1761701455.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 135.304581 m, bearing: 313.712537 deg, approach rate: -0.698697 m/s, LOS rate: 0.058374 deg/s, cmd heading: 304.843418 deg, new cmd heading: 304.885714 deg. 2025-10-29T01:30:55.609Z,1761701455.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.321259 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:55.984Z,1761701455.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555826,0.831244,0.009540],[-0.803302,0.534118,0.263485],[0.213925,-0.154115,0.964616]] 2025-10-29T01:30:56.074Z,1761701456.074 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:56.076Z,1761701456.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:56.079Z,1761701456.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 134.982391 m, bearing: 313.741677 deg, approach rate: -0.683327 m/s, LOS rate: 0.061951 deg/s, cmd heading: 304.885711 deg, new cmd heading: 304.944131 deg. 2025-10-29T01:30:56.080Z,1761701456.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322279 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:56.245Z,1761701456.245 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:30:56.245Z,1761701456.245 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:30:56.245Z,1761701456.245 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:30:56.372Z,1761701456.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.555309,0.831595,0.009040],[-0.803280,0.533523,0.264751],[0.215343,-0.154280,0.964274]] 2025-10-29T01:30:56.408Z,1761701456.408 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:56.414Z,1761701456.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 134.760239 m, bearing: 313.761897 deg, approach rate: -0.670287 m/s, LOS rate: 0.061108 deg/s, cmd heading: 304.944123 deg, new cmd heading: 304.984629 deg. 2025-10-29T01:30:56.415Z,1761701456.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.322986 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:56.499Z,1761701456.499 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500778 2025-10-29T01:30:56.749Z,1761701456.749 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751297 2025-10-29T01:30:56.787Z,1761701456.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554831,0.831917,0.008788],[-0.803203,0.532868,0.266302],[0.216859,-0.154811,0.963849]] 2025-10-29T01:30:56.806Z,1761701456.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:56.809Z,1761701456.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 134.482407 m, bearing: 313.787325 deg, approach rate: -0.697072 m/s, LOS rate: 0.063929 deg/s, cmd heading: 304.984639 deg, new cmd heading: 305.035600 deg. 2025-10-29T01:30:56.810Z,1761701456.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.323875 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:57.004Z,1761701457.004 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.005936 2025-10-29T01:30:57.179Z,1761701457.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554148,0.832369,0.009007],[-0.803237,0.531851,0.268227],[0.218474,-0.155872,0.963314]] 2025-10-29T01:30:57.233Z,1761701457.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:57.236Z,1761701457.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 134.178070 m, bearing: 313.815593 deg, approach rate: -0.712957 m/s, LOS rate: 0.066372 deg/s, cmd heading: 305.035593 deg, new cmd heading: 305.092257 deg. 2025-10-29T01:30:57.237Z,1761701457.237 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.324864 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:57.253Z,1761701457.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254735 2025-10-29T01:30:57.508Z,1761701457.508 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509901 2025-10-29T01:30:57.620Z,1761701457.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:57.623Z,1761701457.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 133.902267 m, bearing: 313.841324 deg, approach rate: -0.712958 m/s, LOS rate: 0.066653 deg/s, cmd heading: 305.092256 deg, new cmd heading: 305.143824 deg. 2025-10-29T01:30:57.624Z,1761701457.624 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.325765 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:57.758Z,1761701457.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760414 2025-10-29T01:30:58.010Z,1761701458.010 [DAT](INFO): DAT read: Rx Time:01:30:57.4040 2025-10-29T01:30:58.011Z,1761701458.011 [DAT](INFO): Rx dataTimestamp_ set to:1761701458.010387 2025-10-29T01:30:58.012Z,1761701458.012 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013515 2025-10-29T01:30:58.016Z,1761701458.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552811,0.833273,0.007558],[-0.803150,0.530366,0.271407],[0.222147,-0.156106,0.962435]] 2025-10-29T01:30:58.056Z,1761701458.056 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:58.089Z,1761701458.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 133.597214 m, bearing: 313.871381 deg, approach rate: -0.700112 m/s, LOS rate: 0.069139 deg/s, cmd heading: 305.143837 deg, new cmd heading: 305.204088 deg. 2025-10-29T01:30:58.090Z,1761701458.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.326816 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:58.261Z,1761701458.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.262866 2025-10-29T01:30:58.390Z,1761701458.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552243,0.833658,0.006479],[-0.803017,0.529825,0.272855],[0.224035,-0.155885,0.962033]] 2025-10-29T01:30:58.408Z,1761701458.408 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:30:58.410Z,1761701458.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 139.98 m. 2025-10-29T01:30:58.413Z,1761701458.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 139.984619 m, nav range: 133.349487 m, bearing: 313.895943 deg, approach rate: -0.699198 m/s, LOS rate: 0.069454 deg/s, cmd heading: 305.204080 deg, new cmd heading: 305.253295 deg. 2025-10-29T01:30:58.414Z,1761701458.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.327675 target range: 139.984619 and range: 140.70 m. 2025-10-29T01:30:58.514Z,1761701458.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515859 2025-10-29T01:30:58.773Z,1761701458.773 [DAT](INFO): DAT read: 01:30:57.4040 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 409,-0.14, 0.892,-0.818, 0.782, 0.570, PHS= 0.424,-1.343, 0.168, RAW= 142.3, 9.1, CAL= 141.9, 10.0, ROT= 8.1, -10.0 2025-10-29T01:30:58.775Z,1761701458.775 [DAT](INFO): got valid direction response: 01:30:57.4040 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 409,-0.14, 0.892,-0.818, 0.782, 0.570, PHS= 0.424,-1.343, 0.168, RAW= 142.3, 9.1, CAL= 141.9, 10.0, ROT= 8.1, -10.0 2025-10-29T01:30:58.776Z,1761701458.776 [DAT](INFO): DAT read: Bearing 112.1, 19.1 (Local) 2025-10-29T01:30:58.777Z,1761701458.777 [DAT](INFO): Local bearing/azimuth received: Bearing 112.1, 19.1 (Local) 2025-10-29T01:30:58.779Z,1761701458.779 [DAT](INFO): DAT read: Range 11 to 50 : 138.0 m (Round-trip 184.0 ms) speed 0.6 m/s 2025-10-29T01:30:58.779Z,1761701458.779 [DAT](INFO): DAT read: user:743> 2025-10-29T01:30:58.792Z,1761701458.792 [DAT](INFO): DAT read: Tx time:01:30:58.5173 2025-10-29T01:30:58.793Z,1761701458.793 [DAT](INFO): Ping request sent. 2025-10-29T01:30:58.793Z,1761701458.793 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:30:58.793Z,1761701458.793 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:30:58.794Z,1761701458.794 [DAT](INFO): direction in FSK: [0.974983,0.138761,0.173648] 2025-10-29T01:30:58.794Z,1761701458.794 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:58.794Z,1761701458.794 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:58.806Z,1761701458.806 [DAT](INFO): publishing transmit ping time 2025-10-29T01:30:58.806Z,1761701458.806 [DAT](INFO): publishing direction and range info 2025-10-29T01:30:58.825Z,1761701458.825 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551727,0.834006,0.005681],[-0.802858,0.529252,0.274428],[0.225868,-0.155970,0.961591]] 2025-10-29T01:30:58.903Z,1761701458.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 138.000000 m, deltaT: 3.780287 s, deltaX: -2.699997 m, approachRate: -0.714231 m/s, rangeRepo size: 4 2025-10-29T01:30:58.918Z,1761701458.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 137.298447 m, bearing: 314.693474 deg, lat: 36.779349 deg, lon: -121.859320 deg, deltaT: 3.780287 s, deltaX: -2.686172 m, approachRate: -0.710574 m/s, posRepo size: 4 2025-10-29T01:30:58.918Z,1761701458.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:30:58.925Z,1761701458.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 129.378723 m, bearing: 315.398146 deg, approach rate: 0.000000 m/s, LOS rate: 0.069454 deg/s, cmd heading: 305.253284 deg, new cmd heading: 305.321754 deg. 2025-10-29T01:30:58.926Z,1761701458.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.328870 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:30:59.240Z,1761701459.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551207,0.834355,0.004735],[-0.802683,0.528716,0.275970],[0.227753,-0.155917,0.961155]] 2025-10-29T01:30:59.295Z,1761701459.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:30:59.302Z,1761701459.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 129.097733 m, bearing: 315.432256 deg, approach rate: -0.716332 m/s, LOS rate: 0.087146 deg/s, cmd heading: 305.321750 deg, new cmd heading: 305.390118 deg. 2025-10-29T01:30:59.303Z,1761701459.303 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.330063 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:30:59.642Z,1761701459.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550915,0.834552,0.003808],[-0.802379,0.528411,0.277434],[0.229521,-0.155898,0.960737]] 2025-10-29T01:30:59.660Z,1761701459.660 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:30:59.663Z,1761701459.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 128.821320 m, bearing: 315.465974 deg, approach rate: -0.757807 m/s, LOS rate: 0.092638 deg/s, cmd heading: 305.390107 deg, new cmd heading: 305.457687 deg. 2025-10-29T01:30:59.663Z,1761701459.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.331243 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:00.044Z,1761701460.044 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550715,0.834689,0.002569],[-0.801994,0.528285,0.278784],[0.231341,-0.155591,0.960350]] 2025-10-29T01:31:00.100Z,1761701460.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:00.103Z,1761701460.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 128.519974 m, bearing: 315.502413 deg, approach rate: -0.690604 m/s, LOS rate: 0.083705 deg/s, cmd heading: 305.457698 deg, new cmd heading: 305.530748 deg. 2025-10-29T01:31:00.108Z,1761701460.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.332518 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:00.451Z,1761701460.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550560,0.834795,0.001470],[-0.801583,0.528162,0.280197],[0.233130,-0.155444,0.959941]] 2025-10-29T01:31:00.484Z,1761701460.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:00.487Z,1761701460.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:00.502Z,1761701460.502 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 128.232025 m, bearing: 315.537389 deg, approach rate: -0.738260 m/s, LOS rate: 0.089874 deg/s, cmd heading: 305.530754 deg, new cmd heading: 305.600862 deg. 2025-10-29T01:31:00.503Z,1761701460.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.333741 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:00.529Z,1761701460.529 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:00.529Z,1761701460.529 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:00.529Z,1761701460.529 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:00.782Z,1761701460.782 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988902 2025-10-29T01:31:00.853Z,1761701460.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.550821,0.834623,-0.000776],[-0.800924,0.528841,0.280798],[0.234771,-0.154048,0.959767]] 2025-10-29T01:31:00.873Z,1761701460.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:00.875Z,1761701460.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 127.953041 m, bearing: 315.571374 deg, approach rate: -0.722007 m/s, LOS rate: 0.088145 deg/s, cmd heading: 305.600859 deg, new cmd heading: 305.668978 deg. 2025-10-29T01:31:00.876Z,1761701460.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.334930 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:01.036Z,1761701461.036 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.242395 2025-10-29T01:31:01.285Z,1761701461.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492057 2025-10-29T01:31:01.319Z,1761701461.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551071,0.834456,-0.001960],[-0.800290,0.529171,0.281983],[0.236339,-0.153824,0.959417]] 2025-10-29T01:31:01.355Z,1761701461.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:01.374Z,1761701461.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 127.618782 m, bearing: 315.612930 deg, approach rate: -0.692736 m/s, LOS rate: 0.086348 deg/s, cmd heading: 305.668970 deg, new cmd heading: 305.752299 deg. 2025-10-29T01:31:01.375Z,1761701461.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.336384 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:01.539Z,1761701461.539 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746600 2025-10-29T01:31:01.715Z,1761701461.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.551685,0.834043,-0.004102],[-0.799455,0.530196,0.282425],[0.237729,-0.152530,0.959281]] 2025-10-29T01:31:01.733Z,1761701461.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:01.736Z,1761701461.736 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 127.357559 m, bearing: 315.645457 deg, approach rate: -0.690755 m/s, LOS rate: 0.086190 deg/s, cmd heading: 305.752298 deg, new cmd heading: 305.817487 deg. 2025-10-29T01:31:01.737Z,1761701461.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.337522 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:01.793Z,1761701461.793 [DAT](INFO): DAT read: Rx Time:01:31:01.1018 2025-10-29T01:31:01.794Z,1761701461.794 [DAT](INFO): Rx dataTimestamp_ set to:1761701461.793275 2025-10-29T01:31:01.794Z,1761701461.794 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.001321 2025-10-29T01:31:02.048Z,1761701462.048 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.254906 2025-10-29T01:31:02.121Z,1761701462.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.552688,0.833366,-0.006017],[-0.798666,0.531709,0.281812],[0.238051,-0.150948,0.959451]] 2025-10-29T01:31:02.157Z,1761701462.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 137.30 m. 2025-10-29T01:31:02.159Z,1761701462.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 137.298447 m, nav range: 127.064117 m, bearing: 315.680144 deg, approach rate: -0.692831 m/s, LOS rate: 0.082085 deg/s, cmd heading: 305.817485 deg, new cmd heading: 305.887018 deg. 2025-10-29T01:31:02.181Z,1761701462.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.338736 target range: 137.298447 and range: 138.00 m. 2025-10-29T01:31:02.303Z,1761701462.303 [DAT](INFO): DAT read: 01:31:01.1018 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 403,-0.08, 1.775, 0.079, 1.673, 1.457, PHS= 0.421,-1.333, 0.173, RAW= 142.5, 9.0, CAL= 142.0, 9.9, ROT= 8.0, -9.9 2025-10-29T01:31:02.304Z,1761701462.304 [DAT](INFO): got valid direction response: 01:31:01.1018 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 403,-0.08, 1.775, 0.079, 1.673, 1.457, PHS= 0.421,-1.333, 0.173, RAW= 142.5, 9.0, CAL= 142.0, 9.9, ROT= 8.0, -9.9 2025-10-29T01:31:02.305Z,1761701462.305 [DAT](INFO): DAT read: Bearing 113.7, 19.8 (Local) 2025-10-29T01:31:02.305Z,1761701462.305 [DAT](INFO): Local bearing/azimuth received: Bearing 113.7, 19.8 (Local) 2025-10-29T01:31:02.311Z,1761701462.311 [DAT](INFO): DAT read: Range 11 to 50 : 135.2 m (Round-trip 180.3 ms) speed 0.6 m/s 2025-10-29T01:31:02.323Z,1761701462.323 [DAT](INFO): DAT read: user:744> 2025-10-29T01:31:02.330Z,1761701462.330 [DAT](INFO): DAT read: Tx time:01:31:02.2158 2025-10-29T01:31:02.330Z,1761701462.330 [DAT](INFO): Ping request sent. 2025-10-29T01:31:02.330Z,1761701462.330 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:02.331Z,1761701462.331 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:02.342Z,1761701462.342 [DAT](INFO): direction in FSK: [0.975522,0.137101,0.171929] 2025-10-29T01:31:02.343Z,1761701462.343 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:02.365Z,1761701462.365 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:02.385Z,1761701462.385 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:02.386Z,1761701462.386 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:02.550Z,1761701462.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.553556,0.832778,-0.007598],[-0.798358,0.533229,0.279805],[0.237067,-0.148822,0.960027]] 2025-10-29T01:31:02.573Z,1761701462.573 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 135.199997 m, deltaT: 3.531797 s, deltaX: -2.800003 m, approachRate: -0.792798 m/s, rangeRepo size: 4 2025-10-29T01:31:02.575Z,1761701462.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 134.511963 m, bearing: 314.793228 deg, lat: 36.779339 deg, lon: -121.859320 deg, deltaT: 3.531797 s, deltaX: -2.786484 m, approachRate: -0.788971 m/s, posRepo size: 4 2025-10-29T01:31:02.576Z,1761701462.576 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:02.579Z,1761701462.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 125.907768 m, bearing: 315.369275 deg, approach rate: 0.000000 m/s, LOS rate: 0.082085 deg/s, cmd heading: 305.887017 deg, new cmd heading: 305.955315 deg. 2025-10-29T01:31:02.600Z,1761701462.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.339928 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:02.950Z,1761701462.950 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.554744,0.831984,-0.007857],[-0.798224,0.534851,0.277081],[0.234729,-0.147437,0.960814]] 2025-10-29T01:31:02.967Z,1761701462.967 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:02.970Z,1761701462.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:02.990Z,1761701462.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 125.629509 m, bearing: 315.401663 deg, approach rate: -0.701083 m/s, LOS rate: 0.081783 deg/s, cmd heading: 305.955319 deg, new cmd heading: 306.020238 deg. 2025-10-29T01:31:02.997Z,1761701462.997 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.341061 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:03.055Z,1761701463.055 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:03.055Z,1761701463.055 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:03.059Z,1761701463.059 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:03.310Z,1761701463.310 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.979096 2025-10-29T01:31:03.531Z,1761701463.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556864,0.830580,-0.006261],[-0.799000,0.537720,0.269177],[0.226940,-0.144892,0.963070]] 2025-10-29T01:31:03.561Z,1761701463.561 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230523 2025-10-29T01:31:03.578Z,1761701463.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:03.581Z,1761701463.581 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 125.214111 m, bearing: 315.451250 deg, approach rate: -0.682470 m/s, LOS rate: 0.081739 deg/s, cmd heading: 306.020233 deg, new cmd heading: 306.119736 deg. 2025-10-29T01:31:03.582Z,1761701463.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.342797 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:03.813Z,1761701463.813 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482386 2025-10-29T01:31:03.999Z,1761701463.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.557989,0.829834,-0.004822],[-0.799651,0.539229,0.264179],[0.221825,-0.143553,0.964462]] 2025-10-29T01:31:04.068Z,1761701464.068 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736569 2025-10-29T01:31:04.093Z,1761701464.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:04.096Z,1761701464.096 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 124.886040 m, bearing: 315.490570 deg, approach rate: -0.637578 m/s, LOS rate: 0.076615 deg/s, cmd heading: 306.119735 deg, new cmd heading: 306.198581 deg. 2025-10-29T01:31:04.101Z,1761701464.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.344173 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:04.317Z,1761701464.317 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986402 2025-10-29T01:31:04.451Z,1761701464.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.559710,0.828684,-0.002816],[-0.800064,0.541259,0.258720],[0.215921,-0.142555,0.965948]] 2025-10-29T01:31:04.526Z,1761701464.526 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:04.533Z,1761701464.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 124.587555 m, bearing: 315.524632 deg, approach rate: -0.689548 m/s, LOS rate: 0.078878 deg/s, cmd heading: 306.198583 deg, new cmd heading: 306.266870 deg. 2025-10-29T01:31:04.534Z,1761701464.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.345365 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:04.569Z,1761701464.569 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238622 2025-10-29T01:31:04.821Z,1761701464.821 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490465 2025-10-29T01:31:04.849Z,1761701464.849 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.561351,0.827578,0.000495],[-0.800555,0.542869,0.253781],[0.209755,-0.142857,0.967261]] 2025-10-29T01:31:04.880Z,1761701464.880 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:31:04.889Z,1761701464.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:04.891Z,1761701464.891 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 124.336494 m, bearing: 315.553265 deg, approach rate: -0.691446 m/s, LOS rate: 0.079016 deg/s, cmd heading: 306.266857 deg, new cmd heading: 306.324238 deg. 2025-10-29T01:31:04.897Z,1761701464.897 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.346366 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:05.077Z,1761701465.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745931 2025-10-29T01:31:05.255Z,1761701465.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.562787,0.826595,0.003304],[-0.801127,0.544454,0.248528],[0.203633,-0.142516,0.968619]] 2025-10-29T01:31:05.309Z,1761701465.309 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:05.311Z,1761701465.311 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:05.318Z,1761701465.318 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 124.053116 m, bearing: 315.585997 deg, approach rate: -0.670673 m/s, LOS rate: 0.077645 deg/s, cmd heading: 306.324231 deg, new cmd heading: 306.389845 deg. 2025-10-29T01:31:05.319Z,1761701465.319 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347512 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:05.325Z,1761701465.325 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994592 2025-10-29T01:31:05.581Z,1761701465.581 [DAT](INFO): DAT read: Rx Time:01:31:04.7967 2025-10-29T01:31:05.581Z,1761701465.581 [DAT](INFO): Rx dataTimestamp_ set to:1761701465.580954 2025-10-29T01:31:05.582Z,1761701465.582 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251659 2025-10-29T01:31:05.655Z,1761701465.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.564420,0.825466,0.005960],[-0.801587,0.546339,0.242843],[0.197203,-0.141843,0.970047]] 2025-10-29T01:31:05.681Z,1761701465.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 134.51 m. 2025-10-29T01:31:05.684Z,1761701465.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 134.511963 m, nav range: 123.796463 m, bearing: 315.615632 deg, approach rate: -0.693990 m/s, LOS rate: 0.080298 deg/s, cmd heading: 306.389855 deg, new cmd heading: 306.449247 deg. 2025-10-29T01:31:05.685Z,1761701465.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348548 target range: 134.511963 and range: 135.20 m. 2025-10-29T01:31:05.829Z,1761701465.829 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498585 2025-10-29T01:31:05.887Z,1761701465.887 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:31:06.114Z,1761701466.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.565753,0.824526,0.008962],[-0.802184,0.547843,0.237422],[0.190851,-0.141511,0.971365]] 2025-10-29T01:31:06.117Z,1761701466.117 [DAT](INFO): DAT read: 01:31:04.7967 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 398,-0.30, 2.665, 0.921, 2.568, 2.336, PHS= 0.431,-1.370, 0.188, RAW= 142.9, 8.9, CAL= 142.4, 9.7, ROT= 7.6, -9.7 2025-10-29T01:31:06.118Z,1761701466.118 [DAT](INFO): got valid direction response: 01:31:04.7967 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 398,-0.30, 2.665, 0.921, 2.568, 2.336, PHS= 0.431,-1.370, 0.188, RAW= 142.9, 8.9, CAL= 142.4, 9.7, ROT= 7.6, -9.7 2025-10-29T01:31:06.119Z,1761701466.119 [DAT](INFO): DAT read: Bearing 114.3, 17.8 (Local) 2025-10-29T01:31:06.119Z,1761701466.119 [DAT](INFO): Local bearing/azimuth received: Bearing 114.3, 17.8 (Local) 2025-10-29T01:31:06.125Z,1761701466.125 [DAT](INFO): DAT read: Range 11 to 50 : 132.5 m (Round-trip 176.7 ms) speed 0.5 m/s 2025-10-29T01:31:06.126Z,1761701466.126 [DAT](INFO): DAT read: user:745> 2025-10-29T01:31:06.127Z,1761701466.127 [DAT](INFO): DAT read: Tx time:01:31:05.9159 2025-10-29T01:31:06.127Z,1761701466.127 [DAT](INFO): Ping request sent. 2025-10-29T01:31:06.127Z,1761701466.127 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:06.127Z,1761701466.127 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:06.132Z,1761701466.132 [DAT](INFO): direction in FSK: [0.977045,0.130366,0.168489] 2025-10-29T01:31:06.133Z,1761701466.133 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:06.133Z,1761701466.133 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:06.168Z,1761701466.168 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:06.169Z,1761701466.169 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:06.238Z,1761701466.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 132.500000 m, deltaT: 3.785439 s, deltaX: -2.699997 m, approachRate: -0.713259 m/s, rangeRepo size: 4 2025-10-29T01:31:06.245Z,1761701466.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 131.825912 m, bearing: 314.545603 deg, lat: 36.779329 deg, lon: -121.859320 deg, deltaT: 3.785439 s, deltaX: -2.686050 m, approachRate: -0.709574 m/s, posRepo size: 4 2025-10-29T01:31:06.245Z,1761701466.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:06.252Z,1761701466.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 122.697151 m, bearing: 315.316776 deg, approach rate: 0.000000 m/s, LOS rate: 0.080298 deg/s, cmd heading: 306.449251 deg, new cmd heading: 306.538616 deg. 2025-10-29T01:31:06.253Z,1761701466.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.350108 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:06.577Z,1761701466.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.567500,0.823291,0.011639],[-0.802485,0.549884,0.231614],[0.184285,-0.140781,0.972738]] 2025-10-29T01:31:06.610Z,1761701466.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:06.613Z,1761701466.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 122.438927 m, bearing: 315.345816 deg, approach rate: -0.692989 m/s, LOS rate: 0.078099 deg/s, cmd heading: 306.538617 deg, new cmd heading: 306.596820 deg. 2025-10-29T01:31:06.614Z,1761701466.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.351124 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:06.975Z,1761701466.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.569005,0.822207,0.014482],[-0.802869,0.551641,0.226037],[0.177860,-0.140243,0.974011]] 2025-10-29T01:31:07.027Z,1761701467.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:07.030Z,1761701467.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 122.177925 m, bearing: 315.375157 deg, approach rate: -0.626448 m/s, LOS rate: 0.070573 deg/s, cmd heading: 306.596810 deg, new cmd heading: 306.655617 deg. 2025-10-29T01:31:07.031Z,1761701467.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.352150 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:07.378Z,1761701467.378 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.570324,0.821247,0.016853],[-0.803322,0.553358,0.220157],[0.171477,-0.139099,0.975319]] 2025-10-29T01:31:07.484Z,1761701467.484 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:07.488Z,1761701467.488 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:07.493Z,1761701467.493 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 121.858368 m, bearing: 315.410261 deg, approach rate: -0.694229 m/s, LOS rate: 0.076462 deg/s, cmd heading: 306.655604 deg, new cmd heading: 306.725996 deg. 2025-10-29T01:31:07.495Z,1761701467.495 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.353378 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:07.597Z,1761701467.597 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:07.598Z,1761701467.598 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:07.598Z,1761701467.598 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:07.790Z,1761701467.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.572046,0.819966,0.020472],[-0.803429,0.555135,0.215238],[0.165123,-0.139574,0.976347]] 2025-10-29T01:31:07.818Z,1761701467.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:07.821Z,1761701467.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 121.625443 m, bearing: 315.435799 deg, approach rate: -0.703398 m/s, LOS rate: 0.077269 deg/s, cmd heading: 306.725982 deg, new cmd heading: 306.777157 deg. 2025-10-29T01:31:07.822Z,1761701467.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.354271 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:07.849Z,1761701467.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.721878 2025-10-29T01:31:08.104Z,1761701468.104 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.976712 2025-10-29T01:31:08.207Z,1761701468.207 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573535,0.818835,0.023830],[-0.803578,0.556722,0.210533],[0.159125,-0.139897,0.977296]] 2025-10-29T01:31:08.274Z,1761701468.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:08.277Z,1761701468.277 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 121.321320 m, bearing: 315.470438 deg, approach rate: -0.667912 m/s, LOS rate: 0.076265 deg/s, cmd heading: 306.777154 deg, new cmd heading: 306.846606 deg. 2025-10-29T01:31:08.278Z,1761701468.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.355484 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:08.354Z,1761701468.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.227388 2025-10-29T01:31:08.605Z,1761701468.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.477824 2025-10-29T01:31:08.658Z,1761701468.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:08.661Z,1761701468.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 121.063988 m, bearing: 315.499888 deg, approach rate: -0.669955 m/s, LOS rate: 0.076835 deg/s, cmd heading: 306.846604 deg, new cmd heading: 306.905629 deg. 2025-10-29T01:31:08.662Z,1761701468.662 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.356514 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:08.858Z,1761701468.858 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.730441 2025-10-29T01:31:09.073Z,1761701469.073 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.576402,0.816653,0.028956],[-0.803703,0.560143,0.200749],[0.147723,-0.138984,0.979215]] 2025-10-29T01:31:09.099Z,1761701469.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:09.102Z,1761701469.102 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 120.770523 m, bearing: 315.533278 deg, approach rate: -0.664773 m/s, LOS rate: 0.075822 deg/s, cmd heading: 306.905616 deg, new cmd heading: 306.972560 deg. 2025-10-29T01:31:09.103Z,1761701469.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.357682 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:09.112Z,1761701469.112 [DAT](INFO): DAT read: Rx Time:01:31:08.4933 2025-10-29T01:31:09.114Z,1761701469.114 [DAT](INFO): Rx dataTimestamp_ set to:1761701469.112714 2025-10-29T01:31:09.117Z,1761701469.117 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.989588 2025-10-29T01:31:09.364Z,1761701469.364 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.236681 2025-10-29T01:31:09.542Z,1761701469.542 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:09.544Z,1761701469.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 131.83 m. 2025-10-29T01:31:09.547Z,1761701469.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 131.825912 m, nav range: 120.468948 m, bearing: 315.565135 deg, approach rate: -0.678213 m/s, LOS rate: 0.071822 deg/s, cmd heading: 306.972552 deg, new cmd heading: 307.036425 deg. 2025-10-29T01:31:09.564Z,1761701469.564 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.358797 target range: 131.825912 and range: 132.50 m. 2025-10-29T01:31:09.614Z,1761701469.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.486739 2025-10-29T01:31:09.872Z,1761701469.872 [DAT](INFO): DAT read: 01:31:08.4933 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 411, 0.43, 2.197, 0.466, 2.125, 1.920, PHS= 0.379,-1.409, 0.161, RAW= 143.6, 10.3, CAL= 143.1, 11.2, ROT= 6.9, -11.2 2025-10-29T01:31:09.873Z,1761701469.873 [DAT](INFO): got valid direction response: 01:31:08.4933 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 411, 0.43, 2.197, 0.466, 2.125, 1.920, PHS= 0.379,-1.409, 0.161, RAW= 143.6, 10.3, CAL= 143.1, 11.2, ROT= 6.9, -11.2 2025-10-29T01:31:09.874Z,1761701469.874 [DAT](INFO): DAT read: Bearing 117.4, 13.5 (Local) 2025-10-29T01:31:09.874Z,1761701469.874 [DAT](INFO): Local bearing/azimuth received: Bearing 117.4, 13.5 (Local) 2025-10-29T01:31:09.876Z,1761701469.876 [DAT](INFO): DAT read: Range 11 to 50 : 129.9 m (Round-trip 173.3 ms) speed 1.1 m/s 2025-10-29T01:31:09.877Z,1761701469.877 [DAT](INFO): DAT read: user:746> 2025-10-29T01:31:09.877Z,1761701469.877 [DAT](INFO): DAT read: Tx time:01:31:09.6159 2025-10-29T01:31:09.878Z,1761701469.878 [DAT](INFO): Ping request sent. 2025-10-29T01:31:09.878Z,1761701469.878 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:09.878Z,1761701469.878 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:09.879Z,1761701469.879 [DAT](INFO): direction in FSK: [0.973850,0.117849,0.194234] 2025-10-29T01:31:09.879Z,1761701469.879 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:09.879Z,1761701469.879 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:09.883Z,1761701469.883 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:09.883Z,1761701469.883 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:09.938Z,1761701469.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.581002,0.813113,0.035832],[-0.802929,0.565408,0.188729],[0.133198,-0.138422,0.981375]] 2025-10-29T01:31:10.018Z,1761701470.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 129.899994 m, deltaT: 3.782564 s, deltaX: -2.600006 m, approachRate: -0.687366 m/s, rangeRepo size: 4 2025-10-29T01:31:10.033Z,1761701470.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 129.225708 m, bearing: 314.572623 deg, lat: 36.779329 deg, lon: -121.859320 deg, deltaT: 3.782564 s, deltaX: -2.600204 m, approachRate: -0.687419 m/s, posRepo size: 4 2025-10-29T01:31:10.034Z,1761701470.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:10.040Z,1761701470.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 120.223312 m, bearing: 315.572691 deg, approach rate: 0.000000 m/s, LOS rate: 0.071822 deg/s, cmd heading: 307.036428 deg, new cmd heading: 307.104461 deg. 2025-10-29T01:31:10.041Z,1761701470.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.359984 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:10.416Z,1761701470.416 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.582403,0.812027,0.037683],[-0.802601,0.567049,0.185170],[0.128995,-0.138088,0.981984]] 2025-10-29T01:31:10.453Z,1761701470.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:10.455Z,1761701470.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 119.898903 m, bearing: 315.607808 deg, approach rate: -0.745860 m/s, LOS rate: 0.080958 deg/s, cmd heading: 307.104457 deg, new cmd heading: 307.174882 deg. 2025-10-29T01:31:10.474Z,1761701470.474 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.361213 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:10.831Z,1761701470.831 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.583809,0.810953,0.039013],[-0.802214,0.568787,0.181477],[0.124979,-0.137245,0.982621]] 2025-10-29T01:31:10.853Z,1761701470.853 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:10.856Z,1761701470.856 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 119.625664 m, bearing: 315.637348 deg, approach rate: -0.682339 m/s, LOS rate: 0.073935 deg/s, cmd heading: 307.174890 deg, new cmd heading: 307.234104 deg. 2025-10-29T01:31:10.857Z,1761701470.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.362247 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:11.231Z,1761701471.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.584849,0.810065,0.041785],[-0.802022,0.569803,0.179123],[0.121292,-0.138273,0.982939]] 2025-10-29T01:31:11.298Z,1761701471.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:11.301Z,1761701471.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 119.319275 m, bearing: 315.668272 deg, approach rate: -0.688548 m/s, LOS rate: 0.069674 deg/s, cmd heading: 307.234094 deg, new cmd heading: 307.296100 deg. 2025-10-29T01:31:11.302Z,1761701471.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.363329 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:11.639Z,1761701471.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.586410,0.808870,0.043045],[-0.801446,0.571678,0.175694],[0.117506,-0.137526,0.983503]] 2025-10-29T01:31:11.662Z,1761701471.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:11.665Z,1761701471.665 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:11.668Z,1761701471.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 119.067230 m, bearing: 315.693629 deg, approach rate: -0.686778 m/s, LOS rate: 0.069242 deg/s, cmd heading: 307.296112 deg, new cmd heading: 307.346935 deg. 2025-10-29T01:31:11.669Z,1761701471.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.364216 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:11.885Z,1761701471.885 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:11.885Z,1761701471.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:11.885Z,1761701471.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:12.141Z,1761701472.141 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263038 2025-10-29T01:31:12.213Z,1761701472.213 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.588201,0.807486,0.044559],[-0.800681,0.573727,0.172472],[0.113704,-0.137126,0.984006]] 2025-10-29T01:31:12.257Z,1761701472.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:12.261Z,1761701472.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 118.655281 m, bearing: 315.737883 deg, approach rate: -0.695841 m/s, LOS rate: 0.075010 deg/s, cmd heading: 307.346929 deg, new cmd heading: 307.435743 deg. 2025-10-29T01:31:12.262Z,1761701472.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365766 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:12.389Z,1761701472.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.511300 2025-10-29T01:31:12.582Z,1761701472.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589699,0.806289,0.046408],[-0.800081,0.575392,0.169687],[0.110114,-0.137195,0.984405]] 2025-10-29T01:31:12.600Z,1761701472.600 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:12.603Z,1761701472.603 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 118.416679 m, bearing: 315.763465 deg, approach rate: -0.694617 m/s, LOS rate: 0.074626 deg/s, cmd heading: 307.435748 deg, new cmd heading: 307.487016 deg. 2025-10-29T01:31:12.604Z,1761701472.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366661 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:12.641Z,1761701472.641 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763200 2025-10-29T01:31:12.897Z,1761701472.897 [DAT](INFO): DAT read: Rx Time:01:31:12.1898 2025-10-29T01:31:12.897Z,1761701472.897 [DAT](INFO): Rx dataTimestamp_ set to:1761701472.897048 2025-10-29T01:31:12.898Z,1761701472.898 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020048 2025-10-29T01:31:13.017Z,1761701473.017 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.591167,0.805104,0.048255],[-0.799459,0.577005,0.167122],[0.106708,-0.137375,0.984755]] 2025-10-29T01:31:13.035Z,1761701473.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 129.23 m. 2025-10-29T01:31:13.054Z,1761701473.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 129.225708 m, nav range: 118.113869 m, bearing: 315.795839 deg, approach rate: -0.696414 m/s, LOS rate: 0.074645 deg/s, cmd heading: 307.487029 deg, new cmd heading: 307.551943 deg. 2025-10-29T01:31:13.055Z,1761701473.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367794 target range: 129.225708 and range: 129.90 m. 2025-10-29T01:31:13.153Z,1761701473.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274385 2025-10-29T01:31:13.418Z,1761701473.418 [DAT](INFO): DAT read: 01:31:12.1898 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 407, 0.05,-0.144,-1.927,-0.188,-0.396, PHS= 0.354,-1.486, 0.164, RAW= 144.6, 11.0, CAL= 144.2, 12.0, ROT= 5.8, -12.0 2025-10-29T01:31:13.419Z,1761701473.419 [DAT](INFO): got valid direction response: 01:31:12.1898 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 407, 0.05,-0.144,-1.927,-0.188,-0.396, PHS= 0.354,-1.486, 0.164, RAW= 144.6, 11.0, CAL= 144.2, 12.0, ROT= 5.8, -12.0 2025-10-29T01:31:13.425Z,1761701473.425 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.592382,0.804103,0.050020],[-0.798946,0.578317,0.165030],[0.103773,-0.137724,0.985019]] 2025-10-29T01:31:13.427Z,1761701473.427 [DAT](INFO): DAT read: Bearing 118.2, 10.5 (Local) 2025-10-29T01:31:13.427Z,1761701473.427 [DAT](INFO): Local bearing/azimuth received: Bearing 118.2, 10.5 (Local) 2025-10-29T01:31:13.429Z,1761701473.429 [DAT](INFO): DAT read: Range 11 to 50 : 127.3 m (Round-trip 169.8 ms) speed 0.6 m/s 2025-10-29T01:31:13.429Z,1761701473.429 [DAT](INFO): DAT read: user:747> 2025-10-29T01:31:13.430Z,1761701473.430 [DAT](INFO): DAT read: Tx time:01:31:13.3159 2025-10-29T01:31:13.430Z,1761701473.430 [DAT](INFO): Ping request sent. 2025-10-29T01:31:13.430Z,1761701473.430 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:13.431Z,1761701473.431 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:13.440Z,1761701473.440 [DAT](INFO): direction in FSK: [0.973140,0.098848,0.207912] 2025-10-29T01:31:13.440Z,1761701473.440 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:13.440Z,1761701473.440 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:13.443Z,1761701473.443 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:13.448Z,1761701473.448 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:13.555Z,1761701473.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 127.300003 m, deltaT: 3.536003 s, deltaX: -2.599991 m, approachRate: -0.735291 m/s, rangeRepo size: 4 2025-10-29T01:31:13.574Z,1761701473.574 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 126.636017 m, bearing: 314.167369 deg, lat: 36.779329 deg, lon: -121.859346 deg, deltaT: 3.536003 s, deltaX: -2.589691 m, approachRate: -0.732378 m/s, posRepo size: 4 2025-10-29T01:31:13.575Z,1761701473.575 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:13.578Z,1761701473.578 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 119.327690 m, bearing: 315.037228 deg, approach rate: 0.000000 m/s, LOS rate: 0.074645 deg/s, cmd heading: 307.551944 deg, new cmd heading: 307.629472 deg. 2025-10-29T01:31:13.579Z,1761701473.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.369147 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:13.968Z,1761701473.968 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:13.973Z,1761701473.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:13.977Z,1761701473.977 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 119.027138 m, bearing: 315.070489 deg, approach rate: -0.720212 m/s, LOS rate: 0.079905 deg/s, cmd heading: 307.629480 deg, new cmd heading: 307.696170 deg. 2025-10-29T01:31:13.979Z,1761701473.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.370311 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:14.158Z,1761701474.158 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:14.158Z,1761701474.158 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:14.158Z,1761701474.158 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:14.368Z,1761701474.368 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:14.371Z,1761701474.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 118.737457 m, bearing: 315.106824 deg, approach rate: -0.731744 m/s, LOS rate: 0.092008 deg/s, cmd heading: 307.696170 deg, new cmd heading: 307.769017 deg. 2025-10-29T01:31:14.372Z,1761701474.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.371583 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:14.409Z,1761701474.409 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.978886 2025-10-29T01:31:14.661Z,1761701474.661 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.230444 2025-10-29T01:31:14.790Z,1761701474.790 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.595530,0.801532,0.053759],[-0.797652,0.582049,0.158023],[0.095370,-0.136989,0.985971]] 2025-10-29T01:31:14.809Z,1761701474.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:14.812Z,1761701474.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 118.414024 m, bearing: 315.147040 deg, approach rate: -0.733037 m/s, LOS rate: 0.091395 deg/s, cmd heading: 307.769007 deg, new cmd heading: 307.849659 deg. 2025-10-29T01:31:14.813Z,1761701474.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.372990 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:14.914Z,1761701474.914 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.482843 2025-10-29T01:31:15.165Z,1761701475.165 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.734453 2025-10-29T01:31:15.191Z,1761701475.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.596536,0.800701,0.054976],[-0.797096,0.583066,0.157074],[0.093715,-0.137521,0.986056]] 2025-10-29T01:31:15.281Z,1761701475.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:15.283Z,1761701475.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 118.080383 m, bearing: 315.188561 deg, approach rate: -0.714847 m/s, LOS rate: 0.089211 deg/s, cmd heading: 307.849658 deg, new cmd heading: 307.932933 deg. 2025-10-29T01:31:15.289Z,1761701475.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.374444 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:15.417Z,1761701475.417 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.986518 2025-10-29T01:31:15.669Z,1761701475.669 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.238505 2025-10-29T01:31:15.696Z,1761701475.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597009,0.800368,0.054684],[-0.796837,0.583720,0.155955],[0.092902,-0.136681,0.986249]] 2025-10-29T01:31:15.778Z,1761701475.778 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:15.781Z,1761701475.781 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 117.722672 m, bearing: 315.232643 deg, approach rate: -0.712335 m/s, LOS rate: 0.088052 deg/s, cmd heading: 307.932932 deg, new cmd heading: 308.021365 deg. 2025-10-29T01:31:15.782Z,1761701475.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375987 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:15.926Z,1761701475.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495455 2025-10-29T01:31:16.173Z,1761701476.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.742385 2025-10-29T01:31:16.178Z,1761701476.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597417,0.800104,0.054099],[-0.796548,0.584252,0.155438],[0.092759,-0.135954,0.986363]] 2025-10-29T01:31:16.269Z,1761701476.269 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:16.271Z,1761701476.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:16.278Z,1761701476.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 117.359680 m, bearing: 315.277570 deg, approach rate: -0.735989 m/s, LOS rate: 0.091374 deg/s, cmd heading: 308.021369 deg, new cmd heading: 308.111501 deg. 2025-10-29T01:31:16.279Z,1761701476.279 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.377560 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:16.425Z,1761701476.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.994445 2025-10-29T01:31:16.589Z,1761701476.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.597886,0.799817,0.053150],[-0.796177,0.584862,0.155042],[0.092920,-0.135015,0.986477]] 2025-10-29T01:31:16.633Z,1761701476.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:16.635Z,1761701476.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 117.069748 m, bearing: 315.315578 deg, approach rate: -0.801906 m/s, LOS rate: 0.105382 deg/s, cmd heading: 308.111500 deg, new cmd heading: 308.187702 deg. 2025-10-29T01:31:16.636Z,1761701476.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.378890 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:16.678Z,1761701476.678 [DAT](INFO): DAT read: Rx Time:01:31:15.8860 2025-10-29T01:31:16.678Z,1761701476.678 [DAT](INFO): Rx dataTimestamp_ set to:1761701476.677845 2025-10-29T01:31:16.679Z,1761701476.679 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248549 2025-10-29T01:31:16.929Z,1761701476.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.498439 2025-10-29T01:31:16.999Z,1761701476.999 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.598636,0.799319,0.052195],[-0.795559,0.585694,0.155075],[0.093384,-0.134358,0.986523]] 2025-10-29T01:31:17.070Z,1761701477.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 126.64 m. 2025-10-29T01:31:17.077Z,1761701477.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 126.636017 m, nav range: 116.783234 m, bearing: 315.353188 deg, approach rate: -0.655039 m/s, LOS rate: 0.086198 deg/s, cmd heading: 308.187698 deg, new cmd heading: 308.263103 deg. 2025-10-29T01:31:17.078Z,1761701477.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380206 target range: 126.636017 and range: 127.30 m. 2025-10-29T01:31:17.188Z,1761701477.188 [DAT](INFO): DAT read: 01:31:15.8860 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.27, 1.214,-0.562, 1.199, 0.973, PHS= 0.343,-1.489, 0.182, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-29T01:31:17.189Z,1761701477.189 [DAT](INFO): got valid direction response: 01:31:15.8860 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 400, 0.27, 1.214,-0.562, 1.199, 0.973, PHS= 0.343,-1.489, 0.182, RAW= 145.5, 11.0, CAL= 145.1, 12.0, ROT= 4.9, -12.0 2025-10-29T01:31:17.190Z,1761701477.190 [DAT](INFO): DAT read: Bearing 119.0, 8.7 (Local) 2025-10-29T01:31:17.190Z,1761701477.190 [DAT](INFO): Local bearing/azimuth received: Bearing 119.0, 8.7 (Local) 2025-10-29T01:31:17.192Z,1761701477.192 [DAT](INFO): DAT read: Range 11 to 50 : 124.5 m (Round-trip 166.0 ms) speed 0.6 m/s 2025-10-29T01:31:17.193Z,1761701477.193 [DAT](INFO): DAT read: user:748> 2025-10-29T01:31:17.194Z,1761701477.194 [DAT](INFO): DAT read: Tx time:01:31:17.0159 2025-10-29T01:31:17.194Z,1761701477.194 [DAT](INFO): Ping request sent. 2025-10-29T01:31:17.194Z,1761701477.194 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:17.195Z,1761701477.195 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:17.195Z,1761701477.195 [DAT](INFO): direction in FSK: [0.974573,0.083550,0.207912] 2025-10-29T01:31:17.196Z,1761701477.196 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:17.196Z,1761701477.196 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:17.199Z,1761701477.199 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:17.200Z,1761701477.200 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:17.411Z,1761701477.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.599554,0.798598,0.052700],[-0.794811,0.586400,0.156242],[0.093871,-0.135562,0.986312]] 2025-10-29T01:31:17.508Z,1761701477.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 124.500000 m, deltaT: 3.780556 s, deltaX: -2.800003 m, approachRate: -0.740633 m/s, rangeRepo size: 4 2025-10-29T01:31:17.510Z,1761701477.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 123.850029 m, bearing: 313.683862 deg, lat: 36.779328 deg, lon: -121.859360 deg, deltaT: 3.780556 s, deltaX: -2.785988 m, approachRate: -0.736925 m/s, posRepo size: 4 2025-10-29T01:31:17.511Z,1761701477.511 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:17.528Z,1761701477.528 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 117.300529 m, bearing: 314.944536 deg, approach rate: 0.000000 m/s, LOS rate: 0.086198 deg/s, cmd heading: 308.263103 deg, new cmd heading: 308.337823 deg. 2025-10-29T01:31:17.529Z,1761701477.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381510 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:17.852Z,1761701477.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.600547,0.797905,0.051872],[-0.793984,0.587412,0.156643],[0.094516,-0.135257,0.986292]] 2025-10-29T01:31:17.878Z,1761701477.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:17.881Z,1761701477.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 117.000511 m, bearing: 314.982537 deg, approach rate: -0.800991 m/s, LOS rate: 0.101714 deg/s, cmd heading: 308.337825 deg, new cmd heading: 308.414021 deg. 2025-10-29T01:31:17.882Z,1761701477.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382840 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:18.294Z,1761701478.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.601764,0.797056,0.050799],[-0.792958,0.588653,0.157181],[0.095379,-0.134867,0.986262]] 2025-10-29T01:31:18.335Z,1761701478.335 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:18.338Z,1761701478.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:18.357Z,1761701478.357 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 116.671295 m, bearing: 315.020427 deg, approach rate: -0.716433 m/s, LOS rate: 0.082688 deg/s, cmd heading: 308.414023 deg, new cmd heading: 308.490017 deg. 2025-10-29T01:31:18.358Z,1761701478.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384167 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:18.442Z,1761701478.442 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:18.442Z,1761701478.442 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:18.442Z,1761701478.442 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:18.682Z,1761701478.682 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.603136,0.796100,0.049514],[-0.791829,0.590111,0.157402],[0.096089,-0.134141,0.986293]] 2025-10-29T01:31:18.693Z,1761701478.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.498988 2025-10-29T01:31:18.703Z,1761701478.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:18.706Z,1761701478.706 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 116.408661 m, bearing: 315.050578 deg, approach rate: -0.719067 m/s, LOS rate: 0.082737 deg/s, cmd heading: 308.490029 deg, new cmd heading: 308.550468 deg. 2025-10-29T01:31:18.707Z,1761701478.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.385221 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:18.946Z,1761701478.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751749 2025-10-29T01:31:19.082Z,1761701479.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604807,0.794976,0.047144],[-0.790448,0.592047,0.157072],[0.096957,-0.132263,0.986461]] 2025-10-29T01:31:19.101Z,1761701479.101 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:19.104Z,1761701479.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 116.122948 m, bearing: 315.083239 deg, approach rate: -0.717934 m/s, LOS rate: 0.082273 deg/s, cmd heading: 308.550463 deg, new cmd heading: 308.615946 deg. 2025-10-29T01:31:19.105Z,1761701479.105 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.386364 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:19.197Z,1761701479.197 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.002569 2025-10-29T01:31:19.449Z,1761701479.449 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.254942 2025-10-29T01:31:19.561Z,1761701479.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.608467,0.792298,0.045079],[-0.787469,0.595771,0.157955],[0.098291,-0.131609,0.986417]] 2025-10-29T01:31:19.619Z,1761701479.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:19.622Z,1761701479.622 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 115.776047 m, bearing: 315.116398 deg, approach rate: -0.669401 m/s, LOS rate: 0.064177 deg/s, cmd heading: 308.615950 deg, new cmd heading: 308.682467 deg. 2025-10-29T01:31:19.623Z,1761701479.623 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.387526 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:19.702Z,1761701479.702 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507201 2025-10-29T01:31:19.953Z,1761701479.953 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.758657 2025-10-29T01:31:19.974Z,1761701479.974 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.609997,0.791184,0.043950],[-0.786194,0.597355,0.158322],[0.099009,-0.131129,0.986409]] 2025-10-29T01:31:20.023Z,1761701480.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:20.026Z,1761701480.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 115.483437 m, bearing: 315.144231 deg, approach rate: -0.723906 m/s, LOS rate: 0.069031 deg/s, cmd heading: 308.682477 deg, new cmd heading: 308.738283 deg. 2025-10-29T01:31:20.027Z,1761701480.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388500 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:20.205Z,1761701480.205 [DAT](INFO): DAT read: Rx Time:01:31:19.5825 2025-10-29T01:31:20.205Z,1761701480.205 [DAT](INFO): Rx dataTimestamp_ set to:1761701480.205165 2025-10-29T01:31:20.206Z,1761701480.206 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011723 2025-10-29T01:31:20.447Z,1761701480.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.611793,0.789782,0.044199],[-0.784650,0.598844,0.160343],[0.100168,-0.132777,0.986071]] 2025-10-29T01:31:20.459Z,1761701480.459 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264011 2025-10-29T01:31:20.583Z,1761701480.583 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:20.606Z,1761701480.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 123.85 m. 2025-10-29T01:31:20.620Z,1761701480.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 123.850029 m, nav range: 115.107307 m, bearing: 315.177904 deg, approach rate: -0.645966 m/s, LOS rate: 0.058019 deg/s, cmd heading: 308.738293 deg, new cmd heading: 308.805859 deg. 2025-10-29T01:31:20.621Z,1761701480.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.389679 target range: 123.850029 and range: 124.50 m. 2025-10-29T01:31:20.711Z,1761701480.711 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.515620 2025-10-29T01:31:20.983Z,1761701480.983 [DAT](INFO): DAT read: 01:31:19.5825 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.13, 0.495,-1.214, 0.548, 0.311, PHS= 0.287,-1.480, 0.193, RAW= 147.3, 11.6, CAL= 147.0, 12.7, ROT= 3.0, -12.7 2025-10-29T01:31:20.985Z,1761701480.985 [DAT](INFO): got valid direction response: 01:31:19.5825 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 412,-0.13, 0.495,-1.214, 0.548, 0.311, PHS= 0.287,-1.480, 0.193, RAW= 147.3, 11.6, CAL= 147.0, 12.7, ROT= 3.0, -12.7 2025-10-29T01:31:20.986Z,1761701480.986 [DAT](INFO): DAT read: Bearing 120.9, 6.9 (Local) 2025-10-29T01:31:20.987Z,1761701480.987 [DAT](INFO): Local bearing/azimuth received: Bearing 120.9, 6.9 (Local) 2025-10-29T01:31:21.005Z,1761701481.005 [DAT](INFO): DAT read: Range 11 to 50 : 121.8 m (Round-trip 162.5 ms) speed 0.4 m/s 2025-10-29T01:31:21.006Z,1761701481.006 [DAT](INFO): DAT read: user:749> 2025-10-29T01:31:21.006Z,1761701481.006 [DAT](INFO): DAT read: Tx time:01:31:20.6659 2025-10-29T01:31:21.007Z,1761701481.007 [DAT](INFO): Ping request sent. 2025-10-29T01:31:21.007Z,1761701481.007 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:21.007Z,1761701481.007 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:21.013Z,1761701481.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.613709,0.788271,0.044600],[-0.782941,0.600330,0.163116],[0.101804,-0.135025,0.985598]] 2025-10-29T01:31:21.016Z,1761701481.016 [DAT](INFO): direction in FSK: [0.974198,0.051056,0.219846] 2025-10-29T01:31:21.016Z,1761701481.016 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:21.017Z,1761701481.017 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:21.024Z,1761701481.024 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:21.027Z,1761701481.027 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:21.119Z,1761701481.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 121.800003 m, deltaT: 3.780405 s, deltaX: -2.699997 m, approachRate: -0.714208 m/s, rangeRepo size: 4 2025-10-29T01:31:21.136Z,1761701481.136 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 121.165634 m, bearing: 312.941899 deg, lat: 36.779328 deg, lon: -121.859375 deg, deltaT: 3.780405 s, deltaX: -2.684395 m, approachRate: -0.710081 m/s, posRepo size: 4 2025-10-29T01:31:21.137Z,1761701481.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:21.139Z,1761701481.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 115.669220 m, bearing: 314.754016 deg, approach rate: 0.000000 m/s, LOS rate: 0.058019 deg/s, cmd heading: 308.805857 deg, new cmd heading: 308.865341 deg. 2025-10-29T01:31:21.145Z,1761701481.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.390717 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:21.449Z,1761701481.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.615646,0.786775,0.044332],[-0.781184,0.601941,0.165586],[0.103594,-0.136574,0.985198]] 2025-10-29T01:31:21.541Z,1761701481.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:21.543Z,1761701481.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 115.375496 m, bearing: 314.775312 deg, approach rate: -0.695123 m/s, LOS rate: 0.050526 deg/s, cmd heading: 308.865334 deg, new cmd heading: 308.908034 deg. 2025-10-29T01:31:21.545Z,1761701481.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391462 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:21.852Z,1761701481.852 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.617376,0.785448,0.043792],[-0.779557,0.603379,0.167999],[0.105532,-0.137857,0.984814]] 2025-10-29T01:31:21.905Z,1761701481.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:21.908Z,1761701481.908 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 115.137054 m, bearing: 314.792386 deg, approach rate: -0.654863 m/s, LOS rate: 0.046991 deg/s, cmd heading: 308.908037 deg, new cmd heading: 308.942256 deg. 2025-10-29T01:31:21.917Z,1761701481.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392060 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:22.402Z,1761701482.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.621387,0.782359,0.042330],[-0.775798,0.606820,0.172937],[0.109612,-0.140300,0.984023]] 2025-10-29T01:31:22.449Z,1761701482.449 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:22.456Z,1761701482.456 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 114.764954 m, bearing: 314.819473 deg, approach rate: -0.683759 m/s, LOS rate: 0.049935 deg/s, cmd heading: 308.942270 deg, new cmd heading: 308.996619 deg. 2025-10-29T01:31:22.459Z,1761701482.459 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393008 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:22.848Z,1761701482.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622842,0.781244,0.041551],[-0.774276,0.607937,0.175809],[0.112089,-0.141673,0.983547]] 2025-10-29T01:31:22.875Z,1761701482.875 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:22.877Z,1761701482.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:22.879Z,1761701482.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 114.481171 m, bearing: 314.839942 deg, approach rate: -0.663322 m/s, LOS rate: 0.047964 deg/s, cmd heading: 308.996611 deg, new cmd heading: 309.037651 deg. 2025-10-29T01:31:22.881Z,1761701482.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393724 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:22.978Z,1761701482.978 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:22.978Z,1761701482.978 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:22.979Z,1761701482.979 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:23.229Z,1761701483.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222179 2025-10-29T01:31:23.250Z,1761701483.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624171,0.780198,0.041251],[-0.772882,0.608870,0.178691],[0.114298,-0.143416,0.983040]] 2025-10-29T01:31:23.269Z,1761701483.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:23.272Z,1761701483.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 114.220108 m, bearing: 314.858602 deg, approach rate: -0.665375 m/s, LOS rate: 0.047666 deg/s, cmd heading: 309.037646 deg, new cmd heading: 309.075050 deg. 2025-10-29T01:31:23.273Z,1761701483.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.394377 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:23.483Z,1761701483.483 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.475812 2025-10-29T01:31:23.656Z,1761701483.656 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625284,0.779374,0.039950],[-0.771703,0.609887,0.180314],[0.116167,-0.143577,0.982798]] 2025-10-29T01:31:23.693Z,1761701483.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:23.696Z,1761701483.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 113.934647 m, bearing: 314.880580 deg, approach rate: -0.673498 m/s, LOS rate: 0.051985 deg/s, cmd heading: 309.075048 deg, new cmd heading: 309.119116 deg. 2025-10-29T01:31:23.697Z,1761701483.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395146 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:23.733Z,1761701483.733 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726299 2025-10-29T01:31:23.985Z,1761701483.985 [DAT](INFO): DAT read: Rx Time:01:31:23.2292 2025-10-29T01:31:23.985Z,1761701483.985 [DAT](INFO): Rx dataTimestamp_ set to:1761701483.985012 2025-10-29T01:31:23.986Z,1761701483.986 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.979115 2025-10-29T01:31:24.059Z,1761701484.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626002,0.778815,0.039617],[-0.770778,0.610228,0.183094],[0.118421,-0.145153,0.982297]] 2025-10-29T01:31:24.100Z,1761701484.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 121.17 m. 2025-10-29T01:31:24.103Z,1761701484.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 121.165634 m, nav range: 113.671555 m, bearing: 314.900777 deg, approach rate: -0.673233 m/s, LOS rate: 0.051800 deg/s, cmd heading: 309.119117 deg, new cmd heading: 309.159603 deg. 2025-10-29T01:31:24.103Z,1761701484.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395853 target range: 121.165634 and range: 121.80 m. 2025-10-29T01:31:24.237Z,1761701484.237 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230186 2025-10-29T01:31:24.486Z,1761701484.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626672,0.778316,0.038800],[-0.769986,0.610761,0.184643],[0.120014,-0.145586,0.982039]] 2025-10-29T01:31:24.494Z,1761701484.494 [DAT](INFO): DAT read: 01:31:23.2292 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 411, 0.36, 2.721, 0.990, 2.771, 2.488, PHS= 0.335,-1.453, 0.240, RAW= 147.3, 10.1, CAL= 146.9, 11.0, ROT= 3.1, -11.0 2025-10-29T01:31:24.496Z,1761701484.496 [DAT](INFO): got valid direction response: 01:31:23.2292 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 411, 0.36, 2.721, 0.990, 2.771, 2.488, PHS= 0.335,-1.453, 0.240, RAW= 147.3, 10.1, CAL= 146.9, 11.0, ROT= 3.1, -11.0 2025-10-29T01:31:24.497Z,1761701484.497 [DAT](INFO): DAT read: Bearing 120.8, 8.2 (Local) 2025-10-29T01:31:24.497Z,1761701484.497 [DAT](INFO): Local bearing/azimuth received: Bearing 120.8, 8.2 (Local) 2025-10-29T01:31:24.498Z,1761701484.498 [DAT](INFO): DAT read: Range 11 to 50 : 119.4 m (Round-trip 159.2 ms) speed 0.8 m/s 2025-10-29T01:31:24.499Z,1761701484.499 [DAT](INFO): DAT read: user:750> 2025-10-29T01:31:24.500Z,1761701484.500 [DAT](INFO): DAT read: Tx time:01:31:24.3159 2025-10-29T01:31:24.500Z,1761701484.500 [DAT](INFO): Ping request sent. 2025-10-29T01:31:24.500Z,1761701484.500 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:24.501Z,1761701484.501 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:24.502Z,1761701484.502 [DAT](INFO): direction in FSK: [0.980191,0.053085,0.190809] 2025-10-29T01:31:24.502Z,1761701484.502 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:24.502Z,1761701484.502 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:24.505Z,1761701484.505 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:24.506Z,1761701484.506 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:24.693Z,1761701484.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 119.400002 m, deltaT: 3.526894 s, deltaX: -2.400002 m, approachRate: -0.680486 m/s, rangeRepo size: 4 2025-10-29T01:31:24.695Z,1761701484.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 118.777702 m, bearing: 313.977294 deg, lat: 36.779321 deg, lon: -121.859391 deg, deltaT: 3.526894 s, deltaX: -2.387932 m, approachRate: -0.677064 m/s, posRepo size: 4 2025-10-29T01:31:24.695Z,1761701484.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:24.702Z,1761701484.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 113.667664 m, bearing: 314.113615 deg, approach rate: 0.000000 m/s, LOS rate: 0.051800 deg/s, cmd heading: 309.159606 deg, new cmd heading: 309.221390 deg. 2025-10-29T01:31:24.703Z,1761701484.703 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396931 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:25.013Z,1761701485.013 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626822,0.778234,0.038023],[-0.769541,0.610698,0.186691],[0.122069,-0.146283,0.981682]] 2025-10-29T01:31:25.045Z,1761701485.045 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:25.047Z,1761701485.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:25.049Z,1761701485.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 113.396561 m, bearing: 314.132966 deg, approach rate: -0.739768 m/s, LOS rate: 0.052930 deg/s, cmd heading: 309.221378 deg, new cmd heading: 309.260173 deg. 2025-10-29T01:31:25.050Z,1761701485.050 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.397608 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:25.245Z,1761701485.245 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:25.245Z,1761701485.245 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:25.246Z,1761701485.246 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:25.435Z,1761701485.435 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626610,0.778403,0.038067],[-0.769363,0.610067,0.189469],[0.124259,-0.148010,0.981149]] 2025-10-29T01:31:25.497Z,1761701485.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.996682 2025-10-29T01:31:25.516Z,1761701485.516 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:25.519Z,1761701485.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 113.078407 m, bearing: 314.158789 deg, approach rate: -0.701511 m/s, LOS rate: 0.057099 deg/s, cmd heading: 309.260174 deg, new cmd heading: 309.311966 deg. 2025-10-29T01:31:25.524Z,1761701485.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.398512 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:25.750Z,1761701485.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.249220 2025-10-29T01:31:25.864Z,1761701485.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626775,0.778293,0.037580],[-0.768944,0.610007,0.191354],[0.126005,-0.148832,0.980802]] 2025-10-29T01:31:25.883Z,1761701485.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:25.886Z,1761701485.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 112.807739 m, bearing: 314.180817 deg, approach rate: -0.706672 m/s, LOS rate: 0.057649 deg/s, cmd heading: 309.311974 deg, new cmd heading: 309.356135 deg. 2025-10-29T01:31:25.887Z,1761701485.887 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.399283 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:26.001Z,1761701486.001 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500672 2025-10-29T01:31:26.253Z,1761701486.253 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752425 2025-10-29T01:31:26.279Z,1761701486.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626514,0.778464,0.038389],[-0.768843,0.609187,0.194346],[0.127906,-0.151276,0.980182]] 2025-10-29T01:31:26.297Z,1761701486.297 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:26.300Z,1761701486.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 112.516670 m, bearing: 314.204638 deg, approach rate: -0.703001 m/s, LOS rate: 0.057683 deg/s, cmd heading: 309.356124 deg, new cmd heading: 309.403890 deg. 2025-10-29T01:31:26.301Z,1761701486.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400116 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:26.505Z,1761701486.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004519 2025-10-29T01:31:26.758Z,1761701486.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257507 2025-10-29T01:31:26.796Z,1761701486.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626330,0.778632,0.037996],[-0.768360,0.608367,0.198775],[0.131657,-0.153694,0.979308]] 2025-10-29T01:31:26.840Z,1761701486.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:26.843Z,1761701486.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 112.117424 m, bearing: 314.237956 deg, approach rate: -0.735883 m/s, LOS rate: 0.061629 deg/s, cmd heading: 309.403881 deg, new cmd heading: 309.470754 deg. 2025-10-29T01:31:26.843Z,1761701486.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.401284 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:27.009Z,1761701487.009 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508522 2025-10-29T01:31:27.202Z,1761701487.202 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626281,0.778677,0.037875],[-0.768085,0.607985,0.200997],[0.133484,-0.154972,0.978859]] 2025-10-29T01:31:27.219Z,1761701487.219 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:27.221Z,1761701487.221 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:27.224Z,1761701487.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 111.837517 m, bearing: 314.261435 deg, approach rate: -0.734678 m/s, LOS rate: 0.061779 deg/s, cmd heading: 309.470762 deg, new cmd heading: 309.517837 deg. 2025-10-29T01:31:27.225Z,1761701487.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.402105 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:27.261Z,1761701487.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760633 2025-10-29T01:31:27.516Z,1761701487.516 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.015271 2025-10-29T01:31:27.705Z,1761701487.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:27.708Z,1761701487.708 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 111.481094 m, bearing: 314.293567 deg, approach rate: -0.736050 m/s, LOS rate: 0.066569 deg/s, cmd heading: 309.517836 deg, new cmd heading: 309.582306 deg. 2025-10-29T01:31:27.709Z,1761701487.709 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.403231 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:27.774Z,1761701487.774 [DAT](INFO): DAT read: 01:31:26.8755 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405, 0.31, 1.102,-0.616, 1.179, 0.986, PHS= 0.218,-1.557, 0.149, RAW= 148.0, 13.6, CAL= 147.9, 15.0, ROT= 2.1, -15.0 2025-10-29T01:31:27.776Z,1761701487.776 [DAT](INFO): got valid direction response: 01:31:26.8755 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 405, 0.31, 1.102,-0.616, 1.179, 0.986, PHS= 0.218,-1.557, 0.149, RAW= 148.0, 13.6, CAL= 147.9, 15.0, ROT= 2.1, -15.0 2025-10-29T01:31:27.778Z,1761701487.778 [DAT](INFO): DAT read: Rx Time:01:31:26.8755 2025-10-29T01:31:27.778Z,1761701487.778 [DAT](INFO): Rx dataTimestamp_ set to:1761701487.777940 2025-10-29T01:31:27.779Z,1761701487.779 [DAT](INFO): DAT read: $Low SNR acquisition 2025-10-29T01:31:27.779Z,1761701487.779 [DAT](INFO): Received low SNR in chirp 2025-10-29T01:31:27.792Z,1761701487.792 [DAT](INFO): #Rx 1: Read direction message, but no range. 2025-10-29T01:31:27.793Z,1761701487.793 [DAT](INFO): direction in FSK: [0.965277,0.035395,0.258819] 2025-10-29T01:31:27.796Z,1761701487.796 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:27.796Z,1761701487.796 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:27.796Z,1761701487.796 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:28.017Z,1761701488.017 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:28.017Z,1761701488.017 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:28.017Z,1761701488.017 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:28.055Z,1761701488.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625807,0.779088,0.037245],[-0.767761,0.606884,0.205511],[0.137508,-0.157206,0.977946]] 2025-10-29T01:31:28.089Z,1761701488.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:28.091Z,1761701488.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 111.209778 m, bearing: 314.318183 deg, approach rate: -0.707239 m/s, LOS rate: 0.064323 deg/s, cmd heading: 309.582313 deg, new cmd heading: 309.631665 deg. 2025-10-29T01:31:28.092Z,1761701488.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.404092 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:28.271Z,1761701488.271 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:28.272Z,1761701488.272 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:28.272Z,1761701488.272 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:28.469Z,1761701488.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625308,0.779516,0.036668],[-0.767761,0.606102,0.207805],[0.139763,-0.158095,0.977483]] 2025-10-29T01:31:28.521Z,1761701488.521 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:28.521Z,1761701488.521 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:28.521Z,1761701488.521 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:28.524Z,1761701488.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:28.527Z,1761701488.527 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 110.869041 m, bearing: 314.347918 deg, approach rate: -0.782951 m/s, LOS rate: 0.068535 deg/s, cmd heading: 309.631654 deg, new cmd heading: 309.691306 deg. 2025-10-29T01:31:28.529Z,1761701488.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405133 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:28.773Z,1761701488.773 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:28.773Z,1761701488.773 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:28.773Z,1761701488.773 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:28.863Z,1761701488.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624985,0.779841,0.035237],[-0.767569,0.605672,0.209762],[0.142239,-0.158145,0.977117]] 2025-10-29T01:31:28.881Z,1761701488.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:28.883Z,1761701488.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 110.597351 m, bearing: 314.371784 deg, approach rate: -0.761253 m/s, LOS rate: 0.067035 deg/s, cmd heading: 309.691295 deg, new cmd heading: 309.739145 deg. 2025-10-29T01:31:28.885Z,1761701488.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405968 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:29.025Z,1761701489.025 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:29.025Z,1761701489.025 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:29.025Z,1761701489.025 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:29.269Z,1761701489.269 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624706,0.780182,0.032532],[-0.767298,0.605592,0.210979],[0.144901,-0.156762,0.976949]] 2025-10-29T01:31:29.277Z,1761701489.277 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:29.277Z,1761701489.277 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:29.277Z,1761701489.277 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:29.287Z,1761701489.287 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:29.289Z,1761701489.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:29.292Z,1761701489.292 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 110.288391 m, bearing: 314.399095 deg, approach rate: -0.756380 m/s, LOS rate: 0.067049 deg/s, cmd heading: 309.739134 deg, new cmd heading: 309.793909 deg. 2025-10-29T01:31:29.293Z,1761701489.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.406924 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:29.529Z,1761701489.529 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:29.529Z,1761701489.529 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:29.529Z,1761701489.529 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:29.670Z,1761701489.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624415,0.780535,0.029519],[-0.766989,0.605554,0.212207],[0.147760,-0.155146,0.976779]] 2025-10-29T01:31:29.712Z,1761701489.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:29.715Z,1761701489.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 109.968124 m, bearing: 314.427596 deg, approach rate: -0.757637 m/s, LOS rate: 0.067621 deg/s, cmd heading: 309.793912 deg, new cmd heading: 309.851081 deg. 2025-10-29T01:31:29.716Z,1761701489.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.407922 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:29.781Z,1761701489.781 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:29.781Z,1761701489.781 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:29.781Z,1761701489.781 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:30.033Z,1761701490.033 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:30.033Z,1761701490.033 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:30.033Z,1761701490.033 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:30.076Z,1761701490.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624141,0.780834,0.027319],[-0.766685,0.605349,0.213885],[0.150471,-0.154439,0.976477]] 2025-10-29T01:31:30.095Z,1761701490.095 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:30.098Z,1761701490.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 109.678879 m, bearing: 314.453497 deg, approach rate: -0.755149 m/s, LOS rate: 0.067798 deg/s, cmd heading: 309.851095 deg, new cmd heading: 309.903032 deg. 2025-10-29T01:31:30.099Z,1761701490.099 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408828 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:30.285Z,1761701490.285 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:30.285Z,1761701490.285 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:30.285Z,1761701490.285 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:30.487Z,1761701490.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623743,0.781203,0.025807],[-0.766520,0.604892,0.215760],[0.152942,-0.154361,0.976105]] 2025-10-29T01:31:30.529Z,1761701490.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:30.531Z,1761701490.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 109.360138 m, bearing: 314.483020 deg, approach rate: -0.734597 m/s, LOS rate: 0.068240 deg/s, cmd heading: 309.903031 deg, new cmd heading: 309.962250 deg. 2025-10-29T01:31:30.537Z,1761701490.537 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:30.537Z,1761701490.537 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:30.537Z,1761701490.537 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:30.553Z,1761701490.553 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.409862 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:30.789Z,1761701490.789 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:30.789Z,1761701490.789 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:30.789Z,1761701490.789 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:30.882Z,1761701490.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623309,0.781636,0.023043],[-0.766287,0.604665,0.217218],[0.155852,-0.153052,0.975851]] 2025-10-29T01:31:30.917Z,1761701490.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:30.920Z,1761701490.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 109.087189 m, bearing: 314.508494 deg, approach rate: -0.703240 m/s, LOS rate: 0.065795 deg/s, cmd heading: 309.962263 deg, new cmd heading: 310.013337 deg. 2025-10-29T01:31:30.925Z,1761701490.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.410753 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:31.042Z,1761701491.042 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:31.042Z,1761701491.042 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:31.042Z,1761701491.042 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:31.287Z,1761701491.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623080,0.781878,0.020923],[-0.765935,0.604518,0.218865],[0.158477,-0.152396,0.975531]] 2025-10-29T01:31:31.293Z,1761701491.293 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:31.293Z,1761701491.293 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:31.293Z,1761701491.293 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:31.325Z,1761701491.325 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:31.327Z,1761701491.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:31.329Z,1761701491.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 108.775597 m, bearing: 314.537742 deg, approach rate: -0.760461 m/s, LOS rate: 0.071586 deg/s, cmd heading: 310.013325 deg, new cmd heading: 310.071988 deg. 2025-10-29T01:31:31.330Z,1761701491.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.411777 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:31.545Z,1761701491.545 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:31.545Z,1761701491.545 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:31.545Z,1761701491.545 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:31.691Z,1761701491.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.622922,0.782057,0.018814],[-0.765522,0.604447,0.220496],[0.161069,-0.151754,0.975206]] 2025-10-29T01:31:31.737Z,1761701491.737 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:31.740Z,1761701491.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 108.485664 m, bearing: 314.562763 deg, approach rate: -0.706371 m/s, LOS rate: 0.061122 deg/s, cmd heading: 310.071983 deg, new cmd heading: 310.122158 deg. 2025-10-29T01:31:31.742Z,1761701491.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412653 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:31.797Z,1761701491.797 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:31.798Z,1761701491.798 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:31.798Z,1761701491.798 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:32.049Z,1761701492.049 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:32.049Z,1761701492.049 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:32.049Z,1761701492.049 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:32.096Z,1761701492.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623098,0.781978,0.016095],[-0.764850,0.604889,0.221617],[0.163564,-0.150399,0.975001]] 2025-10-29T01:31:32.115Z,1761701492.115 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:32.118Z,1761701492.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 108.219078 m, bearing: 314.585830 deg, approach rate: -0.706077 m/s, LOS rate: 0.061248 deg/s, cmd heading: 310.122171 deg, new cmd heading: 310.168421 deg. 2025-10-29T01:31:32.118Z,1761701492.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.413460 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:32.301Z,1761701492.301 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:32.301Z,1761701492.301 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:32.301Z,1761701492.301 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:32.553Z,1761701492.553 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:32.553Z,1761701492.553 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:32.553Z,1761701492.553 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:32.567Z,1761701492.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:32.570Z,1761701492.570 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 107.906181 m, bearing: 314.611836 deg, approach rate: -0.691443 m/s, LOS rate: 0.057633 deg/s, cmd heading: 310.168425 deg, new cmd heading: 310.220586 deg. 2025-10-29T01:31:32.571Z,1761701492.571 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.414371 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:32.806Z,1761701492.806 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:32.806Z,1761701492.806 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:32.806Z,1761701492.806 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:32.906Z,1761701492.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.623751,0.781512,0.013213],[-0.763384,0.605477,0.225038],[0.167870,-0.150454,0.974260]] 2025-10-29T01:31:32.924Z,1761701492.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:32.927Z,1761701492.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 107.659363 m, bearing: 314.632269 deg, approach rate: -0.690945 m/s, LOS rate: 0.057332 deg/s, cmd heading: 310.220580 deg, new cmd heading: 310.261541 deg. 2025-10-29T01:31:32.928Z,1761701492.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415085 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:33.057Z,1761701493.057 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:33.057Z,1761701493.057 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:33.057Z,1761701493.057 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:33.306Z,1761701493.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.624275,0.781125,0.011199],[-0.762477,0.606126,0.226364],[0.170030,-0.149853,0.973978]] 2025-10-29T01:31:33.309Z,1761701493.309 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:33.309Z,1761701493.309 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:33.309Z,1761701493.309 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:33.326Z,1761701493.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:33.328Z,1761701493.328 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:33.331Z,1761701493.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 107.381073 m, bearing: 314.655283 deg, approach rate: -0.689731 m/s, LOS rate: 0.057188 deg/s, cmd heading: 310.261534 deg, new cmd heading: 310.307682 deg. 2025-10-29T01:31:33.332Z,1761701493.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.415891 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:33.561Z,1761701493.561 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:33.561Z,1761701493.561 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:33.561Z,1761701493.561 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:33.710Z,1761701493.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.625245,0.780370,0.009521],[-0.761266,0.607160,0.227665],[0.171882,-0.149595,0.973693]] 2025-10-29T01:31:33.813Z,1761701493.813 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:33.813Z,1761701493.813 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:33.813Z,1761701493.813 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:33.819Z,1761701493.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:33.822Z,1761701493.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 107.051567 m, bearing: 314.682116 deg, approach rate: -0.670392 m/s, LOS rate: 0.054761 deg/s, cmd heading: 310.307679 deg, new cmd heading: 310.361511 deg. 2025-10-29T01:31:33.823Z,1761701493.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416830 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:34.065Z,1761701494.065 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:34.065Z,1761701494.065 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:34.065Z,1761701494.065 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:34.244Z,1761701494.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.626302,0.779540,0.007972],[-0.759993,0.608256,0.228988],[0.173656,-0.149475,0.973396]] 2025-10-29T01:31:34.286Z,1761701494.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:34.293Z,1761701494.293 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 106.747894 m, bearing: 314.706725 deg, approach rate: -0.650788 m/s, LOS rate: 0.052887 deg/s, cmd heading: 310.361501 deg, new cmd heading: 310.410858 deg. 2025-10-29T01:31:34.294Z,1761701494.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.417692 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:34.317Z,1761701494.317 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:34.317Z,1761701494.317 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:34.317Z,1761701494.317 [DAT](INFO): received new query, but waiting for acoustic response period to elapse 2025-10-29T01:31:34.569Z,1761701494.569 [DAT](INFO): Reached modem response timeout 2025-10-29T01:31:34.569Z,1761701494.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:34.569Z,1761701494.569 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:34.647Z,1761701494.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.627530,0.778567,0.006329],[-0.758593,0.609560,0.230162],[0.175339,-0.149234,0.973132]] 2025-10-29T01:31:34.716Z,1761701494.716 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:34.718Z,1761701494.718 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 106.464088 m, bearing: 314.727350 deg, approach rate: -0.660657 m/s, LOS rate: 0.048140 deg/s, cmd heading: 310.410870 deg, new cmd heading: 310.452230 deg. 2025-10-29T01:31:34.719Z,1761701494.719 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.418414 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:34.821Z,1761701494.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:35.051Z,1761701495.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.628957,0.777429,0.004233],[-0.757087,0.611244,0.230652],[0.176728,-0.148275,0.973027]] 2025-10-29T01:31:35.073Z,1761701495.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:35.100Z,1761701495.100 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:35.103Z,1761701495.103 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 106.211708 m, bearing: 314.745504 deg, approach rate: -0.655985 m/s, LOS rate: 0.047296 deg/s, cmd heading: 310.452233 deg, new cmd heading: 310.488626 deg. 2025-10-29T01:31:35.152Z,1761701495.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419049 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:35.325Z,1761701495.325 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:35.463Z,1761701495.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.630592,0.776109,0.002925],[-0.755437,0.612923,0.231604],[0.177957,-0.148257,0.972806]] 2025-10-29T01:31:35.485Z,1761701495.485 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:35.487Z,1761701495.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:35.555Z,1761701495.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 105.965378 m, bearing: 314.762989 deg, approach rate: -0.636787 m/s, LOS rate: 0.045308 deg/s, cmd heading: 310.488624 deg, new cmd heading: 310.523677 deg. 2025-10-29T01:31:35.565Z,1761701495.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419661 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:35.577Z,1761701495.577 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:35.830Z,1761701495.830 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:35.966Z,1761701495.966 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:35.985Z,1761701495.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 105.650475 m, bearing: 314.788610 deg, approach rate: -0.657247 m/s, LOS rate: 0.053633 deg/s, cmd heading: 310.523677 deg, new cmd heading: 310.575071 deg. 2025-10-29T01:31:35.986Z,1761701495.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.420557 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:36.008Z,1761701496.008 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:31:36.082Z,1761701496.082 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:36.306Z,1761701496.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633890,0.773423,0.000326],[-0.752192,0.616391,0.232957],[0.179973,-0.147914,0.972487]] 2025-10-29T01:31:36.333Z,1761701496.333 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:36.338Z,1761701496.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:36.345Z,1761701496.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 105.409660 m, bearing: 314.807685 deg, approach rate: -0.648115 m/s, LOS rate: 0.051456 deg/s, cmd heading: 310.575067 deg, new cmd heading: 310.613305 deg. 2025-10-29T01:31:36.346Z,1761701496.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421225 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:36.585Z,1761701496.585 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:36.706Z,1761701496.706 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.635256,0.772302,0.000047],[-0.750847,0.617594,0.234107],[0.180773,-0.148753,0.972211]] 2025-10-29T01:31:36.784Z,1761701496.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:36.787Z,1761701496.787 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 105.123314 m, bearing: 314.832015 deg, approach rate: -0.666049 m/s, LOS rate: 0.056746 deg/s, cmd heading: 310.613316 deg, new cmd heading: 310.662109 deg. 2025-10-29T01:31:36.794Z,1761701496.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422077 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:36.837Z,1761701496.837 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:31:36.837Z,1761701496.837 [DAT](INFO): response not received 2025-10-29T01:31:36.838Z,1761701496.838 [DAT](INFO): DAT read: user:752> 2025-10-29T01:31:36.840Z,1761701496.840 [DAT](ERROR): No response from remote modem. 2025-10-29T01:31:36.841Z,1761701496.841 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:31:36.842Z,1761701496.842 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:37.012Z,1761701497.012 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:31:37.089Z,1761701497.089 [DAT](INFO): DAT read: Tx time:01:31:36.7659 2025-10-29T01:31:37.089Z,1761701497.089 [DAT](INFO): Ping request sent. 2025-10-29T01:31:37.089Z,1761701497.089 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:37.090Z,1761701497.090 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:37.090Z,1761701497.090 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000769 2025-10-29T01:31:37.164Z,1761701497.164 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637291,0.770621,-0.001546],[-0.748551,0.619514,0.236376],[0.183114,-0.149483,0.971660]] 2025-10-29T01:31:37.184Z,1761701497.184 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:37.187Z,1761701497.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 104.843895 m, bearing: 314.855406 deg, approach rate: -0.671808 m/s, LOS rate: 0.056388 deg/s, cmd heading: 310.662111 deg, new cmd heading: 310.709017 deg. 2025-10-29T01:31:37.187Z,1761701497.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422895 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:37.341Z,1761701497.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251400 2025-10-29T01:31:37.597Z,1761701497.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.507547 2025-10-29T01:31:37.662Z,1761701497.662 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:37.664Z,1761701497.664 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:37.667Z,1761701497.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 104.518234 m, bearing: 314.883702 deg, approach rate: -0.677951 m/s, LOS rate: 0.059089 deg/s, cmd heading: 310.709021 deg, new cmd heading: 310.765788 deg. 2025-10-29T01:31:37.668Z,1761701497.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423886 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:37.849Z,1761701497.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.759406 2025-10-29T01:31:38.009Z,1761701498.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:38.012Z,1761701498.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 104.284035 m, bearing: 314.904161 deg, approach rate: -0.678967 m/s, LOS rate: 0.059448 deg/s, cmd heading: 310.765793 deg, new cmd heading: 310.806805 deg. 2025-10-29T01:31:38.013Z,1761701498.013 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424602 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:38.101Z,1761701498.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.012036 2025-10-29T01:31:38.355Z,1761701498.355 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.265605 2025-10-29T01:31:38.377Z,1761701498.377 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639029,0.769174,-0.003617],[-0.745936,0.620857,0.241071],[0.187671,-0.151353,0.970501]] 2025-10-29T01:31:38.412Z,1761701498.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:38.415Z,1761701498.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 104.022163 m, bearing: 314.926695 deg, approach rate: -0.656092 m/s, LOS rate: 0.056598 deg/s, cmd heading: 310.806802 deg, new cmd heading: 310.851983 deg. 2025-10-29T01:31:38.416Z,1761701498.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425391 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:38.611Z,1761701498.611 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.521946 2025-10-29T01:31:38.783Z,1761701498.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.639911,0.768434,-0.004743],[-0.744762,0.621695,0.242539],[0.189324,-0.151671,0.970130]] 2025-10-29T01:31:38.833Z,1761701498.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:38.836Z,1761701498.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 103.713440 m, bearing: 314.954171 deg, approach rate: -0.726878 m/s, LOS rate: 0.064883 deg/s, cmd heading: 310.851990 deg, new cmd heading: 310.907105 deg. 2025-10-29T01:31:38.837Z,1761701498.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426353 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:38.861Z,1761701498.861 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.771386 2025-10-29T01:31:39.113Z,1761701499.113 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.023883 2025-10-29T01:31:39.200Z,1761701499.200 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640545,0.767900,-0.005704],[-0.743733,0.622201,0.244389],[0.191215,-0.152300,0.969660]] 2025-10-29T01:31:39.227Z,1761701499.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:39.254Z,1761701499.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 103.440804 m, bearing: 314.978391 deg, approach rate: -0.691876 m/s, LOS rate: 0.061627 deg/s, cmd heading: 310.907096 deg, new cmd heading: 310.955665 deg. 2025-10-29T01:31:39.255Z,1761701499.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427200 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:39.365Z,1761701499.365 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.275569 2025-10-29T01:31:39.620Z,1761701499.620 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.529525 2025-10-29T01:31:39.694Z,1761701499.694 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:39.696Z,1761701499.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:39.714Z,1761701499.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 103.102028 m, bearing: 315.008516 deg, approach rate: -0.722883 m/s, LOS rate: 0.064492 deg/s, cmd heading: 310.955673 deg, new cmd heading: 311.016120 deg. 2025-10-29T01:31:39.715Z,1761701499.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428256 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:39.869Z,1761701499.869 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.779358 2025-10-29T01:31:40.029Z,1761701500.029 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643682,0.765253,-0.007835],[-0.740253,0.625185,0.247325],[0.194164,-0.153399,0.968901]] 2025-10-29T01:31:40.059Z,1761701500.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:40.062Z,1761701500.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 102.851524 m, bearing: 315.030241 deg, approach rate: -0.688516 m/s, LOS rate: 0.059859 deg/s, cmd heading: 311.016134 deg, new cmd heading: 311.059690 deg. 2025-10-29T01:31:40.063Z,1761701500.063 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.429016 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:40.122Z,1761701500.122 [DAT](INFO): DAT read: Rx Time:01:31:39.3136 2025-10-29T01:31:40.123Z,1761701500.123 [DAT](INFO): Rx dataTimestamp_ set to:1761701500.122079 2025-10-29T01:31:40.123Z,1761701500.123 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.033778 2025-10-29T01:31:40.373Z,1761701500.373 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.283393 2025-10-29T01:31:40.444Z,1761701500.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645132,0.764002,-0.010259],[-0.738648,0.627045,0.247413],[0.195457,-0.152036,0.968856]] 2025-10-29T01:31:40.524Z,1761701500.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 118.78 m. 2025-10-29T01:31:40.530Z,1761701500.530 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 118.777702 m, nav range: 102.518486 m, bearing: 315.058895 deg, approach rate: -0.717560 m/s, LOS rate: 0.061938 deg/s, cmd heading: 311.059683 deg, new cmd heading: 311.117177 deg. 2025-10-29T01:31:40.531Z,1761701500.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430019 target range: 118.777702 and range: 119.40 m. 2025-10-29T01:31:40.631Z,1761701500.631 [DAT](INFO): DAT read: 01:31:39.3136 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 315,-0.38,-2.516, 2.039,-2.420,-2.783, PHS= 0.370,-1.416, 0.320, RAW= 148.6, 8.3, CAL= 148.1, 9.0, ROT= 1.9, -9.0 2025-10-29T01:31:40.632Z,1761701500.632 [DAT](INFO): got valid direction response: 01:31:39.3136 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 315,-0.38,-2.516, 2.039,-2.420,-2.783, PHS= 0.370,-1.416, 0.320, RAW= 148.6, 8.3, CAL= 148.1, 9.0, ROT= 1.9, -9.0 2025-10-29T01:31:40.633Z,1761701500.633 [DAT](INFO): DAT read: Bearing 122.1, 11.4 (Local) 2025-10-29T01:31:40.633Z,1761701500.633 [DAT](INFO): Local bearing/azimuth received: Bearing 122.1, 11.4 (Local) 2025-10-29T01:31:40.635Z,1761701500.635 [DAT](INFO): DAT read: Range 11 to 50 : 107.7 m (Round-trip 143.6 ms) speed 0.7 m/s 2025-10-29T01:31:40.636Z,1761701500.636 [DAT](INFO): DAT read: user:753> 2025-10-29T01:31:40.636Z,1761701500.636 [DAT](INFO): DAT read: Tx time:01:31:40.4159 2025-10-29T01:31:40.637Z,1761701500.637 [DAT](INFO): Ping request sent. 2025-10-29T01:31:40.637Z,1761701500.637 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:40.637Z,1761701500.637 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:40.638Z,1761701500.638 [DAT](INFO): direction in FSK: [0.987145,0.032747,0.156434] 2025-10-29T01:31:40.638Z,1761701500.638 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:40.638Z,1761701500.638 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:40.654Z,1761701500.654 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:40.655Z,1761701500.655 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:40.872Z,1761701500.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.646542,0.762747,-0.014186],[-0.737143,0.629412,0.245889],[0.196480,-0.148520,0.969194]] 2025-10-29T01:31:40.980Z,1761701500.980 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 107.699997 m, deltaT: 16.136177 s, deltaX: -11.700005 m, approachRate: -0.725079 m/s, rangeRepo size: 4 2025-10-29T01:31:40.982Z,1761701500.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 107.125984 m, bearing: 314.672463 deg, lat: 36.779317 deg, lon: -121.859391 deg, deltaT: 16.136177 s, deltaX: -11.651718 m, approachRate: -0.722087 m/s, posRepo size: 4 2025-10-29T01:31:40.983Z,1761701500.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:40.989Z,1761701500.989 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 101.942276 m, bearing: 314.934903 deg, approach rate: 0.000000 m/s, LOS rate: 0.061938 deg/s, cmd heading: 311.117166 deg, new cmd heading: 311.173101 deg. 2025-10-29T01:31:40.990Z,1761701500.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430995 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:41.262Z,1761701501.262 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647491,0.761851,-0.018406],[-0.736023,0.631436,0.244045],[0.197548,-0.144470,0.969589]] 2025-10-29T01:31:41.280Z,1761701501.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:41.283Z,1761701501.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 101.707840 m, bearing: 314.953155 deg, approach rate: -0.769387 m/s, LOS rate: 0.060039 deg/s, cmd heading: 311.173091 deg, new cmd heading: 311.209680 deg. 2025-10-29T01:31:41.284Z,1761701501.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431633 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:41.667Z,1761701501.667 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648341,0.761037,-0.021833],[-0.735057,0.633164,0.242474],[0.198356,-0.141157,0.969912]] 2025-10-29T01:31:41.718Z,1761701501.718 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:41.720Z,1761701501.720 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:41.723Z,1761701501.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 101.388641 m, bearing: 314.979302 deg, approach rate: -0.725282 m/s, LOS rate: 0.059598 deg/s, cmd heading: 311.209674 deg, new cmd heading: 311.262133 deg. 2025-10-29T01:31:41.724Z,1761701501.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432549 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:41.885Z,1761701501.885 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:41.885Z,1761701501.885 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:41.885Z,1761701501.885 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:42.072Z,1761701502.072 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649086,0.760367,-0.023014],[-0.733974,0.633933,0.243743],[0.199924,-0.141319,0.969567]] 2025-10-29T01:31:42.111Z,1761701502.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:42.118Z,1761701502.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 101.118675 m, bearing: 315.001347 deg, approach rate: -0.689466 m/s, LOS rate: 0.056450 deg/s, cmd heading: 311.262130 deg, new cmd heading: 311.306337 deg. 2025-10-29T01:31:42.119Z,1761701502.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433321 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:42.137Z,1761701502.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500238 2025-10-29T01:31:42.390Z,1761701502.390 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752894 2025-10-29T01:31:42.475Z,1761701502.475 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.649989,0.759557,-0.024253],[-0.732872,0.634957,0.244395],[0.201031,-0.141080,0.969372]] 2025-10-29T01:31:42.504Z,1761701502.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:42.507Z,1761701502.507 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 100.819565 m, bearing: 315.025669 deg, approach rate: -0.762278 m/s, LOS rate: 0.062167 deg/s, cmd heading: 311.306335 deg, new cmd heading: 311.355122 deg. 2025-10-29T01:31:42.508Z,1761701502.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434172 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:42.644Z,1761701502.644 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.006621 2025-10-29T01:31:42.894Z,1761701502.894 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256754 2025-10-29T01:31:42.951Z,1761701502.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650470,0.759154,-0.023965],[-0.732187,0.635129,0.245995],[0.201969,-0.142465,0.968975]] 2025-10-29T01:31:42.995Z,1761701502.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:42.998Z,1761701502.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 100.465790 m, bearing: 315.051553 deg, approach rate: -0.720654 m/s, LOS rate: 0.052913 deg/s, cmd heading: 311.355130 deg, new cmd heading: 311.407080 deg. 2025-10-29T01:31:42.999Z,1761701502.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435079 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:43.145Z,1761701503.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508117 2025-10-29T01:31:43.401Z,1761701503.401 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.763773 2025-10-29T01:31:43.463Z,1761701503.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650883,0.758846,-0.022454],[-0.731629,0.634885,0.248272],[0.202656,-0.145168,0.968430]] 2025-10-29T01:31:43.498Z,1761701503.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:43.508Z,1761701503.508 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 100.115273 m, bearing: 315.077197 deg, approach rate: -0.697100 m/s, LOS rate: 0.051180 deg/s, cmd heading: 311.407094 deg, new cmd heading: 311.458563 deg. 2025-10-29T01:31:43.509Z,1761701503.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435977 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:43.652Z,1761701503.652 [DAT](INFO): DAT read: Rx Time:01:31:42.9597 2025-10-29T01:31:43.654Z,1761701503.654 [DAT](INFO): Rx dataTimestamp_ set to:1761701503.652898 2025-10-29T01:31:43.656Z,1761701503.656 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018580 2025-10-29T01:31:43.901Z,1761701503.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264197 2025-10-29T01:31:43.962Z,1761701503.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650938,0.758830,-0.021369],[-0.731404,0.634453,0.250037],[0.203293,-0.147129,0.968001]] 2025-10-29T01:31:43.997Z,1761701503.997 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:43.999Z,1761701503.999 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 107.13 m. 2025-10-29T01:31:44.018Z,1761701504.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 107.125984 m, nav range: 99.748596 m, bearing: 315.107426 deg, approach rate: -0.731538 m/s, LOS rate: 0.060529 deg/s, cmd heading: 311.458566 deg, new cmd heading: 311.519245 deg. 2025-10-29T01:31:44.019Z,1761701504.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437037 target range: 107.125984 and range: 107.70 m. 2025-10-29T01:31:44.159Z,1761701504.159 [DAT](INFO): DAT read: 01:31:42.9597 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403, 0.17,-1.261,-2.914,-1.180,-1.514, PHS= 0.354,-1.356, 0.289, RAW= 148.1, 8.5, CAL= 147.6, 9.2, ROT= 2.4, -9.2 2025-10-29T01:31:44.160Z,1761701504.160 [DAT](INFO): got valid direction response: 01:31:42.9597 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 403, 0.17,-1.261,-2.914,-1.180,-1.514, PHS= 0.354,-1.356, 0.289, RAW= 148.1, 8.5, CAL= 147.6, 9.2, ROT= 2.4, -9.2 2025-10-29T01:31:44.161Z,1761701504.161 [DAT](INFO): DAT read: Bearing 123.7, 12.4 (Local) 2025-10-29T01:31:44.161Z,1761701504.161 [DAT](INFO): Local bearing/azimuth received: Bearing 123.7, 12.4 (Local) 2025-10-29T01:31:44.163Z,1761701504.163 [DAT](INFO): DAT read: Range 11 to 50 : 104.7 m (Round-trip 139.7 ms) speed 0.6 m/s 2025-10-29T01:31:44.164Z,1761701504.164 [DAT](INFO): DAT read: user:754> 2025-10-29T01:31:44.165Z,1761701504.165 [DAT](INFO): DAT read: Tx time:01:31:44.0659 2025-10-29T01:31:44.166Z,1761701504.166 [DAT](INFO): Ping request sent. 2025-10-29T01:31:44.166Z,1761701504.166 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:44.166Z,1761701504.166 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:44.167Z,1761701504.167 [DAT](INFO): direction in FSK: [0.986270,0.041337,0.159881] 2025-10-29T01:31:44.167Z,1761701504.167 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:44.167Z,1761701504.167 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:44.171Z,1761701504.171 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:44.171Z,1761701504.171 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:44.346Z,1761701504.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651332,0.758501,-0.021037],[-0.730964,0.634642,0.250842],[0.203614,-0.148004,0.967800]] 2025-10-29T01:31:44.387Z,1761701504.387 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 104.699997 m, deltaT: 3.527968 s, deltaX: -3.000000 m, approachRate: -0.850348 m/s, rangeRepo size: 4 2025-10-29T01:31:44.389Z,1761701504.389 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 104.140312 m, bearing: 315.682829 deg, lat: 36.779311 deg, lon: -121.859391 deg, deltaT: 3.527968 s, deltaX: -2.985672 m, approachRate: -0.846287 m/s, posRepo size: 4 2025-10-29T01:31:44.390Z,1761701504.390 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:44.401Z,1761701504.401 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 98.991226 m, bearing: 314.850006 deg, approach rate: 0.000000 m/s, LOS rate: 0.060529 deg/s, cmd heading: 311.519245 deg, new cmd heading: 311.566195 deg. 2025-10-29T01:31:44.402Z,1761701504.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437856 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:44.770Z,1761701504.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651237,0.758604,-0.020240],[-0.730736,0.634062,0.252963],[0.204733,-0.149949,0.967264]] 2025-10-29T01:31:44.820Z,1761701504.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:44.823Z,1761701504.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 98.690338 m, bearing: 314.873625 deg, approach rate: -0.694694 m/s, LOS rate: 0.054698 deg/s, cmd heading: 311.566182 deg, new cmd heading: 311.613564 deg. 2025-10-29T01:31:44.823Z,1761701504.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438683 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:45.172Z,1761701505.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651267,0.758635,-0.018017],[-0.730589,0.633256,0.255396],[0.205161,-0.153168,0.966669]] 2025-10-29T01:31:45.190Z,1761701505.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:45.193Z,1761701505.193 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 98.435356 m, bearing: 314.893699 deg, approach rate: -0.688250 m/s, LOS rate: 0.054323 deg/s, cmd heading: 311.613557 deg, new cmd heading: 311.653808 deg. 2025-10-29T01:31:45.194Z,1761701505.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439385 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:45.567Z,1761701505.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651254,0.758669,-0.016997],[-0.730509,0.632832,0.256672],[0.205486,-0.154742,0.966349]] 2025-10-29T01:31:45.586Z,1761701505.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:45.589Z,1761701505.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 98.162987 m, bearing: 314.915230 deg, approach rate: -0.688186 m/s, LOS rate: 0.054554 deg/s, cmd heading: 311.653800 deg, new cmd heading: 311.696983 deg. 2025-10-29T01:31:45.590Z,1761701505.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440139 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:45.972Z,1761701505.972 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651499,0.758460,-0.016976],[-0.730146,0.632940,0.257436],[0.206000,-0.155325,0.966146]] 2025-10-29T01:31:46.007Z,1761701506.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:46.009Z,1761701506.009 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:46.011Z,1761701506.011 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 97.878731 m, bearing: 314.936936 deg, approach rate: -0.672300 m/s, LOS rate: 0.051485 deg/s, cmd heading: 311.696994 deg, new cmd heading: 311.740531 deg. 2025-10-29T01:31:46.029Z,1761701506.029 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.440899 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:46.169Z,1761701506.169 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:46.169Z,1761701506.169 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:46.169Z,1761701506.169 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:46.371Z,1761701506.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.652463,0.757611,-0.017821],[-0.729147,0.634010,0.257637],[0.206487,-0.155104,0.966078]] 2025-10-29T01:31:46.399Z,1761701506.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:46.402Z,1761701506.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 97.615211 m, bearing: 314.956954 deg, approach rate: -0.674787 m/s, LOS rate: 0.051398 deg/s, cmd heading: 311.740543 deg, new cmd heading: 311.780687 deg. 2025-10-29T01:31:46.403Z,1761701506.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441599 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:46.422Z,1761701506.422 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255923 2025-10-29T01:31:46.677Z,1761701506.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509900 2025-10-29T01:31:46.780Z,1761701506.780 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.653451,0.756738,-0.018679],[-0.728088,0.635079,0.257997],[0.207099,-0.154988,0.965965]] 2025-10-29T01:31:46.880Z,1761701506.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:46.883Z,1761701506.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 97.297546 m, bearing: 314.979435 deg, approach rate: -0.660812 m/s, LOS rate: 0.046919 deg/s, cmd heading: 311.780678 deg, new cmd heading: 311.825787 deg. 2025-10-29T01:31:46.884Z,1761701506.884 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442387 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:46.926Z,1761701506.926 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760296 2025-10-29T01:31:47.177Z,1761701507.177 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011222 2025-10-29T01:31:47.181Z,1761701507.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.654374,0.755928,-0.019175],[-0.727096,0.635975,0.258587],[0.207668,-0.155271,0.965798]] 2025-10-29T01:31:47.224Z,1761701507.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:47.227Z,1761701507.227 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 97.070000 m, bearing: 314.995440 deg, approach rate: -0.661617 m/s, LOS rate: 0.046646 deg/s, cmd heading: 311.825784 deg, new cmd heading: 311.857870 deg. 2025-10-29T01:31:47.228Z,1761701507.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442946 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:47.432Z,1761701507.432 [DAT](INFO): DAT read: Rx Time:01:31:46.6064 2025-10-29T01:31:47.433Z,1761701507.433 [DAT](INFO): Rx dataTimestamp_ set to:1761701507.432184 2025-10-29T01:31:47.434Z,1761701507.434 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267860 2025-10-29T01:31:47.583Z,1761701507.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655163,0.755219,-0.020129],[-0.726251,0.636926,0.258623],[0.208138,-0.154822,0.965769]] 2025-10-29T01:31:47.644Z,1761701507.644 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 104.14 m. 2025-10-29T01:31:47.650Z,1761701507.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 104.140312 m, nav range: 96.808464 m, bearing: 315.013752 deg, approach rate: -0.660909 m/s, LOS rate: 0.046399 deg/s, cmd heading: 311.857859 deg, new cmd heading: 311.894581 deg. 2025-10-29T01:31:47.651Z,1761701507.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443587 target range: 104.140312 and range: 104.70 m. 2025-10-29T01:31:47.685Z,1761701507.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.518537 2025-10-29T01:31:47.943Z,1761701507.943 [DAT](INFO): DAT read: 01:31:46.6064 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 401,-0.18,-2.853, 1.772,-2.757,-3.134, PHS= 0.383,-1.331, 0.333, RAW= 148.5, 7.3, CAL= 148.0, 7.9, ROT= 2.0, -7.9 2025-10-29T01:31:47.944Z,1761701507.944 [DAT](INFO): got valid direction response: 01:31:46.6064 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 401,-0.18,-2.853, 1.772,-2.757,-3.134, PHS= 0.383,-1.331, 0.333, RAW= 148.5, 7.3, CAL= 148.0, 7.9, ROT= 2.0, -7.9 2025-10-29T01:31:47.945Z,1761701507.945 [DAT](INFO): DAT read: Bearing 123.0, 12.3 (Local) 2025-10-29T01:31:47.945Z,1761701507.945 [DAT](INFO): Local bearing/azimuth received: Bearing 123.0, 12.3 (Local) 2025-10-29T01:31:47.947Z,1761701507.947 [DAT](INFO): DAT read: Range 11 to 50 : 102.3 m (Round-trip 136.4 ms) speed 0.5 m/s 2025-10-29T01:31:47.948Z,1761701507.948 [DAT](INFO): DAT read: user:755> 2025-10-29T01:31:47.949Z,1761701507.949 [DAT](INFO): DAT read: Tx time:01:31:47.7159 2025-10-29T01:31:47.949Z,1761701507.949 [DAT](INFO): Ping request sent. 2025-10-29T01:31:47.949Z,1761701507.949 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:47.949Z,1761701507.949 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:47.951Z,1761701507.951 [DAT](INFO): direction in FSK: [0.989906,0.034568,0.137445] 2025-10-29T01:31:47.953Z,1761701507.953 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:47.954Z,1761701507.954 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:47.959Z,1761701507.959 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:47.959Z,1761701507.959 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:47.995Z,1761701507.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.656182,0.754313,-0.020927],[-0.725207,0.638042,0.258800],[0.208568,-0.154643,0.965704]] 2025-10-29T01:31:48.118Z,1761701508.118 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 102.300003 m, deltaT: 3.780633 s, deltaX: -2.399994 m, approachRate: -0.634813 m/s, rangeRepo size: 4 2025-10-29T01:31:48.124Z,1761701508.124 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 101.753822 m, bearing: 315.537138 deg, lat: 36.779311 deg, lon: -121.859385 deg, deltaT: 3.780633 s, deltaX: -2.386490 m, approachRate: -0.631241 m/s, posRepo size: 4 2025-10-29T01:31:48.128Z,1761701508.128 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:48.131Z,1761701508.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 96.121124 m, bearing: 315.262704 deg, approach rate: 0.000000 m/s, LOS rate: 0.046399 deg/s, cmd heading: 311.894578 deg, new cmd heading: 311.940759 deg. 2025-10-29T01:31:48.132Z,1761701508.132 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444393 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:48.453Z,1761701508.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657237,0.753390,-0.021062],[-0.724266,0.639068,0.258904],[0.208515,-0.154907,0.965674]] 2025-10-29T01:31:48.471Z,1761701508.471 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:48.473Z,1761701508.473 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:48.475Z,1761701508.475 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 95.877502 m, bearing: 315.279146 deg, approach rate: -0.685211 m/s, LOS rate: 0.046363 deg/s, cmd heading: 311.940750 deg, new cmd heading: 311.973718 deg. 2025-10-29T01:31:48.477Z,1761701508.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444969 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:48.691Z,1761701508.691 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:48.692Z,1761701508.692 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:48.693Z,1761701508.693 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:48.846Z,1761701508.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.658093,0.752679,-0.019681],[-0.723584,0.639449,0.259866],[0.208181,-0.156775,0.965444]] 2025-10-29T01:31:48.898Z,1761701508.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:48.900Z,1761701508.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 95.601601 m, bearing: 315.298306 deg, approach rate: -0.649769 m/s, LOS rate: 0.045253 deg/s, cmd heading: 311.973726 deg, new cmd heading: 312.012157 deg. 2025-10-29T01:31:48.901Z,1761701508.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445640 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:48.941Z,1761701508.941 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.991820 2025-10-29T01:31:49.193Z,1761701509.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.243771 2025-10-29T01:31:49.250Z,1761701509.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659284,0.751632,-0.019856],[-0.722525,0.640619,0.259932],[0.208093,-0.157023,0.965423]] 2025-10-29T01:31:49.281Z,1761701509.281 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:49.284Z,1761701509.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 95.352295 m, bearing: 315.315466 deg, approach rate: -0.649574 m/s, LOS rate: 0.044827 deg/s, cmd heading: 312.012166 deg, new cmd heading: 312.046576 deg. 2025-10-29T01:31:49.285Z,1761701509.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446240 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:49.445Z,1761701509.445 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.495823 2025-10-29T01:31:49.687Z,1761701509.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660619,0.750441,-0.020504],[-0.721320,0.642078,0.259678],[0.208038,-0.156759,0.965477]] 2025-10-29T01:31:49.697Z,1761701509.697 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.747768 2025-10-29T01:31:49.801Z,1761701509.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:49.803Z,1761701509.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 95.032784 m, bearing: 315.337234 deg, approach rate: -0.615252 m/s, LOS rate: 0.042057 deg/s, cmd heading: 312.046563 deg, new cmd heading: 312.090245 deg. 2025-10-29T01:31:49.813Z,1761701509.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447002 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:49.949Z,1761701509.949 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.999699 2025-10-29T01:31:50.111Z,1761701510.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661896,0.749293,-0.021279],[-0.720188,0.643546,0.259185],[0.207899,-0.156229,0.965593]] 2025-10-29T01:31:50.168Z,1761701510.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:50.174Z,1761701510.174 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 94.789307 m, bearing: 315.353423 deg, approach rate: -0.693171 m/s, LOS rate: 0.046209 deg/s, cmd heading: 312.090249 deg, new cmd heading: 312.122711 deg. 2025-10-29T01:31:50.175Z,1761701510.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.447569 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:50.201Z,1761701510.201 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.251793 2025-10-29T01:31:50.453Z,1761701510.453 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504298 2025-10-29T01:31:50.510Z,1761701510.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662793,0.748479,-0.022021],[-0.719333,0.644602,0.258936],[0.208003,-0.155780,0.965643]] 2025-10-29T01:31:50.545Z,1761701510.545 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:50.547Z,1761701510.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:50.550Z,1761701510.550 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 94.542755 m, bearing: 315.369714 deg, approach rate: -0.623576 m/s, LOS rate: 0.041309 deg/s, cmd heading: 312.122706 deg, new cmd heading: 312.155372 deg. 2025-10-29T01:31:50.551Z,1761701510.551 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448139 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:50.708Z,1761701510.708 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757913 2025-10-29T01:31:50.957Z,1761701510.957 [DAT](INFO): DAT read: Rx Time:01:31:50.2532 2025-10-29T01:31:50.957Z,1761701510.957 [DAT](INFO): Rx dataTimestamp_ set to:1761701510.957166 2025-10-29T01:31:50.958Z,1761701510.958 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.008798 2025-10-29T01:31:50.979Z,1761701510.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:50.982Z,1761701510.982 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 94.243065 m, bearing: 315.389032 deg, approach rate: -0.694012 m/s, LOS rate: 0.044879 deg/s, cmd heading: 312.155382 deg, new cmd heading: 312.194142 deg. 2025-10-29T01:31:50.983Z,1761701510.983 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448816 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:51.210Z,1761701511.210 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.260083 2025-10-29T01:31:51.318Z,1761701511.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664178,0.747182,-0.024224],[-0.717943,0.646550,0.257934],[0.208386,-0.153923,0.965859]] 2025-10-29T01:31:51.338Z,1761701511.338 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 101.75 m. 2025-10-29T01:31:51.360Z,1761701511.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 101.753822 m, nav range: 94.004265 m, bearing: 315.404228 deg, approach rate: -0.666285 m/s, LOS rate: 0.042508 deg/s, cmd heading: 312.194150 deg, new cmd heading: 312.224620 deg. 2025-10-29T01:31:51.361Z,1761701511.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449347 target range: 101.753822 and range: 102.30 m. 2025-10-29T01:31:51.469Z,1761701511.469 [DAT](INFO): DAT read: 01:31:50.2532 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.13,-1.310,-2.986,-1.189,-1.588, PHS= 0.380,-1.352, 0.356, RAW= 149.3, 7.2, CAL= 148.7, 7.7, ROT= 1.3, -7.7 2025-10-29T01:31:51.471Z,1761701511.471 [DAT](INFO): got valid direction response: 01:31:50.2532 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.13,-1.310,-2.986,-1.189,-1.588, PHS= 0.380,-1.352, 0.356, RAW= 149.3, 7.2, CAL= 148.7, 7.7, ROT= 1.3, -7.7 2025-10-29T01:31:51.472Z,1761701511.472 [DAT](INFO): DAT read: Bearing 123.3, 11.8 (Local) 2025-10-29T01:31:51.473Z,1761701511.473 [DAT](INFO): Local bearing/azimuth received: Bearing 123.3, 11.8 (Local) 2025-10-29T01:31:51.475Z,1761701511.475 [DAT](INFO): DAT read: Range 11 to 50 : 99.9 m (Round-trip 133.2 ms) speed 0.6 m/s 2025-10-29T01:31:51.482Z,1761701511.482 [DAT](INFO): DAT read: user:756> 2025-10-29T01:31:51.483Z,1761701511.483 [DAT](INFO): DAT read: Tx time:01:31:51.3659 2025-10-29T01:31:51.488Z,1761701511.488 [DAT](INFO): Ping request sent. 2025-10-29T01:31:51.488Z,1761701511.488 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:51.489Z,1761701511.489 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:51.490Z,1761701511.490 [DAT](INFO): direction in FSK: [0.990728,0.022483,0.133986] 2025-10-29T01:31:51.491Z,1761701511.491 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:51.491Z,1761701511.491 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:51.495Z,1761701511.495 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:51.495Z,1761701511.495 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:51.741Z,1761701511.741 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664485,0.746886,-0.024921],[-0.717524,0.646973,0.258044],[0.208853,-0.153585,0.965812]] 2025-10-29T01:31:51.832Z,1761701511.832 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 99.900002 m, deltaT: 3.527398 s, deltaX: -2.400002 m, approachRate: -0.680389 m/s, rangeRepo size: 4 2025-10-29T01:31:51.834Z,1761701511.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 99.366173 m, bearing: 315.430783 deg, lat: 36.779311 deg, lon: -121.859385 deg, deltaT: 3.527398 s, deltaX: -2.387650 m, approachRate: -0.676887 m/s, posRepo size: 4 2025-10-29T01:31:51.835Z,1761701511.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:51.842Z,1761701511.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 93.699387 m, bearing: 315.431155 deg, approach rate: 0.000000 m/s, LOS rate: 0.042508 deg/s, cmd heading: 312.224613 deg, new cmd heading: 312.266250 deg. 2025-10-29T01:31:51.843Z,1761701511.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450074 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:52.161Z,1761701512.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664838,0.746606,-0.023888],[-0.717175,0.646922,0.259138],[0.208927,-0.155153,0.965545]] 2025-10-29T01:31:52.215Z,1761701512.215 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:52.219Z,1761701512.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 93.429276 m, bearing: 315.452706 deg, approach rate: -0.696791 m/s, LOS rate: 0.055755 deg/s, cmd heading: 312.266249 deg, new cmd heading: 312.309476 deg. 2025-10-29T01:31:52.236Z,1761701512.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450829 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:52.565Z,1761701512.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664900,0.746544,-0.024099],[-0.717008,0.646970,0.259481],[0.209305,-0.155249,0.965448]] 2025-10-29T01:31:52.582Z,1761701512.582 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:52.584Z,1761701512.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:52.586Z,1761701512.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 93.182030 m, bearing: 315.472519 deg, approach rate: -0.670615 m/s, LOS rate: 0.053881 deg/s, cmd heading: 312.309471 deg, new cmd heading: 312.349201 deg. 2025-10-29T01:31:52.587Z,1761701512.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451522 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:52.723Z,1761701512.723 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:52.723Z,1761701512.723 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:52.724Z,1761701512.724 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:52.966Z,1761701512.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664804,0.746640,-0.023766],[-0.717044,0.646728,0.259984],[0.209485,-0.155797,0.965320]] 2025-10-29T01:31:52.973Z,1761701512.973 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484677 2025-10-29T01:31:53.030Z,1761701513.030 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:53.037Z,1761701513.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 92.873886 m, bearing: 315.500591 deg, approach rate: -0.690586 m/s, LOS rate: 0.063122 deg/s, cmd heading: 312.349195 deg, new cmd heading: 312.405526 deg. 2025-10-29T01:31:53.038Z,1761701513.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452505 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:53.225Z,1761701513.225 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736469 2025-10-29T01:31:53.370Z,1761701513.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664500,0.746974,-0.021674],[-0.717447,0.645811,0.261147],[0.209067,-0.157982,0.965056]] 2025-10-29T01:31:53.392Z,1761701513.392 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:53.395Z,1761701513.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 92.613327 m, bearing: 315.524544 deg, approach rate: -0.718667 m/s, LOS rate: 0.066251 deg/s, cmd heading: 312.405531 deg, new cmd heading: 312.453571 deg. 2025-10-29T01:31:53.413Z,1761701513.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453343 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:53.478Z,1761701513.478 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.989302 2025-10-29T01:31:53.729Z,1761701513.729 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240595 2025-10-29T01:31:53.833Z,1761701513.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664053,0.747383,-0.021290],[-0.717756,0.645188,0.261838],[0.209429,-0.158593,0.964877]] 2025-10-29T01:31:53.870Z,1761701513.870 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:53.873Z,1761701513.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 92.276192 m, bearing: 315.558413 deg, approach rate: -0.706458 m/s, LOS rate: 0.071232 deg/s, cmd heading: 312.453561 deg, new cmd heading: 312.521548 deg. 2025-10-29T01:31:53.874Z,1761701513.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454530 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:53.981Z,1761701513.981 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492584 2025-10-29T01:31:54.220Z,1761701514.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.663293,0.748058,-0.021248],[-0.718371,0.644414,0.262057],[0.209726,-0.158557,0.964818]] 2025-10-29T01:31:54.233Z,1761701514.233 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.744612 2025-10-29T01:31:54.240Z,1761701514.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:54.243Z,1761701514.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 92.015175 m, bearing: 315.584976 deg, approach rate: -0.704370 m/s, LOS rate: 0.071884 deg/s, cmd heading: 312.521535 deg, new cmd heading: 312.574810 deg. 2025-10-29T01:31:54.244Z,1761701514.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455460 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:54.488Z,1761701514.488 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000054 2025-10-29T01:31:54.619Z,1761701514.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662447,0.748797,-0.021610],[-0.719051,0.643691,0.261968],[0.210071,-0.158000,0.964835]] 2025-10-29T01:31:54.646Z,1761701514.646 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:54.649Z,1761701514.649 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:54.651Z,1761701514.651 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 91.726204 m, bearing: 315.614777 deg, approach rate: -0.707629 m/s, LOS rate: 0.073208 deg/s, cmd heading: 312.574810 deg, new cmd heading: 312.634601 deg. 2025-10-29T01:31:54.652Z,1761701514.652 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456503 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:54.738Z,1761701514.738 [DAT](INFO): DAT read: Rx Time:01:31:53.8996 2025-10-29T01:31:54.739Z,1761701514.739 [DAT](INFO): Rx dataTimestamp_ set to:1761701514.737955 2025-10-29T01:31:54.739Z,1761701514.739 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250726 2025-10-29T01:31:54.989Z,1761701514.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.500453 2025-10-29T01:31:55.023Z,1761701515.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661807,0.749365,-0.021550],[-0.719510,0.642988,0.262434],[0.210515,-0.158175,0.964709]] 2025-10-29T01:31:55.123Z,1761701515.123 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 99.37 m. 2025-10-29T01:31:55.126Z,1761701515.126 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 99.366173 m, nav range: 91.396912 m, bearing: 315.650259 deg, approach rate: -0.693830 m/s, LOS rate: 0.075029 deg/s, cmd heading: 312.634588 deg, new cmd heading: 312.705806 deg. 2025-10-29T01:31:55.127Z,1761701515.127 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457746 target range: 99.366173 and range: 99.90 m. 2025-10-29T01:31:55.247Z,1761701515.247 [DAT](INFO): DAT read: 01:31:53.8996 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.02, 1.188,-0.487, 1.276, 0.902, PHS= 0.388,-1.344, 0.330, RAW= 148.3, 7.4, CAL= 147.8, 8.0, ROT= 2.2, -8.0 2025-10-29T01:31:55.248Z,1761701515.248 [DAT](INFO): got valid direction response: 01:31:53.8996 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 411,-0.02, 1.188,-0.487, 1.276, 0.902, PHS= 0.388,-1.344, 0.330, RAW= 148.3, 7.4, CAL= 147.8, 8.0, ROT= 2.2, -8.0 2025-10-29T01:31:55.249Z,1761701515.249 [DAT](INFO): DAT read: Bearing 124.0, 12.7 (Local) 2025-10-29T01:31:55.249Z,1761701515.249 [DAT](INFO): Local bearing/azimuth received: Bearing 124.0, 12.7 (Local) 2025-10-29T01:31:55.251Z,1761701515.251 [DAT](INFO): DAT read: Range 11 to 50 : 97.1 m (Round-trip 129.5 ms) speed 0.6 m/s 2025-10-29T01:31:55.251Z,1761701515.251 [DAT](INFO): DAT read: user:757> 2025-10-29T01:31:55.252Z,1761701515.252 [DAT](INFO): DAT read: Tx time:01:31:55.0159 2025-10-29T01:31:55.253Z,1761701515.253 [DAT](INFO): Ping request sent. 2025-10-29T01:31:55.253Z,1761701515.253 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:55.253Z,1761701515.253 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:55.254Z,1761701515.254 [DAT](INFO): direction in FSK: [0.989538,0.038014,0.139173] 2025-10-29T01:31:55.254Z,1761701515.254 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:55.255Z,1761701515.255 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:55.258Z,1761701515.258 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:55.258Z,1761701515.258 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:55.440Z,1761701515.440 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661033,0.750054,-0.021306],[-0.720025,0.642047,0.263325],[0.211187,-0.158726,0.964472]] 2025-10-29T01:31:55.463Z,1761701515.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 97.099998 m, deltaT: 3.779841 s, deltaX: -2.800003 m, approachRate: -0.740773 m/s, rangeRepo size: 4 2025-10-29T01:31:55.465Z,1761701515.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 96.581329 m, bearing: 316.214841 deg, lat: 36.779311 deg, lon: -121.859379 deg, deltaT: 3.779841 s, deltaX: -2.784843 m, approachRate: -0.736762 m/s, posRepo size: 4 2025-10-29T01:31:55.466Z,1761701515.466 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:55.469Z,1761701515.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 90.834465 m, bearing: 315.888718 deg, approach rate: 0.000000 m/s, LOS rate: 0.075029 deg/s, cmd heading: 312.705813 deg, new cmd heading: 312.756749 deg. 2025-10-29T01:31:55.470Z,1761701515.470 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458635 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:55.865Z,1761701515.865 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660531,0.750543,-0.019571],[-0.720296,0.640835,0.265526],[0.211830,-0.161291,0.963905]] 2025-10-29T01:31:55.910Z,1761701515.910 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:55.933Z,1761701515.933 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 90.531418 m, bearing: 315.922141 deg, approach rate: -0.678184 m/s, LOS rate: 0.075047 deg/s, cmd heading: 312.756739 deg, new cmd heading: 312.823808 deg. 2025-10-29T01:31:55.934Z,1761701515.934 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459805 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:56.238Z,1761701516.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659802,0.751194,-0.019202],[-0.720657,0.639805,0.267027],[0.212875,-0.162347,0.963498]] 2025-10-29T01:31:56.258Z,1761701516.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:56.261Z,1761701516.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 90.287781 m, bearing: 315.949294 deg, approach rate: -0.699186 m/s, LOS rate: 0.078133 deg/s, cmd heading: 312.823811 deg, new cmd heading: 312.878264 deg. 2025-10-29T01:31:56.262Z,1761701516.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460756 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:56.634Z,1761701516.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.659503,0.751449,-0.019502],[-0.720712,0.639473,0.267672],[0.213613,-0.162475,0.963313]] 2025-10-29T01:31:56.676Z,1761701516.676 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:56.678Z,1761701516.678 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:56.685Z,1761701516.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 90.016945 m, bearing: 315.979702 deg, approach rate: -0.644260 m/s, LOS rate: 0.072551 deg/s, cmd heading: 312.878262 deg, new cmd heading: 312.939260 deg. 2025-10-29T01:31:56.686Z,1761701516.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461821 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:56.754Z,1761701516.754 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:31:56.754Z,1761701516.754 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:31:56.754Z,1761701516.754 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:31:57.005Z,1761701517.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751948 2025-10-29T01:31:57.051Z,1761701517.051 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.660241,0.750766,-0.020773],[-0.719895,0.640492,0.267435],[0.214086,-0.161617,0.963352]] 2025-10-29T01:31:57.104Z,1761701517.104 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:57.107Z,1761701517.107 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 89.719124 m, bearing: 316.012911 deg, approach rate: -0.700352 m/s, LOS rate: 0.078353 deg/s, cmd heading: 312.939269 deg, new cmd heading: 313.005907 deg. 2025-10-29T01:31:57.108Z,1761701517.108 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462984 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:57.257Z,1761701517.257 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004084 2025-10-29T01:31:57.477Z,1761701517.477 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:57.480Z,1761701517.480 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 89.451340 m, bearing: 316.042961 deg, approach rate: -0.716790 m/s, LOS rate: 0.080679 deg/s, cmd heading: 313.005904 deg, new cmd heading: 313.066186 deg. 2025-10-29T01:31:57.481Z,1761701517.481 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464036 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:57.509Z,1761701517.509 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255946 2025-10-29T01:31:57.761Z,1761701517.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508238 2025-10-29T01:31:57.886Z,1761701517.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662401,0.748697,-0.026027],[-0.717883,0.644304,0.263661],[0.214172,-0.155965,0.964264]] 2025-10-29T01:31:57.948Z,1761701517.948 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:57.951Z,1761701517.951 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 89.141075 m, bearing: 316.072792 deg, approach rate: -0.658972 m/s, LOS rate: 0.063577 deg/s, cmd heading: 313.066174 deg, new cmd heading: 313.126042 deg. 2025-10-29T01:31:57.952Z,1761701517.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465080 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:58.014Z,1761701518.014 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760835 2025-10-29T01:31:58.257Z,1761701518.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664143,0.747085,-0.027894],[-0.716490,0.646710,0.261549],[0.213439,-0.153720,0.964787]] 2025-10-29T01:31:58.265Z,1761701518.265 [DAT](INFO): DAT read: Rx Time:01:31:57.5458 2025-10-29T01:31:58.265Z,1761701518.265 [DAT](INFO): Rx dataTimestamp_ set to:1761701518.265121 2025-10-29T01:31:58.266Z,1761701518.266 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013045 2025-10-29T01:31:58.283Z,1761701518.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:58.286Z,1761701518.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 88.919945 m, bearing: 316.093876 deg, approach rate: -0.659634 m/s, LOS rate: 0.063053 deg/s, cmd heading: 313.126034 deg, new cmd heading: 313.168308 deg. 2025-10-29T01:31:58.287Z,1761701518.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465818 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:58.517Z,1761701518.517 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263911 2025-10-29T01:31:58.654Z,1761701518.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.665285,0.746056,-0.028226],[-0.715536,0.647948,0.261099],[0.213083,-0.153509,0.964899]] 2025-10-29T01:31:58.729Z,1761701518.729 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:31:58.731Z,1761701518.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 96.58 m. 2025-10-29T01:31:58.734Z,1761701518.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 96.581329 m, nav range: 88.662621 m, bearing: 316.118289 deg, approach rate: -0.574628 m/s, LOS rate: 0.054675 deg/s, cmd heading: 313.168299 deg, new cmd heading: 313.217266 deg. 2025-10-29T01:31:58.745Z,1761701518.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.466672 target range: 96.581329 and range: 97.10 m. 2025-10-29T01:31:58.777Z,1761701518.777 [DAT](INFO): DAT read: 01:31:57.5458 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.44, 2.365, 0.726, 2.454, 2.127, PHS= 0.340,-1.356, 0.283, RAW= 148.3, 8.8, CAL= 147.9, 9.6, ROT= 2.1, -9.6 2025-10-29T01:31:58.779Z,1761701518.779 [DAT](INFO): got valid direction response: 01:31:57.5458 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 406, 0.44, 2.365, 0.726, 2.454, 2.127, PHS= 0.340,-1.356, 0.283, RAW= 148.3, 8.8, CAL= 147.9, 9.6, ROT= 2.1, -9.6 2025-10-29T01:31:58.780Z,1761701518.780 [DAT](INFO): DAT read: Bearing 126.1, 12.8 (Local) 2025-10-29T01:31:58.780Z,1761701518.780 [DAT](INFO): Local bearing/azimuth received: Bearing 126.1, 12.8 (Local) 2025-10-29T01:31:58.782Z,1761701518.782 [DAT](INFO): DAT read: Range 11 to 50 : 94.4 m (Round-trip 125.9 ms) speed 0.7 m/s 2025-10-29T01:31:58.783Z,1761701518.783 [DAT](INFO): DAT read: user:758> 2025-10-29T01:31:58.783Z,1761701518.783 [DAT](INFO): DAT read: Tx time:01:31:58.6658 2025-10-29T01:31:58.784Z,1761701518.784 [DAT](INFO): Ping request sent. 2025-10-29T01:31:58.784Z,1761701518.784 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:31:58.784Z,1761701518.784 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:31:58.785Z,1761701518.785 [DAT](INFO): direction in FSK: [0.985334,0.036131,0.166769] 2025-10-29T01:31:58.785Z,1761701518.785 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:58.786Z,1761701518.786 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:58.804Z,1761701518.804 [DAT](INFO): publishing transmit ping time 2025-10-29T01:31:58.805Z,1761701518.805 [DAT](INFO): publishing direction and range info 2025-10-29T01:31:59.059Z,1761701519.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666513,0.744937,-0.028790],[-0.714491,0.649340,0.260499],[0.212750,-0.153056,0.965045]] 2025-10-29T01:31:59.129Z,1761701519.129 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 94.400002 m, deltaT: 3.528586 s, deltaX: -2.699997 m, approachRate: -0.765178 m/s, rangeRepo size: 4 2025-10-29T01:31:59.131Z,1761701519.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 93.895660 m, bearing: 316.816848 deg, lat: 36.779311 deg, lon: -121.859376 deg, deltaT: 3.528586 s, deltaX: -2.685669 m, approachRate: -0.761118 m/s, posRepo size: 4 2025-10-29T01:31:59.144Z,1761701519.144 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:31:59.146Z,1761701519.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 88.173561 m, bearing: 316.295139 deg, approach rate: 0.000000 m/s, LOS rate: 0.054675 deg/s, cmd heading: 313.217258 deg, new cmd heading: 313.260730 deg. 2025-10-29T01:31:59.147Z,1761701519.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467431 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:31:59.478Z,1761701519.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.667742,0.743738,-0.031225],[-0.713473,0.651406,0.258121],[0.212315,-0.150080,0.965608]] 2025-10-29T01:31:59.506Z,1761701519.506 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:31:59.509Z,1761701519.509 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 87.927948 m, bearing: 316.314050 deg, approach rate: -0.650429 m/s, LOS rate: 0.050220 deg/s, cmd heading: 313.260725 deg, new cmd heading: 313.298653 deg. 2025-10-29T01:31:59.510Z,1761701519.510 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468093 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:31:59.903Z,1761701519.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.668655,0.742787,-0.034169],[-0.712660,0.653292,0.255589],[0.212171,-0.146550,0.966182]] 2025-10-29T01:31:59.976Z,1761701519.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:31:59.979Z,1761701519.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 87.635979 m, bearing: 316.338499 deg, approach rate: -0.626888 m/s, LOS rate: 0.052670 deg/s, cmd heading: 313.298646 deg, new cmd heading: 313.347708 deg. 2025-10-29T01:31:59.984Z,1761701519.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468949 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:00.303Z,1761701520.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.669513,0.741974,-0.035023],[-0.711903,0.654407,0.254843],[0.212007,-0.145688,0.966348]] 2025-10-29T01:32:00.323Z,1761701520.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:00.326Z,1761701520.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 87.402573 m, bearing: 316.357988 deg, approach rate: -0.665485 m/s, LOS rate: 0.055714 deg/s, cmd heading: 313.347714 deg, new cmd heading: 313.386796 deg. 2025-10-29T01:32:00.327Z,1761701520.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.469631 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:00.703Z,1761701520.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670025,0.741453,-0.036252],[-0.711305,0.655222,0.254419],[0.212393,-0.144681,0.966414]] 2025-10-29T01:32:00.721Z,1761701520.721 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:00.724Z,1761701520.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 87.145851 m, bearing: 316.379418 deg, approach rate: -0.644199 m/s, LOS rate: 0.053935 deg/s, cmd heading: 313.386783 deg, new cmd heading: 313.429770 deg. 2025-10-29T01:32:00.725Z,1761701520.725 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470381 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:01.108Z,1761701521.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670042,0.741561,-0.033639],[-0.711046,0.654166,0.257836],[0.213207,-0.148842,0.965603]] 2025-10-29T01:32:01.144Z,1761701521.144 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:01.146Z,1761701521.146 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:01.149Z,1761701521.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 86.870087 m, bearing: 316.402012 deg, approach rate: -0.648478 m/s, LOS rate: 0.053300 deg/s, cmd heading: 313.429759 deg, new cmd heading: 313.475090 deg. 2025-10-29T01:32:01.150Z,1761701521.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471172 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:01.289Z,1761701521.289 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:01.289Z,1761701521.289 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:01.289Z,1761701521.289 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:01.511Z,1761701521.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670201,0.741575,-0.029963],[-0.710689,0.652876,0.262059],[0.213899,-0.154338,0.964586]] 2025-10-29T01:32:01.538Z,1761701521.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:01.541Z,1761701521.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.757236 2025-10-29T01:32:01.542Z,1761701521.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 86.615456 m, bearing: 316.422906 deg, approach rate: -0.650951 m/s, LOS rate: 0.053570 deg/s, cmd heading: 313.475084 deg, new cmd heading: 313.516993 deg. 2025-10-29T01:32:01.543Z,1761701521.543 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471904 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:01.794Z,1761701521.794 [DAT](INFO): DAT read: Rx Time:01:32:01.1926 2025-10-29T01:32:01.795Z,1761701521.795 [DAT](INFO): Rx dataTimestamp_ set to:1761701521.794254 2025-10-29T01:32:01.795Z,1761701521.795 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.011623 2025-10-29T01:32:01.954Z,1761701521.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670661,0.741287,-0.026604],[-0.710229,0.652082,0.265263],[0.213984,-0.159006,0.963809]] 2025-10-29T01:32:02.018Z,1761701522.018 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:02.021Z,1761701522.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 86.311050 m, bearing: 316.449331 deg, approach rate: -0.636732 m/s, LOS rate: 0.055469 deg/s, cmd heading: 313.516994 deg, new cmd heading: 313.570030 deg. 2025-10-29T01:32:02.022Z,1761701522.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.472829 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:02.045Z,1761701522.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.261130 2025-10-29T01:32:02.297Z,1761701522.297 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.513673 2025-10-29T01:32:02.376Z,1761701522.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670745,0.741198,-0.026952],[-0.710078,0.652230,0.265302],[0.214220,-0.158812,0.963789]] 2025-10-29T01:32:02.410Z,1761701522.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 93.90 m. 2025-10-29T01:32:02.430Z,1761701522.430 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 93.895660 m, nav range: 86.039932 m, bearing: 316.472996 deg, approach rate: -0.687020 m/s, LOS rate: 0.060157 deg/s, cmd heading: 313.570023 deg, new cmd heading: 313.617502 deg. 2025-10-29T01:32:02.431Z,1761701522.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473658 target range: 93.895660 and range: 94.40 m. 2025-10-29T01:32:02.555Z,1761701522.555 [DAT](INFO): DAT read: 01:32:01.1926 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 405, 0.43, 2.589, 0.958, 2.686, 2.315, PHS= 0.376,-1.312, 0.327, RAW= 148.5, 7.4, CAL= 148.0, 7.9, ROT= 2.0, -7.9 2025-10-29T01:32:02.556Z,1761701522.556 [DAT](INFO): got valid direction response: 01:32:01.1926 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 405, 0.43, 2.589, 0.958, 2.686, 2.315, PHS= 0.376,-1.312, 0.327, RAW= 148.5, 7.4, CAL= 148.0, 7.9, ROT= 2.0, -7.9 2025-10-29T01:32:02.557Z,1761701522.557 [DAT](INFO): DAT read: Bearing 125.3, 13.1 (Local) 2025-10-29T01:32:02.558Z,1761701522.558 [DAT](INFO): Local bearing/azimuth received: Bearing 125.3, 13.1 (Local) 2025-10-29T01:32:02.559Z,1761701522.559 [DAT](INFO): DAT read: Range 11 to 50 : 92.0 m (Round-trip 122.7 ms) speed 0.6 m/s 2025-10-29T01:32:02.560Z,1761701522.560 [DAT](INFO): DAT read: user:759> 2025-10-29T01:32:02.561Z,1761701522.561 [DAT](INFO): DAT read: Tx time:01:32:02.3158 2025-10-29T01:32:02.561Z,1761701522.561 [DAT](INFO): Ping request sent. 2025-10-29T01:32:02.561Z,1761701522.561 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:02.562Z,1761701522.562 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:02.563Z,1761701522.563 [DAT](INFO): direction in FSK: [0.989906,0.034568,0.137445] 2025-10-29T01:32:02.563Z,1761701522.563 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:02.563Z,1761701522.563 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:02.566Z,1761701522.566 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:02.567Z,1761701522.567 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:02.754Z,1761701522.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671247,0.740716,-0.027691],[-0.709581,0.652935,0.264898],[0.214295,-0.158163,0.963879]] 2025-10-29T01:32:02.814Z,1761701522.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 92.000000 m, deltaT: 3.779829 s, deltaX: -2.400002 m, approachRate: -0.634950 m/s, rangeRepo size: 4 2025-10-29T01:32:02.821Z,1761701522.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 91.508873 m, bearing: 316.844972 deg, lat: 36.779313 deg, lon: -121.859376 deg, deltaT: 3.779829 s, deltaX: -2.386787 m, approachRate: -0.631454 m/s, posRepo size: 4 2025-10-29T01:32:02.821Z,1761701522.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:02.825Z,1761701522.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 85.878181 m, bearing: 316.559950 deg, approach rate: 0.000000 m/s, LOS rate: 0.060157 deg/s, cmd heading: 313.617507 deg, new cmd heading: 313.666006 deg. 2025-10-29T01:32:02.826Z,1761701522.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474504 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:03.155Z,1761701523.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.671935,0.740106,-0.027321],[-0.709142,0.653586,0.264466],[0.213590,-0.158329,0.964008]] 2025-10-29T01:32:03.211Z,1761701523.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:03.213Z,1761701523.213 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:03.216Z,1761701523.216 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 85.609482 m, bearing: 316.586717 deg, approach rate: -0.671719 m/s, LOS rate: 0.067123 deg/s, cmd heading: 313.666001 deg, new cmd heading: 313.719702 deg. 2025-10-29T01:32:03.217Z,1761701523.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475442 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:03.305Z,1761701523.305 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:03.305Z,1761701523.305 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:03.306Z,1761701523.306 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:03.557Z,1761701523.557 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995509 2025-10-29T01:32:03.562Z,1761701523.562 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672634,0.739525,-0.025798],[-0.708836,0.653944,0.264405],[0.212404,-0.159561,0.964067]] 2025-10-29T01:32:03.586Z,1761701523.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:03.589Z,1761701523.589 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 85.346588 m, bearing: 316.612920 deg, approach rate: -0.705348 m/s, LOS rate: 0.070521 deg/s, cmd heading: 313.719714 deg, new cmd heading: 313.772282 deg. 2025-10-29T01:32:03.590Z,1761701523.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476359 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:03.809Z,1761701523.809 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247326 2025-10-29T01:32:04.049Z,1761701524.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:04.052Z,1761701524.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 85.027077 m, bearing: 316.644905 deg, approach rate: -0.690116 m/s, LOS rate: 0.069344 deg/s, cmd heading: 313.772279 deg, new cmd heading: 313.836489 deg. 2025-10-29T01:32:04.053Z,1761701524.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477480 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:04.061Z,1761701524.061 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499445 2025-10-29T01:32:04.313Z,1761701524.313 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751917 2025-10-29T01:32:04.420Z,1761701524.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:04.422Z,1761701524.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 84.773064 m, bearing: 316.670507 deg, approach rate: -0.685351 m/s, LOS rate: 0.069283 deg/s, cmd heading: 313.836483 deg, new cmd heading: 313.887840 deg. 2025-10-29T01:32:04.423Z,1761701524.423 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478376 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:04.565Z,1761701524.565 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003278 2025-10-29T01:32:04.792Z,1761701524.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676531,0.735824,-0.029471],[-0.706056,0.659494,0.257977],[0.209261,-0.153721,0.965702]] 2025-10-29T01:32:04.812Z,1761701524.812 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:04.815Z,1761701524.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 84.501060 m, bearing: 316.697245 deg, approach rate: -0.693930 m/s, LOS rate: 0.068433 deg/s, cmd heading: 313.887846 deg, new cmd heading: 313.941493 deg. 2025-10-29T01:32:04.816Z,1761701524.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479313 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:04.817Z,1761701524.817 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.255490 2025-10-29T01:32:05.070Z,1761701525.070 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507818 2025-10-29T01:32:05.181Z,1761701525.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677515,0.734733,-0.033790],[-0.705230,0.661983,0.253828],[0.208864,-0.148143,0.966659]] 2025-10-29T01:32:05.233Z,1761701525.233 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:05.235Z,1761701525.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:05.241Z,1761701525.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 84.222931 m, bearing: 316.726571 deg, approach rate: -0.657655 m/s, LOS rate: 0.069572 deg/s, cmd heading: 313.941504 deg, new cmd heading: 314.000349 deg. 2025-10-29T01:32:05.242Z,1761701525.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480340 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:05.252Z,1761701525.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](INFO): Reached init depth of 59.600231 m. 2025-10-29T01:32:05.322Z,1761701525.322 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759794 2025-10-29T01:32:05.574Z,1761701525.574 [DAT](INFO): DAT read: Rx Time:01:32:04.8391 2025-10-29T01:32:05.575Z,1761701525.575 [DAT](INFO): Rx dataTimestamp_ set to:1761701525.574466 2025-10-29T01:32:05.575Z,1761701525.575 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013784 2025-10-29T01:32:05.586Z,1761701525.586 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678572,0.733619,-0.036662],[-0.704289,0.663995,0.251170],[0.208607,-0.144616,0.967248]] 2025-10-29T01:32:05.604Z,1761701525.604 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:05.607Z,1761701525.607 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 83.957535 m, bearing: 316.754522 deg, approach rate: -0.718751 m/s, LOS rate: 0.075938 deg/s, cmd heading: 314.000353 deg, new cmd heading: 314.056432 deg. 2025-10-29T01:32:05.608Z,1761701525.608 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481319 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:05.825Z,1761701525.825 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263681 2025-10-29T01:32:06.075Z,1761701526.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 91.51 m. 2025-10-29T01:32:06.083Z,1761701526.083 [DAT](INFO): DAT read: 01:32:04.8391 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.43,-1.093,-2.743,-0.966,-1.403, PHS= 0.411,-1.296, 0.393, RAW= 149.5, 5.8, CAL= 148.8, 6.2, ROT= 1.2, -6.2 2025-10-29T01:32:06.100Z,1761701526.100 [DAT](INFO): got valid direction response: 01:32:04.8391 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 401, 0.43,-1.093,-2.743,-0.966,-1.403, PHS= 0.411,-1.296, 0.393, RAW= 149.5, 5.8, CAL= 148.8, 6.2, ROT= 1.2, -6.2 2025-10-29T01:32:06.101Z,1761701526.101 [DAT](INFO): DAT read: Bearing 125.0, 12.1 (Local) 2025-10-29T01:32:06.101Z,1761701526.101 [DAT](INFO): Local bearing/azimuth received: Bearing 125.0, 12.1 (Local) 2025-10-29T01:32:06.103Z,1761701526.103 [DAT](INFO): DAT read: Range 11 to 50 : 89.4 m (Round-trip 119.2 ms) speed 0.6 m/s 2025-10-29T01:32:06.103Z,1761701526.103 [DAT](INFO): DAT read: user:760> 2025-10-29T01:32:06.104Z,1761701526.104 [DAT](INFO): DAT read: Tx time:01:32:05.9658 2025-10-29T01:32:06.105Z,1761701526.105 [DAT](INFO): Ping request sent. 2025-10-29T01:32:06.105Z,1761701526.105 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:06.105Z,1761701526.105 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:06.106Z,1761701526.106 [DAT](INFO): direction in FSK: [0.993933,0.020820,0.107999] 2025-10-29T01:32:06.106Z,1761701526.106 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:06.106Z,1761701526.106 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:06.110Z,1761701526.110 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 91.508873 m, nav range: 83.632553 m, bearing: 316.790638 deg, approach rate: -0.689489 m/s, LOS rate: 0.076922 deg/s, cmd heading: 314.056442 deg, new cmd heading: 314.128954 deg. 2025-10-29T01:32:06.111Z,1761701526.111 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482584 target range: 91.508873 and range: 92.00 m. 2025-10-29T01:32:06.126Z,1761701526.126 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:06.126Z,1761701526.126 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:06.441Z,1761701526.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681194,0.730995,-0.040258],[-0.701936,0.667759,0.247757],[0.207992,-0.140512,0.967986]] 2025-10-29T01:32:06.484Z,1761701526.484 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 89.400002 m, deltaT: 3.527681 s, deltaX: -2.599998 m, approachRate: -0.737028 m/s, rangeRepo size: 4 2025-10-29T01:32:06.486Z,1761701526.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 88.922913 m, bearing: 316.316793 deg, lat: 36.779315 deg, lon: -121.859376 deg, deltaT: 3.527681 s, deltaX: -2.585960 m, approachRate: -0.733048 m/s, posRepo size: 4 2025-10-29T01:32:06.487Z,1761701526.487 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:06.490Z,1761701526.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 83.559914 m, bearing: 316.943451 deg, approach rate: 0.000000 m/s, LOS rate: 0.076922 deg/s, cmd heading: 314.128951 deg, new cmd heading: 314.191743 deg. 2025-10-29T01:32:06.490Z,1761701526.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.483680 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:06.847Z,1761701526.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683171,0.729068,-0.041680],[-0.700239,0.670215,0.245922],[0.207228,-0.138821,0.968393]] 2025-10-29T01:32:06.886Z,1761701526.886 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:06.895Z,1761701526.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 83.279045 m, bearing: 316.974302 deg, approach rate: -0.714973 m/s, LOS rate: 0.078798 deg/s, cmd heading: 314.191734 deg, new cmd heading: 314.253644 deg. 2025-10-29T01:32:06.901Z,1761701526.901 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484761 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:07.145Z,1761701527.145 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:32:07.247Z,1761701527.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685291,0.726993,-0.043106],[-0.698340,0.672770,0.244340],[0.206634,-0.137341,0.968731]] 2025-10-29T01:32:07.314Z,1761701527.314 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:07.320Z,1761701527.320 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:07.323Z,1761701527.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 82.975006 m, bearing: 316.999724 deg, approach rate: -0.691480 m/s, LOS rate: 0.058030 deg/s, cmd heading: 314.253643 deg, new cmd heading: 314.304674 deg. 2025-10-29T01:32:07.324Z,1761701527.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485651 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:07.337Z,1761701527.337 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:07.337Z,1761701527.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:07.337Z,1761701527.337 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:07.589Z,1761701527.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.484192 2025-10-29T01:32:07.783Z,1761701527.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687382,0.724853,-0.045758],[-0.696444,0.675697,0.241660],[0.206086,-0.134245,0.969281]] 2025-10-29T01:32:07.806Z,1761701527.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:07.809Z,1761701527.809 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 82.639633 m, bearing: 317.027362 deg, approach rate: -0.684591 m/s, LOS rate: 0.056647 deg/s, cmd heading: 314.304678 deg, new cmd heading: 314.360180 deg. 2025-10-29T01:32:07.810Z,1761701527.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.486620 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:07.841Z,1761701527.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.736286 2025-10-29T01:32:08.093Z,1761701528.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.988249 2025-10-29T01:32:08.148Z,1761701528.148 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:32:08.179Z,1761701528.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689426,0.722701,-0.048948],[-0.694651,0.678794,0.238114],[0.205311,-0.130161,0.970003]] 2025-10-29T01:32:08.235Z,1761701528.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:08.242Z,1761701528.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 82.362373 m, bearing: 317.048113 deg, approach rate: -0.645679 m/s, LOS rate: 0.048487 deg/s, cmd heading: 314.360167 deg, new cmd heading: 314.401809 deg. 2025-10-29T01:32:08.243Z,1761701528.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487347 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:08.345Z,1761701528.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.240805 2025-10-29T01:32:08.596Z,1761701528.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691361,0.720792,-0.049791],[-0.693236,0.681190,0.235378],[0.203576,-0.128215,0.970628]] 2025-10-29T01:32:08.597Z,1761701528.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.492331 2025-10-29T01:32:08.616Z,1761701528.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:08.619Z,1761701528.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 82.093094 m, bearing: 317.067959 deg, approach rate: -0.707288 m/s, LOS rate: 0.052298 deg/s, cmd heading: 314.401804 deg, new cmd heading: 314.441626 deg. 2025-10-29T01:32:08.620Z,1761701528.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488042 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:08.850Z,1761701528.850 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.745031 2025-10-29T01:32:09.101Z,1761701529.101 [DAT](INFO): DAT read: Rx Time:01:32:08.4857 2025-10-29T01:32:09.101Z,1761701529.101 [DAT](INFO): Rx dataTimestamp_ set to:1761701529.101187 2025-10-29T01:32:09.102Z,1761701529.102 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.997346 2025-10-29T01:32:09.119Z,1761701529.119 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.693394,0.718864,-0.049391],[-0.692337,0.683665,0.230809],[0.199687,-0.125846,0.971745]] 2025-10-29T01:32:09.228Z,1761701529.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:09.231Z,1761701529.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 81.677170 m, bearing: 317.094774 deg, approach rate: -0.679274 m/s, LOS rate: 0.044015 deg/s, cmd heading: 314.441637 deg, new cmd heading: 314.495539 deg. 2025-10-29T01:32:09.232Z,1761701529.232 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488983 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:09.353Z,1761701529.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.248212 2025-10-29T01:32:09.609Z,1761701529.609 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.504002 2025-10-29T01:32:09.692Z,1761701529.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.697508,0.715610,-0.037206],[-0.692022,0.686174,0.224211],[0.185977,-0.130641,0.973830]] 2025-10-29T01:32:09.799Z,1761701529.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:09.801Z,1761701529.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 88.92 m. 2025-10-29T01:32:09.803Z,1761701529.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 88.922913 m, nav range: 81.294952 m, bearing: 317.118670 deg, approach rate: -0.667335 m/s, LOS rate: 0.041917 deg/s, cmd heading: 314.495541 deg, new cmd heading: 314.543558 deg. 2025-10-29T01:32:09.805Z,1761701529.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489821 target range: 88.922913 and range: 89.40 m. 2025-10-29T01:32:09.878Z,1761701529.878 [DAT](INFO): DAT read: 01:32:08.4857 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.13, 1.923, 0.338, 2.093, 1.711, PHS= 0.313,-1.328, 0.338, RAW= 150.7, 8.2, CAL= 150.3, 8.8, ROT= 359.7, -8.8 2025-10-29T01:32:09.881Z,1761701529.881 [DAT](INFO): got valid direction response: 01:32:08.4857 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 414, 0.13, 1.923, 0.338, 2.093, 1.711, PHS= 0.313,-1.328, 0.338, RAW= 150.7, 8.2, CAL= 150.3, 8.8, ROT= 359.7, -8.8 2025-10-29T01:32:09.882Z,1761701529.882 [DAT](INFO): DAT read: Bearing 128.7, 9.8 (Local) 2025-10-29T01:32:09.882Z,1761701529.882 [DAT](INFO): Local bearing/azimuth received: Bearing 128.7, 9.8 (Local) 2025-10-29T01:32:09.885Z,1761701529.885 [DAT](INFO): DAT read: Range 11 to 50 : 86.8 m (Round-trip 115.8 ms) speed 0.5 m/s 2025-10-29T01:32:09.886Z,1761701529.886 [DAT](INFO): DAT read: user:761> 2025-10-29T01:32:09.890Z,1761701529.890 [DAT](INFO): DAT read: Tx time:01:32:09.6158 2025-10-29T01:32:09.891Z,1761701529.891 [DAT](INFO): Ping request sent. 2025-10-29T01:32:09.891Z,1761701529.891 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:09.892Z,1761701529.892 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:09.894Z,1761701529.894 [DAT](INFO): direction in FSK: [0.988215,-0.005174,0.152986] 2025-10-29T01:32:09.894Z,1761701529.894 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:09.895Z,1761701529.895 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:09.915Z,1761701529.915 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:09.915Z,1761701529.915 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:10.220Z,1761701530.220 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699202,0.714404,-0.027270],[-0.692712,0.686420,0.221308],[0.176822,-0.135849,0.974822]] 2025-10-29T01:32:10.307Z,1761701530.307 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 86.800003 m, deltaT: 3.779939 s, deltaX: -2.599998 m, approachRate: -0.687841 m/s, rangeRepo size: 4 2025-10-29T01:32:10.309Z,1761701530.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 86.335327 m, bearing: 316.235865 deg, lat: 36.779315 deg, lon: -121.859376 deg, deltaT: 3.779939 s, deltaX: -2.587585 m, approachRate: -0.684557 m/s, posRepo size: 4 2025-10-29T01:32:10.310Z,1761701530.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:10.313Z,1761701530.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 80.947052 m, bearing: 317.139848 deg, approach rate: 0.000000 m/s, LOS rate: 0.041917 deg/s, cmd heading: 314.543571 deg, new cmd heading: 314.585945 deg. 2025-10-29T01:32:10.314Z,1761701530.314 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490561 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:10.626Z,1761701530.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700161,0.713752,-0.018232],[-0.694223,0.686526,0.216185],[0.166820,-0.138707,0.976182]] 2025-10-29T01:32:10.686Z,1761701530.686 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:10.695Z,1761701530.695 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 80.700531 m, bearing: 317.154990 deg, approach rate: -0.650053 m/s, LOS rate: 0.040051 deg/s, cmd heading: 314.585946 deg, new cmd heading: 314.616323 deg. 2025-10-29T01:32:10.696Z,1761701530.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491091 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:11.067Z,1761701531.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701333,0.712760,-0.010269],[-0.695641,0.687492,0.208417],[0.155611,-0.139026,0.977986]] 2025-10-29T01:32:11.131Z,1761701531.131 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:11.157Z,1761701531.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 80.373795 m, bearing: 317.171310 deg, approach rate: -0.733260 m/s, LOS rate: 0.036774 deg/s, cmd heading: 314.616326 deg, new cmd heading: 314.649098 deg. 2025-10-29T01:32:11.158Z,1761701531.158 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491663 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:11.481Z,1761701531.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702124,0.712050,-0.002565],[-0.697401,0.688398,0.199347],[0.143711,-0.138178,0.979926]] 2025-10-29T01:32:11.500Z,1761701531.500 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:11.503Z,1761701531.503 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 80.114471 m, bearing: 317.184482 deg, approach rate: -0.703709 m/s, LOS rate: 0.035859 deg/s, cmd heading: 314.649111 deg, new cmd heading: 314.675540 deg. 2025-10-29T01:32:11.504Z,1761701531.504 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492124 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:11.926Z,1761701531.926 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:11.928Z,1761701531.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:11.931Z,1761701531.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 79.813240 m, bearing: 317.199890 deg, approach rate: -0.702662 m/s, LOS rate: 0.036077 deg/s, cmd heading: 314.675530 deg, new cmd heading: 314.706462 deg. 2025-10-29T01:32:11.932Z,1761701531.932 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492664 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:12.125Z,1761701532.125 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:12.125Z,1761701532.125 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:12.125Z,1761701532.125 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:12.284Z,1761701532.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702779,0.711244,0.015314],[-0.701313,0.689031,0.182750],[0.119428,-0.139173,0.983040]] 2025-10-29T01:32:12.323Z,1761701532.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:12.342Z,1761701532.342 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 79.536331 m, bearing: 317.216769 deg, approach rate: -0.701186 m/s, LOS rate: 0.042889 deg/s, cmd heading: 314.706457 deg, new cmd heading: 314.740333 deg. 2025-10-29T01:32:12.343Z,1761701532.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493255 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:12.382Z,1761701532.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.490705 2025-10-29T01:32:12.633Z,1761701532.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.741753 2025-10-29T01:32:12.687Z,1761701532.687 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702875,0.710857,0.025493],[-0.703182,0.688989,0.175581],[0.107249,-0.141338,0.984135]] 2025-10-29T01:32:12.724Z,1761701532.724 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:12.727Z,1761701532.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 79.265549 m, bearing: 317.233603 deg, approach rate: -0.675834 m/s, LOS rate: 0.042161 deg/s, cmd heading: 314.740335 deg, new cmd heading: 314.774120 deg. 2025-10-29T01:32:12.728Z,1761701532.728 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493845 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:12.886Z,1761701532.886 [DAT](INFO): DAT read: Rx Time:01:32:12.1324 2025-10-29T01:32:12.887Z,1761701532.887 [DAT](INFO): Rx dataTimestamp_ set to:1761701532.886421 2025-10-29T01:32:12.887Z,1761701532.887 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.996049 2025-10-29T01:32:13.111Z,1761701533.111 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702560,0.710788,0.034487],[-0.705189,0.688886,0.167763],[0.095486,-0.142184,0.985224]] 2025-10-29T01:32:13.137Z,1761701533.137 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.245730 2025-10-29T01:32:13.157Z,1761701533.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 86.34 m. 2025-10-29T01:32:13.160Z,1761701533.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 86.335327 m, nav range: 78.946655 m, bearing: 317.254371 deg, approach rate: -0.736490 m/s, LOS rate: 0.048156 deg/s, cmd heading: 314.774131 deg, new cmd heading: 314.815834 deg. 2025-10-29T01:32:13.161Z,1761701533.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.494573 target range: 86.335327 and range: 86.80 m. 2025-10-29T01:32:13.402Z,1761701533.402 [DAT](INFO): DAT read: 01:32:12.1324 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.00,-0.921,-2.622,-0.714,-1.081, PHS= 0.262,-1.496, 0.323, RAW= 151.7, 10.2, CAL= 151.4, 11.1, ROT= 358.6, -11.1 2025-10-29T01:32:13.404Z,1761701533.404 [DAT](INFO): got valid direction response: 01:32:12.1324 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 411,-0.00,-0.921,-2.622,-0.714,-1.081, PHS= 0.262,-1.496, 0.323, RAW= 151.7, 10.2, CAL= 151.4, 11.1, ROT= 358.6, -11.1 2025-10-29T01:32:13.406Z,1761701533.406 [DAT](INFO): DAT read: Bearing 129.8, 2.8 (Local) 2025-10-29T01:32:13.406Z,1761701533.406 [DAT](INFO): Local bearing/azimuth received: Bearing 129.8, 2.8 (Local) 2025-10-29T01:32:13.412Z,1761701533.412 [DAT](INFO): DAT read: Range 11 to 50 : 84.3 m (Round-trip 112.4 ms) speed 0.7 m/s 2025-10-29T01:32:13.413Z,1761701533.413 [DAT](INFO): DAT read: user:762> 2025-10-29T01:32:13.413Z,1761701533.413 [DAT](INFO): DAT read: Tx time:01:32:13.2159 2025-10-29T01:32:13.414Z,1761701533.414 [DAT](INFO): Ping request sent. 2025-10-29T01:32:13.414Z,1761701533.414 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:13.414Z,1761701533.414 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:13.415Z,1761701533.415 [DAT](INFO): direction in FSK: [0.981000,-0.023975,0.192522] 2025-10-29T01:32:13.415Z,1761701533.415 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:13.416Z,1761701533.416 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:13.427Z,1761701533.427 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:13.427Z,1761701533.427 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:13.495Z,1761701533.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702692,0.710194,0.042993],[-0.706529,0.689387,0.159881],[0.083908,-0.142723,0.986200]] 2025-10-29T01:32:13.555Z,1761701533.555 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 84.300003 m, deltaT: 3.533069 s, deltaX: -2.500000 m, approachRate: -0.707600 m/s, rangeRepo size: 4 2025-10-29T01:32:13.566Z,1761701533.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 83.848190 m, bearing: 315.073246 deg, lat: 36.779312 deg, lon: -121.859391 deg, deltaT: 3.533069 s, deltaX: -2.487137 m, approachRate: -0.703959 m/s, posRepo size: 4 2025-10-29T01:32:13.567Z,1761701533.567 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:13.585Z,1761701533.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 79.352669 m, bearing: 316.366371 deg, approach rate: 0.000000 m/s, LOS rate: 0.048156 deg/s, cmd heading: 314.815822 deg, new cmd heading: 314.854119 deg. 2025-10-29T01:32:13.586Z,1761701533.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495241 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:14.018Z,1761701534.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702409,0.709611,0.055445],[-0.708967,0.690603,0.142945],[0.063145,-0.139715,0.988176]] 2025-10-29T01:32:14.034Z,1761701534.034 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:14.053Z,1761701534.053 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:14.061Z,1761701534.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 78.997116 m, bearing: 316.386285 deg, approach rate: -0.738614 m/s, LOS rate: 0.041555 deg/s, cmd heading: 314.854126 deg, new cmd heading: 314.894133 deg. 2025-10-29T01:32:14.075Z,1761701534.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495939 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:14.145Z,1761701534.145 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:14.145Z,1761701534.145 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:14.145Z,1761701534.145 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:14.398Z,1761701534.398 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.984312 2025-10-29T01:32:14.554Z,1761701534.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702714,0.708942,0.059948],[-0.709465,0.691914,0.133842],[0.053408,-0.136584,0.989188]] 2025-10-29T01:32:14.591Z,1761701534.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:14.593Z,1761701534.593 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 78.586983 m, bearing: 316.405882 deg, approach rate: -0.739429 m/s, LOS rate: 0.035517 deg/s, cmd heading: 314.894124 deg, new cmd heading: 314.933523 deg. 2025-10-29T01:32:14.594Z,1761701534.594 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496627 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:14.650Z,1761701534.650 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.236073 2025-10-29T01:32:14.901Z,1761701534.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.487173 2025-10-29T01:32:14.957Z,1761701534.957 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702471,0.708695,0.065474],[-0.710317,0.692361,0.126834],[0.044555,-0.135604,0.989761]] 2025-10-29T01:32:14.975Z,1761701534.975 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:14.978Z,1761701534.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 78.302505 m, bearing: 316.419762 deg, approach rate: -0.740180 m/s, LOS rate: 0.036243 deg/s, cmd heading: 314.933520 deg, new cmd heading: 314.961380 deg. 2025-10-29T01:32:14.979Z,1761701534.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497113 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:15.153Z,1761701535.153 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.739537 2025-10-29T01:32:15.362Z,1761701535.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702261,0.708490,0.069789],[-0.710986,0.692945,0.119695],[0.036443,-0.133676,0.990355]] 2025-10-29T01:32:15.405Z,1761701535.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.991166 2025-10-29T01:32:15.440Z,1761701535.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:15.443Z,1761701535.443 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 77.988846 m, bearing: 316.436616 deg, approach rate: -0.686111 m/s, LOS rate: 0.037017 deg/s, cmd heading: 314.961387 deg, new cmd heading: 314.995233 deg. 2025-10-29T01:32:15.448Z,1761701535.448 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497704 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:15.657Z,1761701535.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243196 2025-10-29T01:32:15.767Z,1761701535.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701998,0.708482,0.072471],[-0.711592,0.693646,0.111766],[0.028915,-0.130029,0.991088]] 2025-10-29T01:32:15.803Z,1761701535.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:15.805Z,1761701535.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 77.708321 m, bearing: 316.451969 deg, approach rate: -0.757439 m/s, LOS rate: 0.041601 deg/s, cmd heading: 314.995238 deg, new cmd heading: 315.026053 deg. 2025-10-29T01:32:15.806Z,1761701535.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498242 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:15.909Z,1761701535.909 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.495120 2025-10-29T01:32:16.163Z,1761701536.163 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.748845 2025-10-29T01:32:16.181Z,1761701536.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701576,0.708526,0.076039],[-0.712265,0.694006,0.105044],[0.021655,-0.127856,0.991556]] 2025-10-29T01:32:16.215Z,1761701536.215 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:16.238Z,1761701536.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:16.244Z,1761701536.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 77.418961 m, bearing: 316.466324 deg, approach rate: -0.665038 m/s, LOS rate: 0.033117 deg/s, cmd heading: 315.026056 deg, new cmd heading: 315.054874 deg. 2025-10-29T01:32:16.245Z,1761701536.245 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498745 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:16.413Z,1761701536.413 [DAT](INFO): DAT read: Rx Time:01:32:15.7289 2025-10-29T01:32:16.414Z,1761701536.414 [DAT](INFO): Rx dataTimestamp_ set to:1761701536.413280 2025-10-29T01:32:16.414Z,1761701536.414 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000273 2025-10-29T01:32:16.568Z,1761701536.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700449,0.709062,0.081249],[-0.713546,0.693366,0.100470],[0.014904,-0.128350,0.991617]] 2025-10-29T01:32:16.587Z,1761701536.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 83.85 m. 2025-10-29T01:32:16.590Z,1761701536.590 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 83.848190 m, nav range: 77.161102 m, bearing: 316.479527 deg, approach rate: -0.737688 m/s, LOS rate: 0.037898 deg/s, cmd heading: 315.054879 deg, new cmd heading: 315.081374 deg. 2025-10-29T01:32:16.591Z,1761701536.591 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499207 target range: 83.848190 and range: 84.30 m. 2025-10-29T01:32:16.665Z,1761701536.665 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.251198 2025-10-29T01:32:16.926Z,1761701536.926 [DAT](INFO): DAT read: 01:32:15.7289 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.34, 1.798, 0.104, 2.029, 1.714, PHS= 0.187,-1.565, 0.271, RAW= 152.3, 12.3, CAL= 152.4, 13.6, ROT= 357.6, -13.6 2025-10-29T01:32:16.927Z,1761701536.927 [DAT](INFO): got valid direction response: 01:32:15.7289 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 407, 0.34, 1.798, 0.104, 2.029, 1.714, PHS= 0.187,-1.565, 0.271, RAW= 152.3, 12.3, CAL= 152.4, 13.6, ROT= 357.6, -13.6 2025-10-29T01:32:16.928Z,1761701536.928 [DAT](INFO): DAT read: Bearing 131.3, -3.0 (Local) 2025-10-29T01:32:16.928Z,1761701536.928 [DAT](INFO): Local bearing/azimuth received: Bearing 131.3, -3.0 (Local) 2025-10-29T01:32:16.930Z,1761701536.930 [DAT](INFO): DAT read: Range 11 to 50 : 81.6 m (Round-trip 108.8 ms) speed 0.7 m/s 2025-10-29T01:32:16.930Z,1761701536.930 [DAT](INFO): DAT read: user:763> 2025-10-29T01:32:16.931Z,1761701536.931 [DAT](INFO): DAT read: Tx time:01:32:16.8159 2025-10-29T01:32:16.931Z,1761701536.931 [DAT](INFO): Ping request sent. 2025-10-29T01:32:16.931Z,1761701536.931 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:16.932Z,1761701536.932 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:16.933Z,1761701536.933 [DAT](INFO): direction in FSK: [0.971108,-0.040701,0.235142] 2025-10-29T01:32:16.933Z,1761701536.933 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:16.934Z,1761701536.934 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:16.941Z,1761701536.941 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:16.941Z,1761701536.941 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:16.971Z,1761701536.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698707,0.709952,0.088183],[-0.715359,0.691881,0.097791],[0.008415,-0.131410,0.991292]] 2025-10-29T01:32:17.070Z,1761701537.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 81.599998 m, deltaT: 3.528669 s, deltaX: -2.700005 m, approachRate: -0.765162 m/s, rangeRepo size: 4 2025-10-29T01:32:17.076Z,1761701537.076 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 81.163605 m, bearing: 313.766791 deg, lat: 36.779312 deg, lon: -121.859392 deg, deltaT: 3.528669 s, deltaX: -2.684586 m, approachRate: -0.760793 m/s, posRepo size: 4 2025-10-29T01:32:17.077Z,1761701537.077 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:17.085Z,1761701537.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 76.887512 m, bearing: 316.470265 deg, approach rate: 0.000000 m/s, LOS rate: 0.037898 deg/s, cmd heading: 315.081380 deg, new cmd heading: 315.117922 deg. 2025-10-29T01:32:17.085Z,1761701537.085 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499846 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:17.441Z,1761701537.441 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696982,0.710609,0.096182],[-0.717086,0.690327,0.096109],[0.001899,-0.135956,0.990713]] 2025-10-29T01:32:17.486Z,1761701537.486 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:17.489Z,1761701537.489 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 76.559509 m, bearing: 316.489028 deg, approach rate: -0.787001 m/s, LOS rate: 0.045211 deg/s, cmd heading: 315.117935 deg, new cmd heading: 315.155622 deg. 2025-10-29T01:32:17.490Z,1761701537.490 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500503 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:17.917Z,1761701537.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:17.919Z,1761701537.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 76.271301 m, bearing: 316.505648 deg, approach rate: -0.669177 m/s, LOS rate: 0.038736 deg/s, cmd heading: 315.155611 deg, new cmd heading: 315.188977 deg. 2025-10-29T01:32:17.920Z,1761701537.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501085 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:18.246Z,1761701538.246 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691906,0.712950,0.113874],[-0.721916,0.685391,0.095270],[-0.010125,-0.148125,0.988917]] 2025-10-29T01:32:18.289Z,1761701538.289 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:18.291Z,1761701538.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:18.294Z,1761701538.294 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 75.992256 m, bearing: 316.522410 deg, approach rate: -0.745002 m/s, LOS rate: 0.044915 deg/s, cmd heading: 315.188969 deg, new cmd heading: 315.222616 deg. 2025-10-29T01:32:18.295Z,1761701538.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501673 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:18.429Z,1761701538.429 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:18.429Z,1761701538.429 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:18.429Z,1761701538.429 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:18.650Z,1761701538.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.690136,0.713552,0.120652],[-0.723514,0.683894,0.093898],[-0.015512,-0.152095,0.988244]] 2025-10-29T01:32:18.669Z,1761701538.669 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:18.672Z,1761701538.672 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 75.729103 m, bearing: 316.538786 deg, approach rate: -0.696089 m/s, LOS rate: 0.043468 deg/s, cmd heading: 315.222629 deg, new cmd heading: 315.255494 deg. 2025-10-29T01:32:18.673Z,1761701538.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502246 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:18.681Z,1761701538.681 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.749495 2025-10-29T01:32:18.933Z,1761701538.933 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.001515 2025-10-29T01:32:19.089Z,1761701539.089 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:19.091Z,1761701539.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 75.437286 m, bearing: 316.557079 deg, approach rate: -0.695978 m/s, LOS rate: 0.043798 deg/s, cmd heading: 315.255495 deg, new cmd heading: 315.292223 deg. 2025-10-29T01:32:19.092Z,1761701539.092 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502887 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:19.193Z,1761701539.193 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.261691 2025-10-29T01:32:19.441Z,1761701539.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.509429 2025-10-29T01:32:19.487Z,1761701539.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686258,0.713972,0.138905],[-0.726945,0.679682,0.097893],[-0.024519,-0.168156,0.985455]] 2025-10-29T01:32:19.537Z,1761701539.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:19.540Z,1761701539.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 75.124596 m, bearing: 316.580902 deg, approach rate: -0.696979 m/s, LOS rate: 0.053321 deg/s, cmd heading: 315.292215 deg, new cmd heading: 315.340058 deg. 2025-10-29T01:32:19.541Z,1761701539.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503722 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:19.693Z,1761701539.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761310 2025-10-29T01:32:19.873Z,1761701539.873 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685261,0.713391,0.146596],[-0.727717,0.678732,0.098744],[-0.029057,-0.174346,0.984256]] 2025-10-29T01:32:19.918Z,1761701539.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:19.925Z,1761701539.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 74.873192 m, bearing: 316.600414 deg, approach rate: -0.660777 m/s, LOS rate: 0.051457 deg/s, cmd heading: 315.340053 deg, new cmd heading: 315.379208 deg. 2025-10-29T01:32:19.926Z,1761701539.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504405 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:19.945Z,1761701539.945 [DAT](INFO): DAT read: Rx Time:01:32:19.3256 2025-10-29T01:32:19.946Z,1761701539.946 [DAT](INFO): Rx dataTimestamp_ set to:1761701539.945277 2025-10-29T01:32:19.946Z,1761701539.946 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.014615 2025-10-29T01:32:20.200Z,1761701540.200 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267592 2025-10-29T01:32:20.267Z,1761701540.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.684927,0.712833,0.150816],[-0.727839,0.678914,0.096573],[-0.033551,-0.175915,0.983833]] 2025-10-29T01:32:20.302Z,1761701540.302 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:20.321Z,1761701540.321 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:20.323Z,1761701540.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 74.593040 m, bearing: 316.621730 deg, approach rate: -0.694896 m/s, LOS rate: 0.053072 deg/s, cmd heading: 315.379204 deg, new cmd heading: 315.421996 deg. 2025-10-29T01:32:20.329Z,1761701540.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505152 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:20.452Z,1761701540.452 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.520313 2025-10-29T01:32:20.670Z,1761701540.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685300,0.712264,0.151802],[-0.727267,0.680220,0.091564],[-0.038041,-0.173149,0.984161]] 2025-10-29T01:32:20.696Z,1761701540.696 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 81.16 m. 2025-10-29T01:32:20.699Z,1761701540.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 81.163605 m, nav range: 74.322395 m, bearing: 316.642353 deg, approach rate: -0.721842 m/s, LOS rate: 0.055203 deg/s, cmd heading: 315.421988 deg, new cmd heading: 315.463383 deg. 2025-10-29T01:32:20.700Z,1761701540.700 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505875 target range: 81.163605 and range: 81.60 m. 2025-10-29T01:32:20.707Z,1761701540.707 [DAT](INFO): DAT read: 01:32:19.3255 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.06,-0.788,-2.568,-0.579,-0.890, PHS= 0.203,-1.634, 0.267, RAW= 151.7, 12.4, CAL= 151.7, 13.8, ROT= 358.3, -13.8 2025-10-29T01:32:20.708Z,1761701540.708 [DAT](INFO): got valid direction response: 01:32:19.3255 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 406, 0.06,-0.788,-2.568,-0.579,-0.890, PHS= 0.203,-1.634, 0.267, RAW= 151.7, 12.4, CAL= 151.7, 13.8, ROT= 358.3, -13.8 2025-10-29T01:32:20.709Z,1761701540.709 [DAT](INFO): DAT read: Bearing 130.0, -5.7 (Local) 2025-10-29T01:32:20.709Z,1761701540.709 [DAT](INFO): Local bearing/azimuth received: Bearing 130.0, -5.7 (Local) 2025-10-29T01:32:20.711Z,1761701540.711 [DAT](INFO): DAT read: Range 11 to 50 : 79.2 m (Round-trip 105.6 ms) speed 0.6 m/s 2025-10-29T01:32:20.711Z,1761701540.711 [DAT](INFO): DAT read: user:764> 2025-10-29T01:32:20.712Z,1761701540.712 [DAT](INFO): DAT read: Tx time:01:32:20.4158 2025-10-29T01:32:20.713Z,1761701540.713 [DAT](INFO): Ping request sent. 2025-10-29T01:32:20.713Z,1761701540.713 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:20.713Z,1761701540.713 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:20.714Z,1761701540.714 [DAT](INFO): direction in FSK: [0.970707,-0.028810,0.238533] 2025-10-29T01:32:20.714Z,1761701540.714 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:20.715Z,1761701540.715 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:20.722Z,1761701540.722 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:20.722Z,1761701540.722 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:21.298Z,1761701541.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 79.199997 m, deltaT: 3.782363 s, deltaX: -2.400002 m, approachRate: -0.634524 m/s, rangeRepo size: 4 2025-10-29T01:32:21.300Z,1761701541.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 78.775986 m, bearing: 314.056412 deg, lat: 36.779311 deg, lon: -121.859416 deg, deltaT: 3.782363 s, deltaX: -2.387619 m, approachRate: -0.631251 m/s, posRepo size: 4 2025-10-29T01:32:21.301Z,1761701541.301 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:21.304Z,1761701541.304 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 75.280434 m, bearing: 315.441448 deg, approach rate: 0.000000 m/s, LOS rate: 0.055203 deg/s, cmd heading: 315.463379 deg, new cmd heading: 315.529806 deg. 2025-10-29T01:32:21.305Z,1761701541.305 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507034 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:21.644Z,1761701541.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.689158,0.708844,0.150340],[-0.722778,0.687206,0.073077],[-0.051514,-0.159025,0.985930]] 2025-10-29T01:32:21.681Z,1761701541.681 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:21.684Z,1761701541.684 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 75.020363 m, bearing: 315.458350 deg, approach rate: -0.677486 m/s, LOS rate: 0.044183 deg/s, cmd heading: 315.529796 deg, new cmd heading: 315.563717 deg. 2025-10-29T01:32:21.685Z,1761701541.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507626 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:22.100Z,1761701542.100 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.691809,0.706778,0.147868],[-0.719933,0.690916,0.065820],[-0.055644,-0.151990,0.986814]] 2025-10-29T01:32:22.119Z,1761701542.119 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:22.122Z,1761701542.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 74.699226 m, bearing: 315.478449 deg, approach rate: -0.734196 m/s, LOS rate: 0.046149 deg/s, cmd heading: 315.563728 deg, new cmd heading: 315.604099 deg. 2025-10-29T01:32:22.122Z,1761701542.122 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508331 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:22.504Z,1761701542.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694511,0.704937,0.143937],[-0.717031,0.694652,0.057663],[-0.059337,-0.143255,0.987906]] 2025-10-29T01:32:22.540Z,1761701542.540 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:22.542Z,1761701542.542 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:22.561Z,1761701542.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 74.399071 m, bearing: 315.497771 deg, approach rate: -0.709519 m/s, LOS rate: 0.045858 deg/s, cmd heading: 315.604108 deg, new cmd heading: 315.642908 deg. 2025-10-29T01:32:22.562Z,1761701542.562 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509008 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:22.717Z,1761701542.717 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:22.717Z,1761701542.717 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:22.717Z,1761701542.717 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:22.906Z,1761701542.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696779,0.703771,0.138583],[-0.714564,0.697872,0.048719],[-0.062427,-0.132973,0.989152]] 2025-10-29T01:32:22.935Z,1761701542.935 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:22.938Z,1761701542.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 74.118942 m, bearing: 315.515268 deg, approach rate: -0.711542 m/s, LOS rate: 0.044610 deg/s, cmd heading: 315.642904 deg, new cmd heading: 315.678029 deg. 2025-10-29T01:32:22.939Z,1761701542.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509621 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:22.969Z,1761701542.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256655 2025-10-29T01:32:23.224Z,1761701543.224 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.510848 2025-10-29T01:32:23.310Z,1761701543.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699063,0.702308,0.134441],[-0.712079,0.700884,0.041287],[-0.065231,-0.124595,0.990061]] 2025-10-29T01:32:23.425Z,1761701543.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:23.427Z,1761701543.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 73.768005 m, bearing: 315.536198 deg, approach rate: -0.717602 m/s, LOS rate: 0.043002 deg/s, cmd heading: 315.678038 deg, new cmd heading: 315.720097 deg. 2025-10-29T01:32:23.428Z,1761701543.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510355 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:23.474Z,1761701543.474 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760531 2025-10-29T01:32:23.720Z,1761701543.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700835,0.700669,0.133767],[-0.710137,0.703032,0.038094],[-0.067352,-0.121690,0.990280]] 2025-10-29T01:32:23.725Z,1761701543.725 [DAT](INFO): DAT read: Rx Time:01:32:22.9222 2025-10-29T01:32:23.726Z,1761701543.726 [DAT](INFO): Rx dataTimestamp_ set to:1761701543.725235 2025-10-29T01:32:23.726Z,1761701543.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013290 2025-10-29T01:32:23.807Z,1761701543.807 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:23.813Z,1761701543.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 73.495789 m, bearing: 315.552018 deg, approach rate: -0.712621 m/s, LOS rate: 0.041568 deg/s, cmd heading: 315.720085 deg, new cmd heading: 315.751842 deg. 2025-10-29T01:32:23.814Z,1761701543.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510909 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:23.977Z,1761701543.977 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264092 2025-10-29T01:32:24.140Z,1761701544.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702051,0.699223,0.134947],[-0.708779,0.704442,0.037325],[-0.068964,-0.121852,0.990150]] 2025-10-29T01:32:24.185Z,1761701544.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 78.78 m. 2025-10-29T01:32:24.187Z,1761701544.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 78.775986 m, nav range: 73.216675 m, bearing: 315.567961 deg, approach rate: -0.737625 m/s, LOS rate: 0.042295 deg/s, cmd heading: 315.751832 deg, new cmd heading: 315.783840 deg. 2025-10-29T01:32:24.189Z,1761701544.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511468 target range: 78.775986 and range: 79.20 m. 2025-10-29T01:32:24.251Z,1761701544.251 [DAT](INFO): DAT read: 01:32:22.9222 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.04,-0.543,-2.308,-0.290,-0.654, PHS= 0.213,-1.610, 0.320, RAW= 152.8, 11.4, CAL= 152.8, 12.6, ROT= 357.2, -12.6 2025-10-29T01:32:24.255Z,1761701544.255 [DAT](INFO): got valid direction response: 01:32:22.9222 LVL= 32752, 32753, 32754, 32755, AGC= 72, IDX= 403, 0.04,-0.543,-2.308,-0.290,-0.654, PHS= 0.213,-1.610, 0.320, RAW= 152.8, 11.4, CAL= 152.8, 12.6, ROT= 357.2, -12.6 2025-10-29T01:32:24.258Z,1761701544.258 [DAT](INFO): DAT read: Bearing 130.6, -7.9 (Local) 2025-10-29T01:32:24.259Z,1761701544.259 [DAT](INFO): Local bearing/azimuth received: Bearing 130.6, -7.9 (Local) 2025-10-29T01:32:24.288Z,1761701544.288 [DAT](INFO): DAT read: Range 11 to 50 : 76.6 m (Round-trip 102.2 ms) speed 0.7 m/s 2025-10-29T01:32:24.289Z,1761701544.289 [DAT](INFO): DAT read: user:765> 2025-10-29T01:32:24.290Z,1761701544.290 [DAT](INFO): DAT read: Tx time:01:32:24.0159 2025-10-29T01:32:24.290Z,1761701544.290 [DAT](INFO): Ping request sent. 2025-10-29T01:32:24.290Z,1761701544.290 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:24.290Z,1761701544.290 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:24.291Z,1761701544.291 [DAT](INFO): direction in FSK: [0.974752,-0.047673,0.218143] 2025-10-29T01:32:24.292Z,1761701544.292 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:24.298Z,1761701544.298 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:24.306Z,1761701544.306 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:24.306Z,1761701544.306 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:24.542Z,1761701544.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703178,0.697447,0.138235],[-0.707511,0.705637,0.038788],[-0.070492,-0.125078,0.989640]] 2025-10-29T01:32:24.631Z,1761701544.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 76.599998 m, deltaT: 3.529546 s, deltaX: -2.599998 m, approachRate: -0.736638 m/s, rangeRepo size: 4 2025-10-29T01:32:24.637Z,1761701544.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 76.189781 m, bearing: 313.667573 deg, lat: 36.779310 deg, lon: -121.859435 deg, deltaT: 3.529546 s, deltaX: -2.586205 m, approachRate: -0.732730 m/s, posRepo size: 4 2025-10-29T01:32:24.638Z,1761701544.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:24.645Z,1761701544.645 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 74.062241 m, bearing: 314.582242 deg, approach rate: 0.000000 m/s, LOS rate: 0.042295 deg/s, cmd heading: 315.783852 deg, new cmd heading: 315.821534 deg. 2025-10-29T01:32:24.646Z,1761701544.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512125 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:25.071Z,1761701545.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703798,0.695920,0.142702],[-0.706769,0.706213,0.041735],[-0.071734,-0.130230,0.988885]] 2025-10-29T01:32:25.107Z,1761701545.107 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:25.109Z,1761701545.109 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:25.112Z,1761701545.112 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 73.714355 m, bearing: 314.599538 deg, approach rate: -0.726422 m/s, LOS rate: 0.036285 deg/s, cmd heading: 315.821527 deg, new cmd heading: 315.856280 deg. 2025-10-29T01:32:25.113Z,1761701545.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512732 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:25.240Z,1761701545.240 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:25.241Z,1761701545.241 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:25.242Z,1761701545.242 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:25.481Z,1761701545.481 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703798,0.694572,0.149126],[-0.706635,0.706054,0.046422],[-0.073047,-0.138049,0.987728]] 2025-10-29T01:32:25.489Z,1761701545.489 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.199006 2025-10-29T01:32:25.520Z,1761701545.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:25.523Z,1761701545.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 73.400085 m, bearing: 314.616400 deg, approach rate: -0.765020 m/s, LOS rate: 0.041223 deg/s, cmd heading: 315.856279 deg, new cmd heading: 315.890148 deg. 2025-10-29T01:32:25.540Z,1761701545.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513323 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:25.743Z,1761701545.743 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.452940 2025-10-29T01:32:25.952Z,1761701545.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:25.955Z,1761701545.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 73.086945 m, bearing: 314.633346 deg, approach rate: -0.725495 m/s, LOS rate: 0.039430 deg/s, cmd heading: 315.890157 deg, new cmd heading: 315.924195 deg. 2025-10-29T01:32:25.955Z,1761701545.955 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513917 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:25.994Z,1761701545.994 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.704316 2025-10-29T01:32:26.247Z,1761701546.247 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.956804 2025-10-29T01:32:26.331Z,1761701546.331 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706441,0.691726,0.149855],[-0.703789,0.708971,0.045183],[-0.074989,-0.137385,0.987675]] 2025-10-29T01:32:26.404Z,1761701546.404 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:26.407Z,1761701546.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 72.756691 m, bearing: 314.647141 deg, approach rate: -0.756782 m/s, LOS rate: 0.031753 deg/s, cmd heading: 315.924198 deg, new cmd heading: 315.951912 deg. 2025-10-29T01:32:26.412Z,1761701546.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514401 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:26.497Z,1761701546.497 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.206939 2025-10-29T01:32:26.732Z,1761701546.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707902,0.691087,0.145856],[-0.702335,0.710625,0.041686],[-0.074840,-0.131949,0.988427]] 2025-10-29T01:32:26.750Z,1761701546.750 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.460330 2025-10-29T01:32:26.759Z,1761701546.759 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:26.763Z,1761701546.763 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 72.483932 m, bearing: 314.658209 deg, approach rate: -0.736520 m/s, LOS rate: 0.030000 deg/s, cmd heading: 315.951901 deg, new cmd heading: 315.974122 deg. 2025-10-29T01:32:26.765Z,1761701546.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514789 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:27.002Z,1761701547.002 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.711385 2025-10-29T01:32:27.134Z,1761701547.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.709931,0.689745,0.142303],[-0.700263,0.712857,0.038295],[-0.075028,-0.126836,0.989082]] 2025-10-29T01:32:27.151Z,1761701547.151 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:27.153Z,1761701547.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:27.156Z,1761701547.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 72.182411 m, bearing: 314.669873 deg, approach rate: -0.763322 m/s, LOS rate: 0.029652 deg/s, cmd heading: 315.974113 deg, new cmd heading: 315.997539 deg. 2025-10-29T01:32:27.157Z,1761701547.157 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515197 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:27.256Z,1761701547.256 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.965436 2025-10-29T01:32:27.505Z,1761701547.505 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.214947 2025-10-29T01:32:27.539Z,1761701547.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711487,0.688746,0.139340],[-0.698692,0.714529,0.035750],[-0.074940,-0.122792,0.989599]] 2025-10-29T01:32:27.583Z,1761701547.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:27.586Z,1761701547.586 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 71.861916 m, bearing: 314.682718 deg, approach rate: -0.745663 m/s, LOS rate: 0.030017 deg/s, cmd heading: 315.997527 deg, new cmd heading: 316.023331 deg. 2025-10-29T01:32:27.587Z,1761701547.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515647 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:27.758Z,1761701547.758 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.467625 2025-10-29T01:32:27.945Z,1761701547.945 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713604,0.686989,0.137169],[-0.696492,0.716781,0.033528],[-0.075287,-0.119463,0.989980]] 2025-10-29T01:32:27.967Z,1761701547.967 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:27.970Z,1761701547.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 71.578773 m, bearing: 314.693490 deg, approach rate: -0.738411 m/s, LOS rate: 0.028204 deg/s, cmd heading: 316.023318 deg, new cmd heading: 316.044947 deg. 2025-10-29T01:32:27.970Z,1761701547.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516025 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:28.010Z,1761701548.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.719305 2025-10-29T01:32:28.264Z,1761701548.264 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.973305 2025-10-29T01:32:28.367Z,1761701548.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715561,0.685405,0.134880],[-0.694473,0.718828,0.031502],[-0.075364,-0.116212,0.990361]] 2025-10-29T01:32:28.424Z,1761701548.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:28.427Z,1761701548.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 71.241806 m, bearing: 314.704274 deg, approach rate: -0.736863 m/s, LOS rate: 0.023693 deg/s, cmd heading: 316.044956 deg, new cmd heading: 316.066626 deg. 2025-10-29T01:32:28.428Z,1761701548.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516403 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:28.514Z,1761701548.514 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.223578 2025-10-29T01:32:28.756Z,1761701548.756 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.717668,0.683106,0.135347],[-0.692290,0.720890,0.032440],[-0.075410,-0.116981,0.990267]] 2025-10-29T01:32:28.766Z,1761701548.766 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.475293 2025-10-29T01:32:28.811Z,1761701548.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:28.818Z,1761701548.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 70.979950 m, bearing: 314.712076 deg, approach rate: -0.676657 m/s, LOS rate: 0.020235 deg/s, cmd heading: 316.066621 deg, new cmd heading: 316.082283 deg. 2025-10-29T01:32:28.819Z,1761701548.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516676 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:29.017Z,1761701549.017 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.726828 2025-10-29T01:32:29.158Z,1761701549.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719490,0.680826,0.137146],[-0.690435,0.722532,0.035307],[-0.075055,-0.120093,0.989921]] 2025-10-29T01:32:29.174Z,1761701549.174 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:29.177Z,1761701549.177 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:29.179Z,1761701549.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 70.691742 m, bearing: 314.720099 deg, approach rate: -0.788341 m/s, LOS rate: 0.022036 deg/s, cmd heading: 316.082276 deg, new cmd heading: 316.098388 deg. 2025-10-29T01:32:29.180Z,1761701549.180 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516958 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:29.270Z,1761701549.270 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=4.979808 2025-10-29T01:32:29.521Z,1761701549.521 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.230876 2025-10-29T01:32:29.564Z,1761701549.564 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721198,0.678608,0.139157],[-0.688699,0.724022,0.038529],[-0.074606,-0.123625,0.989521]] 2025-10-29T01:32:29.621Z,1761701549.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:29.628Z,1761701549.628 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 70.386444 m, bearing: 314.721662 deg, approach rate: -0.686539 m/s, LOS rate: 0.003530 deg/s, cmd heading: 316.098395 deg, new cmd heading: 316.101535 deg. 2025-10-29T01:32:29.629Z,1761701549.629 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517013 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:29.774Z,1761701549.774 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.483619 2025-10-29T01:32:29.962Z,1761701549.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722858,0.676693,0.139867],[-0.687054,0.725448,0.041009],[-0.073716,-0.125740,0.989321]] 2025-10-29T01:32:29.985Z,1761701549.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:30.004Z,1761701550.004 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 70.113800 m, bearing: 314.722532 deg, approach rate: -0.748866 m/s, LOS rate: 0.002400 deg/s, cmd heading: 316.101537 deg, new cmd heading: 316.103285 deg. 2025-10-29T01:32:30.005Z,1761701550.005 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517043 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:30.025Z,1761701550.025 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.735039 2025-10-29T01:32:30.277Z,1761701550.277 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=5.986949 2025-10-29T01:32:30.384Z,1761701550.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724856,0.674778,0.138771],[-0.685034,0.727324,0.041567],[-0.072883,-0.125194,0.989452]] 2025-10-29T01:32:30.437Z,1761701550.437 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:30.440Z,1761701550.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 69.796783 m, bearing: 314.721960 deg, approach rate: -0.701614 m/s, LOS rate: -0.001273 deg/s, cmd heading: 316.103286 deg, new cmd heading: 316.102136 deg. 2025-10-29T01:32:30.441Z,1761701550.441 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517023 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:30.530Z,1761701550.530 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.239938 2025-10-29T01:32:30.778Z,1761701550.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726864,0.673040,0.136698],[-0.683029,0.729206,0.041587],[-0.071691,-0.123596,0.989740]] 2025-10-29T01:32:30.781Z,1761701550.781 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.491071 2025-10-29T01:32:30.823Z,1761701550.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:30.829Z,1761701550.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 69.543053 m, bearing: 314.720913 deg, approach rate: -0.658430 m/s, LOS rate: -0.002727 deg/s, cmd heading: 316.102138 deg, new cmd heading: 316.100037 deg. 2025-10-29T01:32:30.830Z,1761701550.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516986 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:31.034Z,1761701551.034 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.743746 2025-10-29T01:32:31.285Z,1761701551.285 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=6.994876 2025-10-29T01:32:31.296Z,1761701551.296 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730741,0.667916,0.141089],[-0.679170,0.732170,0.051525],[-0.068886,-0.133475,0.988655]] 2025-10-29T01:32:31.384Z,1761701551.384 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:31.386Z,1761701551.386 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:31.393Z,1761701551.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 69.171471 m, bearing: 314.717591 deg, approach rate: -0.659053 m/s, LOS rate: -0.005924 deg/s, cmd heading: 316.100035 deg, new cmd heading: 316.093354 deg. 2025-10-29T01:32:31.394Z,1761701551.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516870 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:31.537Z,1761701551.537 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.246993 2025-10-29T01:32:31.790Z,1761701551.790 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.499585 2025-10-29T01:32:31.833Z,1761701551.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732440,0.665724,0.142634],[-0.677475,0.733434,0.055704],[-0.067529,-0.137431,0.988207]] 2025-10-29T01:32:31.917Z,1761701551.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:31.919Z,1761701551.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 68.773911 m, bearing: 314.714289 deg, approach rate: -0.749734 m/s, LOS rate: -0.006262 deg/s, cmd heading: 316.093341 deg, new cmd heading: 316.086700 deg. 2025-10-29T01:32:31.928Z,1761701551.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516754 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:32.041Z,1761701552.041 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=7.751297 2025-10-29T01:32:32.293Z,1761701552.293 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.002987 2025-10-29T01:32:32.410Z,1761701552.410 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735036,0.663252,0.140779],[-0.675052,0.735295,0.060382],[-0.063466,-0.139416,0.988198]] 2025-10-29T01:32:32.457Z,1761701552.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:32.460Z,1761701552.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 68.386971 m, bearing: 314.707137 deg, approach rate: -0.715885 m/s, LOS rate: -0.013308 deg/s, cmd heading: 316.086702 deg, new cmd heading: 316.072316 deg. 2025-10-29T01:32:32.461Z,1761701552.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516502 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:32.545Z,1761701552.545 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.254943 2025-10-29T01:32:32.801Z,1761701552.801 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.510394 2025-10-29T01:32:32.833Z,1761701552.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:32.840Z,1761701552.840 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 68.125710 m, bearing: 314.702261 deg, approach rate: -0.695748 m/s, LOS rate: -0.013033 deg/s, cmd heading: 316.072304 deg, new cmd heading: 316.062516 deg. 2025-10-29T01:32:32.842Z,1761701552.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516332 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:33.049Z,1761701553.049 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=8.759012 2025-10-29T01:32:33.182Z,1761701553.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735972,0.663194,0.136084],[-0.674201,0.736254,0.058162],[-0.061620,-0.134553,0.988989]] 2025-10-29T01:32:33.206Z,1761701553.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:33.224Z,1761701553.224 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 67.869843 m, bearing: 314.697193 deg, approach rate: -0.686247 m/s, LOS rate: -0.013644 deg/s, cmd heading: 316.062523 deg, new cmd heading: 316.052349 deg. 2025-10-29T01:32:33.225Z,1761701553.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516154 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:33.302Z,1761701553.302 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.011813 2025-10-29T01:32:33.553Z,1761701553.553 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.262931 2025-10-29T01:32:33.593Z,1761701553.593 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736327,0.663357,0.133340],[-0.673959,0.736521,0.057584],[-0.060009,-0.132267,0.989396]] 2025-10-29T01:32:33.647Z,1761701553.647 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:33.650Z,1761701553.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:33.653Z,1761701553.653 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 67.555489 m, bearing: 314.695764 deg, approach rate: -0.707429 m/s, LOS rate: -0.003231 deg/s, cmd heading: 316.052360 deg, new cmd heading: 316.049488 deg. 2025-10-29T01:32:33.654Z,1761701553.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516104 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:33.805Z,1761701553.805 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.515031 2025-10-29T01:32:33.995Z,1761701553.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736645,0.662920,0.133759],[-0.673738,0.736511,0.060244],[-0.058578,-0.134497,0.989181]] 2025-10-29T01:32:34.037Z,1761701554.037 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:34.040Z,1761701554.040 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 67.283669 m, bearing: 314.694422 deg, approach rate: -0.702247 m/s, LOS rate: -0.003482 deg/s, cmd heading: 316.049491 deg, new cmd heading: 316.046795 deg. 2025-10-29T01:32:34.041Z,1761701554.041 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516057 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:34.057Z,1761701554.057 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=9.766970 2025-10-29T01:32:34.312Z,1761701554.312 [DAT](INFO): Reached modem response timeout 2025-10-29T01:32:34.313Z,1761701554.313 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:34.313Z,1761701554.313 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:34.515Z,1761701554.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:34.518Z,1761701554.518 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 66.945068 m, bearing: 314.703445 deg, approach rate: -0.708142 m/s, LOS rate: 0.018967 deg/s, cmd heading: 316.046786 deg, new cmd heading: 316.064924 deg. 2025-10-29T01:32:34.519Z,1761701554.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516374 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:34.561Z,1761701554.561 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:34.813Z,1761701554.813 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:34.848Z,1761701554.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736965,0.661299,0.139878],[-0.673878,0.734937,0.075868],[-0.052630,-0.150173,0.987258]] 2025-10-29T01:32:34.892Z,1761701554.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:34.895Z,1761701554.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 66.673134 m, bearing: 314.710657 deg, approach rate: -0.720627 m/s, LOS rate: 0.019190 deg/s, cmd heading: 316.064927 deg, new cmd heading: 316.079410 deg. 2025-10-29T01:32:34.896Z,1761701554.896 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516626 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:35.065Z,1761701555.065 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:35.242Z,1761701555.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736853,0.661805,0.138064],[-0.674211,0.734423,0.077860],[-0.049869,-0.150456,0.987358]] 2025-10-29T01:32:35.260Z,1761701555.260 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:35.263Z,1761701555.263 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 66.410873 m, bearing: 314.717739 deg, approach rate: -0.713760 m/s, LOS rate: 0.019350 deg/s, cmd heading: 316.079407 deg, new cmd heading: 316.093627 deg. 2025-10-29T01:32:35.264Z,1761701555.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516874 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:35.318Z,1761701555.318 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:35.569Z,1761701555.569 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:35.642Z,1761701555.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737051,0.662053,0.135801],[-0.674170,0.734343,0.078964],[-0.047446,-0.149753,0.987584]] 2025-10-29T01:32:35.688Z,1761701555.688 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:35.690Z,1761701555.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:35.693Z,1761701555.693 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 66.096199 m, bearing: 314.723806 deg, approach rate: -0.731772 m/s, LOS rate: 0.014176 deg/s, cmd heading: 316.093614 deg, new cmd heading: 316.105806 deg. 2025-10-29T01:32:35.694Z,1761701555.694 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517087 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:35.821Z,1761701555.821 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:36.055Z,1761701556.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736553,0.662919,0.134271],[-0.674903,0.733429,0.081161],[-0.044675,-0.150399,0.987615]] 2025-10-29T01:32:36.073Z,1761701556.073 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:36.075Z,1761701556.075 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:36.078Z,1761701556.078 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 65.815086 m, bearing: 314.729485 deg, approach rate: -0.729943 m/s, LOS rate: 0.014811 deg/s, cmd heading: 316.105799 deg, new cmd heading: 316.117207 deg. 2025-10-29T01:32:36.079Z,1761701556.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517286 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:36.326Z,1761701556.326 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:32:36.469Z,1761701556.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735983,0.663700,0.133537],[-0.675692,0.732387,0.083961],[-0.042076,-0.152024,0.987481]] 2025-10-29T01:32:36.519Z,1761701556.519 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:36.522Z,1761701556.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 65.476189 m, bearing: 314.742369 deg, approach rate: -0.762603 m/s, LOS rate: 0.029141 deg/s, cmd heading: 316.117219 deg, new cmd heading: 316.143120 deg. 2025-10-29T01:32:36.523Z,1761701556.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517738 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:36.578Z,1761701556.578 [DAT](INFO): DAT read: Response Not Received 2025-10-29T01:32:36.578Z,1761701556.578 [DAT](INFO): response not received 2025-10-29T01:32:36.579Z,1761701556.579 [DAT](INFO): DAT read: user:766> 2025-10-29T01:32:36.579Z,1761701556.579 [DAT](INFO): DAT read: Tx time:01:32:36.4659 2025-10-29T01:32:36.580Z,1761701556.580 [DAT](INFO): Ping request sent. 2025-10-29T01:32:36.580Z,1761701556.580 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:36.580Z,1761701556.580 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:36.581Z,1761701556.581 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000890 2025-10-29T01:32:36.831Z,1761701556.831 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250536 2025-10-29T01:32:36.864Z,1761701556.864 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734783,0.665249,0.132428],[-0.677163,0.730745,0.086388],[-0.039301,-0.153151,0.987421]] 2025-10-29T01:32:36.959Z,1761701556.959 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:36.991Z,1761701556.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 65.142448 m, bearing: 314.755736 deg, approach rate: -0.759598 m/s, LOS rate: 0.030579 deg/s, cmd heading: 316.143119 deg, new cmd heading: 316.169990 deg. 2025-10-29T01:32:36.992Z,1761701556.992 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518208 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:37.081Z,1761701557.081 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.501519 2025-10-29T01:32:37.271Z,1761701557.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733262,0.666894,0.132588],[-0.678956,0.728661,0.089846],[-0.036694,-0.155902,0.987091]] 2025-10-29T01:32:37.327Z,1761701557.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:37.334Z,1761701557.334 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754474 2025-10-29T01:32:37.345Z,1761701557.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 64.872826 m, bearing: 314.767179 deg, approach rate: -0.732730 m/s, LOS rate: 0.031228 deg/s, cmd heading: 316.170003 deg, new cmd heading: 316.192985 deg. 2025-10-29T01:32:37.347Z,1761701557.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518609 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:37.585Z,1761701557.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005253 2025-10-29T01:32:37.744Z,1761701557.744 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:37.747Z,1761701557.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:37.752Z,1761701557.752 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 64.550079 m, bearing: 314.776481 deg, approach rate: -0.768255 m/s, LOS rate: 0.022253 deg/s, cmd heading: 316.192980 deg, new cmd heading: 316.211677 deg. 2025-10-29T01:32:37.753Z,1761701557.753 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518935 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:37.838Z,1761701557.838 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.257768 2025-10-29T01:32:38.078Z,1761701558.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730678,0.669250,0.134958],[-0.681969,0.724753,0.098242],[-0.032063,-0.163820,0.985969]] 2025-10-29T01:32:38.089Z,1761701558.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.509048 2025-10-29T01:32:38.135Z,1761701558.135 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:38.137Z,1761701558.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 64.257927 m, bearing: 314.785936 deg, approach rate: -0.753378 m/s, LOS rate: 0.024491 deg/s, cmd heading: 316.211667 deg, new cmd heading: 316.230662 deg. 2025-10-29T01:32:38.138Z,1761701558.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519266 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:38.277Z,1761701558.277 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:32:38.342Z,1761701558.342 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762348 2025-10-29T01:32:38.502Z,1761701558.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730097,0.669724,0.135747],[-0.682701,0.723486,0.102412],[-0.029623,-0.167445,0.985436]] 2025-10-29T01:32:38.558Z,1761701558.558 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:38.565Z,1761701558.565 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 63.953823 m, bearing: 314.795609 deg, approach rate: -0.717708 m/s, LOS rate: 0.022937 deg/s, cmd heading: 316.230655 deg, new cmd heading: 316.250093 deg. 2025-10-29T01:32:38.566Z,1761701558.566 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519605 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:38.629Z,1761701558.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.049036 2025-10-29T01:32:38.846Z,1761701558.846 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.265395 2025-10-29T01:32:38.887Z,1761701558.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730269,0.669585,0.135509],[-0.682627,0.723030,0.106054],[-0.026965,-0.169949,0.985084]] 2025-10-29T01:32:38.920Z,1761701558.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:38.922Z,1761701558.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 63.666710 m, bearing: 314.804751 deg, approach rate: -0.794682 m/s, LOS rate: 0.025420 deg/s, cmd heading: 316.250080 deg, new cmd heading: 316.268448 deg. 2025-10-29T01:32:38.923Z,1761701558.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519926 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:39.097Z,1761701559.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.517139 2025-10-29T01:32:39.280Z,1761701559.280 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:32:39.294Z,1761701559.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730749,0.669195,0.134846],[-0.682229,0.722819,0.109983],[-0.023869,-0.172366,0.984744]] 2025-10-29T01:32:39.313Z,1761701559.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:39.315Z,1761701559.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 63.370327 m, bearing: 314.814080 deg, approach rate: -0.753608 m/s, LOS rate: 0.023832 deg/s, cmd heading: 316.268440 deg, new cmd heading: 316.287185 deg. 2025-10-29T01:32:39.317Z,1761701559.317 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520253 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:39.350Z,1761701559.350 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.769938 2025-10-29T01:32:39.602Z,1761701559.602 [DAT](INFO): DAT read: Rx Time:01:32:38.9568 2025-10-29T01:32:39.604Z,1761701559.604 [DAT](INFO): Rx dataTimestamp_ set to:1761701559.602794 2025-10-29T01:32:39.607Z,1761701559.607 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.026282 2025-10-29T01:32:39.694Z,1761701559.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731353,0.668900,0.133024],[-0.681686,0.722888,0.112860],[-0.020669,-0.173221,0.984666]] 2025-10-29T01:32:39.740Z,1761701559.740 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:39.744Z,1761701559.744 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 63.049583 m, bearing: 314.819373 deg, approach rate: -0.751349 m/s, LOS rate: 0.012462 deg/s, cmd heading: 316.287182 deg, new cmd heading: 316.297822 deg. 2025-10-29T01:32:39.745Z,1761701559.745 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520438 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:39.854Z,1761701559.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.274345 2025-10-29T01:32:40.108Z,1761701560.108 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.527788 2025-10-29T01:32:40.147Z,1761701560.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731706,0.669167,0.129700],[-0.681400,0.722946,0.114208],[-0.017341,-0.171944,0.984954]] 2025-10-29T01:32:40.163Z,1761701560.163 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:40.165Z,1761701560.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 76.19 m. 2025-10-29T01:32:40.168Z,1761701560.168 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 76.189781 m, nav range: 62.730000 m, bearing: 314.824586 deg, approach rate: -0.750943 m/s, LOS rate: 0.012311 deg/s, cmd heading: 316.297810 deg, new cmd heading: 316.308288 deg. 2025-10-29T01:32:40.169Z,1761701560.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520621 target range: 76.189781 and range: 76.60 m. 2025-10-29T01:32:40.362Z,1761701560.362 [DAT](INFO): DAT read: 01:32:38.9568 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 246,-0.19,-1.591, 2.959,-1.259,-1.643, PHS= 0.154,-1.636, 0.340, RAW= 154.9, 12.1, CAL= 155.0, 13.4, ROT= 355.0, -13.4 2025-10-29T01:32:40.364Z,1761701560.364 [DAT](INFO): got valid direction response: 01:32:38.9568 LVL= 32752, 32753, 32754, 32755, AGC= 73, IDX= 246,-0.19,-1.591, 2.959,-1.259,-1.643, PHS= 0.154,-1.636, 0.340, RAW= 154.9, 12.1, CAL= 155.0, 13.4, ROT= 355.0, -13.4 2025-10-29T01:32:40.365Z,1761701560.365 [DAT](INFO): DAT read: Bearing 133.0, -8.5 (Local) 2025-10-29T01:32:40.365Z,1761701560.365 [DAT](INFO): Local bearing/azimuth received: Bearing 133.0, -8.5 (Local) 2025-10-29T01:32:40.366Z,1761701560.366 [DAT](INFO): DAT read: Range 11 to 50 : 65.1 m (Round-trip 86.8 ms) speed 0.6 m/s 2025-10-29T01:32:40.367Z,1761701560.367 [DAT](INFO): DAT read: user:767> 2025-10-29T01:32:40.368Z,1761701560.368 [DAT](INFO): DAT read: Tx time:01:32:40.0659 2025-10-29T01:32:40.368Z,1761701560.368 [DAT](INFO): Ping request sent. 2025-10-29T01:32:40.368Z,1761701560.368 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:40.369Z,1761701560.369 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:40.370Z,1761701560.370 [DAT](INFO): direction in FSK: [0.969074,-0.084783,0.231748] 2025-10-29T01:32:40.370Z,1761701560.370 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:40.370Z,1761701560.370 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:40.374Z,1761701560.374 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:40.374Z,1761701560.374 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:40.542Z,1761701560.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731844,0.670204,0.123419],[-0.681326,0.723339,0.112141],[-0.014117,-0.166158,0.985998]] 2025-10-29T01:32:40.636Z,1761701560.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 65.099998 m, deltaT: 16.126268 s, deltaX: -11.500000 m, approachRate: -0.713122 m/s, rangeRepo size: 4 2025-10-29T01:32:40.638Z,1761701560.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 64.749207 m, bearing: 314.392217 deg, lat: 36.779310 deg, lon: -121.859444 deg, deltaT: 16.126268 s, deltaX: -11.440575 m, approachRate: -0.709437 m/s, posRepo size: 4 2025-10-29T01:32:40.639Z,1761701560.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:40.646Z,1761701560.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 62.950993 m, bearing: 314.319063 deg, approach rate: 0.000000 m/s, LOS rate: 0.012311 deg/s, cmd heading: 316.308301 deg, new cmd heading: 316.319768 deg. 2025-10-29T01:32:40.646Z,1761701560.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520822 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:40.951Z,1761701560.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732104,0.671374,0.115243],[-0.681107,0.724151,0.108160],[-0.010838,-0.157677,0.987431]] 2025-10-29T01:32:40.970Z,1761701560.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:40.973Z,1761701560.973 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 62.685490 m, bearing: 314.314354 deg, approach rate: -0.784507 m/s, LOS rate: -0.013971 deg/s, cmd heading: 316.319775 deg, new cmd heading: 316.310319 deg. 2025-10-29T01:32:40.974Z,1761701560.974 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520657 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:41.358Z,1761701561.358 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732146,0.672117,0.110546],[-0.681100,0.724304,0.107176],[-0.008034,-0.153761,0.988075]] 2025-10-29T01:32:41.395Z,1761701561.395 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:41.398Z,1761701561.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 62.380573 m, bearing: 314.308925 deg, approach rate: -0.717204 m/s, LOS rate: -0.012832 deg/s, cmd heading: 316.310323 deg, new cmd heading: 316.299412 deg. 2025-10-29T01:32:41.398Z,1761701561.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520466 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:41.761Z,1761701561.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731795,0.672466,0.110751],[-0.681502,0.723368,0.110876],[-0.005553,-0.156616,0.987644]] 2025-10-29T01:32:41.810Z,1761701561.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:41.813Z,1761701561.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 62.057369 m, bearing: 314.306846 deg, approach rate: -0.778059 m/s, LOS rate: -0.005032 deg/s, cmd heading: 316.299422 deg, new cmd heading: 316.295241 deg. 2025-10-29T01:32:41.814Z,1761701561.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520393 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:42.159Z,1761701562.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731503,0.672157,0.114491],[-0.681827,0.722064,0.117198],[-0.003894,-0.163793,0.986487]] 2025-10-29T01:32:42.176Z,1761701562.176 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:42.178Z,1761701562.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:42.181Z,1761701562.181 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 61.782173 m, bearing: 314.305123 deg, approach rate: -0.747704 m/s, LOS rate: -0.004703 deg/s, cmd heading: 316.295241 deg, new cmd heading: 316.291780 deg. 2025-10-29T01:32:42.182Z,1761701562.182 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520333 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:42.373Z,1761701562.373 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:42.374Z,1761701562.374 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:42.374Z,1761701562.374 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:42.565Z,1761701562.565 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730952,0.672191,0.117763],[-0.682424,0.720600,0.122609],[-0.002444,-0.169986,0.985443]] 2025-10-29T01:32:42.617Z,1761701562.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:42.620Z,1761701562.620 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 61.458214 m, bearing: 314.298261 deg, approach rate: -0.738105 m/s, LOS rate: -0.015716 deg/s, cmd heading: 316.291772 deg, new cmd heading: 316.277976 deg. 2025-10-29T01:32:42.621Z,1761701562.621 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.520092 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:42.625Z,1761701562.625 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256680 2025-10-29T01:32:42.877Z,1761701562.877 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508918 2025-10-29T01:32:42.969Z,1761701562.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730439,0.672154,0.121110],[-0.682977,0.719142,0.127972],[-0.001078,-0.176191,0.984355]] 2025-10-29T01:32:42.987Z,1761701562.987 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:42.990Z,1761701562.990 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 61.185406 m, bearing: 314.292584 deg, approach rate: -0.737281 m/s, LOS rate: -0.015412 deg/s, cmd heading: 316.277975 deg, new cmd heading: 316.266570 deg. 2025-10-29T01:32:42.991Z,1761701562.991 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519893 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:43.129Z,1761701563.129 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760844 2025-10-29T01:32:43.373Z,1761701563.373 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730243,0.671974,0.123270],[-0.683187,0.718257,0.131766],[0.000004,-0.180438,0.983586]] 2025-10-29T01:32:43.381Z,1761701563.381 [DAT](INFO): DAT read: Rx Time:01:32:42.5531 2025-10-29T01:32:43.381Z,1761701563.381 [DAT](INFO): Rx dataTimestamp_ set to:1761701563.381058 2025-10-29T01:32:43.382Z,1761701563.382 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013554 2025-10-29T01:32:43.399Z,1761701563.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:43.402Z,1761701563.402 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 60.881756 m, bearing: 314.286259 deg, approach rate: -0.737013 m/s, LOS rate: -0.015426 deg/s, cmd heading: 316.266582 deg, new cmd heading: 316.253871 deg. 2025-10-29T01:32:43.403Z,1761701563.403 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519671 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:43.633Z,1761701563.633 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264603 2025-10-29T01:32:43.781Z,1761701563.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729969,0.672107,0.124170],[-0.683479,0.717472,0.134496],[0.001308,-0.183045,0.983104]] 2025-10-29T01:32:43.847Z,1761701563.847 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 64.75 m. 2025-10-29T01:32:43.854Z,1761701563.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 64.749207 m, nav range: 60.576809 m, bearing: 314.273253 deg, approach rate: -0.681889 m/s, LOS rate: -0.029229 deg/s, cmd heading: 316.253878 deg, new cmd heading: 316.227735 deg. 2025-10-29T01:32:43.855Z,1761701563.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.519215 target range: 64.749207 and range: 65.10 m. 2025-10-29T01:32:43.891Z,1761701563.891 [DAT](INFO): DAT read: 01:32:42.5531 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 399, 0.37, 2.218, 0.510, 2.551, 2.213, PHS= 0.107,-1.658, 0.294, RAW= 155.0, 13.4, CAL= 155.3, 15.1, ROT= 354.7, -15.1 2025-10-29T01:32:43.893Z,1761701563.893 [DAT](INFO): got valid direction response: 01:32:42.5531 LVL= 32752, 32753, 32754, 32755, AGC= 71, IDX= 399, 0.37, 2.218, 0.510, 2.551, 2.213, PHS= 0.107,-1.658, 0.294, RAW= 155.0, 13.4, CAL= 155.3, 15.1, ROT= 354.7, -15.1 2025-10-29T01:32:43.893Z,1761701563.893 [DAT](INFO): DAT read: Bearing 134.1, -7.8 (Local) 2025-10-29T01:32:43.894Z,1761701563.894 [DAT](INFO): Local bearing/azimuth received: Bearing 134.1, -7.8 (Local) 2025-10-29T01:32:43.895Z,1761701563.895 [DAT](INFO): DAT read: Range 11 to 50 : 62.3 m (Round-trip 83.1 ms) speed 0.6 m/s 2025-10-29T01:32:43.896Z,1761701563.896 [DAT](INFO): DAT read: user:768> 2025-10-29T01:32:43.897Z,1761701563.897 [DAT](INFO): DAT read: Tx time:01:32:43.6659 2025-10-29T01:32:43.897Z,1761701563.897 [DAT](INFO): Ping request sent. 2025-10-29T01:32:43.897Z,1761701563.897 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:43.898Z,1761701563.898 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:43.899Z,1761701563.899 [DAT](INFO): direction in FSK: [0.961345,-0.089181,0.260505] 2025-10-29T01:32:43.899Z,1761701563.899 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:43.899Z,1761701563.899 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:43.902Z,1761701563.902 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:43.903Z,1761701563.903 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:44.178Z,1761701564.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729508,0.672977,0.122145],[-0.683967,0.717100,0.134003],[0.002591,-0.181300,0.983424]] 2025-10-29T01:32:44.217Z,1761701564.217 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 62.299999 m, deltaT: 3.528029 s, deltaX: -2.799999 m, approachRate: -0.793644 m/s, rangeRepo size: 4 2025-10-29T01:32:44.219Z,1761701564.219 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 61.963501 m, bearing: 314.432801 deg, lat: 36.779310 deg, lon: -121.859444 deg, deltaT: 3.528029 s, deltaX: -2.785706 m, approachRate: -0.789593 m/s, posRepo size: 4 2025-10-29T01:32:44.220Z,1761701564.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:44.222Z,1761701564.222 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 60.300194 m, bearing: 314.261528 deg, approach rate: 0.000000 m/s, LOS rate: -0.029229 deg/s, cmd heading: 316.227732 deg, new cmd heading: 316.206091 deg. 2025-10-29T01:32:44.223Z,1761701564.223 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518837 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:44.596Z,1761701564.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728827,0.674439,0.118082],[-0.684685,0.716826,0.131784],[0.004236,-0.176896,0.984220]] 2025-10-29T01:32:44.631Z,1761701564.631 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:44.634Z,1761701564.634 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:44.641Z,1761701564.641 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:44.641Z,1761701564.641 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:44.641Z,1761701564.641 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:44.658Z,1761701564.658 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 59.985535 m, bearing: 314.253317 deg, approach rate: -0.754264 m/s, LOS rate: -0.019788 deg/s, cmd heading: 316.206094 deg, new cmd heading: 316.189584 deg. 2025-10-29T01:32:44.659Z,1761701564.659 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518549 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:44.893Z,1761701564.893 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.995608 2025-10-29T01:32:44.986Z,1761701564.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727963,0.676221,0.113116],[-0.685592,0.716572,0.128404],[0.005773,-0.171025,0.985250]] 2025-10-29T01:32:45.028Z,1761701565.028 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:45.031Z,1761701565.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 59.712532 m, bearing: 314.246488 deg, approach rate: -0.721821 m/s, LOS rate: -0.018137 deg/s, cmd heading: 316.189592 deg, new cmd heading: 316.175872 deg. 2025-10-29T01:32:45.031Z,1761701565.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518310 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:45.145Z,1761701565.145 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.247615 2025-10-29T01:32:45.393Z,1761701565.393 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727460,0.676848,0.112596],[-0.686114,0.715898,0.129372],[0.006958,-0.171367,0.985183]] 2025-10-29T01:32:45.397Z,1761701565.397 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.499845 2025-10-29T01:32:45.413Z,1761701565.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:45.416Z,1761701565.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 59.423145 m, bearing: 314.239381 deg, approach rate: -0.720699 m/s, LOS rate: -0.017785 deg/s, cmd heading: 316.175877 deg, new cmd heading: 316.161594 deg. 2025-10-29T01:32:45.417Z,1761701565.417 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.518061 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:45.649Z,1761701565.649 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.751542 2025-10-29T01:32:45.794Z,1761701565.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726836,0.677313,0.113827],[-0.686763,0.714763,0.132175],[0.008164,-0.174242,0.984669]] 2025-10-29T01:32:45.866Z,1761701565.866 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:45.877Z,1761701565.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 59.111713 m, bearing: 314.229280 deg, approach rate: -0.687740 m/s, LOS rate: -0.022425 deg/s, cmd heading: 316.161588 deg, new cmd heading: 316.141279 deg. 2025-10-29T01:32:45.878Z,1761701565.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517706 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:45.901Z,1761701565.901 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.003745 2025-10-29T01:32:46.157Z,1761701566.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.259932 2025-10-29T01:32:46.199Z,1761701566.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726822,0.677220,0.114464],[-0.686768,0.714430,0.133940],[0.008930,-0.175960,0.984357]] 2025-10-29T01:32:46.225Z,1761701566.225 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:46.228Z,1761701566.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 58.854382 m, bearing: 314.220844 deg, approach rate: -0.716397 m/s, LOS rate: -0.023588 deg/s, cmd heading: 316.141289 deg, new cmd heading: 316.124343 deg. 2025-10-29T01:32:46.229Z,1761701566.229 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517411 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:46.405Z,1761701566.405 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.507957 2025-10-29T01:32:46.623Z,1761701566.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726954,0.676905,0.115492],[-0.686623,0.714241,0.135679],[0.009352,-0.177932,0.983998]] 2025-10-29T01:32:46.657Z,1761701566.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.759767 2025-10-29T01:32:46.671Z,1761701566.671 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:46.674Z,1761701566.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:46.676Z,1761701566.676 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 58.542561 m, bearing: 314.212497 deg, approach rate: -0.695745 m/s, LOS rate: -0.018724 deg/s, cmd heading: 316.124350 deg, new cmd heading: 316.107567 deg. 2025-10-29T01:32:46.677Z,1761701566.677 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.517118 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:46.910Z,1761701566.910 [DAT](INFO): DAT read: Rx Time:01:32:46.1497 2025-10-29T01:32:46.911Z,1761701566.911 [DAT](INFO): Rx dataTimestamp_ set to:1761701566.910293 2025-10-29T01:32:46.911Z,1761701566.911 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013864 2025-10-29T01:32:47.161Z,1761701567.161 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.263687 2025-10-29T01:32:47.181Z,1761701567.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727387,0.676232,0.116694],[-0.686163,0.714404,0.137137],[0.009370,-0.179823,0.983654]] 2025-10-29T01:32:47.205Z,1761701567.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 61.96 m. 2025-10-29T01:32:47.207Z,1761701567.207 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 61.963501 m, nav range: 58.172352 m, bearing: 314.202224 deg, approach rate: -0.697272 m/s, LOS rate: -0.019472 deg/s, cmd heading: 316.107575 deg, new cmd heading: 316.086898 deg. 2025-10-29T01:32:47.210Z,1761701567.210 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516757 target range: 61.963501 and range: 62.30 m. 2025-10-29T01:32:47.419Z,1761701567.419 [DAT](INFO): DAT read: 01:32:46.1497 LVL= 32016, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.26, 1.404,-0.314, 1.751, 1.335, PHS= 0.171,-1.604, 0.373, RAW= 155.3, 11.3, CAL= 155.3, 12.4, ROT= 354.7, -12.4 2025-10-29T01:32:47.420Z,1761701567.420 [DAT](INFO): got valid direction response: 01:32:46.1497 LVL= 32016, 32753, 32754, 32755, AGC= 72, IDX= 413,-0.26, 1.404,-0.314, 1.751, 1.335, PHS= 0.171,-1.604, 0.373, RAW= 155.3, 11.3, CAL= 155.3, 12.4, ROT= 354.7, -12.4 2025-10-29T01:32:47.421Z,1761701567.421 [DAT](INFO): DAT read: Bearing 130.8, -6.7 (Local) 2025-10-29T01:32:47.421Z,1761701567.421 [DAT](INFO): Local bearing/azimuth received: Bearing 130.8, -6.7 (Local) 2025-10-29T01:32:47.423Z,1761701567.423 [DAT](INFO): DAT read: Range 11 to 50 : 59.7 m (Round-trip 79.6 ms) speed 0.4 m/s 2025-10-29T01:32:47.423Z,1761701567.423 [DAT](INFO): DAT read: user:769> 2025-10-29T01:32:47.424Z,1761701567.424 [DAT](INFO): DAT read: Tx time:01:32:47.2659 2025-10-29T01:32:47.425Z,1761701567.425 [DAT](INFO): Ping request sent. 2025-10-29T01:32:47.425Z,1761701567.425 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:47.425Z,1761701567.425 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:47.426Z,1761701567.426 [DAT](INFO): direction in FSK: [0.972497,-0.090216,0.214735] 2025-10-29T01:32:47.426Z,1761701567.426 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:47.426Z,1761701567.426 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:47.430Z,1761701567.430 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:47.430Z,1761701567.430 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:47.644Z,1761701567.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728654,0.674333,0.119747],[-0.684821,0.715014,0.140628],[0.009209,-0.184474,0.982794]] 2025-10-29T01:32:47.727Z,1761701567.727 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 59.700001 m, deltaT: 3.528150 s, deltaX: -2.599998 m, approachRate: -0.736930 m/s, rangeRepo size: 4 2025-10-29T01:32:47.733Z,1761701567.733 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 59.378498 m, bearing: 313.882338 deg, lat: 36.779310 deg, lon: -121.859445 deg, deltaT: 3.528150 s, deltaX: -2.585003 m, approachRate: -0.732679 m/s, posRepo size: 4 2025-10-29T01:32:47.734Z,1761701567.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:47.734Z,1761701567.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:47.742Z,1761701567.742 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 57.896549 m, bearing: 314.123695 deg, approach rate: 0.000000 m/s, LOS rate: -0.019472 deg/s, cmd heading: 316.086893 deg, new cmd heading: 316.066569 deg. 2025-10-29T01:32:47.743Z,1761701567.743 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516402 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:47.913Z,1761701567.913 [DockingStepper](INFO): Changing to mode: 2 2025-10-29T01:32:48.231Z,1761701568.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728969,0.674606,0.116236],[-0.684469,0.715736,0.138651],[0.010341,-0.180632,0.983496]] 2025-10-29T01:32:48.249Z,1761701568.249 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:48.250Z,1761701568.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:48.253Z,1761701568.253 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 57.524540 m, bearing: 314.114037 deg, approach rate: -0.711364 m/s, LOS rate: -0.018587 deg/s, cmd heading: 316.066567 deg, new cmd heading: 316.047126 deg. 2025-10-29T01:32:48.254Z,1761701568.254 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516063 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:48.657Z,1761701568.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730854,0.673123,0.112952],[-0.682427,0.717736,0.138381],[0.012077,-0.178218,0.983917]] 2025-10-29T01:32:48.715Z,1761701568.715 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:48.722Z,1761701568.722 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:48.723Z,1761701568.723 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:48.730Z,1761701568.730 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 57.215862 m, bearing: 314.110594 deg, approach rate: -0.653066 m/s, LOS rate: -0.007325 deg/s, cmd heading: 316.047114 deg, new cmd heading: 316.040190 deg. 2025-10-29T01:32:48.731Z,1761701568.731 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515942 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:48.929Z,1761701568.929 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:48.929Z,1761701568.929 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:48.929Z,1761701568.929 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:49.043Z,1761701569.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731881,0.672218,0.111682],[-0.681278,0.718332,0.140923],[0.014506,-0.179225,0.983701]] 2025-10-29T01:32:49.061Z,1761701569.061 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:49.062Z,1761701569.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:49.065Z,1761701569.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 56.961605 m, bearing: 314.107334 deg, approach rate: -0.749577 m/s, LOS rate: -0.009652 deg/s, cmd heading: 316.040202 deg, new cmd heading: 316.033654 deg. 2025-10-29T01:32:49.066Z,1761701569.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515828 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:49.181Z,1761701569.181 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756486 2025-10-29T01:32:49.433Z,1761701569.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008125 2025-10-29T01:32:49.450Z,1761701569.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732565,0.671986,0.108553],[-0.680479,0.718912,0.141823],[0.017263,-0.177763,0.983922]] 2025-10-29T01:32:49.468Z,1761701569.468 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:49.469Z,1761701569.469 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:49.471Z,1761701569.471 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 56.679688 m, bearing: 314.103390 deg, approach rate: -0.693272 m/s, LOS rate: -0.009749 deg/s, cmd heading: 316.033645 deg, new cmd heading: 316.025716 deg. 2025-10-29T01:32:49.472Z,1761701569.472 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515689 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:49.685Z,1761701569.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260407 2025-10-29T01:32:49.853Z,1761701569.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732751,0.672557,0.103654],[-0.680190,0.719293,0.141279],[0.020460,-0.174026,0.984528]] 2025-10-29T01:32:49.871Z,1761701569.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:49.872Z,1761701569.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:49.875Z,1761701569.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 56.400078 m, bearing: 314.099348 deg, approach rate: -0.693064 m/s, LOS rate: -0.010066 deg/s, cmd heading: 316.025722 deg, new cmd heading: 316.017600 deg. 2025-10-29T01:32:49.876Z,1761701569.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515548 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:49.937Z,1761701569.937 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.512391 2025-10-29T01:32:50.189Z,1761701570.189 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764222 2025-10-29T01:32:50.251Z,1761701570.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732692,0.673171,0.100016],[-0.680136,0.719094,0.142546],[0.024037,-0.172467,0.984722]] 2025-10-29T01:32:50.374Z,1761701570.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:50.375Z,1761701570.375 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:50.382Z,1761701570.382 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 56.057213 m, bearing: 314.094343 deg, approach rate: -0.681517 m/s, LOS rate: -0.010011 deg/s, cmd heading: 316.017608 deg, new cmd heading: 316.007535 deg. 2025-10-29T01:32:50.383Z,1761701570.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515372 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:50.441Z,1761701570.441 [DAT](INFO): DAT read: Rx Time:01:32:49.7467 2025-10-29T01:32:50.441Z,1761701570.441 [DAT](INFO): Rx dataTimestamp_ set to:1761701570.441208 2025-10-29T01:32:50.442Z,1761701570.442 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.017388 2025-10-29T01:32:50.693Z,1761701570.693 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268295 2025-10-29T01:32:50.699Z,1761701570.699 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732206,0.673856,0.098955],[-0.680533,0.718015,0.146045],[0.027362,-0.174277,0.984316]] 2025-10-29T01:32:50.763Z,1761701570.763 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:50.770Z,1761701570.770 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 59.38 m. 2025-10-29T01:32:50.771Z,1761701570.771 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 59.70 m. 2025-10-29T01:32:50.779Z,1761701570.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 59.378498 m, nav range: 55.792557 m, bearing: 314.090604 deg, approach rate: -0.669226 m/s, LOS rate: -0.009498 deg/s, cmd heading: 316.007527 deg, new cmd heading: 316.000014 deg. 2025-10-29T01:32:50.784Z,1761701570.784 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515241 target range: 59.378498 and range: 59.70 m. 2025-10-29T01:32:50.951Z,1761701570.951 [DAT](INFO): DAT read: 01:32:49.7467 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.14, 0.435,-1.285, 0.789, 0.364, PHS= 0.173,-1.603, 0.382, RAW= 155.5, 11.1, CAL= 155.5, 12.2, ROT= 354.5, -12.2 2025-10-29T01:32:50.953Z,1761701570.953 [DAT](INFO): got valid direction response: 01:32:49.7467 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.14, 0.435,-1.285, 0.789, 0.364, PHS= 0.173,-1.603, 0.382, RAW= 155.5, 11.1, CAL= 155.5, 12.2, ROT= 354.5, -12.2 2025-10-29T01:32:50.953Z,1761701570.953 [DAT](INFO): DAT read: Bearing 130.9, -5.6 (Local) 2025-10-29T01:32:50.954Z,1761701570.954 [DAT](INFO): Local bearing/azimuth received: Bearing 130.9, -5.6 (Local) 2025-10-29T01:32:50.955Z,1761701570.955 [DAT](INFO): DAT read: Range 11 to 50 : 57.5 m (Round-trip 76.7 ms) speed 0.6 m/s 2025-10-29T01:32:50.956Z,1761701570.956 [DAT](INFO): DAT read: user:770> 2025-10-29T01:32:50.957Z,1761701570.957 [DAT](INFO): DAT read: Tx time:01:32:50.8659 2025-10-29T01:32:50.957Z,1761701570.957 [DAT](INFO): Ping request sent. 2025-10-29T01:32:50.957Z,1761701570.957 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:50.958Z,1761701570.958 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:50.959Z,1761701570.959 [DAT](INFO): direction in FSK: [0.972916,-0.093681,0.211325] 2025-10-29T01:32:50.959Z,1761701570.959 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:50.959Z,1761701570.959 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:50.967Z,1761701570.967 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:50.967Z,1761701570.967 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:51.149Z,1761701571.149 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731320,0.674873,0.098580],[-0.681365,0.716526,0.149440],[0.030217,-0.176458,0.983844]] 2025-10-29T01:32:51.188Z,1761701571.188 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 57.500000 m, deltaT: 3.532225 s, deltaX: -2.200001 m, approachRate: -0.622837 m/s, rangeRepo size: 4 2025-10-29T01:32:51.190Z,1761701571.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 57.190334 m, bearing: 313.771235 deg, lat: 36.779307 deg, lon: -121.859445 deg, deltaT: 3.532225 s, deltaX: -2.188164 m, approachRate: -0.619486 m/s, posRepo size: 4 2025-10-29T01:32:51.191Z,1761701571.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:51.191Z,1761701571.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:51.194Z,1761701571.194 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 55.286369 m, bearing: 313.834891 deg, approach rate: 0.000000 m/s, LOS rate: -0.009498 deg/s, cmd heading: 316.000013 deg, new cmd heading: 315.992085 deg. 2025-10-29T01:32:51.195Z,1761701571.195 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515102 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:51.547Z,1761701571.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730511,0.675858,0.097827],[-0.682126,0.715332,0.151673],[0.032531,-0.177528,0.983578]] 2025-10-29T01:32:51.584Z,1761701571.584 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:51.585Z,1761701571.585 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:51.587Z,1761701571.587 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 55.008675 m, bearing: 313.830271 deg, approach rate: -0.699991 m/s, LOS rate: -0.011705 deg/s, cmd heading: 315.992090 deg, new cmd heading: 315.982803 deg. 2025-10-29T01:32:51.606Z,1761701571.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514940 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:51.993Z,1761701571.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729453,0.677079,0.097276],[-0.683198,0.714141,0.152461],[0.033759,-0.177672,0.983511]] 2025-10-29T01:32:52.062Z,1761701572.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:52.062Z,1761701572.062 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:52.065Z,1761701572.065 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 54.633385 m, bearing: 313.842154 deg, approach rate: -0.785938 m/s, LOS rate: 0.025057 deg/s, cmd heading: 315.982801 deg, new cmd heading: 316.006731 deg. 2025-10-29T01:32:52.066Z,1761701572.066 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515358 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:52.386Z,1761701572.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728915,0.678181,0.093555],[-0.683718,0.714193,0.149859],[0.034815,-0.173200,0.984271]] 2025-10-29T01:32:52.424Z,1761701572.424 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:52.428Z,1761701572.428 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:52.431Z,1761701572.431 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 54.362206 m, bearing: 313.851080 deg, approach rate: -0.749017 m/s, LOS rate: 0.024778 deg/s, cmd heading: 316.006734 deg, new cmd heading: 316.024676 deg. 2025-10-29T01:32:52.440Z,1761701572.440 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515671 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:52.792Z,1761701572.792 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728688,0.678883,0.090177],[-0.683918,0.714511,0.147411],[0.035643,-0.169090,0.984956]] 2025-10-29T01:32:52.851Z,1761701572.851 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:52.873Z,1761701572.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:52.873Z,1761701572.873 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:52.880Z,1761701572.880 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 53.999134 m, bearing: 313.858923 deg, approach rate: -0.808048 m/s, LOS rate: 0.017572 deg/s, cmd heading: 316.024684 deg, new cmd heading: 316.040474 deg. 2025-10-29T01:32:52.881Z,1761701572.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515947 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:52.961Z,1761701572.961 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:52.961Z,1761701572.961 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:52.961Z,1761701572.961 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:53.221Z,1761701573.221 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.263762 2025-10-29T01:32:53.239Z,1761701573.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:53.240Z,1761701573.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:53.243Z,1761701573.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 53.684479 m, bearing: 313.865805 deg, approach rate: -0.858398 m/s, LOS rate: 0.018886 deg/s, cmd heading: 316.040475 deg, new cmd heading: 316.054321 deg. 2025-10-29T01:32:53.244Z,1761701573.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516189 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:53.473Z,1761701573.473 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515943 2025-10-29T01:32:53.596Z,1761701573.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729112,0.679540,0.081374],[-0.683364,0.716327,0.141028],[0.037544,-0.158433,0.986656]] 2025-10-29T01:32:53.614Z,1761701573.614 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:53.615Z,1761701573.615 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:53.625Z,1761701573.625 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 53.380325 m, bearing: 313.872472 deg, approach rate: -0.811907 m/s, LOS rate: 0.017899 deg/s, cmd heading: 316.054327 deg, new cmd heading: 316.067737 deg. 2025-10-29T01:32:53.626Z,1761701573.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516423 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:53.726Z,1761701573.726 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.768217 2025-10-29T01:32:53.977Z,1761701573.977 [DAT](INFO): DAT read: Rx Time:01:32:53.3427 2025-10-29T01:32:53.977Z,1761701573.977 [DAT](INFO): Rx dataTimestamp_ set to:1761701573.977218 2025-10-29T01:32:53.978Z,1761701573.978 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.020726 2025-10-29T01:32:54.069Z,1761701574.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:54.069Z,1761701574.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Powering the camera and arming the capture device at range: 57.50 m. 2025-10-29T01:32:54.069Z,1761701574.069 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Final approach. Armed for intercept at range: 57.50 m. 2025-10-29T01:32:54.070Z,1761701574.070 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: FINAL_APPROACH 2025-10-29T01:32:54.073Z,1761701574.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 53.016476 m, bearing: 313.877756 deg, approach rate: -0.800329 m/s, LOS rate: 0.011702 deg/s, cmd heading: 316.067742 deg, new cmd heading: 316.078381 deg. 2025-10-29T01:32:54.073Z,1761701574.073 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516608 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:54.085Z,1761701574.085 [HorizontalControl](DEBUG): kpHeading = 0.700000 2025-10-29T01:32:54.086Z,1761701574.086 [HorizontalControl](DEBUG): kiHeading = 0.001000 2025-10-29T01:32:54.229Z,1761701574.229 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.271589 2025-10-29T01:32:54.404Z,1761701574.404 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729638,0.680234,0.070076],[-0.682629,0.718440,0.133644],[0.040564,-0.145348,0.988549]] 2025-10-29T01:32:54.435Z,1761701574.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 57.19 m. 2025-10-29T01:32:54.438Z,1761701574.438 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 57.190334 m, nav range: 52.733635 m, bearing: 313.881874 deg, approach rate: -0.772590 m/s, LOS rate: 0.011309 deg/s, cmd heading: 316.078369 deg, new cmd heading: 316.086649 deg. 2025-10-29T01:32:54.439Z,1761701574.439 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516753 target range: 57.190334 and range: 57.50 m. 2025-10-29T01:32:54.530Z,1761701574.530 [DAT](INFO): DAT read: 01:32:53.3427 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.40, 1.632,-0.049, 2.008, 1.595, PHS= 0.139,-1.599, 0.369, RAW= 156.1, 11.7, CAL= 156.2, 13.0, ROT= 353.8, -13.0 2025-10-29T01:32:54.531Z,1761701574.531 [DAT](INFO): got valid direction response: 01:32:53.3427 LVL= 32752, 32753, 32754, 32755, AGC= 70, IDX= 405, 0.40, 1.632,-0.049, 2.008, 1.595, PHS= 0.139,-1.599, 0.369, RAW= 156.1, 11.7, CAL= 156.2, 13.0, ROT= 353.8, -13.0 2025-10-29T01:32:54.532Z,1761701574.532 [DAT](INFO): DAT read: Bearing 133.2, -5.7 (Local) 2025-10-29T01:32:54.541Z,1761701574.541 [DAT](INFO): Local bearing/azimuth received: Bearing 133.2, -5.7 (Local) 2025-10-29T01:32:54.557Z,1761701574.557 [DAT](INFO): DAT read: Range 11 to 50 : 54.5 m (Round-trip 72.7 ms) speed 0.6 m/s 2025-10-29T01:32:54.558Z,1761701574.558 [DAT](INFO): DAT read: user:771> 2025-10-29T01:32:54.559Z,1761701574.559 [DAT](INFO): DAT read: Tx time:01:32:54.4659 2025-10-29T01:32:54.559Z,1761701574.559 [DAT](INFO): Ping request sent. 2025-10-29T01:32:54.560Z,1761701574.560 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:54.564Z,1761701574.564 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:54.566Z,1761701574.566 [DAT](INFO): direction in FSK: [0.968671,-0.105231,0.224951] 2025-10-29T01:32:54.566Z,1761701574.566 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:54.567Z,1761701574.567 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:54.579Z,1761701574.579 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:54.580Z,1761701574.580 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:54.838Z,1761701574.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730893,0.679753,0.061075],[-0.680975,0.720380,0.131629],[0.045478,-0.137797,0.989416]] 2025-10-29T01:32:54.923Z,1761701574.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 54.500000 m, deltaT: 3.542258 s, deltaX: -3.000000 m, approachRate: -0.846917 m/s, rangeRepo size: 4 2025-10-29T01:32:54.929Z,1761701574.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 54.205883 m, bearing: 312.650636 deg, lat: 36.779307 deg, lon: -121.859445 deg, deltaT: 3.542258 s, deltaX: -2.984451 m, approachRate: -0.842528 m/s, posRepo size: 4 2025-10-29T01:32:54.930Z,1761701574.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:54.937Z,1761701574.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 52.342560 m, bearing: 313.861306 deg, approach rate: 0.000000 m/s, LOS rate: 0.011309 deg/s, cmd heading: 316.086647 deg, new cmd heading: 316.097677 deg. 2025-10-29T01:32:54.938Z,1761701574.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516945 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:55.231Z,1761701575.231 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.731987,0.679220,0.053431],[-0.679553,0.722198,0.128987],[0.049022,-0.130726,0.990206]] 2025-10-29T01:32:55.249Z,1761701575.249 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:55.250Z,1761701575.250 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:55.269Z,1761701575.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 52.065556 m, bearing: 313.858972 deg, approach rate: -0.844340 m/s, LOS rate: -0.007150 deg/s, cmd heading: 316.097685 deg, new cmd heading: 316.092993 deg. 2025-10-29T01:32:55.270Z,1761701575.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516863 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:55.493Z,1761701575.493 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:55.493Z,1761701575.493 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:55.494Z,1761701575.494 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:55.631Z,1761701575.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733316,0.678251,0.047155],[-0.677827,0.723935,0.128331],[0.052903,-0.126070,0.990610]] 2025-10-29T01:32:55.654Z,1761701575.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:55.690Z,1761701575.690 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 51.750599 m, bearing: 313.855641 deg, approach rate: -0.779669 m/s, LOS rate: -0.008297 deg/s, cmd heading: 316.092986 deg, new cmd heading: 316.086283 deg. 2025-10-29T01:32:55.705Z,1761701575.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516747 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:55.746Z,1761701575.746 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.186497 2025-10-29T01:32:55.997Z,1761701575.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.437683 2025-10-29T01:32:56.043Z,1761701576.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734108,0.677557,0.044746],[-0.676622,0.724362,0.132225],[0.057178,-0.127344,0.990209]] 2025-10-29T01:32:56.080Z,1761701576.080 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:56.083Z,1761701576.083 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 51.433193 m, bearing: 313.846844 deg, approach rate: -0.746405 m/s, LOS rate: -0.020815 deg/s, cmd heading: 316.086292 deg, new cmd heading: 316.068589 deg. 2025-10-29T01:32:56.084Z,1761701576.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516438 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:56.249Z,1761701576.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.689342 2025-10-29T01:32:56.439Z,1761701576.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735241,0.676371,0.044078],[-0.675052,0.724850,0.137466],[0.061028,-0.130826,0.989525]] 2025-10-29T01:32:56.458Z,1761701576.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:56.461Z,1761701576.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 51.153999 m, bearing: 313.838339 deg, approach rate: -0.738757 m/s, LOS rate: -0.022627 deg/s, cmd heading: 316.068588 deg, new cmd heading: 316.051486 deg. 2025-10-29T01:32:56.462Z,1761701576.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.516139 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:56.502Z,1761701576.502 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.941933 2025-10-29T01:32:56.761Z,1761701576.761 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.200579 2025-10-29T01:32:56.892Z,1761701576.892 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:56.894Z,1761701576.894 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 50.844799 m, bearing: 313.819734 deg, approach rate: -0.712611 m/s, LOS rate: -0.043139 deg/s, cmd heading: 316.051486 deg, new cmd heading: 316.014049 deg. 2025-10-29T01:32:56.895Z,1761701576.895 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.515486 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:57.010Z,1761701577.010 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.449908 2025-10-29T01:32:57.250Z,1761701577.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738028,0.673254,0.045209],[-0.671377,0.725958,0.149125],[0.067579,-0.140411,0.987784]] 2025-10-29T01:32:57.261Z,1761701577.261 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.701497 2025-10-29T01:32:57.270Z,1761701577.270 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:57.271Z,1761701577.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:57.274Z,1761701577.274 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 50.574524 m, bearing: 313.801738 deg, approach rate: -0.711325 m/s, LOS rate: -0.047616 deg/s, cmd heading: 316.014056 deg, new cmd heading: 315.977872 deg. 2025-10-29T01:32:57.275Z,1761701577.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514854 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:57.513Z,1761701577.513 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.953363 2025-10-29T01:32:57.685Z,1761701577.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:57.688Z,1761701577.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 50.283482 m, bearing: 313.782143 deg, approach rate: -0.703847 m/s, LOS rate: -0.047664 deg/s, cmd heading: 315.977884 deg, new cmd heading: 315.938465 deg. 2025-10-29T01:32:57.689Z,1761701577.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.514166 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:57.766Z,1761701577.766 [DAT](INFO): DAT read: Rx Time:01:32:56.9389 2025-10-29T01:32:57.766Z,1761701577.766 [DAT](INFO): Rx dataTimestamp_ set to:1761701577.765879 2025-10-29T01:32:57.767Z,1761701577.767 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.207484 2025-10-29T01:32:58.024Z,1761701578.024 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.463608 2025-10-29T01:32:58.118Z,1761701578.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741777,0.668745,0.050462],[-0.666809,0.727405,0.162008],[0.071636,-0.153823,0.985498]] 2025-10-29T01:32:58.169Z,1761701578.169 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 54.21 m. 2025-10-29T01:32:58.172Z,1761701578.172 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 54.205883 m, nav range: 49.953770 m, bearing: 313.752295 deg, approach rate: -0.681171 m/s, LOS rate: -0.062070 deg/s, cmd heading: 315.938460 deg, new cmd heading: 315.878371 deg. 2025-10-29T01:32:58.173Z,1761701578.173 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.513118 target range: 54.205883 and range: 54.50 m. 2025-10-29T01:32:58.275Z,1761701578.275 [DAT](INFO): DAT read: 01:32:56.9389 LVL= 30112, 32753, 29794, 32755, AGC= 68, IDX= 398,-0.17, 1.754, 0.097, 2.172, 1.674, PHS= 0.182,-1.532, 0.454, RAW= 157.3, 9.6, CAL= 157.1, 10.4, ROT= 352.9, -10.4 2025-10-29T01:32:58.276Z,1761701578.276 [DAT](INFO): got valid direction response: 01:32:56.9389 LVL= 30112, 32753, 29794, 32755, AGC= 68, IDX= 398,-0.17, 1.754, 0.097, 2.172, 1.674, PHS= 0.182,-1.532, 0.454, RAW= 157.3, 9.6, CAL= 157.1, 10.4, ROT= 352.9, -10.4 2025-10-29T01:32:58.277Z,1761701578.277 [DAT](INFO): DAT read: Bearing 132.2, -4.7 (Local) 2025-10-29T01:32:58.277Z,1761701578.277 [DAT](INFO): Local bearing/azimuth received: Bearing 132.2, -4.7 (Local) 2025-10-29T01:32:58.279Z,1761701578.279 [DAT](INFO): DAT read: Range 11 to 50 : 51.6 m (Round-trip 68.9 ms) speed 0.5 m/s 2025-10-29T01:32:58.280Z,1761701578.280 [DAT](INFO): DAT read: user:772> 2025-10-29T01:32:58.280Z,1761701578.280 [DAT](INFO): DAT read: Tx time:01:32:58.0659 2025-10-29T01:32:58.281Z,1761701578.281 [DAT](INFO): Ping request sent. 2025-10-29T01:32:58.281Z,1761701578.281 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:32:58.281Z,1761701578.281 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:32:58.282Z,1761701578.282 [DAT](INFO): direction in FSK: [0.976029,-0.121571,0.180519] 2025-10-29T01:32:58.282Z,1761701578.282 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:58.283Z,1761701578.283 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:58.301Z,1761701578.301 [DAT](INFO): publishing transmit ping time 2025-10-29T01:32:58.301Z,1761701578.301 [DAT](INFO): publishing direction and range info 2025-10-29T01:32:58.479Z,1761701578.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743976,0.666210,0.051610],[-0.664202,0.728866,0.166105],[0.073044,-0.157857,0.984757]] 2025-10-29T01:32:58.529Z,1761701578.529 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 51.599998 m, deltaT: 3.781484 s, deltaX: -2.900002 m, approachRate: -0.766895 m/s, rangeRepo size: 4 2025-10-29T01:32:58.531Z,1761701578.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 51.322018 m, bearing: 312.794203 deg, lat: 36.779306 deg, lon: -121.859446 deg, deltaT: 3.781484 s, deltaX: -2.883865 m, approachRate: -0.762628 m/s, posRepo size: 4 2025-10-29T01:32:58.531Z,1761701578.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:32:58.538Z,1761701578.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 49.747288 m, bearing: 313.648287 deg, approach rate: 0.000000 m/s, LOS rate: -0.062070 deg/s, cmd heading: 315.878381 deg, new cmd heading: 315.834353 deg. 2025-10-29T01:32:58.539Z,1761701578.539 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.512349 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:32:58.882Z,1761701578.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746204,0.663607,0.052966],[-0.661586,0.730373,0.169879],[0.074048,-0.161806,0.984040]] 2025-10-29T01:32:58.937Z,1761701578.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:32:58.940Z,1761701578.940 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 49.470230 m, bearing: 313.620414 deg, approach rate: -0.670065 m/s, LOS rate: -0.067787 deg/s, cmd heading: 315.834340 deg, new cmd heading: 315.778283 deg. 2025-10-29T01:32:58.941Z,1761701578.941 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.511371 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:32:59.330Z,1761701579.330 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:32:59.332Z,1761701579.332 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:32:59.335Z,1761701579.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 49.213051 m, bearing: 313.594260 deg, approach rate: -0.651573 m/s, LOS rate: -0.066610 deg/s, cmd heading: 315.778278 deg, new cmd heading: 315.725696 deg. 2025-10-29T01:32:59.336Z,1761701579.336 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.510453 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:32:59.533Z,1761701579.533 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:32:59.533Z,1761701579.533 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:32:59.533Z,1761701579.533 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:32:59.691Z,1761701579.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.751264,0.658048,0.050739],[-0.655715,0.735428,0.170835],[0.075103,-0.161612,0.983992]] 2025-10-29T01:32:59.712Z,1761701579.712 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:32:59.747Z,1761701579.747 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 48.967480 m, bearing: 313.566776 deg, approach rate: -0.649171 m/s, LOS rate: -0.073018 deg/s, cmd heading: 315.725686 deg, new cmd heading: 315.670442 deg. 2025-10-29T01:32:59.755Z,1761701579.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.509489 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:32:59.788Z,1761701579.788 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506703 2025-10-29T01:33:00.037Z,1761701580.037 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.756359 2025-10-29T01:33:00.108Z,1761701580.108 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.753503,0.655710,0.047724],[-0.653070,0.738153,0.169205],[0.075722,-0.158664,0.984425]] 2025-10-29T01:33:00.159Z,1761701580.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:33:00.161Z,1761701580.161 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 48.675957 m, bearing: 313.536589 deg, approach rate: -0.650142 m/s, LOS rate: -0.067726 deg/s, cmd heading: 315.670443 deg, new cmd heading: 315.609707 deg. 2025-10-29T01:33:00.162Z,1761701580.162 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.508429 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:33:00.289Z,1761701580.289 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008125 2025-10-29T01:33:00.512Z,1761701580.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755238,0.653903,0.045023],[-0.650976,0.740296,0.167905],[0.076463,-0.156118,0.984774]] 2025-10-29T01:33:00.531Z,1761701580.531 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:33:00.533Z,1761701580.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 48.434505 m, bearing: 313.510521 deg, approach rate: -0.649069 m/s, LOS rate: -0.070424 deg/s, cmd heading: 315.609709 deg, new cmd heading: 315.557314 deg. 2025-10-29T01:33:00.534Z,1761701580.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.507514 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:33:00.541Z,1761701580.541 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.260164 2025-10-29T01:33:00.797Z,1761701580.797 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.515403 2025-10-29T01:33:00.917Z,1761701580.917 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756232,0.653046,0.040550],[-0.649715,0.742160,0.164527],[0.077349,-0.150766,0.985539]] 2025-10-29T01:33:00.978Z,1761701580.978 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:33:00.985Z,1761701580.985 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 48.151096 m, bearing: 313.483282 deg, approach rate: -0.633089 m/s, LOS rate: -0.061207 deg/s, cmd heading: 315.557308 deg, new cmd heading: 315.502508 deg. 2025-10-29T01:33:00.986Z,1761701580.986 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.506557 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:33:01.045Z,1761701581.045 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.764245 2025-10-29T01:33:01.298Z,1761701581.298 [DAT](INFO): DAT read: Rx Time:01:33:00.5358 2025-10-29T01:33:01.298Z,1761701581.298 [DAT](INFO): Rx dataTimestamp_ set to:1761701581.298030 2025-10-29T01:33:01.299Z,1761701581.299 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.018377 2025-10-29T01:33:01.339Z,1761701581.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756684,0.652670,0.038100],[-0.649058,0.742948,0.163559],[0.078443,-0.148492,0.985798]] 2025-10-29T01:33:01.364Z,1761701581.364 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:01.366Z,1761701581.366 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:33:01.370Z,1761701581.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 47.886204 m, bearing: 313.457263 deg, approach rate: -0.682481 m/s, LOS rate: -0.067407 deg/s, cmd heading: 315.502502 deg, new cmd heading: 315.450177 deg. 2025-10-29T01:33:01.371Z,1761701581.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.505644 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:33:01.549Z,1761701581.549 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.268068 2025-10-29T01:33:01.730Z,1761701581.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.755918,0.653517,0.038780],[-0.649744,0.741666,0.166628],[0.080132,-0.151154,0.985257]] 2025-10-29T01:33:01.827Z,1761701581.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 51.32 m. 2025-10-29T01:33:01.824Z,1761701581.824 [DAT](INFO): DAT read: 01:33:00.5358 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.42, 0.389,-1.269, 0.831, 0.372, PHS= 0.119,-1.596, 0.415, RAW= 157.8, 11.3, CAL= 157.9, 12.5, ROT= 352.1, -12.5 2025-10-29T01:33:01.833Z,1761701581.833 [DAT](INFO): got valid direction response: 01:33:00.5358 LVL= 32752, 32753, 32754, 32755, AGC= 69, IDX= 416,-0.42, 0.389,-1.269, 0.831, 0.372, PHS= 0.119,-1.596, 0.415, RAW= 157.8, 11.3, CAL= 157.9, 12.5, ROT= 352.1, -12.5 2025-10-29T01:33:01.834Z,1761701581.834 [DAT](INFO): DAT read: Bearing 134.4, -5.1 (Local) 2025-10-29T01:33:01.834Z,1761701581.834 [DAT](INFO): Local bearing/azimuth received: Bearing 134.4, -5.1 (Local) 2025-10-29T01:33:01.838Z,1761701581.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 51.322018 m, nav range: 47.615379 m, bearing: 313.430713 deg, approach rate: -0.587519 m/s, LOS rate: -0.057923 deg/s, cmd heading: 315.450183 deg, new cmd heading: 315.396782 deg. 2025-10-29T01:33:01.839Z,1761701581.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.504712 target range: 51.322018 and range: 51.60 m. 2025-10-29T01:33:01.844Z,1761701581.844 [DAT](INFO): DAT read: Range 11 to 50 : 49.4 m (Round-trip 65.9 ms) speed 0.6 m/s 2025-10-29T01:33:01.845Z,1761701581.845 [DAT](INFO): DAT read: user:773> 2025-10-29T01:33:01.846Z,1761701581.846 [DAT](INFO): DAT read: Tx time:01:33:01.6658 2025-10-29T01:33:01.846Z,1761701581.846 [DAT](INFO): Ping request sent. 2025-10-29T01:33:01.846Z,1761701581.846 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:01.847Z,1761701581.847 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:01.856Z,1761701581.856 [DAT](INFO): direction in FSK: [0.967030,-0.134187,0.216440] 2025-10-29T01:33:01.856Z,1761701581.856 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:01.856Z,1761701581.856 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:01.860Z,1761701581.860 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:01.868Z,1761701581.868 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:02.162Z,1761701582.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.754625,0.654814,0.041956],[-0.651003,0.739168,0.172700],[0.082073,-0.157637,0.984080]] 2025-10-29T01:33:02.228Z,1761701582.228 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 49.400002 m, deltaT: 3.534128 s, deltaX: -2.199997 m, approachRate: -0.622501 m/s, rangeRepo size: 4 2025-10-29T01:33:02.230Z,1761701582.230 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 49.133068 m, bearing: 313.276552 deg, lat: 36.779302 deg, lon: -121.859446 deg, deltaT: 3.534128 s, deltaX: -2.188950 m, approachRate: -0.619375 m/s, posRepo size: 4 2025-10-29T01:33:02.231Z,1761701582.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:02.238Z,1761701582.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 46.951946 m, bearing: 312.937505 deg, approach rate: 0.000000 m/s, LOS rate: -0.057923 deg/s, cmd heading: 315.396771 deg, new cmd heading: 315.350899 deg. 2025-10-29T01:33:02.238Z,1761701582.238 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503911 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:02.563Z,1761701582.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.752430,0.657106,0.045401],[-0.653251,0.735636,0.179171],[0.084335,-0.164472,0.982770]] 2025-10-29T01:33:02.598Z,1761701582.598 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:02.605Z,1761701582.605 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 46.692154 m, bearing: 312.923032 deg, approach rate: -0.692506 m/s, LOS rate: -0.038794 deg/s, cmd heading: 315.350899 deg, new cmd heading: 315.321793 deg. 2025-10-29T01:33:02.606Z,1761701582.606 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503404 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:02.971Z,1761701582.971 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.750503,0.659075,0.048632],[-0.655250,0.732534,0.184504],[0.085977,-0.170337,0.981628]] 2025-10-29T01:33:03.031Z,1761701583.031 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:03.038Z,1761701583.038 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 46.380928 m, bearing: 312.915303 deg, approach rate: -0.719325 m/s, LOS rate: -0.017984 deg/s, cmd heading: 315.321803 deg, new cmd heading: 315.306241 deg. 2025-10-29T01:33:03.039Z,1761701583.039 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.503132 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:03.370Z,1761701583.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.748473,0.660862,0.055228],[-0.657323,0.728271,0.193770],[0.087835,-0.181334,0.979491]] 2025-10-29T01:33:03.389Z,1761701583.389 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:03.391Z,1761701583.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:03.393Z,1761701583.393 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 46.111286 m, bearing: 312.909423 deg, approach rate: -0.750130 m/s, LOS rate: -0.016455 deg/s, cmd heading: 315.306230 deg, new cmd heading: 315.294400 deg. 2025-10-29T01:33:03.394Z,1761701583.394 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502925 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:03.565Z,1761701583.565 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:03.565Z,1761701583.565 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:03.565Z,1761701583.565 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:33:03.806Z,1761701583.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.746195,0.662970,0.060538],[-0.659665,0.724092,0.201328],[0.089640,-0.190165,0.977651]] 2025-10-29T01:33:03.830Z,1761701583.830 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.973243 2025-10-29T01:33:03.945Z,1761701583.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:03.947Z,1761701583.947 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 45.703037 m, bearing: 312.895388 deg, approach rate: -0.736887 m/s, LOS rate: -0.025558 deg/s, cmd heading: 315.294400 deg, new cmd heading: 315.266081 deg. 2025-10-29T01:33:03.952Z,1761701583.952 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502431 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:04.069Z,1761701584.069 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.222605 2025-10-29T01:33:04.236Z,1761701584.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:04.239Z,1761701584.239 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 45.488499 m, bearing: 312.887912 deg, approach rate: -0.736651 m/s, LOS rate: -0.025792 deg/s, cmd heading: 315.266069 deg, new cmd heading: 315.251046 deg. 2025-10-29T01:33:04.240Z,1761701584.240 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.502169 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:04.321Z,1761701584.321 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.474732 2025-10-29T01:33:04.573Z,1761701584.573 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.726735 2025-10-29T01:33:04.591Z,1761701584.591 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.743180,0.665842,0.065865],[-0.662706,0.718943,0.209625],[0.092224,-0.199438,0.975561]] 2025-10-29T01:33:04.633Z,1761701584.633 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:04.636Z,1761701584.636 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 45.196194 m, bearing: 312.879086 deg, approach rate: -0.735860 m/s, LOS rate: -0.022363 deg/s, cmd heading: 315.251042 deg, new cmd heading: 315.233276 deg. 2025-10-29T01:33:04.637Z,1761701584.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501859 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:04.830Z,1761701584.830 [DAT](INFO): DAT read: Rx Time:01:33:04.1326 2025-10-29T01:33:04.834Z,1761701584.834 [DAT](INFO): Rx dataTimestamp_ set to:1761701584.831087 2025-10-29T01:33:04.836Z,1761701584.836 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.988888 2025-10-29T01:33:05.077Z,1761701585.077 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.230352 2025-10-29T01:33:05.175Z,1761701585.175 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 49.13 m. 2025-10-29T01:33:05.178Z,1761701585.178 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 49.133068 m, nav range: 44.787224 m, bearing: 312.861345 deg, approach rate: -0.754703 m/s, LOS rate: -0.033038 deg/s, cmd heading: 315.233284 deg, new cmd heading: 315.197478 deg. 2025-10-29T01:33:05.179Z,1761701585.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.501234 target range: 49.133068 and range: 49.40 m. 2025-10-29T01:33:05.337Z,1761701585.337 [DAT](INFO): DAT read: 01:33:04.1326 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.35, 2.804, 1.208,-3.094, 2.865, PHS= 0.041,-1.612, 0.281, RAW= 156.7, 14.3, CAL= 157.2, 16.4, ROT= 352.8, -16.4 2025-10-29T01:33:05.338Z,1761701585.338 [DAT](INFO): got valid direction response: 01:33:04.1326 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 414, 0.35, 2.804, 1.208,-3.094, 2.865, PHS= 0.041,-1.612, 0.281, RAW= 156.7, 14.3, CAL= 157.2, 16.4, ROT= 352.8, -16.4 2025-10-29T01:33:05.340Z,1761701585.340 [DAT](INFO): DAT read: Bearing 137.2, -4.9 (Local) 2025-10-29T01:33:05.340Z,1761701585.340 [DAT](INFO): Local bearing/azimuth received: Bearing 137.2, -4.9 (Local) 2025-10-29T01:33:05.342Z,1761701585.342 [DAT](INFO): DAT read: Range 11 to 50 : 46.9 m (Round-trip 62.6 ms) speed 0.6 m/s 2025-10-29T01:33:05.343Z,1761701585.343 [DAT](INFO): DAT read: user:774> 2025-10-29T01:33:05.346Z,1761701585.346 [DAT](INFO): DAT read: Tx time:01:33:05.2158 2025-10-29T01:33:05.347Z,1761701585.347 [DAT](INFO): Ping request sent. 2025-10-29T01:33:05.347Z,1761701585.347 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:05.347Z,1761701585.347 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:05.349Z,1761701585.349 [DAT](INFO): direction in FSK: [0.951749,-0.120234,0.282341] 2025-10-29T01:33:05.349Z,1761701585.349 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:05.349Z,1761701585.349 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:05.352Z,1761701585.352 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:05.353Z,1761701585.353 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:05.556Z,1761701585.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741961,0.667617,0.061487],[-0.663904,0.718851,0.206120],[0.093410,-0.193754,0.976593]] 2025-10-29T01:33:05.595Z,1761701585.595 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 46.900002 m, deltaT: 3.525912 s, deltaX: -2.500000 m, approachRate: -0.709036 m/s, rangeRepo size: 4 2025-10-29T01:33:05.601Z,1761701585.601 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 46.647224 m, bearing: 314.259153 deg, lat: 36.779300 deg, lon: -121.859446 deg, deltaT: 3.525912 s, deltaX: -2.485844 m, approachRate: -0.705021 m/s, posRepo size: 4 2025-10-29T01:33:05.602Z,1761701585.602 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:05.609Z,1761701585.609 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 44.344578 m, bearing: 312.651829 deg, approach rate: 0.000000 m/s, LOS rate: -0.033038 deg/s, cmd heading: 315.197466 deg, new cmd heading: 315.169765 deg. 2025-10-29T01:33:05.610Z,1761701585.610 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.500750 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:06.099Z,1761701586.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741376,0.668626,0.057451],[-0.664275,0.718984,0.204453],[0.095397,-0.189740,0.977189]] 2025-10-29T01:33:06.143Z,1761701586.143 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:06.145Z,1761701586.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:06.148Z,1761701586.148 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 43.912140 m, bearing: 312.626730 deg, approach rate: -0.784400 m/s, LOS rate: -0.045976 deg/s, cmd heading: 315.169763 deg, new cmd heading: 315.119070 deg. 2025-10-29T01:33:06.149Z,1761701586.149 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499866 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:06.337Z,1761701586.337 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:06.337Z,1761701586.337 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:06.338Z,1761701586.338 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:33:06.504Z,1761701586.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741247,0.669041,0.054195],[-0.664255,0.719536,0.202566],[0.096530,-0.186151,0.977768]] 2025-10-29T01:33:06.541Z,1761701586.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:06.544Z,1761701586.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 43.617432 m, bearing: 312.609456 deg, approach rate: -0.744320 m/s, LOS rate: -0.043921 deg/s, cmd heading: 315.119083 deg, new cmd heading: 315.084303 deg. 2025-10-29T01:33:06.545Z,1761701586.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.499259 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:06.589Z,1761701586.589 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.242068 2025-10-29T01:33:06.841Z,1761701586.841 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.494536 2025-10-29T01:33:06.938Z,1761701586.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.741096,0.669541,0.049910],[-0.664266,0.720388,0.199478],[0.097604,-0.180986,0.978630]] 2025-10-29T01:33:06.968Z,1761701586.968 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:06.971Z,1761701586.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 43.293217 m, bearing: 312.590369 deg, approach rate: -0.760561 m/s, LOS rate: -0.045112 deg/s, cmd heading: 315.084304 deg, new cmd heading: 315.045842 deg. 2025-10-29T01:33:06.972Z,1761701586.972 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.498587 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:07.093Z,1761701587.093 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.746406 2025-10-29T01:33:07.341Z,1761701587.341 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.740246,0.670752,0.046125],[-0.664971,0.720285,0.197491],[0.099244,-0.176864,0.979219]] 2025-10-29T01:33:07.345Z,1761701587.345 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.998103 2025-10-29T01:33:07.361Z,1761701587.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:07.364Z,1761701587.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 42.991802 m, bearing: 312.572913 deg, approach rate: -0.766509 m/s, LOS rate: -0.044700 deg/s, cmd heading: 315.045836 deg, new cmd heading: 315.010681 deg. 2025-10-29T01:33:07.365Z,1761701587.365 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497973 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:07.597Z,1761701587.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.249925 2025-10-29T01:33:07.739Z,1761701587.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739321,0.671878,0.044563],[-0.665707,0.719377,0.198321],[0.101190,-0.176289,0.979124]] 2025-10-29T01:33:07.786Z,1761701587.786 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:07.791Z,1761701587.791 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 42.676308 m, bearing: 312.554897 deg, approach rate: -0.742787 m/s, LOS rate: -0.042731 deg/s, cmd heading: 315.010674 deg, new cmd heading: 314.974375 deg. 2025-10-29T01:33:07.793Z,1761701587.793 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.497340 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:07.852Z,1761701587.852 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.504507 2025-10-29T01:33:08.101Z,1761701588.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.753798 2025-10-29T01:33:08.144Z,1761701588.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738244,0.672966,0.045962],[-0.666568,0.717389,0.202583],[0.103359,-0.180192,0.978186]] 2025-10-29T01:33:08.195Z,1761701588.195 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:08.198Z,1761701588.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:08.205Z,1761701588.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 42.389778 m, bearing: 312.524537 deg, approach rate: -0.694914 m/s, LOS rate: -0.074130 deg/s, cmd heading: 314.974365 deg, new cmd heading: 314.913234 deg. 2025-10-29T01:33:08.206Z,1761701588.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.496273 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:08.353Z,1761701588.353 [DAT](INFO): DAT read: Rx Time:01:33:07.6787 2025-10-29T01:33:08.353Z,1761701588.353 [DAT](INFO): Rx dataTimestamp_ set to:1761701588.353148 2025-10-29T01:33:08.354Z,1761701588.354 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.007040 2025-10-29T01:33:08.547Z,1761701588.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736812,0.674600,0.044989],[-0.667755,0.715685,0.204688],[0.105884,-0.180858,0.977793]] 2025-10-29T01:33:08.579Z,1761701588.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 46.65 m. 2025-10-29T01:33:08.582Z,1761701588.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 46.647224 m, nav range: 42.106819 m, bearing: 312.494852 deg, approach rate: -0.742838 m/s, LOS rate: -0.078454 deg/s, cmd heading: 314.913221 deg, new cmd heading: 314.853452 deg. 2025-10-29T01:33:08.583Z,1761701588.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.495229 target range: 46.647224 and range: 46.90 m. 2025-10-29T01:33:08.605Z,1761701588.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.258047 2025-10-29T01:33:08.869Z,1761701588.869 [DAT](INFO): DAT read: 01:33:07.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.45, 3.122, 1.497,-2.766,-3.140, PHS= 0.082,-1.600, 0.330, RAW= 156.8, 13.0, CAL= 157.2, 14.7, ROT= 352.8, -14.7 2025-10-29T01:33:08.870Z,1761701588.870 [DAT](INFO): got valid direction response: 01:33:07.6787 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 407,-0.45, 3.122, 1.497,-2.766,-3.140, PHS= 0.082,-1.600, 0.330, RAW= 156.8, 13.0, CAL= 157.2, 14.7, ROT= 352.8, -14.7 2025-10-29T01:33:08.871Z,1761701588.871 [DAT](INFO): DAT read: Bearing 135.5, -3.8 (Local) 2025-10-29T01:33:08.871Z,1761701588.871 [DAT](INFO): Local bearing/azimuth received: Bearing 135.5, -3.8 (Local) 2025-10-29T01:33:08.873Z,1761701588.873 [DAT](INFO): DAT read: Range 11 to 50 : 44.0 m (Round-trip 58.7 ms) speed 0.6 m/s 2025-10-29T01:33:08.874Z,1761701588.874 [DAT](INFO): DAT read: user:775> 2025-10-29T01:33:08.881Z,1761701588.881 [DAT](INFO): DAT read: Tx time:01:33:08.7658 2025-10-29T01:33:08.882Z,1761701588.882 [DAT](INFO): Ping request sent. 2025-10-29T01:33:08.883Z,1761701588.883 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:08.884Z,1761701588.884 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:08.913Z,1761701588.912 [DAT](INFO): direction in FSK: [0.959641,-0.121231,0.253758] 2025-10-29T01:33:08.913Z,1761701588.913 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:08.914Z,1761701588.914 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:08.948Z,1761701588.948 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:08.948Z,1761701588.948 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:08.997Z,1761701588.997 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.735353,0.676285,0.043533],[-0.668935,0.714070,0.206470],[0.108547,-0.180949,0.977484]] 2025-10-29T01:33:09.079Z,1761701589.079 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 44.000000 m, deltaT: 3.529551 s, deltaX: -2.900002 m, approachRate: -0.821635 m/s, rangeRepo size: 4 2025-10-29T01:33:09.086Z,1761701589.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 43.763065 m, bearing: 313.192052 deg, lat: 36.779299 deg, lon: -121.859441 deg, deltaT: 3.529551 s, deltaX: -2.884159 m, approachRate: -0.817146 m/s, posRepo size: 4 2025-10-29T01:33:09.086Z,1761701589.086 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:09.093Z,1761701589.093 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 41.455040 m, bearing: 312.795460 deg, approach rate: 0.000000 m/s, LOS rate: -0.078454 deg/s, cmd heading: 314.853443 deg, new cmd heading: 314.775026 deg. 2025-10-29T01:33:09.094Z,1761701589.094 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.493861 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:09.392Z,1761701589.392 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734254,0.677454,0.043889],[-0.669750,0.712306,0.209893],[0.110931,-0.183510,0.976739]] 2025-10-29T01:33:09.400Z,1761701589.400 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:33:09.411Z,1761701589.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:09.414Z,1761701589.414 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 41.219383 m, bearing: 312.770134 deg, approach rate: -0.709318 m/s, LOS rate: -0.076667 deg/s, cmd heading: 314.775033 deg, new cmd heading: 314.724091 deg. 2025-10-29T01:33:09.415Z,1761701589.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.492971 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:09.803Z,1761701589.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733546,0.678164,0.044756],[-0.670134,0.710741,0.213935],[0.113273,-0.186924,0.975822]] 2025-10-29T01:33:09.823Z,1761701589.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:09.829Z,1761701589.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 40.940563 m, bearing: 312.740024 deg, approach rate: -0.675868 m/s, LOS rate: -0.073484 deg/s, cmd heading: 314.724079 deg, new cmd heading: 314.663450 deg. 2025-10-29T01:33:09.830Z,1761701589.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.491913 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:10.191Z,1761701590.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732953,0.678708,0.046211],[-0.670330,0.708989,0.219071],[0.115922,-0.191545,0.974614]] 2025-10-29T01:33:10.246Z,1761701590.246 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:10.252Z,1761701590.252 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:10.255Z,1761701590.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 40.671925 m, bearing: 312.703940 deg, approach rate: -0.633089 m/s, LOS rate: -0.085600 deg/s, cmd heading: 314.663455 deg, new cmd heading: 314.590810 deg. 2025-10-29T01:33:10.259Z,1761701590.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.490645 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:10.369Z,1761701590.369 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:10.369Z,1761701590.369 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:10.370Z,1761701590.370 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:33:10.404Z,1761701590.404 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:33:10.594Z,1761701590.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732676,0.678959,0.046911],[-0.670243,0.707867,0.222932],[0.118156,-0.194779,0.973705]] 2025-10-29T01:33:10.613Z,1761701590.613 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:10.616Z,1761701590.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 40.415268 m, bearing: 312.669010 deg, approach rate: -0.702395 m/s, LOS rate: -0.096202 deg/s, cmd heading: 314.590809 deg, new cmd heading: 314.520504 deg. 2025-10-29T01:33:10.617Z,1761701590.617 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.489419 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:10.621Z,1761701590.621 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.738708 2025-10-29T01:33:10.873Z,1761701590.873 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.990559 2025-10-29T01:33:10.998Z,1761701590.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732452,0.679216,0.046684],[-0.670061,0.707040,0.226082],[0.120551,-0.196875,0.972989]] 2025-10-29T01:33:11.045Z,1761701591.045 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:11.047Z,1761701591.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 40.136543 m, bearing: 312.633210 deg, approach rate: -0.645700 m/s, LOS rate: -0.083510 deg/s, cmd heading: 314.520512 deg, new cmd heading: 314.448416 deg. 2025-10-29T01:33:11.049Z,1761701591.049 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.488160 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:11.126Z,1761701591.126 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.243276 2025-10-29T01:33:11.377Z,1761701591.377 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.494466 2025-10-29T01:33:11.403Z,1761701591.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732853,0.678872,0.045387],[-0.669262,0.707249,0.227788],[0.122538,-0.197311,0.972652]] 2025-10-29T01:33:11.422Z,1761701591.422 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:11.461Z,1761701591.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 39.893154 m, bearing: 312.601229 deg, approach rate: -0.645732 m/s, LOS rate: -0.085367 deg/s, cmd heading: 314.448413 deg, new cmd heading: 314.384060 deg. 2025-10-29T01:33:11.462Z,1761701591.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.487037 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:11.629Z,1761701591.629 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.746565 2025-10-29T01:33:11.813Z,1761701591.813 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.733983,0.677896,0.041545],[-0.667754,0.709130,0.226360],[0.123988,-0.193886,0.973157]] 2025-10-29T01:33:11.831Z,1761701591.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:11.834Z,1761701591.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 39.629189 m, bearing: 312.565400 deg, approach rate: -0.645238 m/s, LOS rate: -0.088164 deg/s, cmd heading: 314.384073 deg, new cmd heading: 314.311937 deg. 2025-10-29T01:33:11.838Z,1761701591.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.485778 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:11.882Z,1761701591.882 [DAT](INFO): DAT read: Rx Time:01:33:11.2252 2025-10-29T01:33:11.882Z,1761701591.882 [DAT](INFO): Rx dataTimestamp_ set to:1761701591.881926 2025-10-29T01:33:11.883Z,1761701591.883 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.000722 2025-10-29T01:33:12.133Z,1761701592.133 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.250802 2025-10-29T01:33:12.210Z,1761701592.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734973,0.677019,0.038218],[-0.666353,0.710653,0.225711],[0.125651,-0.191358,0.973444]] 2025-10-29T01:33:12.253Z,1761701592.253 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:12.255Z,1761701592.255 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 43.76 m. 2025-10-29T01:33:12.258Z,1761701592.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 43.763065 m, nav range: 39.366295 m, bearing: 312.528151 deg, approach rate: -0.620117 m/s, LOS rate: -0.088450 deg/s, cmd heading: 314.311946 deg, new cmd heading: 314.236950 deg. 2025-10-29T01:33:12.259Z,1761701592.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.484469 target range: 43.763065 and range: 44.00 m. 2025-10-29T01:33:12.389Z,1761701592.389 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.505725 2025-10-29T01:33:12.642Z,1761701592.642 [DAT](INFO): DAT read: 01:33:11.2252 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.44,-2.249, 2.406,-1.864,-2.251, PHS= 0.104,-1.581, 0.343, RAW= 156.5, 12.5, CAL= 156.8, 14.0, ROT= 353.2, -14.0 2025-10-29T01:33:12.643Z,1761701592.644 [DAT](INFO): got valid direction response: 01:33:11.2252 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 403, 0.44,-2.249, 2.406,-1.864,-2.251, PHS= 0.104,-1.581, 0.343, RAW= 156.5, 12.5, CAL= 156.8, 14.0, ROT= 353.2, -14.0 2025-10-29T01:33:12.645Z,1761701592.645 [DAT](INFO): DAT read: Bearing 134.2, -2.2 (Local) 2025-10-29T01:33:12.645Z,1761701592.645 [DAT](INFO): Local bearing/azimuth received: Bearing 134.2, -2.2 (Local) 2025-10-29T01:33:12.646Z,1761701592.646 [DAT](INFO): DAT read: Range 11 to 50 : 41.4 m (Round-trip 55.3 ms) speed 0.5 m/s 2025-10-29T01:33:12.647Z,1761701592.647 [DAT](INFO): DAT read: user:776> 2025-10-29T01:33:12.648Z,1761701592.648 [DAT](INFO): DAT read: Tx time:01:33:12.3158 2025-10-29T01:33:12.648Z,1761701592.648 [DAT](INFO): Ping request sent. 2025-10-29T01:33:12.648Z,1761701592.648 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:12.649Z,1761701592.649 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:12.649Z,1761701592.649 [DAT](INFO): direction in FSK: [0.963470,-0.114887,0.241922] 2025-10-29T01:33:12.650Z,1761701592.650 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:12.650Z,1761701592.650 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:12.657Z,1761701592.657 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:12.658Z,1761701592.658 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:12.755Z,1761701592.755 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 41.400002 m, deltaT: 3.778176 s, deltaX: -2.599998 m, approachRate: -0.688162 m/s, rangeRepo size: 4 2025-10-29T01:33:12.767Z,1761701592.767 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 41.177559 m, bearing: 313.710307 deg, lat: 36.779299 deg, lon: -121.859432 deg, deltaT: 3.778176 s, deltaX: -2.585506 m, approachRate: -0.684327 m/s, posRepo size: 4 2025-10-29T01:33:12.768Z,1761701592.768 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:12.782Z,1761701592.782 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 38.478779 m, bearing: 313.323256 deg, approach rate: 0.000000 m/s, LOS rate: -0.088450 deg/s, cmd heading: 314.236950 deg, new cmd heading: 314.148614 deg. 2025-10-29T01:33:12.788Z,1761701592.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482928 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:13.147Z,1761701593.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:13.150Z,1761701593.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 38.195511 m, bearing: 313.300803 deg, approach rate: -0.720424 m/s, LOS rate: -0.057526 deg/s, cmd heading: 314.148622 deg, new cmd heading: 314.103384 deg. 2025-10-29T01:33:13.151Z,1761701593.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.482138 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:13.500Z,1761701593.500 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738310,0.673872,0.028180],[-0.661802,0.715763,0.222937],[0.130061,-0.183246,0.974425]] 2025-10-29T01:33:13.520Z,1761701593.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:13.522Z,1761701593.522 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 37.957088 m, bearing: 313.279631 deg, approach rate: -0.640588 m/s, LOS rate: -0.057243 deg/s, cmd heading: 314.103379 deg, new cmd heading: 314.060768 deg. 2025-10-29T01:33:13.523Z,1761701593.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.481394 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:13.903Z,1761701593.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738938,0.673288,0.025574],[-0.660849,0.716843,0.222296],[0.131337,-0.181164,0.974644]] 2025-10-29T01:33:13.965Z,1761701593.965 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:14.001Z,1761701594.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 37.698841 m, bearing: 313.255955 deg, approach rate: -0.587282 m/s, LOS rate: -0.054210 deg/s, cmd heading: 314.060759 deg, new cmd heading: 314.013083 deg. 2025-10-29T01:33:14.002Z,1761701594.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.480562 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:14.330Z,1761701594.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739070,0.673195,0.024184],[-0.660547,0.717209,0.222009],[0.132110,-0.180055,0.974745]] 2025-10-29T01:33:14.370Z,1761701594.370 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:14.388Z,1761701594.388 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:14.391Z,1761701594.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 37.412952 m, bearing: 313.237165 deg, approach rate: -0.692387 m/s, LOS rate: -0.045855 deg/s, cmd heading: 314.013084 deg, new cmd heading: 313.975216 deg. 2025-10-29T01:33:14.396Z,1761701594.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479901 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:14.401Z,1761701594.401 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:14.401Z,1761701594.401 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:14.401Z,1761701594.401 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:33:14.657Z,1761701594.657 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.008633 2025-10-29T01:33:14.730Z,1761701594.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739422,0.672918,0.020893],[-0.659933,0.718315,0.220255],[0.133206,-0.176649,0.975218]] 2025-10-29T01:33:14.779Z,1761701594.779 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:14.792Z,1761701594.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 37.167702 m, bearing: 313.220569 deg, approach rate: -0.602909 m/s, LOS rate: -0.041066 deg/s, cmd heading: 313.975217 deg, new cmd heading: 313.941808 deg. 2025-10-29T01:33:14.794Z,1761701594.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.479318 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:14.905Z,1761701594.905 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.256666 2025-10-29T01:33:15.134Z,1761701595.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.739305,0.673108,0.018811],[-0.659806,0.718551,0.219864],[0.134476,-0.174958,0.975349]] 2025-10-29T01:33:15.157Z,1761701595.157 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508800 2025-10-29T01:33:15.198Z,1761701595.198 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:15.205Z,1761701595.205 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 36.889725 m, bearing: 313.202113 deg, approach rate: -0.663173 m/s, LOS rate: -0.044364 deg/s, cmd heading: 313.941804 deg, new cmd heading: 313.904613 deg. 2025-10-29T01:33:15.206Z,1761701595.206 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478669 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:15.409Z,1761701595.409 [DAT](INFO): DAT read: Rx Time:01:33:14.7725 2025-10-29T01:33:15.409Z,1761701595.409 [DAT](INFO): Rx dataTimestamp_ set to:1761701595.409102 2025-10-29T01:33:15.410Z,1761701595.410 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.761721 2025-10-29T01:33:15.538Z,1761701595.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738917,0.673585,0.016879],[-0.659987,0.718499,0.219491],[0.135718,-0.173326,0.975469]] 2025-10-29T01:33:15.557Z,1761701595.557 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:15.560Z,1761701595.560 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 36.638325 m, bearing: 313.185350 deg, approach rate: -0.699612 m/s, LOS rate: -0.046970 deg/s, cmd heading: 313.904621 deg, new cmd heading: 313.870864 deg. 2025-10-29T01:33:15.561Z,1761701595.561 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478080 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:15.662Z,1761701595.662 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013112 2025-10-29T01:33:15.916Z,1761701595.916 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.267327 2025-10-29T01:33:15.990Z,1761701595.990 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.737913,0.674673,0.017342],[-0.660750,0.716974,0.222164],[0.137454,-0.175397,0.974855]] 2025-10-29T01:33:16.084Z,1761701596.084 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 41.18 m. 2025-10-29T01:33:16.087Z,1761701596.087 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 41.177559 m, nav range: 36.277023 m, bearing: 313.181555 deg, approach rate: -0.686090 m/s, LOS rate: -0.007278 deg/s, cmd heading: 313.870852 deg, new cmd heading: 313.863187 deg. 2025-10-29T01:33:16.088Z,1761701596.088 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477946 target range: 41.177559 and range: 41.40 m. 2025-10-29T01:33:16.189Z,1761701596.189 [DAT](INFO): DAT read: 01:33:14.7725 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.07,-1.483,-3.085,-1.099,-1.497, PHS= 0.116,-1.544, 0.353, RAW= 156.6, 12.0, CAL= 156.8, 13.4, ROT= 353.2, -13.4 2025-10-29T01:33:16.190Z,1761701596.190 [DAT](INFO): got valid direction response: 01:33:14.7725 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 407,-0.07,-1.483,-3.085,-1.099,-1.497, PHS= 0.116,-1.544, 0.353, RAW= 156.6, 12.0, CAL= 156.8, 13.4, ROT= 353.2, -13.4 2025-10-29T01:33:16.191Z,1761701596.191 [DAT](INFO): DAT read: Bearing 134.8, -0.9 (Local) 2025-10-29T01:33:16.191Z,1761701596.191 [DAT](INFO): Local bearing/azimuth received: Bearing 134.8, -0.9 (Local) 2025-10-29T01:33:16.197Z,1761701596.197 [DAT](INFO): DAT read: Range 11 to 50 : 39.4 m (Round-trip 52.6 ms) speed 0.6 m/s 2025-10-29T01:33:16.198Z,1761701596.198 [DAT](INFO): DAT read: user:777> 2025-10-29T01:33:16.198Z,1761701596.198 [DAT](INFO): DAT read: Tx time:01:33:15.8658 2025-10-29T01:33:16.199Z,1761701596.199 [DAT](INFO): Ping request sent. 2025-10-29T01:33:16.199Z,1761701596.199 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:16.199Z,1761701596.199 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:16.201Z,1761701596.201 [DAT](INFO): direction in FSK: [0.965933,-0.115180,0.231748] 2025-10-29T01:33:16.202Z,1761701596.202 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:16.202Z,1761701596.202 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:16.205Z,1761701596.205 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:16.205Z,1761701596.205 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:16.347Z,1761701596.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.736309,0.676345,0.020176],[-0.662154,0.714082,0.227244],[0.139288,-0.180681,0.973629]] 2025-10-29T01:33:16.405Z,1761701596.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 39.400002 m, deltaT: 3.528625 s, deltaX: -2.000000 m, approachRate: -0.566793 m/s, rangeRepo size: 4 2025-10-29T01:33:16.407Z,1761701596.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 39.187691 m, bearing: 313.633504 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 3.528625 s, deltaX: -1.989868 m, approachRate: -0.563922 m/s, posRepo size: 4 2025-10-29T01:33:16.407Z,1761701596.407 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:16.419Z,1761701596.419 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 36.013786 m, bearing: 313.268111 deg, approach rate: 0.000000 m/s, LOS rate: -0.007278 deg/s, cmd heading: 313.863175 deg, new cmd heading: 313.858578 deg. 2025-10-29T01:33:16.420Z,1761701596.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477866 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:16.755Z,1761701596.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.734411,0.678335,0.022417],[-0.663923,0.711167,0.231190],[0.140882,-0.184672,0.972650]] 2025-10-29T01:33:16.808Z,1761701596.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Running Loop=1 2025-10-29T01:33:16.808Z,1761701596.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:33:16.808Z,1761701596.808 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Running Loop=1 2025-10-29T01:33:16.810Z,1761701596.810 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A](INFO): Entering USBL mode with 120.000000 count pings at 39.400002 m (mode 2.000000 count ). 2025-10-29T01:33:16.810Z,1761701596.810 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:A] Stopped 2025-10-29T01:33:16.810Z,1761701596.810 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Running Loop=1 2025-10-29T01:33:16.810Z,1761701596.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:16.814Z,1761701596.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:16.817Z,1761701596.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 35.738888 m, bearing: 313.267827 deg, approach rate: -0.664123 m/s, LOS rate: -0.000692 deg/s, cmd heading: 313.858585 deg, new cmd heading: 313.858013 deg. 2025-10-29T01:33:16.818Z,1761701596.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477856 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:16.922Z,1761701596.922 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:16.922Z,1761701596.922 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:16.922Z,1761701596.922 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:33:17.155Z,1761701597.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.732333,0.680570,0.022669],[-0.665927,0.708829,0.232600],[0.142232,-0.185436,0.972308]] 2025-10-29T01:33:17.173Z,1761701597.173 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.974022 2025-10-29T01:33:17.263Z,1761701597.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:B] Stopped 2025-10-29T01:33:17.263Z,1761701597.263 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Running Loop=1 2025-10-29T01:33:17.269Z,1761701597.269 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:17.295Z,1761701597.295 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 35.397907 m, bearing: 313.269882 deg, approach rate: -0.750723 m/s, LOS rate: 0.004568 deg/s, cmd heading: 313.858011 deg, new cmd heading: 313.862161 deg. 2025-10-29T01:33:17.300Z,1761701597.300 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477928 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:17.425Z,1761701597.425 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.225961 2025-10-29T01:33:17.611Z,1761701597.611 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.730374,0.682720,0.021148],[-0.667823,0.707253,0.231960],[0.143406,-0.183541,0.972495]] 2025-10-29T01:33:17.634Z,1761701597.634 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:C] Stopped 2025-10-29T01:33:17.634Z,1761701597.634 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Running Loop=1 2025-10-29T01:33:17.637Z,1761701597.637 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:17.656Z,1761701597.656 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 35.133312 m, bearing: 313.272736 deg, approach rate: -0.717622 m/s, LOS rate: 0.007799 deg/s, cmd heading: 313.862164 deg, new cmd heading: 313.867915 deg. 2025-10-29T01:33:17.657Z,1761701597.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478029 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:17.677Z,1761701597.677 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.478121 2025-10-29T01:33:17.929Z,1761701597.929 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.730319 2025-10-29T01:33:18.071Z,1761701598.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727635,0.685452,0.026513],[-0.670565,0.702625,0.238036],[0.144534,-0.190982,0.970894]] 2025-10-29T01:33:18.144Z,1761701598.144 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL:D] Stopped 2025-10-29T01:33:18.145Z,1761701598.145 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](INFO): Completed lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:33:18.145Z,1761701598.145 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL] Stopped 2025-10-29T01:33:18.145Z,1761701598.145 [lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal:UpdateNumPingsUSBL 2025-10-29T01:33:18.147Z,1761701598.147 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:18.150Z,1761701598.150 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 34.778549 m, bearing: 313.278044 deg, approach rate: -0.695396 m/s, LOS rate: 0.010511 deg/s, cmd heading: 313.867929 deg, new cmd heading: 313.878654 deg. 2025-10-29T01:33:18.151Z,1761701598.151 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478216 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:18.182Z,1761701598.182 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.982522 2025-10-29T01:33:18.433Z,1761701598.433 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.234125 2025-10-29T01:33:18.457Z,1761701598.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726837,0.686176,0.029513],[-0.671376,0.700789,0.241140],[0.144782,-0.195084,0.970041]] 2025-10-29T01:33:18.476Z,1761701598.476 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:18.479Z,1761701598.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 34.530807 m, bearing: 313.282183 deg, approach rate: -0.753633 m/s, LOS rate: 0.012680 deg/s, cmd heading: 313.878666 deg, new cmd heading: 313.887003 deg. 2025-10-29T01:33:18.479Z,1761701598.479 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478362 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:18.685Z,1761701598.685 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.485945 2025-10-29T01:33:18.848Z,1761701598.848 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726358,0.686617,0.031016],[-0.671871,0.699797,0.242640],[0.144896,-0.197082,0.969621]] 2025-10-29T01:33:18.894Z,1761701598.894 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:18.899Z,1761701598.899 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:18.902Z,1761701598.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 34.237419 m, bearing: 313.287441 deg, approach rate: -0.698482 m/s, LOS rate: 0.012627 deg/s, cmd heading: 313.886999 deg, new cmd heading: 313.897606 deg. 2025-10-29T01:33:18.903Z,1761701598.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478547 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:18.940Z,1761701598.940 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.740880 2025-10-29T01:33:19.189Z,1761701599.189 [DAT](INFO): DAT read: Rx Time:01:33:18.3192 2025-10-29T01:33:19.189Z,1761701599.189 [DAT](INFO): Rx dataTimestamp_ set to:1761701599.189180 2025-10-29T01:33:19.190Z,1761701599.190 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.991107 2025-10-29T01:33:19.330Z,1761701599.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:19.333Z,1761701599.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 33.934990 m, bearing: 313.278362 deg, approach rate: -0.700043 m/s, LOS rate: -0.021204 deg/s, cmd heading: 313.897599 deg, new cmd heading: 313.879278 deg. 2025-10-29T01:33:19.334Z,1761701599.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.478227 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:19.441Z,1761701599.441 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.242414 2025-10-29T01:33:19.655Z,1761701599.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726469,0.686727,0.025479],[-0.671729,0.701804,0.237174],[0.144993,-0.189414,0.971133]] 2025-10-29T01:33:19.685Z,1761701599.685 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 39.19 m. 2025-10-29T01:33:19.688Z,1761701599.688 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 39.187691 m, nav range: 33.671398 m, bearing: 313.270499 deg, approach rate: -0.739508 m/s, LOS rate: -0.022233 deg/s, cmd heading: 313.879267 deg, new cmd heading: 313.863417 deg. 2025-10-29T01:33:19.689Z,1761701599.689 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477950 target range: 39.187691 and range: 39.40 m. 2025-10-29T01:33:19.699Z,1761701599.699 [DAT](INFO): DAT read: 01:33:18.3192 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405,-0.17,-2.110, 2.529,-1.744,-2.168, PHS= 0.161,-1.541, 0.380, RAW= 156.0, 11.0, CAL= 156.0, 12.1, ROT= 354.0, -12.1 2025-10-29T01:33:19.700Z,1761701599.700 [DAT](INFO): got valid direction response: 01:33:18.3192 LVL= 32752, 32753, 32754, 32755, AGC= 67, IDX= 405,-0.17,-2.110, 2.529,-1.744,-2.168, PHS= 0.161,-1.541, 0.380, RAW= 156.0, 11.0, CAL= 156.0, 12.1, ROT= 354.0, -12.1 2025-10-29T01:33:19.701Z,1761701599.701 [DAT](INFO): DAT read: Bearing 133.7, 0.1 (Local) 2025-10-29T01:33:19.701Z,1761701599.701 [DAT](INFO): Local bearing/azimuth received: Bearing 133.7, 0.1 (Local) 2025-10-29T01:33:19.703Z,1761701599.703 [DAT](INFO): DAT read: Range 11 to 50 : 36.9 m (Round-trip 49.3 ms) speed 0.6 m/s 2025-10-29T01:33:19.703Z,1761701599.703 [DAT](INFO): DAT read: user:778> 2025-10-29T01:33:19.704Z,1761701599.704 [DAT](INFO): DAT read: Tx time:01:33:19.4158 2025-10-29T01:33:19.705Z,1761701599.705 [DAT](INFO): Ping request sent. 2025-10-29T01:33:19.705Z,1761701599.705 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:19.705Z,1761701599.705 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:19.706Z,1761701599.706 [DAT](INFO): direction in FSK: [0.972427,-0.102206,0.209619] 2025-10-29T01:33:19.706Z,1761701599.706 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:19.706Z,1761701599.706 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:19.714Z,1761701599.714 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:19.714Z,1761701599.714 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:20.101Z,1761701600.101 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.726772,0.686588,0.020012],[-0.671417,0.703963,0.231592],[0.144920,-0.181751,0.972607]] 2025-10-29T01:33:20.143Z,1761701600.143 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 36.900002 m, deltaT: 3.527638 s, deltaX: -2.500000 m, approachRate: -0.708690 m/s, rangeRepo size: 4 2025-10-29T01:33:20.145Z,1761701600.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 36.701080 m, bearing: 313.453662 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 3.527638 s, deltaX: -2.486610 m, approachRate: -0.704894 m/s, posRepo size: 4 2025-10-29T01:33:20.145Z,1761701600.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:20.164Z,1761701600.164 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 33.349365 m, bearing: 313.254140 deg, approach rate: 0.000000 m/s, LOS rate: -0.022233 deg/s, cmd heading: 313.863421 deg, new cmd heading: 313.843063 deg. 2025-10-29T01:33:20.165Z,1761701600.165 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477595 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:20.478Z,1761701600.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727262,0.686219,0.013887],[-0.670910,0.706477,0.225321],[0.144809,-0.173185,0.974186]] 2025-10-29T01:33:20.497Z,1761701600.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:20.512Z,1761701600.512 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 33.094425 m, bearing: 313.240943 deg, approach rate: -0.717690 m/s, LOS rate: -0.037438 deg/s, cmd heading: 313.843067 deg, new cmd heading: 313.816469 deg. 2025-10-29T01:33:20.513Z,1761701600.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.477130 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:20.875Z,1761701600.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727984,0.685549,0.007878],[-0.670216,0.709187,0.218777],[0.144395,-0.164547,0.975743]] 2025-10-29T01:33:20.901Z,1761701600.901 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:20.903Z,1761701600.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:20.906Z,1761701600.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 32.806541 m, bearing: 313.225620 deg, approach rate: -0.709491 m/s, LOS rate: -0.038094 deg/s, cmd heading: 313.816457 deg, new cmd heading: 313.785543 deg. 2025-10-29T01:33:20.907Z,1761701600.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.476591 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:20.953Z,1761701600.953 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:33:20.953Z,1761701600.953 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:33:20.954Z,1761701600.954 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:33:21.205Z,1761701601.205 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.500217 2025-10-29T01:33:21.290Z,1761701601.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728634,0.684897,0.002909],[-0.669544,0.711394,0.213610],[0.144231,-0.157591,0.976915]] 2025-10-29T01:33:21.327Z,1761701601.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:21.330Z,1761701601.330 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 32.505173 m, bearing: 313.200292 deg, approach rate: -0.711040 m/s, LOS rate: -0.060314 deg/s, cmd heading: 313.785529 deg, new cmd heading: 313.734402 deg. 2025-10-29T01:33:21.331Z,1761701601.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.475698 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:21.457Z,1761701601.457 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.752388 2025-10-29T01:33:21.685Z,1761701601.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729071,0.684434,0.002329],[-0.669164,0.712082,0.212504],[0.143786,-0.156490,0.977157]] 2025-10-29T01:33:21.704Z,1761701601.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:21.707Z,1761701601.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 32.237106 m, bearing: 313.177123 deg, approach rate: -0.710396 m/s, LOS rate: -0.061909 deg/s, cmd heading: 313.734412 deg, new cmd heading: 313.687690 deg. 2025-10-29T01:33:21.709Z,1761701601.709 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.004334 2025-10-29T01:33:21.710Z,1761701601.710 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.474883 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:21.962Z,1761701601.962 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.257000 2025-10-29T01:33:22.171Z,1761701602.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.729284,0.684180,0.006503],[-0.669063,0.711117,0.216028],[0.143177,-0.161897,0.976366]] 2025-10-29T01:33:22.209Z,1761701602.209 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:22.213Z,1761701602.213 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.508415 2025-10-29T01:33:22.214Z,1761701602.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 31.906042 m, bearing: 313.126741 deg, approach rate: -0.655605 m/s, LOS rate: -0.100806 deg/s, cmd heading: 313.687694 deg, new cmd heading: 313.585885 deg. 2025-10-29T01:33:22.214Z,1761701602.214 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.473106 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:22.465Z,1761701602.465 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.760145 2025-10-29T01:33:22.561Z,1761701602.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728947,0.684469,0.011745],[-0.669439,0.709144,0.221281],[0.143131,-0.169165,0.975139]] 2025-10-29T01:33:22.579Z,1761701602.579 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:22.582Z,1761701602.582 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 31.663475 m, bearing: 313.089128 deg, approach rate: -0.655643 m/s, LOS rate: -0.102444 deg/s, cmd heading: 313.585897 deg, new cmd heading: 313.510094 deg. 2025-10-29T01:33:22.583Z,1761701602.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.471783 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:22.717Z,1761701602.717 [DAT](INFO): DAT read: Rx Time:01:33:21.8655 2025-10-29T01:33:22.717Z,1761701602.717 [DAT](INFO): Rx dataTimestamp_ set to:1761701602.717096 2025-10-29T01:33:22.718Z,1761701602.718 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.013273 2025-10-29T01:33:22.962Z,1761701602.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727976,0.685430,0.015382],[-0.670287,0.706819,0.226103],[0.144105,-0.174907,0.973982]] 2025-10-29T01:33:22.969Z,1761701602.969 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.264320 2025-10-29T01:33:22.999Z,1761701602.999 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:23.021Z,1761701603.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 36.70 m. 2025-10-29T01:33:23.054Z,1761701603.054 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 36.701080 m, nav range: 31.399300 m, bearing: 313.047907 deg, approach rate: -0.606469 m/s, LOS rate: -0.095427 deg/s, cmd heading: 313.510082 deg, new cmd heading: 313.426946 deg. 2025-10-29T01:33:23.055Z,1761701603.055 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.470332 target range: 36.701080 and range: 36.90 m. 2025-10-29T01:33:23.227Z,1761701603.227 [DAT](INFO): DAT read: 01:33:21.8655 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 399, 0.17, 0.366,-1.269, 0.735, 0.289, PHS= 0.179,-1.513, 0.402, RAW= 156.1, 10.3, CAL= 156.0, 11.2, ROT= 354.0, -11.2 2025-10-29T01:33:23.228Z,1761701603.228 [DAT](INFO): got valid direction response: 01:33:21.8655 LVL= 32752, 32753, 32754, 32755, AGC= 66, IDX= 399, 0.17, 0.366,-1.269, 0.735, 0.289, PHS= 0.179,-1.513, 0.402, RAW= 156.1, 10.3, CAL= 156.0, 11.2, ROT= 354.0, -11.2 2025-10-29T01:33:23.229Z,1761701603.229 [DAT](INFO): DAT read: Bearing 134.3, 0.3 (Local) 2025-10-29T01:33:23.229Z,1761701603.229 [DAT](INFO): Local bearing/azimuth received: Bearing 134.3, 0.3 (Local) 2025-10-29T01:33:23.231Z,1761701603.231 [DAT](INFO): DAT read: Range 11 to 50 : 34.2 m (Round-trip 45.6 ms) speed 0.6 m/s 2025-10-29T01:33:23.231Z,1761701603.231 [DAT](INFO): DAT read: user:779> 2025-10-29T01:33:23.233Z,1761701603.233 [DAT](INFO): DAT read: Tx time:01:33:22.9658 2025-10-29T01:33:23.233Z,1761701603.233 [DAT](INFO): Ping request sent. 2025-10-29T01:33:23.233Z,1761701603.233 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:33:23.234Z,1761701603.234 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:33:23.235Z,1761701603.235 [DAT](INFO): direction in FSK: [0.975581,-0.102538,0.194234] 2025-10-29T01:33:23.235Z,1761701603.235 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:23.235Z,1761701603.235 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:23.238Z,1761701603.238 [DAT](INFO): publishing transmit ping time 2025-10-29T01:33:23.239Z,1761701603.239 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:23.242Z,1761701603.242 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.008886 2025-10-29T01:33:23.400Z,1761701603.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.727014,0.686486,0.013695],[-0.670941,0.706030,0.226627],[0.145907,-0.173950,0.973885]] 2025-10-29T01:33:23.473Z,1761701603.473 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.239547 2025-10-29T01:33:23.513Z,1761701603.513 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 34.200001 m, deltaT: 3.527925 s, deltaX: -2.700001 m, approachRate: -0.765323 m/s, rangeRepo size: 4 2025-10-29T01:33:23.515Z,1761701603.515 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 34.014660 m, bearing: 313.209518 deg, lat: 36.779302 deg, lon: -121.859432 deg, deltaT: 3.527925 s, deltaX: -2.686420 m, approachRate: -0.761473 m/s, posRepo size: 4 2025-10-29T01:33:23.520Z,1761701603.520 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:23.523Z,1761701603.523 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 31.347797 m, bearing: 313.315617 deg, approach rate: 0.000000 m/s, LOS rate: -0.095427 deg/s, cmd heading: 313.426944 deg, new cmd heading: 313.331916 deg. 2025-10-29T01:33:23.524Z,1761701603.524 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.468674 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:23.725Z,1761701603.725 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.491591 2025-10-29T01:33:23.836Z,1761701603.836 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.725797,0.687847,0.009217],[-0.671708,0.705750,0.225225],[0.148415,-0.169659,0.974263]] 2025-10-29T01:33:23.864Z,1761701603.864 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:23.867Z,1761701603.867 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 31.104811 m, bearing: 313.277079 deg, approach rate: -0.691781 m/s, LOS rate: -0.110575 deg/s, cmd heading: 313.331923 deg, new cmd heading: 313.254244 deg. 2025-10-29T01:33:23.868Z,1761701603.868 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.467318 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:23.977Z,1761701603.977 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.743613 2025-10-29T01:33:24.229Z,1761701604.229 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=0.995376 2025-10-29T01:33:24.240Z,1761701604.240 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.724671,0.689001,0.011334],[-0.672380,0.703397,0.230515],[0.150853,-0.174668,0.973003]] 2025-10-29T01:33:24.306Z,1761701604.306 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:24.309Z,1761701604.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 30.824730 m, bearing: 313.237857 deg, approach rate: -0.634026 m/s, LOS rate: -0.089594 deg/s, cmd heading: 313.254250 deg, new cmd heading: 313.175093 deg. 2025-10-29T01:33:24.310Z,1761701604.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.465937 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:24.481Z,1761701604.481 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.247957 2025-10-29T01:33:24.642Z,1761701604.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.722770,0.690875,0.017159],[-0.673891,0.699063,0.239129],[0.153213,-0.184399,0.970836]] 2025-10-29T01:33:24.671Z,1761701604.671 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:24.673Z,1761701604.673 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 30.593655 m, bearing: 313.205940 deg, approach rate: -0.633165 m/s, LOS rate: -0.088115 deg/s, cmd heading: 313.175102 deg, new cmd heading: 313.110786 deg. 2025-10-29T01:33:24.674Z,1761701604.674 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.464814 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:24.734Z,1761701604.734 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.500106 2025-10-29T01:33:24.985Z,1761701604.985 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=1.751481 2025-10-29T01:33:25.050Z,1761701605.050 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.721199,0.692316,0.023890],[-0.675112,0.694713,0.248189],[0.155228,-0.195122,0.968417]] 2025-10-29T01:33:25.069Z,1761701605.069 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:25.071Z,1761701605.071 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:25.090Z,1761701605.090 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 30.340519 m, bearing: 313.171286 deg, approach rate: -0.632395 m/s, LOS rate: -0.087298 deg/s, cmd heading: 313.110789 deg, new cmd heading: 313.040901 deg. 2025-10-29T01:33:25.091Z,1761701605.091 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.463594 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:25.238Z,1761701605.238 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.004482 2025-10-29T01:33:25.478Z,1761701605.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.719252,0.694064,0.030846],[-0.676685,0.689802,0.257431],[0.157396,-0.206030,0.965804]] 2025-10-29T01:33:25.489Z,1761701605.489 [DAT](INFO): checking for new query: numPingsReceived=1, elapsed TxPingTime=2.255552 2025-10-29T01:33:25.533Z,1761701605.533 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 34.01 m. 2025-10-29T01:33:25.536Z,1761701605.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 34.014660 m, nav range: 30.052402 m, bearing: 313.138322 deg, approach rate: -0.623000 m/s, LOS rate: -0.071961 deg/s, cmd heading: 313.040902 deg, new cmd heading: 312.974343 deg. 2025-10-29T01:33:25.537Z,1761701605.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462433 target range: 34.014660 and range: 34.20 m. 2025-10-29T01:33:25.743Z,1761701605.743 [DAT](INFO): DAT read: Rx Time:01:33:25.1375 2025-10-29T01:33:25.744Z,1761701605.744 [DAT](INFO): Rx dataTimestamp_ set to:1761701605.743411 2025-10-29T01:33:25.746Z,1761701605.746 [DAT](INFO): DAT read: Bearing 134.3, 0.9 (Local) 2025-10-29T01:33:25.746Z,1761701605.746 [DAT](INFO): Local bearing/azimuth received: Bearing 134.3, 0.9 (Local) 2025-10-29T01:33:25.750Z,1761701605.750 [DAT](INFO): DAT read: Range 11 to 50 : 32.0 m (trip time 21.3 ms) speed 0.5 2025-10-29T01:33:25.771Z,1761701605.771 [DAT](INFO): DAT read: 01:33:25.1375 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 161,-0.16, 0.532,-1.102, 0.891, 0.473, PHS= 0.161,-1.531, 0.373, RAW= 155.8, 11.0, CAL= 155.8, 12.1, ROT= 354.2, -12.1 2025-10-29T01:33:25.785Z,1761701605.785 [DAT](INFO): got valid direction response: 01:33:25.1375 LVL= 32752, 32753, 32754, 32755, AGC= 68, IDX= 161,-0.16, 0.532,-1.102, 0.891, 0.473, PHS= 0.161,-1.531, 0.373, RAW= 155.8, 11.0, CAL= 155.8, 12.1, ROT= 354.2, -12.1 2025-10-29T01:33:25.785Z,1761701605.785 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T01:33:25.786Z,1761701605.786 [DAT](INFO): direction in FSK: [0.972778,-0.098811,0.209619] 2025-10-29T01:33:25.787Z,1761701605.787 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:25.812Z,1761701605.812 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.578129 2025-10-29T01:33:25.920Z,1761701605.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 32.000000 m, deltaT: 2.522995 s, deltaX: -2.200001 m, approachRate: -0.871980 m/s, rangeRepo size: 4 2025-10-29T01:33:25.922Z,1761701605.922 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.826946 m, bearing: 313.473735 deg, lat: 36.779302 deg, lon: -121.859431 deg, deltaT: 2.522995 s, deltaX: -2.187714 m, approachRate: -0.867110 m/s, posRepo size: 4 2025-10-29T01:33:25.923Z,1761701605.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.83 m. 2025-10-29T01:33:25.926Z,1761701605.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.826946 m, nav range: 29.755548 m, bearing: 313.217093 deg, approach rate: 0.000000 m/s, LOS rate: -0.071961 deg/s, cmd heading: 312.974349 deg, new cmd heading: 312.918784 deg. 2025-10-29T01:33:25.927Z,1761701605.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461463 target range: 31.826946 and range: 32.00 m. 2025-10-29T01:33:25.994Z,1761701605.994 [DAT](INFO): checking for new query: numPingsReceived=2, elapsed TxPingTime=2.760527 2025-10-29T01:33:26.245Z,1761701606.245 [DAT](INFO): DAT read: Rx Time:01:33:25.6373 2025-10-29T01:33:26.246Z,1761701606.246 [DAT](INFO): Rx dataTimestamp_ set to:1761701606.245652 2025-10-29T01:33:26.250Z,1761701606.250 [DAT](INFO): DAT read: Bearing 134.6, 1.2 (Local) 2025-10-29T01:33:26.250Z,1761701606.250 [DAT](INFO): Local bearing/azimuth received: Bearing 134.6, 1.2 (Local) 2025-10-29T01:33:26.254Z,1761701606.254 [DAT](INFO): DAT read: Range 11 to 50 : 31.5 m (trip time 21.0 ms) speed 0.5 2025-10-29T01:33:26.262Z,1761701606.262 [DAT](INFO): DAT read: 01:33:25.6373 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.18, 0.260,-1.371, 0.605, 0.206, PHS= 0.157,-1.532, 0.355, RAW= 155.5, 11.4, CAL= 155.5, 12.6, ROT= 354.5, -12.6 2025-10-29T01:33:26.280Z,1761701606.280 [DAT](INFO): got valid direction response: 01:33:25.6373 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510,-0.18, 0.260,-1.371, 0.605, 0.206, PHS= 0.157,-1.532, 0.355, RAW= 155.5, 11.4, CAL= 155.5, 12.6, ROT= 354.5, -12.6 2025-10-29T01:33:26.281Z,1761701606.281 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:33:26.282Z,1761701606.282 [DAT](INFO): direction in FSK: [0.971424,-0.093538,0.218143] 2025-10-29T01:33:26.282Z,1761701606.282 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:26.294Z,1761701606.294 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.060247 2025-10-29T01:33:26.324Z,1761701606.324 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.715248,0.697989,0.035091],[-0.680128,0.683638,0.264700],[0.160768,-0.213192,0.963692]] 2025-10-29T01:33:26.425Z,1761701606.425 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.500000 m, deltaT: 0.502241 s, deltaX: -0.500000 m, approachRate: -0.995538 m/s, rangeRepo size: 4 2025-10-29T01:33:26.427Z,1761701606.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.330139 m, bearing: 313.694456 deg, lat: 36.779302 deg, lon: -121.859431 deg, deltaT: 0.502241 s, deltaX: -0.496807 m, approachRate: -0.989181 m/s, posRepo size: 4 2025-10-29T01:33:26.427Z,1761701606.427 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.33 m. 2025-10-29T01:33:26.434Z,1761701606.434 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.330139 m, nav range: 29.437811 m, bearing: 313.190615 deg, approach rate: 0.000000 m/s, LOS rate: -0.071961 deg/s, cmd heading: 312.918778 deg, new cmd heading: 312.846745 deg. 2025-10-29T01:33:26.435Z,1761701606.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460206 target range: 31.330139 and range: 31.50 m. 2025-10-29T01:33:26.498Z,1761701606.498 [DAT](INFO): checking for new query: numPingsReceived=3, elapsed TxPingTime=3.264465 2025-10-29T01:33:26.751Z,1761701606.751 [DAT](INFO): DAT read: Rx Time:01:33:26.1372 2025-10-29T01:33:26.752Z,1761701606.752 [DAT](INFO): Rx dataTimestamp_ set to:1761701606.752095 2025-10-29T01:33:26.755Z,1761701606.755 [DAT](INFO): DAT read: Bearing 132.8, 2.0 (Local) 2025-10-29T01:33:26.756Z,1761701606.756 [DAT](INFO): Local bearing/azimuth received: Bearing 132.8, 2.0 (Local) 2025-10-29T01:33:26.759Z,1761701606.759 [DAT](INFO): DAT read: Range 11 to 50 : 31.4 m (trip time 20.9 ms) speed 0.5 2025-10-29T01:33:26.767Z,1761701606.767 [DAT](INFO): DAT read: 01:33:26.1372 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.08, 1.277,-0.384, 1.621, 1.175, PHS= 0.204,-1.514, 0.402, RAW= 155.4, 10.0, CAL= 155.2, 10.8, ROT= 354.8, -10.8 2025-10-29T01:33:26.773Z,1761701606.773 [DAT](INFO): got valid direction response: 01:33:26.1372 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 509,-0.08, 1.277,-0.384, 1.621, 1.175, PHS= 0.204,-1.514, 0.402, RAW= 155.4, 10.0, CAL= 155.2, 10.8, ROT= 354.8, -10.8 2025-10-29T01:33:26.773Z,1761701606.773 [DAT](INFO): #Rx 4: Read range and direction messages. 2025-10-29T01:33:26.775Z,1761701606.775 [DAT](INFO): direction in FSK: [0.978245,-0.089027,0.187381] 2025-10-29T01:33:26.777Z,1761701606.777 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:26.790Z,1761701606.790 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.557057 2025-10-29T01:33:26.794Z,1761701606.794 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.713100,0.700265,0.033431],[-0.682242,0.682193,0.262980],[0.161349,-0.210339,0.964222]] 2025-10-29T01:33:26.861Z,1761701606.861 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.400000 m, deltaT: 0.506443 s, deltaX: -0.100000 m, approachRate: -0.197456 m/s, rangeRepo size: 4 2025-10-29T01:33:26.863Z,1761701606.863 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 31.230679 m, bearing: 313.379758 deg, lat: 36.779303 deg, lon: -121.859430 deg, deltaT: 0.506443 s, deltaX: -0.099461 m, approachRate: -0.196391 m/s, posRepo size: 4 2025-10-29T01:33:26.881Z,1761701606.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 31.23 m. 2025-10-29T01:33:26.883Z,1761701606.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 31.230679 m, nav range: 29.169806 m, bearing: 313.379864 deg, approach rate: 0.000000 m/s, LOS rate: -0.071961 deg/s, cmd heading: 312.846734 deg, new cmd heading: 312.783271 deg. 2025-10-29T01:33:26.893Z,1761701606.893 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459098 target range: 31.230679 and range: 31.40 m. 2025-10-29T01:33:27.001Z,1761701607.001 [DAT](INFO): checking for new query: numPingsReceived=4, elapsed TxPingTime=3.767522 2025-10-29T01:33:27.245Z,1761701607.245 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.711180,0.702340,0.030702],[-0.684322,0.681611,0.259058],[0.161020,-0.205246,0.965374]] 2025-10-29T01:33:27.256Z,1761701607.256 [DAT](INFO): DAT read: Rx Time:01:33:26.6369 2025-10-29T01:33:27.257Z,1761701607.257 [DAT](INFO): Rx dataTimestamp_ set to:1761701607.256340 2025-10-29T01:33:27.259Z,1761701607.259 [DAT](INFO): DAT read: Bearing 135.2, 1.5 (Local) 2025-10-29T01:33:27.259Z,1761701607.259 [DAT](INFO): Local bearing/azimuth received: Bearing 135.2, 1.5 (Local) 2025-10-29T01:33:27.263Z,1761701607.263 [DAT](INFO): DAT read: Range 11 to 50 : 31.1 m (trip time 20.7 ms) speed 0.6 2025-10-29T01:33:27.270Z,1761701607.270 [DAT](INFO): DAT read: 01:33:26.6369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.17, 0.589,-1.041, 0.918, 0.547, PHS= 0.144,-1.542, 0.327, RAW= 155.1, 12.0, CAL= 155.2, 13.3, ROT= 354.8, -13.3 2025-10-29T01:33:27.272Z,1761701607.272 [DAT](INFO): got valid direction response: 01:33:26.6369 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 506,-0.17, 0.589,-1.041, 0.918, 0.547, PHS= 0.144,-1.542, 0.327, RAW= 155.1, 12.0, CAL= 155.2, 13.3, ROT= 354.8, -13.3 2025-10-29T01:33:27.273Z,1761701607.273 [DAT](INFO): #Rx 5: Read range and direction messages. 2025-10-29T01:33:27.275Z,1761701607.275 [DAT](INFO): direction in FSK: [0.969174,-0.088202,0.230050] 2025-10-29T01:33:27.275Z,1761701607.275 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:27.311Z,1761701607.311 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.077538 2025-10-29T01:33:27.381Z,1761701607.381 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 31.100000 m, deltaT: 0.504245 s, deltaX: -0.299999 m, approachRate: -0.594947 m/s, rangeRepo size: 4 2025-10-29T01:33:27.383Z,1761701607.383 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.932142 m, bearing: 313.703553 deg, lat: 36.779301 deg, lon: -121.859428 deg, deltaT: 0.504245 s, deltaX: -0.298536 m, approachRate: -0.592046 m/s, posRepo size: 4 2025-10-29T01:33:27.384Z,1761701607.384 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m. 2025-10-29T01:33:27.391Z,1761701607.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.932142 m, nav range: 28.545773 m, bearing: 313.439862 deg, approach rate: 0.000000 m/s, LOS rate: -0.071961 deg/s, cmd heading: 312.783267 deg, new cmd heading: 312.709677 deg. 2025-10-29T01:33:27.391Z,1761701607.391 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457813 target range: 30.932142 and range: 31.10 m. 2025-10-29T01:33:27.505Z,1761701607.505 [DAT](INFO): checking for new query: numPingsReceived=5, elapsed TxPingTime=4.271682 2025-10-29T01:33:27.718Z,1761701607.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.707410,0.706168,0.029965],[-0.688515,0.678904,0.255022],[0.159745,-0.201036,0.966471]] 2025-10-29T01:33:27.738Z,1761701607.738 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:27.741Z,1761701607.741 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.93 m. 2025-10-29T01:33:27.746Z,1761701607.746 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.932142 m, nav range: 28.293917 m, bearing: 313.449433 deg, approach rate: -0.683440 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.709665 deg, new cmd heading: 312.728979 deg. 2025-10-29T01:33:27.748Z,1761701607.748 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458150 target range: 30.932142 and range: 31.10 m. 2025-10-29T01:33:27.759Z,1761701607.759 [DAT](INFO): DAT read: Rx Time:01:33:27.1366 2025-10-29T01:33:27.760Z,1761701607.760 [DAT](INFO): Rx dataTimestamp_ set to:1761701607.759707 2025-10-29T01:33:27.762Z,1761701607.762 [DAT](INFO): DAT read: Bearing 136.3, 1.1 (Local) 2025-10-29T01:33:27.763Z,1761701607.763 [DAT](INFO): Local bearing/azimuth received: Bearing 136.3, 1.1 (Local) 2025-10-29T01:33:27.771Z,1761701607.771 [DAT](INFO): DAT read: Range 11 to 50 : 30.6 m (trip time 20.4 ms) speed 0.6 2025-10-29T01:33:27.793Z,1761701607.793 [DAT](INFO): DAT read: 01:33:27.1366 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.35, 1.367,-0.260, 1.693, 1.354, PHS= 0.115,-1.569, 0.295, RAW= 155.0, 13.0, CAL= 155.3, 14.5, ROT= 354.7, -14.5 2025-10-29T01:33:27.795Z,1761701607.795 [DAT](INFO): got valid direction response: 01:33:27.1366 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 504,-0.35, 1.367,-0.260, 1.693, 1.354, PHS= 0.115,-1.569, 0.295, RAW= 155.0, 13.0, CAL= 155.3, 14.5, ROT= 354.7, -14.5 2025-10-29T01:33:27.795Z,1761701607.795 [DAT](INFO): #Rx 6: Read range and direction messages. 2025-10-29T01:33:27.812Z,1761701607.812 [DAT](INFO): direction in FSK: [0.964009,-0.089428,0.250380] 2025-10-29T01:33:27.812Z,1761701607.812 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:27.822Z,1761701607.822 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.588079 2025-10-29T01:33:28.009Z,1761701608.009 [DAT](INFO): checking for new query: numPingsReceived=6, elapsed TxPingTime=4.775883 2025-10-29T01:33:28.146Z,1761701608.146 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.706249,0.707281,0.031066],[-0.689863,0.677670,0.254662],[0.159065,-0.201286,0.966531]] 2025-10-29T01:33:28.233Z,1761701608.233 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.600000 m, deltaT: 0.503367 s, deltaX: -0.500000 m, approachRate: -0.993311 m/s, rangeRepo size: 4 2025-10-29T01:33:28.235Z,1761701608.235 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.434940 m, bearing: 313.375052 deg, lat: 36.779301 deg, lon: -121.859426 deg, deltaT: 0.503367 s, deltaX: -0.497202 m, approachRate: -0.987752 m/s, posRepo size: 4 2025-10-29T01:33:28.236Z,1761701608.236 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.43 m. 2025-10-29T01:33:28.242Z,1761701608.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.434940 m, nav range: 27.864845 m, bearing: 313.703920 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.728981 deg, new cmd heading: 312.754533 deg. 2025-10-29T01:33:28.243Z,1761701608.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458596 target range: 30.434940 and range: 30.60 m. 2025-10-29T01:33:28.263Z,1761701608.263 [DAT](INFO): DAT read: Rx Time:01:33:27.6363 2025-10-29T01:33:28.264Z,1761701608.264 [DAT](INFO): Rx dataTimestamp_ set to:1761701608.263205 2025-10-29T01:33:28.266Z,1761701608.266 [DAT](INFO): DAT read: Bearing 133.8, 2.0 (Local) 2025-10-29T01:33:28.266Z,1761701608.266 [DAT](INFO): Local bearing/azimuth received: Bearing 133.8, 2.0 (Local) 2025-10-29T01:33:28.270Z,1761701608.270 [DAT](INFO): DAT read: Range 11 to 50 : 30.2 m (trip time 20.1 ms) speed 0.7 2025-10-29T01:33:28.289Z,1761701608.289 [DAT](INFO): DAT read: 01:33:27.6363 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.26, 2.827, 1.173,-3.129, 2.746, PHS= 0.183,-1.528, 0.364, RAW= 155.0, 10.9, CAL= 154.9, 11.9, ROT= 355.1, -11.9 2025-10-29T01:33:28.290Z,1761701608.290 [DAT](INFO): got valid direction response: 01:33:27.6363 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 500, 0.26, 2.827, 1.173,-3.129, 2.746, PHS= 0.183,-1.528, 0.364, RAW= 155.0, 10.9, CAL= 154.9, 11.9, ROT= 355.1, -11.9 2025-10-29T01:33:28.291Z,1761701608.291 [DAT](INFO): #Rx 7: Read range and direction messages. 2025-10-29T01:33:28.292Z,1761701608.292 [DAT](INFO): direction in FSK: [0.974933,-0.083581,0.206204] 2025-10-29T01:33:28.300Z,1761701608.300 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:28.304Z,1761701608.304 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.070156 2025-10-29T01:33:28.516Z,1761701608.516 [DAT](INFO): checking for new query: numPingsReceived=7, elapsed TxPingTime=5.282276 2025-10-29T01:33:28.647Z,1761701608.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.705087,0.708437,0.031146],[-0.690963,0.676493,0.254809],[0.159445,-0.201183,0.966490]] 2025-10-29T01:33:28.705Z,1761701608.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.200001 m, deltaT: 0.503498 s, deltaX: -0.400000 m, approachRate: -0.794441 m/s, rangeRepo size: 4 2025-10-29T01:33:28.707Z,1761701608.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 30.037098 m, bearing: 313.122371 deg, lat: 36.779301 deg, lon: -121.859426 deg, deltaT: 0.503498 s, deltaX: -0.397842 m, approachRate: -0.790157 m/s, posRepo size: 4 2025-10-29T01:33:28.707Z,1761701608.707 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 30.04 m. 2025-10-29T01:33:28.714Z,1761701608.714 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 30.037098 m, nav range: 27.526484 m, bearing: 313.721273 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.754526 deg, new cmd heading: 312.778625 deg. 2025-10-29T01:33:28.715Z,1761701608.715 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459017 target range: 30.037098 and range: 30.20 m. 2025-10-29T01:33:28.768Z,1761701608.768 [DAT](INFO): DAT read: Rx Time:01:33:28.1362 2025-10-29T01:33:28.769Z,1761701608.769 [DAT](INFO): Rx dataTimestamp_ set to:1761701608.768360 2025-10-29T01:33:28.771Z,1761701608.771 [DAT](INFO): DAT read: Bearing 133.6, 1.8 (Local) 2025-10-29T01:33:28.773Z,1761701608.773 [DAT](INFO): Local bearing/azimuth received: Bearing 133.6, 1.8 (Local) 2025-10-29T01:33:28.777Z,1761701608.777 [DAT](INFO): DAT read: Range 11 to 50 : 30.0 m (trip time 20.0 ms) speed 0.7 2025-10-29T01:33:28.807Z,1761701608.807 [DAT](INFO): DAT read: 01:33:28.1362 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.11, 2.799, 1.139, 3.132, 2.715, PHS= 0.186,-1.532, 0.373, RAW= 155.1, 10.7, CAL= 155.0, 11.7, ROT= 355.0, -11.7 2025-10-29T01:33:28.813Z,1761701608.813 [DAT](INFO): got valid direction response: 01:33:28.1362 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 499, 0.11, 2.799, 1.139, 3.132, 2.715, PHS= 0.186,-1.532, 0.373, RAW= 155.1, 10.7, CAL= 155.0, 11.7, ROT= 355.0, -11.7 2025-10-29T01:33:28.814Z,1761701608.814 [DAT](INFO): #Rx 8: Read range and direction messages. 2025-10-29T01:33:28.815Z,1761701608.815 [DAT](INFO): direction in FSK: [0.975497,-0.085345,0.202787] 2025-10-29T01:33:28.815Z,1761701608.815 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:28.827Z,1761701608.827 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.593393 2025-10-29T01:33:29.017Z,1761701609.017 [DAT](INFO): checking for new query: numPingsReceived=8, elapsed TxPingTime=5.783536 2025-10-29T01:33:29.045Z,1761701609.045 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.704262,0.709282,0.030558],[-0.691597,0.675707,0.255173],[0.160342,-0.200843,0.966412]] 2025-10-29T01:33:29.081Z,1761701609.081 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 30.000000 m, deltaT: 0.505155 s, deltaX: -0.200001 m, approachRate: -0.395920 m/s, rangeRepo size: 4 2025-10-29T01:33:29.113Z,1761701609.113 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.838247 m, bearing: 312.910909 deg, lat: 36.779302 deg, lon: -121.859430 deg, deltaT: 0.505155 s, deltaX: -0.198851 m, approachRate: -0.393643 m/s, posRepo size: 4 2025-10-29T01:33:29.116Z,1761701609.116 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.84 m. 2025-10-29T01:33:29.137Z,1761701609.137 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.838247 m, nav range: 27.566120 m, bearing: 313.221188 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.778623 deg, new cmd heading: 312.799003 deg. 2025-10-29T01:33:29.138Z,1761701609.138 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459373 target range: 29.838247 and range: 30.00 m. 2025-10-29T01:33:29.271Z,1761701609.271 [DAT](INFO): DAT read: Rx Time:01:33:28.6359 2025-10-29T01:33:29.272Z,1761701609.272 [DAT](INFO): Rx dataTimestamp_ set to:1761701609.271340 2025-10-29T01:33:29.274Z,1761701609.274 [DAT](INFO): DAT read: Bearing 135.7, 0.4 (Local) 2025-10-29T01:33:29.275Z,1761701609.275 [DAT](INFO): Local bearing/azimuth received: Bearing 135.7, 0.4 (Local) 2025-10-29T01:33:29.278Z,1761701609.278 [DAT](INFO): DAT read: Range 11 to 50 : 29.6 m (trip time 19.7 ms) speed 0.7 2025-10-29T01:33:29.282Z,1761701609.282 [DAT](INFO): DAT read: 01:33:28.6359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.04,-1.849, 2.824,-1.497,-1.860, PHS= 0.113,-1.554, 0.319, RAW= 155.8, 12.6, CAL= 156.0, 14.1, ROT= 354.0, -14.1 2025-10-29T01:33:29.283Z,1761701609.283 [DAT](INFO): got valid direction response: 01:33:28.6359 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 496,-0.04,-1.849, 2.824,-1.497,-1.860, PHS= 0.113,-1.554, 0.319, RAW= 155.8, 12.6, CAL= 156.0, 14.1, ROT= 354.0, -14.1 2025-10-29T01:33:29.284Z,1761701609.284 [DAT](INFO): #Rx 9: Read range and direction messages. 2025-10-29T01:33:29.285Z,1761701609.285 [DAT](INFO): direction in FSK: [0.964559,-0.101379,0.243615] 2025-10-29T01:33:29.285Z,1761701609.285 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:29.289Z,1761701609.289 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.055622 2025-10-29T01:33:29.457Z,1761701609.457 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703808,0.709879,0.026937],[-0.692009,0.676534,0.251844],[0.160555,-0.195891,0.967393]] 2025-10-29T01:33:29.521Z,1761701609.521 [DAT](INFO): checking for new query: numPingsReceived=9, elapsed TxPingTime=6.287707 2025-10-29T01:33:29.631Z,1761701609.631 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.600000 m, deltaT: 0.502980 s, deltaX: -0.400000 m, approachRate: -0.795259 m/s, rangeRepo size: 4 2025-10-29T01:33:29.638Z,1761701609.638 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.440405 m, bearing: 312.277435 deg, lat: 36.779301 deg, lon: -121.859431 deg, deltaT: 0.502980 s, deltaX: -0.397842 m, approachRate: -0.790971 m/s, posRepo size: 4 2025-10-29T01:33:29.639Z,1761701609.639 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.44 m. 2025-10-29T01:33:29.646Z,1761701609.646 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.440405 m, nav range: 27.221735 m, bearing: 313.138154 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.799004 deg, new cmd heading: 312.827200 deg. 2025-10-29T01:33:29.647Z,1761701609.647 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459865 target range: 29.440405 and range: 29.60 m. 2025-10-29T01:33:29.775Z,1761701609.775 [DAT](INFO): DAT read: Rx Time:01:33:29.1357 2025-10-29T01:33:29.776Z,1761701609.776 [DAT](INFO): Rx dataTimestamp_ set to:1761701609.775486 2025-10-29T01:33:29.778Z,1761701609.778 [DAT](INFO): DAT read: Bearing 136.0, 0.8 (Local) 2025-10-29T01:33:29.778Z,1761701609.778 [DAT](INFO): Local bearing/azimuth received: Bearing 136.0, 0.8 (Local) 2025-10-29T01:33:29.781Z,1761701609.781 [DAT](INFO): DAT read: Range 11 to 50 : 29.3 m (trip time 19.5 ms) speed 0.6 2025-10-29T01:33:29.785Z,1761701609.785 [DAT](INFO): DAT read: 01:33:29.1357 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.45, 0.723,-0.886, 1.059, 0.707, PHS= 0.118,-1.548, 0.308, RAW= 155.3, 12.6, CAL= 155.6, 14.2, ROT= 354.4, -14.2 2025-10-29T01:33:29.787Z,1761701609.787 [DAT](INFO): got valid direction response: 01:33:29.1357 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510, 0.45, 0.723,-0.886, 1.059, 0.707, PHS= 0.118,-1.548, 0.308, RAW= 155.3, 12.6, CAL= 155.6, 14.2, ROT= 354.4, -14.2 2025-10-29T01:33:29.787Z,1761701609.787 [DAT](INFO): #Rx 10: Read range and direction messages. 2025-10-29T01:33:29.788Z,1761701609.788 [DAT](INFO): direction in FSK: [0.964819,-0.094601,0.245307] 2025-10-29T01:33:29.788Z,1761701609.788 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:29.797Z,1761701609.797 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.558415 2025-10-29T01:33:29.964Z,1761701609.964 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703672,0.710202,0.021422],[-0.692016,0.678193,0.247321],[0.161119,-0.188857,0.968697]] 2025-10-29T01:33:30.025Z,1761701610.025 [DAT](INFO): checking for new query: numPingsReceived=10, elapsed TxPingTime=6.791571 2025-10-29T01:33:30.033Z,1761701610.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 29.299999 m, deltaT: 0.504146 s, deltaX: -0.300001 m, approachRate: -0.595068 m/s, rangeRepo size: 4 2025-10-29T01:33:30.035Z,1761701610.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 29.142021 m, bearing: 312.591802 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 0.504146 s, deltaX: -0.298384 m, approachRate: -0.591860 m/s, posRepo size: 4 2025-10-29T01:33:30.035Z,1761701610.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 29.14 m. 2025-10-29T01:33:30.042Z,1761701610.042 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 29.142021 m, nav range: 26.763361 m, bearing: 312.804160 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.827199 deg, new cmd heading: 312.848835 deg. 2025-10-29T01:33:30.043Z,1761701610.043 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460242 target range: 29.142021 and range: 29.30 m. 2025-10-29T01:33:30.278Z,1761701610.278 [DAT](INFO): DAT read: Rx Time:01:33:29.6354 2025-10-29T01:33:30.278Z,1761701610.278 [DAT](INFO): Rx dataTimestamp_ set to:1761701610.278065 2025-10-29T01:33:30.280Z,1761701610.280 [DAT](INFO): DAT read: Bearing 133.7, 1.7 (Local) 2025-10-29T01:33:30.280Z,1761701610.280 [DAT](INFO): Local bearing/azimuth received: Bearing 133.7, 1.7 (Local) 2025-10-29T01:33:30.282Z,1761701610.282 [DAT](INFO): DAT read: Range 11 to 50 : 28.8 m (trip time 19.2 ms) speed 0.7 2025-10-29T01:33:30.287Z,1761701610.287 [DAT](INFO): DAT read: 01:33:29.6354 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.01,-0.909,-2.558,-0.567,-0.991, PHS= 0.184,-1.522, 0.380, RAW= 155.4, 10.6, CAL= 155.3, 11.6, ROT= 354.7, -11.6 2025-10-29T01:33:30.288Z,1761701610.288 [DAT](INFO): got valid direction response: 01:33:29.6354 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 507, 0.01,-0.909,-2.558,-0.567,-0.991, PHS= 0.184,-1.522, 0.380, RAW= 155.4, 10.6, CAL= 155.3, 11.6, ROT= 354.7, -11.6 2025-10-29T01:33:30.288Z,1761701610.288 [DAT](INFO): #Rx 11: Read range and direction messages. 2025-10-29T01:33:30.289Z,1761701610.289 [DAT](INFO): direction in FSK: [0.975387,-0.090484,0.201078] 2025-10-29T01:33:30.290Z,1761701610.290 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:30.298Z,1761701610.298 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.064210 2025-10-29T01:33:30.469Z,1761701610.469 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703354,0.710748,0.011381],[-0.691901,0.680856,0.240225],[0.162991,-0.176838,0.970650]] 2025-10-29T01:33:30.529Z,1761701610.529 [DAT](INFO): checking for new query: numPingsReceived=11, elapsed TxPingTime=7.295529 2025-10-29T01:33:30.538Z,1761701610.538 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.799999 m, deltaT: 0.502579 s, deltaX: -0.500000 m, approachRate: -0.994868 m/s, rangeRepo size: 4 2025-10-29T01:33:30.544Z,1761701610.544 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.644808 m, bearing: 312.201011 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 0.502579 s, deltaX: -0.497213 m, approachRate: -0.989324 m/s, posRepo size: 4 2025-10-29T01:33:30.545Z,1761701610.545 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.64 m. 2025-10-29T01:33:30.547Z,1761701610.547 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.644808 m, nav range: 26.380911 m, bearing: 312.654169 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.848837 deg, new cmd heading: 312.875546 deg. 2025-10-29T01:33:30.549Z,1761701610.549 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460709 target range: 28.644808 and range: 28.80 m. 2025-10-29T01:33:30.783Z,1761701610.783 [DAT](INFO): DAT read: Rx Time:01:33:30.1352 2025-10-29T01:33:30.784Z,1761701610.784 [DAT](INFO): Rx dataTimestamp_ set to:1761701610.783468 2025-10-29T01:33:30.786Z,1761701610.786 [DAT](INFO): DAT read: Bearing 136.9, 1.0 (Local) 2025-10-29T01:33:30.786Z,1761701610.786 [DAT](INFO): Local bearing/azimuth received: Bearing 136.9, 1.0 (Local) 2025-10-29T01:33:30.789Z,1761701610.789 [DAT](INFO): DAT read: Range 11 to 50 : 28.5 m (trip time 19.0 ms) speed 0.6 2025-10-29T01:33:30.795Z,1761701610.795 [DAT](INFO): DAT read: 01:33:30.1352 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.44, 1.797, 0.180, 2.128, 1.791, PHS= 0.107,-1.567, 0.292, RAW= 155.2, 13.1, CAL= 155.5, 14.7, ROT= 354.5, -14.7 2025-10-29T01:33:30.797Z,1761701610.797 [DAT](INFO): got valid direction response: 01:33:30.1352 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 505, 0.44, 1.797, 0.180, 2.128, 1.791, PHS= 0.107,-1.567, 0.292, RAW= 155.2, 13.1, CAL= 155.5, 14.7, ROT= 354.5, -14.7 2025-10-29T01:33:30.797Z,1761701610.797 [DAT](INFO): #Rx 12: Read range and direction messages. 2025-10-29T01:33:30.798Z,1761701610.798 [DAT](INFO): direction in FSK: [0.962815,-0.092709,0.253758] 2025-10-29T01:33:30.799Z,1761701610.799 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:30.833Z,1761701610.833 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.599736 2025-10-29T01:33:30.874Z,1761701610.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703314,0.710830,0.008368],[-0.691734,0.681611,0.238561],[0.163873,-0.173571,0.971092]] 2025-10-29T01:33:30.995Z,1761701610.995 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.500000 m, deltaT: 0.505403 s, deltaX: -0.299999 m, approachRate: -0.593584 m/s, rangeRepo size: 4 2025-10-29T01:33:30.998Z,1761701610.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 28.346426 m, bearing: 312.530932 deg, lat: 36.779298 deg, lon: -121.859431 deg, deltaT: 0.505403 s, deltaX: -0.298382 m, approachRate: -0.590384 m/s, posRepo size: 4 2025-10-29T01:33:30.998Z,1761701610.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 28.35 m. 2025-10-29T01:33:31.001Z,1761701611.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 28.346426 m, nav range: 25.921183 m, bearing: 312.505308 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.875557 deg, new cmd heading: 312.899377 deg. 2025-10-29T01:33:31.002Z,1761701611.002 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461124 target range: 28.346426 and range: 28.50 m. 2025-10-29T01:33:31.034Z,1761701611.034 [DAT](INFO): checking for new query: numPingsReceived=12, elapsed TxPingTime=7.800204 2025-10-29T01:33:31.286Z,1761701611.286 [DAT](INFO): DAT read: Rx Time:01:33:30.6349 2025-10-29T01:33:31.286Z,1761701611.286 [DAT](INFO): Rx dataTimestamp_ set to:1761701611.285780 2025-10-29T01:33:31.287Z,1761701611.287 [DAT](INFO): DAT read: Bearing 136.3, 0.8 (Local) 2025-10-29T01:33:31.288Z,1761701611.288 [DAT](INFO): Local bearing/azimuth received: Bearing 136.3, 0.8 (Local) 2025-10-29T01:33:31.290Z,1761701611.290 [DAT](INFO): DAT read: Range 11 to 50 : 28.1 m (trip time 18.7 ms) speed 0.7 2025-10-29T01:33:31.295Z,1761701611.295 [DAT](INFO): DAT read: 01:33:30.6349 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.01,-0.409,-2.021,-0.055,-0.422, PHS= 0.115,-1.555, 0.323, RAW= 155.8, 12.5, CAL= 156.0, 14.0, ROT= 354.0, -14.0 2025-10-29T01:33:31.296Z,1761701611.296 [DAT](INFO): got valid direction response: 01:33:30.6349 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 502,-0.01,-0.409,-2.021,-0.055,-0.422, PHS= 0.115,-1.555, 0.323, RAW= 155.8, 12.5, CAL= 156.0, 14.0, ROT= 354.0, -14.0 2025-10-29T01:33:31.296Z,1761701611.296 [DAT](INFO): #Rx 13: Read range and direction messages. 2025-10-29T01:33:31.297Z,1761701611.297 [DAT](INFO): direction in FSK: [0.964980,-0.101424,0.241922] 2025-10-29T01:33:31.297Z,1761701611.297 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:31.301Z,1761701611.301 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.067674 2025-10-29T01:33:31.453Z,1761701611.453 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 28.100000 m, deltaT: 0.502312 s, deltaX: -0.400000 m, approachRate: -0.796317 m/s, rangeRepo size: 4 2025-10-29T01:33:31.454Z,1761701611.454 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.948662 m, bearing: 311.874089 deg, lat: 36.779296 deg, lon: -121.859431 deg, deltaT: 0.502312 s, deltaX: -0.397764 m, approachRate: -0.791867 m/s, posRepo size: 4 2025-10-29T01:33:31.455Z,1761701611.455 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.95 m. 2025-10-29T01:33:31.462Z,1761701611.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.948662 m, nav range: 25.522490 m, bearing: 312.307644 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.899381 deg, new cmd heading: 312.922849 deg. 2025-10-29T01:33:31.463Z,1761701611.463 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461534 target range: 27.948662 and range: 28.10 m. 2025-10-29T01:33:31.538Z,1761701611.538 [DAT](INFO): checking for new query: numPingsReceived=13, elapsed TxPingTime=8.304109 2025-10-29T01:33:31.790Z,1761701611.790 [DAT](INFO): DAT read: Rx Time:01:33:31.1346 2025-10-29T01:33:31.790Z,1761701611.790 [DAT](INFO): Rx dataTimestamp_ set to:1761701611.789791 2025-10-29T01:33:31.791Z,1761701611.791 [DAT](INFO): DAT read: Bearing 138.0, 1.4 (Local) 2025-10-29T01:33:31.792Z,1761701611.792 [DAT](INFO): Local bearing/azimuth received: Bearing 138.0, 1.4 (Local) 2025-10-29T01:33:31.794Z,1761701611.794 [DAT](INFO): DAT read: Range 11 to 50 : 27.6 m (trip time 18.4 ms) speed 0.6 2025-10-29T01:33:31.798Z,1761701611.798 [DAT](INFO): DAT read: 01:33:31.1346 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.25, 3.115, 1.527,-2.853, 3.124, PHS= 0.093,-1.552, 0.262, RAW= 154.8, 13.7, CAL= 155.2, 15.5, ROT= 354.8, -15.5 2025-10-29T01:33:31.800Z,1761701611.800 [DAT](INFO): got valid direction response: 01:33:31.1346 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 499, 0.25, 3.115, 1.527,-2.853, 3.124, PHS= 0.093,-1.552, 0.262, RAW= 154.8, 13.7, CAL= 155.2, 15.5, ROT= 354.8, -15.5 2025-10-29T01:33:31.800Z,1761701611.800 [DAT](INFO): #Rx 14: Read range and direction messages. 2025-10-29T01:33:31.801Z,1761701611.801 [DAT](INFO): direction in FSK: [0.959665,-0.087336,0.267238] 2025-10-29T01:33:31.801Z,1761701611.801 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:31.804Z,1761701611.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702944,0.711209,0.007188],[-0.691850,0.681397,0.238832],[0.164962,-0.172859,0.971034]] 2025-10-29T01:33:31.807Z,1761701611.807 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.573316 2025-10-29T01:33:31.898Z,1761701611.898 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.600000 m, deltaT: 0.504011 s, deltaX: -0.500000 m, approachRate: -0.992042 m/s, rangeRepo size: 4 2025-10-29T01:33:31.904Z,1761701611.904 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.451353 m, bearing: 312.966638 deg, lat: 36.779296 deg, lon: -121.859430 deg, deltaT: 0.504011 s, deltaX: -0.497309 m, approachRate: -0.986702 m/s, posRepo size: 4 2025-10-29T01:33:31.905Z,1761701611.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.45 m. 2025-10-29T01:33:31.907Z,1761701611.907 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.451353 m, nav range: 25.150995 m, bearing: 312.435456 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.922849 deg, new cmd heading: 312.946831 deg. 2025-10-29T01:33:31.913Z,1761701611.913 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461953 target range: 27.451353 and range: 27.60 m. 2025-10-29T01:33:32.042Z,1761701612.042 [DAT](INFO): checking for new query: numPingsReceived=14, elapsed TxPingTime=8.808391 2025-10-29T01:33:32.294Z,1761701612.294 [DAT](INFO): DAT read: Rx Time:01:33:31.6343 2025-10-29T01:33:32.294Z,1761701612.294 [DAT](INFO): Rx dataTimestamp_ set to:1761701612.293737 2025-10-29T01:33:32.295Z,1761701612.295 [DAT](INFO): DAT read: Bearing 136.4, 1.3 (Local) 2025-10-29T01:33:32.296Z,1761701612.296 [DAT](INFO): Local bearing/azimuth received: Bearing 136.4, 1.3 (Local) 2025-10-29T01:33:32.299Z,1761701612.299 [DAT](INFO): DAT read: Range 11 to 50 : 27.2 m (trip time 18.1 ms) speed 0.6 2025-10-29T01:33:32.303Z,1761701612.303 [DAT](INFO): DAT read: 01:33:31.6343 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.06, 0.063,-1.570, 0.405, 0.038, PHS= 0.127,-1.563, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.8, ROT= 354.4, -13.8 2025-10-29T01:33:32.305Z,1761701612.305 [DAT](INFO): got valid direction response: 01:33:31.6343 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 496,-0.06, 0.063,-1.570, 0.405, 0.038, PHS= 0.127,-1.563, 0.323, RAW= 155.4, 12.4, CAL= 155.6, 13.8, ROT= 354.4, -13.8 2025-10-29T01:33:32.305Z,1761701612.305 [DAT](INFO): #Rx 15: Read range and direction messages. 2025-10-29T01:33:32.306Z,1761701612.306 [DAT](INFO): direction in FSK: [0.966499,-0.094766,0.238533] 2025-10-29T01:33:32.306Z,1761701612.306 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:32.310Z,1761701612.310 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.076914 2025-10-29T01:33:32.396Z,1761701612.396 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 27.200001 m, deltaT: 0.503946 s, deltaX: -0.400000 m, approachRate: -0.793735 m/s, rangeRepo size: 4 2025-10-29T01:33:32.398Z,1761701612.398 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 27.053596 m, bearing: 312.223271 deg, lat: 36.779295 deg, lon: -121.859429 deg, deltaT: 0.503946 s, deltaX: -0.397757 m, approachRate: -0.789284 m/s, posRepo size: 4 2025-10-29T01:33:32.399Z,1761701612.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-29T01:33:32.406Z,1761701612.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.053596 m, nav range: 24.736454 m, bearing: 312.300556 deg, approach rate: 0.000000 m/s, LOS rate: 0.026204 deg/s, cmd heading: 312.946837 deg, new cmd heading: 312.972095 deg. 2025-10-29T01:33:32.406Z,1761701612.406 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.462393 target range: 27.053596 and range: 27.20 m. 2025-10-29T01:33:32.545Z,1761701612.545 [DAT](INFO): checking for new query: numPingsReceived=15, elapsed TxPingTime=9.311764 2025-10-29T01:33:32.717Z,1761701612.717 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702526,0.711636,0.005654],[-0.691953,0.681195,0.239111],[0.166309,-0.171894,0.970976]] 2025-10-29T01:33:32.769Z,1761701612.769 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:32.772Z,1761701612.772 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 27.05 m. 2025-10-29T01:33:32.788Z,1761701612.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 27.053596 m, nav range: 24.440760 m, bearing: 312.288087 deg, approach rate: -0.753596 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.972081 deg, new cmd heading: 312.946842 deg. 2025-10-29T01:33:32.789Z,1761701612.789 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461953 target range: 27.053596 and range: 27.20 m. 2025-10-29T01:33:32.798Z,1761701612.798 [DAT](INFO): DAT read: Rx Time:01:33:32.1341 2025-10-29T01:33:32.798Z,1761701612.798 [DAT](INFO): Rx dataTimestamp_ set to:1761701612.797865 2025-10-29T01:33:32.799Z,1761701612.799 [DAT](INFO): DAT read: Bearing 137.2, 1.4 (Local) 2025-10-29T01:33:32.800Z,1761701612.800 [DAT](INFO): Local bearing/azimuth received: Bearing 137.2, 1.4 (Local) 2025-10-29T01:33:32.802Z,1761701612.802 [DAT](INFO): DAT read: Range 11 to 50 : 26.9 m (trip time 17.9 ms) speed 0.6 2025-10-29T01:33:32.807Z,1761701612.807 [DAT](INFO): DAT read: 01:33:32.1341 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.47,-2.843, 1.813,-2.511,-2.853, PHS= 0.112,-1.573, 0.297, RAW= 155.2, 13.0, CAL= 155.4, 14.6, ROT= 354.6, -14.6 2025-10-29T01:33:32.808Z,1761701612.808 [DAT](INFO): got valid direction response: 01:33:32.1341 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 510, 0.47,-2.843, 1.813,-2.511,-2.853, PHS= 0.112,-1.573, 0.297, RAW= 155.2, 13.0, CAL= 155.4, 14.6, ROT= 354.6, -14.6 2025-10-29T01:33:32.808Z,1761701612.808 [DAT](INFO): #Rx 16: Read range and direction messages. 2025-10-29T01:33:32.809Z,1761701612.809 [DAT](INFO): direction in FSK: [0.963414,-0.091069,0.252069] 2025-10-29T01:33:32.809Z,1761701612.809 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:32.817Z,1761701612.817 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.583745 2025-10-29T01:33:33.049Z,1761701613.049 [DAT](INFO): checking for new query: numPingsReceived=16, elapsed TxPingTime=9.815681 2025-10-29T01:33:33.162Z,1761701613.162 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702373,0.711771,0.007318],[-0.692042,0.680426,0.241034],[0.166582,-0.174360,0.970489]] 2025-10-29T01:33:33.185Z,1761701613.185 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.900000 m, deltaT: 0.504128 s, deltaX: -0.300001 m, approachRate: -0.595089 m/s, rangeRepo size: 4 2025-10-29T01:33:33.187Z,1761701613.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.755209 m, bearing: 312.576997 deg, lat: 36.779295 deg, lon: -121.859429 deg, deltaT: 0.504128 s, deltaX: -0.298388 m, approachRate: -0.591888 m/s, posRepo size: 4 2025-10-29T01:33:33.187Z,1761701613.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.76 m. 2025-10-29T01:33:33.190Z,1761701613.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.755209 m, nav range: 24.152964 m, bearing: 312.277614 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.946837 deg, new cmd heading: 312.920303 deg. 2025-10-29T01:33:33.191Z,1761701613.191 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.461490 target range: 26.755209 and range: 26.90 m. 2025-10-29T01:33:33.304Z,1761701613.304 [DAT](INFO): DAT read: Rx Time:01:33:32.6338 2025-10-29T01:33:33.305Z,1761701613.305 [DAT](INFO): Rx dataTimestamp_ set to:1761701613.304553 2025-10-29T01:33:33.306Z,1761701613.306 [DAT](INFO): DAT read: Bearing 134.4, 2.2 (Local) 2025-10-29T01:33:33.307Z,1761701613.307 [DAT](INFO): Local bearing/azimuth received: Bearing 134.4, 2.2 (Local) 2025-10-29T01:33:33.309Z,1761701613.309 [DAT](INFO): DAT read: Range 11 to 50 : 26.4 m (trip time 17.6 ms) speed 0.6 2025-10-29T01:33:33.314Z,1761701613.314 [DAT](INFO): DAT read: 01:33:32.6338 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.21, 1.359,-0.309, 1.697, 1.274, PHS= 0.187,-1.537, 0.380, RAW= 155.2, 10.6, CAL= 155.2, 11.6, ROT= 354.8, -11.6 2025-10-29T01:33:33.315Z,1761701613.315 [DAT](INFO): got valid direction response: 01:33:32.6338 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 507, 0.21, 1.359,-0.309, 1.697, 1.274, PHS= 0.187,-1.537, 0.380, RAW= 155.2, 10.6, CAL= 155.2, 11.6, ROT= 354.8, -11.6 2025-10-29T01:33:33.315Z,1761701613.315 [DAT](INFO): #Rx 17: Read range and direction messages. 2025-10-29T01:33:33.316Z,1761701613.316 [DAT](INFO): direction in FSK: [0.975544,-0.088782,0.201078] 2025-10-29T01:33:33.317Z,1761701613.317 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:33.321Z,1761701613.321 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.087556 2025-10-29T01:33:33.553Z,1761701613.553 [DAT](INFO): checking for new query: numPingsReceived=17, elapsed TxPingTime=10.319446 2025-10-29T01:33:33.699Z,1761701613.699 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.400000 m, deltaT: 0.506688 s, deltaX: -0.500000 m, approachRate: -0.986801 m/s, rangeRepo size: 4 2025-10-29T01:33:33.701Z,1761701613.701 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.257900 m, bearing: 312.222273 deg, lat: 36.779295 deg, lon: -121.859429 deg, deltaT: 0.506688 s, deltaX: -0.497309 m, approachRate: -0.981489 m/s, posRepo size: 4 2025-10-29T01:33:33.702Z,1761701613.702 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.26 m. 2025-10-29T01:33:33.704Z,1761701613.704 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.257900 m, nav range: 23.813860 m, bearing: 312.255633 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.920308 deg, new cmd heading: 312.887244 deg. 2025-10-29T01:33:33.705Z,1761701613.705 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460913 target range: 26.257900 and range: 26.40 m. 2025-10-29T01:33:33.806Z,1761701613.806 [DAT](INFO): DAT read: Rx Time:01:33:33.1337 2025-10-29T01:33:33.807Z,1761701613.807 [DAT](INFO): Rx dataTimestamp_ set to:1761701613.805841 2025-10-29T01:33:33.809Z,1761701613.809 [DAT](INFO): DAT read: Bearing 135.1, 1.6 (Local) 2025-10-29T01:33:33.809Z,1761701613.809 [DAT](INFO): Local bearing/azimuth received: Bearing 135.1, 1.6 (Local) 2025-10-29T01:33:33.813Z,1761701613.813 [DAT](INFO): DAT read: Range 11 to 50 : 26.3 m (trip time 17.5 ms) speed 0.7 2025-10-29T01:33:33.818Z,1761701613.818 [DAT](INFO): DAT read: 01:33:33.1337 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.04, 1.537,-0.124, 1.889, 1.481, PHS= 0.159,-1.559, 0.364, RAW= 155.6, 11.3, CAL= 155.6, 12.5, ROT= 354.4, -12.5 2025-10-29T01:33:33.819Z,1761701613.819 [DAT](INFO): got valid direction response: 01:33:33.1337 LVL= 32752, 32753, 32754, 32755, AGC= 65, IDX= 506, 0.04, 1.537,-0.124, 1.889, 1.481, PHS= 0.159,-1.559, 0.364, RAW= 155.6, 11.3, CAL= 155.6, 12.5, ROT= 354.4, -12.5 2025-10-29T01:33:33.836Z,1761701613.836 [DAT](INFO): #Rx 18: Read range and direction messages. 2025-10-29T01:33:33.837Z,1761701613.837 [DAT](INFO): direction in FSK: [0.971637,-0.095270,0.216440] 2025-10-29T01:33:33.838Z,1761701613.838 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:33.850Z,1761701613.850 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.616167 2025-10-29T01:33:34.027Z,1761701614.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702483,0.711638,0.009427],[-0.691899,0.679776,0.243270],[0.166712,-0.177416,0.969913]] 2025-10-29T01:33:34.060Z,1761701614.060 [DAT](INFO): checking for new query: numPingsReceived=18, elapsed TxPingTime=10.826643 2025-10-29T01:33:34.139Z,1761701614.139 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 26.299999 m, deltaT: 0.501288 s, deltaX: -0.100000 m, approachRate: -0.199487 m/s, rangeRepo size: 4 2025-10-29T01:33:34.145Z,1761701614.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 26.158234 m, bearing: 312.026772 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.501288 s, deltaX: -0.099667 m, approachRate: -0.198821 m/s, posRepo size: 4 2025-10-29T01:33:34.145Z,1761701614.145 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 26.16 m. 2025-10-29T01:33:34.152Z,1761701614.152 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 26.158234 m, nav range: 23.684601 m, bearing: 312.547641 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.887250 deg, new cmd heading: 312.858960 deg. 2025-10-29T01:33:34.153Z,1761701614.153 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.460419 target range: 26.158234 and range: 26.30 m. 2025-10-29T01:33:34.310Z,1761701614.310 [DAT](INFO): DAT read: Rx Time:01:33:33.6334 2025-10-29T01:33:34.310Z,1761701614.310 [DAT](INFO): Rx dataTimestamp_ set to:1761701614.309888 2025-10-29T01:33:34.311Z,1761701614.311 [DAT](INFO): DAT read: Bearing 135.3, 2.2 (Local) 2025-10-29T01:33:34.312Z,1761701614.312 [DAT](INFO): Local bearing/azimuth received: Bearing 135.3, 2.2 (Local) 2025-10-29T01:33:34.314Z,1761701614.314 [DAT](INFO): DAT read: Range 11 to 50 : 25.8 m (trip time 17.2 ms) speed 0.6 2025-10-29T01:33:34.319Z,1761701614.319 [DAT](INFO): DAT read: 01:33:33.6334 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.14,-0.963,-2.606,-0.635,-1.027, PHS= 0.166,-1.534, 0.348, RAW= 155.0, 11.3, CAL= 155.0, 12.5, ROT= 355.0, -12.5 2025-10-29T01:33:34.320Z,1761701614.320 [DAT](INFO): got valid direction response: 01:33:33.6334 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 503,-0.14,-0.963,-2.606,-0.635,-1.027, PHS= 0.166,-1.534, 0.348, RAW= 155.0, 11.3, CAL= 155.0, 12.5, ROT= 355.0, -12.5 2025-10-29T01:33:34.320Z,1761701614.320 [DAT](INFO): #Rx 19: Read range and direction messages. 2025-10-29T01:33:34.321Z,1761701614.321 [DAT](INFO): direction in FSK: [0.972581,-0.085090,0.216440] 2025-10-29T01:33:34.321Z,1761701614.321 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:34.329Z,1761701614.329 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.095909 2025-10-29T01:33:34.494Z,1761701614.494 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703039,0.711058,0.011526],[-0.691256,0.679474,0.245928],[0.167038,-0.180864,0.969220]] 2025-10-29T01:33:34.561Z,1761701614.561 [DAT](INFO): checking for new query: numPingsReceived=19, elapsed TxPingTime=11.327602 2025-10-29T01:33:34.640Z,1761701614.640 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.799999 m, deltaT: 0.504047 s, deltaX: -0.500000 m, approachRate: -0.991971 m/s, rangeRepo size: 4 2025-10-29T01:33:34.642Z,1761701614.642 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.660929 m, bearing: 312.751955 deg, lat: 36.779298 deg, lon: -121.859431 deg, deltaT: 0.504047 s, deltaX: -0.497305 m, approachRate: -0.986624 m/s, posRepo size: 4 2025-10-29T01:33:34.643Z,1761701614.643 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.66 m. 2025-10-29T01:33:34.654Z,1761701614.654 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.660929 m, nav range: 23.551098 m, bearing: 312.478756 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.858946 deg, new cmd heading: 312.826947 deg. 2025-10-29T01:33:34.655Z,1761701614.655 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459860 target range: 25.660929 and range: 25.80 m. 2025-10-29T01:33:34.814Z,1761701614.814 [DAT](INFO): DAT read: Rx Time:01:33:34.1333 2025-10-29T01:33:34.814Z,1761701614.814 [DAT](INFO): Rx dataTimestamp_ set to:1761701614.814002 2025-10-29T01:33:34.816Z,1761701614.816 [DAT](INFO): DAT read: Bearing 134.4, 1.9 (Local) 2025-10-29T01:33:34.816Z,1761701614.816 [DAT](INFO): Local bearing/azimuth received: Bearing 134.4, 1.9 (Local) 2025-10-29T01:33:34.818Z,1761701614.818 [DAT](INFO): DAT read: Range 11 to 50 : 25.5 m (trip time 17.0 ms) speed 0.6 2025-10-29T01:33:34.824Z,1761701614.824 [DAT](INFO): DAT read: 01:33:34.1333 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.27,-0.873,-2.530,-0.522,-0.952, PHS= 0.181,-1.533, 0.385, RAW= 155.6, 10.6, CAL= 155.5, 11.6, ROT= 354.5, -11.6 2025-10-29T01:33:34.826Z,1761701614.826 [DAT](INFO): got valid direction response: 01:33:34.1333 LVL= 32752, 32753, 32754, 32755, AGC= 64, IDX= 502,-0.27,-0.873,-2.530,-0.522,-0.952, PHS= 0.181,-1.533, 0.385, RAW= 155.6, 10.6, CAL= 155.5, 11.6, ROT= 354.5, -11.6 2025-10-29T01:33:34.827Z,1761701614.827 [DAT](INFO): #Rx 20: Read range and direction messages. 2025-10-29T01:33:34.827Z,1761701614.827 [DAT](INFO): direction in FSK: [0.975065,-0.093888,0.201078] 2025-10-29T01:33:34.828Z,1761701614.828 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:34.832Z,1761701614.832 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.598179 2025-10-29T01:33:35.066Z,1761701615.066 [DAT](INFO): checking for new query: numPingsReceived=20, elapsed TxPingTime=11.832628 2025-10-29T01:33:35.155Z,1761701615.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.703175,0.710888,0.013544],[-0.691116,0.678894,0.247914],[0.167044,-0.183687,0.968687]] 2025-10-29T01:33:35.243Z,1761701615.243 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 25.500000 m, deltaT: 0.504114 s, deltaX: -0.299999 m, approachRate: -0.595102 m/s, rangeRepo size: 4 2025-10-29T01:33:35.266Z,1761701615.266 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 25.362408 m, bearing: 312.107763 deg, lat: 36.779299 deg, lon: -121.859434 deg, deltaT: 0.504114 s, deltaX: -0.298521 m, approachRate: -0.592170 m/s, posRepo size: 4 2025-10-29T01:33:35.280Z,1761701615.280 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 25.36 m. 2025-10-29T01:33:35.299Z,1761701615.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 25.362408 m, nav range: 23.360289 m, bearing: 312.148853 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.826953 deg, new cmd heading: 312.787919 deg. 2025-10-29T01:33:35.313Z,1761701615.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.459179 target range: 25.362408 and range: 25.50 m. 2025-10-29T01:33:35.322Z,1761701615.322 [DAT](INFO): DAT read: Rx Time:01:33:34.6330 2025-10-29T01:33:35.323Z,1761701615.323 [DAT](INFO): Rx dataTimestamp_ set to:1761701615.322262 2025-10-29T01:33:35.330Z,1761701615.330 [DAT](INFO): DAT read: Bearing 136.0, 2.3 (Local) 2025-10-29T01:33:35.331Z,1761701615.331 [DAT](INFO): Local bearing/azimuth received: Bearing 136.0, 2.3 (Local) 2025-10-29T01:33:35.346Z,1761701615.346 [DAT](INFO): DAT read: Range 11 to 50 : 25.1 m (trip time 16.7 ms) speed 0.6 2025-10-29T01:33:35.359Z,1761701615.359 [DAT](INFO): DAT read: 01:33:34.6330 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.32, 0.631,-1.010, 0.950, 0.572, PHS= 0.161,-1.538, 0.333, RAW= 154.8, 11.6, CAL= 154.8, 12.9, ROT= 355.2, -12.9 2025-10-29T01:33:35.372Z,1761701615.372 [DAT](INFO): got valid direction response: 01:33:34.6330 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 498, 0.32, 0.631,-1.010, 0.950, 0.572, PHS= 0.161,-1.538, 0.333, RAW= 154.8, 11.6, CAL= 154.8, 12.9, ROT= 355.2, -12.9 2025-10-29T01:33:35.373Z,1761701615.373 [DAT](INFO): #Rx 21: Read range and direction messages. 2025-10-29T01:33:35.373Z,1761701615.373 [DAT](INFO): direction in FSK: [0.971343,-0.081566,0.223250] 2025-10-29T01:33:35.374Z,1761701615.374 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:35.394Z,1761701615.394 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.160638 2025-10-29T01:33:35.572Z,1761701615.572 [DAT](INFO): DAT read: Rx Time:01:33:35.1328 2025-10-29T01:33:35.573Z,1761701615.573 [DAT](INFO): Rx dataTimestamp_ set to:1761701615.572539 2025-10-29T01:33:35.576Z,1761701615.576 [DAT](INFO): checking for new query: numPingsReceived=21, elapsed TxPingTime=12.341758 2025-10-29T01:33:35.817Z,1761701615.817 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702361,0.711682,0.014040],[-0.691659,0.677673,0.249734],[0.168216,-0.185114,0.968213]] 2025-10-29T01:33:35.822Z,1761701615.822 [DAT](INFO): DAT read: Bearing 135.2, 2.4 (Local) 2025-10-29T01:33:35.822Z,1761701615.822 [DAT](INFO): Local bearing/azimuth received: Bearing 135.2, 2.4 (Local) 2025-10-29T01:33:35.824Z,1761701615.824 [DAT](INFO): DAT read: Range 11 to 50 : 24.9 m (trip time 16.6 ms) speed 0.6 2025-10-29T01:33:35.829Z,1761701615.829 [DAT](INFO): DAT read: 01:33:35.1328 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.17, 0.522,-1.136, 0.851, 0.445, PHS= 0.179,-1.536, 0.362, RAW= 155.0, 11.0, CAL= 155.0, 12.1, ROT= 355.0, -12.1 2025-10-29T01:33:35.830Z,1761701615.830 [DAT](INFO): got valid direction response: 01:33:35.1328 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 496, 0.17, 0.522,-1.136, 0.851, 0.445, PHS= 0.179,-1.536, 0.362, RAW= 155.0, 11.0, CAL= 155.0, 12.1, ROT= 355.0, -12.1 2025-10-29T01:33:35.830Z,1761701615.830 [DAT](INFO): #Rx 22: Read range and direction messages. 2025-10-29T01:33:35.831Z,1761701615.831 [DAT](INFO): direction in FSK: [0.974062,-0.085219,0.209619] 2025-10-29T01:33:35.832Z,1761701615.832 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:35.835Z,1761701615.835 [DAT](INFO): checking for new query: numPingsReceived=22, elapsed TxPingTime=12.601800 2025-10-29T01:33:35.970Z,1761701615.970 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.900000 m, deltaT: 1.006491 s, deltaX: -0.600000 m, approachRate: -0.596131 m/s, rangeRepo size: 4 2025-10-29T01:33:35.971Z,1761701615.971 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.765646 m, bearing: 312.689183 deg, lat: 36.779299 deg, lon: -121.859434 deg, deltaT: 1.006491 s, deltaX: -0.596762 m, approachRate: -0.592913 m/s, posRepo size: 4 2025-10-29T01:33:35.976Z,1761701615.976 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.77 m. 2025-10-29T01:33:35.979Z,1761701615.979 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.765646 m, nav range: 22.938038 m, bearing: 312.289259 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.787912 deg, new cmd heading: 312.741475 deg. 2025-10-29T01:33:35.984Z,1761701615.984 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.458368 target range: 24.765646 and range: 24.90 m. 2025-10-29T01:33:36.094Z,1761701616.094 [DAT](INFO): DAT read: Rx Time:01:33:35.6325 2025-10-29T01:33:36.097Z,1761701616.097 [DAT](INFO): Rx dataTimestamp_ set to:1761701616.095176 2025-10-29T01:33:36.101Z,1761701616.101 [DAT](INFO): DAT read: Bearing 133.8, 3.0 (Local) 2025-10-29T01:33:36.103Z,1761701616.103 [DAT](INFO): Local bearing/azimuth received: Bearing 133.8, 3.0 (Local) 2025-10-29T01:33:36.109Z,1761701616.109 [DAT](INFO): DAT read: Range 11 to 50 : 24.5 m (trip time 16.3 ms) speed 0.7 2025-10-29T01:33:36.128Z,1761701616.128 [DAT](ERROR): #Rx 23: Read range message, but no direction. 2025-10-29T01:33:36.129Z,1761701616.129 [DAT](INFO): checking for new query: numPingsReceived=23, elapsed TxPingTime=12.895517 2025-10-29T01:33:36.334Z,1761701616.334 [DAT](INFO): DAT read: 01:33:35.6325 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.03,-1.488, 3.133,-1.161,-1.606, PHS= 0.220,-1.499, 0.401, RAW= 154.9, 9.7, CAL= 154.7, 10.5, ROT= 355.3, -10.5 2025-10-29T01:33:36.335Z,1761701616.335 [DAT](INFO): got valid direction response: 01:33:35.6325 LVL= 32752, 32753, 32754, 32755, AGC= 62, IDX= 509, 0.03,-1.488, 3.133,-1.161,-1.606, PHS= 0.220,-1.499, 0.401, RAW= 154.9, 9.7, CAL= 154.7, 10.5, ROT= 355.3, -10.5 2025-10-29T01:33:36.335Z,1761701616.335 [DAT](INFO): #Rx 24: Read direction message, but no range. 2025-10-29T01:33:36.336Z,1761701616.336 [DAT](INFO): direction in FSK: [0.979949,-0.080567,0.182236] 2025-10-29T01:33:36.341Z,1761701616.341 [DAT](INFO): checking for new query: numPingsReceived=24, elapsed TxPingTime=13.106252 2025-10-29T01:33:36.436Z,1761701616.436 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702198,0.711880,0.012050],[-0.691587,0.677965,0.249141],[0.169189,-0.183280,0.968392]] 2025-10-29T01:33:36.491Z,1761701616.491 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.500000 m, deltaT: 0.274683 s, deltaX: -0.400000 m, approachRate: -1.456223 m/s, rangeRepo size: 4 2025-10-29T01:33:36.494Z,1761701616.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.367846 m, bearing: 312.658148 deg, lat: 36.779299 deg, lon: -121.859434 deg, deltaT: 0.274683 s, deltaX: -0.397800 m, approachRate: -1.448216 m/s, posRepo size: 4 2025-10-29T01:33:36.494Z,1761701616.494 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.37 m. 2025-10-29T01:33:36.497Z,1761701616.497 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.367846 m, nav range: 22.606192 m, bearing: 312.228611 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.741467 deg, new cmd heading: 312.707596 deg. 2025-10-29T01:33:36.498Z,1761701616.498 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457777 target range: 24.367846 and range: 24.50 m. 2025-10-29T01:33:36.581Z,1761701616.581 [DAT](INFO): DAT read: Rx Time:01:33:36.1324 2025-10-29T01:33:36.583Z,1761701616.583 [DAT](INFO): Rx dataTimestamp_ set to:1761701616.582095 2025-10-29T01:33:36.587Z,1761701616.587 [DAT](INFO): DAT read: Bearing 134.7, 2.4 (Local) 2025-10-29T01:33:36.588Z,1761701616.588 [DAT](INFO): Local bearing/azimuth received: Bearing 134.7, 2.4 (Local) 2025-10-29T01:33:36.605Z,1761701616.605 [DAT](INFO): DAT read: Range 11 to 50 : 24.3 m (trip time 16.2 ms) speed 0.6 2025-10-29T01:33:36.632Z,1761701616.632 [DAT](ERROR): #Rx 25: Read range message, but no direction. 2025-10-29T01:33:36.633Z,1761701616.633 [DAT](INFO): checking for new query: numPingsReceived=25, elapsed TxPingTime=13.399614 2025-10-29T01:33:36.833Z,1761701616.833 [DAT](INFO): DAT read: 01:33:36.1324 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.12,-1.937, 2.686,-1.595,-2.024, PHS= 0.189,-1.528, 0.385, RAW= 155.3, 10.5, CAL= 155.2, 11.4, ROT= 354.8, -11.4 2025-10-29T01:33:36.834Z,1761701616.834 [DAT](INFO): got valid direction response: 01:33:36.1324 LVL= 32752, 32753, 32754, 32755, AGC= 63, IDX= 508,-0.12,-1.937, 2.686,-1.595,-2.024, PHS= 0.189,-1.528, 0.385, RAW= 155.3, 10.5, CAL= 155.2, 11.4, ROT= 354.8, -11.4 2025-10-29T01:33:36.834Z,1761701616.834 [DAT](INFO): #Rx 26: Read direction message, but no range. 2025-10-29T01:33:36.835Z,1761701616.835 [DAT](INFO): direction in FSK: [0.976237,-0.088845,0.197657] 2025-10-29T01:33:36.839Z,1761701616.839 [DAT](INFO): checking for new query: numPingsReceived=26, elapsed TxPingTime=13.605217 2025-10-29T01:33:36.850Z,1761701616.850 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702317,0.711792,0.010188],[-0.691300,0.678543,0.248362],[0.169869,-0.181472,0.968614]] 2025-10-29T01:33:36.930Z,1761701616.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 24.299999 m, deltaT: 0.486919 s, deltaX: -0.200001 m, approachRate: -0.410747 m/s, rangeRepo size: 4 2025-10-29T01:33:36.937Z,1761701616.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 24.168924 m, bearing: 312.305912 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 0.486919 s, deltaX: -0.198921 m, approachRate: -0.408530 m/s, posRepo size: 4 2025-10-29T01:33:36.937Z,1761701616.937 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 24.17 m. 2025-10-29T01:33:36.944Z,1761701616.944 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 24.168924 m, nav range: 22.385263 m, bearing: 312.357323 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.707589 deg, new cmd heading: 312.679345 deg. 2025-10-29T01:33:36.945Z,1761701616.945 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.457284 target range: 24.168924 and range: 24.30 m. 2025-10-29T01:33:37.086Z,1761701617.086 [DAT](INFO): DAT read: Rx Time:01:33:36.6320 2025-10-29T01:33:37.087Z,1761701617.087 [DAT](INFO): Rx dataTimestamp_ set to:1761701617.086442 2025-10-29T01:33:37.091Z,1761701617.091 [DAT](INFO): DAT read: Bearing 136.9, 1.5 (Local) 2025-10-29T01:33:37.092Z,1761701617.092 [DAT](INFO): Local bearing/azimuth received: Bearing 136.9, 1.5 (Local) 2025-10-29T01:33:37.100Z,1761701617.100 [DAT](INFO): DAT read: Range 11 to 50 : 23.7 m (trip time 15.8 ms) speed 0.5 2025-10-29T01:33:37.102Z,1761701617.102 [DAT](ERROR): #Rx 27: Read range message, but no direction. 2025-10-29T01:33:37.122Z,1761701617.122 [DAT](INFO): checking for new query: numPingsReceived=27, elapsed TxPingTime=13.888437 2025-10-29T01:33:37.274Z,1761701617.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701192,0.712918,0.008822],[-0.691879,0.677408,0.249846],[0.172144,-0.181294,0.968245]] 2025-10-29T01:33:37.353Z,1761701617.353 [DAT](INFO): DAT read: 01:33:36.6320 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.33,-2.662, 2.001,-2.312,-2.685, PHS= 0.125,-1.552, 0.329, RAW= 155.7, 12.3, CAL= 155.9, 13.7, ROT= 354.1, -13.7 2025-10-29T01:33:37.364Z,1761701617.364 [DAT](INFO): got valid direction response: 01:33:36.6320 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 505,-0.33,-2.662, 2.001,-2.312,-2.685, PHS= 0.125,-1.552, 0.329, RAW= 155.7, 12.3, CAL= 155.9, 13.7, ROT= 354.1, -13.7 2025-10-29T01:33:37.365Z,1761701617.365 [DAT](INFO): #Rx 28: Read direction message, but no range. 2025-10-29T01:33:37.366Z,1761701617.366 [DAT](INFO): direction in FSK: [0.966403,-0.099868,0.236838] 2025-10-29T01:33:37.377Z,1761701617.377 [DAT](INFO): checking for new query: numPingsReceived=28, elapsed TxPingTime=14.143890 2025-10-29T01:33:37.397Z,1761701617.397 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.700001 m, deltaT: 0.504347 s, deltaX: -0.599998 m, approachRate: -1.189654 m/s, rangeRepo size: 4 2025-10-29T01:33:37.399Z,1761701617.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 23.572353 m, bearing: 311.946303 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 0.504347 s, deltaX: -0.596571 m, approachRate: -1.182858 m/s, posRepo size: 4 2025-10-29T01:33:37.399Z,1761701617.399 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-29T01:33:37.411Z,1761701617.411 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.572353 m, nav range: 22.101748 m, bearing: 312.344607 deg, approach rate: 0.000000 m/s, LOS rate: -0.032161 deg/s, cmd heading: 312.679339 deg, new cmd heading: 312.649628 deg. 2025-10-29T01:33:37.420Z,1761701617.420 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.456765 target range: 23.572353 and range: 23.70 m. 2025-10-29T01:33:37.589Z,1761701617.589 [DAT](INFO): DAT read: Rx Time:01:33:37.1319 2025-10-29T01:33:37.591Z,1761701617.591 [DAT](INFO): Rx dataTimestamp_ set to:1761701617.589815 2025-10-29T01:33:37.594Z,1761701617.594 [DAT](INFO): DAT read: Bearing 135.0, 3.1 (Local) 2025-10-29T01:33:37.606Z,1761701617.606 [DAT](INFO): Local bearing/azimuth received: Bearing 135.0, 3.1 (Local) 2025-10-29T01:33:37.615Z,1761701617.615 [DAT](INFO): DAT read: Range 11 to 50 : 23.6 m (trip time 15.7 ms) speed 0.6 2025-10-29T01:33:37.623Z,1761701617.623 [DAT](ERROR): #Rx 29: Read range message, but no direction. 2025-10-29T01:33:37.646Z,1761701617.646 [DAT](INFO): checking for new query: numPingsReceived=29, elapsed TxPingTime=14.393938 2025-10-29T01:33:37.751Z,1761701617.751 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700564,0.713548,0.007743],[-0.692143,0.676828,0.250683],[0.173634,-0.180979,0.968038]] 2025-10-29T01:33:37.810Z,1761701617.810 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:37.813Z,1761701617.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.600000 m, deltaT: 0.503373 s, deltaX: -0.100000 m, approachRate: -0.198661 m/s, rangeRepo size: 4 2025-10-29T01:33:37.814Z,1761701617.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 23.57 m. 2025-10-29T01:33:37.817Z,1761701617.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 23.572353 m, nav range: 21.789354 m, bearing: 312.317986 deg, approach rate: -0.742346 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.649614 deg, new cmd heading: 312.595608 deg. 2025-10-29T01:33:37.818Z,1761701617.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.455822 target range: 23.572353 and range: 23.60 m. 2025-10-29T01:33:37.910Z,1761701617.910 [DAT](INFO): DAT read: 01:33:37.1319 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38,-0.166,-1.816, 0.157,-0.259, PHS= 0.195,-1.512, 0.372, RAW= 154.9, 10.5, CAL= 154.7, 11.5, ROT= 355.3, -11.5 2025-10-29T01:33:37.914Z,1761701617.914 [DAT](INFO): got valid direction response: 01:33:37.1319 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 503, 0.38,-0.166,-1.816, 0.157,-0.259, PHS= 0.195,-1.512, 0.372, RAW= 154.9, 10.5, CAL= 154.7, 11.5, ROT= 355.3, -11.5 2025-10-29T01:33:37.914Z,1761701617.914 [DAT](INFO): #Rx 30: Read direction message, but no range. 2025-10-29T01:33:37.915Z,1761701617.915 [DAT](INFO): direction in FSK: [0.976630,-0.080294,0.199368] 2025-10-29T01:33:37.927Z,1761701617.927 [DAT](INFO): checking for new query: numPingsReceived=30, elapsed TxPingTime=14.693107 2025-10-29T01:33:38.094Z,1761701618.094 [DAT](INFO): DAT read: Rx Time:01:33:37.6316 2025-10-29T01:33:38.096Z,1761701618.096 [DAT](INFO): Rx dataTimestamp_ set to:1761701618.094958 2025-10-29T01:33:38.132Z,1761701618.132 [DAT](INFO): DAT read: Bearing 135.2, 3.2 (Local) 2025-10-29T01:33:38.132Z,1761701618.132 [DAT](INFO): Local bearing/azimuth received: Bearing 135.2, 3.2 (Local) 2025-10-29T01:33:38.134Z,1761701618.134 [DAT](INFO): DAT read: Range 11 to 50 : 23.1 m (trip time 15.4 ms) speed 0.6 2025-10-29T01:33:38.144Z,1761701618.144 [DAT](INFO): DAT read: 01:33:37.6316 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.22,-1.195,-2.837,-0.871,-1.285, PHS= 0.192,-1.507, 0.369, RAW= 154.9, 10.6, CAL= 154.8, 11.5, ROT= 355.2, -11.5 2025-10-29T01:33:38.145Z,1761701618.145 [DAT](INFO): got valid direction response: 01:33:37.6316 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 500, 0.22,-1.195,-2.837,-0.871,-1.285, PHS= 0.192,-1.507, 0.369, RAW= 154.9, 10.6, CAL= 154.8, 11.5, ROT= 355.2, -11.5 2025-10-29T01:33:38.146Z,1761701618.146 [DAT](INFO): #Rx 31: Read range and direction messages. 2025-10-29T01:33:38.147Z,1761701618.147 [DAT](INFO): direction in FSK: [0.976488,-0.081998,0.199368] 2025-10-29T01:33:38.147Z,1761701618.147 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:38.167Z,1761701618.167 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=14.933161 2025-10-29T01:33:38.178Z,1761701618.178 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700049,0.714067,0.006299],[-0.692260,0.676452,0.251374],[0.175237,-0.180335,0.967870]] 2025-10-29T01:33:38.284Z,1761701618.284 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.100000 m, deltaT: 0.505143 s, deltaX: -0.500000 m, approachRate: -0.989819 m/s, rangeRepo size: 4 2025-10-29T01:33:38.286Z,1761701618.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.975500 m, bearing: 312.589681 deg, lat: 36.779300 deg, lon: -121.859432 deg, deltaT: 1.008516 s, deltaX: -0.596853 m, approachRate: -0.591813 m/s, posRepo size: 4 2025-10-29T01:33:38.287Z,1761701618.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.98 m. 2025-10-29T01:33:38.308Z,1761701618.308 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.975500 m, nav range: 21.388988 m, bearing: 312.618572 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.595601 deg, new cmd heading: 312.535867 deg. 2025-10-29T01:33:38.315Z,1761701618.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.454780 target range: 22.975500 and range: 23.10 m. 2025-10-29T01:33:38.346Z,1761701618.346 [DAT](INFO): checking for new query: numPingsReceived=31, elapsed TxPingTime=15.109863 2025-10-29T01:33:38.597Z,1761701618.597 [DAT](INFO): DAT read: Rx Time:01:33:38.1315 2025-10-29T01:33:38.599Z,1761701618.599 [DAT](INFO): Rx dataTimestamp_ set to:1761701618.597637 2025-10-29T01:33:38.605Z,1761701618.605 [DAT](INFO): DAT read: Bearing 133.9, 3.7 (Local) 2025-10-29T01:33:38.606Z,1761701618.606 [DAT](INFO): Local bearing/azimuth received: Bearing 133.9, 3.7 (Local) 2025-10-29T01:33:38.623Z,1761701618.623 [DAT](INFO): DAT read: Range 11 to 50 : 23.0 m (trip time 15.3 ms) speed 0.6 2025-10-29T01:33:38.652Z,1761701618.652 [DAT](INFO): DAT read: 01:33:38.1315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.13,-0.880,-2.546,-0.556,-1.006, PHS= 0.228,-1.494, 0.407, RAW= 154.9, 9.5, CAL= 154.6, 10.2, ROT= 355.4, -10.2 2025-10-29T01:33:38.653Z,1761701618.653 [DAT](INFO): got valid direction response: 01:33:38.1315 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 499, 0.13,-0.880,-2.546,-0.556,-1.006, PHS= 0.228,-1.494, 0.407, RAW= 154.9, 9.5, CAL= 154.6, 10.2, ROT= 355.4, -10.2 2025-10-29T01:33:38.654Z,1761701618.654 [DAT](INFO): #Rx 32: Read range and direction messages. 2025-10-29T01:33:38.655Z,1761701618.655 [DAT](INFO): direction in FSK: [0.981025,-0.078932,0.177085] 2025-10-29T01:33:38.655Z,1761701618.655 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:38.667Z,1761701618.667 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.433745 2025-10-29T01:33:38.669Z,1761701618.669 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699631,0.714488,0.004848],[-0.692285,0.676180,0.252036],[0.176799,-0.179689,0.967706]] 2025-10-29T01:33:38.799Z,1761701618.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 23.000000 m, deltaT: 0.502679 s, deltaX: -0.100000 m, approachRate: -0.198935 m/s, rangeRepo size: 4 2025-10-29T01:33:38.805Z,1761701618.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.876038 m, bearing: 312.521934 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 0.502679 s, deltaX: -0.099463 m, approachRate: -0.197865 m/s, posRepo size: 4 2025-10-29T01:33:38.806Z,1761701618.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.88 m. 2025-10-29T01:33:38.813Z,1761701618.813 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.876038 m, nav range: 21.175985 m, bearing: 312.299179 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.535878 deg, new cmd heading: 312.469114 deg. 2025-10-29T01:33:38.814Z,1761701618.814 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.453615 target range: 22.876038 and range: 23.00 m. 2025-10-29T01:33:38.848Z,1761701618.848 [DAT](INFO): checking for new query: numPingsReceived=32, elapsed TxPingTime=15.614684 2025-10-29T01:33:39.101Z,1761701619.101 [DAT](INFO): DAT read: Rx Time:01:33:38.6312 2025-10-29T01:33:39.103Z,1761701619.103 [DAT](INFO): Rx dataTimestamp_ set to:1761701619.101748 2025-10-29T01:33:39.107Z,1761701619.107 [DAT](INFO): DAT read: Bearing 135.9, 2.9 (Local) 2025-10-29T01:33:39.108Z,1761701619.108 [DAT](INFO): Local bearing/azimuth received: Bearing 135.9, 2.9 (Local) 2025-10-29T01:33:39.129Z,1761701619.129 [DAT](INFO): DAT read: Range 11 to 50 : 22.5 m (trip time 15.0 ms) speed 0.6 2025-10-29T01:33:39.134Z,1761701619.134 [DAT](INFO): DAT read: 01:33:38.6312 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.05,-1.891, 2.756,-1.556,-1.958, PHS= 0.169,-1.524, 0.358, RAW= 155.2, 11.1, CAL= 155.2, 12.2, ROT= 354.8, -12.2 2025-10-29T01:33:39.135Z,1761701619.135 [DAT](INFO): got valid direction response: 01:33:38.6312 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 496, 0.05,-1.891, 2.756,-1.556,-1.958, PHS= 0.169,-1.524, 0.358, RAW= 155.2, 11.1, CAL= 155.2, 12.2, ROT= 354.8, -12.2 2025-10-29T01:33:39.135Z,1761701619.135 [DAT](INFO): #Rx 33: Read range and direction messages. 2025-10-29T01:33:39.153Z,1761701619.153 [DAT](INFO): direction in FSK: [0.973393,-0.088586,0.211325] 2025-10-29T01:33:39.153Z,1761701619.153 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:39.167Z,1761701619.167 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=15.933855 2025-10-29T01:33:39.268Z,1761701619.268 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.500000 m, deltaT: 0.504111 s, deltaX: -0.500000 m, approachRate: -0.991845 m/s, rangeRepo size: 4 2025-10-29T01:33:39.270Z,1761701619.270 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.378601 m, bearing: 312.278652 deg, lat: 36.779299 deg, lon: -121.859432 deg, deltaT: 0.504111 s, deltaX: -0.497437 m, approachRate: -0.986760 m/s, posRepo size: 4 2025-10-29T01:33:39.271Z,1761701619.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.38 m. 2025-10-29T01:33:39.282Z,1761701619.282 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.378601 m, nav range: 20.653259 m, bearing: 312.493774 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.469106 deg, new cmd heading: 312.410521 deg. 2025-10-29T01:33:39.283Z,1761701619.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.452592 target range: 22.378601 and range: 22.50 m. 2025-10-29T01:33:39.352Z,1761701619.352 [DAT](INFO): checking for new query: numPingsReceived=33, elapsed TxPingTime=16.118320 2025-10-29T01:33:39.605Z,1761701619.605 [DAT](INFO): DAT read: Rx Time:01:33:39.1310 2025-10-29T01:33:39.606Z,1761701619.606 [DAT](INFO): Rx dataTimestamp_ set to:1761701619.605373 2025-10-29T01:33:39.610Z,1761701619.610 [DAT](INFO): DAT read: Bearing 136.0, 2.8 (Local) 2025-10-29T01:33:39.612Z,1761701619.612 [DAT](INFO): Local bearing/azimuth received: Bearing 136.0, 2.8 (Local) 2025-10-29T01:33:39.623Z,1761701619.623 [DAT](INFO): DAT read: Range 11 to 50 : 22.2 m (trip time 14.8 ms) speed 0.6 2025-10-29T01:33:39.637Z,1761701619.637 [DAT](INFO): DAT read: 01:33:39.1310 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.02,-2.670, 1.977,-2.329,-2.732, PHS= 0.164,-1.530, 0.359, RAW= 155.4, 11.2, CAL= 155.4, 12.3, ROT= 354.6, -12.3 2025-10-29T01:33:39.638Z,1761701619.638 [DAT](INFO): got valid direction response: 01:33:39.1310 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 510,-0.02,-2.670, 1.977,-2.329,-2.732, PHS= 0.164,-1.530, 0.359, RAW= 155.4, 11.2, CAL= 155.4, 12.3, ROT= 354.6, -12.3 2025-10-29T01:33:39.638Z,1761701619.638 [DAT](INFO): #Rx 34: Read range and direction messages. 2025-10-29T01:33:39.639Z,1761701619.639 [DAT](INFO): direction in FSK: [0.972709,-0.091948,0.213030] 2025-10-29T01:33:39.644Z,1761701619.644 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:39.648Z,1761701619.648 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.414076 2025-10-29T01:33:39.692Z,1761701619.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699751,0.714386,-0.001028],[-0.691212,0.677413,0.251670],[0.180486,-0.175395,0.967813]] 2025-10-29T01:33:39.821Z,1761701619.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 22.200001 m, deltaT: 0.503625 s, deltaX: -0.299999 m, approachRate: -0.595680 m/s, rangeRepo size: 4 2025-10-29T01:33:39.823Z,1761701619.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 22.080221 m, bearing: 312.072115 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.503625 s, deltaX: -0.298380 m, approachRate: -0.592464 m/s, posRepo size: 4 2025-10-29T01:33:39.823Z,1761701619.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 22.08 m. 2025-10-29T01:33:39.830Z,1761701619.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 22.080221 m, nav range: 20.208843 m, bearing: 312.231692 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.410530 deg, new cmd heading: 312.339031 deg. 2025-10-29T01:33:39.831Z,1761701619.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.451344 target range: 22.080221 and range: 22.20 m. 2025-10-29T01:33:39.853Z,1761701619.853 [DAT](INFO): checking for new query: numPingsReceived=34, elapsed TxPingTime=16.619574 2025-10-29T01:33:40.110Z,1761701620.110 [DAT](INFO): DAT read: Rx Time:01:33:39.6307 2025-10-29T01:33:40.111Z,1761701620.111 [DAT](INFO): Rx dataTimestamp_ set to:1761701620.110162 2025-10-29T01:33:40.127Z,1761701620.127 [DAT](INFO): DAT read: Bearing 136.8, 2.5 (Local) 2025-10-29T01:33:40.127Z,1761701620.127 [DAT](INFO): Local bearing/azimuth received: Bearing 136.8, 2.5 (Local) 2025-10-29T01:33:40.130Z,1761701620.130 [DAT](INFO): DAT read: Range 11 to 50 : 21.8 m (trip time 14.5 ms) speed 0.5 2025-10-29T01:33:40.135Z,1761701620.135 [DAT](INFO): DAT read: 01:33:39.6307 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.08, 2.743, 1.105, 3.087, 2.702, PHS= 0.143,-1.552, 0.341, RAW= 155.5, 11.8, CAL= 155.6, 13.2, ROT= 354.4, -13.2 2025-10-29T01:33:40.136Z,1761701620.136 [DAT](INFO): got valid direction response: 01:33:39.6307 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 507,-0.08, 2.743, 1.105, 3.087, 2.702, PHS= 0.143,-1.552, 0.341, RAW= 155.5, 11.8, CAL= 155.6, 13.2, ROT= 354.4, -13.2 2025-10-29T01:33:40.136Z,1761701620.136 [DAT](INFO): #Rx 35: Read range and direction messages. 2025-10-29T01:33:40.137Z,1761701620.137 [DAT](INFO): direction in FSK: [0.968932,-0.095005,0.228351] 2025-10-29T01:33:40.137Z,1761701620.137 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:40.141Z,1761701620.141 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=16.907839 2025-10-29T01:33:40.173Z,1761701620.173 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.699967,0.714173,-0.001676],[-0.690749,0.677601,0.252432],[0.181416,-0.175536,0.967613]] 2025-10-29T01:33:40.257Z,1761701620.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.799999 m, deltaT: 0.504789 s, deltaX: -0.400002 m, approachRate: -0.792413 m/s, rangeRepo size: 4 2025-10-29T01:33:40.259Z,1761701620.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.682411 m, bearing: 312.060573 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.504789 s, deltaX: -0.397810 m, approachRate: -0.788072 m/s, posRepo size: 4 2025-10-29T01:33:40.264Z,1761701620.264 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.68 m. 2025-10-29T01:33:40.267Z,1761701620.267 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.682411 m, nav range: 19.951355 m, bearing: 312.197897 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.339032 deg, new cmd heading: 312.282739 deg. 2025-10-29T01:33:40.272Z,1761701620.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.450362 target range: 21.682411 and range: 21.80 m. 2025-10-29T01:33:40.360Z,1761701620.360 [DAT](INFO): checking for new query: numPingsReceived=35, elapsed TxPingTime=17.125723 2025-10-29T01:33:40.533Z,1761701620.533 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:33:40.614Z,1761701620.614 [DAT](INFO): DAT read: Rx Time:01:33:40.1306 2025-10-29T01:33:40.615Z,1761701620.615 [DAT](INFO): Rx dataTimestamp_ set to:1761701620.614482 2025-10-29T01:33:40.620Z,1761701620.620 [DAT](INFO): DAT read: Bearing 139.1, 1.7 (Local) 2025-10-29T01:33:40.621Z,1761701620.621 [DAT](INFO): Local bearing/azimuth received: Bearing 139.1, 1.7 (Local) 2025-10-29T01:33:40.629Z,1761701620.629 [DAT](INFO): DAT read: Range 11 to 50 : 21.6 m (trip time 14.4 ms) speed 0.5 2025-10-29T01:33:40.646Z,1761701620.646 [DAT](INFO): DAT read: 01:33:40.1306 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.09,-2.395, 2.262,-2.047,-2.374, PHS= 0.081,-1.603, 0.282, RAW= 155.6, 13.7, CAL= 156.0, 15.5, ROT= 354.0, -15.5 2025-10-29T01:33:40.647Z,1761701620.647 [DAT](INFO): got valid direction response: 01:33:40.1306 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 506,-0.09,-2.395, 2.262,-2.047,-2.374, PHS= 0.081,-1.603, 0.282, RAW= 155.6, 13.7, CAL= 156.0, 15.5, ROT= 354.0, -15.5 2025-10-29T01:33:40.648Z,1761701620.648 [DAT](INFO): #Rx 36: Read range and direction messages. 2025-10-29T01:33:40.664Z,1761701620.664 [DAT](INFO): direction in FSK: [0.958352,-0.100727,0.267238] 2025-10-29T01:33:40.665Z,1761701620.665 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:40.676Z,1761701620.676 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.443047 2025-10-29T01:33:40.799Z,1761701620.799 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.600000 m, deltaT: 0.504320 s, deltaX: -0.199999 m, approachRate: -0.396571 m/s, rangeRepo size: 4 2025-10-29T01:33:40.805Z,1761701620.805 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.483490 m, bearing: 312.079421 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.504320 s, deltaX: -0.198921 m, approachRate: -0.394434 m/s, posRepo size: 4 2025-10-29T01:33:40.806Z,1761701620.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.48 m. 2025-10-29T01:33:40.817Z,1761701620.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.483490 m, nav range: 19.586430 m, bearing: 312.118488 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.282751 deg, new cmd heading: 312.212474 deg. 2025-10-29T01:33:40.817Z,1761701620.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.449136 target range: 21.483490 and range: 21.60 m. 2025-10-29T01:33:40.865Z,1761701620.865 [DAT](INFO): checking for new query: numPingsReceived=36, elapsed TxPingTime=17.630638 2025-10-29T01:33:41.118Z,1761701621.118 [DAT](INFO): DAT read: Rx Time:01:33:40.6303 2025-10-29T01:33:41.129Z,1761701621.129 [DAT](INFO): Rx dataTimestamp_ set to:1761701621.118689 2025-10-29T01:33:41.130Z,1761701621.130 [DAT](INFO): DAT read: Bearing 138.1, 2.4 (Local) 2025-10-29T01:33:41.130Z,1761701621.130 [DAT](INFO): Local bearing/azimuth received: Bearing 138.1, 2.4 (Local) 2025-10-29T01:33:41.132Z,1761701621.132 [DAT](INFO): DAT read: Range 11 to 50 : 21.2 m (trip time 14.1 ms) speed 0.5 2025-10-29T01:33:41.137Z,1761701621.137 [DAT](INFO): DAT read: 01:33:40.6303 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.09, 2.913, 1.290,-3.032, 2.902, PHS= 0.113,-1.567, 0.305, RAW= 155.3, 12.8, CAL= 155.6, 14.4, ROT= 354.4, -14.4 2025-10-29T01:33:41.138Z,1761701621.138 [DAT](INFO): got valid direction response: 01:33:40.6303 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 503,-0.09, 2.913, 1.290,-3.032, 2.902, PHS= 0.113,-1.567, 0.305, RAW= 155.3, 12.8, CAL= 155.6, 14.4, ROT= 354.4, -14.4 2025-10-29T01:33:41.139Z,1761701621.139 [DAT](INFO): #Rx 37: Read range and direction messages. 2025-10-29T01:33:41.140Z,1761701621.140 [DAT](INFO): direction in FSK: [0.963960,-0.094517,0.248690] 2025-10-29T01:33:41.140Z,1761701621.140 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:41.143Z,1761701621.143 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=17.910021 2025-10-29T01:33:41.176Z,1761701621.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.700002,0.714140,0.000716],[-0.690308,0.676384,0.256866],[0.182954,-0.180301,0.966447]] 2025-10-29T01:33:41.257Z,1761701621.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.200001 m, deltaT: 0.504207 s, deltaX: -0.400000 m, approachRate: -0.793324 m/s, rangeRepo size: 4 2025-10-29T01:33:41.259Z,1761701621.259 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 21.085642 m, bearing: 312.390030 deg, lat: 36.779297 deg, lon: -121.859431 deg, deltaT: 0.504207 s, deltaX: -0.397848 m, approachRate: -0.789057 m/s, posRepo size: 4 2025-10-29T01:33:41.272Z,1761701621.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 21.09 m. 2025-10-29T01:33:41.275Z,1761701621.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 21.085642 m, nav range: 19.134417 m, bearing: 312.020716 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.212482 deg, new cmd heading: 312.154352 deg. 2025-10-29T01:33:41.276Z,1761701621.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.448121 target range: 21.085642 and range: 21.20 m. 2025-10-29T01:33:41.372Z,1761701621.372 [DAT](INFO): checking for new query: numPingsReceived=37, elapsed TxPingTime=18.138033 2025-10-29T01:33:41.536Z,1761701621.536 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:33:41.626Z,1761701621.626 [DAT](INFO): DAT read: Rx Time:01:33:41.1302 2025-10-29T01:33:41.627Z,1761701621.627 [DAT](INFO): Rx dataTimestamp_ set to:1761701621.626615 2025-10-29T01:33:41.629Z,1761701621.629 [DAT](INFO): DAT read: Bearing 139.5, 1.9 (Local) 2025-10-29T01:33:41.629Z,1761701621.629 [DAT](INFO): Local bearing/azimuth received: Bearing 139.5, 1.9 (Local) 2025-10-29T01:33:41.631Z,1761701621.631 [DAT](INFO): DAT read: Range 11 to 50 : 21.0 m (trip time 14.0 ms) speed 0.4 2025-10-29T01:33:41.635Z,1761701621.635 [DAT](INFO): DAT read: 01:33:41.1302 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.07,-1.800, 2.865,-1.459,-1.772, PHS= 0.074,-1.601, 0.269, RAW= 155.4, 14.0, CAL= 155.9, 15.9, ROT= 354.1, -15.9 2025-10-29T01:33:41.645Z,1761701621.645 [DAT](INFO): got valid direction response: 01:33:41.1302 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 502,-0.07,-1.800, 2.865,-1.459,-1.772, PHS= 0.074,-1.601, 0.269, RAW= 155.4, 14.0, CAL= 155.9, 15.9, ROT= 354.1, -15.9 2025-10-29T01:33:41.645Z,1761701621.645 [DAT](INFO): #Rx 38: Read range and direction messages. 2025-10-29T01:33:41.646Z,1761701621.646 [DAT](INFO): direction in FSK: [0.956647,-0.098860,0.273959] 2025-10-29T01:33:41.646Z,1761701621.646 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:41.655Z,1761701621.655 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.421362 2025-10-29T01:33:41.691Z,1761701621.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698840,0.715277,-0.001358],[-0.691072,0.675678,0.256669],[0.184507,-0.178432,0.966498]] 2025-10-29T01:33:41.823Z,1761701621.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 21.000000 m, deltaT: 0.507926 s, deltaX: -0.200001 m, approachRate: -0.393760 m/s, rangeRepo size: 4 2025-10-29T01:33:41.829Z,1761701621.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.886721 m, bearing: 312.256883 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.507926 s, deltaX: -0.198921 m, approachRate: -0.391634 m/s, posRepo size: 4 2025-10-29T01:33:41.830Z,1761701621.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.89 m. 2025-10-29T01:33:41.837Z,1761701621.837 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.886721 m, nav range: 18.609007 m, bearing: 312.232270 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.154344 deg, new cmd heading: 312.081073 deg. 2025-10-29T01:33:41.841Z,1761701621.841 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.446842 target range: 20.886721 and range: 21.00 m. 2025-10-29T01:33:41.873Z,1761701621.873 [DAT](INFO): checking for new query: numPingsReceived=38, elapsed TxPingTime=18.639984 2025-10-29T01:33:42.128Z,1761701622.128 [DAT](INFO): DAT read: Rx Time:01:33:41.6299 2025-10-29T01:33:42.128Z,1761701622.128 [DAT](INFO): Rx dataTimestamp_ set to:1761701622.128178 2025-10-29T01:33:42.130Z,1761701622.130 [DAT](INFO): DAT read: Bearing 140.5, 1.8 (Local) 2025-10-29T01:33:42.130Z,1761701622.130 [DAT](INFO): Local bearing/azimuth received: Bearing 140.5, 1.8 (Local) 2025-10-29T01:33:42.133Z,1761701622.133 [DAT](INFO): DAT read: Range 11 to 50 : 20.6 m (trip time 13.7 ms) speed 0.5 2025-10-29T01:33:42.138Z,1761701622.138 [DAT](INFO): DAT read: 01:33:41.6299 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.08,-2.557, 2.113,-2.220,-2.505, PHS= 0.050,-1.620, 0.241, RAW= 155.3, 14.8, CAL= 155.9, 16.9, ROT= 354.1, -16.9 2025-10-29T01:33:42.139Z,1761701622.139 [DAT](INFO): got valid direction response: 01:33:41.6299 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 499,-0.08,-2.557, 2.113,-2.220,-2.505, PHS= 0.050,-1.620, 0.241, RAW= 155.3, 14.8, CAL= 155.9, 16.9, ROT= 354.1, -16.9 2025-10-29T01:33:42.139Z,1761701622.139 [DAT](INFO): #Rx 39: Read range and direction messages. 2025-10-29T01:33:42.140Z,1761701622.140 [DAT](INFO): direction in FSK: [0.951745,-0.098353,0.290702] 2025-10-29T01:33:42.140Z,1761701622.140 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:42.149Z,1761701622.149 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=18.915953 2025-10-29T01:33:42.186Z,1761701622.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.698099,0.715998,-0.002227],[-0.691580,0.675091,0.256844],[0.185403,-0.177762,0.966450]] 2025-10-29T01:33:42.258Z,1761701622.258 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.600000 m, deltaT: 0.501563 s, deltaX: -0.400000 m, approachRate: -0.797506 m/s, rangeRepo size: 4 2025-10-29T01:33:42.265Z,1761701622.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.488829 m, bearing: 312.393627 deg, lat: 36.779297 deg, lon: -121.859428 deg, deltaT: 0.501563 s, deltaX: -0.397892 m, approachRate: -0.793304 m/s, posRepo size: 4 2025-10-29T01:33:42.265Z,1761701622.265 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.49 m. 2025-10-29T01:33:42.272Z,1761701622.272 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.488829 m, nav range: 18.313246 m, bearing: 312.161627 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.081069 deg, new cmd heading: 312.025157 deg. 2025-10-29T01:33:42.273Z,1761701622.273 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.445866 target range: 20.488829 and range: 20.60 m. 2025-10-29T01:33:42.381Z,1761701622.381 [DAT](INFO): checking for new query: numPingsReceived=39, elapsed TxPingTime=19.147436 2025-10-29T01:33:42.630Z,1761701622.630 [DAT](INFO): DAT read: Rx Time:01:33:42.1297 2025-10-29T01:33:42.630Z,1761701622.630 [DAT](INFO): Rx dataTimestamp_ set to:1761701622.629701 2025-10-29T01:33:42.631Z,1761701622.631 [DAT](INFO): DAT read: Bearing 140.4, 1.8 (Local) 2025-10-29T01:33:42.632Z,1761701622.632 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, 1.8 (Local) 2025-10-29T01:33:42.634Z,1761701622.634 [DAT](INFO): DAT read: Range 11 to 50 : 20.3 m (trip time 13.5 ms) speed 0.5 2025-10-29T01:33:42.638Z,1761701622.638 [DAT](INFO): DAT read: 01:33:42.1297 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.09,-2.445, 2.226,-2.109,-2.390, PHS= 0.047,-1.622, 0.237, RAW= 155.3, 14.9, CAL= 155.9, 17.1, ROT= 354.1, -17.1 2025-10-29T01:33:42.639Z,1761701622.639 [DAT](INFO): got valid direction response: 01:33:42.1297 LVL= 32752, 32753, 32754, 32755, AGC= 61, IDX= 497,-0.09,-2.445, 2.226,-2.109,-2.390, PHS= 0.047,-1.622, 0.237, RAW= 155.3, 14.9, CAL= 155.9, 17.1, ROT= 354.1, -17.1 2025-10-29T01:33:42.640Z,1761701622.640 [DAT](INFO): #Rx 40: Read range and direction messages. 2025-10-29T01:33:42.641Z,1761701622.641 [DAT](INFO): direction in FSK: [0.950730,-0.098248,0.294040] 2025-10-29T01:33:42.641Z,1761701622.641 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:42.645Z,1761701622.645 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.411209 2025-10-29T01:33:42.681Z,1761701622.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.696601,0.717459,0.000123],[-0.692768,0.672583,0.260199],[0.186599,-0.181340,0.965555]] 2025-10-29T01:33:42.801Z,1761701622.801 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 20.299999 m, deltaT: 0.501523 s, deltaX: -0.300001 m, approachRate: -0.598180 m/s, rangeRepo size: 4 2025-10-29T01:33:42.803Z,1761701622.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 20.190445 m, bearing: 312.396737 deg, lat: 36.779296 deg, lon: -121.859428 deg, deltaT: 0.501523 s, deltaX: -0.298384 m, approachRate: -0.594955 m/s, posRepo size: 4 2025-10-29T01:33:42.808Z,1761701622.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 20.19 m. 2025-10-29T01:33:42.811Z,1761701622.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 20.190445 m, nav range: 17.883842 m, bearing: 311.987060 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 312.025144 deg, new cmd heading: 311.955447 deg. 2025-10-29T01:33:42.816Z,1761701622.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.444650 target range: 20.190445 and range: 20.30 m. 2025-10-29T01:33:42.882Z,1761701622.882 [DAT](INFO): checking for new query: numPingsReceived=40, elapsed TxPingTime=19.647942 2025-10-29T01:33:43.134Z,1761701623.134 [DAT](INFO): DAT read: Rx Time:01:33:42.6294 2025-10-29T01:33:43.134Z,1761701623.134 [DAT](INFO): Rx dataTimestamp_ set to:1761701623.133781 2025-10-29T01:33:43.135Z,1761701623.135 [DAT](INFO): DAT read: Bearing 140.4, 2.1 (Local) 2025-10-29T01:33:43.136Z,1761701623.136 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, 2.1 (Local) 2025-10-29T01:33:43.138Z,1761701623.138 [DAT](INFO): DAT read: Range 11 to 50 : 19.8 m (trip time 13.2 ms) speed 0.5 2025-10-29T01:33:43.147Z,1761701623.147 [DAT](INFO): DAT read: 01:33:42.6294 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.13, 2.934, 1.315,-3.025, 2.985, PHS= 0.051,-1.625, 0.230, RAW= 155.0, 15.0, CAL= 155.6, 17.1, ROT= 354.4, -17.1 2025-10-29T01:33:43.153Z,1761701623.153 [DAT](INFO): got valid direction response: 01:33:42.6294 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 510,-0.13, 2.934, 1.315,-3.025, 2.985, PHS= 0.051,-1.625, 0.230, RAW= 155.0, 15.0, CAL= 155.6, 17.1, ROT= 354.4, -17.1 2025-10-29T01:33:43.153Z,1761701623.153 [DAT](INFO): #Rx 41: Read range and direction messages. 2025-10-29T01:33:43.154Z,1761701623.154 [DAT](INFO): direction in FSK: [0.951231,-0.093269,0.294040] 2025-10-29T01:33:43.154Z,1761701623.154 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:43.166Z,1761701623.166 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=19.932638 2025-10-29T01:33:43.179Z,1761701623.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.694765,0.719229,0.003312],[-0.694278,0.669446,0.264233],[0.187827,-0.185879,0.964453]] 2025-10-29T01:33:43.246Z,1761701623.246 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.799999 m, deltaT: 0.504080 s, deltaX: -0.500000 m, approachRate: -0.991906 m/s, rangeRepo size: 4 2025-10-29T01:33:43.261Z,1761701623.261 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.693235 m, bearing: 312.672884 deg, lat: 36.779296 deg, lon: -121.859426 deg, deltaT: 0.504080 s, deltaX: -0.497210 m, approachRate: -0.986370 m/s, posRepo size: 4 2025-10-29T01:33:43.262Z,1761701623.262 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.69 m. 2025-10-29T01:33:43.271Z,1761701623.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.693235 m, nav range: 17.443110 m, bearing: 312.375976 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.955449 deg, new cmd heading: 311.899083 deg. 2025-10-29T01:33:43.271Z,1761701623.271 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.443666 target range: 19.693235 and range: 19.80 m. 2025-10-29T01:33:43.389Z,1761701623.389 [DAT](INFO): checking for new query: numPingsReceived=41, elapsed TxPingTime=20.155016 2025-10-29T01:33:43.638Z,1761701623.638 [DAT](INFO): DAT read: Rx Time:01:33:43.1293 2025-10-29T01:33:43.638Z,1761701623.638 [DAT](INFO): Rx dataTimestamp_ set to:1761701623.637901 2025-10-29T01:33:43.639Z,1761701623.639 [DAT](INFO): DAT read: Bearing 139.6, 1.9 (Local) 2025-10-29T01:33:43.640Z,1761701623.640 [DAT](INFO): Local bearing/azimuth received: Bearing 139.6, 1.9 (Local) 2025-10-29T01:33:43.642Z,1761701623.642 [DAT](INFO): DAT read: Range 11 to 50 : 19.7 m (trip time 13.1 ms) speed 0.7 2025-10-29T01:33:43.647Z,1761701623.647 [DAT](INFO): DAT read: 01:33:43.1293 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.20,-2.556, 2.110,-2.222,-2.514, PHS= 0.059,-1.615, 0.248, RAW= 155.3, 14.6, CAL= 155.8, 16.6, ROT= 354.2, -16.6 2025-10-29T01:33:43.648Z,1761701623.648 [DAT](INFO): got valid direction response: 01:33:43.1293 LVL= 32752, 32753, 32754, 32755, AGC= 59, IDX= 509,-0.20,-2.556, 2.110,-2.222,-2.514, PHS= 0.059,-1.615, 0.248, RAW= 155.3, 14.6, CAL= 155.8, 16.6, ROT= 354.2, -16.6 2025-10-29T01:33:43.648Z,1761701623.648 [DAT](INFO): #Rx 42: Read range and direction messages. 2025-10-29T01:33:43.649Z,1761701623.649 [DAT](INFO): direction in FSK: [0.953417,-0.096844,0.285688] 2025-10-29T01:33:43.649Z,1761701623.649 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:43.653Z,1761701623.653 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.692828,0.721072,0.006686],[-0.695867,0.666120,0.268428],[0.189102,-0.190627,0.963277]] 2025-10-29T01:33:43.661Z,1761701623.661 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.427813 2025-10-29T01:33:43.820Z,1761701623.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.700001 m, deltaT: 0.504120 s, deltaX: -0.099998 m, approachRate: -0.198362 m/s, rangeRepo size: 4 2025-10-29T01:33:43.822Z,1761701623.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 19.593777 m, bearing: 312.300861 deg, lat: 36.779296 deg, lon: -121.859426 deg, deltaT: 0.504120 s, deltaX: -0.099459 m, approachRate: -0.197292 m/s, posRepo size: 4 2025-10-29T01:33:43.823Z,1761701623.823 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.59 m. 2025-10-29T01:33:43.830Z,1761701623.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 19.593777 m, nav range: 17.049498 m, bearing: 312.381165 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.899086 deg, new cmd heading: 311.826265 deg. 2025-10-29T01:33:43.831Z,1761701623.831 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.442395 target range: 19.593777 and range: 19.70 m. 2025-10-29T01:33:43.890Z,1761701623.890 [DAT](INFO): checking for new query: numPingsReceived=42, elapsed TxPingTime=20.656557 2025-10-29T01:33:44.142Z,1761701624.142 [DAT](INFO): DAT read: Rx Time:01:33:43.6290 2025-10-29T01:33:44.142Z,1761701624.142 [DAT](INFO): Rx dataTimestamp_ set to:1761701624.141841 2025-10-29T01:33:44.143Z,1761701624.143 [DAT](INFO): DAT read: Bearing 140.0, 2.2 (Local) 2025-10-29T01:33:44.144Z,1761701624.144 [DAT](INFO): Local bearing/azimuth received: Bearing 140.0, 2.2 (Local) 2025-10-29T01:33:44.146Z,1761701624.146 [DAT](INFO): DAT read: Range 11 to 50 : 19.1 m (trip time 12.7 ms) speed 0.6 2025-10-29T01:33:44.150Z,1761701624.150 [DAT](INFO): DAT read: 01:33:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.39, 2.775, 1.153, 3.094, 2.822, PHS= 0.055,-1.624, 0.228, RAW= 154.8, 15.0, CAL= 155.4, 17.0, ROT= 354.6, -17.0 2025-10-29T01:33:44.152Z,1761701624.152 [DAT](INFO): got valid direction response: 01:33:43.6290 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 506,-0.39, 2.775, 1.153, 3.094, 2.822, PHS= 0.055,-1.624, 0.228, RAW= 154.8, 15.0, CAL= 155.4, 17.0, ROT= 354.6, -17.0 2025-10-29T01:33:44.156Z,1761701624.156 [DAT](INFO): #Rx 43: Read range and direction messages. 2025-10-29T01:33:44.157Z,1761701624.157 [DAT](INFO): direction in FSK: [0.952061,-0.089996,0.292372] 2025-10-29T01:33:44.157Z,1761701624.157 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:44.161Z,1761701624.161 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=20.927839 2025-10-29T01:33:44.176Z,1761701624.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688904,0.724726,0.013527],[-0.699081,0.659363,0.276633],[0.191564,-0.200030,0.960881]] 2025-10-29T01:33:44.285Z,1761701624.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 19.100000 m, deltaT: 0.503940 s, deltaX: -0.600000 m, approachRate: -1.190619 m/s, rangeRepo size: 4 2025-10-29T01:33:44.287Z,1761701624.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.997042 m, bearing: 312.715314 deg, lat: 36.779296 deg, lon: -121.859426 deg, deltaT: 0.503940 s, deltaX: -0.596735 m, approachRate: -1.184139 m/s, posRepo size: 4 2025-10-29T01:33:44.287Z,1761701624.287 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 19.00 m. 2025-10-29T01:33:44.298Z,1761701624.298 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.997042 m, nav range: 16.724707 m, bearing: 312.448594 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.826276 deg, new cmd heading: 311.765643 deg. 2025-10-29T01:33:44.299Z,1761701624.299 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.441337 target range: 18.997042 and range: 19.10 m. 2025-10-29T01:33:44.397Z,1761701624.397 [DAT](INFO): checking for new query: numPingsReceived=43, elapsed TxPingTime=21.162697 2025-10-29T01:33:44.646Z,1761701624.646 [DAT](INFO): DAT read: Rx Time:01:33:44.1289 2025-10-29T01:33:44.646Z,1761701624.646 [DAT](INFO): Rx dataTimestamp_ set to:1761701624.645860 2025-10-29T01:33:44.647Z,1761701624.647 [DAT](INFO): DAT read: Bearing 135.9, 3.9 (Local) 2025-10-29T01:33:44.648Z,1761701624.648 [DAT](INFO): Local bearing/azimuth received: Bearing 135.9, 3.9 (Local) 2025-10-29T01:33:44.650Z,1761701624.650 [DAT](INFO): DAT read: Range 11 to 50 : 18.9 m (trip time 12.6 ms) speed 0.7 2025-10-29T01:33:44.655Z,1761701624.655 [DAT](INFO): DAT read: 01:33:44.1289 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.33,-1.650, 3.001,-1.337,-1.712, PHS= 0.164,-1.526, 0.331, RAW= 154.7, 11.6, CAL= 154.7, 12.8, ROT= 355.3, -12.8 2025-10-29T01:33:44.656Z,1761701624.656 [DAT](INFO): got valid direction response: 01:33:44.1289 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 504, 0.33,-1.650, 3.001,-1.337,-1.712, PHS= 0.164,-1.526, 0.331, RAW= 154.7, 11.6, CAL= 154.7, 12.8, ROT= 355.3, -12.8 2025-10-29T01:33:44.656Z,1761701624.656 [DAT](INFO): #Rx 44: Read range and direction messages. 2025-10-29T01:33:44.657Z,1761701624.657 [DAT](INFO): direction in FSK: [0.971870,-0.079902,0.221548] 2025-10-29T01:33:44.658Z,1761701624.658 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:44.661Z,1761701624.661 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.427916 2025-10-29T01:33:44.680Z,1761701624.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687088,0.726420,0.014982],[-0.700580,0.656898,0.278698],[0.192610,-0.201986,0.960262]] 2025-10-29T01:33:44.897Z,1761701624.897 [DAT](INFO): checking for new query: numPingsReceived=44, elapsed TxPingTime=21.663626 2025-10-29T01:33:44.924Z,1761701624.924 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.900000 m, deltaT: 0.504019 s, deltaX: -0.200001 m, approachRate: -0.396812 m/s, rangeRepo size: 4 2025-10-29T01:33:44.926Z,1761701624.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.798120 m, bearing: 312.389201 deg, lat: 36.779296 deg, lon: -121.859426 deg, deltaT: 0.504019 s, deltaX: -0.198921 m, approachRate: -0.394670 m/s, posRepo size: 4 2025-10-29T01:33:44.927Z,1761701624.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.80 m. 2025-10-29T01:33:44.930Z,1761701624.930 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.798120 m, nav range: 16.287903 m, bearing: 312.439060 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.765651 deg, new cmd heading: 311.683055 deg. 2025-10-29T01:33:44.931Z,1761701624.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.439896 target range: 18.798120 and range: 18.90 m. 2025-10-29T01:33:45.150Z,1761701625.150 [DAT](INFO): DAT read: Rx Time:01:33:44.6286 2025-10-29T01:33:45.151Z,1761701625.151 [DAT](INFO): Rx dataTimestamp_ set to:1761701625.150557 2025-10-29T01:33:45.152Z,1761701625.152 [DAT](INFO): DAT read: Bearing 134.7, 4.8 (Local) 2025-10-29T01:33:45.153Z,1761701625.153 [DAT](INFO): Local bearing/azimuth received: Bearing 134.7, 4.8 (Local) 2025-10-29T01:33:45.155Z,1761701625.155 [DAT](INFO): DAT read: Range 11 to 50 : 18.6 m (trip time 12.4 ms) speed 0.7 2025-10-29T01:33:45.187Z,1761701625.187 [DAT](INFO): DAT read: 01:33:44.6286 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.04,-2.987, 1.628,-2.686,-3.092, PHS= 0.207,-1.519, 0.362, RAW= 154.3, 10.5, CAL= 154.1, 11.5, ROT= 355.9, -11.5 2025-10-29T01:33:45.205Z,1761701625.205 [DAT](INFO): got valid direction response: 01:33:44.6286 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 501, 0.04,-2.987, 1.628,-2.686,-3.092, PHS= 0.207,-1.519, 0.362, RAW= 154.3, 10.5, CAL= 154.1, 11.5, ROT= 355.9, -11.5 2025-10-29T01:33:45.206Z,1761701625.206 [DAT](INFO): #Rx 45: Read range and direction messages. 2025-10-29T01:33:45.207Z,1761701625.207 [DAT](INFO): direction in FSK: [0.977417,-0.070062,0.199368] 2025-10-29T01:33:45.207Z,1761701625.207 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:45.225Z,1761701625.225 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=21.991446 2025-10-29T01:33:45.277Z,1761701625.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685337,0.728041,0.016420],[-0.701969,0.654458,0.280936],[0.193787,-0.204062,0.959586]] 2025-10-29T01:33:45.345Z,1761701625.345 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.600000 m, deltaT: 0.504697 s, deltaX: -0.299999 m, approachRate: -0.594415 m/s, rangeRepo size: 4 2025-10-29T01:33:45.347Z,1761701625.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.499687 m, bearing: 312.625196 deg, lat: 36.779297 deg, lon: -121.859428 deg, deltaT: 0.504697 s, deltaX: -0.298433 m, approachRate: -0.591312 m/s, posRepo size: 4 2025-10-29T01:33:45.347Z,1761701625.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.50 m. 2025-10-29T01:33:45.354Z,1761701625.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.499687 m, nav range: 16.206253 m, bearing: 312.352578 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.683061 deg, new cmd heading: 311.629619 deg. 2025-10-29T01:33:45.355Z,1761701625.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.438963 target range: 18.499687 and range: 18.60 m. 2025-10-29T01:33:45.404Z,1761701625.404 [DAT](INFO): checking for new query: numPingsReceived=45, elapsed TxPingTime=22.170155 2025-10-29T01:33:45.654Z,1761701625.654 [DAT](INFO): DAT read: Rx Time:01:33:45.1284 2025-10-29T01:33:45.654Z,1761701625.654 [DAT](INFO): Rx dataTimestamp_ set to:1761701625.653718 2025-10-29T01:33:45.655Z,1761701625.655 [DAT](INFO): DAT read: Bearing 137.6, 2.9 (Local) 2025-10-29T01:33:45.656Z,1761701625.656 [DAT](INFO): Local bearing/azimuth received: Bearing 137.6, 2.9 (Local) 2025-10-29T01:33:45.658Z,1761701625.658 [DAT](INFO): DAT read: Range 11 to 50 : 18.3 m (trip time 12.2 ms) speed 0.9 2025-10-29T01:33:45.662Z,1761701625.662 [DAT](INFO): DAT read: 01:33:45.1284 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.46,-1.307,-2.954,-0.976,-1.315, PHS= 0.110,-1.594, 0.295, RAW= 155.1, 13.1, CAL= 155.4, 14.8, ROT= 354.6, -14.8 2025-10-29T01:33:45.663Z,1761701625.663 [DAT](INFO): got valid direction response: 01:33:45.1284 LVL= 32752, 32753, 32754, 32755, AGC= 60, IDX= 500,-0.46,-1.307,-2.954,-0.976,-1.315, PHS= 0.110,-1.594, 0.295, RAW= 155.1, 13.1, CAL= 155.4, 14.8, ROT= 354.6, -14.8 2025-10-29T01:33:45.672Z,1761701625.672 [DAT](INFO): #Rx 46: Read range and direction messages. 2025-10-29T01:33:45.673Z,1761701625.673 [DAT](INFO): direction in FSK: [0.962533,-0.090986,0.255446] 2025-10-29T01:33:45.673Z,1761701625.673 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:45.693Z,1761701625.693 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.460052 2025-10-29T01:33:45.770Z,1761701625.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.681917,0.731295,0.014034],[-0.704660,0.651694,0.280623],[0.196072,-0.201251,0.959715]] 2025-10-29T01:33:45.872Z,1761701625.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 18.299999 m, deltaT: 0.503161 s, deltaX: -0.300001 m, approachRate: -0.596233 m/s, rangeRepo size: 4 2025-10-29T01:33:45.874Z,1761701625.874 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 18.201305 m, bearing: 311.707062 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.503161 s, deltaX: -0.298382 m, approachRate: -0.593015 m/s, posRepo size: 4 2025-10-29T01:33:45.875Z,1761701625.875 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 18.20 m. 2025-10-29T01:33:45.882Z,1761701625.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 18.201305 m, nav range: 16.234114 m, bearing: 311.707119 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.629621 deg, new cmd heading: 311.561917 deg. 2025-10-29T01:33:45.883Z,1761701625.883 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.437781 target range: 18.201305 and range: 18.30 m. 2025-10-29T01:33:45.905Z,1761701625.905 [DAT](INFO): checking for new query: numPingsReceived=46, elapsed TxPingTime=22.672003 2025-10-29T01:33:46.158Z,1761701626.158 [DAT](INFO): DAT read: Rx Time:01:33:45.6281 2025-10-29T01:33:46.158Z,1761701626.158 [DAT](INFO): Rx dataTimestamp_ set to:1761701626.157722 2025-10-29T01:33:46.159Z,1761701626.159 [DAT](INFO): DAT read: Bearing 138.9, 3.4 (Local) 2025-10-29T01:33:46.160Z,1761701626.160 [DAT](INFO): Local bearing/azimuth received: Bearing 138.9, 3.4 (Local) 2025-10-29T01:33:46.166Z,1761701626.166 [DAT](INFO): DAT read: Range 11 to 50 : 17.9 m (trip time 11.9 ms) speed 0.8 2025-10-29T01:33:46.170Z,1761701626.170 [DAT](INFO): DAT read: 01:33:45.6281 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.04,-1.224,-2.873,-0.925,-1.215, PHS= 0.094,-1.613, 0.246, RAW= 154.2, 14.1, CAL= 154.6, 16.0, ROT= 355.4, -16.0 2025-10-29T01:33:46.171Z,1761701626.171 [DAT](INFO): got valid direction response: 01:33:45.6281 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 496, 0.04,-1.224,-2.873,-0.925,-1.215, PHS= 0.094,-1.613, 0.246, RAW= 154.2, 14.1, CAL= 154.6, 16.0, ROT= 355.4, -16.0 2025-10-29T01:33:46.204Z,1761701626.204 [DAT](INFO): #Rx 47: Read range and direction messages. 2025-10-29T01:33:46.205Z,1761701626.205 [DAT](INFO): direction in FSK: [0.958165,-0.077092,0.275637] 2025-10-29T01:33:46.205Z,1761701626.205 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:46.209Z,1761701626.209 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=22.975294 2025-10-29T01:33:46.235Z,1761701626.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680297,0.732845,0.011541],[-0.705924,0.650908,0.279266],[0.197146,-0.198131,0.960144]] 2025-10-29T01:33:46.333Z,1761701626.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.900000 m, deltaT: 0.504004 s, deltaX: -0.400000 m, approachRate: -0.793644 m/s, rangeRepo size: 4 2025-10-29T01:33:46.335Z,1761701626.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.803385 m, bearing: 312.656695 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.504004 s, deltaX: -0.397921 m, approachRate: -0.789519 m/s, posRepo size: 4 2025-10-29T01:33:46.340Z,1761701626.340 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.80 m. 2025-10-29T01:33:46.343Z,1761701626.343 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.803385 m, nav range: 15.954410 m, bearing: 311.904075 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.561920 deg, new cmd heading: 311.502188 deg. 2025-10-29T01:33:46.348Z,1761701626.348 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.436739 target range: 17.803385 and range: 17.90 m. 2025-10-29T01:33:46.410Z,1761701626.410 [DAT](INFO): checking for new query: numPingsReceived=47, elapsed TxPingTime=23.176455 2025-10-29T01:33:46.661Z,1761701626.661 [DAT](INFO): DAT read: Rx Time:01:33:46.1279 2025-10-29T01:33:46.662Z,1761701626.662 [DAT](INFO): Rx dataTimestamp_ set to:1761701626.661536 2025-10-29T01:33:46.663Z,1761701626.663 [DAT](INFO): DAT read: Bearing 138.7, 2.9 (Local) 2025-10-29T01:33:46.663Z,1761701626.663 [DAT](INFO): Local bearing/azimuth received: Bearing 138.7, 2.9 (Local) 2025-10-29T01:33:46.666Z,1761701626.666 [DAT](INFO): DAT read: Range 11 to 50 : 17.6 m (trip time 11.7 ms) speed 0.8 2025-10-29T01:33:46.670Z,1761701626.670 [DAT](INFO): DAT read: 01:33:46.1279 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.34, 3.038, 1.391,-2.925, 3.052, PHS= 0.088,-1.617, 0.262, RAW= 154.8, 14.0, CAL= 155.2, 15.8, ROT= 354.8, -15.8 2025-10-29T01:33:46.671Z,1761701626.671 [DAT](INFO): got valid direction response: 01:33:46.1279 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 510,-0.34, 3.038, 1.391,-2.925, 3.052, PHS= 0.088,-1.617, 0.262, RAW= 154.8, 14.0, CAL= 155.2, 15.8, ROT= 354.8, -15.8 2025-10-29T01:33:46.671Z,1761701626.671 [DAT](INFO): #Rx 48: Read range and direction messages. 2025-10-29T01:33:46.672Z,1761701626.672 [DAT](INFO): direction in FSK: [0.958258,-0.087208,0.272280] 2025-10-29T01:33:46.673Z,1761701626.673 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:46.676Z,1761701626.676 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.442932 2025-10-29T01:33:46.713Z,1761701626.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678636,0.734424,0.008673],[-0.707238,0.650238,0.277499],[0.198163,-0.194454,0.960687]] 2025-10-29T01:33:46.836Z,1761701626.836 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.600000 m, deltaT: 0.503814 s, deltaX: -0.299999 m, approachRate: -0.595456 m/s, rangeRepo size: 4 2025-10-29T01:33:46.838Z,1761701626.838 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 17.505005 m, bearing: 311.777205 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.503814 s, deltaX: -0.298380 m, approachRate: -0.592242 m/s, posRepo size: 4 2025-10-29T01:33:46.839Z,1761701626.839 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 17.51 m. 2025-10-29T01:33:46.842Z,1761701626.842 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 17.505005 m, nav range: 15.594413 m, bearing: 311.935249 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.502197 deg, new cmd heading: 311.438203 deg. 2025-10-29T01:33:46.843Z,1761701626.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.435622 target range: 17.505005 and range: 17.60 m. 2025-10-29T01:33:46.914Z,1761701626.914 [DAT](INFO): checking for new query: numPingsReceived=48, elapsed TxPingTime=23.680576 2025-10-29T01:33:47.166Z,1761701627.166 [DAT](INFO): DAT read: Rx Time:01:33:46.6275 2025-10-29T01:33:47.166Z,1761701627.166 [DAT](INFO): Rx dataTimestamp_ set to:1761701627.165738 2025-10-29T01:33:47.167Z,1761701627.167 [DAT](INFO): DAT read: Bearing 138.8, 3.4 (Local) 2025-10-29T01:33:47.168Z,1761701627.168 [DAT](INFO): Local bearing/azimuth received: Bearing 138.8, 3.4 (Local) 2025-10-29T01:33:47.170Z,1761701627.170 [DAT](INFO): DAT read: Range 11 to 50 : 17.0 m (trip time 11.3 ms) speed 0.7 2025-10-29T01:33:47.174Z,1761701627.174 [DAT](INFO): DAT read: 01:33:46.6275 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.06,-2.318, 2.311,-2.013,-2.311, PHS= 0.095,-1.616, 0.254, RAW= 154.4, 14.0, CAL= 154.8, 15.8, ROT= 355.2, -15.8 2025-10-29T01:33:47.175Z,1761701627.175 [DAT](INFO): got valid direction response: 01:33:46.6275 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506, 0.06,-2.318, 2.311,-2.013,-2.311, PHS= 0.095,-1.616, 0.254, RAW= 154.4, 14.0, CAL= 154.8, 15.8, ROT= 355.2, -15.8 2025-10-29T01:33:47.176Z,1761701627.176 [DAT](INFO): #Rx 49: Read range and direction messages. 2025-10-29T01:33:47.177Z,1761701627.177 [DAT](INFO): direction in FSK: [0.958843,-0.080516,0.272280] 2025-10-29T01:33:47.178Z,1761701627.178 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:47.181Z,1761701627.181 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=23.947876 2025-10-29T01:33:47.195Z,1761701627.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.677520,0.735462,0.007831],[-0.707966,0.649230,0.277999],[0.199374,-0.193894,0.960549]] 2025-10-29T01:33:47.286Z,1761701627.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 17.000000 m, deltaT: 0.504202 s, deltaX: -0.600000 m, approachRate: -1.190000 m/s, rangeRepo size: 4 2025-10-29T01:33:47.312Z,1761701627.312 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.908064 m, bearing: 312.116556 deg, lat: 36.779298 deg, lon: -121.859432 deg, deltaT: 0.504202 s, deltaX: -0.596941 m, approachRate: -1.183932 m/s, posRepo size: 4 2025-10-29T01:33:47.313Z,1761701627.313 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.91 m. 2025-10-29T01:33:47.315Z,1761701627.315 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.908064 m, nav range: 15.191517 m, bearing: 311.943825 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.438212 deg, new cmd heading: 311.379981 deg. 2025-10-29T01:33:47.325Z,1761701627.325 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.434606 target range: 16.908064 and range: 17.00 m. 2025-10-29T01:33:47.418Z,1761701627.418 [DAT](INFO): checking for new query: numPingsReceived=49, elapsed TxPingTime=24.184118 2025-10-29T01:33:47.658Z,1761701627.658 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676463,0.736443,0.007062],[-0.708587,0.648201,0.278820],[0.200758,-0.193615,0.960317]] 2025-10-29T01:33:47.674Z,1761701627.674 [DAT](INFO): DAT read: Rx Time:01:33:47.1274 2025-10-29T01:33:47.674Z,1761701627.674 [DAT](INFO): Rx dataTimestamp_ set to:1761701627.673780 2025-10-29T01:33:47.675Z,1761701627.675 [DAT](INFO): DAT read: Bearing 140.0, 3.2 (Local) 2025-10-29T01:33:47.676Z,1761701627.676 [DAT](INFO): Local bearing/azimuth received: Bearing 140.0, 3.2 (Local) 2025-10-29T01:33:47.678Z,1761701627.678 [DAT](INFO): DAT read: Range 11 to 50 : 16.8 m (trip time 11.2 ms) speed 0.7 2025-10-29T01:33:47.683Z,1761701627.683 [DAT](INFO): DAT read: 01:33:47.1274 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.44,-1.792, 2.848,-1.494,-1.756, PHS= 0.066,-1.634, 0.218, RAW= 154.2, 15.0, CAL= 154.7, 17.0, ROT= 355.3, -17.0 2025-10-29T01:33:47.685Z,1761701627.685 [DAT](INFO): got valid direction response: 01:33:47.1274 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 505,-0.44,-1.792, 2.848,-1.494,-1.756, PHS= 0.066,-1.634, 0.218, RAW= 154.2, 15.0, CAL= 154.7, 17.0, ROT= 355.3, -17.0 2025-10-29T01:33:47.685Z,1761701627.685 [DAT](INFO): #Rx 50: Read range and direction messages. 2025-10-29T01:33:47.686Z,1761701627.686 [DAT](INFO): direction in FSK: [0.953089,-0.078358,0.292372] 2025-10-29T01:33:47.686Z,1761701627.686 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:47.694Z,1761701627.694 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.460432 2025-10-29T01:33:47.825Z,1761701627.825 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.799999 m, deltaT: 0.508042 s, deltaX: -0.200001 m, approachRate: -0.393670 m/s, rangeRepo size: 4 2025-10-29T01:33:47.827Z,1761701627.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.709145 m, bearing: 312.422745 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.508042 s, deltaX: -0.198919 m, approachRate: -0.391541 m/s, posRepo size: 4 2025-10-29T01:33:47.827Z,1761701627.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.71 m. 2025-10-29T01:33:47.834Z,1761701627.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.709145 m, nav range: 14.619085 m, bearing: 312.390722 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.379991 deg, new cmd heading: 311.312906 deg. 2025-10-29T01:33:47.835Z,1761701627.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.433435 target range: 16.709145 and range: 16.80 m. 2025-10-29T01:33:47.922Z,1761701627.922 [DAT](INFO): checking for new query: numPingsReceived=50, elapsed TxPingTime=24.688168 2025-10-29T01:33:48.174Z,1761701628.174 [DAT](INFO): DAT read: Rx Time:01:33:47.6270 2025-10-29T01:33:48.174Z,1761701628.174 [DAT](INFO): Rx dataTimestamp_ set to:1761701628.173710 2025-10-29T01:33:48.175Z,1761701628.175 [DAT](INFO): DAT read: Bearing 138.2, 4.4 (Local) 2025-10-29T01:33:48.176Z,1761701628.176 [DAT](INFO): Local bearing/azimuth received: Bearing 138.2, 4.4 (Local) 2025-10-29T01:33:48.178Z,1761701628.178 [DAT](INFO): DAT read: Range 11 to 50 : 16.2 m (trip time 10.8 ms) speed 0.6 2025-10-29T01:33:48.182Z,1761701628.182 [DAT](INFO): DAT read: 01:33:47.6270 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.02,-1.987, 2.612,-1.704,-2.011, PHS= 0.125,-1.616, 0.263, RAW= 153.8, 13.5, CAL= 154.0, 15.1, ROT= 356.0, -15.1 2025-10-29T01:33:48.183Z,1761701628.183 [DAT](INFO): got valid direction response: 01:33:47.6270 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 501, 0.02,-1.987, 2.612,-1.704,-2.011, PHS= 0.125,-1.616, 0.263, RAW= 153.8, 13.5, CAL= 154.0, 15.1, ROT= 356.0, -15.1 2025-10-29T01:33:48.188Z,1761701628.188 [DAT](INFO): #Rx 51: Read range and direction messages. 2025-10-29T01:33:48.189Z,1761701628.189 [DAT](INFO): direction in FSK: [0.963121,-0.067348,0.260505] 2025-10-29T01:33:48.189Z,1761701628.189 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:48.195Z,1761701628.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673509,0.739172,0.003256],[-0.710560,0.646213,0.278411],[0.203690,-0.189826,0.960456]] 2025-10-29T01:33:48.225Z,1761701628.225 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=24.991701 2025-10-29T01:33:48.324Z,1761701628.324 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.200001 m, deltaT: 0.499930 s, deltaX: -0.599998 m, approachRate: -1.200165 m/s, rangeRepo size: 4 2025-10-29T01:33:48.326Z,1761701628.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.112486 m, bearing: 312.462911 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.499930 s, deltaX: -0.596659 m, approachRate: -1.193485 m/s, posRepo size: 4 2025-10-29T01:33:48.327Z,1761701628.327 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.11 m. 2025-10-29T01:33:48.333Z,1761701628.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.112486 m, nav range: 14.293646 m, bearing: 312.425244 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.312919 deg, new cmd heading: 311.247323 deg. 2025-10-29T01:33:48.334Z,1761701628.334 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.432291 target range: 16.112486 and range: 16.20 m. 2025-10-29T01:33:48.425Z,1761701628.425 [DAT](INFO): checking for new query: numPingsReceived=51, elapsed TxPingTime=25.191666 2025-10-29T01:33:48.655Z,1761701628.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672635,0.739971,0.002353],[-0.711064,0.645472,0.278844],[0.204817,-0.189234,0.960333]] 2025-10-29T01:33:48.678Z,1761701628.678 [DAT](INFO): DAT read: Rx Time:01:33:48.1269 2025-10-29T01:33:48.678Z,1761701628.678 [DAT](INFO): Rx dataTimestamp_ set to:1761701628.677810 2025-10-29T01:33:48.679Z,1761701628.679 [DAT](INFO): DAT read: Bearing 139.2, 4.0 (Local) 2025-10-29T01:33:48.680Z,1761701628.680 [DAT](INFO): Local bearing/azimuth received: Bearing 139.2, 4.0 (Local) 2025-10-29T01:33:48.682Z,1761701628.682 [DAT](INFO): DAT read: Range 11 to 50 : 16.1 m (trip time 10.7 ms) speed 0.7 2025-10-29T01:33:48.686Z,1761701628.686 [DAT](INFO): DAT read: 01:33:48.1269 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.31,-2.252, 2.362,-1.962,-2.246, PHS= 0.096,-1.630, 0.240, RAW= 154.0, 14.3, CAL= 154.4, 16.1, ROT= 355.6, -16.1 2025-10-29T01:33:48.688Z,1761701628.688 [DAT](INFO): got valid direction response: 01:33:48.1269 LVL= 32752, 32753, 32754, 32755, AGC= 58, IDX= 500,-0.31,-2.252, 2.362,-1.962,-2.246, PHS= 0.096,-1.630, 0.240, RAW= 154.0, 14.3, CAL= 154.4, 16.1, ROT= 355.6, -16.1 2025-10-29T01:33:48.688Z,1761701628.688 [DAT](INFO): #Rx 52: Read range and direction messages. 2025-10-29T01:33:48.689Z,1761701628.689 [DAT](INFO): direction in FSK: [0.957947,-0.073710,0.277315] 2025-10-29T01:33:48.689Z,1761701628.689 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:48.734Z,1761701628.734 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.500774 2025-10-29T01:33:48.808Z,1761701628.808 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 16.100000 m, deltaT: 0.504100 s, deltaX: -0.100000 m, approachRate: -0.198374 m/s, rangeRepo size: 4 2025-10-29T01:33:48.810Z,1761701628.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 16.013027 m, bearing: 312.190030 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.504100 s, deltaX: -0.099459 m, approachRate: -0.197300 m/s, posRepo size: 4 2025-10-29T01:33:48.811Z,1761701628.811 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 16.01 m. 2025-10-29T01:33:48.818Z,1761701628.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 16.013027 m, nav range: 13.955043 m, bearing: 312.406018 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.247322 deg, new cmd heading: 311.185697 deg. 2025-10-29T01:33:48.819Z,1761701628.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.431215 target range: 16.013027 and range: 16.10 m. 2025-10-29T01:33:48.929Z,1761701628.929 [DAT](INFO): checking for new query: numPingsReceived=52, elapsed TxPingTime=25.695667 2025-10-29T01:33:49.182Z,1761701629.182 [DAT](INFO): DAT read: Rx Time:01:33:48.6265 2025-10-29T01:33:49.182Z,1761701629.182 [DAT](INFO): Rx dataTimestamp_ set to:1761701629.181859 2025-10-29T01:33:49.183Z,1761701629.183 [DAT](INFO): DAT read: Bearing 140.4, 3.9 (Local) 2025-10-29T01:33:49.184Z,1761701629.184 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, 3.9 (Local) 2025-10-29T01:33:49.186Z,1761701629.186 [DAT](INFO): DAT read: Range 11 to 50 : 15.5 m (trip time 10.3 ms) speed 0.6 2025-10-29T01:33:49.194Z,1761701629.194 [DAT](INFO): DAT read: 01:33:48.6265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.23,-2.277, 2.354,-1.999,-2.242, PHS= 0.067,-1.642, 0.199, RAW= 153.7, 15.3, CAL= 154.2, 17.4, ROT= 355.8, -17.4 2025-10-29T01:33:49.195Z,1761701629.195 [DAT](INFO): got valid direction response: 01:33:48.6265 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 496, 0.23,-2.277, 2.354,-1.999,-2.242, PHS= 0.067,-1.642, 0.199, RAW= 153.7, 15.3, CAL= 154.2, 17.4, ROT= 355.8, -17.4 2025-10-29T01:33:49.233Z,1761701629.233 [DAT](INFO): #Rx 53: Read range and direction messages. 2025-10-29T01:33:49.235Z,1761701629.235 [DAT](INFO): direction in FSK: [0.951678,-0.069887,0.299041] 2025-10-29T01:33:49.236Z,1761701629.236 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:49.259Z,1761701629.259 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.025944 2025-10-29T01:33:49.291Z,1761701629.291 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.500000 m, deltaT: 0.504049 s, deltaX: -0.600000 m, approachRate: -1.190361 m/s, rangeRepo size: 4 2025-10-29T01:33:49.302Z,1761701629.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.416170 m, bearing: 312.699818 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.504049 s, deltaX: -0.596857 m, approachRate: -1.184125 m/s, posRepo size: 4 2025-10-29T01:33:49.302Z,1761701629.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.42 m. 2025-10-29T01:33:49.309Z,1761701629.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.416170 m, nav range: 13.623224 m, bearing: 312.393079 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.185686 deg, new cmd heading: 311.122609 deg. 2025-10-29T01:33:49.310Z,1761701629.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.430114 target range: 15.416170 and range: 15.50 m. 2025-10-29T01:33:49.434Z,1761701629.434 [DAT](INFO): checking for new query: numPingsReceived=53, elapsed TxPingTime=26.200357 2025-10-29T01:33:49.686Z,1761701629.686 [DAT](INFO): DAT read: Rx Time:01:33:49.1264 2025-10-29T01:33:49.686Z,1761701629.686 [DAT](INFO): Rx dataTimestamp_ set to:1761701629.685733 2025-10-29T01:33:49.687Z,1761701629.687 [DAT](INFO): DAT read: Bearing 138.6, 4.5 (Local) 2025-10-29T01:33:49.688Z,1761701629.688 [DAT](INFO): Local bearing/azimuth received: Bearing 138.6, 4.5 (Local) 2025-10-29T01:33:49.690Z,1761701629.690 [DAT](INFO): DAT read: Range 11 to 50 : 15.3 m (trip time 10.2 ms) speed 0.5 2025-10-29T01:33:49.695Z,1761701629.695 [DAT](INFO): DAT read: 01:33:49.1264 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.02,-2.819, 1.787,-2.539,-2.836, PHS= 0.118,-1.615, 0.253, RAW= 153.7, 13.7, CAL= 154.0, 15.4, ROT= 356.0, -15.4 2025-10-29T01:33:49.696Z,1761701629.696 [DAT](INFO): got valid direction response: 01:33:49.1264 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 511, 0.02,-2.819, 1.787,-2.539,-2.836, PHS= 0.118,-1.615, 0.253, RAW= 153.7, 13.7, CAL= 154.0, 15.4, ROT= 356.0, -15.4 2025-10-29T01:33:49.697Z,1761701629.697 [DAT](INFO): #Rx 54: Read range and direction messages. 2025-10-29T01:33:49.698Z,1761701629.698 [DAT](INFO): direction in FSK: [0.961747,-0.067252,0.265556] 2025-10-29T01:33:49.698Z,1761701629.698 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:49.701Z,1761701629.701 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.468004 2025-10-29T01:33:49.871Z,1761701629.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 15.300000 m, deltaT: 0.503874 s, deltaX: -0.200000 m, approachRate: -0.396924 m/s, rangeRepo size: 4 2025-10-29T01:33:49.877Z,1761701629.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 15.217252 m, bearing: 312.461609 deg, lat: 36.779298 deg, lon: -121.859429 deg, deltaT: 0.503874 s, deltaX: -0.198918 m, approachRate: -0.394778 m/s, posRepo size: 4 2025-10-29T01:33:49.878Z,1761701629.878 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 15.22 m. 2025-10-29T01:33:49.885Z,1761701629.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 15.217252 m, nav range: 13.267607 m, bearing: 312.431844 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.122603 deg, new cmd heading: 311.048258 deg. 2025-10-29T01:33:49.885Z,1761701629.885 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.428816 target range: 15.217252 and range: 15.30 m. 2025-10-29T01:33:49.938Z,1761701629.938 [DAT](INFO): checking for new query: numPingsReceived=54, elapsed TxPingTime=26.704281 2025-10-29T01:33:50.189Z,1761701630.189 [DAT](INFO): DAT read: Rx Time:01:33:49.6261 2025-10-29T01:33:50.190Z,1761701630.190 [DAT](INFO): Rx dataTimestamp_ set to:1761701630.189661 2025-10-29T01:33:50.191Z,1761701630.191 [DAT](INFO): DAT read: Bearing 140.6, 3.4 (Local) 2025-10-29T01:33:50.191Z,1761701630.191 [DAT](INFO): Local bearing/azimuth received: Bearing 140.6, 3.4 (Local) 2025-10-29T01:33:50.198Z,1761701630.198 [DAT](INFO): DAT read: Range 11 to 50 : 14.9 m (trip time 9.9 ms) speed 0.6 2025-10-29T01:33:50.202Z,1761701630.202 [DAT](INFO): DAT read: 01:33:49.6261 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.24, 1.397,-0.260, 1.693, 1.443, PHS= 0.056,-1.658, 0.206, RAW= 154.2, 15.4, CAL= 154.7, 17.5, ROT= 355.3, -17.5 2025-10-29T01:33:50.203Z,1761701630.203 [DAT](INFO): got valid direction response: 01:33:49.6261 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 508,-0.24, 1.397,-0.260, 1.693, 1.443, PHS= 0.056,-1.658, 0.206, RAW= 154.2, 15.4, CAL= 154.7, 17.5, ROT= 355.3, -17.5 2025-10-29T01:33:50.204Z,1761701630.204 [DAT](INFO): #Rx 55: Read range and direction messages. 2025-10-29T01:33:50.205Z,1761701630.205 [DAT](INFO): direction in FSK: [0.950510,-0.078146,0.300706] 2025-10-29T01:33:50.205Z,1761701630.205 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:50.215Z,1761701630.215 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=26.980797 2025-10-29T01:33:50.362Z,1761701630.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.900000 m, deltaT: 0.503928 s, deltaX: -0.400001 m, approachRate: -0.793765 m/s, rangeRepo size: 4 2025-10-29T01:33:50.364Z,1761701630.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.819473 m, bearing: 312.184152 deg, lat: 36.779298 deg, lon: -121.859429 deg, deltaT: 0.503928 s, deltaX: -0.397779 m, approachRate: -0.789356 m/s, posRepo size: 4 2025-10-29T01:33:50.369Z,1761701630.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.82 m. 2025-10-29T01:33:50.371Z,1761701630.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.819473 m, nav range: 12.946209 m, bearing: 312.396155 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 311.048263 deg, new cmd heading: 310.985241 deg. 2025-10-29T01:33:50.376Z,1761701630.376 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.427716 target range: 14.819473 and range: 14.90 m. 2025-10-29T01:33:50.442Z,1761701630.442 [DAT](INFO): checking for new query: numPingsReceived=55, elapsed TxPingTime=27.208317 2025-10-29T01:33:50.684Z,1761701630.684 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675047,0.737742,0.006926],[-0.708692,0.645799,0.284076],[0.205102,-0.196673,0.958777]] 2025-10-29T01:33:50.693Z,1761701630.693 [DAT](INFO): DAT read: Rx Time:01:33:50.1258 2025-10-29T01:33:50.694Z,1761701630.694 [DAT](INFO): Rx dataTimestamp_ set to:1761701630.693518 2025-10-29T01:33:50.695Z,1761701630.695 [DAT](INFO): DAT read: Bearing 140.1, 3.6 (Local) 2025-10-29T01:33:50.695Z,1761701630.695 [DAT](INFO): Local bearing/azimuth received: Bearing 140.1, 3.6 (Local) 2025-10-29T01:33:50.698Z,1761701630.698 [DAT](INFO): DAT read: Range 11 to 50 : 14.4 m (trip time 9.6 ms) speed 0.5 2025-10-29T01:33:50.703Z,1761701630.703 [DAT](INFO): DAT read: 01:33:50.1258 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506,-0.49, 2.131, 0.462, 2.425, 2.159, PHS= 0.074,-1.652, 0.222, RAW= 154.1, 14.9, CAL= 154.6, 16.9, ROT= 355.4, -16.9 2025-10-29T01:33:50.704Z,1761701630.704 [DAT](INFO): got valid direction response: 01:33:50.1258 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 506,-0.49, 2.131, 0.462, 2.425, 2.159, PHS= 0.074,-1.652, 0.222, RAW= 154.1, 14.9, CAL= 154.6, 16.9, ROT= 355.4, -16.9 2025-10-29T01:33:50.704Z,1761701630.704 [DAT](INFO): #Rx 56: Read range and direction messages. 2025-10-29T01:33:50.705Z,1761701630.705 [DAT](INFO): direction in FSK: [0.953732,-0.076736,0.290702] 2025-10-29T01:33:50.705Z,1761701630.705 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:50.713Z,1761701630.713 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.479109 2025-10-29T01:33:50.834Z,1761701630.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.400000 m, deltaT: 0.503857 s, deltaX: -0.500000 m, approachRate: -0.992345 m/s, rangeRepo size: 4 2025-10-29T01:33:50.843Z,1761701630.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 14.322175 m, bearing: 312.506243 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.503857 s, deltaX: -0.497298 m, approachRate: -0.986983 m/s, posRepo size: 4 2025-10-29T01:33:50.843Z,1761701630.843 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 14.32 m. 2025-10-29T01:33:50.854Z,1761701630.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 14.322175 m, nav range: 12.570690 m, bearing: 312.168455 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.985234 deg, new cmd heading: 310.924636 deg. 2025-10-29T01:33:50.855Z,1761701630.855 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.426659 target range: 14.322175 and range: 14.40 m. 2025-10-29T01:33:50.945Z,1761701630.945 [DAT](INFO): checking for new query: numPingsReceived=56, elapsed TxPingTime=27.711695 2025-10-29T01:33:51.197Z,1761701631.197 [DAT](INFO): DAT read: Rx Time:01:33:50.6255 2025-10-29T01:33:51.198Z,1761701631.198 [DAT](INFO): Rx dataTimestamp_ set to:1761701631.197616 2025-10-29T01:33:51.199Z,1761701631.199 [DAT](INFO): DAT read: Bearing 141.4, 3.4 (Local) 2025-10-29T01:33:51.199Z,1761701631.199 [DAT](INFO): Local bearing/azimuth received: Bearing 141.4, 3.4 (Local) 2025-10-29T01:33:51.202Z,1761701631.202 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.5 2025-10-29T01:33:51.206Z,1761701631.206 [DAT](INFO): DAT read: 01:33:50.6255 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.49, 1.234,-0.425, 1.525, 1.291, PHS= 0.045,-1.671, 0.190, RAW= 154.0, 15.8, CAL= 154.6, 18.0, ROT= 355.4, -18.0 2025-10-29T01:33:51.208Z,1761701631.208 [DAT](INFO): got valid direction response: 01:33:50.6255 LVL= 32752, 32753, 32754, 32755, AGC= 57, IDX= 502, 0.49, 1.234,-0.425, 1.525, 1.291, PHS= 0.045,-1.671, 0.190, RAW= 154.0, 15.8, CAL= 154.6, 18.0, ROT= 355.4, -18.0 2025-10-29T01:33:51.209Z,1761701631.209 [DAT](INFO): #Rx 57: Read range and direction messages. 2025-10-29T01:33:51.211Z,1761701631.211 [DAT](INFO): direction in FSK: [0.947993,-0.076274,0.309017] 2025-10-29T01:33:51.211Z,1761701631.211 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:51.227Z,1761701631.227 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=27.993753 2025-10-29T01:33:51.309Z,1761701631.309 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678590,0.734514,0.001894],[-0.705917,0.651453,0.278012],[0.202970,-0.189993,0.960576]] 2025-10-29T01:33:51.360Z,1761701631.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504098 s, deltaX: -0.400000 m, approachRate: -0.793496 m/s, rangeRepo size: 4 2025-10-29T01:33:51.362Z,1761701631.362 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.924300 m, bearing: 312.883292 deg, lat: 36.779297 deg, lon: -121.859428 deg, deltaT: 0.504098 s, deltaX: -0.397875 m, approachRate: -0.789281 m/s, posRepo size: 4 2025-10-29T01:33:51.363Z,1761701631.363 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-29T01:33:51.370Z,1761701631.370 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.924300 m, nav range: 12.151922 m, bearing: 312.375384 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.924636 deg, new cmd heading: 310.858132 deg. 2025-10-29T01:33:51.371Z,1761701631.371 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.425498 target range: 13.924300 and range: 14.00 m. 2025-10-29T01:33:51.449Z,1761701631.449 [DAT](INFO): checking for new query: numPingsReceived=57, elapsed TxPingTime=28.215656 2025-10-29T01:33:51.698Z,1761701631.698 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.680871,0.732403,-0.000371],[-0.704215,0.654806,0.274427],[0.201234,-0.186589,0.961608]] 2025-10-29T01:33:51.702Z,1761701631.702 [DAT](INFO): DAT read: Rx Time:01:33:51.1255 2025-10-29T01:33:51.702Z,1761701631.702 [DAT](INFO): Rx dataTimestamp_ set to:1761701631.701789 2025-10-29T01:33:51.703Z,1761701631.703 [DAT](INFO): DAT read: Bearing 140.3, 3.3 (Local) 2025-10-29T01:33:51.704Z,1761701631.704 [DAT](INFO): Local bearing/azimuth received: Bearing 140.3, 3.3 (Local) 2025-10-29T01:33:51.706Z,1761701631.706 [DAT](INFO): DAT read: Range 11 to 50 : 14.0 m (trip time 9.3 ms) speed 0.5 2025-10-29T01:33:51.715Z,1761701631.715 [DAT](INFO): DAT read: 01:33:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.41,-0.173,-1.834, 0.138,-0.138, PHS= 0.067,-1.652, 0.232, RAW= 154.5, 14.8, CAL= 155.0, 16.8, ROT= 355.0, -16.8 2025-10-29T01:33:51.717Z,1761701631.717 [DAT](INFO): got valid direction response: 01:33:51.1255 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.41,-0.173,-1.834, 0.138,-0.138, PHS= 0.067,-1.652, 0.232, RAW= 154.5, 14.8, CAL= 155.0, 16.8, ROT= 355.0, -16.8 2025-10-29T01:33:51.718Z,1761701631.718 [DAT](INFO): #Rx 58: Read range and direction messages. 2025-10-29T01:33:51.719Z,1761701631.719 [DAT](INFO): direction in FSK: [0.953677,-0.083436,0.289032] 2025-10-29T01:33:51.719Z,1761701631.719 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:51.726Z,1761701631.726 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.492537 2025-10-29T01:33:51.869Z,1761701631.869 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 14.000000 m, deltaT: 0.504173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, rangeRepo size: 4 2025-10-29T01:33:51.871Z,1761701631.871 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.924300 m, bearing: 312.274462 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.504173 s, deltaX: 0.000000 m, approachRate: 0.000000 m/s, posRepo size: 4 2025-10-29T01:33:51.876Z,1761701631.876 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.92 m. 2025-10-29T01:33:51.879Z,1761701631.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.924300 m, nav range: 11.919074 m, bearing: 311.991342 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.858138 deg, new cmd heading: 310.791778 deg. 2025-10-29T01:33:51.879Z,1761701631.879 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.424340 target range: 13.924300 and range: 14.00 m. 2025-10-29T01:33:51.953Z,1761701631.953 [DAT](INFO): checking for new query: numPingsReceived=58, elapsed TxPingTime=28.719688 2025-10-29T01:33:52.196Z,1761701632.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682637,0.730748,-0.003835],[-0.702952,0.658087,0.269779],[0.199664,-0.181465,0.962915]] 2025-10-29T01:33:52.211Z,1761701632.211 [DAT](INFO): DAT read: Rx Time:01:33:51.6252 2025-10-29T01:33:52.213Z,1761701632.213 [DAT](INFO): Rx dataTimestamp_ set to:1761701632.212042 2025-10-29T01:33:52.215Z,1761701632.215 [DAT](INFO): DAT read: Bearing 141.0, 3.1 (Local) 2025-10-29T01:33:52.215Z,1761701632.215 [DAT](INFO): Local bearing/azimuth received: Bearing 141.0, 3.1 (Local) 2025-10-29T01:33:52.219Z,1761701632.219 [DAT](INFO): DAT read: Range 11 to 50 : 13.5 m (trip time 9.0 ms) speed 0.5 2025-10-29T01:33:52.235Z,1761701632.235 [DAT](INFO): DAT read: 01:33:51.6252 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499,-0.37,-1.843, 2.784,-1.533,-1.795, PHS= 0.055,-1.659, 0.218, RAW= 154.5, 15.2, CAL= 155.1, 17.3, ROT= 354.9, -17.3 2025-10-29T01:33:52.244Z,1761701632.244 [DAT](INFO): got valid direction response: 01:33:51.6252 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 499,-0.37,-1.843, 2.784,-1.533,-1.795, PHS= 0.055,-1.659, 0.218, RAW= 154.5, 15.2, CAL= 155.1, 17.3, ROT= 354.9, -17.3 2025-10-29T01:33:52.245Z,1761701632.245 [DAT](INFO): #Rx 59: Read range and direction messages. 2025-10-29T01:33:52.246Z,1761701632.246 [DAT](INFO): direction in FSK: [0.950981,-0.084873,0.297375] 2025-10-29T01:33:52.246Z,1761701632.246 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:52.251Z,1761701632.251 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.017960 2025-10-29T01:33:52.323Z,1761701632.323 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.500000 m, deltaT: 0.510253 s, deltaX: -0.500000 m, approachRate: -0.979906 m/s, rangeRepo size: 4 2025-10-29T01:33:52.346Z,1761701632.346 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.427022 m, bearing: 312.295505 deg, lat: 36.779297 deg, lon: -121.859429 deg, deltaT: 0.510253 s, deltaX: -0.497278 m, approachRate: -0.974572 m/s, posRepo size: 4 2025-10-29T01:33:52.347Z,1761701632.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.43 m. 2025-10-29T01:33:52.354Z,1761701632.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.427022 m, nav range: 11.625548 m, bearing: 311.932438 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.791776 deg, new cmd heading: 310.733473 deg. 2025-10-29T01:33:52.355Z,1761701632.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.423322 target range: 13.427022 and range: 13.50 m. 2025-10-29T01:33:52.572Z,1761701632.572 [DAT](INFO): checking for new query: numPingsReceived=59, elapsed TxPingTime=29.277781 2025-10-29T01:33:52.716Z,1761701632.716 [DAT](INFO): DAT read: Rx Time:01:33:52.1251 2025-10-29T01:33:52.717Z,1761701632.717 [DAT](INFO): Rx dataTimestamp_ set to:1761701632.716464 2025-10-29T01:33:52.719Z,1761701632.719 [DAT](INFO): DAT read: Bearing 140.9, 2.6 (Local) 2025-10-29T01:33:52.720Z,1761701632.720 [DAT](INFO): Local bearing/azimuth received: Bearing 140.9, 2.6 (Local) 2025-10-29T01:33:52.723Z,1761701632.723 [DAT](INFO): DAT read: Range 11 to 50 : 13.4 m (trip time 8.9 ms) speed 0.5 2025-10-29T01:33:52.740Z,1761701632.740 [DAT](INFO): DAT read: 01:33:52.1251 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 498,-0.26,-0.685,-2.338,-0.353,-0.634, PHS= 0.051,-1.659, 0.237, RAW= 155.1, 15.0, CAL= 155.7, 17.1, ROT= 354.3, -17.1 2025-10-29T01:33:52.741Z,1761701632.741 [DAT](INFO): got valid direction response: 01:33:52.1251 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 498,-0.26,-0.685,-2.338,-0.353,-0.634, PHS= 0.051,-1.659, 0.237, RAW= 155.1, 15.0, CAL= 155.7, 17.1, ROT= 354.3, -17.1 2025-10-29T01:33:52.742Z,1761701632.742 [DAT](INFO): #Rx 60: Read range and direction messages. 2025-10-29T01:33:52.743Z,1761701632.743 [DAT](INFO): direction in FSK: [0.951067,-0.094929,0.294040] 2025-10-29T01:33:52.750Z,1761701632.750 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:52.769Z,1761701632.769 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.535776 2025-10-29T01:33:52.872Z,1761701632.872 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 13.400000 m, deltaT: 0.504422 s, deltaX: -0.100000 m, approachRate: -0.198247 m/s, rangeRepo size: 4 2025-10-29T01:33:52.881Z,1761701632.881 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 13.327562 m, bearing: 311.606405 deg, lat: 36.779298 deg, lon: -121.859429 deg, deltaT: 0.504422 s, deltaX: -0.099460 m, approachRate: -0.197175 m/s, posRepo size: 4 2025-10-29T01:33:52.882Z,1761701632.882 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 13.33 m. 2025-10-29T01:33:52.889Z,1761701632.889 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 13.327562 m, nav range: 11.346342 m, bearing: 312.196080 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.733473 deg, new cmd heading: 310.663605 deg. 2025-10-29T01:33:52.890Z,1761701632.890 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.422103 target range: 13.327562 and range: 13.40 m. 2025-10-29T01:33:52.966Z,1761701632.966 [DAT](INFO): checking for new query: numPingsReceived=60, elapsed TxPingTime=29.732700 2025-10-29T01:33:53.219Z,1761701633.219 [DAT](INFO): DAT read: Rx Time:01:33:52.6249 2025-10-29T01:33:53.220Z,1761701633.220 [DAT](INFO): Rx dataTimestamp_ set to:1761701633.219289 2025-10-29T01:33:53.222Z,1761701633.222 [DAT](INFO): DAT read: Bearing 141.1, 2.7 (Local) 2025-10-29T01:33:53.222Z,1761701633.222 [DAT](INFO): Local bearing/azimuth received: Bearing 141.1, 2.7 (Local) 2025-10-29T01:33:53.237Z,1761701633.237 [DAT](INFO): DAT read: Range 11 to 50 : 12.9 m (trip time 8.6 ms) speed 0.5 2025-10-29T01:33:53.267Z,1761701633.267 [Sonardyne_Nano](INFO): Battery below minimum, enabling charging 2025-10-29T01:33:53.288Z,1761701633.288 [DAT](INFO): DAT read: 01:33:52.6249 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.19,-1.556, 3.075,-1.230,-1.508, PHS= 0.053,-1.655, 0.234, RAW= 155.0, 15.0, CAL= 155.5, 17.1, ROT= 354.5, -17.1 2025-10-29T01:33:53.289Z,1761701633.289 [DAT](INFO): got valid direction response: 01:33:52.6249 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 495,-0.19,-1.556, 3.075,-1.230,-1.508, PHS= 0.053,-1.655, 0.234, RAW= 155.0, 15.0, CAL= 155.5, 17.1, ROT= 354.5, -17.1 2025-10-29T01:33:53.289Z,1761701633.289 [DAT](INFO): #Rx 61: Read range and direction messages. 2025-10-29T01:33:53.290Z,1761701633.290 [DAT](INFO): direction in FSK: [0.951393,-0.091609,0.294040] 2025-10-29T01:33:53.291Z,1761701633.291 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:53.307Z,1761701633.307 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.073231 2025-10-29T01:33:53.347Z,1761701633.347 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.900000 m, deltaT: 0.502825 s, deltaX: -0.500000 m, approachRate: -0.994382 m/s, rangeRepo size: 4 2025-10-29T01:33:53.358Z,1761701633.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.830345 m, bearing: 311.821901 deg, lat: 36.779298 deg, lon: -121.859430 deg, deltaT: 0.502825 s, deltaX: -0.497217 m, approachRate: -0.988847 m/s, posRepo size: 4 2025-10-29T01:33:53.359Z,1761701633.359 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.83 m. 2025-10-29T01:33:53.372Z,1761701633.372 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.830345 m, nav range: 11.186526 m, bearing: 311.821942 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.663614 deg, new cmd heading: 310.602219 deg. 2025-10-29T01:33:53.374Z,1761701633.374 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.421031 target range: 12.830345 and range: 12.90 m. 2025-10-29T01:33:53.470Z,1761701633.470 [DAT](INFO): checking for new query: numPingsReceived=61, elapsed TxPingTime=30.236454 2025-10-29T01:33:53.702Z,1761701633.702 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.687151,0.726506,-0.003491],[-0.699839,0.663203,0.265305],[0.195061,-0.179862,0.964158]] 2025-10-29T01:33:53.723Z,1761701633.723 [DAT](INFO): DAT read: Rx Time:01:33:53.1248 2025-10-29T01:33:53.723Z,1761701633.723 [DAT](INFO): Rx dataTimestamp_ set to:1761701633.723028 2025-10-29T01:33:53.737Z,1761701633.737 [DAT](INFO): DAT read: Bearing 141.8, 2.5 (Local) 2025-10-29T01:33:53.738Z,1761701633.738 [DAT](INFO): Local bearing/azimuth received: Bearing 141.8, 2.5 (Local) 2025-10-29T01:33:53.740Z,1761701633.740 [DAT](INFO): DAT read: Range 11 to 50 : 12.8 m (trip time 8.5 ms) speed 0.5 2025-10-29T01:33:53.754Z,1761701633.754 [DAT](INFO): DAT read: 01:33:53.1248 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.15,-0.233,-1.884, 0.090,-0.169, PHS= 0.037,-1.671, 0.214, RAW= 154.9, 15.5, CAL= 155.5, 17.8, ROT= 354.5, -17.8 2025-10-29T01:33:53.756Z,1761701633.756 [DAT](INFO): got valid direction response: 01:33:53.1248 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 510,-0.15,-0.233,-1.884, 0.090,-0.169, PHS= 0.037,-1.671, 0.214, RAW= 154.9, 15.5, CAL= 155.5, 17.8, ROT= 354.5, -17.8 2025-10-29T01:33:53.768Z,1761701633.768 [DAT](INFO): #Rx 62: Read range and direction messages. 2025-10-29T01:33:53.770Z,1761701633.770 [DAT](INFO): direction in FSK: [0.947746,-0.091258,0.305695] 2025-10-29T01:33:53.770Z,1761701633.770 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:53.782Z,1761701633.782 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.548992 2025-10-29T01:33:53.810Z,1761701633.810 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.800000 m, deltaT: 0.503739 s, deltaX: -0.099999 m, approachRate: -0.198514 m/s, rangeRepo size: 4 2025-10-29T01:33:53.816Z,1761701633.816 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.730886 m, bearing: 312.254912 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 0.503739 s, deltaX: -0.099460 m, approachRate: -0.197443 m/s, posRepo size: 4 2025-10-29T01:33:53.817Z,1761701633.817 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T01:33:53.819Z,1761701633.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.730886 m, nav range: 10.942052 m, bearing: 311.811004 deg, approach rate: 0.000000 m/s, LOS rate: -0.064169 deg/s, cmd heading: 310.602224 deg, new cmd heading: 310.542738 deg. 2025-10-29T01:33:53.824Z,1761701633.824 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.419993 target range: 12.730886 and range: 12.80 m. 2025-10-29T01:33:53.973Z,1761701633.973 [DAT](INFO): checking for new query: numPingsReceived=62, elapsed TxPingTime=30.739639 2025-10-29T01:33:54.184Z,1761701634.184 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:54.186Z,1761701634.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.73 m. 2025-10-29T01:33:54.189Z,1761701634.189 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.730886 m, nav range: 10.685610 m, bearing: 311.713515 deg, approach rate: -0.680160 m/s, LOS rate: -0.264776 deg/s, cmd heading: 310.542747 deg, new cmd heading: 310.343090 deg. 2025-10-29T01:33:54.190Z,1761701634.190 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.416509 target range: 12.730886 and range: 12.80 m. 2025-10-29T01:33:54.227Z,1761701634.227 [DAT](INFO): DAT read: Rx Time:01:33:53.6245 2025-10-29T01:33:54.235Z,1761701634.235 [DAT](INFO): Rx dataTimestamp_ set to:1761701634.234184 2025-10-29T01:33:54.238Z,1761701634.238 [DAT](INFO): DAT read: Bearing 142.4, 1.7 (Local) 2025-10-29T01:33:54.238Z,1761701634.238 [DAT](INFO): Local bearing/azimuth received: Bearing 142.4, 1.7 (Local) 2025-10-29T01:33:54.241Z,1761701634.241 [DAT](INFO): DAT read: Range 11 to 50 : 12.5 m (trip time 8.3 ms) speed 0.5 2025-10-29T01:33:54.247Z,1761701634.247 [DAT](INFO): DAT read: 01:33:53.6245 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507,-0.14,-0.718,-2.344,-0.380,-0.628, PHS= 0.012,-1.671, 0.203, RAW= 155.3, 16.1, CAL= 156.1, 18.5, ROT= 353.9, -18.5 2025-10-29T01:33:54.249Z,1761701634.249 [DAT](INFO): got valid direction response: 01:33:53.6245 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 507,-0.14,-0.718,-2.344,-0.380,-0.628, PHS= 0.012,-1.671, 0.203, RAW= 155.3, 16.1, CAL= 156.1, 18.5, ROT= 353.9, -18.5 2025-10-29T01:33:54.249Z,1761701634.249 [DAT](INFO): #Rx 63: Read range and direction messages. 2025-10-29T01:33:54.250Z,1761701634.250 [DAT](INFO): direction in FSK: [0.942954,-0.100773,0.317305] 2025-10-29T01:33:54.250Z,1761701634.250 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:54.263Z,1761701634.263 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.029978 2025-10-29T01:33:54.481Z,1761701634.481 [DAT](INFO): checking for new query: numPingsReceived=63, elapsed TxPingTime=31.247934 2025-10-29T01:33:54.633Z,1761701634.633 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.686932,0.726672,-0.008482],[-0.700283,0.665015,0.259536],[0.194238,-0.172344,0.965696]] 2025-10-29T01:33:54.641Z,1761701634.641 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for BIT error. Device response is::TS,00050505221487,0., 0 9.07, 85.62, 107.54, 2025-10-29T01:33:54.661Z,1761701634.661 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.500000 m, deltaT: 0.511156 s, deltaX: -0.300000 m, approachRate: -0.586905 m/s, rangeRepo size: 4 2025-10-29T01:33:54.663Z,1761701634.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.432453 m, bearing: 311.558696 deg, lat: 36.779299 deg, lon: -121.859431 deg, deltaT: 0.511156 s, deltaX: -0.298432 m, approachRate: -0.583838 m/s, posRepo size: 4 2025-10-29T01:33:54.663Z,1761701634.663 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.43 m. 2025-10-29T01:33:54.667Z,1761701634.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.432453 m, nav range: 10.406274 m, bearing: 311.498409 deg, approach rate: 0.000000 m/s, LOS rate: -0.264776 deg/s, cmd heading: 310.343087 deg, new cmd heading: 310.092233 deg. 2025-10-29T01:33:54.668Z,1761701634.668 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.412130 target range: 12.432453 and range: 12.50 m. 2025-10-29T01:33:54.731Z,1761701634.731 [DAT](INFO): DAT read: Rx Time:01:33:54.1243 2025-10-29T01:33:54.732Z,1761701634.732 [DAT](INFO): Rx dataTimestamp_ set to:1761701634.731322 2025-10-29T01:33:54.734Z,1761701634.734 [DAT](INFO): DAT read: Bearing 142.6, 2.1 (Local) 2025-10-29T01:33:54.735Z,1761701634.735 [DAT](INFO): Local bearing/azimuth received: Bearing 142.6, 2.1 (Local) 2025-10-29T01:33:54.738Z,1761701634.738 [DAT](INFO): DAT read: Range 11 to 50 : 12.2 m (trip time 8.1 ms) speed 0.5 2025-10-29T01:33:54.750Z,1761701634.750 [DAT](INFO): DAT read: 01:33:54.1243 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20, 0.063,-1.577, 0.388, 0.149, PHS= 0.016,-1.681, 0.195, RAW= 154.9, 16.2, CAL= 155.7, 18.5, ROT= 354.3, -18.5 2025-10-29T01:33:54.752Z,1761701634.752 [DAT](INFO): got valid direction response: 01:33:54.1243 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 505,-0.20, 0.063,-1.577, 0.388, 0.149, PHS= 0.016,-1.681, 0.195, RAW= 154.9, 16.2, CAL= 155.7, 18.5, ROT= 354.3, -18.5 2025-10-29T01:33:54.752Z,1761701634.752 [DAT](INFO): #Rx 64: Read range and direction messages. 2025-10-29T01:33:54.754Z,1761701634.754 [DAT](INFO): direction in FSK: [0.943635,-0.094187,0.317305] 2025-10-29T01:33:54.754Z,1761701634.754 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:54.770Z,1761701634.770 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.536627 2025-10-29T01:33:54.981Z,1761701634.981 [DAT](INFO): checking for new query: numPingsReceived=64, elapsed TxPingTime=31.747679 2025-10-29T01:33:55.021Z,1761701635.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 12.200000 m, deltaT: 0.497138 s, deltaX: -0.300000 m, approachRate: -0.603455 m/s, rangeRepo size: 4 2025-10-29T01:33:55.023Z,1761701635.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 12.134074 m, bearing: 311.991778 deg, lat: 36.779300 deg, lon: -121.859432 deg, deltaT: 0.497138 s, deltaX: -0.298379 m, approachRate: -0.600193 m/s, posRepo size: 4 2025-10-29T01:33:55.023Z,1761701635.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 12.13 m. 2025-10-29T01:33:55.026Z,1761701635.026 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 12.134074 m, nav range: 10.342364 m, bearing: 311.627240 deg, approach rate: 0.000000 m/s, LOS rate: -0.264776 deg/s, cmd heading: 310.092228 deg, new cmd heading: 309.901515 deg. 2025-10-29T01:33:55.027Z,1761701635.027 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.408802 target range: 12.134074 and range: 12.20 m. 2025-10-29T01:33:55.235Z,1761701635.235 [DAT](INFO): DAT read: Rx Time:01:33:54.6240 2025-10-29T01:33:55.235Z,1761701635.235 [DAT](INFO): Rx dataTimestamp_ set to:1761701635.234706 2025-10-29T01:33:55.236Z,1761701635.236 [DAT](INFO): DAT read: Bearing 142.0, 1.9 (Local) 2025-10-29T01:33:55.237Z,1761701635.237 [DAT](INFO): Local bearing/azimuth received: Bearing 142.0, 1.9 (Local) 2025-10-29T01:33:55.239Z,1761701635.239 [DAT](INFO): DAT read: Range 11 to 50 : 11.7 m (trip time 7.8 ms) speed 0.6 2025-10-29T01:33:55.243Z,1761701635.243 [DAT](INFO): DAT read: 01:33:54.6240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.28,-1.131,-2.771,-0.787,-1.053, PHS= 0.023,-1.673, 0.222, RAW= 155.5, 15.6, CAL= 156.2, 17.9, ROT= 353.8, -17.9 2025-10-29T01:33:55.244Z,1761701635.244 [DAT](INFO): got valid direction response: 01:33:54.6240 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 502,-0.28,-1.131,-2.771,-0.787,-1.053, PHS= 0.023,-1.673, 0.222, RAW= 155.5, 15.6, CAL= 156.2, 17.9, ROT= 353.8, -17.9 2025-10-29T01:33:55.245Z,1761701635.245 [DAT](INFO): #Rx 65: Read range and direction messages. 2025-10-29T01:33:55.246Z,1761701635.246 [DAT](INFO): direction in FSK: [0.946028,-0.102772,0.307357] 2025-10-29T01:33:55.246Z,1761701635.246 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:55.250Z,1761701635.250 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.016205 2025-10-29T01:33:55.379Z,1761701635.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.685406,0.728082,-0.010718],[-0.701712,0.664370,0.257319],[0.194470,-0.168847,0.966267]] 2025-10-29T01:33:55.410Z,1761701635.410 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.700000 m, deltaT: 0.503384 s, deltaX: -0.500000 m, approachRate: -0.993277 m/s, rangeRepo size: 4 2025-10-29T01:33:55.412Z,1761701635.412 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.636727 m, bearing: 311.130824 deg, lat: 36.779300 deg, lon: -121.859432 deg, deltaT: 0.503384 s, deltaX: -0.497347 m, approachRate: -0.988007 m/s, posRepo size: 4 2025-10-29T01:33:55.413Z,1761701635.413 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.64 m. 2025-10-29T01:33:55.415Z,1761701635.415 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.636727 m, nav range: 10.127272 m, bearing: 311.378240 deg, approach rate: 0.000000 m/s, LOS rate: -0.264776 deg/s, cmd heading: 309.901501 deg, new cmd heading: 309.695453 deg. 2025-10-29T01:33:55.416Z,1761701635.416 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.405205 target range: 11.636727 and range: 11.70 m. 2025-10-29T01:33:55.485Z,1761701635.485 [DAT](INFO): checking for new query: numPingsReceived=65, elapsed TxPingTime=32.251633 2025-10-29T01:33:55.738Z,1761701635.738 [DAT](INFO): DAT read: Rx Time:01:33:55.1238 2025-10-29T01:33:55.738Z,1761701635.738 [DAT](INFO): Rx dataTimestamp_ set to:1761701635.737711 2025-10-29T01:33:55.739Z,1761701635.739 [DAT](INFO): DAT read: Bearing 141.9, 1.8 (Local) 2025-10-29T01:33:55.740Z,1761701635.740 [DAT](INFO): Local bearing/azimuth received: Bearing 141.9, 1.8 (Local) 2025-10-29T01:33:55.742Z,1761701635.742 [DAT](INFO): DAT read: Range 11 to 50 : 11.4 m (trip time 7.6 ms) speed 0.6 2025-10-29T01:33:55.748Z,1761701635.748 [DAT](INFO): DAT read: 01:33:55.1238 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.44, 0.738,-0.904, 1.087, 0.817, PHS= 0.023,-1.676, 0.226, RAW= 155.6, 15.6, CAL= 156.3, 17.9, ROT= 353.7, -17.9 2025-10-29T01:33:55.750Z,1761701635.750 [DAT](INFO): got valid direction response: 01:33:55.1238 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 501,-0.44, 0.738,-0.904, 1.087, 0.817, PHS= 0.023,-1.676, 0.226, RAW= 155.6, 15.6, CAL= 156.3, 17.9, ROT= 353.7, -17.9 2025-10-29T01:33:55.750Z,1761701635.750 [DAT](INFO): #Rx 66: Read range and direction messages. 2025-10-29T01:33:55.752Z,1761701635.752 [DAT](INFO): direction in FSK: [0.945848,-0.104422,0.307357] 2025-10-29T01:33:55.752Z,1761701635.752 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:55.758Z,1761701635.758 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.524227 2025-10-29T01:33:55.805Z,1761701635.805 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.683947,0.729492,-0.007545],[-0.703068,0.661862,0.260065],[0.194709,-0.172566,0.965562]] 2025-10-29T01:33:55.917Z,1761701635.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.400000 m, deltaT: 0.503005 s, deltaX: -0.300000 m, approachRate: -0.596416 m/s, rangeRepo size: 4 2025-10-29T01:33:55.919Z,1761701635.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 11.338349 m, bearing: 310.987493 deg, lat: 36.779300 deg, lon: -121.859432 deg, deltaT: 0.503005 s, deltaX: -0.298378 m, approachRate: -0.593191 m/s, posRepo size: 4 2025-10-29T01:33:55.919Z,1761701635.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 11.34 m. 2025-10-29T01:33:55.926Z,1761701635.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 11.338349 m, nav range: 9.790886 m, bearing: 311.327962 deg, approach rate: 0.000000 m/s, LOS rate: -0.264776 deg/s, cmd heading: 309.695448 deg, new cmd heading: 309.429237 deg. 2025-10-29T01:33:55.927Z,1761701635.927 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.400559 target range: 11.338349 and range: 11.40 m. 2025-10-29T01:33:55.990Z,1761701635.990 [DAT](INFO): checking for new query: numPingsReceived=66, elapsed TxPingTime=32.756310 2025-10-29T01:33:56.242Z,1761701636.242 [DAT](INFO): DAT read: Rx Time:01:33:55.6235 2025-10-29T01:33:56.242Z,1761701636.242 [DAT](INFO): Rx dataTimestamp_ set to:1761701636.241775 2025-10-29T01:33:56.243Z,1761701636.243 [DAT](INFO): DAT read: Bearing 141.4, 2.0 (Local) 2025-10-29T01:33:56.244Z,1761701636.244 [DAT](INFO): Local bearing/azimuth received: Bearing 141.4, 2.0 (Local) 2025-10-29T01:33:56.246Z,1761701636.246 [DAT](INFO): DAT read: Range 11 to 50 : 11.0 m (trip time 7.3 ms) speed 0.6 2025-10-29T01:33:56.250Z,1761701636.250 [DAT](INFO): DAT read: 01:33:55.6235 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.24, 1.325,-0.335, 1.668, 1.386, PHS= 0.041,-1.677, 0.238, RAW= 155.4, 15.2, CAL= 156.0, 17.3, ROT= 354.0, -17.3 2025-10-29T01:33:56.251Z,1761701636.251 [DAT](INFO): got valid direction response: 01:33:55.6235 LVL= 32752, 32753, 32754, 32755, AGC= 55, IDX= 497, 0.24, 1.325,-0.335, 1.668, 1.386, PHS= 0.041,-1.677, 0.238, RAW= 155.4, 15.2, CAL= 156.0, 17.3, ROT= 354.0, -17.3 2025-10-29T01:33:56.256Z,1761701636.256 [DAT](INFO): #Rx 67: Read range and direction messages. 2025-10-29T01:33:56.257Z,1761701636.257 [DAT](INFO): direction in FSK: [0.949531,-0.099800,0.297375] 2025-10-29T01:33:56.257Z,1761701636.257 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:56.266Z,1761701636.266 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.032246 2025-10-29T01:33:56.278Z,1761701636.278 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.682108,0.731249,-0.002044],[-0.704658,0.658045,0.265395],[0.195415,-0.179588,0.964138]] 2025-10-29T01:33:56.354Z,1761701636.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 11.000000 m, deltaT: 0.504064 s, deltaX: -0.400000 m, approachRate: -0.793549 m/s, rangeRepo size: 4 2025-10-29T01:33:56.360Z,1761701636.360 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.940707 m, bearing: 311.197384 deg, lat: 36.779300 deg, lon: -121.859433 deg, deltaT: 0.504064 s, deltaX: -0.397642 m, approachRate: -0.788872 m/s, posRepo size: 4 2025-10-29T01:33:56.361Z,1761701636.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:33:56.364Z,1761701636.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.940707 m, nav range: 9.536119 m, bearing: 311.197419 deg, approach rate: 0.000000 m/s, LOS rate: -0.264776 deg/s, cmd heading: 309.429235 deg, new cmd heading: 309.195410 deg. 2025-10-29T01:33:56.369Z,1761701636.369 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.396478 target range: 10.940707 and range: 11.00 m. 2025-10-29T01:33:56.493Z,1761701636.493 [DAT](INFO): checking for new query: numPingsReceived=67, elapsed TxPingTime=33.259808 2025-10-29T01:33:56.746Z,1761701636.746 [DAT](INFO): DAT read: Rx Time:01:33:56.1234 2025-10-29T01:33:56.747Z,1761701636.747 [DAT](INFO): Rx dataTimestamp_ set to:1761701636.746443 2025-10-29T01:33:56.749Z,1761701636.749 [DAT](INFO): DAT read: Bearing 136.8, 1.3 (Local) 2025-10-29T01:33:56.749Z,1761701636.749 [DAT](INFO): Local bearing/azimuth received: Bearing 136.8, 1.3 (Local) 2025-10-29T01:33:56.773Z,1761701636.773 [DAT](INFO): DAT read: Range 11 to 50 : 10.8 m (trip time 7.2 ms) speed 0.7 2025-10-29T01:33:56.779Z,1761701636.779 [DAT](INFO): DAT read: 01:33:56.1234 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.07,-2.893, 1.501,-2.430,-2.919, PHS= 0.128,-1.818, 0.445, RAW= 157.4, 11.7, CAL= 157.6, 13.0, ROT= 352.4, -13.0 2025-10-29T01:33:56.799Z,1761701636.799 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:33:56.800Z,1761701636.800 [DAT](INFO): got valid direction response: 01:33:56.1234 LVL= 32752, 32753, 32754, 32755, AGC= 56, IDX= 512,-0.07,-2.893, 1.501,-2.430,-2.919, PHS= 0.128,-1.818, 0.445, RAW= 157.4, 11.7, CAL= 157.6, 13.0, ROT= 352.4, -13.0 2025-10-29T01:33:56.801Z,1761701636.801 [DAT](INFO): #Rx 68: Read range and direction messages. 2025-10-29T01:33:56.801Z,1761701636.801 [DAT](INFO): direction in FSK: [0.965811,-0.128867,0.224951] 2025-10-29T01:33:56.802Z,1761701636.802 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:56.818Z,1761701636.818 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.800000 m, deltaT: 0.504668 s, deltaX: -0.200000 m, approachRate: -0.396300 m/s, rangeRepo size: 4 2025-10-29T01:33:56.819Z,1761701636.819 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:33:56.822Z,1761701636.822 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.588207 2025-10-29T01:33:56.833Z,1761701636.833 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.940707 m, nav range: 9.218593 m, bearing: 311.172731 deg, approach rate: -0.684341 m/s, LOS rate: -0.055040 deg/s, cmd heading: 309.195424 deg, new cmd heading: 309.144348 deg. 2025-10-29T01:33:56.834Z,1761701636.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395587 target range: 10.940707 and range: 10.80 m. 2025-10-29T01:33:56.997Z,1761701636.997 [DAT](INFO): checking for new query: numPingsReceived=68, elapsed TxPingTime=33.763672 2025-10-29T01:33:57.140Z,1761701637.140 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.678359,0.734709,0.005660],[-0.707743,0.651354,0.273565],[0.197304,-0.189581,0.961837]] 2025-10-29T01:33:57.179Z,1761701637.179 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.94 m. 2025-10-29T01:33:57.186Z,1761701637.186 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.940707 m, nav range: 8.961574 m, bearing: 311.158276 deg, approach rate: -0.710400 m/s, LOS rate: -0.041100 deg/s, cmd heading: 309.144361 deg, new cmd heading: 309.114621 deg. 2025-10-29T01:33:57.187Z,1761701637.187 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.395068 target range: 10.940707 and range: 10.80 m. 2025-10-29T01:33:57.250Z,1761701637.250 [DAT](INFO): DAT read: Rx Time:01:33:56.6230 2025-10-29T01:33:57.250Z,1761701637.250 [DAT](INFO): Rx dataTimestamp_ set to:1761701637.250037 2025-10-29T01:33:57.252Z,1761701637.252 [DAT](INFO): DAT read: Bearing 142.4, 1.6 (Local) 2025-10-29T01:33:57.253Z,1761701637.253 [DAT](INFO): Local bearing/azimuth received: Bearing 142.4, 1.6 (Local) 2025-10-29T01:33:57.255Z,1761701637.255 [DAT](INFO): DAT read: Range 11 to 50 : 10.2 m (trip time 6.8 ms) speed 0.7 2025-10-29T01:33:57.268Z,1761701637.268 [DAT](INFO): DAT read: 01:33:56.6230 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508, 0.48, 1.940, 0.287, 2.279, 2.031, PHS= 0.012,-1.698, 0.205, RAW= 155.3, 16.1, CAL= 156.0, 18.5, ROT= 354.0, -18.5 2025-10-29T01:33:57.270Z,1761701637.270 [DAT](INFO): got valid direction response: 01:33:56.6230 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 508, 0.48, 1.940, 0.287, 2.279, 2.031, PHS= 0.012,-1.698, 0.205, RAW= 155.3, 16.1, CAL= 156.0, 18.5, ROT= 354.0, -18.5 2025-10-29T01:33:57.270Z,1761701637.270 [DAT](INFO): #Rx 69: Read range and direction messages. 2025-10-29T01:33:57.273Z,1761701637.273 [DAT](INFO): direction in FSK: [0.943129,-0.099127,0.317305] 2025-10-29T01:33:57.273Z,1761701637.273 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:57.309Z,1761701637.309 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.075104 2025-10-29T01:33:57.501Z,1761701637.501 [DAT](INFO): checking for new query: numPingsReceived=69, elapsed TxPingTime=34.267517 2025-10-29T01:33:57.542Z,1761701637.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.676486,0.736381,0.010472],[-0.709296,0.647647,0.278305],[0.198156,-0.195697,0.960436]] 2025-10-29T01:33:57.635Z,1761701637.635 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.200000 m, deltaT: 0.503594 s, deltaX: -0.600000 m, approachRate: -1.191437 m/s, rangeRepo size: 4 2025-10-29T01:33:57.650Z,1761701637.650 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.144717 m, bearing: 311.391526 deg, lat: 36.779300 deg, lon: -121.859433 deg, deltaT: 1.008262 s, deltaX: -0.795990 m, approachRate: -0.789467 m/s, posRepo size: 4 2025-10-29T01:33:57.657Z,1761701637.657 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.14 m. 2025-10-29T01:33:57.666Z,1761701637.666 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.144717 m, nav range: 8.683647 m, bearing: 311.118791 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 309.114609 deg, new cmd heading: 309.077757 deg. 2025-10-29T01:33:57.667Z,1761701637.667 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.394424 target range: 10.144717 and range: 10.20 m. 2025-10-29T01:33:57.755Z,1761701637.755 [DAT](INFO): DAT read: Rx Time:01:33:57.1229 2025-10-29T01:33:57.756Z,1761701637.756 [DAT](INFO): Rx dataTimestamp_ set to:1761701637.755300 2025-10-29T01:33:57.758Z,1761701637.758 [DAT](INFO): DAT read: Bearing 141.5, 1.7 (Local) 2025-10-29T01:33:57.758Z,1761701637.758 [DAT](INFO): Local bearing/azimuth received: Bearing 141.5, 1.7 (Local) 2025-10-29T01:33:57.761Z,1761701637.761 [DAT](INFO): DAT read: Range 11 to 50 : 10.1 m (trip time 6.7 ms) speed 0.7 2025-10-29T01:33:57.768Z,1761701637.768 [DAT](INFO): DAT read: 01:33:57.1229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.12, 2.327, 0.660, 2.671, 2.399, PHS= 0.030,-1.694, 0.228, RAW= 155.4, 15.5, CAL= 156.0, 17.7, ROT= 354.0, -17.7 2025-10-29T01:33:57.770Z,1761701637.770 [DAT](INFO): got valid direction response: 01:33:57.1229 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.12, 2.327, 0.660, 2.671, 2.399, PHS= 0.030,-1.694, 0.228, RAW= 155.4, 15.5, CAL= 156.0, 17.7, ROT= 354.0, -17.7 2025-10-29T01:33:57.770Z,1761701637.770 [DAT](INFO): #Rx 70: Read range and direction messages. 2025-10-29T01:33:57.771Z,1761701637.771 [DAT](INFO): direction in FSK: [0.947443,-0.099580,0.304033] 2025-10-29T01:33:57.772Z,1761701637.772 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:57.793Z,1761701637.793 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.550411 2025-10-29T01:33:57.946Z,1761701637.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.674953,0.737778,0.011057],[-0.710480,0.645789,0.279599],[0.199141,-0.196572,0.960053]] 2025-10-29T01:33:57.998Z,1761701637.998 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 10.100000 m, deltaT: 0.505263 s, deltaX: -0.099999 m, approachRate: -0.197916 m/s, rangeRepo size: 4 2025-10-29T01:33:58.001Z,1761701638.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 10.045260 m, bearing: 311.110623 deg, lat: 36.779301 deg, lon: -121.859433 deg, deltaT: 0.505263 s, deltaX: -0.099457 m, approachRate: -0.196842 m/s, posRepo size: 4 2025-10-29T01:33:58.001Z,1761701638.001 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 10.05 m. 2025-10-29T01:33:58.005Z,1761701638.005 [DAT](INFO): checking for new query: numPingsReceived=70, elapsed TxPingTime=34.771675 2025-10-29T01:33:58.006Z,1761701638.006 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 10.045260 m, nav range: 8.414395 m, bearing: 311.392067 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 309.077753 deg, new cmd heading: 309.047313 deg. 2025-10-29T01:33:58.007Z,1761701638.007 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393893 target range: 10.045260 and range: 10.10 m. 2025-10-29T01:33:58.257Z,1761701638.257 [DAT](INFO): DAT read: Rx Time:01:33:57.6226 2025-10-29T01:33:58.258Z,1761701638.258 [DAT](INFO): Rx dataTimestamp_ set to:1761701638.257655 2025-10-29T01:33:58.259Z,1761701638.259 [DAT](INFO): DAT read: Bearing 142.6, 1.1 (Local) 2025-10-29T01:33:58.259Z,1761701638.259 [DAT](INFO): Local bearing/azimuth received: Bearing 142.6, 1.1 (Local) 2025-10-29T01:33:58.266Z,1761701638.266 [DAT](INFO): DAT read: Range 11 to 50 : 9.6 m (trip time 6.4 ms) speed 0.7 2025-10-29T01:33:58.270Z,1761701638.270 [DAT](INFO): DAT read: 01:33:57.6226 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 504,-0.24,-1.564, 3.085,-1.217,-1.456, PHS=-0.006,-1.697, 0.195, RAW= 155.5, 16.5, CAL= 156.4, 19.0, ROT= 353.6, -19.0 2025-10-29T01:33:58.271Z,1761701638.271 [DAT](INFO): got valid direction response: 01:33:57.6226 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 504,-0.24,-1.564, 3.085,-1.217,-1.456, PHS=-0.006,-1.697, 0.195, RAW= 155.5, 16.5, CAL= 156.4, 19.0, ROT= 353.6, -19.0 2025-10-29T01:33:58.276Z,1761701638.276 [DAT](INFO): #Rx 71: Read range and direction messages. 2025-10-29T01:33:58.277Z,1761701638.277 [DAT](INFO): direction in FSK: [0.939626,-0.105396,0.325568] 2025-10-29T01:33:58.277Z,1761701638.277 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:58.281Z,1761701638.281 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.047527 2025-10-29T01:33:58.351Z,1761701638.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.673503,0.739104,0.010927],[-0.711581,0.644278,0.280284],[0.200119,-0.196548,0.959855]] 2025-10-29T01:33:58.458Z,1761701638.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.600000 m, deltaT: 0.502355 s, deltaX: -0.500000 m, approachRate: -0.995312 m/s, rangeRepo size: 4 2025-10-29T01:33:58.460Z,1761701638.460 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.547765 m, bearing: 310.877031 deg, lat: 36.779301 deg, lon: -121.859434 deg, deltaT: 0.502355 s, deltaX: -0.497496 m, approachRate: -0.990327 m/s, posRepo size: 4 2025-10-29T01:33:58.461Z,1761701638.461 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): NOT Ignoring new targets: 9.55 m. 2025-10-29T01:33:58.462Z,1761701638.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Short final. Range: 9.60 m. 2025-10-29T01:33:58.462Z,1761701638.462 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: SHORT_FINAL 2025-10-29T01:33:58.464Z,1761701638.464 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 8.159132 m, bearing: 310.966500 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 309.047318 deg, new cmd heading: 309.009511 deg. 2025-10-29T01:33:58.465Z,1761701638.465 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.393233 target range: 9.547765 and range: 9.60 m. 2025-10-29T01:33:58.509Z,1761701638.509 [DAT](INFO): checking for new query: numPingsReceived=71, elapsed TxPingTime=35.275604 2025-10-29T01:33:58.762Z,1761701638.762 [DAT](INFO): DAT read: Rx Time:01:33:58.1223 2025-10-29T01:33:58.763Z,1761701638.763 [DAT](INFO): Rx dataTimestamp_ set to:1761701638.762690 2025-10-29T01:33:58.765Z,1761701638.765 [DAT](INFO): DAT read: Bearing 142.8, 1.3 (Local) 2025-10-29T01:33:58.765Z,1761701638.765 [DAT](INFO): Local bearing/azimuth received: Bearing 142.8, 1.3 (Local) 2025-10-29T01:33:58.768Z,1761701638.768 [DAT](INFO): DAT read: Range 11 to 50 : 9.2 m (trip time 6.1 ms) speed 0.7 2025-10-29T01:33:58.774Z,1761701638.774 [DAT](INFO): DAT read: 01:33:58.1223 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.13, 0.382,-1.258, 0.721, 0.493, PHS=-0.009,-1.706, 0.184, RAW= 155.3, 16.7, CAL= 156.2, 19.3, ROT= 353.8, -19.3 2025-10-29T01:33:58.776Z,1761701638.776 [DAT](INFO): got valid direction response: 01:33:58.1223 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 501, 0.13, 0.382,-1.258, 0.721, 0.493, PHS=-0.009,-1.706, 0.184, RAW= 155.3, 16.7, CAL= 156.2, 19.3, ROT= 353.8, -19.3 2025-10-29T01:33:58.777Z,1761701638.777 [DAT](INFO): #Rx 72: Read range and direction messages. 2025-10-29T01:33:58.778Z,1761701638.778 [DAT](INFO): direction in FSK: [0.938281,-0.101930,0.330514] 2025-10-29T01:33:58.779Z,1761701638.779 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:58.801Z,1761701638.801 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.672035,0.740444,0.010572],[-0.712671,0.642817,0.280865],[0.201169,-0.196285,0.959689]] 2025-10-29T01:33:58.817Z,1761701638.817 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.583080 2025-10-29T01:33:58.917Z,1761701638.917 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 9.200000 m, deltaT: 0.505035 s, deltaX: -0.400001 m, approachRate: -0.792025 m/s, rangeRepo size: 4 2025-10-29T01:33:58.919Z,1761701638.919 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 9.149940 m, bearing: 311.052681 deg, lat: 36.779301 deg, lon: -121.859434 deg, deltaT: 0.505035 s, deltaX: -0.397824 m, approachRate: -0.787716 m/s, posRepo size: 4 2025-10-29T01:33:58.920Z,1761701638.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.15 m. 9.55 m. 2025-10-29T01:33:58.923Z,1761701638.923 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 7.849588 m, bearing: 310.923378 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 309.009506 deg, new cmd heading: 308.972171 deg. 2025-10-29T01:33:58.928Z,1761701638.928 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.392581 target range: 9.547765 and range: 9.20 m. 2025-10-29T01:33:59.014Z,1761701639.014 [DAT](INFO): checking for new query: numPingsReceived=72, elapsed TxPingTime=35.780582 2025-10-29T01:33:59.257Z,1761701639.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.670437,0.741900,0.009952],[-0.713830,0.641296,0.281399],[0.202388,-0.195765,0.959539]] 2025-10-29T01:33:59.266Z,1761701639.266 [DAT](INFO): DAT read: Rx Time:01:33:58.6220 2025-10-29T01:33:59.266Z,1761701639.266 [DAT](INFO): Rx dataTimestamp_ set to:1761701639.265996 2025-10-29T01:33:59.268Z,1761701639.268 [DAT](INFO): DAT read: Bearing 142.1, 2.1 (Local) 2025-10-29T01:33:59.268Z,1761701639.268 [DAT](INFO): Local bearing/azimuth received: Bearing 142.1, 2.1 (Local) 2025-10-29T01:33:59.270Z,1761701639.270 [DAT](INFO): DAT read: Range 11 to 50 : 8.7 m (trip time 5.8 ms) speed 0.7 2025-10-29T01:33:59.275Z,1761701639.275 [DAT](INFO): DAT read: 01:33:58.6220 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.27,-2.278, 2.333,-1.955,-2.196, PHS= 0.020,-1.710, 0.196, RAW= 154.8, 16.2, CAL= 155.5, 18.5, ROT= 354.5, -18.5 2025-10-29T01:33:59.277Z,1761701639.277 [DAT](INFO): got valid direction response: 01:33:58.6220 LVL= 32752, 32753, 32754, 32755, AGC= 51, IDX= 498,-0.27,-2.278, 2.333,-1.955,-2.196, PHS= 0.020,-1.710, 0.196, RAW= 154.8, 16.2, CAL= 155.5, 18.5, ROT= 354.5, -18.5 2025-10-29T01:33:59.277Z,1761701639.277 [DAT](INFO): #Rx 73: Read range and direction messages. 2025-10-29T01:33:59.278Z,1761701639.278 [DAT](INFO): direction in FSK: [0.943958,-0.090893,0.317305] 2025-10-29T01:33:59.280Z,1761701639.280 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:59.291Z,1761701639.291 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.057224 2025-10-29T01:33:59.353Z,1761701639.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.700000 m, deltaT: 0.503306 s, deltaX: -0.500000 m, approachRate: -0.993431 m/s, rangeRepo size: 4 2025-10-29T01:33:59.355Z,1761701639.355 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.652438 m, bearing: 311.493215 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 1.008341 s, deltaX: -0.895327 m, approachRate: -0.887920 m/s, posRepo size: 4 2025-10-29T01:33:59.364Z,1761701639.364 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.65 m. 9.55 m. 2025-10-29T01:33:59.367Z,1761701639.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 7.538658 m, bearing: 310.881344 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.972159 deg, new cmd heading: 308.936326 deg. 2025-10-29T01:33:59.367Z,1761701639.367 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391956 target range: 9.547765 and range: 8.70 m. 2025-10-29T01:33:59.517Z,1761701639.517 [DAT](INFO): checking for new query: numPingsReceived=73, elapsed TxPingTime=36.283844 2025-10-29T01:33:59.770Z,1761701639.770 [DAT](INFO): DAT read: Rx Time:01:33:59.1218 2025-10-29T01:33:59.770Z,1761701639.770 [DAT](INFO): Rx dataTimestamp_ set to:1761701639.770097 2025-10-29T01:33:59.772Z,1761701639.772 [DAT](INFO): DAT read: Bearing 141.2, 2.6 (Local) 2025-10-29T01:33:59.773Z,1761701639.773 [DAT](INFO): Local bearing/azimuth received: Bearing 141.2, 2.6 (Local) 2025-10-29T01:33:59.775Z,1761701639.775 [DAT](INFO): DAT read: Range 11 to 50 : 8.4 m (trip time 5.6 ms) speed 0.7 2025-10-29T01:33:59.781Z,1761701639.781 [DAT](INFO): DAT read: 01:33:59.1218 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 496, 0.08, 1.044,-0.668, 1.366, 1.102, PHS= 0.044,-1.725, 0.220, RAW= 154.7, 15.5, CAL= 155.3, 17.7, ROT= 354.7, -17.7 2025-10-29T01:33:59.782Z,1761701639.782 [DAT](INFO): got valid direction response: 01:33:59.1218 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 496, 0.08, 1.044,-0.668, 1.366, 1.102, PHS= 0.044,-1.725, 0.220, RAW= 154.7, 15.5, CAL= 155.3, 17.7, ROT= 354.7, -17.7 2025-10-29T01:33:59.782Z,1761701639.782 [DAT](INFO): #Rx 74: Read range and direction messages. 2025-10-29T01:33:59.783Z,1761701639.783 [DAT](INFO): direction in FSK: [0.948589,-0.087998,0.304033] 2025-10-29T01:33:59.783Z,1761701639.783 [DAT](INFO): publishing direction and range info 2025-10-29T01:33:59.787Z,1761701639.787 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.553673 2025-10-29T01:33:59.911Z,1761701639.911 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 8.400000 m, deltaT: 0.504101 s, deltaX: -0.300000 m, approachRate: -0.595119 m/s, rangeRepo size: 4 2025-10-29T01:33:59.918Z,1761701639.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 8.354078 m, bearing: 311.519771 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 1.512442 s, deltaX: -1.193686 m, approachRate: -0.789244 m/s, posRepo size: 4 2025-10-29T01:33:59.918Z,1761701639.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 8.35 m. 9.55 m. 2025-10-29T01:33:59.925Z,1761701639.925 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 7.146840 m, bearing: 310.776104 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.936314 deg, new cmd heading: 308.890038 deg. 2025-10-29T01:33:59.926Z,1761701639.926 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.391148 target range: 9.547765 and range: 8.40 m. 2025-10-29T01:34:00.022Z,1761701640.022 [DAT](INFO): checking for new query: numPingsReceived=74, elapsed TxPingTime=36.788490 2025-10-29T01:34:00.254Z,1761701640.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.666026,0.745918,0.003917],[-0.717156,0.638883,0.278418],[0.205174,-0.188242,0.960452]] 2025-10-29T01:34:00.271Z,1761701640.271 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:00.274Z,1761701640.274 [DAT](INFO): DAT read: Rx Time:01:33:59.6215 2025-10-29T01:34:00.274Z,1761701640.274 [DAT](INFO): Rx dataTimestamp_ set to:1761701640.273829 2025-10-29T01:34:00.275Z,1761701640.275 [DAT](INFO): DAT read: Bearing 140.2, 2.9 (Local) 2025-10-29T01:34:00.287Z,1761701640.287 [DAT](INFO): Local bearing/azimuth received: Bearing 140.2, 2.9 (Local) 2025-10-29T01:34:00.290Z,1761701640.290 [DAT](INFO): DAT read: Range 11 to 50 : 8.0 m (trip time 5.3 ms) speed 0.7 2025-10-29T01:34:00.294Z,1761701640.294 [DAT](INFO): DAT read: 01:33:59.6215 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509,-0.34,-1.227,-2.948,-0.898,-1.194, PHS= 0.069,-1.709, 0.252, RAW= 154.8, 14.7, CAL= 155.3, 16.7, ROT= 354.7, -16.7 2025-10-29T01:34:00.295Z,1761701640.295 [DAT](INFO): got valid direction response: 01:33:59.6215 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 509,-0.34,-1.227,-2.948,-0.898,-1.194, PHS= 0.069,-1.709, 0.252, RAW= 154.8, 14.7, CAL= 155.3, 16.7, ROT= 354.7, -16.7 2025-10-29T01:34:00.302Z,1761701640.302 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T01:34:00.309Z,1761701640.309 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 6.885254 m, bearing: 310.712776 deg, approach rate: -0.669387 m/s, LOS rate: -0.168210 deg/s, cmd heading: 308.890032 deg, new cmd heading: 308.758565 deg. 2025-10-29T01:34:00.310Z,1761701640.310 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388854 target range: 9.547765 and range: 8.40 m. 2025-10-29T01:34:00.317Z,1761701640.317 [DAT](INFO): #Rx 75: Read range and direction messages. 2025-10-29T01:34:00.318Z,1761701640.318 [DAT](INFO): direction in FSK: [0.953728,-0.088475,0.287361] 2025-10-29T01:34:00.318Z,1761701640.318 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:00.330Z,1761701640.330 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.096199 2025-10-29T01:34:00.528Z,1761701640.528 [DAT](INFO): checking for new query: numPingsReceived=75, elapsed TxPingTime=37.294544 2025-10-29T01:34:00.700Z,1761701640.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664902,0.746924,0.003195],[-0.718013,0.637975,0.278290],[0.205823,-0.187330,0.960492]] 2025-10-29T01:34:00.779Z,1761701640.779 [DAT](INFO): DAT read: Rx Time:01:34:00.1213 2025-10-29T01:34:00.779Z,1761701640.779 [DAT](INFO): Rx dataTimestamp_ set to:1761701640.778931 2025-10-29T01:34:00.781Z,1761701640.781 [DAT](INFO): DAT read: Bearing 141.7, 3.2 (Local) 2025-10-29T01:34:00.781Z,1761701640.781 [DAT](INFO): Local bearing/azimuth received: Bearing 141.7, 3.2 (Local) 2025-10-29T01:34:00.783Z,1761701640.783 [DAT](INFO): DAT read: Range 11 to 50 : 7.7 m (trip time 5.1 ms) speed 0.7 2025-10-29T01:34:00.788Z,1761701640.788 [DAT](INFO): DAT read: 01:34:00.1213 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.05, 2.851, 1.142,-3.132, 2.912, PHS= 0.041,-1.725, 0.195, RAW= 154.1, 15.9, CAL= 154.8, 18.1, ROT= 355.2, -18.1 2025-10-29T01:34:00.789Z,1761701640.789 [DAT](INFO): got valid direction response: 01:34:00.1213 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 507, 0.05, 2.851, 1.142,-3.132, 2.912, PHS= 0.041,-1.725, 0.195, RAW= 154.1, 15.9, CAL= 154.8, 18.1, ROT= 355.2, -18.1 2025-10-29T01:34:00.789Z,1761701640.789 [DAT](INFO): #Rx 76: Read range and direction messages. 2025-10-29T01:34:00.790Z,1761701640.790 [DAT](INFO): direction in FSK: [0.947182,-0.079537,0.310676] 2025-10-29T01:34:00.790Z,1761701640.790 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:00.802Z,1761701640.802 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.568619 2025-10-29T01:34:00.815Z,1761701640.815 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.700000 m, deltaT: 1.008834 s, deltaX: -0.700000 m, approachRate: -0.693870 m/s, rangeRepo size: 4 2025-10-29T01:34:00.821Z,1761701640.821 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.657984 m, bearing: 311.563504 deg, lat: 36.779300 deg, lon: -121.859434 deg, deltaT: 2.521276 s, deltaX: -1.889781 m, approachRate: -0.749534 m/s, posRepo size: 4 2025-10-29T01:34:00.822Z,1761701640.822 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.66 m. 9.55 m. 2025-10-29T01:34:00.829Z,1761701640.829 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 6.556746 m, bearing: 310.586336 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.758565 deg, new cmd heading: 308.716436 deg. 2025-10-29T01:34:00.830Z,1761701640.830 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.388118 target range: 9.547765 and range: 7.70 m. 2025-10-29T01:34:01.029Z,1761701641.029 [DAT](INFO): checking for new query: numPingsReceived=76, elapsed TxPingTime=37.795650 2025-10-29T01:34:01.130Z,1761701641.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.662935,0.748666,0.003979],[-0.719549,0.635667,0.279600],[0.206798,-0.188220,0.960108]] 2025-10-29T01:34:01.156Z,1761701641.156 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T01:34:01.159Z,1761701641.159 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 6.295250 m, bearing: 310.482141 deg, approach rate: -0.765136 m/s, LOS rate: -0.317537 deg/s, cmd heading: 308.716436 deg, new cmd heading: 308.499392 deg. 2025-10-29T01:34:01.160Z,1761701641.160 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.384330 target range: 9.547765 and range: 7.70 m. 2025-10-29T01:34:01.286Z,1761701641.286 [DAT](INFO): DAT read: Rx Time:01:34:00.6210 2025-10-29T01:34:01.287Z,1761701641.287 [DAT](INFO): Rx dataTimestamp_ set to:1761701641.286243 2025-10-29T01:34:01.292Z,1761701641.292 [DAT](INFO): DAT read: Bearing 141.6, 4.0 (Local) 2025-10-29T01:34:01.294Z,1761701641.294 [DAT](INFO): Local bearing/azimuth received: Bearing 141.6, 4.0 (Local) 2025-10-29T01:34:01.314Z,1761701641.314 [DAT](INFO): DAT read: Range 11 to 50 : 7.2 m (trip time 4.8 ms) speed 0.6 2025-10-29T01:34:01.329Z,1761701641.329 [DAT](INFO): DAT read: 01:34:00.6210 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.19,-0.512,-2.237,-0.241,-0.467, PHS= 0.057,-1.725, 0.182, RAW= 153.4, 15.9, CAL= 153.9, 18.0, ROT= 356.1, -18.0 2025-10-29T01:34:01.330Z,1761701641.330 [DAT](INFO): got valid direction response: 01:34:00.6210 LVL= 32752, 32753, 32754, 32755, AGC= 54, IDX= 504,-0.19,-0.512,-2.237,-0.241,-0.467, PHS= 0.057,-1.725, 0.182, RAW= 153.4, 15.9, CAL= 153.9, 18.0, ROT= 356.1, -18.0 2025-10-29T01:34:01.330Z,1761701641.330 [DAT](INFO): #Rx 77: Read range and direction messages. 2025-10-29T01:34:01.331Z,1761701641.331 [DAT](INFO): direction in FSK: [0.948854,-0.064686,0.309017] 2025-10-29T01:34:01.344Z,1761701641.344 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:01.385Z,1761701641.385 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.151852 2025-10-29T01:34:01.533Z,1761701641.533 [DAT](INFO): checking for new query: numPingsReceived=77, elapsed TxPingTime=38.299580 2025-10-29T01:34:01.535Z,1761701641.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661934,0.749552,0.003852],[-0.720346,0.634704,0.279738],[0.207233,-0.187943,0.960069]] 2025-10-29T01:34:01.616Z,1761701641.616 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 7.200000 m, deltaT: 0.507312 s, deltaX: -0.500000 m, approachRate: -0.985587 m/s, rangeRepo size: 4 2025-10-29T01:34:01.618Z,1761701641.618 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 7.160634 m, bearing: 312.306989 deg, lat: 36.779301 deg, lon: -121.859434 deg, deltaT: 3.028588 s, deltaX: -2.387131 m, approachRate: -0.788199 m/s, posRepo size: 4 2025-10-29T01:34:01.619Z,1761701641.619 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 7.16 m. 9.55 m. 2025-10-29T01:34:01.626Z,1761701641.626 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 6.028457 m, bearing: 310.369870 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.499400 deg, new cmd heading: 308.463237 deg. 2025-10-29T01:34:01.627Z,1761701641.627 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383699 target range: 9.547765 and range: 7.20 m. 2025-10-29T01:34:01.786Z,1761701641.786 [DAT](INFO): DAT read: Rx Time:01:34:01.1208 2025-10-29T01:34:01.786Z,1761701641.786 [DAT](INFO): Rx dataTimestamp_ set to:1761701641.785878 2025-10-29T01:34:01.787Z,1761701641.787 [DAT](INFO): DAT read: Bearing 142.3, 4.7 (Local) 2025-10-29T01:34:01.788Z,1761701641.788 [DAT](INFO): Local bearing/azimuth received: Bearing 142.3, 4.7 (Local) 2025-10-29T01:34:01.790Z,1761701641.790 [DAT](INFO): DAT read: Range 11 to 50 : 6.9 m (trip time 4.6 ms) speed 0.6 2025-10-29T01:34:01.795Z,1761701641.795 [DAT](INFO): DAT read: 01:34:01.1208 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.46, 1.174,-0.562, 1.415, 1.224, PHS= 0.053,-1.740, 0.147, RAW= 152.5, 16.5, CAL= 153.1, 18.7, ROT= 356.9, -18.7 2025-10-29T01:34:01.796Z,1761701641.796 [DAT](INFO): got valid direction response: 01:34:01.1208 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 502, 0.46, 1.174,-0.562, 1.415, 1.224, PHS= 0.053,-1.740, 0.147, RAW= 152.5, 16.5, CAL= 153.1, 18.7, ROT= 356.9, -18.7 2025-10-29T01:34:01.796Z,1761701641.796 [DAT](INFO): #Rx 78: Read range and direction messages. 2025-10-29T01:34:01.797Z,1761701641.797 [DAT](INFO): direction in FSK: [0.945824,-0.051224,0.320613] 2025-10-29T01:34:01.797Z,1761701641.797 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:01.817Z,1761701641.817 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.584038 2025-10-29T01:34:02.032Z,1761701642.032 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.900000 m, deltaT: 0.499635 s, deltaX: -0.300000 m, approachRate: -0.600438 m/s, rangeRepo size: 4 2025-10-29T01:34:02.034Z,1761701642.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.862274 m, bearing: 313.336381 deg, lat: 36.779302 deg, lon: -121.859434 deg, deltaT: 3.528223 s, deltaX: -2.685491 m, approachRate: -0.761145 m/s, posRepo size: 4 2025-10-29T01:34:02.035Z,1761701642.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.86 m. 9.55 m. 2025-10-29T01:34:02.040Z,1761701642.040 [DAT](INFO): checking for new query: numPingsReceived=78, elapsed TxPingTime=38.806335 2025-10-29T01:34:02.047Z,1761701642.047 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 5.722778 m, bearing: 310.235320 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.463227 deg, new cmd heading: 308.427758 deg. 2025-10-29T01:34:02.052Z,1761701642.052 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.383080 target range: 9.547765 and range: 6.90 m. 2025-10-29T01:34:02.294Z,1761701642.294 [DAT](INFO): DAT read: Rx Time:01:34:01.6206 2025-10-29T01:34:02.294Z,1761701642.294 [DAT](INFO): Rx dataTimestamp_ set to:1761701642.293719 2025-10-29T01:34:02.295Z,1761701642.295 [DAT](INFO): DAT read: Bearing 142.3, 5.4 (Local) 2025-10-29T01:34:02.296Z,1761701642.296 [DAT](INFO): Local bearing/azimuth received: Bearing 142.3, 5.4 (Local) 2025-10-29T01:34:02.298Z,1761701642.298 [DAT](INFO): DAT read: Range 11 to 50 : 6.5 m (trip time 4.3 ms) speed 0.6 2025-10-29T01:34:02.302Z,1761701642.302 [DAT](INFO): DAT read: 01:34:01.6206 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.17, 0.363,-1.392, 0.580, 0.402, PHS= 0.063,-1.748, 0.135, RAW= 151.9, 16.5, CAL= 152.5, 18.7, ROT= 357.5, -18.7 2025-10-29T01:34:02.304Z,1761701642.304 [DAT](INFO): got valid direction response: 01:34:01.6206 LVL= 32752, 32753, 32754, 32755, AGC= 53, IDX= 499, 0.17, 0.363,-1.392, 0.580, 0.402, PHS= 0.063,-1.748, 0.135, RAW= 151.9, 16.5, CAL= 152.5, 18.7, ROT= 357.5, -18.7 2025-10-29T01:34:02.304Z,1761701642.304 [DAT](INFO): #Rx 79: Read range and direction messages. 2025-10-29T01:34:02.305Z,1761701642.305 [DAT](INFO): direction in FSK: [0.946309,-0.041317,0.320613] 2025-10-29T01:34:02.305Z,1761701642.305 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:02.310Z,1761701642.310 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.076134 2025-10-29T01:34:02.534Z,1761701642.534 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.500000 m, deltaT: 0.507841 s, deltaX: -0.400000 m, approachRate: -0.787648 m/s, rangeRepo size: 4 2025-10-29T01:34:02.536Z,1761701642.536 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.464406 m, bearing: 313.983945 deg, lat: 36.779303 deg, lon: -121.859434 deg, deltaT: 4.036064 s, deltaX: -3.083359 m, approachRate: -0.763952 m/s, posRepo size: 4 2025-10-29T01:34:02.537Z,1761701642.537 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.46 m. 9.55 m. 2025-10-29T01:34:02.540Z,1761701642.540 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 5.375721 m, bearing: 310.063986 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.427765 deg, new cmd heading: 308.386153 deg. 2025-10-29T01:34:02.541Z,1761701642.541 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.382354 target range: 9.547765 and range: 6.50 m. 2025-10-29T01:34:02.545Z,1761701642.545 [DAT](INFO): checking for new query: numPingsReceived=79, elapsed TxPingTime=39.311680 2025-10-29T01:34:02.799Z,1761701642.799 [DAT](INFO): DAT read: Rx Time:01:34:02.1204 2025-10-29T01:34:02.799Z,1761701642.799 [DAT](INFO): Rx dataTimestamp_ set to:1761701642.798717 2025-10-29T01:34:02.801Z,1761701642.801 [DAT](INFO): DAT read: Bearing 138.2, 8.8 (Local) 2025-10-29T01:34:02.802Z,1761701642.802 [DAT](INFO): Local bearing/azimuth received: Bearing 138.2, 8.8 (Local) 2025-10-29T01:34:02.804Z,1761701642.804 [DAT](INFO): DAT read: Range 11 to 50 : 6.2 m (trip time 4.1 ms) speed 0.6 2025-10-29T01:34:02.809Z,1761701642.809 [DAT](INFO): DAT read: 01:34:02.1204 LVL= 28416, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.06,-0.828,-2.683,-0.677,-0.957, PHS= 0.232,-1.681, 0.236, RAW= 150.1, 12.6, CAL= 150.1, 14.0, ROT= 359.9, -14.0 2025-10-29T01:34:02.810Z,1761701642.810 [DAT](INFO): got valid direction response: 01:34:02.1204 LVL= 28416, 32753, 32754, 32755, AGC= 52, IDX= 497, 0.06,-0.828,-2.683,-0.677,-0.957, PHS= 0.232,-1.681, 0.236, RAW= 150.1, 12.6, CAL= 150.1, 14.0, ROT= 359.9, -14.0 2025-10-29T01:34:02.810Z,1761701642.810 [DAT](INFO): #Rx 80: Read range and direction messages. 2025-10-29T01:34:02.811Z,1761701642.811 [DAT](INFO): direction in FSK: [0.970294,-0.001694,0.241922] 2025-10-29T01:34:02.816Z,1761701642.816 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:02.827Z,1761701642.827 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.593117 2025-10-29T01:34:02.915Z,1761701642.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.657113,0.753761,0.006781],[-0.724540,0.629106,0.281546],[0.207952,-0.189920,0.959524]] 2025-10-29T01:34:03.010Z,1761701643.010 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 6.200000 m, deltaT: 0.504998 s, deltaX: -0.300000 m, approachRate: -0.594062 m/s, rangeRepo size: 4 2025-10-29T01:34:03.012Z,1761701643.012 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 6.166048 m, bearing: 315.089337 deg, lat: 36.779304 deg, lon: -121.859434 deg, deltaT: 4.541062 s, deltaX: -3.381717 m, approachRate: -0.744697 m/s, posRepo size: 4 2025-10-29T01:34:03.017Z,1761701643.017 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 6.17 m. 9.55 m. 2025-10-29T01:34:03.022Z,1761701643.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 5.070353 m, bearing: 309.893088 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.386156 deg, new cmd heading: 308.347061 deg. 2025-10-29T01:34:03.023Z,1761701643.023 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381671 target range: 9.547765 and range: 6.20 m. 2025-10-29T01:34:03.049Z,1761701643.049 [DAT](INFO): checking for new query: numPingsReceived=80, elapsed TxPingTime=39.815647 2025-10-29T01:34:03.302Z,1761701643.302 [DAT](INFO): DAT read: Rx Time:01:34:02.6200 2025-10-29T01:34:03.303Z,1761701643.303 [DAT](INFO): Rx dataTimestamp_ set to:1761701643.302411 2025-10-29T01:34:03.305Z,1761701643.305 [DAT](INFO): DAT read: Bearing 138.6, 9.9 (Local) 2025-10-29T01:34:03.305Z,1761701643.305 [DAT](INFO): Local bearing/azimuth received: Bearing 138.6, 9.9 (Local) 2025-10-29T01:34:03.308Z,1761701643.308 [DAT](INFO): DAT read: Range 11 to 50 : 5.7 m (trip time 3.8 ms) speed 0.6 2025-10-29T01:34:03.318Z,1761701643.318 [DAT](INFO): DAT read: 01:34:02.6200 LVL= 30016, 32753, 32754, 32755, AGC= 52, IDX= 510,-0.08, 2.985, 1.113, 3.088, 2.840, PHS= 0.247,-1.682, 0.204, RAW= 148.9, 12.9, CAL= 148.8, 14.2, ROT= 1.2, -14.2 2025-10-29T01:34:03.319Z,1761701643.319 [DAT](INFO): got valid direction response: 01:34:02.6200 LVL= 30016, 32753, 32754, 32755, AGC= 52, IDX= 510,-0.08, 2.985, 1.113, 3.088, 2.840, PHS= 0.247,-1.682, 0.204, RAW= 148.9, 12.9, CAL= 148.8, 14.2, ROT= 1.2, -14.2 2025-10-29T01:34:03.319Z,1761701643.319 [DAT](INFO): #Rx 81: Read range and direction messages. 2025-10-29T01:34:03.320Z,1761701643.320 [DAT](INFO): direction in FSK: [0.969233,0.020303,0.245307] 2025-10-29T01:34:03.320Z,1761701643.320 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:03.324Z,1761701643.324 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.090401 2025-10-29T01:34:03.376Z,1761701643.376 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.655490,0.755157,0.008356],[-0.726063,0.627115,0.282062],[0.207761,-0.190956,0.959360]] 2025-10-29T01:34:03.444Z,1761701643.444 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.700000 m, deltaT: 0.503694 s, deltaX: -0.500000 m, approachRate: -0.992666 m/s, rangeRepo size: 4 2025-10-29T01:34:03.450Z,1761701643.450 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.668809 m, bearing: 316.389016 deg, lat: 36.779304 deg, lon: -121.859433 deg, deltaT: 5.044756 s, deltaX: -3.878956 m, approachRate: -0.768909 m/s, posRepo size: 4 2025-10-29T01:34:03.451Z,1761701643.451 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.67 m. 9.55 m. 2025-10-29T01:34:03.457Z,1761701643.457 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 4.787167 m, bearing: 309.722660 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.347060 deg, new cmd heading: 308.311398 deg. 2025-10-29T01:34:03.458Z,1761701643.458 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.381049 target range: 9.547765 and range: 5.70 m. 2025-10-29T01:34:03.553Z,1761701643.553 [DAT](INFO): checking for new query: numPingsReceived=81, elapsed TxPingTime=40.319767 2025-10-29T01:34:03.806Z,1761701643.806 [DAT](INFO): DAT read: Rx Time:01:34:03.1199 2025-10-29T01:34:03.806Z,1761701643.806 [DAT](INFO): Rx dataTimestamp_ set to:1761701643.805737 2025-10-29T01:34:03.807Z,1761701643.807 [DAT](INFO): DAT read: Bearing 136.8, 12.7 (Local) 2025-10-29T01:34:03.808Z,1761701643.808 [DAT](INFO): Local bearing/azimuth received: Bearing 136.8, 12.7 (Local) 2025-10-29T01:34:03.810Z,1761701643.810 [DAT](INFO): DAT read: Range 11 to 50 : 5.6 m (trip time 3.7 ms) speed 0.5 2025-10-29T01:34:03.814Z,1761701643.814 [DAT](INFO): DAT read: 01:34:03.1199 LVL= 25072, 32753, 27314, 32755, AGC= 49, IDX= 509,-0.17,-2.903, 1.505,-2.878, 3.140, PHS= 0.342,-1.590, 0.221, RAW= 146.8, 11.0, CAL= 146.5, 12.0, ROT= 3.5, -12.0 2025-10-29T01:34:03.815Z,1761701643.815 [DAT](INFO): got valid direction response: 01:34:03.1199 LVL= 25072, 32753, 27314, 32755, AGC= 49, IDX= 509,-0.17,-2.903, 1.505,-2.878, 3.140, PHS= 0.342,-1.590, 0.221, RAW= 146.8, 11.0, CAL= 146.5, 12.0, ROT= 3.5, -12.0 2025-10-29T01:34:03.824Z,1761701643.824 [DAT](INFO): #Rx 82: Read range and direction messages. 2025-10-29T01:34:03.825Z,1761701643.825 [DAT](INFO): direction in FSK: [0.976323,0.059714,0.207912] 2025-10-29T01:34:03.826Z,1761701643.826 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:03.837Z,1761701643.837 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.604000 2025-10-29T01:34:03.929Z,1761701643.929 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.600000 m, deltaT: 0.503326 s, deltaX: -0.100000 m, approachRate: -0.198678 m/s, rangeRepo size: 4 2025-10-29T01:34:03.931Z,1761701643.931 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 5.569356 m, bearing: 318.259905 deg, lat: 36.779306 deg, lon: -121.859433 deg, deltaT: 5.548082 s, deltaX: -3.978408 m, approachRate: -0.717078 m/s, posRepo size: 4 2025-10-29T01:34:03.936Z,1761701643.936 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 5.57 m. 9.55 m. 2025-10-29T01:34:03.938Z,1761701643.938 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 4.465619 m, bearing: 309.560647 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.311406 deg, new cmd heading: 308.272180 deg. 2025-10-29T01:34:03.939Z,1761701643.939 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.380364 target range: 9.547765 and range: 5.60 m. 2025-10-29T01:34:04.060Z,1761701644.060 [DAT](INFO): checking for new query: numPingsReceived=82, elapsed TxPingTime=40.826328 2025-10-29T01:34:04.179Z,1761701644.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.651946,0.758189,0.010727],[-0.729459,0.623254,0.281858],[0.207016,-0.191582,0.959396]] 2025-10-29T01:34:04.228Z,1761701644.228 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:04.231Z,1761701644.231 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T01:34:04.241Z,1761701644.241 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 4.263490 m, bearing: 309.459852 deg, approach rate: -0.651298 m/s, LOS rate: -0.340179 deg/s, cmd heading: 308.272173 deg, new cmd heading: 308.061027 deg. 2025-10-29T01:34:04.242Z,1761701644.242 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.376679 target range: 9.547765 and range: 5.60 m. 2025-10-29T01:34:04.313Z,1761701644.313 [DAT](INFO): DAT read: Rx Time:01:34:03.6196 2025-10-29T01:34:04.313Z,1761701644.313 [DAT](INFO): Rx dataTimestamp_ set to:1761701644.312761 2025-10-29T01:34:04.314Z,1761701644.314 [DAT](INFO): DAT read: Bearing 137.0, 14.1 (Local) 2025-10-29T01:34:04.315Z,1761701644.315 [DAT](INFO): Local bearing/azimuth received: Bearing 137.0, 14.1 (Local) 2025-10-29T01:34:04.321Z,1761701644.321 [DAT](INFO): DAT read: Range 11 to 50 : 5.1 m (trip time 3.4 ms) speed 0.5 2025-10-29T01:34:04.327Z,1761701644.327 [DAT](INFO): DAT read: 01:34:03.6196 LVL= 24544, 32753, 26994, 32755, AGC= 49, IDX= 506,-0.23, 1.788,-0.124, 1.754, 1.520, PHS= 0.370,-1.599, 0.190, RAW= 145.3, 11.0, CAL= 144.9, 12.0, ROT= 5.1, -12.0 2025-10-29T01:34:04.341Z,1761701644.341 [DAT](INFO): got valid direction response: 01:34:03.6196 LVL= 24544, 32753, 26994, 32755, AGC= 49, IDX= 506,-0.23, 1.788,-0.124, 1.754, 1.520, PHS= 0.370,-1.599, 0.190, RAW= 145.3, 11.0, CAL= 144.9, 12.0, ROT= 5.1, -12.0 2025-10-29T01:34:04.341Z,1761701644.341 [DAT](INFO): #Rx 83: Read range and direction messages. 2025-10-29T01:34:04.342Z,1761701644.342 [DAT](INFO): direction in FSK: [0.974275,0.086952,0.207912] 2025-10-29T01:34:04.343Z,1761701644.343 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:04.355Z,1761701644.355 [DAT](INFO): checking for new query: numPingsReceived=83, elapsed TxPingTime=41.121601 2025-10-29T01:34:04.564Z,1761701644.564 [DAT](INFO): DAT read: Rx Time:01:34:04.1195 2025-10-29T01:34:04.566Z,1761701644.566 [DAT](INFO): Rx dataTimestamp_ set to:1761701644.564949 2025-10-29T01:34:04.577Z,1761701644.577 [DAT](INFO): DAT read: Bearing 136.7, 15.5 (Local) 2025-10-29T01:34:04.578Z,1761701644.578 [DAT](INFO): Local bearing/azimuth received: Bearing 136.7, 15.5 (Local) 2025-10-29T01:34:04.592Z,1761701644.592 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 2025-10-29T01:34:04.595Z,1761701644.595 [DAT](ERROR): #Rx 84: Read range message, but no direction. 2025-10-29T01:34:04.629Z,1761701644.629 [DAT](INFO): checking for new query: numPingsReceived=84, elapsed TxPingTime=41.395096 2025-10-29T01:34:04.661Z,1761701644.661 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.650442,0.759437,0.013423],[-0.730960,0.621053,0.282826],[0.206452,-0.193773,0.959077]] 2025-10-29T01:34:04.792Z,1761701644.792 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 5.000000 m, deltaT: 0.759212 s, deltaX: -0.600000 m, approachRate: -0.790293 m/s, rangeRepo size: 4 2025-10-29T01:34:04.794Z,1761701644.794 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.972605 m, bearing: 319.531600 deg, lat: 36.779307 deg, lon: -121.859434 deg, deltaT: 6.307294 s, deltaX: -4.575160 m, approachRate: -0.725376 m/s, posRepo size: 4 2025-10-29T01:34:04.795Z,1761701644.795 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.97 m. 9.55 m. 2025-10-29T01:34:04.802Z,1761701644.802 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 3.908011 m, bearing: 309.268057 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 308.061039 deg, new cmd heading: 308.015243 deg. 2025-10-29T01:34:04.803Z,1761701644.803 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.375880 target range: 9.547765 and range: 5.00 m. 2025-10-29T01:34:04.817Z,1761701644.817 [DAT](INFO): DAT read: 01:34:04.1195 LVL= 26096, 32753, 25042, 32755, AGC= 48, IDX= 505,-0.31, 2.807, 0.859, 2.723, 2.498, PHS= 0.411,-1.594, 0.181, RAW= 144.0, 10.6, CAL= 143.5, 11.5, ROT= 6.5, -11.5 2025-10-29T01:34:04.818Z,1761701644.818 [DAT](INFO): got valid direction response: 01:34:04.1195 LVL= 26096, 32753, 25042, 32755, AGC= 48, IDX= 505,-0.31, 2.807, 0.859, 2.723, 2.498, PHS= 0.411,-1.594, 0.181, RAW= 144.0, 10.6, CAL= 143.5, 11.5, ROT= 6.5, -11.5 2025-10-29T01:34:04.818Z,1761701644.818 [DAT](INFO): #Rx 85: Read direction message, but no range. 2025-10-29T01:34:04.819Z,1761701644.819 [DAT](INFO): direction in FSK: [0.973626,0.110931,0.199368] 2025-10-29T01:34:04.823Z,1761701644.823 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.589363 2025-10-29T01:34:05.069Z,1761701645.069 [DAT](INFO): DAT read: Rx Time:01:34:04.6195 2025-10-29T01:34:05.071Z,1761701645.071 [DAT](INFO): Rx dataTimestamp_ set to:1761701645.069670 2025-10-29T01:34:05.074Z,1761701645.074 [DAT](INFO): DAT read: Bearing 139.4, 15.2 (Local) 2025-10-29T01:34:05.076Z,1761701645.076 [DAT](INFO): Local bearing/azimuth received: Bearing 139.4, 15.2 (Local) 2025-10-29T01:34:05.078Z,1761701645.078 [DAT](INFO): checking for new query: numPingsReceived=85, elapsed TxPingTime=41.843918 2025-10-29T01:34:05.158Z,1761701645.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.648787,0.760753,0.018179],[-0.732521,0.617883,0.285715],[0.206126,-0.198685,0.958142]] 2025-10-29T01:34:05.244Z,1761701645.244 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T01:34:05.247Z,1761701645.247 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 3.588102 m, bearing: 309.042079 deg, approach rate: -0.707372 m/s, LOS rate: -0.544223 deg/s, cmd heading: 308.015249 deg, new cmd heading: 307.523010 deg. 2025-10-29T01:34:05.248Z,1761701645.248 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.367289 target range: 9.547765 and range: 5.00 m. 2025-10-29T01:34:05.319Z,1761701645.319 [DAT](INFO): DAT read: Range 11 to 50 : 5.0 m (trip time 3.3 ms) speed 0.5 2025-10-29T01:34:05.328Z,1761701645.328 [DAT](INFO): DAT read: 01:34:04.6195 LVL= 31504, 32753, 32242, 32755, AGC= 51, IDX= 501, 0.48,-1.919, 2.373,-2.026,-2.163, PHS= 0.346,-1.703, 0.093, RAW= 143.5, 13.0, CAL= 143.0, 14.1, ROT= 7.0, -14.1 2025-10-29T01:34:05.330Z,1761701645.330 [DAT](INFO): got valid direction response: 01:34:04.6195 LVL= 31504, 32753, 32242, 32755, AGC= 51, IDX= 501, 0.48,-1.919, 2.373,-2.026,-2.163, PHS= 0.346,-1.703, 0.093, RAW= 143.5, 13.0, CAL= 143.0, 14.1, ROT= 7.0, -14.1 2025-10-29T01:34:05.330Z,1761701645.330 [DAT](INFO): #Rx 86: Read range and direction messages. 2025-10-29T01:34:05.331Z,1761701645.331 [DAT](INFO): direction in FSK: [0.962643,0.118198,0.243615] 2025-10-29T01:34:05.331Z,1761701645.331 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:05.335Z,1761701645.335 [DAT](INFO): checking for new query: numPingsReceived=86, elapsed TxPingTime=42.101460 2025-10-29T01:34:05.573Z,1761701645.573 [DAT](INFO): DAT read: Rx Time:01:34:05.1193 2025-10-29T01:34:05.575Z,1761701645.575 [DAT](INFO): Rx dataTimestamp_ set to:1761701645.573887 2025-10-29T01:34:05.579Z,1761701645.579 [DAT](INFO): DAT read: Bearing 140.4, 15.9 (Local) 2025-10-29T01:34:05.580Z,1761701645.580 [DAT](INFO): Local bearing/azimuth received: Bearing 140.4, 15.9 (Local) 2025-10-29T01:34:05.603Z,1761701645.603 [DAT](INFO): DAT read: Range 11 to 50 : 4.7 m (trip time 3.1 ms) speed 0.5 2025-10-29T01:34:05.611Z,1761701645.611 [DAT](ERROR): #Rx 87: Read range message, but no direction. 2025-10-29T01:34:05.625Z,1761701645.625 [DAT](INFO): checking for new query: numPingsReceived=87, elapsed TxPingTime=42.391182 2025-10-29T01:34:05.642Z,1761701645.642 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647630,0.761600,0.023251],[-0.733723,0.615113,0.288595],[0.205492,-0.203963,0.957169]] 2025-10-29T01:34:05.765Z,1761701645.765 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.700000 m, deltaT: 1.008938 s, deltaX: -0.300000 m, approachRate: -0.297343 m/s, rangeRepo size: 4 2025-10-29T01:34:05.783Z,1761701645.783 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.674167 m, bearing: 321.927651 deg, lat: 36.779309 deg, lon: -121.859434 deg, deltaT: 7.316232 s, deltaX: -4.873598 m, approachRate: -0.666135 m/s, posRepo size: 4 2025-10-29T01:34:05.785Z,1761701645.785 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.67 m. 9.55 m. 2025-10-29T01:34:05.788Z,1761701645.788 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 3.284367 m, bearing: 308.794464 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 307.523011 deg, new cmd heading: 307.480506 deg. 2025-10-29T01:34:05.797Z,1761701645.797 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.366547 target range: 9.547765 and range: 4.70 m. 2025-10-29T01:34:05.826Z,1761701645.826 [DAT](INFO): DAT read: 01:34:05.1193 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500, 0.29, 0.590,-1.456, 0.437, 0.346, PHS= 0.346,-1.757, 0.047, RAW= 142.4, 13.8, CAL= 141.8, 14.9, ROT= 8.2, -14.9 2025-10-29T01:34:05.827Z,1761701645.827 [DAT](INFO): got valid direction response: 01:34:05.1193 LVL= 32752, 32753, 32754, 32755, AGC= 52, IDX= 500, 0.29, 0.590,-1.456, 0.437, 0.346, PHS= 0.346,-1.757, 0.047, RAW= 142.4, 13.8, CAL= 141.8, 14.9, ROT= 8.2, -14.9 2025-10-29T01:34:05.827Z,1761701645.827 [DAT](INFO): #Rx 88: Read direction message, but no range. 2025-10-29T01:34:05.828Z,1761701645.828 [DAT](INFO): direction in FSK: [0.956496,0.137833,0.257133] 2025-10-29T01:34:05.834Z,1761701645.834 [DAT](INFO): checking for new query: numPingsReceived=88, elapsed TxPingTime=42.600552 2025-10-29T01:34:06.077Z,1761701646.077 [DAT](INFO): DAT read: Rx Time:01:34:05.6190 2025-10-29T01:34:06.079Z,1761701646.079 [DAT](INFO): Rx dataTimestamp_ set to:1761701646.078028 2025-10-29T01:34:06.083Z,1761701646.083 [DAT](INFO): DAT read: Bearing 144.0, 14.7 (Local) 2025-10-29T01:34:06.084Z,1761701646.084 [DAT](INFO): Local bearing/azimuth received: Bearing 144.0, 14.7 (Local) 2025-10-29T01:34:06.095Z,1761701646.095 [DAT](INFO): DAT read: Range 11 to 50 : 4.2 m (trip time 2.8 ms) speed 0.6 2025-10-29T01:34:06.098Z,1761701646.098 [DAT](ERROR): #Rx 89: Read range message, but no direction. 2025-10-29T01:34:06.102Z,1761701646.102 [DAT](INFO): checking for new query: numPingsReceived=89, elapsed TxPingTime=42.867687 2025-10-29T01:34:06.230Z,1761701646.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.645344,0.763380,0.027964],[-0.736134,0.611699,0.289708],[0.204052,-0.207546,0.956706]] 2025-10-29T01:34:06.283Z,1761701646.283 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.200000 m, deltaT: 0.504141 s, deltaX: -0.500000 m, approachRate: -0.991786 m/s, rangeRepo size: 4 2025-10-29T01:34:06.285Z,1761701646.285 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.176915 m, bearing: 323.228505 deg, lat: 36.779310 deg, lon: -121.859434 deg, deltaT: 7.820373 s, deltaX: -5.370850 m, approachRate: -0.686777 m/s, posRepo size: 4 2025-10-29T01:34:06.286Z,1761701646.286 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.18 m. 9.55 m. 2025-10-29T01:34:06.289Z,1761701646.289 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 2.882734 m, bearing: 308.396794 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 307.480500 deg, new cmd heading: 307.437307 deg. 2025-10-29T01:34:06.290Z,1761701646.290 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365793 target range: 9.547765 and range: 4.20 m. 2025-10-29T01:34:06.331Z,1761701646.331 [DAT](INFO): DAT read: 01:34:05.6190 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-0.495,-2.538,-0.645,-0.614, PHS= 0.221,-1.879,-0.076, RAW= 142.5, 17.3, CAL= 141.8, 18.6, ROT= 8.2, -18.6 2025-10-29T01:34:06.332Z,1761701646.332 [DAT](INFO): got valid direction response: 01:34:05.6190 LVL= 32752, 32753, 32754, 32755, AGC= 48, IDX= 497, 0.20,-0.495,-2.538,-0.645,-0.614, PHS= 0.221,-1.879,-0.076, RAW= 142.5, 17.3, CAL= 141.8, 18.6, ROT= 8.2, -18.6 2025-10-29T01:34:06.333Z,1761701646.333 [DAT](INFO): #Rx 90: Read direction message, but no range. 2025-10-29T01:34:06.333Z,1761701646.333 [DAT](INFO): direction in FSK: [0.938079,0.135179,0.318959] 2025-10-29T01:34:06.338Z,1761701646.338 [DAT](INFO): checking for new query: numPingsReceived=90, elapsed TxPingTime=43.104454 2025-10-29T01:34:06.582Z,1761701646.582 [DAT](INFO): DAT read: Rx Time:01:34:06.1189 2025-10-29T01:34:06.583Z,1761701646.583 [DAT](INFO): Rx dataTimestamp_ set to:1761701646.582355 2025-10-29T01:34:06.587Z,1761701646.587 [DAT](INFO): DAT read: Bearing 139.7, 12.8 (Local) 2025-10-29T01:34:06.588Z,1761701646.588 [DAT](INFO): Local bearing/azimuth received: Bearing 139.7, 12.8 (Local) 2025-10-29T01:34:06.611Z,1761701646.611 [DAT](INFO): DAT read: Range 11 to 50 : 4.1 m (trip time 2.7 ms) speed 0.6 2025-10-29T01:34:06.644Z,1761701646.644 [DAT](INFO): DAT read: 01:34:06.1189 LVL= 30608, 26401, 25522, 32755, AGC= 47, IDX= 497,-0.44, 2.370, 0.410, 2.332, 2.190, PHS= 0.281,-1.736, 0.097, RAW= 145.3, 14.0, CAL= 144.9, 15.2, ROT= 5.1, -15.2 2025-10-29T01:34:06.646Z,1761701646.646 [DAT](INFO): got valid direction response: 01:34:06.1189 LVL= 30608, 26401, 25522, 32755, AGC= 47, IDX= 497,-0.44, 2.370, 0.410, 2.332, 2.190, PHS= 0.281,-1.736, 0.097, RAW= 145.3, 14.0, CAL= 144.9, 15.2, ROT= 5.1, -15.2 2025-10-29T01:34:06.646Z,1761701646.646 [DAT](INFO): #Rx 91: Read range and direction messages. 2025-10-29T01:34:06.647Z,1761701646.647 [DAT](INFO): direction in FSK: [0.961196,0.085784,0.262189] 2025-10-29T01:34:06.647Z,1761701646.647 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:06.664Z,1761701646.664 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.430096 2025-10-29T01:34:06.710Z,1761701646.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.643977,0.764623,0.025398],[-0.737521,0.611642,0.286283],[0.203364,-0.203091,0.957808]] 2025-10-29T01:34:06.820Z,1761701646.820 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 4.100000 m, deltaT: 0.504327 s, deltaX: -0.100000 m, approachRate: -0.198284 m/s, rangeRepo size: 4 2025-10-29T01:34:06.826Z,1761701646.826 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 4.077489 m, bearing: 319.934259 deg, lat: 36.779312 deg, lon: -121.859435 deg, deltaT: 8.324700 s, deltaX: -5.470276 m, approachRate: -0.657114 m/s, posRepo size: 4 2025-10-29T01:34:06.827Z,1761701646.827 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 4.08 m. 9.55 m. 2025-10-29T01:34:06.829Z,1761701646.829 [DAT](INFO): checking for new query: numPingsReceived=91, elapsed TxPingTime=43.595646 2025-10-29T01:34:06.834Z,1761701646.834 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 2.523722 m, bearing: 307.952009 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 307.437306 deg, new cmd heading: 307.393195 deg. 2025-10-29T01:34:06.835Z,1761701646.835 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.365023 target range: 9.547765 and range: 4.10 m. 2025-10-29T01:34:07.082Z,1761701647.082 [DAT](INFO): DAT read: Rx Time:01:34:06.6187 2025-10-29T01:34:07.083Z,1761701647.083 [DAT](INFO): Rx dataTimestamp_ set to:1761701647.082056 2025-10-29T01:34:07.084Z,1761701647.084 [DAT](INFO): DAT read: Range 11 to 50 : 3.8 m (trip time 2.5 ms) speed 0.5 2025-10-29T01:34:07.085Z,1761701647.085 [DAT](ERROR): #Rx 92: Read range message, but no direction. 2025-10-29T01:34:07.087Z,1761701647.087 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=43.853073 2025-10-29T01:34:07.282Z,1761701647.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.642893,0.765639,0.022034],[-0.738833,0.612284,0.281484],[0.202024,-0.197244,0.959313]] 2025-10-29T01:34:07.326Z,1761701647.326 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:07.333Z,1761701647.333 [DAT](INFO): checking for new query: numPingsReceived=92, elapsed TxPingTime=44.099621 2025-10-29T01:34:07.353Z,1761701647.353 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.800000 m, deltaT: 0.499701 s, deltaX: -0.300000 m, approachRate: -0.600359 m/s, rangeRepo size: 4 2025-10-29T01:34:07.354Z,1761701647.354 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 9.55 m. 9.55 m. 2025-10-29T01:34:07.361Z,1761701647.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 2.173803 m, bearing: 307.537829 deg, approach rate: -0.687348 m/s, LOS rate: -0.944531 deg/s, cmd heading: 307.393183 deg, new cmd heading: 306.431578 deg. 2025-10-29T01:34:07.361Z,1761701647.361 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.348240 target range: 9.547765 and range: 3.80 m. 2025-10-29T01:34:07.589Z,1761701647.589 [DAT](INFO): DAT read: Rx Time:01:34:07.1184 2025-10-29T01:34:07.591Z,1761701647.591 [DAT](INFO): Rx dataTimestamp_ set to:1761701647.589699 2025-10-29T01:34:07.594Z,1761701647.594 [DAT](INFO): DAT read: Bearing 125.4, 25.0 (Local) 2025-10-29T01:34:07.596Z,1761701647.596 [DAT](INFO): Local bearing/azimuth received: Bearing 125.4, 25.0 (Local) 2025-10-29T01:34:07.611Z,1761701647.611 [DAT](INFO): DAT read: Range 11 to 50 : 3.3 m (trip time 2.2 ms) speed 0.6 2025-10-29T01:34:07.626Z,1761701647.626 [DAT](INFO): DAT read: 01:34:07.1184 LVL= 15744, 27345, 15730, 32755, AGC= 46, IDX= 508, 0.21, 1.395,-0.264, 1.103, 0.742, PHS= 0.755,-0.961, 0.317, RAW= 135.8, -1.4, CAL= 136.4, -0.7, ROT= 13.6, 0.7 2025-10-29T01:34:07.627Z,1761701647.627 [DAT](INFO): got valid direction response: 01:34:07.1184 LVL= 15744, 27345, 15730, 32755, AGC= 46, IDX= 508, 0.21, 1.395,-0.264, 1.103, 0.742, PHS= 0.755,-0.961, 0.317, RAW= 135.8, -1.4, CAL= 136.4, -0.7, ROT= 13.6, 0.7 2025-10-29T01:34:07.627Z,1761701647.627 [DAT](INFO): #Rx 93: Read range and direction messages. 2025-10-29T01:34:07.632Z,1761701647.632 [DAT](INFO): direction in FSK: [0.971888,0.235125,-0.012217] 2025-10-29T01:34:07.633Z,1761701647.633 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:07.645Z,1761701647.645 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.411247 2025-10-29T01:34:07.835Z,1761701647.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640859,0.767336,0.022249],[-0.741724,0.611479,0.275568],[0.197849,-0.193103,0.961024]] 2025-10-29T01:34:07.837Z,1761701647.837 [DAT](INFO): checking for new query: numPingsReceived=93, elapsed TxPingTime=44.603645 2025-10-29T01:34:07.900Z,1761701647.900 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 3.300000 m, deltaT: 0.507643 s, deltaX: -0.500000 m, approachRate: -0.984944 m/s, rangeRepo size: 4 2025-10-29T01:34:07.902Z,1761701647.902 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 3.281831 m, bearing: 324.137595 deg, lat: 36.779312 deg, lon: -121.859435 deg, deltaT: 9.332044 s, deltaX: -6.265934 m, approachRate: -0.671443 m/s, posRepo size: 4 2025-10-29T01:34:07.903Z,1761701647.903 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Ignoring new targets. Set target to previous: 3.28 m. 9.55 m. 2025-10-29T01:34:07.905Z,1761701647.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): ProNav: ac range: 9.547765 m, nav range: 1.775088 m, bearing: 306.894452 deg, approach rate: 0.000000 m/s, LOS rate: -0.041100 deg/s, cmd heading: 306.431574 deg, new cmd heading: 306.384637 deg. 2025-10-29T01:34:07.906Z,1761701647.906 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): HeadingCmd: 5.347421 target range: 9.547765 and range: 3.30 m. 2025-10-29T01:34:08.093Z,1761701648.093 [DAT](INFO): DAT read: Rx Time:01:34:07.6181 2025-10-29T01:34:08.094Z,1761701648.094 [DAT](INFO): Rx dataTimestamp_ set to:1761701648.093391 2025-10-29T01:34:08.095Z,1761701648.095 [DAT](INFO): DAT read: Range 11 to 50 : 2.9 m (trip time 1.9 ms) speed 0.5 2025-10-29T01:34:08.095Z,1761701648.095 [DAT](ERROR): #Rx 94: Read range message, but no direction. 2025-10-29T01:34:08.096Z,1761701648.096 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=44.863026 2025-10-29T01:34:08.230Z,1761701648.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.640017,0.767907,0.026420],[-0.743178,0.609942,0.275059],[0.195105,-0.195677,0.961064]] 2025-10-29T01:34:08.275Z,1761701648.275 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.900000 m, deltaT: 0.503692 s, deltaX: -0.400000 m, approachRate: -0.794136 m/s, rangeRepo size: 4 2025-10-29T01:34:08.276Z,1761701648.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Intercept lockout. Range: 2.90 m. 2025-10-29T01:34:08.276Z,1761701648.276 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: INTERCEPT_LOCKOUT 2025-10-29T01:34:08.341Z,1761701648.341 [DAT](INFO): checking for new query: numPingsReceived=94, elapsed TxPingTime=45.107647 2025-10-29T01:34:08.593Z,1761701648.593 [DAT](INFO): DAT read: Rx Time:01:34:08.1180 2025-10-29T01:34:08.594Z,1761701648.594 [DAT](INFO): Rx dataTimestamp_ set to:1761701648.593279 2025-10-29T01:34:08.595Z,1761701648.595 [DAT](INFO): DAT read: Range 11 to 50 : 2.7 m (trip time 1.8 ms) speed 0.5 2025-10-29T01:34:08.595Z,1761701648.595 [DAT](ERROR): #Rx 95: Read range message, but no direction. 2025-10-29T01:34:08.596Z,1761701648.596 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.362953 2025-10-29T01:34:08.657Z,1761701648.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.638941,0.768632,0.030968],[-0.744870,0.608129,0.274497],[0.192155,-0.198455,0.961089]] 2025-10-29T01:34:08.697Z,1761701648.697 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.700000 m, deltaT: 0.499888 s, deltaX: -0.200000 m, approachRate: -0.400090 m/s, rangeRepo size: 4 2025-10-29T01:34:08.846Z,1761701648.846 [DAT](INFO): checking for new query: numPingsReceived=95, elapsed TxPingTime=45.612156 2025-10-29T01:34:09.102Z,1761701649.102 [DAT](INFO): DAT read: Rx Time:01:34:08.6178 2025-10-29T01:34:09.103Z,1761701649.103 [DAT](INFO): Rx dataTimestamp_ set to:1761701649.102311 2025-10-29T01:34:09.108Z,1761701649.108 [DAT](INFO): DAT read: Bearing 268.1, -18.6 (Local) 2025-10-29T01:34:09.109Z,1761701649.109 [DAT](INFO): Local bearing/azimuth received: Bearing 268.1, -18.6 (Local) 2025-10-29T01:34:09.117Z,1761701649.117 [DAT](INFO): DAT read: Range 11 to 50 : 2.4 m (trip time 1.6 ms) speed 0.4 2025-10-29T01:34:09.127Z,1761701649.127 [DAT](INFO): DAT read: 01:34:08.6178 LVL= 17760, 14065, 11586, 19059, AGC= 43, IDX= 503,-0.44,-1.576, 0.476,-1.314, 0.243, PHS=-1.717, 0.278,-1.601, RAW= 327.0, 29.0, CAL= 326.6, 34.2, ROT= 183.4, -34.2 2025-10-29T01:34:09.168Z,1761701649.168 [DAT](INFO): got valid direction response: 01:34:08.6178 LVL= 17760, 14065, 11586, 19059, AGC= 43, IDX= 503,-0.44,-1.576, 0.476,-1.314, 0.243, PHS=-1.717, 0.278,-1.601, RAW= 327.0, 29.0, CAL= 326.6, 34.2, ROT= 183.4, -34.2 2025-10-29T01:34:09.168Z,1761701649.168 [DAT](INFO): #Rx 96: Read range and direction messages. 2025-10-29T01:34:09.169Z,1761701649.169 [DAT](INFO): direction in FSK: [-0.825625,-0.049051,0.562083] 2025-10-29T01:34:09.170Z,1761701649.170 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:09.191Z,1761701649.191 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=45.957314 2025-10-29T01:34:09.227Z,1761701649.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.637554,0.769772,0.031236],[-0.746743,0.607492,0.270791],[0.189472,-0.195969,0.962131]] 2025-10-29T01:34:09.349Z,1761701649.349 [DAT](INFO): checking for new query: numPingsReceived=96, elapsed TxPingTime=46.115608 2025-10-29T01:34:09.356Z,1761701649.356 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.400000 m, deltaT: 0.509032 s, deltaX: -0.300000 m, approachRate: -0.589354 m/s, rangeRepo size: 4 2025-10-29T01:34:09.358Z,1761701649.358 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.386747 m, bearing: 126.489739 deg, lat: 36.779312 deg, lon: -121.859435 deg, deltaT: 10.844656 s, deltaX: -7.161018 m, approachRate: -0.660327 m/s, posRepo size: 4 2025-10-29T01:34:09.605Z,1761701649.605 [DAT](INFO): DAT read: Rx Time:01:34:09.1176 2025-10-29T01:34:09.606Z,1761701649.606 [DAT](INFO): Rx dataTimestamp_ set to:1761701649.605449 2025-10-29T01:34:09.610Z,1761701649.610 [DAT](INFO): DAT read: Bearing 269.1, -7.9 (Local) 2025-10-29T01:34:09.612Z,1761701649.612 [DAT](INFO): Local bearing/azimuth received: Bearing 269.1, -7.9 (Local) 2025-10-29T01:34:09.617Z,1761701649.617 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.4 2025-10-29T01:34:09.626Z,1761701649.626 [DAT](INFO): DAT read: 01:34:09.1176 LVL= 21936, 13073, 15506, 21699, AGC= 43, IDX= 502,-0.26, 0.939, 2.712, 0.723, 2.428, PHS=-1.387, 0.329,-1.749, RAW= 339.4, 27.3, CAL= 338.8, 32.3, ROT= 171.2, -32.3 2025-10-29T01:34:09.648Z,1761701649.648 [DAT](INFO): got valid direction response: 01:34:09.1176 LVL= 21936, 13073, 15506, 21699, AGC= 43, IDX= 502,-0.26, 0.939, 2.712, 0.723, 2.428, PHS=-1.387, 0.329,-1.749, RAW= 339.4, 27.3, CAL= 338.8, 32.3, ROT= 171.2, -32.3 2025-10-29T01:34:09.649Z,1761701649.649 [DAT](INFO): #Rx 97: Read range and direction messages. 2025-10-29T01:34:09.650Z,1761701649.650 [DAT](INFO): direction in FSK: [-0.835312,0.129313,0.534352] 2025-10-29T01:34:09.650Z,1761701649.650 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:09.695Z,1761701649.695 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.461609 2025-10-29T01:34:09.707Z,1761701649.707 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.634441,0.772355,0.030852],[-0.750753,0.606213,0.262442],[0.183995,-0.189666,0.964455]] 2025-10-29T01:34:09.853Z,1761701649.853 [DAT](INFO): checking for new query: numPingsReceived=97, elapsed TxPingTime=46.619911 2025-10-29T01:34:09.854Z,1761701649.854 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.503138 s, deltaX: -0.300000 m, approachRate: -0.596258 m/s, rangeRepo size: 4 2025-10-29T01:34:09.857Z,1761701649.857 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 2.088400 m, bearing: 116.060155 deg, lat: 36.779312 deg, lon: -121.859435 deg, deltaT: 0.503138 s, deltaX: -0.298347 m, approachRate: -0.592973 m/s, posRepo size: 4 2025-10-29T01:34:10.112Z,1761701650.112 [DAT](INFO): DAT read: Rx Time:01:34:09.6174 2025-10-29T01:34:10.113Z,1761701650.113 [DAT](INFO): Rx dataTimestamp_ set to:1761701650.112352 2025-10-29T01:34:10.117Z,1761701650.117 [DAT](INFO): DAT read: Bearing 228.2, 11.3 (Local) 2025-10-29T01:34:10.117Z,1761701650.117 [DAT](INFO): Local bearing/azimuth received: Bearing 228.2, 11.3 (Local) 2025-10-29T01:34:10.119Z,1761701650.119 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.2 2025-10-29T01:34:10.129Z,1761701650.129 [DAT](INFO): DAT read: 01:34:09.6174 LVL= 26160, 15169, 16146, 24755, AGC= 46, IDX= 499, 0.29, 0.181, 0.186,-0.427, 1.105, PHS=-0.821,-0.874,-1.575, RAW= 33.6, 57.8, CAL= 32.2, 61.4, ROT= 117.8, -61.4 2025-10-29T01:34:10.130Z,1761701650.130 [DAT](INFO): got valid direction response: 01:34:09.6174 LVL= 26160, 15169, 16146, 24755, AGC= 46, IDX= 499, 0.29, 0.181, 0.186,-0.427, 1.105, PHS=-0.821,-0.874,-1.575, RAW= 33.6, 57.8, CAL= 32.2, 61.4, ROT= 117.8, -61.4 2025-10-29T01:34:10.131Z,1761701650.131 [DAT](INFO): #Rx 98: Read range and direction messages. 2025-10-29T01:34:10.133Z,1761701650.133 [DAT](INFO): direction in FSK: [-0.223255,0.423442,0.877983] 2025-10-29T01:34:10.133Z,1761701650.133 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:10.139Z,1761701650.139 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=46.905605 2025-10-29T01:34:10.238Z,1761701650.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.632722,0.773602,0.034687],[-0.752918,0.604097,0.261115],[0.181045,-0.191330,0.964684]] 2025-10-29T01:34:10.329Z,1761701650.329 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.506903 s, deltaX: -0.300000 m, approachRate: -0.591829 m/s, rangeRepo size: 4 2025-10-29T01:34:10.331Z,1761701650.331 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.790057 m, bearing: 71.639644 deg, lat: 36.779304 deg, lon: -121.859420 deg, deltaT: 0.506903 s, deltaX: -0.298343 m, approachRate: -0.588560 m/s, posRepo size: 4 2025-10-29T01:34:10.357Z,1761701650.357 [DAT](INFO): checking for new query: numPingsReceived=98, elapsed TxPingTime=47.123573 2025-10-29T01:34:10.610Z,1761701650.610 [DAT](INFO): DAT read: Rx Time:01:34:10.1177 2025-10-29T01:34:10.611Z,1761701650.611 [DAT](INFO): Rx dataTimestamp_ set to:1761701650.610300 2025-10-29T01:34:10.612Z,1761701650.612 [DAT](INFO): DAT read: Range 11 to 50 : 2.3 m (trip time 1.5 ms) speed 0.1 2025-10-29T01:34:10.613Z,1761701650.613 [DAT](ERROR): #Rx 99: Read range message, but no direction. 2025-10-29T01:34:10.614Z,1761701650.614 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.380844 2025-10-29T01:34:10.666Z,1761701650.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.636868,0.770936,0.007550],[-0.750107,0.617340,0.237130],[0.178151,-0.156684,0.971449]] 2025-10-29T01:34:10.727Z,1761701650.727 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:10.734Z,1761701650.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.300000 m, deltaT: 0.497948 s, deltaX: 0.500000 m, approachRate: 1.004121 m/s, rangeRepo size: 4 2025-10-29T01:34:10.734Z,1761701650.734 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 2.30 m. 2025-10-29T01:34:10.862Z,1761701650.862 [DAT](INFO): checking for new query: numPingsReceived=99, elapsed TxPingTime=47.628746 2025-10-29T01:34:11.113Z,1761701651.113 [DAT](INFO): DAT read: Rx Time:01:34:10.6172 2025-10-29T01:34:11.114Z,1761701651.114 [DAT](INFO): Rx dataTimestamp_ set to:1761701651.113310 2025-10-29T01:34:11.115Z,1761701651.115 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:11.115Z,1761701651.115 [DAT](ERROR): #Rx 100: Read range message, but no direction. 2025-10-29T01:34:11.116Z,1761701651.116 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=47.882935 2025-10-29T01:34:11.159Z,1761701651.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.664624,0.744543,-0.062693],[-0.726885,0.663716,0.176406],[0.172952,-0.071673,0.982319]] 2025-10-29T01:34:11.220Z,1761701651.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503010 s, deltaX: -0.800000 m, approachRate: -1.590425 m/s, rangeRepo size: 4 2025-10-29T01:34:11.220Z,1761701651.220 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Stopped intercept timer at range: 1.50 m. 2025-10-29T01:34:11.365Z,1761701651.365 [DAT](INFO): checking for new query: numPingsReceived=100, elapsed TxPingTime=48.131458 2025-10-29T01:34:11.541Z,1761701651.541 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.702749,0.705875,-0.088796],[-0.692611,0.707325,0.141355],[0.162587,-0.037836,0.985969]] 2025-10-29T01:34:11.583Z,1761701651.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting intercept timer at range: 1.50 m. 2025-10-29T01:34:11.583Z,1761701651.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Starting latch delay timer at range: 1.50 m. 2025-10-29T01:34:11.583Z,1761701651.583 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Cable is present. 2025-10-29T01:34:11.617Z,1761701651.617 [DAT](INFO): DAT read: Rx Time:01:34:11.1173 2025-10-29T01:34:11.618Z,1761701651.618 [DAT](INFO): Rx dataTimestamp_ set to:1761701651.617380 2025-10-29T01:34:11.619Z,1761701651.619 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:11.619Z,1761701651.619 [DAT](ERROR): #Rx 101: Read range message, but no direction. 2025-10-29T01:34:11.620Z,1761701651.620 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.387039 2025-10-29T01:34:11.690Z,1761701651.690 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:34:11.871Z,1761701651.871 [DAT](INFO): checking for new query: numPingsReceived=101, elapsed TxPingTime=48.637707 2025-10-29T01:34:11.942Z,1761701651.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.738778,0.664728,-0.111104],[-0.656413,0.747071,0.104911],[0.152740,-0.004576,0.988256]] 2025-10-29T01:34:12.059Z,1761701652.059 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504070 s, deltaX: 0.200000 m, approachRate: 0.396770 m/s, rangeRepo size: 4 2025-10-29T01:34:12.076Z,1761701652.076 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T01:34:12.121Z,1761701652.121 [DAT](INFO): DAT read: Rx Time:01:34:11.6172 2025-10-29T01:34:12.122Z,1761701652.122 [DAT](INFO): Rx dataTimestamp_ set to:1761701652.121604 2025-10-29T01:34:12.123Z,1761701652.123 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:12.124Z,1761701652.124 [DAT](ERROR): #Rx 102: Read range message, but no direction. 2025-10-29T01:34:12.125Z,1761701652.125 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=48.891365 2025-10-29T01:34:12.373Z,1761701652.373 [DAT](INFO): checking for new query: numPingsReceived=102, elapsed TxPingTime=49.139595 2025-10-29T01:34:12.388Z,1761701652.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.766030,0.632377,-0.115313],[-0.626277,0.774645,0.087763],[0.144826,0.004989,0.989445]] 2025-10-29T01:34:12.435Z,1761701652.435 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504224 s, deltaX: -0.200000 m, approachRate: -0.396649 m/s, rangeRepo size: 4 2025-10-29T01:34:12.625Z,1761701652.625 [DAT](INFO): DAT read: Rx Time:01:34:12.1173 2025-10-29T01:34:12.626Z,1761701652.626 [DAT](INFO): Rx dataTimestamp_ set to:1761701652.625604 2025-10-29T01:34:12.627Z,1761701652.627 [DAT](INFO): DAT read: Bearing 210.5, 52.0 (Local) 2025-10-29T01:34:12.627Z,1761701652.627 [DAT](INFO): Local bearing/azimuth received: Bearing 210.5, 52.0 (Local) 2025-10-29T01:34:12.630Z,1761701652.630 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed -0.1 2025-10-29T01:34:12.634Z,1761701652.634 [DAT](INFO): DAT read: 01:34:12.1173 LVL= 10928, 13777, 16162, 15667, AGC= 44, IDX= 3, 0.11,-0.482,-1.940,-2.121,-0.605, PHS= 0.226,-1.290,-1.560, RAW= 81.9, 29.1, CAL= 79.1, 37.4, ROT= 70.9, -37.4 2025-10-29T01:34:12.635Z,1761701652.635 [DAT](INFO): got valid direction response: 01:34:12.1173 LVL= 10928, 13777, 16162, 15667, AGC= 44, IDX= 3, 0.11,-0.482,-1.940,-2.121,-0.605, PHS= 0.226,-1.290,-1.560, RAW= 81.9, 29.1, CAL= 79.1, 37.4, ROT= 70.9, -37.4 2025-10-29T01:34:12.636Z,1761701652.636 [DAT](INFO): #Rx 103: Read range and direction messages. 2025-10-29T01:34:12.637Z,1761701652.637 [DAT](INFO): direction in FSK: [0.259947,0.750681,0.607376] 2025-10-29T01:34:12.637Z,1761701652.637 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:12.641Z,1761701652.641 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.407864 2025-10-29T01:34:12.693Z,1761701652.693 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:34:12.795Z,1761701652.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.790044,0.599134,-0.129883],[-0.597027,0.800050,0.058974],[0.139246,0.030952,0.989774]] 2025-10-29T01:34:12.877Z,1761701652.877 [DAT](INFO): checking for new query: numPingsReceived=103, elapsed TxPingTime=49.643559 2025-10-29T01:34:12.918Z,1761701652.918 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504000 s, deltaX: 0.200000 m, approachRate: 0.396825 m/s, rangeRepo size: 4 2025-10-29T01:34:12.920Z,1761701652.920 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.690500 m, bearing: 39.864576 deg, lat: 36.779304 deg, lon: -121.859420 deg, deltaT: 2.513252 s, deltaX: -0.099557 m, approachRate: -0.039613 m/s, posRepo size: 4 2025-10-29T01:34:13.130Z,1761701653.130 [DAT](INFO): DAT read: Rx Time:01:34:12.6172 2025-10-29T01:34:13.130Z,1761701653.130 [DAT](INFO): Rx dataTimestamp_ set to:1761701653.129704 2025-10-29T01:34:13.131Z,1761701653.131 [DAT](INFO): DAT read: Bearing 212.4, 40.0 (Local) 2025-10-29T01:34:13.132Z,1761701653.132 [DAT](INFO): Local bearing/azimuth received: Bearing 212.4, 40.0 (Local) 2025-10-29T01:34:13.134Z,1761701653.134 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:13.138Z,1761701653.138 [DAT](INFO): DAT read: 01:34:12.6172 LVL= 13696, 20001, 26466, 26547, AGC= 41, IDX= 499,-0.48, 0.547,-0.528,-0.525, 0.858, PHS=-0.209,-1.342,-1.427, RAW= 86.4, 41.8, CAL= 84.5, 48.9, ROT= 65.5, -48.9 2025-10-29T01:34:13.139Z,1761701653.139 [DAT](INFO): got valid direction response: 01:34:12.6172 LVL= 13696, 20001, 26466, 26547, AGC= 41, IDX= 499,-0.48, 0.547,-0.528,-0.525, 0.858, PHS=-0.209,-1.342,-1.427, RAW= 86.4, 41.8, CAL= 84.5, 48.9, ROT= 65.5, -48.9 2025-10-29T01:34:13.140Z,1761701653.140 [DAT](INFO): #Rx 104: Read range and direction messages. 2025-10-29T01:34:13.141Z,1761701653.141 [DAT](INFO): direction in FSK: [0.272609,0.598186,0.753563] 2025-10-29T01:34:13.141Z,1761701653.141 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:13.145Z,1761701653.145 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=49.911736 2025-10-29T01:34:13.228Z,1761701653.228 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.812050,0.571207,-0.119570],[-0.569006,0.820478,0.055213],[0.129643,0.023201,0.991289]] 2025-10-29T01:34:13.326Z,1761701653.326 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504100 s, deltaX: -0.200000 m, approachRate: -0.396747 m/s, rangeRepo size: 4 2025-10-29T01:34:13.335Z,1761701653.335 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.491618 m, bearing: 38.580208 deg, lat: 36.779304 deg, lon: -121.859420 deg, deltaT: 0.504100 s, deltaX: -0.198882 m, approachRate: -0.394530 m/s, posRepo size: 4 2025-10-29T01:34:13.381Z,1761701653.381 [DAT](INFO): checking for new query: numPingsReceived=104, elapsed TxPingTime=50.147507 2025-10-29T01:34:13.634Z,1761701653.634 [DAT](INFO): DAT read: Rx Time:01:34:13.1173 2025-10-29T01:34:13.634Z,1761701653.634 [DAT](INFO): Rx dataTimestamp_ set to:1761701653.633696 2025-10-29T01:34:13.635Z,1761701653.635 [DAT](INFO): DAT read: Bearing 212.1, 42.4 (Local) 2025-10-29T01:34:13.636Z,1761701653.636 [DAT](INFO): Local bearing/azimuth received: Bearing 212.1, 42.4 (Local) 2025-10-29T01:34:13.638Z,1761701653.638 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:13.655Z,1761701653.655 [DAT](INFO): DAT read: 01:34:13.1173 LVL= 16848, 16865, 18498, 15235, AGC= 45, IDX= 4,-0.20, 1.071,-0.345,-0.381, 1.180, PHS=-0.007,-1.480,-1.605, RAW= 86.0, 35.4, CAL= 83.7, 43.4, ROT= 66.3, -43.4 2025-10-29T01:34:13.713Z,1761701653.713 [DAT](INFO): got valid direction response: 01:34:13.1173 LVL= 16848, 16865, 18498, 15235, AGC= 45, IDX= 4,-0.20, 1.071,-0.345,-0.381, 1.180, PHS=-0.007,-1.480,-1.605, RAW= 86.0, 35.4, CAL= 83.7, 43.4, ROT= 66.3, -43.4 2025-10-29T01:34:13.713Z,1761701653.713 [DAT](INFO): #Rx 105: Read range and direction messages. 2025-10-29T01:34:13.714Z,1761701653.714 [DAT](INFO): direction in FSK: [0.292045,0.665297,0.687088] 2025-10-29T01:34:13.714Z,1761701653.714 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:13.734Z,1761701653.734 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.500698 2025-10-29T01:34:13.755Z,1761701653.755 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.840526,0.535098,-0.084770],[-0.528723,0.844313,0.087105],[0.118182,-0.028395,0.992586]] 2025-10-29T01:34:13.877Z,1761701653.877 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.503992 s, deltaX: 0.200000 m, approachRate: 0.396832 m/s, rangeRepo size: 4 2025-10-29T01:34:13.889Z,1761701653.889 [DAT](INFO): checking for new query: numPingsReceived=105, elapsed TxPingTime=50.654877 2025-10-29T01:34:13.905Z,1761701653.905 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.690432 m, bearing: 40.694473 deg, lat: 36.779318 deg, lon: -121.859434 deg, deltaT: 0.503992 s, deltaX: 0.198814 m, approachRate: 0.394479 m/s, posRepo size: 4 2025-10-29T01:34:14.127Z,1761701654.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.855558,0.510423,-0.086541],[-0.504525,0.859523,0.081699],[0.116085,-0.026236,0.992893]] 2025-10-29T01:34:14.138Z,1761701654.138 [DAT](INFO): DAT read: Rx Time:01:34:13.6172 2025-10-29T01:34:14.138Z,1761701654.138 [DAT](INFO): Rx dataTimestamp_ set to:1761701654.137705 2025-10-29T01:34:14.139Z,1761701654.139 [DAT](INFO): DAT read: Bearing 210.9, 39.4 (Local) 2025-10-29T01:34:14.140Z,1761701654.140 [DAT](INFO): Local bearing/azimuth received: Bearing 210.9, 39.4 (Local) 2025-10-29T01:34:14.142Z,1761701654.142 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:14.146Z,1761701654.146 [DAT](INFO): DAT read: 01:34:13.6172 LVL= 23984, 32753, 25890, 28723, AGC= 45, IDX= 499,-0.06,-0.944,-2.558,-2.480,-0.756, PHS=-0.086,-1.757,-1.768, RAW= 89.7, 37.3, CAL= 88.1, 44.9, ROT= 61.9, -44.9 2025-10-29T01:34:14.147Z,1761701654.147 [DAT](INFO): got valid direction response: 01:34:13.6172 LVL= 23984, 32753, 25890, 28723, AGC= 45, IDX= 499,-0.06,-0.944,-2.558,-2.480,-0.756, PHS=-0.086,-1.757,-1.768, RAW= 89.7, 37.3, CAL= 88.1, 44.9, ROT= 61.9, -44.9 2025-10-29T01:34:14.148Z,1761701654.148 [DAT](INFO): #Rx 106: Read range and direction messages. 2025-10-29T01:34:14.149Z,1761701654.149 [DAT](INFO): direction in FSK: [0.333636,0.624846,0.705872] 2025-10-29T01:34:14.149Z,1761701654.149 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:14.153Z,1761701654.153 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=50.919525 2025-10-29T01:34:14.251Z,1761701654.251 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.504009 s, deltaX: -0.200000 m, approachRate: -0.396818 m/s, rangeRepo size: 4 2025-10-29T01:34:14.257Z,1761701654.257 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Added new target pos. range: 1.491558 m, bearing: 38.127002 deg, lat: 36.779320 deg, lon: -121.859435 deg, deltaT: 0.504009 s, deltaX: -0.198874 m, approachRate: -0.394585 m/s, posRepo size: 4 2025-10-29T01:34:14.389Z,1761701654.389 [DAT](INFO): checking for new query: numPingsReceived=106, elapsed TxPingTime=51.155735 2025-10-29T01:34:14.522Z,1761701654.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.872137,0.481912,-0.084486],[-0.476181,0.875732,0.079663],[0.112377,-0.029247,0.993235]] 2025-10-29T01:34:14.547Z,1761701654.547 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:14.642Z,1761701654.642 [DAT](INFO): DAT read: Rx Time:01:34:14.1173 2025-10-29T01:34:14.643Z,1761701654.643 [DAT](INFO): Rx dataTimestamp_ set to:1761701654.642111 2025-10-29T01:34:14.645Z,1761701654.645 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:14.645Z,1761701654.645 [DAT](ERROR): #Rx 107: Read range message, but no direction. 2025-10-29T01:34:14.647Z,1761701654.647 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.413094 2025-10-29T01:34:14.898Z,1761701654.898 [DAT](INFO): checking for new query: numPingsReceived=107, elapsed TxPingTime=51.663452 2025-10-29T01:34:14.996Z,1761701654.996 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.700000 m, deltaT: 0.504406 s, deltaX: 0.200000 m, approachRate: 0.396506 m/s, rangeRepo size: 4 2025-10-29T01:34:15.146Z,1761701655.146 [DAT](INFO): DAT read: Rx Time:01:34:14.6172 2025-10-29T01:34:15.146Z,1761701655.146 [DAT](INFO): Rx dataTimestamp_ set to:1761701655.146079 2025-10-29T01:34:15.148Z,1761701655.148 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:15.149Z,1761701655.149 [DAT](ERROR): #Rx 108: Read range message, but no direction. 2025-10-29T01:34:15.150Z,1761701655.150 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=51.917023 2025-10-29T01:34:15.384Z,1761701655.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.912299,0.402094,-0.077653],[-0.397553,0.915076,0.067724],[0.098290,-0.030913,0.994677]] 2025-10-29T01:34:15.397Z,1761701655.397 [DAT](INFO): checking for new query: numPingsReceived=108, elapsed TxPingTime=52.163662 2025-10-29T01:34:15.405Z,1761701655.405 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.500000 m, deltaT: 0.503968 s, deltaX: -0.200000 m, approachRate: -0.396851 m/s, rangeRepo size: 4 2025-10-29T01:34:15.649Z,1761701655.649 [DAT](INFO): DAT read: Rx Time:01:34:15.1175 2025-10-29T01:34:15.649Z,1761701655.649 [DAT](INFO): Rx dataTimestamp_ set to:1761701655.649206 2025-10-29T01:34:15.651Z,1761701655.651 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-29T01:34:15.651Z,1761701655.651 [DAT](ERROR): #Rx 109: Read range message, but no direction. 2025-10-29T01:34:15.652Z,1761701655.652 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.418819 2025-10-29T01:34:15.781Z,1761701655.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.933021,0.353321,-0.068088],[-0.349148,0.934735,0.066072],[0.086989,-0.037873,0.995489]] 2025-10-29T01:34:15.806Z,1761701655.806 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.503127 s, deltaX: 0.500000 m, approachRate: 0.993785 m/s, rangeRepo size: 4 2025-10-29T01:34:15.905Z,1761701655.905 [DAT](INFO): checking for new query: numPingsReceived=109, elapsed TxPingTime=52.671307 2025-10-29T01:34:16.153Z,1761701656.153 [DAT](INFO): DAT read: Rx Time:01:34:15.6174 2025-10-29T01:34:16.154Z,1761701656.154 [DAT](INFO): Rx dataTimestamp_ set to:1761701656.153243 2025-10-29T01:34:16.155Z,1761701656.155 [DAT](INFO): DAT read: Range 11 to 50 : 1.8 m (trip time 1.2 ms) speed 0.0 2025-10-29T01:34:16.155Z,1761701656.155 [DAT](ERROR): #Rx 110: Read range message, but no direction. 2025-10-29T01:34:16.156Z,1761701656.156 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=52.922874 2025-10-29T01:34:16.241Z,1761701656.241 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.950596,0.305105,-0.057252],[-0.301087,0.951077,0.069272],[0.075586,-0.048612,0.995954]] 2025-10-29T01:34:16.278Z,1761701656.278 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 1.800000 m, deltaT: 0.504037 s, deltaX: -0.200000 m, approachRate: -0.396796 m/s, rangeRepo size: 4 2025-10-29T01:34:16.405Z,1761701656.405 [DAT](INFO): checking for new query: numPingsReceived=110, elapsed TxPingTime=53.171574 2025-10-29T01:34:16.630Z,1761701656.630 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964111,0.261144,-0.047899],[-0.257427,0.963606,0.072074],[0.064978,-0.057157,0.996248]] 2025-10-29T01:34:16.648Z,1761701656.648 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:16.661Z,1761701656.661 [DAT](INFO): DAT read: Rx Time:01:34:16.1176 2025-10-29T01:34:16.662Z,1761701656.662 [DAT](INFO): Rx dataTimestamp_ set to:1761701656.661333 2025-10-29T01:34:16.663Z,1761701656.663 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-29T01:34:16.663Z,1761701656.663 [DAT](ERROR): #Rx 111: Read range message, but no direction. 2025-10-29T01:34:16.664Z,1761701656.664 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.430958 2025-10-29T01:34:16.918Z,1761701656.918 [DAT](INFO): checking for new query: numPingsReceived=111, elapsed TxPingTime=53.683922 2025-10-29T01:34:17.098Z,1761701657.098 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.508090 s, deltaX: 0.300000 m, approachRate: 0.590446 m/s, rangeRepo size: 4 2025-10-29T01:34:17.165Z,1761701657.165 [DAT](INFO): DAT read: Rx Time:01:34:16.6175 2025-10-29T01:34:17.166Z,1761701657.166 [DAT](INFO): Rx dataTimestamp_ set to:1761701657.165375 2025-10-29T01:34:17.169Z,1761701657.169 [DAT](INFO): DAT read: Range 11 to 50 : 2.0 m (trip time 1.3 ms) speed 0.0 2025-10-29T01:34:17.170Z,1761701657.170 [DAT](ERROR): #Rx 112: Read range message, but no direction. 2025-10-29T01:34:17.173Z,1761701657.173 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=53.938393 2025-10-29T01:34:17.417Z,1761701657.417 [DAT](INFO): checking for new query: numPingsReceived=112, elapsed TxPingTime=54.183632 2025-10-29T01:34:17.445Z,1761701657.445 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.983016,0.179767,-0.036930],[-0.177409,0.982338,0.059483],[0.046970,-0.051921,0.997546]] 2025-10-29T01:34:17.478Z,1761701657.478 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.000000 m, deltaT: 0.504042 s, deltaX: -0.100000 m, approachRate: -0.198396 m/s, rangeRepo size: 4 2025-10-29T01:34:17.671Z,1761701657.671 [DAT](INFO): DAT read: Rx Time:01:34:17.1176 2025-10-29T01:34:17.672Z,1761701657.672 [DAT](INFO): Rx dataTimestamp_ set to:1761701657.671481 2025-10-29T01:34:17.675Z,1761701657.675 [DAT](INFO): DAT read: Range 11 to 50 : 2.1 m (trip time 1.4 ms) speed 0.0 2025-10-29T01:34:17.676Z,1761701657.676 [DAT](ERROR): #Rx 113: Read range message, but no direction. 2025-10-29T01:34:17.678Z,1761701657.678 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.444359 2025-10-29T01:34:17.924Z,1761701657.924 [DAT](INFO): checking for new query: numPingsReceived=113, elapsed TxPingTime=54.689438 2025-10-29T01:34:17.977Z,1761701657.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.990559,0.132877,-0.033702],[-0.131660,0.990638,0.036088],[0.038181,-0.031310,0.998780]] 2025-10-29T01:34:18.033Z,1761701658.033 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): addTargetRange:: Added new target pos. range: 2.100000 m, deltaT: 0.506106 s, deltaX: 0.100000 m, approachRate: 0.197587 m/s, rangeRepo size: 4 2025-10-29T01:34:18.034Z,1761701658.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](IMPORTANT): Docking sequence complete at range 2.10 m. Lat: 36.779320 Lon: -121.859435 Cable present. 2025-10-29T01:34:18.034Z,1761701658.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture] Stopped 2025-10-29T01:34:18.034Z,1761701658.034 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:G.LineCapture](INFO): Transitioning guidance mode to: UNINITIALIZED 2025-10-29T01:34:18.035Z,1761701658.035 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Running Loop=1 2025-10-29T01:34:18.174Z,1761701658.174 [DAT](INFO): DAT read: Rx Time:01:34:17.6172 2025-10-29T01:34:18.175Z,1761701658.175 [DAT](INFO): Rx dataTimestamp_ set to:1761701658.174569 2025-10-29T01:34:18.177Z,1761701658.177 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:18.178Z,1761701658.178 [DAT](ERROR): #Rx 114: Read range message, but no direction. 2025-10-29T01:34:18.180Z,1761701658.180 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=54.946301 2025-10-29T01:34:18.425Z,1761701658.425 [DAT](INFO): checking for new query: numPingsReceived=114, elapsed TxPingTime=55.191448 2025-10-29T01:34:18.499Z,1761701658.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996403,0.079489,-0.029379],[-0.079109,0.996769,0.013878],[0.030388,-0.011504,0.999472]] 2025-10-29T01:34:18.521Z,1761701658.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H](INFO): Docked. Homing sequence complete. 2025-10-29T01:34:18.521Z,1761701658.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:H] Stopped 2025-10-29T01:34:18.521Z,1761701658.521 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Running Loop=1 2025-10-29T01:34:18.678Z,1761701658.678 [DAT](INFO): DAT read: Rx Time:01:34:18.1172 2025-10-29T01:34:18.679Z,1761701658.679 [DAT](INFO): Rx dataTimestamp_ set to:1761701658.678260 2025-10-29T01:34:18.681Z,1761701658.681 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:18.682Z,1761701658.682 [DAT](ERROR): #Rx 115: Read range message, but no direction. 2025-10-29T01:34:18.683Z,1761701658.683 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.449966 2025-10-29T01:34:18.932Z,1761701658.932 [DAT](INFO): checking for new query: numPingsReceived=115, elapsed TxPingTime=55.697632 2025-10-29T01:34:18.966Z,1761701658.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.999206,-0.032677,-0.022807],[0.033017,0.999347,0.014702],[0.022312,-0.015443,0.999632]] 2025-10-29T01:34:19.018Z,1761701659.018 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:19.019Z,1761701659.019 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:I] Stopped 2025-10-29T01:34:19.021Z,1761701659.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T01:34:19.021Z,1761701659.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide] Stopped 2025-10-29T01:34:19.021Z,1761701659.021 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl] Stopped 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo] Stopped 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:altitudeControl:A.AltitudeServo](DEBUG): Uninitialize. 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:E] Stopped 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance:guide:F] Stopped 2025-10-29T01:34:19.022Z,1761701659.022 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](INFO): Completed lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T01:34:19.182Z,1761701659.182 [DAT](INFO): DAT read: Rx Time:01:34:18.6171 2025-10-29T01:34:19.183Z,1761701659.183 [DAT](INFO): Rx dataTimestamp_ set to:1761701659.182406 2025-10-29T01:34:19.185Z,1761701659.185 [DAT](INFO): DAT read: Range 11 to 50 : 1.4 m (trip time 0.9 ms) speed 0.0 2025-10-29T01:34:19.186Z,1761701659.186 [DAT](ERROR): #Rx 116: Read range message, but no direction. 2025-10-29T01:34:19.187Z,1761701659.187 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=55.953526 2025-10-29T01:34:19.307Z,1761701659.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.996512,-0.080769,-0.020992],[0.081064,0.996616,0.013573],[0.019824,-0.015227,0.999687]] 2025-10-29T01:34:19.330Z,1761701659.330 [lineCaptureHoming:UpdateNumPings_Terminal] Stopped 2025-10-29T01:34:19.330Z,1761701659.330 [lineCaptureHoming:UpdateNumPings_Terminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_Terminal 2025-10-29T01:34:19.330Z,1761701659.330 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-29T01:34:19.330Z,1761701659.330 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::initialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-29T01:34:19.331Z,1761701659.331 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Running Loop=1 2025-10-29T01:34:19.331Z,1761701659.331 [lineCaptureHoming:UpdateNumPings_NotTerminal] Running Loop=1 2025-10-29T01:34:19.331Z,1761701659.331 [lineCaptureHoming:UpdateNumPings_NotTerminal:A](INFO): No longer in Terminal. Resuming normal ranging with 1.000000 count pings. 2025-10-29T01:34:19.331Z,1761701659.331 [lineCaptureHoming:UpdateNumPings_NotTerminal:A] Stopped 2025-10-29T01:34:19.331Z,1761701659.331 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Running Loop=1 2025-10-29T01:34:19.332Z,1761701659.332 [lineCaptureHoming:LineCapture:HomingSequence] Stopped 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:HomingSequence](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock] Stopped 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:DetachFromDock 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance] Stopped 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HomingSequence:TerminalGuidance 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:L.Wait] Running Loop=1 2025-10-29T01:34:19.333Z,1761701659.333 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Initialize Wait Component. 2025-10-29T01:34:19.433Z,1761701659.433 [DAT](INFO): checking for new query: numPingsReceived=116, elapsed TxPingTime=56.199478 2025-10-29T01:34:19.686Z,1761701659.686 [DAT](INFO): DAT read: Rx Time:01:34:19.1173 2025-10-29T01:34:19.687Z,1761701659.687 [DAT](INFO): Rx dataTimestamp_ set to:1761701659.686479 2025-10-29T01:34:19.689Z,1761701659.689 [DAT](INFO): DAT read: Bearing 252.2, 33.7 (Local) 2025-10-29T01:34:19.690Z,1761701659.690 [DAT](INFO): Local bearing/azimuth received: Bearing 252.2, 33.7 (Local) 2025-10-29T01:34:19.696Z,1761701659.696 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:19.707Z,1761701659.707 [DAT](INFO): DAT read: 01:34:19.1173 LVL= 13632, 13489, 13154, 9699, AGC= 46, IDX= 3, 0.43,-1.309,-2.478,-2.554,-0.812, PHS=-0.395,-1.621,-1.787, RAW= 83.8, 45.6, CAL= 81.6, 52.2, ROT= 68.4, -52.2 2025-10-29T01:34:19.708Z,1761701659.708 [DAT](INFO): got valid direction response: 01:34:19.1173 LVL= 13632, 13489, 13154, 9699, AGC= 46, IDX= 3, 0.43,-1.309,-2.478,-2.554,-0.812, PHS=-0.395,-1.621,-1.787, RAW= 83.8, 45.6, CAL= 81.6, 52.2, ROT= 68.4, -52.2 2025-10-29T01:34:19.709Z,1761701659.709 [DAT](INFO): #Rx 117: Read range and direction messages. 2025-10-29T01:34:19.710Z,1761701659.710 [DAT](INFO): direction in FSK: [0.225626,0.569867,0.790155] 2025-10-29T01:34:19.710Z,1761701659.710 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:19.722Z,1761701659.722 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.488335 2025-10-29T01:34:19.726Z,1761701659.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.992025,-0.124844,-0.017331],[0.124987,0.992131,0.007402],[0.016270,-0.009509,0.999822]] 2025-10-29T01:34:19.799Z,1761701659.799 [lineCaptureHoming:UpdateNumPings_NotTerminal:B] Stopped 2025-10-29T01:34:19.800Z,1761701659.800 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Running Loop=1 2025-10-29T01:34:19.944Z,1761701659.944 [DAT](INFO): checking for new query: numPingsReceived=117, elapsed TxPingTime=56.710033 2025-10-29T01:34:20.121Z,1761701660.121 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.986551,-0.162638,-0.016318],[0.162810,0.986609,0.009824],[0.014501,-0.012348,0.999819]] 2025-10-29T01:34:20.194Z,1761701660.194 [DAT](INFO): DAT read: Rx Time:01:34:19.6172 2025-10-29T01:34:20.195Z,1761701660.195 [DAT](INFO): Rx dataTimestamp_ set to:1761701660.194612 2025-10-29T01:34:20.200Z,1761701660.200 [DAT](INFO): DAT read: Bearing 256.4, 33.8 (Local) 2025-10-29T01:34:20.201Z,1761701660.201 [DAT](INFO): Local bearing/azimuth received: Bearing 256.4, 33.8 (Local) 2025-10-29T01:34:20.203Z,1761701660.203 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:20.207Z,1761701660.207 [DAT](INFO): DAT read: 01:34:19.6172 LVL= 14992, 26705, 28706, 27635, AGC= 43, IDX= 498, 0.42,-0.930,-2.100,-2.228,-0.392, PHS=-0.437,-1.663,-1.880, RAW= 82.0, 46.2, CAL= 79.6, 52.8, ROT= 70.4, -52.8 2025-10-29T01:34:20.209Z,1761701660.209 [DAT](INFO): got valid direction response: 01:34:19.6172 LVL= 14992, 26705, 28706, 27635, AGC= 43, IDX= 498, 0.42,-0.930,-2.100,-2.228,-0.392, PHS=-0.437,-1.663,-1.880, RAW= 82.0, 46.2, CAL= 79.6, 52.8, ROT= 70.4, -52.8 2025-10-29T01:34:20.209Z,1761701660.209 [DAT](INFO): #Rx 118: Read range and direction messages. 2025-10-29T01:34:20.210Z,1761701660.210 [DAT](INFO): direction in FSK: [0.202814,0.569567,0.796530] 2025-10-29T01:34:20.210Z,1761701660.210 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:20.214Z,1761701660.214 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=56.980782 2025-10-29T01:34:20.243Z,1761701660.243 [lineCaptureHoming:UpdateNumPings_NotTerminal] Stopped 2025-10-29T01:34:20.243Z,1761701660.243 [lineCaptureHoming:UpdateNumPings_NotTerminal](DEBUG): Aggregate::uninitialize lineCaptureHoming:UpdateNumPings_NotTerminal 2025-10-29T01:34:20.243Z,1761701660.243 [lineCaptureHoming:UpdateNumPings_NotTerminal:C] Stopped 2025-10-29T01:34:20.445Z,1761701660.445 [DAT](INFO): checking for new query: numPingsReceived=118, elapsed TxPingTime=57.211559 2025-10-29T01:34:20.519Z,1761701660.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.980191,-0.197432,-0.015668],[0.197600,0.980232,0.010025],[0.013379,-0.012923,0.999827]] 2025-10-29T01:34:20.698Z,1761701660.698 [DAT](INFO): DAT read: Rx Time:01:34:20.1173 2025-10-29T01:34:20.698Z,1761701660.698 [DAT](INFO): Rx dataTimestamp_ set to:1761701660.697783 2025-10-29T01:34:20.699Z,1761701660.699 [DAT](INFO): DAT read: Bearing 258.2, 33.6 (Local) 2025-10-29T01:34:20.700Z,1761701660.700 [DAT](INFO): Local bearing/azimuth received: Bearing 258.2, 33.6 (Local) 2025-10-29T01:34:20.702Z,1761701660.702 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:20.706Z,1761701660.706 [DAT](INFO): DAT read: 01:34:20.1173 LVL= 11728, 12225, 11602, 9411, AGC= 45, IDX= 4,-0.39,-1.066,-2.223,-2.310,-0.564, PHS=-0.400,-1.614,-1.789, RAW= 83.3, 45.7, CAL= 81.2, 52.4, ROT= 68.8, -52.4 2025-10-29T01:34:20.707Z,1761701660.707 [DAT](INFO): got valid direction response: 01:34:20.1173 LVL= 11728, 12225, 11602, 9411, AGC= 45, IDX= 4,-0.39,-1.066,-2.223,-2.310,-0.564, PHS=-0.400,-1.614,-1.789, RAW= 83.3, 45.7, CAL= 81.2, 52.4, ROT= 68.8, -52.4 2025-10-29T01:34:20.708Z,1761701660.708 [DAT](INFO): #Rx 119: Read range and direction messages. 2025-10-29T01:34:20.709Z,1761701660.709 [DAT](INFO): direction in FSK: [0.220643,0.568853,0.792290] 2025-10-29T01:34:20.709Z,1761701660.709 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:20.713Z,1761701660.713 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.479427 2025-10-29T01:34:20.946Z,1761701660.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.972573,-0.232124,-0.014841],[0.232244,0.972633,0.006932],[0.012826,-0.010189,0.999866]] 2025-10-29T01:34:20.952Z,1761701660.952 [DAT](INFO): checking for new query: numPingsReceived=119, elapsed TxPingTime=57.717777 2025-10-29T01:34:21.201Z,1761701661.201 [DAT](INFO): DAT read: Rx Time:01:34:20.6172 2025-10-29T01:34:21.202Z,1761701661.202 [DAT](INFO): Rx dataTimestamp_ set to:1761701661.201618 2025-10-29T01:34:21.203Z,1761701661.203 [DAT](INFO): DAT read: Bearing 260.5, 33.7 (Local) 2025-10-29T01:34:21.203Z,1761701661.203 [DAT](INFO): Local bearing/azimuth received: Bearing 260.5, 33.7 (Local) 2025-10-29T01:34:21.206Z,1761701661.206 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:21.210Z,1761701661.210 [DAT](INFO): DAT read: 01:34:20.6172 LVL= 16496, 29937, 31378, 32243, AGC= 43, IDX= 499,-0.25,-2.854, 2.282, 2.196,-2.353, PHS=-0.399,-1.603,-1.778, RAW= 83.3, 45.8, CAL= 81.1, 52.4, ROT= 68.9, -52.4 2025-10-29T01:34:21.211Z,1761701661.211 [DAT](INFO): got valid direction response: 01:34:20.6172 LVL= 16496, 29937, 31378, 32243, AGC= 43, IDX= 499,-0.25,-2.854, 2.282, 2.196,-2.353, PHS=-0.399,-1.603,-1.778, RAW= 83.3, 45.8, CAL= 81.1, 52.4, ROT= 68.9, -52.4 2025-10-29T01:34:21.211Z,1761701661.211 [DAT](INFO): #Rx 120: Read range and direction messages. 2025-10-29T01:34:21.213Z,1761701661.213 [DAT](INFO): direction in FSK: [0.219650,0.569237,0.792290] 2025-10-29T01:34:21.213Z,1761701661.213 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:21.216Z,1761701661.216 [DAT](INFO): ****** received valid address query ****** 2025-10-29T01:34:21.216Z,1761701661.216 [DAT](INFO): ****** received valid ping request ****** 2025-10-29T01:34:21.217Z,1761701661.217 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:34:21.323Z,1761701661.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.964048,-0.265314,-0.014811],[0.265405,0.964126,0.004528],[0.013078,-0.008296,0.999880]] 2025-10-29T01:34:21.453Z,1761701661.453 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:21.707Z,1761701661.707 [DAT](INFO): DAT read: Rx Time:01:34:21.1173 2025-10-29T01:34:21.708Z,1761701661.708 [DAT](INFO): Rx dataTimestamp_ set to:1761701661.707539 2025-10-29T01:34:21.709Z,1761701661.709 [DAT](INFO): DAT read: Bearing 263.5, 33.6 (Local) 2025-10-29T01:34:21.709Z,1761701661.709 [DAT](INFO): Local bearing/azimuth received: Bearing 263.5, 33.6 (Local) 2025-10-29T01:34:21.711Z,1761701661.711 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:21.720Z,1761701661.720 [DAT](INFO): DAT read: 01:34:21.1173 LVL= 13120, 13889, 13090, 10867, AGC= 46, IDX= 4,-0.15,-0.908,-2.085,-2.183,-0.378, PHS=-0.429,-1.662,-1.850, RAW= 83.0, 46.2, CAL= 80.9, 52.7, ROT= 69.1, -52.7 2025-10-29T01:34:21.721Z,1761701661.721 [DAT](INFO): got valid direction response: 01:34:21.1173 LVL= 13120, 13889, 13090, 10867, AGC= 46, IDX= 4,-0.15,-0.908,-2.085,-2.183,-0.378, PHS=-0.429,-1.662,-1.850, RAW= 83.0, 46.2, CAL= 80.9, 52.7, ROT= 69.1, -52.7 2025-10-29T01:34:21.722Z,1761701661.722 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:21.723Z,1761701661.723 [DAT](INFO): direction in FSK: [0.216179,0.566117,0.795473] 2025-10-29T01:34:21.723Z,1761701661.723 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:21.726Z,1761701661.726 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:21.727Z,1761701661.727 [DAT](INFO): Querying Benthos address 50 with 120 pings in terminal homing one-way mode. 2025-10-29T01:34:21.743Z,1761701661.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.955051,-0.296122,-0.013784],[0.296148,0.955142,-0.000119],[0.013201,-0.003968,0.999905]] 2025-10-29T01:34:21.959Z,1761701661.959 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:22.130Z,1761701662.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.946566,-0.322247,-0.013040],[0.322247,0.946653,-0.002154],[0.013038,-0.002164,0.999913]] 2025-10-29T01:34:22.205Z,1761701662.205 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:22.210Z,1761701662.210 [DAT](INFO): DAT read: Rx Time:01:34:21.6172 2025-10-29T01:34:22.210Z,1761701662.210 [DAT](INFO): Rx dataTimestamp_ set to:1761701662.209858 2025-10-29T01:34:22.211Z,1761701662.211 [DAT](INFO): DAT read: Bearing 265.4, 33.1 (Local) 2025-10-29T01:34:22.212Z,1761701662.212 [DAT](INFO): Local bearing/azimuth received: Bearing 265.4, 33.1 (Local) 2025-10-29T01:34:22.214Z,1761701662.214 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:22.219Z,1761701662.219 [DAT](INFO): DAT read: 01:34:21.6172 LVL= 17536, 27489, 31362, 27811, AGC= 43, IDX= 499,-0.04,-1.977,-3.129, 3.067,-1.425, PHS=-0.450,-1.658,-1.835, RAW= 83.3, 46.9, CAL= 81.2, 53.3, ROT= 68.8, -53.3 2025-10-29T01:34:22.220Z,1761701662.220 [DAT](INFO): got valid direction response: 01:34:21.6172 LVL= 17536, 27489, 31362, 27811, AGC= 43, IDX= 499,-0.04,-1.977,-3.129, 3.067,-1.425, PHS=-0.450,-1.658,-1.835, RAW= 83.3, 46.9, CAL= 81.2, 53.3, ROT= 68.8, -53.3 2025-10-29T01:34:22.220Z,1761701662.220 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:22.221Z,1761701662.221 [DAT](INFO): direction in FSK: [0.216116,0.557180,0.801776] 2025-10-29T01:34:22.221Z,1761701662.221 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:22.229Z,1761701662.229 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:22.229Z,1761701662.229 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:22.461Z,1761701662.461 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:22.535Z,1761701662.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.939463,-0.342456,-0.011529],[0.342443,0.939533,-0.003165],[0.011916,-0.000975,0.999929]] 2025-10-29T01:34:22.713Z,1761701662.713 [DAT](INFO): DAT read: Rx Time:01:34:22.1173 2025-10-29T01:34:22.714Z,1761701662.714 [DAT](INFO): Rx dataTimestamp_ set to:1761701662.713688 2025-10-29T01:34:22.715Z,1761701662.715 [DAT](INFO): DAT read: Bearing 267.4, 32.4 (Local) 2025-10-29T01:34:22.716Z,1761701662.716 [DAT](INFO): Local bearing/azimuth received: Bearing 267.4, 32.4 (Local) 2025-10-29T01:34:22.718Z,1761701662.718 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:22.722Z,1761701662.722 [DAT](INFO): DAT read: 01:34:22.1173 LVL= 13008, 13265, 12130, 11923, AGC= 46, IDX= 3, 0.01,-0.519,-1.680,-1.768, 0.075, PHS=-0.493,-1.710,-1.887, RAW= 83.3, 47.7, CAL= 81.3, 54.0, ROT= 68.7, -54.0 2025-10-29T01:34:22.723Z,1761701662.723 [DAT](INFO): got valid direction response: 01:34:22.1173 LVL= 13008, 13265, 12130, 11923, AGC= 46, IDX= 3, 0.01,-0.519,-1.680,-1.768, 0.075, PHS=-0.493,-1.710,-1.887, RAW= 83.3, 47.7, CAL= 81.3, 54.0, ROT= 68.7, -54.0 2025-10-29T01:34:22.724Z,1761701662.724 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:22.725Z,1761701662.725 [DAT](INFO): direction in FSK: [0.213514,0.547634,0.809017] 2025-10-29T01:34:22.725Z,1761701662.725 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:22.729Z,1761701662.729 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:22.729Z,1761701662.729 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:22.946Z,1761701662.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.934145,-0.356742,-0.010404],[0.356750,0.934199,-0.001094],[0.010110,-0.002690,0.999945]] 2025-10-29T01:34:22.967Z,1761701662.967 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:23.038Z,1761701663.038 [lineCaptureHoming:LineCapture:L.Wait](INFO): Done Waiting. 2025-10-29T01:34:23.039Z,1761701663.039 [lineCaptureHoming:LineCapture:L.Wait] Stopped 2025-10-29T01:34:23.039Z,1761701663.039 [lineCaptureHoming:LineCapture:L.Wait](DEBUG): Uninitialize Wait Component. 2025-10-29T01:34:23.039Z,1761701663.039 [lineCaptureHoming:LineCapture:M] Running Loop=1 2025-10-29T01:34:23.217Z,1761701663.217 [DAT](INFO): DAT read: Rx Time:01:34:22.6172 2025-10-29T01:34:23.218Z,1761701663.218 [DAT](INFO): Rx dataTimestamp_ set to:1761701663.217649 2025-10-29T01:34:23.219Z,1761701663.219 [DAT](INFO): DAT read: Bearing 268.5, 31.8 (Local) 2025-10-29T01:34:23.220Z,1761701663.220 [DAT](INFO): Local bearing/azimuth received: Bearing 268.5, 31.8 (Local) 2025-10-29T01:34:23.222Z,1761701663.222 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:23.240Z,1761701663.240 [DAT](INFO): DAT read: 01:34:22.6172 LVL= 16672, 26849, 30194, 28051, AGC= 42, IDX= 498, 0.07,-0.902,-2.062,-2.143,-0.280, PHS=-0.520,-1.737,-1.907, RAW= 83.5, 48.3, CAL= 81.5, 54.5, ROT= 68.5, -54.5 2025-10-29T01:34:23.242Z,1761701663.242 [DAT](INFO): got valid direction response: 01:34:22.6172 LVL= 16672, 26849, 30194, 28051, AGC= 42, IDX= 498, 0.07,-0.902,-2.062,-2.143,-0.280, PHS=-0.520,-1.737,-1.907, RAW= 83.5, 48.3, CAL= 81.5, 54.5, ROT= 68.5, -54.5 2025-10-29T01:34:23.242Z,1761701663.242 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:23.243Z,1761701663.243 [DAT](INFO): direction in FSK: [0.212828,0.540296,0.814116] 2025-10-29T01:34:23.243Z,1761701663.243 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:23.263Z,1761701663.263 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:23.263Z,1761701663.263 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:23.343Z,1761701663.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.930238,-0.366873,-0.007912],[0.366890,0.930264,0.000857],[0.007046,-0.003700,0.999968]] 2025-10-29T01:34:23.411Z,1761701663.411 [lineCaptureHoming:LineCapture:M](INFO): GuidanceMode 0.000000 count 2025-10-29T01:34:23.411Z,1761701663.411 [lineCaptureHoming:LineCapture:M] Stopped 2025-10-29T01:34:23.417Z,1761701663.417 [lineCaptureHoming:LineCapture](INFO): Completed lineCaptureHoming:LineCapture 2025-10-29T01:34:23.417Z,1761701663.417 [lineCaptureHoming:LineCapture] Stopped 2025-10-29T01:34:23.417Z,1761701663.417 [lineCaptureHoming:LineCapture](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture 2025-10-29T01:34:23.417Z,1761701663.417 [lineCaptureHoming:LineCapture:StandardEnvelopes] Stopped 2025-10-29T01:34:23.417Z,1761701663.417 [lineCaptureHoming:LineCapture:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:StandardEnvelopes 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:G] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:H] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldMass] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldMass](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldMass 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldMass:A] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldMass:B.Mass] Stopped 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldMass:B.Mass](DEBUG): Uninitialize. 2025-10-29T01:34:23.418Z,1761701663.418 [lineCaptureHoming:LineCapture:HoldBuoyancy] Stopped 2025-10-29T01:34:23.419Z,1761701663.419 [lineCaptureHoming:LineCapture:HoldBuoyancy](DEBUG): Aggregate::uninitialize lineCaptureHoming:LineCapture:HoldBuoyancy 2025-10-29T01:34:23.419Z,1761701663.419 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy] Stopped 2025-10-29T01:34:23.419Z,1761701663.419 [lineCaptureHoming:LineCapture:HoldBuoyancy:A.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-29T01:34:23.469Z,1761701663.469 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:23.722Z,1761701663.722 [DAT](INFO): DAT read: Rx Time:01:34:23.1173 2025-10-29T01:34:23.722Z,1761701663.722 [DAT](INFO): Rx dataTimestamp_ set to:1761701663.721747 2025-10-29T01:34:23.723Z,1761701663.723 [DAT](INFO): DAT read: Bearing 270.4, 31.3 (Local) 2025-10-29T01:34:23.724Z,1761701663.724 [DAT](INFO): Local bearing/azimuth received: Bearing 270.4, 31.3 (Local) 2025-10-29T01:34:23.726Z,1761701663.726 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:23.730Z,1761701663.730 [DAT](INFO): DAT read: 01:34:23.1173 LVL= 11808, 11745, 10674, 11699, AGC= 45, IDX= 3, 0.18, 1.033,-0.082,-0.184, 1.685, PHS=-0.551,-1.723,-1.913, RAW= 82.6, 49.2, CAL= 80.5, 55.3, ROT= 69.5, -55.3 2025-10-29T01:34:23.731Z,1761701663.731 [DAT](INFO): got valid direction response: 01:34:23.1173 LVL= 11808, 11745, 10674, 11699, AGC= 45, IDX= 3, 0.18, 1.033,-0.082,-0.184, 1.685, PHS=-0.551,-1.723,-1.913, RAW= 82.6, 49.2, CAL= 80.5, 55.3, ROT= 69.5, -55.3 2025-10-29T01:34:23.745Z,1761701663.745 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:23.746Z,1761701663.746 [DAT](INFO): direction in FSK: [0.199366,0.533228,0.822144] 2025-10-29T01:34:23.746Z,1761701663.746 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:23.769Z,1761701663.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.926881,-0.375325,-0.004849],[0.375338,0.926885,0.002157],[0.003685,-0.003819,0.999986]] 2025-10-29T01:34:23.775Z,1761701663.775 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:23.775Z,1761701663.775 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:23.918Z,1761701663.918 [lineCaptureHoming:Lap:B](INFO): Completed lineCaptureHoming:Lap:B 2025-10-29T01:34:23.918Z,1761701663.918 [lineCaptureHoming:Lap:B] Stopped 2025-10-29T01:34:23.918Z,1761701663.918 [lineCaptureHoming:Lap:B](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:B 2025-10-29T01:34:23.919Z,1761701663.919 [lineCaptureHoming:Lap:C] Running Loop=1 2025-10-29T01:34:23.973Z,1761701663.973 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:24.151Z,1761701664.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.923960,-0.382481,-0.002564],[0.382488,0.923953,0.003639],[0.000977,-0.004343,0.999990]] 2025-10-29T01:34:24.210Z,1761701664.210 [lineCaptureHoming:Lap:C] Stopped 2025-10-29T01:34:24.210Z,1761701664.210 [lineCaptureHoming:Lap:D] Running Loop=1 2025-10-29T01:34:24.211Z,1761701664.211 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:24.226Z,1761701664.226 [DAT](INFO): DAT read: Rx Time:01:34:23.6172 2025-10-29T01:34:24.226Z,1761701664.226 [DAT](INFO): Rx dataTimestamp_ set to:1761701664.225818 2025-10-29T01:34:24.227Z,1761701664.227 [DAT](INFO): DAT read: Bearing 271.9, 31.0 (Local) 2025-10-29T01:34:24.228Z,1761701664.228 [DAT](INFO): Local bearing/azimuth received: Bearing 271.9, 31.0 (Local) 2025-10-29T01:34:24.230Z,1761701664.230 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:24.235Z,1761701664.235 [DAT](INFO): DAT read: 01:34:23.6172 LVL= 16432, 25729, 31794, 26867, AGC= 42, IDX= 498, 0.24, 0.685,-0.411,-0.535, 1.371, PHS=-0.584,-1.738,-1.950, RAW= 81.7, 49.9, CAL= 79.6, 55.9, ROT= 70.4, -55.9 2025-10-29T01:34:24.236Z,1761701664.236 [DAT](INFO): got valid direction response: 01:34:23.6172 LVL= 16432, 25729, 31794, 26867, AGC= 42, IDX= 498, 0.24, 0.685,-0.411,-0.535, 1.371, PHS=-0.584,-1.738,-1.950, RAW= 81.7, 49.9, CAL= 79.6, 55.9, ROT= 70.4, -55.9 2025-10-29T01:34:24.237Z,1761701664.237 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:24.238Z,1761701664.238 [DAT](INFO): direction in FSK: [0.188067,0.528154,0.828060] 2025-10-29T01:34:24.238Z,1761701664.238 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:24.272Z,1761701664.272 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:24.273Z,1761701664.273 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:24.477Z,1761701664.477 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:24.608Z,1761701664.608 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.921267,-0.388929,-0.001291],[0.388931,0.921258,0.004050],[-0.000386,-0.004233,0.999991]] 2025-10-29T01:34:24.636Z,1761701664.636 [lineCaptureHoming:Lap:D](INFO): Mode 0.000000 count 2025-10-29T01:34:24.636Z,1761701664.636 [lineCaptureHoming:Lap:D] Stopped 2025-10-29T01:34:24.636Z,1761701664.636 [lineCaptureHoming:Lap:E] Running Loop=1 2025-10-29T01:34:24.637Z,1761701664.637 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:E 2025-10-29T01:34:24.729Z,1761701664.729 [DAT](INFO): DAT read: Rx Time:01:34:24.1173 2025-10-29T01:34:24.730Z,1761701664.730 [DAT](INFO): Rx dataTimestamp_ set to:1761701664.729601 2025-10-29T01:34:24.731Z,1761701664.731 [DAT](INFO): DAT read: Bearing 273.0, 31.6 (Local) 2025-10-29T01:34:24.731Z,1761701664.731 [DAT](INFO): Local bearing/azimuth received: Bearing 273.0, 31.6 (Local) 2025-10-29T01:34:24.734Z,1761701664.734 [DAT](INFO): DAT read: Range 11 to 50 : 1.7 m (trip time 1.1 ms) speed 0.0 2025-10-29T01:34:24.738Z,1761701664.738 [DAT](INFO): DAT read: 01:34:24.1173 LVL= 12208, 12065, 10930, 13699, AGC= 45, IDX= 3, 0.34, 1.894, 0.822, 0.675, 2.559, PHS=-0.563,-1.692,-1.928, RAW= 80.7, 49.5, CAL= 78.4, 55.5, ROT= 71.6, -55.5 2025-10-29T01:34:24.739Z,1761701664.739 [DAT](INFO): got valid direction response: 01:34:24.1173 LVL= 12208, 12065, 10930, 13699, AGC= 45, IDX= 3, 0.34, 1.894, 0.822, 0.675, 2.559, PHS=-0.563,-1.692,-1.928, RAW= 80.7, 49.5, CAL= 78.4, 55.5, ROT= 71.6, -55.5 2025-10-29T01:34:24.739Z,1761701664.739 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:24.741Z,1761701664.741 [DAT](INFO): direction in FSK: [0.178786,0.537449,0.824126] 2025-10-29T01:34:24.741Z,1761701664.741 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:24.746Z,1761701664.746 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:24.746Z,1761701664.746 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:24.973Z,1761701664.973 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.919297,-0.393553,-0.002895],[0.393564,0.919276,0.006341],[0.000166,-0.006968,0.999976]] 2025-10-29T01:34:24.981Z,1761701664.981 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:25.109Z,1761701665.109 [BPC1](ERROR): BPC1A failed to parse battery data due to unrecognized msg size. 2025-10-29T01:34:25.151Z,1761701665.151 [lineCaptureHoming:restartDHCP] Running Loop=1 2025-10-29T01:34:25.151Z,1761701665.151 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::initialize lineCaptureHoming:restartDHCP 2025-10-29T01:34:25.151Z,1761701665.151 [lineCaptureHoming:restartDHCP:A] Running Loop=1 2025-10-29T01:34:25.151Z,1761701665.151 [lineCaptureHoming:restartDHCP:A](INFO): Restarting DHCP... 2025-10-29T01:34:25.152Z,1761701665.152 [lineCaptureHoming:restartDHCP:A] Stopped 2025-10-29T01:34:25.152Z,1761701665.152 [lineCaptureHoming:restartDHCP:B.Execute] Running Loop=1 2025-10-29T01:34:25.234Z,1761701665.234 [DAT](INFO): DAT read: Rx Time:01:34:24.6172 2025-10-29T01:34:25.234Z,1761701665.234 [DAT](INFO): Rx dataTimestamp_ set to:1761701665.233735 2025-10-29T01:34:25.235Z,1761701665.235 [DAT](INFO): DAT read: Bearing 272.6, 32.3 (Local) 2025-10-29T01:34:25.236Z,1761701665.236 [DAT](INFO): Local bearing/azimuth received: Bearing 272.6, 32.3 (Local) 2025-10-29T01:34:25.238Z,1761701665.238 [DAT](INFO): DAT read: Range 11 to 50 : 1.5 m (trip time 1.0 ms) speed 0.0 2025-10-29T01:34:25.242Z,1761701665.242 [DAT](INFO): DAT read: 01:34:24.6172 LVL= 14528, 30769, 32754, 26019, AGC= 42, IDX= 499,-0.47,-0.533,-1.607,-1.735, 0.072, PHS=-0.503,-1.634,-1.851, RAW= 81.4, 48.4, CAL= 79.1, 54.6, ROT= 70.9, -54.6 2025-10-29T01:34:25.243Z,1761701665.243 [DAT](INFO): got valid direction response: 01:34:24.6172 LVL= 14528, 30769, 32754, 26019, AGC= 42, IDX= 499,-0.47,-0.533,-1.607,-1.735, 0.072, PHS=-0.503,-1.634,-1.851, RAW= 81.4, 48.4, CAL= 79.1, 54.6, ROT= 70.9, -54.6 2025-10-29T01:34:25.244Z,1761701665.244 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:25.245Z,1761701665.245 [DAT](INFO): direction in FSK: [0.189551,0.547391,0.815128] 2025-10-29T01:34:25.245Z,1761701665.245 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:25.249Z,1761701665.249 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:25.249Z,1761701665.249 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:34:25.363Z,1761701665.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.918016,-0.396505,-0.005486],[0.396539,0.917979,0.008427],[0.001695,-0.009912,0.999949]] 2025-10-29T01:34:25.401Z,1761701665.401 [lineCaptureHoming:restartDHCP:B.Execute](INFO): Executing command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-29T01:34:25.401Z,1761701665.401 [lineCaptureHoming:restartDHCP:B.Execute] Stopped 2025-10-29T01:34:25.401Z,1761701665.401 [lineCaptureHoming:restartDHCP](INFO): Completed lineCaptureHoming:restartDHCP 2025-10-29T01:34:25.401Z,1761701665.401 [lineCaptureHoming:restartDHCP] Stopped 2025-10-29T01:34:25.401Z,1761701665.401 [lineCaptureHoming:restartDHCP](DEBUG): Aggregate::uninitialize lineCaptureHoming:restartDHCP 2025-10-29T01:34:25.485Z,1761701665.485 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:34:25.494Z,1761701665.494 [CommandExec](IMPORTANT): got command ! /mnt/mmc/LRAUV/Tools/dhcp.sh 2025-10-29T01:34:25.737Z,1761701665.737 [DAT](INFO): DAT read: user:780> 2025-10-29T01:34:25.739Z,1761701665.739 [DAT](INFO): DAT read: Command 'tr50' not found 2025-10-29T01:34:25.739Z,1761701665.739 [DAT](INFO): unknown deviceResponse_: Command 'tr50' not found 2025-10-29T01:34:25.740Z,1761701665.740 [DAT](INFO): DAT read: Error 2025-10-29T01:34:25.740Z,1761701665.740 [DAT](INFO): unknown deviceResponse_: Error 2025-10-29T01:34:25.741Z,1761701665.741 [DAT](INFO): DAT read: user:781> 2025-10-29T01:34:25.742Z,1761701665.742 [DAT](INFO): DAT read: Tx time:01:34:25.5658 2025-10-29T01:34:25.742Z,1761701665.742 [DAT](INFO): Ping request sent. 2025-10-29T01:34:25.742Z,1761701665.742 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:25.742Z,1761701665.742 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:25.744Z,1761701665.744 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.001285 2025-10-29T01:34:25.803Z,1761701665.803 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.916827,-0.399191,-0.008602],[0.399263,0.916785,0.009682],[0.004021,-0.012311,0.999916]] 2025-10-29T01:34:25.883Z,1761701665.883 [lineCaptureHoming:Lap:E](INFO): Completed lineCaptureHoming:Lap:E 2025-10-29T01:34:25.883Z,1761701665.883 [lineCaptureHoming:Lap:E] Stopped 2025-10-29T01:34:25.884Z,1761701665.884 [lineCaptureHoming:Lap:E](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:E 2025-10-29T01:34:25.896Z,1761701665.896 [lineCaptureHoming:Lap:Docked] Running Loop=1 2025-10-29T01:34:25.896Z,1761701665.896 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked 2025-10-29T01:34:25.897Z,1761701665.897 [lineCaptureHoming:Lap:Docked:A] Running Loop=1 2025-10-29T01:34:25.989Z,1761701665.989 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.247104 2025-10-29T01:34:26.113Z,1761701666.113 [CommandExec](IMPORTANT): /mnt/mmc/started/2025-10-29UTC013426_sh 2025-10-29T01:34:26.191Z,1761701666.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.915407,-0.402370,-0.011369],[0.402480,0.915374,0.010028],[0.006372,-0.013756,0.999885]] 2025-10-29T01:34:26.241Z,1761701666.241 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.498980 2025-10-29T01:34:26.302Z,1761701666.302 [lineCaptureHoming:Lap:Docked:A](INFO): Waiting on dock for 5.000000 min 2025-10-29T01:34:26.302Z,1761701666.302 [lineCaptureHoming:Lap:Docked:A] Stopped 2025-10-29T01:34:26.303Z,1761701666.303 [lineCaptureHoming:Lap:Docked:C] Running Loop=1 2025-10-29T01:34:26.303Z,1761701666.303 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:34:26.493Z,1761701666.493 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.750989 2025-10-29T01:34:26.575Z,1761701666.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.913494,-0.406626,-0.013538],[0.406760,0.913490,0.009131],[0.008654,-0.013848,0.999867]] 2025-10-29T01:34:26.617Z,1761701666.617 [lineCaptureHoming:Lap:Docked:C] Stopped 2025-10-29T01:34:26.617Z,1761701666.617 [lineCaptureHoming:Lap:Docked:D] Running Loop=1 2025-10-29T01:34:26.747Z,1761701666.747 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.005059 2025-10-29T01:34:26.982Z,1761701666.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.910966,-0.412157,-0.016333],[0.412327,0.910994,0.008760],[0.011269,-0.014715,0.999828]] 2025-10-29T01:34:26.997Z,1761701666.997 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.254734 2025-10-29T01:34:27.143Z,1761701667.143 [lineCaptureHoming:Lap:Docked:D] Stopped 2025-10-29T01:34:27.144Z,1761701667.144 [lineCaptureHoming:Lap:Docked:Docked.Docked] Running Loop=1 2025-10-29T01:34:27.144Z,1761701667.144 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initialize. 2025-10-29T01:34:27.144Z,1761701667.144 [lineCaptureHoming:Lap:Docked:Docked.Docked](DEBUG): Initializing internal variables to default values. 2025-10-29T01:34:27.249Z,1761701667.249 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.506755 2025-10-29T01:34:27.384Z,1761701667.384 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.907548,-0.419462,-0.020191],[0.419705,0.907609,0.009667],[0.014271,-0.017248,0.999749]] 2025-10-29T01:34:27.501Z,1761701667.501 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.758974 2025-10-29T01:34:27.753Z,1761701667.753 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.011317 2025-10-29T01:34:27.796Z,1761701667.796 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.902861,-0.429266,-0.023923],[0.429574,0.902982,0.009450],[0.017546,-0.018809,0.999669]] 2025-10-29T01:34:28.005Z,1761701668.005 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.262813 2025-10-29T01:34:28.192Z,1761701668.192 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.896386,-0.442456,-0.026927],[0.442803,0.896580,0.008347],[0.020449,-0.019406,0.999603]] 2025-10-29T01:34:28.255Z,1761701668.255 [DockingStepper](DEBUG): Initializing EZServoServo. 2025-10-29T01:34:28.273Z,1761701668.273 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.530907 2025-10-29T01:34:28.369Z,1761701668.369 [DockingStepper](DEBUG): Initializing DockingStepper. 2025-10-29T01:34:28.525Z,1761701668.525 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.782902 2025-10-29T01:34:28.598Z,1761701668.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.888064,-0.458813,-0.028848],[0.459166,0.888325,0.006713],[0.022546,-0.019207,0.999561]] 2025-10-29T01:34:28.777Z,1761701668.777 [DAT](INFO): DAT read: Rx Time:01:34:27.9715 2025-10-29T01:34:28.778Z,1761701668.778 [DAT](INFO): Rx dataTimestamp_ set to:1761701668.777593 2025-10-29T01:34:28.779Z,1761701668.779 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.036630 2025-10-29T01:34:29.007Z,1761701669.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.878583,-0.476659,-0.029796],[0.477010,0.878880,0.005630],[0.023504,-0.019160,0.999540]] 2025-10-29T01:34:29.032Z,1761701669.032 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.289363 2025-10-29T01:34:29.287Z,1761701669.287 [DAT](INFO): DAT read: 01:34:27.9715 LVL= 17392, 29969, 32754, 30643, AGC= 44, IDX= 271,-0.24, 3.128, 1.997, 1.925,-2.626, PHS=-0.427,-1.615,-1.776, RAW= 83.7, 46.6, CAL= 81.6, 53.1, ROT= 68.4, -53.1 2025-10-29T01:34:29.288Z,1761701669.288 [DAT](INFO): got valid direction response: 01:34:27.9715 LVL= 17392, 29969, 32754, 30643, AGC= 44, IDX= 271,-0.24, 3.128, 1.997, 1.925,-2.626, PHS=-0.427,-1.615,-1.776, RAW= 83.7, 46.6, CAL= 81.6, 53.1, ROT= 68.4, -53.1 2025-10-29T01:34:29.289Z,1761701669.289 [DAT](INFO): DAT read: Bearing 274.5, 32.7 (Local) 2025-10-29T01:34:29.289Z,1761701669.289 [DAT](INFO): Local bearing/azimuth received: Bearing 274.5, 32.7 (Local) 2025-10-29T01:34:29.291Z,1761701669.291 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s 2025-10-29T01:34:29.291Z,1761701669.291 [DAT](INFO): DAT read: user:782> 2025-10-29T01:34:29.292Z,1761701669.292 [DAT](INFO): DAT read: Tx time:01:34:29.0658 2025-10-29T01:34:29.292Z,1761701669.292 [DAT](INFO): Ping request sent. 2025-10-29T01:34:29.293Z,1761701669.293 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:29.293Z,1761701669.293 [DAT](INFO): #Rx 1: Read range and direction messages. 2025-10-29T01:34:29.294Z,1761701669.294 [DAT](INFO): direction in FSK: [0.221029,0.558257,0.799685] 2025-10-29T01:34:29.294Z,1761701669.294 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:29.295Z,1761701669.295 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:29.298Z,1761701669.298 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:29.299Z,1761701669.299 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:29.302Z,1761701669.302 [DAT](INFO): Requesting device enable set for address 50. 2025-10-29T01:34:29.403Z,1761701669.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.868465,-0.494875,-0.029428],[0.495215,0.868755,0.005145],[0.023020,-0.019042,0.999554]] 2025-10-29T01:34:29.534Z,1761701669.534 [DAT](INFO): Requesting device enable set for address 50. 2025-10-29T01:34:29.785Z,1761701669.785 [DAT](INFO): Requesting device enable set for address 50. 2025-10-29T01:34:29.807Z,1761701669.807 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.857222,-0.514153,-0.028569],[0.514475,0.857492,0.004821],[0.022019,-0.018831,0.999580]] 2025-10-29T01:34:30.210Z,1761701670.210 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.845317,-0.533576,-0.027103],[0.533886,0.845540,0.005293],[0.020092,-0.018944,0.999619]] 2025-10-29T01:34:30.615Z,1761701670.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.832037,-0.554188,-0.024316],[0.554448,0.832203,0.005108],[0.017405,-0.017732,0.999691]] 2025-10-29T01:34:31.020Z,1761701671.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.817617,-0.575410,-0.020149],[0.575591,0.817727,0.004206],[0.014056,-0.015037,0.999788]] 2025-10-29T01:34:31.422Z,1761701671.422 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.802589,-0.596344,-0.015012],[0.596446,0.802647,0.003203],[0.010139,-0.011525,0.999882]] 2025-10-29T01:34:31.826Z,1761701671.826 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.787216,-0.616599,-0.009821],[0.616649,0.787232,0.003087],[0.005828,-0.008486,0.999947]] 2025-10-29T01:34:31.879Z,1761701671.879 [DockingStepper](INFO): Changing to mode: 1 2025-10-29T01:34:32.305Z,1761701672.305 [DAT](INFO): DAT read: Rx Time:01:34:31.4714 2025-10-29T01:34:32.306Z,1761701672.306 [DAT](INFO): Rx dataTimestamp_ set to:1761701672.305285 2025-10-29T01:34:32.663Z,1761701672.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.756880,-0.653553,0.001387],[0.653548,0.756880,0.002767],[-0.002858,-0.001188,0.999995]] 2025-10-29T01:34:32.814Z,1761701672.814 [DAT](INFO): DAT read: 01:34:31.4715 LVL= 16112, 29473, 28578, 27491, AGC= 43, IDX= 446, 0.35, 1.004,-0.050,-0.310, 1.568, PHS=-0.462,-1.573,-1.922, RAW= 76.8, 46.6, CAL= 73.6, 52.8, ROT= 76.4, -52.8 2025-10-29T01:34:32.816Z,1761701672.816 [DAT](INFO): got valid direction response: 01:34:31.4715 LVL= 16112, 29473, 28578, 27491, AGC= 43, IDX= 446, 0.35, 1.004,-0.050,-0.310, 1.568, PHS=-0.462,-1.573,-1.922, RAW= 76.8, 46.6, CAL= 73.6, 52.8, ROT= 76.4, -52.8 2025-10-29T01:34:32.817Z,1761701672.817 [DAT](INFO): DAT read: Bearing 289.7, 34.7 (Local) 2025-10-29T01:34:32.817Z,1761701672.817 [DAT](INFO): Local bearing/azimuth received: Bearing 289.7, 34.7 (Local) 2025-10-29T01:34:32.818Z,1761701672.818 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s 2025-10-29T01:34:32.819Z,1761701672.819 [DAT](INFO): DAT read: user:783> 2025-10-29T01:34:32.820Z,1761701672.820 [DAT](INFO): DAT read: Tx time:01:34:32.5658 2025-10-29T01:34:32.820Z,1761701672.820 [DAT](INFO): Ping request sent. 2025-10-29T01:34:32.820Z,1761701672.820 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:32.821Z,1761701672.821 [DAT](INFO): #Rx 2: Read range and direction messages. 2025-10-29T01:34:32.822Z,1761701672.822 [DAT](INFO): direction in FSK: [0.142167,0.587647,0.796530] 2025-10-29T01:34:32.822Z,1761701672.822 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:32.822Z,1761701672.822 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:32.826Z,1761701672.826 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:32.826Z,1761701672.826 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:33.042Z,1761701673.042 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.742205,-0.670158,0.004452],[0.670143,0.742219,0.004487],[-0.006312,-0.000347,0.999980]] 2025-10-29T01:34:33.443Z,1761701673.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.728183,-0.685359,0.005797],[0.685333,0.728206,0.005908],[-0.008271,-0.000330,0.999966]] 2025-10-29T01:34:33.847Z,1761701673.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.714525,-0.699585,0.005943],[0.699559,0.714549,0.006040],[-0.008472,-0.000158,0.999964]] 2025-10-29T01:34:34.250Z,1761701674.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.701112,-0.713031,0.005395],[0.713016,0.701132,0.004616],[-0.007074,0.000610,0.999975]] 2025-10-29T01:34:34.663Z,1761701674.663 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.688092,-0.725618,0.002704],[0.725610,0.688097,0.003495],[-0.004396,-0.000443,0.999990]] 2025-10-29T01:34:35.062Z,1761701675.062 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.675246,-0.737592,-0.000381],[0.737591,0.675244,0.002099],[-0.001291,-0.001698,0.999998]] 2025-10-29T01:34:35.466Z,1761701675.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.661597,-0.749847,-0.004451],[0.749856,0.661600,0.000776],[0.002363,-0.003851,0.999990]] 2025-10-29T01:34:35.833Z,1761701675.833 [DAT](INFO): DAT read: Rx Time:01:34:34.9715 2025-10-29T01:34:35.833Z,1761701675.833 [DAT](INFO): Rx dataTimestamp_ set to:1761701675.833163 2025-10-29T01:34:35.867Z,1761701675.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.647853,-0.761701,-0.009902],[0.761737,0.647886,-0.000100],[0.006492,-0.007479,0.999951]] 2025-10-29T01:34:36.271Z,1761701676.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.633740,-0.773405,-0.014809],[0.773473,0.633828,-0.001679],[0.010685,-0.010390,0.999889]] 2025-10-29T01:34:36.343Z,1761701676.343 [DAT](INFO): DAT read: 01:34:34.9715 LVL= 14448, 30801, 32754, 26019, AGC= 41, IDX= 446, 0.37,-0.019,-0.834,-1.016, 0.893, PHS=-0.810,-1.683,-1.953, RAW= 76.9, 56.6, CAL= 74.6, 61.4, ROT= 75.4, -61.4 2025-10-29T01:34:36.344Z,1761701676.344 [DAT](INFO): got valid direction response: 01:34:34.9715 LVL= 14448, 30801, 32754, 26019, AGC= 41, IDX= 446, 0.37,-0.019,-0.834,-1.016, 0.893, PHS=-0.810,-1.683,-1.953, RAW= 76.9, 56.6, CAL= 74.6, 61.4, ROT= 75.4, -61.4 2025-10-29T01:34:36.345Z,1761701676.345 [DAT](INFO): DAT read: Bearing 301.6, 26.7 (Local) 2025-10-29T01:34:36.345Z,1761701676.345 [DAT](INFO): Local bearing/azimuth received: Bearing 301.6, 26.7 (Local) 2025-10-29T01:34:36.347Z,1761701676.347 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.7 ms) speed 0.0 m/s 2025-10-29T01:34:36.347Z,1761701676.347 [DAT](INFO): DAT read: user:784> 2025-10-29T01:34:36.348Z,1761701676.348 [DAT](INFO): DAT read: Tx time:01:34:36.0647 2025-10-29T01:34:36.349Z,1761701676.349 [DAT](INFO): Ping request sent. 2025-10-29T01:34:36.349Z,1761701676.349 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:36.349Z,1761701676.349 [DAT](INFO): #Rx 3: Read range and direction messages. 2025-10-29T01:34:36.350Z,1761701676.350 [DAT](INFO): direction in FSK: [0.120664,0.463235,0.877983] 2025-10-29T01:34:36.350Z,1761701676.350 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:36.351Z,1761701676.351 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:36.354Z,1761701676.354 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:36.354Z,1761701676.354 [DAT](INFO): publishing direction and range info 2025-10-29T01:34:36.678Z,1761701676.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.619528,-0.784775,-0.017714],[0.784835,0.619686,-0.004908],[0.014829,-0.010862,0.999831]] 2025-10-29T01:34:37.095Z,1761701677.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.604845,-0.796148,-0.017629],[0.796125,0.605049,-0.010037],[0.018658,-0.007964,0.999794]] 2025-10-29T01:34:37.487Z,1761701677.487 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.589571,-0.807538,-0.016954],[0.807400,0.589798,-0.015615],[0.022609,-0.004483,0.999734]] 2025-10-29T01:34:37.888Z,1761701677.888 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.573529,-0.819009,-0.016987],[0.818764,0.573775,-0.020182],[0.026276,-0.002333,0.999652]] 2025-10-29T01:34:38.291Z,1761701678.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.556469,-0.830693,-0.017091],[0.830350,0.556731,-0.023883],[0.029355,-0.000902,0.999569]] 2025-10-29T01:34:38.621Z,1761701678.621 [DAT](INFO): DAT read: Rx Time:01:34:37.9613 2025-10-29T01:34:38.622Z,1761701678.622 [DAT](INFO): Rx dataTimestamp_ set to:1761701678.621414 2025-10-29T01:34:38.695Z,1761701678.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.538688,-0.842350,-0.016170],[0.841948,0.538930,-0.026049],[0.030657,0.000418,0.999530]] 2025-10-29T01:34:39.147Z,1761701679.147 [DAT](INFO): DAT read: 01:34:37.9613 LVL= 13872, 16929, 26098, 19923, AGC= 41, IDX= 358, 0.13, 2.701, 2.049, 2.084,-1.991, PHS=-1.489,-2.198,-2.252, RAW= 86.3, 70.7, CAL= 85.6, 73.5, ROT= 64.4, -73.5 2025-10-29T01:34:39.148Z,1761701679.148 [DAT](INFO): got valid direction response: 01:34:37.9613 LVL= 13872, 16929, 26098, 19923, AGC= 41, IDX= 358, 0.13, 2.701, 2.049, 2.084,-1.991, PHS=-1.489,-2.198,-2.252, RAW= 86.3, 70.7, CAL= 85.6, 73.5, ROT= 64.4, -73.5 2025-10-29T01:34:39.149Z,1761701679.149 [DAT](INFO): DAT read: OK 2025-10-29T01:34:39.150Z,1761701679.150 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:34:39.150Z,1761701679.150 [DAT](INFO): DAT read: user:785> 2025-10-29T01:34:39.151Z,1761701679.151 [DAT](INFO): DAT read: Tx time:01:34:39.0647 2025-10-29T01:34:39.161Z,1761701679.161 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.519916,-0.854088,-0.014877],[0.853691,0.520128,-0.026067],[0.030002,0.000852,0.999550]] 2025-10-29T01:34:39.164Z,1761701679.164 [DAT](INFO): Ping request sent. 2025-10-29T01:34:39.164Z,1761701679.164 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:39.165Z,1761701679.165 [DAT](INFO): #Rx 4: Read direction message, but no range. 2025-10-29T01:34:39.166Z,1761701679.166 [DAT](INFO): direction in FSK: [0.122719,0.256134,0.958820] 2025-10-29T01:34:39.166Z,1761701679.166 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:39.189Z,1761701679.189 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:39.507Z,1761701679.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.501570,-0.865018,-0.013094],[0.864684,0.501740,-0.024060],[0.027382,0.000745,0.999625]] 2025-10-29T01:34:39.907Z,1761701679.907 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.483303,-0.875380,-0.011358],[0.875133,0.483436,-0.020792],[0.023692,0.000109,0.999719]] 2025-10-29T01:34:40.310Z,1761701680.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.465571,-0.884935,-0.011576],[0.884790,0.465708,-0.016195],[0.019723,-0.002702,0.999802]] 2025-10-29T01:34:40.715Z,1761701680.715 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.448637,-0.893616,-0.013212],[0.893567,0.448783,-0.011481],[0.016189,-0.006655,0.999847]] 2025-10-29T01:34:41.132Z,1761701681.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.432150,-0.901687,-0.014380],[0.901712,0.432277,-0.007248],[0.012751,-0.009834,0.999870]] 2025-10-29T01:34:41.522Z,1761701681.522 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.416545,-0.909009,-0.013912],[0.909068,0.416631,-0.003839],[0.009286,-0.011048,0.999896]] 2025-10-29T01:34:41.645Z,1761701681.645 [DAT](INFO): DAT read: Rx Time:01:34:40.9614 2025-10-29T01:34:41.646Z,1761701681.646 [DAT](INFO): Rx dataTimestamp_ set to:1761701681.645820 2025-10-29T01:34:41.927Z,1761701681.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.401699,-0.915701,-0.011361],[0.915753,0.401739,-0.001388],[0.005835,-0.009846,0.999934]] 2025-10-29T01:34:42.157Z,1761701682.157 [DAT](INFO): DAT read: 01:34:40.9614 LVL= 14560, 19649, 28626, 24339, AGC= 41, IDX= 439, 0.21, 0.673,-0.197,-0.181, 1.751, PHS=-0.977,-1.904,-1.976, RAW= 86.3, 60.7, CAL= 85.1, 65.0, ROT= 64.9, -65.0 2025-10-29T01:34:42.158Z,1761701682.158 [DAT](INFO): got valid direction response: 01:34:40.9614 LVL= 14560, 19649, 28626, 24339, AGC= 41, IDX= 439, 0.21, 0.673,-0.197,-0.181, 1.751, PHS=-0.977,-1.904,-1.976, RAW= 86.3, 60.7, CAL= 85.1, 65.0, ROT= 64.9, -65.0 2025-10-29T01:34:42.158Z,1761701682.158 [DAT](INFO): DAT read: OK 2025-10-29T01:34:42.158Z,1761701682.158 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:34:42.159Z,1761701682.159 [DAT](INFO): DAT read: user:786> 2025-10-29T01:34:42.159Z,1761701682.159 [DAT](INFO): DAT read: Tx time:01:34:42.0647 2025-10-29T01:34:42.160Z,1761701682.160 [DAT](INFO): Ping request sent. 2025-10-29T01:34:42.160Z,1761701682.160 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:34:42.160Z,1761701682.160 [DAT](INFO): #Rx 5: Read direction message, but no range. 2025-10-29T01:34:42.161Z,1761701682.161 [DAT](INFO): direction in FSK: [0.179274,0.382710,0.906308] 2025-10-29T01:34:42.162Z,1761701682.162 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:42.185Z,1761701682.185 [DAT](INFO): publishing transmit ping time 2025-10-29T01:34:42.334Z,1761701682.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.387232,-0.921945,-0.008298],[0.921979,0.387239,0.000800],[0.002476,-0.007961,0.999965]] 2025-10-29T01:34:42.734Z,1761701682.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.373686,-0.927529,-0.007012],[0.927555,0.373673,0.003070],[-0.000228,-0.007651,0.999971]] 2025-10-29T01:34:42.821Z,1761701682.821 [DataOverHttps](INFO): Exceeded connect timeout, disconnecting. 2025-10-29T01:34:43.151Z,1761701683.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.361122,-0.932503,-0.005497],[0.932515,0.361098,0.004863],[-0.002550,-0.006882,0.999973]] 2025-10-29T01:34:43.547Z,1761701683.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.349178,-0.937050,-0.003455],[0.937046,0.349154,0.005994],[-0.004410,-0.005331,0.999976]] 2025-10-29T01:34:43.824Z,1761701683.824 [DataOverHttps](DEBUG): Managing dock network, ignoring radio surface power off 2025-10-29T01:34:43.946Z,1761701683.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.337818,-0.941209,-0.002088],[0.941197,0.337800,0.006228],[-0.005156,-0.004070,0.999978]] 2025-10-29T01:34:44.361Z,1761701684.361 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.326795,-0.945091,-0.002887],[0.945084,0.326774,0.005924],[-0.004656,-0.004664,0.999978]] 2025-10-29T01:34:44.673Z,1761701684.673 [DAT](INFO): DAT read: Rx Time:01:34:43.9615 2025-10-29T01:34:44.673Z,1761701684.673 [DAT](INFO): Rx dataTimestamp_ set to:1761701684.673117 2025-10-29T01:34:44.760Z,1761701684.760 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.316446,-0.948602,-0.003970],[0.948604,0.316426,0.004977],[-0.003465,-0.005341,0.999980]] 2025-10-29T01:34:45.167Z,1761701685.167 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.305943,-0.952037,-0.004921],[0.952048,0.305929,0.003310],[-0.001646,-0.005698,0.999982]] 2025-10-29T01:34:45.181Z,1761701685.181 [DAT](INFO): DAT read: 01:34:43.9615 LVL= 13376, 29297, 32754, 24755, AGC= 42, IDX= 440, 0.00, 1.605, 0.888, 0.771, 2.726, PHS=-1.019,-1.793,-1.999, RAW= 78.5, 62.3, CAL= 76.8, 66.3, ROT= 73.2, -66.3 2025-10-29T01:34:45.182Z,1761701685.182 [DAT](INFO): got valid direction response: 01:34:43.9615 LVL= 13376, 29297, 32754, 24755, AGC= 42, IDX= 440, 0.00, 1.605, 0.888, 0.771, 2.726, PHS=-1.019,-1.793,-1.999, RAW= 78.5, 62.3, CAL= 76.8, 66.3, ROT= 73.2, -66.3 2025-10-29T01:34:45.182Z,1761701685.182 [DAT](INFO): DAT read: OK 2025-10-29T01:34:45.183Z,1761701685.183 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:34:45.183Z,1761701685.183 [DAT](INFO): #Rx 6: Read direction message, but no range. 2025-10-29T01:34:45.184Z,1761701685.184 [DAT](INFO): direction in FSK: [0.116176,0.384792,0.915663] 2025-10-29T01:34:45.563Z,1761701685.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.294844,-0.955517,-0.007305],[0.955545,0.294841,0.001493],[0.000727,-0.007421,0.999972]] 2025-10-29T01:34:45.967Z,1761701685.967 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.283516,-0.958916,-0.009943],[0.958962,0.283535,-0.000463],[0.003264,-0.009404,0.999950]] 2025-10-29T01:34:46.781Z,1761701686.781 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.259181,-0.965740,-0.013110],[0.965795,0.259262,-0.004888],[0.008119,-0.011395,0.999902]] 2025-10-29T01:34:47.181Z,1761701687.181 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.246356,-0.969079,-0.013937],[0.969121,0.246473,-0.007413],[0.010619,-0.011681,0.999875]] 2025-10-29T01:34:47.582Z,1761701687.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.233684,-0.972211,-0.014050],[0.972226,0.233831,-0.009954],[0.012963,-0.011334,0.999852]] 2025-10-29T01:34:47.987Z,1761701687.987 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.220150,-0.975379,-0.013060],[0.975344,0.220315,-0.012869],[0.015430,-0.009904,0.999832]] 2025-10-29T01:34:48.795Z,1761701688.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.191906,-0.981366,-0.009629],[0.981207,0.192058,-0.018626],[0.020128,-0.005873,0.999780]] 2025-10-29T01:34:49.199Z,1761701689.199 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.177642,-0.984066,-0.007588],[0.983837,0.177767,-0.021550],[0.022555,-0.003637,0.999739]] 2025-10-29T01:34:49.637Z,1761701689.637 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.162913,-0.986626,-0.005263],[0.986328,0.162993,-0.024312],[0.024845,-0.001230,0.999691]] 2025-10-29T01:34:50.009Z,1761701690.009 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.148103,-0.988965,-0.003663],[0.988605,0.148148,-0.026707],[0.026955,0.000334,0.999637]] 2025-10-29T01:34:50.444Z,1761701690.444 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.133051,-0.991102,-0.003836],[0.990681,0.133106,-0.028865],[0.029118,0.000040,0.999576]] 2025-10-29T01:34:50.814Z,1761701690.814 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.118284,-0.992973,-0.003649],[0.992504,0.118340,-0.030531],[0.030748,-0.000011,0.999527]] 2025-10-29T01:34:51.221Z,1761701691.221 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.103819,-0.994592,-0.003012],[0.994107,0.103863,-0.031032],[0.031177,0.000227,0.999514]] 2025-10-29T01:34:51.634Z,1761701691.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.089434,-0.995990,-0.002486],[0.995520,0.089468,-0.030582],[0.030681,0.000260,0.999529]] 2025-10-29T01:34:52.028Z,1761701692.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.075616,-0.997133,-0.002692],[0.996702,0.075662,-0.029329],[0.029448,-0.000466,0.999566]] 2025-10-29T01:34:52.471Z,1761701692.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.062472,-0.998032,-0.005358],[0.997658,0.062597,-0.027575],[0.027856,-0.003623,0.999605]] 2025-10-29T01:34:52.835Z,1761701692.835 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.050161,-0.998695,-0.009584],[0.998401,0.050392,-0.025612],[0.026061,-0.008284,0.999626]] 2025-10-29T01:34:53.242Z,1761701693.242 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.038189,-0.999220,-0.010069],[0.998996,0.038412,-0.023059],[0.023428,-0.009178,0.999683]] 2025-10-29T01:34:53.647Z,1761701693.647 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.026325,-0.999590,-0.011266],[0.999442,0.026549,-0.020292],[0.020583,-0.010726,0.999731]] 2025-10-29T01:34:54.047Z,1761701694.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.014863,-0.999812,-0.012471],[0.999735,0.015079,-0.017393],[0.017578,-0.012209,0.999771]] 2025-10-29T01:34:54.495Z,1761701694.495 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[0.003875,-0.999910,-0.012850],[0.999896,0.004053,-0.013869],[0.013920,-0.012795,0.999821]] 2025-10-29T01:34:54.855Z,1761701694.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.007424,-0.999888,-0.012959],[0.999921,-0.007292,-0.010209],[0.010114,-0.013034,0.999864]] 2025-10-29T01:34:55.263Z,1761701695.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.018500,-0.999764,-0.011421],[0.999811,-0.018430,-0.006207],[0.005996,-0.011534,0.999915]] 2025-10-29T01:34:55.662Z,1761701695.662 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.029947,-0.999502,-0.009910],[0.999550,-0.029926,-0.002289],[0.001991,-0.009974,0.999948]] 2025-10-29T01:34:56.067Z,1761701696.067 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.041814,-0.999079,-0.009640],[0.999125,-0.041825,0.000932],[-0.001335,-0.009592,0.999953]] 2025-10-29T01:34:56.503Z,1761701696.503 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.053563,-0.998525,-0.008873],[0.998556,-0.053597,0.003732],[-0.004202,-0.008661,0.999954]] 2025-10-29T01:34:56.874Z,1761701696.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.065448,-0.997823,-0.008161],[0.997836,-0.065497,0.005815],[-0.006337,-0.007763,0.999950]] 2025-10-29T01:34:57.282Z,1761701697.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.077643,-0.996951,-0.007790],[0.996952,-0.077698,0.007070],[-0.007653,-0.007217,0.999945]] 2025-10-29T01:34:57.683Z,1761701697.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.089549,-0.995951,-0.007939],[0.995950,-0.089608,0.007379],[-0.008061,-0.007246,0.999941]] 2025-10-29T01:34:58.088Z,1761701698.088 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.101160,-0.994845,-0.007121],[0.994840,-0.101211,0.007119],[-0.007803,-0.006364,0.999949]] 2025-10-29T01:34:58.511Z,1761701698.511 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.113217,-0.993544,-0.007243],[0.993547,-0.113261,0.006040],[-0.006822,-0.006512,0.999956]] 2025-10-29T01:34:58.895Z,1761701698.895 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.125088,-0.992116,-0.007669],[0.992131,-0.125124,0.004442],[-0.005367,-0.007053,0.999961]] 2025-10-29T01:34:59.303Z,1761701699.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.136470,-0.990611,-0.008127],[0.990638,-0.136493,0.002372],[-0.003459,-0.007727,0.999964]] 2025-10-29T01:34:59.705Z,1761701699.705 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.147327,-0.989059,-0.007579],[0.989087,-0.147332,0.000044],[-0.001160,-0.007490,0.999971]] 2025-10-29T01:35:00.122Z,1761701700.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.157670,-0.987463,-0.007610],[0.987491,-0.157653,-0.002713],[0.001480,-0.007943,0.999967]] 2025-10-29T01:35:00.515Z,1761701700.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.167079,-0.985920,-0.006815],[0.985936,-0.167046,-0.005127],[0.003916,-0.007575,0.999964]] 2025-10-29T01:35:00.916Z,1761701700.916 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.175686,-0.984432,-0.005302],[0.984426,-0.175645,-0.007359],[0.006313,-0.006512,0.999959]] 2025-10-29T01:35:01.319Z,1761701701.319 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.183447,-0.983021,-0.004008],[0.982991,-0.183402,-0.009650],[0.008751,-0.005710,0.999945]] 2025-10-29T01:35:02.132Z,1761701702.132 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.195708,-0.980660,-0.002085],[0.980574,-0.195661,-0.013857],[0.013181,-0.004756,0.999902]] 2025-10-29T01:35:02.531Z,1761701702.531 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.199988,-0.979797,-0.001602],[0.979686,-0.199940,-0.015493],[0.014860,-0.004668,0.999879]] 2025-10-29T01:35:02.936Z,1761701702.936 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.203553,-0.979063,-0.001394],[0.978925,-0.203500,-0.017107],[0.016465,-0.004847,0.999853]] 2025-10-29T01:35:03.339Z,1761701703.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.206251,-0.978499,-0.001069],[0.978338,-0.206197,-0.018386],[0.017770,-0.004838,0.999830]] 2025-10-29T01:35:03.748Z,1761701703.748 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.208039,-0.978120,-0.001297],[0.977942,-0.207976,-0.019371],[0.018677,-0.005298,0.999811]] 2025-10-29T01:35:04.153Z,1761701704.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209668,-0.977771,-0.001910],[0.977573,-0.209585,-0.020613],[0.019754,-0.006189,0.999786]] 2025-10-29T01:35:04.556Z,1761701704.556 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.209995,-0.977700,-0.002169],[0.977497,-0.209904,-0.020982],[0.020059,-0.006526,0.999778]] 2025-10-29T01:35:04.959Z,1761701704.959 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.210376,-0.977617,-0.002598],[0.977409,-0.210274,-0.021347],[0.020323,-0.007030,0.999769]] 2025-10-29T01:35:04.996Z,1761701704.996 [RDI_Pathfinder](ERROR): DVL uart error: serial timeout 2025-10-29T01:35:04.996Z,1761701704.996 [RDI_Pathfinder] Communications Fault, FailCount= 1 2025-10-29T01:35:04.996Z,1761701704.996 [RDI_Pathfinder](ERROR): Communications Fault 2025-10-29T01:35:05.104Z,1761701705.104 [CBIT](ERROR): Communications Fault in component: RDI_Pathfinder 2025-10-29T01:35:05.362Z,1761701705.362 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211032,-0.977473,-0.003326],[0.977261,-0.210912,-0.021817],[0.020624,-0.007855,0.999756]] 2025-10-29T01:35:05.371Z,1761701705.371 [RDI_Pathfinder](INFO): Powering down 2025-10-29T01:35:05.770Z,1761701705.770 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.211441,-0.977382,-0.004274],[0.977174,-0.211299,-0.022013],[0.020612,-0.008831,0.999749]] 2025-10-29T01:35:06.169Z,1761701706.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.212022,-0.977253,-0.004894],[0.977049,-0.211867,-0.022063],[0.020524,-0.009459,0.999745]] 2025-10-29T01:35:06.253Z,1761701706.253 [CBIT](INFO): Clearing failed state for component RDI_Pathfinder 2025-10-29T01:35:06.253Z,1761701706.253 [RDI_Pathfinder] No Fault, FailCount= 1 2025-10-29T01:35:06.570Z,1761701706.570 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.213150,-0.977001,-0.005933],[0.976813,-0.212976,-0.021850],[0.020084,-0.010452,0.999744]] 2025-10-29T01:35:06.587Z,1761701706.587 [RDI_Pathfinder](IMPORTANT): Expecting PD13 message format 2025-10-29T01:35:06.977Z,1761701706.977 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.215639,-0.976444,-0.007526],[0.976283,-0.215438,-0.021407],[0.019282,-0.011963,0.999743]] 2025-10-29T01:35:07.379Z,1761701707.379 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.218981,-0.975698,-0.007788],[0.975559,-0.218787,-0.020422],[0.018221,-0.012070,0.999761]] 2025-10-29T01:35:07.787Z,1761701707.787 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.223071,-0.974764,-0.008625],[0.974654,-0.222873,-0.019429],[0.017016,-0.012741,0.999774]] 2025-10-29T01:35:08.186Z,1761701708.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.228429,-0.973509,-0.010047],[0.973431,-0.228218,-0.018688],[0.015900,-0.014048,0.999775]] 2025-10-29T01:35:08.599Z,1761701708.599 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.234842,-0.971983,-0.009963],[0.971924,-0.234649,-0.017416],[0.014591,-0.013773,0.999799]] 2025-10-29T01:35:08.995Z,1761701708.995 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.241862,-0.970260,-0.009947],[0.970225,-0.241691,-0.015755],[0.012883,-0.013461,0.999826]] 2025-10-29T01:35:09.405Z,1761701709.405 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.249550,-0.968308,-0.010245],[0.968299,-0.249400,-0.013997],[0.010998,-0.013413,0.999850]] 2025-10-29T01:35:10.206Z,1761701710.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.267526,-0.963505,-0.009426],[0.963525,-0.267434,-0.009925],[0.007042,-0.011738,0.999906]] 2025-10-29T01:35:10.615Z,1761701710.615 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.277135,-0.960790,-0.008919],[0.960818,-0.277071,-0.007822],[0.005044,-0.010737,0.999930]] 2025-10-29T01:35:11.016Z,1761701711.016 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.286984,-0.957897,-0.008540],[0.957929,-0.286940,-0.006025],[0.003321,-0.009910,0.999945]] 2025-10-29T01:35:11.419Z,1761701711.419 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.297054,-0.954829,-0.007822],[0.954859,-0.297028,-0.004336],[0.001817,-0.008757,0.999960]] 2025-10-29T01:35:11.822Z,1761701711.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307170,-0.951626,-0.007396],[0.951654,-0.307155,-0.003116],[0.000693,-0.007996,0.999968]] 2025-10-29T01:35:12.227Z,1761701712.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316765,-0.948479,-0.006910],[0.948504,-0.316757,-0.002326],[0.000017,-0.007291,0.999973]] 2025-10-29T01:35:12.638Z,1761701712.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.325715,-0.945447,-0.006286],[0.945468,-0.325709,-0.002056],[-0.000104,-0.006613,0.999978]] 2025-10-29T01:35:13.035Z,1761701713.035 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333758,-0.942646,-0.004999],[0.942659,-0.333753,-0.001759],[-0.000010,-0.005300,0.999986]] 2025-10-29T01:35:13.439Z,1761701713.439 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.340787,-0.940134,-0.003508],[0.940140,-0.340782,-0.001859],[0.000552,-0.003932,0.999992]] 2025-10-29T01:35:13.843Z,1761701713.843 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.346454,-0.938065,-0.001991],[0.938066,-0.346450,-0.002200],[0.001374,-0.002630,0.999996]] 2025-10-29T01:35:14.247Z,1761701714.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.350920,-0.936405,-0.000543],[0.936402,-0.350917,-0.002941],[0.002563,-0.001540,0.999996]] 2025-10-29T01:35:14.676Z,1761701714.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.353712,-0.935354,0.000713],[0.935347,-0.353712,-0.003699],[0.003712,-0.000641,0.999993]] 2025-10-29T01:35:15.059Z,1761701715.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355099,-0.934828,0.001539],[0.934815,-0.355102,-0.004778],[0.005013,-0.000258,0.999987]] 2025-10-29T01:35:15.462Z,1761701715.462 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.355642,-0.934621,0.001477],[0.934606,-0.355645,-0.005375],[0.005549,-0.000531,0.999985]] 2025-10-29T01:35:15.867Z,1761701715.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.354580,-0.935024,0.001871],[0.934999,-0.354584,-0.006808],[0.007029,-0.000664,0.999975]] 2025-10-29T01:35:16.271Z,1761701716.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.352106,-0.935959,0.001613],[0.935924,-0.352107,-0.008159],[0.008204,-0.001363,0.999965]] 2025-10-29T01:35:16.680Z,1761701716.680 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348649,-0.937253,0.000777],[0.937209,-0.348641,-0.009468],[0.009145,-0.002573,0.999955]] 2025-10-29T01:35:17.087Z,1761701717.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344392,-0.938826,-0.000397],[0.938774,-0.344369,-0.010696],[0.009905,-0.004056,0.999943]] 2025-10-29T01:35:17.483Z,1761701717.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.339366,-0.940652,-0.002234],[0.940599,-0.339320,-0.011611],[0.010164,-0.006041,0.999930]] 2025-10-29T01:35:17.887Z,1761701717.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.334297,-0.942461,-0.003428],[0.942413,-0.334236,-0.012017],[0.010180,-0.007248,0.999922]] 2025-10-29T01:35:18.291Z,1761701718.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.328844,-0.944373,-0.004591],[0.944335,-0.328773,-0.011822],[0.009655,-0.008223,0.999920]] 2025-10-29T01:35:18.694Z,1761701718.694 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.323913,-0.946070,-0.005662],[0.946045,-0.323837,-0.011377],[0.008930,-0.009041,0.999919]] 2025-10-29T01:35:19.102Z,1761701719.102 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319517,-0.947559,-0.006410],[0.947546,-0.319440,-0.010711],[0.008101,-0.009496,0.999922]] 2025-10-29T01:35:19.510Z,1761701719.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.315800,-0.948798,-0.007318],[0.948800,-0.315726,-0.009749],[0.006939,-0.010022,0.999926]] 2025-10-29T01:35:19.908Z,1761701719.908 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313144,-0.949672,-0.007951],[0.949688,-0.313076,-0.008718],[0.005790,-0.010281,0.999930]] 2025-10-29T01:35:20.310Z,1761701720.310 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311336,-0.950259,-0.008777],[0.950289,-0.311276,-0.007558],[0.004450,-0.010694,0.999933]] 2025-10-29T01:35:20.714Z,1761701720.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.310918,-0.950389,-0.009473],[0.950431,-0.310866,-0.006606],[0.003334,-0.011057,0.999933]] 2025-10-29T01:35:21.118Z,1761701721.118 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.311610,-0.950161,-0.009702],[0.950207,-0.311569,-0.005517],[0.002219,-0.010938,0.999938]] 2025-10-29T01:35:21.526Z,1761701721.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313531,-0.949526,-0.009915],[0.949577,-0.313498,-0.004749],[0.001401,-0.010904,0.999940]] 2025-10-29T01:35:21.926Z,1761701721.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.316761,-0.948453,-0.009939],[0.948505,-0.316733,-0.004284],[0.000915,-0.010784,0.999941]] 2025-10-29T01:35:22.330Z,1761701722.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.321501,-0.946865,-0.009199],[0.946909,-0.321477,-0.003996],[0.000826,-0.009995,0.999950]] 2025-10-29T01:35:23.139Z,1761701723.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.333948,-0.942551,-0.008763],[0.942590,-0.333915,-0.005019],[0.001804,-0.009936,0.999949]] 2025-10-29T01:35:23.544Z,1761701723.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.341391,-0.939890,-0.007668],[0.939917,-0.341353,-0.005853],[0.002884,-0.009205,0.999953]] 2025-10-29T01:35:23.947Z,1761701723.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.349658,-0.936858,-0.005971],[0.936867,-0.349617,-0.007013],[0.004483,-0.008046,0.999958]] 2025-10-29T01:35:24.351Z,1761701724.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.357941,-0.933736,-0.003870],[0.933723,-0.357901,-0.008279],[0.006345,-0.006577,0.999958]] 2025-10-29T01:35:24.761Z,1761701724.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.366374,-0.930465,-0.001996],[0.930428,-0.366338,-0.010001],[0.008574,-0.005521,0.999948]] 2025-10-29T01:35:25.158Z,1761701725.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374740,-0.927130,-0.000181],[0.927066,-0.374712,-0.011809],[0.010881,-0.004594,0.999930]] 2025-10-29T01:35:25.573Z,1761701725.573 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382677,-0.923881,0.001483],[0.923792,-0.382661,-0.013403],[0.012950,-0.003759,0.999909]] 2025-10-29T01:35:25.966Z,1761701725.966 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390298,-0.920683,0.003174],[0.920570,-0.390300,-0.014682],[0.014757,-0.002808,0.999887]] 2025-10-29T01:35:26.371Z,1761701726.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.397248,-0.917700,0.004490],[0.917569,-0.397268,-0.015664],[0.016159,-0.002102,0.999867]] 2025-10-29T01:35:26.779Z,1761701726.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403002,-0.915187,0.004602],[0.915045,-0.403022,-0.016315],[0.016786,-0.002364,0.999856]] 2025-10-29T01:35:27.179Z,1761701727.179 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.407862,-0.913034,0.004055],[0.912891,-0.407871,-0.016488],[0.016708,-0.003023,0.999856]] 2025-10-29T01:35:27.588Z,1761701727.588 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.412360,-0.911018,0.002479],[0.910877,-0.412341,-0.016666],[0.016205,-0.004614,0.999858]] 2025-10-29T01:35:27.986Z,1761701727.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416229,-0.909260,0.000207],[0.909131,-0.416174,-0.016736],[0.015303,-0.006777,0.999860]] 2025-10-29T01:35:28.390Z,1761701728.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.419269,-0.907861,-0.001081],[0.907761,-0.419205,-0.015376],[0.013506,-0.007428,0.999881]] 2025-10-29T01:35:28.795Z,1761701728.795 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.421606,-0.906777,-0.001816],[0.906711,-0.421549,-0.013136],[0.011146,-0.007185,0.999912]] 2025-10-29T01:35:29.201Z,1761701729.201 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.423668,-0.905809,-0.003947],[0.905775,-0.423602,-0.011513],[0.008756,-0.008453,0.999926]] 2025-10-29T01:35:29.602Z,1761701729.602 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425246,-0.905061,-0.005518],[0.905058,-0.425189,-0.009207],[0.005986,-0.008909,0.999942]] 2025-10-29T01:35:30.007Z,1761701730.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.426515,-0.904459,-0.006249],[0.904475,-0.426479,-0.006333],[0.003063,-0.008353,0.999960]] 2025-10-29T01:35:30.411Z,1761701730.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427342,-0.904069,-0.006153],[0.904090,-0.427332,-0.002923],[0.000013,-0.006812,0.999977]] 2025-10-29T01:35:30.816Z,1761701730.816 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427749,-0.903881,-0.005428],[0.903893,-0.427758,0.000572],[-0.002839,-0.004662,0.999985]] 2025-10-29T01:35:31.219Z,1761701731.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427757,-0.903882,-0.004587],[0.903879,-0.427773,0.003525],[-0.005148,-0.002638,0.999983]] 2025-10-29T01:35:31.623Z,1761701731.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.427042,-0.904224,-0.003845],[0.904205,-0.427058,0.005892],[-0.006970,-0.000960,0.999975]] 2025-10-29T01:35:32.028Z,1761701732.028 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425452,-0.904976,-0.002928],[0.904944,-0.425461,0.007658],[-0.008176,0.000609,0.999966]] 2025-10-29T01:35:32.834Z,1761701732.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.420133,-0.907461,-0.001958],[0.907426,-0.420134,0.008060],[-0.008137,0.001610,0.999966]] 2025-10-29T01:35:33.238Z,1761701733.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.416324,-0.909215,-0.001600],[0.909190,-0.416324,0.006912],[-0.006951,0.001423,0.999975]] 2025-10-29T01:35:33.644Z,1761701733.644 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411410,-0.911449,-0.001428],[0.911435,-0.411411,0.005256],[-0.005378,0.000860,0.999985]] 2025-10-29T01:35:34.058Z,1761701734.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.405524,-0.914083,-0.001721],[0.914078,-0.405528,0.002966],[-0.003409,-0.000370,0.999994]] 2025-10-29T01:35:34.451Z,1761701734.451 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.398609,-0.917120,-0.001514],[0.917120,-0.398610,0.000680],[-0.001227,-0.001118,0.999999]] 2025-10-29T01:35:34.855Z,1761701734.855 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390739,-0.920501,-0.000916],[0.920501,-0.390737,-0.001427],[0.000955,-0.001401,0.999999]] 2025-10-29T01:35:35.258Z,1761701735.258 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.381937,-0.924188,-0.000448],[0.924183,-0.381934,-0.003503],[0.003066,-0.001752,0.999994]] 2025-10-29T01:35:35.665Z,1761701735.665 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.372515,-0.928026,-0.000257],[0.928013,-0.372508,-0.005486],[0.004996,-0.002282,0.999985]] 2025-10-29T01:35:36.071Z,1761701736.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.363203,-0.931710,-0.000555],[0.931682,-0.363188,-0.007913],[0.007172,-0.003391,0.999969]] 2025-10-29T01:35:36.874Z,1761701736.874 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.344082,-0.938935,-0.003088],[0.938882,-0.344022,-0.012261],[0.010450,-0.007118,0.999920]] 2025-10-29T01:35:37.280Z,1761701737.280 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.335062,-0.942187,-0.004076],[0.942123,-0.334980,-0.013876],[0.011708,-0.008490,0.999895]] 2025-10-29T01:35:37.683Z,1761701737.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326694,-0.945115,-0.005391],[0.945047,-0.326585,-0.015117],[0.012527,-0.010034,0.999871]] 2025-10-29T01:35:38.086Z,1761701738.086 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.319414,-0.947591,-0.006817],[0.947525,-0.319275,-0.016113],[0.013092,-0.011606,0.999847]] 2025-10-29T01:35:38.491Z,1761701738.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.313657,-0.949503,-0.007978],[0.949442,-0.313497,-0.016730],[0.013385,-0.012822,0.999828]] 2025-10-29T01:35:38.897Z,1761701738.897 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.309445,-0.950873,-0.009165],[0.950825,-0.309265,-0.016958],[0.013291,-0.013962,0.999814]] 2025-10-29T01:35:39.298Z,1761701739.298 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307241,-0.951571,-0.010803],[0.951542,-0.307036,-0.017209],[0.013058,-0.015566,0.999794]] 2025-10-29T01:35:39.703Z,1761701739.703 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.307023,-0.951629,-0.011805],[0.951614,-0.306803,-0.017406],[0.012942,-0.016577,0.999779]] 2025-10-29T01:35:40.106Z,1761701740.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.308345,-0.951188,-0.012808],[0.951193,-0.308114,-0.017263],[0.012474,-0.017506,0.999769]] 2025-10-29T01:35:40.512Z,1761701740.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.312305,-0.949885,-0.013542],[0.949912,-0.312078,-0.016573],[0.011517,-0.018040,0.999771]] 2025-10-29T01:35:40.914Z,1761701740.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.318365,-0.947868,-0.013795],[0.947911,-0.318153,-0.015584],[0.010383,-0.018038,0.999783]] 2025-10-29T01:35:41.318Z,1761701741.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.326351,-0.945147,-0.013844],[0.945204,-0.326158,-0.014464],[0.009155,-0.017806,0.999800]] 2025-10-29T01:35:41.723Z,1761701741.723 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.336626,-0.941543,-0.013435],[0.941604,-0.336457,-0.013353],[0.008052,-0.017145,0.999821]] 2025-10-29T01:35:42.128Z,1761701742.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.348252,-0.937312,-0.012903],[0.937376,-0.348109,-0.012096],[0.006847,-0.016308,0.999844]] 2025-10-29T01:35:42.542Z,1761701742.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.361108,-0.932444,-0.012202],[0.932507,-0.360992,-0.010749],[0.005618,-0.015260,0.999868]] 2025-10-29T01:35:42.934Z,1761701742.934 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374865,-0.927012,-0.011199],[0.927068,-0.374775,-0.009354],[0.004474,-0.013888,0.999894]] 2025-10-29T01:35:43.342Z,1761701743.342 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.389304,-0.921054,-0.010070],[0.921103,-0.389237,-0.008000],[0.003449,-0.012390,0.999917]] 2025-10-29T01:35:43.745Z,1761701743.745 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.403837,-0.914789,-0.008742],[0.914827,-0.403791,-0.006574],[0.002484,-0.010652,0.999940]] 2025-10-29T01:35:44.153Z,1761701744.153 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.417924,-0.908451,-0.007484],[0.908481,-0.417894,-0.005266],[0.001656,-0.009000,0.999958]] 2025-10-29T01:35:44.554Z,1761701744.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.431467,-0.902108,-0.006087],[0.902128,-0.431449,-0.004066],[0.001042,-0.007246,0.999973]] 2025-10-29T01:35:44.955Z,1761701744.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.444059,-0.895984,-0.004834],[0.895997,-0.444049,-0.003090],[0.000622,-0.005704,0.999984]] 2025-10-29T01:35:45.370Z,1761701745.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455414,-0.890273,-0.003547],[0.890280,-0.455409,-0.002285],[0.000419,-0.004198,0.999991]] 2025-10-29T01:35:45.773Z,1761701745.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465080,-0.885266,-0.002386],[0.885269,-0.465077,-0.001587],[0.000295,-0.002851,0.999996]] 2025-10-29T01:35:46.171Z,1761701746.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472748,-0.881197,-0.001335],[0.881198,-0.472746,-0.001156],[0.000388,-0.001723,0.999998]] 2025-10-29T01:35:46.571Z,1761701746.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478213,-0.878244,-0.000270],[0.878243,-0.478213,-0.000860],[0.000626,-0.000648,1.000000]] 2025-10-29T01:35:46.975Z,1761701746.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481589,-0.876397,0.000464],[0.876397,-0.481589,-0.000868],[0.000984,-0.000012,1.000000]] 2025-10-29T01:35:47.400Z,1761701747.400 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481170,-0.876624,0.002501],[0.876625,-0.481173,-0.000879],[0.001974,0.001770,0.999996]] 2025-10-29T01:35:48.197Z,1761701748.197 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.472358,-0.881398,0.003832],[0.881399,-0.472368,-0.002201],[0.003751,0.002338,0.999990]] 2025-10-29T01:35:48.596Z,1761701748.596 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465227,-0.885183,0.003853],[0.885178,-0.465239,-0.003513],[0.004902,0.001776,0.999986]] 2025-10-29T01:35:49.001Z,1761701749.001 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.456590,-0.889669,0.003727],[0.889656,-0.456604,-0.004888],[0.006050,0.001084,0.999981]] 2025-10-29T01:35:49.434Z,1761701749.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.446885,-0.894586,0.002984],[0.894562,-0.446895,-0.006613],[0.007250,-0.000286,0.999974]] 2025-10-29T01:35:49.806Z,1761701749.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.436419,-0.899741,0.002002],[0.899705,-0.436420,-0.008312],[0.008352,-0.001826,0.999963]] 2025-10-29T01:35:50.211Z,1761701750.211 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425362,-0.905023,0.000806],[0.904976,-0.425349,-0.009886],[0.009290,-0.003476,0.999951]] 2025-10-29T01:35:50.612Z,1761701750.612 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.414538,-0.910032,-0.000539],[0.909976,-0.414506,-0.011312],[0.010071,-0.005180,0.999936]] 2025-10-29T01:35:51.025Z,1761701751.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.404463,-0.914551,-0.002573],[0.914489,-0.404399,-0.013064],[0.010907,-0.007637,0.999911]] 2025-10-29T01:35:51.453Z,1761701751.453 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.395178,-0.918590,-0.005112],[0.918533,-0.395072,-0.014640],[0.011429,-0.010481,0.999880]] 2025-10-29T01:35:51.829Z,1761701751.829 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.387346,-0.921908,-0.006981],[0.921863,-0.387211,-0.015369],[0.011465,-0.012389,0.999857]] 2025-10-29T01:35:52.238Z,1761701752.238 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.380876,-0.924582,-0.009002],[0.924559,-0.380713,-0.015741],[0.011127,-0.014318,0.999836]] 2025-10-29T01:35:52.631Z,1761701752.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.376530,-0.926342,-0.010795],[0.926345,-0.376349,-0.015674],[0.010457,-0.015901,0.999819]] 2025-10-29T01:35:53.039Z,1761701753.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374436,-0.927172,-0.012217],[0.927206,-0.374251,-0.015014],[0.009349,-0.016950,0.999813]] 2025-10-29T01:35:53.482Z,1761701753.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.374650,-0.927075,-0.013016],[0.927134,-0.374483,-0.013599],[0.007733,-0.017163,0.999823]] 2025-10-29T01:35:53.842Z,1761701753.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.377303,-0.925993,-0.013397],[0.926072,-0.377166,-0.011642],[0.005728,-0.016799,0.999842]] 2025-10-29T01:35:54.247Z,1761701754.247 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.382601,-0.923815,-0.013491],[0.923907,-0.382502,-0.009439],[0.003559,-0.016075,0.999864]] 2025-10-29T01:35:54.650Z,1761701754.650 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.390147,-0.920657,-0.013246],[0.920752,-0.390088,-0.006859],[0.001148,-0.014873,0.999889]] 2025-10-29T01:35:55.055Z,1761701755.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.399713,-0.916558,-0.012272],[0.916639,-0.399695,-0.004007],[-0.001232,-0.012850,0.999917]] 2025-10-29T01:35:55.501Z,1761701755.501 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.411801,-0.911210,-0.010795],[0.911268,-0.411811,-0.001390],[-0.003179,-0.010410,0.999941]] 2025-10-29T01:35:55.862Z,1761701755.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.425379,-0.904968,-0.009243],[0.905002,-0.425405,0.000992],[-0.004829,-0.007943,0.999957]] 2025-10-29T01:35:56.266Z,1761701756.266 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.439995,-0.897960,-0.008452],[0.897981,-0.440028,0.002428],[-0.005899,-0.006521,0.999961]] 2025-10-29T01:35:56.670Z,1761701756.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455383,-0.890265,-0.007402],[0.890274,-0.455414,0.003158],[-0.006182,-0.005152,0.999968]] 2025-10-29T01:35:57.076Z,1761701757.076 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.471059,-0.882074,-0.007037],[0.882084,-0.471085,0.002647],[-0.005650,-0.004960,0.999972]] 2025-10-29T01:35:57.506Z,1761701757.506 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.486395,-0.873713,-0.006660],[0.873729,-0.486412,0.001001],[-0.004114,-0.005332,0.999977]] 2025-10-29T01:35:57.882Z,1761701757.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500383,-0.865795,-0.003944],[0.865802,-0.500387,-0.000148],[-0.001845,-0.003489,0.999992]] 2025-10-29T01:35:58.286Z,1761701758.286 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.513359,-0.858174,0.000202],[0.858173,-0.513359,-0.001550],[0.001434,-0.000622,0.999999]] 2025-10-29T01:35:58.692Z,1761701758.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524625,-0.851312,0.006081],[0.851316,-0.524647,-0.002678],[0.005470,0.003772,0.999978]] 2025-10-29T01:35:59.094Z,1761701759.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533491,-0.845709,0.012827],[0.845748,-0.533571,-0.003657],[0.009937,0.008897,0.999911]] 2025-10-29T01:35:59.525Z,1761701759.525 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539191,-0.841973,0.018805],[0.842054,-0.539365,-0.005470],[0.014749,0.012886,0.999808]] 2025-10-29T01:35:59.902Z,1761701759.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542402,-0.839793,0.023420],[0.839900,-0.542686,-0.007706],[0.019181,0.015490,0.999696]] 2025-10-29T01:36:00.315Z,1761701760.315 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543465,-0.838986,0.027372],[0.839140,-0.543846,-0.008622],[0.022120,0.018283,0.999588]] 2025-10-29T01:36:00.713Z,1761701760.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541638,-0.840147,0.027948],[0.840305,-0.542039,-0.009014],[0.022722,0.018602,0.999569]] 2025-10-29T01:36:01.115Z,1761701761.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537360,-0.842959,0.025770],[0.843094,-0.537702,-0.008344],[0.020890,0.017243,0.999633]] 2025-10-29T01:36:01.527Z,1761701761.527 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530201,-0.847548,0.023440],[0.847700,-0.530448,-0.005496],[0.017092,0.016956,0.999710]] 2025-10-29T01:36:01.925Z,1761701761.925 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521152,-0.853307,0.016394],[0.853366,-0.521287,-0.005102],[0.012900,0.011331,0.999853]] 2025-10-29T01:36:02.327Z,1761701762.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511914,-0.859020,0.005374],[0.858986,-0.511942,-0.007694],[0.009360,0.000678,0.999956]] 2025-10-29T01:36:02.731Z,1761701762.731 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.502327,-0.864675,-0.001905],[0.864661,-0.502302,-0.007368],[0.005414,-0.005348,0.999971]] 2025-10-29T01:36:03.134Z,1761701763.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.492019,-0.870577,-0.003647],[0.870584,-0.492011,-0.002823],[0.000664,-0.004564,0.999989]] 2025-10-29T01:36:03.540Z,1761701763.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482146,-0.876063,-0.006947],[0.876084,-0.482159,0.000190],[-0.003516,-0.005995,0.999976]] 2025-10-29T01:36:03.943Z,1761701763.943 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.473452,-0.880769,-0.009412],[0.880789,-0.473498,0.003276],[-0.007342,-0.006739,0.999950]] 2025-10-29T01:36:04.347Z,1761701764.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.465691,-0.884896,-0.009540],[0.884878,-0.465762,0.007476],[-0.011058,-0.004960,0.999927]] 2025-10-29T01:36:04.754Z,1761701764.754 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.459247,-0.888274,-0.007763],[0.888196,-0.459311,0.011868],[-0.014108,-0.001445,0.999899]] 2025-10-29T01:36:05.158Z,1761701765.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.454515,-0.890704,-0.007900],[0.890594,-0.454583,0.013992],[-0.016054,-0.000677,0.999871]] 2025-10-29T01:36:05.559Z,1761701765.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452462,-0.891723,-0.010438],[0.891640,-0.452568,0.012638],[-0.015994,-0.003589,0.999866]] 2025-10-29T01:36:05.963Z,1761701765.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.452818,-0.891546,-0.010061],[0.891478,-0.452915,0.011590],[-0.014889,-0.003721,0.999882]] 2025-10-29T01:36:06.374Z,1761701766.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.455501,-0.890188,-0.009236],[0.890149,-0.455577,0.009242],[-0.012435,-0.004012,0.999915]] 2025-10-29T01:36:06.778Z,1761701766.778 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.460408,-0.887654,-0.009732],[0.887660,-0.460469,0.005313],[-0.009198,-0.006193,0.999938]] 2025-10-29T01:36:07.176Z,1761701767.176 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.467577,-0.883895,-0.010095],[0.883935,-0.467610,0.000971],[-0.005579,-0.008469,0.999949]] 2025-10-29T01:36:07.579Z,1761701767.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.476883,-0.878903,-0.010593],[0.878965,-0.476873,-0.003592],[-0.001894,-0.011024,0.999937]] 2025-10-29T01:36:07.992Z,1761701767.992 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487387,-0.873122,-0.010561],[0.873185,-0.487331,-0.007492],[0.001395,-0.012874,0.999916]] 2025-10-29T01:36:08.394Z,1761701768.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498925,-0.866594,-0.009431],[0.866633,-0.498831,-0.010710],[0.004577,-0.013517,0.999898]] 2025-10-29T01:36:08.791Z,1761701768.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511437,-0.859297,-0.006472],[0.859287,-0.511335,-0.012761],[0.007656,-0.012088,0.999898]] 2025-10-29T01:36:09.195Z,1761701769.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524097,-0.851656,-0.002289],[0.851591,-0.524019,-0.014040],[0.010758,-0.009307,0.999899]] 2025-10-29T01:36:09.600Z,1761701769.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537330,-0.843367,0.002829],[0.843252,-0.537308,-0.015022],[0.014189,-0.005686,0.999883]] 2025-10-29T01:36:10.007Z,1761701770.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550300,-0.834921,0.008695],[0.834776,-0.550367,-0.015643],[0.017846,-0.001350,0.999840]] 2025-10-29T01:36:10.026Z,1761701770.026 [RDI_Pathfinder](ERROR): only read 2 of 4 data items for water velocity. Device response is::WS,-32768,-32768,- 2025-10-29T01:36:10.414Z,1761701770.414 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562139,-0.826916,0.014511],[0.826760,-0.562319,-0.016311],[0.021647,0.002828,0.999762]] 2025-10-29T01:36:10.811Z,1761701770.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572332,-0.819783,0.019821],[0.819638,-0.572636,-0.016756],[0.025086,0.006656,0.999663]] 2025-10-29T01:36:11.216Z,1761701771.216 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581253,-0.813325,0.025442],[0.813262,-0.581692,-0.015486],[0.027394,0.011690,0.999556]] 2025-10-29T01:36:11.618Z,1761701771.618 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588157,-0.808292,0.027136],[0.808258,-0.588637,-0.015025],[0.028118,0.013096,0.999519]] 2025-10-29T01:36:12.023Z,1761701772.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593054,-0.804719,0.026738],[0.804720,-0.593502,-0.013483],[0.026719,0.013520,0.999552]] 2025-10-29T01:36:12.427Z,1761701772.427 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594998,-0.803292,0.026439],[0.803400,-0.595372,-0.008957],[0.022936,0.015912,0.999610]] 2025-10-29T01:36:12.830Z,1761701772.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593817,-0.804269,0.023073],[0.804397,-0.594067,-0.005450],[0.018091,0.015324,0.999719]] 2025-10-29T01:36:13.234Z,1761701773.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590456,-0.806892,0.016931],[0.806958,-0.590593,-0.004208],[0.013395,0.011178,0.999848]] 2025-10-29T01:36:13.639Z,1761701773.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585168,-0.810855,0.009619],[0.810859,-0.585225,-0.004497],[0.009276,0.005169,0.999944]] 2025-10-29T01:36:14.043Z,1761701774.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578528,-0.815644,0.005404],[0.815644,-0.578547,-0.002939],[0.005523,0.002708,0.999981]] 2025-10-29T01:36:14.447Z,1761701774.447 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569802,-0.821777,0.002965],[0.821780,-0.569804,0.000130],[0.001582,0.002511,0.999996]] 2025-10-29T01:36:14.851Z,1761701774.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560036,-0.828468,-0.000624],[0.828466,-0.560036,0.001720],[-0.001775,0.000446,0.999998]] 2025-10-29T01:36:15.255Z,1761701775.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549577,-0.835433,-0.004093],[0.835430,-0.549589,0.002823],[-0.004608,-0.001868,0.999988]] 2025-10-29T01:36:15.660Z,1761701775.660 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538215,-0.842791,-0.005273],[0.842775,-0.538239,0.005401],[-0.007390,-0.001537,0.999972]] 2025-10-29T01:36:16.063Z,1761701776.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526434,-0.850196,-0.005785],[0.850160,-0.526465,0.007831],[-0.009703,-0.000796,0.999953]] 2025-10-29T01:36:16.474Z,1761701776.474 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515477,-0.856880,-0.006373],[0.856831,-0.515516,0.009192],[-0.011162,-0.000722,0.999937]] 2025-10-29T01:36:16.872Z,1761701776.872 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505180,-0.862991,-0.006298],[0.862931,-0.505219,0.010156],[-0.011946,-0.000304,0.999929]] 2025-10-29T01:36:17.274Z,1761701777.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496386,-0.868081,-0.006003],[0.868018,-0.496422,0.010494],[-0.012090,-0.000002,0.999927]] 2025-10-29T01:36:17.679Z,1761701777.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.489071,-0.872215,-0.007107],[0.872168,-0.489119,0.009185],[-0.011488,-0.001707,0.999933]] 2025-10-29T01:36:18.082Z,1761701778.082 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.483491,-0.875313,-0.008002],[0.875290,-0.483545,0.007185],[-0.010158,-0.003530,0.999942]] 2025-10-29T01:36:18.498Z,1761701778.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.480224,-0.877104,-0.008577],[0.877104,-0.480274,0.005107],[-0.008598,-0.005070,0.999950]] 2025-10-29T01:36:18.890Z,1761701778.890 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.478967,-0.877785,-0.009121],[0.877806,-0.479008,0.002865],[-0.006884,-0.006634,0.999954]] 2025-10-29T01:36:19.294Z,1761701779.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479914,-0.877258,-0.010071],[0.877301,-0.479941,0.000369],[-0.005157,-0.008658,0.999949]] 2025-10-29T01:36:19.704Z,1761701779.704 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482773,-0.875685,-0.010308],[0.875738,-0.482785,-0.001385],[-0.003764,-0.009696,0.999946]] 2025-10-29T01:36:20.104Z,1761701780.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487927,-0.872828,-0.009909],[0.872881,-0.487924,-0.002916],[-0.002290,-0.010072,0.999947]] 2025-10-29T01:36:20.507Z,1761701780.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495076,-0.868797,-0.009586],[0.868849,-0.495057,-0.004444],[-0.000885,-0.010529,0.999944]] 2025-10-29T01:36:20.918Z,1761701780.918 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503662,-0.863852,-0.009243],[0.863901,-0.503627,-0.005873],[0.000418,-0.010943,0.999940]] 2025-10-29T01:36:21.314Z,1761701781.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514102,-0.857685,-0.008643],[0.857727,-0.514054,-0.007295],[0.001814,-0.011163,0.999936]] 2025-10-29T01:36:21.720Z,1761701781.720 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525562,-0.850722,-0.007485],[0.850749,-0.525503,-0.008545],[0.003336,-0.010859,0.999936]] 2025-10-29T01:36:22.122Z,1761701782.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538055,-0.842889,-0.005952],[0.842896,-0.537993,-0.009451],[0.004764,-0.010102,0.999938]] 2025-10-29T01:36:22.526Z,1761701782.526 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550799,-0.834631,-0.003328],[0.834613,-0.550747,-0.009896],[0.006426,-0.008228,0.999946]] 2025-10-29T01:36:22.955Z,1761701782.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563506,-0.826112,0.000202],[0.826070,-0.563480,-0.009923],[0.008311,-0.005424,0.999951]] 2025-10-29T01:36:23.334Z,1761701783.334 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575653,-0.817682,0.004430],[0.817627,-0.575667,-0.009686],[0.010470,-0.001954,0.999943]] 2025-10-29T01:36:23.739Z,1761701783.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586254,-0.810076,0.009138],[0.810023,-0.586322,-0.009406],[0.012978,0.001887,0.999914]] 2025-10-29T01:36:24.142Z,1761701784.142 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595470,-0.803254,0.014066],[0.803224,-0.595607,-0.009117],[0.015701,0.005870,0.999860]] 2025-10-29T01:36:24.547Z,1761701784.547 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.603080,-0.797462,0.018702],[0.797462,-0.603298,-0.009284],[0.018686,0.009315,0.999782]] 2025-10-29T01:36:24.983Z,1761701784.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608530,-0.793190,0.023275],[0.793245,-0.608836,-0.009003],[0.021312,0.012985,0.999689]] 2025-10-29T01:36:25.357Z,1761701785.357 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.611769,-0.790559,0.027495],[0.790709,-0.612146,-0.007502],[0.022762,0.017152,0.999594]] 2025-10-29T01:36:25.769Z,1761701785.769 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612209,-0.790176,0.028658],[0.790371,-0.612595,-0.006473],[0.022670,0.018688,0.999568]] 2025-10-29T01:36:26.166Z,1761701786.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610983,-0.791144,0.028118],[0.791354,-0.611335,-0.005345],[0.021419,0.018986,0.999590]] 2025-10-29T01:36:26.567Z,1761701786.567 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.606826,-0.794382,0.026815],[0.794621,-0.607099,-0.002702],[0.018426,0.019668,0.999637]] 2025-10-29T01:36:26.661Z,1761701786.661 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:36:26.829Z,1761701786.829 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:36:26.829Z,1761701786.829 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:36:27.011Z,1761701787.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600026,-0.799675,0.022111],[0.799841,-0.600209,-0.002134],[0.014977,0.016405,0.999753]] 2025-10-29T01:36:27.081Z,1761701787.081 [DAT](INFO): DAT read: user:787> 2025-10-29T01:36:27.082Z,1761701787.082 [DAT](INFO): DAT read: Tx time:01:36:26.8154 2025-10-29T01:36:27.082Z,1761701787.082 [DAT](INFO): Ping request sent. 2025-10-29T01:36:27.082Z,1761701787.082 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:36:27.082Z,1761701787.082 [DAT](INFO): publishing transmit ping time 2025-10-29T01:36:27.083Z,1761701787.083 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000747 2025-10-29T01:36:27.333Z,1761701787.333 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.250791 2025-10-29T01:36:27.374Z,1761701787.374 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.591656,-0.806075,0.013611],[0.806101,-0.591757,-0.004868],[0.011978,0.008092,0.999896]] 2025-10-29T01:36:27.585Z,1761701787.585 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.502758 2025-10-29T01:36:27.782Z,1761701787.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582024,-0.813147,0.006341],[0.813117,-0.582058,-0.007015],[0.009395,0.001073,0.999955]] 2025-10-29T01:36:27.837Z,1761701787.837 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754815 2025-10-29T01:36:28.089Z,1761701788.089 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006765 2025-10-29T01:36:28.182Z,1761701788.182 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570897,-0.821012,0.004122],[0.821001,-0.570911,-0.004324],[0.005903,0.000916,0.999982]] 2025-10-29T01:36:28.341Z,1761701788.341 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.258805 2025-10-29T01:36:28.589Z,1761701788.589 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559516,-0.828819,0.001324],[0.828815,-0.559517,-0.002554],[0.002857,-0.000332,0.999996]] 2025-10-29T01:36:28.593Z,1761701788.593 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.511021 2025-10-29T01:36:28.845Z,1761701788.845 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762754 2025-10-29T01:36:29.025Z,1761701789.025 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547698,-0.836673,-0.002370],[0.836676,-0.547695,-0.001648],[0.000081,-0.002885,0.999996]] 2025-10-29T01:36:29.097Z,1761701789.097 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014974 2025-10-29T01:36:29.349Z,1761701789.349 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.266718 2025-10-29T01:36:29.394Z,1761701789.394 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535577,-0.844480,-0.003259],[0.844481,-0.535583,0.001404],[-0.002931,-0.002000,0.999994]] 2025-10-29T01:36:29.601Z,1761701789.601 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519112 2025-10-29T01:36:29.799Z,1761701789.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523755,-0.851862,-0.003578],[0.851850,-0.523767,0.004508],[-0.005715,-0.000687,0.999983]] 2025-10-29T01:36:29.853Z,1761701789.853 [DAT](INFO): DAT read: Rx Time:01:36:29.2211 2025-10-29T01:36:29.854Z,1761701789.854 [DAT](INFO): Rx dataTimestamp_ set to:1761701789.853271 2025-10-29T01:36:29.854Z,1761701789.854 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771986 2025-10-29T01:36:30.105Z,1761701790.105 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022747 2025-10-29T01:36:30.204Z,1761701790.204 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.512744,-0.858532,-0.004119],[0.858504,-0.512761,0.006857],[-0.007999,-0.000021,0.999968]] 2025-10-29T01:36:30.362Z,1761701790.362 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s 2025-10-29T01:36:30.362Z,1761701790.362 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T01:36:30.607Z,1761701790.606 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503073,-0.864233,-0.004361],[0.864192,-0.503092,0.008425],[-0.009475,0.000470,0.999955]] 2025-10-29T01:36:31.063Z,1761701791.063 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.487834,-0.872919,-0.005540],[0.872876,-0.487865,0.008679],[-0.010279,-0.000602,0.999947]] 2025-10-29T01:36:31.818Z,1761701791.818 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.482767,-0.875726,-0.006374],[0.875697,-0.482805,0.007408],[-0.009565,-0.002005,0.999952]] 2025-10-29T01:36:32.223Z,1761701792.223 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479640,-0.877441,-0.006579],[0.877426,-0.479676,0.005838],[-0.008278,-0.002973,0.999961]] 2025-10-29T01:36:32.664Z,1761701792.664 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.479228,-0.877649,-0.008543],[0.877679,-0.479248,0.000327],[-0.004382,-0.007342,0.999963]] 2025-10-29T01:36:33.093Z,1761701793.093 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.481624,-0.876336,-0.008621],[0.876375,-0.481625,-0.002029],[-0.002374,-0.008532,0.999961]] 2025-10-29T01:36:33.847Z,1761701793.847 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.491629,-0.870766,-0.008236],[0.870800,-0.491575,-0.007770],[0.002718,-0.010992,0.999936]] 2025-10-29T01:36:34.250Z,1761701794.250 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498263,-0.867000,-0.006780],[0.867008,-0.498186,-0.010388],[0.005629,-0.011054,0.999923]] 2025-10-29T01:36:34.651Z,1761701794.651 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505988,-0.862531,-0.004005],[0.862495,-0.505908,-0.012604],[0.008846,-0.009832,0.999913]] 2025-10-29T01:36:35.115Z,1761701795.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514104,-0.857728,0.000737],[0.857640,-0.514063,-0.013910],[0.012310,-0.006519,0.999903]] 2025-10-29T01:36:35.463Z,1761701795.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522476,-0.852628,0.006580],[0.852505,-0.522514,-0.014641],[0.015922,-0.002040,0.999871]] 2025-10-29T01:36:35.862Z,1761701795.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531204,-0.847158,0.012102],[0.847009,-0.531339,-0.015962],[0.019953,0.001772,0.999799]] 2025-10-29T01:36:36.267Z,1761701796.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539305,-0.841925,0.017686],[0.841786,-0.539561,-0.016410],[0.023359,0.006038,0.999709]] 2025-10-29T01:36:36.674Z,1761701796.674 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546216,-0.837374,0.021283],[0.837249,-0.546562,-0.016838],[0.025732,0.008622,0.999632]] 2025-10-29T01:36:37.128Z,1761701797.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552365,-0.833307,0.022168],[0.833195,-0.552731,-0.016565],[0.026057,0.009320,0.999617]] 2025-10-29T01:36:37.478Z,1761701797.478 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557103,-0.830152,0.022005],[0.830104,-0.557437,-0.013831],[0.023749,0.010561,0.999662]] 2025-10-29T01:36:37.882Z,1761701797.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560218,-0.828095,0.020367],[0.828111,-0.560475,-0.010012],[0.019706,0.011258,0.999742]] 2025-10-29T01:36:38.288Z,1761701798.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561683,-0.827231,0.014164],[0.827216,-0.561819,-0.008512],[0.014999,0.006936,0.999863]] 2025-10-29T01:36:38.692Z,1761701798.692 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562294,-0.826920,0.005307],[0.826870,-0.562319,-0.009131],[0.010535,-0.000746,0.999944]] 2025-10-29T01:36:39.105Z,1761701799.105 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562838,-0.826567,0.001201],[0.826548,-0.562834,-0.006017],[0.005650,-0.002394,0.999981]] 2025-10-29T01:36:39.498Z,1761701799.498 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561586,-0.827417,-0.000972],[0.827418,-0.561585,-0.001105],[0.000369,-0.001425,0.999999]] 2025-10-29T01:36:39.904Z,1761701799.904 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559708,-0.828673,-0.005249],[0.828679,-0.559722,0.001646],[-0.004302,-0.003429,0.999985]] 2025-10-29T01:36:40.307Z,1761701800.307 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557232,-0.830334,-0.006166],[0.830307,-0.557264,0.006820],[-0.009099,-0.001319,0.999958]] 2025-10-29T01:36:40.711Z,1761701800.711 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553234,-0.833005,-0.005844],[0.832907,-0.553260,0.013010],[-0.014071,0.002330,0.999898]] 2025-10-29T01:36:41.122Z,1761701801.122 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549220,-0.835663,-0.005009],[0.835485,-0.549213,0.018196],[-0.017957,0.005808,0.999822]] 2025-10-29T01:36:41.520Z,1761701801.520 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544512,-0.838739,-0.004948],[0.838496,-0.544481,0.021536],[-0.020757,0.007578,0.999756]] 2025-10-29T01:36:41.935Z,1761701801.935 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540620,-0.841246,-0.005968],[0.840994,-0.540611,0.021641],[-0.021432,0.006680,0.999748]] 2025-10-29T01:36:42.327Z,1761701802.327 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537436,-0.843286,-0.005709],[0.843059,-0.537430,0.020527],[-0.020378,0.006219,0.999773]] 2025-10-29T01:36:42.732Z,1761701802.732 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534224,-0.845334,-0.003919],[0.845154,-0.534196,0.018694],[-0.017896,0.006674,0.999818]] 2025-10-29T01:36:43.139Z,1761701803.139 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531970,-0.846755,-0.003631],[0.846650,-0.531964,0.014082],[-0.013856,0.004417,0.999894]] 2025-10-29T01:36:43.539Z,1761701803.539 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530032,-0.847965,-0.004587],[0.847928,-0.530052,0.007919],[-0.009147,0.000308,0.999958]] 2025-10-29T01:36:43.947Z,1761701803.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528046,-0.849205,-0.004277],[0.849204,-0.528058,0.002543],[-0.004418,-0.002290,0.999988]] 2025-10-29T01:36:44.347Z,1761701804.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526184,-0.850363,-0.003610],[0.850370,-0.526178,-0.002573],[0.000288,-0.004424,0.999990]] 2025-10-29T01:36:44.762Z,1761701804.762 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524887,-0.851163,-0.003851],[0.851157,-0.524846,-0.008286],[0.005032,-0.007627,0.999958]] 2025-10-29T01:36:45.159Z,1761701805.159 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523824,-0.851823,-0.002608],[0.851773,-0.523754,-0.012795],[0.009533,-0.008924,0.999915]] 2025-10-29T01:36:45.558Z,1761701805.558 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523664,-0.851925,-0.000001],[0.851809,-0.523593,-0.016480],[0.014039,-0.008631,0.999864]] 2025-10-29T01:36:45.962Z,1761701805.962 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523906,-0.851771,0.002875],[0.851581,-0.523856,-0.019623],[0.018221,-0.007832,0.999803]] 2025-10-29T01:36:46.368Z,1761701806.368 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525040,-0.851058,0.005787],[0.850790,-0.525027,-0.022431],[0.022128,-0.006853,0.999732]] 2025-10-29T01:36:46.777Z,1761701806.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527143,-0.849720,0.009805],[0.849392,-0.527216,-0.024003],[0.025565,-0.004325,0.999664]] 2025-10-29T01:36:47.174Z,1761701807.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529364,-0.848280,0.013934],[0.847942,-0.529547,-0.023982],[0.027722,-0.000880,0.999615]] 2025-10-29T01:36:47.579Z,1761701807.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532685,-0.846182,0.014887],[0.845819,-0.532893,-0.024817],[0.028933,-0.000628,0.999581]] 2025-10-29T01:36:47.984Z,1761701807.984 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536887,-0.843537,0.014070],[0.843164,-0.537069,-0.025134],[0.028758,-0.001631,0.999585]] 2025-10-29T01:36:48.387Z,1761701808.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541288,-0.840733,0.013214],[0.840410,-0.541447,-0.023359],[0.026793,-0.001539,0.999640]] 2025-10-29T01:36:48.793Z,1761701808.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546121,-0.837653,0.009410],[0.837357,-0.546183,-0.022735],[0.024184,-0.004537,0.999697]] 2025-10-29T01:36:49.194Z,1761701809.194 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551418,-0.834213,0.005194],[0.833965,-0.551390,-0.021740],[0.020999,-0.007656,0.999750]] 2025-10-29T01:36:49.598Z,1761701809.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557120,-0.830428,0.002365],[0.830256,-0.557059,-0.018959],[0.017062,-0.008599,0.999817]] 2025-10-29T01:36:50.003Z,1761701810.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563455,-0.826146,-0.001375],[0.826046,-0.563359,-0.016595],[0.012935,-0.010487,0.999861]] 2025-10-29T01:36:50.415Z,1761701810.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570266,-0.821451,-0.003892],[0.821417,-0.570180,-0.013015],[0.008472,-0.010619,0.999908]] 2025-10-29T01:36:50.811Z,1761701810.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577190,-0.816591,-0.005501],[0.816602,-0.577142,-0.008336],[0.003632,-0.009304,0.999950]] 2025-10-29T01:36:51.222Z,1761701811.222 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583892,-0.811799,-0.007312],[0.811831,-0.583877,-0.004195],[-0.000864,-0.008386,0.999964]] 2025-10-29T01:36:51.619Z,1761701811.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590616,-0.806909,-0.008395],[0.806938,-0.590636,-0.000231],[-0.004772,-0.006911,0.999965]] 2025-10-29T01:36:52.022Z,1761701812.022 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.596397,-0.802656,-0.007293],[0.802647,-0.596434,0.004803],[-0.008205,-0.002989,0.999962]] 2025-10-29T01:36:52.431Z,1761701812.431 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601296,-0.799000,-0.006526],[0.798954,-0.601332,0.008542],[-0.010749,-0.000078,0.999942]] 2025-10-29T01:36:52.832Z,1761701812.832 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605928,-0.795491,-0.006653],[0.795431,-0.605964,0.009859],[-0.011874,0.000682,0.999929]] 2025-10-29T01:36:53.234Z,1761701813.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609817,-0.792521,-0.005798],[0.792452,-0.609842,0.010607],[-0.011942,0.001874,0.999927]] 2025-10-29T01:36:53.638Z,1761701813.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.612675,-0.790322,-0.004457],[0.790258,-0.612685,0.010505],[-0.011033,0.002914,0.999935]] 2025-10-29T01:36:54.047Z,1761701814.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.614583,-0.788844,-0.003713],[0.788800,-0.614589,0.008628],[-0.009088,0.002374,0.999956]] 2025-10-29T01:36:54.448Z,1761701814.448 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615495,-0.788135,-0.002972],[0.788115,-0.615501,0.005743],[-0.006355,0.001193,0.999979]] 2025-10-29T01:36:54.851Z,1761701814.851 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615055,-0.788483,-0.001273],[0.788477,-0.615056,0.003091],[-0.003220,0.000897,0.999994]] 2025-10-29T01:36:55.255Z,1761701815.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.613107,-0.789999,0.000389],[0.790000,-0.613107,0.000491],[-0.000149,0.000608,1.000000]] 2025-10-29T01:36:55.659Z,1761701815.659 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.610065,-0.792348,0.002258],[0.792346,-0.610069,-0.001779],[0.002788,0.000704,0.999996]] 2025-10-29T01:36:56.068Z,1761701816.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.605788,-0.795617,0.003775],[0.795608,-0.605800,-0.003851],[0.005351,0.000671,0.999985]] 2025-10-29T01:36:56.467Z,1761701816.467 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600414,-0.799677,0.004478],[0.799653,-0.600431,-0.006189],[0.007638,-0.000136,0.999971]] 2025-10-29T01:36:56.870Z,1761701816.870 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594191,-0.804313,0.004204],[0.804269,-0.594203,-0.008659],[0.009463,-0.001764,0.999954]] 2025-10-29T01:36:57.274Z,1761701817.274 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587421,-0.809276,0.003208],[0.809213,-0.587418,-0.010703],[0.010546,-0.003691,0.999938]] 2025-10-29T01:36:57.679Z,1761701817.679 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580750,-0.814077,0.002766],[0.814008,-0.580740,-0.011451],[0.010928,-0.004398,0.999931]] 2025-10-29T01:36:58.089Z,1761701818.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574033,-0.818831,0.001532],[0.818763,-0.574008,-0.011919],[0.010640,-0.005587,0.999928]] 2025-10-29T01:36:58.488Z,1761701818.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567371,-0.823462,0.000002],[0.823403,-0.567330,-0.011973],[0.009861,-0.006792,0.999928]] 2025-10-29T01:36:58.899Z,1761701818.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560618,-0.828074,-0.001334],[0.828033,-0.560573,-0.010969],[0.008335,-0.007254,0.999939]] 2025-10-29T01:36:59.295Z,1761701819.295 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554556,-0.832141,-0.002984],[0.832120,-0.554506,-0.009920],[0.006600,-0.007984,0.999946]] 2025-10-29T01:36:59.700Z,1761701819.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548900,-0.835873,-0.004985],[0.835876,-0.548849,-0.008709],[0.004543,-0.008947,0.999950]] 2025-10-29T01:37:00.103Z,1761701820.103 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543942,-0.839098,-0.006376],[0.839120,-0.543906,-0.006651],[0.002113,-0.008968,0.999958]] 2025-10-29T01:37:00.507Z,1761701820.507 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539845,-0.841734,-0.007159],[0.841765,-0.539828,-0.004228],[-0.000306,-0.008309,0.999965]] 2025-10-29T01:37:00.915Z,1761701820.915 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536641,-0.843777,-0.007490],[0.843807,-0.536643,-0.001877],[-0.002436,-0.007328,0.999970]] 2025-10-29T01:37:01.323Z,1761701821.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534889,-0.844877,-0.008744],[0.844915,-0.534900,-0.001247],[-0.003623,-0.008055,0.999961]] 2025-10-29T01:37:01.718Z,1761701821.718 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534013,-0.845429,-0.008926],[0.845465,-0.534031,-0.000399],[-0.004430,-0.007760,0.999960]] 2025-10-29T01:37:02.127Z,1761701822.127 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533654,-0.845651,-0.009360],[0.845689,-0.533677,-0.000127],[-0.004888,-0.007984,0.999956]] 2025-10-29T01:37:02.528Z,1761701822.528 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534768,-0.844948,-0.009294],[0.844986,-0.534789,-0.000361],[-0.004665,-0.008047,0.999957]] 2025-10-29T01:37:02.930Z,1761701822.930 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536788,-0.843661,-0.009704],[0.843708,-0.536800,-0.001549],[-0.003902,-0.009018,0.999952]] 2025-10-29T01:37:03.338Z,1761701823.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539908,-0.841671,-0.009493],[0.841720,-0.539906,-0.002967],[-0.002628,-0.009592,0.999951]] 2025-10-29T01:37:03.739Z,1761701823.739 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543440,-0.839410,-0.007985],[0.839447,-0.543428,-0.003838],[-0.001117,-0.008788,0.999961]] 2025-10-29T01:37:04.144Z,1761701824.144 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547502,-0.836772,-0.007365],[0.836804,-0.547473,-0.005695],[0.000733,-0.009281,0.999957]] 2025-10-29T01:37:04.546Z,1761701824.546 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552079,-0.833771,-0.005827],[0.833787,-0.552039,-0.007285],[0.002858,-0.008880,0.999956]] 2025-10-29T01:37:04.951Z,1761701824.951 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556384,-0.830918,-0.003554],[0.830912,-0.556345,-0.008092],[0.004746,-0.007455,0.999961]] 2025-10-29T01:37:05.359Z,1761701825.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560732,-0.827996,-0.001776],[0.827972,-0.560696,-0.009137],[0.006570,-0.006593,0.999957]] 2025-10-29T01:37:05.767Z,1761701825.767 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565013,-0.825082,-0.000436],[0.825040,-0.564979,-0.010333],[0.008279,-0.006198,0.999947]] 2025-10-29T01:37:06.163Z,1761701826.163 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569154,-0.822231,0.000575],[0.822173,-0.569122,-0.011463],[0.009752,-0.006052,0.999934]] 2025-10-29T01:37:06.571Z,1761701826.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573111,-0.819477,0.001170],[0.819406,-0.573079,-0.012423],[0.010851,-0.006161,0.999922]] 2025-10-29T01:37:06.970Z,1761701826.970 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576341,-0.817208,0.001627],[0.817131,-0.576312,-0.012729],[0.011340,-0.006006,0.999918]] 2025-10-29T01:37:07.388Z,1761701827.388 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579252,-0.815147,0.001638],[0.815067,-0.579222,-0.012936],[0.011493,-0.006158,0.999915]] 2025-10-29T01:37:07.782Z,1761701827.782 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581586,-0.813483,0.001722],[0.813407,-0.581559,-0.012554],[0.011214,-0.005901,0.999920]] 2025-10-29T01:37:08.598Z,1761701828.598 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583634,-0.812016,0.001487],[0.811948,-0.583607,-0.011929],[0.010555,-0.005755,0.999928]] 2025-10-29T01:37:08.993Z,1761701828.993 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583661,-0.811996,0.001477],[0.811937,-0.583638,-0.011197],[0.009954,-0.005336,0.999936]] 2025-10-29T01:37:09.401Z,1761701829.401 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583898,-0.811826,0.001119],[0.811775,-0.583875,-0.010574],[0.009238,-0.005266,0.999943]] 2025-10-29T01:37:09.799Z,1761701829.799 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583491,-0.812119,0.000899],[0.812078,-0.583472,-0.009479],[0.008222,-0.004801,0.999955]] 2025-10-29T01:37:10.626Z,1761701830.626 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581837,-0.813306,-0.000009],[0.813280,-0.581818,-0.007941],[0.006453,-0.004628,0.999968]] 2025-10-29T01:37:11.011Z,1761701831.011 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579949,-0.814652,-0.000667],[0.814631,-0.579928,-0.007779],[0.005950,-0.005055,0.999970]] 2025-10-29T01:37:11.415Z,1761701831.415 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578034,-0.816012,-0.000877],[0.815992,-0.578011,-0.007782],[0.005843,-0.005214,0.999969]] 2025-10-29T01:37:11.820Z,1761701831.820 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575997,-0.817451,-0.001261],[0.817431,-0.575970,-0.008135],[0.005923,-0.005716,0.999966]] 2025-10-29T01:37:12.224Z,1761701832.224 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573419,-0.819261,-0.001791],[0.819241,-0.573387,-0.008464],[0.005908,-0.006321,0.999963]] 2025-10-29T01:37:12.654Z,1761701832.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571044,-0.820917,-0.002027],[0.820897,-0.571008,-0.008820],[0.006083,-0.006700,0.999959]] 2025-10-29T01:37:13.031Z,1761701833.031 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568990,-0.822341,-0.002246],[0.822319,-0.568949,-0.009446],[0.006490,-0.007221,0.999953]] 2025-10-29T01:37:13.438Z,1761701833.438 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567091,-0.823651,-0.002712],[0.823627,-0.567041,-0.010131],[0.006807,-0.007979,0.999945]] 2025-10-29T01:37:13.838Z,1761701833.838 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565466,-0.824767,-0.002921],[0.824742,-0.565412,-0.010487],[0.006998,-0.008339,0.999941]] 2025-10-29T01:37:14.243Z,1761701834.243 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564114,-0.825691,-0.003124],[0.825667,-0.564057,-0.010654],[0.007035,-0.008589,0.999938]] 2025-10-29T01:37:14.681Z,1761701834.681 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563763,-0.825926,-0.004119],[0.825916,-0.563706,-0.009954],[0.005899,-0.009013,0.999942]] 2025-10-29T01:37:15.455Z,1761701835.455 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563414,-0.826163,-0.004327],[0.826157,-0.563359,-0.009554],[0.005455,-0.008957,0.999945]] 2025-10-29T01:37:15.867Z,1761701835.867 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563436,-0.826148,-0.004464],[0.826144,-0.563383,-0.009280],[0.005151,-0.008916,0.999947]] 2025-10-29T01:37:16.263Z,1761701836.263 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563315,-0.826230,-0.004492],[0.826229,-0.563267,-0.008692],[0.004651,-0.008608,0.999952]] 2025-10-29T01:37:16.709Z,1761701836.709 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563842,-0.825872,-0.004143],[0.825873,-0.563805,-0.007541],[0.003892,-0.007674,0.999963]] 2025-10-29T01:37:17.482Z,1761701837.482 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565019,-0.825071,-0.003353],[0.825071,-0.564991,-0.006591],[0.003543,-0.006490,0.999973]] 2025-10-29T01:37:17.886Z,1761701837.886 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565551,-0.824708,-0.002817],[0.824706,-0.565528,-0.006161],[0.003488,-0.005807,0.999977]] 2025-10-29T01:37:18.291Z,1761701838.291 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565809,-0.824533,-0.002286],[0.824529,-0.565790,-0.005734],[0.003435,-0.005129,0.999981]] 2025-10-29T01:37:18.728Z,1761701838.728 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565767,-0.824564,-0.001630],[0.824558,-0.565752,-0.005369],[0.003505,-0.004382,0.999984]] 2025-10-29T01:37:19.094Z,1761701839.094 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564538,-0.825406,-0.001039],[0.825397,-0.564525,-0.005560],[0.004003,-0.003996,0.999984]] 2025-10-29T01:37:19.502Z,1761701839.502 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562323,-0.826918,-0.000546],[0.826906,-0.562311,-0.005770],[0.004464,-0.003696,0.999983]] 2025-10-29T01:37:19.899Z,1761701839.899 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559528,-0.828812,-0.000311],[0.828797,-0.559516,-0.006190],[0.004956,-0.003722,0.999981]] 2025-10-29T01:37:20.722Z,1761701840.722 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551581,-0.834121,-0.000389],[0.834106,-0.551568,-0.006361],[0.005091,-0.003833,0.999980]] 2025-10-29T01:37:21.112Z,1761701841.112 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546890,-0.837204,-0.000776],[0.837189,-0.546874,-0.006564],[0.005071,-0.004240,0.999978]] 2025-10-29T01:37:21.515Z,1761701841.515 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541593,-0.840640,-0.001138],[0.840626,-0.541576,-0.006564],[0.004902,-0.004512,0.999978]] 2025-10-29T01:37:21.919Z,1761701841.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536061,-0.844177,-0.001857],[0.844166,-0.536040,-0.006683],[0.004646,-0.005150,0.999976]] 2025-10-29T01:37:22.323Z,1761701842.323 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530549,-0.847651,-0.002459],[0.847643,-0.530523,-0.006843],[0.004496,-0.005715,0.999974]] 2025-10-29T01:37:22.737Z,1761701842.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525026,-0.851081,-0.003029],[0.851075,-0.524997,-0.007034],[0.004397,-0.006271,0.999971]] 2025-10-29T01:37:23.130Z,1761701843.130 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519599,-0.854403,-0.003619],[0.854399,-0.519566,-0.007287],[0.004346,-0.006878,0.999967]] 2025-10-29T01:37:23.534Z,1761701843.534 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514322,-0.857587,-0.004220],[0.857586,-0.514284,-0.007591],[0.004339,-0.007524,0.999962]] 2025-10-29T01:37:23.938Z,1761701843.938 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.509502,-0.860456,-0.004823],[0.860458,-0.509458,-0.008021],[0.004445,-0.008237,0.999956]] 2025-10-29T01:37:24.351Z,1761701844.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505455,-0.862837,-0.005305],[0.862840,-0.505405,-0.008523],[0.004672,-0.008886,0.999950]] 2025-10-29T01:37:24.798Z,1761701844.798 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501944,-0.864881,-0.005707],[0.864886,-0.501888,-0.008963],[0.004888,-0.009434,0.999944]] 2025-10-29T01:37:25.151Z,1761701845.151 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499364,-0.866370,-0.006181],[0.866377,-0.499300,-0.009531],[0.005172,-0.010114,0.999936]] 2025-10-29T01:37:25.554Z,1761701845.554 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497553,-0.867409,-0.006461],[0.867417,-0.497483,-0.009950],[0.005416,-0.010555,0.999930]] 2025-10-29T01:37:25.960Z,1761701845.960 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496759,-0.867865,-0.006457],[0.867870,-0.496686,-0.010185],[0.005632,-0.010663,0.999927]] 2025-10-29T01:37:26.372Z,1761701846.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496845,-0.867815,-0.006510],[0.867822,-0.496773,-0.010099],[0.005530,-0.010667,0.999928]] 2025-10-29T01:37:26.772Z,1761701846.772 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497199,-0.867613,-0.006403],[0.867618,-0.497126,-0.010278],[0.005734,-0.010666,0.999927]] 2025-10-29T01:37:27.170Z,1761701847.170 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498589,-0.866814,-0.006535],[0.866818,-0.498512,-0.010595],[0.005926,-0.010947,0.999923]] 2025-10-29T01:37:27.582Z,1761701847.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500868,-0.865500,-0.006391],[0.865501,-0.500789,-0.010863],[0.006201,-0.010973,0.999921]] 2025-10-29T01:37:27.979Z,1761701847.979 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.503760,-0.863821,-0.006277],[0.863819,-0.503678,-0.011204],[0.006516,-0.011066,0.999918]] 2025-10-29T01:37:28.382Z,1761701848.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507101,-0.861865,-0.006075],[0.861860,-0.507018,-0.011404],[0.006748,-0.011018,0.999917]] 2025-10-29T01:37:28.789Z,1761701848.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510904,-0.859618,-0.005760],[0.859610,-0.510822,-0.011457],[0.006906,-0.010805,0.999918]] 2025-10-29T01:37:29.191Z,1761701849.191 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515219,-0.857042,-0.005262],[0.857028,-0.515139,-0.011615],[0.007243,-0.010494,0.999919]] 2025-10-29T01:37:29.594Z,1761701849.594 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519593,-0.854400,-0.004772],[0.854383,-0.519519,-0.011445],[0.007300,-0.010024,0.999923]] 2025-10-29T01:37:29.998Z,1761701849.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524461,-0.851423,-0.004424],[0.851403,-0.524389,-0.011384],[0.007373,-0.009738,0.999925]] 2025-10-29T01:37:30.403Z,1761701850.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529427,-0.848345,-0.004282],[0.848325,-0.529359,-0.011116],[0.007163,-0.009517,0.999929]] 2025-10-29T01:37:30.808Z,1761701850.808 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534667,-0.845052,-0.004171],[0.845034,-0.534602,-0.010881],[0.006965,-0.009342,0.999932]] 2025-10-29T01:37:31.215Z,1761701851.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540000,-0.841655,-0.004165],[0.841639,-0.539938,-0.010550],[0.006631,-0.009202,0.999936]] 2025-10-29T01:37:31.622Z,1761701851.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545308,-0.838226,-0.004077],[0.838214,-0.545252,-0.009903],[0.006078,-0.008818,0.999943]] 2025-10-29T01:37:32.020Z,1761701852.020 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550444,-0.834862,-0.004163],[0.834855,-0.550394,-0.009155],[0.005352,-0.008515,0.999949]] 2025-10-29T01:37:32.423Z,1761701852.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555644,-0.831410,-0.004092],[0.831408,-0.555602,-0.008235],[0.004573,-0.007978,0.999958]] 2025-10-29T01:37:32.833Z,1761701852.833 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560780,-0.827953,-0.004333],[0.827957,-0.560745,-0.007236],[0.003561,-0.007645,0.999964]] 2025-10-29T01:37:33.235Z,1761701853.235 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565556,-0.824695,-0.004877],[0.824707,-0.565529,-0.005984],[0.002177,-0.007406,0.999970]] 2025-10-29T01:37:33.636Z,1761701853.636 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570141,-0.821530,-0.005347],[0.821547,-0.570122,-0.004644],[0.000767,-0.007040,0.999975]] 2025-10-29T01:37:34.039Z,1761701854.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574426,-0.818537,-0.005693],[0.818557,-0.574417,-0.003222],[-0.000633,-0.006510,0.999979]] 2025-10-29T01:37:34.442Z,1761701854.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578321,-0.815791,-0.005484],[0.815807,-0.578321,-0.001568],[-0.001892,-0.005381,0.999984]] 2025-10-29T01:37:34.853Z,1761701854.853 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581458,-0.813560,-0.005171],[0.813570,-0.581467,0.000100],[-0.003089,-0.004149,0.999987]] 2025-10-29T01:37:35.257Z,1761701855.257 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584019,-0.811726,-0.004788],[0.811731,-0.584030,0.001396],[-0.003930,-0.003071,0.999988]] 2025-10-29T01:37:35.655Z,1761701855.655 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586201,-0.810153,-0.004484],[0.810154,-0.586213,0.001979],[-0.004232,-0.002473,0.999988]] 2025-10-29T01:37:36.058Z,1761701856.058 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587495,-0.809217,-0.004182],[0.809217,-0.587506,0.002106],[-0.004161,-0.002147,0.999989]] 2025-10-29T01:37:36.463Z,1761701856.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587834,-0.808972,-0.003860],[0.808972,-0.587844,0.002071],[-0.003944,-0.001905,0.999990]] 2025-10-29T01:37:36.868Z,1761701856.868 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587779,-0.809014,-0.003469],[0.809013,-0.587787,0.002158],[-0.003785,-0.001538,0.999992]] 2025-10-29T01:37:37.271Z,1761701857.271 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587526,-0.809199,-0.003160],[0.809201,-0.587531,0.001182],[-0.002813,-0.001862,0.999994]] 2025-10-29T01:37:37.676Z,1761701857.676 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.586476,-0.809962,-0.002560],[0.809965,-0.586478,-0.000281],[-0.001274,-0.002238,0.999997]] 2025-10-29T01:37:38.080Z,1761701858.080 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584284,-0.811547,-0.001709],[0.811549,-0.584282,-0.001613],[0.000311,-0.002330,0.999997]] 2025-10-29T01:37:38.486Z,1761701858.486 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581567,-0.813497,-0.001633],[0.813496,-0.581559,-0.003581],[0.001963,-0.003411,0.999992]] 2025-10-29T01:37:38.887Z,1761701858.887 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578447,-0.815719,-0.001091],[0.815712,-0.578435,-0.005139],[0.003561,-0.003862,0.999986]] 2025-10-29T01:37:39.290Z,1761701859.290 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574525,-0.818487,0.000161],[0.818470,-0.574515,-0.006264],[0.005219,-0.003468,0.999980]] 2025-10-29T01:37:39.695Z,1761701859.695 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570366,-0.821391,0.000423],[0.821364,-0.570351,-0.007736],[0.006595,-0.004065,0.999970]] 2025-10-29T01:37:40.099Z,1761701860.099 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565852,-0.824506,0.000801],[0.824468,-0.565834,-0.009142],[0.007991,-0.004513,0.999958]] 2025-10-29T01:37:40.504Z,1761701860.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561107,-0.827743,0.000554],[0.827695,-0.561081,-0.010447],[0.008958,-0.005403,0.999945]] 2025-10-29T01:37:40.906Z,1761701860.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556308,-0.830976,0.000180],[0.830920,-0.556273,-0.011483],[0.009642,-0.006238,0.999934]] 2025-10-29T01:37:41.316Z,1761701861.316 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551976,-0.833860,-0.000505],[0.833798,-0.551927,-0.012532],[0.010171,-0.007338,0.999921]] 2025-10-29T01:37:41.719Z,1761701861.719 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547547,-0.836774,-0.001272],[0.836713,-0.547488,-0.012928],[0.010121,-0.008143,0.999916]] 2025-10-29T01:37:42.120Z,1761701862.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543542,-0.839380,-0.001958],[0.839324,-0.543475,-0.013064],[0.009902,-0.008745,0.999913]] 2025-10-29T01:37:42.523Z,1761701862.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539810,-0.841782,-0.002791],[0.841737,-0.539739,-0.012633],[0.009128,-0.009169,0.999916]] 2025-10-29T01:37:42.926Z,1761701862.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536864,-0.843662,-0.003346],[0.843628,-0.536795,-0.011984],[0.008314,-0.009257,0.999923]] 2025-10-29T01:37:43.338Z,1761701863.338 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534594,-0.845101,-0.003664],[0.845076,-0.534530,-0.011115],[0.007435,-0.009039,0.999932]] 2025-10-29T01:37:43.737Z,1761701863.737 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532893,-0.846173,-0.004074],[0.846158,-0.532836,-0.010101],[0.006377,-0.008830,0.999941]] 2025-10-29T01:37:44.141Z,1761701864.141 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531798,-0.846858,-0.004774],[0.846854,-0.531743,-0.009408],[0.005429,-0.009046,0.999944]] 2025-10-29T01:37:44.543Z,1761701864.543 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531532,-0.847022,-0.005264],[0.847026,-0.531479,-0.008787],[0.004645,-0.009130,0.999948]] 2025-10-29T01:37:44.947Z,1761701864.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531479,-0.847054,-0.005377],[0.847063,-0.531433,-0.007981],[0.003903,-0.008796,0.999954]] 2025-10-29T01:37:45.351Z,1761701865.351 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531457,-0.847069,-0.005234],[0.847076,-0.531413,-0.007832],[0.003853,-0.008596,0.999956]] 2025-10-29T01:37:45.759Z,1761701865.759 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531522,-0.847029,-0.005155],[0.847037,-0.531481,-0.007552],[0.003657,-0.008380,0.999958]] 2025-10-29T01:37:46.169Z,1761701866.169 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531508,-0.847038,-0.005033],[0.847047,-0.531473,-0.006892],[0.003162,-0.007926,0.999964]] 2025-10-29T01:37:46.563Z,1761701866.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531992,-0.846735,-0.004947],[0.846745,-0.531960,-0.006421],[0.002806,-0.007605,0.999967]] 2025-10-29T01:37:46.968Z,1761701866.968 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532899,-0.846165,-0.004905],[0.846175,-0.532870,-0.006125],[0.002569,-0.007414,0.999969]] 2025-10-29T01:37:47.370Z,1761701867.370 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533907,-0.845530,-0.004703],[0.845539,-0.533881,-0.005880],[0.002461,-0.007116,0.999972]] 2025-10-29T01:37:47.779Z,1761701867.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535365,-0.844608,-0.004649],[0.844617,-0.535338,-0.005962],[0.002547,-0.007118,0.999971]] 2025-10-29T01:37:48.196Z,1761701868.196 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.536915,-0.843624,-0.004524],[0.843632,-0.536888,-0.006095],[0.002713,-0.007089,0.999971]] 2025-10-29T01:37:48.583Z,1761701868.583 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538528,-0.842596,-0.004448],[0.842602,-0.538499,-0.006333],[0.002941,-0.007159,0.999970]] 2025-10-29T01:37:48.986Z,1761701868.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540375,-0.841413,-0.004435],[0.841418,-0.540343,-0.006694],[0.003236,-0.007349,0.999968]] 2025-10-29T01:37:49.390Z,1761701869.390 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542013,-0.840359,-0.004413],[0.840364,-0.541980,-0.006866],[0.003378,-0.007430,0.999967]] 2025-10-29T01:37:49.806Z,1761701869.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543775,-0.839219,-0.004535],[0.839224,-0.543739,-0.007141],[0.003527,-0.007689,0.999964]] 2025-10-29T01:37:50.227Z,1761701870.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545566,-0.838055,-0.004572],[0.838060,-0.545529,-0.007309],[0.003631,-0.007819,0.999963]] 2025-10-29T01:37:51.007Z,1761701871.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548858,-0.835901,-0.004864],[0.835909,-0.548821,-0.007246],[0.003388,-0.008043,0.999962]] 2025-10-29T01:37:51.411Z,1761701871.411 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550351,-0.834916,-0.005272],[0.834928,-0.550315,-0.006994],[0.002938,-0.008250,0.999962]] 2025-10-29T01:37:51.823Z,1761701871.823 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551911,-0.833884,-0.005606],[0.833899,-0.551877,-0.006597],[0.002407,-0.008316,0.999963]] 2025-10-29T01:37:52.254Z,1761701872.254 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553338,-0.832936,-0.005880],[0.832955,-0.553308,-0.006019],[0.001760,-0.008228,0.999965]] 2025-10-29T01:37:52.623Z,1761701872.623 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554774,-0.831977,-0.006343],[0.832001,-0.554749,-0.005374],[0.000952,-0.008259,0.999965]] 2025-10-29T01:37:53.027Z,1761701873.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556047,-0.831124,-0.006647],[0.831151,-0.556029,-0.004510],[0.000053,-0.008032,0.999968]] 2025-10-29T01:37:53.432Z,1761701873.432 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557516,-0.830138,-0.006814],[0.830166,-0.557504,-0.003697],[-0.000730,-0.007718,0.999970]] 2025-10-29T01:37:53.834Z,1761701873.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558849,-0.829241,-0.006831],[0.829268,-0.558844,-0.002783],[-0.001510,-0.007220,0.999973]] 2025-10-29T01:37:54.300Z,1761701874.300 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560065,-0.828420,-0.006844],[0.828446,-0.560066,-0.001927],[-0.002237,-0.006749,0.999975]] 2025-10-29T01:37:54.643Z,1761701874.643 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560839,-0.827898,-0.006652],[0.827920,-0.560845,-0.001092],[-0.002826,-0.006120,0.999977]] 2025-10-29T01:37:55.047Z,1761701875.047 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560632,-0.828043,-0.006117],[0.828060,-0.560638,-0.000762],[-0.002798,-0.005493,0.999981]] 2025-10-29T01:37:55.450Z,1761701875.450 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559985,-0.828485,-0.005397],[0.828500,-0.559989,-0.000864],[-0.002306,-0.004955,0.999985]] 2025-10-29T01:37:55.854Z,1761701875.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.558564,-0.829448,-0.004715],[0.829460,-0.558565,-0.001239],[-0.001606,-0.004603,0.999988]] 2025-10-29T01:37:56.326Z,1761701876.326 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554127,-0.832427,-0.003120],[0.832432,-0.554120,-0.002852],[0.000645,-0.004178,0.999991]] 2025-10-29T01:37:57.068Z,1761701877.068 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551049,-0.834470,-0.002297],[0.834470,-0.551037,-0.004251],[0.002281,-0.004259,0.999988]] 2025-10-29T01:37:57.471Z,1761701877.471 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547635,-0.836716,-0.001534],[0.836707,-0.547618,-0.005954],[0.004142,-0.004544,0.999981]] 2025-10-29T01:37:57.875Z,1761701877.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543888,-0.839158,-0.000824],[0.839136,-0.543866,-0.007842],[0.006132,-0.004956,0.999969]] 2025-10-29T01:37:58.352Z,1761701878.352 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535407,-0.844594,0.000344],[0.844538,-0.535376,-0.011341],[0.009762,-0.005781,0.999936]] 2025-10-29T01:37:59.087Z,1761701879.087 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531192,-0.847251,0.000805],[0.847175,-0.531156,-0.012964],[0.011411,-0.006205,0.999916]] 2025-10-29T01:37:59.491Z,1761701879.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527240,-0.849716,0.000669],[0.849620,-0.527192,-0.014650],[0.012801,-0.007156,0.999892]] 2025-10-29T01:37:59.894Z,1761701879.894 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523732,-0.851883,-0.000110],[0.851773,-0.523662,-0.016150],[0.013700,-0.008552,0.999870]] 2025-10-29T01:38:00.371Z,1761701880.371 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518789,-0.854900,-0.002183],[0.854792,-0.518679,-0.017427],[0.013766,-0.010907,0.999846]] 2025-10-29T01:38:01.106Z,1761701881.106 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517685,-0.855566,-0.003085],[0.855473,-0.517568,-0.017024],[0.012969,-0.011452,0.999850]] 2025-10-29T01:38:01.510Z,1761701881.510 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517678,-0.855564,-0.004418],[0.855497,-0.517554,-0.016208],[0.011580,-0.012170,0.999859]] 2025-10-29T01:38:01.914Z,1761701881.914 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518911,-0.854806,-0.006199],[0.854775,-0.518785,-0.014874],[0.009499,-0.013018,0.999870]] 2025-10-29T01:38:02.330Z,1761701882.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.524644,-0.851291,-0.007328],[0.851314,-0.524583,-0.008787],[0.003636,-0.010849,0.999935]] 2025-10-29T01:38:02.727Z,1761701882.727 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528942,-0.848625,-0.007466],[0.848658,-0.528919,-0.004874],[0.000188,-0.008914,0.999960]] 2025-10-29T01:38:03.131Z,1761701883.131 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534257,-0.845286,-0.007857],[0.845316,-0.534265,-0.001150],[-0.003225,-0.007256,0.999968]] 2025-10-29T01:38:03.535Z,1761701883.535 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540127,-0.841546,-0.007930],[0.841558,-0.540160,0.002586],[-0.006460,-0.005276,0.999965]] 2025-10-29T01:38:03.940Z,1761701883.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546534,-0.837402,-0.007669],[0.837388,-0.546578,0.005832],[-0.009076,-0.003235,0.999954]] 2025-10-29T01:38:04.364Z,1761701884.364 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553450,-0.832847,-0.007675],[0.832815,-0.553499,0.007628],[-0.010601,-0.002170,0.999941]] 2025-10-29T01:38:04.743Z,1761701884.743 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559829,-0.828575,-0.007319],[0.828529,-0.559876,0.008823],[-0.011408,-0.001125,0.999934]] 2025-10-29T01:38:05.147Z,1761701885.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565873,-0.824468,-0.006356],[0.824418,-0.565909,0.009037],[-0.011048,-0.000126,0.999939]] 2025-10-29T01:38:05.550Z,1761701885.550 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571298,-0.820721,-0.005968],[0.820687,-0.571329,0.007489],[-0.009556,-0.000619,0.999954]] 2025-10-29T01:38:05.955Z,1761701885.955 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575728,-0.817621,-0.005703],[0.817610,-0.575754,0.004741],[-0.007159,-0.001933,0.999973]] 2025-10-29T01:38:06.366Z,1761701886.366 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578985,-0.815336,-0.001929],[0.815327,-0.578988,0.003757],[-0.004180,0.000602,0.999991]] 2025-10-29T01:38:06.774Z,1761701886.774 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580366,-0.814351,0.002729],[0.814355,-0.580360,0.002849],[-0.000737,0.003876,0.999992]] 2025-10-29T01:38:07.166Z,1761701887.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579732,-0.814770,0.007758],[0.814801,-0.579738,0.001709],[0.003105,0.007312,0.999968]] 2025-10-29T01:38:07.571Z,1761701887.571 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577463,-0.816333,0.011725],[0.816383,-0.577510,-0.000748],[0.007381,0.009140,0.999931]] 2025-10-29T01:38:07.975Z,1761701887.975 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573395,-0.819141,0.015023],[0.819197,-0.573500,-0.003591],[0.011557,0.010248,0.999881]] 2025-10-29T01:38:08.396Z,1761701888.396 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567715,-0.823039,0.017482],[0.823084,-0.567883,-0.006446],[0.015233,0.010729,0.999826]] 2025-10-29T01:38:08.793Z,1761701888.793 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560730,-0.827770,0.019450],[0.827802,-0.560954,-0.008576],[0.018009,0.011292,0.999774]] 2025-10-29T01:38:09.186Z,1761701889.186 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552754,-0.833122,0.019254],[0.833118,-0.552995,-0.010541],[0.019429,0.010215,0.999759]] 2025-10-29T01:38:09.592Z,1761701889.592 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543698,-0.839100,0.017410],[0.839060,-0.543914,-0.011672],[0.019264,0.008262,0.999780]] 2025-10-29T01:38:09.994Z,1761701889.994 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534596,-0.844998,0.013658],[0.844908,-0.534751,-0.013114],[0.018384,0.004529,0.999821]] 2025-10-29T01:38:10.403Z,1761701890.403 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525982,-0.850470,0.006561],[0.850319,-0.526014,-0.016351],[0.017358,-0.003021,0.999845]] 2025-10-29T01:38:10.804Z,1761701890.804 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517980,-0.855389,0.002651],[0.855255,-0.517950,-0.016311],[0.015325,-0.006181,0.999863]] 2025-10-29T01:38:11.206Z,1761701891.206 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510390,-0.859943,-0.000055],[0.859852,-0.510335,-0.014600],[0.012527,-0.007500,0.999893]] 2025-10-29T01:38:11.610Z,1761701891.610 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504058,-0.863657,-0.004646],[0.863616,-0.503960,-0.013831],[0.009604,-0.010984,0.999894]] 2025-10-29T01:38:12.014Z,1761701892.014 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499748,-0.866144,-0.006782],[0.866148,-0.499661,-0.011274],[0.006377,-0.011508,0.999913]] 2025-10-29T01:38:12.433Z,1761701892.433 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496382,-0.868075,-0.007160],[0.868100,-0.496338,-0.007108],[0.002617,-0.009744,0.999949]] 2025-10-29T01:38:12.822Z,1761701892.822 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494402,-0.869203,-0.007259],[0.869233,-0.494396,-0.002610],[-0.001320,-0.007600,0.999970]] 2025-10-29T01:38:13.227Z,1761701893.227 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.493845,-0.869526,-0.006433],[0.869535,-0.493866,0.002094],[-0.004998,-0.004559,0.999977]] 2025-10-29T01:38:13.631Z,1761701893.631 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.494503,-0.869160,-0.005319],[0.869136,-0.494530,0.006592],[-0.008359,-0.001363,0.999964]] 2025-10-29T01:38:14.037Z,1761701894.037 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496866,-0.867811,-0.005258],[0.867764,-0.496894,0.009036],[-0.010454,-0.000073,0.999945]] 2025-10-29T01:38:14.443Z,1761701894.443 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.500723,-0.865591,-0.005361],[0.865534,-0.500751,0.009924],[-0.011275,0.000329,0.999936]] 2025-10-29T01:38:14.842Z,1761701894.842 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505641,-0.862732,-0.004470],[0.862675,-0.505659,0.009999],[-0.010886,0.001200,0.999940]] 2025-10-29T01:38:15.253Z,1761701895.253 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511619,-0.859203,-0.004091],[0.859163,-0.511635,0.008326],[-0.009247,0.000745,0.999957]] 2025-10-29T01:38:15.652Z,1761701895.652 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518506,-0.855062,-0.004508],[0.855049,-0.518524,0.004840],[-0.006476,-0.001345,0.999978]] 2025-10-29T01:38:16.054Z,1761701896.054 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526179,-0.850357,-0.005388],[0.850368,-0.526188,0.000181],[-0.002989,-0.004487,0.999985]] 2025-10-29T01:38:16.463Z,1761701896.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533896,-0.845534,-0.005198],[0.845550,-0.533881,-0.004191],[0.000769,-0.006632,0.999978]] 2025-10-29T01:38:16.862Z,1761701896.862 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.541359,-0.840785,-0.003287],[0.840778,-0.541324,-0.007765],[0.004749,-0.006968,0.999964]] 2025-10-29T01:38:17.277Z,1761701897.277 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548530,-0.836130,0.001220],[0.836085,-0.548515,-0.009651],[0.008739,-0.004274,0.999953]] 2025-10-29T01:38:17.670Z,1761701897.670 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555182,-0.831701,0.006772],[0.831629,-0.555223,-0.011022],[0.012927,-0.000487,0.999916]] 2025-10-29T01:38:18.075Z,1761701898.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560868,-0.827823,0.011653],[0.827726,-0.560984,-0.012914],[0.017228,0.002403,0.999849]] 2025-10-29T01:38:18.479Z,1761701898.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565745,-0.824421,0.016245],[0.824305,-0.565955,-0.014719],[0.021328,0.005064,0.999760]] 2025-10-29T01:38:18.884Z,1761701898.884 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570124,-0.821265,0.021948],[0.821204,-0.570460,-0.014141],[0.024134,0.009961,0.999659]] 2025-10-29T01:38:19.287Z,1761701899.287 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573236,-0.819013,0.024887],[0.819013,-0.573629,-0.012957],[0.024888,0.012955,0.999606]] 2025-10-29T01:38:19.691Z,1761701899.691 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575473,-0.817496,0.023019],[0.817484,-0.575816,-0.012475],[0.023453,0.011638,0.999657]] 2025-10-29T01:38:20.096Z,1761701900.096 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576390,-0.816921,0.020353],[0.816933,-0.576647,-0.009986],[0.019894,0.010871,0.999743]] 2025-10-29T01:38:20.499Z,1761701900.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575485,-0.817676,0.014974],[0.817669,-0.575630,-0.008197],[0.015322,0.007527,0.999854]] 2025-10-29T01:38:20.902Z,1761701900.902 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573849,-0.818943,0.005422],[0.818889,-0.573874,-0.009481],[0.010876,-0.001001,0.999940]] 2025-10-29T01:38:21.308Z,1761701901.308 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572261,-0.820071,0.000694],[0.820048,-0.572251,-0.007041],[0.006172,-0.003460,0.999975]] 2025-10-29T01:38:21.713Z,1761701901.713 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569726,-0.821833,-0.002002],[0.821834,-0.569720,-0.002706],[0.001084,-0.003187,0.999994]] 2025-10-29T01:38:22.114Z,1761701902.114 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567152,-0.823596,-0.005381],[0.823607,-0.567161,0.000291],[-0.003291,-0.004267,0.999985]] 2025-10-29T01:38:22.519Z,1761701902.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564429,-0.825454,-0.006759],[0.825448,-0.564461,0.004402],[-0.007449,-0.003095,0.999968]] 2025-10-29T01:38:22.922Z,1761701902.922 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560310,-0.828267,-0.005165],[0.828199,-0.560332,0.010708],[-0.011763,0.001723,0.999929]] 2025-10-29T01:38:23.330Z,1761701903.330 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555793,-0.831310,-0.004252],[0.831184,-0.555787,0.015303],[-0.015085,0.004972,0.999874]] 2025-10-29T01:38:23.734Z,1761701903.734 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550974,-0.834516,-0.003112],[0.834343,-0.550930,0.018651],[-0.017279,0.007679,0.999821]] 2025-10-29T01:38:24.134Z,1761701904.134 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546583,-0.837400,-0.002819],[0.837214,-0.546527,0.019518],[-0.017884,0.008308,0.999806]] 2025-10-29T01:38:24.538Z,1761701904.538 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542268,-0.840203,-0.002064],[0.840033,-0.542205,0.018948],[-0.017040,0.008541,0.999818]] 2025-10-29T01:38:24.944Z,1761701904.944 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538405,-0.842686,-0.000402],[0.842558,-0.538331,0.017211],[-0.014720,0.008928,0.999852]] 2025-10-29T01:38:25.346Z,1761701905.346 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534389,-0.845238,0.000517],[0.845157,-0.534329,0.014204],[-0.011730,0.008028,0.999899]] 2025-10-29T01:38:25.761Z,1761701905.761 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531075,-0.847325,0.000009],[0.847288,-0.531052,0.009383],[-0.007945,0.004991,0.999956]] 2025-10-29T01:38:26.155Z,1761701906.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527473,-0.849572,-0.000277],[0.849561,-0.527467,0.004906],[-0.004314,0.002352,0.999988]] 2025-10-29T01:38:26.568Z,1761701906.568 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523522,-0.852012,0.000728],[0.852012,-0.523520,0.001678],[-0.001048,0.001498,0.999998]] 2025-10-29T01:38:26.963Z,1761701906.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519619,-0.854398,-0.000883],[0.854395,-0.519614,-0.003098],[0.002188,-0.002364,0.999995]] 2025-10-29T01:38:27.007Z,1761701907.007 [lineCaptureHoming:TrackAC.](INFO): *** querying acoustic contact *** 2025-10-29T01:38:27.094Z,1761701907.094 [DAT](DEBUG): Acoustic response timeout 2025-10-29T01:38:27.094Z,1761701907.094 [DAT](INFO): Querying Benthos address 50 with one ping in standard two-way mode. 2025-10-29T01:38:27.345Z,1761701907.345 [DAT](INFO): DAT read: user:788> 2025-10-29T01:38:27.346Z,1761701907.346 [DAT](INFO): DAT read: Tx time:01:38:27.0651 2025-10-29T01:38:27.346Z,1761701907.346 [DAT](INFO): Ping request sent. 2025-10-29T01:38:27.346Z,1761701907.346 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:38:27.346Z,1761701907.346 [DAT](INFO): publishing transmit ping time 2025-10-29T01:38:27.347Z,1761701907.347 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.000754 2025-10-29T01:38:27.367Z,1761701907.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515366,-0.856969,-0.001296],[0.856956,-0.515348,-0.006502],[0.004904,-0.004462,0.999978]] 2025-10-29T01:38:27.597Z,1761701907.597 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.251103 2025-10-29T01:38:27.777Z,1761701907.777 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511408,-0.859337,-0.001361],[0.859306,-0.511374,-0.009480],[0.007451,-0.006018,0.999954]] 2025-10-29T01:38:27.849Z,1761701907.849 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.503339 2025-10-29T01:38:28.101Z,1761701908.101 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=0.754867 2025-10-29T01:38:28.174Z,1761701908.174 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507906,-0.861412,-0.000521],[0.861357,-0.507866,-0.011656],[0.009776,-0.006369,0.999932]] 2025-10-29T01:38:28.353Z,1761701908.353 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.006959 2025-10-29T01:38:28.582Z,1761701908.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.504254,-0.863555,0.000523],[0.863478,-0.504216,-0.013114],[0.011588,-0.006161,0.999914]] 2025-10-29T01:38:28.605Z,1761701908.605 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.259026 2025-10-29T01:38:28.857Z,1761701908.857 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.510937 2025-10-29T01:38:28.982Z,1761701908.982 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501407,-0.865210,0.001647],[0.865104,-0.501374,-0.014824],[0.013652,-0.006008,0.999889]] 2025-10-29T01:38:29.109Z,1761701909.109 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=1.762940 2025-10-29T01:38:29.361Z,1761701909.361 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.014864 2025-10-29T01:38:29.386Z,1761701909.386 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.499087,-0.866547,0.002775],[0.866412,-0.499061,-0.016376],[0.015575,-0.005769,0.999862]] 2025-10-29T01:38:29.614Z,1761701909.614 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.267697 2025-10-29T01:38:29.827Z,1761701909.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.497090,-0.867688,0.004280],[0.867528,-0.497084,-0.017424],[0.017246,-0.004948,0.999839]] 2025-10-29T01:38:29.865Z,1761701909.865 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.519061 2025-10-29T01:38:30.117Z,1761701910.117 [DAT](INFO): DAT read: Rx Time:01:38:29.4708 2025-10-29T01:38:30.117Z,1761701910.117 [DAT](INFO): Rx dataTimestamp_ set to:1761701910.117097 2025-10-29T01:38:30.118Z,1761701910.118 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=2.771978 2025-10-29T01:38:30.195Z,1761701910.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495642,-0.868511,0.005342],[0.868327,-0.495650,-0.018415],[0.018642,-0.004489,0.999816]] 2025-10-29T01:38:30.369Z,1761701910.369 [DAT](INFO): checking for new query: numPingsReceived=0, elapsed TxPingTime=3.022919 2025-10-29T01:38:30.616Z,1761701910.616 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495389,-0.868651,0.005909],[0.868440,-0.495403,-0.019685],[0.020027,-0.004620,0.999789]] 2025-10-29T01:38:30.622Z,1761701910.622 [DAT](INFO): DAT read: Range 11 to 50 : 1.2 m (Round-trip 1.6 ms) speed 0.0 m/s 2025-10-29T01:38:30.622Z,1761701910.622 [DAT](ERROR): #Rx 1: Read range message, but no direction. 2025-10-29T01:38:31.003Z,1761701911.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.495767,-0.868429,0.006827],[0.868214,-0.495799,-0.019697],[0.020490,-0.003838,0.999783]] 2025-10-29T01:38:31.407Z,1761701911.407 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.496379,-0.868080,0.006801],[0.867872,-0.496411,-0.019326],[0.020153,-0.003691,0.999790]] 2025-10-29T01:38:31.827Z,1761701911.827 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.498405,-0.866926,0.005734],[0.866729,-0.498417,-0.018976],[0.019309,-0.004488,0.999803]] 2025-10-29T01:38:32.217Z,1761701912.217 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.501706,-0.865026,0.004565],[0.864852,-0.501701,-0.018074],[0.017925,-0.005120,0.999826]] 2025-10-29T01:38:32.619Z,1761701912.619 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505439,-0.862859,0.002394],[0.862715,-0.505402,-0.017074],[0.015942,-0.006564,0.999851]] 2025-10-29T01:38:33.023Z,1761701913.023 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510197,-0.860058,-0.000437],[0.859948,-0.510124,-0.016203],[0.013712,-0.008643,0.999869]] 2025-10-29T01:38:33.428Z,1761701913.428 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515667,-0.856783,-0.003069],[0.856717,-0.515575,-0.014790],[0.011089,-0.010256,0.999886]] 2025-10-29T01:38:33.859Z,1761701913.859 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521882,-0.852997,-0.005949],[0.852978,-0.521779,-0.013237],[0.008187,-0.011983,0.999895]] 2025-10-29T01:38:34.244Z,1761701914.244 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.528799,-0.848708,-0.008102],[0.848733,-0.528712,-0.010791],[0.004875,-0.012582,0.999909]] 2025-10-29T01:38:34.638Z,1761701914.638 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535876,-0.844248,-0.009025],[0.844295,-0.535827,-0.007354],[0.001372,-0.011561,0.999932]] 2025-10-29T01:38:35.043Z,1761701915.043 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543027,-0.839652,-0.010265],[0.839713,-0.543014,-0.004224],[-0.002027,-0.010913,0.999938]] 2025-10-29T01:38:35.449Z,1761701915.449 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.550196,-0.834970,-0.010484],[0.835019,-0.550220,-0.000655],[-0.005221,-0.009115,0.999945]] 2025-10-29T01:38:35.882Z,1761701915.882 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557120,-0.830380,-0.009331],[0.830394,-0.557167,0.003391],[-0.008015,-0.005859,0.999951]] 2025-10-29T01:38:36.255Z,1761701916.255 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563613,-0.826006,-0.007425],[0.825977,-0.563658,0.007190],[-0.010124,-0.002080,0.999947]] 2025-10-29T01:38:36.666Z,1761701916.666 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569061,-0.822276,-0.005718],[0.822217,-0.569089,0.009872],[-0.011372,0.000916,0.999935]] 2025-10-29T01:38:37.078Z,1761701917.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573738,-0.819025,-0.004758],[0.818955,-0.573753,0.010977],[-0.011721,0.002401,0.999928]] 2025-10-29T01:38:37.466Z,1761701917.466 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577685,-0.816251,-0.003799],[0.816182,-0.577688,0.011126],[-0.011276,0.003327,0.999931]] 2025-10-29T01:38:37.910Z,1761701917.910 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580719,-0.814102,-0.001835],[0.814043,-0.580701,0.011017],[-0.010035,0.004905,0.999938]] 2025-10-29T01:38:38.276Z,1761701918.276 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582912,-0.812535,0.000007],[0.812496,-0.582884,0.009827],[-0.007981,0.005734,0.999952]] 2025-10-29T01:38:38.678Z,1761701918.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.583686,-0.811979,0.000860],[0.811960,-0.583664,0.007575],[-0.005649,0.005119,0.999971]] 2025-10-29T01:38:39.083Z,1761701919.083 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582666,-0.812710,0.002014],[0.812705,-0.582649,0.005475],[-0.003276,0.004827,0.999983]] 2025-10-29T01:38:39.493Z,1761701919.493 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580422,-0.814312,0.002292],[0.814315,-0.580417,0.002568],[-0.000760,0.003357,0.999994]] 2025-10-29T01:38:39.927Z,1761701919.927 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577012,-0.816731,0.002753],[0.816734,-0.577014,-0.000231],[0.001777,0.002115,0.999996]] 2025-10-29T01:38:40.294Z,1761701920.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572479,-0.819915,0.002621],[0.819909,-0.572485,-0.003118],[0.004057,0.000364,0.999992]] 2025-10-29T01:38:40.700Z,1761701920.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.567422,-0.823424,0.002295],[0.823404,-0.567424,-0.005931],[0.006186,-0.001476,0.999980]] 2025-10-29T01:38:41.104Z,1761701921.104 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561957,-0.827162,0.002625],[0.827130,-0.561959,-0.007580],[0.007745,-0.002089,0.999968]] 2025-10-29T01:38:41.516Z,1761701921.516 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.556058,-0.831141,0.001910],[0.831095,-0.556049,-0.009533],[0.008985,-0.003714,0.999953]] 2025-10-29T01:38:41.954Z,1761701921.954 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549860,-0.835256,0.000906],[0.835202,-0.549836,-0.010853],[0.009563,-0.005211,0.999941]] 2025-10-29T01:38:41.991Z,1761701921.991 [RDI_Pathfinder](ERROR): only read 0 of 1 data item for altitude. Device response is::BD, , +0.22, -0.10, 7.71, 0.00 2025-10-29T01:38:42.318Z,1761701922.318 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.543793,-0.839219,0.000075],[0.839166,-0.543760,-0.011181],[0.009424,-0.006017,0.999937]] 2025-10-29T01:38:42.735Z,1761701922.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537702,-0.843132,-0.002120],[0.843089,-0.537644,-0.011831],[0.008835,-0.008149,0.999928]] 2025-10-29T01:38:43.128Z,1761701923.128 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531965,-0.846759,-0.003472],[0.846733,-0.531903,-0.011069],[0.007526,-0.008828,0.999933]] 2025-10-29T01:38:43.530Z,1761701923.530 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.527147,-0.849761,-0.004676],[0.849754,-0.527089,-0.009713],[0.005789,-0.009093,0.999942]] 2025-10-29T01:38:43.947Z,1761701923.947 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.523224,-0.852165,-0.007138],[0.852187,-0.523164,-0.008715],[0.003692,-0.010643,0.999937]] 2025-10-29T01:38:44.339Z,1761701924.339 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.519890,-0.854193,-0.008344],[0.854233,-0.519851,-0.006501],[0.001215,-0.010507,0.999944]] 2025-10-29T01:38:44.747Z,1761701924.747 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518194,-0.855211,-0.009448],[0.855262,-0.518175,-0.004557],[-0.000999,-0.010442,0.999945]] 2025-10-29T01:38:45.147Z,1761701925.147 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516862,-0.856002,-0.010716],[0.856062,-0.516866,-0.002597],[-0.003316,-0.010516,0.999939]] 2025-10-29T01:38:45.551Z,1761701925.551 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517282,-0.855731,-0.011980],[0.855800,-0.517306,-0.001272],[-0.005108,-0.010911,0.999927]] 2025-10-29T01:38:45.958Z,1761701925.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.518725,-0.854860,-0.011799],[0.854915,-0.518767,0.000624],[-0.006655,-0.009763,0.999930]] 2025-10-29T01:38:46.365Z,1761701926.365 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520784,-0.853592,-0.012808],[0.853655,-0.520838,0.001033],[-0.007552,-0.010396,0.999917]] 2025-10-29T01:38:46.783Z,1761701926.783 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526987,-0.849798,-0.011316],[0.849839,-0.527039,0.001984],[-0.007650,-0.008571,0.999934]] 2025-10-29T01:38:47.171Z,1761701927.171 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.530755,-0.847463,-0.010277],[0.847499,-0.530795,0.001417],[-0.006656,-0.007958,0.999946]] 2025-10-29T01:38:47.580Z,1761701927.580 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.534724,-0.844981,-0.008783],[0.845012,-0.534747,0.000401],[-0.005036,-0.007208,0.999961]] 2025-10-29T01:38:47.986Z,1761701927.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538628,-0.842512,-0.007230],[0.842538,-0.538635,-0.001172],[-0.002907,-0.006723,0.999973]] 2025-10-29T01:38:48.382Z,1761701928.382 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542189,-0.840239,-0.005452],[0.840256,-0.542181,-0.002974],[-0.000457,-0.006194,0.999981]] 2025-10-29T01:38:48.789Z,1761701928.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.545698,-0.837974,-0.003687],[0.837979,-0.545681,-0.004805],[0.002015,-0.005711,0.999982]] 2025-10-29T01:38:49.198Z,1761701929.198 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.548832,-0.835930,-0.002083],[0.835919,-0.548808,-0.006957],[0.004672,-0.005560,0.999974]] 2025-10-29T01:38:49.595Z,1761701929.595 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551465,-0.834198,-0.000582],[0.834168,-0.551439,-0.008908],[0.007110,-0.005398,0.999960]] 2025-10-29T01:38:49.998Z,1761701929.998 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553876,-0.832599,0.001036],[0.832548,-0.553855,-0.010439],[0.009265,-0.004919,0.999945]] 2025-10-29T01:38:50.402Z,1761701930.402 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.555850,-0.831280,0.001972],[0.831217,-0.555834,-0.011304],[0.010493,-0.004644,0.999934]] 2025-10-29T01:38:50.806Z,1761701930.806 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557754,-0.830003,0.002451],[0.829928,-0.557739,-0.012129],[0.011434,-0.004731,0.999923]] 2025-10-29T01:38:51.218Z,1761701931.218 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.559913,-0.828547,0.002765],[0.828456,-0.559896,-0.013289],[0.012559,-0.005150,0.999908]] 2025-10-29T01:38:51.614Z,1761701931.614 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.561837,-0.827243,0.003021],[0.827138,-0.561818,-0.014245],[0.013481,-0.005504,0.999894]] 2025-10-29T01:38:52.018Z,1761701932.018 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562837,-0.826564,0.002601],[0.826465,-0.562813,-0.014036],[0.013066,-0.005750,0.999898]] 2025-10-29T01:38:52.423Z,1761701932.423 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563752,-0.825941,0.002109],[0.825860,-0.563729,-0.012840],[0.011794,-0.005497,0.999915]] 2025-10-29T01:38:52.828Z,1761701932.828 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565247,-0.824922,0.000923],[0.824858,-0.565216,-0.011790],[0.010247,-0.005903,0.999930]] 2025-10-29T01:38:53.230Z,1761701933.230 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566830,-0.823835,-0.000315],[0.823796,-0.566799,-0.009930],[0.008002,-0.005888,0.999951]] 2025-10-29T01:38:53.634Z,1761701933.634 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568759,-0.822503,-0.001078],[0.822486,-0.568738,-0.007300],[0.005391,-0.005039,0.999973]] 2025-10-29T01:38:54.039Z,1761701934.039 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570249,-0.821471,-0.001224],[0.821469,-0.570242,-0.003607],[0.002265,-0.003062,0.999993]] 2025-10-29T01:38:54.442Z,1761701934.442 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571479,-0.820616,-0.000915],[0.820616,-0.571479,0.000608],[-0.001022,-0.000403,0.999999]] 2025-10-29T01:38:54.846Z,1761701934.846 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572514,-0.819895,-0.000672],[0.819885,-0.572511,0.004459],[-0.004040,0.002002,0.999990]] 2025-10-29T01:38:55.251Z,1761701935.251 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573762,-0.819021,-0.001200],[0.818996,-0.573755,0.007152],[-0.006546,0.003121,0.999974]] 2025-10-29T01:38:55.657Z,1761701935.657 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575399,-0.817870,-0.002189],[0.817831,-0.575395,0.008535],[-0.008240,0.003120,0.999961]] 2025-10-29T01:38:56.059Z,1761701936.059 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576760,-0.816910,-0.002331],[0.816862,-0.576754,0.009555],[-0.009149,0.003607,0.999952]] 2025-10-29T01:38:56.463Z,1761701936.463 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578021,-0.816018,-0.002459],[0.815970,-0.578016,0.009509],[-0.009181,0.003490,0.999952]] 2025-10-29T01:38:56.866Z,1761701936.866 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578989,-0.815329,-0.003036],[0.815294,-0.578994,0.007878],[-0.008181,0.002086,0.999964]] 2025-10-29T01:38:57.275Z,1761701937.275 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579693,-0.814824,-0.004191],[0.814810,-0.579708,0.004890],[-0.006414,-0.000581,0.999979]] 2025-10-29T01:38:57.685Z,1761701937.685 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580030,-0.814582,-0.004503],[0.814585,-0.580042,0.001722],[-0.004015,-0.002669,0.999988]] 2025-10-29T01:38:58.078Z,1761701938.078 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579714,-0.814818,-0.001599],[0.814819,-0.579715,0.000449],[-0.001293,-0.001042,0.999999]] 2025-10-29T01:38:58.483Z,1761701938.483 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578508,-0.815672,0.002820],[0.815675,-0.578511,-0.000306],[0.001881,0.002123,0.999996]] 2025-10-29T01:38:58.889Z,1761701938.889 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.576539,-0.817036,0.007424],[0.817051,-0.576563,-0.001489],[0.005497,0.005207,0.999971]] 2025-10-29T01:38:59.294Z,1761701939.294 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574081,-0.818719,0.011403],[0.818741,-0.574151,-0.003872],[0.009717,0.007113,0.999927]] 2025-10-29T01:38:59.700Z,1761701939.700 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570764,-0.820985,0.014533],[0.821000,-0.570891,-0.006582],[0.013700,0.008175,0.999873]] 2025-10-29T01:39:00.098Z,1761701940.098 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566997,-0.823523,0.018044],[0.823549,-0.567189,-0.007945],[0.016777,0.010355,0.999806]] 2025-10-29T01:39:00.504Z,1761701940.504 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562603,-0.826502,0.019314],[0.826520,-0.562831,-0.009223],[0.018494,0.010775,0.999771]] 2025-10-29T01:39:00.906Z,1761701940.906 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557944,-0.829677,0.018278],[0.829676,-0.558159,-0.009788],[0.018323,0.009704,0.999785]] 2025-10-29T01:39:01.314Z,1761701941.314 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552770,-0.833183,0.015837],[0.833167,-0.552940,-0.009509],[0.016680,0.007938,0.999829]] 2025-10-29T01:39:01.714Z,1761701941.714 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.547385,-0.836815,0.010487],[0.836760,-0.547476,-0.010161],[0.014244,0.003213,0.999893]] 2025-10-29T01:39:02.120Z,1761701942.120 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542971,-0.839748,0.002272],[0.839665,-0.542953,-0.012841],[0.012016,-0.005064,0.999915]] 2025-10-29T01:39:02.523Z,1761701942.523 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.539103,-0.842239,-0.000941],[0.842189,-0.539057,-0.011656],[0.009309,-0.007076,0.999932]] 2025-10-29T01:39:02.926Z,1761701942.926 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535748,-0.844373,-0.002837],[0.844356,-0.535706,-0.009024],[0.006100,-0.007230,0.999955]] 2025-10-29T01:39:03.333Z,1761701943.333 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533183,-0.845978,-0.006098],[0.845995,-0.533142,-0.007220],[0.002857,-0.009009,0.999955]] 2025-10-29T01:39:03.736Z,1761701943.736 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532091,-0.846650,-0.007990],[0.846687,-0.532069,-0.004797],[-0.000190,-0.009318,0.999957]] 2025-10-29T01:39:04.138Z,1761701944.138 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.531758,-0.846864,-0.007445],[0.846889,-0.531770,-0.000364],[-0.003651,-0.006499,0.999972]] 2025-10-29T01:39:04.542Z,1761701944.542 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.532756,-0.846243,-0.006628],[0.846241,-0.532786,0.003968],[-0.006889,-0.003495,0.999970]] 2025-10-29T01:39:04.946Z,1761701944.946 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.535159,-0.844737,-0.004810],[0.844695,-0.535181,0.008444],[-0.009708,0.000456,0.999953]] 2025-10-29T01:39:05.359Z,1761701945.359 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.538294,-0.842745,-0.004515],[0.842676,-0.538308,0.011040],[-0.011734,0.002138,0.999929]] 2025-10-29T01:39:05.764Z,1761701945.764 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542388,-0.840114,-0.004817],[0.840034,-0.542404,0.011865],[-0.012580,0.002389,0.999918]] 2025-10-29T01:39:06.166Z,1761701946.166 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546817,-0.837243,-0.003955],[0.837155,-0.546820,0.012680],[-0.012779,0.003623,0.999912]] 2025-10-29T01:39:06.563Z,1761701946.563 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.552108,-0.833766,-0.003384],[0.833691,-0.552106,0.011733],[-0.011651,0.003656,0.999925]] 2025-10-29T01:39:06.969Z,1761701946.969 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557824,-0.829956,-0.002342],[0.829902,-0.557816,0.010228],[-0.009795,0.003762,0.999945]] 2025-10-29T01:39:07.372Z,1761701947.372 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563566,-0.826068,-0.002373],[0.826038,-0.563566,0.007344],[-0.007404,0.002179,0.999970]] 2025-10-29T01:39:07.779Z,1761701947.779 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569643,-0.821887,-0.003021],[0.821879,-0.569650,0.003692],[-0.004756,-0.000380,0.999989]] 2025-10-29T01:39:08.189Z,1761701948.189 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575441,-0.817841,-0.002113],[0.817840,-0.575444,0.001361],[-0.002329,-0.000945,0.999997]] 2025-10-29T01:39:08.582Z,1761701948.582 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580818,-0.814032,-0.001772],[0.814034,-0.580814,-0.002041],[0.000632,-0.002628,0.999996]] 2025-10-29T01:39:08.986Z,1761701948.986 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585675,-0.810546,0.000213],[0.810537,-0.585670,-0.004401],[0.003692,-0.002405,0.999990]] 2025-10-29T01:39:09.399Z,1761701949.399 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589504,-0.807752,0.004641],[0.807735,-0.589522,-0.005251],[0.006977,0.000653,0.999975]] 2025-10-29T01:39:09.797Z,1761701949.797 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592068,-0.805832,0.009483],[0.805821,-0.592129,-0.005899],[0.010369,0.004149,0.999938]] 2025-10-29T01:39:10.203Z,1761701950.203 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593539,-0.804668,0.014833],[0.804681,-0.593670,-0.006598],[0.014115,0.008020,0.999868]] 2025-10-29T01:39:11.007Z,1761701951.007 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.592319,-0.805297,0.025584],[0.805441,-0.592638,-0.006722],[0.020575,0.016625,0.999650]] 2025-10-29T01:39:11.434Z,1761701951.434 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.589507,-0.807298,0.027395],[0.807470,-0.589868,-0.006925],[0.021750,0.018039,0.999601]] 2025-10-29T01:39:11.815Z,1761701951.815 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.585134,-0.810519,0.026022],[0.810674,-0.585460,-0.006653],[0.020627,0.017203,0.999639]] 2025-10-29T01:39:12.219Z,1761701952.219 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.579472,-0.814633,0.024182],[0.814807,-0.579718,-0.004109],[0.017366,0.017323,0.999699]] 2025-10-29T01:39:12.622Z,1761701952.622 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571763,-0.820191,0.019336],[0.820318,-0.571903,-0.002190],[0.012854,0.014609,0.999811]] 2025-10-29T01:39:13.027Z,1761701953.027 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562894,-0.826474,0.009527],[0.826484,-0.562946,-0.003940],[0.008619,0.005656,0.999947]] 2025-10-29T01:39:13.459Z,1761701953.459 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.554810,-0.831977,0.000357],[0.831962,-0.554802,-0.005764],[0.004994,-0.002901,0.999983]] 2025-10-29T01:39:13.834Z,1761701953.834 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.546606,-0.837387,-0.002397],[0.837390,-0.546601,-0.002380],[0.000683,-0.003308,0.999994]] 2025-10-29T01:39:14.239Z,1761701954.239 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537838,-0.843034,-0.004863],[0.843041,-0.537849,0.001066],[-0.003514,-0.003526,0.999988]] 2025-10-29T01:39:14.654Z,1761701954.654 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529750,-0.848111,-0.008552],[0.848124,-0.529789,0.002983],[-0.007061,-0.005673,0.999959]] 2025-10-29T01:39:15.048Z,1761701955.048 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522514,-0.852579,-0.009401],[0.852569,-0.522577,0.006304],[-0.010288,-0.004721,0.999936]] 2025-10-29T01:39:15.488Z,1761701955.488 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516077,-0.856498,-0.008688],[0.856441,-0.516146,0.010128],[-0.013159,-0.002214,0.999911]] 2025-10-29T01:39:15.854Z,1761701955.854 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.510702,-0.859728,-0.007197],[0.859620,-0.510752,0.013640],[-0.015403,0.000779,0.999881]] 2025-10-29T01:39:16.259Z,1761701956.259 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507220,-0.861797,-0.005819],[0.861661,-0.507245,0.015621],[-0.016414,0.002909,0.999861]] 2025-10-29T01:39:16.678Z,1761701956.678 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505607,-0.862743,-0.006075],[0.862615,-0.505638,0.015003],[-0.016015,0.002345,0.999869]] 2025-10-29T01:39:17.071Z,1761701957.071 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.505909,-0.862564,-0.006231],[0.862467,-0.505946,0.013032],[-0.014394,0.001219,0.999896]] 2025-10-29T01:39:17.512Z,1761701957.512 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.507851,-0.861426,-0.005622],[0.861348,-0.507881,0.011658],[-0.012898,0.001078,0.999916]] 2025-10-29T01:39:17.880Z,1761701957.880 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.511475,-0.859283,-0.005133],[0.859238,-0.511501,0.008725],[-0.010123,0.000052,0.999949]] 2025-10-29T01:39:18.284Z,1761701958.284 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.516716,-0.856141,-0.005147],[0.856127,-0.516739,0.005260],[-0.007163,-0.001688,0.999973]] 2025-10-29T01:39:18.686Z,1761701958.686 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.522721,-0.852490,-0.004950],[0.852492,-0.522735,0.002205],[-0.004467,-0.003067,0.999985]] 2025-10-29T01:39:19.092Z,1761701959.092 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.529505,-0.848295,-0.004481],[0.848304,-0.529510,-0.000177],[-0.002223,-0.003895,0.999990]] 2025-10-29T01:39:19.544Z,1761701959.544 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.537074,-0.843527,-0.003569],[0.843535,-0.537070,-0.002086],[-0.000157,-0.004131,0.999991]] 2025-10-29T01:39:19.898Z,1761701959.898 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.544921,-0.838484,-0.002408],[0.838487,-0.544913,-0.003055],[0.001249,-0.003684,0.999992]] 2025-10-29T01:39:20.303Z,1761701960.303 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.553445,-0.832882,-0.002580],[0.832881,-0.553430,-0.004969],[0.002711,-0.004899,0.999984]] 2025-10-29T01:39:20.710Z,1761701960.710 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.562294,-0.826935,-0.002206],[0.826926,-0.562270,-0.006698],[0.004298,-0.005591,0.999975]] 2025-10-29T01:39:21.553Z,1761701961.553 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.578513,-0.815672,0.001326],[0.815642,-0.578504,-0.007770],[0.007105,-0.003414,0.999969]] 2025-10-29T01:39:21.919Z,1761701961.919 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.584994,-0.811030,0.003475],[0.810994,-0.585001,-0.007945],[0.008477,-0.001829,0.999962]] 2025-10-29T01:39:22.726Z,1761701962.726 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.595444,-0.803350,0.008685],[0.803306,-0.595504,-0.008654],[0.012124,0.001824,0.999925]] 2025-10-29T01:39:23.136Z,1761701963.136 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.598056,-0.801367,0.011848],[0.801339,-0.598155,-0.008086],[0.013567,0.004658,0.999897]] 2025-10-29T01:39:23.561Z,1761701963.561 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599595,-0.800174,0.014399],[0.800160,-0.599731,-0.008136],[0.015146,0.006643,0.999863]] 2025-10-29T01:39:23.940Z,1761701963.940 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.599686,-0.800052,0.017144],[0.800067,-0.599862,-0.007682],[0.016430,0.009110,0.999824]] 2025-10-29T01:39:24.343Z,1761701964.343 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.597733,-0.801462,0.019335],[0.801515,-0.597936,-0.006772],[0.016989,0.011449,0.999790]] 2025-10-29T01:39:24.749Z,1761701964.749 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.593995,-0.804236,0.019325],[0.804297,-0.594194,-0.006406],[0.016635,0.011738,0.999793]] 2025-10-29T01:39:25.158Z,1761701965.158 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.588710,-0.808137,0.018323],[0.808201,-0.588881,-0.005514],[0.015246,0.011563,0.999817]] 2025-10-29T01:39:25.577Z,1761701965.577 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.581433,-0.813443,0.015697],[0.813496,-0.581554,-0.004293],[0.012620,0.010273,0.999868]] 2025-10-29T01:39:25.958Z,1761701965.958 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573943,-0.818838,0.009676],[0.818830,-0.574006,-0.005912],[0.010394,0.004530,0.999936]] 2025-10-29T01:39:26.363Z,1761701966.363 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565916,-0.824451,0.004429],[0.824426,-0.565933,-0.006484],[0.007852,-0.000018,0.999969]] 2025-10-29T01:39:26.773Z,1761701966.773 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.557402,-0.830242,0.000862],[0.830229,-0.557398,-0.005105],[0.004718,-0.002130,0.999987]] 2025-10-29T01:39:27.172Z,1761701967.172 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.549253,-0.835650,-0.003106],[0.835654,-0.549240,-0.004269],[0.001861,-0.004940,0.999986]] 2025-10-29T01:39:27.189Z,1761701967.189 [lineCaptureHoming:Lap:Docked:Docked.Docked](INFO): Timed out from 2025-10-29T01:34:27.1Z 2025-10-29T01:39:27.189Z,1761701967.189 [lineCaptureHoming:Lap:Docked:Docked.Docked] Stopped 2025-10-29T01:39:27.189Z,1761701967.189 [lineCaptureHoming:Lap:Docked:setCompletion] Running Loop=1 2025-10-29T01:39:27.190Z,1761701967.190 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-29T01:39:27.190Z,1761701967.190 [lineCaptureHoming:Lap:Docked:setCompletion:A] Running Loop=1 2025-10-29T01:39:27.575Z,1761701967.575 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.540810,-0.841125,-0.005770],[0.841143,-0.540809,-0.001939],[-0.001489,-0.005902,0.999981]] 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:setCompletion] Stopped 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:setCompletion](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:setCompletion 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:setCompletion:A] Stopped 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:Detach] Running Loop=1 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Detach 2025-10-29T01:39:27.669Z,1761701967.669 [lineCaptureHoming:Lap:Docked:Detach:A] Running Loop=1 2025-10-29T01:39:27.978Z,1761701967.978 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533626,-0.845677,-0.008579],[0.845711,-0.533641,-0.000632],[-0.004043,-0.007593,0.999963]] 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Detach] Stopped 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Detach](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Detach 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Detach:A] Stopped 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Wpt1] Running Loop=1 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Running Loop=1 2025-10-29T01:39:28.030Z,1761701968.030 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch](DEBUG): Initialize. 2025-10-29T01:39:28.031Z,1761701968.031 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Running Loop=1 2025-10-29T01:39:28.031Z,1761701968.031 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Initialize. 2025-10-29T01:39:28.031Z,1761701968.031 [lineCaptureHoming:Lap:Docked:Wpt1:A] Running Loop=1 2025-10-29T01:39:28.383Z,1761701968.383 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.525914,-0.850482,-0.009754],[0.850507,-0.525958,0.002479],[-0.007239,-0.006992,0.999949]] 2025-10-29T01:39:28.403Z,1761701968.403 [lineCaptureHoming:Lap:Docked:Wpt1] Stopped 2025-10-29T01:39:28.404Z,1761701968.404 [lineCaptureHoming:Lap:Docked:Wpt1](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Wpt1 2025-10-29T01:39:28.404Z,1761701968.404 [lineCaptureHoming:Lap:Docked:Wpt1:A] Stopped 2025-10-29T01:39:28.405Z,1761701968.405 [lineCaptureHoming:Lap:Docked:Wpt1:B.Pitch] Stopped 2025-10-29T01:39:28.405Z,1761701968.405 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed] Stopped 2025-10-29T01:39:28.405Z,1761701968.405 [lineCaptureHoming:Lap:Docked:Wpt1:C.SetSpeed](DEBUG): Uninitialize. 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift] Running Loop=1 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::initialize lineCaptureHoming:Lap:Docked:Drift 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Running Loop=1 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Initialize Buoyancy Component. 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Running Loop=1 2025-10-29T01:39:28.406Z,1761701968.406 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch](DEBUG): Initialize. 2025-10-29T01:39:28.407Z,1761701968.407 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Running Loop=1 2025-10-29T01:39:28.407Z,1761701968.407 [lineCaptureHoming:Lap:Docked:Drift:D.Point](DEBUG): Initialize. 2025-10-29T01:39:28.407Z,1761701968.407 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Running Loop=1 2025-10-29T01:39:28.407Z,1761701968.407 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Initialize. 2025-10-29T01:39:28.407Z,1761701968.407 [lineCaptureHoming:Lap:Docked:Drift:A] Running Loop=1 2025-10-29T01:39:28.789Z,1761701968.789 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.520893,-0.853555,-0.010740],[0.853572,-0.520958,0.004326],[-0.009288,-0.006914,0.999933]] 2025-10-29T01:39:28.830Z,1761701968.830 [lineCaptureHoming:Lap:Docked:Drift] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked:Drift 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:A] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:B.Buoyancy](DEBUG): Uninitialize Buoyancy Component. 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:C.Pitch] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:D.Point] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked:Drift:E.SetSpeed](DEBUG): Uninitialize. 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked](INFO): Completed lineCaptureHoming:Lap:Docked 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked] Stopped 2025-10-29T01:39:28.831Z,1761701968.831 [lineCaptureHoming:Lap:Docked](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap:Docked 2025-10-29T01:39:28.848Z,1761701968.848 [lineCaptureHoming:Lap](INFO): Completed lineCaptureHoming:Lap 2025-10-29T01:39:28.848Z,1761701968.848 [lineCaptureHoming:Lap] Stopped 2025-10-29T01:39:28.848Z,1761701968.848 [lineCaptureHoming:Lap](DEBUG): Aggregate::uninitialize lineCaptureHoming:Lap 2025-10-29T01:39:28.856Z,1761701968.856 [lineCaptureHoming](INFO): Completed lineCaptureHoming 2025-10-29T01:39:28.857Z,1761701968.857 [MissionManager](INFO): lineCaptureHoming is completed. 2025-10-29T01:39:28.857Z,1761701968.857 [MissionManager](INFO): Uninitializing Mission lineCaptureHoming 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming](DEBUG): Aggregate::uninitialize lineCaptureHoming 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:B] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:C] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:E] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:OceanCurrent] Stopped 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:OceanCurrent](DEBUG): Aggregate::uninitialize lineCaptureHoming:Science:OceanCurrent 2025-10-29T01:39:28.857Z,1761701968.857 [lineCaptureHoming:Science:OceanCurrent:A.] Stopped 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes] Stopped 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes](DEBUG): Aggregate::uninitialize lineCaptureHoming:StandardEnvelopes 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope] Stopped 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Uninitialize AltitudeEnvelopeComponent. 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope] Stopped 2025-10-29T01:39:28.858Z,1761701968.858 [lineCaptureHoming:StandardEnvelopes:B.DepthEnvelope](DEBUG): Uninitialize. 2025-10-29T01:39:28.859Z,1761701968.859 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope] Stopped 2025-10-29T01:39:28.859Z,1761701968.859 [lineCaptureHoming:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Uninitialize OffshoreEnvelopeComponent. 2025-10-29T01:39:28.859Z,1761701968.859 [lineCaptureHoming:TrackAC.] Stopped 2025-10-29T01:39:28.859Z,1761701968.859 [lineCaptureHoming:TrackAC.](DEBUG): Uninitializing TrackAcousticContact. 2025-10-29T01:39:28.960Z,1761701968.960 [CommandExec](IMPORTANT): got command load ./Missions/Engineering/OnDock.tl 2025-10-29T01:39:29.024Z,1761701969.024 [WetLabsBB2FL](INFO): Powering down 2025-10-29T01:39:29.180Z,1761701969.180 [MissionManager](INFO): Loading Mission from file: ./Missions/Engineering/OnDock.tl 2025-10-29T01:39:29.180Z,1761701969.180 [MissionManager](DEBUG): TethyslAPI: loading: ./Missions/Engineering/OnDock.tl 2025-10-29T01:39:29.183Z,1761701969.183 [MissionManager](DEBUG): TethyslAPI: mission file loaded: ./Missions/Engineering/OnDock.tl 2025-10-29T01:39:29.282Z,1761701969.282 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514674,-0.857325,-0.010250],[0.857301,-0.514754,0.007972],[-0.012111,-0.004685,0.999916]] 2025-10-29T01:39:29.373Z,1761701969.373 [DAT](INFO): DAT read: user:789> 2025-10-29T01:39:29.374Z,1761701969.374 [DAT](INFO): DAT read: Tx time:01:39:29.1140 2025-10-29T01:39:29.374Z,1761701969.374 [DAT](INFO): Ping request sent. 2025-10-29T01:39:29.375Z,1761701969.375 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:39:29.375Z,1761701969.375 [DAT](INFO): publishing transmit ping time 2025-10-29T01:39:29.696Z,1761701969.696 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.514236,-0.857596,-0.009491],[0.857562,-0.514310,0.008566],[-0.012228,-0.003734,0.999918]] 2025-10-29T01:39:30.055Z,1761701970.055 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.515052,-0.857109,-0.009239],[0.857080,-0.515121,0.007995],[-0.011612,-0.003801,0.999925]] 2025-10-29T01:39:30.460Z,1761701970.460 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.517327,-0.855733,-0.009659],[0.855721,-0.517395,0.006631],[-0.010672,-0.004835,0.999931]] 2025-10-29T01:39:30.863Z,1761701970.863 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.521385,-0.853277,-0.008699],[0.853271,-0.521438,0.005601],[-0.009315,-0.004502,0.999946]] 2025-10-29T01:39:31.267Z,1761701971.267 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.526581,-0.850088,-0.007964],[0.850090,-0.526621,0.004105],[-0.007683,-0.004609,0.999960]] 2025-10-29T01:39:31.641Z,1761701971.641 [DAT](INFO): DAT read: Rx Time:01:39:31.0195 2025-10-29T01:39:31.642Z,1761701971.642 [DAT](INFO): Rx dataTimestamp_ set to:1761701971.641323 2025-10-29T01:39:31.733Z,1761701971.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.533539,-0.845745,-0.007174],[0.845755,-0.533566,0.002441],[-0.005892,-0.004766,0.999971]] 2025-10-29T01:39:32.075Z,1761701972.075 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.542051,-0.840323,-0.006113],[0.840336,-0.542066,0.000818],[-0.004001,-0.004694,0.999981]] 2025-10-29T01:39:32.145Z,1761701972.145 [DAT](INFO): DAT read: OK 2025-10-29T01:39:32.145Z,1761701972.145 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:39:32.397Z,1761701972.397 [DAT](INFO): DAT read: user:790> 2025-10-29T01:39:32.398Z,1761701972.398 [DAT](INFO): DAT read: Tx time:01:39:32.1140 2025-10-29T01:39:32.398Z,1761701972.398 [DAT](INFO): Ping request sent. 2025-10-29T01:39:32.398Z,1761701972.398 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:39:32.398Z,1761701972.398 [DAT](INFO): publishing transmit ping time 2025-10-29T01:39:32.479Z,1761701972.479 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.551132,-0.834400,-0.005543],[0.834415,-0.551137,-0.000766],[-0.002416,-0.005048,0.999984]] 2025-10-29T01:39:32.883Z,1761701972.883 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.560852,-0.827900,-0.005218],[0.827915,-0.560848,-0.002353],[-0.000979,-0.005639,0.999984]] 2025-10-29T01:39:33.288Z,1761701973.288 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.570847,-0.821042,-0.004881],[0.821056,-0.570834,-0.003896],[0.000413,-0.006232,0.999981]] 2025-10-29T01:39:33.733Z,1761701973.733 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.580843,-0.814006,-0.003917],[0.814014,-0.580825,-0.004877],[0.001695,-0.006021,0.999980]] 2025-10-29T01:39:34.095Z,1761701974.095 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.590848,-0.806775,-0.003476],[0.806778,-0.590825,-0.005932],[0.002732,-0.006309,0.999976]] 2025-10-29T01:39:34.309Z,1761701974.309 [MissionManager](DEBUG): TethyslAPI: ./Missions/Engineering/OnDock.tl translated into: 8 2 1 5 2 2 5 5 Restarting logs restart logs ! ifconfig Mission ending, breaking off. Range: . 2025-10-29T01:39:34.318Z,1761701974.318 [MissionManager](INFO): DefineArg OnDock.DockedTime = 8.000000 h 2025-10-29T01:39:34.323Z,1761701974.323 [MissionManager](INFO): DefineArg OnDock.DetachedTimeout = 30.000000 s 2025-10-29T01:39:34.347Z,1761701974.347 [MissionManager](INFO): DefineArg OnDock.RangeTimeout = 600.000000 s 2025-10-29T01:39:34.368Z,1761701974.368 [MissionManager](INFO): DefineArg OnDock.TrackingUpdatePeriod = 2.000000 min 2025-10-29T01:39:34.374Z,1761701974.374 [MissionManager](INFO): DefineArg OnDock.NumberOfPings = 1.000000 count 2025-10-29T01:39:34.386Z,1761701974.386 [MissionManager](INFO): DefineArg OnDock.TransponderCode = 50 count 2025-10-29T01:39:34.391Z,1761701974.391 [MissionManager](INFO): DefineArg OnDock.MaxDepth = 275.000000 m 2025-10-29T01:39:34.409Z,1761701974.409 [MissionManager](INFO): DefineArg OnDock.MinAltitude = 5.000000 m 2025-10-29T01:39:34.419Z,1761701974.419 [MissionManager](INFO): DefineArg OnDock.MinOffshore = 2.000000 km 2025-10-29T01:39:34.431Z,1761701974.431 [MissionManager](INFO): DefineArg OnDock.StayOnDock = 0 bool 2025-10-29T01:39:34.435Z,1761701974.435 [MissionManager](INFO): DefineArg OnDock.IfconfigInterval = 2.000000 h 2025-10-29T01:39:34.443Z,1761701974.443 [MissionManager](INFO): DefineArg OnDock.RunScience = 0 bool 2025-10-29T01:39:34.452Z,1761701974.452 [MissionManager](INFO): DefineArg OnDock.MissionTimeout = 8.000000 h 2025-10-29T01:39:34.456Z,1761701974.456 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/StandardEnvelopes.tl 2025-10-29T01:39:34.456Z,1761701974.456 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/StandardEnvelopes.tl 2025-10-29T01:39:34.458Z,1761701974.458 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/StandardEnvelopes.tl 2025-10-29T01:39:34.499Z,1761701974.499 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.600288,-0.799780,-0.002566],[0.799775,-0.600263,-0.006566],[0.003711,-0.005994,0.999975]] 2025-10-29T01:39:34.650Z,1761701974.650 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/StandardEnvelopes.tl translated into: 5 1.5 200 2000 2025-10-29T01:39:34.666Z,1761701974.666 [DAT](INFO): DAT read: Rx Time:01:39:34.0196 2025-10-29T01:39:34.667Z,1761701974.667 [DAT](INFO): Rx dataTimestamp_ set to:1761701974.666200 2025-10-29T01:39:34.674Z,1761701974.674 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinAltitude = 5.000000 m 2025-10-29T01:39:34.679Z,1761701974.679 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepthIgnore = 1.500000 m 2025-10-29T01:39:34.708Z,1761701974.708 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MaxDepth = 200.000000 m 2025-10-29T01:39:34.735Z,1761701974.735 [MissionManager](INFO): DefineArg OnDock:StandardEnvelopes.MinOffshore = 2000.000000 m 2025-10-29T01:39:34.748Z,1761701974.748 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Construct AltitudeEnvelope. 2025-10-29T01:39:34.773Z,1761701974.773 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Construct DepthEnvelope. 2025-10-29T01:39:34.791Z,1761701974.791 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Construct OffshoreEnvelope. 2025-10-29T01:39:34.828Z,1761701974.828 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/BackseatDriver.tl 2025-10-29T01:39:34.828Z,1761701974.828 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/BackseatDriver.tl 2025-10-29T01:39:34.829Z,1761701974.829 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/BackseatDriver.tl 2025-10-29T01:39:34.903Z,1761701974.903 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.609000,-0.793169,-0.001356],[0.793158,-0.608981,-0.006603],[0.004412,-0.005096,0.999977]] 2025-10-29T01:39:34.912Z,1761701974.912 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/BackseatDriver.tl translated into: 2025-10-29T01:39:34.946Z,1761701974.946 [MissionManager](INFO): DefineArg OnDock:BackseatDriver.EnableBackseat = 0 bool 2025-10-29T01:39:34.953Z,1761701974.953 [OnDock:BackseatDriver:A.BackseatDriver](DEBUG): Construct BackseatDriver. 2025-10-29T01:39:34.970Z,1761701974.970 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/PowerOnly.tl 2025-10-29T01:39:34.970Z,1761701974.970 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/PowerOnly.tl 2025-10-29T01:39:34.971Z,1761701974.971 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/PowerOnly.tl 2025-10-29T01:39:35.173Z,1761701975.173 [DAT](INFO): DAT read: OK 2025-10-29T01:39:35.173Z,1761701975.173 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:39:35.173Z,1761701975.173 [DAT](INFO): DAT read: user:791> 2025-10-29T01:39:35.233Z,1761701975.233 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/PowerOnly.tl translated into: 99999 2025-10-29T01:39:35.249Z,1761701975.249 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleAll = 0 bool 2025-10-29T01:39:35.253Z,1761701975.253 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad1 = 0 bool 2025-10-29T01:39:35.257Z,1761701975.257 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad2 = 0 bool 2025-10-29T01:39:35.264Z,1761701975.264 [MissionManager](INFO): DefineArg OnDock:PowerOnly.SampleLoad3 = 0 bool 2025-10-29T01:39:35.268Z,1761701975.268 [MissionManager](INFO): DefineArg OnDock:PowerOnly.EnabledPowerOnly = 0 bool 2025-10-29T01:39:35.306Z,1761701975.306 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.616920,-0.787026,-0.000196],[0.787008,-0.616904,-0.006841],[0.005263,-0.004375,0.999977]] 2025-10-29T01:39:35.340Z,1761701975.340 [OnDock:PowerOnly:E.Wait](DEBUG): Construct Wait. 2025-10-29T01:39:35.360Z,1761701975.360 [OnDock:dataRead:B.Wait](DEBUG): Construct Wait. 2025-10-29T01:39:35.363Z,1761701975.363 [MissionManager](INFO): Inserting Stack from file: Missions/Insert/Science.tl 2025-10-29T01:39:35.363Z,1761701975.363 [MissionManager](DEBUG): TethyslAPI: loading: Missions/Insert/Science.tl 2025-10-29T01:39:35.382Z,1761701975.382 [MissionManager](DEBUG): TethyslAPI: mission file loaded: Missions/Insert/Science.tl 2025-10-29T01:39:35.425Z,1761701975.425 [DAT](INFO): DAT read: Tx time:01:39:35.1140 2025-10-29T01:39:35.425Z,1761701975.425 [DAT](INFO): Ping request sent. 2025-10-29T01:39:35.426Z,1761701975.426 [DAT](INFO): transmitted an acoustic signal 2025-10-29T01:39:35.426Z,1761701975.426 [DAT](INFO): publishing transmit ping time 2025-10-29T01:39:35.730Z,1761701975.730 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.624233,-0.781238,0.000742],[0.781214,-0.624221,-0.007261],[0.006136,-0.003953,0.999973]] 2025-10-29T01:39:36.115Z,1761701976.115 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.630111,-0.776501,0.002400],[0.776474,-0.630111,-0.006941],[0.006902,-0.002510,0.999973]] 2025-10-29T01:39:36.519Z,1761701976.519 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.634765,-0.772695,0.003970],[0.772668,-0.634777,-0.006523],[0.007560,-0.001073,0.999971]] 2025-10-29T01:39:36.923Z,1761701976.923 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.638290,-0.769778,0.005278],[0.769751,-0.638312,-0.006474],[0.008352,-0.000069,0.999965]] 2025-10-29T01:39:37.328Z,1761701977.328 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639762,-0.768542,0.006868],[0.768520,-0.639798,-0.005975],[0.008987,0.001456,0.999959]] 2025-10-29T01:39:37.693Z,1761701977.693 [DAT](INFO): DAT read: Rx Time:01:39:37.0196 2025-10-29T01:39:37.693Z,1761701977.693 [DAT](INFO): Rx dataTimestamp_ set to:1761701977.693086 2025-10-29T01:39:37.735Z,1761701977.735 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639972,-0.768360,0.007699],[0.768342,-0.640014,-0.005720],[0.009322,0.002255,0.999954]] 2025-10-29T01:39:38.135Z,1761701978.135 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.639176,-0.769017,0.008183],[0.768999,-0.639223,-0.005884],[0.009756,0.002532,0.999949]] 2025-10-29T01:39:38.197Z,1761701978.197 [DAT](INFO): DAT read: OK 2025-10-29T01:39:38.197Z,1761701978.197 [DAT](INFO): unknown deviceResponse_: OK 2025-10-29T01:39:38.540Z,1761701978.540 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.636618,-0.771131,0.008643],[0.771110,-0.636671,-0.006286],[0.010350,0.002663,0.999943]] 2025-10-29T01:39:38.942Z,1761701978.942 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.632859,-0.774220,0.008584],[0.774189,-0.632913,-0.007175],[0.010988,0.002105,0.999937]] 2025-10-29T01:39:39.347Z,1761701979.347 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.627988,-0.778178,0.008332],[0.778143,-0.628041,-0.007588],[0.011138,0.001718,0.999936]] 2025-10-29T01:39:39.665Z,1761701979.665 [MissionManager](DEBUG): TethyslAPI: Missions/Insert/Science.tl translated into: NaN 3 100 80 20 5 NaN NaN 2.0 NaN NaN 0 1 NaN NaN 5 0 0 0 0 NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN NaN PeakDetectVsDepth PeakChlAvgProfiles = . PeakChlDepthAvgProfiles = EdgeDetectVsDepth GoDown, ChlPeakThresh, PeakChl, PeakChlDepth, EdgeChl, EdgeChlDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth PeakDetectVsDepth _.planktivore_LM_AvgRois PeakPlanktivoreLMavgROIAvgProfiles = . PeakPlanktivoreLMavgROIDepthAvgProfiles = EdgeDetectVsDepth _.planktivore_LM_AvgRois GoDown, PlanktivoreLMavgROIPeakThresh, PeakPlanktivoreLMavgROI, PeakPlanktivoreLMavgROIDepth, EdgePlanktivoreLMavgROI, EdgePlanktivoreLMavgROIDepth = , , , , , PeakDetectHorizontal PeakDetectVsDepth _.planktivore_HM_AvgRois EdgeDetectVsDepth _.planktivore_HM_AvgRois GoDown, PlanktivoreHMavgROIPeakThresh, PeakPlanktivoreHMavgROI, PeakPlanktivoreHMavgROIDepth, EdgePlanktivoreHMavgROI, EdgePlanktivoreHMavgROIDepth = , , , , , PeakDetectVsDepth _.planktivore_diatoms EdgeDetectVsDepth _.planktivore_diatoms GoDown, PlanktivoreDiatomsPeakThresh, PeakPlanktivoreDiatoms, PeakPlanktivoreDiatomsDepth, EdgePlanktivoreDiatoms, EdgePlanktivoreDiatomsDepth = , , , , , PeakDetectVsDepth _.planktivore_dinoflagellates EdgeDetectVsDepth _.planktivore_dinoflagellates GoDown, PlanktivoreDinoflagellatesPeakThresh, PeakPlanktivoreDinoflagellates, PeakPlanktivoreDinoflagellatesDepth, EdgePlanktivoreDinoflagellates, EdgePlanktivoreDinoflagellatesDepth = , , , , , Triggered. PeakChl values on consecutive yo-yo profiles fall in [ ] (NaN bound is ignored). 2025-10-29T01:39:39.718Z,1761701979.718 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectChlActive = 0 bool 2025-10-29T01:39:39.723Z,1761701979.723 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesChlActive = 0 bool 2025-10-29T01:39:39.727Z,1761701979.727 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectChlActive = 0 bool 2025-10-29T01:39:39.731Z,1761701979.731 [MissionManager](INFO): DefineArg OnDock:science:Science.TimeWindowPeakReport = nan min 2025-10-29T01:39:39.752Z,1761701979.752 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.622038,-0.782957,0.006879],[0.782912,-0.622076,-0.008356],[0.010822,0.000188,0.999941]] 2025-10-29T01:39:39.805Z,1761701979.805 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestChlPeakReportActive = 0 bool 2025-10-29T01:39:39.839Z,1761701979.839 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestSaltPeakReportActive = 0 bool 2025-10-29T01:39:39.871Z,1761701979.871 [MissionManager](INFO): DefineArg OnDock:science:Science.HighestOilPeakReportActive = 0 bool 2025-10-29T01:39:39.874Z,1761701979.874 [MissionManager](INFO): DefineArg OnDock:science:Science.PatchTracking = 0 bool 2025-10-29T01:39:39.903Z,1761701979.903 [MissionManager](INFO): DefineArg OnDock:science:Science.FilterWidthHorizontal = 3.000000 count 2025-10-29T01:39:39.919Z,1761701979.919 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesSlidingwindow = 100.000000 count 2025-10-29T01:39:39.923Z,1761701979.923 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionHorizontal = 80.000000 % 2025-10-29T01:39:39.943Z,1761701979.943 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectNO3Active = 0 bool 2025-10-29T01:39:39.950Z,1761701979.950 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectOilActive = 0 bool 2025-10-29T01:39:39.999Z,1761701979.999 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectFDOMActive = 0 bool 2025-10-29T01:39:40.003Z,1761701980.003 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectSalinityActive = 0 bool 2025-10-29T01:39:40.027Z,1761701980.027 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-29T01:39:40.047Z,1761701980.047 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDepthAvgProfilesPlanktivoreLMavgROIActive = 0 bool 2025-10-29T01:39:40.051Z,1761701980.051 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreLMavgROIActive = 0 bool 2025-10-29T01:39:40.069Z,1761701980.069 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-29T01:39:40.073Z,1761701980.073 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreHMavgROIActive = 0 bool 2025-10-29T01:39:40.097Z,1761701980.097 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDiatomsActive = 0 bool 2025-10-29T01:39:40.100Z,1761701980.100 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDiatomsActive = 0 bool 2025-10-29T01:39:40.104Z,1761701980.104 [MissionManager](INFO): DefineArg OnDock:science:Science.PeakDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-29T01:39:40.132Z,1761701980.132 [MissionManager](INFO): DefineArg OnDock:science:Science.EdgeDetectPlanktivoreDinoflagellatesActive = 0 bool 2025-10-29T01:39:40.136Z,1761701980.136 [MissionManager](INFO): DefineArg OnDock:science:Science.UpwardDerivativeOfTemperatureActive = 0 bool 2025-10-29T01:39:40.155Z,1761701980.155 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.615640,-0.788010,0.005303],[0.787952,-0.615660,-0.009699],[0.010908,-0.001792,0.999939]] 2025-10-29T01:39:40.195Z,1761701980.195 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledAanderaaO2 = 0 bool 2025-10-29T01:39:40.217Z,1761701980.217 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledNeilBrown = 0 bool 2025-10-29T01:39:40.238Z,1761701980.238 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledRBRTridente = 0 bool 2025-10-29T01:39:40.263Z,1761701980.263 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledSeabird = 1 bool 2025-10-29T01:39:40.281Z,1761701980.281 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsBB2FL = 1 bool 2025-10-29T01:39:40.286Z,1761701980.286 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsSeaOWL_UV_A = 0 bool 2025-10-29T01:39:40.303Z,1761701980.303 [MissionManager](INFO): DefineArg OnDock:science:Science.EnabledWetLabsUBAT = 0 bool 2025-10-29T01:39:40.311Z,1761701980.311 [MissionManager](INFO): DefineArg OnDock:science:Science.LowPassWindowLength = 20.000000 count 2025-10-29T01:39:40.324Z,1761701980.324 [MissionManager](INFO): DefineArg OnDock:science:Science.MedianFilterLen = 5.000000 count 2025-10-29T01:39:40.331Z,1761701980.331 [MissionManager](INFO): DefineArg OnDock:science:Science.ShallowBound = nan m 2025-10-29T01:39:40.335Z,1761701980.335 [MissionManager](INFO): DefineArg OnDock:science:Science.DeepBound = nan m 2025-10-29T01:39:40.348Z,1761701980.348 [MissionManager](INFO): DefineArg OnDock:science:Science.DepChangeThreshForAttitudeFlip = 2.000000 m 2025-10-29T01:39:40.356Z,1761701980.356 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalAscent = nan % 2025-10-29T01:39:40.369Z,1761701980.369 [MissionManager](INFO): DefineArg OnDock:science:Science.OffPeakFractionVerticalDescent = nan % 2025-10-29T01:39:40.377Z,1761701980.377 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlPeakThresh = 0.000000 ug/l 2025-10-29T01:39:40.393Z,1761701980.393 [MissionManager](INFO): DefineArg OnDock:science:Science.NumberOfLayers = 1.000000 count 2025-10-29T01:39:40.401Z,1761701980.401 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlThreshTriggerActive = 0 bool 2025-10-29T01:39:40.406Z,1761701980.406 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlLowerThresh = nan ug/l 2025-10-29T01:39:40.410Z,1761701980.410 [MissionManager](INFO): DefineArg OnDock:science:Science.ChlUpperThresh = nan ug/l 2025-10-29T01:39:40.426Z,1761701980.426 [MissionManager](INFO): DefineArg OnDock:science:Science.NumProfilesThresh = 5.000000 count 2025-10-29T01:39:40.440Z,1761701980.440 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreLMavgROIPeakThresh = 0.000000 count/s 2025-10-29T01:39:40.449Z,1761701980.449 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreHMavgROIPeakThresh = 0.000000 count/s 2025-10-29T01:39:40.454Z,1761701980.454 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDiatomsPeakThresh = 0.000000 count/ml 2025-10-29T01:39:40.459Z,1761701980.459 [MissionManager](INFO): DefineArg OnDock:science:Science.PlanktivoreDinoflagellatesPeakThresh = 0.000000 count/ml 2025-10-29T01:39:40.474Z,1761701980.474 [MissionManager](INFO): DefineOutput OnDock:science:Science.GoDown = 1 bool 2025-10-29T01:39:40.479Z,1761701980.479 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChl = nan ug/l 2025-10-29T01:39:40.499Z,1761701980.499 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepth = nan m 2025-10-29T01:39:40.512Z,1761701980.512 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlTemperature = nan degC 2025-10-29T01:39:40.518Z,1761701980.518 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLatitude = nan arcdeg 2025-10-29T01:39:40.522Z,1761701980.522 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlLongitude = nan arcdeg 2025-10-29T01:39:40.526Z,1761701980.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlAvgProfiles = nan ug/l 2025-10-29T01:39:40.531Z,1761701980.531 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakChlDepthAvgProfiles = nan m 2025-10-29T01:39:40.543Z,1761701980.543 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChl = nan ug/l 2025-10-29T01:39:40.559Z,1761701980.559 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.608600,-0.793463,0.004737],[0.793406,-0.608614,-0.009779],[0.010642,-0.002193,0.999941]] 2025-10-29T01:39:40.579Z,1761701980.579 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlDepth = nan m 2025-10-29T01:39:40.592Z,1761701980.592 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlTemperature = nan degC 2025-10-29T01:39:40.620Z,1761701980.620 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLatitude = nan arcdeg 2025-10-29T01:39:40.629Z,1761701980.629 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgeChlLongitude = nan arcdeg 2025-10-29T01:39:40.638Z,1761701980.638 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3 = nan umol/l 2025-10-29T01:39:40.651Z,1761701980.651 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Depth = nan m 2025-10-29T01:39:40.659Z,1761701980.659 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Latitude = nan arcdeg 2025-10-29T01:39:40.672Z,1761701980.672 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakNO3Longitude = nan arcdeg 2025-10-29T01:39:40.687Z,1761701980.687 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOil = nan kg/m3 2025-10-29T01:39:40.691Z,1761701980.691 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilDepth = nan m 2025-10-29T01:39:40.704Z,1761701980.704 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLatitude = nan arcdeg 2025-10-29T01:39:40.712Z,1761701980.712 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakOilLongitude = nan arcdeg 2025-10-29T01:39:40.720Z,1761701980.720 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOM = nan ppb 2025-10-29T01:39:40.736Z,1761701980.736 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMDepth = nan m 2025-10-29T01:39:40.745Z,1761701980.745 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMTemperature = nan degC 2025-10-29T01:39:40.751Z,1761701980.751 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLatitude = nan arcdeg 2025-10-29T01:39:40.761Z,1761701980.761 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakFDOMLongitude = nan arcdeg 2025-10-29T01:39:40.765Z,1761701980.765 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSalt = nan psu 2025-10-29T01:39:40.787Z,1761701980.787 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltDepth = nan m 2025-10-29T01:39:40.840Z,1761701980.840 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltTemperature = nan degC 2025-10-29T01:39:40.848Z,1761701980.848 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLatitude = nan arcdeg 2025-10-29T01:39:40.853Z,1761701980.853 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakSaltLongitude = nan arcdeg 2025-10-29T01:39:40.858Z,1761701980.858 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROI = nan count/s 2025-10-29T01:39:40.882Z,1761701980.882 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepth = nan m 2025-10-29T01:39:40.886Z,1761701980.886 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROITemperature = nan degC 2025-10-29T01:39:40.891Z,1761701980.891 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILatitude = nan arcdeg 2025-10-29T01:39:40.907Z,1761701980.907 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROILongitude = nan arcdeg 2025-10-29T01:39:40.920Z,1761701980.920 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIAvgProfiles = nan count/s 2025-10-29T01:39:40.932Z,1761701980.932 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreLMavgROIDepthAvgProfiles = nan m 2025-10-29T01:39:40.945Z,1761701980.945 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROI = nan count/s 2025-10-29T01:39:40.963Z,1761701980.963 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.601479,-0.798886,0.002180],[0.798820,-0.601460,-0.011491],[0.010491,-0.005170,0.999932]] 2025-10-29T01:39:40.982Z,1761701980.982 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROIDepth = nan m 2025-10-29T01:39:40.995Z,1761701980.995 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROITemperature = nan degC 2025-10-29T01:39:41.031Z,1761701981.031 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILatitude = nan arcdeg 2025-10-29T01:39:41.043Z,1761701981.043 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreLMavgROILongitude = nan arcdeg 2025-10-29T01:39:41.062Z,1761701981.062 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROI = nan count/s 2025-10-29T01:39:41.077Z,1761701981.077 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROIDepth = nan m 2025-10-29T01:39:41.096Z,1761701981.096 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROITemperature = nan degC 2025-10-29T01:39:41.101Z,1761701981.101 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILatitude = nan arcdeg 2025-10-29T01:39:41.114Z,1761701981.114 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreHMavgROILongitude = nan arcdeg 2025-10-29T01:39:41.119Z,1761701981.119 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROI = nan count/s 2025-10-29T01:39:41.135Z,1761701981.135 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROIDepth = nan m 2025-10-29T01:39:41.156Z,1761701981.156 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROITemperature = nan degC 2025-10-29T01:39:41.165Z,1761701981.165 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILatitude = nan arcdeg 2025-10-29T01:39:41.177Z,1761701981.177 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreHMavgROILongitude = nan arcdeg 2025-10-29T01:39:41.182Z,1761701981.182 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatoms = nan count/ml 2025-10-29T01:39:41.186Z,1761701981.186 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsDepth = nan m 2025-10-29T01:39:41.203Z,1761701981.203 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsTemperature = nan degC 2025-10-29T01:39:41.208Z,1761701981.208 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLatitude = nan arcdeg 2025-10-29T01:39:41.225Z,1761701981.225 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDiatomsLongitude = nan arcdeg 2025-10-29T01:39:41.230Z,1761701981.230 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatoms = nan count/ml 2025-10-29T01:39:41.234Z,1761701981.234 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsDepth = nan m 2025-10-29T01:39:41.251Z,1761701981.251 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsTemperature = nan degC 2025-10-29T01:39:41.255Z,1761701981.255 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLatitude = nan arcdeg 2025-10-29T01:39:41.259Z,1761701981.259 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDiatomsLongitude = nan arcdeg 2025-10-29T01:39:41.281Z,1761701981.281 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellates = nan count/ml 2025-10-29T01:39:41.285Z,1761701981.285 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesDepth = nan m 2025-10-29T01:39:41.291Z,1761701981.291 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesTemperature = nan degC 2025-10-29T01:39:41.295Z,1761701981.295 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-29T01:39:41.299Z,1761701981.299 [MissionManager](INFO): DefineOutput OnDock:science:Science.PeakPlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-29T01:39:41.320Z,1761701981.320 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellates = nan count/ml 2025-10-29T01:39:41.324Z,1761701981.324 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesDepth = nan m 2025-10-29T01:39:41.348Z,1761701981.348 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesTemperature = nan degC 2025-10-29T01:39:41.367Z,1761701981.367 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.594590,-0.804028,0.001306],[0.803967,-0.594563,-0.011464],[0.009994,-0.005766,0.999933]] 2025-10-29T01:39:41.385Z,1761701981.385 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLatitude = nan arcdeg 2025-10-29T01:39:41.394Z,1761701981.394 [MissionManager](INFO): DefineOutput OnDock:science:Science.EdgePlanktivoreDinoflagellatesLongitude = nan arcdeg 2025-10-29T01:39:41.414Z,1761701981.414 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChl = nan ug/l 2025-10-29T01:39:41.430Z,1761701981.430 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDepth = nan m 2025-10-29T01:39:41.452Z,1761701981.452 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLatitude = nan arcdeg 2025-10-29T01:39:41.465Z,1761701981.465 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlLongitude = nan arcdeg 2025-10-29T01:39:41.471Z,1761701981.471 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchChlDistance = nan m 2025-10-29T01:39:41.492Z,1761701981.492 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSalt = nan psu 2025-10-29T01:39:41.509Z,1761701981.509 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDepth = nan m 2025-10-29T01:39:41.517Z,1761701981.517 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLatitude = nan arcdeg 2025-10-29T01:39:41.526Z,1761701981.526 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltLongitude = nan arcdeg 2025-10-29T01:39:41.530Z,1761701981.530 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchSaltDistance = nan m 2025-10-29T01:39:41.535Z,1761701981.535 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOil = nan psu 2025-10-29T01:39:41.558Z,1761701981.558 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDepth = nan m 2025-10-29T01:39:41.566Z,1761701981.566 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLatitude = nan arcdeg 2025-10-29T01:39:41.579Z,1761701981.579 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilLongitude = nan arcdeg 2025-10-29T01:39:41.597Z,1761701981.597 [MissionManager](INFO): DefineOutput OnDock:science:Science.PatchOilDistance = nan m 2025-10-29T01:39:41.602Z,1761701981.602 [MissionManager](INFO): DefineOutput OnDock:science:Science.TriggeredOnChl = 0 bool 2025-10-29T01:39:41.621Z,1761701981.621 [MissionManager](INFO): DefineOutput OnDock:science:Science.ChlTriggering = nan ug/l 2025-10-29T01:39:41.691Z,1761701981.691 [OnDock:science:Science:PeakDetectChl:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:41.743Z,1761701981.743 [OnDock:science:Science:EdgeDetectChl:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-29T01:39:41.771Z,1761701981.771 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.587722,-0.809063,-0.000014],[0.809007,-0.587682,-0.011732],[0.009483,-0.006907,0.999931]] 2025-10-29T01:39:41.911Z,1761701981.911 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-29T01:39:41.943Z,1761701981.943 [OnDock:science:Science:PeakDepthAvgProfilesChl:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-29T01:39:41.965Z,1761701981.965 [OnDock:science:Science:PeakDetectNO3:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:41.990Z,1761701981.990 [OnDock:science:Science:PeakDetectOil:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.030Z,1761701982.030 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-29T01:39:42.068Z,1761701982.068 [OnDock:science:Science:PeakDetectFDOM:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.098Z,1761701982.098 [OnDock:science:Science:PeakDetectSalinity:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.136Z,1761701982.136 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-29T01:39:42.175Z,1761701982.175 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.582161,-0.813070,-0.002291],[0.813023,-0.582092,-0.012791],[0.009066,-0.009309,0.999916]] 2025-10-29T01:39:42.204Z,1761701982.204 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.265Z,1761701982.265 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-29T01:39:42.314Z,1761701982.314 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:B.PeakDetectHorizontal](DEBUG): Construct PeakDetectHorizontal. 2025-10-29T01:39:42.375Z,1761701982.375 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.405Z,1761701982.405 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-29T01:39:42.474Z,1761701982.474 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.500Z,1761701982.500 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-29T01:39:42.558Z,1761701982.558 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:B.PeakDetectVsDepth](DEBUG): Construct PeakDetectVsDepth. 2025-10-29T01:39:42.579Z,1761701982.579 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.577068,-0.816693,-0.002123],[0.816654,-0.577010,-0.011677],[0.008311,-0.008472,0.999930]] 2025-10-29T01:39:42.634Z,1761701982.634 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:B.EdgeDetectVsDepth](DEBUG): Construct EdgeDetectVsDepth. 2025-10-29T01:39:42.710Z,1761701982.710 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Construct ValueDetect. 2025-10-29T01:39:42.782Z,1761701982.782 [OnDock:L.Execute](DEBUG): Construct Execute. 2025-10-29T01:39:42.796Z,1761701982.796 [OnDock:PeriodicCheck:CheckIP:A.Execute](DEBUG): Construct Execute. 2025-10-29T01:39:42.798Z,1761701982.798 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Construct Wait. 2025-10-29T01:39:42.806Z,1761701982.806 [OnDock:N.Docked](DEBUG): Construct. 2025-10-29T01:39:42.807Z,1761701982.807 [OnDock:N.Docked](DEBUG): Initializing internal variables to default values. 2025-10-29T01:39:42.925Z,1761701982.925 [OnDock:Detach:B.Undock](DEBUG): Construct. 2025-10-29T01:39:42.925Z,1761701982.925 [OnDock:Detach:B.Undock](DEBUG): Initializing internal variables to default values. 2025-10-29T01:39:42.983Z,1761701982.983 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.572231,-0.820081,-0.004293],[0.820061,-0.572156,-0.011731],[0.007164,-0.010233,0.999922]] 2025-10-29T01:39:43.158Z,1761701983.158 [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 } } } 2025-10-29T01:39:43.158Z,1761701983.158 [CommandExec](IMPORTANT): Loaded ./Missions/Engineering/OnDock.tl id=OnDock 2025-10-29T01:39:43.387Z,1761701983.387 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568802,-0.822460,-0.004850],[0.822449,-0.568729,-0.011164],[0.006423,-0.010339,0.999926]] 2025-10-29T01:39:43.433Z,1761701983.433 [MissionManager](IMPORTANT): Started mission DefaultWithUndock 2025-10-29T01:39:43.433Z,1761701983.433 [DefaultWithUndock] Running Loop=1 2025-10-29T01:39:43.433Z,1761701983.433 [DefaultWithUndock](DEBUG): Aggregate::initialize DefaultWithUndock 2025-10-29T01:39:43.433Z,1761701983.433 [DefaultWithUndock:A.Wait] Running Loop=1 2025-10-29T01:39:43.433Z,1761701983.433 [DefaultWithUndock:A.Wait](DEBUG): Initialize Wait Component. 2025-10-29T01:39:43.791Z,1761701983.791 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566207,-0.824248,-0.004962],[0.824243,-0.566141,-0.010383],[0.005749,-0.009969,0.999934]] 2025-10-29T01:39:44.195Z,1761701984.195 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564604,-0.825341,-0.005834],[0.825345,-0.564533,-0.010460],[0.005340,-0.010721,0.999928]] 2025-10-29T01:39:44.600Z,1761701984.600 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563721,-0.825944,-0.005943],[0.825950,-0.563651,-0.010248],[0.005114,-0.010685,0.999930]] 2025-10-29T01:39:45.003Z,1761701985.003 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563423,-0.826151,-0.005348],[0.826152,-0.563360,-0.009865],[0.005137,-0.009977,0.999937]] 2025-10-29T01:39:45.406Z,1761701985.406 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.563479,-0.826114,-0.005192],[0.826112,-0.563415,-0.010102],[0.005420,-0.009982,0.999936]] 2025-10-29T01:39:45.811Z,1761701985.811 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.564294,-0.825563,-0.004201],[0.825553,-0.564236,-0.010022],[0.005904,-0.009123,0.999941]] 2025-10-29T01:39:46.215Z,1761701986.215 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.565070,-0.825034,-0.003709],[0.825017,-0.565011,-0.010462],[0.006536,-0.008972,0.999938]] 2025-10-29T01:39:46.620Z,1761701986.620 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.566458,-0.824084,-0.003326],[0.824056,-0.566392,-0.011481],[0.007578,-0.009244,0.999929]] 2025-10-29T01:39:47.024Z,1761701987.024 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.568104,-0.822955,-0.001778],[0.822911,-0.568048,-0.011772],[0.008678,-0.008151,0.999929]] 2025-10-29T01:39:47.426Z,1761701987.426 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.569935,-0.821687,-0.001902],[0.821625,-0.569860,-0.013847],[0.010294,-0.009454,0.999902]] 2025-10-29T01:39:47.830Z,1761701987.830 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.571754,-0.820425,0.000181],[0.820342,-0.571699,-0.014148],[0.011711,-0.007941,0.999900]] 2025-10-29T01:39:48.234Z,1761701988.234 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573003,-0.819550,0.002299],[0.819448,-0.572972,-0.014467],[0.013174,-0.006406,0.999893]] 2025-10-29T01:39:48.493Z,1761701988.493 [CommandExec](IMPORTANT): got command set OnDock.DockedTime 24 hour 2025-10-29T01:39:48.493Z,1761701988.493 [CommandExec](IMPORTANT): got command run 2025-10-29T01:39:48.520Z,1761701988.520 [CommandExec](IMPORTANT): Running 2025-10-29T01:39:48.639Z,1761701988.639 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574346,-0.818604,0.003644],[0.818477,-0.574326,-0.015647],[0.014902,-0.006005,0.999871]] 2025-10-29T01:39:48.678Z,1761701988.678 [DefaultWithUndock] Stopped 2025-10-29T01:39:48.678Z,1761701988.678 [DefaultWithUndock](DEBUG): Aggregate::uninitialize DefaultWithUndock 2025-10-29T01:39:48.678Z,1761701988.678 [DefaultWithUndock:A.Wait] Stopped 2025-10-29T01:39:48.678Z,1761701988.678 [DefaultWithUndock:A.Wait](DEBUG): Uninitialize Wait Component. 2025-10-29T01:39:48.678Z,1761701988.678 [MissionManager](IMPORTANT): Started mission OnDock 2025-10-29T01:39:48.678Z,1761701988.678 [OnDock] Running Loop=1 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock](DEBUG): Aggregate::initialize OnDock 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes](DEBUG): Aggregate::initialize OnDock:StandardEnvelopes 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:A.AltitudeEnvelope](DEBUG): Initialize AltitudeEnvelopeComponent. 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:B.DepthEnvelope](DEBUG): Initialize DepthEnvelopeComponent. 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-29T01:39:48.679Z,1761701988.679 [OnDock:StandardEnvelopes:C.OffshoreEnvelope](DEBUG): Initialize OffshoreEnvelopeComponent. 2025-10-29T01:39:48.680Z,1761701988.680 [OnDock:BackseatDriver] Running Loop=1 2025-10-29T01:39:48.680Z,1761701988.680 [OnDock:BackseatDriver](DEBUG): Aggregate::initialize OnDock:BackseatDriver 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:BackseatDriver:A.BackseatDriver] Running Loop=1 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly] Running Loop=1 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly](DEBUG): Aggregate::initialize OnDock:PowerOnly 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly:A] Running Loop=1 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly:B] Running Loop=1 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly:C] Running Loop=1 2025-10-29T01:39:48.681Z,1761701988.681 [OnDock:PowerOnly:D] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:PowerOnly:E.Wait] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:PowerOnly:E.Wait](DEBUG): Initialize Wait Component. 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:dataRead] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:dataRead](DEBUG): Aggregate::initialize OnDock:dataRead 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:dataRead:A] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:science] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:science](DEBUG): Aggregate::initialize OnDock:science 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:science:Science] Running Loop=1 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:science:Science](DEBUG): Aggregate::initialize OnDock:science:Science 2025-10-29T01:39:48.682Z,1761701988.682 [OnDock:science:Science:A] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:B] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:C] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:D] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:E] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:F] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:Read_Oil] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:PeakDetectChl] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectChl 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:PeakDetectChl:A] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:EdgeDetectChl] Running Loop=1 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectChl 2025-10-29T01:39:48.683Z,1761701988.683 [OnDock:science:Science:EdgeDetectChl:A] Running Loop=1 2025-10-29T01:39:48.684Z,1761701988.684 [OnDock:science:Science:HighestChlPeakReport] Running Loop=1 2025-10-29T01:39:48.684Z,1761701988.684 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestChlPeakReport 2025-10-29T01:39:48.684Z,1761701988.684 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-29T01:39:48.684Z,1761701988.684 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDepthAvgProfilesChl] Running Loop=1 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Running Loop=1 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDetectNO3] Running Loop=1 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectNO3 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDetectNO3:A] Running Loop=1 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDetectOil] Running Loop=1 2025-10-29T01:39:48.685Z,1761701988.685 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectOil 2025-10-29T01:39:48.686Z,1761701988.685 [OnDock:science:Science:PeakDetectOil:A] Running Loop=1 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:HighestOilPeakReport] Running Loop=1 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestOilPeakReport 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:PeakDetectFDOM] Running Loop=1 2025-10-29T01:39:48.686Z,1761701988.686 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectFDOM 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:PeakDetectFDOM:A] Running Loop=1 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:PeakDetectSalinity] Running Loop=1 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectSalinity 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:PeakDetectSalinity:A] Running Loop=1 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:HighestSaltPeakReport] Running Loop=1 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::initialize OnDock:science:Science:HighestSaltPeakReport 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Running Loop=1 2025-10-29T01:39:48.687Z,1761701988.687 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](INFO): Initialize. 2025-10-29T01:39:48.688Z,1761701988.688 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-29T01:39:48.688Z,1761701988.688 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-29T01:39:48.688Z,1761701988.688 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-29T01:39:48.688Z,1761701988.688 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Running Loop=1 2025-10-29T01:39:48.688Z,1761701988.688 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Running Loop=1 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-29T01:39:48.689Z,1761701988.689 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Running Loop=1 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Running Loop=1 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Running Loop=1 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Running Loop=1 2025-10-29T01:39:48.690Z,1761701988.690 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Running Loop=1 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::initialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Running Loop=1 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:ChlThreshTrigger] Running Loop=1 2025-10-29T01:39:48.691Z,1761701988.691 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::initialize OnDock:science:Science:ChlThreshTrigger 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Running Loop=1 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](INFO): Initialize. 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:OceanCurrent] Running Loop=1 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::initialize OnDock:science:Science:OceanCurrent 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:OceanCurrent:A.] Running Loop=1 2025-10-29T01:39:48.692Z,1761701988.692 [OnDock:science:Science:OceanCurrent:A.](INFO): Initializing CurrentEstimator. 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:J.] Running Loop=1 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:J.](INFO): Initializing TrackAcousticContact. 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:PeriodicCheck] Running Loop=1 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:PeriodicCheck](DEBUG): Aggregate::initialize OnDock:PeriodicCheck 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:PeriodicCheck:CheckIP] Running Loop=1 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:PeriodicCheck:CheckIP](DEBUG): Aggregate::initialize OnDock:PeriodicCheck:CheckIP 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:PeriodicCheck:CheckIP:A.Execute] Running Loop=1 2025-10-29T01:39:48.693Z,1761701988.693 [OnDock:B] Running Loop=1 2025-10-29T01:39:48.694Z,1761701988.694 [OnDock:PeriodicCheck] Running Loop=1 2025-10-29T01:39:48.694Z,1761701988.694 [OnDock:PeriodicCheck:CheckIP:A.Execute](INFO): Executing command ! ifconfig 2025-10-29T01:39:48.694Z,1761701988.694 [OnDock:PeriodicCheck:CheckIP:A.Execute] Stopped 2025-10-29T01:39:48.694Z,1761701988.694 [OnDock:PeriodicCheck:CheckIP:B.Wait] Running Loop=1 2025-10-29T01:39:48.694Z,1761701988.694 [OnDock:PeriodicCheck:CheckIP:B.Wait](DEBUG): Initialize Wait Component. 2025-10-29T01:39:48.695Z,1761701988.695 [OnDock:J.] Running Loop=1 2025-10-29T01:39:48.698Z,1761701988.698 [OnDock:science] Stopped 2025-10-29T01:39:48.698Z,1761701988.698 [OnDock:science](DEBUG): Aggregate::uninitialize OnDock:science 2025-10-29T01:39:48.698Z,1761701988.698 [OnDock:science:Science] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science](DEBUG): Aggregate::uninitialize OnDock:science:Science 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:A] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:B] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:C] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:D] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:E] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:F] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:Read_Oil] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:OceanCurrent] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:OceanCurrent](DEBUG): Aggregate::uninitialize OnDock:science:Science:OceanCurrent 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:OceanCurrent:A.] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:PeakDetectChl] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:PeakDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectChl 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:PeakDetectChl:A] Stopped 2025-10-29T01:39:48.699Z,1761701988.699 [OnDock:science:Science:EdgeDetectChl] Stopped 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:EdgeDetectChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectChl 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:EdgeDetectChl:A] Stopped 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:HighestChlPeakReport] Stopped 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:HighestChlPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestChlPeakReport 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:HighestChlPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:PeakDepthAvgProfilesChl] Stopped 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:PeakDepthAvgProfilesChl](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesChl 2025-10-29T01:39:48.700Z,1761701988.700 [OnDock:science:Science:PeakDepthAvgProfilesChl:A] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectNO3] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectNO3](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectNO3 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectNO3:A] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectOil] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectOil](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectOil 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectOil:A] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:HighestOilPeakReport] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:HighestOilPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestOilPeakReport 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:HighestOilPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectFDOM] Stopped 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectFDOM](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectFDOM 2025-10-29T01:39:48.701Z,1761701988.701 [OnDock:science:Science:PeakDetectFDOM:A] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectSalinity] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectSalinity](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectSalinity 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectSalinity:A] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:HighestSaltPeakReport] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:HighestSaltPeakReport](DEBUG): Aggregate::uninitialize OnDock:science:Science:HighestSaltPeakReport 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:HighestSaltPeakReport:A.PeakDetectHorizontal](DEBUG): Uninitialize. 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreLMavgROI 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:PeakDetectPlanktivoreLMavgROI:A] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI] Stopped 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI 2025-10-29T01:39:48.702Z,1761701988.702 [OnDock:science:Science:EdgeDetectPlanktivoreLMavgROI:A] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDepthAvgProfilesPlanktivoreLMavgROI:A] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreHMavgROI 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreHMavgROI:A] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:EdgeDetectPlanktivoreHMavgROI:A] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDiatoms 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:PeakDetectPlanktivoreDiatoms:A] Stopped 2025-10-29T01:39:48.703Z,1761701988.703 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDiatoms 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:EdgeDetectPlanktivoreDiatoms:A] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:PeakDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates](DEBUG): Aggregate::uninitialize OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:EdgeDetectPlanktivoreDinoflagellates:A] Stopped 2025-10-29T01:39:48.704Z,1761701988.704 [OnDock:science:Science:ChlThreshTrigger] Stopped 2025-10-29T01:39:48.705Z,1761701988.705 [OnDock:science:Science:ChlThreshTrigger](DEBUG): Aggregate::uninitialize OnDock:science:Science:ChlThreshTrigger 2025-10-29T01:39:48.705Z,1761701988.705 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect] Stopped 2025-10-29T01:39:48.705Z,1761701988.705 [OnDock:science:Science:ChlThreshTrigger:A.ValueDetect](DEBUG): Uninitialize. 2025-10-29T01:39:48.705Z,1761701988.705 [OnDock:dataRead] Running Loop=1 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:dataRead:A](DEBUG): Initialize ReadDataComponent to sense platform_communications 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:PowerOnly] Running Loop=1 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:PowerOnly:D] Stopped 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:PowerOnly:C] Stopped 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:PowerOnly:B] Stopped 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:PowerOnly:A] Stopped 2025-10-29T01:39:48.706Z,1761701988.706 [OnDock:BackseatDriver] Running Loop=1 2025-10-29T01:39:48.707Z,1761701988.707 [OnDock:B] Stopped 2025-10-29T01:39:48.707Z,1761701988.707 [OnDock:C] Running Loop=1 2025-10-29T01:39:48.707Z,1761701988.707 [OnDock:StandardEnvelopes] Running Loop=1 2025-10-29T01:39:48.707Z,1761701988.707 [OnDock:StandardEnvelopes:C.OffshoreEnvelope] Running Loop=1 2025-10-29T01:39:48.707Z,1761701988.707 [OnDock:StandardEnvelopes:B.DepthEnvelope] Running Loop=1 2025-10-29T01:39:48.708Z,1761701988.708 [OnDock:StandardEnvelopes:A.AltitudeEnvelope] Running Loop=1 2025-10-29T01:39:48.729Z,1761701988.729 [CommandExec](IMPORTANT): got command ! ifconfig 2025-10-29T01:39:49.055Z,1761701989.055 [CommandExec](IMPORTANT): eth0 Link encap:Ethernet HWaddr 50:2D:F4:07:45:37 UP BROADCAST RUNNING MULTICAST MTU:1500 Metric:1 RX packets:246539 errors:0 dropped:0 overruns:0 frame:0 TX packets:254672 errors:0 dropped:0 overruns:0 carrier:0 collisions:972 txqueuelen:1000 RX bytes:90908597 (86.6 Mb) TX bytes:46979081 (44.8 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:5103 errors:0 dropped:0 overruns:0 frame:0 TX packets:5103 errors:0 dropped:0 overruns:0 carrier:0 collisions:0 txqueuelen:0 RX bytes:464476 (453.5 Kb) TX bytes:464476 (453.5 Kb) 2025-10-29T01:39:49.491Z,1761701989.491 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575098,-0.818040,0.008517],[0.817891,-0.575157,-0.015769],[0.017799,-0.002103,0.999839]] 2025-10-29T01:39:49.570Z,1761701989.570 [OnDock:C] Stopped 2025-10-29T01:39:49.570Z,1761701989.570 [OnDock:D] Running Loop=1 2025-10-29T01:39:49.875Z,1761701989.875 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575318,-0.817862,0.010570],[0.817692,-0.575414,-0.016674],[0.019719,-0.000949,0.999805]] 2025-10-29T01:39:49.949Z,1761701989.949 [OnDock:D] Stopped 2025-10-29T01:39:49.950Z,1761701989.950 [OnDock:E] Running Loop=1 2025-10-29T01:39:50.279Z,1761701990.279 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.575207,-0.817921,0.011918],[0.817737,-0.575330,-0.017373],[0.021067,-0.000247,0.999778]] 2025-10-29T01:39:50.322Z,1761701990.322 [OnDock:E] Stopped 2025-10-29T01:39:50.322Z,1761701990.322 [OnDock:K] Running Loop=1 2025-10-29T01:39:50.683Z,1761701990.683 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.574317,-0.818515,0.013901],[0.818350,-0.574482,-0.016563],[0.021543,0.001864,0.999766]] 2025-10-29T01:39:50.698Z,1761701990.698 [OnDock:K](IMPORTANT): Restarting logs 2025-10-29T01:39:50.699Z,1761701990.699 [OnDock:K] Stopped 2025-10-29T01:39:50.699Z,1761701990.699 [OnDock:L.Execute] Running Loop=1 2025-10-29T01:39:51.089Z,1761701991.089 [AHRS_M2](DEBUG): AHRS rotation from veh to nav: [[-0.573911,-0.818805,0.013621],[0.818614,-0.574071,-0.017684],[0.022299,0.001002,0.999751]]